GRASPER, LOAD HANDLING DEVICE, METHOD OF USING A GRASPER, GRID BASED STORAGE AND RECOVERY SYSTEM

Abstract

Provided is a gripper for latching onto a storage container (10), the gripper comprising: a gripper housing; a pair of gripper arms retained within the gripper housing, wherein the gripper arms have cooperating shapes; and a movable, rotatable actuator means retained in a channel between the pair of gripper arms for moving the gripper arms between a closed position and an open position. Also provided are load handling devices for lifting and moving storage containers comprising one or more grippers, methods of using the grippers, and grid-based storage and retrieval systems comprising at least one load handling device comprising one or more grippers.

Description

[Technical field]

[0001] The present invention relates to a gripper for latching to an object. More particularly, the present invention relates to a gripper device that may be moved between an open position and a closed position to secure the gripper in an opening on an object. One or more grippers may be used as part of a lifting assembly of a load handling device that operates on a storage system, the storage system having storage bins in a stack. [Background technology]

[0002] Methods for handling containers stacked in rows have been well known for decades. Some such systems, such as described in US 2,701,065 to Bertel, provide freestanding stacks of such containers to reduce the storage volume associated with storing containers arranged in rows, but still provide access to a particular container when needed. Access to a given container is made possible by providing a relatively complex hoisting mechanism that can be used to stack and remove a given container from the stack. However, the cost of such systems makes them impractical in many situations, and they are primarily commercialized for the storage and handling of large shipping containers.

[0003] The concept of using a free-standing stack of containers and providing a mechanism for retrieving and storing a particular container has been further developed, as described for example in EP 0767113B to Cimcorp. EP '113 discloses a mechanism for removing multiple stacked containers using a robotic load handler in the form of a square tube that is configured to be lowered around the stack of containers and be able to grasp a container at any level in the stack. In this way, several containers can be lifted from the stack at once. A movable tube can be used to move several containers from the top of one stack to the top of another stack, or to move containers from the stack to an external location and vice versa. Such a system does not require that all of the containers in a single stack are removed. Same product (known as a single product stack).

[0004] In the system described in EP '113, the height of the tube must be at least as high as the height of the largest stack of containers so that the highest stack of containers can be extracted in a single motion. Thus, when used in enclosed spaces such as warehouses, the maximum height of the stack is limited by the need to accommodate the tubes of the baggage handler.

[0005] EP1037828B1 (Autostore) describes a system in which a stack of containers is arranged within a frame structure. A system of this type is shown diagrammatically in Figures 1 to 4 of the accompanying drawings. A robotic baggage handling device is controllably moveable around the stack on a system of tracks on the uppermost surface of the stack.

[0006] A parcel handling device is described in UK Patent Application No. GB2520104A - Ocado Innovation Limited - in which each robotic parcel handler occupies only one grid space, thus enabling a high density of parcel handlers and therefore a high throughput for a given size system.

[0007] In the known robotic picking systems described above, a robotic parcel handling device is controllably moved around the top of the stack on a track system forming a grid. A given parcel handling device lifts a box from the stack and a container containing the inventory items required to fulfil the customer order is lifted. The container is transferred to a picking station where the required inventory items may be manually removed from the box and placed in a delivery container which forms part of the customer order and is manually filled for dispatch at the appropriate time. At the picking station the items may be picked by an industrial robot suitable for such a task, for example as described in UK Patent Application No. GB2524383B -Ocado Innovation Limited-.

[0008] As shown in Figures 1 and 2, stackable storage containers known as boxes 10 are stacked on top of one another to form a stack 12. The stacks 12 are arranged within a framework 14 in a warehouse or manufacturing environment. Figure 1 is a schematic perspective view of the framework 14, and Figure 2 is a top-down view showing a single stack 12 of boxes 10 arranged within the framework 14. Each box 10 typically holds multiple products or inventory items, and the inventory items within a box 10 may be the same or different product types, depending on the application. Moreover, the boxes 10 may be physically subdivided to accommodate multiple different inventory items.

[0009] The framework 14 includes a plurality of upright members 16 supporting horizontal members 18, 20. 18 The first set of To, are disposed vertically on a second set of parallel horizontal members 20 to form a plurality of horizontal grid structures supported by the upright members 16. The members 16, 18, 20 are typically fabricated from metal. The boxes 10 are stacked between the members 16, 18, 20 of the framework 14 such that the framework 14 protects the stack 12 of boxes 10 from horizontal movement and guides the vertical movement of the boxes 10.

[0010] The top level of the framework 14 includes rails 22 arranged in a grid pattern across the top of the stack 12. With further reference to Figures 3 and 4, the rails 22 support a plurality of robotic luggage handling devices 30. A first set 22a of parallel rails 22 guides movement of the luggage handling devices 30 in a first direction (X) across the top of the framework 14, and a second set 22b of parallel rails 22, disposed perpendicular to the first set 22a, guides movement of the luggage handling devices 30 in a second direction (Y) perpendicular to the first direction. In this manner, the rails 22 enable movement of the luggage handling devices 30 in two dimensions in the XY plane such that the luggage handling devices 30 can be moved to an appropriate position above any of the stacks 12.

[0011] Each baggage handling device 30 comprises a vehicle 32 arranged to travel in the X and Y directions on the rails 22 of the framework 14 above the stack 12. A first set of wheels 34 consisting of a pair of wheels 34 at the front of the vehicle 32 and a pair of wheels 34 at the rear of the vehicle 32 are arranged to engage two adjacent rails of the first set 22a of the rails 22. Similarly, a second set of wheels 36 consisting of a pair of wheels 36 on either side of the vehicle 32 are arranged to engage two adjacent rails of the second set 22b of the rails 22. Each set of wheels 34, 36 is liftable and lowerable so that either the first set of wheels 34 or the second set of wheels 36 can be engaged with the respective set of rails 22a, 22b at any time.

[0012] When the first set of wheels 34 is engaged with the first set of rails 22a and the second set of wheels 36 is lifted off the rails 22, the wheels 34 are drivable by a drive mechanism (not shown) housed in the vehicle 32 to move the luggage handling device 30 in the X direction. To move the luggage handling device 30 in the Y direction, the first set of wheels 34 is lifted off the rails 22 and the second set of wheels 36 is engaged with the second set of rails 22. b The drive mechanism can then be used to drive a second set of wheels 36 to achieve movement in the Y direction.

[0013] In this manner, one or more robotic luggage handling devices 30 can move around the top surface of the stack 12 on the framework 14, as shown in Figure 4 under the control of a centralized control utility (not shown). Each robotic luggage handling device 30 comprises lifting means 38 for lifting one or more boxes 10 from the stack 12 to access the required products.

[0014] The body of the vehicle 32 comprises a cavity 40, which is sized to be able to hold the box 10. The lifting means 38 comprises a winch means and a box gripper assembly 39. The lifting means lifts the box 10 from the stack 12 into the cavity 40 in the body of the vehicle 32. When in the cavity 40, the box 10 is lifted off the rail below so that the baggage handling device can move laterally to a different location on the grid. Upon reaching the target location, e.g. another stack, an access point in a storage system, or a conveyor belt, the box 10 can be lowered from the cavity and released from the gripper assembly 39.

[0015] In this way, multiple products are accessible from multiple locations within the grid and stack at any one time.

[0016] The above description describes a storage system in the context of, for example, a grocery store. Figure 4 shows a typical such storage system, which has a number of package handling devices 30 active on a grid above the stacks 12.

[0017] 1 and 4 show bins 10 in a stack 12 in a storage system. It will be appreciated that there may be many bins 10 in any given storage system and many different items may be stored within the bins 10 in the stacks 12. Each bin 10 may contain different categories of inventory items within a single stack 12.

[0018] In one system, as described above and further described in UK Patent Application No. GB2517264A - Ocado Innovation Limited, incorporated herein by reference - the storage system comprises a series of bins 10 which may further comprise delivery receptacles DT having customer orders contained therein, or which may further comprise bins 10 having stock items contained therein awaiting retrieval. These different bins 10 and combinations thereof may be included in the storage system and accessed by a robotic parcel handling device 30, as described above.

