Grid frame structure

Abstract

A grid frame structure (14) for supporting a load handling device (30) operable to move one or more containers (10) in a stack (12), the grid frame structure (14) comprising: a plurality of vertical columns (116) located in a vertical plane and arranged to form a plurality of vertical storage positions (58) for stacking the containers (10) between the vertical columns (116) and being guided by the vertical columns (116) in a vertical direction, the plurality of vertical columns (116) being interconnected at their tops by a first set of grid members (118) extending in a first direction and a second set of grid members (120) extending in a second direction, the second set of grid members (120) running transversely to the first set of grid members (118) in a substantially horizontal plane to form a grid structure (50) including a plurality of grid cells or grid spaces (54); the first set (118) and the second set (120) of grid members respectively comprising a first set (22a) and a second set (22b) of tracks for the load handling device (30) to move one or more containers (10) on the grid frame structure (14), wherein a subgroup of the vertical columns (116a) is rigidly coupled together by at least one support assembly including a plurality of diagonal braces (82) to form a support tower (80); characterized in that the subgroup of vertical columns includes three vertical columns (116a, 116b, 116c) located in the same plane such that two of the three vertical columns (116a, 116b) are placed laterally on both sides of the middle vertical column (116c), and the two laterally placed vertical columns (116a, 116b) are rigidly connected to the middle vertical column (116c) by a plurality of diagonal braces (82).

Description

Technical Field

[0001] The present invention relates to the field of remotely operable load handling equipment on tracks located on a grid frame structure for handling storage containers or storage bins stacked in a grid frame structure, and more particularly, to a grid frame structure for supporting remotely operable load handling equipment. Background Art

[0002] It is well known that storage systems include a three-dimensional storage grid structure in which storage containers / storage bins are stacked on top of each other. PCT Patent No. WO2015 / 185628A (Ocado) describes a known storage and fulfillment system in which stacks of bins or containers are arranged within a grid frame structure. The bins or containers are accessed by remotely operable load handling equipment located on tracks at the top of the grid frame structure. This type of system is schematically illustrated in Figures 1 to 3 of the accompanying drawings.

[0003] As shown in Figures 1 and 2, stackable containers (known bins or containers 10) are stacked on top of each other to form a stack 12. The stack 12 is placed in a grid frame structure 14 in a warehouse storage or production environment. The grid frame consists of several storage columns or grid columns. Each grid in the grid frame structure has at least one grid column for storing a stack of containers. Figure 1 is a schematic perspective view of the grid frame structure 14, and Figure 2 is a top view of the stack 12 of bins 10 placed in the frame structure 14. Each bin 10 typically stores several product goods (not shown), and depending on its application, the product goods in the bin 10 can be of the same or different product types.

[0004] The grid frame structure 14 includes several upright members or vertical columns 16 that support horizontal members 18, 20. A first set of parallel horizontal grid members 18 is arranged perpendicular to a second set of parallel horizontal grid members 20 and is arranged in a grid pattern to form a grid structure that includes several grid cells or grid spaces supported by the upright members 16. The members 16, 18, 20 are typically made of metal and are typically welded together or bolted together or a combination of both. The bins 10 are stacked between the members 16, 18, 20 of the grid frame structure 14 such that the grid frame structure 14 prevents horizontal movement of the stack 12 of bins 10 and guides vertical movement of the bins 10.

[0005] The top layer of the grid frame structure 14 includes trackways 22 arranged in a grid pattern at the top of the stack 12. Additionally, referring to FIG. 3, the trackways 22 support several load handling devices 30. A first set 22a of parallel trackways 22 guides the robotic load handling device 30 to move in a first direction (e.g., the X direction) on top of the grid frame structure 14, and a second set 22b of parallel trackways 22, which is set perpendicular to the first set 22a, guides the load handling device 30 to move in a second direction perpendicular to the first direction (e.g., the Y direction). In this way, the trackways 22 enable the robotic load handling device 30 to move two-dimensionally laterally in the horizontal X-Y plane, such that the load handling device 30 can be moved to a position above any stack 12.

[0006] PCT Patent Publication No. WO2015 / 019055 (Ocado) (which is incorporated herein by reference) describes that the known load handling device 30 shown in FIGS. 4 and 5 includes a vehicle body 32, where each load handling device 30 only covers one grid space of the grid frame structure 14. Here, the load handling device 30 includes a wheel assembly, which includes a first set of wheels 34 and a second set of wheels 36. The first set of wheels 34 consists of a pair of wheels at the front of the vehicle body 32 and a pair of wheels 34 at the rear of the vehicle body 32, for engaging the first set of trackways or rails to guide the device to move in the first direction, and the second set of wheels 36 consists of a pair of wheels 36 on each side of the vehicle body 32, for engaging the second set of trackways or rails to guide the device to move in the second direction. Each set of wheels is driven to enable the vehicle to move along the trackways in the X and Y directions respectively. One or both sets of wheels can move vertically to lift each set of wheels off their respective trackways, thereby allowing the vehicle to move in the desired direction.

[0007] The load handling device 30 is equipped with a lifting device or a crane mechanism to lift the storage container from above. The crane mechanism includes a winch rope or cable 38 wound around a reel or spool (not shown) and a grasping device 39. The lifting device includes a set of lifting ropes 38 that extend in the vertical direction and are connected at or near the four corners of the lifting frame 39, also known as the grasping device (there is a rope near each of the four corners of the grasping device), for releasably connecting to the storage container 10. The grasping device 39 is configured to releasably grip the top of the storage container 10 to lift it from the container stack in the storage system of the type shown in FIGS. 1 and 2.

[0008] Wheels 34, 36 are arranged around the periphery of an inner cavity or recess (referred to as the container receiving space 40) in the lower part. As shown in FIGS. 5(a) and 5(b), the recess is dimensioned to receive the container 10 when the container 10 is lifted by a crane mechanism. When in the recess, the container is lifted off the underlying trackway so that the vehicle can move laterally to different positions. Upon reaching a target location (e.g., another stack, an access point in a storage system, or a conveyor belt), the bin or container can be lowered from the container receiving portion and released from the gripping device.

[0009] However, the grid frame structure is subject to various external and internal forces. These forces include but are not limited to ground movement caused by the composition of the ground or soil type, forces generated by the movement of load handling equipment weighing over 100 kg on the grid frame structure, movement due to nearby buildings or moving vehicles (such as trains), and even movement during earthquakes or storms. Due to such external forces experienced by the grid frame, it is crucial to keep the individual elements within the grid frame structure intact.

[0010] To ensure the stability of the grid frame structure, prior art storage systems rely heavily on various supports and braces arranged within the grid or at least partially along the grid periphery. However, for various reasons, using various supports and braces (anti - movement supports) to stabilize the grid frame structure against internal and external forces is disadvantageous. The space or area occupied by the grid frame structure could be used by the grid for storing containers; thus it impedes the optimal use of the available space or area for storing containers. The need for a support structure may limit the available options for locating the grid frame structure as any auxiliary grid support structure typically needs to be connected to the surrounding structure (such as the inner wall of a building) and requires a cost - effective support structure.

[0011] WO2019 / 101367 (Autostore Technology AS) teaches a grid support structure for integration into a storage grid structure of an automated storage system. The grid support structure consists of four storage columns interconnected by a plurality of vertically inclined support struts. The cross - section of the storage column profile includes a hollow central portion and four corner portions, each corner portion including two perpendicular bin guides for receiving the corners of storage bins. The support struts have a width that allows them to fit between two parallel guides without impairing the ability of the storage column to receive container stacks or storage bins.

[0012] There is thus a need for an alternative grid frame structure that minimizes the impact on the available space or area for storing containers, in order to provide a self - standing storage grid or at least have a reduced need for auxiliary grid support structures.

[0013] Most of the world's population is distributed along earthquake fault lines or lies in the path of strong storms such as hurricanes and tornadoes. Positioning a grid frame structure in these areas where seismic and storm events occur poses a risk of structural damage because the current grid frame structure may not be able to hold the grid structure together. For example, due to the inability of structural fasteners to firmly attach the grid to the upright members, strong seismic and storm events may cause it to lose its structural integrity. Earthquakes can be classified into four types, A, B, C, or D, according to their severity, where type A is considered the weakest earthquake and type D is considered the strongest. Types A - D can be graded according to their spectral acceleration, which is the maximum acceleration measured in g experienced by an object above the ground plane during an earthquake. Type D is considered to represent the strongest earthquake events, typically having a measured spectral acceleration in the range of 0.5g to 1.83g (for short - period spectral response acceleration SDS, see https: / / www.fegstructural.com / seismic - design - category - 101 / ), and can cause damage to most buildings. When a strong seismic event acts on a structure, the three - dimensional dynamic forces can break the structural fasteners that hold the grid frame structure together, causing them to loosen or detach from the members they are embedded in, or, if they remain in place, they may also tear through the structural fasteners.

[0014] Many jurisdictions (such as the states of the United States) have passed laws requiring that all new buildings, residential or commercial, must be constructed to incorporate certain seismic support features. As Figure 6 shown, the grid frame structure includes internal support features incorporated within the grid frame structure, where one or more upright members are held together by one or more support members or support towers. Typically, the support members are distributed throughout the interior of the grid frame structure. The distribution of the internal support depends largely on the size of the grid frame structure, ground conditions, and environmental conditions (such as temperature). However, while the grid frame structure is capable of withstanding very low - level earthquake events with a spectral acceleration less than 0.3g, there is currently no seismic system for grid frame structures that can withstand earthquake events stronger than class C and classified by a spectral acceleration in the range of 0.5g to 1.83g.

[0015] Therefore, there is a need for an earthquake - resistant grid frame structure that can withstand strong seismic events.

[0016] This application claims the priority of UK Patent Application No. GB2003056.5, filed on March 3, 2020, the entire content of which is incorporated herein by reference. Summary of the Invention

[0017] The present applicant provides a freestanding grid frame structure for supporting a load handling device operable to move one or more containers in a stack, the grid frame structure comprising:

[0018] A plurality of vertical columns located in a vertical plane and arranged to form a plurality of vertical storage positions for stacking containers between the vertical columns and being guided by the vertical columns in a vertical direction,

[0019] The plurality of vertical columns are interconnected at their tops by a first set of grid members extending in a first direction and a second set of grid members extending in a second direction, the second set of grid members running transversely to the first set of grid members in a substantially horizontal plane to form a grid structure including a plurality of grid cells or grid spaces;

[0020] The first set and the second set of grid members respectively include a first set and a second set of tracks for the load handling device to move one or more containers on the grid frame structure,

[0021] Wherein, a subgroup of the vertical columns are rigidly coupled together by at least one support assembly including a plurality of diagonal braces to form a support tower;

[0022] Characterized in that:

[0023] The subgroup includes three vertical columns located in the same plane such that two of the three vertical columns are placed laterally on both sides of the middle vertical column, and the two laterally placed vertical columns are rigidly connected to the middle vertical column by a plurality of diagonal braces.

[0024] The present applicant has recognized that by supporting a subgroup of the vertical columns within the grid frame structure, the assembly of the plurality of vertical columns supporting the grid can be self-standing or freestanding. This eliminates the need to support the grid frame structure by an external support structure or by connection to an adjacent structure (such as a wall). Preferably, the subgroup of the vertical columns includes three vertical columns, and two of the three vertical columns are placed laterally on both sides of the middle vertical column to define a support tower. Preferably, by supporting the subgroup of the vertical columns in the first direction and the second direction, the grid frame structure is supported in both the first direction and the second direction, such that the support tower includes a first support tower located in a plane extending in the first direction and a second support tower located in a plane extending in the second direction, that is, the support tower extends in two perpendicular directions of the grid frame structure.

[0025] The support tower is spaced apart from other upright columns in the grid frame structure by one or more spacer rings. Preferably, each of the three upright columns of the support tower is connected to an adjacent upright column within the grid frame structure by at least one spacer ring extending in a direction perpendicular to the plane in which the three upright columns lie. More preferably, the support tower lies in a first vertical plane and at least one spacer ring lies in a second vertical plane perpendicular to the first vertical plane. In other words, the three upright columns of the support tower lie in a first vertical plane and at least one spacer ring lies in a second vertical plane perpendicular to the first vertical plane.

[0026] Preferably, each of a plurality of diagonal support members is connected between two horizontally disposed upright columns and an intermediate upright column to form a series of triangular braces on both sides of the intermediate upright column. More preferably, the plurality of diagonal braces on both sides of the intermediate upright column cooperate with each other to form one or more cross braces. In other words, the series of triangular braces on both sides of the intermediate upright column cooperate with each other to form one or more cross braces. Optionally, the plurality of diagonal support members are connected to the intermediate upright column by a plurality of coupling plates spaced along the longitudinal length of the intermediate upright column. Each of the plurality of upright columns has a cross section including a hollow central portion and four corner portions, wherein each corner portion includes a guide. Preferably, each of the plurality of coupling plates is placed in a corresponding slot extending through the hollow central portion of the intermediate upright column. The slots are spaced along the longitudinal length of the intermediate upright column so as to accommodate a plurality of slots longitudinally in the intermediate upright column. Preferably, the plurality of slots are placed between the guides of the intermediate upright column, i.e., between the corner portions of the upright column. By placing slots for accommodating the guides between the corner portions of the upright column, it allows adjacent upright columns constituting a storage column to accommodate one or more containers in a stack. In other words, the area between adjacent columns constituting a storage column for storing one or more containers in a stack is not impaired by the presence of the diagonal support members, i.e., the diagonal support members do not intersect the area of one or more containers in the storage stack.

[0027] Preferably, each of the two horizontally disposed upright columns is arranged to be anchored to a concrete foundation at its lower end by an anchor foot, the anchor foot comprising a plurality of discrete fingers extending from an upright portion configured to be connected to the lower end of the upright column and at least one of a plurality of diagonal braces, each discrete finger comprising means for anchoring the anchor foot to the concrete foundation by one or more anchor bolts. Compared with conventional anchor feet, the anchor feet of the present invention are topologically optimized, which optimize the material layout within a given design space for a given set of loads, the loads being the loads from the upright columns and the loads from the diagonal support members. The plurality of discrete fingers extend from the upright portion as stabilizers to distribute the forces from the upright columns and the diagonal support members along the discrete fingers. Optionally, each discrete finger comprises means for anchoring the anchor foot to the concrete foundation by one or more bolts. For example, each finger comprises one or more openings for receiving bolts. More preferably, the anchor foot comprises at least five discrete fingers extending from the upright portion, the upright portion comprising a plate for connection to the lower end of the upright column and at least one diagonal brace, the plate being oriented within a grid frame structure such that the surface of the plate with the largest surface area lies in the same plane as three upright columns. In other words, the surface of the upright portion with the largest surface area is coplanar with the three upright columns of the support tower, i.e., the surface of the plate extends in the same plane as the three upright columns of the support tower.

[0028] Although the two horizontally disposed upright columns of the support tower are anchored to the floor by the anchor feet of the present invention, the remaining other upright columns in the grid frame are supported on adjustable feet to adjust the height and thus the height of the grid in the horizontal plane. Preferably, the portion of the remaining upright columns not anchored to the concrete foundation by the anchor feet comprises an adjustable foot at its lower end for adjusting the height of the upright column. Optionally, the adjustable foot comprises a base plate and a threaded spindle, the threaded spindle being threadedly engaged with a push-fit cap at the lower end of the upright column to adjust the height of the upright column. Optionally, the push-fit cap comprises an insertion portion dimensioned to be inserted into the hollow central portion of the upright column. Optionally, the insertion portion comprises at least two walls, each of the at least two walls comprising a retaining clip or a compression clip receivable in an opening in the at least two walls such that when the insertion portion is inserted into the hollow central portion of the upright column, the insertion portion forms a tight fit. The at least two walls extend vertically from the base plate. Openings dimensioned to receive at least one retaining clip or compression clip are introduced into the at least two walls such that when the insertion portion is inserted into the hollow central portion of the upright column, the insertion portion forms a tight fit. In other words, the insertion portion comprises at least two corner portions, each of the at least two corner portions comprising two vertical walls. The at least two corner portions are spaced apart to receive the retaining clip or compression clip. Preferably, the insertion portion comprises four corner portions arranged at the corners of a square or a rectangle, the shape of the square or the rectangle being insertable into the box portion of the upright column. The corner portions are spaced around the perimeter of the square or the rectangle to receive the retaining clip or compression clip.

