US 11,939,157 B2
Robotic service device and handling method
Lars Sverker Ture Lindbo, Harpenden (GB); and Robert Rolf Stadie, Eversley (GB)
Assigned to OCADO INNOVATION LIMITED, Hartfield (GB)
Filed by OCADO INNOVATION LIMITED, Hatfield (GB)
Filed on Apr. 24, 2023, as Appl. No. 18/305,833.
Application 16/902,459 is a division of application No. 15/905,360, filed on Feb. 26, 2018, granted, now 10,829,302, issued on Nov. 10, 2020.
Application 18/305,833 is a continuation of application No. 17/073,788, filed on Oct. 19, 2020.
Application 17/073,788 is a continuation of application No. 15/127,308, granted, now 10,836,577, issued on Nov. 17, 2020, previously published as PCT/EP2015/055695, filed on Mar. 18, 2015.
Application 18/305,833 is a continuation in part of application No. 18/303,520, filed on Apr. 19, 2023, granted, now 11,858,738.
Application 18/303,520 is a continuation of application No. 17/078,689, filed on Oct. 23, 2020, granted, now 11,851,275.
Application 17/078,689 is a continuation of application No. 16/902,459, filed on Jun. 16, 2020, granted, now 10,913,602, issued on Feb. 9, 2021.
Application 15/905,360 is a continuation of application No. 14/910,858, granted, now 10,000,337, issued on Jun. 19, 2018, previously published as PCT/GB2014/052273, filed on Jul. 24, 2014.
Claims priority of application No. 1314313 (GB), filed on Aug. 9, 2013; and application No. 1404870 (GB), filed on Mar. 18, 2014.
Prior Publication US 2023/0257195 A1, Aug. 17, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. B65G 1/02 (2006.01); B25J 11/00 (2006.01); B65G 1/04 (2006.01); B65G 45/10 (2006.01); B66C 5/04 (2006.01); B66C 11/00 (2006.01); B66F 9/075 (2006.01)
CPC B65G 1/02 (2013.01) [B65G 1/0464 (2013.01); B65G 1/0478 (2013.01); B65G 1/0492 (2013.01); B65G 45/10 (2013.01); B66C 5/04 (2013.01); B66F 9/07504 (2013.01); B25J 11/0085 (2013.01); B65G 1/04 (2013.01); B66C 11/00 (2013.01)] 28 Claims
OG exemplary drawing
 
1. A grid frame for a storage system, the grid frame comprising:
a top level comprising:
a plurality of X-direction rails configured to engage a first pair of wheels and a second pair of wheels of a first load handling device to guide movement of the first load handling device in an X-direction along the top level, the plurality of X-direction rails comprising a first X-direction rail and a second X-direction rail, the first X-direction rail comprising a first part for travel on by the first pair of wheels and a second part for travel on by a pair of wheels of a second load handling device, the first part and the second part of the first X-direction rail each having a width that is at least a width of one of the first pair of wheels; and
a plurality of Y-direction rails perpendicular to the plurality of X-direction rails and configured to engage a third pair of wheels and a fourth pair of wheels the first load handling device to guide movement of the first load handling device in a Y-direction perpendicular to the X-direction along the top level, the plurality of Y-direction rails comprising a first Y-direction rail and a second Y-direction rail, the first Y-direction rail comprising a first part for travel on by the third pair of wheels and a second part for travel on by a pair of wheels of a third load handling device, the first part and the second part of the first Y-direction rail each having a width that is at least a width of one of the third pair of wheels; and
a three-dimensional storage structure configured to store stacks of containers beneath the top level,
wherein:
the first X-direction rail, the second X-direction rail, the first Y-direction rail, and the second Y-direction rail define an opening above one of the stacks of containers, the opening being on an opposite side of the first part of the first X-direction rail from the second part of the first X-direction rail and being on an opposite side of the first part of the first Y-direction rail from the second part of the first Y-direction rail,
the first X-direction rail has a first X-direction lip and a second X-direction lip that extend in the X-direction and protrude from the first X-direction rail on opposite sides of the first X-direction rail, and
the first Y-direction rail has a first Y-direction lip and a second Y-direction lip that extend in the Y-direction and protrude from the first Y-direction rail on opposite sides of the first Y-direction rail.