CN118159486A - Lifting assembly - Google Patents

Abstract

A container (9) lifting assembly (102) for lifting and/or lowering containers (9) stacked in a stack (11) in a grid storage structure (1), the lifting assembly (102) comprising: a clamping device configured to releasably clamp the container; a raising and lowering mechanism (139, 239, 339, 39) configured to raise and lower the gripping device; the raising and lowering mechanism (139, 239, 339, 39) includes: a gear mechanism (108, 130) configured to wind and/or unwind at least one tether (114A); a motor (106) configured to actuate the gear mechanism (108, 130) to wind and/or unwind the at least one tether (114A); wherein the at least one tether (114A) is connected to the gripping device such that winding and unwinding of the at least one tether (114A) is configured to raise and lower the gripping device.

Description

Lifting assembly

Technical Field

The present invention relates to the field of lifting assemblies. In particular, the present invention relates to a lifting assembly for a load handling apparatus for lifting and moving storage containers.

Background

Some business activities require systems that can store and retrieve a large number of different products. WO2015/185628A describes a storage and fulfillment system in which stacks of storage containers are arranged in a grid storage structure. Containers are accessible from above by a load handling device running on a track or rail on top of the grid storage structure.

A given load handling apparatus lifts a target container from the top of the stack, the target container typically containing inventory items required to fulfill a customer order. The load handling apparatus also lowers the target container back to the top of the stack, or to another top of the stack or to another location, as desired. The load handling apparatus typically includes a lifting assembly for lifting the container from a first location and lowering the container to a second location. The load handling apparatus must reliably raise and lower each container from the desired location.

It is against this background that the present invention has been devised.

Disclosure of Invention

In a first aspect there is provided a container lifting assembly for lifting and/or lowering containers stacked in a stack in a grid storage structure, the lifting assembly comprising:

a clamping device configured to releasably clamp the container;

a raising and lowering mechanism configured to raise and lower the gripping device;

The raising and lowering mechanism includes:

A gear mechanism configured to wind and/or unwind at least one tether;

A motor configured to actuate the gear mechanism to wind and/or unwind the at least one tether;

Wherein the at least one tether is connected to the gripping device such that winding and unwinding of the at least one tether is configured to raise and lower the gripping device.

The gear mechanism may include a spool (e.g., at least one spool, such as a spool for each tether). The tether (e.g., at least one tether) may extend from the spool before extending and connecting to the holding device. The gear mechanism may be configured to wind and/or unwind the tether around the spool. The raising and lowering mechanism may include a pair of tethers (e.g., at least a pair of tethers, such as two pairs of tethers) and a spool for each pair of tethers. The gear mechanism may be configured to wind and/or unwind the pair of tethers around the spool. The raising and lowering mechanism may include at least one pulley (e.g., at least one pulley for each tether). The tether may extend from the spool to the pulley before extending and connecting to the gripping device. When the raising and lowering mechanism includes a spool for each pair of tethers, each tether of the pair of tethers may extend in opposite directions from the spool to the pulley before extending and connecting to the gripping device. The raising and lowering mechanism may include pulleys for each tether.

The raising and lowering mechanism may include at least one tether (e.g., one, two, three tethers, etc.). The or each tether may extend from the gear mechanism to a corner of the gripping device.

The raising and lowering mechanism may include a horizontally extending lift shaft. The raising and lowering mechanism may include two spools, for example, a first spool may be located at a first end of the lift shaft and/or a second spool may be located at a second end of the lift shaft, the second end being opposite the first end. The raising and lowering mechanism may include two tethers located at a first end of the lift shaft and configured to wind and/or unwind from the first spool. The raising and lowering mechanism may include two tethers located at the second end of the lift shaft and configured to wind and/or unwind from the second spool.

The raising and lowering mechanism may comprise four spools, for example two spools at a first end of the lift shaft and/or two spools at a second end of the lift shaft. The raising and lowering mechanism may include two tethers at the first end of the lift shaft, each tether configured to wind and unwind from a respective spool at the first end of the lift shaft (i.e., each tether at the first end of the lift shaft extends from its own spool). The raising and lowering mechanism may include two tethers at the second end of the lift shaft, each tether configured to wind and unwind from a respective spool at the second end of the lift shaft (i.e., each tether at the second end of the lift shaft extends from its own spool).

At least one spool of the raising and lowering mechanism may include a slip clutch (i.e., the spool may be mounted to the lift shaft via the slip clutch). Each spool of the raising and lowering mechanism may be mounted to the lift shaft via a respective slip clutch. At least one of the pulleys may comprise a hard stop (e.g. a mechanical stop) against which the gripping device will abut once it has reached its fully raised position (i.e. when the gripping device is fully raised by the raising and lowering mechanism). Each pulley of the raising and lowering mechanism may include a hard stop (e.g., a mechanical stop) so that each corner of the gripping device may abut the hard stop when it reaches the fully raised position as each cord is wound to raise the gripping device. The motor may be configured to rotate the lift shaft to wind or unwind the tether to raise or lower the gripping device. During lifting and/or lowering of the gripping device, the gripping device may become unbalanced, i.e. one side of the gripping device may be higher than the other side, or one or more corners of the gripping device may be higher than the remaining corners of the gripping device. When the clamping device is lifted to its fully lifted position, the higher side or corner(s) of the clamping device may reach its fully lifted position and abut the hard stop before the unbalanced lower side or corner(s) of the clamping device.

To level the unbalanced clamping device, the motor may over-rotate the lift shaft to lift the lower side or corner(s) of the unbalance of the clamping device. During this overdrive or over-rotation of the motor, the sliding clutch(s) located at the side or corner(s) already in the fully lifted position can slip and prevent those reels from rotating further, thereby allowing the side or corner(s) already in the fully lifted position to remain in abutment with the hard stop. The motor may over-lift the gripping device against the hard stop each time the gripping device is raised. The slip clutch(s) may allow the motor to over-rotate the lift shaft and lift any unbalanced lower side or corner(s) of the gripping device while maintaining any side or corner(s) of the gripping device that is already in the fully lifted position in abutment with the hard stop. In this way, the lifting assembly can calibrate and level the gripping device each time the gripping device is raised.

The slip clutch may be located at a central position on the spool and may include a shaft or hollow bore mounted to the lift shaft to mount the spool to the lift shaft. The slip clutch may be a spring clutch or an electromagnetic clutch (e.g., a permanent magnet clutch or a hysteresis clutch/magnetic particle clutch). The slip clutch may be a fixed torque clutch or a torque adjustable clutch.

The gear mechanism may be provided on the clamping device. When the gear mechanism winds the tether (e.g., at least one tether), the gripping device may climb toward the top of the lift assembly, i.e., opposite to being pulled to the top of the lift assembly (e.g., in embodiments where the gear mechanism is not disposed on the gripping device, such as above the gripping device and/or in a load handling device). The motor may be provided on the holding device. Thus, the gripping device may be self-powered, i.e. the gripping device may use power from a motor on the gripping device (i.e. power from the load handling device may not be required).