[0029] Preferably, by connecting at least one brace or spacer between two adjacent vertical columns, the remaining portions of the vertical columns are spaced apart from each other at a preset distance. To maintain a preset distance between the remaining vertical columns not supported by at least one diagonal support member, a spacer or brace is connected between two adjacent vertical columns. The spacer or brace has a preset length to maintain a preset length of spacing between the vertical columns within the grid frame structure. More preferably, at least one brace or spacer extends in a direction perpendicular to the longitudinal direction of the vertical column. Since the vertical columns extend in a vertical plane, the brace or spacer extends in a horizontal plane.

[0030] The stability of the grid frame structure of the present invention depends on the number of support towers distributed within the grid frame structure, i.e., the number of subgroups of vertical columns supported by one or more diagonal support members in the grid frame structure. Preferably, the portion of the support tower occupying several vertical columns of the grid frame structure is in the range of 2% to 50%, i.e., the portion of the vertical column supported by one or more diagonal support members is in the range of 2% to 50%.

[0031] According to another aspect of the present invention, there is provided a storage system, comprising:

[0032] i) the grid frame structure of the present invention as described above;

[0033] ii) a stack of several containers arranged in storage columns located below the grid, wherein each storage column is vertically located below a grid cell;

[0034] iii) several loading handling devices for lifting and moving the containers stacked in the stack, the several loading handling devices being remotely operated to move laterally on the grid above the storage columns to access the containers through a substantially rectangular framework, each of the several loading handling devices comprising:

[0035] a) a wheel assembly for guiding the loading handling device on the grid;

[0036] b) a container receiving space located above the grid; and

[0037] c) a lifting device for lifting a single container from the stack to the container receiving space.

[0038] In another aspect of the present invention, there is provided an anchor foot for anchoring one or more vertical columns of the grid frame structure to a concrete foundation, the grid frame structure comprising:

[0039] several vertical columns located in a vertical plane and arranged to form several vertical storage positions for stacking one or more containers between the vertical columns and being guided by the vertical columns in the vertical direction,

[0040] A plurality of vertical columns are interconnected at their upper ends by a first set of grid members and a second set of grid members, the second set of grid members running transversely to the first set of grid members in a substantially horizontal plane to form a grid structure for supporting a load handling device operable to move one or more containers in a stack;

[0041] Characterized in that:

[0042] The anchor foot includes a plurality of discrete fingers extending outward from an upright portion configured to be connected to the lower end of the vertical column and at least one diagonal brace, each discrete finger including means for anchoring the anchor foot to a concrete foundation by one or more anchor bolts.

[0043] Preferably, the anchor foot includes at least five discrete fingers extending from the upright portion, the upright portion including a plate for connection to the lower end of the vertical column and at least one diagonal brace. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The following detailed description of exemplary embodiments refers to the accompanying drawings, in which other features and aspects of the present invention will become apparent, wherein:

[0045] FIG. 1 is a schematic view of a grid frame structure according to a known system;

[0046] FIG. 2 is a top schematic view showing a box stack arranged within the frame structure of FIG. 1;

[0047] FIG. 3 is a schematic view of a system of a known load handling device operating on a grid frame structure;

[0048] FIG. 4 is a schematic perspective view of a load handling device showing a lifting device gripping a container from above;

[0049] FIGS. 5(a) and 5(b) are schematic cross-sectional views of the load handling device of FIG. 4 showing (a) the container receiving space of the load handling device and (b) a container received within the container receiving space of the load handling device;

[0050] Figure 6 is a perspective view of a grid frame structure according to a specific embodiment of the present invention;

[0051] Figure 6b is a top plan view of the layout of a grid frame structure in a typical fulfillment center according to a specific embodiment of the present invention;

[0052] Figure 6c is a side view model of a typical fulfillment center according to a specific embodiment of the present invention;

[0053] Figure 6dis a perspective view showing the arrangement of vertical columns according to a specific embodiment of the present invention, which form a vertical storage position or grid columns for stacking containers between the vertical columns;

[0054] Figure 6e is an illustration of a panel around a grid frame structure;

[0055] Figure 6f is an illustration of a mesh panel according to a specific embodiment of the present invention;

[0056] Figure 6g is a perspective view of a panel and a support structure according to a specific embodiment of the present invention;

[0057] Figure 7 is an illustration of a cross-sectional top view of the arrangement of vertical columns or upright members in a grid frame structure according to a specific embodiment of the present invention;

[0058] Figure 8 is a perspective view of a storage space or storage column within a grid frame structure according to a specific embodiment of the present invention;

[0059] Figure 9 is a perspective view of an adjustable foot according to a specific embodiment of the present invention;

[0060] Figure 10 is a perspective view showing the insertion part or cap of the adjustable foot according to a specific embodiment of the present invention;

[0061] Figure 11 (a to c) are schematic diagrams of a support tower according to a specific embodiment of the present invention;

[0062] Figure 12 is a plan view of the distribution of support towers within a grid frame structure according to a specific embodiment of the present invention;

[0063] Figure 13 is a schematic diagram of connecting a diagonal brace to the flange of a support tower according to a specific embodiment of the present invention;

[0064] Figure 14 is an enlarged view of a support tower according to a specific embodiment of the present invention, showing the connection of the diagonal brace to the intermediate vertical column;

[0065] Figure 15 is an enlarged view of a support tower according to a specific embodiment of the present invention, showing the connection of the diagonal brace to the intermediate vertical column;

[0066] Figure 16a is a side view of an anchor foot according to a second specific embodiment of the present invention;

[0067] Figure 16b is a top view of an anchor foot according to a second specific embodiment of the present invention;

[0068] Figure 17 is a perspective view of a grid element pattern of a grid according to a specific embodiment of the present invention;

[0069] Figure 18 is a perspective view of a cover plate for connecting adjacent grid elements at intersections according to a specific embodiment of the present invention;

[0070] Figure 19 is a perspective view of a cover plate according to a specific embodiment of the present invention, which links adjacent grid elements by connecting the ends of the grid elements at intersections;

[0071] Figure 20 is a perspective view of a cover plate according to a specific embodiment of the present invention, which links adjacent grid elements at intersections by connecting the central part of a grid element and the ends of adjacent grid elements;

[0072] Figure 21 is a perspective view of a cover plate assembled to a straight column according to a specific embodiment of the present invention for connecting adjacent grid elements together at intersections where the grid elements cross;

[0073] Figure 22 is a perspective view of a grid element pattern at an intersection according to a specific embodiment of the present invention;

[0074] Figure 23 is a perspective view of a grid element or a track support according to a specific embodiment of the present invention;

[0075] Figure 24 is according to a specific embodiment of the present invention Figure 20 The perspective sectional view along line X-X in shows the joint between adjacent grid elements at the intersection;

[0076] Figure 25 is a perspective view of a track element according to a specific embodiment of the present invention;

[0077] Figure 26 is a perspective view of a track arrangement at an intersection where grid elements cross according to a specific embodiment of the present invention;

[0078] Figure 27 is a perspective view of a seismic grid frame structure according to the first specific embodiment of the present invention;

[0079] Figure 28 is a perspective view of a seismic grid frame structure according to the second specific embodiment of the present invention;

[0080] Figure 29 is according to a specific embodiment of the present invention showing at Figure 27 and Figure 28Perspective view of the supported grid at the boundary of the seismic grid frame structure shown;

[0081] Figure 30 Is a top plan view of the seismic grid frame structure according to the first specific embodiment of the present invention, showing the arrangement of the supports;

[0082] Figure 31 Is a top plan view of the seismic grid frame structure according to another specific embodiment of the present invention, showing the arrangement of the supports;

[0083] Figure 32 Is a perspective cross-sectional view of the seismic grid frame structure according to the specific embodiment of the present invention, showing the cross-sectional profile of the grid members;

[0084] Figure 33 Is the distribution of the bending moment across the grid when the Vierendeel truss acts;

[0085] Figure 34 Is a schematic diagram showing the arrangement of the sub-frame of the grid constituting the seismic grid frame structure according to the specific embodiment of the present invention;

[0086] Figure 35 Is a top schematic view of the sub-frame of the grid of the seismic grid frame structure according to the specific embodiment of the present invention;

[0087] Figure 36 Is a bottom schematic view of the sub-frame of the grid of the seismic grid frame structure according to the specific embodiment of the present invention;

[0088] Figure 37 Is a schematic diagram of the sub-frame at the grid edge according to the specific embodiment of the present invention, showing the connection plate for connecting to the SFRS;

[0089] Figure 38 Is a top plan view of the sub-frame supported by the SFRS according to the specific embodiment of the present invention;

[0090] Figure 39 Is a cross-sectional view of the engagement of the track of the grid element and the track support of the seismic grid frame structure according to the specific embodiment of the present invention;

[0091] Figure 40 Is a top plan view of the modular seismic grid frame structure according to the specific embodiment of the present invention;

[0092] Figure 41 is a schematic diagram of a known fulfillment center, showing the mezzanine between adjacent grid frame structures;

[0093] Figure 42is a cross-sectional view of a modular grid frame structure incorporating an integrated mezzanine according to a specific embodiment of the present invention;

[0094] Figure 43 is a top plan view of a fulfillment center incorporating a mezzanine according to a specific embodiment of the present invention;

[0095] Figure 44 shows a mezzanine connected to a support structure by one or more movable joints according to a specific embodiment of the present invention;

[0096] Figure 45 shows a possible specific embodiment of a movable joint;

[0097] Figure 46 shows a possible configuration of a movable joint connected to a mezzanine;

[0098] Figure 47 shows different configurations of a movable joint connected to a mezzanine;

[0099] Figure 48 shows Figure 47 different views of the configuration of;

[0100] Figure 49 is a perspective view of a crash barrier at the grid edge according to a specific embodiment of the present invention. Specific embodiment

[0101] Grid frame structure

[0102] Figure 6 shows a perspective view of the grid frame structure 114 according to a specific embodiment of the present invention. The base components of the grid frame structure 114 according to the present invention include a grid 50 located in a horizontal plane and mounted to a plurality of straight columns or upright members 116. The terms "upright member" and "straight column" and "vertical column" may be used interchangeably in the description to denote the same thing or feature. As Figure 6As shown, the grid 50 includes a series of horizontally intersecting beams or grid members 118, 120, which are arranged to form several rectangular frameworks 54. More specifically, a first set of grid members 118 extends in a first direction x, and a second set of grid members 120 extends in a second direction y. The second set of grid members 120 runs transversely to the first set of grid members 118 in a substantially horizontal plane. The first and second sets of grid members respectively support first and second sets of tracks 57a, 57b for moving one or more containers on the grid frame structure by a load handling device. For the purpose of explaining the present invention, the intersection points 56 constitute the nodes of the grid structure. Each rectangular framework 54 constitutes a grid cell, and the dimensions of the rectangular framework 54 can be used for a remotely operated load handling device or robot traveling on the grid frame structure to retrieve and lower one or more containers stacked between the upright columns 116. By being mounted to several upright columns 116 at the intersection points or nodes 56 where the grid members 118, 120 cross, the grid 50 is raised above the ground so as to form several vertical storage positions 58 for stacking containers between the upright columns 116 and guiding them in the vertical direction by the several substantially rectangular frameworks 54 and the upright columns 116. For the purpose of the present invention, a container stack can include several containers or one or more containers. The grid frame structure 114 can be considered as a set of straight lines supporting the upright columns 116 of the grid 50, which is formed by intersecting horizontal grid members 118, 120 (i.e., a four-sided frame). Two or more upright columns are supported by at least one diagonal support member to provide one or more support towers 80 within the grid frame structure 114. For the purpose of the present invention, the terms "vertical upright column", "upright column", and "upright member" can be used interchangeably in the description.

[0103] After receiving an order, a load handling device operable to move on the tracks is instructed to pick up a storage box containing the order goods from a stack in the grid frame structure and transport the storage box to a picking station, where the goods can then be retrieved from the storage box and transferred to one or more delivery containers. Typically, the picking station includes a container transport assembly to transport one or more containers to an access station where the contents of the container can be accessed. The container transport assembly is typically a transport system including a plurality of adjacent transport units.

[0104] A typical layout of a fulfillment center for order fulfillment is as Figure 6bAs shown. The fulfillment center includes two distinct grid areas, referred to as the ambient grid area 114b and the refrigerated grid area 114c. Each of the ambient grid area 114b and the refrigerated grid area 114c includes a grid frame structure, i.e., the ambient grid area 114b includes a first grid frame structure 114b, and the refrigerated grid area 114c includes a second grid frame structure 114c. For the purposes of the present invention, the ambient grid area 114b stores food and grocery items at an ambient controlled temperature. For the purposes of the present invention, the ambient controlled temperature covers a range from substantially 4°C to substantially 21°C, preferably from substantially 4°C to substantially 18°C. Similarly, the refrigerated grid area 114c stores food and grocery items at a refrigerated temperature. For the purposes of the present invention, the refrigerated temperature covers a range from substantially 0°C to substantially 4°C. The two grid areas - the ambient and refrigerated areas - are filled with containers (also referred to as storage containers, bins, or storage boxes) containing a variety of grocery products. The containers can be plastic or any other suitable material. The height of each grid area 114b, 114c can be different. For example, in Figure 6b and 6c the shown fulfillment center, most of the ambient grid area includes a stack of 21 containers high (about 7.7m), the refrigerated grid area includes a stack of 8 containers high (about 3.0m), and the grid area above the picking station includes a stack of 1 container high (about 448mm). The containers are stacked on the floor on top of each other and are placed between the grid columns.

[0105] Each grid area includes an aisle 117 referred to as a picking aisle, which accommodates one or more picking stations for picking merchandise items from the storage bins or containers and transferring them to one or more delivery containers. Figure 6c A side view model of the refrigerated grid area 114c is shown, showing the picking aisle 117 between the two grid areas. Figure 6c A separate area is also shown, which is provided by incorporating a mezzanine supported by vertical beams in the adjacent grid frame structures. The mezzanine can be a freestanding structure. The mezzanine provides aisles for accommodating (e.g.) picking stations and / or any of the above stations.

[0106] By means of a loading handling device operating on the grid, the storage containers or storage boxes storing the merchandise and grocery items are transported to the picking stations in the picking aisle, where one or more goods are picked from the storage bins or containers at the picking stations and transferred to one or more delivery containers. Figure 6d A perspective view of a straight column arranged to form a vertical storage position 58 for storing the container 10 within the vertical storage position 58 is shown. Figure 6d The bottom of shows a representation of the vertical stack of the container 10 between the straight columns 116.

[0107] For health and safety and operational reasons, the panel 127 is used to restrict and contain access to the grid frame structure. The panel 127 is directly attached to the building structure or the mezzanine column or the panel support column 128. Depending on different structural requirements, different types of panels are used around different positions of the grid frame structure. These include trapezoidal panels, which are corrugated metal sheets used throughout the fulfillment center to separate the grid area from the walkways (see Figure 6e ). The profile of the trapezoidal panel shape is shown at the bottom of Figure 6e . The panels separating the picking aisles in the refrigerated area can be made of mesh to allow air circulation. The upright column 116 can be seen through the mesh panel in Figure 6f . The panel support bar 128 and the panel 127 are fixed along the mezzanine column using suitable beam clamps (see Figure 6f ). As shown in Figure 6g , the panel 127 is attached to the panel support bar 128. As shown in Figure 6g , the bottom of the panel is fixed to the kick plate (not shown), and the top of the panel is fixed with the capping track 125. The capping track 125 is clearly shown in the enlarged view on the right side of Figure 6g .

[0108] The components of the grid frame structure 114 will be discussed in more detail below.

