Cabling system

Abstract

A cabling system, an electromechanical device, a load handling device and a system using the cabling system are disclosed. A cabling system for use with an electromechanical device, the electromechanical device comprising a first component and a second component, the second component being moveable with respect to the first component, wherein a cable extends between the first component and the second component, wherein the cabling system comprises: a cable, the cable being resiliently biased for decreasing the separation between the first component and the second component, and wherein the cable is extendable for increasing the separation between the first component and the second component; and a seat, the seat being moveable with respect to the first component to allow the cable to rest within the seat on extension and retraction of the cable, and wherein the seat is configured such that the cable rests within the seat wherein the seat comprises a second guide for directing the cable in a direction from the seat to the second component.

Description

[0001] CABLING SYSTEM

[0002] Field of Invention

[0003] The present invention relates to a cabling system for use with an electromechanical device, the electromechanical device comprising a first component and a second component, the second component being moveable with respect to the first component, and wherein a cable extends between the first component and the second component.

[0004] Background

[0005] Storage and retrieval systems comprising a three-dimensional storage grid framework structure, within which storage containers / bins are stacked on top of each other, are well known. PCT Publication No. WO2015 / 197709A (Ocado Innovation Limited), the details of which are herein incorporated by reference, describes a known storage and fulfilment or distribution system in which stacks of bins or containers are arranged within a grid framework structure. The bins or containers are accessed by load handling devices remotely operative on tracks located on the top of the grid framework structure.

[0006] A system of this type is illustrated schematically in Figure 1 of the accompanying drawings.

[0007] As shown in Figure 1, stackable containers, known as storage bins or containers 10, are stacked on top of one another to form stacks 12. The stacks 12 are arranged in a three dimensional grid framework structure 14 and. the grid framework structure is made up of a plurality of storage columns or grid columns. Each grid in the grid framework structure has at least one grid column for storage of a stack of containers. Each bin 10, also referred to as a storage bin or container or storage container or tote, typically holds a plurality of product items(not shown).

[0008] The three dimensional grid framework structure 14 comprises a plurality of vertical uprights or upright members or upright columns 16 that support horizontal grid members 18, 20. A first set of parallel horizontal grid members 18 is arranged perpendicularly to a second set of parallel horizontal grid members 20 to form a grid structure or grid 15 comprising a plurality of grid cells 17. The grid cell has an opening to allow a load handling device to lift a container or storage bin through the grid cell. In the grid structure, the first set of parallel horizontal grid members 18 intersect the second set of parallel horizontal grid members at nodes. The grid structure is supported by the upright members 16 at each of the nodes or at the point where the grid members intersect such that the upright members are interconnected at their tops ends by the intersecting grid members. The storage bins 10 are stacked between the upright members 16 of the grid framework structure 14, so that the upright members 16 guard against horizontal movement of the stacks 12 of bins 10, and guide vertical movement of the storage bins 10.

[0009] The top level of the grid framework structure 14 includes rails 22 arranged in a grid pattern across the top of the stacks 12. The rails 22 support a plurality of load handling devices 30. A first set 22a of parallel rails 22 guide movement of the robotic load handling devices 30 in a first direction (for example, an X-direction) across the top of the grid framework structure 14, and a second set 22b of parallel rails 22, arranged perpendicular to the first set 22a, guide movement of the load handling devices 30 in a second direction (for example, a Y-direction), perpendicular to the first direction. In this way, the rails 22 allow movement of the robotic load handling devices 30 laterally in two dimensions in the horizontal X-Y plane, so that a load handling device 30 can be moved into position above any of the stacks 12.

[0010] A known load handling device or robotic load handling device otherwise known as a bot is described in PCT Patent Publication No. W02015 / 019055 (Ocado Innovation Limited), the details of which are herein incorporated by reference, where each load handling device 30 only covers a single grid space or grid cell of the grid framework structure 14. As shown in Figure 2, the load handling device 30 comprises a wheel assembly comprising a first set of wheels 34 consisting of a pair of wheels on the front of the vehicle body 32 and a pair of wheels 34 on the back of the vehicle 32 for engaging with the first set of rails or tracks to guide movement of the device in a first direction, and a second set of wheels 36 consisting of a pair of wheels 36 on each side of the vehicle 32 for engaging with the second set of rails or tracks to guide movement of the device in a second direction. Each of the sets of wheels are driven to enable movement of the vehicle in X and Y directions respectively along the rails. One or both sets of wheels can be moved vertically to lift each set of wheels clear of the respective rails, thereby allowing the vehicle to move in the desired direction, e.g. X or Y direction on the grid structure.

[0011] WO2017 / 153583 (Ocado Innovation Limited), the details of which are herein incorporated by reference, teaches a load handling device comprising a wheel positioning mechanism or directional change mechanism for enabling lateral movement of the device in one of two transverse directions by enabling either a first or second set of wheels to selectively engage the first or second set of rails or tracks (22a or 22b). The wheel positioning mechanism comprises a complicated arrangement of linkages driven by a linear actuator or motor to selectively lower or raise the first set of wheels or the second set of wheels into engagement or disengagement with the first set of tracks or rails or the second set of tracks or rails. The load handling device 30 is also equipped with a lifting mechanism or container lifting mechanism or crane mechanism to lift a storage container from above. The crane mechanism comprises a winch tether or cable 38 wound on a spool or reel (not shown) and a grabber device 39 in the form of a lifting frame. The lifting device comprises a set of lifting tethers 38 extending in a vertical direction and connected nearby or at the four comers of the lifting frame 39, otherwise known as the grabber device (one tether near each of the four corners of the grabber device) for releasable connection to a storage container 10. The grabber device 39 is configured to releasably grip the top of a storage container 10 to lift it from a stack of containers in a storage system of the type shown in Figure 1.

[0012] Typically, the load handling device comprises one or more electrical components such as a rechargeable power source to provide power to the drive units for operating the lifting mechanism and the wheel positioning mechanism and a control unit. For example, one or more load handling devices remotely operable on the grid structure are configured to receive instructions from a master controller to a retrieve a storage container from a particular a storage location within the grid framework structure. Wireless communications and networks may be used to provide the communication infrastructure from the master controller via one or more base stations to the one or more load handling devices operative on the grid structure. A controller in the load handling device in response to receiving the instructions is configured to control various driving mechanisms to control the movement of the load handling device. For example, the load handling device may be instructed to retrieve a container from a storage column at a particular location on the grid structure. The instruction can include various movements in an X-Y direction on the grid structure. Once at the storage column, the lifting mechanism is then operated to grab the storage container and lift it into a container receiving space in the body of the load handling device where it is subsequently transported to another location on the grid structure commonly known as a drop off port. The container is lowered to a suitable pick station allowing retrieval of the item from the storage container. Movement of the load handling devices on the grid structure also involves the load handling devices being instructed to move to a charging station which is usually located at the periphery of the grid structure. The electrical components of the load handling device are typically housed within the body of the load handling device.

[0013] Considering the number of components, which includes various motors, pulleys and electrical components such as a battery and control board needed for the load handling device to operate on the grid framework structure, the assembling of the individual components together is one of biggest costs in the manufacture of a load handling device. Considering that there are hundreds of load handling devices operable on the grid framework structure, the cumulative costs of multiple load handling devices operable on the grid structure represent a significant proportion of the cost of a typical storage and retrieval system. The mechanical components of the load handling device are powered and controlled by electrical components, and thus a network of cables is required to operate each load handling device. The cables can be routed around the load handling device using cable ties attached to various components. However, using cable ties does not easily allow the positioning and routing of the cables in a reproducible manner. Further, if the cables are not correctly positioned and routed, this can cause the load handling device to malfunction, or even additionally cause an adjacent load handling device to malfunction if one or more of the cables is located outside the footprint of the load handling device and interacts with the adjacent load handling device. Further, maintenance of a load handling device takes up valuable time, and considering the hundreds of load handling devices operable on the grid framework structure, the cumulative maintenance time for multiple load handling devices operable on the grid structure represents a significant proportion of the lifetime of a load handling device.

[0014] A load handling device is thus required that addresses these problems.

[0015] It will be appreciated that while the devices, apparatus, systems and methods described herein are described using grocery systems as an example, automated or semi -automated storage and retrieval systems are not limited to systems directed to groceries. For example, the technology can be applied to shipping, baggage handling, vehicle parking, indoor or hydroponic greenhouses and farming, modular buildings, self-storage facilities, cargo handling, transport switchyards, manufacturing facilities, pallet handling, parcel sortation, airport logistics (ULD) and general logistics to name but a few possible applications. It will be appreciated that storage and retrieval systems of different types will have different technical requirements. Summary

[0016] Aspects of the invention are set out in the accompanying claims.

[0017] A cabling system for use with an electromechanical device is provided. The electromechanical device comprises a first component and a second component, the second component being moveable with respect to the first component, wherein a cable extends between the first component and the second component. The cabling system comprises: a cable, the cable being resiliently biased for decreasing the separation between the first component and the second component, and wherein the cable is extendable for increasing the separation between the first component and the second component; and a seat, the seat being moveable with respect to the first component to allow the cable to rest within the seat on extension and retraction of the cable, and wherein the seat is configured such that the cable rests within the seat.

[0018] A ‘cable’ in this context is defined as one or more wires encased in a rubber or plastic covering. The cabling system offers a flex and recoil mechanism to allow the cable to increase the separation or distance between the first component and the second component when extended, flexed or stretched. The cabling system also allows the cable to decrease the separation or distance between the first component and the second component when the cable recoils into its natural arrangement. Specifically, the cable is resiliently biased. This may be achieved by helically or spirally coiling the cable, or by using a spring-loaded reel device that maintains tension on the cable as it is unreeled and automatically reels the cord in whenever the tension exceeds that exerted as the cable is unreeled. Since the second component is moveable with respect to the first component, the second component is in a first (default) position when the cable is in its natural un-extended (or non-extended) state, and the second component is in a second position when the cable is in its extended state i.e. the cable is compliant with the second component. The resiliency of the cable is important for ensuring that when the second component goes into its first position (i.e. its default position), the cable is not slack within the electromechanical device, and the cable retracts into a spring-loaded reel device or into a helical or spiral arrangement.

