Power holding system

Abstract

Power holding system. The power holding system (100) includes a power supply (110) having an outer case (112), and a lock member (122) attached to the upper part of the outer case (112) and rotatable about a vertical axis (V) with respect to the outer case (112). This system is configured to removably accommodate the power supply (110) vertically in a power supply accommodation space (155), and further includes a power supply chamber (150) having a holding member (158) disposed adjacent to the power supply accommodation space (155). The lock member (122) is rotatable about the vertical axis (V) in a locking direction to a locking position where the lock member (122) engages with the holding member (158) to prevent the power supply (110) from being removed upward from the power supply chamber (150). Further, the lock member (122) is rotatable about the vertical axis (V) in an opposite unlocking direction to an unlocking position where the lock member (122) is disengaged from the holding member (158) to enable the power supply (110) to be removed upward from the power supply chamber (150).

Description

Technical Field

[0001] The present invention relates to a power supply holding system for securely holding a power supply in a power supply room.

Background Art

[0002] In some commercial and industrial activities, a system that enables the storage and retrieval of a large number of various products is required. International Publication No. 2015019055 (A1) describes a storage and retrieval system in which stacks of storage containers are arranged within a grid storage structure. This system further includes a remotely operated handling device configured to move over tracks located above the grid storage structure. To access the containers within the grid storage structure, the handling device includes a container holding device for releasably gripping the container at the top of the stack and a lifting mechanism for raising and lowering the container.

[0003] Each handling device is powered by a rechargeable battery. The rechargeable battery is typically charged in place by driving the handling device to a charging station located at the edge of the grid storage structure. During battery charging, the handling device remains stationary at the charging station. The charging period is a major cause of the handling device's downtime and can extend for several hours.

[0004] To reduce the problem of charging downtime, the handling device can be powered by a replaceable battery. When the battery of the handling device is depleted, the depleted battery is replaced with a fully charged battery, so that the charging downtime is reduced to the time required for battery replacement rather than the battery charging time.

[0005] When the handling device is operating on a truck with a grid storage structure, it may encounter impacts, vibrations, and even collisions. In the case of a handling device powered by a replaceable battery, it is desirable to firmly hold the battery within the handling device so that the battery does not accidentally pop out of the handling device. Therefore, a battery holding system is required to safely hold the battery in the battery compartment.

Summary of the Invention

[0006] The present invention is defined in the appended claims. Power holding system The present invention provides a power holding system comprising an external case, a power source attached to the upper part of the external case and rotatable about a vertical axis with respect to the external case, and a power source chamber configured to removably accommodate the power source in a vertical direction in a power source accommodation space and provided with a holding member disposed adjacent to the power source accommodation space. When the power source is within the power source accommodation space, the locking member is rotatable about the vertical axis in a locking direction to a locking position where the locking member engages with the holding member to prevent the power source from being removed upward from the power source chamber. Further, the locking member is rotatable about the vertical axis in an opposite unlocking direction to an unlocking position where the locking member is disengaged from the holding member to enable the power source to be removed upward from the power source chamber.

[0007] The locking member may comprise an arm that protrudes outward horizontally beyond the outer case. The holding member may be configured to engage with the arm when the locking member rotates to the locking position and to be disengaged from the arm when the locking member rotates to the unlocking position.

[0008] The holding member may comprise a holding channel configured to accommodate the arm when the locking member is rotated to the locking position. The holding channel may be partially defined by an upper holding wall configured to substantially prevent upward movement of the arm and thereby prevent the power source from being removed from the power source chamber.

[0009] The retaining channel may be further defined by an end retaining wall configured to prevent further rotation of the arm in the locking direction when the locking member is in the locked position.

[0010] The upper retaining wall may include a retaining protrusion extending downwardly into the retaining channel. The retaining protrusion is configured to resist rotation of the locking member in the unlocking direction when the arm is in the locked position. The retaining protrusion is deflectable in the vertical direction such that the arm can pass through the retaining protrusion when the torque applied to the locking member exceeds a torque threshold.

[0011] The arm may include a recess configured to receive the retaining protrusion when the locking member is in the locked position.

[0012] At least a portion of the upper retaining wall is deflectable in the vertical direction such that the retaining protrusion can deflect in the vertical direction.

[0013] The power retention system may further include a stop wall extending over the upper retaining wall. The stop wall may be spaced vertically from the upper retaining wall to prevent vertical deflection of the upper retaining wall beyond a threshold deflection. The stop wall may form part of the retaining member. The stop wall may be separate from the retaining member.

[0014] The locking member may be vertically movable relative to the outer case between a locked position where a portion of the locking member engages a portion of the outer case to prevent rotation of the locking member about its vertical axis relative to the outer case, and an unlocked position where the said portion of the locking member is disengaged from the said portion of the outer case to permit rotation of the locking member about its vertical axis relative to the outer case.

[0015] The locking member may comprise an upper part and a lower part. The outer case may comprise an upper wall sandwiched between the upper part and the lower part. The upper part and the lower part may be firmly connected to each other via the upper wall. The upper part may be outside the outer case. The lower part may be inside the outer case. The vertical distance between the upper part and the lower part of the locking member may be configured such that the locking member can move vertically with respect to the upper wall of the outer case. The lower part may be configured to engage with the upper wall when the locking member is in the holding position and to be disengaged from the upper wall when the locking member is in the release position. The locking member may be movable upward toward the holding position and downward toward the release position. At rest, the locking member may remain in the release position due to gravity.

[0016] The downward-facing surface of the upper wall of the outer case and the upward-facing surface on the opposite side of the lower part of the locking member may be configured with interlocking features such that when the locking member is in the holding position, they prevent rotation of the locking member about its vertical axis relative to the outer case, and when the locking member is in the release position, they disengage to allow rotation of the locking member about its vertical axis relative to the outer case. The interlocking features may be arranged circumferentially about the vertical axis. The interlocking features may be configured to engage with each other circumferentially with respect to the vertical axis when the interlocking features are interlocked to prevent rotation of the locking member relative to the outer case. The interlocking features may comprise protrusions and corresponding recesses, for example, a protrusion on the downward-facing surface of the upper wall of the outer case and a corresponding recess on the upward-facing surface of the lower part of the locking member, or vice versa, or a mixture of protrusions and recesses on each of the upper wall of the outer case and the lower part of the locking member. The interlocking features may be provided with castellations, for example, the downward-facing surface of the upper wall of the outer case may be provided with castellations and the upward-facing surface of the lower part of the locking member may be provided with complementary castellations. The outer case may comprise a mount removably attached to the outer wall of the outer case (e.g., the upper outer wall). The mount may comprise the above-described upper wall of the outer case.

[0017] The outer case may include an upper wall. The locking member may include an upper part firmly connected to the lower part. The upper wall is sandwiched between the upper part and the lower part, so that the locking member is rotatable relative to the outer case, and the outer case can be lifted by lifting the locking member.

[0018] The vertical distance between the upper part and the lower part of the locking member may be configured such that the locking member is movable in the vertical direction relative to the upper wall of the outer case. The downward-facing surface of the upper wall of the outer case and the upward-facing surface of the lower part of the locking member may be provided with interlocking features configured to prevent rotation of the locking member relative to the outer case when the locking member is in an upper position relative to the outer case and to disengage and allow rotation of the locking member relative to the outer case when the locking member is in a lower position relative to the outer case. When at rest, the locking member may be in the lower position due to gravity. The interlocking features may include castellations.

[0019] The locking member may include a plurality of arms, and the power supply chamber may include a plurality of holding members. Each holding member may be configured to engage with a respective arm when the locking member is rotated to the locked position. The plurality of arms may be symmetrically arranged about a vertical axis. The plurality of holding members may be symmetrically arranged about the power supply accommodation space.

