Power supply replacement system and method for replacing power supply

Abstract

The invention relates to a power supply replacement system and a method for replacing a power supply. A power replacement system includes: a compartment configured to removably receive a power source; an end effector rotatable between an engagement position for engagement with a power source and a release position; comprising a locking member, where the locking member is movable between a locked position and an unlocked position to prevent / enable removal of the power source from the compartment. The end effector and the locking assembly are configured such that rotation of the end effector from the released position to the engaged position causes the end effector to move the locking member from the locked position to the unlocked position. A load handling apparatus for lifting and moving containers arranged in a stack of storage structures is provided. The loading processing device includes a compartment, and a power source received in the compartment is configured to deliver power to the loading processing device. A storage and retrieval system is provided that includes a storage structure, a load handling device, and a battery replacement system. Methods of inserting a power supply into a compartment of a power replacement system, methods of removing a power supply, and methods of replacing a power supply are provided.

Description

Technical Field

[0001] The present invention relates to a power supply replacement system and a method for replacing a power supply. Background Art

[0002] Some commercial and industrial activities require systems for storing and retrieving large quantities of different products. WO2015019055A1 describes a storage and retrieval system in which stacks of storage containers are arranged within a grid storage structure. The system further includes a remotely operated load handling device configured to move on tracks located atop the grid storage structure. To access containers within the grid storage structure, the load handling device is equipped with a container holding device for releasably gripping a container at the top of the stack, as well as a lifting mechanism for raising and lowering the container.

[0003] Each load handling device is powered by a rechargeable battery. Typically, the rechargeable batteries are charged on-site by driving the load handling device to a charging station located at the edge of the grid storage structure. The load handling device remains stationary at the charging station while the battery is recharged. Charging time is a significant source of downtime for the load handling device and can take up to several hours.

[0004] To alleviate the issue of charging downtime, the load handling equipment can be powered by replaceable batteries. When the battery in the load handling equipment becomes depleted, the depleted battery is replaced with a fully charged one, reducing the charging downtime to the time required to replace the battery rather than the time required to charge it.

[0005] When operating on the rails of a grid storage structure, load handling equipment may experience bumps, vibrations, and even collisions. For load handling equipment powered by replaceable batteries, it is desirable to securely retain the batteries within the load handling equipment. It is also desirable to provide an efficient and automated system for replacing batteries in load handling equipment. Summary of the Invention

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

[0007] The present invention provides a power supply replacement system, comprising: a compartment configured to removably receive a power source; an end effector rotatable between an engaged position for engaging the power source to move the power source into and out of the compartment and a released position; and a locking assembly including a locking member movable between a locked position that prevents removal of the power supply from the compartment and an unlocked position that enables removal of the power supply from the compartment; Wherein, the end effector and the locking assembly are configured such that rotation of the end effector from the released position to the engaged position causes the end effector to move the locking member from the locked position to the unlocked position.

[0008] The present invention thus provides a system that securely locks a replaceable power source in a compartment and allows for efficient, automated unlocking and removal of the power source via an end effector. The end effector only needs to perform a simple rotational movement to simultaneously unlock the power source and position it to engage the power source for removal from the compartment.

[0009] In the release position, the end effector may be disengaged from the power source to allow the end effector to be moved away from the power source, for example, in a direction parallel to an insertion direction of the power source into the compartment.

[0010] The compartment may include a locking member. The compartment may define a power supply receiving space for receiving a power supply, and the locking member may be configured to overhang the power supply receiving space in a locked position to prevent the power supply from being removed from the compartment. In other words, when the power supply is within the compartment, the locking member protrudes above the power supply to prevent removal of the power supply. The end effector may be configured such that: when the end effector is in the engaged position, the end effector extends beyond the power supply receiving space to enable the end effector to move the locking member to an unlocked position. The locking member may include a tapered surface configured such that movement of the power supply into the compartment moves the locking member from the locked position to the unlocked position to allow the power supply to be received into the compartment.

[0011] The power supply replacement system may further include a power supply.

[0012] The power supply may include a locking member. The compartment may be configured to engage the locking member when the locking member is in a locked position to prevent the power supply from being removed from the compartment. For example, the compartment may include a blocking member configured to engage the locking member when the locking member is in the locked position to prevent the power supply from being removed from the compartment. The power supply may include an end wall exposed to the end effector when the power supply is within the compartment. The end wall may be oriented perpendicular to an insertion direction of the power supply into the compartment. The locking member may be mounted on the end wall.

[0013] The power supply may include one or more processing members. Each processing member may be configured to receive a respective portion of the end effector when the end effector is rotated from a release position to an engagement position. A respective portion of the end effector may be received by each processing member in a circumferential direction. Each processing member may be further configured to engage with a respective portion of the end effector to enable the end effector to move the power supply into and out of the compartment. Each processing member may engage with a respective portion of the end effector in a direction parallel to the insertion direction of the power supply into the compartment. In the release position, the respective portion of the end effector may be moved away from the processing member (moved away from the processing member in a circumferential direction) such that the end effector can no longer engage with the processing member in a direction parallel to the insertion direction of the power supply into the compartment. The power supply may include an end wall exposed to the end effector when the power supply is within the compartment. The end wall may be oriented perpendicular to the insertion direction. One or more processing members may be mounted on the end wall.

[0014] The power supply may include a plurality of processing members, and the plurality of processing members may be arranged at different angular positions around the longitudinal axis, i.e. they are spaced apart in a circumferential direction around the longitudinal axis. The longitudinal axis may be an axis oriented parallel to the direction of insertion of the power supply into the compartment. The plurality of processing members may be spaced apart at substantially equal angular intervals around the longitudinal axis, i.e. the intervals between the angular positions of the processing members may be substantially equal. The processing members may be arranged in substantially the same plane. The plane may be oriented substantially perpendicular to the longitudinal axis. The processing members may be configured to receive respective portions of the end effector in the same circumferential direction. The power supply may include at least one pair of processing members diametrically opposed around the longitudinal axis. The power supply may include four processing members spaced apart at 90 degrees around the longitudinal axis.

[0015] The power source may be a battery. The battery may be a rechargeable battery.

[0016] The power supply compartment can be configured to (automatically) electrically couple to the power supply compartment when the power supply is received in the compartment. The power supply can include an electrical connector, and the compartment can include a corresponding electrical connector. The electrical connector of the power supply and the corresponding electrical connector of the compartment can be configured to (automatically) electrically couple to each other when the power supply is received in the compartment.

[0017] The locking assembly may further include a biasing device configured to apply a biasing force to bias the locking member into the locked position. The end effector and the locking assembly may be further configured such that rotation of the end effector from the engaged position to the released position allows the biasing force to reset the locking member to the locked position. The end effector may be disengaged from the locking member in the released position. The biasing device may be a spring, such as a torsion spring, a compression spring, or an extension spring. Thus, the end effector need only perform a simple rotational movement to simultaneously release and lock the power supply in the compartment.

[0018] The end effector and locking assembly may be configured such that the locking member is retained in the unlocked position by the end effector when the end effector is in the engaged position.

[0019] The locking member can be linearly movable between a locked position and an unlocked position. The locking member can be linearly movable between the locked position and the unlocked position in a direction parallel to the insertion direction of the power supply into the compartment. Alternatively, the locking member can be pivotally mounted for rotation between the locked position and the unlocked position. The pivot axis can be oriented parallel to the insertion direction. The pivot axis can be oriented perpendicular to the insertion direction.

[0020] The locking assembly may include a plurality of locking members.The locking assembly and the end effector may be configured such that rotation of the end effector from the released position to the engaged position causes the end effector to move each locking member from the locked position to the unlocked position.

[0021] The plurality of locking members may be arranged at different angular positions about the longitudinal axis, i.e., they are spaced apart in a circumferential direction about the longitudinal axis. The longitudinal axis may be an axis oriented parallel to the direction in which the power supply is inserted into the compartment. The plurality of locking members may be spaced apart at substantially equal angular intervals about the longitudinal axis, i.e., the intervals between the angular positions of the locking members may be substantially equal. The locking members may be arranged in substantially the same plane. The plane may be oriented substantially perpendicular to the longitudinal axis. The longitudinal axis may be an axis oriented parallel to the direction in which the power supply is inserted into the compartment. The locking assembly may include at least one pair of locking members diametrically opposed about the longitudinal axis. The locking assembly may include four locking members spaced apart at 90 degrees about the longitudinal axis. Where the power supply further comprises a plurality of processing members, the angular position of at least a subset of the processing members and the angular position of at least a subset of the locking members relative to the common longitudinal axis may be substantially the same.

[0022] The end effector may comprise a plurality of engaging members. Where the locking assembly comprises a plurality of locking members, the engaging members may be arranged such that, when the end effector is rotated from a release position to an engagement position about the rotation axis, each specific engaging member moves to a position for engaging with the power source and / or moves one of the locking members from a locked position to an unlocked position. Where the power source comprises a plurality of processing members and a plurality of locking members, the engaging members may be arranged such that, when the end effector is rotated from a release position to an engagement position, each specific engaging member is received by one of the processing members and / or moves one of the locking members from a locked position to an unlocked position. When the end effector is in the release position, the angular position of the engaging member may be between the angular positions of the locking members and between the angular positions of the processing members relative to the common longitudinal axis. In other words, the engaging member may be located between the processing members and between the locking members in the circumferential direction relative to the common longitudinal axis.