[0019] It will be appreciated that the automated or semi-automated storage and retrieval systems are not limited to systems targeted at grocery stores. For example, the technology is applicable to shipping, baggage handling, parking, indoor or hydroponic greenhouses and agriculture, modular buildings, self storage facilities, cargo handling, shipping yards, manufacturing facilities, pallet handling, parcel sorting, airport logistics (ULD), and general logistics, to name a few possible applications. It will be appreciated that different types of storage and retrieval systems have different technical requirements.

[0020] It is against this background that the present invention was conceived. Summary of the Invention

[0021] Aspects of the invention are set out in the accompanying claims.

[0022] One object of the present invention is to provide an improved gripper for use as part of a lifting assembly on a baggage handling device. In some embodiments, the gripper may be "self-actuated" or passive by being connected to other actions, such as lowering the gripper to an appropriate position. In this manner, the gripper does not require other devices or additional parts to be actuated. For example, some prior art devices require solenoids to open and close the gripper. It will be appreciated that such a system would require additional power and data to operate. In contrast, the gripper herein is merely lowered to an appropriate position, and the lowering action actuates the gripper to move between open and closed positions, and has no electrical components.

[0023] It will be appreciated that graspers on other types of devices may be used where a latching mechanism is required.

[0024] A gripper for latching to a storage container is provided comprising a gripper housing, a pair of gripper arms held within the gripper housing, wherein the gripper arms have cooperating shapes, and movable, rotatable actuator means held in a channel between the pair of gripper arms for moving the gripper arms between closed and open positions, wherein the gripper is actuated by substantially vertical or z-axis movement of the actuator means.

[0025] The gripper arms have cooperating shapes to mate with one another. For example, if one arm of the pair has a cavity or recess, the other arm of the pair has a corresponding protrusion. Thus, the shapes of the arms cooperate with one another to mate with overlapping or interlocking features. In some cases, the pair of gripper arms may be substantially a mirror pair.

[0026] The pair of gripper arms are held in position by a gripper housing. Each of the arms may be pivotally attached to the gripper housing, and a lip of the housing may be shaped to accommodate a distal end of the arm, distal to the pivot attachment point or head. In this manner, the pair of gripper arms are movable between a first (closed) position and a second (open) position.

[0027] Movement of the grippers between the open and closed positions may be controllable using an actuator means. At the head ends of the gripper arms, which are held by the gripper housing, the gripper arms are shaped to provide an opening and a substantially straight channel between the arms that holds the actuator means in place. Below or beyond the head ends of the gripper arms, the channel continues to another cavity or recess between the molded gripper arm pair.

[0028] The inner surface of each of the gripper arms may comprise a cam surface having a number of grooves or channels for receiving the distal end of the actuator means. Alternatively, the surface may be considered to be a molded substantially internal guide, a molded substantially internal channel, or a molded substantially internal channel guide. The cam surface may be at least partially curved or helical. Each of the channels helical in the same rotational sense. The pair of gripper arms may comprise four substantially closed channels for receiving the distal end of the actuator means.

[0029] The inner surface of each of the gripper arms may be considered to be a surface that mates with the respective surface of the cooperating pair. It will be appreciated that due to the cooperating shapes of the gripper arms the surfaces are not flat. In addition to the overlapping or interlocking form of the cooperating surfaces that allows the pair of gripper arms to be held together in the closed position, grooves or channels may be formed on the mating surfaces. In this way the distal end of the actuator means is movable through a network of paths in the cavity between the pair of gripper arms formed by the grooves or channels and guided by the sides of the channel or groove.

[0030] The curved or helical shape of the pathway may introduce angular rotation into the actuator means as the distal end of the actuator means moves along the pathway. The pathways may be substantially ribbon-shaped. The amount or percentage of curvature along each pathway may be substantially constant or the pathways may pass through discontinuities in curvature, for example at points where the actuation direction changes from up to down or down to up.

[0031] By always rotating in the same direction, movement of the actuator through the channel may be smoother, without the interruption that comes with changing direction.

[0032] The channels may be shaped to direct the actuator means along different routes through a network of pathways, with particular pathways or channels causing particular different resulting movements of the grippers.

[0033] The internal channels, or the substantially closed channels, may be linked. In this way, the actuator means may move from one channel to the next in sequence. If each of the internal channels spirals in the same rotational direction, the actuator means may rotate from one channel to the next in the same direction sequentially with each movement.

[0034] In an alternative arrangement, the channels may be cross-shaped or have intersecting paths.

[0035] A first actuating movement may move the gripper arms from a closed position to an open position, a second actuating movement locks the gripper arms in the open position, a third actuating movement unlocks the gripper arms, and / or a fourth actuating movement moves the gripper arms from the open position to the closed position.

[0036] For example, movement through one channel may cause the grasper to open or close. Movement through another or subsequent channel may cause the grasper to lock in place. In this manner, the grasper may be controlled through mechanical means. Some channels may have rotational symmetry to allow for a continuous sequence between networks of channels that are similar to other channels but that loop back to the beginning again.

[0037] Each of the pairs of gripper arms may be substantially identical.

[0038] If the gripper arms are similar, the number of different parts that make up the gripper is simplified. If the gripper arms are made by injection molding, for example, only one molding may be required. In this way, the gripper is simplified, capital costs may be reduced, and maintenance may be simplified. It will be appreciated that gripper arms may be used interchangeably and, if they are the same, there will be no need to ensure the use of appropriate parts as a pair.

[0039] Each pair of gripper arms has 180° rotational symmetry about the z-axis.

[0040] Ensuring that the gripper arms have cooperating shapes of protrusions and recesses can be achieved using rotational symmetry. In this way, it is not necessary to have a left / right pair of mating gripper arms. The rotational symmetry may be about the z-axis, a substantially vertical axis that extends along the major axis of the gripper arm from the head to the distal end of the gripper arm.

[0041] The gripper may further comprise an indication means for the rotational position of the actuator means.

[0042] For example, the means for indicating the rotational position may be an orientation mark on the top surface of the plunger. In this way, a reader may be used to determine the position of the gripper arm (open, closed, and or locked) based on the actuator orientation even when the gripper arm is not visible. The orientation mark may be a reflective surface that is easily visible to a visual sensor from a distance.

[0043] The indicator means may include an indicator plate and a cover plate disposed on the indicator plate. The indicator plate may include at least one distinguishing region on its top surface, i.e., a region distinguishable from the top surface of the cover plate. For example, the distinguishing region may be a colored or textured region that is different from the color or texture of the top surface of the cover plate. The indicator plate may be elongated and may include a distinguishing region at each longitudinal end of the indicator plate.

[0044] The cover plate may include at least one notch that matches the shape of the differentiation area on the indicator plate such that when the notch is aligned with the differentiation area, the differentiation area may be detectable or visible from above. The indicator means may also include an indicator attachment, where the cover plate and the indicator plate may fit onto the indicator attachment. The indicator attachment may include a bolt head (e.g., a central bolt head) that passes through a locating hole (e.g., a central locating hole) in the indicator plate, thereby assembling the indicator plate onto the indicator attachment. The bolt head may further fit into a protrusion on the lower side of the cover plate, which may include a hole or recess for receiving the bolt head. The cover plate may fit onto the bolt head such that a rotation of the bolt head may result in a synchronous and equal rotation of the cover plate. For example, the bolt head may include a semicircular cross section, and the hole or recess in the protrusion may include a semicircular cross section of the same size as the cross section of the bolt head. In this way, a rotation of the bolt head may result in a synchronous and equal rotation of the cover plate. Thus, the cover plate, along with the indicator attachment, may rotate relative to the indicator plate.

[0045] The indicator attachment may include a ball chain receiving portion for receiving a ball chain. The ball chain receiving portion may include a receptacle capable of receiving a ball from the ball chain.

