A robotic load handling apparatus for lifting and moving storage containers stacked in a stack of a grid frame structure, the grid frame structure comprising a track system comprising a first set of tracks and a second set of tracks arranged in a grid pattern, the robotic load handling apparatus comprises: a wheel assembly comprising a first set of wheels and a second set of wheels, wherein the first set of wheels and the second set of wheels are arranged to engage with the first set of tracks or the second set of tracks; a wheel positioning mechanism for selectively engaging the first set of wheels with the first set of rails or the second set of wheels with the second set of rails; a container lift mechanism (251) includes a container gripping assembly configured to releasably grip a container and a lift drive assembly configured to raise and lower the container gripping assembly. The lift drive assembly includes 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 includes a first set of reels (257, 262) and a second set of reels (267, 268), each of the first and second sets of reels carrying a lifting tether (38) having a first end anchored to the container gripping assembly and a second end anchored to the respective reel; the drive pulley (253) is connected with a single motor (252) for rotation, and a plurality of timing pulleys (255, 261, 263, 265) are connected with the first and second sets of reels (257, 262, 267, 268) and the drive pulley (253) for rotation such that the single motor (252) is configured to rotate the first and second sets of reels to raise and lower the container gripping assembly. The plurality of timing pulleys includes a first timing pulley (255) and a second timing pulley (261) connected for rotation to the drive pulley (253) by a single timing belt (254) forming a closed cycle around the first (255) and second (261) timing pulleys and the drive pulley (253), the driving pulley (253) drives the rotation of the first timing pulley (255) and the second timing pulley (261) in the same rotational direction; and wherein the first timing pulley (255) is arranged between the drive pulley (253) and the second timing pulley (261), and wherein the lift drive assembly further comprises a belt tensioning wheel (266a) arranged between the first timing pulley (255) and the second timing pulley (261), the belt tensioning wheel (266a) being arranged to press the single timing belt (254) against the first timing pulley (255), and the belt tensioning wheel (266a) being arranged to press the single timing belt (254) against the second timing pulley (261). When the single motor (252) rotates in the first rotation direction, the single motor (252) rotates in the second rotation direction. In use, the tension in a first portion (T1) of the single timing belt (254) moving in a direction towards the drive pulley (253) and between the first timing pulley (255) and the drive pulley (253) is greater than the tension in a second portion (t2) of the single timing belt (254) between the first timing pulley (255) and the second timing pulley (261).

    一种用于提升和移动堆叠在网格框架结构的堆垛中的存储容器的机器人装载处理设备,网格框架结构包括轨道系统,轨道系统包括按网格图案布置的第一组轨道和第二组轨道,机器人装载处理设备包括:包括第一组轮子和第二组轮子的轮子组件,其中第一组轮子和第二组轮子被布置为与第一组轨道或第二组轨道接合;用于选择性地使第一组轮子与第一组轨道接合或者使第二组轮子与第二组轨道接合的轮子定位机构;容器升降机构(251),包括被配置为可释放地夹持容器的容器夹持组件以及被配置为抬高和降低容器夹持组件的升降驱动组件。升降驱动组件包括被配置为在第一旋转方向上抬高容器夹持组件以及在第二旋转方向上降低容器夹持组件的单个电机(252)。容器升降机构(251)进一步包括第一组卷轴(257、262)以及第二组卷轴(267、268),第一组和第二组卷轴中的每个卷轴承载升降系绳(38),升降系绳具有锚定至容器夹持组件的第一端以及锚定至各自卷轴的第二端;驱动滑轮(253)与单个电机(252)连接以用于旋转,复数个正时滑轮(255、261、263、265)与第一组和第二组卷轴(257、262、267、268)以及驱动滑轮(253)连接以用于旋转,使得单个电机(252)被配置为旋转第一组卷轴和第二组卷轴来抬高和降低容器夹持组件。复数个正时滑轮包括第一正时滑轮(255)以及第二正时滑轮(261),第一正时滑轮(255)和第二正时滑轮(261)通过单个正时皮带(254)连接至驱动滑轮(253)以用于旋转,单个正时皮带围绕第一(255)和第二(261)正时滑轮以及驱动滑轮253形成闭循环,使得驱动滑轮(253)在相同的旋转方向上驱动第一正时滑轮(255)和第二正时滑轮(261)的旋转;以及其中,第一正时滑轮(255)被布置在驱动滑轮(253)与第二正时滑轮(261)之间,并且其中,升降驱动组件进一步包括被布置在第一正时滑轮(255)与第二正时滑轮(261)之间的皮带张紧轮子(266a),皮带张紧轮子(266a)被布置成将单个正时皮带(254)压向第一正时滑轮(255),以便在单个电机(252)在第一旋转方向上旋转时,使用时在朝着驱动滑轮的方向上移动且在第一正时滑轮(255)与驱动滑轮(253)之间的单个正时皮带(254)的第一部分(T1)中的张力要大于在第一正时滑轮(255)与第二正时滑轮(261)之间的单个正时皮带(254)的第二部分(t2)中的张力。


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    Title :

    Winch assembly of load handling apparatus


    Additional title:

    装载处理设备的绞盘组件


    Contributors:

    Publication date :

    2024-12-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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



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