BRACING ARRANGEMENT WITH DAMPER

Abstract

A bracing arrangement is for a framework structure of an automated storage and retrieval system. The framework structure includes a rail system arranged at an upper level of the framework structure. The rail system includes a first set of parallel rails arranged in a horizontal plane and extending in a first direction, and a second set of parallel rails arranged in the horizontal plane and extending in a second direction which is orthogonal to the first direction, which first and second sets of rails form a grid pattern in the horizontal plane including a plurality of adjacent grid cells. Each grid cell includes a grid opening defined by a pair of neighboring rails of the first set of rails and a pair of neighboring rails of the second set of rails. The framework structure provides a plurality of storage columns. Each column is arranged to store a respective stack of storage containers where the storage columns are located beneath the rail system and each storage column is located vertically below a grid opening. The rail system is arranged to guide a plurality of automated vehicles that operate on the rail system. The bracing arrangement includes an elongated, rigid bracing member, and a damping mechanism. The elongated, rigid bracing member is coupled at one end to the framework structure, at or near an upper level of the framework structure and at an opposite end to a grounding point. The damping mechanism is connected to an end of the bracing member. The damping mechanism is arranged to respond to forces from lateral movement in the upper level of the framework structure transferred to the damper mechanism via the elongated bracing member. The damping mechanism further includes a releasable locking mechanism which isolates the damping mechanism until a threshold force exerted on the locking mechanism via the bracing member is exceeded, such that after the threshold value is exceeded the releasable locking mechanism is tripped allowing the damper to dissipate kinetic energy from lateral movement of the upper level of the framework structure.

Claims

1. A bracing arrangement for a framework structure of an automated storage and retrieval system, the framework structure comprising a rail system arranged at an upper level of the framework structure, the rail system comprising a first set of parallel rails arranged in a horizontal plane and extending in a first direction, and a second set of parallel rails arranged in the horizontal plane and extending in a second direction which is orthogonal to the first direction, which first and second sets of rails form a grid pattern in the horizontal plane comprising a plurality of adjacent grid cells, each grid cell comprising a grid opening defined by a pair of neighboring rails of the first set of rails and a pair of neighboring rails of the second set of rails, the framework structure providing a plurality of storage columns, each column being arranged to store a respective stack of storage containers where the storage columns are located beneath the rail system and each storage column is located vertically below a grid opening, and wherein the rail system is arranged to guide a plurality of automated vehicles that operate on the rail system, wherein the bracing arrangement comprises: an elongated, rigid bracing member coupled at one end to the framework structure, at or near an upper level of the framework structure and at an opposite end to a grounding point; a damping mechanism connected to an end of the bracing member, the damping mechanism arranged to respond to forces from lateral movement in the upper level of the framework structure transferred to the damper mechanism via the elongated bracing member, the damping mechanism further comprising a releasable locking mechanism which isolates the damping mechanism until a threshold force exerted on the locking mechanism via the bracing member is exceeded, such that after the threshold value is exceeded the releasable locking mechanism is tripped allowing the damper to dissipate kinetic energy from lateral movement of the upper level of the framework structure.

2. The bracing arrangement according to claim 1, wherein the damping mechanism comprises a spring that is compressible and extendable in a longitudinal direction of the bracing member, the compression of the spring being responsive to tension forces transferred to the spring via the elongated member in response to lateral movement of the upper part of the framework structure, and wherein the locking mechanism is part of a tension limiter arranged to prevent the spring of the damping mechanism from extending or contracting until a threshold tensile load is exceeded.

3. The bracing arrangement according to claim 1, wherein the damping mechanism comprises a longitudinally movable bolt connected to an end of the elongated bracing member, the bolt arranged to compress the spring.

4. The bracing arrangement according to claim 1, wherein the releasable locking mechanism comprises a spring loaded detent arranged to engage a notch in the bolt, the spring loaded detent arranged to disengage from the bolt when the tensile threshold is exceeded.

5. The bracing arrangement according to claim 4, wherein the detent comprises a ball biased into the notch by a set spring.

6. The bracing arrangement according claim 1, wherein the releasable locking mechanism comprises a breakable pin arranged to engage the bolt, the pin arranged to break when the tensile load is exceeded.

7. The bracing arrangement according to claim 1, wherein the threshold tensile load is calculated based on an expected kinetic energy imparted on the framework structure from normal operation of the vehicles of the system.