[0020] The outer case of the power supply may be substantially cuboid-shaped. The power supply chamber may be substantially cuboid-shaped. The power supply accommodation space may be substantially cuboid-shaped. The power supply chamber and / or the outer case of the power supply may have a shape other than cylindrical (i.e., not cylindrical).

[0021] The power supply may be a battery such as a rechargeable battery, for example.

[0022] The power supply may be configured to be electrically coupled to the power supply chamber. The power supply may be configured to be electrically coupled to the power supply chamber when vertically inserted into the power supply chamber. The power supply may include an electrical connector or contact configured to be electrically coupled to a corresponding electrical connector or contact in the power supply chamber. Handling device The present invention also provides a handling device for lifting and moving a container disposed in a stack within 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 and the second set of tracks extending in a second direction, the second direction being substantially perpendicular to the first direction, forming a grid pattern defining a plurality of grid cells over the stack of containers, the handling device comprising a drive assembly configured to horizontally move the handling device on the track structure, a container holding device configured to releasably hold the container from above, a lifting mechanism configured to raise and lower the container holding device, and a power supply holding system as defined above, the power supply being configured to be electrically coupled to the power supply chamber to supply power to one or more components of the handling device.

[0023] The drive assembly and / or the container holding device and / or the lifting mechanism may be powered from the power supply.

[0024] Since the power supply chamber is externally accessible from above the handling device, the power supply can be inserted downward into the power supply chamber from a position above the handling device. When the power supply is in the power supply chamber, the locking member may be exposed externally.

[0025] The handling device includes an external opening communicating with the upper part of the power supply accommodation space, and the power supply can be vertically accommodated in the power supply accommodation space through the external opening. Alternatively, the power supply chamber may extend through the external opening. Power supply station The present invention also provides a power station comprising at least one of the power holding systems defined above. The power chamber or each power chamber may be arranged such that the power chamber or each power chamber can be accessed from above to vertically insert or remove the power source.

[0026] The power station may be provided with a charging system configured to charge the power source when housed in any of the power chambers. Power exchange system The present invention also provides a power exchange system comprising the power holding system defined above and an end effector configured to releasably engage with a locking member and further rotate about a vertical axis to rotate the locking member between a locked position and an unlocked position, and configured to move vertically with respect to the power chamber to raise and lower the power source in and out of the power chamber.

[0027] The locking member may comprise a first processing feature, and the end effector may comprise a second processing feature. The end effector is configured such that when the end effector is rotated in the locking direction and the unlocking direction, the second processing feature engages with the first processing feature so that the end effector can rotate the locking member between the locked position and the unlocked position, and the second processing feature is disengaged from the second processing feature, so that the end effector can freely rotate relative to the locking member in either the locking direction or the unlocking direction. It may be vertically movable between the disengaged positions.

[0028] The first processing feature may comprise a recess, and the second processing feature may comprise a protrusion, or vice versa, and the recess is configured to circumferentially accommodate the protrusion up to the disengaged position.

[0029] The second processing feature portion is movable to an engagement position for engaging the first processing feature portion in both the locking direction and the unlocking direction, whereby the end effector can rotate the locking member in both the locking direction and the unlocking direction. The first and second processing feature portions may be configured such that the second processing feature portion is movable to the engagement position by first moving circumferentially toward the first processing feature portion and then moving upward to the engagement position.

[0030] The locking member may include a plurality of first processing feature portions arranged symmetrically about a vertical axis. The end effector may include a plurality of second processing feature portions arranged symmetrically about the rotation axis of the end effector. Each second processing feature portion may be configured to engage with each respective first processing feature portion when the second processing feature portion is in the engagement position.

[0031] The power processing device may be a robotic arm.

[0032] The power exchange system may further include a handling device for lifting and moving a container arranged in a stack within a storage structure, the storage structure including a track structure, the track structure including a first set of tracks and a second set of tracks, the first set of tracks extending in a first direction, the second set of tracks extending in a second direction, the second direction being substantially perpendicular to the first direction, forming a grid pattern defining a plurality of grid cells above the stack of containers, and the handling device including a drive assembly configured to horizontally move the handling device on the track structure, a container holding device configured to releasably hold the container from above, a lifting mechanism configured to raise and lower the container holding device, and a power holding system. The power is configured to be electrically coupled to a power room to supply power to one or more components of the handling device.

[0033] The power exchange system may further include the power station defined above. The power processing device may further be configured to move power between either the power chamber of the cargo handling device and the power chamber of the power station. Storage and Retrieval System The present invention further provides a storage and retrieval system comprising a storage structure, the storage structure comprising a track structure having 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, and a plurality of upright members defining a storage area below the track structure for supporting the track structure from below and storing a stack of a plurality of containers below each grid cell to form a grid pattern defining a plurality of grid cells. The storage and retrieval system further includes the cargo handling device or the power exchange system defined above.

[0034] The cargo handling device is disposed on the track structure, and the power processing device may be disposed above or on or adjacent to the track structure such that the power processing device can engage with the power of the cargo handling device on the track structure.

[0035] The storage and retrieval system may further include the power station defined above.

[0036] The storage and retrieval system further includes a stack of a plurality of containers, each stack being disposed below a respective grid cell.

[0037] Hereinafter, the present invention will be described for illustrative purposes only with reference to the accompanying drawings.

Brief Description of the Drawings

[0038]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14A

Figure 14B

Figure 14C

Figure 14D

Figure 14E

Figure 14F

Figure 15

Figure 16

Figure 17

Figure 18

Figure 19

Figure 20

Figure 21

Figure 22

Figure 23

Figure 24

Figure 25

Figure 26

Figure 27

Figure 28

Figure 29

DETAILED DESCRIPTION OF THE INVENTION

[0039] The power supply holding system 100 according to the present invention includes a power supply 110 and a power supply room 150 configured to removably accommodate the power supply 110.

[0040] The power supply 110 may be a battery such as a rechargeable battery, for example. In the remainder of this description, the present invention will be described in the context of a battery holding system 100 including a battery 110 and a battery room 150. However, the power supply 110 is not limited to a battery, and other suitable forms of cased power supplies for supplying power, such as supercapacitors, can be used.

[0041] FIG. 1 shows a battery 110 including an outer case 112 that houses battery cells. The outer case 112 includes a base 112, side walls 116, and an upper wall 118 that define a substantially rectangular parallelepiped shape. The battery 110 further includes a lock member 122 having a central disk 124 attached to the upper wall 118 so as to rotate with respect to the outer case 112 about a vertical rotation axis V passing through the center of the central disk 122.

[0042] FIG. 2 shows a cross-section of the battery 110 along a vertical plane passing through the center of the central disk 122. The central disk 122 includes an upper disk 126 located above the upper wall 118 of the outer case 112 (i.e., outside the outer case 112), and a lower disk 128 located below the upper wall 118 (i.e., inside the outer case 112). The upper disk 126 is connected to the lower disk 128 via a connection portion 127 using any suitable connecting means (e.g., screws or bolts). The upper wall 118 has an opening through which the connection portion 127 passes. The upper wall 118 is sandwiched between the upper disk 126 and the lower disk 128, and the central disk 124 can rotate freely with respect to the upper wall 118 about a vertical axis. When the central disk 124 is lifted, the outer case 112 is also lifted together.

