Patent Application
20240317493
The present invention relates to the field of remotely operated load handling devices on tracks located on a grid framework structure for handling storage containers or bins stacked in the grid framework structure, more specifically to a grid framework structure for supporting the remotely operated load handling devices.
Storage and retrieval systems 1 comprising a three-dimensional storage grid structure, within which storage containers/bins are stacked on top of each other, are well known. PCT Publication No. WO2015/185628A (Ocado) describes a known storage and fulfilment system in which stacks of bins or containers are arranged within a grid framework structure. The bins or containers are accessed by load handling devices remotely operative on tracks located on the top of the grid framework structure. A system of this type is illustrated schematically in
As shown in
The grid framework structure 14 comprises a plurality of upright members or upright columns 16 that support horizontal members 18, 20. A first set of parallel horizontal grid members 18 is arranged perpendicularly to a second set of parallel horizontal grid members 20 and arranged in a grid pattern to form a grid structure comprising a plurality of grid cells or grid spaces supported by the upright members 16. The members 16, 18, 20 are typically manufactured from metal and typically welded or bolted together or a combination of both. The bins 10 are stacked between the members 16, 18, 20 of the grid framework structure 14, so that the grid framework structure 14 guards against horizontal movement of the stacks 12 of bins 10, and guides vertical movement of the bins 10.
The top level of the grid framework structure 14 includes rails 22 arranged in a grid pattern across the top of the stacks 12. Referring additionally to
A known load handling device 30 shown in
The load handling device 30 is equipped with a lifting device or crane mechanism to lift a storage container from above. The crane mechanism comprises a winch tether or cable 38 wound on a spool or reel (not shown) and a grabber device 39. The lifting device comprises a set of lifting tethers 38 extending in a vertical direction and connected nearby or at the four corners of a lifting frame 39, otherwise known as a grabber device (one tether near each of the four corners of the grabber device) for releasable connection to a storage container 10. The grabber device 39 is configured to releasably grip the top of a storage container 10 to lift it from a stack of containers in a storage system of the type shown in
The wheels 34, 36 are arranged around the periphery of a cavity or recess, known as a container-receiving space 40, in the lower part. The recess is sized to accommodate the container 10 when it is lifted by the crane mechanism, as shown in
However, the grid framework structure is subjected to various external and internal forces. These include but are not limited to ground movement which can be attributed to the composition of the ground or soil type, forces developed by the movement of the load handling devices (which can weigh in excess of 100 kg) on the grid framework structure, movement as a result of nearby constructions, moving vehicles such as trains, or even movement during an earthquake or storm. It is paramount to keep the individual elements within the grid framework structure intact during movement as a result of such external forces experienced by the grid framework.
To ensure stability of the grid framework structure, prior art storage systems are largely dependent on various supports and bracing arranged within or at least partly along the periphery of the grid. However, the use of various supports and bracing (anti-movement braces) to stabilise the grid framework structure from internal and external forces is disadvantageous for a number of reasons. The supports and bracing occupy space or area which could be utilised by the grid to store containers: in that it prevents optimum usage of available space or area for the storage of containers. The need of a supporting structure may limit the available options for positioning of the grid framework structure since any auxiliary grid supporting structure often requires connection to a surrounding structure such as the inner walls of a building, and the requirement of a supporting structure that is not cost efficient.
WO2019/101367 (Autostore Technology AS) teaches a grid supporting structure for integration in a storage grid structure of an automated storage system. The grid supporting structure is made up of four storage columns interconnected by multiple vertically inclined support struts. The storage column profiles have a cross-section comprising a hollow centre section and four corner sections, each corner section comprising two perpendicular bin guiding plates for accommodating a corner of a storage bin. The support struts have a width which allows them to fit in between two parallel guiding plates so as to not compromise the ability of the storage columns to accommodate a stack of containers or storage bins.
An alternative grid framework structure is thus required that minimises the impact on the available space or area for the storage of containers, so as to provide a free-standing storage grid, or at least require a less extensive auxiliary grid support structure.
