Power supply exchange system and method for exchanging power supply

Abstract

The present disclosure relates to a power supply exchange system and a method for exchanging a power supply. The power supply exchange system includes a compartment configured to removably receive a power supply, an end effector rotatable between an engaged position and a released position for engaging the power supply, and a lock assembly including a locking member movable between a locked position and an unlocked position for preventing / allowing the power supply from being removed from the compartment. The end effector and lock assembly are configured such that when the end effector is rotated from the released position to the engaged position, the end effector moves the locking member from the locked position to the unlocked position. A material handling device is provided for lifting and moving containers arranged in a stack in a storage structure. The material handling device includes a compartment, and a power supply received in the compartment is configured to deliver power to the material handling device. A storage and retrieval system is provided including the storage structure, the material handling device, and the power supply exchange system. Methods for inserting a power supply into a compartment of the power supply exchange system, removing the power supply, and exchanging the power supply are provided.

Description

[Technical Field]

[0001] The present invention relates to a power supply exchange system and a method for exchanging a power supply. [Background technology]

[0002] Some commercial and industrial activities require a system that allows for the storage and retrieval of a large number of different products. WO2015019055A1 describes a storage and retrieval system in which a stack of storage containers is arranged in a grid storage structure. The system further includes a remotely operated material handling device configured to travel on a track located on top of the grid storage structure. To access the containers in the grid storage structure, the material handling device is equipped with a container holding device for releasably grasping the top container of the stack and a lifting mechanism for raising and lowering the container.

[0003] Each load handling device is powered by a rechargeable battery that is typically 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 batteries are recharged. The charging period is a significant source of load handling device downtime and can be on the order of several hours.

[0004] To mitigate the problem of downtime, the load handling equipment may be powered by replaceable batteries. When a battery in the load handling equipment is depleted, the depleted battery is replaced with a fully charged battery, thus reducing downtime to the time it takes to replace the battery rather than the time it takes to charge the battery.

[0005] The materials handling equipment may be subjected to bumps, vibrations, or even collisions while operating on the tracks of the grid storage structure. For materials handling equipment powered by replaceable batteries, it is desirable to ensure that the batteries are retained within the materials handling equipment. It is also desirable to provide an efficient, automated system for replacing batteries in materials handling equipment. Summary of the Invention

[0006] The invention is defined in the following claims.

[0007] The present invention provides a power supply exchange system, the power supply exchange 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 disengaged position; a lock assembly including a locking member movable between a locked position to prevent the power source from being removed from the compartment and an unlocked position to allow the power source to be removed from the compartment; The end effector and locking assembly are configured such that when the end effector is rotated from the released position to the engaged position, the end effector moves the locking member from the locked position to the unlocked position.

[0008] Thus, the present invention provides a system that can securely lock a replaceable power source within a compartment and then use an end effector to unlock and remove the power source in an efficient and automated manner. The end effector only needs to make a simple rotational movement to simultaneously unlock the power source and position itself to engage the power source in order to remove it from the compartment.

[0009] In the released position, the end effector can be disengaged from the power source to allow the end effector to move away from the power source, for example, in a direction parallel to the insertion direction in which the power source is inserted into the compartment.

[0010] The compartment may include a locking member. The compartment may define a power supply receiving space for receiving the power source, and the locking member may be configured to overhang the power supply receiving space in the locked position to prevent the power supply from being removed from the compartment. In other words, when the power supply is in the compartment, the locking member protrudes above the power supply to prevent removal of the power supply. The end effector may be configured to extend beyond the power supply receiving space when the end effector is in the engaged position to allow the end effector to move the locking member to the unlocked position. The locking member may include a tapered surface configured to move the locking member from the locked position to the unlocked position upon moving the power supply into the compartment to allow the power supply to be received in the compartment.

[0011] The power exchange system may further comprise a power source.

[0012] The power source may include a locking member. The compartment may be configured to engage with the locking member when the locking member is in the locked position to prevent the power source from being removed from the compartment. For example, the compartment may include a blocking member configured to engage with the locking member when the locking member is in the locked position to prevent the power source from being removed from the compartment. The power source may include an end wall exposed to the end effector when the power source is in the compartment. The end wall may be oriented perpendicular to an insertion direction in which the power source is received in the compartment. The locking member may be attached to the end wall.

[0013] The power source may include one or more handling members. Each handling member may be configured to receive a respective portion of the end effector when the end effector is rotated from the released position to the engaged position. Each portion of the end effector may be circumferentially received by a respective handling member. Each handling member may be further configured to engage a respective portion of the end effector to allow the end effector to move the power source into and out of the compartment. Each handling member may engage a respective portion of the end effector in a direction parallel to the insertion direction in which the power source is received into the compartment. In the released position, each portion of the end effector may exit the handling member (moving circumferentially away from the handling member) such that the end effector cannot engage the handling member in a direction parallel to the insertion direction in which the power source is received into the compartment. The power source may include an end wall exposed to the end effector when the power source is in the compartment. The end wall may be oriented perpendicular to the insertion direction. One or more handling members may be attached to the end wall.

[0014] The power source may include multiple handling members, which may be arranged at different angular positions about the longitudinal axis, i.e., spaced circumferentially about the longitudinal axis. The longitudinal axis may be an axis oriented parallel to the insertion direction when the power source is received in the compartment. The multiple handling members may be spaced at substantially equal angular intervals about the longitudinal axis, i.e., the intervals between the angular positions of the handling members may be substantially equal. The handling members may be arranged in substantially the same plane. The plane may be oriented substantially perpendicular to the longitudinal axis. The handling members may be configured to receive respective portions of the end effector in the same circumferential direction. The power source may include at least one pair of handling members diametrically opposed about the longitudinal axis. The power source may include four handling members spaced at 90-degree intervals about the longitudinal axis.

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

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

[0017] The lock assembly may further include a biasing means configured to apply a biasing force to bias the locking member into the locked position. The end effector and lock assembly may be further configured such that rotating the end effector from the engaged position to the released position enables the biasing force to return the locking member to the locked position. The end effector may be disengaged from the locking member in the released position. The biasing means may be a spring, e.g., a torsion spring, a compression spring, or an extension spring. Thus, the end effector only needs to perform a simple rotational movement to simultaneously release and lock the power source into the compartment.

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

[0019] The locking member may be linearly movable between a locked position and an unlocked position. The locking member may be linearly movable between the locked position and the unlocked position in a direction substantially perpendicular to the insertion direction in which the power source is received within the compartment. Alternatively, the locking member may be pivotally mounted to rotate between the locked position and the unlocked position. The pivot axis may be oriented parallel to the insertion direction. The pivot axis may be oriented perpendicular to the insertion direction.

[0020] The locking assembly may include a plurality of locking members, and the locking assembly and end effector may be configured such that rotating 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 multiple locking members may be disposed at different angular positions about the longitudinal axis, i.e., spaced circumferentially about the longitudinal axis. The longitudinal axis may be an axis oriented parallel to the insertion direction when the power source is received in the compartment. The multiple locking members may be spaced 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 disposed 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 insertion direction when the power source is received in 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 at 90-degree intervals about the longitudinal axis. If the power source also includes multiple handling members, the angular positions of at least a subset of the handling members and the angular positions of at least a subset of the locking members may be substantially the same relative to a common longitudinal axis.

[0022] The end effector may include multiple engaging members. If the locking assembly includes multiple locking members, the engaging members may be arranged such that, when the end effector is rotated from the release position to the engagement position about the axis of rotation, each specific engaging member moves to a position for engaging with the power source and / or moves one of the locking members from the locked position to the unlocked position. If the power source includes multiple handling members and multiple locking members, the engaging members may be arranged such that, when the end effector is rotated from the release position to the engagement position, each specific engaging member is received by one of the handling members and / or moves one of the locking members from the locked position to the unlocked position. When the end effector is in the release position, the angular positions of the engaging members may be between the angular positions of the locking members and the angular positions of the handling members relative to the common longitudinal axis. In other words, the engaging members may be circumferentially between the handling members and the locking members relative to the common longitudinal axis.

