Fall limiting device for grid frame structures

Abstract

A fall limiting device (60) is used to move on a grid structure comprising a first set of parallel rails and a second set of parallel rails running transversely to the first set in a generally horizontal plane and arranged in a grid pattern comprising a plurality of grid cells, each grid cell having a length in the range of 600-800 mm and a width in the range of 400-600 mm, thereby defining a grid opening defined by pairs of adjacent rails of the first set of parallel rails and pairs of adjacent rails of the second set of parallel rails; the fall limiting device comprises: a frame (62) having an upper portion (64) and a lower portion (70), the upper portion being configured to restrict at least one worker; and a moving component (72) mounted to the lower portion (70) of the frame (62), the moving component being configured to move the frame on the grid structure; wherein the frame (62) weighs less than 100 kg, such that at least a portion of the moving component (72) can be manually lifted off the grid structure by at least one worker restricted to the upper portion (64) of the frame (62).

Description

Technical Field

[0001] This invention relates to the field of remotely operating a load handling device on a track located on a grid frame structure to handle storage containers or boxes stacked in the grid frame structure, and more particularly to a fall restraint device used on a grid frame structure. Background Technology

[0002] As is well known, storage systems comprise a three-dimensional storage grid structure in which storage containers / boxes are stacked together. PCT Publication No. WO2015 / 185628A (Ocado) describes a known storage and distribution system in which stacks of boxes or containers are arranged within a grid frame structure. The boxes or containers are accessed by a load handling device that runs on a track located at the top of the grid frame structure. Figures 1 through 3 of the accompanying drawings schematically illustrate this type of system.

[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 in a warehousing or manufacturing environment. The grid frame consists of a plurality of storage columns or grid columns. Each grid in the grid frame structure has at least one grid column for storing the container stack. 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 within the grid frame structure 14. Each box 10 typically contains a plurality of product items (not shown), and the product items within the box 10 can be of the same product type or different product types, depending on their application.

[0004] The grid frame structure 14 includes a plurality of upright members or columns 16 supporting horizontal members 18, 20. A first set of parallel horizontal grid members 18 is positioned perpendicular to a second set of parallel horizontal grid members 20 and arranged in a grid pattern to form a grid structure 14b comprising a plurality of grid cells located in a horizontal plane. The grid structure is supported by the upright members 16. Members 16, 18, 20 are typically made of metal and are often joined together by welding, bolting, or a combination of both. Boxes 10 are stacked between members 16, 18, 20 of the grid frame structure 14, such that the grid frame structure 14 prevents horizontal movement of the stack 12 of boxes 10 and guides vertical movement of boxes 10.

[0005] The top layer of the grid frame structure 14 includes tracks or rails 22a, 22b arranged in a grid pattern across the top of the stack 12. Referring also to Figures 2 and 3, the tracks 22 support a plurality of load handling devices 30. A first set of tracks 22a guides the movement of the robot load handling devices 30 across the top of the grid frame structure 14 in a first direction (e.g., the X direction), while a second set of tracks 22b, arranged perpendicular to the first set of tracks 22a, guides the movement of the load handling devices 30 in a second direction (e.g., the Y direction) perpendicular to the first direction. Thus, the tracks or rails 22a, 22b allow the robot load handling devices 30 to move laterally in a two-dimensional horizontal XY plane, enabling the load handling devices 30 to be moved to any position above the stack 12. Various methods exist in the art for arranging tracks in a grid structure. One arrangement involves individually mounting tracks to track supports. This involves laying the track supports in a grid pattern, and then mounting or securing the tracks to the track supports such that the tracks adopt the grid pattern of the track supports. As taught in WO18146304 (Autostore), an alternative and equally reasonable configuration for grid members in a grid structure is to integrate the track into or combine it with the track support to define the grid member. Therefore, a grid structure comprises a grid pattern in which grid members are arranged to include a plurality of grid cells or grid spaces. In both methods of laying tracks, the grid structure comprises a plurality of grid cells or grid spaces. Referring to Figure 2, the grid cells or spaces appear in the horizontal plane as a framework of a plurality of basic rectangles, each rectangle forming a grid cell suitable for accommodating a container or box of a corresponding shape. Based on the Cartesian coordinates shown in Figure 2, the size of a typical grid cell is typically in the range of 600 mm to 800 mm in the X direction, and 400 mm to 600 mm in the direction suitable for allowing smaller containers or boxes to pass through the grid cell. For example, a typical box, 653 mm long and 543 mm wide, can pass through a grid opening of approximately 761 mm × 561 mm.

[0006] Figure 4 and Figure 5The known load handling device 30 shown includes a vehicle body 32 as described in PCT application International Publication No. WO2015 / 019055 (Ocado), which is incorporated herein by reference, wherein each load handling device 30 covers only one grid space of the grid frame structure 14. Here, the load 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 vehicle body 32 and pairs of wheels 34 at the rear of the vehicle 32, for engaging with a first set of tracks or rails to guide movement of the device in a first direction. The second set of wheels 36 consists of pairs of wheels 36 on each side of the vehicle 32, for engaging with a second set of tracks or rails to guide movement of the device in a second direction. Each set of wheels is driven to move the vehicle 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 its respective track, thereby allowing the vehicle to move in the desired direction.

[0007] The load handling unit 30 is equipped with a lifting device or crane mechanism for lifting the storage container from above. The crane mechanism includes a winch rope or cable 38 (not shown) wound on a reel or spool and a gripper device 39. The lifting device includes a set of lifting ropes 38, also known as gripper devices (one rope near each of the four corners of the gripper device), extending vertically and connected to or near the four corners of the lifting frame 39 for releasable connection to the storage container 10. The gripper device 39 is 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 disposed around the periphery of a cavity or groove in the lower part, referred to as the container receiving groove 40. The groove is sized to accommodate the container 10 when it is lifted by a crane mechanism, such as... Figure 5 As shown in (a) and (b). While in the groove, the container is lifted away from the track below, allowing the vehicle to move laterally to different locations. Upon reaching a target location such as another stack, access point in a storage system, or conveyor belt, the box or container can be lowered from the container receiving section and released from the gripper device.

[0009] In certain situations, it is necessary for personnel to enter the mesh structure and perform necessary operations. These operations include inspecting or retrieving faulty robotic load handling devices from the mesh structure, checking the condition of the mesh structure, and / or addressing any spills, dirt, or pipe buildup issues that require attention on the mesh structure. Many automated service vehicles exist in the art that facilitate personnel access to mesh structures.

[0010] WO2015 / 140216 (Ocado Innovation Ltd) teaches a robotic service device that includes a releasable docking mechanism that enables it to dock with and lock onto a malfunctioning load handling device. The service device may also be equipped with cleaning tools and camera equipment to monitor the grid and other robotic devices.

[0011] WO2019233749 (Autostore Technology AS) teaches a service vehicle comprising a propulsion tool that allows the service vehicle to move across a rail system and a fire extinguisher compartment for accommodating fire extinguishing equipment. The propulsion tool includes tracks configured to drive on top of the rail system, wherein the length Lpm of the tracks on a horizontal plane exceeds the diagonal length of the maximum grid opening across the rail system when the service vehicle moves across the rail system.

[0012] WO2020151866 (Autostore Technology AS) teaches a service vehicle including a displacement mechanism and a lifting arrangement connected to the displacement mechanism, wherein the displacement mechanism and the lifting arrangement are configured to move a container handling vehicle between an operating position on a rail system and a load position within a container handling vehicle section.

[0013] A problem associated with the automated service vehicles taught in this art is that the service vehicles need to operate permanently on the grid structure, or at least be permanently on standby on the grid structure, and if not on the grid structure, the service vehicles must be lifted and placed on the grid structure by hoisting in case necessary operations are required. Therefore, in the event of an accident or when necessary operations need to be performed on the grid structure, the service vehicles can be used to travel on tracks to the accident site.

[0014] Individual containers are stacked in vertical layers, and their locations within the grid frame structure or "honeycomb" can be indicated using three-dimensional coordinates to represent the position of the load handling unit or container and the container depth (e.g., a container located at (X, Y, Z) with a depth of W). Similarly, locations within the grid frame structure can be indicated in two dimensions to represent the position of the load handling unit or container and the container depth (e.g., a container located at (X, Y) with a depth of Z). For example, Z=1 indicates the topmost layer of the grid, immediately below the track system; Z=2 is the second layer below the track system; and so on, down to the bottommost layer of the grid. Modular frames can be stacked on top of each other to increase the height of the grid frame structure and thus the value of the depth Z, allowing vertically stacked containers to extend through one or more modular frames.

[0015] As mesh structures grow larger and support more and more robotic payloads, the demand for access to these structures increases. This increased need for access raises the risk of injury to personnel on these structures, potentially leading to falls into mesh cells. Mesh structures can exceed the height of 21 containers, further increasing the risk of serious injury from falls. Therefore, it is crucial not only to improve the safety of personnel operating on mesh structures but also to provide systems capable of rapidly rescuing injured personnel. Industrial safety groups have been advocating for systems that allow safe access to mesh structures and possess the ability to rescue injured personnel, making such safety systems a standard requirement. While it is known that service vehicles can rescue injured personnel from mesh structures, these vehicles must either have a permanent storage location on the structure and thus occupy mesh cells, or they must be hoisted onto the structure. This not only increases downtime due to mesh inoperability but also adds layers of delay to the rescue of injured personnel.

[0016] Therefore, a fall restraint system that can operate safely on a grid structure and can be quickly activated on a grid structure is needed.

