Grid framework structure

Abstract

An anti-seismic grid framework system (206) comprising a grid framework structure (114) for supporting load handling devices (30) operable to move one or more containers (10) in a stack (12), the grid framework structure (114) comprising: a series of intersecting grid members (118, 120) arranged to form a grid (50), the grid (50) comprising a number of substantially rectangular frameworks (54) in a horizontal plane, each substantially rectangular framework (54) constituting a grid cell, the grid (50) being supported at each intersection (56) of the series of grid members (118, 120) by a number of upright columns (116) to form a number of upright storage locations (58) for stacking containers (10) between the upright columns (116) and guiding in a vertical direction through the number of substantially rectangular frameworks (54), characterized in that the anti-seismic grid framework system (206) further comprises a seismic isolation system (208) for reducing seismic forces acting on the grid framework structure (114), wherein the grid framework structure (114) is supported by the seismic isolation system (208), the seismic isolation system (208) comprising an upper structure (202) and a lower structure (200), and at least one seismic isolation device (204) is placed between the upper structure (202) and the lower structure (200) such that the at least one seismic isolation device (204) restrains movement of the upper structure (202) relative to the lower structure (200) in a seismic event.

Description

Technical Field

[0001] This invention relates to the field of loading and processing equipment that is remotely operated on a track located on a grid frame structure, for processing storage containers or storage boxes stacked in the grid frame structure, and more specifically, to a grid frame structure for supporting the remotely operated loading and processing equipment. Background Technology

[0002] As is well known, storage systems include three-dimensional storage grid structures in which storage containers / cabins are stacked on top of each other. PCT Patent No. WO2015 / 185628A (Ocado) describes a known storage and fulfillment system in which stacks of boxes or containers are arranged within a grid frame structure. The boxes or containers can be accessed by a loading and processing device that operates remotely on a track located at the top of the grid frame structure. This type of system is schematically illustrated in Figures 1 to 3.

[0003] As shown in Figures 1 and 2, stackable containers (referred to as boxes or containers 10) are stacked on top of each other to form a stack 12. The stack 12 is arranged in a grid frame structure 14 within a warehouse storage or manufacturing 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 the stacked containers. Figure 1 is a schematic perspective view of the grid frame structure 14, and Figure 2 is a top view showing the stack 12 of boxes 10 arranged in the frame structure 14. Each box 10 typically holds several product goods (not shown), and depending on its application, the product goods within the box 10 can be the same or different product types.

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

[0005] The top layer of the grid frame structure 14 includes tracks 22 arranged in a grid pattern on top of the stack 12. Furthermore, referring to Figure 3, the tracks 22 support several loading and handling devices 30. A first set 22a of parallel tracks 22 guides the robotic loading and handling devices 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 tracks 22 arranged perpendicular to the first set 22a guides the loading and handling devices 30 to move in a second direction (e.g., the Y direction) perpendicular to the first direction. In this way, the tracks 22 allow the robotic loading and handling devices 30 to move laterally in two dimensions on a horizontal XY plane, enabling the loading and handling devices 30 to be moved to positions above any stack 12.

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

[0007] The loading and handling equipment 30 is equipped with lifting devices or a crane mechanism to lift the storage container from above. The crane mechanism includes winch ropes or cables 38 wound on a reel or spool (not shown) and gripping devices. The lifting devices include groups of lifting ropes 38 extending vertically and connected at or near the four corners of the lifting frame 39, also referred to as gripping devices (one rope near each of the four corners of the gripping device), for releasable connection to the storage container 10. The gripping devices are configured to releasably clamp the top of the storage container 10 to lift it from a stack of containers in a storage system of the type shown in Figures 1 and 2.

[0008] Wheels 34 and 36 are arranged around the periphery of the inner cavity or recess (referred to as container receiving recess 40) in the lower portion. As shown in Figures 5 (a and b), the recess is sized to accommodate container 10 when it is lifted by a crane mechanism. While in the recess, the container is lifted off the track below, allowing the carrier to move laterally to different locations. Upon reaching a target location (e.g., another stack, an access point in a storage system, or a conveyor belt), the box or container can be lowered from the container receiving portion and released from the gripping device.

[0009] However, grid frame structures are subject to a variety of 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 loading and handling equipment weighing over 100 kg on the grid frame structure, movement caused by nearby buildings or moving vehicles (such as trains), and even movement during earthquakes or storms. Due to these external forces experienced by the grid frame, it is crucial to keep the individual components within the grid frame structure intact.

[0010] To ensure the stability of grid frame structures, existing storage systems rely heavily on various supports and braces arranged within the grid or at least partially along its perimeter. However, using various supports and braces (anti-slip braces) to stabilize the grid frame structure from internal and external forces is disadvantageous for several reasons. The space or area occupied by the grid frame structure can be used for storage containers; therefore, it hinders the optimal use of available space or area for storage containers. The need for support structures can limit the available options for positioning the grid frame structure, as any auxiliary grid support structure typically needs to be connected to the surrounding structure (e.g., the interior walls 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 multiple 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 vertical box guides for accommodating the corner of a storage box. The width of the support struts allows them to fit between two parallel guides without compromising the storage column's ability to accommodate container stacks or storage boxes.

[0012] Therefore, an alternative grid framework structure is needed that minimizes the impact on the available space or area for storage containers in order to provide a self-supporting storage grid or at least requires less auxiliary grid support structure.

[0013] A large portion of the world's population lives along earthquake fault lines or in the path of powerful storms such as hurricanes and tornadoes. Because current grid-frame structures may not be able to hold the grid together, positioning grid-frame structures in these earthquake- and storm-prone areas carries a risk of structural damage. For example, strong earthquakes and storms can cause them to lose structural integrity because structural fasteners cannot securely attach the grid to upright members. Earthquakes are classified into four types—A, B, C, and D—depending on their severity, with Type A considered the weakest and Type D the strongest. Types A through D are further classified based on their spectral acceleration, the maximum acceleration, measured in g, experienced by objects above ground level during an earthquake. Type D is considered the strongest earthquake event, typically with spectral accelerations ranging from 0.5g to 1.83g (see Short Period Spectral Response Acceleration (SDS) at https: / / www.fegstructural.com / seismic-design-category-101 / ), and is responsible for the destruction of most buildings. When a strong earthquake event acts on a structure, the three-dimensional dynamic forces can damage the structural fasteners that hold the grid frame structure together, causing them to loosen or detach from the embedded components, or, if they remain in place, to tear through the structural fasteners.

[0014] Many jurisdictions (such as the states in the United States) have passed laws requiring all new buildings, whether residential or commercial, to incorporate certain seismic support features. For example... Figure 8 As shown, a grid frame structure includes internal bracing features incorporated within the grid frame structure, wherein one or more upright members are supported together by one or more bracing members or support towers. Typically, the bracing members are distributed throughout the grid frame structure. The distribution of internal bracing depends heavily on the size of the grid frame structure, ground conditions, and environmental conditions (e.g., temperature). However, while grid frame structures can withstand very low-level seismic events with spectral accelerations less than 0.3g, there is currently no seismic-resistant system for grid frame structures capable of withstanding stronger than Type C earthquakes and classified as Type C earthquakes with spectral accelerations ranging from 0.5g to 1.83g.

[0015] Therefore, a seismic-resistant grid frame system capable of withstanding strong earthquake events is needed.

[0016] This patent application claims priority to UK Patent Application No. GB2009430.6, filed on June 19, 2020, the contents of which are incorporated herein by reference. Summary of the Invention

[0017] While current grid frame structures can typically withstand relatively small-scale ground movements of less than 0.33g spectral acceleration (Short-Period Spectral Response Acceleration SDS, see https: / / www.fegstructural.com / seismic-design-category-101 / ), they generally cannot withstand ground movements exceeding 0.33g in representative Type C and Type D earthquake events. Joints (mostly bolted together) linking grid members and uprights tend to loosen and, in extreme cases, separate, affecting the structural integrity of the grid frame structure. Even if one or more support towers can be incorporated into the uprights to improve the stability of the grid frame structure, this may be insufficient to maintain its stability during Type C and Type D earthquake events. This invention mitigates these problems by detaching or isolating the grid frame structure from the foundation. More specifically, this invention provides a seismic-resistant grid frame system comprising a grid frame structure for supporting a loading and handling device operable to move one or more containers in a stack, the grid frame structure comprising:

[0018] A series of intersecting grid components are arranged to form a mesh. This mesh comprises several basic rectangular frames in a horizontal plane, each basic rectangular frame constituting a grid cell. At each intersection of the series of grid components, the mesh is supported by several upright posts to form several vertical storage locations for stacking containers between the upright posts, which then guide the containers vertically through the basic rectangular frames.

[0019] Its features are:

[0020] The seismic grid frame system further includes a seismic isolation system for reducing seismic forces acting on the grid frame structure, wherein the grid frame structure is supported by the seismic isolation system, the seismic isolation system includes a superstructure and a substructure, and at least one seismic isolation device is placed between the superstructure and the substructure such that the at least one seismic isolation device inhibits the movement of the superstructure relative to the substructure during a seismic event.

[0021] By placing at least one seismic isolation device with a relatively low horizontal stiffness structural element between the superstructure and the substructure, the seismic isolation system isolates the grid frame structure from the horizontal components of ground motion during a seismic event, i.e., the grid frame structure detaches from uncontrolled horizontal ground movement. This causes the fundamental frequency of the grid frame structure to be much lower than its fixed foundation frequency and the dominant frequency of ground motion. This shift in natural period results in a decrease in spectral acceleration during typical seismic vibrations. The seismic isolation system includes a superstructure, a substructure, and at least one seismic isolation device placed between the superstructure and the substructure, such that at least one seismic isolation device inhibits the movement of the superstructure relative to the substructure during a seismic event. The superstructure includes at least a portion of the load-bearing structure of the grid frame structure, and in some cases, the entire load-bearing structure. Similarly, the substructure includes at least the foundation of the grid frame structure.

[0022] For the purposes of this description, the terms “base isolation device,” “isolation device,” and “isolation device” are used interchangeably.

[0023] Preferably, the at least one vibration isolation device includes an elastomeric bearing comprising a laminated assembly of an elastomeric layer disposed between an upper mounting plate and a lower mounting plate for connection to the upper and lower structures, respectively. For the purposes of this description, the terms "elastomeric layer" and "elastomeric layer" are used interchangeably.

[0024] The relatively low horizontal stiffness of at least one seismic isolation device is provided by the elastic properties of an elastomeric layer. The elastomeric layer can be a natural and / or synthetic elastomer. In this case, the seismic isolation system, more specifically, at least one seismic isolation device, dissipates energy by utilizing the elastic deformation of the elastomeric layer.