[0023] The engaging members may be positionally fixed relative to each other. In other words, the engaging members may not be movable relative to each other. The engaging members may extend radially relative to the rotation axis. The engaging members may be substantially arranged in a plane oriented perpendicular to the rotation axis. The engaging members may be arranged at different angular positions about the rotation axis, i.e., spaced circumferentially about the longitudinal axis. The engaging members may be spaced at substantially equal angular intervals about the rotation axis, 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 rotation axis. The end effector may include four engaging members spaced at 90-degree intervals about the rotation axis to form a substantially cross shape. In this case, the power supply may include four handling members spaced at 90 degree intervals about the longitudinal axis, and / or the locking assembly may include four locking members spaced at 90 degree intervals about the longitudinal axis. In another example, the power supply may include four handling members spaced at 90 degree intervals about the longitudinal axis, and the locking assembly may include a pair of locking members diametrically opposed about the longitudinal axis. In another example, the power supply may include a pair of handling members diametrically opposed about the longitudinal axis, and the locking assembly may include four locking members spaced at 90 degree intervals about the longitudinal axis.

[0024] The end effector can be configured such that an axis of rotation of the end effector is oriented parallel to the insertion direction of the power source when rotated between the engaged and released positions, and the axis of rotation can be concentric with a longitudinal axis about which the handling member and / or locking member are disposed when rotated between the engaged and released positions.

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

[0026] The compartment may be configured to receive the power supply horizontally.

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

[0028] The power supply exchange system may further include a power supply station. The power supply station may include a plurality of power supply bays, each configured to receive a power supply. The end effector may be further configured to move the power supply between the compartment and one of the power supply bays of the power supply station. Each power supply bay may be configured to charge the power supply when received in the power supply bay.

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

[0030] The power exchange system may further include a material handling device for lifting and moving containers arranged in stacks 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 material handling device may a drive assembly configured to move the material handling equipment on the track structure; a container holding device configured to releasably hold a container from above; and a lifting mechanism configured to raise and lower the container holding device.

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

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

[0033] The present invention also provides a storage and retrieval system comprising a storage structure; The storage structure is 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 substantially perpendicular to the first direction, so as to form a grid pattern defining a plurality of grid cells; 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 containers below each grid cell; The storage and retrieval system further comprises a power supply exchange 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 can move the power source in and out of a compartment of the material handling device located on the track structure.

[0035] The present invention also provides a method of inserting a power source into a compartment or storage and retrieval system of a power source exchange system as defined above, the method comprising the steps of: (i) moving a power source into a compartment with the end effector in an engaged position; (ii) rotating the end effector from the engaged position to the disengaged position.

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

[0037] The present invention also provides a method of exchanging a first power source for a second power source within a section of a power source exchange system as defined above, the method comprising: (i) rotating the end effector from a released position to an engaged position; (ii) moving the first power source out of the compartment using the end effector; (iii) inserting a second power source into the compartment with the end effector in the engaged position; (iv) rotating the end effector from the engaged position to the released position.

[0038] The second power source may have a higher charge level than the first power source at the time the first power source is moved out of the compartment.

[0039] The invention will now be described, by way of example only, with reference to the accompanying drawings, in which: [Brief explanation of the drawings]

[0040] [Figure 1] FIG. 1 is a schematic perspective view of a grid storage structure and a container disposed within the grid storage structure. [Figure 2] FIG. 2 is a schematic plan view of a track structure at the top of the storage structure of FIG. 1; [Figure 3]2 shows the material handling equipment at the top of the track structure of the storage structure of FIG. 1; [Figure 4] 1 is a schematic perspective view of the loading device with the container holding device in a position below the bottom of the loading device; FIG. [Figure 5] 5 is a schematic perspective view of the loading and unloading apparatus of FIG. 4 with the side panels removed to show the container receiving space. [Figure 6] 6 is a schematic perspective view of the loading and unloading device of FIG. 5 with a container occupying the container receiving space. [Figure 7] FIG. 7 is a schematic perspective view of the load handling device of FIG. 6, showing exemplary locations of power compartments. [Figure 8] 5 is a schematic perspective view of an alternative outer body of the load handling apparatus of FIG. 4, with corner blocks connected together by connecting elements to form an open frame structure. [Figure 9] FIG. 1 is an exploded view of a first power supply exchange system including a power supply section, a power supply, and an end effector. [Figure 10] FIG. 2 is a perspective view of a power supply of the first power supply exchange system. [Figure 11A] FIG. 1 is a perspective view of a power source and end effector of the first power source exchange system, showing the end effector in a released position. [Figure 11B] 1 shows the end effector in an engaged position. [Figure 12] FIG. 2 is a perspective view of a power section of the first power exchange system. [Figure 13A] 1 is a schematic cross-sectional view of a power supply and power supply compartment of a first power supply exchange system, showing the power supply in the power supply compartment with the locking member in a locked position. [Figure 13B] 1 shows the locking member in an unlocked position. [Figure 14A] 1 is a perspective view of a power supply, power supply section, and end effector of a first power supply exchange system, showing the power supply in the power supply section with the locking member in a locked position and the end effector in a released position. FIG. [Figure 14B] FIG. 14B is a top view of the system shown in FIG. 14A. [Figure 15A]1 is a perspective view of a power supply, power supply section, and end effector of a first power supply exchange system, showing the power supply in the power supply section with the locking member in an unlocked position and the end effector in an engaged position. FIG. [Figure 15B] FIG. 15B is a top view of the system shown in FIG. 15A. [Figure 16A] 10 is a sequence illustrating the use of an end effector in the first power supply exchange system to unlock and remove a power supply from a power supply compartment. [Figure 16B] 10 is a sequence illustrating the use of an end effector in the first power supply exchange system to unlock and remove a power supply from a power supply compartment. [Figure 16C] 10 is a sequence illustrating the use of an end effector in the first power supply exchange system to unlock and remove a power supply from a power supply compartment. [Figure 16D] 10 is a sequence illustrating the use of an end effector in the first power supply exchange system to unlock and remove a power supply from a power supply compartment. [Figure 17] FIG. 10 is an exploded view of a second power exchange system including a power section, a power supply, and an end effector. [Figure 18] FIG. 10 is an enlarged view of a locking member of the second power supply exchange system. [Figure 19A] FIG. 10 is a perspective view of a power supply, power supply section, and end effector of a second power supply exchange system, showing the power supply in the power supply section with the locking member in the locked position and the end effector in the released position. [Figure 19B] FIG. 19B is a top view of the system shown in FIG. 19A. [Figure 20A] FIG. 10 is a perspective view of a power supply, power supply section, and end effector of a second power supply exchange system, showing the power supply in the power supply section with the locking member in the unlocked position and the end effector in the engaged position. [Figure 20B] FIG. 20B is a top view of the system shown in FIG. 20A. [Figure 21] FIG. 10 is an exploded view of a third power exchange system including a power section, a power supply, and an end effector. [Figure 22A] FIG. 10 is an exploded view of an assembly including a handling member, a locking member, and a guide. [Figure 22B] The exploded assembly of Figure 22A is shown from below. [Figure 23A] FIG. 10 is a perspective view of a power supply, power supply section, and end effector of a second power supply exchange system, showing the power supply in the power supply section with the locking member in the locked position and the end effector in the released position. [Figure 23B] FIG. 23B is a top view of the system shown in FIG. 23A. [Figure 24A] FIG. 10 is a perspective view of a power supply, power supply section, and end effector of a second power supply exchange system, showing the power supply in the power supply section with the locking member in the unlocked position and the end effector in the engaged position. [Figure 24B] FIG. 24B is a top view of the system shown in FIG. 24A. [Figure 25] FIG. 2 is a schematic perspective view of a power station. [Figure 26] FIG. 2 is a schematic perspective view of a first exemplary robotic arm operating above a track structure of the grid storage structure shown in FIG. 1 . [Figure 27] FIG. 2 is a schematic perspective view of a second exemplary robotic arm operating adjacent to the track structure of the grid storage structure shown in FIG. 1 . DETAILED DESCRIPTION OF THE INVENTION

[0041] FIG. 1 illustrates an exemplary storage structure 1 that may be used in a storage and retrieval system to store storage containers 9. The storage structure 1 comprises a framework including upright members 3 and horizontal members 5, 7 supported by the upright members 3. The horizontal members 5 extend parallel to each other and to the illustrated x-axis. The horizontal members 7 extend parallel to each other and to the illustrated y-axis and transverse to the horizontal members 5. The upright members 3 extend parallel to each other and to the illustrated z-axis and transverse to the horizontal members 5, 7. The horizontal members 5, 7 form a grid pattern that defines a plurality of grid cells 14. In the illustrated example, the storage containers 9 are arranged in stacks 11 below the grid cells 14 defined by the grid pattern, with one stack 11 of storage containers 9 per grid cell 14.