[0109] The upright column or the upright member or the vertical column

[0110] Figure 7 shows a cross-sectional top view of the upright column 116 of the present invention, which is arranged within the grid frame structure to provide a storage location 58 for the containers 110 in the stack (see Figure 8 ), guide the containers 110 along the upright column 116 and through the grid cells 54. The spacing between the upright columns is dimensioned to accommodate one or more containers or storage boxes 110 that are generally rectangular in the stack. Each upright column is generally tubular. In the transverse section of the horizontal plane of the storage location 58 in Figure 8 , each upright column 116 includes a hollow central portion 70, and one or more guides 72 are mounted to or formed on at least one wall of the upright column 116, and the at least one wall extends along the longitudinal length of the upright column 116 for guiding the movement of the containers. The hollow central portion 70 of the upright column helps to reduce the weight of the grid frame structure. In the specific embodiment shown in Figure 7 , the hollow central portion 70 of the upright column is a box portion. The guide or corner portion 72 is mounted or formed on at least one corner of the box portion. However, there is no limitation on the cross-sectional shape of the hollow central portion of the upright column that is a box portion, and other cross-sectional shapes (such as circular, triangular) are also applicable to the present invention.

[0111] As shown in Figure 7As shown, the upright columns 116 are spaced apart such that the guides 72 mounted at the corners of different box sections cooperate with each other to provide a single storage location 58 for guiding the containers in the stack to move vertically along the upright columns. Depending on the position of the upright columns 116 in the grid frame structure, the guides 72 are mounted to one or all four corners of the box section of the upright columns 116. For example, when forming part of the outer wall-shaped frame of the grid frame structure, only one or two corners of the hollow central section may include guides or corner portions 72 to cooperate with one or two corners of the containers in the stack. In the case where the upright columns 116 are located inside the grid frame structure, all four corners of the box central section include guides or corner portions 72, and each upright column 116 is arranged to cooperate with the corners of four containers 110.

[0112] In a particular embodiment of the present invention, each guide 72 is shown as being V-shaped or having a 90° cross-sectional profile, the shape of which can dock or receive the profile of the corners of the containers, and the profiles of these corners are generally rectangular. As Figure 7 shown, the guide includes two vertical plates 72a, 72b (two container guide plates perpendicular to each other) that extend longitudinally along the length of the upright column 116. Figure 7 The additional plate 72c shown extends along the length of the upright column and is used to couple the V-shaped guide to the corner of the hollow central section 70 at the top of the V-shaped guide. The additional plate 72c is used to space the V-shaped guide from the corner of the hollow central section 70 such that the guide 72 including the spacer 72c has an overall Y-shaped cross-sectional profile.

[0113] The upright columns 116 of the present invention can be formed as a single body, for example, by extrusion. Different materials can be used to manufacture the upright columns, including but not limited to metals such as aluminum, steel, or even composite materials having sufficient structural stiffness to support the grid and the carrying devices traveling on the grid structure.

[0114] Through one or more spacers or struts 74 connected between adjacent upright columns 116, at least a portion of several upright columns 116 maintain a spatial relationship with each other in the grid frame structure (see Figure 8 ). The spacer 74 extends transversely (or perpendicularly) to the longitudinal direction of the upright column 116 and is bolted or riveted to the opposite walls of two adjacent upright columns by one or more bolts or rivets. The length of the spacer or strut 72 can be dimensioned such that adjacent upright columns 116 are sufficiently spaced apart to accommodate one or more containers in the stack between the upright columns 116. Figure 8 A perspective view of four upright columns 116 is shown, and the four upright columns 116 maintain a spaced relationship with each other through one or more spacers or struts 74 to form a storage column or storage location 58 sized to accommodate one or more containers in the stack.

[0115] The size of the spacer ring 74 can be assembled between the corner portions of the guide 72 including the upright column 116, thereby allowing the upright column to receive the stack of containers between adjacent upright columns 116, that is, the spacer ring does not obstruct or span the area (or vertical storage position) occupied by the guide 72 or the guide plate at the corner of the upright column (see Figure 7 ). One or more spacer rings / struts 74 are distributed at an interval relationship along the lengths of two adjacent upright columns 116 in the grid frame structure (see Figure 8 ). Figure 8 An embodiment of the storage position or storage column of the present invention is shown for occupying one or more containers in the stack, the storage position or storage column including four adjacent upright columns held in an interval relationship within the grid frame structure by one or more spacer rings or struts 74.

[0116] Since the remotely operated loading handling equipment travels largely on the grid structure and it is necessary to prevent any tracks or railroads from being damaged due to the height differences of one or more upright members 116 in the grid frame structure, it is crucial that the grid is substantially flat horizontally in the horizontal plane. To reduce the possible height differences of one or more upright columns 116 in the grid frame structure, the height of the grid and its level are adjusted by the adjustable feet 90 at the lower ends (first ends) of one or more upright columns 90 (see Figure 8 ).

[0117] Figure 9 The adjustable feet 90 shown include a base plate 92 and a threaded spindle or rod 94, and the threaded spindle or rod 94 can be threadedly engaged with Figure 10 the separate push - fit cap or plug 96 shown. The push - fit cap 96 is arranged to fit tightly at the lower end of the upright column 116 so as to adjust the height of the upright column. As Figure 9 and 10The push - fit cap 96 shown includes an insertion portion 98 that is shaped to fit into the hollow central portion of a straight post. A lip 100 is formed around the periphery of the insertion portion 98, and this lip 100 is arranged to butt against the edge of the hollow central portion 70 when the insertion portion 98 is received within the hollow central portion of the straight post. The push - fit cap or plug 96 includes one or more compression clips or retention clips 102 arranged around the insertion portion 98 so as to create a tight fit when the insertion portion 98 of the push - fit cap or plug 96 is inserted into the hollow central portion 70 of the straight post 116. In a particular embodiment of the present invention, the shape of the insertion portion 98 can create a tight fit when inserted into the box portion of the straight post. To create a tight fit between the insertion portion 98 and the hollow central portion of the straight post 116, the insertion portion 98 includes four walls 104, each wall 104 having one or more openings 106 to accommodate one or more retention clips or compression clips 102. One or more retention clips 102 can be made of an elastic material such as rubber. Together with the retention clips 102, the insertion portion 98 is slightly larger than the hollow central portion 70 (which is the box portion) of the straight post 116 so as to create a tight fit when the insertion portion 98 is inserted into the box portion 70 of the straight post 116. In another description, the push - fit cap or plug 96 includes four corner portions, where each of the four corner portions includes two vertical bands or plates arranged at the corners of the base plate of the push - fit cap or plug 96. The space between the corner portions is sized to receive one or more retention clips 102.

[0118] The push - fit cap 96 includes a threaded hole 108 for threaded engagement with the threaded spindle 94 of the adjustable foot 90. One or more webs 115 extending from each tip of the corner portion to the threaded hole 108 strengthen the structural integrity of the push - fit cap 96. The push - fit cap 96 of the present invention can be made of metal or other suitable materials such as metal, plastic, ceramic, and can be formed from separate parts, preferably formed as a single body, such as by casting or molding.

[0119] In use, the threaded spindle 94 is threadedly engaged with the threaded hole 108 of the push - fit cap 96. Rotation of the threaded spindle 94 changes the distance between the base plate 92 resting on the floor and the push - fit cap 96, thereby changing the height of the straight post in the grid - frame structure.

[0120] Support tower

[0121] The grid frame structure 114 can be considered a self - standing (or self - supporting) linear assembly of several vertical columns 116 that support the grid, which is formed by intersecting horizontal beams or grid members (i.e., four - sided frames). Although the spacer rings or braces 74 connecting adjacent vertical columns 116 provide a certain degree of structural stiffness to the grid frame structure 114, the structural stiffness and resistance moment of the grid frame structure are mainly provided by incorporating one or more truss assemblies or support towers 80 that at least partially surround the perimeter and / or the body of the grid frame structure (see Figure 6 ). The truss assemblies can have a triangular or other non - trapezoidal shape. For example, the truss assembly can be any type of truss that provides structural stiffness to the grid frame structure to resist lateral forces, including but not limited to a Warren Truss or a K Truss or a Fink Truss or a Pratt Truss or a Gambrel Truss or a Howe Truss. Bolts or other suitable attachment means can be used to fix the diagonal braces to the vertical columns.

[0122] As Figure 11 shown, the support tower 80 according to a specific embodiment of the present invention can be formed by rigidly coupling a subset or subgroup of several upright or vertical columns 116 through one or more angled supports or diagonal braces or diagonal support members 82. For the purposes of the present invention, the diagonal braces 82 cooperate with the vertical columns 116 in the support tower 80 to form one or more triangles. The subset of several vertical columns that are supported together to form the support tower 80 of the present invention can be two or more adjacent vertical columns 116 that are located in the same or a single vertical plane and are connected together by one or more diagonal braces 82. In other words, two or more adjacent vertical columns 116 connected by one or more diagonal braces 82 are located in the same or a single vertical plane, i.e., they are coplanar. The support of one or more subgroups of vertical columns 116 inside the grid frame structure by one or more diagonal braces 82 improves the structural stiffness of the grid frame structure.

[0123] Not all of the vertical columns 116 are rigidly connected together by the support assembly. The remaining vertical columns that are not part of the support tower 80 maintain their spatial relationship within the grid frame structure by the one or more spacer rings or braces 74 described above (see Figure 8 ). Generally, one or more spacer rings 74 are made of sheet metal (such as steel). Figure 12A top plan view or bird's-eye view of a portion of a grid frame structure according to an embodiment of the present invention is shown, showing the distribution of support towers and spacer rings that link adjacent straight uprights 116 together. Here, each of the three support towers 80 may be shown as a subgroup of three straight uprights 116a, 116b, 116c, each of the three support towers being located in a single vertical plane, i.e., they are coplanar. The remaining straight uprights not connected by one or more diagonal braces are held in spaced relationship in the grid frame structure by one or more spacer rings or braces 74, 74b. The spacer rings or braces 74, 74b extend in a direction perpendicular to the longitudinal direction of the straight uprights 116 as compared to one or more diagonal braces 82 that connect adjacent straight uprights 116a, 116b, 116c in the support towers 80. This can be clearly shown in Figure 8 the embodiment of the storage column shown.

[0124] Figure 12 The distribution of the spacer rings 74, 74b that separate the straight uprights 116 is shown. Figure 12Shows two types of spacers 74, 74b that connect adjacent straight uprights to the straight uprights 116 forming a support tower 80. The straight uprights 116a, 116b, 116c forming the support tower 80 are connected to one or more diagonal braces 82. The spacer 74b located in or extending in a vertical plane perpendicular to the vertical plane in which the straight uprights of the support tower 80 are located is mostly a structural spacer 74b, and the spacer 74 that laterally extends or extends to the side of the support tower 80 to the adjacent straight upright 116 is mostly a standard spacer 74. The two different types of spacers 74, 74b depend on whether one or more spacers are located in a plane perpendicular to the vertical plane in which the straight uprights 116a, 116b, 116c of the support tower 80 are located, or in the same vertical plane as the support tower 80 (the support tower is in a single plane). In an embodiment of the present invention, the straight uprights 116a, 116b, 116c forming the support tower 80 can be connected to adjacent straight uprights by one or more structural spacers or struts 74b that extend in a vertical plane perpendicular to the vertical plane in which the support tower is located. In other words, the straight uprights 116a, 116b, 116c constituting the support tower 80 are located in a first vertical plane, while the structural spacer 74b connecting the support tower 80 to the adjacent straight upright 116 is located in a second vertical plane; the second vertical plane is perpendicular to the first vertical plane. The structural spacer 74b differs from the spacer (standard spacer) 74 that connects the other remaining straight uprights together within the grid frame structure in that it more substantially includes one or more reinforcing members to structurally support the spacer 74b. The reinforcing members include, but are not limited to, the thickness or width of the metal sheet forming the spacer, or include reinforcing beams. However, there is no limitation on the same type of spacer used to space the straight uprights 116 within the grid frame structure and to connect the remaining straight uprights 116 adjacent to the support tower 80 of the present invention, that is, the remaining straight uprights not supported by one or more diagonal braces are spaced apart by standard spacers 74 throughout the grid frame structure.

[0125] The number of subgroups of upright columns that are rigidly connected together by support components (one or more diagonal braces) within the grid frame structure to form the support tower 80 of the present invention, and thus, the distribution of the support tower 80 depends on many factors, including but not limited to ground conditions (such as soil conditions), environmental factors (such as temperature), and lateral forces generated by the load handling equipment. In a particular embodiment of the present invention, the support towers 80 are distributed within the grid frame structure to provide support against external forces in the x-direction and y-direction. To do this, one or more support towers 80 are oriented within the grid frame structure 114 such that one or more support towers 80 are located in a first vertical plane, and one or more support towers are located in a second vertical plane, the first vertical plane being perpendicular to the second vertical plane. In another embodiment, the support towers 80 may be interspersed among the upright columns 116 within the body of the grid frame structure such that each support tower is adjacent to an equal number of upright columns 116. As described above, the support towers 80 are separated from adjacent upright columns within the grid frame structure by one or more spacer rings or braces 74, 74b. In a given storage system including a grid frame structure, the number of upright columns occupied by the support towers (i.e., one or more diagonal braces rigidly connected together) ranges from 2% to 50% of all the upright columns.

[0126] To maximize the available space or area for storage containers, the subset or subgroup of adjacent upright columns 116 that form the support tower 80 and the one or more diagonal braces 82 that connect the subgroup of upright columns together are all located in the same or a single vertical plane, i.e., they are coplanar. The one or more diagonal braces 82 that connect the subset of adjacent upright columns 116 in the support tower form a support plane. In the support tower of the present invention, the upright columns of the support tower are located in a vertical plane parallel to the support plane. By supporting one or more adjacent upright columns that are in a single vertical plane or coplanar, the ability of the upright columns to accommodate stacked containers is not affected, i.e., the density of containers that can be stored in the grid frame structure is increased. In other words, the support members 82 do not pass through the storage locations where the containers are stacked and do not interfere with the guiding of the containers along adjacent upright columns.

[0127] In Figure 11 a particular embodiment of the present invention shown, each support tower 80 includes three parallel upright columns that are located in a single vertical plane (coplanar), and the three upright columns are rigidly connected together by several diagonal braces 82. Two of the three upright columns 116a, 116b are placed laterally on both sides of the middle upright column 116c, and the two laterally placed upright columns 116a, 116b are rigidly connected to the middle upright column 116c by several diagonal braces 82. Another way to describe the support tower 80 is as two outer upright columns 116a, 116b on both sides of the middle upright column 116c. As Figure 11As shown, in each support tower 80, the outer straight columns 116a, 116b are joined together by one or more cross support members, and the intermediate straight columns 116b meet at the intersection of the cross braces (more specifically, the support member 82 is used to connect the outer straight columns to the intermediate straight columns 116c on both sides of the intermediate straight column).

[0128] In the support tower 80 of the present invention, one end of the diagonal support member 82 is connected to the intermediate straight column through a connection plate 130. The connection plate 130 is inserted into the slot in a direction perpendicular to the longitudinal direction of the straight column through the hollow central portion of the intermediate straight column 116c. As Figure 14 shown in the enlarged view of the intermediate straight column, the connection plate 130 is inserted through the slots in the opposite walls of the hollow central portion 70 of the straight column.

[0129] Each diagonal support member 82 has a width that allows it to be assembled between two parallel guides or guides at the corner portion 72 of the straight column 116. Therefore, the diagonal brace 82 does not impair the ability of the straight column 116 to stack containers. In other words, the diagonal support member 82 does not intersect or pass through adjacent guides or guides 72 at the corner of the straight column (see Figure 7 ). To prevent the support member 82 from obstructing the adjacent guides, thereby impairing the area or storage location for stacking containers, the slot for receiving the connection plate 130 extends between the guides 72 at the corner of the straight column 116, so that when the support member 82 is connected to the connection plate 130, the support member 82 does not interfere with the guides 72 guiding the containers vertically along the straight column 116.

