Lifting Assembly

Abstract

Lifting Assembly A container lifting assembly for raising and / or lowering containers stacked in a lattice storage structure, the lifting assembly comprising a gripping device configured to releasably grip a container, and a lifting mechanism configured to raise and lower the gripping device, the lifting mechanism comprising a gear mechanism configured to wind and / or unwind at least one tether, and a motor configured to actuate the gear mechanism to wind and / or unwind the at least one tether, wherein the at least one tether is connected to the gripping device such that winding and unwinding of the at least one tether is configured to raise and lower the gripping device.

Description

Technical Field

[0005] , , ,

[0001] The present invention relates to the field of lifting assemblies. In particular, the present invention relates to a lifting assembly for a load handling device for lifting and moving a storage container.

Background Art

[0002] Several commercial and industrial activities require systems that enable the storage and retrieval of a number of different products. WO2015 / 185628A describes a storage and fulfillment system in which a stack of storage containers is arranged within a grid framework structure. The containers are accessed from above by a load handling device operating on rails or tracks located at the top of the grid storage structure.

[0003] <000001,2>A given load handling device lifts a target container from the top of the stack, which typically contains the inventory items necessary to fulfill a customer order. The load handling device also lowers and returns the target container to the top of the stack, the top of another stack, or another location as required. The load handling device typically includes a lifting assembly for lifting the container from a first position and lowering the container to a second position. The load handling device must reliably raise and lower each container to the required position.

[0004] The present invention has been devised in view of such a background.

Summary of the Invention

[0005] In a first aspect, there is provided a container lifting assembly for raising and / or lowering containers stacked in a stack within a grid storage structure, the lifting assembly comprising a gripping device configured to releasably grip the container, and a lifting mechanism for raising and lowering the gripping device, the lifting mechanism comprising A gear mechanism configured to wind up and / or unwind at least one tether, A motor configured to actuate a gear mechanism to wind up and / or unwind at least one tether, At least one tether is connected to the gripping device such that the winding and unwinding of at least one tether is configured to raise and lower the gripping device.

[0006] The gear mechanism may include a spool (e.g., at least one spool, e.g., a spool for each tether). The tether (e.g., at least one tether) may extend from the spool before extending to and connecting to the gripping device. The gear mechanism may be configured to wind and / or unwind the tether around the spool. The lifting and lowering mechanism may include a pair of tethers (e.g., at least one pair of tethers, e.g., two pairs of tethers) and a spool for each pair of tethers. The gear mechanism may be configured to wind and / or unwind a pair of tethers around the spool. The lifting mechanism may include at least one pulley (e.g., at least one pulley for each tether). The tether may extend from the spool to the pulley before extending to and connecting to the gripping device. If the lifting and lowering mechanism includes a spool for each pair of tethers, each tether of the pair may be extended from the spool to a pulley in the opposite direction before being extended to and connected to the gripping device. The lifting mechanism may also include a pulley for each tether.

[0007] The lifting and lowering mechanism may include at least one tether (for example, one, two, three, four, etc.). The tether or each tether may extend from the gear mechanism to the corner of the gripping device.

[0008] The lifting mechanism may include a horizontally extending lifting shaft. The lifting mechanism may include two spools, for example, a first spool may be at a first end of the lifting shaft and / or a second spool may be at a second end of the lifting shaft, the second end being on the opposite side of the first end. The lifting mechanism may include two tethers at the first end of the lifting shaft, configured to wind onto and / or unwind from the first spool. The lifting mechanism may include two tethers at the second end of the lifting shaft, configured to wind onto and / or unwind from the second spool.

[0009] The lifting mechanism may have four spools, for example, two spools at the first end of the lifting shaft and / or two spools at the second end of the lifting shaft. The lifting mechanism may have two tethers at the first end of the lifting shaft, each tether configured to be wound onto and unwound from the respective spool at the first end of the lifting shaft (i.e., each tether at the first end of the lifting shaft extends from its own spool). The lifting mechanism may have two tethers at the second end of the lifting shaft, each tether configured to be wound onto and unwound from the respective spool at the second end of the lifting shaft (i.e., each tether at the second end of the lifting shaft extends from its own spool).

[0010] At least one spool of the lifting mechanism may be equipped with a slip clutch (i.e., the spool may be attached to the lifting shaft via a slip clutch). Each spool of the lifting mechanism may be attached to the lifting shaft via its respective slip clutch. At least one pulley may be equipped with a hard stop (e.g., a mechanical stop) against which the gripping device abuts when the gripping device reaches its fully lifted position (i.e., when the gripping device is fully lifted by the lifting mechanism). Each pulley of the lifting mechanism may be equipped with a hard stop (e.g., a mechanical stop), and as each tether is wound up to raise the gripping device, each corner of the gripping device may abut against the hard stop when it reaches its fully lifted position. A motor may be configured to rotate the lifting shaft to wind up or unwind the tether, thereby raising or lowering the gripping device. During the raising and / or lowering of the gripping device, the gripping device may become uneven, meaning that one side of the gripping device may be higher than the other, or one or more corners of the gripping device may be higher than the remaining corners. When the gripping device is raised to its fully raised position, the higher side or higher corner of the gripping device may reach and contact the hard stop before the non-flat lower side or corner of the gripping device reaches the hard stop.

[0011] To level a non-flat gripping device, the motor may over-rotate the lifting shaft to lift the non-flat lower side or lower corner of the gripping device. During this over-driving or over-rotation of the motor, the slip clutches on the sides or corners already in the fully lifted position may slip to prevent further rotation of these spools, thereby keeping the sides or corners already in the fully lifted position in contact with the hard stop. The motor may over-lift the gripping device relative to the hard stop each time the gripping device is lifted. The slip clutches may allow the motor to over-rotate the lifting shaft, lifting any non-flat lower side or corner of the gripping device while maintaining any side or corner of the gripping device in the fully lifted position in contact with the hard stop. In this way, the lifting assembly can calibrate and level the gripping device each time it is lifted.

[0012] The slip clutch is located in the center of the spool and includes a shaft or hollow bore attached to the lifting shaft, thereby attaching the spool to the lifting shaft. The slip clutch may be a spring clutch or an electromagnetic clutch (e.g., a permanent magnet clutch or a hysteresis / magnetic particle clutch). The slip clutch may be a fixed torque or adjustable torque clutch.

[0013] A gear mechanism may be provided on the gripping device. When the gear mechanism winds up a tether (e.g., at least one tether), the gripping device can be raised toward the top of the lifting assembly, i.e., opposite to being pulled toward the top of the lifting assembly (e.g., in embodiments where the gear mechanism is not provided on the gripping device, e.g., above the gripping device and / or within the load handling device). A motor may be provided on the gripping device. Thus, the gripping device may be self-powered, i.e., it may use power from a motor on the gripping device (i.e., it may not require power from the load handling device).

[0014] The gear mechanism may comprise a planetary gear set or a worm gear, or any other gear mechanism suitable for winding and / or unwinding the tether.

[0015] The tether may be in the form of a cable, rope, tape, or any other form of tether having the physical properties necessary to lift the container. The tether may be formed from or include polyester material (e.g., woven polyester material). In particular, the tether may include woven polyester tape or belt, such as a seat belt (i.e., a seat belt may be used as a tether). The tether may comprise Dyneema tape. The tether may include polyester material (e.g., woven polyester) in combination with Dyneema tape. The tether may include cotton material. The tether may include webbing material, such as webbed polyester, nylon, or cotton. The tether may include conductive material; for example, the tether may include woven material or woven polyester material having conductive elements or wiring (e.g., copper) woven into the weave or fabric of the tether. The tether may comprise a woven belt (e.g., a seat belt) having conductive elements or wiring woven into the belt. The tether may comprise conductive elements or wiring (e.g., copper) woven into the tether's fabric or cloth to provide power and / or communication (i.e., telecommunications) to the gripping device. In another embodiment, a container lifting assembly according to the first embodiment is provided, and the lifting mechanism is, A horizontally extending lifting shaft, a first spool, a second spool, a third spool, and a fourth spool, wherein the first and second spools are located at or near the first end of the horizontally extending lifting shaft, and the third and fourth spools are located at or near the second end of the horizontally extending lifting shaft opposite to the first end. The system comprises a first tether, a second tether, a third tether, and a fourth tether, configured to be wound up and unwound from the first, second, third, and fourth spools, respectively, wherein the first and second spools are configured to rotate in opposite directions to the third and fourth spools to wind up and unwind the first, second, third, and fourth tethers.