[0042] FIG. 2 shows a large-scale plan view of a section of a track structure 13 that forms part of the storage structure 1 illustrated in FIG. 1 and that is located on the horizontal members 5, 7 of the storage structure 1 illustrated in FIG. 1. The track structure 13 may be provided by the horizontal members 5, 7 themselves (e.g., formed in or on the surfaces of the horizontal members 5, 7), or by one or more additional components mounted on the horizontal members 5, 7. The illustrated track structure 13 includes x-direction tracks 17 and y-direction tracks 19, i.e., a first set of tracks 17 extending in the x-direction and a second set of tracks 19 extending in the y-direction that intersect the tracks 17 of the first set of tracks 17. The tracks 17, 19 define openings 15 in the centers of the grid cells 14. The openings 15 are sized to allow storage containers 9 located below the grid cells 14 to be lifted and lowered through the openings 15. The x-direction tracks 17 are provided in pairs separated by channels 21, and the y-direction tracks 19 are provided in pairs separated by channels 23. Other arrangements of the track structure may be possible.

[0043] 3 shows multiple load handling devices 25 moving on top of the storage structure 1 illustrated in FIG. 1. The load handling devices 25 (hereinafter referred to as "bots") are provided with sets of wheels for engaging with corresponding x-direction tracks 17 or y-direction tracks 19 to enable the bots 25 to travel across the track structure 13 and reach particular grid cells 14. The illustrated pair of tracks 17, 19 separated by channels 21, 23 allows the bots 25 to occupy (or pass each other on) adjacent grid cells 14 without colliding with each other.

[0044] 4, the bot 25 comprises an outer body 27 within which or to which is mounted one or more components that enable the bot 25 to perform its intended functions. These functions may include moving about the storage structure 1 on the track structure 13 so that the bot 25 can retrieve or place storage containers 9 in specific locations defined by a grid pattern, and raising or lowering storage containers 9 (e.g., from or to stacks 11).

[0045] The illustrated bot 25 includes a drive assembly including a first set of wheels 29 and a second set of wheels 31, which are attached to the outer body 27 of the bot 25 and enable the bot 25 to move in the x and y directions along the tracks 17 and 19, respectively. In particular, two wheels 29 are provided on the short side of the bot 25 visible in FIG. 4 , and two additional wheels 29 are provided on the opposite short side of the bot 25. The wheels 29 engage with the tracks 17 and are rotatably attached to the outer body 27 of the bot 25, enabling the bot 25 to move along the tracks 17. Similarly, two wheels 31 are provided on the long side of the bot 25 visible in FIG. 4 , and two additional wheels 31 are provided on the opposite long side of the bot 25. The wheels 31 engage with the tracks 19 and are rotatably attached to the outer body 27 of the bot 25, enabling the bot 25 to move along the tracks 19.

[0046] To enable the bot 25 to move in the first and second directions 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 loading device 25 to selectively move in either the first direction or the second direction across the tracks 17, 19 of the storage structure 1.

[0047] The wheel positioning mechanism may include one or more linear actuators, rotary components, or other means for raising and lowering at least one set of wheels 29, 31 relative to the outer body 27 of the bot 25 to move at least one set of wheels 29, 31 out of or into contact with the tracks 17, 19. In some examples, only one set of wheels is configured to be raised and lowered, such that the act of lowering one set of wheels can effectively lift the other set of wheels away from the corresponding tracks, and the act of raising one set of wheels can effectively lower the other set of wheels into contact with the corresponding tracks. In other examples, both sets of wheels may be raised and lowered, which advantageously means that the outer body 27 of the bot 25 remains substantially the same height, and therefore the wheel positioning mechanism does not need to lift or lower the weight of the outer body 27 and its attached components.

[0048] The bot 25 also includes a lifting mechanism 33 and a container holding device 37 configured to raise and lower the storage container 9. The illustrated lifting mechanism 33 includes four tethers 35 connected at their lower ends to the container holding device 37. The tethers 35 may be in the form of cables, ropes, tapes, or any other form of tether having the physical characteristics necessary to lift the storage container 9. The container holding device 37 includes a gripping mechanism 39 configured to engage features of the storage container 9 to releasably hold the container 9 from above. In the illustrated example, the gripping mechanism 39 includes legs that are received in corresponding openings 10 in the rim of the storage container 9 and can then be moved outward to engage the underside of the rim of the storage container 9. The tethers 35 can be reeled in or unreeled to raise or lower the container holding device 37 as needed. One or more motors and winches or other means can be provided to effect or control the reeling or unreeling of the tethers 35.

[0049] 5 and 6, side portions of the external body 27 of the bot 25 are omitted from the illustration so that the interior of the bot 25 can be seen. The external body 27 of the illustrated bot 25 has an upper portion 41 and a lower portion 43. The upper portion 41 is configured to house or support one or more operating components (not shown), such as components (e.g., motors) of the lifting mechanism 33, wireless communication components, one or more processors for controlling the operation of the bot 25, etc. The lower portion 43 is disposed below the upper portion 41. The lower portion 43 has an open bottom and defines a container receiving space 45 for receiving at least a portion of a storage container 9 that has been raised by the lifting mechanism 33 and placed in the container receiving space 45. FIG. 5 shows the container receiving space 45 before it is occupied by the storage container 9, and FIG. 6 shows the container receiving space 45 after it is occupied by the storage container 9. The container-receiving space 45 is sized so that the storage container 9 can fit sufficiently within the space 45 to allow the bot 25 to move across the top track structure 13 of the storage structure 1 without the underside of the storage container 9 getting caught on the track structure 13 or another part of the storage structure 1. When the bot 25 reaches its intended destination, the lifting mechanism 33 controls the tether 35 to lower the container holding device 37 and corresponding storage container 9 out of the space 45 and into its intended location. The intended location may be the stack 11 of storage containers 9 or an exit point of the storage structure 1 (or an entrance point of the storage structure 1 if the bot 25 is moving to collect a storage container 9 for storage in the storage structure 1). In the illustrated example, the upper portion 41 and the lower portion 43 are separated by a physical partition, but in other examples, the upper portion 41 and the lower portion 43 may not be physically separated by a particular component or portion of the outer body 27 of the bot 25. The upper and lower configurations of the bot 25 allow the bot 25 to occupy only a single grid cell 14 on the track structure 13 of the storage system 1.

[0050] In an alternative example, the container receiving space 45 of the bot 25 may not be within the external body 27 of the bot 25. For example, the container receiving space 45 may instead be adjacent to the external body 27 of the bot 25, e.g., in a cantilever arrangement where the weight of the container 9 to be lifted is balanced with the weight of the external body 27 of the bot 25. In such an embodiment, a frame or arm of the lifting mechanism 33 may protrude horizontally from the external body 27 of the bot 25, and the tether 35 may be disposed at respective locations on the protruding frame / arm and configured to be raised and lowered from those locations to raise and lower the storage container 9 into the container receiving space 45 adjacent to the external body 27.

[0051] The bot 25 is powered by a power source (e.g., a battery) received within the power compartment. The power source and the power compartment are configured to be electrically coupled to one another (e.g., by providing electrical connectors on the power source and within the power compartment). Upon coupling, power is delivered from the power source to one or more electrical or electronic components of the bot 25, such as the drive assembly, lifting mechanism 33, and / or container holding device 37.

[0052] 7 shows a bot 25 having an area 48 defined by a dotted line. The power compartment may be located anywhere within area 48. For example, the power compartment may be located entirely within the external body 27 of the bot 25, or the power compartment may extend through the top side 28 of the external body 27 of the bot 25, or the power compartment may be located entirely above the external body 27 of the bot 25.