[0019] The seat of the cabling system is configured such that the cable rests within the seat. In this configuration, the seat envelopes at least a portion of the cable so that the cable not only rests on the seat, but rests within the seat. For example, the seat may comprise one or more rims or walls arranged around at least a portion of the exterior of the seat so that the seat minimises movement of at least a portion of the cable in a direction transverse to the extension of the cable. Specifically, the seat may comprise a resting portion, and at least a portion of the cable may rest within the resting portion.

[0020] Optionally, the cable may be arranged in a helix, spiral or coil. In this configuration, the cable may be termed a ‘coiled cable’ or ‘spiral cable’ or ‘helically coiled cable’. Advantageously, the coiled cable occupies minimal space, in terms of length, in its rest or non-extended state than when extended. The coiled cable may be formed by coating one or more electrical wires in a plastic and tightly winding the cable around a cylinder and then heat treating such that the coil becomes resiliently biased into a non-extended state. The plastic coating may be, for example, polyurethane (PU), polyvinyl chloride (PVC), or rubber. PVC in particular is cost efficient and can stretch typically 3.5 times its retracted length. PU is water and oil resistant and can stretch 4 times its retracted length. Rubber is water resistant and can stretch 5 times its retracted length. The ‘retracted length’ is defined as the length of the spiral cable when it is not stretched. The ‘extended length’ is defined as the length of the spiral cable when it is fully stretched. From the spiral cable may extend tails which are straight portions of the cable. The tails may extend either tangentially or axially with respect to the direction of extension of the cable.

[0021] The cable may be retained in the seat by a clip, one or more tabs or another such fastening means to reduce the likelihood of the cable coming away from the seat. If the cable is arranged in a spiral or coil, the seat may define an interior helically or spirally arranged channel which complements the shape of the cable, such that a portion of the cable can be fitted into the interior channel and held in place within the interior channel.

[0022] Optionally, the seat comprises a first guide configured to move along a first axis and therefore extend the cable along the first axis. Having a first guide means that the cable always remains within a defined volume, and therefore the likelihood of the cable becoming caught in surrounding parts is minimized. Specifically, the first guide may move along an elongated part, such as a rod.

[0023] The first guide may define an aperture for interacting with the electromechanical device. The aperture may have a shape that is complementary to the cross-sectional area of an elongated part of an electromechanical device, such that the first guide can move along the elongated part. The aperture may, for example, be substantially circular in shape for interacting with a rod, or another type of elongated part, such that the first guide guides the seat along the rod. An interior surface of the first guide may therefore be smooth to minimise friction between the first guide and the elongated part of the electromechanical device as the guide moves along the elongated part.

[0024] The seat may comprise a second guide for directing the cable in a direction from the seat to the second component. This arrangement reduces the likelihood of the cable becoming caught in surrounding parts as the spiral cable extends and retracts.

[0025] Optionally, the second guide comprises a cable receiving space for accommodating the cable, wherein in use as the cable is extended the cable slides along the cable receiving space and is directed from the seat to the second component. The cable receiving space may be defined as a cylindrical channel. The cylindrical channel may have substantially the same diameter as the diameter of the cable such that the cable. The second guide may be made from a resilient material and can therefore deform elastically to allow the cable to be snap fitted into the cable receiving space. Alternatively, or additionally, the cable may be retained within the cable receiving space by one or more tabs, clips or fasteners.

[0026] Alternatively, in use, as the cable is extended, the cable is held in position within the cable receiving space of the second guide and the cable is directed from the seat to the second component. Specifically, a tail of the spiral cable may be held in position within the cable receiving space of the second guide. In this arrangement, the cable retained within the cable receiving space does not slide along the cable receiving space on extension of the cable, and instead, the cable within the cable receiving space moves in conjunction with the second guide as the cable is extended (specifically, a spiral portion of the spiral cable extends and retracts and the tail of the spiral cable moves with the second guide on extension and retraction of the cable).

[0027] The second guide may be further configured for interacting with the electromechanical device, wherein the second guide is configured to guide movement of the cable and the seat along a second axis. The second axis may be parallel to the first axis.

[0028] The second guide may comprise a shaft extending along the second axis, the shaft being configured to interact with an aperture defined by the electromechanical device. The shaft may have a cross sectional area that complements the shape of the aperture defined by the electromechanical device. For example, the shaft may be cylindrical in shape and the aperture may be substantially circular in shape to allow the shaft to move within the aperture. In particular, the width or diameter of the shaft is smaller than the width or diameter of the aperture.

[0029] In use, the seat may be limited in movement by an end stop. In particular, the seat may be limited in movement such that the cable remains resiliently biased. In order for the cable to remain resiliently biased, the extension of the cable must be equal to or less than the resiliency limit of the cable. The resiliency limit is defined as the maximum percentage of the cable’s total permissible extension where the cable does not permanently deform. For example, the resiliency limit may be 2%, 2.5%, 3%, 3.5%, 4%, 4.5% or 5%. Thus, the end stop ensures that movement of the seat is contained within a certain distance to allow the cable to return to its natural un-extended position. The end stop may be formed by a third component of the electromechanical device, and may be fixed in position between the first component and the second component. The third component may comprise a protrusion which stops movement of the first guide along the first axis as the cable is extended.

[0030] The cable may be configured to extend between 2% and 5% of its total permissible extension. For example, the cable may be configured to extend 3% or 4% of its total permissible extension. By keeping the percentage extension less than or equal to the resiliency limit of the cable, the cable can automatically return to its natural un-extended state. Thus, the end stop may be positioned between the first component and the second component to ensure that the percentage extension of the cable does not exceed the resiliency limit of the cable. The resiliency limit is determined in part by the plastic material that is used to coat the wire or wires. If the wire is coated in PU, the resiliency limit is approximately 4%. If the wire is coated in PVC, the resiliency limit of the cable is approximately 3.5%. If the wire is coated in rubber, the resiliency limit is approximately 5%.

[0031] An electromechanical device is provided. The electromechanical device comprises a first component and a second component, the second component being moveable with respect to the first component, wherein a cable extends between the first component and the second component, wherein the electromechanical device further comprises a cabling system comprising any of the features described above. The first component may comprise: a body portion; one or more grooves to define an elongated channel integrated within the body portion for routing one or more cables around the body portion; wherein the one or more grooves comprise a cable retaining mechanism for retaining the cable within the groove.

[0032] The component may be suitable for retaining a cable in the electromechanical device, in particular, the component may be suitable for retaining a cable in a load handling device.

[0033] The grooves protect the integrity and performance of a cable by ensuring that the retained cable does not exceed a pre-defined minimum bend radius. The ‘pre-defined minimum bend radius characteristic of a cable’ is also termed a ‘minimum bend radius’ or a ‘minimum bending radius’ or a ‘cable bending radius’ or a cable bend radius’ in this application. The minimum bend radius is a measurement of the smallest radius a cable can be bent without damaging the cable. The cable minimum bend radius is dependent on the cable diameter, the cable rating (for example, the temperature rating, the voltage rating and the current rating), whether the cable is static or moving, the cable construction, the conductor type (for example, copper, copper-covered steel, high strength copper alloys, and aluminium), the sheathing (for example, polyvinylchloride (PVC), polyurethane (PU), polyethylene (PE), polytetrafluoroethylene (PTFE) etc.) and insulation types (for example, thermoset or thermoplastic) used. If the cable minimum bend radius is exceeded, the cable can show kinking or other sheath damage which indicates that there could be other potential problems with the cable, which may cause the device to malfunction. For example, a cable may be between 5mm and 8mm in diameter. A 5mm diameter cable may have a minimum bend radius of approximately 25° for a static cable, a 6mm diameter cable may have a minimum bend radius of approximately 30° for a static cable, a 7mm diameter cable may have a minimum bend radius of approximately 35° for a static cable and a 8mm diameter cable may have a minimum bend radius of approximately 40° for a static cable. Typically, the minimum bend radius for a static cable is around 5 times the diameter of the cable. In contrast, the minimum bend radius for a moving cable is around 10 times the diameter of the cable. The one or more grooves constrain the cable so that the cable is not damaged as a result of routing it around the component. The one or more grooves define an elongated channel which is dependent on the shape of the component, the position of the component in relation to the device, for example a load handling device, the position of electrical and mechanical elements in the device and also the same features of the cable that affect the minimum bend radius as listed above. Thus, the elongated channel is bespoke to each component. The grooves which define the elongated channel are integrated within the body portion of the component. This is particularly advantageous because it means that the cable is retained within the shape of the component which results in fewer malfunctions of the device, for example, a load handling device, because the cable is retained away from moving parts and does not obstruct the moving parts (for example, a container being lifted by a container lifting mechanism, the directional change mechanism etc.) of the device. Thus, the likelihood of the cable retained with groove being caught in a moving part of a load handling device is significantly reduced. Further, as a result of being constrained within the one or more grooves, the cable cannot extend outside the footprint or overall shape of a load handling device, which therefore avoids the cable being ripped from the load handling device when passing or being passed by another load handling device. Thus, the grooves of the component retain the cabling such that clearance can be maintained between two load handling devices passing each other.

[0034] A further advantage of having an elongated channel which is integrated within the body portion of the component is that the cables are easily accessible for maintenance. In contrast to using cable ties which require scissors or snippers to cut the cable ties and release the cable, the cable can be removed from the component without using any tools and without damaging or affecting the component. If new cables are to be fitted, the cables can be replaced quickly and easily and routed in exactly the same way as before, ensuring that the pre-defined minimum bend radius of the cable is not exceeded, the cable is clear of moving parts and the cable is routed correctly to the appropriate part of the device. Thus, the one or more grooves defining an elongated channel integrated within the body portion of the component as defined in the claims provides a convenient, reliable and accessible means for routing a cable around a component.