[0043] FIG. 3 shows a top view of the locking member 122. The locking member 122 further includes a pair of arms 132 that are disposed diametrically opposite each other about the center of the central disk 124 and have two-fold rotational symmetry with respect to the vertical axis. The arms 132 are connected to or integrally formed with the upper disk 124 such that when the central disk 124 rotates about the vertical axis, the arms 132 rotate with the central disk 124. As shown in FIG. 1, when the locking member 122 is attached to the outer case 112, the arms are located on the upper wall 118 and project horizontally outward beyond the side wall 116 of the outer case 112.

[0044] The locking member 122 further includes a positioning feature 125 in the form of a positioning recess 125 located at the center of the central disk 124, and each arm 132 includes a processing feature 138 in the form of a processing recess 138. The positioning recess 125 and the processing recess 138 are provided to enable the end effector of the robotic arm to interact with the locking member 122, which will be described in more detail later.

[0045] FIG. 4 shows a perspective view of one of the arms 132. Each arm 132 includes a distal end portion 133 that extends beyond the side wall 116 of the outer case 112. The distal end portion 133 includes a recess 136 that extends downward on the upper surface of the distal end portion 133, and a tapered surface 134 that tapers upward in a tangential direction from the periphery of the distal end portion 133 toward the recess 136. The recess 136 and the tapered surface 134 serve to hold the battery 110 in the power supply chamber, as will be described later.

[0046] FIG. 5 shows a battery chamber 150 for removably accommodating the battery 110 downward. The battery chamber 150 includes a base 152 and side walls 154 extending upward from the base 152, and at least partially defines a substantially rectangular parallelepiped battery accommodation space 155 having an upper opening 156 for inserting and removing the battery 110 vertically into and out of the battery chamber 150. The battery chamber 150 can include one or more contacts or connectors (not shown) configured to connect to corresponding contacts or connectors (not shown) on the battery 110 when the battery 110 is inserted into the battery chamber 150 and transfer power from the battery 110 to any electrical or electronic components coupled to the battery chamber 150 and the battery chamber. For example, the battery chamber 150 may include upward-facing contacts configured to engage downward-facing contacts on the battery 110 when the battery 110 is vertically accommodated within the power supply chamber 150.

[0047] The battery chamber 150 further includes a pair of holding members 158 attached to a pair of opposing side walls 154 of the battery chamber 150, and the holding members 158 are disposed on opposing side surfaces of the battery accommodation space 155, at the upper part of the battery accommodation space 155, or near the upper part.

[0048] FIG. 6 shows the battery 110 accommodated in the battery accommodation space 155 of the battery chamber 150. In FIG. 6, since the arm 132 of the lock member 122 is in the unlocked position, the battery 110 can be freely inserted vertically into or removed from the battery chamber 150.

[0049] FIG. 7 shows the arm 132 in a locked position where the distal end 133 of the arm 132 is received by the holding member 158. The holding member 158 is configured to prevent the arm 132 from moving upward, thereby preventing the entire battery 110 from being lifted out of the battery compartment 150.

[0050] In use, by rotating the locking member 122 about its axis of rotation in the locking direction, the arm 132 is moved from the unlocked position to the locked position, and by rotating the locking member 122 about its axis of rotation in the opposite unlocking direction, the arm 132 is moved from the locked position to the unlocked position. In this illustrated example, the locking direction is counterclockwise and the unlocking direction is clockwise.

[0051] FIG. 8 shows a perspective view of the holding member 158. The holding member 158 includes a horizontally extending holding channel 160 defined between an upper holding wall 162 and a lower holding wall 161. The holding channel 160 is open at one side end and receives the distal end 133 of the arm 132 when one side of the arm 132 rotates in the locking direction. The other end of the holding channel 160 is surrounded by an end holding wall 166. The holding member 158 is configured such that the end holding wall 166 extends upward from the bottom holding wall 161 and the upper holding wall 162 extends horizontally from the end holding wall 166. The upper holding wall 162 includes a holding protrusion 164 that projects downward into the holding channel 160. Since the holding protrusion 164 is disposed within the holding channel 160, the distal end 133 of the arm 132 needs to push over the holding protrusion 164 when moving between the locked position and the unlocked position.

[0052] FIG. 9 shows a side cross-sectional view of the holding member 158 with the arm 132 in the locked position (i.e., fully received within the holding channel 160). In the locked position, it can be seen that the distal end 133 of the arm 132 is prevented from moving upward by the upper holding wall 162, further movement in the locking direction is prevented by the end holding wall 166, and downward movement is prevented by the lower holding wall 161. In the locked position, since the holding projection 164 of the upper holding wall 162 fits into the recess 136 of the distal end 133 of the arm 132, it can also be seen that rotation of the arm 132 in the unlocking direction is prevented.

[0053] When moving between the locked position and the unlocked position, in order to enable the distal end 133 of the arm 132 to move over the holding projection 164, the connection portion 163 between the upper holding wall 162 and the end holding wall 166 is provided with elasticity such that the upper holding wall 162 and the holding projection 164 can deflect vertically about the connection portion 163. Alternatively, another portion of the upper holding wall 162 and / or the holding projection 164 can be made to have a certain degree of elasticity, and as a result, the upper holding wall 162 and / or the holding projection 164 can elastically deflect away from the lower holding wall 161. Thus, when the arm 132 is in the locked position and a torque greater than the torque threshold is applied to the locking member, the arm 132 deflects the holding projection 164 upward and out of the recess 136, enabling the arm 132 to exit the holding channel 160 in the unlocking direction. However, when the torque applied to the locking member 122 is less than the torque threshold, the holding projection 164 remains within the recess 136, stopping the arm 132 from exiting the holding channel 160 in the unlocking direction. In this way, the battery 110 is likely to remain locked within the battery chamber 150 during minor collisions or impacts to the battery holding system 100, but can be unlocked by intentionally rotating the locking member 122 in the unlocking direction.

[0054] Similarly, due to this elasticity, when the locking member 122 rotates from the unlocked position to the locked position, the arm 132 can push past the retaining projection 164 and enter the retaining channel 160. The tapered portion 134 of the distal end portion 133 of the arm 132 tapers upwardly towards the recess 136, and the distal end portion 133 slides past the retaining projection 164 and helps to push it upwardly before the retaining projection 164 enters the recess 136. Alternatively or additionally, the retaining projection 164 may comprise a tapered surface or a rounded surface.

[0055] To further prevent the arm 132 from accidentally disengaging from the retaining channel 160 from the locked position, the retaining member 158 further comprises an upper stop wall 168 extending on the upper retaining wall 162. The retaining member 158 is configured such that the stop wall 168 extends horizontally from the end retaining wall 166. The retaining member 158 further comprises a rear retaining wall 167 located outside the retaining member 158 (relative to the center of the battery chamber 150) and extending between the stop wall 168, the bottom retaining wall 161, and the end retaining wall 166. The end retaining wall 166, the rear retaining wall 167, and the stop wall 168 form a rigid structure extending across the upper portion of the upper retaining wall 162. The stop wall 168 is disposed at a vertical distance from the upper retaining wall 162, and thus the stop wall 168 prevents the upper retaining wall 162 from deflecting upwardly beyond a certain vertical distance (i.e., the stop wall 168 provides a hard stop against upward deflection of the upper retaining wall 162). In this way, during a more severe collision or impact of the battery holding system 100, the risk that the upper retaining wall 162 breaks (e.g., at the connection portion 163) or deflects too far away from the lower retaining wall 161 and the arm 132 "jumps out" of the retaining channel 160 is reduced.

[0056] Instead of being part of the retaining member 158, the stop wall 168 may be a separate component (i.e., not integrally formed with any other wall of the retaining member or connected to any wall of the retaining member 158) that extends over the upper retaining wall 162 and serves the same function of providing a hard stop against upward deflection of the upper retaining wall 162. In this case, the stop wall 168 may be attached separately from the retaining member 158 on the side wall 154 of the battery chamber 150 or on another structure that is not part of the battery chamber 150.

