Column spacer for mounting between two adjacent upright members of frame structure of automated storage and retrieval system

Abstract

The present disclosure relates to a column spacer (130) for mounting between two adjacent upright members (102) of a frame structure (100) of an automated storage and retrieval system, where the column spacer (130) has a length (L) along a longitudinal axis (130z) thereof, the length (L) corresponding to a distance between the two adjacent upright members (102) in the frame structure (100), where the column spacer (130) comprises two end sections (131), each end section (131) is configured for locking in place in a channel (102c) of one of two adjacent upright members (102), where each of the two end sections has a first dimension (W1, W1 '') in a first plane (P1) perpendicular to a longitudinal axis (130z) of the column spacer (130), the first dimension (W1, W1'') being greater than a gap (G) of the channel (102c). The present disclosure also relates to a frame structure (100) and an automated storage and retrieval system comprising such a column spacer (130) and a method for installing and manufacturing a column spacer (130).

Description

Technical Field

[0001] This disclosure relates to an automated storage and retrieval system for storing and retrieving containers. Specifically, this disclosure relates to column spacers for installation between two adjacent upright members of a frame structure of an automated storage and retrieval system, a frame structure including multiple column spacers, a method for installing the column spacers in the frame structure, and a method for manufacturing the column spacers. Background Technology

[0002] Figure 1 A prior art automated storage and retrieval system 1 with a frame structure 100 is disclosed, and Figure 2 , Figure 3 and Figure 4 Three different prior art container handling vehicles 201, 301, and 401 suitable for operation on such system 1 are disclosed.

[0003] The frame structure 100 includes upright members 102 and storage volumes comprising storage columns 105 arranged in rows between the upright members 102. In these storage columns 105, storage containers 106 (also referred to as boxes) are stacked one on top of another to form a stack 107. Members 102 can typically be made of metal, such as extruded aluminum profiles.

[0004] The frame structure 100 of the automated storage and retrieval system 1 includes a track system 108 arranged across the top of the frame structure 100, through which multiple container handling vehicles 201, 301, and 401 can operate to raise and lower storage containers 106 from storage columns 105 into the storage columns, and also transport storage containers 106 above the storage columns 105. The track system 108 includes: a first set of parallel tracks 110 arranged to guide the container handling vehicles 201, 301, and 401 across the top of the frame structure 100 in a first direction X; and a second set of parallel tracks 111 arranged perpendicular to the first set of tracks 110 to guide the container handling vehicles 201, 301, and 401 in a second direction Y perpendicular to the first direction X. Containers 106 stored in the columns 105 are accessed by the container handling vehicles 201, 301, and 401 through access openings 112 in the track system 108. Container handling vehicles 201, 301, and 401 can move laterally above storage column 105, that is, laterally in a plane parallel to the horizontal XY plane.

[0005] The upright members 102 of the frame structure 100 can be used to guide the storage containers during raising and lowering of the containers into the column 105. The stack 107 of the containers 106 is typically self-supporting.

[0006] Each prior art container handling vehicle 201, 301, 401 includes a body 201a, 301a, 401a and a first set of wheels 201b, 301b, 401b and a second set of wheels 201c, 301c, 401c, which enable the container handling vehicle 201, 301, 401 to move laterally in the X and Y directions, respectively. Figure 2 , Figure 3 and Figure 4 In this configuration, two wheels in each set of wheels are fully visible. The first set of wheels 201b, 301b, and 401b are arranged to engage with two adjacent tracks in the first set of tracks 110, and the second set of wheels 201c, 301c, and 401c are arranged to engage with two adjacent tracks in the second set of tracks 111. At least one set of wheels 201b, 201c, 301b, 301c, 401b, and 401c can be raised and lowered, such that the first set of wheels 201b, 301b, and 401b and / or the second set of wheels 201c, 301c, and 401c can engage with the corresponding set of tracks 110 and 111 at any given time.

[0007] Each prior art container handling vehicle 201, 301, 401 also includes a lifting device for vertically transporting the storage container 106, for example, raising the storage container 106 from the storage column 105 and lowering the storage container 106 into the storage column. The lifting device includes one or more clamping / engaging devices adapted to engage with the storage container 106, and these clamping / engaging devices can be lowered from vehicles 201, 301, 401 such that the position of the clamping / engaging devices relative to vehicles 201, 301, 401 can be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y. The components of the clamping devices of container handling vehicles 301, 401 are... Figure 3 and Figure 4 It is shown in the figure and indicated by reference numerals 304 and 404. Figure 2 In this case, the clamping device of the container handling device 201 is located inside the vehicle body 201a and is therefore not shown.

[0008] Conventionally and also for the purposes of this application, Z=1 denotes the uppermost layer below tracks 110, 111 that can be used for storage containers, i.e., the layer immediately below track system 108; Z=2 denotes the second layer below track system 108; Z=3 denotes the third layer, and so on. Figure 1 In the exemplary prior art disclosed herein, Z=8 identifies the bottommost layer of the storage container. Similarly, X=1…n and Y=1…n identify the position of each storage column 105 in the horizontal plane. Therefore, as an example, and using… Figure 1 The Cartesian coordinate system X, Y, Z shown can be said to be in Figure 1The storage container labeled 106 occupies storage positions X=17, Y=1, Z=6. It can be said that container transport vehicles 201, 301, and 401 travel in layer Z=0, and each storage column 105 can be identified by its X and Y coordinates. Therefore, Figure 1 The storage container shown extending above the orbital system 108 is also referred to as being arranged in the layer at Z=0.

[0009] The storage volume of the frame structure 100 is typically referred to as grid 104, and the possible storage locations within this grid are referred to as storage cells. Each storage column can be identified by its position in the X and Y directions, while each storage cell can be identified by its container number in the X, Y, and Z directions.

[0010] Each prior art container handling vehicle 201, 301, 401 includes a storage compartment or storage space for receiving and loading the storage container 106 during transport across the track system 108. The storage space may include cavities arranged inside the vehicle bodies 201a, 401a, such as… Figure 2 and Figure 4 The contents of these applications, as shown in, and described, for example, in WO2015 / 193278A1 and WO2019 / 206487A1, are incorporated herein by reference.

[0011] Figure 3 An alternative configuration of a container handling vehicle 301 with a cantilever structure is shown. Such a vehicle is described in detail, for example, in NO. 317366, the contents of which are also incorporated herein by reference.

[0012] Figure 2 The occupied area of ​​the cavity container transport vehicle 201 shown can cover an area in the X and Y directions that is approximately equal in size to the lateral extent of the storage column 105, as described, for example, in WO2015 / 193278A1, the contents of which are incorporated herein by reference. The term “lateral” as used herein can mean “horizontal”.

[0013] Alternatively, the area occupied by the cavity container transport vehicle 401 can be larger than the lateral area defined by the storage column 105, such as... Figure 1 and Figure 4 As shown in, and disclosed, for example, in WO2014 / 090684A1 or WO2019 / 206487A1.

[0014] Track system 108 typically includes tracks with grooves in which the wheels of a vehicle travel. Alternatively, the tracks may include upwardly projecting elements, where the wheels of the vehicle include flanges to prevent derailment. These grooves and upwardly projecting elements are collectively referred to as guide rails. Each track may include one guide rail, or each track 110, 111 may include two parallel guide rails. In other track systems 108, each track in one direction (e.g., the X direction) may include one guide rail, and each track in another perpendicular direction (e.g., the Y direction) may include two guide rails. Each track 110, 111 may also include two guide rail members fastened together, each guide rail member providing a guide rail for a pair of guide rails of each track.

[0015] WO2018 / 146304A1 (the contents of which are incorporated herein by reference) illustrates a typical configuration of a track system 108, which includes tracks and parallel guide rails in both the X and Y directions.

[0016] In the frame structure 100, most columns are storage columns 105, meaning that the storage containers 106 store data in columns 105 in the form of stacks 107. Besides the storage columns 105, there are also dedicated columns within the frame structure. Figure 1 In this context, columns 119 and 120 are dedicated columns used by container handling vehicles 201, 301, and 401 to unload and / or pick up storage containers 106, enabling the containers to be transported to retrieval stations (not shown) where they can be accessed from outside the frame structure 100, or moved in or out of the frame structure 100. In the art, such locations are commonly referred to as "ports," and the columns containing the ports may be referred to as "port columns" 119 and 120. Transport to the retrieval station can take place in any direction (i.e., horizontal, inclined, and / or vertical). For example, the storage container 106 can be placed in a random or dedicated column 105 within the frame structure 100, then picked up by any container handling vehicle and transported to port columns 119 and 120 for further transport to the retrieval station. Transport from the port to the retrieval station may require movement along various different directions using means such as delivery vehicles, trolleys, or other transport routes. Note that the term "tilt" indicates that the transport of storage container 106 has a general transport orientation between horizontal and vertical.

[0017] exist Figure 1In the first port column 119, for example, it can be a dedicated unloading port column, at which container handling vehicles 201, 301, and 401 can unload storage containers 106 to be transported to the storage station or transfer station, and the second port column 120 can be a dedicated pick-up port column, at which container handling vehicles 201, 301, and 401 can pick up storage containers 106 that have been transported from the storage station or transfer station.

[0018] The storage and retrieval station is typically a picking station or a stocking station, where product items are removed from or positioned into storage containers 106. At the picking or stocking station, storage containers 106 are not typically removed from the automated storage and retrieval system 1, but are instead returned to the frame structure 100 after retrieval. Ports can also be used to transfer storage containers to another storage facility (e.g., to another frame structure or another automated storage and retrieval system), to a transport vehicle (e.g., a train or truck), or to a production facility.

[0019] Storage containers are typically transported between port lines 119 and 120 and the access station using a transport system that includes a transmitter.

[0020] If port columns 119, 120 and access stations are located at different horizontal heights, the conveying system may include a lifting device with vertical components for vertically transporting storage container 106 between port columns 119, 120 and access stations.

[0021] The transfer system can be arranged to transfer storage container 106 between different frame structures, such as those described in WO2014 / 075937A1, the contents of which are incorporated herein by reference.

[0022] When you need to access the stored Figure 1When a storage container 106 is in one of the multiple columns 105 disclosed herein, one of the multiple container handling vehicles 201, 301, 401 is instructed to remove the target storage container 106 from its location and transport it to the unloading port column 119. This operation involves: moving the container handling vehicles 201, 301, 401 to a position above the storage column 105 where the target storage container 106 is located; removing the storage container 106 from the storage column 105 using the lifting devices (not shown) of the container handling vehicles 201, 301, 401; and transporting the storage container 106 to the unloading port column 119. If the target storage container 106 is located deep within the stack 107, i.e., one or more other storage containers 106 are above the target storage container 106, the operation also involves: temporarily moving the above storage containers before lifting the target storage container 106 from the storage column 105. This step (sometimes referred to in the art as "digging") can be performed using the same container handling vehicle subsequently used to transport the target storage container to unloading port column 119, or using one or more other cooperating container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 1 may have container handling vehicles 201, 301, 401 specifically for the task of temporarily removing storage container 106 from storage column 105. After the target storage container 106 is removed from storage column 105, the temporarily removed storage container 106 can be repositioned back into the original storage column 105. However, the removed storage container 106 can alternatively be repositioned into another storage column 105.