[0023] The engaging members may be fixed in position relative to one another. In other words, the engaging members may not be movable relative to one another. The engaging members may extend in a radial direction relative to the axis of rotation. The engaging members may be arranged substantially in a plane oriented perpendicular to the axis of rotation. The engaging members may be arranged at different angular positions about the axis of rotation, i.e., they may be spaced circumferentially about the longitudinal axis. The engaging members may be spaced at substantially equal angular intervals about the axis of rotation, i.e., the intervals between the angular positions of the engaging members may be substantially equal. The end effector may include at least one pair of engaging members extending in opposite radial directions relative to the axis of rotation. The end effector may include four engaging members spaced 90 degrees apart about the axis of rotation to form a substantially cross-shaped shape. In this case, the power supply may include four processing members spaced 90 degrees apart about the longitudinal axis, and / or the locking assembly may include four locking members spaced 90 degrees apart about the longitudinal axis. In another embodiment, the power supply may include four processing members spaced 90 degrees apart about the longitudinal axis, and the locking assembly may include a pair of locking members diametrically opposed about the longitudinal axis. In another embodiment, the power supply may include a pair of processing members diametrically opposed about the longitudinal axis, and the locking assembly may include four locking members arranged at 90 degree intervals about the longitudinal axis.

[0024] The end effector may be configured such that, when rotating between the engaged position and the released position, the end effector's axis of rotation is oriented parallel to the direction in which the power source is inserted. When rotating between the engaged position and the released position, the axis of rotation may be coaxial with the longitudinal axis about which the processing member and / or the locking member are arranged.

[0025] The compartment may be configured to receive power in a downward direction.

[0026] The compartment may be configured to receive power in a horizontal orientation.

[0027] The end effector may be mounted on a robotic arm configured to move and rotate the end effector between an engaged position and a released position. The robotic arm may be, for example, a gantry robot, a Cartesian robot, or an articulated robot.

[0028] The power supply replacement system may further include a power station. The power station may include a plurality of power slots, each power slot configured to receive a power source. The end effector may be further configured to move the power source between the compartment and any power slot of the power station. Each power slot may be configured to charge the power source when a power source is received in the power slot.

[0029] The power supply replacement system may further include an apparatus. The apparatus may include a compartment and one or more electrical and / or electronic components. The compartment may be configured to deliver electricity from the power supply to the one or more electrical and / or electronic components when the power supply is received in the compartment.

[0030] The power replacement system may further include a load handling device for lifting and moving containers arranged in a stack of containers in the storage structure. The storage structure may include a track structure. The track structure may include a first set of tracks and a second set of tracks. The first set of tracks may extend in a first direction, and the second set of tracks may extend in a second direction. The second direction may be substantially perpendicular to the first direction to form a grid pattern defining a plurality of grid cells above the stack of containers. The load handling device may include: a drive assembly configured to move the load handling device on the track structure; a container holding device configured to releasably hold the container from above; and A lifting mechanism is configured to raise and lower the container holding device.

[0031] The load handling device may further include a compartment. The compartment may be configured to deliver power to one or more electrical and / or electronic components of the load handling device when a power source is received in the compartment. The one or more electrical and / or electronic components may include one or more of the following: a drive assembly, a container holding device, and a lifting mechanism.

[0032] The compartment may be exposed so that the end effector is externally accessible to the compartment to allow the end effector to move the power source into and out of the compartment. The compartment may be at least partially located within the outer body of the load handling apparatus. The compartment may extend outside the outer body of the load handling apparatus.

[0033] The present invention also provides a storage and retrieval system, the storage and retrieval system comprising: A storage structure, the storage structure comprising: a track structure comprising a first set of tracks extending in a first direction and a second set of tracks extending in a second direction substantially perpendicular to the first direction to form a grid pattern defining a plurality of grid cells; and a plurality of upright members configured to support the track structure from below to define a storage area below the track structure for storing a stack of a plurality of containers below each grid cell; and Wherein the storage and retrieval system further comprises a battery replacement system as defined above.

[0034] The end effector may be mounted on a robotic arm located on, above, or adjacent to the track structure such that the end effector is capable of moving the power supply into and out of a compartment of a load handling device located on the track structure.

[0035] The present invention also provides a method for inserting a power supply into a compartment of a power supply replacement system or storage and retrieval system as defined above. The method comprises the following steps: (i) using the end effector in the engaged position to move the power source into the compartment; and (ii) Rotating the end effector from the engaged position to the released position.

[0036] The present invention also provides a method for removing a power supply from a compartment of a power supply replacement system or storage and retrieval system as defined above. The method comprises the following steps: (i) rotating the end effector from a released position to an engaged position; and (ii) Use the end effector to move the power source out of the compartment.

[0037] The present invention also provides a method for replacing a first power source with a second power source in a compartment of the power source replacement system defined above. The method comprises the following steps: (i) rotating the end effector from a released position to an engaged position; (ii) using the end effector to move the first power source out of the compartment; (iii) inserting a second power source into the compartment with the end effector in the engaged position; and (iv) Rotating the end effector from the engaged position to the released position.

[0038] At the moment the first power source is removed from the compartment, the second power source may have a higher charge level than the first power source. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The present invention will now be described, by way of example only, with reference to the accompanying drawings, in which: Figure 1 is a schematic perspective view of a grid storage structure and containers arranged in the grid storage structure.

[0040] Figure 2 is Figure 1 A schematic plan view of the track structure on top of the storage structure.

[0041] Figure 3 Shown in Figure 1 The loading handling equipment is placed on top of the track structure in the storage structure.

[0042] Figure 4 is a schematic perspective view of a load handling apparatus with a container holding apparatus in position below the bottom of the load handling apparatus.

[0043] Figure 5 yes Figure 4 Schematic perspective view of a load handling device in FIG, with side panels removed to show the container receiving space.

[0044] Figure 6 It is the container that occupies the container receiving space Figure 5 Schematic perspective view of the loading handling equipment in.

[0045] Figure 7 yes Figure 6 Schematic perspective view of a load handling apparatus in FIG, showing exemplary locations for power supply compartments.

[0046] Figure 8 is used for Figure 4 Schematic perspective view of an alternative outer body of a load handling apparatus in , comprising corner blocks connected together by connecting elements to form an open frame structure.

[0047] Figure 9 is an exploded view of a first power supply replacement system including a power supply compartment, a power supply, and an end effector.

[0048] Figure 10 It is a three-dimensional diagram of the power supply of the first power supply replacement system.

[0049] Figure 11A is a perspective view of a power source and end effector of a first power source replacement system, with the end effector shown in a released position. Figure 11B The end effector is shown in an engaged position.

[0050] Figure 12 It is a perspective view of the power compartment of the first power replacement system.

[0051] Figure 13A is a schematic cross-sectional view of a power supply and a power supply compartment of a first power supply replacement system, showing the power supply in the power supply compartment and the locking member in a locked position.

[0052] Figure 13B The locking member is shown in the unlocked position.

[0053] Figure 14A is a perspective view of a power supply, a power supply compartment, and an end effector of a first power supply replacement system, showing the power supply in the power supply compartment, the locking member in a locked position, and the end effector in a released position.

[0054] Figure 14B yes Figure 14A A top view of the system is shown.

[0055] Figure 15A is a perspective view of a power supply, a power supply compartment, and an end effector of a first power supply replacement system, showing the power supply in the power supply compartment, the locking member in an unlocked position, and the end effector in an engaged position.

[0056] Figure 15B yes Figure 15A A top view of the system is shown.

[0057] Figures 16A-16D is a sequence diagram illustrating how to unlock a power supply and remove it from a power supply compartment using an end effector in a first power supply replacement system.

[0058] Figure 17 is an exploded view of the second power supply replacement system including the power supply compartment, power supply, and end effector.

[0059] Figure 18 is an enlarged view of the locking member of the second power supply replacement system.

[0060] Figure 19A is a perspective view of a power supply, a power supply compartment, and an end effector of a second power supply replacement system, showing the power supply in the power supply compartment, the locking member in a locked position, and the end effector in a released position.

[0061] Figure 19B yes Figure 19A A top view of the system is shown.

[0062] Figure 20A is a perspective view of a power supply, a power supply compartment, and an end effector of a second power supply replacement system, showing the power supply in the power supply compartment, the locking member in an unlocked position, and the end effector in an engaged position.

[0063] Figure 20B yes Figure 20A A top view of the system is shown.

[0064] Figure 21 is an exploded view of the third power supply replacement system including the power supply compartment, power supply, and end effector.

[0065] Figure 22A is an exploded view of the assembly including the handling member, locking member and guide.

[0066] Figure 22B Shown from below Figure 22A The decomposed components in .

[0067] Figure 23A is a perspective view of a power supply, a power supply compartment, and an end effector of a second power supply replacement system, showing the power supply in the power supply compartment, the locking member in a locked position, and the end effector in a released position.

[0068] Figure 23B yes Figure 23A A top view of the system is shown.