[0017] This application claims priority to UK patents GB2102508.5 filed on 22 February 2021, GB2103124.0 filed on 5 March 2021 and GB2111707.2 filed on 16 August 2021, the contents of which are incorporated herein by reference. Summary of the Invention

[0018] This application alleviates the aforementioned problems by providing a fall-limiting device that is portable and manually operable, allowing it to be lifted by an operator. More specifically, the present invention provides a fall-limiting device for manual movement on a grid structure, the grid structure including a first set of parallel rails and a second set of parallel rails extending transversely to the first set, arranged in a grid pattern comprising a plurality of grid cells, each grid cell having a length in the range of 600-800 mm and a width in the range of 400-600 mm, thereby defining a grid opening through pairs of adjacent rails of the first set of parallel rails and pairs of adjacent rails of the second set of parallel rails; the fall-limiting device includes:

[0019] The structure has an upper part and a lower part, the upper part being configured to restrict at least one operator.

[0020] A movable component, installed to the lower part of a frame, is configured to move the frame on a grid structure; wherein the frame weighs less than 100 kg, such that at least a portion of the movable component can be manually lifted off the grid structure by at least one operator on the upper part of the frame.

[0021] The fall restraint system of the present invention operates in the field of storage systems including a grid frame structure. The grid frame structure includes a first set of parallel rails and a second set of parallel rails extending transversely to the first set in a substantially horizontal plane, arranged in a grid pattern comprising a plurality of grid cells. The grid structure is supported by a plurality of vertical posts at one or more intersections of the first and second sets of parallel rails. The storage system stores a stack of a plurality of storage containers arranged in storage columns below the grid structure. A load handling device operating on the grid structure is capable of lifting the storage containers, guided by the vertical posts supporting the grid structure, above the rails. Each grid cell has a length in the range of 600-800 mm and a width in the range of 400-600 mm, thereby defining a grid opening by pairs of adjacent rails of the first set of parallel rails and pairs of adjacent rails of the second set of parallel rails.

[0022] Preferably, the weight of the fall limiting device is less than 100 kg. By providing a lightweight fall limiting device weighing less than 100 kg, the fall limiting device of the present invention can be lifted by at least one operator. This not only allows the fall limiting device to be activated on the grid structure when a rapid response to an accident on the grid structure is required, but also the lightweight nature of the fall limiting device allows the operator to easily manipulate the fall limiting device in multiple directions on the grid structure by lifting the fall limiting device, including the frame, thereby lifting at least a portion of the rolling assembly away from the grid structure below. This allows the fall limiting device to be rotated to the desired orientation on the grid structure, i.e., towards the direction of the accident. To provide a lightweight fall limiting device, only the frame weighs less than 100 kg. Preferably, the frame weighs less than 60 kg. More preferably, the frame weighs less than 30 kg. A lightweight fall limiting device is obtained with a lightweight frame weighing less than 100 kg, which allows at least a portion of the rolling assembly to be lifted off the track.

[0023] To provide a lightweight fall restraint device, preferably, the frame includes components of structural members arranged to form an open internal structure for accommodating at least one worker, allowing the worker, restrained by the upper portion, to move autonomously within the open internal space on the grid structure. For example, the structural members may be lightweight aluminum tubular members or other lightweight structural members, including but not limited to plastic or fiber composite materials. To enable the fall restraint device to lift loads such as injured persons on the track or those who have fallen through grid openings, or to lift ordinary loads on the track, preferably, the upper portion of the frame includes suspension structural members or suspension beams for supporting at least one worker or loads on the track. The terms "suspension structural member" and "suspension beam" are used interchangeably throughout this specification to refer to the same feature. Similarly, the terms "open internal space" and "open internal structure" are used interchangeably throughout this specification to refer to the same feature.

[0024] Preferably, the upper portion includes pairs of parallel side frame members connected together by at least one end frame member, which is substantially perpendicular to the parallel side frame members to define a handle. The handle is supported above the wheel assembly by a plurality of supports or lower tubes, allowing at least one worker confined to the upper portion of the frame to manually grip the handle while walking on the grid structure. The frame members can be assembled in a "Zimmer®" configuration to allow workers to be supported by the frame while walking on the grid structure by gripping the handle.

[0025] To provide structural integrity of the frame while confining at least one worker to the upper portion of the frame, preferably, the plurality of frame members include at least one support member. For example, the support member may be a horizontal support member connecting parallel frame members or a diagonal support member. More preferably, the upper portion of the frame includes components of an H-shaped frame. Optionally, the upper portion of the frame includes an A-shaped frame and suspension beams extending between the A-shaped frames to support at least one worker to the suspension beams defining the gantry.

[0026] Preferably, the moving component includes rolling and / or sliding components. The moving component allows the frame to be easily manipulated on the grid structure. To improve the stability of the fall-limiting device on the grid structure and allow workers restricted by the upper part of the frame to rotate or move the fall-limiting device in any direction on the grid structure without any part of the rolling component falling into the grid opening, the rolling component includes a front wheel assembly and a rear wheel assembly, each wheel assembly extending across at least one grid cell or grid opening such that each wheel assembly of the front and rear wheel assemblies contacts a different track on the grid structure. The rolling component is freely rotatable to allow workers restricted by the upper part of the frame to manually move the fall-limiting device on the grid structure, i.e., manually push the fall-limiting device on the grid structure.

[0027] By configuring the rolling assembly to include a front wheel assembly and a rear wheel assembly, each wheel assembly having a length, such that each wheel assembly of the front and rear wheel assemblies contacts different tracks of the grid structure, the wheel assembly is prevented from falling into the grid openings, particularly when the fall-limiting device rotates on the grid structure. For the purposes of this invention, the wheel assembly contacting different tracks of the grid structure is interpreted as indicating that there are at least two contact points between the wheel assembly and the tracks. These at least two contact points are not on the same track, but on different tracks, in order to prevent at least a portion of the wheel assembly from falling into the grid openings. The different tracks can be parallel tracks, such that each portion of the wheel assembly contacts each phase of the parallel track, or contacts diagonally opposite tracks. Another way to describe the contact between the wheel assemblies of the front and rear wheel assemblies is that each wheel assembly of the front and rear wheel assemblies contacts at least two different areas of the grid structure.

[0028] Preferably, the length of each wheel assembly in the front and rear wheel assemblies is greater than the length spanning at least one grid cell, more preferably greater than the length spanning at least one grid opening. To allow the fall limiting device to be picked up and repositioned on the grid structure so that it can be oriented in any direction on the track, preferably, the length of each wheel assembly in the front and rear wheel assemblies is greater than the length corresponding to the diagonal length spanning the grid opening. The diagonal length represents the maximum diagonal length spanning the grid opening when the grid opening is considered a rectangle or square. By having wheel assemblies with a diagonal length longer than that spanning the grid cell, at least a portion of the rolling assembly can be prevented from falling into the grid opening when the fall limiting device is placed diagonally opposite the first and second sets of parallel tracks.

[0029] To increase the contact area between the grid structure and the wheel assemblies, allowing the fall limiting device to rotate in any direction on the grid structure, preferably, each wheel assembly of the front and / or rear wheel assemblies includes at least one extended roller, such as at least one free-rolling extended roller. The extended roller extends across the width of the track to allow the wheel assembly to extend outwards from the upper portion of the frame and contact different points on the grid structure, thereby improving the stability of the fall limiting device on the grid structure. For example, individual extended rollers may be installed at the front and rear of the fall limiting device, respectively. The length of a single extended roller may be greater than the distance spanning at least one grid cell, so that when installed on the frame, the width of the wheel assembly extends laterally to the longitudinal direction of the upper portion of the frame and beyond the grid cell to contact two different tracks of the grid structure.

[0030] Alternatively, and to provide the same stability as a single extended roller level extending across at least one grid cell, each wheel assembly of the front and rear wheel assemblies may include a plurality of wheels configured to rotate about a common axis, and the plurality of wheels may be configured to extend across at least one grid cell. The plurality of wheels may be a plurality of extended rollers, and the plurality of extended rollers may be configured to rotate about the common axis. One way to configure the plurality of wheels to rotate about the common axis is to mount the plurality of wheels to at least one rod, also referred to as the common rod, wherein the length of the rod is greater than the distance spanning at least one grid cell, so that the plurality of wheel assemblies contact at least two different tracks of the grid structure.

[0031] Alternatively, a plurality of wheels may be mounted to a plurality of rods, which are arranged such that the plurality of wheels rotate about a common axis. To prevent at least one of the plurality of wheels from falling into a grid opening, preferably, each of the plurality of wheels is spaced apart by a distance less than the width of the first and second sets of tracks. To further prevent at least part of the wheel assembly from falling into a grid cell, preferably, the front wheel assembly and the rear wheel assembly are separated by a wheel base distance greater than the distance spanning at least one grid cell, such that the rolling assembly contacts different tracks of the grid structure—in this case, the front track and the rear track. More specifically, the wheel base distance extends across at least two grid cells or grid openings.

[0032] More preferably, the rolling assembly extends outward from the upper portion, meaning the rolling assembly extends outward and laterally on each side of the frame. For example, the width of the upper portion may be designed to correspond to the width of the grid cell, and the wheel assembly extends outward from the upper portion beyond the width of at least one grid cell to provide stability of the fall limiting device on the grid structure. In other words, the coverage area occupied by the rolling assembly is larger than the coverage area occupied by the upper portion to increase the stability of the fall limiting device on the grid structure. Preferably, the wheel assemblies of the front and rear wheel assemblies extend laterally to the longitudinal direction of the upper portion and have a width greater than the distance spanning at least one grid cell, so that the fall limiting device travels in a direction along the longitudinal direction of the upper portion. Preferably, the lower portion of the frame includes a sub-frame for supporting the rolling assembly or wheel assembly. The sub-frame provides additional stability to the fall limiting device and allows the fall limiting device to extend over a larger area of ​​the grid structure.