[0130] The opposite ends of the connection plate 130 include one or more holes for fixedly attaching to the end of the diagonal support member 82 by suitable bolts. Both ends of the connection plate 130 are fixedly attached to the diagonal support members 82 on both sides of the intermediate straight column 116c, so that the connection plate 130 is under tension in the support tower 80. The second end 82b of the support member 82 is bolted to the outer straight columns 116a, 116b through flange plates 122 fixedly attached to the outer straight columns 116a, 116b (see Figure 13 ). - The first end 82a of the diagonal brace 82 is connected to the connection plate 130. In Figure 13 the specific embodiment of the present invention shown, the flange 122 includes an angle steel bolted to the outer straight columns 116a, 116b with bolts 123. To ensure that the end of the diagonal brace 82 is connected between the guides 72 and thus does not interrupt one or more containers traveling along the guides, the flange 122 is fixedly attached between the guides 72 and the second end 82a of the diagonal brace 82 is connected between the guides 72.

[0131] According to Figure 14In the first specific embodiment of the present invention as shown, in order to fix the diagonal support member 82 to the connection plate 130, the connection plate 130 includes an insertion plate 124 which is arranged to be inserted through a slot extending through the hollow central portion 70 of the intermediate straight column 116c. The wing plates 126 are bolted to both sides of the insertion plate 124 for connecting the support member 82 to the connection plate 130. Using a plurality of plates 124, 126 constituting the connection plate 130 allows the use of a smaller insertion plate 124, and thus, the wing plates 126 bolted to the insertion plate 124 bear the load applied to the connection plate 130. However, according to Figure 14 The problem with the connection plate 130 of the first specific embodiment of the present invention as shown is that a plurality of bolts are required to rigidly connect the support member 82 to the intermediate straight column 116c. In Figure 14 In a specific specific embodiment of the present invention as shown, each wing plate 126 is bolted to the insertion plate 124 by four bolts. An additional two bolts are used to connect the end (second end) of the support member 82 to the top and bottom of each wing plate 126.

[0132] In Figure 15 In an improved version of the connection plate 130 according to the second specific embodiment of the present invention as shown, a single connection plate 130 is shown instead of a plurality of connected plates. The insertion plate and the wing plates are made into a single connection plate 130 whose size can be inserted into the slot in the intermediate straight column 116c. Removing the separate wing plates eliminates the need to bolt the separate wing plates to the insertion plate, and thus eliminates the need for a plurality of bolts to connect the diagonal support member 82 to the intermediate straight column 116c. In a specific specific embodiment of the present invention, a single connection plate 130 is inserted into a slot extending in the hollow central portion of the intermediate straight column 116c. The support member 82 is bolted to each corner of the connection plate 130. In order to accommodate the connection plate 130 according to the second specific embodiment of the present invention without affecting the structural integrity of the straight column and without affecting the storage position for stacking containers between adjacent straight columns, the hollow central portion of each straight column can be made larger, that is, the cross-sectional area of the hollow central portion 70 is larger. In the case where the hollow central portion of the straight column is a box portion including four walls, the width of the walls can be increased to provide a larger box portion 70 to accommodate the connection plate 130 without obstructing the guide 72 at the corner of the box portion 70.

[0133] A plurality of connection plates 130 are spaced apart along the longitudinal length of the intermediate straight column 116c such that the diagonal support members 82 connected between the outer straight columns 116a, 116b and the intermediate straight column 116c form a series of triangular braces on both sides of the intermediate straight column 116c. The support members on both sides of the intermediate straight column 116c cooperate with the outer straight columns 116a, 116b to provide a unified truss assembly or support tower 80 with cross braces.

[0134] Support tower foot

[0135] One or more support towers 80 are anchored to a concrete foundation. The support towers 80 are used to transfer the lateral forces experienced by the grid 50 to the floor. The support towers 80 are anchored to the concrete foundation by one or more anchor feet 132 (see Figure 11 and 15 ). In the specific embodiments shown in Figure 11 and Figure 15 , the outer straight columns 116a, 116b or the laterally placed straight columns 116a, 116b are anchored to the concrete foundation by one or more anchor feet 132, and the intermediate straight column 116c is supported on the adjustable feet 90 as described above. The lower end (first end) of the support tower is anchored to the concrete foundation by one or more anchor bolts. Various types of anchor feet 132a, 132b for rigidly anchoring the support tower to the concrete foundation are applicable to the present invention. The anchor feet are used to bear the straight column load and the support load of the support assembly 82 of the support tower 80.

[0136] Figure 11 Figures 15c and 16 show two embodiments of the anchor feet according to the present invention for anchoring the support tower to the concrete foundation. Compared with the anchor feet shown in Figure 16, Figure 11 the anchor feet shown in Figure 15c are more significant in terms of size and weight than the anchor feet shown in Figure 16. Figure 11 The anchor foot 132a shown in Figure 15c is made into a T-shaped joint, which includes a base plate 133 located in a horizontal plane for anchoring to the floor by one or more anchor bolts, and an anchor plate 134 perpendicular to the base plate 133 for attaching to the lower end of the straight column and the end of the support member 82. The anchor plate 134 is oriented such that the surface of the anchor plate 134 with the largest surface area is located in the same vertical plane as the three straight columns 116a, 116b, 116c of the support tower 80. For example, the surface of the anchor plate 134 with the largest surface area and the upright members 116a, 116b, 116c of the support tower 80 are coplanar. Figure 11 The problem with the anchor foot 132a shown in Figure 15c is its relatively large weight, so the cost of manufacturing the anchor foot is very high.

[0137] Figure 16 shows an alternative anchor foot 132b according to a second specific embodiment of the present invention for anchoring the support tower 80 to a concrete foundation. Instead of a solid rectangular base plate 133, the anchor foot is topologically optimized, which optimizes the material layout within a given design space for a given loading set. Two loadings considered in the topological optimization of the anchor foot are the loadings from the straight columns 116a, 116b, 116c and the support member 82. Based on the constraints given by the applied loadings, the anchor foot 132b of the present invention includes a stabilizer 136, which includes several discrete fingers or toes 138 extending from an upright portion 140 such that the load is distributed among the several fingers 138, e.g., between the separate fingers. In a specific embodiment of the present invention shown in Figure 16, the upright portion 140 includes an anchor plate, which is arranged to be rigidly connected to the straight columns 116a, 116b and the diagonal brace 82 by one or more bolts so as to bear the load of the straight columns 116a, 116b and the applied load of the diagonal brace 82. Similar to the anchor plate 134 of the first specific embodiment of the present invention shown in Figure 11 c, the anchor plate 140 is oriented such that the surface of the anchor plate 140 having the largest surface area lies in the same vertical plane as the three straight columns 116a, 116b, 116c constituting the support tower 80 of the present invention (see Figure 11 ). Using the terminology of the present invention, the surfaces of the straight columns 116a, 116b, 116c, the diagonal brace 82 and the anchor plates 134, 140 all lie in the same plane, i.e., they are coplanar.

[0138] One or more discrete fingers 138 of the anchor foot 132b extend or project or extend outward from the upright portion 140 in two or more different directions to provide improved stability of the anchor foot 132b. One or more of the fingers 138 have different lengths to contribute to the stability of the anchor foot 132b of the present invention. The lengths of the fingers 138 can be different so as to provide stability of the support tower 80 at different levels. One or more connecting webs 142 are used to support one or more of the fingers 138 against axial movement. The anchor foot 132b is anchored to the concrete foundation by one or more bolts through holes in the fingers 138 of the anchor foot 132b.

[0139] In a specific embodiment of the present invention, five fingers 138 of different lengths are shown (see Figure 16b ), which extend from the upright portion 140 and have holes at the distal ends of the fingers 138 for anchoring the anchor foot to the ground via anchor bolts. The anchor foot 132b according to the second specific embodiment of the present invention can be formed as a single body (e.g., cast) or separate components joined together (e.g., welded).

[0140] Grid structure

[0141] The grid 50 installed on the vertical column 116 includes several grid members 118, 120 arranged to form a grid pattern, which includes one or more rectangular frameworks. Each rectangular framework constituting the grid unit 54 is placed above the storage position for one or more containers in the stack to be retrieved by the loading handling equipment operating on the grid. The grid includes a first set of parallel grid members 118 extending in the first direction x and a second set of parallel grid members 120 extending in the second direction y. The second set of grid members 118 is perpendicular to the first set of grid members 120 in a substantially horizontal plane to form a grid structure including several grid units 54. Since the grid is in a horizontal plane, the first and second directions are respectively in the X-axis direction and the Y-axis direction (see Figure 17 ). Through the first set of grid members 118 extending in the first direction and the second set of grid members 120 extending in the second direction, several vertical columns are interconnected at their tops. The interconnection between the grid members at the tops of the vertical columns will be specifically discussed further below. Figure 17 A top view of the grid structure 50 according to a specific embodiment of the present invention is shown.

[0142] Each grid member 118, 120 includes a track support on which a track is installed. The track can be a separate component of the grid member, or alternatively, the track support is integrated into the grid member as a single body, that is, forms a part of the grid member. The loading handling equipment is operable to move along the tracks of the grid. The grid is supported by several vertical columns at each intersection of the horizontal grid members 118, 120. The term "intersection" is interpreted in the broadest sense to cover the nodes where the grid members cross at the upper ends of the vertical columns, or the ends where the grid members 118, 10 intersect at the vertical columns. For the purpose of explanation, the lower end of the vertical column installed on the floor constitutes the first end of the vertical column, and the upper end of the vertical column adjacent to the grid 50 constitutes the second end of the vertical column.

[0143] The groups of parallel grid members 118, 120 can be subdivided into subsets of grid members extending in the first direction (118a, 118b) and / or the second direction (120a, 120b) of the grid frame structure. The subsets can constitute at least one grid member extending in the first direction or the second direction in the group, such as a single grid member. At least one grid member (such as a single grid member) in the subset can be subdivided or divided into discontinuous grid elements (119a, 119b, 119c, etc. and 121a, 121b, 121c, etc.), and these grid elements can be joined or linked together to form the grid members 118, 120 extending in the first direction or the second direction. Figure 17 Discontinuous grid elements 119, 121 constituting the grid extending in the first axis (119) and the second axis (121) are shown.

[0144] AsFigure 18 The shown connecting plate or cover plate 150 can be used at the nodes where multiple grid elements cross in the grid structure to link or join the respective grid elements (119a, 119b, 119c, etc. and 121a, 121b, 121c, etc.) together in subsets in the first and second directions, that is, the cover plate 150 is used to connect the grid elements together to the upright columns 116. Thus, the upright columns are interconnected by the cover plate 150 at their upper ends at the nodes where multiple grid elements cross in the grid structure. As Figure 18 shown, the cover plate 150 is in a cross shape and has four connecting portions 152 for connecting to the ends or to any position along the length of the grid elements 119, 121 at their intersection points (see Figure 19 and 20 ). For example, the cover plate 150 can be used to connect to the ends of four grid elements 119, 121, as Figure 19 shown. In Figure 19 , the ends of two grid elements 119a, 119b are connected to the cover plate 150. Alternatively, as Figure 20 shown, the cover plate 150 can be used to connect to three grid elements by connecting to any point along the length of one grid element 121 and the ends of two other adjacent grid elements 119a, 119b. As Figure 21 shown, the cover plate 150 includes sockets or protrusions 154 that can be tightly fitted in the hollow central portion 70 (at the second end of the upright column) of the upright column 116 for interconnecting several upright columns to the grid members. The connecting portions 154 are perpendicular to each other to connect to the grid members 118, 120 / grid elements 119, 121 extending in the first and second directions. The cover plate is configured to be bolted to the ends of the grid elements or along the length of the grid elements. However, since the number of connecting portions of the cover plate can depend on whether the cover plate is located at the corner of the grid frame structure or at one of the walls of the grid frame structure, the cover plate is not necessarily in a cross shape. For the purpose of explaining the present invention, the intersection points where the grid members cross at the upright columns constitute the nodes of the grid. The bending moment of the grid is concentrated at the nodes of the grid.

[0145] Various pattern arrangements of the grid members 118, 120 can be used to generate the grid 50 of the present invention. For example, the grid members in a subset can be subdivided into a plurality of discontinuous grid elements 119a, 119b in the first direction and a plurality of discontinuous grid elements 121a, 121b in the second direction. Each of the plurality of grid elements can be bolted to the cover plate 150 at its respective ends in the first and second directions (X and Y directions), that is, the grid elements are joined by the cover plate in the first and second directions through their ends in the grid. Thus, the size of the length of each grid element in the two axial directions can be located between two adjacent upright columns 116.

[0146] The problem with this arrangement is that the grid requires multiple cuts to the grid elements to connect to each upright column in the grid frame structure. As a result, the lateral forces borne by the grid are concentrated at the joints or nodes between the ends of the grid elements and the cover plate 150. This arrangement does not provide an optimal overall distribution of lateral forces and the structural integrity of the grid. An alternative arrangement to improve the structural stiffness of the grid would be grid elements 119, 121 having different lengths in the first direction or the second direction or both. For example, the dimensions of two or more grid elements can extend in the first direction or through one or more upright columns 116 and be connected to the cover plate 150 at any position along the length of the grid element. In a second direction perpendicular to the first direction, the ends of the grid elements are connected to the cover plate. Although this arrangement may be beneficial in improving the structural integrity of the grid, it may not be economical because multiple cuts to the grid members are required. Additionally, since grid elements of different lengths need to be assembled and connected to the upright columns, it increases the complexity of assembling the grid.

[0147] The present applicant has realized that arranging the grid elements of the grid members to produce a pattern with a woven or brick-like appearance such that adjacent parallel grid elements in the first direction are offset by at least one grid cell 54, as Figure 17 shown, not only improves the structural integrity of the grid but also enables the use of grid elements of the same length in the first and second directions. Similarly, adjacent parallel grid elements are arranged in the second direction so as to be offset by at least one grid cell 54. In the Figure 22 exploded view of the grid pattern shown, adjacent parallel grid elements (119a and 119b; 121a and 121b) are arranged in the grid such that adjacent parallel grid elements in the first and second directions are offset by a single grid cell 54. For example, in Figure 22 , grid element 119a is offset from grid element 119b by a single grid cell 54 in the first direction. Similarly, grid element 121a is offset from grid element 121b by a single grid cell 54 in the second direction. In accordance with the terminology used in the present invention, this woven appearance is referred to as a layered pattern. In this grid arrangement, grid elements of the same size can be used in most grid structures - just like using bricks of the same size to produce a brick-like appearance where the bricks are arranged in a staggered manner. It can be clearly seen from Figure 17 that the pattern of the grid elements is arranged such that adjacent grid elements in the first direction and in the second direction are staggered with each other.

[0148] To achieve such a pattern, the dimensions of the lengths of one or more grid elements 119, 121 of the grid members 118, 120 may extend or pass through the upper ends of one or more upright columns in the first direction and / or the second direction, rather than all dimensions being set to connect to the upright columns in the grid frame structure through their ends. Due to this arrangement, one or more grid elements in the first direction 119 and the second direction 121 are fixed to the upright columns at different positions along the grid length via the cover plate 150. In a specific embodiment of the present invention as shown in Figure 20 , the dimensions of the length of each grid element may extend or pass through a single upright column.

[0149] Due to this pattern arrangement, the upper end of the upright column 116 is connected to the first grid element 121 along half of its length in the first direction, and to the ends of two other adjacent grid elements 119a, 119b on both sides of the first grid element 121 in the second direction (see Figure 20 ), that is, the upper ends of the upright columns in the grid frame structure are interconnected by supporting the ends of the grid elements 119 and the centers of the adjacent grid elements 121. Subdividing a subset of the grid elements in the first direction and the second direction into several grid elements and staggering the grid elements 119a, 119b, 119c, 121a, 121b, 121c in the first direction and the second direction such that each grid element extends or passes through a single upright column 116 results in an arrangement where the grid elements in the first direction and the second direction are offset by at least one grid cell 54. More specifically, the first subset of the grid members 118, 120 is subdivided into first and second grid elements extending in the first direction 119a, 119b, and the second grid element 119b is spaced apart from the first grid element 119a in the second direction. The first and second grid elements 119a, 119b are staggered in the first direction such that the first grid element 119a and the second grid element 119b in the grid are offset by at least one grid cell 54. The same staggering arrangement of the grid elements applies in the second direction, whereby the first and second grid elements 121a, 121b in the second direction spaced apart in the first direction are offset by at least one grid cell in the second direction.