[0035] The body portion of the component is understood as forming the bulk of the component and acts like a frame to support various elements (for example, mechanical or electrical elements / components) of the load handling device. The one or more grooves which define an elongated channel run through the body portion, and may be routed along or around the exterior, interior or a mixture of both the exterior and interior of the body portion. The body portion may comprise an interior curvature and / or external curvature, and the one or more grooves follow the interior curvature and / or exterior curvature of the body portion. This results in the one or more grooves being curved and meandering around the body portion. In this context, the term ‘interior curvature’ means curvature through the body portion and / or curvature along an interior surface of the body portion. The term ‘exterior curvature’ in this context means curvature on the outside of the body portion. The body portion may be topology optimised through material reduction thereby forming the interior and / or exterior curvature. The one or more grooves may also be routed around fasteners and / or fixings in the body portion.

[0036] The one or more grooves may be understood as being depressions within the body portion in which one or more cables can be routed. The grooves may be C-shaped. The one or more grooves define an elongated channel. Both the one or more grooves and the elongated channel are integrated within the body portion for routing one or more cables along the body portion. The elongated channel may be understood as being a path through which the cables are routed.

[0037] Optionally, the cable retaining mechanism may be integrated within the body portion. This means that the component requires no additional retaining elements to retain the cable within the grooves, which is more convenient for assembly of the device. The cable retaining mechanism may comprise a plurality of tabs spaced apart along the groove. This advantageously allows the cable to be fed under each individual tab and thus routing the cable along the elongated channel is a simple process. Further, the cable can easily be removed from the elongated channel by withdrawing the cable from each individual tab. By having a plurality of tabs spaced apart along the groove, the cable may be retained along the length of the groove. The plurality of tabs may be positioned on alternate sides of the groove, which provides improved retention of the cable within the groove.

[0038] The cable retaining mechanism may comprise a clip for engaging with the groove. The clip may be integrated within the body portion. For example, the clip may have resiliency such that the clip can flex to an open state to allow a cable to be inserted under the clip. Further, when the cable is inserted under the clip, the clip may automatically resume a resting / closed state in which the clip fastens and pushes the cable into the groove. Alternatively, the clip may be hinged along the groove and provide an open state to allow the cable to be inserted under the clip and a closed state such that the clip fastens (for example, by a snap-fit mechanism) and pushes the cable into the groove.

[0039] Alternatively, the clip may be a separate piece engageable with the groove of the component. For example, the clip may be insertable into the groove and the clip may be configured to provide a snap-fit engagement with the groove. The clip and the groove may therefore have interlocking features which allow the clip to be pushed and retained in the groove and thereby retain a cable in the groove. Advantageously, the snap-fit engagement provides a quick and easy way to fit the clip within the groove and does not require any further parts, such as screws, to keep the clip retained within the groove. Optionally, the clip may be configured to provide a cantilever snap-fit engagement with the groove. Optionally, the clip comprises flexural arms for engaging with the groove and for pushing onto the cable such that there is no relative motion between the cable and the clip. The flexural arms allow the clip to be fitted into position within the groove when the arms are flexed inwards, and once the clip is in position, the flexural arms return to a relaxed position and the clip is retained within the groove.

[0040] Optionally, a portion of the groove may be configured to receive an overmoulded cable. Overmoulded cables are assemblies that combine a cable and connector into a single piece. A cable assembly is placed inside a mould into which molten plastic material is injected. Once the polymer material cools and solidifies, the polymer material conforms to the shape of the mould and encapsulates the junction point between the connector and the cable / wire. The overmoulding process is therefore an injection moulding process. Overmoulded cables generally have an improved lifespan and reliability. Further overmoulded cables can be configured such that an excess length of cable (slack) is built into the cable thereby eliminating the need for absolute accuracy in the length of the cable. In addition to combining the cable and connector into a single piece, the cable can also be overmoulded at points along the length of the cable without the presence of a connector. Thus, the size and shape of the portion of the groove may be complementary to the size and shape of the overmoulded cable. This allows the overmoulded cable to clip or be pushed into the portion of the groove and be retained within the groove. In particular, the overmoulded section of the cable provides a greater surface area to engage with the portion of the groove having a complementary size and shape to the overmoulded section, and thus the cable is more firmly gripped in the portion of the groove.

[0041] Optionally, the portion of the groove may be shaped to allow the overmoulded cable to be twisted and retained in the portion of the groove. The portion of the groove may allow the overmoulded cable to be pushed into the groove at an angle, and may then allow the overmoulded cable to be rotated such that the overmoulded cable is in a position in which it is retained in the portion of the groove. The overmoulded cable may be rotated such that it is positioned in line with the length of the groove. Specifically, after rotation of the overmoulded cable, the overmoulded cable may be positioned fully within the groove and aligned with (the direction of) the length of the groove. This particular configuration of the groove means that the cable may be firmly retained within the groove such that the cable cannot move in a longitudinal, transverse or axial direction, and cannot be removed from the portion of the groove without rotating / twisting the overmoulded cable in the portion of the groove and sliding the overmoulded cable out from the portion of the groove. The overmoulded cable may be retained in the portion of the groove by tabs which restrict movement of the overmoulded cable. Additionally, the overmoulded cable may be retained in the portion of the groove by a clip, such as a clip with a snap-fit arrangement.

[0042] Optionally, the portion of the groove has a shape complementary to the shape of the overmoulded cable such that the overmoulded cable can be pushed into position in the portion of the groove. This push-fit arrangement may be a quick and easy arrangement for routing the cable and stops the cable from moving in longitudinal, transverse and axial directions. The push-fit arrangement can be configured to accommodate and retain different overmoulded cable shapes, such as a square shape, a star shape, the shape of a bobbin, etc. The component may comprise a clip for engaging with the overmoulded cable and the portion of the groove. The clip may aid in stopping the overmoulded cable from being easily removed from the portion of the groove, for example for the push-fit arrangement. The clip may comprise the same features as the clip having the snap-fit arrangement.

[0043] Optionally, a portion of the groove may be straight or substantially straight. Thus, in this portion of the groove, there is no bend radius. There are many arrangements and configurations that the groove can have as a result of the groove having both straight and bent portions. Thus, the groove can be routed around various mechanical and electrical elements located in and around the component. Further, by having a straight portion of the groove, the amount of cable required in the component can be reduced, which reduces the complexity of routing the cable and also reduces the overall cost of the device.

[0044] Optionally, the groove may comprise one or more bend radii. An advantage of having a groove comprising at least one (or one or more) bend radii in the component is that the cable can be routed in various different arrangements around various mechanical and electrical elements located in and around the component. Thus, the groove can be routed to suit the individual cable and elements in and around the component. The groove may comprise a first section and a second section, wherein the first section has a groove diameter greater than a groove diameter of the second section. This configuration of the groove allows a different cable to be encased in different sheaths along the length of the cable. Further, having a greater groove diameter may enable a clip to be inserted into the first section of the groove and retain a cable positioned in the groove. Further still, an overmoulded section of the cable may be inserted into the first section having a greater groove diameter than the second section, thereby inhibiting movement of the cable in a transverse direction in the groove and inhibiting movement of the cable in a longitudinal direction along the length of the groove up to the second section which may not be able to accommodate the overmoulded section of the cable.

[0045] At least a portion of the groove may comprise an open sided cross-sectional profile. For example, the open sided cross-sectional profile may be C-shaped, U shaped, V-shaped, W- shaped etc. The open sided cross-sectional profile provides a space or open section to allow a cable to be inserted into the groove. The open sided cross-sectional profile also allows a cable to be easily removed from the groove. The open sided cross-sectional profile allows access to the cable retained in the groove and thus maintenance time may be reduced. The space or open section may run along a portion of the length of the groove, or the open section may run along the full length of the groove.

[0046] The groove may comprise a cross-sectional profile having a shape which provides a natural resting location for the cable. This means that when a cable is retained in the groove, the cable will naturally sit or nest within the shape of the groove, rather than positioning itself at another location within the groove. The groove may have a variety of different cross- sectional profiles. The groove may comprise more than one different cross-sectional profile along its length. Alternatively, the groove may comprise only one cross-sectional profile along its length. For example, at least a portion of the groove may comprise a C-shaped cross-sectional profile. The C-shaped profile comprises curved shoulders which can engage with the cross-sectional shape of the cable. At least a portion of the groove may comprise a U-shaped cross-sectional profile, and therefore the cable will rest at the base of the U-shape. The shoulders of the U-shaped groove are flatter than the shoulders of the C-shaped groove, and the shoulders of the U-shaped groove may be spaced apart such that they accommodate the cable and touch the sides of the cable. At least a portion of the groove may comprise a V- shaped cross-sectional profile, and therefore the cable will rest at the base of the V-shape. Optionally, at least a portion of the groove may comprise a W-shaped cross-sectional profile. A W-shaped cross-sectional profile allows two cables to be guided side by side along the same groove because the groove comprises two natural resting locations. In this case, the two natural resting locations are at the base of each of the V-shapes. Alternatively, if the cross-sectional profile of the groove is C-shaped, U-shaped or V-shaped and the groove is sufficiently deep, two cables may be inserted one on top of the other into the groove. These arrangements are spatially efficient in guiding and supporting multiple cables through the body portion.

[0047] The component may comprise one or more engaging features for connecting to other components. The engaging features may be integral to the component, for example, the engaging features may be interlocking features which allow one component to push fit into another. Alternatively, the engaging features may be separate to the component, for example, the engaging features may comprise a hook, clasp, fastener etc.

[0048] The component may be formed from any of the following materials: plastic, polymer plastics, thermoset plastic, thermoplastic plastic, metals, aluminium, aluminium alloy, iron, iron alloy, steel, steel alloy, magnesium, magnesium alloy, titanium, titanium alloy, zinc, zinc alloy, fibre reinforced composite, carbon fibre, graphite fibre, glass fibre, natural fibre, plant fibre, plastic fibre, paper, cardboard, rubber, epoxy or nylon.

[0049] The component may be formed using additive manufacturing. This allows the component to be made bespoke for the specific cable construction and characteristics and for positioning other elements in the component. Thus, by using rapid prototyping / additive manufacturing, the topology of the component can be optimised to minimise the weight of the component without compensating on the strength of the component. The component can be formed from any material suitable for rapid prototyping, for example polyamide (PA 12), polyketone, etc. Similarly, the seat of the cabling system may be formed by additive manufacturing. The seat can be formed from any material suitable for rapid prototyping.