Much of the world's population is located along seismic fault lines or in the paths of powerful storms such as hurricanes and tornadoes. Locating the grid frame structure in such areas carries a risk of structural damage from seismic and storm events, as the current grid framework structure may not hold the grid structure together. Powerful seismic and storm events may result in the failure of the structural integrity of the grid framework structure, e.g, as a result in the inability of the structural fasteners to keep the grid firmly attached to the upright members. Earthquakes can be divided into four categorises labelled as Type A. B. C. or D depending on the severity of the earthquake, whereby Type A is considered the least powerful earthquake and Type D is considered the most powerful earthquake. Types A-D can be graded by their spectral acceleration which is the maximum acceleration measured in g that an object, above ground level, will experience during an earthquake. Type D is considered to represent the most powerful seismic event and typically has a measured spectral acceleration in the region 0.5 g to 1.83 g (short period spectral response acceleration SDS, see https://www.fegstructural.com/seismic-design-category-101/) and results in most failure of buildings. As powerful seismic events act on a structure, the three dimensional dynamic forces compromise the structural fasteners holding the grid framework structure together, causing them to work their way loose or out of the members in which they are embedded or, if they remain in place, they may tear their way through a structural fastener.
Many jurisdictions, such as the US states, have passed laws mandating that all new buildings, residential or commercial, be constructed with certain seismic bracing features incorporated therein. A grid framework structure comprising internal bracing features incorporated within the grid framework structure, whereby one or more of the upright members are braced together by one or more bracing members or bracing towers, is shown in
An earthquake restraint grid framework structure is thus required that is able to withstand powerful seismic events.
Whilst the current grid framework structure is able to withstand relatively small levels of ground movement usually less than 0.33 g spectral acceleration (short period spectral response acceleration SDS, see https://www.fegstructural.com/seismic-design-category-101/), this cannot be said for ground movement in excess of 0.33 g that is usually representative of Type C and Type D seismic events. The joints linking the grid members and the upright columns, which are largely bolted together would tend to loosen and in an extreme case separate, affecting the structure of the grid framework structure. Even though one or more braced towers can be incorporated amongst the upright members to improve the stability of the grid framework structure, this may not be enough to maintain the stability of the grid framework structure in an event of a Type C or Type D seismic event. The present invention has mitigated the above problem by incorporating a plurality of discrete structural support members internally within the grid framework structure that are able to resist forces as a result of movement of the grid framework structure better than the bracing members connecting the upright members together. More specifically, the present invention provides a grid framework system comprising:
For the avoidance of doubt, the term supporting “framework structure” refers to a three-dimensional structure comprising the upright members arranged to form storage columns, the term “grid structure” refers to a two-dimensional structure comprising the first and second sets of grid members and extending substantially horizontally, and the term “grid framework structure” refers to a three-dimensional structure comprising the framework structure, the grid structure, and the solid walled panels.
Optionally, the plurality of upright members being interconnected at their upper ends by the plurality of grid members where the first and second sets of grid members intersect in the grid structure such that each of the plurality of vertical storage columns are located below a respective grid opening.
Each of the grid members can be formed as a track support to which is mounted a track for guiding the movement of the robotic load handling device on the grid structure. Thus, the grid structure can be defined as a first set of parallel track supports extending in a first direction and a second set of parallel tracks extending in a second direction, the second direction being substantially perpendicular to the first direction such that the first and second sets of parallel track supports are arranged in a grid pattern comprising a plurality of grid cells or grid spaces. The track support making up the grid structure in transverse cross section can be a solid support of C-shaped or U-shaped or I-shaped cross section, or even a double-C or double-U shaped support. Alternatively, the tracks can form part the grid members in the sense that the tracks are integrated into the grid members. The grid structure is supported on a supporting framework structure comprising a plurality of vertical uprights forming multiple storage columns. For the purpose of explanation of the present invention, the supporting framework structure represents the load bearing structure supporting the grid structure comprising the plurality of grid members. To improve the structural integrity of the framework structure, one or more sub-groups of the plurality of the upright members are braced together by one or more bracing members to form one or more bracing towers. A sub-group can include two or more upright members.