[0046] The actuator means may comprise an actuator attachment which may be connected to a top or proximal end of the actuator means. The actuator attachment may be connected to the actuator means such that rotation of the actuator means causes rotation of the actuator attachment, e.g. synchronous and equal rotation of the actuator attachment. The actuator attachment may include a ball chain receiving portion for receiving a ball chain. The ball chain receiving portion may surround the actuator means, i.e. surround a longitudinal axis of the actuator means, and may include a receptacle capable of receiving a ball from the ball chain. The ball chain may wrap around the ball chain receiving portion of the indicator attachment and the ball chain receiving portion of the actuator attachment, thus mechanically connecting the actuator means with the indicating means. The ball chain receiving portion may act as a pulley or sprocket for the ball chain, such that when the actuator attachment rotates, the ball chain is driven to rotate the indicating means. The ball chain may ensure synchronous and equal rotation between the actuator means and the indicating means.

[0047] As explained above, the movement of the gripper between the open and closed positions may be controllable using the actuator means. In particular, the movement of the gripper arms between the closed, open and open locked positions may be controllable by rotation of the actuator means. When the actuator means rotates to open or close the gripper arms, the indicator attachment may rotate synchronously an equal amount (by ball and chain action). Rotation of the indicator attachment may rotate the cover plate such that in a first position the notch is not aligned with (i.e. not on) the distinction area on the indicator plate, i.e. the distinction area is covered by the cover plate. In this way, the distinction area on the indicator plate may not be detectable or visible, for example to a reader or sensor. The actuator means may cause rotation of the indicator attachment to position the cover plate in a second position in which one notch is aligned with (i.e. above) the distinction area (i.e. the distinction area is exposed by the notch in the cover plate) such that the distinction area is detectable or visible, for example, to a reader or sensor. The first position of the cover plate may correspond to a position of the actuator means when the gripper arms are in a closed position. The second position of the cover plate may correspond to a position of the actuator means when the gripper arms are in an open or open locked position. In this way, the indicating means with the cover plate in the first or second position may provide an indication to the reader or sensor of the status of the gripper (i.e. whether the gripper arms are open or closed). The distinction area may be shaped such that overlap of the notch on the distinction area indicates an intermediate status of the gripper arm, for example when the gripper arm is in an open position before moving to an open locked position (i.e. an open unlocked position).

[0048] The lifting assembly may comprise at least one gripper (e.g. four grippers), each gripper comprising an actuator means and an actuator attachment. Each gripper comprises an indicator means, i.e. each actuator attachment may be mechanically connected to an indicator attachment of the indicator means, e.g. by a ball chain, as explained above. In this way, a reader or sensor may determine whether the individual grippers of the lifting assembly are synchronized or not synchronized with each other, i.e. whether all the individual grippers have their respective gripper arms in the same position (closed or open). The indicator means may be detected simultaneously, e.g. by a reader or sensor placed at a distance or above the indicator means. The grippers may be placed on the periphery or edge of the lifting assembly. The indicator means may be laterally displaced (i.e. laterally displaced with respect to the z-axis of the gripper), e.g. the indicator means may be placed within the periphery or edge of the lifting assembly. The indicator means may be placed towards the centre of the lifting assembly.

[0049] The luggage handling device may include a detection means for detecting the status of the indication means, i.e. whether the distinction area is visible from the indication means. The detection means may thus detect the status of the indication means and provide a determination whether the gripper arm is open or closed. The detection means may include a reader, a sensor, a visual sensor, a camera, etc., capable of detecting from a distance whether the distinction area is visible, i.e. the detection means may be installed at a distance from the indication means (e.g. above the indication means). For example, the luggage handling device may include a camera capable of detecting whether the distinction area is visible (i.e. exposed by a cutout). The detection means may be installed on or in the luggage handling device, for example at the bottom of the luggage handling device. In this way, the detection means may be installed above a lifting assembly comprising the gripper and the indication means. The detection means may detect the status of the indication means from a distance above the indication means.

[0050] While the foregoing describes an indicating means whereby the cover plate rotates with the indicator attachment, in other embodiments the indicator plate may be connected to the indicator attachment such that rotation of the indicator attachment causes rotation of the indicator plate while the cover plate remains fixed.

[0051] The indicator means may provide a binary indication of the position of the gripper arms, for example "open" or "closed".

[0052] Additionally or alternatively, a magnet may be placed in the top portion of the plunger. In this manner, the orientation of the plunger may be determined using a Hall sensor. Additionally, the Hall sensor may be used to aid in the rotation of the plunger to ensure that it is properly oriented.

[0053] The grasper may further comprise detent means for orienting the actuator means.

[0054] Detent means may be used to ensure that the actuator means is correctly positioned within the gripper arrangement. It will be appreciated that the detent means may be mechanical or magnetic and are intended to resist or prevent rotation of the actuator means to a different position. For example, the detent means may be one or more notches in the head portion of the gripper arm and a cooperating spring-loaded ball bearing, or a spring-loaded spring-loaded ball bearing in the head portion of the gripper arm and one or more notches in the actuator means. It will be appreciated that the magnetic detent means may be electrically or electronically controllable. It will be appreciated that the detent means may be releasable. Furthermore, it will be appreciated that the detent means may also prove to be assisting to urge the actuator means to the next position in the sequence.

[0055] The grippers may be actuated by substantially vertical or z-axis movement of the actuator means.

[0056] The vertical movement of the actuator means may be along the line of the major axis of the gripper arms. To actuate the grippers, the actuator is displaced vertically relative to the gripper arms. The actuator may be guided by the frame to ensure that the actuator means remains aligned within the opening and the channel between the pair of gripper arms.

[0057] The auction movement moves the distal end of the actuator up and down within the cavity between a pair of gripper arms: when the actuator is pushed, the distal end moves deeper into the gripper arms, and when the actuator is pulled, the distal end moves toward the top or head of the gripper arms.

[0058] The actuator means may comprise a plunger having at least one radial pin located at a distal end for guiding rotational movement of the plunger. The actuator means may comprise a plunger having a pair of radial pins located at a distal end for guiding rotational movement of the plunger. The plunger radial pin may have a substantially octagonal cross section. Alternatively, the radial pin may be cruciform. It will be appreciated that any angled cross section that may achieve a similar effect is envisaged.

[0059] The radial pins may be sized to contact the sides of the internal channel. In this way, the actuator means or plunger is guided through the channel. As the pins move along the sides of the channel as a result of the action of the actuator means, if the channel twists, the reaction on the plunger causes the plunger to rotate or twist. The entire plunger may be rotated or twisted, or the spinner section of the plunger may rotate or twist. When the entire plunger is rotated or twisted, a visual or sensor system may be used to visually determine and / or Machine Learning Using ML it may be possible to track and / or measure the state of the gripper from above, for example using the indicator means and / or detent means described above.

[0060] The pins may have beveled edges to move smoothly through and stay aligned with the channels, which may be particularly useful at discontinuities in the curvature.

[0061] The channel between the pair of gripper arms may be angled to create a pinch point.

[0062] As mentioned above, the actuator means or plunger is positioned between the pair of gripper arms. A constriction or pinch point in the channel between the gripper arms at the top or head end of the gripper prevents the plunger from slipping out or moving away from the gripper arms when the arrangement is held together by the gripper housing. In this way, the plunger is held in place by the pair of gripper arms when the arms are held by the housing. The pinch point prevents the plunger from coming loose during assembly or operation, thus helping to make the gripper more reliable.

[0063] Each of the gripper arms may further include a number of interlocking teeth.

[0064] The gripper arms may include any number of teeth that mate with teeth on a second gripper arm of the pair. The teeth may aid in aligning the pair of gripper arms relative to one another. Additionally, the teeth may aid in maintaining the grippers in a closed position. The teeth may be located at the lower or distal end of the gripper arms, for example, near the hook end of the gripper arms.

[0065] The distal end of each of the grasper arms may include a hook for latching to a storage container and / or the distal ends of the grasper arms may be tapered.