[0016] The first and second spools may be located on the first shaft, and the third and fourth spools may be located on the second shaft, wherein the gear mechanism may include first and second pulleys on the first and second shafts, respectively, and the first and second pulleys are driven in opposite directions via a timing belt.

[0017] The gear mechanism may further include third and fourth pulleys positioned around either the first or second pulley to bring about opposite rotations of the first and second pulleys via a timing belt.

[0018] Any one of the first, second, third, and fourth pulleys may be directly driven by the motor.

[0019] The gear mechanism may include first and second worm gears on a motor-driven shaft, where the worm gears are configured to cause the first and second spools to rotate in the opposite direction to the third and fourth spools.

[0020] The first and second spools may be located on the first shaft, and the third and fourth spools may be located on the second shaft, wherein the gear mechanism may further include first and second gears on the first and second shafts, respectively, and the first and second gears are driven via first and second worm gears, respectively.

[0021] In another embodiment, a container lifting assembly according to the first embodiment is provided, the lifting mechanism being: A horizontally extending lifting shaft, a first spool, a second spool, a third spool, and a fourth spool, wherein the first and second spools are positioned adjacent to the central axis of the horizontally extending lifting shaft, on or near the first side of the central axis, and the third and fourth spools are positioned adjacent to the central axis, on or near the second side of the central axis, wherein the first side is opposite to the second side. A first tether, a second tether, a third tether, and a fourth tether, which are respectively wound from and unwound from the first, second, third, and fourth spools, and wherein the first and second spools are configured to rotate in a direction opposite to that of the third and fourth spools to wind or unwind the first, second, third, and fourth tethers.

[0022] The first and second spools may be on the first shaft, the third and fourth spools may be on the second shaft, and the first and second shafts are parallel to the central axis.

[0023] The gear mechanism may include a first gear and a second gear on the first shaft and the second shaft respectively, and the first gear and the second gear are meshed such that a motor driving either the first shaft or the second shaft rotates the other of the first shaft or the second shaft.

[0024] Each tether may be coupled to a respective pulley located at or near each corner of the lifting assembly.

[0025] In any of the above aspects, the first, second, third, and fourth tethers are configured such that the points where each tether is wound onto or unwound from its respective spool or pulley are at or near each corner of the lifting mechanism.

[0026] Each tether can be connected to the gripping device at or near each corner of the gripping device.

[0027] In any of the above aspects, at least one spool is provided with at least one groove along its circumference and is configured such that a wire tether is wound therein.

[0028] In another embodiment, a cargo handling device is provided for lifting and moving containers stacked in a grid storage structure having multiple tracks arranged in a grid pattern above the stack of containers, the cargo handling device is A main body housing a drive mechanism operably positioned to move a cargo handling device on a grid, The assembly comprises a container lifting assembly as described above, configured to raise and lower a gripping device relative to the main body, for raising and lowering containers stacked in a stack.

[0029] The lifting assembly may be located within the body of the cargo handling device. The lifting assembly can lift the container into the body (for example, into the cavity of the cargo handling device).

[0030] The tether may include conductive elements or wiring (e.g., copper) woven into the tether's fabric or cloth to provide power and / or communication (i.e., telecommunications) between the cargo handling device (e.g., a power or communication source provided on the body of the cargo handling device) and the gripping device.

[0031] In another embodiment, a cargo handling device is provided for lifting and moving containers stacked in a grid storage structure, and the cargo handling device is The loading handling device comprises a first set of parallel tracks and a second set of parallel tracks extending substantially perpendicular to the first set of tracks in a substantially horizontal plane to form a grid pattern comprising multiple grid spaces, wherein the grid is supported by a set of upright members to form multiple vertical storage positions directly beneath the grid, such that containers are stacked vertically between the upright members through the multiple grid spaces and guided by the upright members, and the loading handling device is A body mounted on a first set of wheels arranged to engage with a first set of parallel tracks and a second set of wheels arranged to engage with a second set of parallel tracks, the body housing a drive mechanism configured to drive a load handling device on a grid, The assembly comprises a container lifting assembly as described above, configured to raise and lower a gripping device relative to the main body, for raising and lowering containers stacked in a stack.

[0032] In another embodiment, a method is provided for raising and / or lowering a container from a stack of containers, the method comprising a cargo handling device as described above, and the method The steps include unwinding at least one tether and activating the gear mechanism to lower the gripping device relative to the main body, A step of activating the gripping device to grip the container, The procedure includes the steps of winding a tether and activating a gear mechanism to raise the gripping device relative to the main body.

[0033] The method may include the step of raising the gripping device relative to the main body and lifting the container into the cavity of the cargo handling device.

[0034] In one aspect, The cargo handling device defined above, A storage structure for accommodating stacked containers, the storage structure comprising a first set of tracks extending in a first direction and a second set of tracks extending in a second direction traversing the first direction, and configured such that a cargo handling device moves along the first and second sets of tracks. A system is provided comprising a control utility configured to control a cargo handling device to lift containers from a stack below a grid and / or lower containers into the grid.

[0035] Aspects and embodiments of the present invention will be described with reference to the accompanying drawings. [Brief explanation of the drawing]

[0036] [Figure 1] Figure 1 is a schematic perspective view of the grid storage structure and containers. [Figure 2] Figure 2 is a schematic top view of the upper track of the storage structure shown in Figure 1. [Figure 3] Figure 3 shows the cargo handling device located at the top of the storage structure in Figure 1. [Figure 4] Figure 4 is a schematic perspective view of a cargo handling device with a lifting assembly in a lowered configuration. [Figure 5] Figure 5 shows a schematic cutaway of the cargo handling device of Figure 4, which has a lifting assembly with raised and lowered configurations. [Figure 6A] Figure 6A is a perspective view of a cargo handling device having an embodiment of a lifting assembly lowered onto a container. [Figure 6B] Figure 6B is a perspective view of a cargo handling device having an embodiment of a lifting assembly lowered onto a container. [Figure 6C] Figure 6C is a perspective view of a cargo handling device having an embodiment of a lifting assembly lowered onto a container. [Figure 7] Figure 7 is a front view of an embodiment of the lifting assembly. [Figure 8] Figure 8 is a top view of the lifting assembly shown in Figure 7. [Figure 9] Figure 9 is a top view of the lifting assembly shown in Figure 7. [Figure 10] Figure 10 is a perspective view of another embodiment of the lifting assembly. [Figure 11A] Figure 11A is a perspective view of one of the spools of the lifting assembly shown in Figure 10. [Figure 11B] Figure 11B is a side view of one of the spools of the lifting assembly shown in Figure 10. [Figure 11C]Figure 11C is a front view of one of the spools of the lifting assembly shown in Figure 10. [Figure 12] Figure 12 is a perspective view of another embodiment of the lifting assembly. [Figure 13] Figure 13 is a perspective view of the lifting and lowering mechanism of another embodiment of the lifting assembly. [Figure 14A] Figure 14A is a perspective view of another embodiment of the lifting assembly. [Figure 14B] Figure 14B is a perspective view of another embodiment of the lifting assembly. [Figure 15] Figure 15 is a perspective view of another embodiment of the lifting assembly. [Figure 16] Figure 16 is a perspective view of another embodiment of the lifting assembly. [Figure 17] Figure 17 is a perspective view of another embodiment of the lifting assembly. [Figure 18] Figure 18 is a perspective view of another embodiment of the lifting assembly. [Figure 19] Figure 19 is a perspective view of another embodiment of the lifting assembly. [Modes for carrying out the invention]

[0037] Figure 1 illustrates a storage structure 1 comprising an upright member 3 and horizontal members 5 and 7 supported by the upright member 3. The horizontal members 5 extend parallel to each other and along the illustrated x-axis. The horizontal members 7 extend parallel to each other and along the illustrated y-axis and transversely to the horizontal members 5. The upright members 3 extend parallel to each other and along the illustrated z-axis and transversely to the horizontal members 5 and 7. The horizontal members 5 and 7 form a grid pattern defining a plurality of grid cells. In the illustrated example, storage containers 9 are arranged in stacks 11 below the grid cells defined by the grid pattern, with one stack 11 of containers 9 per grid cell.

