Gripping device
A gripping device for being suspended from a load handling device for lifting and moving containers stacked in stacks in a grid storage structure including a plurality of tracks arranged in a grid pattern above the stacks of containers. The gripping device includes a frame; a gripping mechanism mounted on the frame configured to releasably grip a container from below the frame; a fixing device mounted on the frame configured to fix a free end of a reeled cable; and a cable tensioner configured to put the cable under tension in use. The cable tensioner includes a track; a carriage slidably mounted on the track; and a biasing device configured to bias the carriage.
1 . A gripping device for being suspended from a load handling device for lifting and moving containers stacked in stacks in a grid storage structure having a plurality of tracks arranged in a grid pattern above the stacks of containers, the gripping device comprising:
a frame;
a gripping mechanism mounted on the frame configured to releasably grip a container from below the frame;
a fixing device mounted on the frame configured to fix a free end of a reeled cable; and
a cable tensioner configured to put the cable under tension when in use, the cable tensioner including:
a track mounted on the frame;
a carriage slidably mounted on the track and configured to engage the cable in use; and
a biasing device configured to bias the carriage towards one end of the track in a direction away from the fixing device so as to put the cable under tension when the carriage is engaged with the cable in use.
2 . The gripping device of claim 1 , wherein the biasing device comprises:
a spring.
3 . The gripping device of claim 2 , wherein the spring is a tension spring or a compression spring.
4 . The gripping device of claim 2 , wherein one end of the spring is coupled to the carriage and another end of the spring is fixed relative to the frame.
5 . The gripping device of claim 1 , wherein the cable tensioner comprises:
a roller mounted on the carriage configured to engage with the cable when in use.
6 . The gripping device of claim 1 , wherein the carriage is configured to be movable along the track to a stop position under the bias of the biasing device, and the cable tensioner includes a detector configured to detect when the carriage is at the stop position.
7 . The gripping device of claim 6 , wherein the gripping device comprises:
a processor configured to control operation of the gripping device, and the detector is configured to send a signal to the processor when the detector has detected that the carriage is at the stop position.
8 . The gripping device of claim 7 , wherein the processor is configured to stop operation of the gripping device in response to the signal from the detector.
9 . The gripping device of claim 6 , wherein the detector comprises:
a micro switch.
10 . The gripping device of claim 1 , wherein the fixing device is a clamp.
11 . The gripping device of claim 1 , wherein the cable tensioner is at least partially housed by a portion of the frame, and the frame defines an aperture for receiving the cable into said portion of the frame.
12 . The gripping device of claim 11 , wherein the cable tensioner comprises:
a cover rigidly mounted to the carriage and configured to cover the aperture in the frame for a full range of travel of the carriage along the track, the cover defining a smaller aperture in communication with the aperture in the frame for receiving the cable.
13 . A load handling device for lifting and moving containers stacked in stacks in a grid storage structure having a plurality of tracks arranged in a grid pattern above the stacks of containers, the load handling device comprising:
a body;
a driving mechanism operatively arranged for moving the body on the tracks of the grid storage structure;
the gripping device according to claim 1 for releasably gripping a container in a stack in the grid storage structure; and
a lifting mechanism configured to raise and lower the gripping device relative to the body.
14 . The load handling device of claim 13 , comprising:
the cable having a first end arranged on a reel located on or in the body of the load handling device, and a second end fixed by the fixing device to the frame of the gripping device, wherein the cable is engaged with the cable tensioner between the first and second ends.
15 . The load handling device of claim 14 , wherein the cable changes direction at the cable tensioner.
16 . The load handling device of claim 15 , wherein the cable extends substantially vertically between the reel and the cable tensioner, and extends substantially horizontally between the cable tensioner and the fixing device.
17 . The load handling device of claim 14 , wherein the cable is configured to transfer power from the body of the load handling device to the gripping device and/or transfer data between the body of the load handling device and the gripping device.
18 . The load handling device of claim 14 , wherein the cable is a flexible flat cable.