[0053] In this example, the power supply compartment is configured to receive the power supply downward. The compartment is also exposed to the outside so that the power supply compartment is externally accessible from a location above the external body 27 of the bot 25. The upper side 28 of the external body 27 of the bot 25 in FIG. 7 includes an opening 47. If the compartment is located entirely within the external body 27 of the bot 25, the opening 47 may be in communication with the top opening of the power supply compartment, allowing a power source to be directly inserted into the power supply compartment 130 from a location above the upper side 28 of the external body 27 of the bot 25 through the opening 47 and directly removed from the power supply compartment through the opening 47 to a location above the upper side 28 of the external body 27 of the bot 25. If the power supply compartment extends through the upper side 28 of the external body 27 of the bot 25, the power supply compartment may extend through the opening 47. If the power supply compartment is located entirely above the external body 27 of the bot 25, the power supply compartment may be attached to the upper side 28 of the external body 27 of the bot 25, and the opening 47 may not be necessary.

[0054] The external body 27 of the bot 25 illustrated in FIG. 4 is defined by a top panel and side panels. FIG. 8 shows another example of the external body 27 of the bot 25 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 house and / or support components of the bot 25, such as the drive assembly and lifting mechanism 33. Due to the open frame structure of the external body, the upper side of the external body 27 has an opening 47 formed by the corner blocks 60 and horizontal connecting elements 62a on the upper side of the bot 25. As with the bot 25 illustrated in FIG. 7, the power supply compartment may be located entirely within the external body 27 of the bot 25 and in communication with the opening 47, or it may extend through the opening 47 in the external body 27 of the bot 25, or it may be located entirely above the external body 27 of the bot 25.

[0055] The power compartment of the bot 25 forms part of a power supply exchange system in which a power supply can be inserted into the power supply compartment, removed from the power supply compartment, or replaced with another power supply in an automated manner using an end effector. Several exemplary power supply exchange systems are described below. For simplicity, the power supply compartment will be referred to as simply a "compartment" in the following description.

[0056] 9 shows an exploded view of a first power supply exchange system 100 including 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 example is a downward direction. Thus, the power supply 110 can be removed from the compartment 130 in an upward direction.

[0057] The power source 110 may be a battery or any other suitable form of enclosed power source for providing power, such as a supercapacitor. The power source 110 may be a rechargeable power source, such as a rechargeable battery.

[0058] FIG. 10 shows the power source 110 in isolation. The power source 110 comprises an outer casing 112. The outer casing 112 comprises a bottom surface 114 and end walls 118 at opposite ends of the outer casing 112, and side walls extending between the bottom surface 114 and the end walls 118, defining a substantially cubical shape. The bottom surface 114 refers to the wall of the outer casing 112 that faces the bottom surface 132 of the compartment 130 (i.e., faces downward) when the power source 110 is oriented for insertion into the compartment 130, and the end wall 118 refers to the wall of the outer casing 112 that faces away from the bottom surface 132 of the compartment 130 (i.e., faces upward) when the power source 110 is oriented for insertion into the compartment 130. The end wall 118 is exposed to the end effector 150 when the power source 110 is within the compartment 130.

[0059] The power source 110 further comprises one or more electrical connectors 119 configured to electrically couple to corresponding electrical connectors 139 of the compartment 130, such that power from the power source 110 can be delivered to any electrical and / or electronic components connected (directly or indirectly) to the electrical connectors of the compartment 130. The electrical connectors 119 of the power source 110 and the electrical connectors 139 of the compartment are arranged such that insertion of the power source 110 into the compartment 130 automatically electrically couples the power source and compartment electrical connectors 119, 139 to one another. For example, the electrical connectors 119 of the power source 110 and the corresponding electrical connectors of the compartment 130 may face opposite directions when the power source 110 is oriented for insertion into the compartment 130, such that the electrical connectors 119, 139 are coupled together when the power source 110 is fully inserted. The electrical connectors 119, 139 may be in the form of any suitable connectors, e.g., male and female connectors (e.g., pins and sockets), electrical contacts, etc. An exemplary arrangement of the electrical connectors 119, 139 is shown in FIG. 13A, with the downward-facing electrical connector 119 provided on the bottom surface 114 of the power supply 110 and the upward-facing electrical connector 139 provided on the bottom surface 132 of the compartment 130.

[0060] The power source 110 further includes handling members 124 mounted on the end walls 118 for engaging the end effectors 150 to enable the end effectors 150 to move the power source 110 in and out of the compartment 130. In this example, each handling member 124 includes a support portion 125 extending upwardly from the end wall 118 and a retention portion 126 extending perpendicular to the support portion 125, such that the retention portion 126 overhangs the end wall 118 of the power source 110 and defines a vertical space between the end wall 118 and the retention portion 126. The handling members 124 are evenly distributed at 90 degree intervals about a longitudinal axis 128 that extends through the end wall 118 and the bottom surface 114 of the power source 110. Furthermore, all of the retention portions 126 are oriented in the same circumferential direction (i.e., extend away from their respective support portions 125) relative to the longitudinal axis 128 (i.e., all of the retention portions 126 are oriented clockwise or all of the retention portions 126 are oriented counterclockwise).

[0061] 9, the end effector 150 includes four engagement members 154 extending radially away from an axis of rotation 152 about which the end effector 150 can rotate. The engagement members 154 lie in a plane perpendicular to the axis of rotation 152 and are evenly spaced at 90 degree intervals about the axis of rotation 152 to define a substantially cross shape.

[0062] 11A shows the power source 110 and end effector 150 when the end effector 150 is 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 and the axis of rotation 152 of the end effector 150 are concentric such that the engagement members 154 lie in a plane substantially parallel to the end wall 118. In the released position, the engagement members 154 of the end effector 150 are located at an angular position between the angular positions of the handling members 124 relative to the longitudinal axis 128. In other words, the engagement members 154 are circumferentially between the handling members 124 relative to the longitudinal axis 128. Thus, when the end effector 150 is in the released position, the engagement member 154 cannot engage the handling member 124 when the end effector 150 is moved upward or downward relative to the generator 110, and therefore the end effector 150 is free to move upward away from the generator 110. For example, if the handling member 124 is located at angular positions 0, 90, 180, and 270 degrees relative to the longitudinal axis 128, then when the end effector 150 is in the released position, the engagement member 154 may be located at angular positions 45, 135, 210, and 315 degrees relative to the longitudinal axis 128.

[0063] 11B shows the generator 110 and end effector 150 when the end effector 150 is in the engaged position. In the engaged position, the end effector 150 is at an angular position relative to the axis of rotation 152 such that each engagement member 154 is received by a respective handling member 124, specifically between the storage portion 126 of the respective handling member 124 and the end wall 118 of the generator 110. In the engaged position, moving the end effector 150 upward causes the engagement members 154 to engage with the storage portion 126, thereby causing the generator 110 to be lifted by the end effector 150. The engagement between the engagement members 154 and the handling member 124 also allows the end effector 150 to support the weight of the generator 110 so that the end effector 150 can hold the generator 110 in the air, or to lower the generator 110. The engagement member 154 is also of sufficient radial length to project beyond the outer edge of the end wall 118 of the power source 110 .

[0064] To move from the released position to the engaged position, the end effector 150 is rotated in a first direction about its axis of rotation 152, and to move from the engaged position to the released position, the end effector 150 is rotated in a second, opposite direction about its axis of rotation 152. The first and second directions depend on the configuration of the handling member 124. For example, if the handling member 124 is constructed and arranged to receive the engaging member 154 in a counterclockwise direction, the end effector 150 is rotated in a counterclockwise direction to move from the released position to the engaged position, and the end effector 150 is rotated in a clockwise direction to move from the engaged position to the released position, and vice versa. In the example shown in FIGS. 11A and 11B, the end effector 150 is rotated counterclockwise from the released position to the engaged position and clockwise from the engaged position to the released position.