In contrast to bracing a sub-group of upright members to form one or more bracing towers internally within the grid framework structure, in which the braces are susceptible to working their way loose in a seismic event, the present applicant has realised that structurally supporting the grid framework structure by distributing a plurality of solid walled panels internally within the grid framework structure greatly improves the structural integrity of the grid framework structure. The plurality of solid walled panels act as discrete solid walled panels within the supporting framework structure, or are individually separated from the plurality of upright members within the supporting framework structure. It is believed that the solid walled panels provide better torsional resistance in comparison to bracing a sub-group of the upright members together by one or more diagonal bracing members at various points along the upright members. Ground movement as a result of a seismic event or other event generates both lateral and twisting forces, which are transmitted to the grid framework structure anchored to the ground or the substructure. Such forces are better absorbed by the solid walled panels as the applied forces are distributed throughout the face of the solid walled panels as opposed to along various points along the upright members provided by the bracing members, which are susceptible to being loosened. Each of the plurality of solid walled panels is anchored to a substructure and supported to the grid structure such that during ground movement as a result of a seismic event or other event (e.g, as a result of nearby constructions or moving vehicles such as trains), the torsional rigidity of the solid walled panels anchored to the ground and supporting the grid structure helps to reduce or mitigate excessive movement of the surrounding grid framework structure. In other words, the plurality of solid walled panels helps to stiffen the grid framework structure from excessive movement as a result of ground movement. Various fasteners, e.g. bolts, can be used to anchor each of the plurality of solid walled panels to the substructure. The substructure is separate to the grid framework structure and the grid framework structure rests on the substructure. For avoidance of doubt, the grid framework structure and the substructure are collectively termed a grid framework system and the grid framework structure forms part of the grid framework system. The substructure can, optionally, be considered as part of the grid framework structure and is the area where the grid framework structure is mounted to the ground. In this instance, the grid framework system can be the grid framework structure. The substructure transfers the load from the grid framework structure to the substructure and isolates it horizontally from the ground. The substructure includes the foundations and is typically composed of concrete. However, the ground is sufficiently stale, the substructure can include the ground itself such that the first end of the solid walled panel is anchored to the substructure and a second end is secured to the grid structure. Optionally, the plurality of solid walled panels can be anchored directly to the substructure and/or the ground.
The plurality of solid walled panels are spaced apart within the supporting framework structure. Preferably, the plurality of solid walled panels are spatially distributed within the framework structure such that two or more of the plurality of solid walled panels are separated by one or more of the plurality of upright members. Thus, the plurality of solid walled panels are integrated into the framework of the supporting framework structure in the sense that the plurality of solid walled panels forms part of the supporting framework structure. Optionally, the plurality of solid walled panels can be integrated amongst a plurality of braced towers where a sub-group of the upright members are braced together. More preferably, the plurality of solid walled panels comprises a first set of solid walled panels and a second set of solid walled panels, the first set of solid walled panels extending in the first direction (i.e. extending horizontally along the first direction) and the second set of solid walled panels extending in the second direction (i.e. horizontally along the second direction). Optionally, the first set of solid walled panels are spatially distributed along the first direction and the second set of solid walled panels are spatially distributed along the second direction. The first and second sets of solid walled panels spatially distributed in the first and second direction provides lateral support in both direction internally within the supporting framework structure. Optionally, one or more of the plurality of solid walled panels are spatially distributed within the framework structure such that adjacent solid walled panels are spaced apart or separated by one or more grid cells.
Optionally, one or more of the plurality of solid walled panels are secured to a pair of the plurality of upright members. In addition to securing one or more of the plurality of solid walled panels to the grid structure, the plurality of solid walled panels can further offer support to the grid framework structure by securing one or more of the solid walled panels to the plurality of upright members, more specifically one or more of the plurality of solid walled panels can be secured to a pair of the plurality of upright members. Thus, movement of the upright members as a result of ground movement is transferred to the solid walled panels which are able to absorb such movement due to the structural integrity of the solid walled panels in comparison to the upright members.
Optionally, the grid framework structure is a self-supporting rectilinear assemblage of the plurality of upright members having a first dimension extending in the first direction and a second dimension extending in the second direction, and wherein the first set of solid walled panels are spatially distributed along the first direction such that the first set of solid walled panels partially extends along the first dimension and the second set of solid walled panels are spatially distributed along the second direction such that the second set of solid walled panels partially extends along the second dimension. The spatial distribution of the plurality of solid walled panels in the first and second directions are such that the first set of solid walled panels partially extend along a first dimension of the grid framework structure and the second set of solid walled panels partially extend along a second dimension of the grid framework structure.