[0066] It will be appreciated that the gripper may generally be used to latch onto another object. For example, the gripper may be inserted into an opening in a container and then used to latch onto the container. The hooks of each of the pair of gripper arms together may be substantially arrowhead shaped or substantially triangular as viewed in the zx plane. In this manner, each tail side of the arrowhead may engage with the underside of the opening in the container. Additionally, the point of the arrowhead may help guide the gripper into the opening so that positioning of the gripper will not be too actuated. Additionally, the hooks may be further tapered in the zy plane to further help guide the gripper into the opening.

[0067] It will be appreciated that the gripper may benefit from being 3D printed with complex shapes, and that the shape and other properties or concerns of the gripper may be optimized using machine learning ML techniques.

[0068] A luggage handling device for lifting and moving storage containers (10) stacked in a grid framework (14) structure comprising a first set of parallel members (22a) and a second set of parallel members (22b) extending substantially perpendicular to the first set of members (22a) in a substantially horizontal plane to form a grid pattern with a plurality of grid spaces, wherein the grid is supported by a set of uprights (16), forming a plurality of vertical storage locations below the grid for the containers (10) to be stacked between the uprights (16) vertically through the plurality of grid spaces and guided by the uprights (16), comprising a body mounted on a first set of wheels arranged to engage with the first set of parallel members (22a) and a second set of wheels arranged to engage with the second set of parallel members (22b); and a lifting assembly for raising and / or lowering the luggage, the lifting assembly comprising at least one gripper as described above.

[0069] A method of using grippers, comprising the steps of actuating one or more grippers with a first actuation movement to move gripper arms from a closed position to an open position; A method is provided that includes actuating one or more grippers with a second actuation movement to lock the gripper arms in an open position, actuating one or more grippers with a third actuation movement to unlock the gripper arms, and / or actuating one or more grippers with a fourth actuation movement to move the gripper arms from the open position to a closed position.

[0070] There is provided a grid-based storage and retrieval system comprising a grid framework (14) structure comprising a first set of parallel members (22a) and a second set of parallel members (22b) extending substantially perpendicular to the first set of members (22a) in a substantially horizontal plane to form a grid pattern comprising a plurality of grid spaces, wherein the grid is supported by a set of uprights (16) forming a plurality of vertical storage locations below the grid for containers (10) to be stacked between the uprights (16) vertically through the plurality of grid spaces and guided by the uprights (16), at least one luggage handling device as discussed above operating on the grid framework structure, wherein the at least one luggage handling device further comprises a communication means; and a centralized control utility for controlling the at least one luggage handling device to lift containers from a stack below the grid and / or lower containers into a stack below the grid.

[0071] It will be appreciated that the grippers may be used as part of a lifting assembly mounted on a luggage handling device. The luggage handling device may be adapted to move on a grid-based framework where the parallel members of the grid may comprise parallel tracks or rails. The luggage handling device may be directed to performing a series of lifting and transporting operations on a container using one or more grippers and one or more actuation movements to latch onto the container. It will be appreciated that improved grippers may lead to improved operation of the luggage handling device and thus improved storage and retrieval systems.

[0072] For example, the gripper arms may be inserted through an opening in the container rim when in the closed position and then opened using the actuation means. In the open position, the grippers are positioned so that they are too wide to be removed from the opening, thereby latching the grippers to the container. The actuation means may also lock the gripper arms in place to prevent accidental movement of the gripper arms between the open and closed positions, ensuring that the grippers remain secured to the container.

[0073] It will be appreciated that the gripper may be used with any suitable equipment or device and the use of the gripper is not limited to the examples given in connection with luggage handling devices operating on the grid-based storage retrieval and retrieval system described herein.

[0074] Other aspects and advantages will become apparent from the following description.

[0075] The invention will now be described with reference to the accompanying schematic drawings. [Brief description of the drawings]

[0076] [Figure 1] FIG. 1 is a schematic perspective view of a frame structure for storing multiple stacks of boxes in a storage system. [Diagram 2] 2 is a schematic plan view of the components of the frame structure of FIG. 1; [Figure 3(a)] FIG. 3 is a schematic perspective rear view of one form of robotic package handling device for use with the frame structure of FIGS. 1 and 2 . [Figure 3(b)] FIG. 3 is a schematic perspective front view of one form of robotic package handling device for use with the frame structure of FIGS. 1 and 2 . [Figure 3(c)] 1 is a schematic perspective view of a known parcel handler device in use to lift a box; [Figure 4] FIG. 3 is a schematic perspective view of a known storage system comprising a plurality of parcel handler devices of the type shown in FIGS. 3(a), 3(b) and 3(c) mounted on the frame structure of FIGS. 1 and 2; [Figure 5a] 1 is a schematic zx plan or front view of a gripper that may be used on a gripper assembly of a luggage handling device to lift a container when operating within the system described above in relation to FIGS. [Figure 5b] 1 is a schematic zx plan or front view of a gripper that may be used on a gripper assembly of a luggage handling device to lift a container when operating within the system described above in relation to FIGS. [Figure 5c] 1 is a schematic zx plan or front view of a gripper that may be used on a gripper assembly of a luggage handling device to lift a container when operating within the system described above in relation to FIGS. [Figure 6a] FIG. 2 is a schematic diagram of components that make up the gripper. [Figure 6b] FIG. 2 is a schematic diagram of components that make up the gripper. [Figure 6c] FIG. 2 is a schematic diagram of components that make up the gripper. [Figure 6d] FIG. 2 is a schematic diagram of components that make up the gripper. [Figure 6e] FIG. 2 is a schematic diagram of components that make up the gripper. [Figure 6f] FIG. 2 is a schematic diagram of components that make up the gripper. [Figure 7]Schematic of a pair of grasper arms with a plunger positioned between the arms. [Figure 8a] 1 is a schematic diagram of a gripper for use as part of a gripper assembly; [Figure 8b] 8a is a schematic diagram of a gripper for use as part of a gripper assembly, and FIG 8b is a cross-sectional view taken along line AA shown in FIG 8a showing an internal channel in one of the gripper arms. [Figure 9a] Schematic of the grasper along line BB shown in FIG. 9f showing the sequence of positions of the plunger moving through the internal channel of the grasper. [Figure 9b] Schematic of the grasper along line BB shown in FIG. 9f showing the sequence of positions of the plunger moving through the internal channel of the grasper. [Figure 9c] Schematic of the grasper along line BB shown in FIG. 9f showing the sequence of positions of the plunger moving through the internal channel of the grasper. [Figure 9d] Schematic of the grasper along line BB shown in FIG. 9f showing the sequence of positions of the plunger moving through the internal channel of the grasper. [Figure 9e] Schematic of the grasper along line BB shown in FIG. 9f showing the sequence of positions of the plunger moving through the internal channel of the grasper. [Figure 9f] Schematic of the gripper arm [Figure 10a] FIG. 13 is a schematic diagram of the grasper in use to lift a container. [Figure 10b] FIG. 13 is a schematic diagram of the grasper in use to lift a container. [Figure 10c] FIG. 13 is a schematic diagram of the grasper in use to lift a container. [Figure 11a] Schematic diagram of a pair of gripper arms with mating teeth. [Figure 11b] Schematic diagram of a pair of gripper arms with mating teeth. [Figure 12] FIG. 2 is a schematic diagram of a gripper with a gripper attachment. [Figure 13a]An exploded view of the indicator. [Figure 13b] Exploded view of the indicator. [Figure 14a] Front and top views of the indicator at 0° rotation. [Figure 14b] Front and top views of the indicator rotated 90 degrees. [Figure 15] FIG. 13 is a top view of a lifting assembly comprising four grippers each comprising an indicator. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0077] It is known that a cam is a rotating component in a mechanical linkage used to convert rotary motion into linear motion. Typically, a shaft with an irregular cylindrical shape can produce a smooth reciprocating motion of a lever in contact with the cam. A linear cam is one in which the cam element moves along a line rather than rotating. The cam outer diameter is cut into the edge or face of a plate or block. The grippers described herein are a cam variation.