[0050] The cabling system of the electromechanical device may comprise any of the features described above.

[0051] A load handling device for lifting and moving one or more containers stackable in a storage and retrieval system is also provided. The storage and retrieval system comprises a grid structure comprising a plurality of grid members comprising a first set of grid members and a second set of grid members, the second set of grid members being substantially perpendicular to the first set of grid members such that the plurality of grid members are arranged in a grid pattern for guiding movement of the load handling device on the grid structure, the load handling device comprises: a) a container lifting mechanism comprising a grabber device configured to releasably grip a container, and a drive mechanism configured to raise and lower the grabber device; b) a wheel assembly comprising a first set of wheels for engaging with the first set of grid members to guide movement of the load handling device in a first direction and a second set of wheels for engaging with the second set of grid members to guide the movement of the load handling device in a second direction, wherein the second direction is transverse to the first direction; c) a wheel positioning mechanism configured for selectively lowering or raising the first set of wheels or the second set of wheels into engagement or disengagement with the first set of grid members or the second set of grid members; d) electrical components comprising a processor for controlling the container lifting mechanism and wheel positioning mechanism; e) a power source for powering electrical components, wherein the power source is connected to the electrical components by cabling; wherein the load handling device further comprises: a cabling system for routing cabling from the power source to the electrical components; wherein the cabling system comprises: a first component; a second component, the second component being moveable with respect to the first component; a cable extending between the first component and the second component, the cable being resiliently biased to decrease the separation between the first component and the second component, the wherein the cable is extendable to increase the between the first component and the second component.

[0052] The first component and the second component may comprise any of the features described above. Optionally, the load handling device may further comprise at least four connecting blocks, each of the at least four connecting blocks being connected to two other connecting blocks in a single modular section by one or more substantially horizontally connecting elements to form a rectangular frame, wherein the first component may be integral with one of the at least four connecting blocks. The second component, being moveable with respect to the first component, may be positioned along the same vertical or same horizontal axis as the first component. The cable extending between the first component and the second component may be retained within the footprint of the load handling bot on extension and retraction, and therefore the cable does not get caught by an adjacent moving load handling device. Further the cable does not get caught by various moving parts in the load handling device.

[0053] Optionally, the at least four connecting blocks of vertically adjacent modular sections may be connectable in a vertical stack by one or more substantially vertical connecting elements to form an open frame structure comprising a plurality of rectangular frames, said open frame structure being configured to support the container lifting mechanism, the wheel assembly, the wheel positioning mechanism and the electrical components. By having an open framed structure, the cabling can be routed along the exterior and / or interior of the connecting blocks to connect to various different elements of the load handling device. All the elements of the load handling device may be fully accessible for maintenance, as is the cabling, so the time required for carrying out maintenance on the load handling device may be reduced. The connecting blocks may be topologically optimised such that each connecting block comprises an interior curvature and / or external curvature, and the one or more grooves follow the interior curvature and / or exterior curvature of each connecting block.

[0054] One of the vertical connecting elements may be integral with an elongated part such that, in use, the first guide of the cabling system slides along the elongated part to guide the cable in a vertical direction. Alternatively, the load handling device may comprise a plurality of cabling systems. In this case, a plurality of vertical connecting elements may be integral with a plurality of elongated parts such that, in use, each first guide of each cabling system slides along each elongated part to guide each cable in a vertical direction. For example, each comer of the load handling device may comprise a vertical connecting element and each vertical connecting element may form an elongated part along which the first guide of the cabling system may move along. Optionally, the cabling system may be attachable to any one of the container lifting mechanism, the wheel assembly or the wheel positioning mechanism. Thus, the cabling system may be attachable to a moving part.

[0055] The cabling system may comprise any of the features described above.

[0056] An automated storage and retrieval system is provided. The system comprises a grid structure comprising a plurality of grid members comprising a first set of grid members and a second set of grid members, the second set of grid members being substantially perpendicular to the first set of grid members such that the plurality of grid members are arranged in a grid pattern for guiding the movement of one or more the load handling devices operating on the grid structure; and at least one load handling device comprising any of the features described above.

[0057] Description of Drawings

[0058] These and other aspects of the invention will now be described, by way of example only, and with reference to the accompanying drawings, in which:

[0059] Figure 1 is a schematic diagram of load handling devices operating on a grid framework structure.

[0060] Figure 2 is a schematic perspective view of a load handling device showing the lifting device gripping a container from above.

[0061] Figure 3 is a schematic drawing of an assembly of the modular sections to form an open frame structure of the load handling device.

[0062] Figure 4 is a schematic perspective view of a component for a load handling device.

[0063] Figure 5 is a schematic perspective view of a portion of a component for a load handling device (a) without any cabling and (b) with cabling.

[0064] Figure 6 is a schematic perspective view of a cable being routed through a component for a load handling device.

[0065] Figure 7 is a schematic perspective view of a clip for retaining the cable within a groove in the body portion of the component. Figure 8 illustrates the clip of Figure 7 positioned in a groove and retaining a cable within the groove.

[0066] Figure 9 illustrates a push-fit mechanism for inserting an overmoulded section of a cable into the groove.

[0067] Figure 10 is a cross-sectional profile showing the overmoulded section of the cable in the groove of Figure 9.

[0068] Figure 11 illustrates a twist-fit mechanism for inserting an overmoulded section of a cable into the groove.

[0069] Figure 12 shows a cable having multiple overmoulded sections and a portion of the cable comprises a spiral cable.

[0070] Figure 13 is a schematic side view of a cabling system.

[0071] Figure 14 illustrates different perspective views of a seat in which the spiral cable rests within the cabling system of Figure 13. Figure 14(a) illustrates a front view of the seat, Figure 14(b) illustrates a side view of the seat showing a second guide, Figure 14(c) illustrates an opposing side view of the seat showing a first guide, and Figure 14(d) illustrates a top view of the seat.

[0072] Figure 15 shows the cabling system interacting with a rod.

[0073] Figure 16 shows a portion of an electromechanical device comprising a first component, a second component and the cabling system of Figure 13.

[0074] Figure 17 shows the electromechanical device of Figure 16 further comprising a third component which acts as a stop for the seat.

[0075] Figure 18 shows one side of a load handling device comprising the cabling system.

[0076] Figure 19 shows a schematic of the wheel positioning mechanism of the load handling device of Figure 18.

[0077] In the figures, like features are denoted by like reference signs where appropriate.

[0078] Detailed Description

[0079] The following embodiments represent preferred examples of how the invention may be practised, but they are not necessarily the only examples of how this could be achieved. These examples are described in sufficient detail to enable those skilled in the art to practise the invention. Other examples may be utilised and structural changes may be made without departing from the scope of the invention as defined in the appended claims. Moreover, direction references and any other terms having an implied orientation are given by way of example to aid the reader’s understanding of the particular examples described herein. They should not be read to be requirements or limitations, particularly as to the position, orientation, or use of the invention unless specifically set forth in the appended claims. Similarly, connection references (e.g., attached, coupled, connected, joined, secured, and the like) are to be construed broadly and may include intermediate members between a connection of elements and relative movement between elements. As such, connection references do not necessarily infer that two elements are directly connected and in fixed relation to each other, unless specifically set forth in the appended claims. Similarly, wording such as “movement in the n-direction” and any comparable wording, where n is one of x, y, or z, is intended to mean movement substantially along or parallel to the n-axis in either direction (i.e. towards the positive end of the n-axis or towards the negative end of the n-axis).

[0080] The specific example of a load handling device illustrated in Figure 2 shows the load handling device 30 with a body that is substantially box-shaped with four sidewalls and a top wall, with the components of the load handling device housed within the body. In other examples the body may comprise an open frame or skeleton structure 42 as shown in Figure 3. The open frame structure 42 comprises modular sections 44 formed by connecting or linking together connecting blocks 43.

[0081] Each modular section 44 can be envisaged as a rectangular open frame 44 formed by connecting or linking together corner brackets, where each comer bracket is shown as a connecting block 43. A modular section 44 is built by connecting adjacent connecting blocks 43 in the same horizontal plane by one or more horizontal connecting elements 45 to form an open rectangular frame 44. Vertically adjacent rectangular frames are thus connected together by connecting vertically adjacent connecting blocks 43 to form the open frame structure 42. In a singular modular section 44, each corner bracket 43 is connected to two other comer brackets 43 in the same horizontal plane by one or more horizontal connecting elements 45. The connecting elements 45 can be connecting rods or tubes for linking adjacent connecting blocks (corner brackets) 43 together in a single modular section 44. The connecting rods can be solid or hollow. To construct the load handling device, the different modular sections 44 can be linked together by simply linking vertically adjacent rectangular frames 44 together by one or more vertical connecting elements 46 via their respective comer brackets 43 to form an open frame structure 42 as shown in Figure 3. In other words, the same corner brackets 43 for connecting to two other comer brackets 43 in a single modular section 44 can be used to vertically connect adjacent rectangular frames 44 together. The comer brackets 43 of vertically adjacent rectangular frames 44 can be mounted to the same vertical connecting element 46 at each comer of the open frame structure 42 such that the vertical connecting element 46 extends though the comer brackets 43 of multiple vertically adjacent rectangular frames. As a result, each of the corners of the open frame structure 42 share the same or common vertical connecting element 46. To link multiple rectangular frames to the same vertical connecting element 46 at each comer of the open frame structure 42 via their respective corner brackets 43, the corner brackets intermediate or between the bottom and top rectangular frames 44 have one or more through holes for the vertical connecting elements 46 to extend through the comer brackets 43 when linking together vertically adjacent rectangular frames 44. This has the advantage that multiple rectangular frames 44 can be vertically linked together in a stack simply by mounting the multiple rectangular frames 44 to the same vertical connecting element 46 at each comer of the open frame structure 42 to form the load handling device 30. Alternatively, separate vertical connecting elements 46 can be used to connect vertically adjacent rectangular frames at each corner of the open frame structure 42. The length of the vertical connecting elements 46 connecting vertically adjacent rectangular frames dictates the height of the load handling device 30. The connecting elements 46 linking vertically adjacent rectangular frames together can be same type or different type of connecting elements to the horizontal connecting elements 45 linking adjacent corner brackets 43 in the same horizontal plane.