Preferably, each of the plurality of solid walled panels is secured to the grid structure at one or more nodes where the first and the second set of grid members intersect or meet in the grid structure. For the purpose of definition of the terms used in the description, the term “nodes” represents the areas of the grid structure where the first and second set of grid members intersect in the grid pattern. i.e. at the corners of each of the grid cells. Depending on the width of one or more of the plurality of solid walled panels, one or more of the plurality of solid walled panels may be supported to the grid structure at one or more nodes of the grid structure. Optionally, the width of one or more of the plurality of solid walled panels can extend across a plurality of the grid cells. The width of the plurality of solid walled panels distributed internally within the supporting framework structure can be uniform or vary internally throughout the supporting framework structure. Thus, one or more of the plurality of solid walled panels can extend horizontally along the first and/or the second direction across different numbers of grid cells. Optionally, the width of the one or more of the plurality of solid walled panels extends across a plurality of the grid cells in the ratio 1:X, where X is in the range 1 to 5. For example, the width of a solid walled panel can extend horizontally along the first and/or the second direction across one grid cell up to any number of grid cells. e.g. five grid cells, but allowing the solid walled panels to be spatially distributed in either the first or the second direction along the grid framework structure. During ground movement such as in a seismic event, different forces are applied to the grid framework structure. These include but are not limited to the shear forces on the fixtures anchoring the supporting framework structure to the substructure, and the uplift forces, which are the uplift pressure experienced by the anchors during ground movement. As applied forces largely in the horizontal direction are transferred to the substructure via one or more of the plurality of solid walled panels, there is the tendency that such applied forces could de-couple one or more solid walled panels from the substructure. It is speculated that applied forces in the horizontal direction impart a moment of force to the solid walled panels that may cause an uplift force to be applied to one end of the solid walled panels anchored to the substructure. Thus, the resistance of the one or more of the plurality of solid walled panels within the supporting framework structure to such uplift forces is very much dependent on the degree by which the solid walled panels are anchored to the substructure. This in turn is very much dependent on the depth of the fixture used to anchor the solid walled panels to the substructure, where the greater the depth of the fixture, the greater the anchorage and vice-versa. However, it is found that the width of the one or more of the plurality of solid walled panels extending in the first or second direction is inversely proportional to the depth of the anchorage of the one or more of the plurality of solid walled panels to the substructure. For example, doubling the width of the solid walled panel reduces the uplift forces either end of the solid walled panel by a half and so on, which in turn reduces the depth by which the solid walled panels would need to be anchored to the substructure. As a result, the resiliency of the grid framework structure can be tuned to the depth of the substructure which is in turn is dependent on the depth of the foundation or the soil type of the ground. Where the depth of the substructure is shallow, a greater width or longer solid walled panels would need to be incorporated within the supporting framework structure to stabilise the grid framework structure so as to reduce the uplift forces applied to the solid walled panels and vice-versa. A similar effect of reducing the uplift forces as a result of applied forces along the first or second direction can be achieved by providing a series of discrete solid walled panels extending along the first or second direction. Optionally, structural support can be provided to the grid framework structure by one or more of the plurality of solid walled panels having a width extending across a number of grid cells or a number of discrete smaller width solid walled panels that are spaced apart to extend across the same number of grid cells. As a result, one or more of the plurality of solid walled panels supports the grid structure at multiple nodes, each node representing an area where the first and second sets of grid members intersect. To enable the width of the solid walled panels to extend across multiple grid cells, optionally one or more of the plurality of solid walled panels comprises a plurality of solid wall segments joined together. Not only does that each of the plurality of solid walled panels secured to the grid structure at one or more nodes provides lateral stability of the supporting framework structure but also provides load bearing capability for supporting the grid structure mounted to the plurality of solid walled panels.
To secure the supporting framework structure to the grid structure at each of the nodes, preferably, each of the plurality of upright members is secured to the grid structure by a first type cap plate and each of the plurality of the solid walled panels is secured to the grid structure by a second type cap plate, the first and the second type cap plates each having a cross shape having four perpendicular end portions, each of the four perpendicular end portions being configured for connecting with at least one of the plurality of grid members extending in the first and the second direction. The cap plate enables the first and second sets of grid members to be secured in a grid like pattern to the supporting framework structure. To accommodate both the plurality of solid wall panels and the upright members in the supporting framework structure, a first type cap plate can be used to secure the plurality of upright members to the grid structure and a second type cap plate can be used to secure the plurality of solid walled panels to the grid structure. Optionally, each of the plurality of the solid walled panels is secured to its respective second type cap plate by a bracket. For example, the bracket is L-shaped having downwardly extending bracket members 264 that are spaced apart corresponding to the thickness of the solid walled panel 200 for receiving the uppermost portion of the solid walled panel. One way to secure each of the plurality of solid walled panels to its respective second type cap plate is that each of the plurality of the solid walled panels is secured to its respective second type cap plate by a second type upright member having securing members either side of the solid walled panel, the securing members either side of the solid walled panel at least partially extending vertically along the solid walled panel between the substructure and the grid structure such that the upper ends of the securing members either side of the solid walled panel are secured to the second type cap plate. For example, the second type upright member functions as a clamp such that the securing members either of the solid walled panel function clamping members.