[0078] The gripper 100 comprises a pair of gripper arms 110 actuated by a plunger 111. The plunger 111 is held between the gripper arms 110 and is attached to a frame. 114 The frame is guided by Fixed to member 114 It comprises two posts 113 on which a plate 112 can slide, which slides with a plunger 111. The vertical movement of the plunger 111 opens and closes the gripper arms 110. Additionally, the plunger 111 may be used to lock the gripper 100 in place. In FIG. 5a, the plunger 111 is fully raised and the gripper arms 110 are closed. In FIG. 5b, the plunger 111 is fully depressed and the gripper arms 110 are open. In FIG. 5c, the plunger 111 is at an intermediate point or height and the gripper arms 110 are locked open. The vertical movement of the plunger 111 and the effect of the movement on the gripper 100 are described in more detail below.

[0079] Figure 6 shows a schematic diagram of each of the components that fit together to create the grasper 110. Figures 6a and 6b show a plunger 111 for use as an actuator means, shown as zx and zy views respectively. The plunger 111 comprises at one end, referred to herein as the distal end, a rod 115 and a pair of symmetrically arranged radial pins 116. As can be seen in Figure 6b, the pins 116 are substantially octagonal in cross section.

[0080] FIG. 6c is a schematic perspective view, FIG. 6d is a schematic xy view of the gripper housing 117, and FIG. 6e is a schematic zy view of the gripper arms. The pair of cooperating gripper arms 110 are held together within the housing 117. Holes 118 are used to pivotally attach the arms 110 to the housing 117, keeping the pair of arms 110 in place within the housing 117. As can be seen in FIG. 6c, the inner side of the housing end is curved to allow the gripper arms 110 to rotate about the pivot point 118. As can be seen in FIG. 6e, the heads of the gripper arms 110 are recessed from the housing 117 to prevent the gripper arms 110 from falling through the housing 117. of 7 Matching lip around lower inner edge (not shown) The gripper arms 110 have a lip 119 that interacts with the gripper arm 110's head end when in use and the distal end when in use, as described herein, is at the top end of the gripper 110 and the distal end is at the bottom end of the gripper 110 when in use. When assembled, the gripper arms 110 rotate about a pivot 118 between a closed position and an open position. FIG. 6f is a perspective view of a pair of gripper arms 110a, 110b. The gripper arms 110a, 110b are each identical and have 180° rotational symmetry. The inner surfaces of the gripper arms 110a, 110b have recesses and cooperating protrusions that are shaped to mate when the two gripper arms 110a, 110b are positioned side-by-side and the grippers are closed. The inner surfaces of the gripper arms 110a, 110b further include several cam grooves or channels that are described in more detail below.

[0081] Figure 7 shows a schematic zx plan view of a pair of cooperating gripper arms 110 in a closed position, with an actuator means or plunger 111 inserted at the top of the pair 110. For simplicity, the gripper housing is not shown in Figure 7. In this position, the plunger pins 116 are oriented laterally relative to the gripper arms 110, or aligned with the gaps between the gripper arms 110, and the gripper arm protrusions are recessed into cooperating recesses.

[0082] FIG. 8a shows a schematic diagram of a pair of cooperating gripper arms 110, and FIG. 8b shows a cross-sectional view along line AA shown in FIG. 8a. For simplicity, the gripper housing is not shown in FIG. 8. In such an arrangement, recesses in the gripper arms form channels 1, 2, 3, 4 for receiving the distal end of a plunger (not shown). The channels define four different paths that the plunger 111 follows in sequence -1-2-3-4-1-... etc. when actuated. As the plunger end moves vertically through channels 1-4, the plunger 111 is guided on an ordered path by a plunger pin 116 that is directed by the cam surface of the gripper arm 110. As mentioned above, the cross-section of the pin 116 is octagonal. The pin edge may be beveled. This aids in smooth movement of the distal end of the plunger 111 and keeps the pin 116 aligned with the channels 1-4. The shape of the cam surface causes the plunger 111 to rotate as it moves vertically.

[0083] 9a-9e are schematic views (shown along BB in FIG. 9f) along a pair of gripper arms 110 showing the orientation of the plunger pins 116 as the plunger 111 moves through channels 1-4. One pin 116 is marked with an "x" to aid in understanding the relative rotation of the plunger 111 as it moves vertically through channels 1-4. In practice, the top surface of the plunger 111 may be marked with an indicator means such that the orientation of the plunger 111 (and gripper arm) may be determined from above or distally from the gripper itself. FIGS. 10a-10c are schematic views of the gripper 100 in use to lift a container 10. It will be appreciated that FIGS. 10a-10c are similar to FIGS. 5a-5c with the addition of the container 10.

[0084] With the tips of the hook ends together in the closed position (FIG. 7), the distal end of plunger 111 is substantially seated at the top of the gripper 100 between the two gripper arms 110, and pin 116 is aligned with the gap (FIG. 9a) between the gripper arms 110. In this positioning of the gripper 100, the distal end of the gripper 100 can be inserted through an opening in the container 10 as shown in FIG. 10a and indicated by the arrow.

[0085] The downward movement may continue into a first actuation movement of the gripper 100 when the plunger 111 is pushed in a downward direction substantially perpendicular to the gripper arms. The distal end of the plunger 111 follows the channel path 1 (FIG. 8a) and the gripper housing 117 and plate 112 abut the upper edge of the container 10. As the plunger end moves downward along the channel 1, the rod 115 is rotated approximately 45° in a clockwise direction by the pin 116 moving along the cam surface (FIG. 9b). At the same time, the gripper arms 110 are pushed apart by the rod 115 moving down the channel between the upper parts or heads of the gripper arms 110, causing the gripper 100 to move to an open position (FIG. 10b).

[0086] To position the gripper 100 in position to lift the container 10, in the open position, the gripper 100 is lifted in an upward direction so that the hook end abuts and engages with the inner edge surrounding the container opening (FIG. 10c). In the same motion, a second substantially vertical actuation movement of the plunger 111 relative to the gripper arms 110 pulls the plunger upwards and the rod end is directed along the channel 2 to an upper position within the gripper arms 110. Moving along the channel 2 causes the rod 115 to rotate approximately 45° in a clockwise direction, with the pin 116 aligned laterally with respect to the gap between the gripper arms 110 (FIG. 9c). The rod end is now located in the uppermost position within the channel 2. The alignment of the transverse pin 116 at the top of the channel 2 locks the gripper 110 in the open position. Thus, in this position, the gripper 100 is secured within the container 10 and cannot slip out of the container opening.

[0087] To release the gripper 100, it must return to the closed position. In the third actuation movement, the plunger 111 is pushed downward against the gripper arm and the rod end is directed along the channel 3. The shape of the channel rotates the rod approximately 45° in a clockwise direction (FIG. 9d). At the same time, the gripper arm 110 disengages from the underside of the container top edge and the gripper housing 117 is forced against the exterior of the container.

[0088] Finally, in the fourth actuation movement, the plunger 111 is pulled in an upward direction along the channel 4 to return to the starting position. The shape of the channel rotates the rod 115 in a clockwise direction by about 45°, and the pin 116 is realigned with the gap between the gripper arms at the top of the gripper arms (FIG. 7) (FIG. 9e). At the same time, the plunger is pushed upward and out of between the gripper arms 110, so that the gripper arms 110 move together under gravity (i.e., under the weight of the gripper arms 110) to the closed position. Alternatively, as the plunger 111 moves upward, the gripper arms 110 can be forced to move together to the closed position. As can be seen just above the pivot point 118 in FIG. 7, the side of the arm 110 faces the pinch point 120 to force the gripper arms 110 to move to the closed position when the plunger is raised. The gripper 100 can then be removed from the container by continuing the upward movement and lifting the gripper from the opening.