[0150] The present invention is not limited to the staggered first and second grid elements being offset by a single grid cell in the first direction and / or the second direction. For example, the dimensions of one or more grid elements in the first direction and / or the second direction may pass through or extend through the upper ends of multiple upright columns, and the staggered arrangement results in a pattern that is offset by one or more grid cells in the first direction and / or the second direction. This arrangement requires multiple connections to multiple upright columns along the length of the grid element, rather than just in the middle of the grid element. The connection of the grid member to the upright column, particularly the cross-sectional shape of the grid element, will be further discussed below.

[0151] The container is generally rectangular, with its length greater than its width. The grid cells are rectangular to accommodate the rectangular container. To achieve rectangular grid cells, the length of each grid element 119 in the first axial direction (x or y direction) is greater than the length of each grid element 121 in the second axial direction (y or x direction). Figure 17 and Figure 22 The preferred grid arrangement shown provides the best structural integrity of the grid 50 of the present invention. In this arrangement, a subset of the grid members 118, 120 is subdivided into grid elements 119, 121 that extend in the first and second directions through at least one upright column 116. In a more preferred embodiment of the present invention, the grid members are subdivided such that each grid element extends through a single upright column in the first and second axial directions. In this arrangement, the length of each grid element is the same in the first direction, and the length of each grid element is the same in the second direction, but different in the first and second directions to provide rectangular grid cells. In other words, referring to Figure 17 and 22 , a subset 119 of the grid members in the first direction is subdivided into a first grid element 119a and a second grid element 119b, and each of the first grid element 119a and the second grid element 119b has a length L1 in the first direction (see Figure 22 ). Similarly, a subset 120 of the grid members in the second direction is subdivided into a first grid element 121a and a second grid element 121b, and each of the first grid element 121a and the second grid element 121b has a length L2 in the second direction. To accommodate the rectangular container, the length L1 of the grid elements in the first direction is different from the length L2 of the grid elements in the second direction.

[0152] Different portions of the grid can be arranged in a layered pattern. To give the grid sufficient structural stiffness to support the moving load-carrying device, a large proportion of the grid adopts the layered pattern of the present invention. For example, since the grid elements are arranged to deviate from at least one grid cell in the first and second directions, one or more grid elements at the periphery of the grid are shortened so as to converge on a common support beam. This is to prevent one or more grid elements from overhanging at the edge of the grid structure, that is, one or more grid elements overhanging on the common support beam at the grid edge are shortened.

[0153] Track support

[0154] Each grid member 50 of the present invention can include a track support and / or a track or rail path, whereby the track or rail path is mounted to the track support. The load handling device is operable to move along the track or rail path of the present invention. Alternatively, the track can be integrated into the grid member 50 as a single body, for example by extrusion.

[0155] In a particular embodiment of the present invention, the grid member is an orbital support member equipped with a separate track or rail, i.e., the orbital support member is integrated into the grid member. The orbital support member whose transverse cross-section forms the grid can be a solid support member with a C-shaped or U-shaped or I-shaped cross-section, or even a double C-shaped or double U-shaped support member. In a particular embodiment of the present invention, the orbital support member is a double back-to-back C-shaped cross-section bolted together. The orbital support member and / or the track can adopt a similar layered pattern as described above for the grid member. The orbital support member is subdivided into orbital support elements, and these orbital support elements are joined together in a first direction and a second direction at the nodes where multiple orbital support elements cross in the grid structure (i.e., at the upper end of the upright column).

[0156] Using the same terms as described above for the grid member (see Figure 17 and 22), the grid includes a first set of parallel track supports extending in a first direction and a second set of parallel track supports extending in a second direction, the second set of track supports being substantially perpendicular to the first set of track supports. In each of the first and second directions, the set of track supports includes a plurality of parallel track supports. Similar to the subset of grid members discussed above, the first set of track supports in the first direction is subdivided in the first direction into a first subset of track supports and a second subset of track supports such that the second subset of track supports is spaced apart from the first subset of track supports in the second direction, i.e., parallel subsets of track supports. The first subset of track supports and / or the second subset of track supports includes at least one track support, such as a single track support. The first subset of track supports is subdivided or broken down in the first direction into first track support elements. The second subset of track supports adjacent to the first subset of track supports is similarly subdivided in the first direction into second track support elements. The first and second track support elements are arranged in the grid such that each first track support element is offset from each adjacent second set of track support elements by at least one single grid cell in the first direction, i.e., adjacent parallel track support elements are offset by at least one grid cell in the first direction. For example, a subset of track supports including a single track support is broken down into a plurality of discontinuous track support elements that are joined together via a cover plate to form a single track support. The parallel discontinuous track support elements in the first direction are arranged in the grid to be offset by at least one grid cell. A similar pattern arrangement applies to the set of track supports extending in the second direction, whereby the set of track supports is subdivided in the second direction into a first subset and a second subset of track supports. Each first and second subset of track supports is broken down or subdivided into first and second track support elements. The first and second track support elements extending in the second direction are arranged in the grid such that each first track support element is offset from each second track support element by at least one single grid cell in the second direction. In other words, the parallel track elements placed transversely in the first and second directions are offset by at least one grid cell.

[0157] According to a specific embodiment of the present invention, as Figure 23 shown, a single track support element 160 includes back-to-back C-shaped parts bolted together. Figure 24 is shown along Figure 20Cross-section of the grid element 160 at the intersection of the median line X-X. According to the present invention, each track support element 160 is arranged to interlock with each other to form a grid. To achieve this, the distal or opposite ends of each track support element 160 include locking features 162 for interconnecting with the corresponding locking features 164 of adjacent track support elements. In a particular embodiment of the present invention, the opposite or distal ends of one or more track support elements include at least one hook 162 that can be received in an opening or slot 164 in the middle of an adjacent grid element at the node where the track support elements cross in the grid. Referring again to Figure 24 Reference Figure 23 , the hook 162 at the end of the track support element 160 is shown as being received in the opening 164 of an adjacent track support element that extends through the upright column at the node where the track support elements cross. Here, the hook 162 is provided to the openings 164 on both sides of the track support element. In a particular embodiment of the present invention, the opening 164 is at half the length of the track support element 160, such that when assembled together, the adjacent parallel track support elements in the first and second directions are offset by at least one grid unit. Referring to Figure 20 and Figure 24 , the upright column 116 supports the center of the first track support element 160a and the ends of the second track support element 160b and the third track support element 160c adjacent to both sides of the first track support element 160a, that is, each upright column 116 supports three track support elements 160a, 160b, 160c. The second and third track support elements 160b, 160c supported at their ends approach in opposite directions to interlock with each other in the middle of the first track support element 160a. By inserting the hook 162 at the end of the track support element into the opening 164 in the middle of the adjacent track support element at the node where the track support elements cross, each track support element 160a, 160b, 160c interlocks. By interlocking each track support element in the grid in this way, the above-mentioned layered pattern can be produced.

[0158] Track or trackway

[0159] To complete the grid structure, once the track support elements are interlocked together to form a grid pattern including track supports extending in a first direction and track supports extending in a second direction, tracks are installed to the track support elements. The tracks can be snap-fitted and / or assembled to the track support elements in a sliding fit manner. Similar to the track supports of the present invention, the tracks include a first set of tracks extending in a first direction and a second set of tracks extending in a second direction, the first direction being perpendicular to the second direction. A subset of the first set of tracks is subdivided into a plurality of track elements in the first direction such that adjacent parallel track elements in the first direction are offset by at least one grid cell. Similarly, a subset of the second set of tracks is subdivided into a plurality of track elements in the second direction such that adjacent track elements in the second direction are offset by at least one grid cell. The subset of the first set and / or the second set of tracks includes at least one track, such as a single track that is broken down into a plurality of track elements. Figure 25 An embodiment of a single track element 170 is shown. The assembly of the track element to the track support includes an inverted U-shaped cross-sectional profile that is shaped to hold or lap Figure 23 the top of the track support element 160 shown. One or more lugs extending from each branch of the U-shaped profile engage the ends of the track support in a snap-fit manner.

[0160] A plurality of track elements 170 are assembled to butt against each other along the length of the track support element. A single track can follow a pattern similar to that of the track support, such as a layered pattern, or be arranged in a different configuration. Figure 26 An assembly of track elements 170a, 170b, 170c at a node is shown, where the track elements 170a, 170b, 170c cross in the grid structure at a straight column. The length of each track element can be sized to extend across or through at least one straight column, such as a single straight column. The ends of track elements 170a, 170b abut the sides of an adjacent track element 170c at the straight column. As Figure 25 shown, the track element 170 includes an opening or groove 172 to receive the track support element 160 at the above-mentioned straight column. Since the size of the track element 170 can extend across or through a single straight column in the grid structure, the opening 172 is located at the center or formed in the middle of each track element 170. The track elements 170 are assembled on the track supports such that when viewed from the top of the grid, the tracks have a woven or brick-like appearance, where adjacent parallel track elements in the first direction are staggered by at least one grid cell. Similarly, adjacent parallel track elements in the second direction are staggered by at least one grid cell.

[0161] Use the above similar terms and refer to the grid members. The tracks include a first set of tracks extending in a first direction and a second set of tracks extending in a second direction, the second set of tracks running transversely to the first set of tracks in a substantially horizontal plane. The first and second sets of tracks are subdivided into a plurality of track elements 170 such that each of the plurality of track elements 170 is arranged to extend or pass through the top end of a single upright member. More specifically, the first set of tracks is subdivided in the first direction into a first track subset and a second track subset extending in the first direction, the second track subset being spaced apart from the first track subset in the second direction. The first track subset is decomposed or divided in the first direction into a first set of track elements 170, and the second track subset is decomposed or divided in the first direction into a second set of track elements. The first set of track elements is offset from the second set of track elements by a single grid cell in the first direction. The same principle applies to the first and second sets of track elements extending in the second direction.

[0162] The straight uprights, support towers, support tower feet, and grid structure including track supports and track elements are assembled together as described above to form a grid frame structure according to a specific embodiment of the present invention.

[0163] Seismic grid frame structure

[0164] While the current grid frame structure is sufficient when the ground is relatively stable (i.e., the spectral acceleration is less than 0.33g, classified as Category A and B events), it is not sufficient when the grid frame structure is subjected to a strong earthquake event (generating strong lateral forces with a spectral acceleration exceeding 0.55g, classified as Category C or D earthquake events). Such a strong earthquake event can damage the structural fasteners that connect the grid elements (such as track support elements) at the intersections, causing them to loosen or become detached from the cover plates to which they are bolted. This can lead to a weakening or complete loss of the structural integrity of the grid frame structure because the lateral forces can no longer be safely transmitted down to the structural foundation. Failures may occur at the intersections of the grid members or track support elements that make up the grid. The support towers described above for maintaining the structural integrity of the grid frame structure may not be able to withstand the lateral forces caused by a strong Category D earthquake event far exceeding 0.55g.

[0165] As Figure 27 and 28As shown, the present invention provides a seismic grid frame structure 214 and 314, including a structural restraint system, also known as a seismic force restraint system (SFRS), to maintain the structural integrity of the grid frame structure of the present invention during strong earthquake and storm events, that is, the SFRS supports the grid frame structure of the present invention against strong lateral forces caused by Class C and / or D earthquake events. The restraint system of the present invention reduces or eliminates failures of structural fasteners caused by fracture, loosening, separation, or rupture of structural components, for example, joints that fix grid elements to vertical columns via cover plates at intersections. The SFRS of the present invention includes a peripheral support structure 215, 315 supported by several vertical frame columns 218, 318 for supporting the grid against lateral forces. Reference numerals 215 and 315 are used to describe Figure 27 and Figure 28 different types of peripheral support structures shown. The peripheral support structures 215, 315 include at least one support member 220, 320, 222, 322 extending from several vertical frame columns 218. For the purposes of the present invention, the term "support" is interpreted to cover any form of mechanical connection between the SFRS and the grid. For example, lateral forces generated at the grid level are transmitted to the SFRS of the present invention at the periphery of the grid 250. In addition, for the purposes of the present invention, at least one support member 220, 320, 222, 322 may be at least one horizontal frame beam between vertical frame columns 218 and / or at least one diagonal support member 222, 322 between vertical frame columns 218. For the purposes of the present invention, the terms "vertical frame column" and "vertical support frame column" may be used interchangeably in the description to denote the column 218 that supports the support members 220, 320, 222, 322. The vertical frame column 218 is different from the vertical straight column 116 that supports the above grid and is separated by one or more spacer rings 74. The vertical frame column 218 forms part of the SFRS together with the peripheral support structure of the present invention. The SFRS can be envisaged as forming an outer skeleton around the grid frame structure.

[0166] The grid 250 includes an outer region or boundary 252 around the periphery of the grid 250 (see Figure 29 ). Figure 29An enlarged view of the seismic grid frame structure of the present invention at one of the corners of the SFRS (215, 315) supporting the grid frame structure is shown. The grid 250 is supported by the peripheral support structures 215, 315 at or within the boundary or outer region 252 of the grid 250. In a specific embodiment of the present invention, the peripheral support structures 215, 315 are arranged to surround the periphery of the grid 250 and / or the grid frame structure. In a preferred specific embodiment of the present invention, the grid 250 is supported by the peripheral support structures 215, 315 at or within the boundary or outer region 252 of the grid 250 such that a portion of the boundary or outer region 252 overhangs the peripheral support structures 215, 315. In a particular specific embodiment of the present invention, the boundary or outer region 252 of the grid 250 constitutes the outer portion of the grid 250, which has a width of at least one grid cell, more preferably a width of a single grid cell, such that when the grid 250 is supported at the boundary or outer region 252 of the grid 250, the outer portion of the grid 250 overhangs the peripheral support structures 215, 315.

[0167] As Figure 29 shown, the outer region or boundary 252 of the grid spans or extends through the peripheral support structures 215, 315 at the edge of the grid frame structure. More specifically, the outer region or boundary 252 of the grid penetrates at least one support member 220 such that a portion of the grid overhangs the peripheral support structures 215, 315. The at least one support member 220 is at least one horizontal frame beam extending between the vertical frame columns 218. Here, the at least one horizontal frame beam 220 is placed inward from the edge of the grid 250 such that the outer region or boundary 252 of the grid penetrates or extends through the at least one horizontal frame beam 220.

[0168] By supporting the grid 250 at the boundary or outer region 252 of the grid such that a portion of the grid 250 overhangs the peripheral support structures 215, 315 rather than being supported at the edge of the grid, the bending moment at the edge of the grid is reduced, which affects the joint connecting the grid 250 to the peripheral support structures 215, 315 of the present invention. This is because the bending moment is maximum at the edge of the grid 250 where the grid members intersect and decreases between the intersections, i.e., within the grid cells or intermediate cells. This will be further explained below with reference to Figure 33 the bending moment distribution across the grid shown. In Figure 33 it can be seen that the bending moment is maximum at the grid edge where the grid elements intersect and decreases to a minimum between the intersections. In Figure 29In a specific embodiment of the present invention as shown, the width D of the boundary or outer region 252 around the grid forms a single grid cell. Ideally, the grid 250 is supported by at least one support member 220 of the peripheral support structures 215, 315 in the middle cell within the boundary or outer region 252 of the grid 250, where the bending moment is the weakest, rather than being supported at the edge of the grid 250.

[0169] Although it is ideal to support the middle cell of the grid 250 at the boundary or outer region of the grid, the present invention is not limited to supporting the middle cell of the grid at the boundary or outer region of the grid, and the boundary or outer region of the grid can be interpreted as also forming the edge of the grid 250, such that the grid 250 is supported by the peripheral support structure of the present invention around the periphery of the grid.