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

The tether(s) may be in the form of a cable, rope, strap, or any other form of tether having the desired physical characteristics for lifting the container. The tether may be formed of or comprise a polyester material (e.g., a woven polyester material). In particular, the tether may comprise a woven polyester strap or belt, such as a safety belt (i.e., the safety belt may be used as a tether). The tether may comprise a dynema (dyneema) strap. The tether may comprise a polyester material (e.g., a woven polyester) fused with a dimma strap. The tether may comprise a cotton material. The tether may comprise a ribbon material such as ribbon polyester, nylon, and cotton. The tether may comprise a conductive material, for example, the tether may comprise a woven material or a woven polyester material, with conductive elements or conductive wires (e.g., copper) woven in the warp and weft or weave of the tether. The tether may comprise a woven belt (e.g. a seat belt) with conductive elements or wires woven in the belt. The tether may include conductive elements or wires (e.g., copper) woven in the warp and weft or weave of the tether to provide power and/or communication (i.e., electrical communication) to the gripping device. In another aspect, there is provided a container lifting assembly according to the first aspect, wherein the raising and lowering mechanism comprises:

A horizontally extending lift shaft, a first reel, a second reel, a third reel, and a fourth reel, wherein the first and second reels are located at or near a first end of the horizontally extending lift shaft and the third and fourth reels are located at or near a second end opposite the first end of the horizontally extending lift shaft; and

The first, second, third and fourth tethers are configured to be wound and unwound from first, second, third and fourth spools, respectively, wherein the first and second spools are configured to rotate in opposite directions from the third and fourth spools to wind and unwind the first, second, third and fourth tethers.

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

The gear mechanism may further include third and fourth pulleys disposed around the first pulley or the second pulley to allow the first and second pulleys to rotate in opposite directions via the timing belt.

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

The gear mechanism may include first and second worm gears on a shaft driven by the motor, wherein the worm gears are configured to rotate the first and second spools in opposite directions from the third and fourth spools.

The first and second spools may be on a first shaft and the third and fourth spools may be on a second shaft, wherein the gear mechanism may further comprise first and second gears on the first and second shafts, respectively, the first and second gears being driven by first and second worm gears, respectively.

In another aspect, there is provided a container lifting assembly according to the first aspect, wherein the raising and lowering mechanism comprises:

A horizontally extending lift shaft, a first reel, a second reel, a third reel, and a fourth reel, wherein the first and second reels are located at or near a first side adjacent a central axis of the horizontally extending lift shaft, and the third and fourth reels are located at or near a second side adjacent the central axis, wherein the first side is opposite the second side; and

The first, second, third and fourth tethers are configured to be wound and unwound from first, second, third and fourth spools, respectively, wherein the first and second spools are configured to rotate in opposite directions from the third and fourth spools to wind and unwind the first, second, third and fourth tethers.

The first and second spools may be on a first shaft and the third and fourth spools may be on a second shaft, the first and second shafts being parallel to the central axis.

The gear mechanism may include first and second gears on the first and second shafts, respectively, wherein the first and second gears mesh such that a motor driving either the first or second shaft rotates the other of the first or second shafts.

Each tether may be coupled to a respective pulley located at or near a respective corner of the lift assembly.

In any of the above aspects, the first, second, third and fourth tethers are configured such that each tether is wound onto or unwound from a respective reel or pulley at or near a respective corner of the lift mechanism.

Each tether may be connected to the holding device at or near a respective corner of the holding device.

In any of the above aspects, the at least one spool includes at least one groove along a periphery thereof in which the wire tether is configured to be wound.

In another aspect, there is provided a load handling apparatus for lifting and moving containers stacked in a stack in a grid storage structure, the grid storage structure including a plurality of rails arranged in a grid pattern over the stack of containers, the load handling apparatus comprising:

a main body housing a drive mechanism operably arranged for moving the load handling apparatus over the grid;

A container lifting assembly as described above, the container lifting assembly being configured to raise and lower the gripping device relative to the body and for raising and lowering containers stacked in the stack.

The lift assembly may be located within the body of the load handling apparatus. The lifting assembly may raise the container into the body (e.g., into a cavity of the load handling apparatus).

The tether may include conductive elements or wires (e.g., copper) woven in the warp and weft or tissue of the tether to provide power and/or communication (i.e., electrical communication) between the load handling apparatus (e.g., a power source or communication source disposed in the load handling apparatus body) and the clamping apparatus.

In another aspect, there is provided a load handling apparatus for lifting and moving containers stacked in a stack in a grid storage structure, the grid storage structure comprising:

a first set of parallel tracks extending substantially perpendicular to the first set of tracks in a substantially horizontal plane to form a grid pattern comprising a plurality of grid spaces, wherein the grid is supported by sets of posts to form a plurality of vertical storage sites beneath the grid for containers stacked between the posts in a vertical direction and guided by the posts through the plurality of grid spaces; the load handling apparatus includes:

a body mounted on a first set of wheels arranged to engage the first set of parallel tracks and a second set of wheels arranged to engage the second set of parallel tracks, the body housing a drive mechanism configured to drive the load handling device on the grid;

A container lifting assembly as described above, the container lifting assembly being configured to raise and lower the gripping device relative to the body and for raising and lowering containers stacked in the stack.

In another aspect, there is provided a method of raising and/or lowering containers from a stack of containers, the method comprising a load handling apparatus as described above, the method comprising the steps of:

actuating the gear mechanism to unwind the at least one tether and lower the gripping device relative to the body;

actuating the gripping device to grip the container;

the gear mechanism is actuated to wind the tether and raise the gripping device relative to the body.

The method may include the step of raising the gripping device relative to the body and lifting the container into the cavity of the load handling device.

In another aspect, a system is provided, the system comprising:

The load handling apparatus as defined above;

A storage structure for receiving containers stacked in the stack, the storage structure comprising a first set of tracks extending in a first direction and a second set of tracks extending in a second direction transverse to the first direction, the load handling apparatus being configured to move over the first and second sets of tracks,

A control facility configured to control the load handling apparatus to raise and/or lower containers from and/or into the stacks below the grid.

Drawings

Aspects of the invention and exemplary embodiments will now be described with reference to the accompanying drawings.

FIG. 1 is a schematic perspective view of a grid storage structure and container;

FIG. 2 is a schematic top view of a track located on top of the storage structure of FIG. 1;

FIG. 3 shows a load handling apparatus located on top of the storage structure of FIG. 1;

FIG. 4 is a schematic perspective view of the load handling apparatus with the lift assembly in a lowered configuration;

FIG. 5 is a schematic cross-sectional view of the load handling apparatus of FIG. 4 with the lift mechanism in a raised and lowered configuration;

FIGS. 6A, 6B, and 6C are perspective views of a load handling apparatus wherein an embodiment of a lift assembly is lowered onto a container;

FIG. 7 is a front view of a particular embodiment of a lift assembly;

FIGS. 8 and 9 are top views of the lift assembly of FIG. 7;

FIG. 10 is a perspective view of another embodiment of a lift assembly;

11A, 11B and 11C are perspective, side and front views of one of the spools of the lift assembly of FIG. 10;

FIG. 12 is a perspective view of another embodiment of a lift assembly;

FIG. 13 is a perspective view of a raising and lowering mechanism of another embodiment of a lift assembly;

FIGS. 14A and 14B are perspective views of another embodiment of a lift assembly;

FIG. 15 is a perspective view of another embodiment of a lift assembly; and

FIG. 16 is a perspective view of another embodiment of a lift assembly;

FIG. 17 is a perspective view of another embodiment of a lift assembly;

FIG. 18 is a perspective view of another embodiment of a lift assembly; and

Fig. 19 is a perspective view of another embodiment of a lift assembly.

Detailed Description

Fig. 1 shows a storage structure 1 comprising an upright member 3 and horizontal members 5, 7 supported by the upright member 3. The horizontal members 5 extend parallel to each other and to the x-axis as shown. The horizontal members 7 extend parallel to each other and to the y-axis as shown and extend transversely to the horizontal members 5. The upright members 3 extend parallel to each other and to the z-axis shown and extend transversely to the horizontal members 5, 7. The horizontal members 5, 7 form a grid pattern defining a plurality of grid cells. In the embodiment shown, the storage containers 9 are arranged in stacks 11 under grid cells defined by a grid pattern, each grid cell having one stack 11 of containers 9.