[0038] Figure 2 shows an enlarged plan view of a section of a track structure 13 that forms part of the storage structure 1 shown in Figure 1 and is located on top of the horizontal members 5, 7 of the storage structure 1 shown in Figure 1. The track structure 13 may be provided by the horizontal members 5, 7 themselves (for example, formed within or on the surface of the horizontal members 5, 7) or by one or more additional components attached to the top of the horizontal members 5, 7. The illustrated track structure 13 comprises x-direction track 17 and y-direction track 19, i.e., a first set 17 of track extending in the x direction and a second set 19 of track extending in the y direction, transverse to the track 17 in the first set 17 of track. The track 17, 19 define an opening 15 in the center of the grid cell. The opening 15 is sized to allow containers 9 located below the grid cell to be lifted and lowered through the opening 15. The x-direction track 17 is provided in pairs separated by channels 21, and the y-direction track 19 is provided in pairs separated by channels 23. Other configurations of the orbital structure are also possible.

[0039] Figure 3 shows a plurality of load handling devices 31 moving over the storage structure 1 illustrated in Figure 1. The load handling devices 31, which may also be called robots 31 or bots 31, are provided with a set of wheels for engaging with corresponding x-direction tracks 17 or y-direction tracks 19, enabling the bots 31 to move across the track structure 13 and reach specific grid cells. The illustrated pairs of tracks 17, 19, separated by channels 21, 23, enable the bots 31 to occupy (or pass through) neighboring grid cells without colliding with each other.

[0040] As illustrated in detail in Figure 4, the bot 31 comprises a body 33 in which one or more components are attached or attached thereto, enabling the bot 31 to perform its intended function. These functions may include moving across the storage structure 1 on the track structure 13 and raising or lowering the container 9 (e.g., from or to the stack 11), thereby enabling the bot 31 to retrieve or place the container 9 at a specific location defined by the grid pattern.

[0041] The illustrated bot 31 comprises a first set of wheels 35 and a second set of wheels 37, which are mounted on the body 33 of the bot 31, allowing the bot 31 to move along tracks 17 and 19 in the x and y directions, respectively. In particular, two wheels 35 are provided on the shorter side of the bot 31 as seen in Figure 4, and two additional wheels 35 are provided on the opposite short side of the bot 31 (not visible in Figure 4). The wheels 35 engage with the track 17 and are rotatably mounted on the body 33 of the bot 31, allowing the bot 31 to move along the track 17. Similarly, two wheels 37 are provided on the longer side of the bot 31 as seen in Figure 4, and two additional wheels 37 are provided on the opposite long side of the bot 31 (not visible in Figure 4). The wheels 37 engage with the track 19 and are rotatably mounted on the body 33 of the bot 31, allowing the bot 31 to move along the track 19.

[0042] Bot 31 also includes a lifting assembly 102 comprising a lifting mechanism 39 configured to raise and lower the container 9. The illustrated lifting mechanism 39 comprises four tethers 41 connected at their lower ends to a gripping device 100. The tethers 41 may be in the form of cables, ropes, tapes, or any other form of tether having the physical properties necessary to lift the container 9. The gripping device 100 comprises at least one gripper configured to engage with a feature portion of the container 9. For example, the container 9 may have one or more apertures on their upper sides with which the grippers can engage. Alternatively or additionally, the gripping means may be configured to hook under the rim or lip of the container 9 and / or clamp or grip the container 9. The tethers 41 may be wound up or wound down as needed to raise or lower the gripping device 100. One or more motors or other means may be provided to bring about or control the winding or winding of the tethers 41.

[0043] As can be seen in Figure 5, the body 33 of the illustrated bot 31 has an upper part 45 and a lower part 47. The upper part 45 is configured to accommodate one or more operating components (not shown). The lower part 47 is located below the upper part 45. The lifting assembly 102 is located above the lower part. However, in other embodiments, it may be located on the upper part 45. The lower part 47 has a container housing space or cavity for housing at least a portion of the container 9 lifted by the lifting assembly 102, which is equipped with a lifting mechanism 39. The container housing space is sized so that the container 9 fits sufficiently inside the cavity, allowing the bot 31 to move across the track structure 13 located above the storage structure 1 without the lower side of the container 9 getting caught on the track structure 13 or another part of the storage structure 1. When the bot 31 reaches its intended destination, the lifting assembly 102 controls the tether 41 to lower the gripping device 100 and the corresponding container 9 out of the cavity to the intended position. The intended location may be the stack 11 of containers 9 or the exit point of the storage structure 1 (or, if the bot 31 has moved to collect containers 9 for storage in the storage structure 1, the entry point of the storage structure 1). In the illustrated example, the upper portion 45 and the lower portion 47 are separated by a physical partition, but in other embodiments, the upper portion 45 and the lower portion 47 may not be physically separated by a particular component or part of the body 33 of the bot 31.

[0044] The container storage space of bot 31 does not have to be located within the body 33 of bot 31. For example, the container storage space may instead be adjacent to the body 33 of bot 31 in a cantilever configuration having a weight of the body 33 of bot 31 that balances the weight of the container being lifted, for example. In such an embodiment, the frame or arm of the lifting mechanism 39 may project horizontally from the body 33 of bot 31, and the tether 41 may be positioned at each of the projecting frames / arms and configured to move up and down from those positions to lift a container into a container storage space adjacent to the body 33. The height to which the frame / arm is attached to the body 33 of bot 31 and projects from there may be selected to provide a desired effect. For example, it may be preferable for the frame / arm to project at a high level on the body 33 of bot 31 to allow a larger container (or multiple containers) to be lifted into the container storage space below the frame / arm. Alternatively, the frame / arm may be positioned to protrude lower below the body 33 (but high enough to accommodate at least one container between the frame / arm and the orbital structure 13) in order to keep the center of mass of the bot 31 lower when a container is loaded into the bot 31.

[0045] To enable the bot 31 to move in first and second directions on different wheels 35, 37, the bot 31 includes a wheel positioning mechanism for selectively engaging a first set of wheels 35 with a first set of tracks 17, or a second set of wheels 37 with a second set of tracks 19. The wheel positioning mechanism is configured to raise and lower the first set of wheels 35 and / or the second set of wheels 37 relative to the body 33, thereby enabling the load handling device 31 to move selectively in either a first or second direction across the tracks 17, 19 of the storage structure 1.

[0046] The wheel positioning mechanism may include one or more linear actuators, rotating components, or other means for raising and lowering at least one set of wheels 35, 37 relative to the body 33 of the bot 31, thereby moving at least one set of wheels 35, 37 away from the tracks 17, 19 and into contact with the tracks 17, 19. In some examples, only one set of wheels may be configured to raise and lower, where the action of lowering one set of wheels can effectively lift the other set of wheels away from the corresponding track, while the action of raising one set of wheels can effectively lower the other set of wheels into contact with the corresponding track. In other examples, both sets of wheels may be raised and lowered, which is advantageous as it means that the body 33 of the bot 31 remains at substantially the same height and therefore the weight of the body 33 and any components mounted thereon does not need to be raised and lowered by the wheel positioning mechanism.

[0047] Figures 6A, 6B, and 6C show a perspective view of the cargo handling device 31 in which one embodiment of the gripping device 100 is suspended from the cargo handling device 31, particularly from the cargo handling device body 33. Although not shown in these figures, the cargo handling device 31 includes the features described above with respect to the cargo handling device or bot 31, including first and second sets 35, 37 of wheels attached to the body of the cargo handling device 31, a cavity for receiving at least a portion of a container, and a reel-type tether 41 connected at its lower end to the gripping device 100 for connecting and suspending the gripping device 100 from the cargo handling device 31. The cargo handling device 31 includes a lifting assembly 102 for winding up or unwinding the wound tether 41, which is wound up and unwinded, respectively, to raise and lower the gripping device 100, as shown in Figures 6A, 6B, and 6C. The gripping device 100 is lowered over the container to be lifted until it contacts the upper edge of the container 9. Once the gripping device 100 is in a predetermined position on the container 9 as shown in Figure 6A, the gripping device 100 engages with the container and grips it.