[0057] Referring to FIGS. 6 and 7, it can be seen that the retaining member 158 is oriented such that the placement of the retaining member 158 with respect to the center of the battery chamber 150 (or the center of the battery receiving space 155) is two-fold symmetric. Thus, when the locking member 122 rotates in the locking direction, each arm 132 is received in the corresponding retaining member 158 substantially simultaneously.

[0058] The battery retaining system 100 can form part of an automatic battery exchange system that can insert or remove the battery 110 into or from the battery chamber 150 using a robotic arm or other automated handling device. The robotic arm may be, for example, a gantry robot, a Cartesian robot where the end effector is movable along three orthogonal directions, or an articulated robot with rotational joints providing greater axes and degrees of freedom.

[0059] FIG. 10 shows a bottom perspective view of an end effector 170 that can be used with a robotic arm to engage the locking member 122 from above and lift and rotate the battery 110. The end effector 170 includes a disk-shaped head 171 that rotates about a rotational axis passing through the center of the head 171 and is attached to the end of the robotic arm. The bottom of the head 171 includes a centrally located positioning protrusion 172 that extends downward and a pair of diametrically opposed processing protrusions 178 that extend downward and are equidistant from the center of the head 171. Each processing protrusion 178 includes a stem portion 176 that leads to a distal valve portion 178 that is wider (in diameter) than the stem portion 176.

[0060] FIG. 11 shows a state where the end effector 170 is disposed on the locking member 122 of the battery 110 and the rotation axis of the end effector 170 is aligned with the rotation axis of the locking member 122. As shown by the dashed lines in the figure, the positioning protrusion 172 and the processing protrusion 174 are arranged on the head 171 such that when the positioning protrusion 172 of the end effector 170 is vertically aligned with the positioning recess 125, the processing protrusion 174 can be vertically aligned with the processing recess 138. That is, the processing protrusion 174 is such that the processing recess 138 is separated from the center of the locking member 122 by the same radial distance as from the center of the head 171. The positioning protrusion 172 and / or the positioning recess 125 can be tapered (e.g., conical or frustoconical), whereby when the end effector 170 is lowered toward the locking member 122, the positioning protrusion can be automatically aligned with the positioning recess 125 through sliding contact.

[0061] The positioning recess 125 of the locking member 122 is configured to accommodate the positioning protrusion 172 of the end effector 170 in the downward direction, and the processing recess 138 is configured to accommodate the processing protrusion 174 in the circumferential direction (in this example, the locking direction).

[0062] Figures 12 and 13 show perspective views of one of the processing recesses 138 enlarged. Each processing recess 138 includes a lower processing recess 140 that communicates with an upper processing recess 144. The lower processing recess 140 is sized and configured to accommodate the valve portion 178 of the processing projection 174 in a first circumferential direction. In particular, the width of the inlet of the lower processing recess 140 in the first circumferential direction is larger than the width (diameter) of the valve portion 178. The upper processing recess 144 is sized and configured to accommodate the stem portion 176 of the processing projection 174 in the first circumferential direction but not the valve portion 178. In particular, the width of the inlet of the upper processing recess 144 in the first circumferential direction is larger than the width (diameter) of the stem portion 176 but smaller than the width (diameter) of the valve portion 178. The upper processing recess 144 and the lower processing recess 140 communicate with each other, so that the valve portion 178 can move upward from the lower processing recess 140 to the upper processing recess 144. In particular, the end effector 170 is vertically movable between a lower disengaged position where the valve portion 178 is in the lower processing recess 140 and an upper engaged position where the valve portion 178 is in the upper processing recess 144. The upper processing recess 144 is further sized and configured such that when the valve portion 178 is received in the upper processing recess 144, the wall defining the upper processing recess 144 substantially prevents further upward movement of the valve portion 178. Thereby, the end effector 170 can lift the locking member 122 and thus lift the battery 110. Further, the wall defining the upper processing recess 144 substantially prevents movement of the valve portion 178 in both the first and second circumferential directions, so that the end effector 170 can rotate the locking member 122 in either circumferential direction.

[0063] The advantage of this arrangement is that instead of using a more complex end effector such as a gripper end effector, a mechanically simple end effector that performs a series of simple rotational and vertical movements is used, and the end effector 170 can engage and disengage with the locking member 122 to lock, unlock, and lift the battery.

[0064] Figures 14A - 14F are a series of diagrams showing how the end effector 170 unlocks and removes the battery from the battery chamber. In Figure 14A, the battery is inside the battery chamber and the locking member is in the locked position. The end effector 170 is positioned above the locking member 122 in a state where the positioning protrusion 172 is located substantially above the positioning recess 125 and the processing protrusion 174 is located at a circumferential position not above the processing recess 138 (i.e., the processing protrusion 174 is located at an angular position between the processing recesses 138 in the circumferential direction with respect to the rotation axis). Next, the end effector 170 is lowered in the direction of arrow M1 to reach the state shown in Figure 14B. In Figure 14B, the end effector 170 is lowered until the positioning protrusion 172 engages with the positioning recess 125 and the valve portion 178 of the processing protrusion is at the same horizontal plane as the lower processing recess 140 (i.e., the valve portion 178 is substantially horizontal with the lower processing recess 138). Next, the end effector 170 is rotated in the locking direction indicated by arrow M2 to reach the state shown in Figure 14C. In Figure 14C, the end effector 170 has been rotated in the locking direction to the release position, i.e., the stem portion 176 and the valve portion 178 are respectively received in the upper processing recess 144 and the lower processing recess 140. Next, the end effector 170 is raised in the direction of arrow M3 to reach the state shown in Figure 14D. In Figure 14D, the end effector 170 has been raised to the engagement position and the valve portion 178 is inside the upper processing recess 144. Next, the end effector 170 is rotated in the unlocking direction indicated by arrow M4 to reach the state shown in Figure 14E. In Figure 14E, when the end effector 170 is in the upper position and is rotated in the unlocking direction until the arm 132 separates from the holding member 158, i.e., the arm exits the holding channel 160 and upward movement is no longer blocked, the locking member 122 rotates in the unlocking direction. Next, the end effector 170 is raised in the direction of arrow M5 to reach the state shown in Figure 14F. In Figure 14F, since the end effector 170 is raised, the battery 110 is lifted out of the battery chamber 150.

[0065] To insert and lock the battery 110 into the battery compartment 150, the above procedure can be executed in reverse. The above method can be used to replace the battery 110 in the battery compartment 150 by executing the above method to release and remove the battery 110 from the battery compartment 150 and then executing the above method in reverse to insert and lock another battery 110 into the battery compartment 150. This can be used, for example, to replace a depleted battery 110 with a charged battery 110.

[0066] Since the battery 110 and the battery compartment 150 can be arranged at predictable and repeatable positions relative to the robotic arm, the robotic arm can be programmed to perform a predetermined movement to move and orient the end effector relative to the locking member 122 to move the battery 110 into or out of the battery compartment 150. Alternatively, or additionally, the robotic arm may comprise a sensor or machine vision system using methods known in the art to enable the robotic arm to determine the position and orientation of the locking member 122.

[0067] The battery compartment 150 is defined by the base 152 and the side walls 154, and it was described above that the holding member 122 is attached to the side wall, but the battery compartment 150 is not limited to this configuration. Instead, the battery compartment 150 is merely a space area in which the battery 110 is housed, and electrical connectors or contacts can be appropriately arranged to connect to corresponding connectors or contacts on the battery 110. In this case, the holding member 122 may be attached to another structure adjacent to the upper part of the battery housing space 155.