Fig. 2 shows a large scale plan view of a part of the track structure 13, wherein the track structure 13 forms part of the storage structure 1 shown in fig. 1 and is located on top of the horizontal members 5, 7 of the storage structure 1 shown in fig. 1. The track structure 13 may be provided by the horizontal members 5, 7 themselves (e.g. formed in or on the surface of the horizontal members 5, 7) or by one or more additional components mounted on top of the horizontal members 5, 7. The track structure 13 shown comprises x-direction tracks 17 and y-direction tracks 19, i.e. a first set of tracks 17 extending in the x-direction, and a second set of tracks 19 extending in the y-direction and transverse to the tracks 17 of the first set of tracks 17. The rails 17, 19 define a hole 15 at the center of the grid cell. The aperture 15 is sized to allow the container 9 below the grid cell to be raised and lowered through the aperture 15. The x-direction tracks 17 are separated by channels 21 and arranged in pairs, and the y-direction tracks 19 are separated by channels 23 and arranged in pairs. Other arrangements of the track structure are also possible.

Fig. 3 shows a plurality of load handling devices 31 moving on top of the storage structure 1 shown in fig. 1. The load handling apparatus 31, which may also be referred to as an automated handling device or robot, is provided with wheel sets to engage with the respective x-or y-direction rails 17, 19 to enable the robot 31 to travel through the rail structure 13 and reach a particular grid cell. The illustrated pairs of rails 17, 19 separated by channels 21, 23 allow robots 31 to occupy (or cross each other) adjacent grid cells without colliding with each other.

As shown in fig. 4, the robot 31 includes a body 33, and one or more components enabling the robot 31 to perform its intended function are mounted in the body 33 or on the body 33. These functions may include moving across the storage structure 1 and raising or lowering containers 9 (e.g., from stack 11 or to stack 11) on the track structure 13 so that the robot 31 can retrieve or store the containers 9 at a particular location defined by the grid pattern.

The illustrated robot 31 includes first and second sets of wheels 35, 37, the first and second sets of wheels 35, 37 being mounted on the body 33 of the robot 31 and enabling the robot 31 to move along the rails 17 and 19 in the x and y directions, respectively. In particular, two wheels 35 are provided on a shorter side of the robot 31 visible in fig. 4, while the other two wheels 35 are provided on an opposite shorter side of the robot 31 (not visible in fig. 4). Wheels 35 engage the track 17 and are rotatably mounted on the body 33 of the robot 31 to allow the robot 31 to move along the track 17. Similarly, two wheels 37 are provided on the longer side of the robot 31 visible in fig. 4, while the other two wheels 37 are provided on the longer side of the convoy of the robot 31 (not visible in fig. 4). Wheels 37 engage the track 19 and are rotatably mounted on the body 33 of the robot 31 to allow the robot 31 to move along the track 19.

The robot 31 further includes a lifting assembly 102, the lifting assembly 102 including a raising and lowering mechanism 39 configured to raise and lower the container 9. The illustrated raising and lowering mechanism 39 includes four tethers 41 connected at lower ends to the gripping device 100. The tether 41 may be in the form of a cable, rope, strap, or any other form that provides the physical characteristics required to raise the container 9. The gripping device 100 comprises at least one gripper configured to engage with a feature of the container 9. For example, the container 9 may be provided with one or more holes on its upper side, which can engage with the holder. Alternatively or additionally, the gripper may be configured to hook under a rim or flange of the container 9 and/or to grip or grasp the container 9. The tether 41 may be wound up or down to raise or lower the holding apparatus 100 as desired. One or more motors or other means may be provided to effect or control the upward or downward winding of the tether 41.

As shown in fig. 5, the body 33 of the illustrated robot 31 has an upper portion 45 and a lower portion 47. The upper portion 45 is configured to house one or more operating components (not shown). The lower portion 47 is arranged below the upper portion 45. In the upper portion of the lower portion is a lifting assembly 102. However, in other embodiments, it may be in the upper portion 45. The lower portion 47 includes a container receiving space or cavity for receiving at least a portion of the container 9 that has been raised by the lifting assembly 102 that includes the raising and lowering mechanism 39. The container receiving space is sized so that the container 9 can fit sufficiently inside the cavity to allow the robot 31 to move across the track structure 13 on top of the storage structure 1 without the underside of the container 9 getting stuck on the track structure 13 or another part of the storage structure 1. When the robot 31 reaches its intended destination, the lifting assembly 102 controls the tether 41 to lower the gripping device 100 and corresponding container 9 from the cavity to the intended position. The intended location may be the stack 11 of containers 9 or the exit point of the storage structure 1 (or the entry point of the storage structure 1 if the robot 31 has moved and collected containers 9 for storage in the storage structure 1). Although in the illustrated embodiment the upper and lower portions 45, 47 are separated by a physical partition, in other specific implementations the upper and lower portions 45, 47 may not be physically separated by a particular component or portion of the body 33 of the robot 31.

The container receiving space of the robot 31 may not be within the body 33 of the robot 31. For example, the container receiving space may be opposite adjacent to the main body 33 of the robot program 31, for example in a cantilever arrangement, balancing the weight of the container to be lifted with the weight of the main body 33 of the robot 31. In such embodiments, the frame or arm of the raising and lowering mechanism 39 may protrude horizontally from the body 33 of the robot 33, and the tethers 41 may be disposed at respective locations on the protruding frame/arm and configured to be raised and lowered from these locations to raise and lower the container into the container receiving space adjacent to the body 33. The height at which the frame/arm is mounted on the body 33 of the robot 31 and the height at which it protrudes from the body 33 of the robot 31 may be selected to achieve a desired effect. For example, it is preferable for the frame/arm to protrude at a high level of the body 33 of the robot 31 to enable a larger container (or containers) to be lifted into the container receiving space below the frame/arm. Alternatively, the frame/arm may be arranged to protrude lower below the body 33 (but still of a height sufficient to accommodate at least one container between the frame/arm and the track structure 13) to maintain the centre of gravity of the robot 31 when the robot 31 is loading the container.

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

The wheel positioning mechanism may include one or more linear actuators, rotating members, or other means for raising and lowering at least one set of wheels 35, 37 relative to the body 33 of the robot 31 to bring at least one set of wheels 35, 37 into and out of contact with the rails 17, 19. In some embodiments, only one set of wheels is configured to be raised and lowered, and the act of lowering one set of wheels may effectively raise the other set of wheels off the corresponding track, while the act of raising one set of wheels may effectively lower the other set of wheels into contact with the corresponding track. In other embodiments, both sets of wheels may be raised and lowered, which advantageously means that the body 33 of the robot 31 remains at substantially the same height, so that the weight of the body 33, and thus the weight of the components mounted on the body, does not need to be raised and lowered by the wheel positioning mechanism.

Fig. 6A, 6B and 6C show perspective views of the load handling apparatus 31, wherein the specific embodiment of the clamping apparatus 100 is suspended from the load handling apparatus 31, in particular from the main body 33 of the load handling apparatus. Although not shown in these figures, the load handling apparatus 31 includes the features described above in connection with the load handling apparatus or robot 31, including the first and second sets of wheels 35, 37 mounted to the body of the load handling apparatus 31, the at least partial cavity for receiving the container, and the spool tether 41 connected at its lower end to the gripping apparatus 100 for connecting the gripping apparatus 100 and suspending the gripping apparatus 100 on the load handling apparatus 31. The load handling apparatus 31 includes a lift assembly 102 that winds or unwinds the reel tether 41, which is wound and unwound, respectively, to raise and lower the gripping apparatus 100 as shown in fig. 6A, 6B, and 6C. The gripping device 100 is lowered onto the container to be lifted until it comes into contact with the upper rim of the container 9. Once the gripping apparatus 100 is in place on the container 9 as shown in fig. 6C, the gripping apparatus 100 engages and grips the container.

