US 12,006,150 B2
Apparatus and method for charging a robotic load handling device
Alex Davidson, Hatfield Herts (GB); Robin Sim, Hatfield Herts (GB); James Benfold, Hatfield Herts (GB); and Benjamin Thurnell, Hatfield Herts (GB)
Assigned to OCADO INNOVATION LIMITED, Herts (GB)
Appl. No. 17/053,937
Filed by Ocado Innovation Limited, Hatfield (GB)
PCT Filed May 8, 2019, PCT No. PCT/EP2019/061808
§ 371(c)(1), (2) Date Nov. 9, 2020,
PCT Pub. No. WO2019/215221, PCT Pub. Date Nov. 14, 2019.
Claims priority of application No. 1807562 (GB), filed on May 9, 2018.
Prior Publication US 2021/0221611 A1, Jul. 22, 2021
Int. Cl. B65G 1/06 (2006.01); B60L 53/16 (2019.01); B65G 1/04 (2006.01); H02J 7/00 (2006.01); H02J 13/00 (2006.01)
CPC B65G 1/065 (2013.01) [B60L 53/16 (2019.02); B65G 1/0464 (2013.01); H02J 7/00036 (2020.01); H02J 13/0005 (2020.01); B65G 2201/0235 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A charge unit for a robotic load handling device that is configured to be operative on top of a grid framework, the charge unit comprising:
a power transfer means arranged for transferring power to the robotic load handling device; and
a plurality of profiled sections configured and arranged to interact with a hoist element of the robotic load handling device to effect a vertical and horizontal alignment of the charge unit towards a contacting position at which a charge pad on a top surface of the robotic load handling device contacts the power transfer means.
 
4. A method of charging a robotic load handling device using a system having a grid framework structure including a plurality of upright members that support a horizontal grid structure having a first set of parallel horizontal member arranged perpendicular to a second set of parallel horizontal members; and a charge station having i) a carriage; ii) a charge head, said charge head including a charge unit and is mounted to the carriage by way of a spring mechanism to allow vertical movement of the charge head relative to the carriage; iii) a main structure, said carriage and the charging head are mounted to the main structure and said main structure includes a clamp for attaching the main structure of the charge station to any edge of the grid framework structure; and iv) a pulley system for manipulating the carriage under manual or automated operation so as to move the carriage along a section of the main structure on a rail or guide, the charge unit including a power transfer means arranged for transferring power to the robotic load handling device; and a plurality of profiled sections configured and arranged to interface with a hoist element of the robotic load handling device to effect a vertical and horizontal alignment of the charge unit towards a contacting position at which a charge pad on a top surface of the robotic load handling device contacts the power transfer means, the robotic load handling device including a hoist element and is operative on top of a grid framework, the method comprising:
entering a grid cell below the charge unit;
aligning the charge unit on a top surface of the robotic load handling device by way of interfacing between the hoist element of the robotic load handling device and the plurality of profiled sections such that the charge unit is drawn towards a charge pad on the top surface of the robotic load handling device; and
imparting power to the robotic load handling device by way of the power transfer means.
 
11. A system comprising:
A) a grid framework structure including a plurality of upright members that support a horizontal grid structure having a first set of parallel horizontal member arranged perpendicular to a second set of parallel horizontal members;
B) a charge station for charging a robotic load handling device operable on a grid framework structure, the charge station comprising:
i) a charge unit, the charge unit comprising:
a) a power transfer means arranged for transferring power to the robotic load handling device; and
b) a plurality of profiled sections configured and arranged to interact with a hoist element of the robotic load handling device to effect a vertical and horizontal alignment of the charge unit towards a contacting position at which a charge pad on a top surface of the robotic load handling device contacts the power transfer means;
ii) a carriage;
iii) a charge head, said charge head including the charge unit mounted to the carriage by way of a spring mechanism to allow vertical movement of the charge head relative to the carriage;
iv) a main structure, said carriage and the charging head are mounted to the main structure and said main structure includes a clamp for attaching the main structure of the charge station to any edge of the grid framework structure; and
v) a pulley system for manipulating the carriage under manual or automated operation so as to move the carriage along a section of the main structure on a rail or guide,
wherein the main structure of the charge station is attached to the edge of the grid framework structure by a clamp.