[0048] Figures 7 and 8 show embodiments of the lifting assembly 102, with Figure 7 showing a front view of the lifting assembly 102 and Figure 8 showing a top view of the lifting assembly 102. In this embodiment, the lifting assembly 102 includes a lifting mechanism 39 comprising a rectangular support plate 104, a centrally located motor 106, a gear mechanism 108, and four pulleys 110a, 110b, 110c, and 110d fixed to or connected to the underside of the support plate 104. In this embodiment, the gear mechanism 108 is a planetary gear set (e.g., an epicyclic gear set) having a vertically extending lifting shaft 112 that rotates to wind up or unwind a tether. Each pulley 110a, 110b, 110c, and 110d is positioned at or toward the corners of the lifting assembly 102, particularly at each corner of the support plate 104, and the tether extends from the planetary gear set to the four pulleys 110a, 110b, 110c, and 110d, and then extends downward so that the lower ends of each pulley 110a, 110b, 110c, and 110d connect to the gripping device 100. The motor 106 is configured to rotate the lifting shaft 112 to wrap or unwrap the tether around the lifting shaft, thereby lifting or lowering the gripping device 110. By wrapping or unwrapping the tether around the lifting shaft 112, the lifting shaft 112 effectively provides a spool for the tether. As the motor 106 rotates the lifting shaft 112 in a first direction, the tether is simultaneously wrapped around the lifting shaft 112 to lift the gripping device 100. The motor 106 rotates the lifting shaft in a second direction (opposite to the first direction), simultaneously unwinding the tether from the lifting shaft 112 and lowering the gripping device 100. The motor 106 rotates the lifting shaft 112 so that the tether is wound in and unwound at the same speed. In this embodiment, the motor 106 is positioned above the support plate 104. By positioning the motor 106 in the center of the support plate 104 (as shown in Figure 8), the weight of the motor 106 is evenly distributed across the lifting assembly 102.Furthermore, by providing the motor 106 on the support plate 104, the additional weight of the motor 106 on the lifting assembly 102 can advantageously ensure more stable lifting and lowering of the gripping device 100.

[0049] Figure 9 shows a top view of the lift assembly 102 of Figures 7 and 8, and shows tethers 114a, 114b, 114c, and 114d extending from the planetary gear set 108 to four pulleys 110a, 110b, 110c, and 110d. As shown in Figure 9, each pulley 110a, 110b, 110c, and 110d is angled toward the planetary gear set (i.e., toward the center of the lift assembly 102 or the center of the support plate 104). By angling the pulleys 110a, 110b, 110c, and 110d toward the center, the tethers 114a, 114b, 114c, and 114d extend in a straight line from the center of the lift assembly 102 (or from the gear mechanism 108) to the pulleys. This allows the lifting assembly 102 to wind or unwind the tethers 114a, 114b, 114c, and 114d more uniformly and reliably (and thus raise or lower the gripping device 100) as the tethers 114a, 114b, 114c, and 114d are wound or unwound by the gear mechanism 108, without the risk of the tethers 114a, 114b, 114c, and 114d becoming entangled with each other.

[0050] Figure 10 shows another embodiment of the lifting assembly 102. In this embodiment, the lifting mechanism 39 includes a central, horizontally extending lifting shaft 116 and two spools: a first spool 118a at the first end of the lifting shaft and a second spool 118b at the second end of the lifting shaft 116. Four pulleys 110a, 110b, 110c, and 110d are provided at each corner of the lifting assembly 102, particularly at each corner of the support plate 104, and in this embodiment, are located above the support plate 104. At each end of the lifting shaft 116, two tethers extend from each spool in opposite directions through their respective pulleys 110a, 110b, 110c, and 110d, and then extend downward so that the lower ends of each tether 114a, 114b, 114c, and 114d connect to the gripping device 100. As shown in Figure 10, by providing pulleys 110a, 110b, 110c, and 110d at or toward each corner of the support plate 104, the tethers 114a, 114b, 114c, and 114d can be extended downward so that the lower ends of each tether 114a, 114b, 114c, and 114d connect to the corners of the gripping device 100, thereby providing more stable raising and lowering of the gripping device 100.

[0051] The lifting shaft 116 is configured to rotate so as to wind or unwind the tethers 114a, 114b, 114c, and 114d around each spool 118a, 118b. As the lifting shaft 116 rotates in a first direction, the two tethers 114a and 114b at the first end of the lifting shaft are wound around the first spool 118a, and at the same time, the two tethers 114c and 114d at the second end of the lifting shaft are wound around the second spool 118b, thereby lifting the gripping device 100 (and the container when gripped by the gripping device). The lifting shaft 116 is rotated in a second direction (opposite to the first direction) to simultaneously unwind two tethers 114a and 114b from the first spool 118a and two tethers 114c and 114d from the second spool 118b, thereby lowering the gripping device 100 (and the container when gripped by the gripping device). By providing one spool 118a and one 118b at each end of the lifting shaft 116, each spool winds or unwinds two tethers, thereby reducing the risk of tether entanglement. Each spool 118a and 118b may include grooves to keep the two tethers wound on the spools separate, thereby further reducing the risk of tether entanglement.

[0052] Figures 11A to 11C show one of the spools 118a, 118b from the embodiment of Figure 10. Figure 11C shows a cross-sectional view through section AA of Figure 11B. The arrows shown in Figure 11C illustrate the directions of the two tethers 114a, 114b, 114c, and 114d extending from each spool 118a, 118b. As shown in Figure 11C, the tethers 114a, 114b, 114c, and 114d extend in opposite directions such that each tether 114a, 114b, 114c, and 114d is either unwound from or wound from the spool simultaneously.

[0053] Figure 12 shows another embodiment of the lifting assembly 102. In this embodiment, the lifting mechanism includes a central horizontally extending lifting shaft and four spools 118a, 118b, 118c, and 118d, with two spools at each end of the lifting shaft, i.e., two spools 118a and 118b at the first end of the lifting shaft 116 and two spools 118c and 118d at the second end of the lifting shaft 116. Similar to the embodiment in Figure 10, four pulleys 110a, 110b, 110c, and 110d are provided at each corner of the support plate 104. In this embodiment, each tether 114a, 114b, 114c, 114d extends from its own respective spool 118a, 118b, 118c, 118d through its respective pulley 110a, 110b, 110c, 110d, and then extends downward so that the lower end of each tether connects to the corner of the gripping device. Each of the four tethers is connected to its own spool and extends through its own pulley before connecting to the gripping device 100. By providing four spools (i.e., one for each tether), each spool has a single tether wound or unwound on it, thereby further reducing the risk of tether entanglement. Furthermore, by providing each tether with a spool, when the wound tether is fully wound onto the spool (i.e., when the tether is fully wound onto the spool), it occupies less space compared to embodiments in which two or more tethers are wound onto a single spool. For example, by providing a spool on each tether, the wound tethers occupy half the amount of space compared to an embodiment in which two tethers are wound on a single spool. This advantageously results in the lifting assembly 102 requiring less space within the body 33 of the cargo handling device 31, for example, the lower portion 47 of the cargo handling device 31 having a container accommodation space for accommodating the lifting assembly 102 and at least a portion of the container. In other words, by providing a spool on each tether, the lifting assembly 102 advantageously allows for a space gain within the container accommodation space.

[0054] When the lifting shaft is rotated in a first direction to wind up the tethers, each tether is simultaneously wound around its respective spool to lift the gripping device (and the container when gripped by the gripping device). The lifting shaft is then rotated in a second direction (opposite to the first direction), unwinding each tether simultaneously from its respective spool, thereby lowering the gripping device (and the container when gripped by the gripping device).

[0055] In the embodiments shown in Figures 10 and 12, the tether is connected to the gripping device 100 via four additional pulleys (one at each corner of the gripping device). However, in other embodiments, the lower end of each tether may be connected to the gripping device without requiring additional pulleys (for example, the lower end of the tether may be connected directly to the gripping device 100).

[0056] Although not shown in the embodiments of Figures 10 and 12, a motor 106 is provided to rotate the lifting shaft in the first and second directions. In each of the embodiments of Figures 7 to 12, the motor 106 is configured to rotate the lifting shaft so that all tethers are wound up or unwound simultaneously and at the same speed in order to raise and lower the gripping device uniformly and steadily.

[0057] In some embodiments, each spool is attached to the lifting shaft via its respective slip clutch. When the lifting shaft is rotated in a first direction by the motor, the tether is retracted to lift the gripping device. When the gripping device 100 reaches its top position or fully lifted position (i.e., when the gripping device 100 is fully lifted by the lifting mechanism 39, for example, into the body 33 of the bot 31), the motor can be overdriven beyond the torque of the slip clutch, resulting in the slip clutch slipping and the spool no longer rotating. Each pulley is provided with a hard stop (e.g., a mechanical stop) against which the gripping device makes contact when the gripping device reaches its fully lifted position.