[0069] Figure 24A is a perspective view of a power supply, a power supply compartment, and an end effector of a second power supply replacement system, showing the power supply in the power supply compartment, the locking member in an unlocked position, and the end effector in an engaged position.

[0070] Figure 24B yes Figure 24A A top view of the system is shown.

[0071] Figure 25 It is a schematic perspective view of a power station.

[0072] Figure 26 is Figure 1 A schematic perspective view of a first exemplary robotic arm operating above a track structure of a grid storage structure is shown.

[0073] Figure 27 is Figure 1 A schematic perspective view of a second exemplary robotic arm operating adjacent to a rail structure of a grid storage structure is shown. DETAILED DESCRIPTION

[0074] Figure 1An exemplary storage structure 1 is shown that can be used in a storage and retrieval system to store storage containers 9. The storage structure 1 includes a frame including upright members 3 and horizontal members 5, 7 supported by the upright members 3. The horizontal members 5 are parallel to each other and extend parallel to the x-axis as shown. The horizontal members 7 are parallel to each other and to the y-axis as shown, and extend transversely to the horizontal members 5. The upright members 3 are parallel to each other and to the z-axis as shown, and extend transversely to the horizontal members 5. The horizontal members 5, 7 form a grid pattern defining a plurality of grid cells 14. In the illustrated embodiment, the storage containers 9 are arranged in stacks 11 below the grid cells 14 defined by the grid pattern, with one stack 11 of containers 9 per grid cell 14.

[0075] Figure 2 A large scale plan view of a portion of the track structure 13 is shown, forming Figure 1 shown as part of the storage structure 1 and located Figure 18 The tops of the horizontal members 5, 7 of the storage structure 1 are shown. The track structure 13 can be provided by the horizontal members 5, 7 themselves (e.g., formed in or on the surface of the horizontal members 5, 7) or by one or more additional components mounted on top of the horizontal members 5, 7. The track structure 13 shown includes x-direction rails 17 and y-direction rails 19, i.e., a first set of rails 17 extending in the x-direction, and a second set of rails 19 extending in the y-direction and transverse to the rails 17 in the first set of rails 17. The rails 17, 19 define an aperture 15 located at the center of the grid cell 14. The aperture 15 is sized to allow a storage container 9 located below the grid cell 14 to be lifted and lowered through the aperture 15. The x-direction rails 17 are arranged in pairs and separated by a channel 21, and the y-direction rails 19 are arranged in pairs and separated by a channel 23. Other arrangements of the track structure are also possible.

[0076] Figure 3 Shown in Figure 18 A plurality of load handling devices 25 are shown moving across the top of the storage structure 1. The load handling devices 25 (hereinafter referred to as "robots") are provided with sets of wheels that engage corresponding x- or y-direction tracks 17, 19, enabling the robots 25 to travel on the track structure 13 and reach specific grid cells 14. The pairs of tracks 17, 19 shown separated by aisles 21, 23 allow the robots 25 to occupy (or pass by) adjacent grid cells 14 without colliding with each other.

[0077] like Figure 4As shown, the robot 25 includes an outer body 27 in or on which one or more components that enable the robot 25 to perform its intended functions are mounted. These functions may include moving across the storage structure 1 on the track structure 13 and raising or lowering storage containers 9 (e.g., from or to a stack 11) to enable the robot 25 to retrieve or place storage containers 9 at specific locations defined by the grid pattern.

[0078] The robot 25 shown includes a drive assembly including a first set of wheels 29 and a second set of wheels 31 mounted on the outer body 27 of the robot 25 and enabling the robot 25 to move in the x-direction and the y-direction along the tracks 17 and 19, respectively. Figure 4 There are two wheels 29 provided on the shorter side of the robot 25 visible in FIG, and another two wheels 29 provided on the opposite shorter side of the robot 25. The wheels 29 engage with the track 17 and are rotatably mounted on the outer body 27 of the robot 25 to allow the robot 25 to move along the track 17. Similarly, Figure 4 Two wheels 31 are provided on the longer side of the robot 25 visible in the figure, and another two wheels 31 are provided on the opposite longer side of the robot 25. The wheels 31 engage with the track 19 and are rotatably mounted on the outer body 27 of the robot 25 to allow the robot 25 to move along the track 19.

[0079] In order to enable the robot 25 to move in the first direction and the second direction on different wheels 29, 31, the drive assembly further includes a wheel positioning mechanism (not shown) for selectively engaging the first set of wheels 29 with the first set of tracks 17 or the second set of wheels 31 with the second set of tracks 19. The wheel positioning mechanism is configured to raise and lower the first set of wheels 29 and / or the second set of wheels 31 relative to the outer body 27, thereby enabling the load handling device 25 to selectively move in the first direction or the second direction on the tracks 17, 19 of the storage structure 1.

[0080] The wheel positioning mechanism may include one or more linear actuators, rotating components, or other devices for raising and lowering at least one set of wheels 29, 31 relative to the outer body 27 of the robot 25 so as to bring at least one set of wheels 29, 31 into and out of contact with the rails 17, 19. In some embodiments, only one set of wheels is configured to be raised and lowered, and the act of lowering one set of wheels effectively raises the other set of wheels off the corresponding rails, while the act of raising one set of wheels effectively lowers the other set of wheels into contact with the corresponding rails. In other embodiments, both sets of wheels can be raised and lowered, which advantageously means that the outer body 27 of the robot 25 remains at substantially the same height, so that the weight of the outer body 27 and the weight of components mounted on the outer body 27 do not need to be raised and lowered by the wheel positioning mechanism.

[0081] The robot 25 also includes a lifting mechanism 33 and a container holding device 37 configured to raise and lower the storage container 9. The lifting mechanism 33 shown includes four tethers 35 connected at their lower ends to the container holding device 37. The tethers 35 can be in the form of cables, ropes, straps, or any other form of tether having the necessary physical properties to lift the storage container 9. The container holding device 37 includes a clamping mechanism 39 configured to engage with features of the storage container 9 to releasably hold the container 9 from above. In the illustrated embodiment, the clamping mechanism 39 includes legs that can be received in corresponding holes 10 in the rim of the storage container 9 and then moved upward to engage the bottom side of the rim of the storage container 9. The tethers 35 can be wound up or down as needed to raise or lower the container holding device 37. One or more motors and winches or other devices can be provided to achieve or control the upward or downward winding of the tethers 35.

[0082] exist Figure 5 and Figure 6 In the figure, the side of the outer body 27 of the robot 25 is omitted so that the interior of the robot 25 can be seen. The outer body 27 of the robot 25 shown has an upper portion 41 and a lower portion 43. The upper portion 41 is configured to accommodate or support one or more operating components (not shown), such as components of the lifting mechanism 33 (e.g., a motor), wireless communication components, one or more processors for controlling the operation of the robot 25, etc. The lower portion 43 is arranged below the upper portion 41. The lower portion 43 is open to the exterior at the bottom and defines a container receiving space 45 for receiving at least a portion of the storage container 9 that has been raised into the container receiving space 45 by the lifting mechanism 33.

[0083] Figure 5 The container receiving space 45 is shown before being occupied by a storage container 9, and Figure 6A container receiving space 45 is shown, already occupied by a storage container 9. Container receiving space 45 is sized so that a storage container 9 can fit sufficiently within space 45 to allow robot 25 to move across the track structure 13 at the top of storage structure 1 without the bottom of the storage container 9 becoming stuck on the track structure 13 or another portion of storage structure 1. When robot 25 reaches its intended destination, lift mechanism 33 controls tether 35 to lower container holding device 37 and the corresponding storage container 9 out of space 45 and to a desired location. This desired location may be a stack 11 of storage containers 9 or an exit point of storage structure 1 (or, if robot 25 has been moved and retrieved a storage container 9 to store it in storage structure 1, an entry point of storage structure 1). Although in the illustrated embodiment, upper portion 41 and lower portion 43 are separated by a physical divider, in other embodiments, upper portion 41 and lower portion 43 may not be physically separated by a specific component or feature of the outer body 27 of robot 25. The top-and-bottom configuration of the robot 25 enables the robot 25 to occupy only a single grid cell 14 of the track structure 13 of the storage system 1 .

[0084] In alternative embodiments, the container receiving space 49 of the robot 25 may not be within the outer body 27 of the robot 25. For example, the container receiving space 49 may instead be adjacent to the outer body 27 of the robot 25, such as in a cantilever arrangement, with the weight of the outer body 27 of the robot 25 counterbalancing the weight of the container 9 to be lifted. In such an embodiment, the frame or arm of the lifting assembly 33 may protrude horizontally from the outer body 27 of the robot 25, and the tether 35 may be disposed at respective locations on the protruding frame / arm and configured to be raised and lowered from these locations to raise and lower the storage container 9 into the container receiving space 45 adjacent to the outer body 27.

[0085] The robot 25 is powered by a power source (e.g., a battery) housed in the power supply compartment. The power source and the power supply compartment are configured to be electrically coupled to each other (e.g., by providing electrical connectors on the power source and in the power supply compartment). Once coupled, power is delivered from the power source to one or more electrical or electronic components of the robot 25, such as the drive assembly, the lifting mechanism 33, and / or the container holding device 37.