[0065] To reduce the risk of the power source 110 slipping off the end effector 150 while being held in midair by the end effector 150, the distal end of the retaining portion 126 of each engaging 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 engaging members 154 engage the handling members 124, each engaging member 154 is received laterally between the support portion 125 of the respective handling member 124 and the lip 127, which helps prevent the engaging members 154 from slipping circumferentially relative to the power source 110. The vertical distance between each lip 127 and the end wall 118 of the power source 110 may be large enough to allow the engaging members 154 to pass under the lip 127 as they rotate between the released and engaged positions. Alternatively, the vertical distance between each lip 127 and end wall 118 may be less than the vertical thickness of engaging member 154, such that lips 127 must be pushed aside as engaging member 154 moves between the released and engaged positions. In this case, retention portion 126 may have some resilience such that lips 127 deflect upward when a torque greater than a torque threshold is applied to end effector 150 to rotate engaging member 154 between the engaged and released positions.

[0066] 12 shows compartment 130 in isolation. Compartment 130 includes a bottom surface 132 and sidewalls 134 extending from bottom surface 132, defining a generally cubic power supply-receiving space 136 for receiving power supply 110 and a compartment opening 138 through which power supply 110 can be inserted into and removed from compartment 130. As described above, compartment 130 includes one or more electrical connectors 139 configured to mate with corresponding electrical connectors 119 on power supply 110 when power supply 110 is inserted into compartment 130.

[0067] The system 100 further includes a locking assembly for releasably locking the power supply 110 within the compartment 130. The locking assembly includes four locking members 140, each mounted adjacent a respective side of the power supply receiving space 136. The locking members 140 may be mounted directly or indirectly on the side walls 134 of the compartment 130 or on a different support structure adjacent the side walls 134. In the illustrated example, the locking members 140 are mounted between corner brackets attached to the side walls 134 of the compartment 130. Each locking member 140 is pivotally mounted to rotate about a respective horizontal pivot axis parallel to the respective side walls 134. The locking members 140 are rotatable inwardly about their respective pivot axes toward a locked position and outwardly about their respective pivot axes toward an unlocked position.

[0068] FIG. 13A is a schematic cross-sectional view of the power supply 110 within the compartment 130 when the locking members 140 are in the locked position, and FIG. 13B shows the locking members in the unlocked position. Each locking member 140 includes an overhanging portion 142. In the locked position, the overhanging portions 142 overhang into the power supply receiving space 136 to prevent the power supply 110 from moving upwardly out of the compartment 130. In the unlocked position, the overhanging portions 142 are vertically spaced apart from the power supply receiving space 136 (i.e., they do not overhang into the power supply receiving space 136) to allow the power supply 110 to be lifted out of the compartment 130. Furthermore, each locking member 140 is biased toward the locked position by a biasing means 146, such as a spring, e.g., a torsion spring.

[0069] Each overhanging portion 142 further includes a tapered surface 144 that slopes downwardly toward the bottom surface of compartment 130, such that when power source 110 is inserted into compartment 130, moving bottom surface 114 of power source 110 against tapered surface 144 urges locking members 140 outward toward the unlocked position against their respective biasing means. Thus, power source 110 can be inserted into the compartment even when locking members 140 are in the locked position.

[0070] FIG. 14A is a perspective view and FIG. 14B is a top view illustrating the state of the system 100 when the power source 110 is in the compartment 130 and the end effector 150 is in the released position. As described above, in the released position, the engaging member 154 is located at an angular position between the angular positions of the handling member 124 relative to the longitudinal axis 128. Furthermore, in the released position, the engaging 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 engaging member 154 does not engage the locking member 140. Thus, when the end effector 150 is in the released position, the locking members 140 are in the locked position due to their respective biasing means.

[0071] FIG. 15A is a perspective view and FIG. 15B is a top view illustrating the state of system 100 after end effector 150 has been rotated from the released position to the engaged position. As described above, in the engaged position, engaging members 154 are circumferentially received by handling members 124. Furthermore, in the engaged position, each engaging member 154 also engages with a respective locking member 140 such that locking members 140 are held in the unlocked position against the biasing force of their respective biasing means. In particular, because each engaging member 154 protrudes beyond the outer edge of a respective end wall 118 in the engaged position, each locking member 140 is pushed outward sufficiently so that overhanging portion 142 no longer overhangs end wall 118 of power source 110. Therefore, when the end effector 150 is in the engaged position, the locking member 140 is held in the unlocked position, and therefore, subsequent upward movement of the end effector 150 causes the end effector 150 to move (pull out) the power source 110 out of the compartment 130.

[0072] 16A-16D are a series of views illustrating how the end effector 150 can be used to unlock and remove the power source 110 within the compartment 130.

[0073] In FIG. 16A, the power supply 110 is in the compartment 130 and the locking member 140 is biased to the locked position by the biasing means 146 .

[0074] In FIG. 16B, the end effector 150 has been moved to the release position.

[0075] 16C, the end effector 150 has been rotated from the release position to the engagement position about its axis of rotation 152. This causes the engagement member 154 to be received by the handling member 124 and simultaneously move (push) the locking member 140 from the locked position to the unlocked position.

[0076] In FIG. 16D, the end effector 150 has been moved upward to move the unlocked power source 110 out of the compartment 130.

[0077] To insert the power source 110 into the compartment 130, the removal process can be reversed. In particular, the end effector 150 holds the power source 110 in the engaged position and moves the power source 110 downward into the compartment 130. Once 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 simultaneously disengage the locking member 140 and the handling member 124, thereby allowing the biasing means to return the locking member 140 to the locked position and allowing the end effector 150 to move upwardly, away from the power source 110.

[0078] To replace a first power source 110 in a compartment 130 with a second power source 110, the removal process described above can be performed to remove the first power source 110 from the compartment 130, and the insertion process described above can be performed to insert the second power source into the empty compartment 130. Between the removal of the first power source 110 and the insertion of the second power source 110, the end effector 150 can release the first power source 110 by setting it down and rotating it from an engaged position to a released position at a location outside the compartment 130. The end effector 150 can then pick up the second power source 110 by rotating it from a released position to an engaged position relative to the second power source 110.

[0079] The first power supply exchange system 100 described above is an example 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 exchange system 100, the locking member 140 may instead be linearly movable between the locked and unlocked positions with a biasing means (e.g., a spring) for linearly biasing the locking member toward the locked position. Such a variation functions in the same way as the first system 100 for inserting, removing, and replacing power supplies.

[0080] The first power supply replacement system 100 is also an example in which the compartment 130 includes a locking member 140, i.e., the movable part of the locking assembly. In some situations, it may be advantageous for the locking member to be located on the power supply rather than the compartment because when the locking member needs to be inspected or replaced, it may be easier and / or cheaper to inspect the power supply rather than the compartment. Next, several exemplary power supply replacement systems in which the power supply includes a locking member are described.

[0081] 17 shows an exploded view of a second power supply exchange system 200 including 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 230 is configured to receive the power supply 210 in an insertion direction D, which in this example is a downward direction. Thus, the power supply 210 can be removed from the compartment 230 in an upward direction.

[0082] These components of the second power supply exchange system 200 are the same as or similar to the components of the first power supply exchange system 100, and therefore, for the sake of brevity, only the notable similarities and differences between the two systems will be described below.

[0083] The end wall 218 of the power source 210 has four handling members 224 having a configuration and arrangement similar to the handling members 124 of the first system 100, i.e., they are spaced at equal angular intervals about 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.

[0084] 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 exchange system 100, i.e., they are spaced at equal angular intervals about the axis of rotation 252 to form a cross shape that lies in a plane perpendicular to the axis of rotation 252 of the end effector 250. The engagement members 254 and the handling member 224 are configured to interoperate in the same manner as in 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 handling member 224 to engage with the handling member 224, and a released position in which the engagement members 254 are disengaged from the handling member 224 to enable the end effector 250 to move the power source 210 into and out of the compartment 230.

[0085] The locking assembly includes two locking members 240 mounted on the end walls 218 of the power source 210. The locking members 240 are diametrically opposed about the longitudinal axis 228 of the power source 210. FIG. 18 shows an enlarged view of the locking members 240. Each locking member 240 includes a shank portion 241 and a hook portion 242 that lie in a plane perpendicular to the longitudinal axis 228. The locking members 240 are of sufficient length radially relative to the longitudinal axis 228 so that the hook portion 242 extends outward beyond the outer periphery of the end wall 218. Each locking member 240 is pivotally mounted to rotate about a respective pivot axis that extends parallel to the longitudinal axis 228. The pivot axis of each locking member 240 is located between the end of the hook portion 242 and the end of the shank portion 241 such that the hook portion 242 can be rotated about the pivot axis by moving the end of the shank portion 241 about the pivot axis. The locking members 240 are rotatable in the same direction about their respective pivot axes between the locked and unlocked positions (i.e., both locking members 240 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 biasing means 248 configured to bias the locking member 240 towards the locked position. In the illustrated example, the biasing means 248 is in the form of a spring, in particular a torsion spring.