[0023] When storage container 106 needs to be stored in a column 105, a container handling vehicle 201, 301, or 401 is instructed to pick up the storage container 106 from the pick-up port column 120 and transport it to a position above the storage column 105 where it will be stored. After all storage containers 106 located at or above the target position within the stack 107 have been removed, the container handling vehicles 201, 301, and 401 position the storage containers 106 to the desired location. The removed storage containers 106 can then be lowered back into the storage column 105 or repositioned to another storage column 105.

[0024] In order to monitor and control the automated storage and retrieval system 1, such as monitoring and controlling the position of each storage container 106 within the frame structure 100, the contents of each storage container 106, and the movement of container transport vehicles 201, 301, 401, so that the desired storage container 106 can be delivered to the desired location at a desired time without the container transport vehicles 201, 301, 401 colliding with each other, the automated storage and retrieval system 1 includes a control system 500, which is typically computerized and typically includes a database for keeping track of the storage containers 106.

[0025] The frame structure of an automated storage and retrieval system may include horizontal supports or spacers installed between adjacent upright members. Spacers can be used to ensure proper spacing between upright members and / or for the stability of the frame structure, etc. Spacers are typically metal supports that are fastened to the upright members using bolts, rivets, or other similar fastening devices.

[0026] The frame structure comprises parallel upright members that support rails for container handling vehicles. These upright members also function as lifting frame sections that guide the vertical movement of the vehicles. Therefore, the upright members must remain aligned with each other during frame assembly and after the structure is put into service.

[0027] WO2021 / 175872 discloses a grid frame structure with upright columns that are spaced apart by one or more spacers or supports connecting adjacent columns. The spacers extend transversely to the longitudinal direction of the columns and are screwed or riveted to the opposing walls of two adjacent columns by one or more bolts or rivets. The spacers are typically made of sheet metal (e.g., steel).

[0028] At least some embodiments of this disclosure aim to provide solutions for a frame structure that allows for simpler, faster, and / or safer installation of the system. Other objectives include reducing manufacturing costs.

[0029] Furthermore, it is desirable to provide solutions that resolve or at least alleviate one or more of the problems mentioned above that fall under the category of prior art. Summary of the Invention

[0030] This summary is provided to introduce some concepts further described herein in a simplified form. This summary is not intended to indicate key or essential features of this disclosure.

[0031] The disclosure is set forth and characterized in the independent claims, while the dependent claims describe other features of the disclosure.

[0032] In a first aspect, this disclosure relates to a column spacer for installation between two adjacent upright members of a frame structure in an automated storage and retrieval system, wherein the column spacer has a length along its longitudinal axis corresponding to the distance between the two adjacent upright members in the frame structure. The column spacer includes two end sections, each end section configured to lock in a position within a channel of one of the upright members. Each of the two end sections has a first dimension in a first plane perpendicular to the longitudinal axis of the column spacer, the first dimension being larger than the gap in the channel.

[0033] Each end section of the column spacer may also include an end face for abutting against a support surface arrangement in the channel of the upright member.

[0034] The column spacer will therefore be installed laterally between the uprights, that is, perpendicular to the uprights and parallel to the upper track of the frame structure. The column spacer can be installed at an intermediate height between two uprights.

[0035] The column spacer can therefore be a slender strut with two ends.

[0036] The length of a column spacer can be equal to the distance between the supporting surfaces of two upright members in a frame structure.

[0037] When two upright members are connected by a column spacer, the distance between the outermost points of the upright members can be equal to the length of the column spacer minus twice the length of the end section.

[0038] The end sections can be locked in the channel by press-fitting them into the gap.

[0039] The end sections can be locked in the channel using press-fit connections. The advantage of using press-fit connections to install the column spacers in the channels of the upright members is that no other fastening devices (such as screws, bolts, or rivets) are required, thus reducing installation time, cost, and complexity due to the reduced number of parts. Furthermore, because press-fit ensures that parts are firmly and tightly attached to each other, preventing any loosening of the assembly connection, the connection is unaffected by vibrations originating from the movement of container handling vehicles on the overhead track system and the lifting / lowering of containers into the storage column.

[0040] In some implementations, the first dimension is press-fitted into the gap.

[0041] In its undeformed state, the first dimension can be only slightly larger than the gap, allowing it to fit into the gap through elastic deformation, thereby generating a preload that applies pressure to the sides of the gap. This pressure is maintained as long as the end section is installed in the channel. This preload can be a result of the material's elasticity and the shape of the column spacer. Because this preload causes friction, it prevents the column spacer from moving horizontally and vertically.

[0042] The length of the column spacer can be equal to the distance from the support surface of the channel of one upright member to the support surface of the channel of the adjacent upright member, so that the column spacer can be horizontally installed to the vertically arranged upright members with its end face abutting the support surface.

[0043] When the column spacer is installed in the channel with its end face abutting the supporting surface of the upright member, the first plane can coincide with the gap.

[0044] The end face can be perpendicular to the longitudinal axis of the column spacer. The radial extension of the end face can be greater than the cross-sectional thickness of the end section adjacent to the end face.

[0045] The cross-sectional area of ​​the end face can be greater than the cross-sectional area of ​​the end segment adjacent to the end face. The cross-sectional area of ​​the end face can be at least twice, and optionally at least three times or more than five times, the size of the cross-sectional area of ​​the end segment adjacent to the end face.

[0046] A portion of the end face may extend outward from the section adjacent to the end face in the end segment. This outward extension allows the end face to have a greater vertical extension range in the channel after it is installed, during use.

[0047] In this implementation, column spacers are used in the case of an SDG-based track system. Here, SDG stands for Single / Double Grid. The design provides a single track along one axis and a double track along the other axis. A single track is used in one direction to connect robots that need to meet, forming a single unit.

[0048] In this implementation, the column spacers are used in the case of a DDG-based track system. Here, DDG stands for Double / Double Grid. This design provides dual track guides in all directions, allowing the robot to pass over each other in all directions.

[0049] The width of the channel can vary depending on whether the track system is based on an SDG or a DDG system. For SDG-based systems, the width of the channel under the dual tracks is typically twice the width of the channel under the single track. Therefore, an upright member can have two channels of different sizes, and typically, the width of the two channels is twice that of the other two channels.

[0050] Column spacers can be used when the frame structure includes slender, upright members. Column spacers are installed when the upright members are vertically oriented. Furthermore, column spacers can be used when the track system is arranged to span the frame structure and form part of the frame structure. More specifically, spaced-apart upright members connected by column spacers support the track system located above. Here, multiple container handling vehicles travel on the track system, raising and lowering containers from and into the storage columns, and also transporting containers above the storage columns. During this transport, the container handling vehicles move in a plane parallel to the horizontal plane.

[0051] Column spacers are important for achieving the correct distance and alignment between two upright members in a frame structure. Upright members are arranged in rows to form storage columns in the frame structure. Therefore, it is important to ensure that each upright member is correctly spaced and aligned with the other upright members in the same row in both the X and Y directions of the frame structure. Thus, a first end section of the column spacer can be installed in a passageway of an upright member already installed in a row of upright members in the frame structure. The length of the column spacer determines the distance to the next upright member to be installed in that row. When the end face is positioned against a support surface at the rear of the upright member's passageway, the end face also ensures correct alignment of the column spacer in the XY plane, thereby ensuring correct alignment of the upright member with the other upright members in that row. A second end section can then be installed in the passageway of this next upright member.

[0052] Column spacers can increase the stiffness and / or stability of a frame structure when installed between two upright members.

[0053] Column spacers are compatible with existing designs of storage and retrieval systems, allowing existing systems to be retrofitted using column spacers.

[0054] A channel can be formed by two channel flanges. The flanges can be arranged parallel to each other and perpendicular to the supporting surface. The gap can be the narrowest opening between the channel flanges.

[0055] The column spacer can have a uniform or non-uniform cross-sectional shape along its length. For example, it can have one cross-sectional shape at the end sections and a different cross-sectional shape along the remaining length between the two end sections. The dimensions of the cross-section can be uniform or non-uniform along the length; for example, the end sections can have a tapered profile.

[0056] In some implementations, the first dimension is the undeformed width of the cross section at the location where the column spacer coincides with the gap during installation; that is, when the column spacer is positioned in its orientation to be locked in the channel, the first dimension may be the undeformed width of the cross section in the horizontal direction.

[0057] In some implementations, the first dimension is the maximum extension of the cross section at the location where the end section coincides with the gap during installation.

[0058] In some embodiments of this disclosure, the column spacers are manufactured by additive manufacturing or by molding. Molding is preferably of the injection molding type.

[0059] The column spacer can be manufactured as a single piece, that is, without attaching or fastening the parts to each other, such as welding, bolting or gluing the parts together.

[0060] Each of the two end segments may have a second dimension in a second plane perpendicular to the longitudinal axis, wherein the second dimension may be larger than the first dimension, such that the end segment can be positively locked (e.g., snapped) into place in the channel by forcing the second dimension to move across the gap.

[0061] The first plane and the second plane can coincide or be parallel.

[0062] Therefore, the end section can be installed in the channel by forcing the second dimension across the gap (e.g., by translation or rotation), wherein the first dimension engages with the gap and is held in place by press fitting, and the first dimension may be only slightly larger than the gap.

[0063] In some embodiments, the first plane is parallel to the second plane, and the first plane having a first dimension is offset from the end face relative to the second plane, such that when the column spacer moves toward the rear of the channel, the first dimension will fit into the gap as the second dimension is forced to cross the gap.

[0064] In some implementations, the first plane coincides with the second plane, and the first dimension is oriented at an angle relative to the second dimension, such that when the column spacer is rotated about its longitudinal axis, the first dimension will fit into the gap after forcing the second dimension across the gap.

[0065] The second dimension can be only slightly larger than the gap, but still larger than the first dimension, for example, 2 mm to 4 mm larger than the gap, so that only a small elastic deformation is required to allow the end section to engage in place.

[0066] In some implementations, the cross-section of the end section deforms during the installation of the end section into the channel.

[0067] In some implementations, the channel flange deforms during the installation of the end section into the channel.

[0068] In some implementations, both the cross-section of the end section and the clearance of the channel deform during the installation of the end section into the channel.

[0069] Column spacers can be made of materials with inherent flexibility and / or elasticity, allowing them to deform and later return to their shape. The shape and thickness of the column spacers also affect flexibility. Plastics that combine flexibility and stiffness (such as polyamide, polypropylene, or various reinforced plastics) may be suitable materials.