The structural integrity of the grid framework system can be tailored to meet the requirements of the environment in which the grid framework structure is located. For example, the inner core of the solid walled panels may comprise an internal frame comprising upwardly extending members connected together at the top and bottom of the upwardly extending members by horizontal structural or frame members extending between the upwardly extending members. Optionally, each of the horizontal structural or frame members connecting the upwardly extending members at the top and bottom is a U-shaped channel. For Type C or even Type D seismic events, the choice of materials of one or more of the plurality of solid walled panels can be tailored to meet the requirements of the grid framework structure. For example, one or more of the plurality of solid walled panels may be a laminated panel having an inner core sandwiched between outer sheet metal plates. Optionally, the inner core can be a composite comprising mineral fibres embedded within a resin matrix. In comparison to solid metal plates, which are heavy and costly, composite structures are load bearing, lightweight, and offer superior structural strength.
In addition to providing structural support to the grid framework structure, optionally, one or more of the plurality of solid walled panels are arranged in the supporting framework structure so as to create one or more zones within the supporting framework structure. Optionally, the one or more zones comprises a refrigerated zone comprising one or more refrigerated chillers.
Optionally, one or more of the plurality of solid walled panels may be a fire break comprising a fire resistant material for restraining the spread of fire within the supporting framework structure. One or more of the plurality of solid walled panels can be composed of a fire resistant material, e.g. mineral wool, vermiculite, etc., to prevent the spread of fire to a neighbouring storage column.
The present invention further provides a storage and retrieval system comprising:
Further features and aspects of the present invention will be apparent from the following detailed description of an illustrative embodiment made with reference to the drawings, in which:
It is against the known features of the storage system such as the grid framework structure and the load handling device described above with reference to
Each of the grid members of the present invention can comprise a track support 118, 120 and/or a track or rail 22a. 22b whereby the track or rail 22a. 22b is mounted to the track support 118, 120. A load handling device is operative to move along the track or rail 22a. 22b of the present invention. Alternatively, the track 22a. 22b can be integrated into the track support 118, 120 as a single body. e.g. by extrusion. In the particular embodiment of the present invention, the grid member comprises a track support 118, 120 and/or a track 22a. 22b whereby the track or rail 22a. 22b is mounted to the track support 118, 120. At least one grid member in a set, e.g, a single grid member, can be sub-divided or sectioned into discrete grid elements that can be joined or linked together to form a grid member 118, 120 extending in the first direction or in the second direction. Where the grid members comprises a track support, the track support can also be sub-divided into discrete track support elements in both the first and second directions that are linked together to form the track support. The discrete track support elements making up a track support extending in the first axial direction and in the second axial direction.