[0170] The SFRS can be envisioned as forming an outer skeleton around the grid frame structure of the present invention. In a specific embodiment of the present invention, the peripheral support structures 215, 315 are supported at the corners of the grid frame structure by at least one vertical frame column 218a and are supported by at least one horizontal frame beam 220 extending from the corners of the grid frame structure. As Figure 27 and Figure 28 In a specific embodiment of the present invention as shown, four vertical frame support columns 218a are arranged at the four corners of the grid frame structure to form a three-dimensional outer skeleton having a top surface and four side surfaces, such as a cubic structure. Since the SFRS forms an outer skeleton around the periphery of the grid frame structure of the present invention, for the purpose of facilitating the explanation of the SFRS of the present invention, the vertical frame support columns 218a at the corners of the grid frame structure can be referred to as peripheral frame columns. In a specific embodiment of the present invention, four horizontal frame beams 220 are mounted to the top of each of the four peripheral frame columns 218a so as to extend from each corner of the SFRS frame. It can be envisioned that the horizontal frame beam 220 represents the upper chord connecting two vertical frame columns 218a at the top of the peripheral support structures 215, 315 and can be referred to as a peripheral frame beam.

[0171] At least two vertical frame columns 218a, 218b are coupled together by at least one diagonal support member 222, 322 to form a support frame, thereby providing lateral support for the grid frame structure in the forward and / or backward directions. The support frame is a structural system designed to resist seismic forces. The diagonal support members 222, 322 are designed to work in tension and compression, similar to a truss, and are designed to resist lateral loading in the form of axial stress through tension or compression. The support frame can be arranged to surround the periphery of the grid frame structure or at least one face of the grid frame structure and is designed to absorb most of the lateral forces experienced by the grid frame structure.

[0172] Any type of support framework known in the art that provides lateral support to a grid and / or grid frame structure is applicable to the present invention. In Figure 27 and 28 In the specific embodiments of the present invention shown, the support framework can be a K-shaped support, where two diagonal braces 222 intersect at the peak 324 on the horizontal framework beam 320 (as Figure 28 shown), or the support framework can be a cross brace, where two diagonal frames 222 cross each other to form an X (as Figure 27 shown). The K-shaped support and cross brace will be discussed in further detail below. At least two vertical framework columns 218a, 218b are supported at the top of the vertical framework columns 218a, 218b by at least one horizontal framework beam 220, 320, forming at least one drag strut or drag collector known in the art. The drag strut or drag collector is located at the position where at least two vertical framework columns 218a, 218b are supported by the horizontal framework beams 220, 320 at the top of the two vertical framework columns 218a, 218b, and is used to collect and transfer diaphragm shear forces to the vertical framework columns.

[0173] Each of several vertical framework columns 218a, 218b can be a solid support with a C-shaped or U-shaped cross-section, or double C or double U. Preferably, each of several vertical framework columns 218a, 218b is an I-shaped solid support including an upper beam flange and a lower beam flange. At least two vertical framework columns 218a, 218b are rigidly connected together by at least one support member 220, 320 (such as diagonal support members 222, 322 and / or horizontal framework beams). Each of at least two vertical framework columns 218a, 218b has a top end and a bottom end; the bottom end is anchored to a concrete foundation using one or more anchor bolts. Various methods known in the art for anchoring the bottom end of a vertical framework column to a concrete foundation to provide lateral support to the support framework to resist strong seismic events are applicable to the present invention.

[0174] As Figure 27 and Figure 28 shown, multiple support frameworks can be placed around the perimeter of the grid frame structure (i.e., around each face of the grid frame structure) to form a unified framework body, i.e., the SFRS forms an outer skeleton that supports the grid frame structure to resist strong lateral forces caused by seismic events of Category C or D. Alternatively, at least one support framework can be placed on at least one face of the grid frame structure. The support framework of the present invention can be placed on at least one of the four sides of a cube. In Figure 27 , 28In the specific embodiments shown, the support frame is placed on each of the four sides of the cube. The peripheral frame columns 218a at the corners of the grid frame structure are supported by at least one horizontal frame beam 220, 320 that longitudinally extends from the top of each of the four peripheral frame columns 218a to form a peripheral frame that is substantially rectangular or square in a horizontal plane around the grid perimeter.

[0175] At least one of the plurality of vertical frame columns 218a, 218b, i.e., vertical frame column 218b, can be placed between or among two vertical frame columns 218a located at the corners of the grid frame structure to divide the outer skeleton into support frames, where at least two vertical frame columns 218a, 218b are supported by at least one diagonal brace 222, 322 and a drag strut or drag collector 232. The drag strut or drag collector 232 is located at the position where at least two vertical frame columns 218a, 218b are supported by horizontal frame beams 220, 320 at the tops of the two vertical frame columns 218a, 218b and is used to collect and transfer diaphragm shear forces to the vertical frame columns 218a, 218b. In Figure 27 and 28 In the specific embodiments of the present invention shown, the SFRS (215, 315) includes a support frame, where at least two of the plurality of vertical frame columns 218a, 218b are supported by at least one diagonal brace 222, 322 and horizontal frame beams 220, 320 to form a drag strut. Figure 27 and Figure 28 It is also shown that the at least one diagonal support member 222, 322 is placed on one side of the intermediate vertical support column 218b to form a support frame 230, and the drag strut 232 is placed on the other side of the support frame. The support between the vertical frame columns at the corners of the SFRS and the intermediate vertical support column is supported by at least one diagonal support member around the grid frame structure at each side of the SFRS, depending on the nature of the seismic event, i.e., whether it is a Class C or Class D seismic event. To provide a more robust restraint system for Class D seismic events, the support frame including at least one diagonal brace according to the present invention is placed around the perimeter of the grid frame structure.

[0176] Figure 30 A schematic top view of a seismic-resistant grid frame structure according to the present invention is shown, with the SFRS incorporated around the perimeter of the grid frame structure. The triangles around the perimeter of the grid frame structure represent the support frame 230 including at least one diagonal support member 222, 322. The dashed lines from around the perimeter of the grid frame structure to the other side of the support frame 230 represent the drag strut 232, where the vertical frame columns are supported by horizontal frame beams 220, 320. In Figure 27 and 28In a specific embodiment of the present invention, the intermediate vertical support column 218b is shared between the support frame 230 and the drag strut 232. Similarly, the peripheral frame columns 218a at the corners of the SFRS are shared between adjacent support frames 230, which include at least one diagonal support member 222, 322 or drag strut 232.

[0177] In Figure 31 the alternative embodiment shown, the SFRS further includes one or more internal restraint systems 236 within the body of the grid frame structure. The additional restraint system 236 includes a pair or more pairs of vertical frame columns 218 joined together at their upper ends by at least one support member 220, 320, 222, 322, which are shown as solid lines within the Figure 31 grid frame structure. At least one support member may be a horizontal support beam 220, 320 and / or diagonal support member 222, 322 located at the top of the paired vertical frame columns 218a, 218b. However, since the additional restraint system 236 within the grid frame structure occupies grid cells that might be used for storage containers, a balance must be struck between the number of internal restraint systems that the grid frame structure can accommodate and the grid cells within the grid frame structure available for storing one or more containers. A preferred option is for the SFRS (215, 315) of the present invention to be concentrated around the periphery of the grid frame structure to form an outer skeleton. The feet of each of the vertical frame columns 218a, 218b are anchored to a concrete foundation so that the lateral forces absorbed by the SFRS are transferred to the floor.

[0178] In the case where the support frame includes a K-shaped support, two diagonal support members 322 are arranged such that the first end of each diagonal support member 322 forming the lower end is arranged at the bottom ends of the vertical frame columns 218a, 218b. In an embodiment of the present invention, the first end of each diagonal support member 322 is arranged at the bottom end of the peripheral frame column 218a at the corner of the grid frame structure and at the bottom end of the intermediate vertical frame column 218b (see Figure 28 ). The two diagonal support members 322 slope upwards such that the second end of each diagonal support member 322 forming the upper end meets at a peak or apex 324 at a point on the horizontal frame beams 320, 220. During a strong earthquake, the two diagonal support members 322 absorb most of the lateral forces from the grid frame structure when they are placed under compressive force, and thus, they represent the dissipative components of the seismic-resistant grid frame structure. Therefore, it is easy to replace the diagonal support members 322 of the SFRS and possibly the support frame 230 after a strong earthquake event.

[0179] In the case where the support frame includes cross braces (see Figure 27),(the first diagonal bracing member and the second diagonal bracing member 222 are formed in an X shape, and each of the first diagonal bracing member and the second diagonal bracing member 222 has opposite ends. The vertical frame columns 218a, 218b are connected together by cross braces such that the outer ends of the vertical frame columns 218a, 218b are rigidly connected to the opposite ends of the first and second diagonal bracing members 222. Using the terms of the present invention, the cross braces are placed between the perimeter frame column 218a and the intermediate vertical frame column 218b at the corner of the grid frame structure such that the outer ends of the perimeter frame column 218a and the vertical frame column 218b are connected to the opposite ends of the first and second diagonal bracing members 222. Like the K-type bracing, the bracing members of the cross braces are placed under compressive forces during a strong earthquake event and thus represent the dissipative components of the seismic-resistant grid frame structure. During a strong earthquake event, since most of the bending moments of the grid frame structure are transferred to the SFRSs (215, 315), the bracing frames of the SFRSs fail first before the structural integrity of the grid frame structure fails. In other words, during a strong earthquake event, the components of the structural restraint system or the SFRS or the exterior skeleton are dissipated before the structural integrity of the grid frame structure fails. Since the SFRS of the present invention surrounds and supports the grid frame structure, the components of the SFRS are easy to replace.

[0180] The ends of the bracing members 220, 320, 222, 322 are rigidly connected to the vertical frame columns 218a, 218b of the SFRS by one or more bolts or welding points. To provide the structural stiffness of the SFRS to absorb strong lateral forces, the vertical frame columns 218a, 218b including the perimeter frame columns are bolted to the horizontal perimeter frame beams 220, 320 using several bolts. The vertical frame columns 218a, 218b including the perimeter frame columns and the horizontal frame beams 220, 320 are typically I-beams including a top beam flange and a bottom beam flange. The vertical frame columns 218a, 218b including the perimeter frame columns are bolted to the horizontal frame beams 220, 320 at the beam flanges. Gaskets can be placed between the beam flanges of the perimeter frame column 218a and the horizontal frame beam 220, 320 (also referred to as the perimeter frame beam) and fixed together by suitable bolts passing through the slots in the beam flanges. Compared with the vertical uprights or members 116 of the grid that support the grid of the grid frame structure, the components of the SFRS (such as the perimeter frame columns and the horizontal frame beams) are larger in size and weight and are mainly composed of steel. To avoid doubt, within the grid frame structure, the vertical uprights or uprights 116 are separated by one or more spacers and support the grid elements at the intersection points where the grid elements cross.

[0181] The maximum lateral force generated during a strong earthquake event is typically borne by the grid at the top of the grid frame structure, which undergoes the greatest deflection, i.e., during a strong earthquake event, causing the grid to bear lateral forces from side to side. Typically, the bending moment of each grid member in the grid is concentrated at the intersection where the grid elements (which make up the grid member) cross at the vertical upright column 116. Since the grid elements are bolted together and fixed to the vertical upright column 116 via the cover plate 150, the strong lateral force at the intersection can cause most of the fasteners (such as the cover plate) bolted together to loosen or even break. Although the bolts at the intersection can be tightened, considering the number of vertical upright columns 116 in a given grid frame structure, this is a daunting task. What is needed is a rigid joint at the intersection where the grid members cross at the vertical upright column 116.

[0182] In one aspect of the present invention, the grid elements are welded together at the intersection 400 instead of being bolted together to provide a more rigid and sturdy joint than can be provided by bolts alone (see Figure 32 ). Thus, the lateral force generated in the grid is transmitted as a bending moment at the joints where the grid members cross at each upright column. According to an important aspect of the present invention and using the terminology of the above grid structure, the grid elements in the grid are rigidly connected together to form at least one vierendeel truss. As is well known in the art, a vierendeel truss includes chord members separated by web members formed as a series of rectangular frames. The rectangular openings of the vierendeel truss make the vierendeel truss ideally suitable for loading handling equipment to move one or more containers stored below the truss, i.e., the grid of the present invention serves as at least one vierendeel truss assembly.

[0183] Depending on the direction of the lateral force, the chord members can resist compression or tension. The vierendeel truss achieves stability through the rigid connection of the web members to the chord members. Since there are no diagonal braces, the vierendeel truss transfers shear forces from the chord members through the bending moment at the joints and between the chord members and the web members. The distribution of the bending force on the grid can be represented by the schematic diagram shown in Figure 33 . As shown in Figure 33 , the maximum bending moment M is concentrated at the joint 400 where the grid member or grid element passes through or intersects the vertical upright column. By using a rigid joint at the intersection or node of the grid members, the grid of the present invention acts similar to a vierendeel truss, whereby the shear force along the grid member is transmitted through the bending moment at the intersection or node. The rigid joint 400 at the intersection is provided by welding the grid elements at the intersection of the grid elements. Since the intersections or nodes of the grid are rigidly connected together, the intersections can resist the shear force and bending moment generated at the intersections. Since the grid of the present invention is located in a horizontal plane, the vierendeel truss extends through the grid, and depending on the direction of the lateral force, each grid element acts as a chord member or a web member under compression or tension.

[0184] With reference to the aboveFigure 23 Compared with the grids of the grid frame structure under discussion, where the grid elements include back-to-back C-shaped sections, the grid 250 of the aseismic grid frame structure of the present invention includes tubular beams (see Figure 32 ). In practice, back-to-back C-shaped sections bolted together are considered too fragile to work in seismic zones. Compared with back-to-back C-shaped sections, the tubular beams 460 provide improved stiffness and strength. The tubular cross-sectional profile of the grid members 460 provides resistance to bending moments in multiple directions. The tubular beams 460 that make up the grid members also allow the grid members to be easily welded together at the joints 400, where the grid members cross at the intersections to form rigid joints with little or no gaps. Welding at the joints provides higher stiffness compared to bolts that are more likely to loosen.

[0185] The boundaries of the grid 250 are rigidly connected to the horizontal frame beams 220, 320, which extend from the vertical or peripheral frame columns 218a, 218b of the SFRS at the corners of the grid frame structure, such that the bending moments borne by the grid members caused by strong lateral forces are transferred to the SFRS, which is strengthened by one or more support members 220, 320, 222, 322, such as diagonal frame braces (support frames). The bending moment distribution on the grid structure can be represented by the schematic diagram shown in Figure 33 . Since the maximum bending moment is concentrated at the intersections 400 where the grid elements cross at the straight columns 116, it is very advantageous for the grid to act as a single unified body. Compared with bolting the grid elements to the cover plates at the intersections as described above, welding the grid elements together at the intersections of the aseismic grid frame structure creates a new problem, namely that the entire grid needs to be handled, which may include more than 40x40 grid cells, and the entire grid needs to be installed on the vertical straight columns 116 in situ (i.e., on-site). In addition, due to the risk of fire and exposure to welding fumes, building codes limit the amount of welding that can be done on-site. Therefore, welding the grid elements on-site at the intersections does not seem to be a practical proposal.

[0186] When the individual grid elements that make up the grid are bolted together on-site via the cover plates 150, there is no such problem. To overcome this problem and comply with building codes, as Figure 34 shown, the grid 250 of the present invention is subdivided into several sub-frames 404, where one or more sub-frames 404 include at least one grid cell. The multiple sub-frames are assembled together to construct the grid on-site. To comply with building codes, ideally, the individual sub-frames are bolted together when assembled on-site. Figure 35 An embodiment of a single sub-frame 404 that forms part of the grid 250 according to a specific embodiment of the present invention is shown.

