Automated storage systems, and devices

A load handling device for lifting and moving storage containers stacked in a grid framework structure, the grid framework structure including a first set of parallel rails or tracks and a second set of parallel rails or tracks extending substantially perpendicularly to the first set of rails or tracks in a substantially horizontal plane to form a grid having a grid pattern with a plurality of grid spaces, wherein the grid is supported by a set of uprights to form a plurality of vertical storage locations beneath the grid for containers to be stacked between and be guided by the uprights in a vertical direction through the plurality of grid spaces, wherein the load handling device comprises:

• a body mounted on a first set of wheels configured and arranged to engage with the first set of parallel tracks and a second set of wheels configured and arranged to engage with the second set of parallel tracks;
• a direction-change assembly configured and arranged to raise or lower the first set of wheels, and or lower or raise the second set of wheels with respect to the body to engage and disengage the wheels with the parallel tracks;
• wherein the direction-change assembly includes at least one linkage-set having a series of members arranged between a traveller and a fixed brace, wherein the traveller is configured and arranged to move under an applied force to cause the wheels to raise or lower, and
• wherein linkage-sets of the at least one linkage set are mechanically connected to move in unison between multiple configurations.