[0025] Preferably, the at least one vibration isolation device includes an elastomeric bearing comprising a laminated assembly of alternating elastomeric and rigid layers, the laminated assembly being positioned between an upper mounting plate and a lower mounting plate for connection to an upper structure and a lower structure, respectively. More preferably, the elastomeric layers comprise rubber, and the rigid layers comprise steel, such that the elastomeric bearing comprises a laminated assembly of alternating rubber and steel layers. The elastomeric layers provide lateral flexibility and elastic restoring force. The steel plates reinforce the elastomeric bearing by providing vertical load-bearing capacity and preventing lateral bulging. The upper and lower mounting plates connect the elastomeric bearing to the upper structure above the laminated assembly and the lower structure below the laminated assembly.

[0026] Preferably, the elastomer bearing further comprises:

[0027] An energy dissipation core placed inside the laminate assembly is adapted to attenuate vibrations in the shear direction of the laminate assembly by absorbing vibrational energy in the shear direction of the laminate assembly.

[0028] The outer peripheral surfaces of the elastomeric layer and the rigid layer are covered with an outer coating. When the elastomeric bearing moves laterally during an earthquake, the energy dissipation core provides damping through plastic deformation. More preferably, the energy dissipation core comprises lead, tin, zinc, aluminum, copper, nickel, or alloys thereof. Optionally, the energy dissipation core extends between the upper mounting plate and the lower mounting plate.

[0029] Preferably, the upper mounting plate is coupled to the upper connecting plate, and the lower mounting plate is coupled to the lower connecting plate, such that the laminate assembly is sandwiched between the upper and lower connecting plates. Preferably, the elastomeric bearing includes a slider disc disposed between the laminate assembly and the upper or lower mounting plate, or both. More preferably, the slider disc comprises PTFE. The sliding friction of the slider disc relative to the upper and / or lower mounting plates provides a degree of damping for small or weak vibrations, for example, to accommodate high-frequency vibrations.

[0030] In an alternative embodiment of the invention or in conjunction with an elastomeric bearing, the at least one vibration isolation device includes a sliding pendulum bearing or a sliding bearing comprising:

[0031] i) An upper bearing element having a first sliding surface,

[0032] ii) A lower bearing element having a second sliding surface, and

[0033] iii) A slider placed between an upper bearing plate and a lower bearing plate, such that the slider is arranged to make surface contact with a first sliding surface and a second sliding surface, the first sliding surface and / or the second sliding surface having a concave spherical surface with a specific radius of curvature, such that the slider is arranged to slide along the concave spherical surface of the first sliding surface and / or the second sliding surface, resulting in the lifting of the superstructure during seismic ground motion consistent with providing at least one sliding swing mechanism.

[0034] A sliding pendulum bearing employs at least one concave spherical surface and a slider sliding along that surface, resulting in the uplift of the superstructure during seismic motion. This uplift causes an equivalent pendulum motion. The radius of curvature of the concave surface results in an effective length of the pendulum arm, which determines the dynamic natural period of the sliding pendulum bearing. The simplest sliding pendulum bearing is a single pendulum bearing, consisting of a spherical concave surface supporting the slider, to provide a single pendulum mechanism. Sliding pendulum bearings can also include double pendulum bearings consisting of two spherical concave surfaces and a slider positioned between them, to provide two independent pendulum mechanisms, and triple pendulum bearings consisting of four spherical concave surfaces and three sliders, arranged to provide three independent pendulum mechanisms. Each double and triple pendulum bearing exhibits different hysteretic characteristics at different displacement stages.

[0035] Preferably, at least one vibration isolation device includes a three-pendulum bearing, the bearing comprising:

[0036] i) An upper bearing element with a downward-facing concave spherical surface having a specific radius of curvature.

[0037] ii) A lower bearing element having an upward-facing spherical surface with a specific radius of curvature, and

[0038] iii) A first slider having a convex spherical surface arranged to slide along the upward-facing concave spherical surface of the lower bearing element, and a relatively concave spherical surface with a radius of curvature substantially smaller than the radius of curvature of the upward-facing concave spherical surface of the lower bearing element.

[0039] iv) A second slider having a convex spherical surface arranged to slide along the downward-facing concave spherical surface of the upper bearing element, and a relatively concave spherical surface with a radius of curvature substantially smaller than that of the downward-facing concave spherical surface of the upper bearing element.

[0040] v) A third slider has a lower convex spherical surface arranged to slide along the concave spherical surface of the first slider, and an upper convex spherical surface arranged to slide along the concave spherical surface of the second slider.

[0041] The triple pendulum bearing incorporates three separate sliding pendulum mechanisms connected in series to support the same structural load. The advantage of increasing the number of pendulum mechanisms is that they provide different mechanisms for different seismic motion intensities. For example, each of the three pendulum mechanisms is activated under different intensities of seismic motion or ground motion.

[0042] To preferably protect the inner surface of the slider from contamination, the triple-swing bearing further includes a means for connecting the first and second sliders together, allowing independent swing mechanisms to be achieved by the sliding of the first slider against the lower bearing element and the sliding of the second slider against the upper bearing element. Optionally, the first and second sliders are connected together by a peripheral seal (e.g., an elastic seal).

[0043] The number of sliding pendulum mechanisms in a sliding pendulum bearing depends on the number of sliders operating between the spherical concave surfaces. A single slider operating on a single spherical concave surface generates a single pendulum mechanism, while three sliders operating between corresponding spherical concave surfaces generate three pendulum mechanisms. The sliding pendulum mechanisms are connected in series in such a way that the different pendulum mechanisms become active under different seismic motion intensities. This is achieved by providing different coefficients of friction for the different pendulum mechanisms. Once the corresponding coefficient of friction is overcome, the slider is able to move on its corresponding spherical concave surface. This process is repeated for the different pendulum mechanisms in the sliding pendulum bearing. Lateral travel is accompanied by vertical movement of the superstructure providing restoring forces.

[0044] Preferably, the sliding surface between the first slider and the lower bearing element has a first coefficient of friction, and the sliding surface between the second slider and the upper bearing element has a second coefficient of friction, wherein the first coefficient of friction is different from the second coefficient of friction. The construction of the sliding pendulum bearing allows the first and second coefficients of friction to provide an optimized reduction of seismic forces acting on the superstructure, for example, to optimize frictional increase as the displacement amplitude of the substructure or ground motion increases. More preferably, the first coefficient of friction is less than the second coefficient of friction. For a given seismic motion, this allows the first slider to be activated before the second slider is activated, i.e., the first slider can slide against the lower bearing element.

[0045] Preferably, the sliding surface between the third slider and the first slider has a third coefficient of friction, and the sliding surface between the third slider and the second slider has a fourth coefficient of friction, wherein the third coefficient of friction is substantially equal to or different from the fourth coefficient of friction. Optionally, the third coefficient of friction is less than the first and second coefficients of friction. Similarly, the fourth coefficient of friction is less than the first and second coefficients of friction. The third slider or the inner slider allows the sliding pendulum bearing to dampen high-frequency vibrations to prevent damage to sensitive components of the storage system, which includes a grid frame structure. The storage system includes one or more load-bearing devices running on the grid and one or more containers stored within the grid frame structure. Damping high-frequency vibrations helps to mitigate situations where one or more loading and handling devices or robots derail or even tip over from the grid, as well as the spillage of container contents.

[0046] Preferably, the upper bearing element is fixed to the upper structure, and the lower bearing element is fixed to the lower structure. More preferably, the upper structure comprises a load-bearing structure of a grid frame structure. Preferably, the lower structure comprises a foundation of a grid frame structure. Optionally, the lower structure comprises a well, in which the at least one seismic isolation device is placed. This places the grid frame structure supported by the upper structure at ground level. The distribution of lateral forces during a seismic event and the damping strength of the grid frame structure provided by the seismic isolation system of the present invention depend on the number and distribution of one or more seismic isolation devices between the lower and upper structures. The distribution of one or more seismic isolation devices can be adjusted to eliminate any non-uniformity in the upper structure. Preferably, the at least one seismic isolation device comprises several seismic isolation devices placed between the upper and lower structures, said several seismic isolation devices being spaced apart in an array or grid pattern of X meters × X meters, wherein X is between 1 meter and 15 meters. Optionally, the several seismic isolation devices are distributed in an array of 6 meters × 6 meters, preferably 3 meters × 3 meters. The spacing between the seismic isolation devices in the array also depends on the size of each seismic isolation device. Preferably, the width of each of the at least one vibration isolation device is substantially in the range of 150 mm to 500 mm. Preferably, the width of the at least one vibration isolation device is substantially in the range of 900 mm to 1200 mm.

[0047] Preferably, the at least one isolation device is placed between the upper and lower structures such that the vertical distance between the upper and lower structures is substantially in the range of 50 mm to 250 mm. The distribution and spacing of the isolation devices in the array depend on the size of each isolation device. For example, for relatively large isolation devices with a width in the range of 400 mm to 460 mm and a height in the range of 190 mm to 210 mm, several isolation devices can be arranged in a grid pattern with a large spacing between them, such as 12 m × 12 m. Conversely, for relatively small isolation devices with a width in the range of 150 mm to 250 mm and a height in the range of 50 mm to 80 mm, several isolation devices can be arranged in a grid pattern with a small spacing between them, such as 3 m × 3 m.

[0048] Preferably, the height of the at least one vibration isolation device is substantially in the range of 320mm to 350mm.

[0049] Preferably, the at least one seismic isolation device includes several seismic isolation devices placed between the upper structure and the lower structure, and the area density of the several seismic isolation devices is substantially in the range of 0.005 to 0.015 devices per square meter.

[0050] Optionally, the superstructure includes a slab supported by one or more basic horizontal beams. Optionally, the slab may include a composite steel / concrete slab. This combines the high tensile strength of steel and the high compressive strength of concrete, forming a composite structure with excellent load-bearing capacity.

[0051] Optionally, the seismic isolation system further includes one or more column bases placed between the at least one seismic isolation device and the superstructure and / or between the substructure and the at least one seismic isolation device, for increasing the vertical distance between the substructure and the superstructure. The additional space between the substructure and the superstructure can be used for a range of different functions, such as providing space for employee parking in the fulfillment center equipped with a seismic grid frame structure. Furthermore, the additional space provides access beneath the superstructure for easy inspection and maintenance.

[0052] Other features of the invention will become apparent from the accompanying drawings. Attached Figure Description

[0053] Other features and aspects of the invention will become apparent from the following detailed description of illustrative embodiments with reference to the accompanying drawings, in which:

[0054] Figure 1 is a schematic diagram of the grid framework structure of a known system;

[0055] Figure 2 is a top view showing the stacking of boxes arranged within the frame structure of Figure 1;

[0056] Figure 3 is a schematic diagram of a system of known loading and processing equipment operating on a grid frame structure;

[0057] Figure 4 is a schematic perspective view of the loading and processing equipment, showing the lifting device clamping the container from above;

[0058] Figures 5(a) and 5(b) are schematic cross-sectional views of the loading and processing equipment of Figure 4, showing (a) the container receiving space of the loading and processing equipment and (b) the container housed in the container receiving space of the loading and processing equipment.