[0068] In the exemplary battery holding system 100 described above, while the battery 110 is being lifted via the locking member 122, the locking member 122 may cause an undesirable rotation with respect to the outer case 112 of the battery 110. FIGS. 15-17 show the arrangement of the locking member 122 and the outer case 112, and this arrangement helps to prevent relative rotation between the locking member 122 and the outer case 112 while the battery 110 is being lifted via the locking member 122. This can help ensure that the outer case 112 remains in the same orientation while the battery 110 is being transported between two different locations (e.g., between two battery compartments), thereby increasing the likelihood that the placement of the battery 110 by the robotic arm will be more accurate and reliable.

[0069] FIG. 15 shows the upper wall 118 of the outer case 112 and the upper disk 126 and lower disk 128 of the locking member 122. Other features of the battery holding system 100 are omitted for clarity. In this example, the connection portion 127 between the upper disk 126 and the lower disk 128 is configured such that the locking member 122 can move in a direction perpendicular to the upper wall 118 (i.e., in an axial direction parallel to the rotation axis of the locking member). In particular, the length of the connection portion 127 is greater than the thickness of the upper wall 118.

[0070] Figs. 16 and 17 are views of the arrangement of Fig. 15 seen from below the upper wall 118. The upper surface of the lower disk 128 is provided with a castellation 130 (i.e., a row of alternately arranged protrusions and recesses) extending along the circumference of the lower disk 128. In other words, the castellation is arranged circumferentially about the axis of rotation of the lock member 122. Similarly, the bottom surface on the opposite side of the upper wall 118 is provided with a complementary castellation 120 arranged circumferentially about the axis of rotation of the lock member 122. Fig. 16 shows the lock member in the released position when the lock member 122 is stationary under gravity. The length of the connection portion 127 is configured such that when the lock member 122 is in the released position, the castellation 130 of the lower disk 128 and the castellation 120 of the upper wall 118 are arranged vertically apart from each other and thus do not engage (i.e., do not interlock). Fig. 17 shows the lock member in the retained position when the end effector 170 lifts the battery 110 via the lock member 122 and the lock member 122 moves upward toward the upper wall 118. In the retained position, the castellations 130, 120 are interlocked with each other, so that the castellations 130, 120 engage with each other circumferentially to prevent relative rotational movement about the vertical axis of rotation of the lock member 112 between the lock member 122 and the outer case 112.

[0071] Figure 18 shows a modified example of the battery holding system 100 in which the outer case 112 further includes a mount 119 attached to the aforementioned upper wall 118 of the outer case 112. In this modified example, the upper wall 121 of the mount 119 is configured in the same manner as the upper wall 118 of the previous modified example and interacts with the locking member 122. Figure 19 shows a schematic vertical cross-section of the assembly shown in Figure 18. The upper wall 121 of the mount 119 is sandwiched between the upper disk 126 and the lower disk 128 of the locking member 122. The upper disk 126 is firmly connected to the lower disk 128 by a connecting portion 127 passing through the opening of the upper wall 121 of the mount 119. Therefore, the locking member 122 is vertically movable relative to the upper wall 121 of the mount 119 between the processing position and the release position. The upper surface of the lower disk 128 and the lower surface of the upper wall 121 of the mount 119 are provided with complementary castellations (not shown), which, as already described above, interlock in the processing position and disengage in the release position to prevent and enable relative rotation of the locking member and the outer case 112, respectively.

[0072] The locking member 122 and the mount 119 can be easily retrofitted to an existing battery case by assembling the locking member 122 with the mount 119 and attaching the assembled locking member 122 and mount 119 to the upper wall of the outer case of the existing battery.

[0073] Figure 18 shows a modified example of the locking member 122 and the end effector 170. The locking member 122 includes four processing recesses 138 symmetrically arranged about the rotation axis of the locking member 122, and the end effector 170 includes four processing protrusions 174 symmetrically arranged about the rotation axis of the end effector 170. The processing recesses 138 and the processing protrusions 174 of this modified example have the same shape as the processing recesses 138 and the processing protrusions 174 of the aforementioned example and are configured to function and interact in the same way so that the end effector 170 can lift and release the battery 110 and rotate the locking member 122.

[0074] The battery holding system 100 can be used in one or more battery-powered robotic handling devices operating in a storage and retrieval system.

[0075] FIG. 20 shows an example of a storage structure 1 that can be used in a storage and retrieval system for storing storage containers 9. The storage structure 1 includes a framework composed of an upright member 3 and horizontal members 5 and 7 supported by the upright member 3. The horizontal members 5 extend parallel to each other and parallel to the illustrated x-axis. The horizontal members 7 extend parallel to each other, parallel to the illustrated y-axis, and laterally with respect to the horizontal members 5. The upright members 3 extend parallel to each other, parallel to the illustrated Z-axis, and laterally with respect to the horizontal members 5 and 7. The horizontal members 5 and 7 form a grid pattern that defines a plurality of grid cells 14. In the illustrated example, the storage container 9 is arranged in a stack 11 below the grid cell 14 defined by the grid pattern, and there is one stack 11 of the storage container 9 for each grid cell 14.

[0076] As described with reference to FIG. 20, instead of the upright member 3 supporting the horizontal members 5 and 7, in other examples, the horizontal members can be supported by a support framework structure including a plurality of prefabricated module panels arranged in a grid pattern, the details of which are described in PCT Application International Publication No. 2022034195 (A1). The storage structure described in International Publication No. 2022034195 (A1) provides a support framework structure including a plurality of prefabricated module panels arranged in a three-dimensional grid pattern to define a plurality of grid cells, thereby solving the problems of assembly time and cost. Each grid cell of the support framework structure is sized to support two or more grid cells of a track structure. The storage structure can be constructed much more quickly and inexpensively while being formed from fewer structural components and maintaining the same structural integrity as the typical "stick build" storage structure 1 described above. In the present invention, any suitable support framework structure can be used.

[0077] Figure 21 is an enlarged plan view of a part of the storage structure 1 shown in Figure 20, and is a part of the track structure 13 located above the horizontal members 5 and 7 of the storage structure 1 shown in Figure 20. The track structure 13 may be provided by the horizontal members 5 and 7 themselves (for example, formed in or on the surface of the horizontal members 5 and 7), or may be provided by one or more additional components attached to the upper part of the horizontal members 5 and 7. The illustrated track structure 13 includes an x-direction track 17 and a y-direction track 19, that is, a first set of tracks 17 extending in the x direction and a second set of tracks 19 extending in the y direction across the tracks 17 in the first set of tracks 17. The tracks 17 and 19 define an aperture 15 at the center of the grid cell 14. The aperture 15 is sized such that a storage container 9 disposed below the grid cell 14 can be raised and lowered through the aperture 15. The x-direction tracks 17 are provided in pairs separated by a channel 21, and the y-direction tracks 19 are provided in pairs separated by a channel 23. Other arrangements of the track structure may be possible.

[0078] Figure 22 shows a plurality of handling devices 25 moving on top of the storage structure 1 shown in Figure 20. The handling devices 25 (hereinafter referred to as "bots") are provided with a set of wheels that engage with the corresponding x-direction or y-direction tracks 17 and 19, allowing the bots 25 to move across the track structure 13 and reach a specific grid cell 14. The illustrated pairs of tracks 17 and 19 separated by the channels 21 and 23 allow the bots 25 to occupy (or pass through each other) adjacent grid cells 14 without colliding with each other.

[0079] As shown in FIG. 23, the bot 25 includes a main body 27 with one or more components attached internally or on top to enable the bot 25 to perform its intended functions. These functions include moving across the storage structure 1 on the track structure 13 and raising and lowering the storage container 9 (e.g., from or to the stack 11), whereby the bot 25 can retrieve or place the storage container 9 at a specific location defined by the grid pattern.