[0070] The column spacers can be installed manually, thus requiring no special tools. Therefore, the column spacers should be able to be twisted or pushed by hand to create deformation, thereby forcing the second dimension across the gap. In this respect, tolerances, material properties, and geometry are all factors that need to be considered while maintaining the required overall strength and rigidity.

[0071] Each of the two end segments may have a third dimension in a third plane perpendicular to the longitudinal axis, the third dimension being smaller than the gap.

[0072] The third plane may coincide with or be parallel to the first plane and / or the second plane.

[0073] In some embodiments, the first, second, and third dimensions are all located in planes that coincide with each other. The third dimension may be oriented at an angle relative to the first and second dimensions, such that the end section can be oriented across the gap with the third dimension and twisted to force the second dimension across the gap, and such that the end section can engage in the gap with the first dimension. Thus, the column spacer is locked in the channel of the upright member. Elastic deformation may occur in the column spacer and / or the channel.

[0074] In some embodiments, the first, second, and third dimensions are located in parallel, spaced-apart planes. The third dimension is arranged closer to the end face than the first dimension, for example, at or adjacent to the end face, and the second dimension is arranged between the third and first dimensions. Therefore, the end section can be correctly oriented in front of the channel and moved longitudinally toward the support surface of the upright member, such that the first and third dimensions cross the gap, and then the second dimension needs to be forced across the gap, thereby engaging the first dimension in place within the gap. Thus, the column spacer is locked in the channel of the upright member. Deformation can occur in the column spacer and / or the channel.

[0075] Each of the two end segments may include a contact interface on each side for support on a channel of the upright member, wherein the contact interface includes two or more spaced-apart contact points and / or has a contact length.

[0076] The contact interface can be located in the first plane.

[0077] The contact interface can be an interface that provides preload for press-fitting the gap.

[0078] The contact interface is located on opposite sides of the cross section, and when the column spacer is installed between two upright members, the contact interface will be located on the side of the end section.

[0079] When each side of the contact interface includes two contact points, there are therefore upper and lower contact points on each side of the column spacer section (i.e., on opposite sides of the gap in the channel in the upright member).

[0080] Multiple contact interfaces can each include more than two contact points.

[0081] Contact points should not be interpreted as meaning they have no geometric extension, but rather as meaning that they may be very small contact areas formed by the thickness of the column spacer on the side of the gap.

[0082] When each side of the contact interface has a contact length, there exists a contact line supported by the sides of the gap. The contact line is formed by the geometry of the column spacer and should not be construed as being formed by the thickness of the spacer.

[0083] In some embodiments, the cross-section has an X-shape, H-shape, or I-shape. These cross-sectional shapes are embodiments of column spacers in which the contact interface of the cross-sectional shape includes two contact points on each side.

[0084] In some embodiments, the cross-section includes a first straight line and a second straight line, the first and second lines being parallel and forming a contact length on each side toward the gap, wherein the upper end of the first line connects to the upper end of the second line to form a channel shape. The first and second lines may, for example, connect to the top of a V-shape, arc, or semicircle. Thus, the locking position can be the position when the channel is inverted, for example, when the inverted V-shape, arc, or semicircle is at the top. The advantage of the inverted channel shape is that it forms a cover that prevents dust and dirt from accumulating in the column spacers. This is particularly advantageous when using the storage and retrieval system for storing food products, for example, considering hygiene requirements. Such a system can even be used to store refrigerated items, and the cover will prevent condensation from accumulating on the column spacers. Thus, this is an example of a cross-sectional shape in which the contact interfaces have a contact length.

[0085] In some implementations, the contact interface presses against the channel flange at opposite sides of the gap during installation.

[0086] In some implementations, the first dimension is the distance between the upper contact points or the distance between the lower contact points on opposite sides of the cross section.

[0087] In some implementations, the second dimension is the distance between the lower contact point on one side and the upper contact point on the other side.

[0088] For example, when the cross-section has an X-shape consisting of two intersecting arms of equal length, in one embodiment, the second dimension can be equal to the length of the arm. The X-shape can be said to have a width "w" and a height "h," both extending from the end of one arm to the end of the other, but in different orthogonal directions. The first dimension can be equal to the larger of the width and height of the X-shape. The third dimension can be equal to the smaller of the width and height of the X-shape.

[0089] In some implementations, where the contact interface has a contact length on each side and the contact lengths are parallel to each other, the first dimension can be the distance between the two contact lengths.

[0090] In some implementations, where the contact interface has a contact length on each side, the second dimension is the distance between the lower end of one contact length and the upper end of the other contact length.

[0091] Compared to a cross-section with only one contact point on each side, a contact interface with two or more spaced-apart contact points or a contact length on each side has the advantage of a more stable and robust connection. The upright members of a press-fit connection may occasionally experience minor movement, such as during the installation of other components of the frame structure or during component replacement, thus reducing the risk of accidental loosening of the column spacers.

[0092] Both end sections may include a step for engaging with an inwardly extending lip at the gap in the channel during installation, thereby preventing the column spacer from moving outward away from the support surface.

[0093] This ensures that the end face of the column spacer does not move away from the support surface of the upright member. This is particularly important because the column spacer is used to correctly position the upright members relative to each other to form a predetermined storage column for accommodating storage containers. The step should be positioned at a distance from the end face corresponding to the internal depth of the channel, i.e., the distance from the support surface of the upright member to the lip of the gap. This will ensure that the end face does not move away from the support surface. The height of the step can be substantially equal to the protruding lip at the gap. With the end face abutting against the support surface at the back of the channel and the step engaging with the lip of the gap, the end section is locked in the channel, perpendicular to the upright member, and at a right angle to the upright member.

[0094] One or more steps may be present for engaging the inwardly extending lip. For example, when the cross-section includes a contact interface with two contact points on each side, the steps can be formed by abruptly or gradually increasing the cross-section, thus providing two steps on each side.

[0095] When each side of the contact interface has a contact length, each side may have, for example, only one step.

[0096] Both end sections may include a tapered profile whose cross-section gradually increases from the end face toward the step, and wherein only a portion of the tapered profile may have a cross-sectional dimension larger than the gap of the channel.

[0097] Steps can be formed by abruptly reducing the size of a section or part of a section located next to the larger end of a tapering profile.

[0098] A first plane having a first dimension may be located on the smaller side of the step at the position of the step.

[0099] In some embodiments, a second plane having a second dimension may be located on the tapered profile. The second plane may be positioned closer to the end face than a first plane having a first dimension.

[0100] In some implementations, the third plane having a third dimension may be located on the tapered profile. The third plane may be positioned closer to the end face than the second plane having a second dimension.

[0101] A tapered structure with steps at the ends can be used during the installation of the column spacers because the tapered structure allows the outermost portion of the end section to pass over the gap and insert into the channel without any deformation, and the gradually increasing cross section of the end section is thus forced to deform as the end section is further advanced toward the support surface of the upright member until it engages in place in the channel when the tapered profile and the step have passed over the gap (i.e., when the gap is on the smaller side of the step).

[0102] Both end faces can be provided by flanges, which can be referred to as end flanges.

[0103] The end face can be a planar end face, preferably perpendicular to the longitudinal axis of the column spacer.

[0104] In some implementations, the flange is the flanged head portion of the column spacer.

[0105] Therefore, the column spacer may include an end flange at the very end of each end segment, wherein the outer surface of the end flange (i.e., the outermost side of the end flange) is an end face. The end flange is preferably perpendicular to the longitudinal axis of the column spacer.

[0106] The flat end face ensures that the spacer is perpendicular to the upright member. The flat end face should have a cross-sectional extension smaller than the channel gap so that it can pass through the end section in any orientation.

[0107] The column spacers can be made of aluminum or plastic.

[0108] In a second aspect, this disclosure relates to a column spacer for installation between two adjacent upright members of a frame structure in an automated storage and retrieval system, wherein the column spacer has a length along its longitudinal axis corresponding to the distance between two adjacent upright members in the frame structure, and wherein the column spacer is made of plastic.

[0109] The column spacer may include an end face at each end for abutting against the supporting surface arrangement of the upright member. Therefore, the length of the column spacer may be equal to the distance between the supporting surfaces of two adjacent upright members in the frame structure.

[0110] The column spacer may include an end section at each end, the end section being configured to lock into a channel of the upright member, wherein the end face abuts against a support surface arranged in the channel of the upright member. The support surface may be a surface located at the rear of the channel, and may be parallel to the longitudinal axis of the upright member.

[0111] The advantage of plastic column spacers is that they avoid sharp edges. Such sharp edges could damage other parts (such as boxes or containers) or pose a risk of injury (such as cuts during installation). Specifically, since storage containers will be stacked and raised / lowered within storage columns provided by rows of upright members spaced apart by column spacers according to this disclosure, it is advantageous that parts adjacent to the storage columns do not have sharp edges or sharp parts that could damage the boxes.

[0112] Other advantages of using plastics compared to metals include reduced weight and cost, design flexibility, and material properties such as thermal properties.

[0113] Column spacers are typically provided in two lengths for each frame structure because storage columns generally comprise rectangular cross-sections in the XY plane. Therefore, one length roughly corresponds to the shorter side of the storage column, and the other length roughly corresponds to the longer side. The shorter column spacer can be, for example, 200 mm to 1500 mm, preferably 300 mm to 600 mm, and the longer column spacer can be 300 mm to 2000 mm, preferably 500 mm to 800 mm.

[0114] Column spacers can be manufactured through additive manufacturing or molding.

[0115] Therefore, the column spacer can be manufactured as a single piece.

[0116] In some implementations, the column spacers are manufactured by injection molding.

[0117] The column spacers can be made of unreinforced plastic, preferably polyamide or polypropylene.

[0118] Both polyamide and polypropylene are suitable for injection molding.

[0119] The column spacers can be made of reinforced plastic, preferably glass fiber reinforced plastic or carbon fiber reinforced plastic.

[0120] The column spacers are preferably made of fiber-reinforced polymers (also known as fiber-reinforced plastics, "FRP"). The materials used to form the column spacers need to meet different requirements, specifically stiffness, abrasion resistance, and high or low temperature resistance. The reinforcing material in the fiber-reinforced plastic has a major influence on stiffness. Typically, glass, carbon, aramid, or basalt can be used as the fiber material in fiber-reinforced plastics. In most applications, glass as a reinforcing material imparts sufficiently beneficial mechanical properties. Therefore, in a preferred embodiment, the column spacers are made of glass fiber-reinforced plastic. However, as the length of the column spacers increases, the benefits of carbon fibers can be utilized. Therefore, in other preferred embodiments, the column spacers are made of carbon fiber-reinforced plastic.