A connection plate or cap plate 58 as shown in
To complete the grid structure 40 once the track support elements are interlocked together to form a grid pattern comprising track supports 118 extending in the first direction and track supports 120 extending in the second direction, a track system 22a, 22b is mounted to the track support elements 56. The track system 22a, 22b is either snap-fitted and/or fitted over the track support 18, 20 in a slide fit arrangement. Like the track support of the present invention, the track system comprises a first set of tracks 22a extending in the first direction and a second set of tracks 22b extending in the second direction, the first direction being perpendicular to the second direction. Equally plausible in the present invention is that the track system 22a. 22b can be integrated into the track supports 18, 20 rather than being separate components. The first set of tracks 22a can be sub-divided into multiple track elements 68 in the first direction such that when assembled adjacent parallel track elements in the first direction are offset by at least once grid cell. Similarly, a second set of tracks 22b can be sub-divided into multiple track elements 68 in the second direction such that when assembled adjacent track elements in the second direction are offset by at least one grid cell. An example of a single track element 68 is shown in
The grid structure 40 is raised above ground level by being mounted to the plurality of upright members 116 at the intersections or nodes 56 where the grid members 118, 120 cross so as to form a plurality of vertical storage locations 58 for containers to be stacked between the upright members 116 and be guided by the upright members 116 in a vertical direction through the plurality of substantially rectangular frames 54. For the purpose of the present invention, a stack of containers can encompass a plurality of containers or one or more containers. The grid framework structure 114 can be considered as a rectilinear assemblage of upright columns 116 supporting the grid structure 40 formed from intersecting horizontal grid members 118, 120, i.e. a four wall shaped framework. Each of the upright members 116 is generally tubular. In transverse cross-section in the horizontal plane of the storage location 58 in
At least a portion of the plurality of the upright columns 116 are held in space relation with each other in the grid framework structure by one or more spacers or struts 74 connected between adjacent upright columns 116 (see
The spacers 74 are sized to fit between the corner sections comprising the guides 72 of the upright column 116 so as to allow the upright columns to accommodate a stack of containers between the adjacent upright columns 116, i.e. the spacers do not impede or cross the area (or vertical storage location) occupied by the guides 72 or guiding plates at the corners of the upright column (see
It is essential that the level of the grid in the horizontal plane is substantially flat for the load handling devices, which are largely remotely operated, to travel on the grid structure and to prevent any of the tracks or rails being put under strain due to a variation in the height of one or more of the upright members 116 in the grid framework structure. To mitigate the possible height variation of one or more of the upright columns 116 in the grid framework structure, the height of the grid, and thus its level, is adjusted by an adjustable foot 90 at a lower end (first end) of one or more of the upright columns 90 (see
The adjustable foot 90 as shown in
The push fit cap 96 comprises a threaded hole 108 to threadingly engage with the threaded spindle 94 of the adjustable foot 90. One or more webs 120 extending from each apex of the corner sections to the threaded hole 108 reinforce the structural integrity of the push fit cap 96. The push fit cap 96 of the present invention can fabricated from metal or other suitable material, e.g. metal, plastics, ceramic, and can be formed from separate parts, preferably formed as a single body. e.g. casting or moulding. In use, the threaded spindle 94 threadingly engages with the threaded hole 108 of the push fit cap 96. Rotation of the threaded spindle 94 varies the distance between the base plate 92 resting on the floor and the push fit cap 96 and thereby varies the height of the upright member in the grid framework structure.
The grid framework structure 114 can be considered as a free standing (or self-supporting) rectilinear assemblage of a plurality of upright members 116 supporting the grid structure formed from intersecting horizontal beams or grid members. i.e. a four wall shaped framework. While the spacers or struts 74 connecting adjacent upright columns 116 provide some degree of structural rigidity of the grid framework structure 114, structural rigidity and moment resistance of the grid framework structure is largely provided by incorporating one or more truss assemblies or braced towers 80 at least partially around the periphery and/or within the body of the grid framework structure (see
The braced tower 80 as shown in
One or more braced towers 80 are anchored to a concrete foundation or substructure. The braced towers 80 function to transfer the lateral forces experienced by the grid framework 50 to the floor. The braced towers 80 are anchored to the concrete foundation by one or more anchor feet 132(a and b) (see
Upon receipt of an order, a load handling device operative to move on the tracks is instructed to pick up a storage bin containing the item of the order from a stack in the grid framework structure and transport the storage bin to a pick station whereupon the item can be retrieved from the storage bin and transferred to one or more delivery containers. Typically, the pick station comprises a container transport assembly to transport one or more containers to an access station where the contents of the containers can be accessed. The container transport assembly is typically a conveyor system comprising multiple adjacent conveyor units.
A typical layout of a fulfilment centre for fulfilment of an order is shown in
Each grid area comprises a tunnel 117 known as a pick aisle, which houses one or more pick stations for commodity items to be picked from the storage bins or containers and transferred to one or more delivery containers.
Storage containers or bins storing commodity and grocery items are transported by load handling devices operative on the grid structure to a pick station in the pick aisle 117, where one or more items are picked from the storage bin or container at the pick station and transferred to one or more delivery containers.
