A robotic load handling device (30, Fig 3) for lifting and moving storage container stacked in stacks in a grid framework structure comprising a track system (Fig 2) comprising a first and second sets of tracks arranged in a grid pattern. Device (30) comprises a wheel assembly comprising a first and second sets of wheels (34, 36 Fig 4) arranged to engage with the first or second sets of tracks, and a wheel positioning mechanism for selectively engaging wheels with respective tracks. Container lifting mechanism 251 comprising container gripper assembly that releasably grips container (10) and lifting drive assembly configured to raise/lower container gripping assembly. Lifting drive assembly comprises motor 252 to raise container-gripping assembly in a first rotational direction and lower container-gripping assembly in a second rotational direction. 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 first and second sets of spools carrying a lifting tether 38 having a first end anchored to container gripping assembly and a second end anchored to its respective spool. Drive pulley 253, connected for rotation with motor 252, and a plurality of timing pulleys 255, 261, 263, 265 connected for rotation with first and second set of spools 257, 262, 267, 268. Drive pulley 253 is positioned so single motor 252 is configured to rotate first and second set of spools to raise/lower the container-gripping assembly. The plurality of timing pulleys comprises first timing pulley 255 and second timing pulley 261, connected for rotation to drive pulley 253 by a single timing belt 254 forming a closed loop around timing pulleys and the drive pulley 253. Drive pulley 253 drives rotation of the first 255 and second 261 timing pulleys in the same rotational direction. First timing pulley 255 is disposed between drive pulley 253 and second timing pulley 261 and wherein lifting drive assembly further comprises a belt tensioner wheel 266a arranged between first timing pulley 255 and second timing pulley 261. Belt tensioning wheel 266a is arranged to urge the single timing belt 254 against first timing pulley 255 such that tension in a first section T1 of single timing belt 254 between first timing pulley 255 and 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 first timing pulley 255 and second timing pulley 261 when motor 252 rotates in a first rotational direction).


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    Title :

    Winch assembly of a load handling device


    Publication date :

    2022-06-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English



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