Fig. 7 and 8 illustrate a specific embodiment of the lifting assembly 102, fig. 7 illustrates a front view of the lifting assembly 102, and fig. 8 illustrates a top view of the lifting assembly 102. In this particular embodiment, the lifting assembly 102 includes a raising and lowering mechanism 39, the raising and lowering mechanism 39 including a rectangular support plate 104, a centrally located motor 106, a gear mechanism 108, and four pulleys 110a, 110b, 110c, 110d secured to or connected to the underside of the support plate 104. In this particular embodiment, the gear mechanism 108 is a planetary gear set (e.g., an epicyclic gear set) with a vertically extending lift shaft 112, the lift shaft 112 rotating to wind or unwind the tether. Each pulley 110a, 110b, 110c, 110d is located at or towards a corner of the lifting assembly 102, in particular each corner of the support plate 104, and, prior to extending downwardly, the tether extends from the planetary gear set to four pulleys 110a, 110b, 110c, 110d such that the lower end of each pulley 110a, 110b, 110c, 110d is connected to the clamping device 100. The motor 106 is configured to rotate the lift shaft 112 to wind or unwind the tether around the lift shaft and thereby raise or lower the gripping device 110. By winding or unwinding the tether around the lift shaft 112, the lift shaft 112 actually provides a spool for the tether. As the motor 106 rotates the lift shaft 112 in the first direction, the tether is simultaneously wound around the lift shaft 112, thereby lifting the gripping device 100. The motor 106 rotates the lift shaft in a second direction (opposite the first direction) to simultaneously unwind the tether from the lift shaft 112 and lower the gripping device 100. The motor 106 rotates the lift shaft 112 so that the tether is wound and unwound at the same speed. In this particular embodiment, the motor 106 is located above the support plate 104. By centering the motor 106 on the support plate 104 (as shown in fig. 8), the weight of the motor 106 is evenly distributed over the lift assembly 102. Further, by providing the motor 106 on the support plate 104, the weight of the motor 106 on the lifting assembly 102 can advantageously ensure a smoother lifting and lowering of the clamping apparatus 100.

Fig. 9 shows a top view of the lifting assembly 102 of fig. 7 and 8 and shows tethers 114a, 114b, 114c, 114d extending from the planetary gear set 108 to the four pulleys 110a, 110b, 110c, 110 d. As shown in fig. 9, each pulley 110a, 110b, 110c, 110d is angled toward the planetary gear set (i.e., toward the center of the lifting assembly 102 or the center of the support plate 104). By angling the pulleys 110a, 110b, 110c, 110d toward the center, the tethers 114a, 114b, 114c, 114d extend in a straight line from the center of the lifting assembly 102 (or gear mechanism 108) to the pulleys. This allows the lift assembly 102 to more evenly and smoothly wind and unwind the tethers 114a, 114b, 114c, 114d (and thereby more evenly and smoothly lift and lower the gripping device 100) without risk of the tethers 114a, 114b, 114c, 114d getting stuck or tangled with each other when wound or unwound by the gear mechanism 108.

Fig. 10 illustrates another embodiment of the lifting assembly 102. In this particular embodiment, the raising and lowering mechanism 39 includes a horizontally centered extending lift shaft 116 and two spools-a first spool 118a at a first end of the lift shaft and a second spool 118b at a second end of the lift shaft 116. Four pulleys 110a, 110b, 110c, 110d are provided at each corner of the lifting assembly 102, particularly at each corner of the support plate 104, and in this particular embodiment, the four pulleys 110a, 110b, 110c, 110d are located above the support plate 104. At each end of the lifting shaft 116, two tethers extend from each spool in opposite directions and through respective pulleys 110a, 110b, 110c, 110d before extending downwardly such that the lower end of each tether 114a, 114b, 114c, 114d is connected to the gripping device 100. As shown in fig. 10, by disposing the pulleys 110a, 110b, 110c, 110d at or toward each corner of the support plate 104, the tethers 114a, 114b, 114c, 114d may extend downward such that the lower end of each of the tethers 114a, 114b, 114c, 114d is connected to a corner of the clamping device 100, thereby lifting and lowering the clamping device 100 more smoothly.

The lift shaft 116 is configured to rotate to wind or unwind the tethers 114a, 114b, 114c, 114d about each spool 118a, 118 b. As the lift shaft 116 rotates in the first direction, the two cords 114a, 114b at the first end of the lift shaft are wound around the first spool 118a, while the two cords 114c, 114d at the second end of the lift shaft are wound around the second spool 118b, thereby lifting the gripping device 100 (and the container gripped by the gripping device). The lift shaft 116 rotates in a second direction (opposite the first direction) to unwind both tethers 114a, 114b from the first spool 118a and both tethers 114c, 114d from the second spool 118b simultaneously, thereby lowering the gripping device 100 (and the container gripped by the gripping device). By providing two spools 118a, 118b, one at each end of the lift shaft 116, each spool winds or unwinds two tethers, thereby reducing the risk of tether entanglement. Each spool 118a, 118b may include a groove to keep the two tethers wound around the spool separate, further reducing the risk of entanglement of the tethers.

Fig. 11A-C show several views of one of the spools 118a, 118b in the embodiment of fig. 10. Fig. 11C shows a cross-sectional view taken from section A-A of fig. 11B. The arrows shown in fig. 11C reveal the direction of the two tethers 114a, 114b, 114C, 114d extending from each spool 118a, 118 b. As shown in fig. 11C, the tethers 114a, 114b, 114C, 114d extend in opposite directions such that each tether 114a, 114b, 114C, 114d is capable of unwinding from or winding from a spool at the same time.

Fig. 12 illustrates another embodiment of the lifting assembly 102. In this particular embodiment, the raising and lowering mechanism includes a horizontally centered extending lift shaft with two spools at each end of the lift shaft, i.e., two spools 118a, 118b at a first end of the lift shaft 116 and two spools 118c, 118d at a second end of the lift shaft 116. As with the embodiment of fig. 10, four pulleys 110a, 110b, 110c, 110d are provided at each corner of the support plate 104. In this embodiment, each tether 114a, 114b, 114c, 114d would extend from its respective spool 118a, 118b, 118c, 118d and through its respective pulley 110a, 110b, 110c, 110d before extending downwardly, with the lower end of each tether connected to a corner of the clamping device. Each of the four tethers is connected to its own spool and extends through its own pulley prior to being connected to the gripping device 100. By providing four spools (i.e., one spool per tether), each spool has a single tether wound or unwound thereon, the risk of tether entanglement is further reduced. Furthermore, by providing one reel for each tether, the wound tether occupies less space when fully wound onto the reel (i.e., when the tether is fully wound onto the reel) than embodiments in which two or more tethers are wound onto a single reel. For example, by providing one spool for each cord, the wound cord occupies only half the space compared to embodiments where two cords are wound onto a single spool. This has the advantage that less space is required for the lifting assembly 102 in the main body 33 of the load handling apparatus 31, for example in the lower portion 47 of the load handling apparatus 31 comprising a container receiving space (for accommodating the lifting assembly 102 and at least part of the container). In other words, by providing a spool for each cord, the lifting assembly 102 achieves a spatial gain in the container receiving space, which is advantageous.

As the lift shaft rotates in the first direction to wind the tethers, each tether is simultaneously wound about its respective spool to lift the gripping device (and the container gripped by the gripping device). The lift shaft rotates in a second direction (opposite the first direction) to unwind each tether from its respective reel simultaneously and thereby lower the holding device (and the container held by the holding device).

In the embodiment of fig. 10 and 12, the tether is connected to the gripping device 100 via four further pulleys (one at each corner of the gripping device). However, in other embodiments, the lower end of each tether may not require additional pulleys to connect to the clamping device (e.g., the lower end of the tether may be directly connected to the clamping device 100).