[0086] 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 moved out of the compartment 230. In particular, the compartment 230 includes two vertically extending posts 220 mounted adjacent to the power supply receiving space 236. In this example, the posts 220 are mounted to a pair of opposing side walls 234 of the compartment 230, but may also be mounted to a structure adjacent the side walls 234. Each post 220 includes a neck portion 221 and a head portion 222 located on top of the neck portion 221, the head portion 222 having a larger diameter than the neck portion 221.

[0087] FIG. 19A is a perspective view illustrating the state of system 200 when power source 210 is in compartment 230 and end effector 250 is in the released position, and FIG. 19B is a top view. In the released position, engagement member 254 is located at an angular position relative to longitudinal axis 228 between the angular positions of handling member 224 and locking member 240; i.e., it is not engaged with either handling member 224 or locking member 240. Therefore, locking member 240 is in the locked position due to biasing means 248. In the locked position, hook portion 242 of each locking member 240 engages (is hooked around) neck portion 221 of the respective post 220. The diameter of head portion 222 is sufficient to prevent hook portion 242 from moving upward, thereby preventing power source 210 from being moved upward out of compartment 230. In particular, the diameter of head portion 222 may be greater than the distance between two opposing points on the inner surface of hook portion 242 .

[0088] FIG. 20A is a perspective view and FIG. 20B is a top view illustrating the state of system 200 after end effector 250 has been rotated from the released position to the engaged position. In the engaged position, each engagement member 254 of end effector 250 is received by a respective handling member 224. Furthermore, in the engaged position, two of the opposing radially extending engagement members 254 engage with locking member 240, such that locking member 240 is held in the unlocked position against the biasing force of biasing means 248. In particular, each of the two opposing engagement members 254 moves (pushes) shank portion 241 of locking member 240 against the biasing force of biasing means 248, causing hook portion 242 to disengage (rotate away from) post 220. In the unlocked position, the hook portion 242 is vertically spaced apart from the head portion 222 of the post 220 such that the hook portion 242 no longer blocks upward movement, and therefore subsequent upward movement of the end effector 250 will cause the end effector 250 to move (pull out) the power source 210 out of the compartment 230.

[0089] To remove, insert, and replace the power source 210 using the end effector 250, the same process can be followed as described above for the first power source replacement system 100. It will be appreciated that in this example, where the power source 210 includes the locking member 240, when the end effector 250 holds the power source 210 in an engaged position outside the compartment 230, the locking member 240 is held in an unlocked position by the engagement member 254, which allows the end effector 250 to move the power source 210 into the compartment 230 without being obstructed by the post 220.

[0090] To assist the engaging members 254 in moving the shank portion 241 of the locking member 240, each engaging member 254 for engaging the locking member 240 includes a roller 256 (labeled in FIG. 17) mounted for rotation about a roller axis parallel to the longitudinal axis 228. The roller 256 is configured to engage the shank portion 241 when the engaging member 254 is moving the locking member 240 to the unlocked position.

[0091] 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 form that extends beyond the outer edge of the power source 210. The blocking member 220 also need not be in the form of a post but instead may have any form that receives the locking member 240 circumferentially about the pivot axis and prevents the locking member 240 from moving upward. The blocking member 220 may have a form similar to that of the handling member 224, for example.

[0092] 21 shows an exploded view of a third power supply exchange system 300 including a power supply 310, a compartment 330 configured to removably receive the power supply 310, and an end effector 350 for inserting and removing the power supply 310 into and from the compartment 330. The compartment 330 is configured to receive the power supply 310 in an insertion direction D, which in this example is a downward direction. Thus, the power supply 310 can be removed from the compartment 330 in an upward direction.

[0093] These components of the third power supply exchange system 300 are the same as or similar to the components of the first power supply exchange system 100, and therefore, for the sake of brevity, only the notable similarities and differences between the two systems will be described below.

[0094] While the second power supply replacement system 200 was an example in which the locking member 240 on the power supply 210 pivotally rotates between a locked position and an unlocked position, the third power supply replacement system 300 is an example in which the locking member on the power supply moves linearly between the locked position and the unlocked position.

[0095] The end wall 318 of the power source 310 has four handling members 324 having a configuration and arrangement similar to the handling members 124 of the first system 100, i.e., they are spaced at equal angular intervals about the longitudinal axis 328 of the power source 310 and are configured to receive the engagement members 354 of the end effector 350 in the same circumferential direction.

[0096] 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 exchange system 100, i.e., spaced at equal angular intervals about the axis of rotation 352 to form a cross shape in a plane perpendicular to the axis of rotation 352. The engagement members 354 and the handling members 324 are configured to interoperate in the same manner as in 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 handling members 324 to allow the end effector 350 to move the power source 310 into and out of the compartment 330, and a released position in which the engagement members 354 are disengaged from the handling members 324.

[0097] The locking assembly includes four locking members 340 and four guides 345, each positioned on the end wall 318 below a respective handling member 324. In the illustrated example, the handling members 324 are mounted on the guides 345, although the handling members 324 may alternatively be formed integrally with the guides 344. The locking members 340 and guides 345 are spaced apart at equal angular intervals (i.e., 90-degree intervals) about the longitudinal axis 328. The locking members 340 are linearly movable in a direction perpendicular to the longitudinal axis 328. In particular, the locking members 340 are linearly movable outwardly toward a locked position and inwardly toward an unlocked position. When the locking members 340 are in the locked position, a portion of the locking members 340 protrudes beyond the outer edge of each of the end walls 318. When the locking member 340 is in the unlocked position, the locking member is retracted from the outer edge of the end wall 318 so that it does not protrude beyond the outer edge.

[0098] 22A and 22B show exploded views of the handling member 324, locking member 340, and guide 345 from above and below, respectively.

[0099] The handling member 324 and the guide 345 are shaped to define a space in which the locking member 340 rests. The locking member 340 is mounted for linear sliding movement 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 in a linear slot 346 in the bottom surface of the guide 345. The slot 347 and the protrusion 341 are configured to restrict movement of the locking member 340 to linear movement only. The lock assembly further includes a biasing means 348 in the form of a torsion spring engaged between the locking member 340 and the guide 344. The biasing means 348 exerts a biasing force on the locking member 340, urging the locking member 340 toward the locked position.

[0100] The upper portion of the locking member 340 includes a raised portion 343 having side surfaces 344 that are inclined relative to the direction of travel of the locking member 340 between the locked and unlocked positions. The side surfaces 344 are configured to engage with the engaging members 354 while the end effector 350 is rotated from the released position to the engaged position, thereby moving the locking members 340 inward to the unlocked position. To facilitate engagement between the engaging members 354 and the side surfaces 344 of the locking members 340, each roller 356 is mounted on the underside of each engaging member 354 to rotate 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 surfaces 344 of the respective locking members 340 to move the locking members 340 from the locked position to the unlocked position.

[0101] 21 , the locking assembly further includes four brackets 320, each mounted adjacent a respective side of the power supply receiving space 336. In this example, each bracket 320 is mounted to a respective side wall 316 of the compartment 330, although it may alternatively be mounted to a structure adjacent to the side wall 316. Each bracket 320 includes a slot or recess 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 when the locking member 340 is within the slot or recess 321, the locking member 340 is prevented from moving upward, thereby preventing the power supply 310 from moving upward and out of the compartment 330. To reduce tolerances in the vertical positioning of the locking members 340 and the slots or recesses 321, each locking member 340 includes a double-bevel edge 342 that helps the locking member 340 self-locate within the slot or recess 321.

[0102] Figure 23A is a perspective view and Figure 23B is a top view illustrating 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. In the released position, the engagement member 354 is in an angular position relative to the longitudinal axis 328 between the angular positions of the handling member 324 and the locking member 340, i.e., it is not engaged with either the handling member 324 or the locking member 340. The locking member 340 is therefore in a locked position due to the biasing means 348. In the locked position, the bracket 320 blocks the locking member 340 from moving upward, thereby preventing the power source 310 from being moved upward and out of the compartment 330.