[0089] From comparing Figures 9a and 9e, it can be seen that the plunger 111 has rotated 180° from a closed starting position through an open locked position back to a closed position. From viewing Figures 10a-c together, it can be seen that the vertical displacement of the plunger 111 relative to the gripper housing 117 has three positions: fully up (Figures 7 and 10a), fully depressed (Figure 10b), and an intermediate position between fully up and fully depressed where the plunger end is at the top of the channel 2 (Figure 10c). Although not shown, detent means may be used to ensure that the plunger ratchet between the positions shown in Figures 9a-9e. Additionally, detent means may aid the vertical movement of the plunger to move from one position to the next.

[0090] To retain the plunger 111, the opening between the gripper arms at the head end is shaped with a pinch point 120, as shown in Figure 7. At the pinch point 120, the channel is too narrow for the plunger end and pin 116 to pass through. Thus, when the gripper 100 is held together within the housing 117, it is not possible to accidentally remove the plunger 111.

[0091] Figure 11 shows the feature where the arms 110 are shaped to have interlocking teeth 121. Figure 11a shows a schematic zx plan view and Figure 11b shows a cross-sectional view through line CC shown in Figure 11a. The teeth XX interlock or mesh when the arms are in the closed position. This feature helps maintain alignment of the gripper arms 111 and additionally locks the arms together.

[0092] FIG. 12 shows the gripper 100 including a gripper attachment 130 for connecting the gripper 100 to an indicator 140 (shown in FIGS. 13-15 and described further below). The gripper attachment 130 is connected to a top or proximal end 132 of the plunger 111 such that rotation of the plunger 111 causes rotation of the gripper attachment 130. The gripper attachment 130 includes a ball chain receiving portion 134 for receiving a ball chain (not shown). The ball chain receiving portion 134 surrounds the rod 115 of the plunger 111 and includes a plurality of hemispherical concave recesses or receptacles 135, each receptacle 135 capable of receiving a ball from the ball chain. The ball chain receiving portion 134 is disposed between two parallel plates 136a, 136b transverse to the axis of the ball chain receiving portion 134 and the plunger 111 such that the two parallel plates 136a, 136b act as washers for the ball chain received in the ball chain receiving portion 134.

[0093] FIG. 13a shows an exploded perspective view of the components forming the indicator 140, and FIG. 13b shows an exploded front view of the components forming the indicator 140. The indicator 140 includes an indicator attachment 141, an elongated indicator plate 142, and a cover plate 144 disposed over the indicator plate 142. The indicator attachment 141 includes a ball chain receiving portion 143 for receiving a ball chain (not shown). The ball chain receiving portion 143 includes a plurality of hemispherical concave recesses or receptacles 145 of the same shape and size as the receptacles 135 (shown in FIG. 12) in the ball chain receiving portion 134 of the gripper attachment 130. This allows the same ball chain received in the ball chain receiving portion 134 of the gripper attachment 130 to be received in the ball chain receiving portion 143 of the indicator attachment 141. The ball chain wraps around the ball chain receiving portions 134 and 143, mechanically connecting the indicator 140 and the plunger 111 (see FIG. 15). The ball chain receiving portions 134 and 143 act as pulleys or sprockets for the ball chain, and the ball chain receiving portions can drive the ball chain as the ball chain receiving portions rotate, or can be driven by the rotating ball chain. Specifically, as the gripper attachment 130 rotates (as a result of the plunger 111 rotating), the gripper attachment 130 drives the ball chain disposed within the ball chain receiving portion 134. The driven ball chain then causes the indicator attachment 141 to rotate. The ball chain ensures synchronized and equal rotation between the gripper attachment 130 and the indicator attachment 141. The action of the ball chain is described in more detail below in connection with FIG. 15.

[0094] The indicator plate 142 includes colored or contrasting regions 146a, 146b on its top surface at each longitudinal end of the indicator plate 142. The indicator plate 142 also includes two downwardly extending clips 147a, 147b for attaching the indicator plate 142 to a lifting assembly. The clips 147a, 147b advantageously allow for easy attachment and / or removal of the indicator plate 142 from the lifting assembly. This allows the indicator plate 142 to be retrofitted to the lifting assembly, aiding in the manufacture and assembly of the lifting assembly.

[0095] The cover plate 144 has a substantially circular shape and includes two notches 148a, 148b that match the shape of the contrast areas 146a, 146b on the indicator plate 142 such that the contrast areas 146a, 146b on the indicator plate 142 are visible from above when the notches 148a, 148b are aligned with the contrast areas 146a, 146b.

[0096] The cover plate 144 and indicator plate 142 fit over the indicator attachment 141. Specifically, the indicator attachment 141 includes a central bolt head 150 that passes through a central locating hole 152 in the indicator plate 142 and fits into a protrusion 154 on the underside of the cover plate 144. The protrusion 154 includes a hole or recess (not shown) for receiving the bolt head 150. The hole or recess has a semicircular cross-section the same size as the semicircular cross-section of the bolt head 150. This semicircular cross-section ensures that rotation of the bolt head 150 results in synchronous rotation of the cover plate 144.

[0097] Locating holes 152 in the indicator plate 142 allow free rotation of the bolt head 150 relative to the indicator plate 142. Thus, the indicator plate 142 does not rotate with the indicator attachment 141. Moreover, clips 147a, 147b on the indicator plate 142 secure the indicator plate 142 to the lifting assembly, thereby further ensuring that the indicator plate 142 does not rotate with the indicator attachment 141. Thus, the cover plate 144 rotates with the indicator attachment 141 relative to the indicator plate.

[0098] In the above embodiment, the cross-section of the bolt head 150 ensures synchronous rotation between the bolt head 150 (and thus the indicator attachment 141) and the cover plate 144. However, those skilled in the art will know numerous other means of connection between the indicator attachment 141 and the cover plate 144 that will result in equal or synchronous rotation between these two elements.

[0099] FIG. 14a shows a front view and a top view of the indicator 140 when the plunger 111 has been rotated 0°, and FIG. 14b shows a front view and a top view of the indicator 140 when the plunger has been rotated 90°.

[0100] As explained above, the gripper arm 110 starts from a closed start position (shown in FIG. 9a) and moves to an open lock position (shown in FIG. 9c) before moving to a closed end position (shown in FIG. 9e). When the gripper arm 110 is in the closed start position, the plunger 111 has rotated 0° and the cover plate is positioned with the notches 148a, 148b in the cover plate not aligned over the contrast areas 146a, 146b on the indicator plate 142, i.e., the cover plate covers the contrast areas and the contrast areas are not visible. As the gripper arm 110 moves from the closed start position to the open lock position, the plunger 111 rotates 90°. As mentioned above, the rotation of the plunger 111 causes the gripper attachment 130 to rotate, which drives the ball chains disposed in the ball chain receiving portions 134, 143. The ball chain then drives the indicator attachment 141 which rotates the cover plate 144. The ball chain ensures synchronous and equal rotation between the gripper attachment 130 and the indicator attachment 141. Thus, when the plunger 111 rotates 90°, this rotates the indicator attachment 141 and the cover plate 144 90°. Rotating the cover plate 144 90° positions the notches 148a, 148b over the contrast areas 146a, 146b on the indicator plate (i.e., the notches 148a, 148b are aligned over the contrast areas 146a, 146b) such that the contrast areas 146a, 146b are exposed and viewable from above.

[0101] As the gripper arm 110 moves from the open, locked position to the closed, end position, the plunger 111 and gripper attachment 130 again rotate 90°, rotating the indicator attachment 141 and cover plate 90° such that the notches 148a, 148b are no longer aligned over the contrast areas 146a, 146b, i.e., the cover plate covers the contrast areas and makes them invisible. As the gripper arm 110 moves between the closed and open, locked positions, the cover plate rotates 90°, thereby covering or exposing the contrast areas 146a, 146b.

[0102] The indicator 140 thus provides a visual means for a technician, operator, camera, etc. to determine the status of the gripper arm 110 (i.e., whether the gripper arm is closed or open) and therefore whether the gripper 100 is latched to the storage container 10.