Although not shown in the specific embodiment of fig. 10 and 12, the motor 106 is configured to rotate the lift shaft in the first and second directions. In each of the embodiments of fig. 7-12, the motor 106 is configured to rotate the lift shaft such that all tethers are wound or unwound simultaneously and at the same speed in order to uniformly and smoothly raise and lower the gripping device.

In some embodiments, each spool is mounted to the lift shaft via a respective slip clutch. As the lift shaft is rotated in a first direction by the motor, the tether is wound to lift the gripping device. Once the gripping device 100 reaches its apex or fully raised position (i.e., the gripping device 100 is fully raised by the raising and lowering mechanism 39, e.g., into the body 33 of the robot 31), the motor can overdrive and exceed the torque of the slip clutch such that the slip clutch slips and the spool no longer rotates. Each pulley comprises a hard stop (e.g. a mechanical stop) against which the gripping device will abut once it has reached its fully raised position.

By providing a slip clutch for each spool, the lifting assembly 102 is able to maintain the gripping apparatus 100 level when the gripping apparatus 100 becomes unbalanced (e.g., during lowering and/or lifting of the gripping apparatus or due to tightening or slipping of one or more tethers). For example, in the embodiment of fig. 10, the gripping device may become unbalanced during lowering and/or lifting of the gripping device such that a first end of the gripping device (i.e. the end lifted by the first reel at the first end of the lifting shaft) reaches its fully lifted position and abuts a hard stop at the pulley, while a second end of the gripping device (i.e. the end lifted by the second reel at the second end of the lifting shaft) has not yet reached its fully lifted position. The motor continues to rotate (i.e., over-rotate) the lift shaft such that the second end of the clamping device is lifted to its fully lifted position and abuts the hard stop at the sheave. During this period of over-rotation of the motor to rotate the lift shaft and raise the second end of the clamping device, the slip clutch at the first spool slips and prevents further rotation of the first spool, thereby maintaining the first end of the lift shaft in its fully raised position.

In the embodiment of fig. 10, a slip clutch is provided at each spool, allowing the lifting assembly 102 to level any imbalance between the first and second ends of the clamping device.

In some embodiments of fig. 12, a slip clutch is provided at each spool and each pulley includes a hard stop (e.g., a mechanical stop) that the gripping device will abut once it reaches its fully raised position. As described above, by providing a slip clutch at each reel, the lifting assembly 102 is able to level the gripping apparatus if the gripping apparatus becomes unbalanced during lowering and/or lifting. If the side or corner of the gripping device becomes unbalanced, the motor continues to rotate the lifting shaft until the unbalanced side or corner is lifted to its fully lifted position and abuts a hard stop at the pulley. In the embodiment of fig. 12, each cord is provided with a spool. Likewise, a slip clutch may be provided at each spool to control the level of each individual tether. This advantageously enables the lifting assembly 102 to control and level each corner of the clamping device as the clamping device becomes unbalanced.

Each time the gripping device is lifted, the motor is lifted too much against the hard stop. This allows any unbalanced sides or corners in the gripping device to be lifted to a hard stop. The slip clutch at each reel allows the motor to over-rotate in order to lift any unbalanced sides or corners in the gripping device while at the same time keeping any sides or corners in the gripping device that are already in the fully lifted position against the hard stop. This advantageously allows the lifting assembly to calibrate and level the gripping device each time the gripping device is raised.

In embodiments that include a slip clutch, the slip clutch is located in a central position on the spool (see fig. 11C) and includes a shaft or hollow bore that is mounted to the lift shaft, thereby mounting the spool to the lift shaft. Preferably, the slip clutch is an electromagnetic clutch (hysteresis clutch/magnetic particle clutch). These clutches are operated by electrical actuation, in particular, actuation of the clutch does not require contact of internal elements of the clutch, which reduces wear of the clutch over time. By providing an electromagnetic clutch, this advantageously provides a reliable and durable method for leveling the clamping device. The slip clutch is a fixed torque clutch that slips at a predetermined torque.

In the embodiment of fig. 7-10 and 12, the lifting assembly 102 includes a support plate 104 for supporting the spool. The support plate 104 may also be configured to support the motor 106 as shown in the embodiments of fig. 7-9. However, in other embodiments, the support plate 104 may not be required. The reel and/or motor 106 may be supported by alternative support means, including, for example, one or more vertical shafts.

Fig. 13 illustrates a lifting and lowering mechanism 139 of another embodiment of the lifting assembly 102. In this particular embodiment, the raising and lowering mechanism 139 includes a horizontally centered extending lift shaft 120 and four spools-two spools 122a, 122b at a first end of the lift shaft 120 and two spools 122c, 122d at a second end of the lift shaft 120. The lifting assembly 102 includes four pulleys 124a, 124b, 124c, 124d (one at each corner of the lifting assembly 102) and four tethers 114a, 114b, 114c, 114d, each extending from a respective spool 122a, 122b, 122c, 122d to a respective pulley 124a, 124b, 124c, 124d and then downwardly, the lower end of each tether 114a, 114b, 114c, 114d being connected to a gripping device 100, such as a corner of a gripping device (not shown in fig. 13). The two tethers 114a, 114b at the first end of the lift shaft extend in opposite directions from the two spools 122a, 122b at the first end of the lift shaft 120, and the two tethers 114c, 114d at the second end of the lift shaft 120 extend in opposite directions from the two spools 122c, 122d at the second end of the lift shaft so that each tether can pass over pulleys at the corners of the lift assembly 102. In this embodiment, each of the four tethers is connected to its own spool such that a single tether is wound or unwound on each spool. This advantageously ensures that the tether wound on each spool occupies less space than embodiments in which two or more tethers are wound on a single spool, such as described in the embodiment of fig. 12. Providing a spool for each cord also helps to reduce the risk of the tether getting tangled when winding and unwinding to lift and reduce the gripping device.

In some embodiments, the raising and lowering mechanism 139 of fig. 13 includes a slip clutch at each spool, i.e., each spool is mounted to the lift shaft via a respective slip clutch, as described in the embodiment of fig. 12. As described above, this allows the lift assembly 102 of the embodiment of fig. 13 to level each corner of the clamping device 100 if the clamping device becomes unbalanced during lifting and/or lowering.

In other embodiments, the lift assembly 102 may include two spools, one at each end of the lift shaft, and the spools may include one or more grooves to separate the two tethers on each spool.

The lift shaft is configured to rotate to wind or unwind the tether around each spool. As the lift shaft rotates in the first direction to wind the tethers, each tether is simultaneously wound about its respective spool to lift the gripping device (and the container gripped by the gripping device). The lift shaft rotates in a second direction (opposite the first direction) to unwind each tether from its respective reel simultaneously and thereby lower the holding device (and the container held by the holding device). The tether is simultaneously wound or unwound at the same speed in order to uniformly and smoothly raise or lower the gripping device.

The lift assembly 102 includes a motor 106, the motor 106 being configured to rotate the lift shaft 120 in first and second directions to wind or unwind the tether around the spool. The motor 106 is coupled to a horizontally centrally extending lift shaft 120 for rotating the lift shaft in first and second directions.

The motor 106 is surrounded or partially surrounded by a block that protects the motor 106 and helps to hold the motor 106 in place. Four pulleys 124a, 124b, 124c, 124d are also placed in the blocks, which are suspended by vertical rods (not shown) or connected to the load handling apparatus, which in turn connects the lift assembly 102 to the load handling apparatus.

The blocks are also connected by rods 128, the rods 128 assembling each pulley 124a, 124b, 124c, 124d to a corner of the rectangular lift assembly 102. Each block housing the pulleys 124a, 124b, 124c, 124d includes a cutout to allow the tethers 114a, 114b, 114c, 114d to extend from the spool to the pulleys within the block.