[0033] Preferably, the sliding assembly comprises a food-safe material so that it can be used near food products. Preferably, the sliding assembly includes one or more sliding plates or skids. The sliding plates allow the fall-limiting device to slide over the grid structure and make it easier to turn and maneuver on the grid structure. More preferably, one or more sliding plates extend longitudinally along the length of the frame. By setting the sliding plates longitudinally along the length of the frame, the contact between the frame and the grid structure is increased, thereby increasing the stability of the fall-limiting device. Alternatively, the sliding assembly may include a low-friction coating on one or more lower structural members. Optionally, one or more sliding plates are spaced outwards from the front end of the frame toward the opposite rear end of the frame. Preferably, one or more sliding plates are spaced outwards from the front end of the frame at an acute angle.

[0034] To confine at least one worker to the upper portion of the structure, the fall limiting device further includes at least one hook or shackle. The hook may be coupled to the upper portion of the structure and allows a worker wearing a safety harness to be confined by the upper portion via the hook coupled to the upper portion of the structure.

[0035] To prevent workers confined to the upper part of the structure from falling too deep into the grid cells and thus injuring themselves, the fall limiting device preferably includes a fall arrestor reel coupled to the upper part of the structure. Thus, if a worker attached to the fall arrestor reel falls into a grid opening, the fall arrestor reel confining the worker to the upper part of the structure will prevent the worker from falling too deep into the grid cell through its locking action. To rescue injured persons on the grid structure or persons who have fallen into a grid cell, the fall limiting device preferably includes a winch coupled to the upper part of the structure. The winch can be a manual winch or a motor-assisted winch to lift a person who has fallen into a grid cell. The upper part of the structure includes a suspension structural member or suspension beam extending across a pair of parallel side bars for supporting at least one worker. The suspension beam can be detachably attached to the pair of parallel side bars. The winch assembly can be coupled to the suspension beam to provide support when pulling up a person who has fallen into a grid cell.

[0036] The fall limiting device of this invention can also be used to retrieve a malfunctioning load handling device from a track. For example, a winch can be used to right a tilted load handling device from a track. While a winch may be strong enough to pull an injured person weighing up to 100 kg, the winch assembly may not be strong enough to pull a malfunctioning load handling device weighing over 150 kg off the track and transport it to the edge of the grid structure without affecting the stability of the fall limiting device on the grid structure. This is especially true when the fall limiting device is manually driven by workers confined to the upper part of the structure. Furthermore, there may not be enough headroom to completely lift the load handling device off the track. For example, there may be insufficient headroom above the grid structure to accommodate a tall winch assembly sufficient to lift the load handling device off the track. Typically, storage systems including grid frame structures are located within distribution centers. To maximize the use of space in distribution—and thus in goods storage—the height of the grid frame structure is as large as possible so that the grid frame structure extends close to the distribution ceiling, leaving very little headroom above the track except for the load handling device operating on it. This eliminates the ability for tall devices, including winch assemblies, to operate on the grid structure. This makes it difficult to lift a malfunctioning load handling unit from the grid structure and move it to the edge of the grid. Furthermore, the higher the service vehicle housing the winch assembly, the less stable it becomes on the grid structure. Because of its high center of gravity, even a slight sway of the load handling unit suspended from the winch assembly can cause the service vehicle to tip over. To try and mitigate this instability, it might be necessary to increase the coverage area at the bottom of the service vehicle, which spans multiple grid cells, thus occupying more grid cells, or alternatively, to concentrate the weight of the service vehicle at its bottom. Therefore, a larger portion of the grid structure needs to be insulated to retract individual load handling units.

[0037] To mitigate this problem, preferably, the frame further includes a traction member for coupling or interacting with a load handling device on the grid structure. More preferably, the traction member is a traction rod having one end coupled to an upper portion of the frame and the other end coupled or interacting with the load handling device. To retrieve a malfunctioning load handling device stranded on the track, the fall limiting device further includes a traction rod that can be coupled to the load handling device, for example, interacting with a lifting element on top of the load handling device used to lift the load handling device, and capable of pushing or pulling the malfunctioning load handling device to the edge of the grid structure. The wheel motor can be detached, allowing the load handling device to be pushed or pulled manually only, without having to pull the load handling device off the track as in prior art service vehicles.

[0038] Preferably, the frame includes one or more anti-tipping mechanisms on each side of the frame to prevent the fall limiter from tipping over onto the grid structure. The one or more anti-tipping mechanisms include a continuous stabilizing surface extending between the front and rear wheel assemblies. The one or more anti-tipping mechanisms are configured to rely on the grid members if the front and / or rear wheel assemblies are not in contact with the grid members, and the fall limiter becomes unbalanced and begins to fall into the grid openings. Therefore, the anti-tipping mechanisms act as stabilizers, preventing the fall limiter from tilting substantially to one side and ensuring that the fall limiter remains substantially vertical. Specifically, the stabilizing surface is continuous to ensure that it can contact a grid cell at any point between the front and rear wheel assemblies when the fall limiter becomes unstable and begins to tip over onto the grid structure, and if this occurs. Preferably, the continuous stabilizing surface includes one or more tethers taut between the front and rear wheel assemblies. The tethers or cables are made of stainless steel. The advantage of using tethers or cables is their light weight, so the operator can still lift the entire fall limiter.

[0039] The frame can have various shapes and corresponding sizes. Preferably, the frame has a front end and an opposite rear end, the opposite rear end being wider than the front end and having an opening so that a second fall restraint device can be nested within the fall restraint device. This particular configuration allows multiple fall restraint devices to be stored in a small area by nesting one fall restraint device within another. Preferably, the frame is wedge-shaped for more efficient folding of the fall restraint devices.

[0040] Preferably, the height of the fall limiting device is less than 2m. The height of the fall limiting device can be 1.9m, 1.8m, 1.7m, or 1.6m. More preferably, the height of the fall limiting device is less than 1.5m to allow its use in low ceiling heights. The height of the fall limiting device can be 1.4m, 1.3m, 1.2m, or 1.1m.

[0041] A fall-limiting device can be attached to another fall-limiting device to form an assembly. This assembly includes a first fall-limiting device, a second fall-limiting device, and a suspension beam or suspension structure connecting the first and second fall-limiting devices, wherein each of the first and second fall-limiting devices includes the fall-limiting device of the present invention. The suspension beam is detachable and can be attached to the first and second fall-limiting devices when in a desired location on the grid structure, or alternatively, it can be attached when leaving the grid. The gap between the first and second fall-limiting devices due to the suspension beam provides additional workspace for workers confined to the suspension beam.

[0042] For example, workers can be attached to the suspension beam via hooks to facilitate grid maintenance work. The suspension beam or suspension structure component can be mounted to the upper portion of the frame of the first and second fall restraint devices. With the suspension beam having the upper portion of the frame of the first and second fall restraint devices, workers have more headroom (vertical space) when performing various activities on the grid structure. For example, workers can be coupled to the suspension beam via a fall-prevention inertia reel to rescue personnel from the grid structure. Furthermore, stretchers can be attached to the suspension beam. Preferably, a winch is mounted to the suspension beam or suspension structure component. This facilitates lifting load handling equipment or injured personnel from the grid structure. Preferably, the suspension beam or suspension structure component is mounted to the upper portion of the first and / or second fall restraint devices via at least one pivotable joint. This facilitates the movement of each fall restraint device independently of other fall restraint devices on the track while still being connected together. Attached Figure Description

[0043] Further features and aspects of the invention will be elucidated from the following detailed description of exemplary embodiments with reference to the accompanying drawings, wherein:

[0044] Figure 1 is a schematic diagram of the grid framework structure of a known system.

[0045] Figure 2 is a schematic top view showing the stack of boxes set within the frame structure of Figure 1.

[0046] Figure 3 is a schematic diagram of a known robotic load handling device operating on a mesh frame structure.

[0047] Figure 4 is a schematic diagram of a load processing device based on a known system.

[0048] Figure 5 (a) and (b) are schematic perspective views of the load processing device in Figure 4, showing (b) the container receiving space of the load processing device and (a) the container that accommodates the container receiving space of the load processing device.

[0049] Figure 6This is a perspective view of a fall limiting device including a frame mounted to a rolling assembly, according to a specific embodiment of the present invention.

[0050] Figure 7 It is a schematic diagram of a top view of a cell that shows the size of the opening of the grid cell.

[0051] Figure 8 This is a schematic top view of the rolling component of a specific embodiment of the present invention, which is a fall limiting device that travels on a grid structure.

[0052] Figure 9 This is a schematic top view of a rolling component of a fall-limiting device that travels on a grid structure according to another specific embodiment of the invention.

[0053] Figure 10 This is a perspective view of the extended roller of the wheel assembly of the rolling assembly according to a specific embodiment of the present invention.

[0054] Figure 11 This is a perspective view of a worker restrained by a fall-limiting device via a safety belt, according to a specific embodiment of the present invention.

[0055] Figure 12 According to a specific embodiment of the present invention, a suspension beam and a winch are included. Figure 6 A perspective view of the fall restraint device shown.

[0056] Figure 13 This is a top perspective view of the load handling device, showing the lifting elements on the top surface of the load handling device.

[0057] Figure 14 This is a schematic diagram of a fall limiting device for a traction rod used in a traction load handling device, according to a specific embodiment of the present invention.

[0058] Figure 15 (a and b) are schematic images showing (a) an operator restrained by a fall limit device walking on a grid structure, and (b) an operator restrained by a fall limit device rotating the fall limit device by lifting at least a portion of the rolling assembly.

[0059] Figure 16 This is a schematic diagram of a fall limiting device including an extended suspension beam according to a second specific embodiment of the present invention.

[0060] Figure 17 This is a schematic diagram of a fall limiting device according to a third specific embodiment of the present invention.

[0061] Figure 18 This is a schematic diagram showing the components of a fall limiting device connected together by a suspension beam according to a fourth embodiment of the present invention.