[0103] FIG. 24A is a perspective view and FIG. 24B is a top view showing the state of system 300 after end effector 350 has been rotated from the released position to the engaged position about its axis of rotation 352. In the engaged position, each engaging member 354 is received by a respective handling member 324. Furthermore, each engaging member 354 engages a side surface 344 of a respective locking member 340 such that locking member 340 is moved (pushed) to the unlocked position against the biasing force of biasing means 348 and held in the unlocked position by engaging member 354. In the unlocked position, locking member 340 is retracted out of slot or recess 321 in bracket 320 such that locking member 340 is not prevented from moving upward, and therefore subsequent upward movement of end effector 350 will cause end effector 350 to move (withdraw) power source 310 out of compartment 230.

[0104] To remove, insert, and replace the power source 310 using the end effector 350, the same process can be followed as described above for the first power source replacement system 100. It will be appreciated that in this example, where the power source 310 includes the locking member 340, when the end effector 350 holds the power source 310 in an engaged position outside the compartment 330, the locking member 340 is held in an unlocked position by the engaging member 354, which allows the end effector 350 to move the power source 310 into the compartment 330 without being impeded by the bracket 320.

[0105] The end effectors 150, 250, 350 of the above-described power supply exchange systems 100, 200, 300 may be attached to the end of a robotic arm for moving and rotating the end effectors 150, 250, 350 to insert, remove, or exchange power supplies in an automated manner. The robotic arm may be, for example, a gantry robot or a Cartesian robot that can move (and rotate) the end effector along two or three orthogonal directions, or the robotic arm may be an articulated robot with revolute joints that can provide more degrees of freedom, for example, three, four, five, or six degrees of freedom.

[0106] The compartments 130, 230, 330 and the power sources 110, 210, 310 in or out of the compartments may be located at a predetermined location or any one of multiple predetermined locations relative to the robotic arm such that when a power supply replacement is performed, the robotic arm may be programmed to move and orient the end effector relative to the power source to perform predetermined movements to move the power source into or out of the compartment. Alternatively or additionally, the robotic arm may include sensors or a machine vision system to enable the robotic arm to determine the location of the power source and the compartment using methods known in the art.

[0107] The power supply exchange system 100, 200, 300 may further include one or more power supply stations 170 for storing power supplies 110, 210, 310 removed from the compartments 130, 230, 330 and for storing power supplies to be inserted into the compartments. FIG. 25 shows an exemplary power supply station 170 including multiple bays 172. Each bay 172 is open to a top surface 171 of the power supply station 170 so that each bay 172 can receive a power supply in a downward orientation. Each bay 172 may include the same locking assembly features as the compartments 130, 230, 330, although it is not necessary for the power supplies 110, 210, 310 to be locked within the bay 172 given that the power supply station 170 is typically stationary during use. The power supply station 170 preferably includes a charging system configured to charge the power supply 110, 210, 310 when it is received in the bay 172. For example, the bay 172 may include one or more electrical connectors configured to couple to electrical connectors 119 on the power supplies 110, 210, 310 to deliver power from the power supply to charge the power supplies.

[0108] Once the end effector moves the first power source 110, 210, 310 out of the compartment 130, 230, 330, the end effector 150, 250, 350 may move and release the first power source into an empty bay 172 of the power station 170. The end effector 150 may then engage and move the second power source 110, 210, 310 from the occupied bay 172 into the empty compartment 130, 230, 330. In this manner, 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 charged at the power station 170 for use in a future replacement operation.

[0109] Use of the power supply exchange system 100, 200, 300 in the above-described storage and retrieval system allows the power supplies 110, 210, 310 of the bots 25 to be exchanged in an automated manner while the bots 25 remain on the track structure 13 of the storage structure 1. In particular, one or more robotic arms 50 with end effectors 150, 250, 350 can be positioned on, directly above, or adjacent to the track structure 13 of the storage structure 1 such that the compartments 130, 230, 330 of one or more bots 25 on the track structure 13 are accessible to the end effectors. The track structure 13 can have one or more designated grid cells 14a accessible to the end effectors, to which the bots 25 must move to enable the end effectors to perform a power supply exchange. Once the bot 25 is over the designated grid cell 14a, the compartments can 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 end effector movements to perform a power supply exchange.

[0110] 26 illustrates an exemplary robot arm in the form of a gantry robot 50A whose end effector is mounted on a gantry extending directly above a column of designated grid cells 14a of the track structure 13. The illustrated gantry robot 50A is configured to move the end effector vertically and in a first horizontal direction parallel to the column of designated grid cells 14a of the track structure 13 so that the end effector 150, 250, 350 can reach a robot 25 above any one of the designated grid cells 14a in the column. The gantry robot 50A may also be configured to move the end effector in a second horizontal direction perpendicular to the first horizontal direction to enable the end effector to travel over multiple columns of designated grid cells 14a.

[0111] 27 shows an exemplary robot arm in the form of an articulated robot 50B positioned adjacent to the track structure 13, from which the end effector 150, 250, 350 can reach a section 130, 230, 330 of a bot 25 on a designated grid cell 14a or one of multiple designated grid cells 14a at the edge of the track structure 13. However, the articulated robot 50B can also be positioned on the track structure 13 itself, e.g., on a grid cell 14, to enable the end effector to reach a section 130, 230, 330 of a bot 25 on a designated grid cell 14a or one of multiple designated grid cells 14a toward the center of the track structure 13.

[0112] 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 reachable proximity of one or more robotic arms 50. For example, power supply stations 170 may be located in the area 52 marked in FIGS. 26 and 27 near track structure 13. Robotic arms 50 may be mounted to power supply stations 170 themselves, for example, on top surface 171.

[0113] The storage and retrieval system may include a central control system configured to control the movement and function of the bot 25 on the track structure 13 and the activation of the robotic arm 50 to perform the power supply exchange. The bot 25 and / or power source 110, 210, 310 may include a power supply monitoring system for monitoring the charge level of the power source in the compartment 130, 230, 330. The power supply station 170 may also include a power supply monitoring system for monitoring the charge level of the power source in the bay 172. The control system may use this information to determine when the bot 100 should move to a designated grid cell 14a to have its depleted power supply exchanged, an empty bay 172 into which the robotic arm 50 should place the depleted power supply 210, or an occupied bay 172 from which the robotic arm 50 should pick up a charged power supply to insert into the bot 100. If the power supply monitoring system indicates that the power supply's charge level is below a predetermined charge level, a controller in the bot can send a signal to the central control system, which commands the bot to proceed to the designated grid cell 14a along a calculated route. When the bot 25 arrives at the designated grid cell 14a, the bot can confirm its location to the central control system, which can then command the robotic arm 50 to perform a power exchange. The bot 25 can then resume operation on the track structure 13 while its depleted power source is recharged at the power station 170. The central control system can communicate wirelessly with the bot 25 and the robotic arm 50 via wireless transmitters and receivers using known wireless communication technologies, such as, for example, 4G, 5G, Wi-Fi, etc.

[0114] The power supply exchange system of the present invention is not limited to the precise form described above, and various modifications and variations will become apparent to those skilled in the art.

[0115] For example, the locking assembly is not limited to a particular number of locking members, provided that the particular use case sufficiently prevents the power source from moving out of the compartment. Having a pair of opposing locking members such that the power source is secured on two opposite sides (such as the locking assembly of the second system 200) may be advantageous for securely locking the power source within the compartment. Having two pairs of opposing locking members positioned orthogonally to each other (such as the arrangements of the first system 100 and the third system 300) may provide additional security.

[0116] As illustrated by the second power supply exchange system 200, the number of locking members does not need to be equal to the number of handling members or the number of engaging members. The number of handling members and the number of engaging members for engaging with the handling members can be selected to provide sufficient handling stability when the end effector moves the power supply in and out of the compartment, and the number of locking members can be selected to sufficiently secure the power supply within the compartment. These different requirements may result in different numbers of locking members, handling members, and engaging members for a particular system. As a result, not all of the engaging members of the end effector can simultaneously be received by the handling members and move the locking members when the end effector is rotated from the release position to the engagement position. Only each specific engaging member may be received by the handling members, or only the locking members or both may be moved. For the present invention, it is sufficient that the entire end effector can be received by the handling members and move the locking members when rotated from the release position to the engagement position.