[0059] Figure 6 (a and b) are schematic comparisons of the expected lateral vibration (mode) of (a) non-isolated model (left) and (b) isolated model (right);

[0060] Figure 7 This is a schematic diagram of the seismic spectral acceleration response;

[0061] Figure 8 This is a perspective view of a grid frame structure according to a specific embodiment of the present invention;

[0062] Figure 9 This is a perspective view of a cover plate for connecting adjacent grid elements at an intersection, according to a specific embodiment of the present invention.

[0063] Figure 10 This 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 the intersection.

[0064] Figure 11 This is a perspective view of a cover plate according to a specific embodiment of the present invention, which links adjacent grid elements at the intersection by connecting the central portion of the grid element and the end of the adjacent grid element.

[0065] Figure 12 This is a perspective view of a cover plate assembled to an upright column according to a specific embodiment of the present invention, used to connect adjacent grid elements together at the intersection of grid elements.

[0066] Figure 13 This is a perspective view of the grid element pattern at the intersection point according to a specific embodiment of the present invention;

[0067] Figure 14 (a) and (b) are schematic diagrams of a support tower according to a specific embodiment of the present invention;

[0068] Figure 15 This is a perspective view of an adjustable foot according to a specific embodiment of the present invention;

[0069] Figure 16a This is a side view of the anchor foot according to the second specific embodiment of the present invention;

[0070] Figure 16b This is a top view of the anchor foot according to the second specific embodiment of the present invention;

[0071] Figure 17 This is an isometric view of a partial seismic grid frame system, showing the distribution of seismic isolation devices at the base of the grid frame structure according to a specific embodiment of the present invention.

[0072] Figure 18 This is a cross-sectional view of a part of a seismic isolation system, showing a seismic isolation device according to a specific embodiment of the present invention;

[0073] Figure 19 This is a cross-sectional view of an elastomer bearing according to a specific embodiment of the present invention;

[0074] Figure 20 yes Figure 19 The top view of the elastomeric bearing shown;

[0075] Figure 21 This is a cross-sectional view of an elastomeric bearing according to another specific embodiment of the present invention;

[0076] Figure 22 This is a cross-sectional view of an elastomeric bearing formed from a laminated assembly of a recycled rubber tire according to another specific embodiment of the present invention.

[0077] Figure 23 It is a triple-pendulum bearing for Earthquake Protection Systems. TM Cross-sectional view of (TriplePendulum Bearing™);

[0078] Figure 24 (a to c) is a perspective view showing three different displacement positions of the Triple Pendulum Bearing™;

[0079] Figure 25 This is an isometric view of a partial seismic grid frame system, showing the distribution of seismic isolation devices at the base of a grid frame structure according to another specific embodiment of the present invention.

[0080] Figure 26 This is a cross-sectional view of a part of an anti-seismic isolation system, showing a seismic isolation device according to another specific embodiment of the present invention;

[0081] Figure 27It is an isometric view of an alternative arrangement of a seismic system, in which one or more seismic isolation devices are placed in wells or depressions;

[0082] Figure 28 An isometric view of an alternative arrangement of part of the seismic system, showing the column bases and the superstructure including the supporting beams and composite steel / concrete slabs;

[0083] Figure 29 yes Figure 28 A side view of a part of the seismic resistance system;

[0084] Figure 30 This is a schematic diagram of a part of a seismic-resistant system with building columns and pillars;

[0085] Figure 31 This is a schematic diagram of a part of a seismic-resistant system with building columns;

[0086] Figure 32 It is a schematic diagram of an elastomeric bearing having a slider disk located above (a) the laminating assembly, below (b) the laminating assembly, and above and below (c) the laminating assembly. Detailed Implementation

[0087] This invention relates to a seismic isolation system for a grid frame structure 14 used to form a seismic-resistant grid frame system. The basic principle of the seismic isolation system can be understood through... Figure 6 The non-isolated model shown in a and Figure 6 The seismic isolation model shown in Figure b is hypothesized to represent the lateral vibration modes. Typically, the grid frame structure 14 is rigidly mounted to a hard concrete foundation in ground 200, which may include various hard rock and soil deposits. Seismic waves generated during an earthquake encompass a wide range of frequencies. Higher frequency wave energy tends to be absorbed by hard rock and soil, while lower frequency waves (periods greater than one second) pass through the hard rock and soil unabsorbed and are ultimately amplified by soft deposits. Without any form of separation between the grid frame structure 14 and ground 200, seismic waves and the resulting seismic forces are transmitted through the hard concrete foundation, leading to structural damage or deformation of the grid frame structure, i.e., high floor shear. The lateral forces generated by the seismic waves cause swaying of the grid frame structure, which may cause load-bearing devices running on the grid to derail from the grid. Seismic isolation is a seismic design strategy that reduces the impact of seismic ground motion by isolating the grid frame structure from its foundation. Figure 6 As shown on the right side (b), the grid frame structure 14 separates from the horizontally moving parts of the ground by inserting structural elements with low horizontal stiffness between the foundation and the grid frame structure. Figure 6As shown in Figure b, the grid frame structure 14 is installed onto the superstructure or diaphragm 202 (e.g., a reinforced concrete slab), and the superstructure is raised above ground level by one or more base isolator devices 204. This causes the fundamental frequency of the grid frame structure to be much lower than its fixed foundation frequency and the dominant frequency of ground motion. This shift in natural period results in a decrease in the spectral acceleration of typical seismic vibrations, and a significant reduction in the resultant forces on both structural and non-structural elements of the grid frame structure. Figure 7 The diagram in the image clearly illustrates the relationship between spectral acceleration and the time required to complete a seismic wave cycle. For example... Figure 7 As shown, the spectral acceleration decreases with increasing period and damping. Therefore, the seismic force (i.e., floor shear force) decreases. For the purposes of this invention, the ground surface is referred to as the substructure. Various types of seismic isolation devices can isolate a grid frame structure from ground motion caused by an earthquake, thereby preventing large displacements transferred to the grid frame structure. These isolation devices include, but are not limited to, elastomer-based bearings and sliding bearings. The effect of the seismic isolation system on the grid frame structure can be best explained by first discussing the components constituting the grid frame structure. This will help in understanding the areas of the grid frame structure susceptible to seismic forces.

[0088] Grid frame structure

[0089] Figure 8 A perspective view of a grid frame structure 114 according to a specific embodiment of the present invention is shown. The basic 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 uprights or upright members 116. The terms "upright member" and "upright column" are used interchangeably in the description to refer to the same thing. Figure 8 As shown, grid 50 comprises a series of horizontally intersecting beams or grid members 118, 120 arranged to form several rectangular frames 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 running transversely to the first set of grid members 118 in a substantially horizontal plane. Each grid member extending in the first and / or second direction can be subdivided or segmented into discontinuous grid elements that are connected or linked together. Figure 9 The connecting plate or cover plate 150 shown can be used to link or connect individual grid elements together in a first and second direction at the nodes where grid elements intersect or meet at each upright, i.e., the cover plate 150 is used to connect the grid elements together to the upright 116. Thus, the uprights are interconnected at their upper ends, at the nodes where multiple grid elements intersect in the grid structure, via the cover plate 150. Figure 9As shown, the cover plate 150 is cross-shaped and has four connecting portions 152 for connecting to the ends or to any location along the length of the grid element at its intersection (see...). Figure 10 and 11 ).like Figure 9 and Figure 12 As shown, the cover plate 150 includes a socket or protrusion 154, the size of which can be tightly fitted in the hollow central portion 70 of the upright 116 (at the second end of the upright), for connecting several uprights to each other in the grid member. Figure 13 The joint at the intersection between adjacent grid elements at the upper end of the upright is shown through one or more cover plates. For ease of illustration, the lower end of the upright mounted to the floor constitutes the first end of the upright, and the upper end of the upright adjacent to grid 50 constitutes the second end of the upright.

[0090] The first and second sets of grid members respectively support the first and second sets of tracks or rails 57a and 57b for loading and processing equipment to move one or more containers on the grid frame structure. For the purposes of this invention, intersections 56 constitute nodes of the grid structure. Each rectangular frame 54 constitutes a grid cell, and the dimensions of the rectangular frame 54 are suitable for remotely operated loading and processing equipment or robots traveling on the grid frame structure to retrieve and lower one or more containers stacked between uprights 116. The grid 50 is raised above ground level by being mounted to several uprights 116 at the intersections or nodes 56 of the grid members 118 and 120 to form several vertical storage locations 58 for stacking containers between uprights 116 via several basic rectangular frames 54 and guided vertically by the uprights 116. For the purposes of this invention, the container stack may comprise several containers or one or more containers.

[0091] The lattice frame structure 114 can be considered as a self-supporting (or self-supporting) collection of straight columns 116, supported by a grid 50 formed by intersecting horizontal grid members 118, 120, i.e., a four-walled frame. Two or more columns are supported by at least one diagonal bracing member to provide one or more support towers 80 within the lattice frame structure 114. The structural stiffness and moment resistance of the lattice frame structure are primarily provided by incorporating one or more truss assemblies or support towers 80 that are at least partially surrounding the periphery and / or body of the lattice frame structure (see [link to relevant documentation]). Figure 8Truss assemblies can have triangular or other non-trapezoidal shapes. For example, a truss assembly can be any type of truss that provides structural stiffness to the grid frame structure against lateral forces, including but not limited to Warren trusses, K trusses, Fink trusses, Pratt trusses, Gambrel trusses, or Howe trusses. Bolts or other suitable attachments can be used to secure the diagonal braces to the uprights. Figure 14 As shown, the support tower 80 according to a specific embodiment of the present invention can be formed by rigidly connecting a subset or subgroup of several upright columns 116 through one or more angled or diagonal braces or diagonal support members 82. For the purposes of the present invention, the diagonal braces 82 cooperate with the upright columns 116 in the support tower 80 to form one or more triangles. The subset of several upright columns supported together to form the support tower 80 of the present invention can be two or more adjacent upright columns 116, which are located in the same or a single vertical plane and connected together by one or more diagonal braces 82. In other words, the two or more adjacent upright columns 116 connected by one or more diagonal braces 82 are located in the same or a single vertical plane, that is, they are coplanar. Figure 14 In a specific embodiment of the invention shown, each support tower 80 includes three parallel uprights located in a single vertical plane (coplanar), the three uprights being rigidly connected together by a plurality of diagonal braces 82. Two of the three uprights 116a and 116b are placed laterally on either side of the intermediate upright 116c, and the two laterally placed uprights 116a and 116b are rigidly connected to the intermediate upright 116c by a plurality of diagonal braces 82. In the support tower 80 of the invention, one end of the diagonal brace 82 is connected to the intermediate upright via a connecting plate 121. The connecting plate 121 is inserted into a slot through the hollow central portion of the intermediate upright 116c in a direction perpendicular to the longitudinal direction of the upright. One or more subgroups of uprights 116 are supported within the grid frame structure by one or more diagonal braces 82, improving the structural stiffness of the grid frame structure. For the purposes of this invention, the terms “vertical upright,” “upright,” and “upright member” are used interchangeably in the description.

