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).