As will be appreciated from the description above, a number of fasteners, e.g. bolts, are used to connect the different portions of the grid framework structure together. These include ensuring that the plurality of upright members are held in space relation within the grid framework structure, the interconnection between the grid members and the upright members and the connection on the bracing members to the sub-group of upright members in the braced towers. During ground movement, which can be caused by a seismic event or other external event, such fasteners may have a tendency to work their way loose and in an extreme case, lead to the collapse of the grid framework structure. Even with the incorporation of one or more braced towers within the supporting framework structure by bracing one or more sub-groups of the upright members together, braced towers may not be sufficient to stabilise the supporting framework structure and the grid structure mounted thereon from movement.
Movement of the supporting framework structure as a result of ground movement may also de-stabilise one or more robotic load handling devices operative on the grid structure. The wheel assembly of the robotic load handling device is configured to be guided along tracks. The rail or tracks typically comprise an elongated element which is profiled to guide a load handling device on the grid structure and are typically profiled to provide either a single track surface so as to allow a single load handling device to travel on the track or a double track so as to allow two load handling devices to pass each other on the same track. In the case, where the elongated element is profiled to provide a single track, the track comprises opposing lips (one lip on one side of the track and another lip at the other lip at the other side of the track) along the length of the track to guide or constrain each wheel from lateral movement on the track. In the case where the profile of the elongated element is a double track, the track comprises two pairs of lips along the length of the track to allow the wheels of adjacent load handling devices to pass each other in both directions on the same track. Due to the way the wheels of the robotic load handling device are constrained by the lips of the track, any sudden movement of the grid structure due to ground movement has the tendency to de-stabilise one or more robotic load handling devices on the grid structure and the possibility of causing one or more of the robotic load handling devices to decouple from the track and in an extreme case, topple on the grid structure. Destabilisation of the robotic load handling devices on the grid structure is thus dependent on the amplitude and/or frequency of vibration of the supporting framework structure, which is transmitted to the grid structure comprising the track system. The greater the amplitude of vibration of the supporting framework structure, the greater the likelihood that the robotic load handling devices operative on the track system would be de-stabilised.
The present invention has mitigated the above problem by reinforcing the grid framework structure by incorporating a plurality of stiffener elements within the body of the grid framework structure. The plurality of stiffener elements can be incorporated amongst the one or more braced towers within the grid framework structure such that the stability of grid framework structure can be shared amongst the plurality of stiffener elements and the braced towers. The plurality of stiffener elements resist deformation in comparison to the braced towers discussed above, and thereby are able to reduce vibration of the grid structure during ground movement. To provide a stiffener element that resists deformation, the stiffener elements are provided by solid walled panels 200 (see
As with the braced towers discussed above with reference to
As can be appreciated from the schematic drawing of the grid framework structure, a portion of the supporting framework structure comprising the assemblage of the upright members 116 is replaced by the plurality of solid walled panels. For example, one or more of the plurality of upright members spatially distributed along the first and/or second direction are replaced by the solid walled panels 200 of the present invention whilst still preserving the vertical storage columns for the storage of stack of storage containers as demonstrated in
Also shown in
In the particular embodiment shown in
Instead of the downwardly extending members of the bracket being secured directly to the uppermost portion of the solid walled panel, in yet a further example of the securement of the uppermost portion of the solid walled panel to the grid structure by the second type cap plate, the downwardly extending members of the brackets are secured to securing members 268 mounted to opposing faces of the solid walled panels 200 as shown in
Both the first and second type cap plate have in common in that they are used to link or join the individual grid members 118, 120 together along the first and the second direction at the junction where multiple grid members cross in the grid structure 40. i.e. they are cross shaped having four perpendicular end portions for connecting with corresponding grid members extending in the first and second directions. Unlike the upright members being interconnected at their upper ends at the junction where the multiple grid members cross in the grid structure. i.e. where the first type cap plate 58 is located at the node 50 of the grid structure 40, each of the plurality of solid walled panels is secured to the grid structure at one or more nodes where the first and the second set of grid members intersect or meet in the grid structure by the second type cap plate 258. The number of second type cap plates 258 for securing the solid walled panel 200 to the grid structure is dependent on the width of the solid walled panel and how many of the grid cells the solid walled panel extends across. In the particular embodiment shown in
In addition to securing each of the plurality of solid walled panels to the grid structure, the lowermost portion of each of the plurality of solid walled panels can be anchored directly to the substructure. One or more bolts distributed along the width of the solid walled panel can be used to anchor the lowermost portion of the solid walled panel to the substructure. In the schematic drawing of the lower portion of the solid walled panel shown in
Whilst the particular embodiment shown in
The components of the grid framework structure are subjected to a number of applied forces during ground movement. These applied forces can result in the shearing of the fasteners. e.g. bolts, anchoring the upright members to the substructure. In addition to the shear forces acting on the fasteners, there is also a component of the applied force as a result of ground movement generating an upward force acting to decouple the upright member from the substructure. In order to mitigate this effect, longer fasteners are used to anchor the upright members deeper into the substructure. However, this is very much dependent on the thickness or depth of the substructure and the underlying soil structure. In some circumstances, the underlying soil structure or ground would not permit a deep substructure to be installed. The use of the solid walled panels to stabilise the grid framework structure helps to mitigate this problem as one or more of the dimensions of the solid walled panel can be used to control the degree by which the solid walled panels would need to be anchored to the substructure.