[0187] Bolting the sub - frames together also has problems because the joints represent vulnerable points in the grid that are prone to loosening or even breaking. To maintain the structural integrity of the grid, the positions of the joints that link the individual sub - frames together are carefully chosen to prevent the interruption of the grid's action as a vierendeel truss. The joint 402 is positioned between adjacent sub - frames 404, i.e., the intermediate element between adjacent sub - frames, where the bending moment is minimized or weakest, which will relieve the external forces acting on the joints that connect the individual sub - frames together. Referring again to Figure 33 the distribution of the bending moment along the grid members shown, the bending moment is concentrated at the intersection points 400 where the grid members cross the vertical columns and is reduced to a minimum at the middle (i.e., the intermediate element) between the intersection points 402. Positioning the joint 402 in the middle between the intersection points 400 where the grid members (grid elements) cross relieves the excessive lateral forces that affect the links or joints between adjacent sub - frames. According to Figure 34 and 35 the invention shown, the link 402 is formed between adjacent sub - frames 404 along half of the length of the grid element 460, whereby each adjacent sub - frame includes at least one grid unit, i.e., the intermediate unit joined between adjacent sub - frames 404. The portions of the grid elements that extend or overhang from at least one grid unit are configured to be joined to portions of the grid elements of adjacent sub - frames to complete the grid unit.

[0188] The link that joins adjacent sub - frames includes a connecting plate 406, and the connecting plate 406 mates with the corresponding connecting plates 406 of adjacent sub - frames 404 to complete the grid unit 54. In Figure 35 the specific embodiment shown, the connecting plate 406 has a surface with the largest surface area, which is perpendicular to the horizontal plane in which the grid lies and includes one or more holes for receiving bolts. When the adjacent sub - frames are joined together, their corresponding connecting plates 406 mate to complete the grid unit 54. A plurality of sub - frames 404 are joined together to form the grid 250 according to the invention.

[0189] To transfer the shear forces generated axially from the grid to the SFRS, the boundary or outer region 252 of the grid 250 is rigidly connected to the horizontal frame beams 220, 320 of the SFRS as a support member between the vertical frame columns 218a, 218b. As Figure 34 shown, the horizontal frame beams 220, 320 can represent the chords of a vierendeel truss assembly. To allow the boundary or outer region 252 of the grid 250 to be connected to the horizontal frame beams 220, 320 of the SFRS, the sub - frames 404 located at the boundary or outer region of the above - mentioned grid include a connecting plate or support plate 408 at the bottom of the sub - frame for connection to the horizontal beam (see Figure 37 ) As Figure 38As shown, the connection plate or support plate 408 can be welded to the bottom of the sub-frame 404, which is then bolted to the horizontal frame beams 220, 320 at the edges or periphery of the grid. As Figure 38 shown, the connection plate or support plate 408 is located in the intermediate unit of one or more sub-frames 404 and forms the boundary or outer region of the grid for supporting the grid to the peripheral support structures 215, 315 of the present invention. The connection plate or support plate 408 is mounted on the grid elements at the intermediate unit of the sub-frame 404. The sub-frames 404 are assembled together on the vertical uprights 116 such that one or more sub-frames 404 located at the grid edges are supported by the SFRS of the present invention at the intermediate unit. In Figure 38 it, the boundary or outer region 252 of the grid has the width of a single grid unit. The connection plate or support plate 408 includes one or more holes that are aligned with corresponding holes formed in the top beam flanges of the horizontal frame beams of the SFRS to receive one or more bolts (see Figure 29 ).

[0190] Since the seismic grid frame structure of the present invention eliminates the use of cover plates 150 to connect the grid elements together and instead welds the grid elements together at the intersections, thereby connecting the vertical uprights 116 to each other to the grid of the seismic grid frame structure of the present invention, the sockets 410 for connecting the uprights 116 are directly mounted at the nodes where the grid elements cross on the lower side of the sub-frame 404 (see Figure 36 ). In a specific embodiment of the present invention, the sockets 410 are welded to the lower side of the sub-frame at the nodes where the grid elements 460 cross. As Figure 36 shown, it can be seen that four sockets 410 are directly mounted at the intersections where the grid elements cross on the lower side of the sub-frame 404. The sub-frame 404 is mounted on the vertical uprights 116 such that the sockets protruding from the lower side of the sub-frame 404 are received in the corresponding hollow central portions 70 of the uprights 116 in a snap-fit arrangement (see Figure 7 ). Since the adjacent sub-frames of the present invention including at least one grid unit are assembled together in the seismic grid frame structure, the ability to adopt a layered pattern in the above grid frame structure is lost. However, welding at the intersections where the grid elements 460 cross can greatly compensate for the loss of structural integrity resulting from the layered pattern arrangement of the above grid elements.

[0191] Since the grid elements 460 of the seismic grid frame structure are tubular or hollow, the surface of the grid elements is not ideally shaped for directly mounting the tracks onto the grid elements, i.e., there are few engaging portions. To provide tracks or railroads for the load handling equipment to travel on the grid, separate track support elements 465 are directly mounted to the grid elements 465 (see Figure 35). The track support element 465 allows the track or rail 470 to be assembled to the grid element 460. A plurality of track support elements 465 are distributed on the grid elements 460 of the sub-frame 404, which sub-frame 404 has a profile shaped to receive the track. Thus, compared to the grid elements of the grid frame structure described above, where the track support elements are integrated into the grid elements of the grid (the back-to-back C-shaped cross-section has a profile for receiving the track by snap-fit arrangement), the track support elements 465 of the seismic-resistant grid frame structure are separate from the grid elements 460. Figure 35 A top view of the sub-frame 404 according to a specific embodiment of the present invention is shown, showing the track support element 465 directly mounted to the tubular grid element 460, and Figure 39 A cross-sectional view of the sub-frame is shown, showing the engagement of the track 470 to the grid element 460 through the track support element 465 according to a specific embodiment of the present invention. Similar to the track mounted to the grid element of the grid frame structure described above, the track 470 is assembled to the grid element 460 in the seismic-resistant grid frame structure via the track support element 465 by snap-fit and / or sliding-fit arrangement.

[0192] In a specific embodiment of the present invention, the track support element 465 is welded to the grid element 460. The seismic-resistant grid frame structure of the present invention is not limited to the track support element being a separate component welded to the grid element of the grid. The track support element can be integrated into the body of the tubular grid element 460. For example, the track support element can be extruded together with the grid element into a single body.

[0193] Since the track 470 of the seismic-resistant grid frame structure is installed to the grid element 460 after the sub-frames 404 are assembled together to form the grid 250, the track 470 can adopt a similar layered pattern as described above, where groups of track elements are arranged on the grid to have a braided or brick-like appearance, i.e., the track elements are staggered in a first axial direction and a second axial direction (the first direction is perpendicular to the second direction) such that adjacent track elements in each of the first and second directions are offset by at least one grid cell. Using the terminology for the grid frame structure described above, a group of parallel tracks extends in a first direction, and a group of parallel tracks extends in a second direction, the second direction being perpendicular to the first direction. The track group in the first direction is subdivided into a first track subset and a second track subset, each of the first subset and the second subset including at least one track. The second track subset is spaced apart from the first track subset in the second direction. Each of the first and second track subsets is divided into several track elements. The track elements are staggered in the first direction such that adjacent parallel track elements of the first and second track subsets are offset by at least one grid cell.

[0194] A similar analogy applies to the track groups in the second direction, whereby the tracks in the second direction are subdivided into a first track subset and a second track subset, with each of the first and second track subsets including at least one track. Each of the first and second track subsets in the second direction is subdivided into a number of track elements. The second track subset is spaced apart from the first track subset in the first direction. The track elements are staggered in the second direction such that adjacent parallel track elements of the first and second track subsets are offset by at least one grid cell.

[0195] Since most of the lateral forces generated during a strong seismic event are absorbed by the SFRS of the present invention, in a first specific embodiment of the seismic grid frame structure, it is not necessary to incorporate one or more of the above-mentioned support towers into the grid frame structure of the present invention and they can be removed, i.e., the seismic grid frame structure includes a number of vertical or straight columns 116 separated by one or more of the above-mentioned spacer rings - the grid frame structure is supported by the peripheral support structure of the present invention as an outer skeleton. However, the seismic grid frame structure of the present invention is not limited to removing one or more support towers within the grid frame structure, and in a second specific embodiment of the present invention, the SFRS can support a grid frame structure including one or more support towers of the present invention, with one or more support towers incorporated into the grid frame structure as described above, i.e., a subgroup of three straight columns located in the same plane; two straight columns are placed laterally on both sides of the middle upright member, and the two laterally placed straight columns are rigidly connected to the middle upright member by a number of diagonal braces.

[0196] In another aspect of the present invention, the seismic grid frame structure of the present invention can be modular such that adjacent modules 514 in two or more modules or components of a modular framework share at least a portion of the SRFS (215, 315) of one or more adjacent modular frameworks. Each module 514 includes the seismic grid frame structures 215, 315 of the above reference Figure 27 or Figure 28 such that each module 514 includes a preset number of grid cells, and the peripheral support structures 215, 315 supported by a number of vertical framework columns 218a, 218b of the present invention further support the grid. The components of two or more modules can be assembled together to increase the storage capacity of the entire seismic grid frame structure, wherein adjacent modules in the components share at least a portion of the peripheral support structure of the present invention, i.e., the first modular framework shares at least a portion of the peripheral support structure of the second modular framework, whereby the first modular framework is adjacent to the second modular framework. In other words, adjacent modules share common support members 220, 320, 222, 322 supported by at least two vertical framework columns 218a. The support members include but are not limited to horizontal framework beams 220, 320 and / or diagonal support members 222, 322.

[0197] InFigure 40 In the top plan view shown, it can be envisioned that adjacent modules share at least a portion of the SFRS. Figure 40 Four modular grids are shown, which share portions of the SFRS of adjacent modular grids. In Figure 40 , the common support framework 230 of the SFRS, shown as a triangular diagram, is shared between adjacent modular grids 514 (a to d). Additionally, in Figure 40 , the drag struts 232, shown as dashed lines, are shared between adjacent modules 514 (a to d), such that adjacent modules share the common drag struts 232. Since adjacent modules share at least a portion of the SFRS between adjacent modules, the grids from adjacent modules are connected to the common horizontal framework beams 220, 320, such that lateral forces generated within the grids of adjacent modules are transferred to the common horizontal framework beams 220, 320. Since the grids are supported at the boundaries of the grids in a manner where a portion of the grid overhangs from the SFRS, the grids from adjacent modules can be joined together by connecting the overhangs from adjacent modules. The connection of the grids between adjacent modules can employ the same linkages described above with reference to Figure 35 joining adjacent modules together, where the overhangs at the grid edges include connecting plates or support plates 406 that mate with corresponding connecting plates or support plates 406 of the grids of adjacent modules to complete the grid cells.

[0198] The vertical framework columns 218a, 218b that support at least one of the support members 220, 320, 222, 322 are also shared between adjacent modules. By sharing portions of the SFRS between adjacent modules, the external support structures of adjacent modules 514 work together in parallel as a unified body to deflect lateral forces. In other words, by connecting the grids 250 from adjacent modules with common support members 220, 320, 222, 322 (such as horizontal framework beams), multiple adjacent grids 250 can act together to form at least one Vierendeel truss, such that lateral forces are transferred through the multiple grids to the vertical framework columns 218a, 218b at the periphery of the modules. The peripheral support structures 215, 315 shared between adjacent modules 514 also provide internal support within the collection of modules 514. The internal support includes adjacent modules that share the common support framework 230 and / or the common drag struts 232.

[0199] In the known fulfillment center shown in FIG. 41, the goods and inventory required to fulfill customer orders are located in containers or storage bins 10, which can be arranged along aisles. On one side of the aisle opposite the containers or storage bins, a conveyor system is provided, which carries customer delivery bins or containers. The conveyor system is arranged such that a portion of the delivery bins or containers moving on the back-end conveyor passes through a picking station, via a station container, in which the goods ordered by the customer are transferred by an operator from the storage bin or container to the customer delivery bin or container. The customer delivery container is paused when it is at the picking station 600 located on the conveyor system, and the operator selects the required items from the storage bin or container and places them in the customer delivery bin or container. In a known robotic picking station, the storage bin or container is lifted from a stack containing the inventory goods required to fulfill customer orders by a load handling device 30. Once lifted by the load handling device 30, the storage bin or container is delivered by the load handling device to an outlet above or near the picking station 600. At the picking station, one or more of the required inventory goods can be manually or automatically removed from the storage bin or container and placed in the delivery container, which forms part of the customer order and is filled at the appropriate time for shipment.

[0200] The known fulfillment center also includes various other stations, including but not limited to a charging station for charging rechargeable batteries that power the load handling devices on the grid, and a service station for performing routine maintenance on the load handling devices. To accommodate any one or combination of the stations, a separate area 600 is provided adjacent to the grid frame structure 14. Typically, the separate area is provided by incorporating a mezzanine 602 supported by vertical beams 604 between adjacent grid frame structures 14, and is generally a freestanding structure. The mezzanine 602 provides a passageway to accommodate, for example, one or more picking stations and / or any of the above stations. FIG. 41 shows an embodiment of a known order picking system that includes grid frame structures on either side of a passageway created by the mezzanine 602 for accommodating the picking station. The grid 14a from the adjacent grid frame structure 14 extends through the top of the mezzanine 602 to connect to the grids on either side of the mezzanine 602. It can be clearly seen from FIG. 41 that the grid structure 14a at the top of the mezzanine 602 is shallower than the grid frame structures on either side of the mezzanine 602, i.e., it can only accommodate one or two layers of containers in a stack. As shown in FIG. 41, the grid 14a extending through the mezzanine is supported by vertical columns 16b that are mounted to the mezzanine and are shorter than the vertical columns on either side of the mezzanine. The shorter vertical columns 16b are sized to only accommodate a small number of containers in a stack (e.g., the depth of one or more containers) to ensure that the grid lies in a substantially horizontal plane passing through the mezzanine, i.e., the grid level is maintained throughout the mezzanine. The mezzanine 602 is also shown in FIG. 41 as being supported by separate vertical beams 604. The vertical beams 604 supporting the mezzanine abut the grid frame structure 14 on either side of the mezzanine 602. Therefore, a separate freestanding frame is required to accommodate the mezzanine in the known fulfillment center.

[0201] The seismic grid frame structure of the present invention allows the mezzanine 702 to be integrated into the perimeter support structures 215, 315 and the vertical frame columns 218 of the present invention. The ability to modularize the above seismic grid frame structure can allow the mezzanine 702 to share at least a portion of the SFRS of adjacent modules, that is, to share the common support frame 230 and / or the drag struts 232 with adjacent or neighboring modules. Figure 42 A cross-sectional view of the components of the module 514 is shown, which incorporates the mezzanine 702 integrated within the components. As Figure 42 shown, the mezzanine 702 shares the perimeter support structures 215, 315 and the vertical frame columns 218 of the adjacent module 514, such that the mezzanine 702 is supported by the vertical frame columns 218a, 218b that support the adjacent module 514. The adjacent module 514 can be a grid frame structure of one or more containers or storage bins in a storage stack. Compared with the known mezzanine discussed with reference to FIG. 41, the mezzanine of the seismic grid frame structure is integrated within the SFRS of the present invention, and thus does not require separate vertical support columns to support the mezzanine.

[0202] To create the mezzanine of the present invention, the vertical frame columns 218a, 218b of the grid frame structure that support adjacent or laterally placed modules 514 are connected together by one or more support members (such as horizontal frame beams) to create a mezzanine floor and one or more diagonal support members 722. As Figure 42 shown, the vertical support (frame) columns that support the mezzanine floor can be supported to provide more support for the mezzanine structure. The combination of the SFRS incorporated into the grid frame structure and the mezzanine provides a single frame that encloses the components.

[0203] The SFRS of the present invention is versatile because simply by using one or more support members (such as horizontal frame beams) to link the perimeter frame structure and the vertical frame columns of adjacent modules together, the perimeter frame structures 215, 315 can flexibly integrate various other structures into the SFRS, thereby integrating additional perimeter frame structures to support the grid and / or the integrated mezzanine. Figure 43 A top plan view of the module components is shown, with each module including the seismic grid frame structure of the present invention on either side of the mezzanine structure 700 for a receiving station. As Figure 43 shown, the mezzanine 700 is integrated into the SFRS (215, 315) on either side of the mezzanine 700, such that the SFRS of a single module or modular frame 514 is shared to provide an integrated SFRS that includes the module and the mezzanine.