[0086] Figure 7 The robot 25 is shown with an area 48 marked with a dashed line. The power compartment can be located anywhere within the area 48. For example, the power compartment can be located entirely within the outer body 27 of the robot 25, or, The power compartment may extend through the top side 28 of the outer body 27 of the robot 25 , or the power compartment may be located entirely above the outer body 27 of the robot 25 .

[0087] In this embodiment, the power compartment is configured to receive power in a downward direction. The compartment is also exposed so that the power compartment can be accessed from the outside from a position above the outer body 27 of the robot 25. Figure 7 The top side 28 of the external body 27 of the robot 25 includes an opening 47. In the case where the compartment is completely within the external body 27 of the robot 25, the opening 47 can communicate with the top opening of the power compartment so that the power supply can be directly inserted into the power compartment 150 from a location above the top side 28 of the external body 27 of the robot 25 via the opening 47, and the power supply can be directly removed from the power compartment to a location above the top side 28 of the external body 27 of the robot 25 via the opening 47. In the case where the power compartment extends through the top side 28 of the external body 27 of the robot 25, the power compartment can extend through the opening 47. In the case where the power compartment is completely above the external body 27 of the robot 25, the power compartment can be mounted on the top side 28 of the external body 27 of the robot 25, and the opening 47 may not be required.

[0088] Figure 4 The outer body 27 of the robot 25 is shown as being defined by a top panel and side panels. Figure 8 Another embodiment of the outer body 27 of the robot 25 is shown, which is defined by corner blocks 60 connected by horizontal connecting elements 62a and vertical connecting elements 62b (e.g., rods) to form an open frame structure. The open frame structure can be used to accommodate and / or support components of the robot 25, such as the drive assembly and the lifting mechanism 33. Due to the open frame structure of the outer body, the top side of the outer body 27 has an opening 47, which is formed by the corner blocks 60 and the horizontal connecting elements 62a at the top side of the robot 25. Figure 7 Similar to the robot 25 shown, the power compartment may be located entirely within the outer body 27 of the robot 25 and in communication with the opening 47 , or the power compartment may extend through the opening 47 of the outer body 27 of the robot 25 or may be located entirely above the outer body 27 of the robot 25 .

[0089] The power compartment of robot 25 forms part of a power supply replacement system, in which a power source can be inserted into the power compartment, removed from the power compartment, or automatically replaced with another power source using an end effector. Several exemplary power compartments are described below. For the sake of brevity, the power compartment will be referred to simply as a "compartment" in the following description.

[0090] Figure 9An exploded view of a first power supply replacement system 100 is shown, wherein the first power supply replacement system 100 includes a power supply 110, a compartment 130 configured to removably receive the power supply 110, and an end effector 150 for moving the power supply 110 into and out of the compartment 130. The compartment 130 is configured to receive the power supply 110 in an insertion direction D, which in this embodiment is a downward direction. The power supply 110 can therefore be removed from the compartment 130 in an upward direction.

[0091] The power source 110 may be a battery or any other suitable form of packaged power source for providing power, such as a supercapacitor. The power source 110 may be a rechargeable power source, such as a rechargeable battery.

[0092] Figure 10 A power supply 110 is shown alone. Power supply 110 includes an outer housing 112. The outer housing 112 includes a base 114, end walls 118 at opposite ends of the outer housing 112, and sidewalls extending between the base 114 and the end walls 118 to define a substantially cuboid shape. The base 114 refers to the wall of the outer housing 112 that faces toward the base 132 of the compartment 130 (i.e., faces downward) when the power supply 110 is oriented for insertion into the compartment 130, while the end walls 118 refer to the wall of the outer housing 112 that faces away from the base 132 of the compartment 130 (i.e., faces upward) when the power supply 110 is oriented for insertion into the compartment 130. When the power supply 110 is within the compartment 130, the end walls 118 are exposed to the end effector 150.

[0093] Power supply 110 further includes one or more electrical connectors 119 configured to electrically couple to corresponding electrical connectors 139 in compartment 130 so that power from power supply 110 can be delivered to any electrical and / or electronic components connected (directly or indirectly) to the electrical connectors in compartment 130. The electrical connectors 119 of power supply 110 and the electrical connectors 139 of the compartment are arranged such that inserting power supply 110 into compartment 130 automatically electrically couples the power supply and the electrical connectors 119, 139 of the compartment. For example, when power supply 110 is oriented for insertion into compartment 130, the electrical connectors 119 of power supply 110 and the corresponding electrical connectors in compartment 130 may face opposite directions so that the electrical connectors 119, 139 are coupled together when power supply 110 is fully inserted. The electrical connectors 119, 139 may take the form of any suitable connector, such as male and female connectors (e.g., pins and sockets), electrical contacts, etc. Figure 13A An exemplary arrangement of the electrical connectors 119 , 139 is shown in , wherein the downward-facing electrical connector 119 is disposed on the base 114 of the power supply 110 , and the upward-facing electrical connector 139 is disposed on the base 132 of the compartment 130 .

[0094] The power supply 110 further includes a handling member 124 mounted on the end wall 118 for engagement with an end effector 150 to allow the end effector 150 to move the power supply 110 into and out of the compartment 130. In this embodiment, each handling member 140 includes a support portion 125 extending upward from the end wall 118 and a retaining portion 126 extending perpendicular to the support portion 125, such that the retaining portion 126 overhangs the end wall 118 of the power supply 110 and defines a vertical space between the end wall 118 and the retaining portion 126. The handling members 140 are evenly spaced at 90-degree intervals about a longitudinal axis 128 extending through the end wall 118 and the base 114 of the power supply 110. Furthermore, the retaining portions 126 all point (i.e., extend away from their respective support portions 125) in the same circumferential direction relative to the longitudinal axis 128 (i.e., the retaining portions 126 all point clockwise or all point counterclockwise).

[0095] Back to Figure 9 , the end effector 150 includes four engagement members 154 extending radially away from a rotation axis 152, wherein the end effector 150 is rotatable about the rotation axis 152. The engagement members 154 lie in a plane perpendicular to the rotation axis 152 and are evenly spaced at 90 degree intervals about the rotation axis 152 to define a substantially cross-shaped shape.

[0096] Figure 11A The power source 110 and end effector 150 are shown in a released position above the end wall 118 of the power source 110. In this position, the longitudinal axis 128 of the power source 110 is coaxial with the rotational axis 152 of the end effector 150, such that the engagement member 154 lies in a plane substantially parallel to the end wall 118. In the released position, the engagement member 154 of the end effector 150 is located at an angular position relative to the longitudinal axis 128 that is between the angular positions of the treatment members 124. In other words, the engagement member 154 is located circumferentially between the treatment members 124 relative to the longitudinal axis 128. As such, when the end effector 150 is in the released position, the engagement member 154 cannot engage the treatment members 124 when the end effector 150 moves upward or downward relative to the power source 110, and thus, the end effector 150 is free to move upward and away from the power source 110. For example, if the treatment member 124 is at angular positions of 0, 90, 180, and 270 degrees relative to the longitudinal axis 128, the engagement member 154 may be at angular positions of 45, 135, 210, and 315 degrees relative to the longitudinal axis 128 when the end effector 150 is in the released position.

[0097] Figure 11BThe power supply 110 and end effector 150 are shown when the end effector 150 is in an engaged position. In the engaged position, the end effector 150 is at an angular position relative to the rotational axis 152 such that each engagement member 154 is received by its respective processing member 124, specifically, between the retaining portion 126 of the respective processing member 124 and the end wall 118 of the power supply 110. In the engaged position, upward movement of the end effector 150 causes the engagement members 154 to engage the retaining portions 126, which in turn causes the power supply 110 to be lifted by the end effector 150. The engagement between the engagement members 154 and the processing member 124 also enables the end effector 150 to support the weight of the power supply 110, allowing the end effector 150 to both hold the power supply 110 in mid-air and lower the power supply 110. The engagement members 154 are also sufficiently long in the radial direction so that they protrude beyond the outer edge of the end wall 118 of the power supply 110.

[0098] To move from the release position to the engaged position, the end effector 150 is rotated in a first direction about its rotational axis 152, and to move from the engaged position to the release position, the end effector 150 is rotated in an opposite second direction about its rotational axis 152. The first and second directions will depend on the arrangement of the treatment member 124. For example, if the treatment member 124 is configured and arranged to receive the engagement member 154 in a counterclockwise direction, the end effector 150 is rotated in a counterclockwise direction to move from the release position to the engaged position, and the end effector 150 is rotated in a clockwise direction to move from the engaged position to the release position, and vice versa. Figure 11A and Figure 11B In the illustrated embodiment, the end effector 150 rotates counterclockwise from the released position to the engaged position and clockwise from the engaged position to the released position.