[0117] The handling member need not be in the form described in the above example, but may take other forms suitable for receiving and engaging a portion of the end effector so that the end effector can engage the power source and move it in and out of the compartment. For example, the engagement member may include a protrusion and the handling member may include a recess configured to receive the protrusion circumferentially and engage the protrusion perpendicularly relative to the longitudinal axis of the power source when the end effector is rotated from the released position to the engaged position to allow the end effector to move the power source in and out of the compartment. Alternatively, the handling member may include the protrusion and the engagement member may include the recess.

[0118] The engagement member need not be in the form described and illustrated in the examples above, but may have any suitable shape, configuration, and arrangement for being received by the handling member and / or for moving the locking member when the end effector is rotated from the released position to the engaged position.

[0119] While the power-receiving space compartment in the above example is defined by a bottom surface and side walls, the power-receiving space may simply be a designated space within a larger area. A compartment may be only partially defined by a bottom surface and / or one or more side walls. Furthermore, the bottom surface and / or side walls need not be in the form of solid panels; instead, the bottom surface and / or side walls of the compartment may be in the form of an open frame made of corner blocks connected together by connecting elements (e.g., rods), similar to the exemplary bot outer body shown in FIG. 8.

[0120] Although the exemplary power supply exchange system is described above with the compartment oriented so that the power supply is received downward, the power supply exchange system is not limited to this compartment orientation. Generally, the compartment is configured to receive the power supply in an insertion direction, and any specific direction and orientation terms used in the above description should be understood as being relative to the insertion direction and not limiting. The compartment may, for example, be oriented so that the power supply is received horizontally. In this case, the power supply is also oriented so that the aforementioned end wall of the power supply faces horizontally and the rotation axis of the end effector is oriented horizontally for rotation between the engaged and disengaged positions. A power supply exchange system that inserts and removes the power supply horizontally may also be used with the bot 25 of the storage and retrieval system described above. For example, the compartment may be configured so that a side of the outer body 27 of the bot 25 is exposed to the outside, making the compartment externally accessible to the end effector to allow the end effector to move the power supply horizontally into and out of the compartment.

[0121] The power supply interchange system is not limited to use with the bot 25 described above, but may be used with any device that can be powered by an interchangeable power source. The power supply interchange system may be used, for example, with other forms of material handling equipment, vehicles, or robots.

[0122] Thus, the present invention provides a system that can securely lock a replaceable power source within a compartment and then use an end effector to unlock and remove the power source in an efficient, automated manner. The end effector only needs to perform a simple rotational movement to simultaneously unlock the power source to remove it from the compartment and position itself to engage the power source. The end effector also only needs to perform a simple rotational movement to simultaneously release and lock the power source within the compartment. Thus, the end effector does not need to perform complex gripping movements to engage and unlock the power source, thereby allowing for the use of a simple, cost-effective end effector.

Claims

1. 1. A power supply exchange 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 disengaged position; a lock assembly including a locking member movable between a locked position to prevent the power source from being removed from the compartment and an unlocked position to allow the power source to be removed from the compartment; Equipped with The end effector and the locking assembly are configured such that, when the end effector is rotated from the released position to the engaged position, the end effector moves the locking member from the locked position to the unlocked position.

2. The power supply exchange system of claim 1 , wherein the compartment comprises the locking member.

3. 3. The power supply exchange system according to claim 1, wherein the compartment defines a power supply receiving space for receiving the power supply, and the locking member is configured to protrude into the power supply receiving space in the locked position to prevent the power supply from being removed from the compartment.

4. 4. The power supply exchange system of claim 3, wherein the end effector is configured to extend beyond the power supply receiving space when the end effector is in the engaged position to enable the end effector to move the locking member to the unlocked position.

5. 5. The power supply exchange system of claim 2, wherein the locking member comprises a tapered surface configured to move from the locked position to the unlocked position when the power supply is moved into the compartment to allow the power supply to be received within the compartment.

6. 6. The power supply exchange system of claim 1, further comprising a power supply having the locking member, the compartment configured to engage with the locking member when the locking member is in the locked position to prevent the power supply from being removed from the compartment.

7. 7. The power supply exchange system of claim 6, wherein the power supply comprises one or more handling members, each handling member configured to receive a respective portion of the end effector when the end effector is rotated from the released position to the engaged position, the one or more handling members further configured to engage the respective portion of the end effector to enable the end effector to move the power supply into and out of the compartment.

8. The power supply exchange system of any one of claims 1 to 7, wherein the compartment is configured to electrically couple to the power supply when the power supply is received in the compartment.

9. 9. The power supply exchange system of claim 1, wherein the locking assembly further comprises biasing means configured to apply a biasing force to bias the locking member to the locked position, and the end effector and the locking assembly are further configured such that rotating the end effector from the engaged position to the released position enables the biasing force to return the locking member to the locked position.

10. 10. The power supply exchange system of claim 9, wherein the end effector and the locking assembly are configured such that the locking member is held in the unlocked position by the end effector when the end effector is in the engaged position.

11. 11. The power supply exchange system of claim 1, wherein the locking assembly includes a plurality of locking members, and the locking assembly and the end effector are configured such that, when the end effector is rotated from the released position to the engaged position, the end effector moves each locking member from the locked position to the unlocked position.

12. 12. The power supply exchange system of claim 11, wherein the end effector comprises a plurality of engagement members arranged such that, when the end effector is rotated about an axis of rotation from the release position to the engagement position, each particular engagement member moves to a position for engaging with the power source and / or moves one of the locking members from the locked position to the unlocked position.

13. 13. The power supply exchange system of claim 12 when dependent on claim 7 or any one of claims dependent on claim 7, 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 one or more handling members and / or moves one of the locking members from the locked position to the unlocked position.

14. 14. The power supply exchange system of claim 1, wherein the end effector is mounted on a robotic arm configured to move and rotate the end effector between the engaged and disengaged positions.

15. 15. The power supply exchange system of claim 1, further comprising a power supply station, the power supply station comprising a plurality of bays, each bay configured to receive a power supply, and the end effector further configured to move the power supply between the compartment and any of the bays of the power supply station.

16. 16. The power supply interchange system of claim 15, wherein each bay is configured to charge the power supply when received in the bay.

17. and a material handling device for lifting and moving containers arranged in stacks 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 and the second set of tracks extending in a second direction substantially perpendicular to the first direction so as to form a grid pattern defining a plurality of grid cells above the stack of containers, the material handling device: a drive assembly configured to move the material handling device on the track structure; a container holding device configured to releasably hold a container from above; a lifting mechanism configured to raise and lower the container holding device; Equipped with 17. The power supply exchange system of any one of claims 1 to 16, wherein the load handling device includes a compartment configured to deliver power to one or more electrical or electronic components of the load handling device when the power supply is received within the compartment.

18. 1. A storage and retrieval system comprising: a storage structure, the storage structure comprising: a track structure, the track structure comprising a first set of tracks and a second set of tracks, the first set of tracks extending in a first direction and the second set of tracks extending in a second direction substantially perpendicular to the first direction, so as to form a grid pattern defining a plurality of grid cells; 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 containers below each grid cell; Equipped with The storage and retrieval system further comprises the power supply exchange system of claim 17.

19. 20. 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 to enable the end effector to move a power source in and out of the compartment of material handling equipment located on the track structure.

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

21. A method for removing a power source from the compartment of a power source exchange system according to any one of claims 1 to 17 or a storage and retrieval system according to claim 18 or 19, comprising the steps of: (i) rotating the end effector from the released position to the engaged position; (ii) using the end effector to move the power source out of the compartment; A method comprising the step of:

22. A method for exchanging a power supply in the compartment of a power supply exchange system according to any one of claims 1 to 17 or in a storage and retrieval system according to claim 18 or 19, comprising the steps of: (i) rotating the end effector from the released position to the engaged position relative to a first power source within the compartment; (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; (iv) rotating the end effector from the engaged position to the released position; A method comprising the step of:

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