[0103] Rotating the cover plate 90 degrees to cover or expose the contrast regions 146a, 146b provides a binary indication of whether the gripper arm 110 is in a start / end closed position or an open locked position, i.e., the indicator 140 provides a binary indication of whether the gripper arm 110 is "closed" or "open." This provides an easy visual assessment to an operator, technician, or camera when determining whether the gripper arm 110 is in a closed or open position. This binary indication is also particularly useful when the assessment is used for machine learning purposes.

[0104] 15 shows a top view of a lifting assembly 160 comprising four grippers, each with a gripper attachment 162a, 162b, 162c, 162d. Gripper attachments 162a, 162b, 162c, 162d are each connected to a respective indicator 164a, 164b, 164c, 164d by a ball chain 166a, 166b, 166c, 166d. Gripper attachments 162a, 162b, 162c, 162d and indicators 164a, 164b, 164c, 164d are as described above. Each ball chain 166a, 166b, 166c, 166d wraps around a ball chain receiving portion of the gripper attachment and a ball chain receiving portion of the indicator attachment to mechanically connect the indicator 164a, 164b, 164c, 164d and the plunger. As discussed above, the ball chain receiving portions act as pulleys or sprockets for the ball chains 166a, 166b, 166c, 166d. As the gripper attachments 162a, 162b, 162c, 162d rotate (as a result of the plunger rotating), the gripper attachments drive the ball chains 166a, 166b, 166c, 166d. The driven ball chains in turn cause the indicator attachments to rotate. The ball chains ensure synchronous and equal rotation between each gripper attachment 162a, 162b, 162c, 162d and their indicator attachments.

[0105] Each indicator 164a, 164b, 164c, 164d includes a cover plate 168a, 168b, 168c, 168d that rotates 90 degrees (indicated by the arrows) to cover or expose a contrast area, thereby indicating whether the respective gripper arm of each gripper is in an open or closed position. By providing indicators 164a, 164b, 164c, 164d on each gripper in the lifting assembly 160, it is possible to determine whether the individual grippers are synchronized or out of synchronization with each other, i.e., whether all four grippers have their gripper arms in a closed or open position. Moreover, by providing indicators on each gripper as shown in FIG. 15, multiple indicators can be viewed simultaneously, thereby providing a simple means for a technician / operator or camera to determine whether the grippers are synchronized and in sync with each other. Synchronizing all grippers in a lifting assembly with each other is particularly advantageous to ensure effective and optimal functioning of the lifting assembly. While the grippers are located on the periphery of the lifting assembly 160, the indicators 164a, 164b, 164c, 164d are located within the periphery of the lifting assembly 160, and in particular toward the center of the lifting assembly 160. This advantageously allows a viewer or camera with a relatively narrow field of view to simultaneously view all of the indicators 164a, 164b, 164c, 164d.

[0106] It will be appreciated that variations in the shape of the gripper that result in the described functionality are intended to be within the scope of this disclosure. Machine learning ML techniques may be of utility to improve the shape functions of the gripper and optimize the gripper's characteristics.

[0107] While the foregoing specification has attempted to draw attention to those features of the invention which are believed to be particularly important, it is to be understood that the applicants claim protection for any patentable feature or combination of features referenced in this specification and / or shown in the drawings, whether or not specific emphasis has been placed on them.

[0108] It will be appreciated that farming systems, methods, and devices can be designed for specific applications using various combinations of the devices and arrangements described above. It will be appreciated that all of the features described above may be used together in a single system. In other embodiments of the invention, some of the features may be omitted. The features may be used in any compatible arrangement. Many variations and modifications not expressly described above are possible without departing from the scope of the invention as defined in the appended claims.

[0109] In this document, the phrase "movement relative to the gap" is intended to include movement within the gap, for example sliding along the gap, as well as movement into or out of the gap.

[0110] In this document, the phrase "movement in the n-direction" (and related expressions), where n is one of x, y, and z, is intended to mean movement substantially along or parallel to the n-axis in either direction (i.e., toward the positive end of the n-axis or toward the negative end of the n-axis).

[0111] In this document, the word "connect" and its derivatives are intended to include the possibilities of direct and indirect connections. For example, "x is connected to y" is intended to include the possibilities of x being directly connected to y with no intervening components and x being indirectly connected to y with one or more intervening components. When a direct connection is intended, the words "directly connected," "direct connection," or the like are used. Similarly, the word "support" and its derivatives are intended to include the possibilities of direct and indirect contact. For example, "x supports y" is intended to include the possibilities of x directly supporting and in direct contact with y with no intervening components and x indirectly supporting y with one or more intervening components in contact with x and / or y.

[0112] In this document, the word "comprises" and its derivatives are intended to have an inclusive rather than exclusive meaning. For example, "x comprises y" is intended to include the possibility that x contains only one y, multiple y, or one or more y and one or more other elements. When an exclusive meaning is intended, the phrase "x is composed of y" is used to mean that x contains only y and nothing else. The invention as originally claimed in this application is set forth below. [1] A grasper for latching to a storage container (10), comprising: A gripper housing; a pair of gripper arms held within said gripper housing, said gripper arms having cooperating shapes; a movable, rotatable actuator means held within a channel between said pair of gripper arms for moving said gripper arms between a closed position and an open position; Equipped with wherein said gripper is actuated by substantially vertical or z-axis movement of said actuator means. [2] The gripper described in [1], wherein an inner surface of each of the gripper arms is provided with a cam surface having a number of grooves or channels for receiving a distal end of the actuator means. [3] The gripper described in [2], wherein the cam surface is at least partially curved or helical. [4] A gripper as described in [2] or [3], wherein each of the channels spirals in the same rotational direction. [5] A grasper as described in any of [2] to [4], wherein the pair of grasper arms have four substantially closed channels for receiving the distal ends of the actuator means. [6] A grasper described in any of [1] to [5], wherein each of the pair of grasper arms is substantially identical. [7] A gripper described in any of [1] to [6], wherein each of the pair of gripper arms has 180° rotational symmetry about the z-axis. [8] A gripper as described in any of [1] to [7], further comprising an indication means for the rotational position of the actuator means. [9] A gripper as described in any of [1] to [8], further comprising a detent means for orienting the actuator means.

[10] A grasper described in any of [1] to [9], wherein the actuator means comprises a plunger having at least one radial pin mounted at a distal end for guiding rotational movement of the plunger.

[11] A gripper as described in

[10] , wherein the radial pin of the plunger has a substantially octagonal cross-section.

[12] a first actuation movement moves the gripper arms from the closed position to the open position. a second actuation movement locks the gripper arms in the open position. a third actuation movement unlocks the gripper arms; and / or a fourth actuation movement moves the gripper arms from the open position to the closed position. A gripper described in any one of [1] to

[11] .

[13] The grasper of any of [1] to

[12] , wherein the channel between the pair of grasper arms is angled to create a pinch point.

[14] A gripper as described in any of [1] to

[13] , wherein each of the gripper arms further comprises several interlocking teeth.

[15] A grasper as described in any of [1] to

[14] , wherein a distal end of each of the grasper arms is provided with a hook for latching to a storage container, and / or wherein the distal ends of the grasper arms are tapered.

[16] A gripper as described in any of [1] to

[15] , further comprising an indicator means for indicating whether the gripper arms are in the closed position or the open position.

[17] A gripper as described in

[16] , wherein the indication means comprises an indication plate and a cover plate disposed on the indication plate, the indication plate having at least one distinguishing area on its top surface, and the cover plate having at least one notch alignable over the distinguishing area on the indication plate.

[18] The gripper of

[16] or

[17] , wherein the indicator means is connected to the actuator means such that rotation of the actuator means results in synchronous rotation of the cover plate.

[19] The gripper of

[17] or

[18] , wherein the actuator means is rotatable to position the cover plate in a first position in which the at least one notch is not aligned over the at least one differentiation area.

[20] The gripper of any one of

[17] ,

[18] or

[19] , wherein the actuator means is rotatable to position the cover plate in a second position in which the at least one notch is aligned over the at least one differentiation area.

[21] A gripper as described in any one of

[16] to

[20] , wherein the indicating means is displaced laterally from the gripper.