[0058] By providing slip clutches on each spool, the lifting assembly 102 can horizontalize the gripping device 100 if it becomes uneven (for example, during the lowering and / or raising of the gripping device, or due to the stretching or slipping of one or more of the tethers). For example, in the embodiment of Figure 10, the gripping device may become uneven during the lowering and / or raising of the gripping device, such that the first end of the gripping device (i.e., the end lifted by the first spool at the first end of the lifting shaft) reaches its fully lifted position and abuts against the hard stop of the pulley, while the second end of the gripping device (i.e., the end lifted by the second spool at the second end of the lifting shaft) has not yet reached its fully lifted position. The motor continues to rotate (i.e., over-rotate) the lifting shaft so that the second end of the gripping device is lifted to its fully lifted position and abuts against the hard stop of the pulley. During this over-rotation of the motor for rotating the lifting shaft to lift the second end of the gripping device, the slip clutch of the first spool slips, preventing further rotation of the first spool and thereby maintaining the first end of the lifting shaft in its fully lifted position.

[0059] In the embodiment shown in Figure 10, each spool is provided with a slip clutch, which allows the lifting assembly 102 to flatten any irregularities between the first and second ends of the gripping device.

[0060] In some embodiments of Figure 12, a slip clutch is provided on each spool, and each pulley is equipped with a hard stop (e.g., a mechanical stop) against which the gripping device abuts when the gripping device reaches its fully lifted position. As described above, by providing a slip clutch on each spool, the lifting assembly 102 can level the gripping device if it becomes uneven during descent and / or ascent. If a side or corner of the gripping device becomes uneven, the motor continues to rotate the lifting shaft until the uneven side or corner is lifted to its fully lifted position and abuts against the hard stop on the pulley. In the embodiments of Figure 12, a spool is provided on each tether. Therefore, a slip clutch can be provided on each spool to control the level of each individual tether. This advantageously allows the lifting assembly 102 to control and level each corner of the gripping device if any corner of the gripping device becomes uneven.

[0061] The motor rises excessively above the hard stop each time the gripping device is lifted. This allows any non-flat side or corner of the gripping device to be lifted up to the hard stop. The slip clutch on each spool allows the motor to over-rotate and lift any non-flat side or corner of the gripping device, while simultaneously maintaining any side or corner of the gripping device in a fully lifted position in contact with the hard stop. This advantageously allows the lifting assembly to calibrate and level the gripping device each time it is lifted.

[0062] In embodiments including a slip clutch, the slip clutch is located at the center of the spool (see Figure 11C) and includes a shaft or hollow bore that is attached to the lifting shaft, thereby attaching the spool to the lifting shaft. The slip clutch is preferably an electromagnetic clutch (e.g., a hysteresis / magnetic particle clutch). These clutches operate electrically, particularly when the operation of the clutch does not require contact of the internal elements of the clutch, thereby reducing clutch wear over time. By providing an electromagnetic clutch, they advantageously offer a reliable and durable method for horizontalizing the gripping device. The slip clutch is a fixed-torque clutch that slips at a predetermined torque.

[0063] In the embodiments of Figures 7 to 10 and Figure 12, the lifting assembly 102 includes a support plate 104 for supporting the spool. The support plate 104 may also be provided to support the motor 106, as shown in the embodiments of Figures 7 to 9. However, in other embodiments, the support plate 104 may not be necessary. The spool and / or motor 106 may be supported by alternative support means, for example, including one or more vertical shafts.

[0064] Figure 13 shows a lifting and lowering mechanism 139 of another embodiment of the lifting assembly 102. In this embodiment, the lifting mechanism 139 includes a central horizontally extending lifting shaft 120 and four spools, namely two spools 122a, 122b at the first end of the lifting shaft 120 and two spools 122c, 122d at the second end of the lifting shaft 120. The lifting assembly 102 comprises four pulleys 124a, 124b, 124c, and 124d, one at each corner of the lifting assembly 102, and four tethers 114a, 114b, 114c, and 114d, each tether extending from its respective spool 122a, 122b, 122c, and 122d to its respective pulley 124a, 124b, 124c, and 124d, and then extending downward so that the lower end of each tether 114a, 114b, 114c, and 114d connects to the gripping device 100, for example, the corner of the gripping device (not shown in Figure 13). Two tethers 114a, 114b at the first end of the lifting shaft extend in opposite directions from two spools 122a, 122b at the first end of the lifting shaft 102, and two tethers 114c, 114d at the second end of the lifting shaft 120 extend in opposite directions from two spools 122c, 122d at the second end of the lifting shaft, thereby allowing each tether to pass through the corner pulleys of the lifting assembly 120. In this embodiment, each of the four tethers is connected to its own spool so that a single tether is wound onto or unwound onto each spool. This is advantageous in that it ensures that the wound tethers on each spool occupy less space compared to embodiments in which two or more tethers are wound onto a single spool, as described, for example, in relation to the embodiment of Figure 10. Providing a spool for each tether is also advantageous in that it reduces the risk of the tethers becoming entangled when they are wound onto or unwound to raise or lower the gripping device.

[0065] In some embodiments, the lifting mechanism 139 in Figure 13 includes a slip clutch on each spool. That is, as described in relation to the embodiment in Figure 12, each spool is attached to the lifting shaft via its respective slip clutch. As described above, this allows the lifting assembly 102 in the embodiment of Figure 13 to level each corner of the gripping device 100 if any corner of the gripping device 100 becomes uneven during lifting and / or lowering.

[0066] In other embodiments, the lifting assembly 102 may have two spools, one at each end of the lifting shaft, and each spool may have one or more grooves for separating two tethers on each spool.

[0067] The lifting shaft is configured to rotate to wind or unwind the tether around each spool. When the lifting shaft is rotated in a first direction to wind up the tether, each tether is simultaneously wound around its respective spool to lift the gripping device (and the container when gripped by the gripping device). The lifting shaft is rotated in a second direction (opposite to the first direction) to unwind each tether simultaneously from its respective spool, thereby lowering the gripping device (and the container when gripped by the gripping device). The tethers are wound or unwound simultaneously and at the same speed to raise or lower the gripping device uniformly and steadily.

[0068] The lifting assembly 102 includes a motor 106 configured to rotate the lifting shaft 120 in first and second directions to wind or unwind the tether around its spools. The motor 106 is coupled to a central, horizontally extending lifting shaft 120 and rotates the lifting shaft in first and second directions.

[0069] The motor 106 is enclosed or partially surrounded by a block that protects the motor 106 and helps to hold the motor 106 in place. The four pulleys 124a, 124b, 124c, and 124d are also held within a block suspended or connected to the load handling device by a vertical rod (not shown), thereby connecting the lifting assembly 102 to the load handling device.

[0070] The blocks are also connected by rods 128 that mount each pulley 124a, 124b, 124c, and 124d to the corners of a rectangular lifting assembly 102. Each block holding the pulleys 124a, 124b, 124c, and 124d includes cutouts to allow tethers 114a, 114b, 114c, and 114d to extend from the spool to the pulleys within the block.

[0071] Figures 14A and 14B show another embodiment of the lifting assembly 102. In this embodiment, the lifting assembly 102 includes a lifting mechanism 239 with a gear mechanism 130 provided on the gripping device. The gear mechanism 130 winds and unwinds four tethers 114a, 114b, 114c, and 114d. These tethers are connected to the gear mechanism 130 via four pulleys 132a, 132b, 132c, and 132d located at the corners of the gripping device 100. The tethers 114a, 114b, 114c, and 114d extend upward from the pulleys on the gripping device 100 to four pulleys 110a, 110b, 110c, and 110d located within the body 33 of the load handling device 31. As the gear mechanism 130 winds up the tethers 114a, 114b, 114c, and 114d, the gripping device 100 rises upward toward the cargo handling device 31. If the gear mechanism 130 is located above the gripping device 100, for example, if the gear mechanism is located above the gripping device (for example, within the cargo handling device body 33), it can be described as the gripping device 100 "rising" as the gear mechanism 130 winds up the tethers, rather than the gripping device 100 being lifted as the tethers 114a, 114b, 114c, and 114d are wound up. In other words, the lifting force comes from the gripping device 100, not from the gear mechanism located in the cargo handling device body 33. As the gear mechanism 130 unwinds the tethers 114a, 114b, 114c, and 114d, the gripping device 100 descends.

[0072] Providing the gripping device 100 with a gear mechanism 130 adds weight to the gripping device 100. This is advantageous because it helps the gripping device 100 to be lifted and lowered in a smoother, more horizontal, and stable manner (compared to, for example, a lighter gripping device).