[0062] Figure 19 This is a schematic diagram of a fall limiting device according to a fifth specific embodiment of the present invention.

[0063] Figure 20 yes Figure 19 A schematic diagram of a fall limiting device, showing the rolling assembly in a loading configuration.

[0064] Figure 21 It has the same Figure 19 The diagram shows a fall restraint device at different heights.

[0065] Figure 22 It is on the grid structure Figure 21 A schematic diagram of the fall limiting device shown.

[0066] Figure 23 According to the sixth specific embodiment of the present invention, it has a single suspension beam. Figure 21 A schematic diagram showing the modification of the fall limiting device.

[0067] Figure 24 This is a schematic diagram of a fall limiting device according to the sixth specific embodiment of the present invention.

[0068] Figure 25 They are nested together Figure 24 A schematic diagram of multiple fall-limiting devices. Detailed Implementation

[0069] The present invention was designed to address known features of storage systems, such as the grid frame structure and load handling apparatus described above with reference to Figures 1 to 5. For access to the grid structure and travel on the tracks, it is crucial that any service vehicle designed to travel above the grid cells without any of its wheels entering or falling into a cell. Various techniques, as described above, exist in the art that allow service vehicles to travel on top of the grid structure. The simplest approach employs a wheel assembly of a common load handling apparatus operating on the grid structure, along with a drive mechanism for driving the wheels, comprising a first set of wheels for engaging with a track extending in the X direction and a second set of wheels for engaging with a track extending in the Y direction. Such wheel assemblies are taught in the art by WO2015 / 140216 (Ocado Innovation Ltd) and WO2020 / 151866 (Autostore Technology AS), and discussed above. However, this arrangement of the wheels limits the service vehicle to traveling on the grid structure only in the X or Y direction. Therefore, in order to successfully navigate around obstacles or other load handling devices on the grid structure, service vehicles must travel in the X and / or Y directions to reach locations on the grid structure or desired destinations. In most cases, the planned routes involve movement in both the X and Y directions to reach the desired locations on the grid structure. This not only means a longer journey to the desired locations on the grid structure, but also consumes more time.

[0070] To reduce the travel distance to desired locations on a grid structure and without being limited by the tracks in the X and Y directions, WO2019 / 233749 (Autostore Technology AS) teaches the use of tracks to cross the surface of the tracks, i.e., to drive above the surface of the tracks. The tracks are designed to have a length exceeding the diagonal length corresponding to the largest grid opening across the grid structure, so as to be able to cross the tracks or travel above the tracks without any part of the track falling into any opening of the grid cell. The tracks consist of a longitudinally extending belt and are driven by a belt motor.

[0071] refer to Figure 7 The given grid cell size is approximately 600-800 mm long and 400-600 mm wide. The grid cell size depends on the dimensions of the container or bin stored within the storage system, and the ability of the load handling device operating on the grid structure to lift and retrieve the storage container through the grid cell openings. This equates to an area of ​​approximately 3600 cm² for a grid opening of 14c. 2 up to 6400cm 2Between. Assuming the width of a single track is approximately 75mm, and the longest length Lg of a given grid cell from the midpoint of the track is approximately 760mm, and the width Wg is approximately 560mm, this corresponds to a diagonal length Dg of approximately 944mm, and the area of ​​the grid cell opening is approximately 4256cm². 2 Other grid cell sizes include a length of 654 mm along the longest length Lg, and a width of approximately 454 mm Wg. Figure 7 In this configuration, the longest length of a grid cell is along the X-direction, while the shorter of the two lengths is along the Y-direction. To prevent the service vehicle's wheels from falling into the openings of the grid cells, which could cause the service vehicle to become stuck on the grid structure or at least damage the track, the length of the rolling assembly should be greater than the length spanning the diagonal length Dg or at least greater than the longest length Lg. The diagonal length Dg spans the grid opening 14c, and the longest length Lg spans at least one grid cell. Taking the above embodiment as an example, the maximum diagonal length Dg of the grid cell is approximately 944 mm, while the maximum length Lg is approximately 760 mm.

[0072] The track extends over several grid cells, allowing service vehicles to rotate in any direction on the grid structure. However, WO2019 / 233749 (Autostore Technology AS) requires the use of tracks for movement on rails. Tracks are heavy and require motors to drive the belts, which increases their weight. Therefore, any service vehicle that includes tracks is not lightweight and requires one or more motors to drive the belts, making it difficult to start quickly on the grid structure.

[0073] Figure 6A fall limiting device 60 according to a specific embodiment of the present invention is shown. Compared to service vehicles known in the art, the fall limiting device 60 of the present invention includes a frame or frame structure 62, which includes an upper portion 64 having an open internal space 66 and a lower portion 70 for mounting a rolling assembly 72, the open internal space 66 being defined by a plurality of vertical support frame members 68. The rolling assembly 72 allows the fall limiting device 60 of the present invention to be rotated in any direction on a track (not shown) without any part of the rolling assembly 72 falling into the grid opening. Different embodiments of the rolling assembly according to the present invention exist to provide a rolling assembly that allows the fall limiting device to be rotated in any direction on a grid structure without any part of the rolling assembly falling into the grid opening. In all different embodiments of the present invention, it is crucial that the rolling assembly contacts the grid structure through at least two contact points on the grid structure, and since the grid structure includes a first set of parallel tracks extending in a first direction and a second set of parallel tracks extending in a second direction, at least two contact points are interpreted as the rolling assembly contacting different tracks or different areas of the grid structure. The rolling assembly can also rotate freely, allowing workers confined to the frame to manually move the fall-limiting device on the grid structure, for example, by walking on the grid structure. Further details of the rolling assembly of the fall-limiting device according to the invention will be discussed below.

[0074] refer to Figure 6A specific embodiment of the fall limiting device shown includes a frame 62 comprising an assembly of frame members 74 connected together to provide an open internal structure 66 for accommodating at least one worker within the open internal structure. The frame members 74 are connected together by suitable fasteners 76 to withstand the load of at least one worker restrained within the frame 62. Suitable fasteners for connecting the frame members 74 include, but are not limited to, welding, one or more bolts, adhesives, etc. To provide a lightweight frame that can be lifted by at least one worker restrained within the frame 62, the frame members 74 may be tubular members with sufficient strength to withstand the load of at least one worker restrained within the frame. Embodiments of tubular frame members include, but are not limited to, aluminum tubular frame members or alloys comprising aluminum. Other embodiments of the frame members include the use of plastic materials or composite materials, such as carbon fiber reinforced plastic. Using carbon fiber reinforced plastic for the frame members not only provides a sufficiently robust frame to support at least one worker restrained within the frame but also helps to provide a lightweight frame so that the fall limiting device of the present invention can be easily activated on the grid structure and manipulated in any orientation on the grid structure. The use of lightweight materials and an open frame structure provides a frame weighing less than 100 kg, preferably less than 60 kg, more preferably less than 30 kg. Since the rolling assembly accounts for only a small portion of the total weight of the fall limiting device, the frame and rolling assembly together provide a lightweight fall limiting device weighing less than 100 kg, preferably less than 60 kg, more preferably less than 30 kg. Figure 6 In a specific embodiment of the invention shown, the fall limiting device 60, which includes aluminum-based tubular structural components, weighs approximately 25 kg.

[0075] The lightweight frame 62 allows workers within the open structure 66 of the frame to lift the frame and rotate the fall limiter 60 on the grid structure. Rotating the fall limiter 60 involves lifting the frame 62 so that at least a portion of the rolling assembly 72 is lifted off the track, rather than attempting to rotate the fall limiter while the rolling assembly 72 is in full contact with the track. Figure 6 In the specific embodiment shown, the frame 62 accounts for a large proportion of the weight of the fall limiting device, thus a lightweight frame can produce a lightweight fall limiting device. Therefore, a lightweight fall limiting device can be provided by combining the weight of the frame with the weight of the rolling components.

[0076] exist Figure 6In the specific embodiment of the invention shown, the upper portion 64 of the frame includes at least a pair of parallel side frame members and a pair of parallel end frame members. The parallel end frame members are shorter than the parallel side frame members and are substantially vertically fixed to the parallel side frame members in a common horizontal plane to define a rectangular frame structure. The parallel side frame members and end frame members are arranged to provide an internal open space 66 for accommodating at least one operator (see [link to original text]). Figure 11 (See Figures 15(a and b)). The rectangular frame structure of the upper portion 64 allows one or more workers to be accommodated in the open interior space 66. The parallel side frame members and / or end frame members also provide handles for at least one worker to grip the frame while walking on the grid structure. The handles, defined by the parallel side frame members and end frame members, are supported above the track by a plurality of support frame members or lower frame members 68. Figure 11 As shown, the height of the parallel side frame member 74 is approximately at waist level for the worker, so that the worker confined within the open structure 66 can easily reach and grip the parallel side frame member 74 while walking on the grid structure. Figure 6 In the specific embodiment of the invention shown, structural member 74 is a tubular member, such as an aluminum tube, but it can also be a rod or other materials described above. To increase the structural rigidity of the frame, one or more support members are used to support the parallel structural members. Figure 6 In the specific embodiment shown, structural members are assembled to provide opposing H-shaped frames on both sides of the open structure 66. Other types of support members may also be used to increase the structural stiffness of the frame, including but not limited to diagonal support members. The frame of this specific embodiment of the invention can be considered similar to the Zimmer® frame, used to allow at least one worker to walk on the grid structure while gripping the parallel side structural members 74.