Fig. 14A and 14B illustrate another embodiment of the lifting assembly 102. In this particular embodiment, the lifting assembly 102 includes a raising and lowering mechanism 239, and the raising and lowering mechanism 239 includes a gear mechanism 130 disposed on the gripping device. The gear mechanism 130 winds and unwinds four root ropes 114a, 114b, 114c, 114d connected to the gear mechanism 130 via four pulleys 124a, 124b, 124c, 124d located at the corners of the clamping device 100. The tethers 114a, 114b, 114c, 114d extend upwardly from pulleys on the gripping device 100 to four pulleys 110a, 110b, 110c, 110d located within the body 33 of the load handling device 31. As the gear mechanism 130 winds the tethers 114a, 114b, 114c, 114d, the gripping device 100 climbs upward toward the load handling device 31. Since the gear mechanism 130 is on the gripping device 100, it can be said that the gripping device 100 "climbs" as the gear mechanism 130 winds the tether, rather than the gripping device 100 being lifted as the tethers 114a, 114b, 114c, 114d are wound-e.g., when the gear mechanism is disposed above the gripping device (e.g., in the loading handling device body 33). In other words, the lift force comes from the gripping device 100, not the gear mechanism provided in the main body 33 of the load handling device 31. As the gear mechanism 130 unwinds the tethers 114a, 114b, 114c, 114d, the gripping device 100 is lowered.

Providing the gear mechanism 130 on the clamping device 100 adds weight to the clamping device 100. This helps the gripping apparatus 100 to be lifted and lowered in a smoother, more gentle and more stable manner (as compared to lighter gripping apparatus).

As shown in fig. 14B, the raising and lowering mechanism 239 includes a motor 106, and the motor 106 is configured to drive or rotate the gear mechanism 130 to wind or unwind the tether. The motor 106 is provided on the holding apparatus 100. This facilitates further increasing the weight on the clamping device 100, thereby facilitating lifting and lowering of the clamping device 100 in a smooth and gentle manner. By providing the gear mechanism 130 and/or the motor 106 on the gripping device 100, the lifting assembly 102 is able to redistribute its mass, which in turn facilitates a smoother, more gentle and more stable lifting and lowering of the gripping device 100.

Furthermore, by providing the motor 106 on the holding device 100, the holding device 100 may be self-powered without the need for an electrical power cable extending from the powered load handling device 31 to the holding device 100. By providing the motor 106 on the gripping device 100, the gripping device 100 is able to act as an autonomous element that can be assigned tasks (e.g., picking containers at a specific place of depth 11 containers in a storage structure). The gripping device 100 is able to perform tasks using its own power source and sensors (if provided). The holding device 100 is able to utilize its own power from the motor 106 to drive other elements (e.g., sensors, grippers, LEDs, etc.) on the holding device 100.

The motor 106 and gear mechanism 130 are located in the center of the clamping device 100. This helps to ensure that the gripping apparatus 100 remains level as it is raised and lowered. In this particular embodiment, gear mechanism 130 is a planetary gear set (e.g., an epicyclic gear set) having a vertically extending lift shaft 134, lift shaft 134 acting as a spindle (spindle) for tethers 114a, 114b, 114c, 114d as gear set 130 rotates to wind or unwind the tethers.

In other embodiments, the motor 106 may be provided in a load handling apparatus.

In some embodiments, the raising and lowering mechanism 239 may include a counterweight on the holding apparatus 100 to add weight to the holding apparatus, rather than or in addition to providing the gear mechanism 130 and/or the motor 106 on the holding apparatus 100.

Fig. 15 illustrates another embodiment of the lifting assembly 102. In this particular embodiment, the raising and lowering mechanism 339 includes a gear mechanism in the form of a worm gear 136, the worm gear 136 being mounted on a horizontally centrally extending shaft 138, and in this particular embodiment, the worm gear and shaft are located within the load handling apparatus body 33. Although not shown, the lift assembly 102 includes a motor 106 (e.g., in the load handling apparatus body 33), the motor 106 rotates or drives a worm gear 136 to wind or unwind four tethers 114a, 114b, 114c, 114d wrapped around the worm gear 136. The worm gear 136 includes four annular grooves or tracks along the exterior of the worm gear (i.e., the rollers of the worm gear) and the tether is wound or unwound into the four annular grooves or tracks. By providing four separate annular grooves, each tether can be wound and unwound from the worm gear in its own groove, thereby reducing or eliminating the risk of entanglement between the tethers as the worm gear rotates.

As the worm gear rotates to wind the tether and lift the gripping device 100, the worm gear 136 travels or slides along the shaft 138 in a first axial direction (e.g., to the right). As the worm gear rotates to unwind the tether and lower the gripping device 100, the worm gear 136 travels or slides back in the opposite direction (i.e., opposite the first axial direction, e.g., to the left) along the shaft 138. By allowing the worm gear to travel back and forth (right or left) along the axis 138 as the tether is wound or unwound from the worm gear 136, a smoother and even winding and unwinding of the tether from the worm gear 136 can be ensured. The worm gear 136 is able to travel along the shaft 138 due to the force generated by the tether when wound or unwound from the worm gear 136. In other embodiments, the gear mechanism includes a spring that is capable of biasing the worm gear back and forth along the shaft 138 as the tether is wound or unwound.

In some embodiments, the rollers of worm gear 136 may be mounted to shaft 138 via an ultra-low friction track. This causes only the steering force of worm gear 136 to be sufficient to wind and unwind the tether from the worm gear and move the worm gear back and forth on shaft 138. In other words, the worm gear is able to "automatically feed" the tether. Examples of ultra-low friction materials that may be used include PTFE. The skilled person is also aware of other materials suitable for use in ultra low friction tracks.

The tethers 114a, 114b, 114c, 114d extend downwardly from the worm gear 136 to four pulleys 142a, 142b, 142c, 142d on the gripping apparatus 100, which are located approximately in the center of the gripping device 100 to maintain the tethers 114a, 114b, 114c, 114d toward the center of the lifting assembly 102. This allows the lift assembly 102 to be more space efficient and thus requires less space within the load handling apparatus 31. Maintaining the tethers 114a, 114b, 114c, 114d toward the center of the lifting assembly 102 in this manner also allows the tethers 114a, 114b, 114c, 114d to more easily wrap around the worm gear 136. From the centered pulleys 142a, 142b, 142c, 142d, the tether extends along the gripping device to four pulleys 144a, 144b, 144c, 144d located at the corners of the gripping device 100. This ensures that the lifting and lowering of the gripping device is more stable and smooth as the tethers 114a, 114b, 114c, 114d are wound and unwound by the worm gear 136.

In the embodiment of fig. 15, a substantially centered single worm gear is provided to wind and unwind the tether. In other embodiments, the lift assembly includes a gear mechanism in the form of two worm gears, wherein each worm gear is configured to wind and unwind two tethers. By providing two worm gears instead of one, the weight of the gear mechanism may be more evenly distributed across the lift assembly 102, thereby creating a more balanced lift assembly 102. Further, by providing two worm gears, each supporting two tethers, winding and unwinding of the tethers may be simplified and the risk of the tethers tangling together as they are wound and unwound from the worm gears may be reduced or eliminated.

