Abstract: 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.

Abstract: A load handling device is disclosed for lifting and moving containers stacked in a storage system having a grid structure. The load handling device includes a container receiving space; a lifting mechanism arranged to lift a container; a vehicle body; a wheel assembly arranged to support the vehicle body, the wheel assembly having a first set of wheels and a second set of wheels; and a drive mechanism for selectively driving rotation of the first set of wheels and the second set of wheels. Each wheel includes a wheel positioning mechanism configured to rotate the wheel about a respective second axis of rotation to selectively lower or raise the first set of wheels or the second set of wheels to selectively engage or disengage the first set of wheels with a first set of grid members or the second set of wheels with a second set of grid members.

Abstract: A load handling device for lifting and moving one or more containers stacked in a storage system with a grid framework structure supporting a plurality of tracks arranged in a grid pattern, the load handling device comprising: A) a driving mechanism; and B) a vehicle body having a footprint that occupies a single grid cell in the storage system, the vehicle body housing including: i) a rechargeable power source; ii) a first space configured for accommodating a container and the rechargeable power source is housed in a second space; and iii) a lifting device to releasably grip a container and lift the container from the stack into the first space, wherein the rechargeable power source is arranged above the first space such that the centre of mass of the load handling device is in the second space.