[0077] The lower portion 70 of the frame includes a rolling assembly 72 so that the fall limiting device 60 can be manually driven on the grid structure. Figure 6 In the specific embodiment shown, the lower portion 70 of the frame is connected to the upper portion 64 of the frame. The lower portion of the frame includes a subframe 78 for mounting the rolling assembly 72. The rolling assembly is mounted to the subframe 78 such that the width of the rolling assembly 72 extends across the length of one or more grid cells, more preferably, the length of one or more grid openings. To improve the stability of the fall restraint device 60 on the grid structure, in this specific embodiment of the invention, the width W of the rolling assembly extends across the longest length of at least two grid cells (see [reference]). Figure 6(See Figures 15(a and b)). Considering the longest length of the grid cell is 760 mm, this means the width is approximately 2 × 760 mm (1520 mm). Ideally, the width of the rolling assembly should have a length extending across the maximum diagonal length of a given grid cell so that the fall limiting device 60 can be rotated in any direction on the grid structure. In the specific embodiment described above, this corresponds to a length of approximately 944 mm. Figure 6 The rolling assembly 72 shown includes a front wheel assembly 73a and a rear wheel assembly 73b, each wheel assembly of the front wheel assembly 73a and the rear wheel assembly 73b extending laterally to the longitudinal direction of the upper portion.

[0078] The width of the scroll component is selected to prevent any part of the scroll component from falling into the grid opening, combined with Figure 7 This is shown in Figure 8 and Figure 9 As shown in the schematic diagram, in two embodiments of the fall limiting devices 160 and 260, the rolling assemblies 172 and 272 include front wheel assemblies 173a and 273a and rear wheel assemblies 173b and 273b, each wheel assembly extending laterally to a length L of the upper portion. The wheelbase distance, i.e., the distance between the front and rear wheel assemblies, extends beyond the length of one or more grid cells to allow workers confined to the upper portion of the structure to access the grid openings. Figure 8 and Figure 9 In the illustrated embodiment, the width of the front and rear wheel assemblies is such that each wheel assembly of the front and rear wheel assemblies contacts two different regions of the mesh structure, the two different regions being formed by... Figure 8 and Figure 9 The markings A and B in the diagram indicate this. Because the mesh structure consists of a first set of parallel tracks extending along a first direction and a second set of parallel tracks extending along a second direction, each wheel assembly of the front and rear wheel assemblies contacts a different track in the mesh structure to prevent any part of the rolling assembly from falling into the mesh opening. There are many ways to achieve this. The first is as follows... Figure 8 As shown, each wheel assembly of the front and rear wheel assemblies includes a single extended roller, the single extended roller having a length extension spanning the maximum diagonal length Dg of a single mesh opening 14c. A second embodiment, for example... Figure 9 As shown, each wheel assembly of the front and rear wheel assemblies comprises a plurality of wheels. The plurality of wheels in the front and rear wheel assemblies are configured to rotate about common axes of rotation FF (front axle) and RR (rear axle). Figure 8 and Figure 9 In the two embodiments shown, the length Lw of each wheel assembly in the front and rear wheel assemblies is such that the wheel assembly of the front and rear wheel assemblies contacts two different tracks of the grid structure. For the purposes of this invention, the length of each wheel assembly in the front and rear wheel assemblies corresponds to... Figure 6 The width W of the scroll component shown. Figure 6 In the specific embodiment shown, each wheel assembly of the front and rear wheel assemblies extends outward from the upper portion 64 of the frame to rest in different areas of the grid structure, i.e., at least two different tracks. When the wheel assembly comprises a plurality of wheels, the spacing D between the plurality of wheels may optionally be smaller than the width Lt of a single track to prevent tracks from entering between the plurality of wheels (see [reference]). Figure 9 ).exist Figure 8 and Figure 9 In both embodiments, the length of the wheel assembly of the front and rear wheel assemblies is indicated by the denoting Lw, which is greater than the maximum diagonal length of the grid opening 14c, indicated by the denoting Dg. Therefore, each wheel assembly of the front and rear wheel assemblies contacts a different track of the grid structure.

[0079] However, the present invention is not limited to Figure 8 and Figure 9 The wheel assembly configuration shown is applicable to other wheel assembly configurations as well, in order to contact two different tracks of the grid structure. Figure 6 In the specific embodiment shown, the front and rear wheel assemblies 73a and 73b include two rollers 80 that rotate about a common axis of rotation FF and RR. Each wheel of the front and rear wheel assemblies rotates about one or more common rods or axes. Figure 6 In a particular embodiment, two rollers 80 are rotatably mounted on separate rods at the front 73a and rear 73b wheel assemblies and are sufficiently separated so that each roller 80 of the front and rear wheel assemblies contacts the track of the grid structure. The length of each roller is less than the longest length of the grid cell, for example, 700 mm, but the total length of the two rollers, including the gap between the rollers, exceeds the length of the maximum diagonal length Dg of the grid opening 14c. Figure 10 An embodiment of a single roller 80 for moving a fall-limiting device across a grid structure is shown. The single roller 80 includes a stainless steel roller 82 rotatably mounted on a rod 84, which is similarly rotatably mounted to the lower portion 70 of the frame. The stainless steel roller 82 includes an outer rubber sleeve 86 to prevent the fall-limiting device of the present invention from damaging the track, particularly the track profile, when moving across the grid structure.

[0080] Worker 88 can be restrained in the upper part 64 of the frame 62 by a suitable safety harness 90. Figure 11 In the specific embodiment shown, an operator 88 wearing a suitable safety harness 90 can be attached to the upper portion 64 of the frame 62 via one or more fasteners (not shown). Commercially available safety harnesses for confining the operator to the upper portion of the frame include DBI-SALA® ExoFit. TMExamples of safety fasteners for confining workers to the upper portion of the frame include, but are not limited to, hooks or shackles. At least one worker can be confined to the upper portion of the frame via parallel side or end frame members attached to the frame 62. The frame 62 of the fall-limiting device functions as a Zimmer® frame, allowing workers to walk safely on the track while gripping the upper portion of the frame, particularly the parallel side frame members. However, if a worker accidentally slips into a grid cell, the worker can be confined to the frame via an inertia reel 92, which is coupled to the frame 62, particularly the upper portion. The inertia reel 92 prevents a worker confined to the upper portion of the frame from falling too deep into the grid cell. Other methods of confining workers to prevent them from falling into grid openings are also applicable in this invention, including various harnesses or ropes.

[0081] If someone is injured on the grid structure or has fallen through an opening in the grid, the fall restraint device of this invention can be used as a rescue device. Figure 12 In the specific embodiment shown, the frame 62 includes a winch 94 attached to a suspension frame member or suspension beam 96. The suspension frame member or suspension beam 96 is sufficiently robust to withstand the weight of a worker weighing 100 kg or more. Figure 12 In the specific embodiment of the invention shown, the suspension beam 96 extends across the open structure 66 to a parallel structural member in the upper portion of the frame and is detachably supported or secured to the parallel structural member by an inwardly bent end 98. A winch 94 allows injured personnel to be suspended from the suspension beam 96 and transported to a safe location at the edge of the grid structure. The winch 94 has a sufficiently long winch cable to be wound downwards towards the grid cell, the height of which may be equivalent to 21 containers (e.g., over 3 meters). The end of the winch cable is a hook 100 or other fastening tool to grab a person who has fallen onto the rails or into the grid opening. A stretcher (not shown) may be attached to the winch 94 to assist in the safe evacuation of injured personnel from the grid structure. The winch may be manually or electrically driven, giving workers confined to the frame more control in safely pulling injured personnel from the rails.

[0082] The winch can not only lift injured personnel who have fallen onto the tracks or into the grid openings, but also be used to right load handling devices that have tipped over onto the tracks. Occasionally, one or more load handling devices may tip over onto the grid structure, causing a portion of the grid to be declared inoperable until the tipped load handling device can be restored to an upright position, or, if the load handling device malfunctions, retrieved to the edge of the grid mechanism. This increases the downtime of the portion of the grid structure. The fall limiting device of this invention includes a winch that can be used to right tipped load handling devices because the fall limiting device can be quickly activated on the grid structure and can reach damaged load handling devices on the grid structure.

[0083] The top of the load handling device includes a lifting element that can be used to lift the load handling device from the rails. Figure 13 A lifting element 102 for manually moving the load handling device 30 is shown. The lifting element 102 includes a cross-section below a spherical head, forming a bottom surface 104. The lifting element 102 is designed to allow attachment of a lifting mechanism to lift the load handling device 30 from the grid cell. In some cases, the load handling device may malfunction and become stuck on the track. Typically, in the art, to retrieve a malfunctioning load handling device, a service vehicle pulls the device up, lifting its wheels off the track, and the malfunctioning device is placed on the service vehicle's platform, from which it is then transported to the edge of the grid structure. However, there may not be sufficient height above the load handling device to lift it off the track. This is especially true when the overhead space above the load handling device in a distribution center or fulfillment center is only sufficient for the device to move on the track and not enough to accommodate a winch assembly exceeding 2 meters in height. To address this issue, the fall limiting device of the present invention includes a traction rod that can be coupled to the damaged load handling device and drag the load handling device to the edge of the grid structure, rather than leaving the load handling device suspended off the track. Figure 14 As shown, one end 108 of the pull rod 106 is fixed to the frame of the fall limiting device 60 of the present invention, while the other end 110 of the pull rod 106 is coupled to or interacts with the load handling device 30, and more specifically, interacts with the lifting element 102 at the top of the load handling device. One or more workers confined to the frame of the fall limiting device 60 can then manually pull or push the damaged load handling device to the edge of the grid structure. The wheels of the load handling device can be disengaged, so the load handling device can rotate freely on the track, thereby allowing workers confined to the frame to push or pull the load handling device on the track. Although Figure 14The specific implementation shown in the image depicts a traction bar attached to the top of the load handling device, but other methods of attaching the traction bar to the load handling device (such as the bottom of the load handling device) provide more stability when dragging the load handling device to the edge of the grid structure.