[0080] The illustrated bot 25 includes a drive assembly having a first and a second set of wheels 29, 31 attached to the main body 27 of the bot 25 to enable the bot 25 to move in the x - direction and y - direction along tracks 17 and 19, respectively. In particular, two wheels 29 are provided on the short - side of the bot 25 visible in FIG. 23, and another two wheels 29 are further provided on the opposite short - side of the bot 25. The wheels 29 engage the track 17 and are rotatably attached to the main body 27 of the bot 25 to enable the bot 25 to move along the track 17. Similarly, two wheels 31 are provided on the long - side of the bot 25 visible in FIG. 23, and a further two wheels 31 are provided on the opposite long - side of the bot 25. The wheels 31 engage the track 19 and are rotatably attached to the main body 27 of the bot 25 to enable the bot 25 to move along the track 19.

[0081] To enable the bot 25 to move on different wheels 29, 31 in the first and second directions, the drive assembly further includes a wheel positioning mechanism (not shown) for selectively engaging the first set of wheels 29 with the first set of tracks 17 or the second set of wheels 31 with the second set of tracks 19. The wheel positioning mechanism is configured to raise and lower the first set of wheels 29 and / or the second set of wheels 31 relative to the main body 27, whereby the handling device 25 can selectively move in either the first or the second direction across the tracks 17, 19 of the storage structure 1.

[0082] The wheel positioning mechanism may include one or more linear actuators, rotating parts, or other means for raising and lowering at least one set of wheels 29, 31 relative to the body 27 of the bot 25 to separate or contact at least one set of wheels 29, 31 from the tracks 17, 19. In some examples, only one set of wheels is configured to be raised and lowered, and by operating to lower one set of wheels, the other set of wheels is effectively lifted from the corresponding track, while by operating to raise one set of wheels, the other set of wheels can be effectively lowered until they contact the corresponding track. In other examples, both wheel sets can be raised and lowered, which has the advantage that the body 27 of the bot 25 remains substantially at the same height, and thus it is not necessary to raise and lower the weight of the body 27 and the components attached thereto by the wheel positioning mechanism.

[0083] The bot 25 also includes a lifting mechanism 33 configured to raise and lower the storage container 9 and a container holding device 37. The illustrated lifting mechanism 33 includes four tethers 35 with their lower ends connected to the container holding device 37. The tethers 35 may be cables, ropes, tapes, or other forms of tethers having the physical characteristics necessary to lift the storage container 9. The container holding device 37 includes a gripping mechanism 39 configured to engage with a feature of the storage container 9 and releasably hold the container 9 from above. In the illustrated example, the gripping mechanism 39 includes legs that can be received in corresponding apertures 10 at the edge of the storage container 9 and then moved outward to engage under the edge 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 a winch or other means may be provided to execute or control the winding up or down of the tethers 35.

[0084] In FIG. 24, the side panel of the bot 25 is omitted so that the interior of the bot 25 can be seen. The illustrated body 27 of the bot 25 has an upper part 41 and a lower part 43. The upper part 41 is configured to house or support one or more operating components (not shown), such as components of the lifting mechanism 33 (e.g., a motor), wireless communication components, and one or more processors for controlling the operation of the bot 25. The lower part 43 is disposed below the upper part 41. The lower part 43 has an open bottom and defines a container receiving space 45 for receiving at least a portion of the storage container 9 lifted into the container receiving space 45 by the lifting mechanism 33. FIG. 24 shows the container receiving space 45 before being occupied by the storage container 9, and FIG. 25 shows the container receiving space 45 after being occupied by the storage container 9. The container receiving space 45 is sized such that the storage container 9 fits well within the space 45, thereby enabling the bot 25 to move across the track structure 13 on top of the storage structure 1 without the lower side of the storage container 9 catching on the track structure 13 or other parts of the storage structure 1. When the bot 25 reaches the intended destination, the lifting mechanism 33 controls the tether 35 to lower the container holding device 37 and the corresponding storage container 9 from the space 45 to the desired position. The intended position can be the stack 11 of the storage containers 9 or the exit point of the storage structure 1 (or, if the bot 25 moves to collect the storage container 9 for storage in the storage structure 1, the entrance point of the storage structure 1). In the illustrated example, the upper part 41 and the lower part 43 are separated by a physical partition, but in other examples, the upper part 41 and the lower part 43 may not be physically divided by specific components or parts of the body 27 of the bot 25. With the upper and lower configurations of the bot 25, the bot 25 can occupy only a single grid cell 14 on the track structure 13 of the storage system 1.

[0085] In an alternative example, the container receiving space 45 of the bot 25 may not be within the main body 27 of the bot 25. For example, the container receiving space 49 may instead be adjacent to the main body 27 of the bot 25 and may be configured to balance the weight of the container 9 such that the weight of the main body 27 of the bot 25 is lifted, for example, in a cantilever arrangement. In such an embodiment, the frame or arm of the lifting mechanism 33 projects horizontally from the main body 27 of the bot 25, and the tethers 35 are disposed at respective positions on the projecting frame / arm and configured to move up and down from those positions to lift and lower the storage container 9 into the container receiving space 45 adjacent to the main body 27.

[0086] The bot 25 can incorporate the battery holding system 100 described above by providing a battery chamber 150 within the main body 27 of the bot 25, whereby the battery chamber 150 is accessible from the outside from above the main body 27 of the bot 25 and houses the battery 110 in a downward direction. When the battery 110 is housed in the battery chamber 150, it can supply power to one or more electrical or electronic components of the bot 25, such as the lifting mechanism 33 and / or the drive assembly.

[0087] FIG. 26 shows the bottle 25 of FIG. 25. An exemplary area of the space 48 delimited by a dotted line within the upper part 41 of the bottle 25 can be used as the location of the battery chamber 150 (not shown), although other areas within the bottle 25 that are externally accessible from above the body 27 of the bottle 25 can also be used. The upper surface 28 of the body 27 of the bottle 25 is provided with an opening 47 that communicates with the upper surface opening 156 of the battery chamber 150 or functions as the upper opening 156. Thereby, the battery 110 can be directly lowered into the battery chamber 150 through the opening 47 from a position above the upper surface 28 of the body 27 of the bottle 25, and can also be directly lifted from the battery chamber 150 to a position above the upper surface 28 of the body 27 of the bottle 25 through the opening 47. The holding member 158 of the battery chamber can be attached to the body 27 of the bottle 25, for example, to the upper surface 28 of the body 27, or to the side wall 154 that defines the battery chamber 150. As already described, the battery chamber 150 does not necessarily need to be defined by the side wall 154 and the base 152 within the body 27 of the bottle 25. Instead, the battery chamber 150 may be merely a space region within the body 27 of the bottle 25 where electrical connectors or contacts for transferring power from the battery 110 to the electrical and electronic components of the bottle 25 are appropriately arranged. Further, the battery chamber 150 does not necessarily need to be completely contained within the body 27 of the bottle 25. Instead, it may penetrate through the upper part of the body 27 of the bottle 25 (for example, through the opening 47) or may be located completely above the upper part of the body 27 of the bottle 25.

[0088] Furthermore, the body 27 of the bottle 25 does not necessarily need to be defined by the illustrated upper surface panel and side surface panels. Thus, the opening 47 in the upper surface 28 of the body 27 of the bottle 25 does not necessarily need to be an opening formed within the panel. Instead, the body 27 of the bottle 25 may be configured as a frame structure defined by corner portions where the upper part of the body 27 is connected by rods. The space surrounded by the corner portions and the rods can be considered as the opening 47 in the upper surface 28 of the body 27.