8. The bracing arrangement according to claim 7, wherein the threshold value is 500N.

9. The bracing arrangement according to claim 1, wherein the bracing member is arranged diagonally, attached at its upper end to the upper level of the framework structure and attached at its lower end to a grounding point on the floor of a facility housing the automated storage and retrieval system.

10. The bracing arrangement according to claim 9, wherein there are at least two bracing members, each arranged diagonally, attached at their upper ends to the upper level of the framework structure and attached at their lower ends to grounding points on the floor of the facility housing automated storage and retrieval system such that two such members cross to form an X pattern.

11. The bracing arrangement according to claim 1, wherein the framework structure comprises: a. a plurality of twin-post upright members arranged in at least one row of the framework structure, the twin-post upright members comprising a pair of upright member sections arranged with a space therebetween, b. wherein each elongated bracing member is arranged to pass through the spaces between the vertical sections of the pairs of upright member sections of the plurality of twin-post upright members arranged in the at least one row.

12. The bracing arrangement according to claim 11, wherein at least one row is arranged at a periphery of the framework structure.

13. The bracing arrangement according to claim 11, wherein the twin-post upright members comprise a pair of upright member sections separated by spacers, so as to create a space between the upright member sections, the upright member sections further comprising elongated corner guide profiles arranged to vertically guide a container in a storage column defined by four upright members.

14. A method for bracing an automated storage and retrieval system having automated vehicles operating on a rail system at an upper level of a framework structure, the method comprising: a. connecting an elongated bracing member at one end to an upper level of the framework structure and at an opposite end to a grounding point, b. connecting a damper mechanism to an end of the elongated bracing member, the damper mechanism arranged to dissipate kinetic energy associated with lateral movement of the upper level of the framework structure, said lateral movement exerting forces in the longitudinal direction of the bracing member, which are transferred to the damper mechanism via the bracing member, c. providing a releasable locking mechanism in connection with the damper mechanism, the locking mechanism arranged to isolate the damper mechanism until a force is exerted on the releasable locking mechanism via the bracing member which exceeds a threshold value, whereafter the releasable locking mechanism is tripped and the damper mechanism is permitted to dissipate the kinetic energy, and d. calculating the threshold force value based on an expected kinetic energy imparted on the framework structure from normal operation of the vehicles of the system, whereby normal operation of the vehicles does not trip the releasable locking mechanism.

15. The method according to claim 14, wherein the damper mechanism is a friction damper.

16. The method according to claim 14, wherein the forces exerted on the locking mechanism are tensile forces transferred via the bracing member.

17. The method according to claim 14, wherein the elongated bracing member are arranged to pass through spaces in a plurality of twin-post upright members.

18. The method according to claim 14, wherein the bracing arrangement permits the framework structure to be self-standing, without the need to brace the framework structure to walls of a facility.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Following drawings are appended to facilitate the understanding of the invention. The drawings show embodiments of the invention, which will now be described by way of example only, where:

[0045] FIG. 1 is a perspective view of a framework structure of a prior art automated storage and retrieval system.

[0046] FIG. 2 is a perspective view of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein.

[0047] FIG. 3 is a perspective view of a prior art container handling vehicle having a cantilever for carrying storage containers underneath.

[0048] FIG. 4 is a perspective view, seen from below, of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein.

[0049] FIG. 5 is a view of prior art upright members arranged at the periphery of a framework structure.

[0050] FIG. 6 is a side elevational view of an embodiment of the bracing arrangement according to the invention, with damper and tension limiter attached at one end of a bracing member to an upper portion of the framework structure and to the other end of the bracing member to a connection point on the floor of the facility.

[0051] FIG. 7 is a side elevational view of a bracing arrangement according to another embodiment of the invention, with damper and tension limiter attached at one end of a bracing member to the floor of the facility and the other end of the bracing member attached to an upper portion of the framework structure.

[0052] FIG. 8 is a perspective view of a connection bracket.

[0053] FIG. 9 is a detailed view of the damper and tension limiter attached to the floor.

[0054] FIG. 10 is a cross section view of the structures from FIG. 9.

[0055] FIG. 11 is a detailed view of the damper and tension limiter attached to an tipper portion of the framework structure.

[0056] FIG. 12 is partial cut away view of the damper and tension limiter attached to an tipper portion of the framework structure.