[0082] To simplify the construction of the load handling device 30 whilst still accommodating the different functional characteristics of the load handling device 30, at least a portion of the functional components of the load handling device 30 is integrated into the open frame structure 42 of the load handling device 30, in the sense that at least a portion of the functional components of the load handling device 30 are integral with one or more of the rectangular frames 44 of the load handling device 30. For example, at least a portion of the wheel assembly is integral with one or more rectangular frames 44, at least a portion of the wheel drive assembly is integral with one or more rectangular frames, at least a portion of the wheel positioning mechanism is integral with the one or more rectangular frames 44 and / or at least a portion of the container lifting mechanism is integral with one or more rectangular frames 44.

[0083] Figure 4 illustrates a component 50 for a load handling device 30 with open frame structure construction. The component 50 acts as a connecting block 43 in a modular section 44 of the open frame structure 42 of the load handling device 30. In the illustrated example, the component 50 is a corner bracket 43 of the open frame structure 42 of the load handling device 30. Four of the components 50 can be connected with horizontal connecting elements 45 (not shown) to form a substantially horizontal modular section or rectangular open frame 44.

[0084] The component 50 comprises a body portion 52. The body portion 52 forms the physical structure of the component. Within the body portion 52 is a groove 54, running along the front and left side of the body portion 52 as shown in Figure 4. The groove 54 defines an elongated channel 55 which forms part of and is integral with the body portion 52. The groove 54 is a depression within the body portion of the component. In Figure 4 the grooves comprise a C-shaped cross-sectional profile which is open on the outside of the component 50 so that a cable can easily be inserted or removed. A cable is routed along the groove 54, and the groove 54 acts to guide the cable 56 through the body portion 52.

[0085] A cable retaining mechanism 58 is provided to retain the cable (not shown) within the groove 54. In the illustrated example the cable retaining mechanism 58 takes the form of tabs or protrusions 59 within the groove 54 and integral with the groove 54. The tabs 59 retain the cable within the groove 54 when in use. The tabs also facilitate easy removal of the cable from the groove 54; the cable can easily be pulled out of the groove 54 past the tabs 59. In the illustrated example, the tabs 59 are spaced out along the groove 54, and arranged on alternate sides of the groove. This alternate arrangement of the tabs 59 means that the cable is more securely retained within the groove as a result of being held in place on both sides of the groove by the tabs.

[0086] In the example illustrated in Figure 4, the groove 54 is curved, and therefore guides a cable in a curved path. Each bend in the path of the groove 54 has a bend radius 60, as illustrated in the inset diagram of Figure 4. The bend radius 60 of the groove 54 is defined to not exceed a pre-defined minimum bend radius characteristic of the cable. In other examples, some of the grooves 54 may be straight and others may be curved. In examples where two or more of the grooves are curved, the curved grooves may have the same bend radius 60 or different bend radii. The bend radius 60 of the groove not exceeding a pre-defined minimum bend radius characteristic of the cable is important because exceeding the pre-defined bend radius could cause damage to the cable.

[0087] Figure 5 (a and b) illustrates a portion of a component with grooves 54 for routing cables. In this particular illustrated example, a straight groove 54a on the right of the figure diverges into two curved grooves 54b. This arrangement is useful in cases where cabling is required to connect the power source of the load handling device 30 to multiple electronic components in different locations on the load handling device 30. The optimal paths for the cabling from the power source to different electronic components may partially fall along the same path, or be close enough that part of the path can be combined so that it can be guided by a single groove 54a. Combining two cable paths into a single path has the advantage that a single groove 54a may be provided to route two cables 56, which permits the component to have a simpler construction. When there are two cables routed along a single groove, it may be particularly useful for the groove to have a W-shaped cross-sectional profile (not shown), so that each cable can rest in the base of each of the V-shapes of the W-shaped cross-sectional profile.

[0088] Figure 5(a) illustrates the component 50 and grooves 54a, 54b without cables, and Figure 5(b) illustrates the same component 50 with the cables 56 present. The width of the groove is specially chosen to suit the cable to be retained in the body portion. As shown in Figure 5(b), the cable 56 fits exactly into the width of the groove.

[0089] In the illustrated example in Figure 5, the cable retaining mechanism 58 further comprises clips 62, in addition to the tabs 59 discussed earlier. The clips 62 engage with the grooves 54a, 54b and retain the cables 56 in the grooves 54a, 54b. For example, the clips 62 can engage with the grooves 54 with a snap-fit engagement. Snap-fit engagement has the advantage of being easy and convenient to engage or disengage the clips, so if the cables 56 need to be removed for maintenance this can be done quickly and efficiently.

[0090] Figure 6 illustrates another example of a component 50 with grooves 54 for directing cables. As in the example of Figure 5, a single groove 54a diverges into two grooves 54b. The single groove runs from the top of the component 50, and splits into two grooves 54b towards the bottom of the component 50. The path of the grooves 54 in this example is somewhat tortuous, routed around functional components. The path of the grooves 54 can be determined by other requirements, e.g. the location of functional components of the load handling device 30 and the requirement not to obstruct moving parts.

[0091] In the example illustrated in Figure 6, the cable retaining mechanism 58 comprises a plurality of tabs 59 on the outside of the grooves 54. The tabs are spaced out along the grooves. In certain parts of the grooves the tabs are arranged alternately on opposite sides of the grooves 54 to enable easy removal and insertion of the cable 56.

[0092] Figure 7 illustrates an example of a cable retaining mechanism. A clip 62 (also shown in Figure 5) comprises a centre portion 69 and two flexural arms 68 disposed on either side of the centre portion 69. The flexural arms 68 are integral with the main body of the clip 62, and can flex relative to the centre portion of the clip 62. The flexural arms 68 of the clip 62 can engage with the sides of the groove 54. The flexural arms 68 are provided with ridges or protrusions 70, which can engage with locating features in the groove. When in the groove, the flexural arms 68 push outwards against the sides of the groove 54 so that the ridges are pressed into the locating features. To remove the clip 62 from the groove, the two flexural arms 68 are squeezed together so that the flexural arms 68 move inwards towards the centre portion 69 and the ridges 70 on the flexural arms 68 are removed from the locating features. The clip 62 can then be removed from the groove. The centre portion has an interior arcuate shape 71 to accommodate a cable.

[0093] Figure 8 is a close-up view of a cable 56 being retained in a groove 54 by the clip 62 show in Figure 7. The groove comprises a pair of locating features 72 which are positioned opposite each other across the width of the groove. The locating features 72 are sized and shaped to accommodate the flexural arms 68 of the clip 62. When the cable 56 is positioned in the groove 54, the flexural arms 68 of the clip 62 can be squeezed together, and the clip can be positioned such that the interior arcuate shape 71 of the centre portion 69 of the clip saddles the cable 56. Then the flexural arms 68 of the clip 62 can be released into the locating features 72 of the groove such that the clip 62 is retained in the groove 54, and the cable 56 is retained in the groove 54. The flexural arms 68 push down on the cable 56 such that cable is firmly held in the groove 54.

[0094] Another cable retaining mechanism is shown in Figures 9 and 10. A portion 80 of the groove 54 is configured to receive an overmoulded cable or overmoulded section 66 of cable. The overmoulded section 66 of the cable 56 is formed by placing the cable 56 into a mould, molten plastic material is injected into the mould cavity and once the plastic material cools and solidifies, the plastic material conforms to the shape of the mould and thus an overmoulded section 66 is formed around the cable 56. In Figure 9 the overmoulded section 66 of the cable 56 has a bobbin-like shape which comprises a central part 76 and two circular rims 78 at either end of the overmoulded section 66. The central part 76 of the overmoulded section 66 has a larger diameter and circumference than the diameter and circumference of the cable 56, and the two circular rims 78 are located on either side of the central part 76. The portion 80 of the groove 54 has a shape complementary with the shape of the overmoulded section such that the overmoulded section 66 of the cable 56 can be pushed into the portion 80 of the groove 54 and be retained in the groove, as shown in Figure 9(b). The shape of the portion 80 of the groove therefore comprises two circular slots 82 on either side of a central part 84. The circular rims 78 of the overmoulded section 66 of the cable 56 fit into the annular slots 82 of the portion 80 of the groove 54, and the central part 76 of the overmoulded section 66 of the cable 56 fits into the central part 84 of the portion 80 of the groove 54. In particular, the rims 78 of the overmoulded section 66 which fit into the portion 80 of the groove 54 prevent the cable 54 from moving longitudinally along the length of the groove 54. This is because the rims 78 of the overmoulded section fit into the two circular slots 82 in the portion 80 of the groove 54 and the two circular slots 82 wrap around the rims 78 such that the cable cannot move in either direction along the length of the groove 54. The overmoulded section 66 of the cable 56 is fitted into the portion 80 of the groove 54 by a push-fit mechanism.

[0095] Figure 10 shows a cross-sectional profile at the plane marked D-D in Figure 9(b) of the overmoulded section 66 of the cable positioned in the groove 54. The central section 76 of the overmoulded section 66 surrounds the cable 56 and fills the portion 80 of the groove 54. A circular rim 78 of the overmoulded section 66 is shown obstructed from moving along the length of the groove 54 by the body portion 52 of the component, and in particular the annular slot 82 of the portion 80 of the groove 54. The shape of the overmoulded section 66 is not restricted to being a bobbin-shape. Instead, the overmoulded section may be squareshaped, star-shaped or have any other suitable shape, and the portion 80 of the groove 54 has a shape complementary to the overmoulded section so that the overmoulded section can have a push-fit arrangement with the portion 80 of the groove 54 and so the overmoulded section is retained in the groove 54. Alternatively, the cable may comprise grommets, and the portion of the groove may be shaped to fit the cable and grommets such that the cable cannot move along the length of the groove. Specifically, the grommets act in the same way as the circular rim 78 of the overmoulded section 66 of the cable such that circular slots 82 in the groove wrap around the grommets.