[0121] The fiber-reinforced polymer uses a matrix comprising or composed of polymers. As for the polymer in the fiber-reinforced polymer, various polymer materials can be used, such as polymers based on epoxy resins, vinyl esters, polyesters, polyamides, acetals, or phenol-formaldehyde. In a preferred embodiment, the column spacers are made of a fiber-reinforced polymer, wherein the polymer is an epoxy polymer, a vinyl ester polymer, a polyamide, or a phenol-formaldehyde polymer. The polymer used as the matrix material for the fiber-reinforced polymer also affects abrasion resistance. Abrasion resistance is an important parameter because the column spacers should be suitable for joining and disengaging with the upright members of the frame structure. Given its physical and mechanical properties, polyamide (more preferably polyamide 66) imparts the most advantageous properties. Therefore, in a preferred embodiment, the fiber-reinforced polymer is a polyamide fiber-reinforced plastic, more preferably a polyamide glass fiber-reinforced plastic.

[0122] The reinforcing material in the fiber-reinforced polymer is preferably present in an amount of 10% to 45% by weight, more preferably in an amount of 20% to 40% by weight, and most preferably in an amount of 30% by weight.

[0123] The column spacers can be made of reinforced plastic having a matrix comprising a polymer based on epoxy resin, vinyl ester, polyester, polyamide, acetal, or phenolic formaldehyde (preferably polyamide).

[0124] The column spacers may be made of a material with a tensile modulus greater than 2,000 MPa, more preferably from 5,000 MPa to 20,000 MPa, and most preferably from 8,000 MPa to 12,000 MPa, which is measured according to ISO 527-1-2 at 1 mm / min.

[0125] The mechanical constraints that the column spacers must meet mainly relate to the stiffness of the material. Specifically, it is necessary to ensure that the column spacers have sufficient stiffness to prevent them from sagging when installed between two upright members (i.e., during use).

[0126] Plastic materials may be suitable for use at low temperatures, such as in freezing zones where temperatures may be below 0°C, below -18°C, or between 0 and -15°C, or between 0 and -30°C, and / or suitable for use at temperatures above 0°C, above 10°C, or above 20°C.

[0127] Examples of materials suitable for use as column spacers are: - TECHNYL A218 V30; - ZYTEL PA6670G30 HSLR NC010; - TISLAMID M02000112 PA 66 GF30 HS NC; - POLIMID A 30 GF NATURAL K1; - PENTAMID A GV30 H natur; - PROMYDE B300 P2 G30.

[0128] In some embodiments, the cross-section of the column spacer includes a contact interface on each side of the interface of the gap for abutting against the contact upright member, wherein the contact interface includes two contact points or has a contact length.

[0129] The contact interface is on opposite sides of the cross section, and when the column spacer is installed between two upright members, the contact interface will be located on the side of the cross section.

[0130] The cross-section can be uniform or non-uniform along the length of the column spacer.

[0131] The cross-section of at least one section of the column spacer may include an X-shape, an H-shape, or an I-shape. Because plastic materials are generally not as rigid as aluminum or other metals, these structural shapes are suitable for providing additional overall stiffness to the column spacer.

[0132] The cross-section of at least one section of the column spacer may include a channel shape, preferably an inverted U-shape. Here, the U-shape may include an inverted V-shape and straight parallel lines extending from the free ends of the V-shape. As described above with respect to the cross-section, these structural shapes are adapted to provide additional overall stiffness to the column spacer.

[0133] In some embodiments, the channel shape includes a first straight line and a second straight line, the first and second straight lines being parallel, and wherein the upper end of the first line connects to the upper end of the second line to form the channel shape. The first and second lines may be connected, for example, by an inverted V-shape, a U-shape, an arc, or a semicircle. Thus, a V-shape, a U-shape, an arc, or a semicircle can provide a closed top or cover for the column spacer.

[0134] The size of the cross-section can vary along its length.

[0135] In some embodiments, the column spacers include a tapered profile toward each end. The size of the tapered portion may decrease toward the ends of the spacers.

[0136] The column spacer may include an end flange at each end of the column spacer.

[0137] The end flange may include a planar end face for support on the support surface of the upright member.

[0138] Therefore, the flat end face can be used to ensure the vertical positioning of the column spacer relative to the upright member.

[0139] All the features of the column spacers in the second aspect can be applied to the column spacers in the first aspect, and vice versa.

[0140] In a third aspect, this disclosure also relates to a framework structure for an automated storage and retrieval system, the framework structure comprising: - Multiple vertically aligned upright components with a slender body having a longitudinal axis; - Storage volume section, having storage columns for storing storage containers; - A track system, covering a vertically aligned upright member; and - A plurality of column spacers according to any of the preceding paragraphs, wherein the column spacers are installed between adjacent upright members of the frame structure, and wherein the upright members include one or more longitudinally extending channels, the channels including gaps.

[0141] The channel may also include a support surface for supporting the end face of the column spacer.

[0142] The channel can be configured to receive and hold the end segments of the column spacers.

[0143] The channel may have a channel opening for inserting the column spacer into the channel.

[0144] The gap can be the narrowest part of the channel. The gap can be located at the opening of the channel.

[0145] Slender, upright components may include hollow profiles.

[0146] The slender, upright member can have four flat sides arranged in a rectangular pattern. The four corner portions of the slender, upright member can be recessed.

[0147] In one embodiment, the channel may be formed by two channel flanges, and the gap is the distance between the two flanges. The supporting surface may be a surface at the rear of the channel parallel to the longitudinal axis of the upright member. The flanges may extend longitudinally along the length of the upright member. The gap may be the narrowest opening between the two channel flanges.

[0148] Each corner section of the upright member can be associated with two mutually perpendicular flanges. The flanges can act as guides for storage containers being transported vertically by container handling vehicles.

[0149] When the storage columns of the frame structure are rectangular, two sets of column spacers may be required: a first set of short column spacers and a second set of long column spacers.

[0150] A frame structure can also have two column spacer designs, for example, if the frame structure includes an SDG track system, such that two of the multiple channels of the uprights are wider than two other channels of the uprights. Therefore, the first spacer design can have a first dimension for fitting into the gap, which is twice the size of the first dimension of the second design.

[0151] Each of these designs can be provided in different lengths, such as short and long column spacers for frame structures with rectangular storage columns, as mentioned above. Thus, a frame structure with rectangular storage columns and including an SDG track system can have four different sets of column spacers; two different designs, each providing two different lengths.

[0152] The upright member can be made of aluminum. The upright member can be an extruded profile.

[0153] Two or more column spacers can be installed at different heights between the same adjacent upright members.

[0154] The channel may include a lip at the gap, which is used to prevent the column spacer from moving horizontally outward away from the support surface.

[0155] The lip edge can be an inwardly extending edge or border on one or both sides of the gap. The gap can be the distance between the two sides of the channel at the location of the lip edge. For example, in one embodiment, there are two inwardly extending lip edges, and the gap is the distance between the tips of the lip edges.

[0156] The lip can be an inwardly extending edge or margin on each of the two channel flanges, with the lip extending inward toward the other flange, such that the distance between the flanges is smaller at the lip.

[0157] The lip edge can be located at a distance from the support surface, which at least roughly corresponds to the distance between the end face and the step of the end section of the column spacer.

[0158] Each upright member may include multiple channels, each channel arranged on a different side of the upright member, preferably on the orthogonal sides of an upright member with a rectangular or square profile. Thus, two of the multiple channels may be arranged on opposite sides of the upright member, aligned in a first direction and having parallel support surfaces, and the other two channels may be aligned in a second direction and have parallel support surfaces, the second direction preferably orthogonal to the first direction. This ensures that the upright members are aligned in both directions, thereby forming a rectangular or square storage column of a frame structure.

[0159] Therefore, an upright member can have column spacers installed in different directions toward adjacent upright members. Preferably, the upright member includes four channels.

[0160] In a fourth aspect, this disclosure relates to an automated storage and retrieval system comprising a framework structure according to any of the preceding paragraphs.

[0161] The automated storage and retrieval system may also include storage containers in one or more storage columns and / or one or more container transport vehicles on a track system. The container transport vehicles may be as described above.

[0162] When an upright member includes four channels, most of the upright members will be connected to four adjacent upright members, which are arranged on four different sides of the upright member.

[0163] Some upright members of a frame structure may be connected to only one or two adjacent upright members, for example, if the upright members are located on the side or at the corner of the frame structure.

[0164] In a fifth aspect, this disclosure relates to a method for installing column spacers according to any of the preceding paragraphs between two adjacent upright members of a frame structure of an automated storage and retrieval system, wherein each upright member has a channel arranged on a side facing the other upright member, and optionally, their respective support surfaces are arranged parallel to each other, the method may include the following steps: - Move the end section of the column spacer into the channel of the upright member, so that the end section is securely locked in the gap, and optionally, arrange the end face against the support surface.

[0165] When the end section is inserted, deformation occurs, causing the initial larger first dimension of the end section to fit into the gap.

[0166] The column spacer can be used to achieve the correct positioning of the second upright member relative to the first upright member, which is already correctly positioned in the frame structure. First, a first end section of the column spacer is inserted into the channel of the first upright member, its end face abutting the support surface of the channel, and the column spacer is positioned perpendicular to the first upright member. Then, while the end face of the first end section remains abutting the support surface, the second upright member is vertically positioned and placed near the second end section of the column spacer, such that by moving the second upright member closer to the first upright member until the end face of the second end section of the column spacer abuts the support surface of the second upright member, the second end section can be inserted into the channel of the second upright member. If necessary, the column spacer is twisted about its longitudinal axis to force the second dimension across the gaps between each of the plurality of upright members, such that the first dimension fits into the gaps.

[0167] The method according to the fifth aspect may include the following sub-steps: - Orient the column spacers so that the end sections can be inserted into the channels without deformation; - Insert the end section into the channel so that the end face abuts against the support surface; - Twist the column spacers until the second dimension of each end segment is forced across the gap, and the first dimension can be fitted into the gap.

[0168] Here, torsion means rotating the column spacer about its longitudinal axis. During torsion, the cross-section of the end section of the column spacer undergoes elastic deformation and / or the channel undergoes elastic deformation. For example, the channel flanges may bend slightly away from each other, thus creating a slightly larger gap. When the second dimension is forced across the gap, the column spacer is firmly locked in place within the gap. Because the first dimension in the undeformed configuration is slightly larger than the gap in the undeformed configuration, the end section remains locked in the gap.

[0169] The above method can be performed in reverse to remove the column spacer from the channel of the upright member. The column spacer is then twisted so that the first dimension moves out of the gap and until the second dimension is forced across the gap. The end section can then be removed from the channel.

[0170] The method according to the fifth aspect can be used for column spacers having a stepped, tapered profile as described above, and wherein the method may include the following sub-steps: - Orient the cross section of the column spacer in the orientation in which the column spacer will be installed relative to the channel of the upright member; - Push the end sections toward the support surface of the upright member into the channel, causing deformation, until the step of the tapered profile crosses the gap and each end section engages in the channel in such a way that it fits into the gap at the first size.

[0171] When the first dimension is assembled in the gap, the end face at each of the two end sections should abut against the support surface of the corresponding channel.

[0172] Each time, one of the two end segments can be pushed into the channel.