[0099] To mitigate the risk of the power supply 110 slipping off the end effector 150 when the end effector 150 is holding the power supply 110 in mid-air, the distal end of the retaining portion 126 of each engagement member 154 (i.e., the end of the retaining portion 126 opposite the end attached to the support portion 125) includes a lip 127 extending toward the end wall 118. When the engagement members 154 are engaged with the treatment member 124, each engagement member 154 is laterally constrained between the support portion 125 of its respective treatment member 124 and the lip 127, which helps prevent the engagement members 154 from sliding circumferentially relative to the power supply 110. The vertical distance between each lip 127 and the end wall 118 of the power supply 110 can be sufficiently large to allow the engagement members 154 to pass under the lip 127 when the engagement members 154 rotate between the release position and the engaged position. Alternatively, the vertical distance between each lip 127 and the end wall 118 may be less than the vertical thickness of the engagement member 154, so that when the engagement member 154 moves between the release position and the engagement position, it is necessary to push the engagement member 154 past the lip 127. In this case, the retaining portion 126 may have a certain degree of resilience so that when a torque greater than a torque threshold is applied to the end effector 150 to rotate the engagement member 154 between the engagement position and the release position, the lip 127 deflects upward.

[0100] Figure 12 A separate compartment 130 is shown. Compartment 130 includes a base 132 and sidewalls 134 extending from base 132, defining a generally cuboid power supply receiving space 136 for receiving power supply 110, and a compartment opening 138 through which power supply 110 is inserted into and removed from compartment 130. As described above, compartment 130 includes one or more electrical connectors 139 configured to couple to corresponding electrical connectors 119 on power supply 110 when power supply 110 is inserted into compartment 130.

[0101] System 100 further includes a locking assembly for releasably locking power supply 110 within compartment 130. The locking assembly includes four locking members 140, each mounted adjacent a respective side of power supply receiving space 136. Locking members 140 may be mounted directly or indirectly to sidewall 134 of compartment 130, or may be mounted directly or indirectly to a different support structure adjacent to sidewall 134. In the illustrated embodiment, locking members 140 are mounted between corner brackets mounted to sidewall 134 of compartment 130. Each locking member 140 is pivotally mounted for rotation about a respective horizontal pivot axis parallel to its respective sidewall 134. Locking members 140 can rotate inwardly about their respective pivot axes toward a locked position and outwardly about their respective pivot axes toward an unlocked position.

[0102] Figure 13A is a schematic cross-sectional view of the power supply 110 within the compartment 130 when the locking member 140 is in the locked position, and Figure 13B The locking members 140 are shown in an unlocked position. Each locking member 140 includes a hanging portion 142. In the locked position, the hanging portions 142 overhang the power supply receiving space 136 to prevent the power supply 110 from moving upward out of the compartment 130. In the unlocked position, the hanging portions 142 are vertically away from the power supply receiving space 136 (i.e., they no longer overhang the power supply receiving space 136), allowing the power supply 110 to be lifted out of the compartment 130. In addition, each locking member 140 is biased toward the locked position by a biasing device 146, such as a spring (e.g., a torsion spring).

[0103] Each hanging portion 142 further includes a tapered surface 144 that slopes downwardly toward the base of the compartment 130 so that when the power supply 110 is inserted into the compartment 130, movement of the base 114 of the power supply 110 against the tapered surface 144 causes the locking members 140 to be urged outwardly toward the unlocked position against their respective biasing means. Thus, the power supply 110 can be inserted into the compartment even when the locking members 140 are in the locked position.

[0104] Figure 14A is a perspective view showing the state of the system 100 when the power source 110 is in the compartment 130 and the end effector 150 is in the release position, and Figure 14BA top view is shown. As described above, in the release position, the engagement member 154 is located at an angular position between the angular positions of the treatment member 124 relative to the longitudinal axis 128. Additionally, in the release position, the engagement member 154 is also located at an angular position between the angular positions of the locking member 140 relative to the longitudinal axis 128, such that the engagement member 154 is not engaged with the locking member 140. Thus, when the end effector 150 is in the release position, the locking member 140 is in the locked position due to its respective biasing means.

[0105] Figure 15A is a perspective view showing the state of the system 100 after the end effector 150 has been rotated from the release position to the engagement position, and Figure 15B is a top view. As described above, in the engaged position, the engagement members 154 are circumferentially received by the handling member 124. Furthermore, in the engaged position, each engagement member 154 also engages with its respective locking member 140, causing the locking member 140 to overcome the biasing force of its respective biasing device and remain in the unlocked position. Specifically, because each engagement member 154 protrudes beyond its respective outer edge of the end wall 118 in the engaged position, each locking member 140 is pushed outward far enough so that the overhanging portion 142 no longer overhangs the end wall 118 of the power source 110. Therefore, when the end effector 150 is in the engaged position, the locking members 140 remain in the unlocked position, and subsequent upward movement of the end effector 150 will cause the end effector 150 to move (pull) the power source 110 out of the compartment 130.

[0106] Figures 16A-16D is a sequence diagram showing how to unlock and remove the power source 110 in the compartment 130 using the end effector 150 .

[0107] exist Figure 16A In FIG. 1 , the power source 110 is within the compartment 130 and the locking member 140 is biased by the biasing device 146 into the locked position.

[0108] exist Figure 16B , the end effector 150 is moved to the release position.

[0109] exist Figure 16C In the embodiment of the present invention, the end effector 150 is rotated from the release position to the engagement position about its rotation axis 152. This causes the engagement member 154 to be received by the processing member 124 while simultaneously moving (pushing) the locking member 140 from the locking position to the unlocking position.

[0110] exist Figure 16D , the end effector 150 is moved upward to move the unlocked power source 110 out of the compartment 130 .

[0111] To insert the battery 110 into the compartment 130, the above removal process can be reversed. Specifically, the end effector 150 holds the power source 110 in the engaged position and moves the power source 110 downward into the compartment 130. When the power source 110 is fully inserted into the compartment 130, the end effector 150 rotates from the engaged position to the released position. This causes the engagement member 154 to disengage the locking member 140 and the handling member 124 simultaneously, thereby allowing the biasing device to reset the locking member 140 to the locked position and allowing the end effector 150 to move upward away from the power source 110.

[0112] To replace the first power source 110 in the compartment 130 with the second power source 110, the above removal process can be performed to remove the first power source 110 from the compartment 130, and the above insertion process can be performed to insert the second power source into the empty compartment 130. Between removing the first power source 110 and inserting the second power source 110, the end effector 150 can release the first power source 110 at a position outside the compartment 130 by setting down the first power source 110 and rotating it from the engaged position to the released position. Subsequently, the end effector 150 can retrieve the second power source 110 by rotating it from the released position to the engaged position relative to the second power source 110.

[0113] The first power supply replacement system 100 described above is an embodiment in which the locking member 140 is pivotally rotatable between a locked position and an unlocked position. In a variation of the first power supply replacement system 100, the locking member 140 may instead move linearly between the locked and unlocked positions and further include a biasing device (e.g., a spring) that linearly biases the locking member toward the locked position. Such a variation allows for insertion, removal, and replacement of a power supply in the same manner as the first system 100.

[0114] The first power supply replacement system 100 also includes an embodiment in which the compartment 130 includes a locking member 140 (i.e., the moving part of the locking assembly). In some cases, it may be advantageous to locate the locking member on the power supply rather than in the compartment because, when the locking member needs to be serviced or replaced, it may be easier and / or less expensive to service the power supply than to service the compartment. Next, some exemplary power supply replacement systems in which the power supply includes a locking member are described.

[0115] Figure 17 An exploded view of a second power supply replacement system 200 is shown, wherein the second power supply replacement system 200 includes a power supply 210, a compartment 230 configured to removably receive the power supply 210, and an end effector 250 for moving the power supply 210 into and out of the compartment 230. The compartment 130 is configured to receive the power supply 110 in an insertion direction D, which in this embodiment is a downward direction. The power supply 110 can therefore be removed from the compartment 130 in an upward direction.

[0116] Since these components of the second power replacement system 200 are the same as or similar to those of the first power replacement system 100 , for the sake of brevity, only the significant similarities and differences between the two systems are described below.

[0117] The end wall 218 of the power source 210 includes four processing members 224, which have a form and arrangement similar to the processing members 124 of the first system 100, that is, they are arranged at equal angular intervals around the longitudinal axis 228 of the power source 210 and are configured to receive the engagement members 254 of the end effector 250 in the same circumferential direction.

[0118] The end effector 250 has four engagement members 254 arranged in the same manner as the end effector 150 of the first exemplary power supply replacement system 100, i.e., they are spaced at equal angular intervals about the rotation axis 252 to form a cross shape lying in a plane perpendicular to the rotation axis 252 of the end effector 250. The engagement members 254 and the processing member 224 are configured to interact in the same manner as the first system 100, i.e., the end effector 250 is rotatable between an engaged position, in which the engagement members 254 are received by the processing member 224 to engage with the processing member 224 to allow the end effector 250 to move the power supply 210 into and out of the compartment 230, and a released position, in which the engagement members 254 are disengaged from the processing member 224.

[0119] The locking assembly includes two locking members 240 mounted on the end wall 218 of the power supply 210. The locking members 240 are diametrically opposed about the longitudinal axis 228 of the power supply 210. Figure 18An enlarged view of the locking members 240 is shown. Each locking member 240 includes a handle 241 and a hook 242 located in a plane perpendicular to the longitudinal axis 228. The locking members 240 are sufficiently long in a radial direction relative to the longitudinal axis 228 so that the hook 242 extends outward beyond the outer periphery of the end wall 218. Each locking member 240 is pivotally mounted for rotation about a respective pivot axis extending parallel to the longitudinal axis 228. The pivot axis of each locking member 240 is positioned between the end of the hook 242 and the end of the handle 241, so that the hook 242 can be rotated about the pivot axis by moving the end of the handle 241 about the pivot axis. The locking members 240 can rotate in the same direction about their respective pivot axes between a locked position and an unlocked position (i.e., both locking members 240 can rotate clockwise from the locked position to the unlocked position, and counterclockwise from the unlocked position to the locked position, or vice versa). Each locking member 240 further comprises a biasing device 248 configured to bias the locking member 240 into the locked position. In the illustrated embodiment, the biasing device 248 is in the form of a spring, in particular a torsion spring.

