Automated storage systems, and devices

A method of gripping a container with a gripper assembly of 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 parallel 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 each container includes one or more recesses around an edge of the container on one or more upper faces of the container;
• and
• the load handling device including:
• a body mounted on a first set of wheels being arranged to engage with the first set of parallel rails or tracks and a second set of wheels configured and arranged to engage with the second set of parallel rails or tracks;
• and
• a gripper assembly for latching to a storage container, wherein the gripper assembly includes a deformable flexure mechanism movable between a locked configuration in which it is not possible to remove the deformable flexure mechanism from a cooperating recess of the one or more recesses of the container, and a release configuration in which it is possible to remove the deformable flexure mechanism from the cooperating recess of the container, wherein the deformable flexure mechanism includes:
• an actuator;
• two or more gripper-arms having hook-ends;
• and
• a number of hinge arrangements, the number of hinge arrangements corresponding to the number of gripper arms, wherein each hinge arrangement is deformable and connects a corresponding gripper-arm to the actuator,
• wherein each hinge arrangement includes:
• a fulcrum;
• and
• first and second deformable flexure sections connected to respective ends of the fulcrum, the method comprising the steps of:
• (i) inserting the deformable flexure mechanism into the cooperating recess of a the container;
• (ii) applying a force to the actuator to move the deformable flexure mechanism into the locked configuration;
• (iii) applying a lifting force to the container by the gripper assembly, thereby causing the deformable flexure mechanism to engage with the container,
• wherein in the locked configuration the fulcrum is configured to cooperate with the gripper-arms to engage with the gripper-arms and/or the actuator to cause the deformable flexure mechanism to be open or wide to prevent removal of the deformable flexure mechanism from the cooperating recess of the container;
• and
• wherein in the release configuration, the first and second deformable flexure sections of the hinge arrangements are configured to be flexed to cause the deformable flexure mechanism to be closed or narrow to enable removal of the deformable flexure mechanism from the cooperating recess of the container.