[0173] When using this method to obtain the correct positioning of the second upright member relative to the first upright member already installed in the correct position in the frame structure, the first end section of the column spacer is first pushed into the channel of the first upright member. Then, by moving the second upright member closer to the first upright member, the second end section is pushed into the channel of the second upright member, thereby inserting the second end section into the channel of the second upright member.

[0174] In a sixth aspect, this disclosure relates to a method for manufacturing a column spacer according to any one of the above, the method using additive manufacturing or molding.

[0175] Molding is preferably of the injection molding type.

[0176] The materials used in this manufacturing method can be plastics or metals. Aluminum is a preferred metal. The plastic material can be a reinforced plastic, preferably suitable for injection molding. Unreinforced plastics with the required strength and stiffness can also be used.

[0177] The relative terms “up,” “down,” “below,” “above,” “higher,” etc., should be understood in their normal sense and as can be seen in the Cartesian coordinate system.

[0178] Unless otherwise specified, the dimensions described herein (e.g., dimension W1) are in their undeformed state. Attached Figure Description

[0179] The following figures are attached to aid in understanding this disclosure. The figures illustrate embodiments of this disclosure, which will now be described by way of example only, in which: Figure 1 This is a three-dimensional diagram of the framework structure of an existing automated storage and retrieval system.

[0180] Figure 2 This is a perspective view of a prior art container handling vehicle having an internal cavity for carrying storage containers therein.

[0181] Figure 3This is a perspective view of a prior art container handling vehicle having a cantilever for supporting storage containers below.

[0182] Figure 4 This is a bottom perspective view of a prior art container handling vehicle having an internal cavity for carrying storage containers therein.

[0183] Figure 5 It is a perspective view of a portion of a frame structure having four column spacers according to an embodiment of the present disclosure, the four column spacers being mounted between four upright members.

[0184] Figure 6 This is a perspective view of an embodiment of the column spacer according to the present disclosure.

[0185] Figure 7 yes Figure 6 Side view of the column spacers.

[0186] Figure 8 This is a perspective view of a portion of a column spacer according to an embodiment of the present disclosure, wherein the end section has an X-shaped cross-section.

[0187] Figure 9 It is a cross-sectional view of an upright member having four channels arranged on four orthogonal sides of the upright member, wherein, according to an embodiment of the present disclosure, the column spacer is installed in two of the four channels.

[0188] Figure 10 It is along Figure 7 A cross-sectional view taken from plane BB.

[0189] Figure 11 This is a perspective view of another embodiment of the column spacer according to the present disclosure.

[0190] Figure 12 yes Figure 11 Side view of the column spacers.

[0191] Figure 13 It is a perspective view of a portion of an upright member having four channels, wherein a column spacer according to an embodiment of the present disclosure is being installed in the upper portion of the channels of the upright member, and a column spacer according to the present disclosure is finally installed in the lower portion of the same channel of the upright member.

[0192] Figure 14 It is based on Figure 11 A three-dimensional view of a portion of the column spacers.

[0193] Figure 15 It is along Figure 12The cross-sectional view taken from plane AA. Detailed Implementation

[0194] In general, this disclosure relates to column spacers for installation between two adjacent upright members of a frame structure in an automated storage and retrieval system. The longitudinal length of the column spacer corresponds to the distance between the two adjacent upright members of the frame structure. The column spacer includes two end sections, each configured to lock into position within a channel of each of the two upright members. Each of the two end sections includes a first width perpendicular to the longitudinal length, the first width being greater than the gap in the channel. The width being greater than the gap allows the column spacer to be securely locked in place within the channel by applying a forced movement that compels the width across the gap. The form of the column spacer allows it to be locked within the channel by pushing or twisting it within the channel. Additionally, the end sections of the column spacer may include a second width greater than the first width, which may also be forced into the gap to assist in locking the column spacer within the channel of the upright member. The column spacer may also include a flat end face that may abut or press against a support surface arranged in or applied to the channel of the upright member. The arrangement of support surfaces abutting the end face in the channel helps to lock the column spacer in a position perpendicular to the upright column. The end face may also include a third width, smaller than the gap, to allow the end section to be inserted into the channel of the upright member. The end section may further include: a contact interface for abutting the channel and supporting the column spacer; a step for engaging with an inwardly projecting lip at the channel gap; and / or a tapered profile. These features contribute to a more secure locking of the column spacer in a position within the channel, thereby preventing the column spacer from moving outward away from the upright member and maintaining the column spacer perpendicular to the upright member. The tapered profile facilitates locking / installing the column spacer within the channel without torsion. This disclosure also includes: a frame including an upright member having a channel; an automated storage and retrieval system including a frame and column spacers; a method for installing column spacers within an upright member; and a method for manufacturing column spacers, including molding or additive manufacturing. This summary is provided to introduce some concepts further described herein in a simplified form. This summary is not intended to indicate key or essential features of the invention.

[0195] In the following, embodiments of the present disclosure will be discussed in more detail with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the present disclosure to the subject matter depicted in the drawings.

[0196] The framework structure 100 of the automatic storage and retrieval system 1 is based on the above. Figures 1 to 3 The existing frame structure 100 is constructed in a similar manner. That is, the frame structure 100 includes a plurality of upright members 102 and includes a first upper track system 108 extending in the X and Y directions.

[0197] The frame structure 100 also includes storage compartments in the form of storage columns 105 disposed between the members 102, wherein the storage containers 106 can be stacked into a stack 107 within the storage columns 105.

[0198] The frame structure 100 can be of any size. Specifically, it should be understood that the frame structure can be larger than... Figure 1 The width and / or length and / or depth disclosed herein are much greater. For example, the frame structure 100 may have a horizontal range of more than 700 × 700 columns and a storage depth of more than twelve containers.

[0199] Now refer to Figures 5 to 15 The various embodiments of this disclosure will be discussed in more detail below.

[0200] Figure 5 This is a perspective view of a portion of a frame structure 100, showing four upright members 102 arranged in two rows to form a rectangular storage column 105, in which stacks of storage containers 106 can be stored. Four column spacers 130, according to embodiments of the present disclosure, are installed between the four upright members 102. Figure 5 The structure shown is part of a larger frame structure 100, which can be integrated with... Figure 1 A similar frame structure is described, comprising rows of upright members to form multiple rows of storage columns 105 within the storage volume section 104. More than one column spacer 130 can be installed between two identical adjacent upright members 102. The column spacer 130 can be installed at any height (see [reference needed] in the z-direction). Figure 1 During the installation of the frame structure 100, column spacers 130 can be used to ensure the correct positioning of the upright members 102, so that the storage columns 105, the track system 108, and / or other parts of system 1 are correctly aligned and / or positioned. Furthermore, after installation, the column spacers 130 can contribute to the overall stiffness and / or stability of the frame structure 100. The frame structure 100 supports the overlying track system 108 (not shown), which can be equivalent to... Figure 1 The described track system. The frame system 100 is part of an automated storage and retrieval system (not shown), which is functionally related to... Figure 1 The systems shown are essentially the same.

[0201] from Figure 5As can be seen, each upright member 102 includes a hollow profile with four vertical sides, each side including a channel 102c. One end segment 131 of each column spacer 130 is installed in the channel 102c of an upright member 102, and the other end segment 131 is installed in the channel 102c of an adjacent upright member 102. (The last sentence appears to be incomplete and possibly refers to a separate topic.) Figure 9 The upright member 102 is described in more detail.

[0202] Figures 6 to 8 An embodiment of a column spacer according to the present disclosure is shown, wherein the column spacer includes an X-shape. Figure 6 It is a perspective view of column spacer 130, and Figure 7 yes Figure 6 Side view of column spacer 130. Figure 8 This is a detailed view of the end portion of the column spacer 130, showing the end section 131 and the elongated body of the column spacer 130.

[0203] Column spacers 130 will be used in frame structure 100 (e.g.) Figure 5 or Figure 1 In an environment of a frame structure, the frame structure includes an elongated upright member 102, and when the elongated upright member 102 is arranged vertically, a column spacer 130 is installed.

[0204] The column spacer 130 will be installed between two adjacent upright members 102 of the frame structure 100 of the automated storage and retrieval system (which may be equivalent to the prior art system 1). The column spacer 130 will be installed laterally between the upright members 102 (i.e., its longitudinal axis 130z is transverse to the longitudinal axis 102z of the upright member 102, see [reference]). Figure 5 Therefore, the column spacer 130 has a length L along its longitudinal axis 130z, which is suitable for fitting between two adjacent upright members 102 in the frame structure 100.

[0205] The column spacer 130 includes an elongated body having two end sections 131. At each end, the column spacer 130 includes an end flange 132 having a planar end face 133, which is the distal end face of the end flange 132, and arranging a support surface 102s abutting against the channel 102c of the upright member 102, see [reference needed]. Figure 5 The supporting surface 102s is a planar surface parallel to the longitudinal axis 102z of the upright member, see [reference]. Figure 9 .

[0206] The size of the column spacer 130 can be designed to be assembled in Figure 1 Below the occupied area of ​​the track in the track system 108 shown. Therefore, its length L roughly corresponds to the grid access opening (112; as shown) Figure 1 The length of the side portion (as shown in the diagram). For the frame structure 100, there are typically two different lengths of column spacers 130 because the grid access opening 112 has a rectangular shape.

[0207] Figure 9 This is a cross-sectional view of an upright member 102 having four channels 102c, which are arranged at four orthogonal flat sides 102s of the upright member 102. Therefore, two of the multiple channels 102c are arranged in a first direction (according to...) Figure 5 It can be the depth in the X direction), and the other two channels 102c are arranged to have a depth in the second direction (according to...). Figure 5 The depth can be in the Y direction, and the second direction is perpendicular to the first direction. Two of the multiple channels 102c are equipped with an embodiment according to this disclosure. Figure 6 The end section 131 of the column spacer 130 of the type shown. The four corner positions of the upright member 102 are recessed. The upright member 102 is typically a vertically arranged slender rod or column, for example, having a hollow profile (such as...). Figure 9 The upright member 102 (in the middle) is typically made of metal (such as aluminum). Since the upright member 102 here includes four channels 102c arranged orthogonally around the cross-section, it can receive the end sections 131 of four column spacers 130, that is, it can be connected to four adjacent upright members 102 in four orthogonal directions via the column spacers 130. The length of the channel 102c is along an axis parallel to the longitudinal axis 102z of the upright member 102, and this length may be equal to the length of the upright member 102 in some embodiments. The channel 102c may be part of the extruded profile forming the upright member 102. The channel 102c has width and depth in a plane perpendicular to the longitudinal axis 102z of the upright member 102.