[0092] The grid frame structure is anchored to the ground (in this example, the superstructure) by one or more anchor bolts. In a specific embodiment of the invention, one or more uprights are mounted to the superstructure at their lower ends via adjustable feet (see [link to invention]). Figure 15Adjustable feet allow for height adjustment of one or more uprights, thereby adjusting the entire grid frame structure. This ensures the grid is substantially flat in the horizontal plane, allowing most remotely operated loading and handling equipment to travel on the grid structure, thus preventing damage to any tracks or rails due to height differences among one or more upright members 116 in the grid frame structure. Figure 15 The adjustable foot 90 shown includes a base plate 92 and a threaded spindle or rod 94, which can be threadedly engaged with a separate push-fit cap or plug 96 located at the lower end of the upright, such as... Figure 10 As shown. Figure 8 As shown, one or more upright columns 116 are mounted to the floor or superstructure via a base plate 92. The base plate 92 has one or more mounting holes for mounting the base plate 92 to the floor using one or more bolts.

[0093] In addition to the uprights forming the grid frame structure installed via the aforementioned adjustable feet, one or more uprights forming the support tower 80 are anchored to the superstructure via one or more anchor feet 132a, 132b (see...). Figure 14 (and Figure 16). In Figure 14 In the specific embodiment shown, the external uprights 116a, 116b or the laterally placed uprights 116a, 116b are anchored to the concrete foundation by one or more anchor feet 132, and the intermediate upright 116c is supported on the adjustable foot 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 used to rigidly anchor the support tower to the concrete foundation are applicable to the present invention. The anchor feet are used to bear the uprights and support loads of the support assembly 82 of the support tower 80.

[0094] Figure 14 Figures 16 and 17 illustrate two embodiments of the anchor foot according to the invention for anchoring a support tower to a concrete foundation. Compared to the anchor foot shown in Figure 16, Figure 14 The anchor shown is significantly larger and heavier than the anchor shown in Figure 16. Figure 14 The anchor 132a shown is made into a T-joint, comprising 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 uprights and the end of the support member 82. The anchor plate 134 is oriented such that the surface of the anchor plate 134 having the largest surface area lies in the same vertical plane as the three uprights 116a, 116b, 116c of the support tower 80; for example, the surface of the anchor plate 134 having the largest surface area is coplanar with the upright members 116a, 116b, 116c of the support tower 80. Figure 14The problem with the anchor 132a shown is its considerable weight, which makes the cost of manufacturing the anchor very high.

[0095] Figure 16 illustrates an alternative anchor foot 132b according to a second embodiment of the invention for anchoring a support tower 80 to a concrete foundation. Instead of a solid rectangular base plate 133, this anchor foot is topology-optimized, optimizing the material layout within a given design space for a given load set. The two loads considered in the topology optimization of the anchor foot are the loads from the uprights 116a, 116b, 116c and the support member 82. Based on the constraints given by the applied loads, the anchor foot 132b of the invention includes a stabilizer 136 comprising a plurality of discrete fingers or toes 138 extending from the upright portion 140, such that the load is distributed among the fingers 138, for example, between individual fingers. In a specific embodiment of the invention shown in Figure 16, the upright portion 140 includes an anchor plate arranged to be rigidly connected to the uprights 116a, 116b and the diagonal brace 82 by one or more bolts to bear the loads of the uprights 116a, 116b and the applied loads of the diagonal brace 82. Figure 14 Similar to the anchor plate 134 of the first specific embodiment of the present invention shown, the anchor plate 140 is oriented such that the surface of the anchor plate 140 having the largest surface area is located in the same vertical plate as the three uprights 116a, 116b, 116c constituting the support tower 80 of the present invention (see [link]). Figure 11 Using the terminology of this invention, the surfaces of the uprights 116a, 116b, 116c, the diagonal brace 82, and the anchor plates 134, 140 are all located in the same plane, i.e., they are coplanar.

[0096] One or more discrete fingers 138 of the anchor foot 132b extend or cross over the upright portion 140 in two or more different directions to provide improved stability of the anchor foot 132b. The one or more 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 vary, thereby providing stability to the support tower 80 at different levels. One or more connecting webs 142 are used to support the one or more 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.

[0097] In a particular embodiment of the invention, five fingers 138 of different lengths are shown (see [reference]). Figure 16b These extend from the upright portion 140 and have holes at the distal end of the finger portion 138 for anchoring the anchor feet to the ground via anchor bolts. The anchor feet 132b according to a second embodiment of the invention can be formed as a single body (e.g., cast) or as separate components joined together (e.g., welded).

[0098] Seismic grid frame system

[0099] While the current grid frame structure 114 is sufficient for relatively stable ground conditions (i.e., spectral acceleration less than 0.33g, classified as Type A and Type B events), it is insufficient for strong seismic events (generating strong lateral forces exceeding 0.55g spectral acceleration, classified as Type C or Type D events). Such powerful seismic events can damage the structural fasteners connecting grid elements (e.g., track support elements) at intersections, causing them to loosen or detach from their bolted caps. This can lead to weakened or complete loss of structural integrity of the grid frame, as lateral forces can no longer be safely transferred downwards to the structural foundation. Failures may occur at the intersections of grid members or track support elements that make up the grid. The aforementioned support towers 80 used to maintain the structural integrity of the grid frame structure may not be able to withstand the lateral forces resulting from strong Type D seismic events far exceeding 0.55g.

[0100] In a particular embodiment of the invention, a seismic-resistant grid frame system 206 is provided, wherein the base or footing of the grid frame structure 114 is a flexible structure to reduce or suppress or weaken excessive movement of the grid frame structure relative to the ground or ground motion caused by seismic forces. In a particular embodiment of the invention, the base or footing of the grid frame structure 114 becomes flexible by providing a seismic isolation system 208 and includes at least one seismic isolation device 204 for suppressing or weakening seismic waves. Figure 17 This is an embodiment of the seismic grid frame system 206, wherein the grid frame structure 114 is isolated from its foundation by at least one seismic isolation device 204 to protect the grid frame structure 114 from lateral forces caused by ground motion. The seismic isolation device 204 effectively reduces ground motion during strong earthquake events, thereby suppressing the movement of the grid frame structure that would effectively increase the vibration period of the grid frame structure.

[0101] A cross-sectional view of the vibration isolation system 208 according to a specific embodiment of the present invention is shown in Figure 18As shown in the diagram. The seismic isolation system 208 includes a superstructure or diaphragm 202 and a substructure or foundation 200. The superstructure 202 includes at least a portion of the load-bearing structure of the grid frame structure 114, and in some cases, the entire load-bearing structure. The superstructure 202 may be a concrete load-bearing structure. The grid frame structure 114, more specifically, has its uprights 116 anchored to the superstructure 202 by one or more anchor bolts. The uprights 116 and thus the grid frame structure 114 are anchored to the superstructure 202 by one or more adjustable feet 90 and / or anchor feet 132. Adjustable feet and anchor feet have been discussed further in detail above. The requirements of the superstructure 202 at the base of the grid frame structure facilitate the redistribution of forces concentrated from one or more discontinuous support frame locations to a relatively large number of support points. The substructure 200 includes at least the foundation of the grid frame structure. This may be ground or a concrete foundation.

[0102] One or more seismic isolation devices 204 are placed between the superstructure 202 and the substructure 200. The distribution of the seismic isolation devices 204 can be adjusted to eliminate any non-uniformity or potential torsional problems in the superstructure 202. The one or more seismic isolation devices 204 isolate the superstructure 202 and thus the grid frame structure 114 mounted thereon from the motion of the substructure or ground motion during an earthquake. In this way, large deflections and high accelerations are prevented from being transmitted to the grid frame structure 114. The number and distribution of the one or more seismic isolation devices 204 depend on the weight of the grid frame structure, the height of the grid frame structure (i.e., the container depth Z), and the composition of the ground. For example, while higher frequency seismic wave energy tends to be absorbed by hard rock and soil, lower frequency seismic waves pass through hard rock and soil without being absorbed and are ultimately amplified by soft sediments. Figure 17 As can be seen, one or more seismic isolation devices are distributed in an array with a grid pattern, each seismic isolation device 204 being mounted between the lower structure 200 and the upper structure 202 via a lower mounting plate and an upper mounting plate, respectively. The number and pattern of the one or more seismic isolation devices placed between the upper and lower structures will be further discussed below. The seismic isolation devices provide lateral flexibility to the isolation system to reduce ground motion transmitted to the grid frame structure. Various known seismic isolation devices are permitted in this invention to attempt to obtain maximum energy dissipation through damping. Options include elastomeric bearings, sliding bearings, or combinations thereof.

[0103] In a first embodiment of the invention, at least one vibration isolation device includes an elastomeric bearing 1204, which relies on the elastomeric properties of the bearing to reduce lateral movement. Figure 19The illustrated elastomeric bearing comprises a laminated assembly 1206 of alternating elastomeric layers 1207 and rigid layers 1208, the elastomeric layers 1207 and rigid layers 1208 being vulcanized or bonded together in a rubber body and placed between an upper mounting plate 1210a and a lower mounting plate 1210b for attachment to an upper structure 202 and a lower structure 200, respectively. Embodiments of elastomeric bearings are described in US4499694 (Development Finance Corporation of New Zealand), US4593502 (Development Finance Corporation of New Zealand), EP3412929 (Olies Corporation), and / or EP2039958 (Olies Corporation); the specific contents of which are incorporated herein by reference. The elastomeric bearing 1204 allows for flexibility through its ability to move and return to its initial position. For example, at the end of an earthquake, if the grid frame structure has not yet returned to its initial position, the restoring force of at least one elastomeric bearing will slowly bring the grid frame structure back to its initial position.

[0104] The elastomeric layer 1207 is composed of an elastomeric material such as natural or synthetic rubber, and the rigid layer is preferably made of steel, aluminum, glass fiber, fabric, or other suitable rigid material. The elastomeric layer 1207 provides lateral flexibility and elastic restoring force to return the elastomeric bearing to its initial position. The rigid layer 1208 reinforces the elastomeric bearing by providing vertical load-bearing capacity and preventing lateral bulging. The individual layers in the assembly are bonded together (e.g., by vulcanization) to form a unified assembly or structure.