[0084] In use, when access to the grid structure is required, the worker can simply lift the frame and place it on the track so that the rolling assembly installed on the frame is adjacent to the track, allowing the fall restraint device to be raised. For example... Figure 15a As shown, the operator can enter the open structure and is confined to the upper part of the frame. While gripping the parallel side frame members, the operator confined to the upper part of the frame can walk on the grid structure 14b by stepping on tracks 22a, 22b. The width of the rolling assembly prevents any part of the rolling assembly from falling into the grid opening 14c. To manipulate or rotate on the grid structure, the operator can lift only the frame so that at least a portion of the rolling assembly is lifted off the tracks, as... Figure 15b As shown, the operator can then rotate the frame to the desired orientation on the grid structure without any part of the rolling components falling into the grid opening 14c. The lightweight frame, as described above, allows the fall limiting device to be easily lifted and rotated on the track. Operators confined to the upper part of the frame, more specifically those in the open structure of the frame, can access the desired location or grid cell within the grid structure.

[0085] Although Figure 6 The specific embodiment shown illustrates an open structure joined by parallel structural members; however, other types of structures can also be used to confine at least one worker to the upper portion of the structure. Figure 16 In a second embodiment of the fall restraint device 360 ​​of the present invention, the upper frame 364 includes opposing A-shaped frames 366 or diagonal structural members that intersect at a vertex near the top of the frame. The A-shaped frames 366 support suspension structural members or suspension beams 396 positioned between the opposing A-shaped frames 366. Compared to... Figure 6 In the upper part of the structure shown, at least one worker is suspended from a suspension beam 396 positioned between opposing A-frames 366. Front wheel assemblies 373a and rear wheel assemblies 373b are respectively mounted to the bottom of the A-frames such that the length of the suspension beam corresponds to the wheelbase distance of the fall restraint device 360, i.e., the distance between the front wheel assemblies 373a and rear wheel assemblies 373b. The suspension beam 396 is lengthened so that more than one worker can be suspended from it, for example, via an inertia reel (not shown) coupled to the suspension beam. Figure 16As shown, one or more hooks 382 are suspended on the suspension beam 396 to allow workers or winch assemblies (not shown) to attach to the suspension beam 396. The fall limiting device 360 ​​may employ the same or similar rolling assembly 370 as described in the first embodiment of the invention, wherein the rolling assembly includes a front wheel assembly 373a and a rear wheel assembly 373b. The length Lw of each wheel assembly of the front and rear wheel assemblies extends across the grid opening 14c, such that the wheel assembly contacts different tracks or areas of the grid structure (at least two contact points) as it travels on the grid structure, preventing any part of the rolling assembly from falling into the grid cell opening. In a second embodiment of the fall limiting device 370, each wheel assembly of the front and rear wheel assemblies includes three extended rollers 380 that rotate about a common axis. Similar to the first embodiment of the fall limiting device, the front and rear wheel assemblies 373a, 373b extend transversely to the longitudinal direction of the suspension beam 396 to allow workers on the suspension beam to move the fall limiting device longitudinally while walking on the grid structure. One or more of the aforementioned winch assemblies (not shown) may be mounted to the suspension beam 396. The extended suspension beam 396 according to the second embodiment of the invention provides sufficient clearance for a fall restraint device placed above the grid cell, while the winch assembly (not shown) mounted to the extended suspension beam is capable of suspending a malfunctioning load handling device away from the grid structure.

[0086] Different configurations of the structural components can be used in the upper portion of the structure depending on the application of fall limiting devices. In a first embodiment, the structural components are configured to provide an internal open structure to support workers confined to the structure walking on the tracks. Figure 16 In the second embodiment shown, the structural members are configured to provide opposing A-frames and suspension beams, with the suspension beams positioned between the A-frames to define a gantry, allowing the fall limiting device to easily lift larger objects, such as malfunctioning load handling equipment. In both embodiments of the invention, the frame is light enough to be easily moved on the tracks, while the roll-on assembly extends outwards from the upper portion of the frame to adjoin different areas of the grid structure or tracks, thereby increasing the stability of the fall limiting device on the grid structure, i.e., the coverage area occupied by the roll-on assembly is larger than the coverage area occupied by the upper portion of the frame. This allows the fall limiting device to be easily moved and rotated on the grid structure because the frame is light enough to allow at least a portion of the roll-on assembly to be lifted off the tracks. Although in Figure 16 Not shown, but the tow bar can be incorporated into the fall limiting device of the second embodiment of the fall limiting device 360 ​​in order to push or pull the damaged load handling device coupled to the tow bar to the edge of the grid structure.

[0087] Figure 6The modification of the first specific embodiment of the fall limiting device shown in the fall limiting device 460 includes a feature for confining worker 88 within the internal open structure 466 of the frame 462, which is shown in Figure 17 In the third specific embodiment of the present invention. As... Figure 6 and Figure 16 The fall limiting device 460 of the first and second embodiments of the present invention shown includes a frame 462. The frame 462 includes an upper portion 464 for confining at least one worker 88 to the frame 462 and a lower portion 468 for mounting a rolling assembly 472. The fall limiting device 460 is equipped with a rolling assembly 472 that is the same as or similar to those in other embodiments of the present invention, wherein the stability of the frame 462 on the grid is provided by the rolling assembly mounted to the lower portion, which extends outward across the opening of the grid in the upper portion. Crucially, the rolling assembly 472 includes a front wheel assembly 473a and a rear wheel assembly 473b. Each wheel assembly of the front and rear wheel assemblies 473a and 473b has a length Lw that extends across the grid opening 14c and runs laterally to the longitudinal direction of the upper portion 464, such that the wheel assemblies 473a and 473b contact the grid 14b at two points or two different tracks 22a and 22b, as... Figure 17 As shown. In a particular embodiment of the invention, each wheel assembly 473a, 473b of the front and rear wheel assemblies includes an elongated roller, and more specifically, two elongated rollers 480 are configured to rotate about a common axis FF and RR, respectively.

[0088] compared to Figure 6 The first embodiment of the invention shown includes an upper portion 464 of the frame further comprising upwardly extending structural members, which are supported or connected together to form a lifting or hoisting frame 465 for supporting the winch 482. Figure 17In the specific embodiment of the invention shown, the lifting frame 465 includes upwardly extending tubular structural members connected to the lower portion 468 of the frame and parallel structural members in the upper portion of the frame. The lifting frame 465 can also function as a tip-over shield, protecting workers within the upper portion 468 should the fall-limiting device 460 tip over on the grid structure 14b. A winch 482 is mounted to the lifting frame 465 so that it is suspended at the uppermost part of the lifting frame. As in other embodiments of the invention, in operation, workers confined to the frame can walk on tracks 22a, 22b while gripping the parallel structural members. To rotate the fall-limiting device on the grid, the worker only needs to lift the frame, causing at least a portion of the rolling assembly 472 to be lifted off the track, allowing the worker to rotate the frame in the desired orientation. The key to this invention lies in its ability to provide a lightweight fall-limiting device to lift at least a portion of the rolling assembly off the track, thereby enabling the fall-limiting device to rotate on the grid. Preferably, the fall-limiting device weighs less than 100 kg, more preferably less than 60 kg, and even more preferably less than 30 kg. Providing a lightweight frame for the assembly, including tubular structural members, to form an open structure, enables the realization of a lightweight fall-limiting device.

[0089] However, in another embodiment of the invention, Figure 6 and Figure 17 Two or more fall limiting devices in the first and / or third embodiments of the present invention shown can be connected together via a link 594 to form Figure 18 The component 500 is shown. By allowing two or more fall limiting devices 560a, 560b to be connected together via a link 594 to form component 500, the load-bearing capacity of the component is increased because two or more operators can drive the component on the track. Each of the two or more fall limiting systems can be operated independently relative to each other, so that personnel confined within each of the two or more fall limiting systems can independently manipulate their respective fall limiting devices by lifting at least a portion of the rolling component. Figure 18 In the specific embodiment shown, the first 560a and second 560b fall limiting devices are shown separated by a link 594 to define a working area between the first 560a and second 560b fall limiting devices. The link 594 extending between the first 560a and second 560b fall limiting devices may be a suspension or horizontal beam or suspension structure member for suspending a malfunctioning robot load handling device above the track and / or workers operating on the track.

[0090] The suspension beam or suspension structure member 594 can be mounted to the upper portions 564a, 564b of the frame structure of the first and second fall limiting devices. Mounting each end of the suspension beam or suspension structure member 594 to the upper portion of the frame structure of each of the first and second fall limiting devices is similar to... Figure 17 The lifting frame shown includes tubular structural members extending upward on both sides of the frame structure of the fall limiting device and supported together by the structural members, which extend across the frame structure in a direction substantially perpendicular to the longitudinal direction of the suspension structural members. The lifting frame 565 facilitates raising the suspension structural member 594 above the track, sufficient to suspend the load handling device on the suspension structural member, or optionally, a person suspended from the suspension structural member while standing on the track.

[0091] One or more operators are restricted to each of the first and second fall limiting devices 560a and 560b, enabling them to move their respective first and second fall limiting devices on the track such that the first and second fall limiting devices operate on the track like a tandem bicycle, i.e., movement of the components on the track depends on the operators restricted to the first and second fall limiting devices moving their respective fall limiting devices. One or both ends 502 of the suspension beam or suspension structure member 594 are mounted to the first 560a and / or the second 560b fall limiting devices via pivotable joints, allowing the first fall limiting device 560a to move on the track independently of the second fall limiting device 560b. This allows the first fall limiting devices to be connected together on the track while rapidly changing direction relative to the second fall limiting device.