According to equation 1, the width of the solid walled panel is dependent on the expected moment of force and depth of anchorage of the solid walled panel to the substructure or foundation.
Reducing the uplift forces has the effect that shorter fasteners that would be needed to anchor the solid walled panel to the substructure, which in turn would mean that the width L of the solid walled panels can be tuned to the depth of the substructure and/or underlying soil conditions. Thus, for a shallow substructure or foundation, a greater width solid walled panel would be desired to mitigate decoupling the solid walled panels from the substructure as a result of uplift forces. Conversely, for a deep substructure or foundation then a smaller width solid walled panel would be feasible to mitigate decoupling the solid walled panels from the substructure as a result of uplift forces.
Whilst
According to equation 2, for a given movement of force F, the uplift force U is reduced by increasing the number of discrete solid walled panels.
In addition to uplift forces, the external forces as a result of ground movement also generate shear forces in the direction of the applied forces. The fasteners used to anchor the solid walled panel to the substructure would need to be sufficiently strong to resist such shear forces. In the case where the fasteners are bolts, the shear resistance of the bolts is dependent on the cross-sectional diameter of the bolts. For increased shear resistance, larger cross-sectional diameter or thicker bolts are used to anchor the solid walled panel directly to the substructure. In the particular embodiment of the present invention, multiple bolts are distributed along the width of the solid walled panel to distribute the applied shear force. As a result, thinner bolts can be used as the shear force is distributed amongst multiple bots rather than a few bolts either end of the solid walled panel. The use of multiple bolts to anchor the solid walled panel directly to the substructure also helps to increase the anchorage of the solid walled panel to the substructure from uplift forces.
The solid walled panel can be based on a single solid walled panel that extends across one or more grid cells. In the particular embodiment of the present invention shown in
In addition to increasing the stability of the grid framework structure, the plurality of solid walled panels spatially distributed within the supporting framework structure can be adapted to create one or more zones within the grid framework structure, more, specifically, the supporting framework structure. The one or more zones can be a refrigerated zone comprising one or more refrigerated chillers. To reduce or prevent the transfer of heat from one or more of the zones created by the plurality of solid walled panels, preferably, each of the plurality of solid walled panels is thermally insulating. The plurality of solid walled panels spatially distributed within the supporting framework structure can also provide a fire break within the grid framework structure for restraining the spread of fire within the grid framework structure. As discussed above, one or more storage containers which are usually composed of plastic are stacked in the storage columns within the support framework structure. In an event of a fire at a single location and without any fire breaks, the fire can spread amongst the storage containers in stacks across multiple storage columns. The plurality of solid walled panels spatially distributed with the supporting framework structure act to restrain the spread of the fire to neighbouring stacks of storage containers. To function as a fire break, one or more of the solid walled panels comprises an insulating material, such as mineral wool or vermiculite. Taking the example where the solid walled panel is of a laminated construction comprising an inner core sandwiched between an outer skin, the inner core can be composed of a fire resistant material to prevent fire spreading to a neighbouring storage column.
Whilst the preferred embodiments of the present invention have been described in detail above, it should be understood that various modifications of the solid walled panels encompassing different features described above are applicable within the scope of the present invention as defined in the claims.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2110636.4 | Jul 2021 | GB | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/EP2022/070473 | 7/21/2022 | WO |