[0120] Back to Figure 17 The locking assembly further includes a blocking member 220 for engaging with the locking member 240 in the locked position to prevent the locking member 240, and therefore the power supply 210, from being removed from the compartment 230. Specifically, the compartment 230 includes two vertically extending posts 220 mounted adjacent to the power supply receiving space 236. In this embodiment, the posts 220 are mounted on a pair of opposing side walls 234 of the compartment 230; however, they may also be mounted on structures adjacent to the side walls 234. Each post 220 includes a neck 221 and a head 222 located on top of the neck 221, with the head 222 having a larger diameter than the neck 221.

[0121] Figure 19A is a perspective view showing the state of the system 200 when the power source 210 is in the compartment 230 and the end effector 250 is in the release position, and Figure 19BA top view is shown. In the released position, relative to the longitudinal axis 228, the engagement members 254 are located at an angular position between the angular positions of the treatment member 224 and the angular position between the angular positions of the locking member 240. In other words, they are not engaged with either the treatment member 224 or the locking member 240. Therefore, the locking member 240 is locked due to the biasing device 248. In the locked position, the hook portion 242 of each locking member 240 engages (hooks) with the neck portion 221 of the respective post 220. The diameter of the head portion 222 is sufficiently large so that it prevents the hook portion 242 from moving upward, thereby preventing the power supply 230 from moving upward out of the compartment 230. Specifically, the diameter of the head portion 222 can be greater than the distance between two opposing points on the inner surface of the hook portion 242.

[0122] Figure 20A is a perspective view showing the state of the system 200 after the end effector 250 has been rotated from the release position to the engagement position, and Figure 20B is a top view. In the engaged position, each engagement member 254 of the end effector 250 is received by its respective processing member 224. Furthermore, in the engaged position, the two engagement members 254 extending in opposing radial directions also engage the locking member 240, causing the locking member 240 to overcome the biasing force of the biasing device 248 and remain in the unlocked position. Specifically, each of the two opposing engagement members 254 moves (pushes) the handle 241 of the locking member 240 against the biasing force of the biasing device 248, causing the hook 242 to disengage (rotate away from) the post 220. In the unlocked position, the hook 242 is vertically separated from the head 222 of the post 220, no longer preventing it from moving upward. Consequently, subsequent upward movement of the end effector 250 causes the end effector 250 to move (pull) the power source 210 out of the compartment 230.

[0123] To remove, insert, and replace the power source 210 using the end effector 250, the same process described above for the first power source replacement system 100 may be followed. In this embodiment where the power source 210 includes a locking member 240, it should be understood that when the end effector 250 holds the power source 210 in an engaged position outside of the compartment 230, the locking member 240 is held in an unlocked position by the engagement member 254, which enables the end effector 250 to move the power source 210 into the compartment 230 without obstruction by the post 220.

[0124] To assist the engaging members 254 in moving the handles 241 of the locking members 240, each engaging member 254 for engaging the locking members 240 includes a roller 256 mounted for rotation about a roller axis parallel to the longitudinal axis 218 (at Figure 17The roller 256 is configured to engage the handle 241 when the engagement member 254 moves the locking member 240 to the unlocked position.

[0125] Although the locking member 240 of the second system 200 is in the form of a hook, the locking member 240 is not limited to this form and may have any shape that extends beyond the outer edge of the power source 210. The blocking member 220 also does not need to be in the form of a column and may have any shape that can receive the locking member 240 in the circumferential direction relative to the pivot axis and prevent the locking member 240 from moving upward. For example, the blocking member 220 may have a form similar to that of the handling member 224.

[0126] Figure 21 An exploded view of a third power supply replacement system 300 is shown, wherein the third power supply replacement system 300 includes a power supply 310, a compartment 330 configured to removably receive the power supply 310, and an end effector 350 for inserting the power supply 310 into the compartment 330 and removing the power supply 310 from the compartment 330. The compartment 330 is configured to receive the power supply 310 in an insertion direction D, which in this embodiment is a downward direction. The power supply 310 can therefore be removed from the compartment 330 in an upward direction.

[0127] Since these components of the third power replacement system 300 are the same as or similar to those of the first power replacement system 100 , only significant similarities and differences between the two systems are described below for the sake of brevity.

[0128] The second power supply replacement system 200 is an embodiment in which the locking member 240 on the power supply 210 pivotally rotates between locked and unlocked positions, while the third power supply replacement system 300 is an embodiment in which the locking member on the power supply moves linearly between locked and unlocked positions.

[0129] The end wall 318 of the power supply 310 includes four processing members 324, which have a form and arrangement similar to the processing members 124 of the first system 100, that is, they are arranged at equal angular intervals around the longitudinal axis 328 of the power supply 310 and are configured to receive the engagement members 354 of the end effector 350 in the same circumferential direction.

[0130] The end effector 350 has four engagement members 354 arranged in the same manner as the end effector 150 of the first exemplary power supply replacement system 100, i.e., they are spaced at equal angular intervals about the rotation axis 352 to form a cross shape lying in a plane perpendicular to the rotation axis 252. The engagement members 354 and the processing member 224 are configured to interact in the same manner as the first system 100, i.e., the end effector 350 is rotatable between an engaged position, in which the engagement members 354 are received by the processing member 324 to allow the end effector 350 to move the power supply 310 into and out of the compartment 330, and a released position, in which the engagement members 354 are disengaged from the processing member 324.

[0131] The locking assembly includes four locking members 340 and four guide members 345, each located on the end wall 318 below a respective treatment member 324. In the illustrated embodiment, the treatment members 324 are mounted on the guide members 345, but the treatment members 324 may alternatively be integrally formed with the guide members 344. The locking members 340 and guide members 345 are spaced at equal angular intervals (i.e., at 90-degree intervals) about the longitudinal axis 328. The locking members 340 are linearly movable in a direction perpendicular to the longitudinal axis 328. Specifically, the locking members 340 are linearly movable outward toward a locked position and inward toward an unlocked position. When the locking members 340 are in the locked position, portions of the locking members 340 protrude beyond the respective outer edges of the end wall 318. When the locking members 340 are in the unlocked position, they are retracted from the outer edges of the end wall 318 so that they no longer protrude beyond the outer edges.

[0132] Figure 22A and Figure 22B Exploded views of the handling member 324, the locking member 340 and the guide 345 are shown from above and below, respectively.

[0133] The shapes of the handling member 324 and the guide 345 are designed to define a space within which the locking member 340 can be accommodated. The locking member 340 is mounted to slide linearly within the guide 344 between a locked position and an unlocked position. The bottom of the locking member 340 includes a protrusion 341 that is received within a linear groove 346 of the base of the guide 345. The groove 347 and the protrusion 341 are configured to limit the movement of the locking member 340 to only linear movement. The locking assembly further includes a biasing device 348 in the form of a torsion spring and engaged between the locking member 340 and the guide 344. The biasing device 348 applies a biasing force to the locking member 340 to bias the locking member toward the locked position.

[0134] The top of the locking member 340 includes a raised portion 343 having a side surface 344 that is inclined relative to the direction of travel of the locking member 340 between the locked and unlocked positions. The side surface 344 is configured to engage with the engagement member 354 while the end effector 350 is rotated from the released position to the engaged position, thereby moving the locking member 340 inwardly to the unlocked position. To facilitate engagement between the engagement member 354 and the side surface 344 of the locking member 340, each roller 356 is mounted on the bottom side of each engagement member 354 for rotation about an axis parallel to the rotation axis 352. When the end effector 350 is rotated from the released position to the engaged position, each roller 356 engages with the side surface 344 of the respective locking member 340 to move the locking member 340 from the locked position to the unlocked position.

[0135] Back to Figure 21 The locking assembly further includes four brackets 320, each mounted adjacent to a respective lateral side of the power supply receiving space 336. In this embodiment, each bracket 320 is mounted on a respective sidewall 316 of the compartment 310, but they may alternatively be mounted on a structure adjacent to the sidewall 316. Each bracket 320 includes a slot or groove 321 configured to receive a portion of the respective locking member 340 when the locking member 340 is in the locked position. Each bracket 320 is configured such that once the locking member 340 is within the slot or groove 321, it cannot move upward, thereby preventing the power supply 310 from moving upward out of the compartment 330. To reduce any tolerances in the vertical positioning of the locking member 340 and the slot or groove 321, each locking member 340 includes a double-beveled edge 342 to assist in self-positioning the locking member 340 within the slot or groove 321.