[0105] The storage system of this invention comprises a grid frame structure, together with one or more containers stacked in vertical columns, and one or more loading and handling devices remotely operated to move the one or more containers stored in the grid frame structure. The weight of the one or more loading and handling devices operating on the grid and the additional weight of the containers not only increase the weight of the storage system but also increase the oscillation period that reduces spectral acceleration. Due to the large mass of the storage system, the grid frame structure may continue to sway back and forth on one or more seismic isolators after a strong earthquake. Figure 19An optional energy dissipation core 1212 is also shown, which is disposed in a hollow portion inside the laminate 1206 and extends through the laminate. For the purposes of this invention, the terms "laminated assembly" and "laminated body" are used interchangeably in the specification to refer to the same features. The energy dissipation core 1212 is cylindrical and is adapted to absorb the vibrational energy of the laminate along the shear direction B by deformation along the shear direction B, thereby reducing the vibration of the laminate along the shear direction B. The energy dissipation core 1212 is typically made of lead, tin, zinc, aluminum, copper, nickel, or alloys thereof and can be press-fitted into place. Lead is preferably chosen because of its ductile properties. This is because lead deforms with the movement of an earthquake but returns to its original shape and can be deformed multiple times without losing strength.

[0106] exist Figure 19 In the specific embodiment of the present invention shown, the body of the laminate 1206 has a circular cross-sectional shape, such that the body of the laminate 1206 has a cylindrical outer peripheral surface, as shown in the figure. Figure 20 The diagram shows a top plan view of the elastomeric bearing. Together with the hollow portion inside the body of the laminate, the laminate assembly constitutes an assembly of alternating annular elastomeric layers and rigid layers. The annular elastomeric layers and rigid layers are bonded together by vulcanization to form a cylindrical laminate. The outer peripheral surface of the cylindrical laminate is protected by an outer rubber cover 1214. The body of the laminate assembly 1206 is placed between an upper mounting plate 1210a and a lower mounting plate 1210b. The upper and lower mounting plates include one or more mounting holes 1216 for mounting the body of the laminate assembly to the upper and lower structures, respectively. The one or more mounting holes are distributed along the circumferential or peripheral edges of the upper and lower mounting plates.

[0107] Figure 19 It is also shown that the upper mounting plate 1210a and the lower mounting plate 1210b are respectively connected to the upper connecting steel plate 1218a and the lower connecting steel plate 1218b by one or more bolts. Optionally, the upper connecting steel plate 1218a and / or the lower connecting steel plate 1218b may comprise a relatively low-friction material, which allows the upper connecting steel plate 1218a and / or the lower connecting steel plate 1218b to slide against the respective upper mounting plate and / or lower mounting plate.

[0108] The arrangement of the upper connecting steel plate 1218a and the lower connecting steel plate 1218b is optional, and the body of the laminated assembly can be placed between the upper and lower mounting plates or directly sandwiched between them. The body of the laminated assembly is not limited to having a cylindrical outer peripheral surface; other shapes, such as rectangular or square, are permitted in this invention. For example, Figure 21 An alternative configuration of the elastomeric bearing 2204 according to a specific embodiment of the present invention is shown, wherein the body of the laminated assembly has a square or rectangular cross-section. Furthermore, as... Figure 21As shown, the body of the elastomer bearing 2204 comprises alternating elastomer layers 2207 vulcanized or bonded together and steel gaskets 2208, i.e., the steel gaskets are embedded within the elastomer body 2206. The energy dissipation core 2212 is adapted to reduce vibrations of the laminate along the shear direction B.

[0109] A more cost-effective alternative to dissipating energy through the elastic deformation allowed by this invention is that the body of the laminated assembly can be replaced by a stack or laminate of bonded recycled tire rubber pads, each pad containing interlaced reinforcing wires. These wires are considered to function similarly to rigid layers because they reinforce the elastomeric bearings by providing vertical load-bearing capacity and preventing lateral bulging. Figure 22 This is a schematic layout of a laminate assembly 3206 for recycling rubber tire layers or pads. For example... Figure 22 As shown on the left, the tread portion of recycled tire 3209 forms each rubber layer or pad of the elastomeric bearing assembly. The tire pads are bonded together using a suitable adhesive. Mishra et al. (Mishra, HK, Igarashi, A., Matsushima, H. and Furukawa, A (2012) "Experimental Analysis of Unbonded and Bonded Waste Tire Rubber Pads as Seismic Isolation Devices" 15th WCEE, Lisbon Portugal) and Munoz et al. (Munoz, A. et al. (2019) "Applicability Study of a Low-Cost Seismic Isolator Prototype Using Recycled Rubber" TECNIA Journal, Vol. 29, No. 2) extensively studied the use of recycled tire rubber pads as elastomeric bearings 3204 to attenuate seismic waves. For Figure 19 and 21 The elastomeric bearing shown, with the body of the laminated assembly 3206 comprising an elastomeric layer sandwiched between upper and lower mounting plates (not shown), is for mounting to the superstructure and substructure, respectively. While less effective at attenuating seismic waves than the aforementioned elastomeric bearings 1204 and 2204, which consist of laminated assemblies with both elastomeric and rigid layers, the recycled tire pad assembly 3206 provides a low-cost alternative that can be customized to meet local building codes. For example, the number and distribution of isolation devices placed between the superstructure and substructure can be customized to provide different attenuation characteristics depending on the vulnerability of the grid frame structure to seismic impacts in a particular region and / or local building code. Different design alternatives for isolation devices will be discussed in further detail below.

[0110] exist Figure 19 , 20In all specific embodiments of the elastomeric bearings shown in 21 and 22, the body of the laminate assembly is sandwiched between an upper mounting plate and a lower mounting plate. One or more elastomeric bearings may optionally include a slider disc (not shown) positioned between the laminate assembly and the upper mounting plate 1210a or the lower mounting plate 1210b, or both. The slider disc preferably comprises PTFE (polytetrafluoroethylene) and allows movement of the upper or lower bearing plate relative to the body of the laminate assembly. The upper and / or lower mounting plates may include one or more stops abutting the upper or lower ends of the laminate assembly. The slider disc provides additional damping through sliding friction of the contact surfaces between the slider disc and the upper and / or lower mounting plates.

[0111] Figure 32 An elastomeric bearing with a slider disc is schematically shown. Figure 32 In (a), the slider disk 1220 is positioned between the laminating assembly 1206 and the upper mounting plate 1210a. The upper mounting plate 1210a includes a stop 1222. Figure 32 In (b), the slider disk 1220 is positioned between the laminating assembly 1206 and the lower mounting plate 1210b. The lower mounting plate 1210b includes a stop 1222. Figure 32 (c) has two slider disks 1220. The first slider disk 1220 is placed between the laminating assembly 1206 and the upper mounting plate 1210a, and the second slider disk 1220 is placed between the laminating assembly 1206 and the lower mounting plate 1210b. Both the upper mounting plate 1210a and the lower mounting plate 1210b include a stop 1222.

[0112] The specific implementation of the elastomeric bearing, including the slider disc, provides a combination of isolation and allowance for lateral sliding movement. This better distributes the load across the grid between the superstructure and the isolation device, and addresses uneven movement between support points. This is particularly useful at smaller performance centers with lower loads, and in some embodiments, better load distribution means that lower quality concrete can be used in the superstructure, resulting in savings in manufacturing and installation costs.

[0113] In a second embodiment of the invention, at least one isolation device may be based on a sliding system. In a sliding system, energy is dissipated by one or more sliding pendulum bearings or friction pendulum bearings, wherein the slider is typically arranged to slide against a surface, for example by utilizing a reciprocating sliding arrangement between a convex surface and a spherical concave surface. For the purposes of this invention, the terms "sliding pendulum bearing," "sliding pendulum bearing," "sliding bearing," and "friction pendulum bearing" are used interchangeably in the specification to refer to the same characteristics. The reciprocating sliding arrangement between the convex surface and the spherical concave surface allows the sliding bearing to naturally return to its initial position without relying on the elastomeric properties of the bearing body; that is, the concave sliding surface allows restoring forces to ensure self-centering capability. The simplest sliding system comprises a single friction pendulum bearing consisting of a spherical concave surface supporting a friction slider. The geometry and / or friction between the slider and the spherical concave surface play a crucial role in dissipating energy associated with seismic movement. The geometry of the contact surface between the slider and the spherical concave surface is related to the radius of curvature of the spherical concave surface. The radius of curvature of the spherical concave surface affects the oscillation period of the slider, thereby affecting the restoring force. The larger the radius of curvature of the spherical concave surface, the larger the oscillation period. The lateral movement of the slider is accompanied by the vertical movement of the superstructure; therefore, the mass of the storage system provides the restoring force. The uplift of the superstructure during earthquake ground motion results in an equivalent pendulum motion with a dynamic natural period based on pendulum motion. The natural period (T) of the sliding system is equivalent to:

[0114]

[0115] Where L is the effective pendulum length and g is the acceleration due to gravity. The effective pendulum length L is proportional to the radius of curvature of the concave spherical surface, given by the following equation:

[0116] L = Rcosθ (2)

[0117] Where θ is the angle between the pendulum and the vertical direction, and R is the radius of curvature of the concave spherical surface.

[0118] In addition to controlling the geometry of the spherical concave surface, the coefficient of friction between the slider and the spherical concave surface is also controlled or preset to provide resistance to loads or forces during normal operation of the grid frame structure, but low enough to be overcome in a seismic event. This prevents one or more sliding bearings from being activated during normal operation or use of the storage system, i.e., friction slider slippage. Forces exerted by the normal operation of the storage system include, but are not limited to, forces generated by one or more loading and handling devices operating on the grid, including loading and handling devices traveling on tracks / rails and the operation of gripping devices picking and lowering containers within vertical storage columns. The coefficient of friction is overcome in a seismic event, allowing the slider to move on its corresponding spherical concave surface. The coefficient of friction between the slider and the spherical concave surface can be customized by coating or treating the contact surfaces between the spherical concave surface and the slider with a special material. For example, the spherical concave surface is coated with a special material to provide a customized coefficient of friction between the slider and the spherical concave surface. Similarly or additionally, the coefficient of friction between the slider and the spherical concave surface can be controlled by coating the slider with only bearing lining material. In the case of the aforementioned elastomeric bearing, the restoring force can be controlled by adjusting the elastic properties of the elastomeric material, such as controlling the number of elastomeric and rigid layers and the composition of the energy dissipation core, so that the elastomeric bearing is not activated during normal operation of the storage system. This allows the storage system to operate normally during operation without activating the vibration isolation device.

[0119] To accommodate ground motions of varying intensities, the sliding bearings preferably comprise multiple sliding bearings connected in series to support the grid frame structure, each providing a different sliding pendulum. When connected in series, the lateral displacement of the substructure is distributed among one or more of the multiple sliding bearings. The sum of the displacements occurring in the multiple pendulum mechanisms equals the total structural displacement at the support points. In this way, the different pendulum mechanisms become active under varying seismic motion intensities. This is intended to mitigate the effects of the selected sliding bearings, minimizing the impact of low-intensity service-level earthquakes expected to occur multiple times during the service life of the grid frame structure, but is less effective in minimizing the impact of earthquakes that may occur more strongly during the service life of the grid frame structure.