[0092] exist Figure 18 In the specific embodiment shown, the link connecting the first and second fall-limiting devices is a suspension structure member 594 including a parallel beam 595, which is supported by one or more stepped connecting rods 504 to provide additional support to the suspension structure member and prevent it from bending when suspending the robot's load handling device. See above. Figure 12A winch (not shown) may be mounted to the suspension beam or suspension structure component 594 for pulling a malfunctioning robotic load handling unit off the track and / or righting a tilted robotic load handling unit on the track. As described above, a hook (not shown) or other suitable fastener may be attached to the free end of the winch cable for engagement with the lifting element of the load handling unit. A stretcher (not shown) may be attached to the winch to assist in the safe evacuation of injured personnel from the grid structure. The winch may be manually or electrically driven, giving workers confined to the structure more control in safely pulling injured personnel off the track. The gap between the first and second fall limiting devices may serve as the area where the operator works on the track or load handling unit while being secured to the suspension structure component, for example, via an inertial reel.

[0093] In operation, one or more operators restricted by each of the first 560a and second 560b fall limiting devices can manipulate component 500 using the rolling components 572a, 572b of the first and second fall limiting devices on the track. The weight of each of the first and second fall limiting devices is sufficient to allow operators restricted by each of the first and second fall limiting devices to manipulate component 500 on the track by lifting at least a portion of its wheel assembly off the track. Although the total weight of the component is greater than 100 kg, the weight of each of the first and second fall limiting devices is less than 60 kg, which allows the component to be easily manipulated on the track.

[0094] When component 500 is moved on the track, the second fall limiting device 560b can follow the first fall limiting device 560a so that they move one after the other on the track. To rotate the component on the track to position the suspension beam or suspension structure member above a fault load handling device or injured person on the track, an operator within one or both of the first and second fall limiting devices can rotate their respective fall limiting devices on the track. Having pivotable joints connecting the suspension beam or suspension structure member to the first and second fall limiting devices allows the first and second fall limiting devices to move independently relative to each other, thereby improving the steering capability of the component on the track.

[0095] Figure 18The fall limiting devices 560a and 560b shown also include anti-tipping mechanisms 506a and 506b in the form of tension cables or lines. These include a continuous, stable surface to prevent the fall limiting device from falling into the grid opening. The first limiting device 560a includes two tension tethers 506a, each located at the lower portion 568a of the frame, extending between the front wheel assembly 573a and the rear wheel assembly 573b. One end of each tension tether is attached to one end of the front wheel assembly 573a, and the other end is attached to the opposite end of the rear wheel assembly 573b. The second limiting device 560b includes two tension tethers 506b, each positioned in the same manner as the first limiting device 560a. The tension tethers are positioned on the fall limiting device such that if the fall limiting device becomes unbalanced, the tension tethers will touch or rest on the grid members, preventing the fall limiting device from falling into the grid opening. In fact, the anti-tipping mechanism increases the coverage area of ​​the fall limiter, thus making it more stable in the grid structure.

[0096] Tensioning tethers can be made of any high-strength material capable of maintaining tension for extended periods; for example, tensioning tethers may contain steel. Furthermore, tensioning tethers do not significantly affect the weight of the fall limiting device and provide additional stability while allowing workers to manually lift the fall limiting device to the desired position on the grid structure. Anti-tipping mechanisms, for example... Figure 18 The tension tether shown can be used in any specific implementation of a fall restraint device.

[0097] exist Figure 19In another embodiment shown, the fall restraint device 660 includes a gantry 662 comprising a pair of horizontal beams 664 arranged in parallel and supported by one or more legs or vertical members 666 at the front and rear of the gantry 662. The pair of horizontal beams 664 are separated and held apart by spacers 668 connected to the distal ends of the pair of horizontal beams 664. The separation between the pair of horizontal beams 664 supported by one or more legs 666 at the front and rear of the gantry 662 provides an open interior space or workspace 669 extending between the one or more legs 666 at the front and rear of the gantry. Compared to other service vehicles known in the art that operate on grid structures, the workspace 669, defined by paired horizontal beams 664 and one or more legs 666 at the front and rear of the gantry 662, provides one or more operators 671 confined within the workspace 669 with a clear view of the malfunctioning robotic load handling unit on the grid structure, without requiring the robotic load handling unit to be moved to the location of the service vehicle for access, as in prior art solutions. This allows one or more operators 671 confined within the workspace 669 to perform necessary repairs on the malfunctioning robotic load handling unit directly on the grid structure without transporting it to the edge or periphery of the grid structure. Compared to Figure 6 , 16 The specific implementation of the fall limiting device shown in Figure 17, Figures 19 to 23 The fall limiting device shown in the specific embodiment does not necessarily need to be lightweight, that is, its weight is less than 100 kg, preferably less than 60 kg. Because... Figure 19 The workspace 669 in the illustrated embodiment can accommodate more than one worker, so the weight of the fall limit device is not necessarily a decisive factor when manipulating the fall limit device on the grid structure. However, to reduce the weight of the fall limit device, the gantry and the components of the multiple legs can be formed of tubular members, such as lightweight aluminum tubular members.

[0098] The fall protection device includes space for repairing faulty robotic load handlers, allowing operators to fix them at the point of failure. In most cases, repairing a faulty robotic load handler is simply a matter of fixing it; the ability to repair it at the point of failure reduces the downtime of the robotic load handler being inoperable on the grid structure.

[0099] Pairs of legs 666 at the front and rear of the gantry 662 support and are separated from parallel horizontal beams 664, having the same spacing as the aforementioned paired horizontal beams. Legs 666 are supported on one or both sides of the gantry to enclose the workspace 669. One of the pairs of legs at the front and rear of the gantry is supported together by one or more support members 674, 676. Figure 19 In the specific embodiment of the invention shown, although diagonal support members 674, 676 connect one of the paired legs 666 at the front and rear of the gantry to one of the paired horizontal beams 664 on one side of the gantry in a K-shaped support, other configurations of support members are also applicable to the invention, including but not limited to cross supports. The spacing between the paired legs at the front and rear of the gantry is designed to accommodate one or more pockets 678 to allow workers confined to a workspace to store tools and / or replacement parts in one or more pockets 678. Alternatively, the spacing between the paired legs at the front and rear of the gantry may accommodate one or more baskets for storing tools and / or replacement parts. One or more handles or bars 680 (see...) Figure 20 The paired legs 666 extend across the front and rear of the gantry so that workers confined to the workspace can grip the handles while walking on the grid structure (see...). Figure 19 ).

[0100] Figure 19 Also shown are one or more bridging members 682 extending across the workspace and supported by pairs of horizontal beams 664. As in other embodiments of the invention described above, a winch (not shown) may be mounted to the bridging member 682 for pulling loads from the grid structure. For example, a winch mounted to the bridging member may be used to right an overturned robotic load handling device or to lift the robotic load handling device off the track so that the robotic load handling device can be transported to the edge or periphery of the grid structure. Figure 20 In the specific embodiment shown, the bridging member 682 is mounted on a pair of tracks or rails 684 supported by a pair of horizontal beams 664. The pair of tracks 684 may be fixed to or integrally formed with the pair of horizontal beams 664. This allows the bridging member 682 to move along the length of the pair of horizontal beams 664 and allows the bridging member 682 to be precisely positioned over a malfunctioning robot load handling device without needing to move the fall limiting device when attempting to position the winch over the malfunctioning robot load handling device.

[0101] In order to manipulate the fall restraint device 660 on the grid structure, a gantry 662 is installed as shown in the reference. Figure 8 and Figure 9The aforementioned rolling assembly 670. As described above, the rolling assembly can be a freely rotating rolling assembly, allowing workers confined to the workspace to manually move the fall-limiting device on the grid structure. The rolling assembly includes a front wheel assembly and a rear wheel assembly, each wheel assembly extending laterally outward to both sides of the gantry, such that each wheel assembly of the front and rear wheel assemblies contacts different tracks of the grid structure. Here, the length Lw of each wheel assembly 672a, 672b of the front and rear wheel assemblies extends across the grid opening 14c, such that the wheel assembly contacts different tracks or areas of the grid structure (at least two contact points) as it travels on the grid structure, preventing any part of the rolling assembly from falling into the grid cell opening. Figure 19 In the specific embodiment shown, each wheel assembly 672a, 672b of the front and rear wheel assemblies includes three sets of wheels that rotate about their respective common axes. Similar to the first embodiment of the fall limiting device, the front and rear wheel assemblies 672a, 672b extend laterally to the longitudinal direction of the paired horizontal beams 664, such that each wheel assembly 672a, 672b extends laterally outward to both sides of the gantry 662. The outwardly extending wheel assemblies improve the stability of the fall limiting device 660, allowing the worker 671 confined within the workspace 669 to move the fall limiting device longitudinally while walking on the grid structure. Similar to other embodiments, the wheel assemblies at the front and rear of the gantry are free to rotate, meaning they are capable of rotation.

[0102] Because the front and rear wheel assemblies 672a and 672b extend outwards to both sides of the gantry across multiple grid cells, at least portions 673a and 673b of the front and rear wheel assemblies can be folded, meaning they can be stowed away, thereby reducing the coverage area of ​​the fall limiting device and facilitating the storage of the fall limiting device or freeing up the grid cell occupied by either the front or rear wheel assembly 672a or 672b. Figure 20 In the specific embodiment shown, one or more sets of wheels of the front and rear wheel assemblies 673a, 673b are pivotally mounted to one or more legs, which support pairs of parallel horizontal beams 664 at the front and rear of the gantry 662. One or more sets of wheels of the front and rear wheel assemblies 673a, 673b are mounted on a transport vehicle engaging one of the legs 666, which support the pairs of parallel horizontal beams 664 at the front and rear of the gantry 662. In the stowed configuration, two sets 673a, 673b of the three sets of wheels at the front and rear of the gantry, extending laterally on both sides of the gantry, are rotatable so as to be lifted off the ground (in this case, onto the track) and securely fastened to one of the legs supporting the pairs of parallel horizontal beams at the front and rear of the gantry. When the retracted wheels are being repositioned, the two sets of wheels 673a and 673b at the front and rear of the gantry detach from the legs of the gantry and rotate so that they come into contact with the track. Figure 20 The wheel assemblies at the front and rear of the gantry in the retracted configuration are shown, while Figure 19 The wheel assemblies at the front and rear of the gantry in the scheduling configuration are shown, with wheels extending laterally on both sides of the gantry.