[0204] Compared with the prior art structure shown in FIG. 41, integrating the mezzanine structure 700 into the SFRS ( Figure 42There are several advantages. The integrated mezzanine and SFRS eliminate design complexity and require fewer parts in the SFRS. The vertical framework columns are shared between the SFRS and the mezzanine, so no separate vertical beams 604 are required to support the mezzanine. The mezzanine does not require support. The less complex design of the integrated SFRS and mezzanine has the further benefits of faster installation time and reduced cost.

[0205] Since the space below the mezzanine can accommodate picking stations, service stations for maintaining load handling equipment, or other facilities for manual operation, the mezzanine structure 700 must comply with high safety standards and all relevant regulations. If the mezzanine 702 is rigidly connected to the SFRS, it behaves more like a building structure, in which case there may be further requirements (such as in-situ floor fixtures) to ensure safety and compliance with regulations. Therefore, the integrated design may not be suitable for all areas.

[0206] An alternative to integrating the SFRS and the mezzanine structure is to separate the mezzanine 702 from the SFRS so that the mezzanine and the SFRS can move independently during seismic activity rather than being rigidly connected and restricted to moving together. This can be achieved by supporting the grid above the mezzanine 702 with a movable joint 720 and transferring the load from the grid to the SFRS. Thus, the mezzanine is a freestanding structure that can move independently relative to the SFRS.

[0207] Figure 44 A grid frame structure and an SFRS are shown. The mezzanine 702 is connected to the support structure by one or more movable joints 720.

[0208] A movable joint is a joint between two parts of a structure that allows the parts to move relative to each other while remaining connected. The significance of connecting the SFRS to the mezzanine is that the grids extending through the mezzanine from adjacent grid frame structures are installed on the mezzanine by one or more movable joints 720. As discussed above with reference to FIG. 41, the grids extending through adjacent grid frame structures allow one or more load handling devices to move through the mezzanine. The SFRS of the present invention may include one or more movable joints between the SFRS and the mezzanine. The movable joints are located between the vertical columns and horizontal members of the grid structure in the mezzanine.

[0209] A sliding bearing is one type of movable joint. Figure 45Shows a possible specific implementation of a sliding bearing. The lower plate 710 is mounted on top of a vertical column 116 (not shown). The lower plate 710 is attached to a lower backing plate 711. The pad 712 is attached to the lower backing plate, and the lower bearing pad 713 is in turn attached to the pad 712. The lower bearing pad 713 is configured to contact and slide relative to the upper bearing pad 714. The bearing pads 713, 714 can be made of Teflon, polytetrafluoroethylene (PTFE), or other suitable materials. The upper bearing pad 714 is attached to an upper backing plate 715, and the upper backing plate 715 is attached to the upper plate 716. The guard rail 717 restricts the movement of the lower bearing pad 713 relative to the upper bearing pad 714 during operation, such that the bearing pads 713, 714 remain in contact. The lower bearing pad 713 and the upper bearing pad 714 are configured to contact along a contact length 718 during operation. The movement length 719 is the movement range on both sides of the central position. It should be understood that the contact length 718 and the movement length 719 show the movement range in a first dimension, but the movable joint can also allow relative movement in a second dimension substantially perpendicular to the first dimension.

[0210] The lower plate 710 can be mounted on top of the vertical column 116. The upper plate 716 can be attached to the lower side of a grid extending through the sandwich.

[0211] It should be understood that there are also alternative ways to attach the upper plate 716 to the lower side of the grid. Two options are described here.

[0212] Figure 46 Shows a movable joint 720, where the upper plate 716 of the movable joint is directly attached to the lower side of the grid members 118, 120. The lower plate 710 is mounted on top of the vertical column 116. Advantageously, this is a simple configuration with few additional parts. For example, the upper plate 716 can be connected to the lower side of the grid member by welding. The grid cells adjacent to the movable joint 720 can not be used for storage.

[0213] Figure 47 Shows a movable joint 720, where the upper plate 716 of the movable joint 720 extends through the amplitude and width of the grid cell 54. Advantageously, compared with the Figure 46 configuration, this configuration allows a greater contact length 718 and a greater movement length 719, such that there is a greater contact area and a greater relative movement range between the sandwich and the SFRS. The lower plate 710 is mounted on top of the vertical column 116.

[0214] Figure 48 Shows Figure 47Top view of the movable joint. The upper plate 716 of the movable joint is strengthened by beams 721 to reinforce and stiffen the upper plate 716. The beams 721 are shown here as I-beams, but other types of beams can also be used. The upper plate 716 is attached to the horizontal grid members 118, 120 by brackets 723, and the brackets 723 are bolted to the upper plate 716 and the grid members 118, 120. Although this configuration has the disadvantage of requiring more parts and more component operations compared to the Figure 46 configuration, the movable joints can be placed in every other grid cell, leaving the grid cells between the movable joints free for storage.

[0215] Since the movement of adjacent grid frame structures can cause the grids above the mezzanine to move, the advantage of separating the grids from them can be applied to the grid frame structure referred to in Figure 6 and the above-mentioned SFRS to separate the ground movement from the grids mounted thereon. For example, one or more of the above-mentioned movable joints 720 can be inserted between the vertical columns at the intersections of the grid members. The movable joints can be placed between the cover plate and the top of the vertical columns. Thus, the grids are separated from the movement of the vertical columns caused by ground movement through one or more movable joints. The ground movement may be caused by an earthquake event or simply by passing vehicles (such as trains). Similarly, one or more movable joints can be inserted between the grid members and the vertical columns in the SFRS arrangement referred to in Figure 27 and 28 . In the case of ground movement, one or more movable joints inserted between the vertical columns and the grids will attenuate the ground movement. In addition, during the period when the vertical columns and / or the containers stored therein vibrate due to ground movement, any induced vibration of the grids will help to cancel and absorb the development of kinetic energy.

[0216] Due to the versatility of the SFRS of the present invention, other structures can be integrated into the SFRS of the present invention. To prevent the load handling equipment from exceeding the grid, a crash barrier is installed around the edge of the grid to absorb the impact when the load handling equipment hits the crash barrier. Since the weight of the load handling equipment may exceed 100 kg, the crash barrier needs to be installed and supported by a separate structure, which includes a separate vertical support framework adjacent to the grid. The structure supporting the crash barrier is not fixedly attached to the grid frame. In this way, if the load handling equipment accidentally hits the crash barrier, the crash barrier will not cause damage to the grid frame structure. The crash barrier known in the art is further specifically discussed in WO2017 / 153563 (Ocado Innovation Limited). In WO2017 / 153563 (Ocado Innovation Limited), the structure supporting the crash barrier needs to absorb the impact from one or more load handling equipment and includes one or more support components.

[0217] However, since the function of the SFRS is to limit the grid frame structure during a strong earthquake event, the SFRS has the versatility to accommodate one or more crash barriers, that is, the crash barrier can be directly installed to the perimeter support structure. The SFRS of the present invention can be strong enough to absorb the impact from one or more load handling equipment hitting the crash barrier directly installed to the perimeter support structure of the SFRS. Therefore, different from the known grid structure, in which the crash barrier is installed in a separate frame structure adjacent to the grid frame structure carrying the load handling equipment, the crash barrier can be integrated into the SFRS of the present invention.

[0218] Welding together grid elements 460, which are mainly tubular beams, creates a rigid structure capable of absorbing a certain degree of impact. Due to the structural stiffness and strength of the grid 250 of the seismic grid frame structure of the present invention (which is mainly attributed to the perimeter support structure supporting the grid and the vertical framework columns), the grid is stable enough to carry or install a crash barrier, which will not damage the structural integrity of the grid structure in the case where the load handling equipment hits the crash barrier. In a specific embodiment of the present invention, the crash barrier is directly installed to the grid 250, that is, installed at the edge of the grid. The crash barriers 800 are located at different positions around the edge of the grid 250 and are configured to absorb the impact when the load handling equipment accidentally exceeds the grid. In Figure 49In the specific embodiments of the present invention shown, the anti-collision barrier 800 includes one or more shock absorbers 802 mounted to a bumper beam 804 located at the edge of the grid 250. The shock absorbers 802 are composed of materials configured to dissipate energy upon impact, thereby helping to reduce excessive damage to the load handling equipment during an impact. Examples of materials that dissipate energy upon impact include, but are not limited to, elastic materials (such as rubber) or ablative materials (such as ablative aluminum honeycomb). In Figure 49 In the specific embodiments of the present invention shown, one or more shock absorbers 802 have a honeycomb structure made of aluminum, which is configured to collapse upon impact. One or more shock absorbers 802 are mounted to a framework, which is then mounted to the grid 250. The framework includes a bumper beam 804 mounted to the edge of the grid 250 via one or more rods 806. One or more shock absorbers 802 are mounted to the bumper beam 804 so as to extend inwardly to overhang or penetrate one or more grid cells. If the load handling equipment inadvertently travels towards the grid edge, in order to prevent the load handling equipment from inadvertently exceeding the edge of the grid 250, the load handling equipment will hit the anti-collision barrier 800. Since the grid 250 in the seismic grid frame structure is mainly composed of tubular beams 460 (see Figure 32 ) rigidly connected together to resist lateral forces in a seismic event, as Figure 49 shown, the anti-collision barrier 800 of the present invention can be directly mounted to the grid 250.

[0219] Illustrative specific embodiments of the grid frame structure and various modifications and variations of other specific embodiments that are obvious to those skilled in the art are considered to fall within the scope of the present invention defined by the claims. For example, in the case where the seismic grid frame structure is modularized to include two or more modules or modular framework components, each module or modular framework includes a preset number of grid cells, and the peripheral support structures 215, 315 of the present invention that support the grid as described above, two or more modules or modular framework components can share a common anti-collision barrier having the features referred to in Figure 49 described. In this case, the anti-collision barrier 800 is mounted to the edge of the two or more modules or modular framework components, that is, at least partially surrounding the two or more modules or modular framework components.

Claims

1. A grid frame structure (14) for supporting a load handling device (30) operable to move one or more containers (10) in a stack (12), the grid frame structure (14) comprising: a plurality of vertical columns (116) located in a vertical plane and arranged to form a plurality of vertical storage positions (58) for stacking containers (10) between the vertical columns (116) and being guided by the vertical columns (116) in a vertical direction, the plurality of vertical columns (116) being interconnected at their tops by a first set of grid members (118) extending in a first direction and a second set of grid members (120) extending in a second direction, the second set of grid members (120) running transversely to the first set of grid members (118) in a substantially horizontal plane to form a grid structure (50) including a plurality of grid cells or grid spaces (54); the first set of grid members (118) including a first set (22a) of tracks, and the second set of grid members (120) including a second set (22b) of tracks for the load handling device (30) to move one or more containers (10) on the grid frame structure (14), wherein a subgroup of the vertical columns (116) is rigidly coupled together by at least one support assembly including a plurality of diagonal braces (82) to form a support tower (80); characterized in that: the subgroup of vertical columns includes three vertical columns (116a, 116b, 116c) in the same plane such that two of the three vertical columns (116a, 116b) are placed laterally on both sides of the middle vertical column (116c), and the two laterally placed vertical columns (116a, 116b) are rigidly connected to the middle vertical column (116c) by the plurality of diagonal braces (82); the middle vertical column (116c) includes a plurality of coupling plates (130) spaced along the longitudinal length of the middle vertical column (116c), each coupling plate (130) occupying a corresponding slot that extends horizontally through the middle vertical column in a direction parallel to the plane in which the three vertical columns (116a, 116b, 116c) lie; and the plurality of diagonal braces (82) are connected to the middle vertical column (116c) via the plurality of coupling plates (130).

2. The grid frame structure (14) according to claim 1, wherein, By supporting a subgroup of the vertical columns (116) in the first direction and the second direction, the grid frame structure (14) is supported in both the first direction and the second direction such that the support tower (80) includes a first support tower (80) located in a plane extending in the first direction and a second support tower (80) located in a plane extending in the second direction.

3. The grid frame structure (14) according to claim 1 or 2, wherein, By at least one spacer (74) extending in a direction perpendicular to the plane in which the three vertical columns (116a, 116b, 116c) lie, each of the three vertical columns (116a, 116b, 116c) of the support tower (80) is connected to an adjacent vertical column (116) within the grid frame structure.

4. The grid frame structure (14) according to claim 3, wherein, The support tower (80) is located in a first vertical plane and the at least one spacer ring (74) is located in a second vertical plane, the second vertical plane being substantially perpendicular to the first vertical plane.

5. The grid frame structure (14) according to claim 1 or 2, wherein, Each of the plurality of upright columns (116) has a cross-section including a hollow central portion (70) and four corner portions, each corner portion including a guide (72).

6. The grid frame structure (14) according to claim 5, wherein, Each of the plurality of diagonal braces (82) is connected between the two laterally disposed upright columns (116a, 116b) and the intermediate upright column (116c) to form a series of triangular braces on both sides of the intermediate upright column (116c).

7. The grid frame structure (14) according to claim 6, wherein, The plurality of diagonal braces (82) on both sides of the intermediate upright column (116c) cooperate with each other to form one or more cross braces.

8. The grid frame structure (14) according to claim 5, wherein, Each of the two laterally disposed upright columns (116a, 116b) is arranged to be anchored to a concrete foundation at its lower end by an anchor foot (132), the anchor foot (132) including a plurality of discrete fingers (138) extending from an upright portion (140), the upright portion (140) being configured to connect to the lower end of the upright column and at least one of the plurality of diagonal braces, each of the discrete fingers (138) including means for anchoring the anchor foot (132) to the concrete foundation by one or more anchor bolts.

9. The grid frame structure (14) according to claim 8, wherein, The anchor foot (132) includes at least five discrete fingers (138) extending from the upright portion (140), the upright portion (140) including a plate for connecting to the lower end of the upright column and at least one of the diagonal braces (82), the plate being oriented within the grid frame structure (14) such that the surface of the plate having the largest surface area is in the same plane as the three upright columns (116a, 116b, 116c).

10. The grid frame structure (14) according to claim 8, wherein, The portion of the remaining upright columns (116) not anchored to the concrete foundation by the anchor foot (132) includes an adjustable foot (90) at its lower end for adjusting the height of the upright column (116).

11. The grid frame structure (14) according to claim 10, wherein, The adjustable foot (90) includes a base plate (92) and a threaded spindle (94), the threaded spindle (94) being threadedly engaged with a push-fit cap (96) at the lower end of the upright column (116) to adjust the height of the upright column (116).

12. The grid frame structure (14) according to claim 11, wherein, The push-fit cap (96) includes an insertion portion (98), the size of the insertion portion (98) being insertable into the hollow central portion (70) of the upright column (116).

13. The grid frame structure (14) according to claim 12, wherein, The insertion portion (98) includes at least two walls (104), each of the at least two walls (104) including a retaining clip or compression clip (102) receivable in an opening (106) in the at least two walls (104) such that when the insertion portion (98) is inserted into the hollow central portion (70) of the upright column (116), the insertion portion (98) forms a tight fit.

14. The grid frame structure (14) according to claim 10, wherein, By connecting at least one brace or spacer ring (74) between two adjacent upright columns (116), portions of the remaining upright columns (116) are spaced apart from each other at a preset distance.

15. The grid frame structure (14) according to claim 1 above, wherein, The several support towers (80) are distributed throughout the grid frame structure (14).

16. The grid frame structure (14) according to claim 15, wherein, The portions of the several support towers (80) that occupy the several vertical columns (116) of the grid frame structure (14) are in the range of 2% to 50%.

17. A storage system, comprising: i) a grid frame structure (14) as claimed in any one of claims 1 to 16; ii) a stack (12) of several containers (10) arranged in storage columns (58) located below the grid structure (50), wherein each storage column (58) is vertically located below a grid cell (54); iii) several loading handling devices (30) for lifting and moving the containers (10) stacked in the stack (12), the several loading handling devices (30) being remotely operated to move laterally on the grid structure (50) above the storage columns (58) to access the containers (10) through the substantially rectangular grid cells (54), each of the several loading handling devices (30) comprising: a) a wheel assembly for guiding the loading handling device (30) on the grid structure (50); b) a container receiving space (40) located above the grid structure (50); and c) a lifting device for lifting a single container (10) from the stack (12) to the container receiving space (40).

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