[0136] Figure 23A is a perspective view showing the state of the system 300 when the power source 310 is in the compartment 330 and the end effector 350 is in the released position, and Figure 23B A top view is shown. In the released position, the engagement members 354 are located at an angular position between the angular positions of the treatment member 324 and the angular position of the locking member 340 relative to the longitudinal axis 328. In other words, they do not engage with either the treatment member 324 or the locking member 340. Thus, the locking member 340 is held in the locked position by the biasing means 348. In the locked position, the bracket 320 prevents the locking member 340 from moving upward, thereby preventing the power source 310 from moving upward out of the compartment 330.

[0137] Figure 24A is a perspective view showing the state of the system 300 after the end effector 350 has been rotated about its rotational axis 352 from the released position to the engaged position, and Figure 24B 3 is a top view. In the engaged position, each engagement member 354 is received by its respective handling member 324. Furthermore, each engagement member 354 has engaged with the side surface 344 of its respective locking member 340, thereby overcoming the biasing force of the biasing device 348 to move (push) the locking member 340 to the unlocked position, and the engagement member 354 maintains the locking member 340 in the unlocked position. In the unlocked position, the locking member 340 has been retracted from the slot or groove 321 of the bracket 320, such that the locking member 340 is no longer prevented from moving upward. Therefore, subsequent upward movement of the end effector 350 will cause the end effector 350 to move (pull) the power supply 310 out of the compartment 230.

[0138] To remove, insert, and replace the power source 310 using the end effector 350, the same process described above for the first power source replacement system 100 may be followed. In this embodiment where the power source 310 includes a locking member 340, it should be understood that when the end effector 350 holds the power source 310 in an engaged position outside of the compartment 330, the locking member 340 is held in an unlocked position by the engagement member 354, which enables the end effector 350 to move the power source 210 into the compartment 230 without being obstructed by the bracket 320.

[0139] The end effectors 150, 250, and 350 of the power supply replacement systems 100, 200, and 300 described above can be mounted at the end of a robotic arm that moves and rotates the end effectors 150, 250, and 350, thereby enabling automated insertion, removal, or replacement of the power supply. The robotic arm can be, for example, a gantry robot or a Cartesian robot that can move the end effector in two or three orthogonal directions (and can also rotate it), or an articulated robot that includes rotational joints that enable more degrees of freedom (e.g., three, four, five, or six degrees of freedom).

[0140] When performing a power supply replacement, the compartment 130, 230, 330 and the power supply 110, 210, 310 inside or outside the compartment can be located at a predetermined position relative to the robotic arm, or at one of a plurality of predetermined positions relative to the robotic arm, so that the robotic arm can be programmed to perform a predetermined movement, thereby moving and orienting the end effector relative to the power supply to move the power supply into or out of the compartment. Alternatively or additionally, the robotic arm can include sensors or a machine vision system to enable the robotic arm to determine the location of the power supply and the compartment using methods known in the art.

[0141] The power supply replacement system 100, 200, 300 may further include one or more power supply stations 170 for storing power supplies 110, 210, 310 that have been removed from the compartments 130, 230, 330 and for storing power supplies to be inserted into the compartments. Figure 25 An exemplary power station 170 is shown including a plurality of slots 172. Each slot 172 is open toward a top surface 171 of the power station 170, such that each slot 172 is capable of receiving a power source in a downward direction. Each slot 172 may include the same locking assembly features as the compartments 130, 230, 330, but locking the power source 110, 210, 310 in the slot 172 is not required, given that the power station 170 is typically stationary when in use. The power station 170 preferably includes a charging system configured to charge the power source 110, 210, 310 when received in the slot 172. For example, the slot 172 may include one or more electrical connectors configured to couple to the electrical connector 119 on the power source 110, 210, 310 to deliver power from the power supply to charge the power source.

[0142] Once the end effector has moved the first power source 110, 210, 310 out of the compartment 130, 230, 330, the end effector 150, 250, 350 can move the first power source to an empty slot 172 at the power station 170 and release the first power source. The end effector 170 can then engage a second power source 110, 210, 310 from the occupied slot 172 and move it to the empty compartment 130, 230, 330. In this way, the depleted power source 110, 210, 310 in the compartment 130, 230, 330 can be replaced with a charged power source 110, 210, 310. The depleted power source 110, 210, 310 can then be recharged at the power station 170 for use in a future replacement operation.

[0143] The use of the power supply replacement systems 100, 200, 300 in the storage and retrieval system described above enables the automatic replacement of the power supply 110, 210, 310 of the robot 25 while the robot 25 remains on the track structure 13 of the storage structure 1. Specifically, one or more robotic arms 50 including end effectors 150, 250, 350 may be positioned on, above, or adjacent to the track structure 13 of the storage structure 1 so that the end effectors can access the compartments 130, 230, 330 of one or more robots 25 on the track structure 13. The track structure 13 may have one or more designated grid cells 14a accessible to the end effectors, to which the robot 25 needs to move in order for the end effectors to perform the power supply replacement. Once the robot 25 is on a given grid cell 14a, the bay may be in a predetermined position relative to the robotic arm 50 so that the robotic arm 50 can be configured to perform a predetermined set of movements of the end effector to perform the power supply replacement.

[0144] Figure 26 An exemplary robotic arm is shown in the form of a gantry robot 50A, wherein the end effector is mounted on a gantry that extends over designated rows of grid cells 14a of a track structure 13. The illustrated gantry robot 50A is configured to move the end effector in a vertical direction and in a first horizontal direction parallel to the designated rows of grid cells 14a of the track structure 13, so that the end effectors 150, 250, and 350 can reach the robot 25 located at any designated grid cell 14a in the row. The gantry robot 50A can be further configured to move the end effector in a second horizontal direction perpendicular to the first horizontal direction to allow the end effector to move over a plurality of designated rows of grid cells 14a.

[0145] Figure 27 An exemplary robotic arm in the form of an articulated robot 50B is shown positioned adjacent to the track structure 13 from which the end effector 150, 250, 350 is able to reach a battery compartment 130, 230, 330 of the robot 25 located on a designated grid cell 14a, or one of a plurality of designated grid cells 14a, at the edge of the track structure 13. However, the articulated robot 50B could also be positioned on the track structure 13 (e.g., on grid cell 14) to allow the end effector to reach a compartment of the robot 25 located on a designated grid cell 14a near the middle of the track structure 13, or one of a plurality of designated grid cells 14a.

[0146] The storage and retrieval system may further include one or more power supply stations 170 as described above. Each power supply storage station 170 may be located within an accessible proximity to one or more robotic arms 50. For example, a power supply station 170 may be located within a portion of a power supply station 170. Figure 26 and Figure 27 In the area 52 marked in the figure, close to the track structure 13. The robot arm 50 can be mounted on the power supply station 170 itself, for example on the top surface 171.

[0147] The storage and retrieval system can include a central control system configured to control the movement and functions of the robot 25 on the track structure 13, as well as the activation of the robotic arm 50 that performs the power supply replacement. The robot 25 and / or the power supplies 110, 210, 310 can include a power monitoring system to monitor the charge levels of the power supplies within the compartments 130, 230, 330. The power supply station 170 can also include a power monitoring system to monitor the charge levels of the power supplies within the slots 172. The control system can use this information to determine: when the robot 100 should move to a designated grid cell 14a to replace its depleted power supply; which vacant slot 172 the robotic arm 50 should place the depleted power supply 202 into; and which occupied slot 172 the robotic arm 50 should retrieve a charged power supply from to insert into the robot 100. When the power monitoring system indicates that the power supply charge level is below a predetermined level, the controller in the robot can send a signal to the central control system, which in turn commands the robot to proceed along a calculated route to the designated grid cell 14a. Once robot 25 has arrived at the designated grid cell 14, it can confirm its location to the central control system, which can then instruct robotic arm 50 to perform a power supply replacement. Robot 25 can then continue operating on track structure 13 while the depleted power supply is recharged at power station 170. The central control system can wirelessly communicate with robot 25 and robotic arm 50 using known wireless communication technologies (e.g., 4G, 5G, Wi-Fi, etc.) via a wireless transmitter and receiver.

[0148] The power supply replacement system of the present invention is not limited to the precise form described above, and various modifications and variations will be apparent to those skilled in the art.

[0149] For example, the locking assembly is not limited to a specific number of locking members, as long as it is sufficient to prevent the power supply from being removed from the compartment in a specific usage scenario. Providing a pair of opposing locking members, such that the power supply is secured at two opposing sides (such as the locking assembly in the second system 200), may help securely secure the power supply in the compartment. Providing two pairs of opposing locking members arranged orthogonally to each other (such as the arrangements in the first system 100 and the third system 300) may provide even greater security.

[0150] As shown in the second power supply replacement system 200, the number of locking members does not have to be equal to the number of processing members or the number of engaging members. The number of processing members and the number of engaging members for engaging with the processing members can be selected to provide sufficient processing stability when the end effector moves the power supply in and out of the compartment, and the number of locking members can also be selected to sufficiently secure the power supply in the compartment. Different requirements may result in different numbers of locking members, processing members and engaging members in a particular system. Therefore, when the end effector is rotated from the release position to the engagement position, not all engaging members in the end effector will be received by the processing member and move the locking member at the same time. Each specific engaging member can be received only by the processing member, or can move only the locking member, or can be received by the processing member and move the locking member at the same time. For the present invention, it is sufficient that the end effector as a whole can be received and moved by the processing member when it is rotated from the release position to the engagement position.