In the above embodiments, all of the cables are wound onto and unwound from the spool using a single motor 106. However, in other embodiments, more than one motor 106 may be used if desired. In the embodiment of fig. 16, the lift assembly 102 has four spools 201, 202, 203, 204 to wind and unwind respective tethers. Reels 201 and 202 are on drive shaft 205 and reels 203 and 204 are on drive shaft 206. The drive shafts 205 and 206 are configured to rotate in opposite directions when driven by a motor. As with the embodiments above, by rotating the drive shafts 205 and 206 in opposite directions, the respective tethers 114a-d can be positioned at or near the corners of the lift assembly. Specifically, as shown in fig. 16, each tether is wound onto or unwound from a spool at or near a respective corner of the lift assembly. This enables the tethers to be connected to the clamping assembly 100 at the respective corners of the clamping assembly, thereby increasing stability in raising and lowering the clamping assembly. Fig. 16 shows an embodiment of how the drive shafts 205 and 206 can rotate in opposite directions. Drive shafts 205 and 206 are connected to pulleys 210 and 211, respectively. The motor applies torque to pulley 207. Timing belt 208 transmits torque to pulleys 209, 210, and 211 in a manner that ensures that spools 201 and 202 and spools 203 and 204 rotate in opposite directions. Specifically, the pulleys 207 and 209 are arranged around the pulley 211 such that the rotation direction of the pulley 211 is opposite to that of the pulley 210. It should be understood that this is merely one embodiment that causes the drive shafts 205 and 206 to rotate in opposite directions when driven by a motor.

Although not limited thereto, it is understood that spools 201, 202, 203 and 204 are particularly adapted to woven polyester webbing or woven belts (e.g., seat belts) that are provided with conductive elements or wires woven in the belts described above. In use of the conductive tether, each spool 201, 202, 203, and 204 may be threaded to form a groove that receives/releases the conductive tether as it is wound/unwound. Fig. 17 shows such a spool 500, and this spool may be used with any of the embodiments described above. The depth of the groove 510 and the overall configuration of the groove may be selected based on the characteristics of the diameter and length of the wire 515.

Additionally, a slip clutch may be included at each spool, i.e., each spool 201, 202, 203, and 204 is mounted to the lift shaft via a respective slip clutch, as described in the embodiments of fig. 12 and 13. As described above, this allows the lifting assembly 102 to level each corner of the clamping device 100 if the clamping device becomes unbalanced during lifting and/or lowering.

In the embodiment of fig. 18, the lift assembly 102 is provided with four spools 301, 302, 303, and 304 to wind and unwind the respective tethers 114a-d. Reels 301 and 302 are on drive shaft 305 and reels 303 and 304 are on drive shaft 306. The drive shafts 305 and 306 are configured to rotate in opposite directions when driven by a motor. The drive shaft is operatively coupled by engagement of gears 307 and 308. The drive shaft 305 (and thus also the gear 307 and spools 301, 302) and the drive shaft 306 (and thus also the gear 308 and spools 303, 304) are on opposite sides of and adjacent to the central axis 310 of the lift assembly. The central axis 310 extends in a longitudinal direction and is parallel to the longitudinal axis of the drive shafts 305 and 306. As with the embodiments above, the tether from each spool extends to a respective pulley 311, 312, 313, and 314 located at or near a corner of the lift assembly. Specifically, as shown in fig. 18, each tether is wound to pulleys 311, 312, 313 and 314 or is positioned at or near a respective corner of the lift assembly at a point that is unwound from pulleys 311, 312, 313 and 314. This enables the tethers to be connected to the clamping assembly 100 at the respective corners of the clamping assembly, thereby increasing stability in raising and lowering the clamping assembly. When either of the drive shafts 305, 306 is driven by a motor and rotates in a first direction, the other drive shaft rotates in a second direction opposite to the first direction by engagement of the gears 307 and 308. That is, gear 307 (and thus reels 301 and 302) and gear 308 (and thus reels 303 and 304) rotate in opposite directions to wind and unwind the respective tethers. It should be understood that this is merely one embodiment that causes the drive shafts 305 and 306 to rotate in opposite directions when driven by a motor.

Although not limited thereto, it is understood that spools 301, 302, 303 and 304 are particularly adapted to woven polyester webbing or woven belts (e.g., seat belts) that are provided with conductive elements or wires woven in the belts described above. In use of the conductive tether, each spool 301, 302, 303, and 304 may be threaded to form a groove that receives/releases the conductive tether as it is wound/unwound. Fig. 18 shows such a spool 500, and this spool may be used with any of the embodiments described above. The depth of the groove 510 and the overall configuration of the groove may be selected based on the characteristics of the diameter and length of the wire 515.

Additionally, a slip clutch may be included at each spool, i.e., each spool 301, 302, 303, and 304 is mounted to the lift shaft via a respective slip clutch, as described in the embodiments of fig. 12 and 13. As described above, this allows the lifting assembly 102 to level each corner of the clamping device 100 if the clamping device becomes unbalanced during lifting and/or lowering.

In the embodiment of fig. 19, the lift assembly 102 has four reels 401, 402, 403, 404 to wind and unwind respective tethers. Reels 401 and 402 are on drive shaft 405 and reels 403 and 404 are on drive shaft 406. The drive shafts 405 and 406 are configured to rotate in opposite directions when driven by a motor. As with the embodiments above, the tether can be located at or near a corner of the lift assembly by rotating the drive shafts 405 and 406 in opposite directions. Specifically, as shown in fig. 19, each tether is wound onto or unwound from a spool at or near a respective corner of the lift assembly. This enables the tethers to be connected to the clamp assembly 100 at its respective corners, thereby increasing stability in raising and lowering the clamp assembly. Fig. 19 shows an embodiment of how the drive shafts 405 and 406 can rotate in opposite directions. The motor applies torque to shaft 411, and shaft 411 includes first worm gear 407 and second worm gear 408. The first and second worm gears 407, 408 are configured (or threaded) such that they rotate the respective gears 409 and 410 in opposite directions. Thus, gear 409 rotates drive shaft 405 in a first direction, while gear 410 rotates drive shaft 406 in a second direction opposite the first direction. That is, the gear 409 (and thus the reels 401 and 402) and the gear 409 (and thus the reels 403 and 404) rotate in opposite directions to wind and unwind the respective tethers.

Although not limited thereto, it is understood that the reels 401, 402, 403, and 404 are particularly adapted to a woven polyester webbing or belt (e.g., a safety belt) provided with conductive elements or wires woven in the belt. In use of the conductive tether, each spool 401, 402, 403, and 404 may be threaded to form a groove that receives/releases the conductive tether as it is wound/unwound. Fig. 17 shows such a spool 500, and this spool may be used with any of the embodiments described above. The depth of the groove 510 and the overall configuration of the groove may be selected based on the characteristics of the diameter and length of the wire 515.

Additionally, a slip clutch may be included at each spool, i.e., each spool 401, 402, 403, and 404 is mounted to the lift shaft via a respective slip clutch, as described in the embodiments of fig. 12 and 13. As described above, this allows the lifting assembly 102 to level each corner of the clamping device 100 if the clamping device becomes unbalanced during lifting and/or lowering. All optional and preferred features and variations of the described embodiments and the dependent claims may be used in all aspects of the application as taught by the present application. Furthermore, the individual features of the dependent claims as well as all optional and preferred features and variants of the described embodiments may be combined with and substituted for each other.

Claims (39)

1. A container lift assembly for raising and/or lowering containers stacked in a stack in a grid storage structure, the lift assembly comprising:

a gripping device configured to releasably grip a container;

A raising and lowering mechanism configured to raise and lower the gripping device;

the raising and lowering mechanism includes:

a gear mechanism configured to wind and/or unwind at least one tether;

A motor configured to actuate the gear mechanism to wind and/or unwind the at least one tether;

Wherein the at least one tether is connected to the gripping device such that winding and unwinding of the at least one tether is configured to raise and lower the gripping device.

2. The container lift assembly of claim 1, wherein the gear mechanism comprises at least one spool from which the at least one tether extends prior to extending and connecting to the gripping device, the gear mechanism configured to wind or unwind the at least one tether around the at least one spool.

