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1. 发明申请

WO2023062076A1 GRIPPER ASSEMBLY FOR A ROBOTIC MANIPULATOR 审中-公开
公开(公告)号：WO2023062076A1
公开(公告)日：2023-04-20
申请号：PCT/EP2022/078399
申请日：2022-10-12
申请人： OCADO INNOVATION LIMITED
发明人： AZAD, Morteza , MATHEW, Michael , DEL SOL ACERO, Enrique
IPC分类号： B25J15/02
摘要： This disclosure relates to a gripper assembly (122) for a robotic manipulator (121). The gripper assembly (122) includes two finger assemblies (132,146) and a ball screw assembly comprising a first ball screw nut (136) connected to the first finger assembly (132) and a ball screw shaft (138) comprising a first section (140) upon which the first ball screw nut (136) is movably mounted. An actuator (154) is directly connected to the ball screw shaft (138) and configured to rotate the ball screw shaft (138) about its longitudinal axis to move the first finger assembly (132) in a direction of the second finger assembly (146) when the ball screw shaft (138) is rotated in one of a clockwise or anticlockwise direction and to move the first finger assembly (132) in a direction away from the second finger assembly (146) when the ball screw shaft (138) is rotated in the other of the clockwise or anticlockwise directions.

2. 发明申请

WO2023046688A1 A GRID FRAMEWORK STRUCTURE 审中-公开
公开(公告)号：WO2023046688A1
公开(公告)日：2023-03-30
申请号：PCT/EP2022/076109
申请日：2022-09-20
申请人： OCADO INNOVATION LIMITED
发明人： MCLARNEY, Nicholas , MEUTH, Benjamin , DURHAM, Richard
IPC分类号： B65G1/04
摘要： A grid framework structure (14) for supporting a load handling device (30) operative to move one or more containers, said grid framework structure comprising: a plurality of upright members (16) arranged to form a plurality of vertical locations for one or more containers to be guided by the upright members in a vertical direction, wherein the plurality of upright members (16) are interconnected to define nodes at their top ends by a plurality of grid members (18, 20) arranged in a grid pattern comprising a first set of grid members extending in a first direction and a second set of grid members extending in a second direction, the second set of grid members running transversely to the first set of grid members in a substantially horizontal plane to form a grid structure (14b) comprising a plurality of grid cells, the grid structure (14b) comprising a track system positioned on the plurality of grid members, the track system comprising a plurality of tracks arranged in the grid pattern, the plurality of upright members comprising a first upright member and a second upright member interconnected by at least one of the plurality of grid members extending between the first and second upright members, the first upright member being interconnected at its top end to the at least one of the plurality of grid members by a connection (130, 158) comprising a pivotable joint such that the at least one of the plurality of grid members is rotatable in the horizontal plane about a vertical axis extending through the pivotable joint upon movement of one of the first or second upright members relative to the other of the first or second upright members.

3. 发明申请

WO2023046684A1 A GRID FRAMEWORK STRUCTURE 审中-公开
公开(公告)号：WO2023046684A1
公开(公告)日：2023-03-30
申请号：PCT/EP2022/076104
申请日：2022-09-20
申请人： OCADO INNOVATION LIMITED
发明人： BANNISTER, Joshua James
IPC分类号： B65G1/04 , E01B11/02
摘要： An expansion joint for connecting regions of a grid structure comprising a plurality of tracks comprising a first set of parallel tracks extending in a first direction and a second set of parallel tracks extending in a second direction, the second set of parallel tracks running substantially transversely to the first set of tracks in a substantially horizontal plane such that the plurality of tracks are arranged in a grid pattern comprising a plurality of grid cells, each of the plurality of tracks having an upper surface profiled to provide two parallel track surfaces defining a double track for guiding two wheeled load handling devices, the expansion joint comprising: a first track element (206) and a second track element (208), each of the first and second track elements providing a portion of a track of the plurality of tracks, the first and second track elements being elongate, each of the first and second track elements having an interface portion (210a, 210b) that are arranged to slide relative to each other in a longitudinal direction to provide a double track comprising two parallel track surfaces (110a, 110b) extending from the first track element (206) to the second track element (208) suitable for guiding two wheeled load handling devices across the expansion joint, wherein the interface portion (210b) of the second track element (208) is arranged to be substantially a 180° rotation about a vertical axis of the interface portion (210a) of the first track element (206).