[0151] The handling member need not necessarily take the form described in the above embodiments and may also take other forms suitable for receiving and engaging with a portion of an end effector to enable the end effector to engage with the power source and move the power source into and out of the compartment. For example, the engaging member may include a protrusion, while the handling member may include a groove. The groove is configured to receive the protrusion in a circumferential direction relative to the longitudinal axis of the power source when the end effector is rotated from a release position to an engaged position, and to engage with the protrusion in a vertical direction to allow the end effector to move the power source into and out of the compartment. Alternatively, the handling member may include a protrusion, while the engaging member may include a groove.

[0152] The engagement member does not have to be in the form described and illustrated in the above embodiments, but may have any suitable shape, configuration and arrangement to receive and / or move the locking member by the processing member when the end effector rotates from the release position to the engagement position.

[0153] Although the power receiving space compartment in the above embodiment is defined by the base and side walls, the power receiving space may also be simply a reserved space within a larger area. The compartment may be only partially defined by the base and / or one or more side walls. In addition, the base and / or side walls do not necessarily need to be in the form of solid panels. Instead, the base and / or side walls of the compartment may be in the form of an open frame, wherein the open frame is composed of corner blocks connected together by connecting elements (such as rods), and Figure 8 The exemplary robots shown have similar external bodies.

[0154] Although in the above description of the exemplary power supply replacement system, the compartment is oriented so as to receive the power supply in a downward direction, the power supply replacement system is not limited to this orientation of the compartment. Generally, the compartment is configured to receive the power supply in an insertion direction, and any specific directional terms and orientation terms used in the above description are not limiting, but should be understood to be relative to the insertion direction. For example, the compartment can be oriented so as to receive the power supply in a horizontal direction. In this case, the power supply is also oriented so that the end wall of the power supply faces the horizontal direction, and the rotation axis of the end effector is oriented in the horizontal direction for rotation between the engaged position and the released position. A power supply replacement system for horizontal insertion and removal of the power supply can also be used with the robot 25 of the above-mentioned storage and retrieval system. For example, the compartment can be configured to be exposed at the lateral side of the outer body 27 of the robot 25 so that the end effector can access the compartment from the outside, thereby allowing the end effector to move the power supply into and out of the compartment in a horizontal direction.

[0155] The power supply replacement system is not limited to use with the robot 25 described above, but can also be used with any device that can be powered by a replaceable power supply. For example, the power supply replacement system can be used with other types of load handling equipment, carriers, or robots.

[0156] The present invention thus provides a system that securely locks a replaceable power source in a compartment and allows for efficient, automated unlocking and removal of the power source using an end effector. The end effector only needs to perform a simple rotational movement to simultaneously unlock the power source and position it for engagement with the power source for removal from the compartment. Similarly, the end effector only needs to perform a simple rotational movement to simultaneously release the power source and lock it in the compartment. Thus, the end effector does not need to perform any complex clamping movements to engage and unlock the power source, enabling the use of a simple and cost-effective end effector.

Claims

1. A power supply replacement system, comprising: a compartment configured to removably receive a power source; an end effector rotatable between an engaged position for engaging the power source to move the power source into and out of the compartment and a released position; as well as a locking assembly including a locking member movable between a locked position that prevents removal of the power supply from the compartment and an unlocked position that enables removal of the power supply from the compartment; Wherein, the end effector and the locking assembly are configured such that rotation of the end effector from the released position to the engaged position causes the end effector to move the locking member from the locked position to the unlocked position.

2. The power supply replacement system according to claim 1, wherein: The compartment includes the locking member.

3. The power supply replacement system according to claim 1 or claim 2, wherein: The compartment defines a power supply receiving space for receiving the power supply, and the locking member is configured to overhang the power supply receiving space in the locked position to prevent the power supply from being removed from the compartment.

4. The power supply replacement system according to claim 3, wherein: The end effector is configured such that, when the end effector is in the engaged position, the end effector extends beyond the power receiving space to enable the end effector to move the locking member to the unlocked position.

5. The power supply replacement system according to any one of claims 2 to 4, wherein: The locking member includes a tapered surface configured such that movement of the power supply into the compartment moves the locking member from the locked position to the unlocked position to allow the power supply to be received into the compartment.

6. A power supply replacement system according to any one of the preceding claims, further comprising a power supply, said power supply comprising said locking member, and wherein, The compartment is configured to engage the locking member when the locking member is in the locked position to prevent removal of the power source from the compartment.

7. The power supply replacement system according to claim 6, wherein: The power supply includes one or more processing members, wherein each processing member is configured to receive a respective portion of the end effector when the end effector is rotated from the release position to the engagement position, and the one or more processing members are further configured to engage with the respective portion of the end effector to enable the end effector to move the power supply into and out of the compartment.

8. A power supply replacement system according to any one of the preceding claims, wherein: The power supply compartment is configured to electrically couple to the power supply when the power supply is received in the compartment.

9. A power replacement system according to any one of the preceding claims, wherein: The locking assembly further includes a biasing device configured to apply a biasing force for biasing the locking member to the locked position, and the end effector and the locking assembly are further configured such that rotation of the end effector from the engaged position to the released position allows the biasing force to reset the locking member to the locked position.

10. The power supply replacement system according to claim 9, wherein: The end effector and the locking assembly are configured such that the locking member is retained in the unlocked position by the end effector when the end effector is in the engaged position.

11. A power supply replacement system according to any one of the preceding claims, wherein: The locking assembly includes a plurality of locking members, and wherein the locking assembly and the end effector are configured such that rotation of the end effector from the released position to the engaged position causes the end effector to move each locking member from the locked position to the unlocked position.

12. The power supply replacement system according to claim 11, wherein: The end effector includes a plurality of engagement members arranged such that, when the end effector is rotated about the rotation axis from the release position to the engagement position, each specific engagement member moves to a position for engaging with the power source and / or moves one of the locking members from the locking position to the unlocking position.

13. When claim 12 is dependent on claim 7 or any claim dependent on claim 7, a power supply replacement system according to claim 12, wherein: The plurality of engagement members are arranged such that, when the end effector is rotated from the release position to the engagement position, each particular engagement member is received by one of the handling members and / or moves one of the locking members from the locking position to the unlocking position.

14. A power replacement system according to any one of the preceding claims, wherein: The end effector is mounted on a robotic arm configured to move and rotate the end effector between the engaged position and the released position.

15. The power supply replacement system according to any one of the preceding claims, further comprising a power supply station, the power supply station comprising a plurality of slots, each slot being configured to receive the power supply, wherein: The end effector is further configured to move the power source between the compartment and any of the slots of the power station.

16. The power supply replacement system according to claim 15, wherein: Each slot is configured to charge the power source when the power source is received in the slot.

17. The power supply replacement system of any preceding claim, further comprising a load handling device for lifting and moving containers arranged in a stack in a storage structure, the storage structure comprising a track structure, the track structure comprising a first set of tracks and a second set of tracks, the first set of tracks extending in a first direction, the second set of tracks extending in a second direction, the second direction being substantially perpendicular to the first direction to form a grid pattern, the grid pattern defining a plurality of grid cells above the stack of containers, the load handling device comprising: a drive assembly configured to move the load handling device on the track structure; a container holding device configured to releasably hold the container from above; as well as a lifting mechanism configured to raise and lower the container holding device; Wherein the load handling device includes the compartment, and the compartment is configured to deliver power to one or more electrical or electronic components of the load handling device when the power source is received in the compartment.

18. A storage and retrieval system, comprising: A storage structure, the storage structure comprising: a track structure comprising a first set of tracks extending in a first direction and a second set of tracks extending in a second direction substantially perpendicular to the first direction to form a grid pattern defining a plurality of grid cells; and a plurality of upright members configured to support the track structure from below to define a storage area below the track structure for storing a stack of a plurality of containers below each grid cell; and Wherein, the storage and retrieval system further comprises a battery replacement system according to claim 17.

19. The storage and retrieval system of claim 18, wherein: The end effector is mounted on a robotic arm located on, above, or adjacent to the track structure so that the end effector can move a power source into and out of the compartment of the load handling equipment located on the track structure.

20. A method of inserting a power supply into a compartment of a power supply replacement system according to any one of claims 1 to 17 or a storage and retrieval system according to claim 18 or claim 19, the method comprising the steps of: (i) moving the power source into the compartment using the end effector in the engaged position; as well as (ii) rotating the end effector from the engaged position to the released position.

21. A method of removing a power supply from a compartment of a power supply replacement system according to any one of claims 1 to 17 or a storage and retrieval system according to claim 18 or claim 19, the method comprising the steps of: (i) rotating the end effector from the release position to the engagement position; as well as (ii) Using the end effector, move the power source out of the compartment.

22. A method of replacing a power supply in a compartment of a power supply replacement system according to any one of claims 1 to 17 or a storage and retrieval system according to claim 18 or claim 19, the method comprising the steps of: (i) rotating the end effector from the released position to the engaged position relative to a first power source in the compartment; (ii) moving the first power source out of the compartment using the end effector; (iii) inserting a second power source into the compartment using the end effector in the engaged position; as well as (iv) rotating the end effector from the engaged position to the released position.

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