[0120] By using different coefficients of friction for different pendulum mechanisms, the different pendulum mechanisms become active under different seismic motion intensities, i.e., they exhibit different hysteretic properties at different displacements. In this way, as each pendulum mechanism is activated, the effective pendulum length and effective friction increase with each pendulum mechanism being activated sequentially. In a preferred embodiment of the invention, the sliding pendulum bearing provides three different pendulum mechanisms, or the Triple Pendulum™ bearing, supplied by Earthquake Protection Systems (EPS), operating in Vallejo, Canada, which progressively exhibit different hysteretic properties at different displacement stages. Details of the Triple Pendulum™ bearing are further discussed in US2006 / 0174555 (Victor, Zayas, and Stanley Low), the specific contents of which are incorporated herein by reference.

[0121] Figure 23 A cross-sectional view of a Triple Pendulum™ bearing 4204 constituting at least one isolation device of the isolation system of the present invention is shown. As described in US2006 / 0174555 (Victor, Zayas, and Stanley Low), the Triple Pendulum™ bearing includes four concave surfaces to provide three independent pendulum mechanisms. The Triple Pendulum™ bearing includes an upper bearing element or plate 4206 having a downward-facing concave spherical surface 4208 with a specific radius of curvature R1, and a lower bearing element 4210 having an upward-facing concave spherical surface 4212 with a specific radius of curvature R2. The upper bearing element 4206 and the lower bearing element 4210 may be in the form of an upper bearing plate and a lower bearing plate, and each may be made of a single material such as stainless steel or iron. A coating is deposited on the concave spherical surfaces 4208, 4212 of the upper bearing element 4206 and the lower bearing element 4210 to facilitate sliding. Bolt holes (not shown) are formed around the outer edges of the upper bearing element 4206 and the lower bearing element 4210 for connecting the sliding pendulum bearings to the upper and lower structures, respectively. Several sliders, including outer sliders 4214 and 4216 and inner slider 4218, are slidably placed between the upper bearing element 4206 and the lower bearing element 4210.

[0122] For the Triple Pendulum™ bearing, the outer sliders include a first slider 4214 and a second slider 4216. An inner slider or a third slider 4218 is slidably positioned between the outer sliders. The contact surfaces of each of the first slider 4214, the second slider 4216, and the third slider 4218 are adapted such that each of the first, second, and third sliders gradually slides along its respective concave spherical surface to provide a pendulum mechanism that becomes active under varying seismic motion intensities. The first slider 4214 has a convex surface 4214b that slides along the upward-facing concave spherical surface 4212 of the lower bearing element 4210, and also has a spherical concave surface 4214c with a radius of curvature R3 smaller than the radius of curvature R2 of the lower bearing element. The contact surfaces between the first slider 4214 and the lower bearing element 4210 are adapted to provide a first coefficient of friction for the seismic design level. This can be achieved by lining the upward-facing concave spherical surface 4212 of the lower bearing element 4210 with bearing lining material and / or lining the convex surface 4214b of the first slider 4214.

[0123] The second slider 4216 has a convex surface 4216b adapted to slide along the downward-facing concave spherical surface 4208 of the upper bearing element 4206, and also has a concave spherical surface 4216c with a radius of curvature R4 equal to the radius of curvature R3 of the concave spherical surface of the first slider 4214. Like the first slider 4214, the radius of curvature R4 of the concave spherical surface 4216c of the second slider 4216 is smaller than the radius of curvature R1 of the upper bearing element 4206. The contact surface between the second slider 4216 and the upper bearing element 4206 is adapted to provide a second coefficient of friction, but this time applicable to the maximum possible earthquake, typically two to three times or more the coefficient of friction of the first slider 4214. In this way, before the second slider 4216 slides along the downward-facing concave spherical surface 4208 of the upper bearing element 4206, the first slider 4214 is adapted to slide along the upward-facing concave spherical surface 4212 of the lower bearing element 4210.

[0124] A third slider 4218 forms an inner slider and is positioned between the first slider 4214 and the second slider 4216. The third slider 4218 has convex spherical surfaces 4218b and 4218c at its bottom and top, respectively, and is arranged to slide along the concave spherical surfaces of the first slider 4214 and the second slider 4216. The surfaces of the convex surfaces 4218b and 4218c of the third slider 4218 are covered with bearing lining material, such that the sliding surface between the third slider 4218 and the first slider 4214 has a third coefficient of friction, and the sliding surface between the third slider 4218 and the second slider 4216 has a fourth coefficient of friction. The coefficient of friction between the sliding surface of the third slider 4218 and the two concave spherical surfaces of the first slider 4214 and the second slider 4216 is equal, i.e., the third coefficient of friction and the fourth coefficient of friction are substantially equal. However, the third and / or fourth coefficients of friction are generally greater than the coefficient of friction of the first slider against the upper concave spherical surface of the lower bearing element (i.e., the first coefficient of friction). The low coefficient of friction (i.e., the internal pendulum mechanism) between the contact surface of the third slider 4218 and the concave spherical surfaces of the first slider 4214 and the second slider 4216 minimizes high-frequency vibrations transmitted to the grid frame structure via the superstructure. Reducing these high-frequency vibrations mitigates damage to one or more loading and handling devices operating on the grid and / or containers stored in vertical storage columns, particularly reducing spillage of the contents of the containers. High-frequency vibrations tend to derail one or more loading and handling devices from the tracks and, in the worst case, cause one or more loading and handling devices to tip over onto the grid. Furthermore, due to the low coefficient of friction, the third slider is able to accurately return to its equilibrium or initial position after displacement.

[0125] To protect the inner surfaces (particularly the contact surfaces of the sliders) from contamination and to hold the slider components together, the upper and lower bearing elements can be joined together by a resilient seal (not shown) surrounding the periphery of the upper and lower bearing elements. The resilient seal is configured to accommodate the large deformations required during seismic movements. Similarly, to protect the inner surfaces of the sliders from contamination and to hold the components of the first slider 4214 and the second slider 4216 together, the first and second sliders are typically joined together by a resilient seal (not shown) surrounding the outer edges of the first and second sliders.

[0126] Figures 24 (a to c) illustrate the translation of the sliders during seismic motion to provide three different pendulum mechanisms for the Triple Pendulum™ bearings. Further details of the Triple Pendulum™ bearings are discussed in US2006 / 0174555 (Victor, Zayas, and Stanley Low), the specific contents of which are incorporated herein by reference. During ground motion, the phase of lateral horizontal movement of the individual sliders depends on the friction between the respective sliders and on the contact surfaces of the spherical concave surfaces abutting the upper and lower bearing elements. Figure 24a In the first example of ground motion shown, the coefficient of friction causes the first slider 4214 to translate horizontally relative to the second slider 4216. However, due to friction between the first slider 4214 and the lower bearing element 4210 (first coefficient of friction) and friction between the second slider 4216 and the upper bearing element 4206 (second coefficient of friction), neither the first slider 4214 nor the second slider 4216 moves relative to the corresponding concave surfaces of the lower bearing element 4210 and the upper bearing element 4206. In other words, during the initial displacement of the sliding bearing, the friction between the first slider and the second slider against the corresponding concave spherical surfaces of the lower and upper bearing elements is excessive. Therefore, the first pendulum motion is provided only by the rotation and horizontal translation of the third slider 4218 along the concave spherical surfaces of the first slider 4214 and the second slider 4216. The coefficient of friction between the bottom and top convex surfaces 4218b, 4218c of the third slider 4218 and the concave spherical surfaces of the first slider 4214 and the second slider 4216 allows the third slider 4218 to slide easily in order to reduce high-frequency vibrations.

[0127] The first swing motion is as follows Figure 24a As shown, as the ground motion gradually increases, the first coefficient of friction is overcome, causing the first slider 4214 to slide along the concave spherical surface 4212 of the lower bearing element 4210, and thus providing the second pendulum motion. The movement of the first slider relative to the lower bearing element is caused by... Figure 24b The arrow shown is illustrated. Although Figure 24b The diagram shows the first slider initially moving to the right, but its movement is not limited to one direction and can initially move to the left. In reality, due to vibrations from the ground motion, the slider moves in both directions. Finally, as the ground motion gradually increases, the second coefficient of friction is overcome, causing the second slider 4216 to slide along the upper bearing plate 4206 to provide the third pendulum mechanism. Figure 24c This demonstrates that the coefficient of friction of the custom slider is adjusted to provide different levels of damping under seismic motions of varying intensities.

[0128] Multiple sliding bearings are placed between the substructure and superstructure to isolate the grid frame structure from ground motion under seismic activity of varying intensities. For example, the independent pendulum mechanisms of the sliding bearings can be customized to provide damping for different areas or components of the storage system that are more susceptible to vibrations at different frequencies. While support towers provide a degree of structural integrity and support for the grid frame structure in response to ground motion caused by weak seismic events (e.g., spectral accelerations less than 0.55g), this may not be suitable for situations where one or more loading / processing units operate on the grid or tracks. The sliding bearings can be customized so that different pendulum mechanisms become active under seismic activity of varying intensities, thereby providing damping for different areas of the storage system. These include, but are not limited to, one or more loading / processing units operating on the grid and / or one or more containers stacked within vertical storage columns.

[0129] In addition to providing different levels of damping from multiple sliding bearings, combinations of different isolation devices can be used to provide the required isolation characteristics under seismic motions of varying intensities, namely load capacity, lateral flexibility, energy dissipation, and self-centering capability. For example, low-friction sliding bearings can be combined with the aforementioned elastomeric bearings. Low-friction sliding bearings can reduce high-frequency vibrations transmitted to the grid frame structure, while elastomeric bearings can reduce strong seismic forces.

[0130] Various other factors play a crucial role in the effective isolation of grid frame structures from seismic ground motion. These factors include, but are not limited to, the distribution and pattern of one or more seismic isolation devices, the type of seismic isolation device, and / or the size of the seismic isolation device. Figure 25 As shown, the seismic isolation devices are distributed in a grid pattern between the substructure and the superstructure. Among the other factors mentioned above, the number of seismic isolation devices distributed between the substructure and the superstructure also depends on the size of the seismic isolation devices. For example, using larger seismic isolation devices 204 allows for expansion of the seismic isolation, but requires a thicker superstructure to redistribute the concentrated forces of the storage system weight among the seismic isolation devices. Figure 17 The demonstration showcased the use of large seismic isolation devices 204, each with a width ranging from 400mm to 460mm and a height ranging from 190mm to 210mm, distributed in a 6m×6m grid pattern and supporting a 200mm thick concrete superstructure. Figure 17 The vibration isolation devices shown can be based on elastomeric bearings 1204, 2204, 3204, or the aforementioned Triple Pendulum™ 4204, or a combination of both bearing types. A smaller distribution of 3m × 3m can be achieved using smaller isolation devices. Figure 25 and 26An alternative distribution of seismic isolation devices 204 between the substructure and superstructure is shown, utilizing smaller isolation devices with widths ranging from 150 mm to 250 mm and heights ranging from 50 mm to 80 mm. When using smaller isolation devices 204, the isolation devices are distributed in a 3 m × 3 m grid pattern. With more isolation devices distributed between the substructure and superstructure, a thinner superstructure can be used in the isolation system. Figure 25 In the specific embodiment shown, the thickness of the concrete superstructure is approximately 150 mm. The distribution of the seismic isolation devices can be adjusted to eliminate any non-uniformity or potential torsional problems in the superstructure. A large, continuous grid frame structure extending over a large coverage area means that the superstructure or diaphragms are also continuous to accommodate the large coverage area of ​​the grid frame structure.

