A robotic load handling device for lifting and moving storage container stacked in stacks in a grid framework structure comprising a track system comprising a first and second sets of tracks arranged in a grid pattern, the robotic load handling device comprising: a wheel assembly comprising a first and second sets of wheels arranged to engage with the first or second sets of tracks; a wheel positioning mechanism for selectively engaging either the first set of wheels with the first set of tracks or the second set of wheels with the second set of tracks; a container lifting mechanism 251 comprising a container gripper assembly configured to releasbly grip a container and a lifting drive assembly configured to raise and lower the container gripping assembly. The lifting drive assembly comprises a single motor 252 configured to raise the container-gripping assembly in a first rotational direction and lower the container-gripping assembly in a second rotational direction. The container-lifting mechanism 251 further comprises a first set of spools 257, 262 and a second set second of spools 267,268, each spool of the first and second sets of spools carrying a lifting tether 38 having a first end anchored to the container gripping assembly and a second end anchored to its respective spool; a drive pulley 253 connected for rotation with the single motor 252, a plurality of timing pulleys 255, 261, 263, 265 connected for rotation with the first and second set of spools 257, 262, 267, 268 and the drive pulley 253 such that the single motor 252 is configured to rotate the first and second set of spools to raise and lower the container-gripping assembly. The plurality of timing pulleys comprises a first timing pulley 255 and a second timing pulley 261, the first 255 and second 261 timing pulleys are connected for rotation to the drive pulley 253 by a single timing belt 254 forming a closed loop around the first 255 and second 261 timing pulleys and the drive pulley 253 such that the drive pulley 253 drives rotation of the first 255 and second 261 timing pulleys in the same rotational direction; and wherein the first timing pulley 255 is disposed between the drive pulley 253 and the second timing pulley 261 and wherein the lifting drive assembly further comprises a belt tensioner wheel 266a arranged between the first timing pulley 255 and the second timing pulley 261, the belt tensioning wheel 266a being arranged to urge the single timing belt 254 against the first timing pulley 255 such that the tension in a first section T1 of the single timing belt 254 between the first timing pulley 255 and the drive pulley 253, moving in a direction towards the drive pulley, in use, is greater than the tension in a second section t2 of the single timing belt 254 between the first timing pulley 255 and the second timing pulley 261 when the single motor 252 rotates in the first rotational direction.
WINCH ASSEMBLY OF A LOAD HANDLING DEVICE
2024-11-14
Patent
Electronic Resource
English
IPC: | B66D Haspeln , CAPSTANS / B65G TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS , Transport- oder Lagervorrichtungen, z.B. Förderer zum Laden oder Abladen / B66C Krane , CRANES / B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last / F16H Getriebe , GEARING |