[0073] As shown in Figure 14B, the lifting mechanism 239 includes a motor 106 configured to drive or rotate a gear mechanism 130 to wind up or unwind the tether. The motor 106 is mounted on the gripping device 100. This advantageously provides additional weight to the gripping device 100, helping the gripping device 100 to be lifted and lowered in a smooth and horizontal manner. By providing the gear mechanism 130 and / or motor 106 on the gripping device 100, the lifting assembly 102 achieves a redistribution of its mass, which advantageously results in smoother, horizontal, and more stable lifting and lowering of the gripping device 100.

[0074] Furthermore, by providing the gripping device 100 with a motor 106, power is supplied to the gripping device 100 itself without the need for a power cable extending from the powered cargo handling device 31 to the gripping device 100. By providing the gripping device 100 with a motor 106, the gripping device 100 can function as an autonomous element that may be assigned a mission (e.g., pick a container at a particular location in the storage structure and place it to a depth of 11 containers). The gripping device 100 can use its own power source and sensors (if provided) to perform the task. The gripping device 100 can use its own power from the motor 106 to drive other elements on the gripping device 100 (e.g., sensors, grippers, LEDs, etc.).

[0075] The motor 106 and gear mechanism 130 are positioned in the center of the gripping device 100. This helps ensure that the gripping device 100 remains horizontal as it rises and falls. In this embodiment, the gear mechanism 130 is a planetary gear set (e.g., an epicyclic gear set) having a vertically extending lifting shaft 134, the lifting shaft acting as a spindle for the tethers 114a, 114b, 114c, and 114d as the gear set 130 rotates to wind up or unwind the tethers.

[0076] In other embodiments, the motor 106 may be located within the cargo handling device.

[0077] In some embodiments, the lifting mechanism 239 may include a weight on the gripping device 100 to add weight to the gripping device, instead of providing a gear mechanism 130 and / or motor 106 on the gripping device 100, or in addition to that.

[0078] Figure 15 shows another embodiment of the lifting assembly 102. In this embodiment, the lifting mechanism 339 includes a gear mechanism in the form of a worm gear 136 mounted on a horizontally extending central shaft 138 located within the load handling device body 33. Although not shown, the lifting assembly 102 includes a motor 106 (for example, within the load handling device body 33) that rotates or drives the worm gear 136 to wind or unwind four tethers 114a, 114b, 114c, and 114d that wrap around the worm gear 136. The worm gear 136 includes four circumferential grooves or tracks along the outside of the worm gear (i.e., the drum of the worm gear) into which the tethers are wound or unwound. By providing four distinct circumferential grooves, each tether can wrap around the worm gear within its own groove and unwind from there, thereby reducing or eliminating the risk of entanglement between the tethers as the worm gear rotates.

[0079] As the worm gear rotates to wind the tether and lift the gripping device 100, the worm gear 136 moves or slides along the shaft 138 in the first axial direction (for example, to the right). As the worm gear rotates to unwind the tether and lower the gripping device 100, the worm gear 136 moves or slides back along the shaft 138 in the opposite direction (i.e., opposite to the first axial direction, for example, to the left). By allowing the worm gear to move back and forth (to the right or left) along the shaft 138, smoother and more uniform winding and unwinding of the tether from the worm gear 136 is ensured when the tether is wound onto or unwound from the worm gear 136. The worm gear 136 can move along the shaft 138 due to the force of the tether as it is wound onto or unwound from the worm gear 136. In other embodiments, the gear mechanism includes a spring that can bias the worm gear rearward and forward along the shaft 138 when the tether is wound or unwound.

[0080] In some embodiments, the drum of the worm gear 136 may be mounted on the shaft 138 via an ultra-low friction rail. This makes it possible for the rotational force of the worm gear 136 alone to be sufficient to wrap the tether around the worm gear, unwound it from the worm gear, and move the worm gear back and forth on the shaft 138. In other words, the worm gear can "automatically feed" the tether. An example of an ultra-low friction material that may be used is PTFE. Those skilled in the art will know of many other materials suitable for an ultra-low friction rail.

[0081] The tethers 114a, 114b, 114c, and 114d extend downward from the worm gear 136 to the four pulleys 142a, 142b, 142c, and 142d of the gripping device 100, positioned near the center of the gripping device 100, and holding the tethers 114a, 114b, 114c, and 114d toward the center of the lifting assembly 102. This results in a more space-efficient lifting assembly 102 that requires less space within the load handling device 31. Holding the tethers 114a, 114b, 114c, and 114d toward the center in this way also results in easier winding of the tethers 114a, 114b, 114c, and 114d around the worm gear 136. From the centrally located pulleys 142a, 142b, 142c, and 142d, the tether extends along the gripping device to the four pulleys 144a, 144b, 144c, and 144d located at the corners of the gripping device 100. This ensures more stable horizontal raising and lowering of the gripping device as the tethers 114a, 114b, 114c, and 114d are wound and unwound by the worm gear 136.

[0082] In the embodiment shown in Figure 15, a single substantially centrally located worm gear is provided for winding and unwinding the tether. In other embodiments, the lifting assembly includes a gear mechanism in the form of two worm gears, each worm gear configured to wind and unwind two tethers. By providing two worm gears instead of one, the weight of the gear mechanism can be more evenly distributed across the lifting assembly 102, resulting in a more balanced lifting assembly 102. Furthermore, by providing two worm gears, each supporting two tethers, winding and unwinding the tethers can be made easier, and the risk of tether entanglement can be reduced or eliminated as the tethers are wound onto and unwound from the worm gears.

[0083] In the above embodiment, all cables are wound and unwound using a single motor 106. However, in other embodiments, two or more motors 106 may be used if desired. In the embodiment of Figure 16, the lifting assembly 102 has four spools 201, 202, 203, and 204 for winding and unwinding each tether. Spools 201 and 202 are on drive shaft 205, and spools 203 and 204 are on drive shaft 206. Drive shafts 205 and 206 are, one When driven by a motor, they are configured to rotate in opposite directions. By rotating the drive shafts 205 and 206 in opposite directions, each tether 114a to 114d can be positioned at or near the corners of the lifting assembly, as in the embodiments described above. In particular, as shown in Figure 16, the point at which each tether is wound onto or unwound from the spool is at or near each corner of the lifting assembly. This allows the tethers to connect to the gripping assembly 100 at each corner of the gripping assembly, improving stability when raising and lowering the gripping assembly. Figure 16 shows one example of how the drive shafts 205 and 206 may rotate in opposite directions. The drive shafts 205 and 206 are connected to pulleys 210 and 211, respectively. one The motor applies torque to pulley 207. The timing belt 208 transmits torque to pulleys 209, 210, and 211, ensuring that spools 201 and 202, and spools 203 and 204, rotate in opposite directions. In particular, pulleys 207 and 209 are positioned around pulley 211 to rotate in the opposite direction to pulley 210. This is because, one It will be understood that this is just one exemplary way in which drive shafts 205 and 206 can be rotated in opposite directions when driven by a motor.

[0084] While not limited thereto, it will be understood that spools 201, 202, 203, and 204 are particularly suitable for woven polyester tape or woven belts having conductive elements or wiring woven into the belt as described above (e.g., seat belts). When wire tethers are used, each spool 201, 202, 203, and 204 may be threaded to form a groove that receives / releases the wire tether when it is wound / unwound. Such a spool 500 is shown in Figure 17 and can be used with any of the embodiments described above. The depth of the groove 510 and the overall configuration of the groove may be selected depending on the characteristics of the wire 515, such as its diameter and length.

[0085] Furthermore, slip clutches may be included in each spool, i.e., as described in relation to the embodiments of Figures 12 and 13, each spool 201, 202, 203, and 204 is attached to the lifting shaft via its respective slip clutch. As described above, this allows the lifting assembly 102 to level each corner of the gripping device 100 if any corner of the gripping device 100 becomes uneven during lifting and / or lowering.