[0096] Another cable retaining mechanism is shown in Figure 11. The cable retaining mechanism comprises tabs 59 arranged along the length of the groove 54 and a portion 82 of the groove is configured to engage with the overmoulded section 66 of the cable 56. The portion 82 of the groove 54 in the present cable retaining mechanism is shaped to allow the overmoulded section 66 of the cable 56 to be pushed into the portion of the groove and rotated in the portion of the groove. Figures 11 (a) to (c) show how the overmoulded section 66 of the cable 56 is positioned and retained within the groove 54. First, the overmoulded section is pushed into the portion 82 of the groove 54 at an angle a to the direction b of the length of the groove (as shown in Figure 11(a) and Figure 11(b)). Specifically, the portion of the groove is shaped to allow the overmoulded section 66 to be pushed in at an acute angle a to the direction b of the length of the groove. The direction b of the length of the groove is also termed the longitudinal direction of the groove. For example, the angle a may be between 1° and 5°, or between 5° and 10° or between 10° and 15°, or between 15° and 20°, or between 20° and 25°, or between 25° and 30°, or between 30° and 35°, or between 35° and 40°, or between 40° and 45° to the direction b of the length of the groove. The tabs 59 are arranged along the sides of the portion 82 of the groove such that the tabs do not engage with the overmoulded section 66 as the overmoulded section is inserted into the portion of the groove. When the overmoulded section 66 is positioned in the portion of the groove 82 as shown in Figure 11(b), the cable is under high stress. In order for the cable to reach a preferred lower stress position, the portion of the cable is rotated either anti-clockwise or clockwise through the angle a towards the longitudinal direction b, resulting in the overmoulded section of the cable being aligned with the direction b of the length of the groove. The overmoulded section 66 is rotated clockwise from the position shown in Figure 11(b) to the position shown in Figure 11(c). When the overmoulded section 66 of the cable 56 is positioned in line with the length of the groove as shown in Figure 11(c), the tabs 59 arranged on either side of the groove keep the overmoulded section 66 from falling out of the groove 54 or moving axially.

[0097] There can be many overmoulded sections 66 positioned along the length of the cable 56, as shown in Figure 12. Each of these will have an associated portion 80, 82 of a groove 54 into which the overmoulded sections 66 fit. Additionally, the cable comprising overmoulded sections 66 may be held in place in a groove by tabs 59 as shown in Figures 8 and 9 for example. Additionally or alternatively, the overmoulded sections 66 of the cable 56 may be held in place in a portion 80, 82 of a groove by a clip, for example the clip 62 shown in Figure 7.

[0098] Figure 12 also shows that a portion of the cable is arranged in a spiral or helix, known as a ‘spiral cable’ 90. In this case, the spiral cable 90 is arranged to extend vertically (in the y- direction). The spiral cable is extendible and is resiliently biased to a non-extended state. In order to make the spiral cable resiliently biased, the cable is first wrapped tightly around a cylinder and then heated by any conventional means. Thus, when the spiral cable is released from an extended state, the spiral cable returns to its natural unextended state. The spiral cable may extend up to 5% of its total permissible extension, particularly if the plastic covering of the cable comprises rubber. Alternatively, the spiral cable may extend up to 4% of its total permissible extension, particularly if the plastic covering of the cable comprises PU. Alternatively, the spiral cable may extend up to 3.5% of its total permissible extension, particularly if the plastic covering of the cable comprises PVC.

[0099] Extending from the spiral cable 90 is an upper tail 92a and a lower tail 92b which are straight portions of cable which can be affixed to a first component and a second component of an electromechanical device.

[0100] The spiral cable 90 forms part of a cabling system 100, which is shown in Figure 13. The cabling system 100 additionally comprises a seat 110 which is moveable along the same axis and in the same directions as the extension and retraction of the spiral cable 90. The base of the spiral cable 90 rests in the seat 110, such that when the spiral cable is extended, the seat moves downwards, and when the spiral cable retracts back to its natural unextended position, the seat moves upwards. The base of the spiral cable 90 may be connected to the seat 110 by clips, tabs, or other such fasteners.

[0101] The seat 110 is shown in more detail in Figure 14. The seat 110 comprises a rest portion 112 within which the base of the spiral cable 90 rests. As shown in Figure 14(d), the interior of the rest portion 112 is hollow and cylindrical in shape and comprises a helical channel 111 defined by interior walls of the rest portion 112. Thus, one, two or three turns at the base of the spiral coil 90 can be fed into and retained within helical channel 111 defined by the interior walls of the rest portion 112 such that the base of the spiral coil 90 and the seat 112 move together. The interior walls of the rest portion 112 may also comprise tabs or clips (not shown) for further retaining the turns at the base of the spiral coil 90 within the helical channel 111 defined by the interior walls of the rest portion 112. The seat additionally comprises a first guide 120 which is moveable along a first axis, thereby ensuring that the spiral cable 90 extends and retracts within a defined volume. As shown in Figures 17a) and d), the first guide 120 comprises walls 126 which are shaped to define an aperture 122. The aperture 122 allows the first guide to move along an elongated part in an electromechanical device. In Figure 14, the aperture 120 is substantially circular in shape to allow the first guide 120 to move along a rod or pole in the electromechanical device. However, it is also possible for the aperture 122 to have a different shape, such as a square, or triangle, or an irregular shape, to complement the shape of an elongate part in an electromechanical device along which the first guide 120 can move along. As shown in Figure 14c), the walls 126 of the first guide 120 form a C-shape which defines the interior circular aperture 122 and the walls of the first guide 120 form an entrance 124 to the aperture 122 to allow the first guide 120 to be snap fitted onto an elongate part in an electromechanical device. Thus, the first guide 120 is formed from a resilient material that allows for the snap fitting of the first guide 120 onto the elongate part. Alternatively, the walls of the first guide 120 form a closed or complete shape, such as a square, triangle, circle, or irregular shape, such that the first guide 120 is fitted onto the elongated part by sliding from a free end of the elongated part. The interior surface of the walls 126 of the first guide 120 is smooth so that the first guide 120 glides smoothly (i.e. there is minimal friction during movement) along the elongated part of an electromechanical device.

[0102] The first guide 120 is configured to move along a first axis. The first axis may be vertical (as shown in Figures 17a), b) or c)) or horizontal. The direction of movement of the first guide 120 along the first axis is the same as the direction of extension and retraction of the spiral cable 90. Thus, if the spiral cable is required to extend and retract in a vertical direction, the first axis extends in a vertical direction. Similarly, if the spiral cable is required to extend and retract in a horizontal direction, the first axis extends in a horizontal direction.

[0103] The seat 110 also comprises a second guide 130 to direct the cable (specifically a lower tail 92b of the spiral cable 90) in a direction from the seat 110 to a second component in an electromechanical device. The second guide 130 has an elongate shape and provides a cable receiving space 134 for accommodating the cable. Specifically, the second guide comprises a shaft 132 which extends from the base of the rest portion 112 of the seat 110, and the cable receiving space extends along the length of the shaft 132 and is defined by interior walls 138 of the shaft 132. The interior walls of the shaft 132 wrap around approximately one half of the circumference of the cable, such that the cable can be easily fitted within the second guide 130. The cable is held in place within the cable receiving space by a plurality of tabs 136 or protrusions spaced apart along the length of the interior walls 138 of the shaft 136. This allows the cable to be fed under each individual tab and thus routing the cable along the cable receiving space is a simple process. Further, the cable can easily be removed from the cable receiving space by withdrawing the cable from each individual tab. By having a plurality of tabs spaced apart along the cable receiving space, the cable may be retained along the length of the cable receiving space. As shown in Figure 14b), the tabs are positioned on alternate sides of the cable receiving space, which provides improved retention of the cable within the cable receiving space.

[0104] Alternatively or additionally, the cable may be retained within the cable receiving space by clips, such as those shown in Figures 10 and 11. Alternatively or additionally, the cable may also be held in place within the cable receiving space by overmoulding the cable and fitting the cable within a groove as shown in Figure 9. Specifically, the lower tail 92b of the spiral cable 90 is held within the cable receiving space 134, and thus the lower tail 92b moves together with the second guide 130. The cable receiving space 134 guides the cable from the base of the rest portion 112, along the shaft 132 and to the second component of the electromechanical device.

[0105] The seat 110 further comprises a connector 140 for connecting the seat to a moveable second component of an electromechanical device. Specifically, the connector 140 extends from the shaft 132 of second guide 136. The connector 140 comprises a screw hole 142 to allow the connector 140 to be attached to the second component by a screw.

[0106] In Figure 15, the cable system 100 is shown connected to a rod 240 which is part of an electromechanical device. Specifically, the first guide 120 is configured to wrap around the rod 240 so that as the spiral cable is extended, the first guide (and therefore the seat) moves down the rod 240 and as the spiral cable retracted, the first guide (and therefore the seat) moves up the rod 140. By keeping the first guide 120 connected to the rod 240, the spiral cable 90 is confined to extend and contract within a defined volume of space, which means that the cable cannot become entangled with any other components or parts in an electromechanical device.

[0107] Figure 16 shows how the cable system 100 is fitted into an electromechanical device 200. The electromechanical device 200 comprises a first component 210 and a second component 220 vertically separated from the first component. The first component 210 in Figure 16 may also be termed the ‘upper component’ and the second component 220 may also be termed the ‘lower component’. The second component 220 is moveable with respect to the first component 210, and the first component 210 is fixed in position. A cable 56 extends between the first component 210 and the second component 220. The cable 56 is retained in the first component 210 and the second component 220 using the same mechanisms as described for Figures 4 to 11, i.e. by routing a cable along a groove, using clips or tabs to secure the cable within the groove, and / or overmoulding the cable such that an overmoulded portion of the cable fits within a portion of the groove. The cable system 100 is fitted between the first component 210 and the second component 220 such that as the second component 220 moves vertically up and down, the spiral cable 90 retracts and extends respectively. In Figure 16, the spiral cable 90 is shown in an extended position, for example extending by 5% of its total permissible length. In order to stop the spiral cable extending more than 5% of its total permissible length and therefore losing its resiliency, the second component 220 can be arranged within the electromechanical device such that movement of the second component in the vertical direction is restricted. Alternatively, extension of the spiral cable 90 can be restricted as shown in Figure 17.

