Rotatable Charge Head Assembly for Robotic Grid Charging
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Solution Overview
Problem
Existing robotic load handling device charge stations face issues such as clamping force problems, alignment issues due to vibration and thermal expansion, and require frequent maintenance, leading to downtime and increased costs.
Innovation Solution
A charge station with a rotatable carriage-mounted charge head assembly that can be easily serviced without winching, reducing maintenance time and allowing for simultaneous operation with a reserve set, and direct mounting to the grid structure to absorb tolerances and seismic activity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of repair
If the charge head assembly is fixed to a stationary support structure, then the charging alignment can be maintained, but the maintenance requires winching operations causing downtime
Solution Approach 1:
The charge head assembly is mounted on a rotatable carriage that can dynamically change position between operative (over the grid cell) and servicing (away from the grid structure) positions. This dynamic positioning allows maintenance personnel to access the charge head assembly without requiring winching operations, eliminating downtime while maintaining charging functionality when needed.
Solution Approach 2:
The charge station is segmented into a stationary base and a moveable carriage carrying the charge head assembly. This segmentation allows the charge head to be independently positioned for either operation or maintenance, resolving the contradiction between maintaining alignment during operation and enabling easy access during maintenance.
2Measurement precision
If the charge station is rigidly mounted to the grid structure, then the alignment precision can be maintained, but the system cannot accommodate thermal expansion and seismic activity
Solution Approach 1:
The rotatable carriage mounting provides a degree of freedom that allows the charge head assembly to adapt to thermal expansion and seismic movements while maintaining alignment precision during operation. The carriage can rotate to accommodate positional changes without compromising the charging alignment when in the operative position.
Solution Approach 2:
The system changes the mounting parameter from rigid fixed positioning to rotatable positioning, allowing the charge head assembly to adjust its position in response to thermal and seismic variations while maintaining precise alignment during charging operations.
3Productivity
If a single charge head assembly is used, then the device complexity is reduced, but the productivity decreases due to maintenance downtime
Solution Approach 1:
The charge station is segmented into modular components including a base, rotatable carriage, and charge head assembly. This modular segmentation allows for easy replacement of the charge head assembly during maintenance without affecting the entire system, enabling continuous operation while maintaining relatively simple device complexity.
Solution Approach 2:
The rotatable carriage allows a replacement charge head assembly to be pre-positioned on the carriage in the servicing position. When maintenance is needed, the carriage is rotated to bring the replacement assembly into the operative position, enabling continuous productivity without complex redundant systems.
Data Source
AI summary
A charge station for a robotic load handling device operative on a grid structure. The charge station includes a support structure including a base, at least one carriage and at least one charge head assembly for coupling to a charge receiving head of the robotic load handling device. The charge head assembly is resiliently mounted to the at least one carriage such that the at least one charge head assembly extends outwardly from the base and is moveable in a vertical direction relative to the at least one carriage. The carriage is rotatably mounted to the base about a vertical axis extending through the base such that the charge head assembly is rotatable about the vertical axis from a first position to a second position.