[0131] The substructure can be constructed to include one or more narrow spaces or trenches to provide inspection areas for one or more seismic isolation devices. For example, the substructure may include several columns or column bases for mounting one or more seismic isolation devices on the columns, such that one or more seismic isolation devices are placed between the columns and the superstructure. The space between the columns or column bases in the substructure provides narrow spaces.

[0132] Figure 27 This is an alternative arrangement to the seismic isolation system 208 of the present invention. Here, one or more seismic isolation devices 204 are placed in a well or recess 205 in a lower structure 200 having uprights 207. An upper structure 202 is mounted on one or more seismic isolation devices 204 within the well, such that the top wall of the upper structure 202 is horizontal or flush with the surrounding area. The size of the recess or well area allows the upper structure placed within the well to be laterally displaced to accommodate different seismic movements. To achieve this, the spacing 206 between the edge of the upper structure and the uprights 207 of the well is designed to allow the upper structure 202 to move laterally on one or more seismic isolation devices 204. Preferably, the lower structure 200 is cast in situ to provide the recess or well 205. The spacing 206 between the edge of the upper structure and the uprights 207 of the lower structure can be covered with a protective covering to improve safety. Embodiments of the protective covering include, but are not limited to, resilient members and / or movable slats that slide on top of each other.

[0133] Different combinations of seismic isolation devices can be used to weaken seismic motions of varying intensities and provide different restoring forces. For example, arrays of seismic isolation devices can be placed between the superstructure and the substructure, including combinations or hybrids of elastomeric bearings and sliding pendulum bearings.

[0134] In some specific embodiments of the invention, the spacing between the seismic isolation devices can be 10 meters. The seismic isolation devices can be arranged in a regular, repeating pattern between the superstructure and the substructure. For example, in a regular square array or grid pattern (10m × 10m spacing). The seismic isolators can also be arranged in different patterns, such as hexagonal grid patterns or square grid patterns (with a seismic isolation device at the center of each square in the square grid pattern), or any other suitable arrangement. The entire space between the substructure and the superstructure can use the same pattern of seismic isolation devices, or different patterns or distributions of seismic isolation devices can be used in different parts of the grid frame structure. Optionally, the seismic isolation devices can be arranged in an irregular pattern between the superstructure and the substructure, wherein the concentration of seismic isolation devices is higher in one or more areas between the superstructure and the substructure to provide increased damping in these areas.

[0135] In specific implementations where both elastomeric bearings and sliding pendulum bearings are used as vibration isolation devices, the same spacing or distribution pattern can be used for both types of vibration isolation devices, or different spacing or distribution patterns can be used for different types of vibration isolation devices. Different types of vibration isolation devices can be used in different parts of the grid, or different types of vibration isolation devices can be used interspersed.

[0136] In a regular square array with a spacing of 10m, the area density of seismic isolation devices is one per 100 square meters, or 0.01 per square meter. This density can be applied to other arrangements of seismic isolation devices. The area density of seismic isolation devices may be in the range of 0.005 to 0.015 devices per square meter.

[0137] The superstructure supporting the grid can be made of pure concrete or may include a composite steel / concrete slab. In the case where the superstructure includes a composite steel / concrete slab, concrete can be poured onto the steel deck, so that the concrete is cast and forms a single, integrated slab with the steel deck.

[0138] The concrete used in the superstructure (whether pure concrete or composite steel / concrete) should be of suitable quality. The concrete for both the superstructure and substructure may be manufactured to standard specifications, with controlled mix proportions, free from defects, smooth, level, of appropriate concrete grade, and within specified tolerances. In some embodiments, the concrete may contain one or more additives. Additives may be used to increase the concrete's lifespan, control setting speed, control air entrainment, increase hardness, increase strength, reduce permeability, reduce shrinkage, reduce corrosion, or otherwise control the properties of the substructure and / or superstructure.

[0139] In some specific implementations, column bases can be used to provide additional space between the substructure and the superstructure. This additional space between the substructure and the superstructure can be used for a range of different functions, such as providing space for employee parking in a performance center. Furthermore, the additional space provides access beneath the superstructure for easy inspection and maintenance. Column bases can be located on top of the seismic isolation devices, with one base for each isolation device. Alternatively or additionally, lower column bases can be located below and support the seismic isolation devices, with one lower column base for each isolation device. Column bases can be made of steel, concrete, or any other suitable material.

[0140] The superstructure may additionally include one or more beams supporting concrete or composite concrete / steel plates. Figure 28 An exemplary embodiment of a seismic isolation system is shown, wherein the superstructure 202 includes a plate 203 supported by beams 210, 212. Beams 210, 212 may be steel, and may be as follows: Figure 28 The beams may be I-beams, or any other suitable shape. The main beam 210 extends substantially horizontally in a first direction (x-direction) and substantially perpendicular to the secondary beam 212, which extends substantially horizontally in a second direction (y-direction). The beams 210 and 212 form a grid pattern in a substantially horizontal plane. A seismic isolation device 204 is located between the superstructure and the substructure 200 and is supported by the substructure 200. The main beam 210 is supported by the seismic isolation device 204, and the secondary beam 212 is supported by the main beam 210. The slab 203 is supported by the secondary beam 212.

[0141] exist Figure 28 In the specific embodiment shown, the seismic isolation devices 204 are arranged in a regular square array with a spacing of 10m in both the x and y directions. For ease of illustration, four seismic isolation devices are shown; however, it should be understood that larger arrays of seismic isolation devices can be used, and the array can extend over a larger area. Since the main beams 210 are supported by the seismic isolation devices, the spacing of the main beams 210 in the y direction is 10m, the same as the spacing of the seismic isolation devices. The secondary beams 212 are arranged more closely together, in this case with a spacing of 2m in the x direction.

[0142] Figure 29 Shown in the form of a side view Figure 28 For ease of illustration, a seismic isolation device 204 is shown placed between the substructure 200 and the superstructure 202. The seismic isolation device 204 is positioned on the substructure 200. The column base 214 is supported by the seismic isolation device 204. Figure 29In the specific embodiment shown, column base 214 is shown mounted on the seismic isolation device 204, such that the column base is positioned between the substructure 200 and the superstructure 202. The main beam 210 is supported by the column base 214, such that the column base 214 is sandwiched between the seismic isolation device 204 and the main beam 210. Secondary beams 212 are supported by the main beam 210. The slab 203 is supported by secondary steel beams. The upright columns 116 of the grid frame structure are supported by the slab 203. The superstructure 202 includes the composite steel / concrete slab 203, the main beam 210, and the secondary beams 212.

[0143] In some embodiments, the seismic isolation system may include building columns 220 providing structural support for the building housing the seismic grid frame system 206, and / or columns 222 extending downward below ground level. In some embodiments, in addition to the column bases 214 located between the seismic isolation device 204 and the superstructure, an additional column base 216 (referred to as a lower column base 216) may be provided below the seismic isolation device 204. The advantage of using column bases 214 and lower column bases 216 is that it further increases the available vertical space between the substructure 200 and the superstructure 202, allowing this space to be used in applications such as parking lots.

[0144] Figure 30 A seismic isolation system incorporating building columns 220, 222, and lower column bases 216 is schematically shown. The substructure 200 is located at ground level 218. Columns 222 extend downwards below ground level, into the underground, providing a stable foundation for the building housing the seismic isolation system. Lower column bases 216 are located at ground level, partially within (as shown) or supported by the substructure 200. A subset of lower column bases 216 is positioned above columns 222. Seismic isolation devices 204 are located on lower column bases 216, and column bases 214 are supported by seismic isolation devices 204 (so seismic isolation devices 204 are located between lower column bases 216 and column bases 214). The superstructure 202 is supported by column bases 214.

[0145] A subset of column bases, sub-column bases, and seismic isolation devices support building columns 220 extending upwards from the column bases. These column bases, sub-column bases, and seismic isolation devices supporting the building columns 220 are designated by reference numerals 214a, 216a, and 204a, respectively. The building columns 220 are located above columns 222 extending downwards into the ground to withstand large compressive loads and support the weight of the superstructure. The building columns 220 are supported by column bases 214a. Column bases 214a are supported by seismic isolation devices 204a. Seismic isolation devices 204a are supported by sub-column bases 216a, which are located above and supported by columns 222.

[0146] A subset of the seismic isolation devices 204a located above column 222 and below building column 220 may be sliding pendulum bearings. Sliding pendulum bearings can withstand high compressive loads and are therefore suitable for use in this location. In a specific embodiment using a combination of sliding pendulum bearings and elastomeric bearings, a subset of the seismic isolation devices 204a located above column 222 and below building column 220 may be sliding pendulum bearings, and the other seismic isolation devices 204 may be elastomeric bearings.

[0147] Figure 31 A seismic isolation device 204a supporting a building column 220 is schematically shown. The shape of the substructure 200 allows the seismic isolation device 204a to be located in a well or recess 205. The seismic isolation device 204a includes a top isolation plate 230 and a bottom isolation plate 232. In applications where the seismic isolation device 204a is an elastomeric bearing, the upper mounting plate 1210a and the lower mounting plate 1210b can be identical to the top isolation plate 230 and the bottom isolation plate 232, respectively. The bottom isolation plate 232 of the seismic isolation device 204a is mounted on a base plate 226, which is mounted on the substructure 200 by anchor bolts 228. A column base 214a is supported by the seismic isolation device 204a, and a column base plate 224 is mounted on the bottom side of the column base 214a. The column base plate is directly mounted on top of the top isolation plate 230 of the seismic isolation device 204a. Column base 214a supports the superstructure 202. Figure 31 In the specific embodiment shown, the superstructure 202 includes a beam 212 of a support plate 203, which is supported by a column base 214a.

[0148] definition

[0149] In this paper, the term "movement in the direction of n" (and related wording), where n is one of x, y, and z, is intended to indicate movement substantially along or parallel to the n-axis in any direction (i.e. towards the positive end of the n-axis or towards the negative end of the n-axis).

[0150] In this paper, the term "connection" and its derivatives are intended to encompass the possibilities of both direct and indirect connections. For example, "x connects to y" is intended to include the possibility that x is directly connected to y without any intermediate components, and the possibility that x is indirectly connected to y with one or more intermediate components. When a direct connection is intended, terms such as "directly connected," "directly linked," or similar terms will be used. Similarly, the term "support" and its derivatives are intended to encompass the possibilities of both direct and indirect contact.