4. 发明申请

WO2022253778A1 A GRID FRAMEWORK STRUCTURE 审中-公开
公开(公告)号：WO2022253778A1
公开(公告)日：2022-12-08
申请号：PCT/EP2022/064657
申请日：2022-05-30
申请人： OCADO INNOVATION LIMITED
发明人： LINDBO, Lars Sverker Ture
IPC分类号： B65G1/04 , B65G1/137
摘要： A grid framework structure for supporting a load handling device operative to move one or more containers, said grid framework structure comprising: A) a track system (214) for a first and second type of robotic load handling device to move one or more storage containers, the first type of robotic load handling device having a different sized footprint to the second type of robotic load handling device, the track system comprising; i) a first portion (224) comprising a first set of parallel tracks extending in a first direction and a second and a third set of parallel tracks extending in a second direction, the second direction being substantially perpendicular to the first direction, the first, second and third sets of parallel tracks being arranged in a grid pattern to define a first set of grid cells (228), each grid cell of the first set of grid cells having a dimension extending in the first direction and a dimension extending in the second direction to define a first type grid cell opening (54b), ii) a second portion (226) comprising one or more grid cells of the first (228) and a second (230) set of grid cells, the second set of grid cells being defined by the first and second sets of parallel tracks, each grid cell of the second set of grid cells having a dimension extending in the first direction and a dimension extending in the second direction to define a second type grid cell opening 54c, B) a plurality of upright columns supporting the track system and arranged to form a plurality of vertical storage locations for one or more storage containers to be stacked between the upright columns, wherein in the first direction, the dimension of the second type grid cell opening (54c) is a multiple of the dimension of the first type grid cell opening (54b), and in the second direction, the dimension of the first type grid cell opening is substantially equal to the dimension of the second type grid cell opening; wherein one or more of the second set of grid cells (230) in the second portion is neighboured by at least two grid cells of the first type of grid cells (228) in the first direction and a single grid cell of the first type of grid cell (228) in the second direction.

5. 发明申请

WO2022248552A1 GLIDE BEARING ASSEMBLY 审中-公开
公开(公告)号：WO2022248552A1
公开(公告)日：2022-12-01
申请号：PCT/EP2022/064204
申请日：2022-05-25
申请人： OCADO INNOVATION LIMITED
发明人： MATSAGKOS, Alexandros , HÄLLJE, Arvid
IPC分类号： B65G1/04
摘要： The invention relates to a load-handling device for lifting and moving storage containers stacked in a storage structure. The load-handling device comprises a body mounted on a first set of wheels configured to engage with a first set of parallel tracks on the storage structure and a second set of wheels configured to engage with a second set of parallel tracks on the storage structure. The load-handling further comprises a direction-change assembly configured to raise or lower the first and second sets of wheels with respect to the body to engage one of the first or second set of wheels with the parallel tracks and disengage the other of the first or second set of wheels from the parallel tracks, and a glide bearing assembly comprising a bearing element comprising a sliding surface defining a contact line along which the direction-change assembly moves with respect to the body when raising or lowering the first and second sets of wheels.

6. 发明申请

WO2022229453A1 STORAGE SYSTEM AND STORAGE CONTAINER 审中-公开
公开(公告)号：WO2022229453A1
公开(公告)日：2022-11-03
申请号：PCT/EP2022/061612
申请日：2022-04-29
申请人： OCADO INNOVATION LIMITED
发明人： AUBUSSON, Alastair , MCLARNEY, Nicholas , PARKS, Ian , HOLT, David
IPC分类号： B65D6/04 , B65D6/30 , B65D21/02 , B65D65/42 , B65D65/46 , B65D77/04
摘要： A storage container (828) for storage of one or more items in a storage and retrieval system comprising a track system comprising a first and second set of horizontal parallel tracks forming a grid pattern comprising a plurality of grid spaces and stacks of storage containers located beneath the track system and wherein each stack occupies a single grid space. The storage container comprises a metallic container body (829) comprising a base portion (830) formed as a single unitary body and having a container bottom wall (814) and upwardly standing base sidewall and end wall parts (841) to define a tray, and a separate upper portion having upper sidewall and end wall parts (832, 836) upwardly extending from and connected to the respective base sidewall and end wall parts (841) to form a box-like structure with an open end for receiving the one or more items within the box-like structure.