[0086] In the embodiment shown in Figure 18, the lifting assembly 102 has four spools 301, 302, 303, and 304 for winding and unwinding d from their respective tethers 114a and 114a. Spools 301 and 302 are on drive shaft 305, and spools 303 and 304 are on drive shaft 306. Drive shafts 305 and 306 are configured to rotate in opposite directions when driven by a motor. The drive shafts are operably coupled by the meshing of gears 307 and 308. Drive shaft 305 (and thus gear 307, spools 301 and 302) and drive shaft 306 (and thus gear 308, spools 303 and 304) are on either side of the central axis 310 of the lifting assembly and adjacent to the central axis 212. The central axis 310 extends longitudinally parallel to the longitudinal axes of the drive shafts 305 and 306. The tethers from each spool extend to the respective pulleys 311, 312, 313, and 314 located at or near the corners of the lifting assembly, as in the embodiments described above. In particular, as shown in Figure 18, the points where each tether is wound onto or unwound from the pulleys 311, 312, 313, and 314 are located at or near the respective corners of the lifting assembly. This allows the tethers to connect to the gripping assembly 100 at each corner of the gripping assembly, improving stability when raising and lowering the gripping assembly. When either of the drive shafts 305, 306 is driven by the motor and rotates in a first direction, the other drive shaft rotates in a second direction opposite to the first direction via the meshing of gears 307 and 308. That is, gear 307 (and thus spools 301 and 302) and gear 308 (and thus spools 303 and 304) rotate in opposite directions to wind and unwind their respective tethers. It will be understood that this is just one exemplary way in which drive shafts 305 and 306 can be rotated in opposite directions when driven by a motor.

[0087] While not limited thereto, it will be understood that spools 301, 302, 303, and 304 are particularly suitable for woven polyester tape or woven belts (e.g., seat belts) having conductive elements or wiring woven into the belt as described above. When a wire tether is used, each spool 301, 302, 303, and 304 may be threaded to form a groove that receives / releases the wire tether as it is wound / unwound. Such a spool 500 is shown in Figure 17 and can be used with any of the embodiments described above. The depth of the groove 510 and the overall configuration of the groove may be selected depending on the characteristics of the wire 515, such as its diameter and length.

[0088] Furthermore, slip clutches may be included in each spool, i.e., as described in relation to the embodiments of Figures 12 and 13, each spool 301, 302, 303, and 304 is attached to the lifting shaft via its respective slip clutch. As described above, this allows the lifting assembly 102 to level each corner of the gripping device 100 if any corner of the gripping device 100 becomes uneven during lifting and / or lowering.

[0089] In the embodiment shown in Figure 19, the lifting assembly 102 has four spools 401, 402, 403, and 404 for winding and unwinding each tether. Spools 401 and 402 are on drive shaft 405, and spools 403 and 404 are on drive shaft 406. Drive shafts 405 and 406 are configured to rotate in opposite directions when driven by a motor. By rotating drive shafts 405 and 406 in opposite directions, the tethers can be positioned at or near the corners of the lifting assembly, as in the embodiments described above. In particular, as shown in Figure 19, the point at which each tether is wound onto or unwound from the spool is at or near each corner of the lifting assembly. This allows the tethers to connect to the gripping assembly at each corner of the gripping assembly 100, increasing stability when raising and lowering the gripping assembly. Figure 19 shows an example of how drive shafts 405 and 406 may rotate in opposite directions. The motor applies torque to a shaft 411, which has a first worm gear 407 and a second worm gear 408. The first and second worm gears 407 and 408 are configured (or threaded) to rotate their respective gears 409 and 410 in opposite directions. Thus, gear 409 rotates the drive shaft 405 in a first direction, and gear 410 rotates the drive shaft 406 in a second direction opposite to the first direction. That is, gears 409 (and therefore spools 401 and 402) and gear 410 (and therefore spools 403 and 404) rotate in opposite directions to wind and unwind their respective tethers.

[0090] It will be understood that, though not limited to them, spools 401, 402, 403, and 404 are particularly suitable for woven polyester tapes or woven belts (e.g., seat belts) that have conductive elements or wiring woven into the belt as described above. When a wire tether is used, each spool 401, 402, 403, and 404 may be threaded to form a groove that receives / releases the wire tether when it is wound / unwound. Such a spool 500 is shown in Figure 17, and this spool can be used with any of the embodiments described above. The depth of the groove 510 and the overall configuration of the groove may be selected depending on the characteristics of the wire 515, such as its diameter and length.

[0091] Furthermore, slip clutches may be included in each spool, i.e., as described in relation to the embodiments of Figures 12 and 13, each spool 401, 402, 403, and 404 is attached to the lifting shaft via its respective slip clutch. As described above, this allows the lifting assembly 102 to level each corner of the gripping device 100 if any corner of the gripping device 100 becomes uneven during lifting and / or lowering. All any and preferred features and modifications of the embodiments and dependent claims described herein are available for use in all embodiments of the invention taught herein. Furthermore, the individual features of the dependent claims, as well as all any and preferred features and modifications of the embodiments described herein, are combinable and interchangeable with each other. The invention described in the original claims of this application is listed below. [1] A container lifting assembly for raising and / or lowering containers stacked in a grid storage structure, A gripping device configured to grip a container in a way that allows it to be released, The system includes a lifting mechanism for raising and lowering the gripping device, The aforementioned lifting mechanism is A gear mechanism configured to wind up and / or unwind at least one tether, A motor configured to actuate the gear mechanism to wind up and / or unwind the at least one tether, A container lifting assembly wherein the at least one tether is connected to the gripping device such that the winding and unwinding of the at least one tether is configured to raise and lower the gripping device. [2] The container lifting assembly according to [1], wherein the gear mechanism comprises at least one spool, the at least one tether is extended from the at least one spool before being extended and connected to the gripping device, and the gear mechanism is configured to wind or unwind the at least one tether around the at least one spool. [3] The container lifting assembly according to [1] or [2], wherein the lifting mechanism comprises at least one pulley, and the at least one tether extends from at least one spool to the at least one pulley before extending to and connecting to the gripping device. [4] The container lifting assembly according to [1], [2] or [3], comprising a lifting mechanism, at least a pair of tethers, and a spool for each pair of tethers, wherein the gear mechanism is configured to wind or unwind the at least pair of tethers around the spool. [5] The container lifting assembly according to [4], wherein each tether of the pair of tethers extends from the spool to the pulley in the opposite direction before extending to and connecting to the gripping device. [6] The container lifting assembly according to any one of [1] to [5], wherein the gear mechanism comprises a spool for each tether. [7] The container lifting assembly according to any one of [1] to [6], wherein the lifting mechanism comprises a pulley for each tether. [8] The container lifting assembly according to any one of [1] to [7], wherein the lifting mechanism comprises four tethers, each tether extending from the gear mechanism to the corner of the gripping device. [9] The lifting mechanism is A horizontally extending lifting shaft and two spools, the first spool being at the first end of the lifting shaft, the second spool being at the second end of the lifting shaft, the second end being on the opposite side of the first end, A container lifting assembly according to any one of [1] to [8], comprising: two tethers at the first end of the lifting shaft, configured to be wound onto and unwound from the first spool; and two tethers at the second end of the lifting shaft, configured to be wound onto and unwound from the second spool.

[10] The lifting mechanism is A horizontally extending lifting shaft and four spools, with two spools at the first end of the lifting shaft and two spools at the second end of the lifting shaft, the second end being opposite to the first end, A container lifting assembly according to any one of [1] to [8], comprising two tethers at the first end of the lifting shaft, each tether configured to be wound onto and unwound from the respective spool at the first end of the lifting shaft, and two tethers at the second end of the lifting shaft, each tether configured to be wound onto and unwound from the respective spool at the second end of the lifting shaft.

[11] The lifting mechanism is A horizontally extending lifting shaft, a first spool, a second spool, a third spool, and a fourth spool, wherein the first and second spools are located at or near the first end of the horizontally extending lifting shaft, and the third and fourth spools are located at or near the second end of the horizontally extending lifting shaft opposite to the first end. A container lifting assembly according to [1], comprising a first tether, a second tether, a third tether, and a fourth tether configured to be wound up and unwound from the first, second, third, and fourth spools, respectively, wherein the first and second spools are configured to rotate in opposite directions to the third and fourth spools in order to wind up and unwind the first, second, third, and fourth tethers.

[12] The container lifting assembly according to

[11] , wherein the first and second spools are on a first shaft and the third and fourth spools are on a second shaft, wherein the gear mechanism comprises first and second pulleys on the first and second shafts, respectively, and the first and second pulleys are driven in opposite directions via a timing belt.

[13] The container lifting assembly according to

[12] , wherein the gear mechanism further comprises a third pulley and a fourth pulley positioned around either the first pulley or the second pulley so as to cause the first pulley and the second pulley to rotate in opposite directions via the timing belt.