[0057] FIG. 13 is a cross section view of the structures from FIG. 12.

[0058] FIG. 14 is a perspective view of an embodiment of the tension limiter using a breakable pin.

[0059] FIG. 15 is a perspective view of an embodiment of the bracing arrangement of the invention arranged along peripheral sides of a framework structure.

[0060] FIG. 16 is an exploded view of twin-post upright member together with a grid foot leveling device.

[0061] FIG. 17 is an overhead view showing a storage container with its corners being guided by corner guide profiles of a twin-post upright member.

DETAILED DESCRIPTION OF THE INVENTION

[0062] In the following, embodiments of the invention will be discussed in more detail with reference to the appended drawings. It should be understood, however, that the drawings are not intended to limit the invention to the subject-matter depicted in the drawings.

[0063] The bracing arrangement according to one aspect of the present invention is utilized in connection with an automated storage and retrieval system 1 as described in the background section above. The framework structure 100 of the automated storage and retrieval system 1 is constructed in a similar manner to the prior art framework structure 100 described above in connection with FIGS. 1-5. That is, the framework structure 100 comprises a number of upright members 102, and comprises an upper rail system 108 extending in the X direction and Y direction upon which travel automated vehicles of the system.

[0064] The framework structure 100 further comprises storage compartments in the form of storage columns 105 provided between the upright members 102 wherein storage containers 106 are stackable in stacks 107 within the storage columns 105. The upright members 102 have corner guide profiles that guide the corners of a container as it is lifted into or out of a storage column.

[0065] The framework structure 100 can be of any size. In particular it is understood that the framework structure can be considerably wider and/or longer and/or deeper than disclosed in FIG. 1. For example, the framework structure 100 may have a horizontal extent of more than 700?700 columns and a storage depth of more than twelve containers.

[0066] Further aspects of the bracing arrangement according to the present invention will now be discussed in more detail with reference to FIGS. 6-17.

[0067] The bracing arrangement comprises a damper mechanism 502 connected to at least one end of an elongated, rigid bracing member 504. The invention will be described below in relation to embodiments where one damper mechanism is connected to one end of the bracing member, however one skilled in the art will recognize that a damper mechanism may be arranged at both ends of the elongated bracing member.

[0068] Bracing member 504 may be rod-shaped with a circular cross section, a bar or strut with rectangular cross-section, or any other appropriate cross section. The elongated bracing member with damper mechanism is connected between an upper part of the framework structure and a grounding point, such as a connection point at or near the floor of the facility in which the framework structure is installed. In one embodiment, the upper part of the framework structure is the rail system 108. In one embodiment shown in FIGS. 6,11,12 and 13 the damper mechanism 502 is connected by a damper frame 506 to rail system 108 and the opposite end of the elongated bracing member 504 is connected to a connection point 508 at the floor of the facility. In an embodiment shown in FIGS. 7, 8, 9, 10 and 14 the damper frame 506 is connected to the floor while a connection bracket 510 connects the opposite end of the elongated bracing member 504 to the rail system 108. As seen in FIGS. 6 and 7, two elongated bracing members may be arranged along a section of the framework structure 100 in an X pattern. The bracing arrangement may comprise a plurality of such elongated bracing members/dampers arranged at various locations on the framework structure.

[0069] Damper mechanism 502 is preferably a friction damper and in one embodiment as shown in FIG. 10 the damping mechanism comprises a bolt 512 connected to the end of the bracing member 504, the bolt being arranged to compress a spring 514 if the bolt moves in a longitudinal direction L, the spring expanding back towards its original state when bolt 512 moves in direction L. Oscillating compression and expansion of spring 514 may be used to dissipate kinetic energy according to principles familiar to one skilled in the art of friction dampers.