[0089] When the battery holding system 100 is used in the bot 25, the battery 110 can be firmly fixed within the battery chamber 150 while the bot 25 is operating on the track structure 13 of the storage structure 1. For example, the holding member 158 serves to prevent the battery 110 from vertically moving out of the battery chamber 150 during minor impacts or vibrations that the bot 25 undergoes during normal operation, or during more serious accidents where the bot 25 collides or topples over. By firmly holding the battery 110 within the battery chamber 150 during the operation of the bot 25, power interruptions due to the battery 110 being disconnected from the power supply chamber 150, or safety hazards due to the battery 110 being discharged from the battery chamber 150 can be minimized.

[0090] The storage and retrieval system may include one or more robotic arms 50 equipped with the end effector 170 described above. The robotic arm 50 can be arranged above, on, or adjacent to the track structure 13 of the storage structure 1, thereby enabling the replacement of the battery 110 of the bot 25 while the bot 25 remains on the track structure 13.

[0091] FIG. 27 shows an example of a gantry robot 50A where the end effector is attached to a gantry extending across a portion of the track structure 13, enabling the end effector to reach the battery chamber 150 of at least one bot 25 on the lower track structure 13. FIG. 28 shows an example of an articulated robot 50B arranged adjacent to the track structure 13 and capable of reaching the battery chamber 150 of at least one bot 25 at the edge of the track structure 13. However, the articulated arm 50B can also be arranged on the track structure 13 itself, for example, on the grid cell 14.

[0092] The storage and retrieval system may further include one or more battery stations 180 for storing the battery 110 removed from the bot 25. FIG. 29 shows an example of a battery station 180 including a plurality of battery station chambers 182 arranged in a horizontal plane. Each battery station chamber 182 opens to the upper surface 181 of the battery station, and each battery station chamber 182 is configured to accommodate the battery 110 in a downward direction. The battery station chamber 182 may have the same features as the battery chamber 150 of the battery holding system 100, but since the battery station 180 is usually fixed during use, the holding member 158 is optional. However, in countries or specific locations where there is a risk of seismic activity, it may be useful to provide a holding member 158 in the battery station chamber 182. The battery station 180 preferably includes a charging system configured to charge the battery 110 when it is housed in the battery station chamber 182. For example, the battery station chamber 182 may include electrical contacts configured to couple to electrical contacts on the battery 110 and supply power from a power source to charge the battery 110. Since the charging system for charging the battery 110 is well known in the art, it will not be described in further detail here.

[0093] Each battery storage station 180 can be arranged within the reach of one or more robot arms 50. For example, the battery station 180 can be arranged in the area 52 marked in FIGS. 28 and 29. During use, the robot arm 50 can remove the depleted battery 110 from the battery chamber 150 of the bot 25 and place it in the battery station chamber 182 of the battery station 180 for recharging. Next, the robot arm 50 can remove the fully charged battery 110 from another battery chamber 182 of the battery station 180 and place it in the power supply chamber 150 of the bot. In this way, the bot 25 can continue to operate with minimal downtime, while the depleted battery 110 is recharged at the battery station 182 and can be used in subsequent battery replacement operations.

[0094] Thus, the present invention enables a mechanically simple system for holding the battery 110 within the battery chamber 150. Instead of the locking member 122 being integrated with the outer case 112 of the battery 110, by providing a locking member 122 that is rotatable relative to the outer case 112 of the battery 110, the shapes of the battery 110 and the battery chamber 150 do not need to allow relative rotation between the battery 110 and the battery chamber 150 to lock and unlock the battery 110, and thus, more convenient shapes such as a cubic shape can be selected.

[0095] The present invention is not limited to the exact forms described above, and various changes and modifications will be apparent to those skilled in the art without departing from the scope of the present invention as defined in the appended claims.

[0096] For example, the locking member 122 is not limited to having two arms 132. Instead, the locking member 122 can comprise only one arm symmetrically arranged about a vertical axis, or two or more arms and a corresponding number of holding members 158 symmetrically arranged about the battery accommodation space 155.

[0097] The end effector 170 and the locking member 122 are not necessarily limited to having two processing protrusions 174 and two processing recesses 138, respectively. Instead, as already shown in FIG. 18, one or more processing protrusions 174 and processing recesses 138 can also be provided. FIG. 18 shows four processing protrusions 174 and four processing recesses 138. The processing parts 174 and the processing recesses 138 can be symmetrically arranged about the rotation axes of the end effector 170 and the locking member 122, respectively. Further, the processing protrusions 174 of the end effector 170 and the processing recesses 138 of the locking member 122 can be interchanged such that the end effector 170 has the processing recesses 138 and the locking member 122 has the processing protrusions 174.

[0098] In this case, the orientations of the processing protrusion 174 and the processing recess 138 are reversed in the vertical direction.

[0099] The battery holding system 100 has been described above as having a vertical orientation in which the battery chamber 150 houses the battery 110 downward and the locking member 122 and the end effector 170 rotate about the vertical rotation axis V. However, the battery holding system 100 is not limited to this orientation. Generally, the battery chamber 150 is configured to house the battery 110 in the insertion direction, the locking member 122 is attached to rotate about a rotation axis parallel to the insertion direction, and the end effector 170 is configured to rotate about a rotation axis parallel to the insertion direction. Therefore, the terms of direction and orientation (e.g., "upper", "lower", "upper side", "lower side", "vertical", "horizontal", "lift", "lower") used in the above description of the battery holding system 100 are not limiting and should be understood as being related to the insertion direction of the battery. For example, the above-described battery holding system 100 (including the battery chamber 150, the battery 110, and the end effector 170) can be rotated 90 degrees to a horizontal orientation so that the battery chamber 150 is configured to house the battery 110 horizontally, the rotation axis of the locking member 122 is horizontal, and the end effector is configured to move the battery 110 in and out of the battery chamber 150 horizontally. Such a battery holding system can also be used in the above-described bot 25. In particular, instead of inserting and removing the battery 110 from above the bot 25 into the battery chamber 150, the battery 110 can also be inserted and removed from the side of the bot 25, for example, through an external opening on the side of the bot 25 into the battery chamber 150.

Claims

1. A power supply holding system (100), comprising a power supply (110) having an outer case (112) and a locking member (122) attached to the upper part of the outer case (112) and rotatable about a vertical axis (V) with respect to the outer case (112), and a power supply chamber (150) configured to vertically detachably accommodate the power supply (110) in a power supply accommodation space (155), where the power supply chamber (150) includes a holding member (158) disposed adjacent to the power supply accommodation space (155), comprising When the power supply (110) is within the power supply accommodation space (155), the locking member (122) is rotatable about the vertical axis (V) in a locking direction to a locking position where the locking member (122) engages with the holding member (158) to prevent the power supply (110) from being removed upward from the power supply chamber (150). Further, the locking member (122) is rotatable about the vertical axis (V) in an opposite unlocking direction to an unlocking position where the locking member (122) is disengaged from the holding member (158) to enable the power supply (110) to be removed upward from the power supply chamber (150). The power supply holding system (100).

2. The locking member (122) includes an arm (132) that horizontally protrudes outward beyond the outer case (112). The holding member (158) is configured to engage with the arm (132) when the locking member (122) rotates to the locking position and to be disengaged from the arm (132) when the locking member (122) rotates to the unlocking position. The power supply holding system (100) according to Claim 1.