[14] The container lifting assembly according to

[13] , wherein one of the first, second, third, and fourth pulleys is directly driven by the motor.

[15] The gear mechanism comprises first and second worm gears on a shaft driven by the motor, wherein the worm gears are configured to cause the first and second spools to rotate in opposite directions to the third and fourth spools, as described in

[11] , the container lifting assembly.

[16] The container lifting assembly according to

[15] , wherein the first and second spools are on a first shaft, and the third and fourth spools are on a second shaft, wherein the gear mechanism further comprises first and second gears on the first and second shafts, respectively, and the first and second gears are driven via first and second worm gears, respectively.

[17] The lifting mechanism is A horizontally extending lifting shaft, a first spool, a second spool, a third spool, and a fourth spool, wherein the first and second spools are positioned adjacent to the central axis of the horizontally extending lifting shaft on or near the first side thereof, and the third and fourth spools are positioned adjacent to the central axis on or near the second side thereof, wherein the first side is opposite to the second side. A container lifting assembly according to [1], comprising a first tether, a second tether, a third tether, and a fourth tether configured to be wound up and unwound from the first, second, third, and fourth spools, respectively, wherein the first and second spools are configured to rotate in opposite directions to the third and fourth spools in order to wind up and unwind the first, second, third, and fourth tethers.

[18] The container lifting assembly according to

[17] , wherein the first and second spools are on a first shaft, the third and fourth spools are on a second shaft, and the first and second shafts are parallel to the central axis.

[19] The container lifting assembly according to

[18] , wherein the gear mechanism comprises first and second gears on the first and second shafts, respectively, wherein the first and second gears mesh such that a motor driving either the first or second shaft rotates the other of the first or second shaft.

[20] The container lifting assembly according to

[19] , wherein each tether is coupled to the respective pulley located at or near the corner of the lifting assembly.

[21] The container lifting assembly according to any one of

[11] to

[20] , wherein the first, second, third, and fourth tethers are configured such that the point at which each tether is wound onto or unwound from its respective spool or pulley is located at or near the respective corner of the lifting assembly.

[22] Each tether connects to the gripping device at or near each corner of the gripping device, as in the container lifting assembly described in

[21] .

[23] A container lifting assembly according to any one of the items [2] to

[22] , wherein at least one spool comprises a slip clutch.

[24] A container lifting assembly according to any one of [9] to

[23] , wherein at least one spool is attached to the lifting shaft via a slip clutch.

[25] A slip clutch is an electromagnetic clutch, as described in either section

[22] or

[24] of the container lifting assembly.

[26] The container lifting assembly according to any one of [2] to

[25] , wherein the at least one spool is provided with at least one groove along its circumference, the groove in which a wire tether is wound.

[27] The container lifting assembly according to any one of [1] to

[26] , wherein the gear mechanism is provided on the gripping device, and when the gear mechanism winds up the at least one tether, the gripping device rises toward the top of the lifting assembly.

[28] The container lifting assembly according to any one of [1] to

[27] , wherein the motor is provided on the gripping device such that the gripping device is a self-powered element.

[29] The container lifting assembly according to any one of [1] to

[28] , comprising a planetary gear set for the gear mechanism.

[30] The container lifting assembly according to any one of [1] to

[29] , wherein the gear mechanism comprises a worm gear.

[31] The container lifting assembly according to

[30] , wherein the worm gear includes at least one groove along its circumference, and the at least one tether is configured to be wound in or unwound therein.

[32] The container lifting assembly according to any one of [1] to

[31] , wherein the at least one tether is in the form of a tape.

[33] The container lifting assembly according to any one of [1] to

[32] , wherein the at least one tether comprises conductive material or elements woven into the tether.

[34] The container lifting assembly according to any one of [1] to

[33] , wherein the at least one tether comprises a woven polyester tape.

[35] A cargo handling device for lifting and moving stacked containers within a grid storage structure having multiple tracks arranged in a grid pattern above a stack of containers, A main body housing a drive mechanism operably arranged to move a cargo handling device on the grid, A cargo handling device comprising a container lifting assembly according to any one of [1] to

[34] , configured to raise and lower the gripping device relative to the main body, for raising and lowering containers stacked in a stack.

[36] The lifting assembly is located within the body of the cargo handling device, as described in

[35] .

[37] A method for raising or lowering a container from a stack of containers, the method comprising a cargo handling device as described in either

[35] or

[36] , The steps include: rewinding at least one tether and operating the gear mechanism to lower the gripping device relative to the body; The steps include: activating the gripping device to grip the container, A method comprising the steps of winding the tether and operating the gear mechanism to raise the gripping device relative to the body.

[38] The method according to

[37] , further comprising the step of raising the gripping device relative to the body and lifting the container into the cavity of the cargo handling device.

[39] A system, A cargo handling device as described in

[35] or

[36] , A storage structure for accommodating stacked containers, the storage structure comprising a first set of tracks extending in a first direction and a second set of tracks extending in a second direction intersecting the first direction, wherein the cargo handling device is configured to move along the first set and the second set of tracks. A system comprising a control utility configured to control the cargo handling device to lift containers from a stack below the grid and / or lower containers into the grid.

Claims

1. A container lifting assembly for raising and / or lowering containers stacked in a grid storage structure, A gripping device configured to grip a container in a way that allows it to be released, The system includes a lifting mechanism for raising and lowering the gripping device, The aforementioned lifting mechanism is A first shaft, a second shaft, a first spool on the first shaft, a second spool, and a third spool and a fourth spool on the second shaft, A first tether, a second tether, a third tether, and a fourth tether are configured to be wound up and unwound from the first, second, third, and fourth spools, respectively, wherein the first, second, third, and fourth tethers are connected to the gripping device, wherein the first and second spools are configured to rotate in opposite directions to the third and fourth spools in order to wind up and unwind the first, second, third, and fourth tethers in order to raise and lower the gripping device. Timing belt and A single motor, The first and second shafts are each provided with first and second pulleys, and the first and second pulleys are driven in opposite directions by the single motor via the timing belt. Herein, the first, second, third, and fourth tethers are configured such that the point at which each tether is wound onto or unwound from its respective spool is located at or near the respective corner of the lifting assembly.

2. The container lifting assembly according to claim 1, further comprising a third pulley and a fourth pulley positioned around either the first pulley or the second pulley so as to cause the first pulley and the second pulley to rotate in opposite directions via the timing belt.

3. The container lifting assembly according to claim 1, wherein any one of the first, second, third, and fourth pulleys is directly driven by the single motor.

4. The container lifting assembly according to claim 1, wherein the first, second, third, and fourth tethers connect to or near each corner of the gripping device.

5. The container lifting assembly according to claim 1, wherein at least one of the first, second, third, and fourth spools is equipped with a slip clutch.

6. The container lifting assembly according to claim 1, wherein at least one of the first, second, third, and fourth spools is provided with at least one groove along its circumference, and a wire tether is wrapped around it.

7. The container lifting assembly according to claim 1, wherein at least one of the first, second, third, and fourth spools comprises a conductive material or element woven into the tether.

8. The container lifting assembly according to claim 7, wherein the conductive material or element is configured to provide power and / or telecommunications to the gripping device.

9. The container lifting assembly according to claim 1, wherein at least one of the first, second, third, and fourth tethers comprises a woven polyester tape.

10. A cargo handling device for lifting and moving containers stacked in a grid storage structure, which has multiple tracks arranged in a grid pattern above the stack of containers, A main body housing a drive mechanism operably arranged to move a cargo handling device on the grid, A cargo handling device comprising a container lifting assembly according to claim 1, configured to raise and lower the gripping device relative to the main body, for raising and lowering containers stacked in a stack.

11. The cargo handling device according to claim 10, wherein the lifting assembly is located within the main body of the cargo handling device.

12. A method for raising and lowering a container from a stack of containers, wherein the method comprises the cargo handling device described in claim 10, The steps include: rewinding at least one tether and operating the single motor to lower the gripping device relative to the body; The steps include: activating the gripping device to grip the container, A method comprising the steps of winding the tether and operating the single motor to raise the gripping device relative to the body.

13. It is a system, A cargo handling device according to claim 10, A storage structure for accommodating stacked containers, the storage structure comprising a first set of tracks extending in a first direction and a second set of tracks extending in a second direction intersecting the first direction, wherein the cargo handling device is configured to move along the first set and the second set of tracks. A system comprising a control utility configured to control the cargo handling device to lift containers from a stack below a grid and / or lower containers into the grid.

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