[0208] Channel 102c is formed by two parallel and spaced longitudinal flanges 102f along the upright member 102. The supporting surfaces 102s of the channels 102c arranged in the first direction are parallel to each other, such that the column spacers 130 arranged in these channels 102c will be aligned with each other, thus ensuring the correct alignment of a row of upright members 102 in the frame structure 100. For the same reason, the supporting surfaces 102s of the channels 102c arranged in the second direction are parallel to each other. Therefore, it can be said that when the upright members 102 are arranged vertically, the height of the flanges 102f is equal to the length of the upright member 102, see [reference needed]. Figure 5Flanges 102f are arranged perpendicular to the support surface 102s of the upright member 102. Therefore, the width of the channel 102c is the distance between the two flanges 102f. The flanges 102f and / or concave corners of the upright member 102 can serve as guides for storage containers 106 transported vertically by container handling vehicles 201, 301, 401. At the free end of the flanges 102f (i.e., opposite the support surface 102s), each flange 102f includes an inwardly extending lip 102l, which can also extend along the length of the channel 102c, thus forming a narrower space or opening between the flanges 102f at the location of the lip 102l. This space at the location of the lip 102l is referred to as the gap G and can be the narrowest opening between the two flanges 102f. The depth of the channel C is defined as the distance from the support surface 102s to the lip 102l.

[0209] The elongated body of the column spacer 130, including end sections 131, comprises an X-shaped cross-section. End sections 131 include a tapering profile 137, wherein the cross-section increases from the end flange 132 until it reaches a step 138, where the cross-section abruptly decreases. Step 138 provides an edge that can abut against the surface arrangement of the lip 102l of the channel flange 102f. Between steps 138 at one end section 131 and steps 138 at another end section 131, the cross-section is constant along the elongated body of the spacer. End sections 131 are the portions of the column spacer 130 intended to be placed within the channels 102c of the upright member 102, and thus can be said to include an end flange 132 having an end face 133, and a portion of the elongated body extending from the end flange 132 to the central side portion of the step 138. This is achieved through… Figure 7 The dashed line D indicates that all features to the right of line D are part of end section 131. A similar situation applies to the other end section 131 of column spacer 131 on the other side.

[0210] Figure 10 It is along Figure 7 A cross-sectional view taken from plane BB. The X-shaped section along the slender body is shown in its undeformed state by a thick black line. The portion extending outward from the apex of the thick black X-shape represents a portion of the tapered profile 137 that is larger than the rest of the slender body, and thus illustrates the step 138 as seen from plane BB. Figure 10 It shows that in relation to Figure 5 The column spacer in a similar embodiment to the one in which it will be placed in the channel 102c of the upright member 102. The height h will therefore be... Figure 5The frame structure is oriented in the z-direction, and the width w is arranged in the xy plane (e.g., a horizontal plane) within the channel 102c. Here, the cross-section of the spacer 130 is uniform between the steps 138 at each end of the spacer 130. The thickness of the arm of the column spacer can be, for example, only a few mm, such as 1 mm to 5 mm or 2 mm to 3 mm.

[0211] Figure 10 In this embodiment, the end section 131 is press-fitted into the gap G of the channel 102c. When the column spacer 130 is installed in the channel 102c, the end face 133 of the spacer 130 is arranged against the support surface 102s such that the column spacer 130 is perpendicular to the upright member 102. The end section 131 of the column spacer 130 is configured to position the column spacer 130 as far as possible, such that the column spacer extends not only vertically from the upright member 102 in a horizontal sense, but also vertically at a right angle to the upright member 102. In this way, the column spacer 130 can be used to assist in aligning the upright member 102 and its relative position. The tapered portion 137 is arranged within the channel 102c, i.e., between the two channel flanges 102f, and because the cross-section of the edge provided by the step 138 is larger than the gap G between the lips 102l, the lips 102l prevent the column spacer 130 from moving away from the support surface 102s. In fact, the end section 131 of the column spacer 130 is locked in place within the channel 102 of the upright member 102.

[0212] When end section 131 is installed in channel 102c, approximately what is assembled in gap G is... Figure 7 The cross section at line D. This cross section is equal to Figure 10 The cross-section is a thick, dark X-shape, shown in its undeformed state. As can be seen here, the cross-section includes contact interfaces 135i facing each side of the gap G, and each contact interface 135i includes two contact points 135p.

[0213] Figure 10W1 in the figure represents a first dimension, which is slightly larger than the gap G of the channel 102c of the upright member 102 to which the spacer 130 will be installed. Here, W1 is the distance between the upper contact point 135p or the lower contact point 135p, and these distances are equal. W1 (undeformed) can be, for example, 1% to 5% larger than the gap G, preferably 1% to 3%, or more preferably 2% to 3%. In some embodiments, the gap G is approximately 40 mm to 45 mm wide, and W1 is approximately 41 mm to 46 mm in the undeformed state, but is always slightly larger than the gap G, for example, 1 mm to 2 mm larger. Because W1 is slightly larger than the gap G, a press fit is achieved when a cross-section with dimension W1 is fitted into the gap G, and a small elastic deformation is produced. This elastic deformation can be produced in the cross-section, for example by slightly bending the arms in the X-shape so that the upper and lower contact points 135p on each side move further away from each other. Elastic deformation may occur by slightly bending the channel flange 102f outward to create a larger gap G. It may also be a combination of deformation of the channel flange 102f and deformation of a cross-section with size W1.

[0214] Figures 6 to 10 The column spacers can be installed in channel 102c using two different methods. Both methods rely on fitting a first dimension W1 into gap G, where W1 is slightly larger than gap G. To fit the first dimension W1 into gap G, it is necessary to force a second dimension W2, W2', which is larger than the first dimension W1, to move across gap G. Both methods may involve a first movement of end segment 131 into the channel by dimensions W3, W3', which are smaller than gap G.

[0215] In both methods, dimension W1 is the same as the undeformed width of the X-shape of end section 131 coinciding with gap G during installation. However, in both methods, although end section 131 has the same configuration, the second dimensions W2, W2' and the third dimensions W3, W3' are not the same dimensions, and therefore are represented as W2 and W2' and W3 and W3'. W1, W2, W2', W3, and W3' are therefore considered functional dimensions and are associated with a specific position or distance on end section 131. Therefore, Figure 10 Two different dimensions are shown, which are smaller than the gap G and can be defined as W3 and W3', because one dimension is used for the first method (W3 = width of end flange 132) and the other dimension is used for the second method (W3' = h).

[0216] The first method relies on moving or pushing the column spacer in its longitudinal direction, such that the end section 131 is inserted into the channel 102c until the end face 133 abuts against the support surface 102s of the upright member 102. Figure 10 This width is less than the gap G, allowing it to be within... Figure 7 and Figure 10 The directional lateral entry channel 102c is shown in the figure. The tapered portion 137 has a section with a cross-section larger than the gap G. This portion includes a width W2 (see reference) that is larger than the gap G. Figure 10 The end section 131 is located at step 138 or closer to end face 133 than step 138. When this portion reaches gap G, it is necessary to force the end section 131 to move to allow the portion to cross gap G until the lip 102l of the channel flange 102f engages at step 138 and clamps the contact interface 135i (i.e., contact point 135p) immediately adjacent to step 138 (i.e., on the center side of step), i.e., clamped approximately at line D. The tapered profile 137 helps to force the gradually increasing section across gap G.

[0217] In the first method, the end section 131 of the column spacer 130 has dimensions W1, W2 and W3, which are arranged in different planes P1, P2, P3 along the longitudinal axis 130z of the spacer 130, but in the same orientation, that is, all of these dimensions represent the width w of the column spacer 130 in that plane.

[0218] The second method relies on moving the column spacer 130 into the channel 102c in the following orientation: allowing the dimension W3' to enter laterally (i.e., moving the spacer in its longitudinal direction) into the channel 102c (W3' being smaller than the gap G), and arranging it until the end face 133 abuts against the support surface 102s. In this respect, W3' can be defined as follows: Figure 10 The height of the X-shape shown is such that the column spacer 130 can therefore be oriented to have W3' horizontally in the XY plane. The spacer 130 is then twisted about its longitudinal axis 130z until one arm of the X-shape (which can be defined in this respect as W2') reaches the lip of the gap G, and a forced movement (twist) is required to rotate W2' across the gap G until the lip 102l of the channel flange 102f engages to clamp the contact interface 135i (i.e., contact point 135p). As W2' is forced across the gap G, the gap G and / or end section 130 undergoes elastic deformation. This elastic deformation can be achieved, for example, by forcing the arms of the X-shape apart or twisting about the central axis of the spacer 130. Due to the shape of the cross-section, the operator will easily visually identify that the spacer 130 is correctly oriented, for example, with the X-shape positioned across the gap G with a wider dimension.

[0219] Using the second method described above, the end section 131 of the column spacer 130 has dimensions W1, W2', and W3', which are arranged in planes P1, P2, and P3 that overlap each other. These planes are located on the center side of the step 138 and are approximately located in... Figure 7 At line D, but dimensions W1, W2', and W3' are cut off in the plane with different orientations, i.e., W1 is the width w of the X-shape, W3' is the height h of the X-shape, and W2' is the dimension of the arm in the X-shape in the plane and has an angle between W1 and W3'. The same applies to the other end segment 131.

[0220] Figures 11 to 15 Another embodiment of the column spacer 130 according to the present disclosure is shown, wherein the column spacer 130 has a channel-shaped cross section.

[0221] Figure 11 and Figure 12 These are, respectively, a perspective view and a side view of the column spacer 130. Figure 15 It is along Figure 12 The cross-sectional view taken from plane AA. Figure 14 This is a detailed view of the end portion of the column spacer 130, showing the end section 131 and the elongated body of the column spacer 130. Figure 13 The column spacer 130 is shown during installation into the channel 102c of the upright member 102 and after installation into the channel of the upright member. The column spacer 130 has a... Figures 6 to 8 and Figure 10 The column spacer 130 serves the same purpose and shares the same operating principle (in terms of how it locks into the gap G and the method of installation between the upright members). Therefore, the column spacer 130 of this embodiment will also lock at each end into the channel 102c of the upright member 102, the end having an end face 133 arranged abutting against the support surface 102s at the rear of the channel 102c, and having a first dimension W1'' larger than the gap G. It can be securely locked into the gap G by forcing a second dimension W2'', W2''' larger than the first dimension W1'', to move across the gap G, and can be press-fitted into the gap G.

[0222] Therefore, the column spacer 130 will be installed between two adjacent upright members 102 of the frame structure 100 of the automated storage and retrieval system, which is equivalent to the prior art system 1. The column spacer 130 will be installed laterally between the upright members 102 (i.e., its longitudinal axis 130z is transverse to the longitudinal axis 102z of the upright member 102, see reference). Figure 5And it extends at a right angle from the channel 102c of the upright member 102, that is, parallel to the plane where the channel flange 102f is located. This not only ensures the correct distance between the upright members, but also ensures their correct alignment in the frame structure. Therefore, the column spacer 130 has a length L along its longitudinal axis 130z, which is suitable for fitting between two adjacent upright members 102 in the frame structure 100.

[0223] The column spacer 130 has an elongated body comprising two end sections 131. At each end, the column spacer 130 includes an end flange 132 having a planar end face 133, which is the distal end face of the end flange 132, and is arranged to abut against a support surface 102s in the channel 102c of the upright member 102, for reference. Figure 5 .Although Figure 5 A column spacer 130 with an X-shaped cross-section is shown, but a channel-shaped column spacer 130 can be installed in a frame structure in the same way, such as... Figure 5 As shown in the image.

