# US 12,006,150 B2 · Apparatus and method for charging a robotic load handling device

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- Number: US 12,006,150 B2
- Document ID: US12006150B2
- Status: Granted
- Kind: B2
- Application number: 17/053,937
- Filed: 2019-05-08
- Published: 2021-07-22
- Granted: 2024-06-11
- Earliest claimed: 2018-05-09
- Assignees: Ocado Innovation Limited
- Applicants: Ocado Innovation Limited
- Inventors: Alex Davidson; Robin Sim; James Benfold; Benjamin Thurnell
- Web page: https://patentgrep.com/patent/US12006150B2

## CPC

- B65G 1/065: {with self propelled cars}
- B60L 53/16: Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
- B60L 53/31: Charging columns specially adapted for electric vehicles
- B60L 53/35: Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B65G 1/0464: {with access from above}
- H02J 7/44: between battery management systems and power sources
- H02J 13/38: the equipment being power outlets
- B60L 2200/40: Working vehicles
- B60L 2200/44: Industrial trucks or floor conveyors
- B65G 2201/0235: Containers
- Y02T 10/70: Energy storage systems for electromobility, e.g. batteries
- Y02T 10/7072: Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
- Y02T 90/12: Electric charging stations
- Y02T 90/16: Information or communication technologies improving the operation of electric vehicles
- B65G: TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS (packaging B65B; handling thin or filamentary materials, e.g. paper sheets or thread, B65H; cranes B66C; portable mobile or lifting or hauling appliances, e.g. hoists, B66D; devices for lifting or lowering goods for loading or unloading purposes, e.g. fork-lift trucks, B66F9/00; emptying bottles, jars, casks, barrels or similar containers, not otherwise provided for, B67C9/00; delivering or transferring liquids B67D; filling or discharging vessels for liquefied, solidified or compressed gases F17C; pipe-line systems for fluids F17D)
- B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- H02J: ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION

## Abstract

The present disclosure aims to provide a charge unit for a robotic load handling device which reduces the wear/damage experienced by charge contacts of the charge unit and provides a solution whereby easier servicing of the charge unit can be accomplished. A charge unit for a robotic load handling device is operative on top of a grid framework. The charge unit includes a plurality of profiled sections arranged to interface with a hoist element of the robotic load handling device, and a power transfer device is arranged to transfer power to the robotic load handling device.

## Claims

### Claim 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.

### Claim 2 (depends on 1)

The charge unit according to claim 1, wherein the power transfer means includes contacts arranged and configured to transfer data to/from the robotic load handling device.

### Claim 3 (depends on 1)

The charge unit according to claim 1, wherein the power transfer means comprises:
a first spring such that the power transfer means is moveable vertically relative to the plurality of profiled sections.

### Claim 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.

### Claim 5 (depends on 4)

The method according to claim 4, comprising:
returning the charge unit to a position closer to the carriage after imparting power to the robotic load handling device.

### Claim 6

A charge station for charging a robotic load handling device operable on a grid framework structure, the charge station comprising:
A) a charge unit, the charge unit comprising:
i) a power transfer means arranged for transferring power to the robotic load handling device; and
ii) 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;
B) a carriage;
C) a charge head, said charge head including the charge unit is mounted to the carriage by way of a spring mechanism to allow vertical movement of the charge head relative to the carriage;
D) 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
E) 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.

### Claim 7 (depends on 6)

The charge station of claim 6, wherein the charge head comprises a housing including the charge unit and wherein the charge unit is moveable within the housing in a horizontal direction but is prevented from moving vertically, relative to the housing.

### Claim 8 (depends on 7)

The charge station of claim 7, wherein the housing 36 comprises a positioning means configured and arranged to allow the charge unit to move horizontally within the housing.

### Claim 9 (depends on 8)

The charge station of claim 8, wherein the positioning means further comprises:
a second spring configured and arranged such that the charge unit self-centers in the housing by moving horizontally relative to the housing following the exit of the robotic load handling device from the charge unit.

### Claim 10 (depends on 7)

The charge station of claim 7, wherein the housing further comprises:
a communication unit configured and arranged to communicate with a communication unit of the robotic load handling device.

### Claim 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.

### Claim 12 (depends on 11)

The system of claim 11, wherein the clamp attaches to two upright members.

### Claim 13 (depends on 11)

The system according to claim 11, comprising:
a plurality of housings, wherein the plurality of housings are supported on a single supporting structure.