7. 发明申请

WO2022175561A1 A FALL RESTRAINT APPARATUS FOR A GRID FRAMEWORK STRUCTURE 审中-公开
公开(公告)号：WO2022175561A1
公开(公告)日：2022-08-25
申请号：PCT/EP2022/054452
申请日：2022-02-22
申请人： OCADO INNOVATION LIMITED
发明人： SELIM, Andrew , GEAKE, Andrew , SHIELDS, Dean
IPC分类号： A62B35/00 , B65G1/04
摘要： A fall restraint apparatus (60) for moving on a grid structure comprising a first set of parallel tracks and a second set of parallel tracks running transversely to the first set in a substantially horizontal plane and arranged in a grid pattern comprising a plurality of grid cells, each grid cell having a length in the range 600-800mm and a width in the range 400-600mm so defining a grid opening defined by a pair of adjacent tracks of the first set of parallel tracks and a pair of adjacent tracks of the second set of parallel tracks; the fall restraint apparatus comprising: a frame (62) having an upper portion (64) and a lower portion (70), the upper portion being configured for restraining at least one operative, a moving assembly (72) mounted to the lower portion (70) of the frame (62), the moving assembly being configured for moving the frame on the grid structure; wherein the frame (62) has a weight less than 100kg such that at least a portion of the moving assembly (72) is able to be manually lifted clear of the grid structure by the at least one operative restrained to the upper portion (64) of the frame (62).

8. 发明申请

WO2022106602A1 A GROWING TRAY SYSTEM, METHOD AND FARMING SYSTEM 审中-公开
公开(公告)号：WO2022106602A1
公开(公告)日：2022-05-27
申请号：PCT/EP2021/082269
申请日：2021-11-19
申请人： OCADO INNOVATION LIMITED
发明人： LINDBO, Lars, Sverker, Ture
IPC分类号： A01G9/12 , A01G9/02
摘要： A farming system, method and a growing tray system for propagating, growing and harvesting a crop, the growing tray system (100) comprising: an espalier frame means (110) defining a growing volume, being mounted to a base (120) and configured to be movable with respect to the base between a substantially horizontal plane growing position and an open position.

9. 发明申请

WO2022096726A1 STORAGE SYSTEM AND STORAGE CONTAINER 审中-公开
公开(公告)号：WO2022096726A1
公开(公告)日：2022-05-12
申请号：PCT/EP2021/080978
申请日：2021-11-08
申请人： OCADO INNOVATION LIMITED
发明人： PARKS, Ian
IPC分类号： B65G1/04 , A62C3/00
摘要： A storage system comprises a plurality of grid members arranged in a grid pattern to form a grid structure comprising a plurality of grid cells. The storage system further comprises one or more stacks of storage containers and each stack is vertically located below a respective grid cell. Each storage container in the stack is made of a material comprising thermoplastic and a fire retardant agent. The storage system further comprises one or more load handling devices comprising a grabber device operative to move on the grid structure to releasably grab one or more of the storage containers from each stack in the storage system.

10. 发明申请

WO2022048973A1 A GRID FRAMEWORK STRUCTURE 审中-公开
公开(公告)号：WO2022048973A1
公开(公告)日：2022-03-10
申请号：PCT/EP2021/073546
申请日：2021-08-25
申请人： OCADO INNOVATION LIMITED
发明人： INGRAM-TEDD, Andrew , MILLWARD, Stephen
IPC分类号： B65G1/04
摘要： A grid framework structure (114) configured to support one or more load handling devices (30) thereupon, said grid framework structure (114) comprising: • i) a grid structure (115) comprising a plurality of grid cells, • ii) a load bearing framework (116), wherein the grid structure (115) is suspended from the load bearing framework (116) by three or more tension elements (119) connected to a respective number of suspension points (121) on the grid structure (115), each of the three or more tension elements (119) having a length configured to suspend the grid structure (115) in a substantially horizontal plane.

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