[0108] Figure 17 shows the electromechanical device 200 additionally comprising a third component 250 arranged between the first component 210 and the second component 220. The third component 250 acts as a stop to restrict over-extension of the spiral cable 90 beyond its resiliency limit. In Figure 17, the cable spiral 90 is shown extended to its resiliency limit (i.e. either 3.5%, 4% or 5% of its total permissible extension depending on the materials used in the cable), and the seat 110 rests on the third component 250. Specifically, the base of the first guide 120 and the base of the rest portion 112 rest on a top surface of the third component 250. From this position, the spiral cable 90 can only retract back to its natural un-extended position and move the seat 110 upwards towards the first component 210.

[0109] The third component 250 of the electromechanical device 200 also allows the second guide 130 to perform a second function of guiding movement of the spiral cable 90 and seat 110 along a second axis. In order to achieve this, the third component defines an aperture 252 through which the shaft of the second guide 130 can move through. The aperture 252 is sized such that there is minimal movement of the shaft 132 in a direction perpendicular to the extension and retraction of the spiral cable 90. Although not shown, the aperture may have a shape that complements the cross sectional shape of the shaft of the second guide. As the spiral cable 90 retracts, the shaft of the second guide 130 moves through the aperture 252 defined by the third component 250 and moves towards the first component 210. As the spiral cable 90 extends, the shaft of the second guide 130 moves through the aperture 252 defined by the third component 250 and moves away from the first component 210.

[0110] The cabling system 110 ensures that the seat 110 and the second component 220 move together and since the spiral cable 90 rests within the seat 110, the rate of extension and retraction of the spiral cable 90 matches the speed of movement of the seat 110 and the second component 220 towards and away from the first component 210. This prevents stresses building up in the cable and breakages of the cable occurring.

[0111] Whilst Figures 13 to 17 all illustrate the spiral cable 90 extending and retracting in the vertical direction and the seat 110 moving in the vertical direction, it is also possible that the spiral cable 90 may extend and retract in the horizontal direction and the seat 110 and the second component 220 may move in the horizontal direction. In this arrangement, a rod may extend in a horizontal direction between the first component and the second component. Alternatively, the cabling system 100 may be used at any angle between a horizontal axis and a vertical axis to allow electrical signals to be transmitted between a fixed and a moveable part.

[0112] The electromechanical device 200 of Figures 16 and 17 may comprise one or more cabling systems 100 to guide cabling from a power source to various moveable components. An example of an electromechanical device is a load handling device. The moveable components in a load handling device include the container lifting mechanism, the wheel assembly and the wheel positioning mechanism, and the cabling system can be used to route cables to all of these components. In particular, if the cabling system is used to route cables to the wheel positioning mechanism, the first guide 120 of the cabling system 100 moves up and down a vertically connecting element 46 between a first component being a connecting block 43 and a moveable second component. This is shown in Figure 18 which uses the same open framework structure as shown in Figure 3.

[0113] In particular, Figure 18 shows one side of a load handling device 300, the load handling device comprising a first set of wheels for selectively engaging with a first set of tracks 22a extending in a first direction and a second set of wheels for selectively engaging with a second set of tracks 22b extending in a second direction perpendicular to the first set of tracks 22a. The first set of wheels are connected to the load handling device by a first set of wheel mounts 320 and the second set of wheels are connected to the load handling device by a second set of wheel mounts (not shown). The operation of the first set of wheel mounts 320 and the second set of wheel mounts is the same.

[0114] To enable the load handling device 300 to move on the first set of wheels and the second set of wheels in the first and second directions, the load handling device 300 includes a wheelpositioning mechanism or directional change mechanism for selectively engaging either the first set of wheels with a first set of tracks 22a or the second set of wheels with a second set of tracks 22b. The wheel-positioning mechanism is configured to raise and lower the first set of wheel mounts 320 and / or the second set of wheel mounts relative to the open frame structure 42 of the load handling device 300, thereby enabling the load-handling device 300 to selectively move in either the first direction or the second direction across the tracks of the grid framework structure 1. The wheel -positioning mechanism may include one or more linear actuators, rotary components or other means for raising and lowering at least one set of wheel mounts 320 relative to the open frame structure 42 of the load handling device.

[0115] Figure 19 shows a more detailed and complete illustration of the wheel positioning mechanism which is described further in PCT publication number WO 2023 / 025882, in the name of Ocado Innovation, the details of which are incorporated herein by reference. The wheel positioning mechanism comprises a cam mechanism 352 and there is a cam mechanism on each side face of the load handling device 300. The cam mechanism 352 on each side face of the load handling device 300 is configured to raise and lower the pair of wheels relative to the open frame structure 42 of the load handling device 300. Each cam mechanism 352 on opposing side faces of the load handling device is configured to raise and lower respective pairs of wheels mounted on the first set of wheel mounts 320 or second set of wheel mounts in synchronization relative to the open frame structure 42 of the load handling device 300 in order to move the load handling device in the X or Y direction on the grid structure. The cam mechanism 352 comprises a cam 354 having a cam profile 356 and a cam follower 358 engageable with the cam profile 356. The cam follower 358 is configured to move along the longitudinal direction of the cam profile 356.

[0116] The cam 354 comprises a slot having a profile 356 extending longitudinally along the slot between a first or lower limit 360 (valley part) and a second or upper limit 362 (highland part). Between the limits, the slot extends from the lower limit 360 substantially horizontally, slopes upwards and then continues substantially horizontally to the upper limit 362 with enough space to accommodate the cam follower 358. Movement of the cam follower 358 from the lower limit 360 to the upper limit 362 moves the one or more wheels connected to the first set of wheel mounts 320 or the second set of wheels connected to the second set of wheel mounts in an upward direction to disengage with the tracks. Similarly, movement of the cam follower 358 from the upper limit 362 to the lower limit 360 moves the one or more wheels connected to the first set of wheel mounts 334 or set of wheels connected to the second set of wheel mounts in a downward direction to engage with the tracks. The first set of wheel mounts 334 or the second set of wheel mounts 336 are coupled either to the cam 354 or cam follower 356 such that movement of the cam follower 356 relative to the cam 354 lowers and raises the one or more wheels of the first or second sets of wheels.

[0117] A pair of wheels at the same side of the loads handling device can share the same cam and cam follower such that movement of the cam follower along the cam raises or lowers the pair of wheels simultaneously. The pair of wheels at opposing sides of the load handling device represent the first sets of wheels for moving the load handling device in the X direction and the pair of wheels at the other opposing sides of the load handling device represent the second of wheel for moving the load handling device in the Y direction. In other words, the cam mechanism provides a single cam arrangement where a pair of wheels at the side of the load handling device of the first or second sets of wheels is lowered or raised by the same cam and cam follower. However, as shown in Figure 19, the cam mechanism 352 employs a double cam arrangement rather than a single cam arrangement on each side face of the load handling device. A first cam and a second cam are arranged horizontally adjacent. The first cam profile and the second cam profile are substantially identical. Likewise, a pair of followers and are arranged to engage with the respective cams. Instead of a single cam arrangement to raise and lower a pair of wheels, the double cam arrangement on one side face of the load handling device thus provides movement of a pair of wheels on one side face of the load handling device in the raised and lowered position. The use of a double cam arrangement rather than a single cam arrangement on each side face of the load handling device maintains the horizontal orientation of a pair of wheels of the first or second sets of wheels when moving in a raised or lowered position. However, the cam mechanism is not limited to a double cam arrangement on each side face of the load handling device and can comprise a single cam arrangement on each side face of the load handling device.

[0118] To move the cam follower 358 relative to the cam 354, the cam mechanism 352 comprises a traveller 364 that is configured to move along a side face of the load handling device. Coupled to the traveller 364 is the cam follower 358 such that movement of the traveller 364 along one side of the load handling device 300 raises and lowers one or more wheels connected to the first set of wheel mounts 320 or the second sets of wheel mounts. The traveller 364 can be configured to move along a rail 366 on each side of the load handling device such that movement of the traveller 364 along the rail 366 moves the cam follower 358 along the cam 354 which in turn raises a pair of wheels of the first or second sets of wheel mounts when the cam follower is at the upper limit 362 and lowers one or more wheel mounts when the cam follower is at the lower limit 360 of the cam 354. In the particular example shown in Figures 21 and 22, the rail 366 for supporting the traveller 364 is integrally formed from the open frame structure 42 of the load handling device 300.

[0119] The traveller 364 is configured to move along the rail 364 by a cam drive mechanism comprising a cam motor (not shown) coupled to the traveller 364 via one or more pulleys, spools, belts, and / or gears to move the traveller along one side face of the load handling device. The motor is configured to move the traveller 364 along one side of the load handling device by a cam belt 370 having one end anchored to the cam motor and the other end anchored to the traveller 364. The cam belt 370 is wound on a cam spool mounted to the drive shaft of the cam motor such that rotation of the cam spool by the cam motor provides a pulling force on the cam belt 370, which in turn causes the traveller 364 anchored to the cam belt 370 to move along the rail 366. To return the traveller 364 to its initial position, a second motor can provide an opposite pulling force on the traveller 364 to pull the traveller in the opposite direction. Alternatively, the traveller can be biased by a biasing force (e.g. spring) towards a first position corresponding to the lower or upper limits of the cam profile and the motor is configured to provide a pulling force on the traveller against the biasing force to move the traveller towards a second position corresponding to the upper limit or lower limit of the cam profile. To provide the necessary anchorage to raise and lower a pair of wheels relative to the open frame structure of the load handling device, preferably the cam motor is mounted to the open frame structure 42.