[0070] One potential cause of such a longitudinal movement of bolt 512 in longitudinal directions L and U would be a lateral movement of the upper part of the framework structure such as may be caused by forces from an earthquake, impacts or the like. Such potential movement is illustrated in FIG. 7 in directions S and S. Forces tending to cause lateral movement of the upper part of framework structure 100 in direction S would apply tension forces to elongated bracing member 504 in direction L while forces tending to cause lateral movement in direction S would apply compression forces to elongated bracing member 504 in direction L. In the event the upper part of the framework moves in direction S, then the distance between the upper and lower connection points for elongated member 504 would increase, thereby resulting in compression of spring 514 to compensate for such increased distance. If the upper part of the framework structure moves in direction S, the distance between the upper and lower connection points for elongated member 504 would decrease. Movement of bolt 512 in direction LU past an original starting/locked position is not desirable in all embodiments of friction dampers however, in which case bolt 512 may be equipped with a shoulder 516 as shown in FIG. 10 that abuts a part of damper frame 506 to prevent bolt 512 from moving in longitudinal direction L past an initial locked position. Bolt 512 is in this instance connected to the end of longated member 504 by a swivel joint 518 at the end of a turnbuckle 519. When the distance between upper and lower connection points for an elongated member decreases, the swivel joint 518 buckles in order to compensate for the decreased distance.

[0071] As can be appreciated by the discussion above, the operation of a friction damper is often associated with an oscillating movement of the structure being protected by the damper. For example, referring to FIG. 7 such oscillating movement could be lateral movement between directions S and S. In the case of an automated storage and retrieval system as described above, such oscillating movement would often interfere with the operation of the vehicles on the rail system of the framework structure. This is a relatively minor consideration in the face of an earthquake where protection of the integrity of the framework structure has a higher priority that operation of the vehicles. However, the operation of the vehicles on the rails of the system will itself impart lateral forces on the framework due for example to the acceleration and braking of the vehicles. This is one of the reasons a framework structure must be braced, in order to retain an operational rigidity in the face of such self-imparted forces. As used herein, the term operational rigidity means a relative rigidity of the framework structure within acceptable operational parameters for the vehicles, such parameters depending on the type of vehicles and known to one skilled in the art of automated vehicles operating on a rail system.

[0072] Therefore it is important that the damper mechanism of the present invention does not impart or permit lateral movement of the upper part of the framework structure outside of its operational rigidity during normal operation of the storage and retrieval system. Therefore, according to one aspect of the present invention the damper is isolated by a tension limiter 520, which prevents activation of the damper until a threshold tension value is exceed.

[0073] The tension limiter 520 comprises a releasable locking mechanism 522 that prevents bolt 512 from moving in direction L until a threshold tension value is exceed. As discussed above with reference to FIG. 7, such tension may be the result of forces tending to move an upper part of framework structure 100 in direction S. When releasable locking mechanism 522 is in a locked state the bolt 512 is prevented from moving longitudinally in direction L from its locked position. If tension on bolt 512 exceeds the threshold value of the releasable locking mechanism, the bolt 512 is free to move in direction L and compress and release spring 514, with the resultant dissipation of kinetic energy.

[0074] In one embodiment, shown in FIGS. 10 and 13, the releasable locking mechanism 522 comprises a detent, such as a spring loaded detent 524. According to one aspect the spring loaded detent 524 is a ball detent where a ball 526 is forced by a set spring 528 into a notch 530 in bolt 512. The set spring forces the ball into the notch with a predetermined force, preventing the bolt from moving longitudinally until the tension force transferred via the bracing member exceeds the force of the set spring. When the force of the set spring is exceeded, the bolt presses the ball back against its set spring, dislodging the ball from the notch and thereby allowing the bolt to move and compress the spring 514.

[0075] According to another embodiment shown in FIG. 14, the locking mechanism is a breakable pin 532 with a predetermined breaking force that passes through a hole 534 that extends through damper frame 506 and bolt 512.

[0076] According one aspect, the threshold value for the locking mechanism, e.g., the amount of force required to dislodge the ball from the notch or to break the pin, is calculated based on the anticipated kinetic energy introduced by the normal operation of the vehicles operating in the automated storage and retrieval system. One skilled in the art is capable of calculating such kinetic energy by knowing the number of vehicles in operation, the weight of the vehicles, the rate of acceleration and deceleration of the vehicles, as well as other relevant parameters. According to one aspect, the threshold value is 500 N (Newtons).