3. The holding member (158) includes a holding channel (160) configured to accommodate the arm (132) when the locking member (122) is rotated to the locking position. The holding channel (160) is partially defined by an upper holding wall (162) configured to substantially prevent upward movement of the arm (132) and prevent the power supply (110) from being removed from the power supply chamber (150). The power supply holding system (100) according to Claim 2.

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

5. The upper holding wall (162) includes a holding protrusion (164) extending downward into the holding channel (160), the holding protrusion (164) being configured to resist rotation of the locking member (122) in the unlocking direction when the arm (132) is in the locked position, and the holding protrusion (164) being vertically deflectable such that the arm (132) can move past the holding protrusion (164) when the torque applied to the locking member (122) exceeds a torque threshold. The power supply holding system (100) according to claim 3 or 4.

6. The power supply holding system (100) according to claim 5, wherein the arm (132) includes a recess (136) configured to receive the holding protrusion when the locking member (122) is in the locked position.

7. The power supply holding system (100) according to claim 5 or 6, wherein at least a portion of the upper holding wall (162) is vertically deflectable, so that the holding protrusion (164) is vertically deflectable.

8. The power supply holding system (100) according to claim 7, further comprising a stop wall (168) extending above the upper holding wall (162), the stop wall (168) being vertically spaced from the upper holding wall (162) to prevent vertical deflection of the upper holding wall (162) beyond a threshold deflection.

9. The locking member (122) is vertically movable relative to the outer case (112) between a holding position where a portion of the locking member (122) engages a portion of the outer case (112) to prevent the locking member (122) from rotating about the vertical axis (V) relative to the outer case (112), and a release position where the portion of the locking member (122) is disengaged from the portion of the outer case (112) to allow the locking member (122) to rotate about the vertical axis (V) relative to the outer case (112). The power supply holding system (100) according to any one of claims 1 to 8.

10. The lock member (122) includes an upper part and a lower part, the outer case (112) includes an upper wall (118) sandwiched between the upper part and the lower part, the upper part and the lower part are firmly connected to each other via the upper wall, the lower part is configured to engage with the upper wall (118) when the lock member (122) is in the holding position and to be disengaged from the upper wall (118) when the lock member (122) is in the release position, the power supply holding system (100) according to claim 9.

11. The downward surface of the upper wall of the outer case (112) and the upward surface on the opposite side of the lower part of the lock member (122) are configured to prevent rotation of the lock member (122) about the vertical axis (V) with respect to the outer case (112) in conjunction with each other when the lock member (122) is in the holding position and to be disengaged to allow rotation of the lock member (122) about the vertical axis (V) with respect to the outer case (112) when the lock member (122) is in the release position, the power supply holding system (100) according to claim 10, comprising interlockable features.

12. The interlockable features are arranged circumferentially about the vertical axis (V) and are configured to engage with each other circumferentially when the interlockable features are interlocked to prevent rotation of the lock member (122) with respect to the outer case (112), the power supply holding system (100) according to claim 11.

13. The interlockable features include castellations (120, 130), the power supply holding system (100) according to claim 11 or claim 12.

14. The outer case (112) includes a mount (119) removably attached to the outer wall of the outer case (112), the mount (119) includes the upper wall (118), the power supply holding system (100) according to any one of claims 10 to 13.

15. The lock member (122) includes a plurality of arms (132), the power supply chamber (150) includes a plurality of holding members (158), and when the lock member (122) rotates to the locked position, each holding member (158) is configured to engage with a respective arm (132), the power supply holding system (100) according to any one of claims 1 to 14.

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

17. The power supply holding system (100) according to any one of claims 1 to 16, wherein the power supply chamber (150) and the outer case (112) of the power supply (110) are substantially rectangular parallelepipeds.

18. The power supply holding system (100) according to any one of claims 1 to 17, wherein the power supply (110) is a battery.

19. A handling device (25) for lifting and moving a container (9) arranged in a stack (11) within a storage structure (1), wherein the storage structure (1) comprises a track structure (13), and the track structure (13) comprises a first set of tracks (17) and a second set of tracks (19), the first set of tracks (17) extending in a first direction, the second set of tracks (19) extending in a second direction, the second direction being substantially perpendicular to the first direction, forming a grid pattern defining a plurality of grid cells (14) above the stack (11) of the container (9), the handling device (25) comprising a drive assembly configured to horizontally move the handling device (25) on the track structure (13), a container holding device (37) configured to releasably hold the container (9) from above, a lifting mechanism configured to raise and lower the container holding device (37), and a power supply holding system (100) according to any one of claims 1 to 18, wherein the power supply (110) is electrically coupled to the power supply chamber (150) and configured to supply power to one or more components of the handling device (25).

20. The handling device (25) according to claim 19, wherein the locking member (122) is externally exposed when the power supply (110) is within the power supply chamber (150).

21. A power supply station (180) comprising at least one of the power supply holding systems (100) according to any one of claims 1 to 18 and a charging system configured to charge the power supply (110) when housed in the power supply chamber (150).

22. A power supply exchange system, comprising a power supply holding system (100) according to any one of claims 1 to 18, A power supply exchange system comprising a power supply processing apparatus including an end effector (170) configured to releasably engage with the lock member (122), further configured to rotate about the vertical axis (V) to rotate the lock member (122) between the locked position and the unlocked position, and configured to move vertically with respect to the power supply chamber (150) to raise and lower the power supply (110) into and out of the power supply chamber (150).

23. The lock member (122) includes a first processing feature portion, the end effector (170) includes a second processing feature portion, and the second processing feature portion is movable to an engagement position for engaging the first processing feature portion in both the locking direction and the unlocking direction so that the end effector (170) can rotate the lock member (122) in both the locking direction and the unlocking direction, and the first and second processing feature portions are configured such that the second processing feature portion is movable to the engagement position by first moving circumferentially toward the first processing feature portion and then moving upward to the engagement position. The power supply exchange system according to claim 22.

24. The lock member (122) includes a plurality of first processing feature portions symmetrically arranged about the vertical axis (V), the end effector (170) includes a plurality of second processing feature portions symmetrically arranged about the rotation axis of the end effector (170), and each of the second processing feature portions is configured to engage with a respective first processing feature portion when the second processing feature portion is in the engagement position. The power supply exchange system according to claim 23.

25. Further comprising a handling device (25) for lifting and moving a container (9) arranged in a stack (11) within a storage structure (1), the storage structure (1) comprising a track structure (13), the track structure (13) comprising a first set of tracks (17) and a second set of tracks (19), the first set of tracks (17) extending in a first direction, the second set of tracks (19) extending in a second direction, the second direction being substantially perpendicular to the first direction, forming a grid pattern defining a plurality of grid cells (14) above the stack (11) of the container (9), and the handling device (25) is A drive assembly configured to horizontally move the handling device (25) on the track structure (13); A container holding device (37) configured to releasably hold the container (9) from above; A lifting mechanism configured to raise and lower the container holding device (37); The power supply holding system (100), comprising: The power supply (110) is electrically coupled to the power supply chamber (150) and configured to supply power to one or more components of the handling device (25). The power supply exchange system according to any one of claims 22 to 24.

26. A storage and retrieval system, comprising: A storage structure (1), the storage structure (1) comprising: A track structure (13) including a first set of tracks (17) and a second set of tracks (19), wherein the first set of tracks (17) extends in a first direction, the second set of tracks (19) extends in a second direction, the second direction being substantially perpendicular to the first direction, and forming a grid pattern defining a plurality of grid cells (14); A plurality of upright members (3) that support the track structure (13) from below and define a storage area below the track structure (13) for storing a plurality of stacks (11) of containers (9) below each grid cell (14); The storage and retrieval system further comprises a handling device (25) according to claim 19 or 20, or a power supply exchange system according to claim 25. A storage and retrieval system.

Images