[0224] For weight reduction and / or material saving purposes, the end flange 132 has a cutout at its center. In some embodiments, the end flange 132 does not include such a cutout. To further increase the contact area toward the support surface 102s, the end flange 132 may have two downwardly extending flaps or lobes that extend to the outside of the cross-section of the end segment 131 adjacent to the end flange 132.

[0225] The size of the column spacer 130 can be designed to be assembled in Figure 1 The track in the track system 108 shown is located below the occupied area. Therefore, its length L roughly corresponds to the length of the side of the grid access opening 112, as shown. Figure 1 (As shown in the diagram). For the frame structure 100, there are typically two different lengths of column spacers 130 because the storage column 105 has a rectangular shape in the XY plane (i.e., in the horizontal plane).

[0226] The channel-shaped column spacer 130 can be installed in the channel 102c of the upright member 102, as for... Figure 9 As described in [the text].

[0227] The elongated body of the spacer 130, including end sections 131, comprises a channel-shaped cross-section. The end sections 131 include a tapering profile 137, wherein the cross-section increases from the end flange 132 toward a step 138 on each side of the spacer 130. Here, the step 138 is formed by two wedges arranged on opposite sides of the channel-shaped cross-section (straight edge section), see [reference to image showing only one of the two wedges of the end section 131]. Figure 14The wedge shape causes the cross-section to decrease abruptly. Therefore, step 138 provides an edge on the central side of step 138 (i.e., at...). Figure 12 At or near line E, the edge may abut against the surface arrangement of the lip 102l of the channel flange 102f. The end section 131 is the portion of the column spacer 130 intended to be placed within the channel 102c of the upright member 102, and thus can be said to include an end flange 132 having an end face 133, and a portion of an elongated body extending from the end flange 132 to the central side portion of the step 138. This is achieved through… Figure 12 The dashed line E indicates that all features to the right of line E are part of end section 131. A similar situation applies to the other end section 131 of column spacer 131, wherein a step 138 is provided for lip engagement against another channel 102c.

[0228] Figure 15 It is along Figure 12 A cross-sectional view taken from plane AA. The cross-section along the channel shape of the slender body is shown in thick black lines when it is in its undeformed state. Figure 15 It shows that in relation to Figure 13 In similar embodiments, the column spacer 130 is oriented in the channel 102c where it will be placed in the upright member 102. Therefore, the height will be as follows: Figure 13 The upright member 102 is oriented in the z-direction within the channel 102c, and the width w is oriented horizontally in the XY plane within the channel 102c. Between the steps 138 at each end of the spacer 130, the cross-section of the column spacer 130 is uniform. The channel shape between the steps 138 includes two planar side surfaces 136 and two inclined top surfaces 139, which abut at their respective upper edges to form a closed upper portion of the channel shape, wherein the lower edge of each inclined surface 139 abuts the upper edge of one of the two planar side surfaces 136 (see reference). Figure 11 Therefore, it is shown with thick black lines. Figure 15 The cross-section includes a first straight line and a second straight line (the first line and the second line represent the cross-section of the planar side surface 136 in an undeformed state), the first line and the second line are parallel and form a contact length 135l on each side toward the gap G. The upper end of the first line is connected to the upper end of the second line by an inverted V-shape (the V-shape represents the cross-section of the inclined side surface 139) to form a channel shape.

[0229] Figure 11In this embodiment, the end section 131 is press-fitted into the gap G of the channel 102c. When the column spacer 130 is installed in the channel 102c, the end face 133 of the spacer 130 is arranged against the support surface 102s such that the column spacer 130 will be perpendicular to the upright member 102 in two dimensions, meaning it will be horizontal to the vertical upright member 102c and perpendicular to the support surface 102c of the upright member 102c. The tapered portion 137 is arranged within the channel 102c, i.e., between the two channel flanges 102f, and because the cross section of the edge provided by the step 138 is larger than the gap G between the lips 102l, the lips 102l prevent the column spacer 130 from moving away from the support surface 102s.

[0230] When end section 131 is installed in channel 102c, approximately what is assembled in gap G is... Figure 12 The cross section at line D. This cross section is equal to Figure 15 The shape of the thick, dark channel. As can be seen here, the cross-section includes a contact interface 135i, which has a contact length 135l on each side facing the gap G, i.e., a vertical direct contact line.

[0231] Figure 15 In this context, W1'' represents a first dimension, which is slightly larger than the gap G of the channel 102c of the upright member 102 to which the spacer 130 will be installed. Here, W1'' is the distance between the contact lines 135l. W1'' can be, for example, 1% to 5% larger than the gap G, preferably 1% to 3%, or more preferably 2% to 3%. In some embodiments, the gap G is approximately 40 mm to 45 mm wide, and W1'' is approximately 41 mm to 46 mm in the undeformed state, but always slightly larger than the gap G, for example, 1 mm to 2 mm larger. Because W1'' (when the spacer 130 is undeformed and not yet assembled) is slightly larger than the gap G, press-fitting is achieved when a cross-section with dimension W1'' is fitted into the gap G, and elastic deformation occurs. This deformation may occur in the cross-section, or it may occur by slightly bending the channel flange 102f outward to form a larger gap G. It may also be a combination of elastic deformation of the channel flange 102f and deformation of the cross-section with dimension W1''. The engaging assembly vertically aligns (e.g., horizontally and perpendicular to the upright member 102) to lock the spacer 130 into place in the channel 102c.

[0232] Figures 11 to 15 The column spacers can be installed in channel 102c using either the first or second method described above for X-shaped column spacers. Similarly, since dimensions W1'', W2'', W2''' and W3'', W3''' are functional dimensions, these dimensions may refer to different positions and / or orientations for the two methods for column spacers of the channel shape.

[0233] For the first method, the third dimension W3'' can be the width of the end face, referencing... Figure 14 The second dimension W2'' may be the width of the cross-section of the spacer including the wedge-shaped portion with step 138, and the first dimension W1'' may be approximately located at the center side of step 138. Figure 12 The width of the cross section at line E (and also at the other end section). For all embodiments, the third dimension W3'' is smaller than the gap G, the first dimension W1'' is slightly larger than the gap G, and the second dimension W2'' is larger than the first dimension W1''.

[0234] In the first method, the end section 131 of the column spacer 130 has dimensions W1'', W2'' and W3'', which are arranged in different planes P1, P2, P3 along the longitudinal axis 130z of the spacer 130, but in the same orientation, that is, all of these dimensions represent the width w of the column spacer 130 in that plane.

[0235] For the second method, the third dimension W3''' can be Figure 15 The height h shown, the second dimension W2''' can be the distance from the lower end of one contact length 135l to the upper end of the other contact length 135l, and the first dimension W1'' can be the distance approximately located at the center side of step 138. Figure 12 The width of the section at line E (and therefore also at the other end segment). Reference Figure 13 The upper spacer 130 in the channel 102c of the upright member 102c is being twisted about its longitudinal axis 130z to lock it in a position where the planar side surface 136 is parallel to the channel flange 102f and the inverted V-shape is at the top. Before the twisting begins, the end section 131 is inserted with W3''' in the XY plane (at 90° to its final locked position) and the end face 133 abuts against the support surface 102s. When the second dimension W2''' (where W2''' can be the distance from the lower end of one contact length 135l to the upper end of another contact length 135l) is forced across the gap G during the twisting movement, it engages in a position where W1'' is located and spans the gap G. It will then be positioned as follows: Figure 13 The column spacer 130 is shown directly below the center, wherein the contact length 135l on each side abuts against the lip 102l of the channel flange 102f, and the inverted V-shape is at the top so that the top of the spacer is closed. Due to the shape of the cross-section, the operator will easily visually identify that the spacer 130 is in the correct orientation, for example, with the inverted V-shape at the top.

[0236] Using the second method described above, the end section 131 of the column spacer 130 has dimensions W1'', W2''', and W3''', which are arranged in overlapping planes P1, P2, and P3, which are approximately located in Figure 12 In the plane at line E (and therefore in) Figure 12 The same applies to the other end section 131), but the dimensions W1'', W2''', and W3''' are cut in different orientations in the plane, i.e., W1'' is the width w of the channel shape, W3''' is the height h of the channel shape, and W2''' is the diagonal dimension between the two contact lengths 135l in the plane and has an angle between W1'' and W3'''.

[0237] The proposed solution does not require special tools to install the column spacers in the channel 102c of the upright member 102.

[0238] X-shaped column spacer 130 (e.g.) Figures 6 to 10 ) and channel-shaped column spacers 130 (such as Figures 11 to 15 These can typically be made of the same material, preferably aluminum or plastic. The manufacturing method can also be similar for these embodiments.

[0239] The column spacers 130 are typically made of metals such as aluminum, which offer advantages such as light weight and durability, while also providing robust structural integrity when the column spacers 130 form part of the large frame 100 supporting the overlying track system 108 and the moving container handling vehicle. The manufacturing method is preferably suited for efficient, high-volume production, as a large number of column spacers 130 may be required for a single frame structure 100. Aluminum column spacers 130 can be manufactured, for example, by additive manufacturing or molding, specifically by injection molding.

[0240] The column spacer 130 can typically be made of plastic (such as unreinforced or reinforced plastic). The plastic column spacer 130 can be manufactured, for example, by additive manufacturing or molding, specifically by injection molding. The advantages of using plastic materials are that, compared to metal parts, plastics may be easier and safer to install, for example, with a lower risk of cuts and less force required. Furthermore, using plastics can reduce material costs and production costs.

[0241] Furthermore, the proposed solution is compatible with the existing design of storage and retrieval system 1, allowing existing systems to be retrofitted using the column spacer 130 disclosed herein.

[0242] In the foregoing description, various aspects of the delivery vehicle and automated storage and retrieval system according to this disclosure have been described with reference to illustrative embodiments. Specific figures, systems, and configurations have been set forth for illustrative purposes to provide a comprehensive understanding of the system and its operation. However, this description is not intended to be interpreted in a limiting sense. Various modifications and variations of the illustrative embodiments that will be apparent to those skilled in the art to which the disclosed subject matter pertains, as well as other embodiments of the system, are considered to fall within the scope of this disclosure.

[0243] The following numbered clauses are also described in this document: Clause 1. A column spacer (130) for installation between two adjacent upright members (102) of a frame structure (100) of an automated storage and retrieval system, wherein the column spacer (130) has a length (L) along its longitudinal axis (130z) corresponding to the distance between two adjacent upright members (102) in the frame structure (100). The column spacer (130) includes two end sections (131), each end section (131) being configured to lock into place in a channel (102c) of one of two adjacent upright members (102), wherein each of the two end sections has a first dimension (W1, W1'') in a first plane (P1) perpendicular to the longitudinal axis (130z) of the column spacer (130), the first dimension (W1, W1'') being greater than the gap (G) of the channel (102c), and wherein each end section (131) includes an end face (133) for abutting against a support surface (102s) arranged in the channel (102c) of the upright member (102).