[0077] According to one aspect, the damping arrangement of the invention dissipates energy according to the following formula E=F?S, where E is energy measured in Joules, F is force measured in Newtons, and S is stroke length of the bracing member, e.g.:

F=1000N?Stroke=5 mm E=5 Joule

F=1000N?Stroke=30 mm E=300 Joule

Twin-Post Upright Members

[0078] According to one aspect of the invention, the elongated bracing members 504 are arranged to pass through spaces in twin-post upright members 602 of a framework structure 100 of an automated storage and retrieval system. FIG. 15 illustrates the general principle of such twin-post upright members, showing two sides of a periphery 600 of a framework structure 100 of an automated storage and retrieval system 1. Interior upright members 102 and rail system 108 of the framework structure 100, such as illustrated in FIG. 1, are also not shown in FIG. 15 for ease of illustration. As shown, a plurality of twin-post upright members 602 are arranged in a row 604. In one aspect, row or rows 604 are arranged along at least one side, preferably along at least two sides, of periphery 600. According to another aspect, row or rows 604 may be arranged in the interior of framework structure 100.

[0079] FIG. 16 is an exploded view of a twin-post upright member 602. As shown, the twin-post upright member 602 comprises vertical sections 606 joined together by one or more spacers 608 connected with bolts 608. When so joined, a space 610 is created between vertical sections 606. In one aspect, a lowermost spacer 609 comprises a hole or slot 611 arranged to engage a leveling foot device 613.

[0080] FIG. 17 illustrates that vertical sections 606 may comprise elongated corner guide profiles 630 that have a shape adapted to receive and vertically guide the movement of corresponding corners of storage containers 106. When a twin-post upright member 602 comprises one of the four upright members that define a storage column (that may include prior art upright members 102), the corner guide profiles 630 will cooperate with similar corner guide profiles of the remaining upright members to form a vertical guide path for the storage container, free from interference from the elongated bracing member 504.

[0081] In the preceding description, various aspects of the delivery vehicle and the automated storage and retrieval system according to the invention have been described with reference to the illustrative embodiment. For purposes of explanation, specific numbers, systems and configurations were set forth in order to provide a thorough understanding of the system and its workings. However, this description is not intended to be construed in a limiting sense. Various modifications and variations of the illustrative embodiment, as well as other embodiments of the system, which are apparent to persons skilled in the art to which the disclosed subject matter pertains, are deemed to lie within the scope of the present invention.

LIST OF REFERENCE NUMBERS

Prior Art (FIGS. 1-4):

[0082] 1 Prior art automated storage and retrieval system [0083] 100 Framework structure [0084] 102 Upright members of framework structure [0085] 104 Storage grid [0086] 105 Storage column [0087] 106 Storage container [0088] 106 Particular position of storage container [0089] 107 Stack [0090] 108 Rail system [0091] 110 Parallel rails in first direction (X) [0092] 112 Access opening [0093] 119 First port column [0094] 120 Second port column [0095] 201 Prior art container handling vehicle [0096] 201a Vehicle body of the container handling vehicle 201 [0097] 201b Drive means/wheel arrangement/first set of wheels in first direction (X) [0098] 201c Drive means/wheel arrangement/second set of wheels in second direction (Y) [0099] 301 Prior art cantilever container handling vehicle [0100] 301a Vehicle body of the container handling vehicle 301 [0101] 301b Drive means/first set of wheels in first direction (X) [0102] 301c Drive means/second set of wheels in second direction (f) [0103] 304 Gripping device [0104] 401 Prior art container handling vehicle [0105] 401a Vehicle body of the container handling vehicle 401 [0106] 401b Drive means/first set of wheels in first direction (X) [0107] 401c Drive means/second set of wheels in second direction (f) [0108] 404 Gripping device [0109] 404a Lifting band [0110] 404b Gripper [0111] 404c Guide pin [0112] 404d Lifting frame [0113] 500 Control system [0114] X First direction [0115] Y Second direction [0116] Z Third direction [0117] 502 Damper mechanism [0118] 504 Elongated bracing member [0119] 506 Damper frame [0120] 508 Connection point [0121] 510 Connection bracket [0122] 512 Bolt [0123] 514 Spring [0124] 516 Shoulder [0125] 518 Swivel joint [0126] 519 turnbuckle [0127] 520 Tension limiter [0128] 524 Spring loaded detent [0129] 526 Ball [0130] 528 Set spring [0131] 530 Notch [0132] 532 Breakable pin [0133] 534 hole [0134] 600 Periphery [0135] 602 Twin-post upright member [0136] 604 Row [0137] 606 Upright member sections [0138] 608 Spacers [0139] 610 Space [0140] 611 Hole or slot [0141] 613 Leveling foot device [0142] 630 Corner guide profile