[0120] To provide synchronized movement of the first or second sets of wheels to move in the X or Y direction on the grid structure, the corresponding travellers for the first or second sets of wheels on opposing side faces of the load handling device can be moved by one or more cam motors. For example, a single cam motor can provide the pulling force to raise or lower the first set of wheels. Similarly, a single cam motor can provide the pulling force to raise or lower the second set of wheels. Alternatively, two cam motors can provide opposing pulling forces on the traveller to raise and lower a respective pair of wheels of the first set of wheels or the second set of wheels. To provide synchronized movement of the first set of wheels and the second set of wheels, each of two cam motors is configured to rotate in both in a clockwise and anti-clockwise direction. A plurality of cam belts 370 are wrapped around the outer periphery of the open frame structure 42 of the load handling device 300 via connection to the travellers and the cam motors such that rotation of the two cam motors in a clockwise direction raises the first set of wheels connected to the first set of wheel mounts 320 and lowers the second set of wheels connected to the second set of wheel mounts. Conversely, rotation of the two cam motors in anti-clockwise direction raises the first set of wheels connected to the first set of wheel mounts 320 and lowers the second sets of wheels connected to the second set of wheel mounts.

[0121] Whilst the particular example of the wheel position mechanism shown in Figures 18 and 19 comprises a cam mechanism driven by a cam motor, other arrangements of a wheel positioning mechanism are applicable in the present invention. For example, the wheel positioning mechanism can comprise a compliant mechanism having at least one resiliently deformable member arranged to move under an applied force, e.g. a motor, to cause the wheels to raise or lower as taught in the PCT application PCT / EP2021 / 055335, in the name of Ocado Innovation, the details of which are incorporated herein by reference. The first and second sets of wheels can be raised clear of the rails or lowered onto the tracks or rails by means of the compliant mechanism(s) or linkage-sets mounted to the open frame structure on opposed faces of the load handling device.

[0122] The direction-change compliant mechanisms are each deformable in first and second directions. When there is no input force, the compliant mechanism is at rest or in a neutral position, i.e. the compliant mechanism is not elastically deformed, and both sets of wheels are level and are resting on a surface. In this arrangement, the load handling device is unable to move in the x- nor y-directions and the load handling device is parked. The elastic deformation of the compliant mechanism is linked to arms holding each of the wheels and movable in a vertical (or z-) direction to raise and lower the wheels.

[0123] When a first input force Fi is provided, the compliant mechanism body deforms in a first direction. The displacement of the mechanism body is translated to a vertical direction to lower the first set of wheels connected to the first set of wheel mounts 320, and raise the second set of wheels connected to the second set of wheel mounts. The wheels of the first set of wheels move downwards to engage with the rails or tracks and to support the vehicle and the wheels of the second set of wheels move upwards to be clear of the tracks. Thus, the load handling device 300 may be driven in the X-direction.

[0124] When a second input force F2 is provided, in a direction opposed to the first input force, the compliant mechanism body deforms in a second direction. The displacement of the mechanism body is translated to operate in a vertical direction to raise the first set of wheels connected to the first set of wheel mounts 320, and lower the second set of wheels connected to the second set of wheel mounts so that the load handling device is supported by the second set of wheels and may be driven in the y-direction.

[0125] The compliant mechanism is connected to the sets of wheels via a transfer linkage. Thus, in this way, the compliant mechanism provides means for changing the operational direction of travel of the load handling device 300.

[0126] Figure 18 shows the position of the cabling system 100 in relation to the wheel positioning mechanism. Each side of the load handling device 300 comprises two cabling systems 100 for operating in conjunction with the wheel positioning mechanism. Each of the cabling systems 100 is found adjacent to each comer of the load handling device 300 and each cabling system 100 guides a spiral cable 90 from an upper connecting block 43a to a lower second component 380 which comprises the cam 354. Thus, the cabling systems 100 allow power to be provided to lower components in the load handling device 300. Each cabling system 100 is configured such that the first guide 120 moves along a vertically connecting element 46 which connects an upper connecting block 43a to a lower connecting block 43b, also termed a third component. The lower connecting block 43b provides an aperture (not shown) which allows the shaft of the second guide 130 to be guided in a vertical direction.

[0127] Figure 18 shows the spiral cable 90 in an extended state within its resiliency limit. In order for the spiral cable 90 to return to its non-extended state, either rotation of the two cam motors occurs in a clockwise direction or a second input force F2 is provided such that the first set of wheels connected to the first set of wheel mounts 320 move upwards to be clear of the track, as described above, and there is no longer a force pulling the spiral cable 90 downwards. The spiral cable 90 therefore naturally retracts due to its resiliency, and the seat 110 moves upwards such that the shaft of the second guide 130 moves through the aperture of the lower connecting block 43b and the first guide 120 moves upwards along the vertically connecting element 46. Thus, there is no slack in the cable as the first set of wheels is raised. When a first input force Fl is provided or that rotation of the two cam motors occurs in an anti-clockwise direction, the first set of wheels connected to the first set of wheel mounts 320 moves downwards to interact with the first set of tracks, and the second component 380 pulls on the cable 90. Since the second guide 130 is connected to the second component 380 by a connector 140, the seat 110 is pulled downwards and is guided by both the first guide 120 and the second guide 130, and the seat 110 moving downwards extends the spiral cable 90.

[0128] The examples of the cabling system described above explain the system in binary terms of a non-extended or un-extended state and an extended state. There may also be other intermediary states where the cable is not fully extended up to its resiliency limit and may instead be extended only, for example, 1% of its total permissible extension. The cabling system may be used for such intermediary states.

[0129] Whilst endeavouring to draw attention to the features of the invention believed to be of particular importance, it should be understood that the applicant claims protection in respect of any patentable feature or combinations of features referred to herein, and / or shown in the drawings, whether or not particular emphasis has been placed on them.

[0130] It will be appreciated that a component, cable retaining mechanism and cabling system can be designed for a particular application using various combinations of the arrangements described above. It will be appreciated that the features described herein may all 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 explicitly described above are possible without departing from the scope of the invention as defined in the appended claims.

Claims

CLAIMS:

1. A cabling system for use with an electromechanical device, the electromechanical device comprising a first component and a second component, the second component being moveable with respect to the first component, wherein a cable extends between the first component and the second component, wherein the cabling system comprises: a cable, the cable being resiliently biased for decreasing the separation between the first component and the second component, and wherein the cable is extendable for increasing the separation between the first component and the second component; and a seat, the seat being moveable with respect to the first component to allow the cable to rest within the seat on extension and retraction of the cable, and wherein the seat is configured such that the cable rests within the seat wherein the seat comprises a second guide for directing the cable in a direction from the seat to the second component.

2. A cabling system according to claim 1, wherein the cable is arranged in a helix.

3. A cabling system according to any preceding claim, wherein the seat comprises a first guide configured to move along a first axis and therefore extend the cable along the first axis.

4. A cabling system according to claim 3, wherein the first guide defines an aperture for interacting with the electromechanical device.

5. A cabling system according to any preceding claim, wherein the second guide comprises a cable receiving space for accommodating the cable, wherein in use as the cable is extended, the cable slides along the cable receiving space and is directed from the seat to the second component.

6. A cabling system according to any preceding claim, wherein the second guide is further configured for interacting with the electromechanical device, wherein the second guide is configured to guide movement of the cable and the seat along a second axis.

7. A cabling system according to any preceding claim, wherein the second guide comprises a shaft extending along the second axis, the shaft being configured to interact with an aperture defined by the electromechanical device.

8. A cabling system according to any preceding claim, wherein in use the seat is limited in movement by an end stop.

9. A cabling system according to any preceding claim, wherein the cable is configured to extend between 2% and 5% of its total permissible extension.

10. An electromechanical device comprising a first component and a second component, the second component being moveable with respect to the first component, wherein a cable extends between the first component and the second component, wherein the first component comprises: a body portion; one or more grooves to define an elongated channel integrated within the body portion for routing one or more cables around the body portion; wherein the one or more grooves comprise a cable retaining mechanism for retaining the cable within the groove; and wherein the electromechanical device further comprises a cabling system according to any one of claims 1 to 9.

11. An electromechanical device according to claim 10, wherein the cable retaining mechanism is integrated within the body portion.

12. An electromechanical device according to claim 10 or 11, wherein the cable retaining mechanism comprises a plurality of tabs spaced apart along the groove.

13. An electromechanical device according to any of claims 10-12, wherein the cable retaining mechanism comprises a clip for engaging with the groove.

14. A load handling device for lifting and moving one or more containers stackable in a storage and retrieval system, the storage and retrieval system comprising a grid structure comprising a plurality of grid members comprising a first set of grid members and a second set of grid members, the second set of grid members being substantially perpendicular to the first set of grid members such that the plurality of grid members are arranged in a grid pattern for guiding movement of the load handling device on the grid structure, the load handling device comprises: a) a container lifting mechanism comprising a grabber device configured to releasably grip a container, and a drive mechanism configured to raise and lower the grabber device; b) a wheel assembly comprising a first set of wheels for engaging with the first set of grid members to guide movement of the load handling device in a first direction and a second set of wheels for engaging with the second set of grid members to guide the movement of the load handling device in a second direction, wherein the second direction is transverse to the first direction; c) a wheel positioning mechanism configured for selectively lowering or raising the first set of wheels or the second set of wheels into engagement or disengagement with the first set of grid members or the second set of grid members; d) electrical components comprising a processor for controlling the container lifting mechanism and wheel positioning mechanism; e) a power source for powering electrical components, wherein the power source is connected to the electrical components by cabling; wherein the load handling device further comprises:a cabling system for routing cabling from the power source to the electrical components; wherein the cabling system comprises: a first component; a second component, the second component being moveable with respect to the first component; a cable extending between the first component and the second component, the cable being resiliently biased to decrease the separation between the first component and the second component, wherein the cable is extendable to increase the separation between the first component and the second component.

15. A load handling device according to claim 14, wherein the cabling system is attachable to any one of the container lifting mechanism, the wheel assembly or the wheel positioning mechanism.

16. A load handling device according to claim 14 or 15, wherein the cabling system comprises any of the features of claims 1 to 9.

17. An automated storage and retrieval system, the system comprising: a grid structure comprising a plurality of grid members comprising a first set of grid members and a second set of grid members, the second set of grid members being substantially perpendicular to the first set of grid members such that the plurality of grid members are arranged in a grid pattern for guiding the movement of the one or more load handling devices operating on the grid structure; and at least one load handling device according to any of claims 14 to 16.

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