Grid Load Handler Wheel Assembly for Low-Torque Direction Changes
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Solution Overview
Problem
Existing load handling devices for storage systems with grid structures face challenges in efficiently changing direction due to complex wheel positioning mechanisms, which are often cumbersome and require significant torque to lift and move containers.
Innovation Solution
The implementation of eccentrically mounted wheels that rotate about an axis offset from their central axis, allowing selective engagement and disengagement with grid members, facilitated by a dual-axis wheel positioning mechanism driven by synchronized motors and actuators, enabling seamless direction changes on the grid structure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If traditional wheel positioning mechanisms are used to change direction, then the load handling device can move in multiple directions, but the mechanism becomes complex and requires significant torque
Solution Approach 1:
The wheel assembly is segmented into multiple independent wheel sets (first wheel set, second wheel set, third wheel set) that can be selectively engaged or disengaged from the rail. Each wheel set can operate independently, allowing the device to change direction by engaging different wheel sets with different rail sections, thereby simplifying the overall positioning mechanism while maintaining multi-directional capability
Solution Approach 2:
The wheel positioning mechanism employs dynamic engagement and disengagement of wheel sets with the rail through lifting and lowering actions. The wheels can be raised to disengage from the rail or lowered to engage with the rail, enabling flexible direction changes without complex mechanical linkages, thus reducing mechanism complexity while preserving adaptability
2Adaptability or versatility
If traditional wheel positioning mechanisms are used to change direction, then the device can navigate the grid structure, but excessive torque is required
Solution Approach 1:
The wheel assembly is divided into multiple independent wheel sets that can be selectively engaged or disengaged from the rail. This segmentation allows the device to change direction by engaging different wheel sets with different rail sections, distributing the mechanical load and reducing the torque requirement compared to a single complex positioning mechanism
Solution Approach 2:
The wheel positioning mechanism uses dynamic lifting and lowering of wheel sets to engage or disengage from the rail. This dynamic approach eliminates the need for high-torque mechanisms to force directional changes, as wheels are simply raised and lowered to switch between engaged and disengaged states, significantly reducing torque requirements
3Device complexity
If wheels are mounted centrally, then the structure is simple, but the device cannot efficiently change direction on the grid
Solution Approach 1:
The wheel sets are positioned asymmetrically relative to the vehicle body, with the first wheel set at the front, second wheel set at the rear, and third wheel set laterally offset. This asymmetric arrangement enables efficient direction changes by allowing selective engagement of different wheel sets with the rail at different positions, optimizing the vehicle's ability to navigate the grid structure
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This solution allows for efficient and stable movement of load handling devices in two lateral directions, reducing the need for excessive torque and enhancing the capability to handle loads up to 210 kg, while maintaining stability and reducing mechanical complexity.
Implementation Method 1
each wheel of the first set of wheels and the second set of wheels being rotatable about a respective first axis of rotation and a respective second axis of rotation, wherein the respective second axis of rotation is radially offset from the respective first axis of rotation
Data Source
AI summary
A load handling device is disclosed for lifting and moving containers stacked in a storage system having a grid structure. The load handling device includes a container receiving space; a lifting mechanism arranged to lift a container; a vehicle body; a wheel assembly arranged to support the vehicle body, the wheel assembly having a first set of wheels and a second set of wheels; and a drive mechanism for selectively driving rotation of the first set of wheels and the second set of wheels. Each wheel includes a wheel positioning mechanism configured to rotate the wheel about a respective second axis of rotation to selectively lower or raise the first set of wheels or the second set of wheels to selectively engage or disengage the first set of wheels with a first set of grid members or the second set of wheels with a second set of grid members.