公开(公告)号：WO2021148612A1

公开(公告)日：2021-07-29

申请号：PCT/EP2021/051469

申请日：2021-01-22

Applicant: OCADO INNOVATION LIMITED

Inventor： HAVEL, Marek ,  HARMAN, Matthew ,  ELLAHI, Hamza ,  KHOSROSHAHLI, Negar

IPC: B65G1/04 ,  B65G1/0464 ,  B65G1/0478

Abstract: A load handling device (130) for lifting and moving one or more containers stacked in a storage system comprising a grid framework structure supporting a plurality of tracks arranged in a grid pattern to define a grid structure above the one or more stacks of containers, the grid pattern comprising a plurality of grid cells and each of the one or more stacks of containers being located within a footprint of only a single grid cell, the load handling device comprising: A) a driving mechanism operatively arranged for moving the load handling device on the grid structure, B) a vehicle body (132) having a footprint that, in use, occupies substantially only a single grid cell in the storage system, said vehicle body (132) housing: i) a rechargeable power source (143) for powering the driving mechanism; ii) a first space (152) and a second space (142b), the first space (152) being configured for accommodating a container and the rechargeable power source is housed in the second space (142b); iii) a lifting device comprising a lifting drive assembly and a grabber device configured, in use, to releasably grip a container and lift the container from the stack into the first space, wherein the rechargeable power source (143) is arranged above the first space (152) such that the centre of mass (322) of the load handling device (130) is in the second space (142b).

公开(公告)号：WO2021245162A1

公开(公告)日：2021-12-09

申请号：PCT/EP2021/064842

申请日：2021-06-02

Applicant: OCADO INNOVATION LIMITED

Inventor： SHARP, Nick ,  EBENEZER, David ,  KHOSROSHAHLI, Negar

IPC: B65G1/04 ,  B65G1/06 ,  B65G1/0464 ,  B65G1/0492 ,  B65G1/065

Abstract: A load-handling device (31) for lifting and moving containers (9) stacked in stacks (11) in a storage structure (1), the storage structure (1) including, above the stacks (11) of containers (9), a first set of tracks (17) extending in a first direction and a second set of tracks (19) extending in a second direction which is transverse to the first direction, the load-handling device (31) being configured to move on the tracks (17, 19) above the stacks (11), the load-handling device (31) comprising at least one wheel (35, 37) which is provided by a combined wheel and wheel-control unit (51) comprising the at least one wheel (35, 37) and a controller (53) configured to control rotation of the at least one wheel (35, 37).