[0244] Clause 2. According to Clause 1, the column spacer (130) wherein each of the two end segments (131) has a second dimension (W2, W2', W2'', W2''') in a second plane (P2) perpendicular to the longitudinal axis (130z). The second dimension (W2, W2', W2'', W2''') is larger than the first dimension (W1, W1''). This allows the end section (131) to be securely locked in place in the channel (102c) by forcing the second dimension (W2, W2', W2'', W2''') to move across the gap (G).

[0245] Clause 3. The column spacer according to Clause 1 or 2, wherein each of the two end segments (131) has a third dimension (W3, W3', W3'', W3''') in a third plane (P3) perpendicular to the longitudinal axis (130z), the third dimension (W3, W3', W3'', W3''') being smaller than the gap (G).

[0246] Clause 4. The column spacer (130) according to any of the preceding clauses, wherein each of the two end segments (131) includes on each side a contact interface (135) for support on a channel (102c) of the upright member (102), wherein the contact interface (135) includes two or more spaced-apart contact points (135p) and / or has a contact length (135l).

[0247] Clause 5. The column spacer (130) according to any of the preceding clauses, wherein the end section (131) includes a step (138) for engaging with an inwardly extending lip (102l) at the gap (G) of the channel (102c) during installation, thereby preventing the column spacer (130) from moving outward away from the support surface (102s).

[0248] Clause 6. The column spacer (130) according to Clause 5, wherein the end section (131) includes a tapered profile (137) whose cross-section gradually increases from the end face (133) toward the step (138), and wherein only a portion of the cross-sectional dimension of the tapered profile (137) is larger than the gap (G) of the channel (102c).

[0249] Clause 7. The column spacer (130) according to any of the preceding clauses, wherein the end face (133) is provided by the flange (132).

[0250] Clause 8. The column spacer (130) according to any of the preceding clauses, wherein the column spacer (130) is made of aluminum or plastic.

[0251] Clause 9. A framework structure (100) for an automated storage and retrieval system, the framework structure (100) comprising: - Multiple vertically aligned upright members (102) with a slender body having a longitudinal axis (102z); - Storage volume section (104) has storage column (105) for storing storage container (106). - A track system (108) covering a vertically aligned upright member (102); and - A plurality of column spacers (130) according to any of the foregoing clauses, wherein the column spacers (130) are installed between adjacent upright members (102) of the frame structure (100), and wherein the upright member (102) includes one or more longitudinally extending channels (102c), the channels (102c) including a support surface (102s) and a gap (G), the support surface being used to support the end face (133) of the column spacer (130).

[0252] Clause 10. The frame structure (100) according to Clause 9, wherein two or more column spacers (130) are installed at different heights between the same adjacent uprights (102).

[0253] Clause 11. The frame structure (100) according to Clause 9 or 10, wherein the channel (102c) includes a lip (102l) located at the gap (G) for preventing the column spacer (130) from moving horizontally outward away from the support surface (102s).

[0254] Clause 12. A frame structure (100) according to any one of Clauses 9 to 11, wherein each upright member (102) includes a plurality of channels (102c), each channel (102c) being arranged at a different side of the upright member (102).

[0255] Clause 13. An automated storage and retrieval system (1) comprising a framework structure (100) according to any one of Clauses 9 to 12.

[0256] Clause 14. A method for installing a column spacer (130) according to any one of Clauses 1 to 8 between two adjacent upright members (102) of a frame structure (100) of an automated storage and retrieval system, wherein each upright member (102) has a channel (102c) arranged on a side facing the other upright member (102), the method comprising the steps of: - Move the end section (131) of the column spacer (130) into the channel (102c) of the upright member (102) so that the end section (131) is securely locked in the gap (G) and the end face (133) is arranged against the support surface (102s).

[0257] Clause 15. The method according to Clause 14, used for installing column spacers according to Clauses 2 to 8, comprises the following sub-steps: - Orient the column spacer (130) so that the end section (131) can be inserted into the channel (102c) without deformation; - Insert the end section (131) into the channel (102c) such that the end face (133) is arranged against the support surface (102s); - Twist the column spacer (130) until the second dimension (W2) is forced across the gap (G) and the first dimension (W1) is fitted into the gap (G).

[0258] Clause 16. The method according to Clause 14, wherein the column spacer (130) includes a tapered profile (137) having a step (138), and wherein the method includes the following sub-steps: - Orient the cross section of the column spacer (130) in the orientation in which the column spacer will be installed relative to the channel (102c) of the upright member (102); - The end section (131) is pushed into the channel (102c) toward the support surface (102c) of the upright member (102) to produce elastic deformation, until the step (138) of the tapered profile (137) crosses the gap (G) and each end section (131) is engaged in the channel (102c) in such a way that it is fitted into the gap (G) with the first size (W1).

[0259] Clause 17. A method for manufacturing a column spacer (130) according to any one of Clauses 1 to 8, the method using additive manufacturing or molding.

[0260] List of reference numerals

Claims

1. An column spacer (130) for mounting between two adjacent upright members (102) of a frame structure (100) of an automated storage and retrieval system, wherein, The column spacer (130) has a length (L) along a longitudinal axis (130z) of the column spacer, the length (L) corresponding to a distance between the two adjacent upright members (102) in the frame structure (100), wherein the column spacer (130) comprises two end sections (131), each of the end sections (131) being configured for locking into place in a channel (102c) of one of the two adjacent upright members (102), wherein each of the two end sections has a first dimension (W1, W1'') in a first plane (P1) perpendicular to the longitudinal axis (130z) of the column spacer (130), the first dimension (W1, W1'') being larger than a gap (G) of the channel (102c).

2. The column spacer (130) according to claim 1, and wherein, Each of the end sections (131) comprises an end face (133) for being arranged against a support surface (102s) in the channel (102c) of the upright member (102).

3. The column spacer (130) according to claim 1 or 2, wherein Each of the two end sections (131) has a second dimension (W2, W2', W2'', W2''') in a second plane (P2) perpendicular to the longitudinal axis (130z), wherein the second dimension (W2, W2', W2'', W2''') is larger than the first dimension (W1, W1''), enabling the end sections (131) to be securely locked into place in the channel (102c) by forcing the second dimension (W2, W2', W2'', W2''') to move over the gap (G).

4. The column spacer of any one of the preceding claims, wherein, Each of the two end sections (131) has a third dimension (W3, W3', W3'', W3''') in a third plane (P3) perpendicular to the longitudinal axis (130z), the third dimension (W3, W3', W3'', W3''') being smaller than the gap (G).

5. The column spacer (130) according to any of the preceding claims, wherein Each of the two end sections (131) comprises on each side a contact interface (135) for being supported on the channel (102c) of the upright member (102), wherein the contact interface (135) comprises two or more spaced apart contact points (135p) and / or has a contact length (1351).

6. The column spacer (130) according to any of the preceding claims, wherein The end section (131) comprises a step (138) for engaging with an inwardly protruding lip (1021) at the gap (G) of the channel (102c) upon installation, thereby preventing the column spacer (130) from moving outwards away from the support surface (102s).

7. The column spacer (130) of claim 6, wherein, The end section (131) comprises a tapered profile (137) with a cross section gradually increasing from the end face (133) towards the step (138), and wherein only a portion of the tapered profile (137) has a cross sectional dimension larger than the gap (G) of the channel (102c).

8. The column spacer (130) according to any one of claims 2 to 7, wherein The end faces (133) are each provided by a flange (132).

9. The column spacer (130) according to any of the preceding claims, wherein The column spacer (130) is made of aluminum or plastic.

10. A framework structure (100) for an automated storage and retrieval system, the framework structure (100) comprising: - a plurality of vertically aligned upright members (102) having an elongated body with a longitudinal axis (102z); - a storage volume (104) having storage columns (105) for storing storage containers (106); and - a plurality of column spacers (130) according to any of the preceding claims, wherein the column spacers (130) are mounted between adjacent upright members (102) of the framework structure (100), and wherein the upright members (102) comprise one or more longitudinally extending channels (102c) comprising a gap (G).

11. The frame structure (100) of claim 10, wherein, The plurality of column spacers (130) are according to claims 2-9, and wherein the channels of the upright members (102) further comprise a support surface (102s) for supporting an end face (133) of the column spacer (130).

12. The frame structure (100) according to claim 10 or 11, wherein Two or more of the column spacers (130) are mounted at different heights between the same adjacent upright members (102).

13. The frame structure (100) according to claims 10 to 12, wherein The channel (102c) comprises a lip (102l) at the gap (G) for preventing the column spacer (130) from moving horizontally outward away from the support surface (102s).

14. The frame structure (100) according to any one of claims 10 to 13, wherein Each of the upright members (102) comprises a plurality of the channels (102c), each of the channels (102c) being arranged at a different side of the upright member (102).

15. The framework structure (100) according to any of claims 10-14, further comprising a rail system (108) overlying the vertically aligned upright members (102).

16. An automated storage and retrieval system (1) comprising a framework structure (100) according to any of claims 11-15.

17. A method of mounting a column spacer (130) according to any one of claims 1 to 10 between two adjacent upright members (102) of a framework structure (100) of an automated storage and retrieval system, wherein, Each of the upright members (102) is arranged with a channel (102c) at a side facing another of the upright members (102), the method comprising the steps of: - moving the end section (131) of the column spacer (130) into the channel (102c) of the upright member (102) such that the end section (131) is securely locked in the gap (G).

18. The method for mounting column spacers according to claims 2 to 9 according to claim 16, wherein, Moving the end section (131) of the column spacer (130) into the channel (102c) of the upright member (102) comprises moving the end section (131) such that the end face (133) is arranged against the support surface (102s).

19. The method for mounting a column spacer according to claim 3-9 of claim 17 or 18, the method comprising the sub-steps of: - orienting the column spacer (130) such that the end section (131) can be inserted into the channel (102c) without deforming; - inserting said end section (131) into said passage (102c) so that said end face (133) is arranged against said support surface (102s); - twisting the column spacer (130) until the second dimension (W2) is forced over said gap (G) and the first dimension (W1) fits in said gap (G).

20. A method for installing a column spacer according to claims 7-9, according to claims 17-19, comprising the following sub-steps: - orienting the cross-section of said column spacer (130) in the orientation in which it is to be installed with respect to said passage (102c) of said upright member (102); - pushing said end section (131) into said passage (102c) of said upright member (102c) towards a support surface (102c) so that an elastic deformation is generated and until a step (138) of a tapered profile (137) goes over a gap (G) and each said end section (131) snaps into place in said passage (102c) in such a way that a first dimension (W1) fits in said gap (G).

21. A method for manufacturing a column spacer (130) according to any one of claims 1-9, using additive manufacturing or molding.

Images