[22] A first set (22a) of parallel members and a second set (22b) of parallel members extending substantially perpendicular to the first set (22a) of members in a substantially horizontal plane to form a grid pattern with a plurality of grid spaces, wherein the grid is supported by a set of uprights (16) forming a plurality of vertical storage locations below the grid for containers (10) to be stacked between and guided by the uprights (16) in a vertical direction through the plurality of grid spaces. A load handling device for lifting and moving storage containers (10) stacked within a grid framework (14) structure comprising: a body mounted on a first set of wheels arranged to engage with said first set of parallel members (22a) and a second set of wheels arranged to engage with said second set of parallel members (22b); A lifting assembly for raising and / or lowering a load, the lifting assembly comprising at least one gripper according to any one of [1] to

[21] . A baggage handling device comprising:

[23] The luggage handling device described in

[22] , wherein at least one gripper of the lifting assembly is provided with an indication means for indicating whether the gripper arm is in the closed position or the open position.

[24] The luggage handling device described in

[23] , further comprising a detection means for detecting a status of the indication means, the status of the indication means being based on whether the gripper arm is in the closed position or the open position.

[25] The luggage handling device described in

[24] , wherein the detection means is installed at a certain distance from the indication means.

[26] A method for using a gripper according to any one of [1] to

[21] , comprising: actuating one or more grippers with a first actuation movement to move the gripper arms from the closed position to the open position; actuating one or more grippers with a second actuation movement to lock the gripper arms in the open position; actuating one or more grippers with a third actuation movement to unlock the gripper arms; and / or actuating one or more grippers with a fourth actuation movement to move the gripper arms from the open position to the closed position; A method for providing the above.

[27] A grid comprising a first set (22a) of parallel members and a second set (22b) of parallel members extending substantially perpendicular to the first set (22b) of members in a substantially horizontal plane to form a grid pattern with a plurality of grid spaces, wherein the grid is supported by a set of uprights (16) forming a plurality of vertical storage locations below the grid for containers (10) to be stacked between and guided by the uprights (16) in a vertical direction through the plurality of grid spaces. A grid framework (14) structure comprising: At least one baggage handling device according to any one of

[22] to

[25] , operating on the grid framework structure, wherein the at least one baggage handling device further comprises a communication means. Lifting containers from the stack below the grid and / or lowering containers into the stack below the grid. a centralized control utility for controlling said at least one luggage handling device such that A grid-based storage and retrieval system comprising:

Claims

1. A grasper for latching to a storage container (10), comprising: A gripper housing; a pair of gripper arms held within the gripper housing, the gripper arms having cooperating shapes; a movable, rotatable actuator means held within a channel between said pair of gripper arms for moving said gripper arms between a closed position and an open position; Equipped with The gripper is actuated by substantially vertical or z-axis movement of the actuator means.

2. 2. The grasper of claim 1, wherein an inner surface of each of said grasper arms includes a cam surface having a number of grooves or channels for receiving a distal end of said actuator means.

3. The grasper of claim 2 , wherein the cam surface is at least partially curved or helical.

4. 4. The grasper of claim 2 or 3, wherein each of the channels spirals in the same rotational sense.

5. A grasper according to any of claims 2 to 4, wherein the pair of grasper arms comprises four substantially closed channels for receiving the distal ends of the actuator means.

6. The grasper of claim 1 , wherein each of the pairs of grasper arms are substantially identical.

7. 7. The gripper of claim 1, wherein each pair of gripper arms has 180[deg.] rotational symmetry about the z-axis.

8. A gripper according to any preceding claim, further comprising an indication means for the rotational position of the actuator means.

9. A grasper as claimed in any preceding claim, further comprising detent means for orienting the actuator means.

10. 10. A grasper according to any preceding claim, wherein the actuator means comprises a plunger having at least one radial pin located at a distal end for guiding rotational movement of the plunger.

11. The grasper of claim 10, wherein the radial pin of the plunger has a substantially octagonal cross section.

12. a first actuation movement moves the gripper arms from the closed position to the open position; A second actuation movement locks the gripper arms in the open position. a third actuation movement unlocks the gripper arms; and / or a fourth actuation movement moves the gripper arms from the open position to the closed position. A gripper according to any one of claims 1 to 11.

13. 13. The grasper of claim 1, wherein the channel between the pair of grasper arms is angled to create a pinch point.

14. The grasper of claim 1 , wherein each of the grasper arms further comprises a number of interlocking teeth.

15. 15. The grasper of any of claims 1 to 14, wherein a distal end of each of the grasper arms comprises a hook for latching to a storage container and / or the distal ends of the grasper arms are tapered.

16. 16. A gripper according to any preceding claim, further comprising an indication means for indicating whether the gripper arms are in the closed position or the open position.

17. 17. The gripper of claim 16, wherein the indicator means comprises an indicator plate and a cover plate disposed over the indicator plate, the indicator plate having at least one distinguishing area on its top surface, and the cover plate having at least one notch alignable over the distinguishing area on the indicator plate.

18. 18. The grasper of claim 17, wherein the indicator means is connected to the actuator means such that rotation of the actuator means results in synchronous rotation of the cover plate.

19. 19. A grasper according to claim 17 or 18, wherein the actuator means is rotatable to position the cover plate in a first position in which the at least one cut-out is not aligned over the at least one differentiation area.

20. 20. The grasper of claim 17, 18 or 19, wherein the actuator means is rotatable to position the cover plate in a second position in which the at least one notch is aligned over the at least one differentiation area.

21. 21. The grasper according to any one of claims 16 to 20, wherein the indication means is laterally displaced from the grasper.

22. a first set (22a) of parallel members and a second set (22b) of parallel members extending substantially perpendicular to said first set (22a) in a substantially horizontal plane to form a grid pattern with a plurality of grid spaces, said grid pattern being supported by a set of uprights (16), forming a plurality of vertical storage locations below said grid for storage containers (10) to be stacked between and guided by said uprights (16) in a vertical direction through said plurality of grid spaces; A load handling device for lifting and moving storage containers (10) stacked within a grid framework (14) structure comprising: a body mounted on a first set of wheels arranged to engage with said first set of parallel members (22a) and a second set of wheels arranged to engage with said second set of parallel members (22b); A lifting assembly for raising and / or lowering loads, said lifting assembly comprising at least one gripper according to any one of claims 1 to 21; A baggage handling device comprising:

23. 23. A luggage handling device according to claim 22, wherein the at least one gripper of the lifting assembly is provided with an indicating means for indicating whether the gripper arm is in the closed position or the open position.

24. 24. A luggage handling device according to claim 23, further comprising detection means for detecting a status of said indicating means, said status of said indicating means being based on whether said gripper arms are in said closed position or said open position.

25. 25. A luggage handling device as claimed in claim 24, wherein the detection means is located at a distance from the indication means.

26. 22. A method of using a grasper according to any one of claims 1 to 21, comprising the steps of: actuating one or more grippers with a first actuation movement to move the gripper arms from the closed position to the open position; actuating one or more grippers with a second actuation movement to lock the gripper arms in the open position; and / or actuating one or more grippers with a third actuation movement to unlock the gripper arms; actuating one or more grippers with a fourth actuation movement to move the gripper arms from the open position to the closed position; A method for providing the above.

27. a first set (22a) of parallel members and a second set (22b) of parallel members extending substantially perpendicular to said first set (22a) in a substantially horizontal plane to form a grid pattern with a plurality of grid spaces, said grid pattern being supported by a set of uprights (16), forming a plurality of vertical storage locations below said grid for storage containers (10) to be stacked between and guided by said uprights (16) in a vertical direction through said plurality of grid spaces; a grid framework (14) structure comprising: At least one luggage handling device according to any one of claims 22 to 25, operating on said grid framework structure, said at least one luggage handling device further comprising communication means; a centralized control utility for controlling the at least one load handling device to lift a storage container from a stack below the grid and / or lower a storage container to a stack below the grid; A grid-based storage and retrieval system comprising:

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