3. The container lift assembly of claim 1 or 2 wherein the raising and lowering mechanism comprises at least one pulley from which the at least one tether extends to the at least one pulley prior to extending and connecting to the gripping device.

4. A container lifting assembly according to claim 1,2 or 3, wherein the raising and lowering mechanism comprises at least a pair of tethers and a spool for each pair of tethers, the gear mechanism being configured to wind or unwind the at least pair of tethers around the spool.

5. The container lift assembly of claim 4 wherein each of the pair of tethers extends in opposite directions from the spool to a pulley prior to extending and connecting to the gripping device.

6. A container lifting assembly according to any one of the preceding claims wherein the gear mechanism comprises a spool for each tether.

7. A container lifting assembly according to any one of the preceding claims wherein the raising and lowering mechanism comprises a pulley for each tether.

8. A container lifting assembly according to any one of the preceding claims wherein the raising and lowering mechanism comprises four tethers, each tether extending from the gear mechanism to a corner of the gripping device.

9. A container lifting assembly according to any one of the preceding claims wherein the raising and lowering mechanism comprises:

A horizontally extending lift shaft and two spools, a first spool located at a first end of the lift shaft and a second spool located at a second end of the lift shaft, the second end opposite the first end;

two tethers at the first end of the lift shaft are configured to wind and unwind from the first spool, while two tethers at the second end of the lift shaft are configured to wind and unwind from the second spool.

10. The container lifting assembly of any one of claims 1 to 8, wherein the raising and lowering mechanism comprises:

A horizontally extending lift shaft and four spools, two spools located at the first end of the lift shaft and two spools located at the second end of the lift shaft, the second end opposite the first end;

Two tethers at the first end of the lift shaft, each tether configured to wind and unwind from a respective reel at the first end of the lift shaft, and two tethers at the second end of the lift shaft, each tether configured to wind and unwind from a respective reel at the second end of the lift shaft.

11. The container lifting assembly of claim 1 wherein the raising and lowering mechanism comprises:

a horizontally extending lift shaft, a first reel, a second reel, a third reel, and a fourth reel, wherein the first and second reels are located at or near a first end of the horizontally extending lift shaft and the third and fourth reels are located at or near a second end opposite the first end of the horizontally extending lift shaft; and

First, second, third and fourth tethers configured to wind and unwind from the first, second, third and fourth spools, respectively, wherein the first and second spools are configured to rotate in opposite directions from the third and fourth spools to wind and unwind the first, second, third and fourth tethers.

12. The container lift assembly of claim 11 wherein the first and second spools are on a first shaft and the third and fourth spools are on a second shaft, wherein the gear mechanism includes first and second pulleys on the first and second shafts, respectively, the first and second pulleys being driven in opposite directions via a timing belt.

13. The container lift assembly of claim 12 wherein the gear mechanism further comprises third and fourth pulleys disposed about either the first pulley or the second pulley to rotate the first and second pulleys in opposite directions via the timing belt.

14. The container lift assembly of claim 13 wherein any of the first, second, third, and fourth pulleys is directly driven by the motor.

15. The container lift assembly of claim 11 wherein the gear mechanism includes first and second worm gears on a shaft driven by the motor, wherein the worm gears are configured to rotate the first and second spools in a direction opposite the third and fourth spools.

16. The container lift assembly of claim 15 wherein the first and second spools are on a first shaft and the third and fourth spools are on a second shaft, wherein the gear mechanism further comprises first and second gears on the first and second shafts, respectively, the first and second gears being driven by the first and second worm gears, respectively.

17. The container lifting assembly of claim 1 wherein the raising and lowering mechanism comprises:

a horizontally extending lift shaft, a first reel, a second reel, a third reel, and a fourth reel, wherein the first and second reels are located at or near a first side adjacent a central axis of the horizontally extending lift shaft, and the third and fourth reels are located at or near a second side adjacent the central axis, wherein the first side is opposite the second side; and

First, second, third and fourth tethers configured to wind and unwind from the first, second, third and fourth spools, respectively, wherein the first and second spools are configured to rotate in opposite directions from the third and fourth spools to wind and unwind the first, second, third and fourth tethers.

18. The container lift assembly of claim 17 wherein the first and second spools are on a first shaft and the third and fourth spools are on a second shaft, the first and second shafts being parallel to the central axis.

19. The container lift assembly of claim 18 wherein the gear mechanism includes first and second gears on the first and second shafts, respectively, wherein the first and second gears are meshed such that the motor driving the first or second shaft rotates the other of the first or second shaft.

20. The container lift assembly of claim 19, wherein each tether is coupled to a respective pulley located at or near a respective corner of the lift assembly.

21. The container lift assembly of any one of claims 11 to 20 wherein the first, second, third and fourth tethers are configured such that the point at which each line is wound onto or unwound from a respective reel or pulley is located at or near a respective corner of the lift assembly.

22. The container lift assembly of claim 21 wherein each cord is connected to the gripping device at or near a respective corner of the gripping device.

23. The container lift assembly of any one of claims 2 to 22 wherein the at least one spool includes a slip clutch.

24. The container lift assembly of any one of claims 9 to 23 wherein the at least one spool is mounted to the lift shaft via a slip clutch.

25. The container lift assembly of any one of claims 22 or 24 wherein the slip clutch is an electromagnetic clutch.

26. The container lift assembly of any one of claims 2 to 25 wherein the at least one spool includes at least one groove along its periphery in which an electrically conductive tether is configured to be wound.

27. A container lifting assembly according to any one of the preceding claims, wherein the gear mechanism is provided on the gripping device such that the gripping device climbs towards the top of the lifting assembly when the gear mechanism winds the at least one tether.

28. A container lifting assembly according to any one of the preceding claims wherein the motor is provided on the gripping apparatus such that the gripping apparatus is a self-powered element.

29. A container lifting assembly according to any preceding claim wherein the gear mechanism comprises a planetary gear set.

30. A container lifting assembly according to any preceding claim wherein the gear mechanism comprises a worm gear.

31. The container lift assembly of claim 30, wherein the worm gear includes at least one groove along a periphery thereof, the at least one tether configured to wind or unwind in the at least one groove.

32. A container lifting assembly according to any one of the preceding claims wherein the at least one tether takes the form of a strap.

33. The container lift assembly of any of the preceding claims wherein the at least one root string comprises an electrically conductive material or element woven in the tether.

34. The container lift assembly of any of the preceding claims wherein the at least one root string comprises a braided polyester strap.

35. A load handling apparatus for lifting and moving containers stacked in a stack in a grid storage structure comprising a plurality of tracks arranged in a grid pattern over the stack of containers, the load handling apparatus comprising:

A body housing a drive mechanism operably arranged for moving the load handling apparatus over the grid;

A container lifting assembly as claimed in claims 1 to 34, configured to raise and lower the gripping device relative to the body and for raising and lowering containers stacked in a stack.

36. The load handling apparatus of claim 35, wherein the lift assembly is located within the body of the load handling apparatus.

37. A method of raising and/or lowering containers from a stack of containers, the method comprising the load handling apparatus of any one of claims 35 or 36, the method comprising the steps of:

actuating the gear mechanism to unwind the at least one tether and lower the gripping device relative to the body;

Actuating the gripping device to grip a container;

Actuating the gear mechanism to wind the tether and raise the gripping device relative to the body.

38. The method of claim 37, further comprising the step of raising the gripping device relative to the body and lifting the container into a cavity of the load handling device.

39. A system, the system comprising:

a load handling apparatus according to claim 35 or 36;

A storage structure for receiving containers stacked in a stack, the storage structure comprising a first set of tracks extending in a first direction and a second set of tracks extending in a second direction transverse to the first direction, the load handling apparatus being configured to move over the first and second sets of tracks,

A control facility configured to control the load handling apparatus to lift and/or lower containers from and/or into the stack under the grid.