[0151] For example, "x supports y" is intended to include the possibility that x directly supports and directly contacts y without any intermediate components, and the possibility that x indirectly supports y and has one or more intermediate components contacting x and / or y. The term "installation" and its derivatives are intended to include both direct and indirect installation possibilities. For example, "x installed to y" is intended to include the possibility that x is directly installed to y without any intermediate components, and the possibility that x is indirectly installed to y and has one or more intermediate components.

[0152] In this article, the word "includes" and its derivatives are intended to be inclusive rather than exclusive. For example, "x includes y" is intended to include the possibility that x includes one and only one y, several y's, or one or more y's and one or more other components. When intended to be exclusive, "x consists of y" will be used, meaning that x includes only y and excludes other components.

Claims

1. A seismic grid framework system (206) comprising a grid framework structure (114) for supporting load handling devices (30) operable to move one or more containers (10) in a stack (12), the grid framework structure (114) comprising: a series of intersecting grid members (118, 120) arranged to form a grid (50) comprising a number of substantially rectangular frameworks (54) in a horizontal plane, each of the substantially rectangular frameworks (54) constituting a grid cell, the grid (50) being supported at each intersection (56) of the series of grid members (118, 120) by a number of upright columns (116) to form a number of vertical storage locations (58) for stacking containers (10) between and guided in a vertical direction by the upright columns (116) through the number of substantially rectangular frameworks (54), characterized in that: the seismic grid framework system (206) further comprises a seismic isolation system (208) for reducing seismic forces acting on the grid framework structure (114), wherein the grid framework structure (114) is supported by the seismic isolation system (208), the seismic isolation system (208) comprising an upper structure (202) and a lower structure (200), and at least one seismic isolation device (204) is placed between the upper structure (202) and the lower structure (200) such that the at least one seismic isolation device (204) restrains movement of the upper structure (202) relative to the lower structure (200) in a seismic event; wherein the grid framework structure (114) is mounted to the upper structure (202), and the upper structure (202) comprises a slab (203) supported by one or more substantially horizontal beams; wherein distribution of lateral forces in the seismic event can be controlled by the number and distribution of the at least one seismic isolation device.

2. The seismic grid frame system (206) of claim 1, wherein, the at least one seismic isolation device (204) comprises an elastomeric bearing (1204) comprising a laminate assembly (1206) of elastomeric layers (1207) placed between an upper mounting plate (1210a) and a lower mounting plate (1210b) for connection to the upper structure (202) and the lower structure (200), respectively.

3. The seismic grid frame system (206) of claim 1, wherein, the at least one seismic isolation device (204) comprises an elastomeric bearing (1204) comprising a laminate assembly of alternating elastomeric layers (1207) and rigid layers (1208) placed between an upper mounting plate (1210a) and a lower mounting plate (1210b) for connection to the upper structure (202) and the lower structure (200), respectively.

4. The seismic grid frame system (206) of claim 3, wherein, the elastomeric bearing (1204) further comprises: an energy dissipation core (1212) placed inside the laminate assembly (1206), the energy dissipation core (1212) being adapted to attenuate vibrations in the shear direction of the laminate assembly (1206) by absorbing vibrational energy in the shear direction of the laminate assembly (1206), and wherein the outer peripheral surfaces of the elastomeric layers (1207) and rigid layers (1208) are hermetically closed in a flexible support body (1214).

5. The seismic grid frame system (206) of claim 3, wherein, Each of the elastomeric layers (1207) comprises rubber and each of the rigid layers (1208) comprises steel, such that the elastomeric bearing (1204) comprises a laminate assembly (1206) of alternating rubber and steel layers.

6. The seismic grid frame system (206) of claim 4, wherein, The energy dissipation core (1212) comprises lead, tin, zinc, aluminum, copper, nickel or alloys thereof.

7. The seismic grid frame system (206) according to any one of claims 2 to 4, wherein, The upper mounting plate (1210a) is coupled to an upper connecting plate (1218a) and the lower mounting plate (1210b) is coupled to a lower connecting plate (1218b), such that the laminate assembly (1206) is sandwiched between the upper and lower connecting plates.

8. The seismic grid frame system (206) according to any one of claims 2 to 4, wherein, The elastomeric bearing (1204) comprises a slider disc placed between the laminate assembly (1206) and the upper mounting plate (1210a) or the lower mounting plate (1210b).

9. The seismic grid frame system (206) of claim 8, wherein, The slider disc comprises PTFE.

10. The seismic grid frame system (206) according to any one of claims 1-4, wherein, The at least one seismic isolation device (204) comprises a sliding pendulum bearing, the sliding pendulum bearing comprising: i) an upper bearing element having a first sliding surface, ii) a lower bearing element having a second sliding surface, and iii) a slider placed between the upper bearing element and the lower bearing element, such that the slider is arranged in surface contact with the first sliding surface and the second sliding surface, the first sliding surface and / or the second sliding surface having a concave spherical surface with a specific radius of curvature, such that the slider is arranged to slide along the concave spherical surface of the first sliding surface and / or the second sliding surface, resulting in a lifting of the superstructure (202) during seismic ground motion coinciding with providing at least one sliding pendulum mechanism.

11. The seismic grid frame system (206) according to any one of claims 1 to 4, wherein, The at least one seismic isolation device (204) comprises a three-pendulum bearing, the three-pendulum bearing comprising: i) an upper bearing element (4206) having a downward facing concave spherical surface (4208) with a specific radius of curvature, ii) a lower bearing element (4210) having an upward facing concave spherical surface (4212) with a specific radius of curvature, and iii) a first slider (4214) having a first convex spherical surface (4214b) arranged to slide along the upward facing concave spherical surface (4212) of the lower bearing element (4210), and a first opposite concave spherical surface (4214c) having a radius substantially smaller than the radius of curvature of the upward facing concave spherical surface (4212) of the lower bearing element (4210), iv) a second slider (4216) having a second convex spherical surface (4216b) arranged to slide along the downward facing concave spherical surface (4208) of the upper bearing element (4206), and a second opposing concave spherical surface (4216c) having a radius substantially smaller than the radius of curvature of the downward facing concave spherical surface (4208) of the upper bearing element (4206), v) a third slider (4218) having a lower convex spherical surface (4218c) arranged to slide along the first opposing concave spherical surface (4214c) of the first slider (4214), and an upper convex spherical surface (4218b) arranged to slide along the second opposing concave spherical surface (4216c) of the second slider (4216).

12. The seismic grid frame system (206) of claim 11, wherein, The three-pivot bearing further comprises means to connect the first slider (4214) and the second slider (4216) together to allow independent pendulum mechanisms to be achieved by sliding of the first slider (4214) against the lower bearing element (4210) and sliding of the second slider (4216) against the upper bearing element (4206).

13. The seismic grid frame system (206) of claim 11, wherein, The sliding surface between the first slider (4214) and the lower bearing element (4210) has a first coefficient of friction, the sliding surface between the second slider (4216) and the upper bearing element (4206) has a second coefficient of friction, and wherein the first coefficient of friction is different to the second coefficient of friction.

14. The seismic grid frame system (206) of claim 13, wherein, The sliding surface between the third slider (4218) and the first slider (4214) has a third coefficient of friction, the sliding surface between the third slider (4218) and the second slider (4216) has a fourth coefficient of friction, and wherein the third coefficient of friction is substantially equal to or different to the fourth coefficient of friction.

15. The seismic grid frame system (206) of claim 14, wherein, The third coefficient of friction is less than the first coefficient of friction and the second coefficient of friction, and the fourth coefficient of friction is less than the first coefficient of friction and the second coefficient of friction.

16. The seismic grid frame system (206) of claim 11, wherein, The first slider and the second slider are connected together by a peripheral seal.

17. The seismic grid frame system (206) of claim 10, wherein, The upper bearing element is fixed to the upper structure, and the lower bearing element is fixed to the lower structure.

18. The seismic grid frame system (206) according to any one of claims 1-4, wherein, The upper structure (202) comprises a load bearing structure of the grid framework structure (114).

19. The seismic grid frame system (206) according to any one of claims 1-4, wherein, The lower structure (200) comprises a foundation of the grid framework structure (114).

20. The seismic grid frame system (206) according to any one of claims 1-4, wherein, The at least one seismic isolation device (204) is placed in a well (205).

21. The seismic grid frame system (206) according to any one of claims 1-4, wherein, The at least one seismic isolation device (204) comprises a number of seismic isolation devices (204) placed between the upper structure (202) and the lower structure (200), the number of seismic isolation devices (204) being spaced apart in an array or grid-like pattern of X metres by X metres, and wherein X is in the range of 1 m to 15 m.

22. The seismic grid frame system (206) according to any one of claims 1-4, wherein, The width of the at least one seismic isolation device (204) is substantially in the range of 150 mm to 500 mm.

23. The seismic grid frame system (206) according to any one of claims 1-4, wherein, The width of the at least one seismic isolation device (204) is substantially in the range of 900 mm to 1200 mm.

24. The seismic grid frame system (206) according to any one of claims 1-4, wherein, The height of the at least one seismic isolation device (204) is substantially in the range of 50 mm to 250 mm.

25. The seismic grid frame system (206) according to any one of claims 1-4, wherein, The height of the at least one seismic isolation device (204) is substantially in the range of 320 mm to 350 mm.

26. The seismic grid frame system (206) according to any one of claims 1-4, wherein, The at least one seismic isolation device (204) comprises a number of seismic isolation devices (204) placed between the superstructure (202) and the substructure (200), and the area density of the number of seismic isolation devices (204) is substantially in the range of 0.005 to 0.015 devices per square meter.

27. The seismic grid frame system (206) according to any one of claims 1-4, wherein, The plate (203) comprises a steel / concrete composite plate.

28. The seismic grid frame system (206) according to any one of claims 1-4, wherein, The seismic isolation system (208) further comprises one or more column bases placed between the at least one seismic isolation device (204) and the superstructure (202) and / or between the substructure (200) and the at least one seismic isolation device (204), such that the vertical distance between the substructure (200) and the superstructure (202) is increased.

29. A storage system comprising: a) the seismic grid framework system (206) of any one of claims 1 to 28, b) one or more containers (10), at least one of the one or more containers (10) comprising one or more items of cargo, c) one or more load handling devices (30) remotely operated to move the one or more containers (10) stored in the grid framework structure (114), each of the one or more load handling devices (30) comprising: i) a wheel assembly for guiding the load handling device (30) over the grid framework structure (114); ii) a container receiving space (40) located above the grid framework structure (114); and iii) a lifting device (39) to lift an individual container (10) from a stack (12) into the container receiving space (40). iv) a container receiving space (40) located above the grid framework structure (114); and v) a lifting device (39) to lift an individual container (10) from a stack (12) into the container receiving space (40).

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