[0103] The height of the paired horizontal beams 664 above the rolling assembly 670 can be changed by mounting the paired horizontal beams 664 to legs of different lengths. Figure 21 In the specific embodiment shown, the height of the gantry 662 is increased by mounting pairs of parallel horizontal beams 664 to longer legs 666. Alternatively, one or more legs at the front and rear of the gantry can be telescopic so that the height of the gantry can be changed. The advantage of increasing the gantry height is that it increases the height of the workspace, providing sufficient headroom for the worker 671 confined within the workspace 669, as... Figure 22 As shown. Confining workers within the gantry's workspace involves workers wearing appropriate safety harnesses, which are attached to any part of the gantry, such as a horizontal beam or leg, via one or more fasteners (not shown), as discussed in other embodiments of the invention. One or more fasteners may include an inertial reel.

[0104] During operation, refer to Figure 22 The operator 671, confined within the workspace 669 of the gantry 662, can push and manipulate the fall restraint device 660 along the track toward the malfunctioning robotic load handling unit so that the malfunctioning robotic load handling unit is within the gantry's workspace. Once within the workspace, the operator can move the bridging member 682 along the track 684 to position it directly above the robotic load handling unit 30, allowing the winch mounted to the bridging member 682 to engage with the robotic load handling unit, more specifically with its lifting elements (see [link to documentation]). Figure 13 Winches can be used to support a robotic load handling unit that is tipping over on the track or to move a malfunctioning robotic load handling unit to a safe area away from the “active” grid structure—usually at the edge of the grid structure—to prevent a working robotic load handling unit from colliding with the malfunctioning one.

[0105] Figure 23 Showing Figures 19 to 22 A slight modification to the fall limiting device shown, wherein the fall limiting device 760 includes a single suspension beam or horizontal beam 764 extending between one or more legs 766 at the front and rear of the gantry 762, and a movable trolley 782 carrying a winch is mounted on the single suspension beam 764. Compared to Figures 19 to 22The bridging member shown has its load distributed above a pair of parallel horizontal beams. Figure 23 In the specific embodiment shown, the load is borne by a single suspension beam 764. Figure 23 Other features of the fall limiting device shown are similar to Figures 19 to 22 The specific implementation methods shown are the same.

[0106] In another specific implementation, such as Figure 24 As shown, the fall limiting device 860 includes a wedge-shaped frame structure. Specifically, the frame 862 includes a front end 870 and an opposing rear end 880, with the rear end 880 being wider than the front end 870. The rear end 880 of the frame is also higher than the front end 870. Further, the rear end 880 provides an opening 882 for access to the open interior space 866. The opening 882 allows workers within the open interior structure 866 to move more naturally and with longer strides when moving around the grid structure, with the rear end 880 positioned in front of the workers. Furthermore, the opening 882 allows workers easier access to portions of the grid structure for maintenance work. The opening 882 is also configured to receive multiple fall limiting devices. Multiple fall limiting devices can be stacked together by pushing the front end of a second fall limiting device into an opening at the rear end of a first fall limiting device. This allows multiple fall limiting devices to be stored within a small area.

[0107] Figure 25 Four fall-limiting devices are shown, each equipped with Figure 24 The fall restraint devices 860 and 910 are arranged in a wedge-shaped frame and nested together. A first fall restraint device 860 is positioned in front of the nested assembly. The front end 915 of a second fall restraint device 910 is pushed into an opening in the rear end 880 of the first fall restraint device 860, so that the front end 915 of the second fall restraint device 910 is placed in the inner open space 866, close to the front end 870 of the first fall restraint device 860. The wedge shape means that the frame converges towards the front end. Therefore, the front end 870 of the frame 886 is narrower and shorter than the rear end 880 of the frame. A third fall restraint device 920 and a fourth fall restraint device 930 have the same shape as the first 860 and the second fall restraint device 910, such that the third fall restraint device 920 can be pushed into an opening in the rear end 918 of the second fall restraint device 910, and the fourth fall restraint device 930 can be pushed into an opening in the rear end 928 of the third fall restraint device. In this way, the first 860, the second 910, the third 920, and the fourth fall limiting device 930 can be operated as a set of fall limiting devices. More fall limiting devices can be added to this set, as... Figure 25 As shown. Other frame shapes can also be used, which have a rear end that is wider than the front end; for example, the frame can be L-shaped.

[0108] like Figure 24As shown, the opening 882 at the rear end 880 of the frame is defined by a pair of vertical members 888, which are separated by a spacer 886 connected to the distal ends of the pair of vertical members 888. The spacer 886 defines the top of the opening 882, while the pair of vertical members 888 define the sides of the opening 882. When located on a grid, the bottom of the opening 882 is defined by the grid structure, or, if located outside the grid, by the ground. Therefore, the fall restraint device 860 does not include the rear wheel assembly presented in other embodiments. The size of the opening 882 allows the front end of the frame of another fall restraint device to fit just into the opening 882 and nest within the open internal structure 866 of the fall restraint device.

[0109] Similar to other embodiments of the invention, the frame 862 includes an upper portion 864 for confining at least one operator within the frame 862 and a lower portion 878 for mounting the rolling assembly 872. The frame is configured such that the operator is placed within the open internal structure 866. When viewed from the side, the upper portion 864 is triangular, such that parallel side frame members define downwardly angled handles. When viewed from the side, the lower portion 878 is rectangular. The front end 870 is narrower and shorter than the rear end 880. Figure 24 In this configuration, the height and width of the front end 870 are approximately two-thirds of the rear end 880. The height and width ratio of the front end to the rear end may also be other proportions. Workers can move across the grid structure with the rear end 880 of the frame in front of them. Alternatively, workers can move across the grid structure with the front end 870 in front of them to avoid their line of sight being obstructed by the spacer 886 at the rear end 880 of the frame.

[0110] The fall limiting device 860 can be moved via a rolling assembly 872 at the front end 870 of the frame. The rolling assembly 872 is mounted to the lower portion 878 of the frame. To rotate the fall limiting device, the operator pivots the frame or tilts the frame around the rolling assembly 872. For example, to manipulate the fall limiting device on a grid structure, the operator lifts the rear end 880 of the frame and pivots the fall limiting device about a vertical axis that extends through the rolling assembly 872. Thus, the operator moves the fall limiting device in a manner similar to moving a wheelbarrow. The width of the front rolling assembly allows the operator to tilt the fall limiting device with the rolling assembly as support; for example, the rolling assembly may be wider than twice the diagonal length spanning the grid opening. Figure 24The diagram shows that the rolling assembly 872 includes two rollers. However, the rolling assembly 872 may include any number of rollers, such as one roller, three rollers, or four rollers. Using more rollers makes it easier to rotate the fall limiting device. Alternatively, the rolling assembly 872 includes a wheel. The rolling assembly 872 is freely rotatable, meaning the rollers or wheels are freely rotating. Alternatively, the fall limiting device does not include any rollers, except for a pair of sliding plates 892 extending longitudinally along the length of the frame, but instead includes a sliding plate at the front end 870 of the frame, which is similar to the pair of sliding plates 892, as shown... Figure 24 As shown and as discussed now.

[0111] Figure 24 The fall limiting device includes sliding components 892, which exist in the form of paired sliding plates and are arranged to slide on the grid structure with minimal friction. The sliding components also increase contact with the grid, thereby improving the stability of the fall limiting device on the grid structure. The paired sliding plates are attached to the bottom surface of a horizontal beam 894, located in the lower portion 878 of the fall limiting device. Each sliding plate on each side of the frame branches outward at an acute angle α from the front end 870 toward the rear end 880 to improve the stability of the fall limiting device 860 on the grid structure. The paired sliding plates 892 are wider than the width of the horizontal beam 894, thereby increasing contact with the grid members and thus improving the stability of the fall limiting device. Additionally, although not shown, the paired sliding plates have rounded edges on all four sides to allow the frame to be moved in all directions. The sliding plates can be attached directly to the bottom surface of the horizontal beam 894, or as... Figure 24 As shown, the pair of sliding plates 892 can be attached to the bottom surface of the horizontal beam 894 via the connecting beam 896. In summary, the operator can use the combination of the rolling assembly 872 (or alternatively, the sliding plate at the front end 870 of the frame) and the pair of sliding plates 892, which extend longitudinally along the length of the frame, to move and rotate the fall limiting device.

[0112] Although Figure 24 Not shown, but the fall limiting device 860 may include an additional beam transversely parallel to the spacer 886, but at a height lower than the spacer of the upper portion 864 of the frame, to which a lifting mechanism or hook may be attached. The lifting mechanism or hook may be used to lift the load handling device 30 tilted on the grid structure. In this configuration, the load handling device can be lifted from the grid structure to the internal open space 866 without destabilizing the fall limiting device 860. Alternatively, the two fall limiting devices of this embodiment may be connected together via a suspension beam 594 or a suspension structural member, for example... Figure 18 As shown, the faulty robot load handling unit is suspended above the track.

[0113] Within the scope of the invention as defined by the claims, various modifications to the illustrated embodiments that are obvious to those skilled in the art are considered to be within the scope of the invention. For example, different rolling components may be used without departing from the scope of the invention as defined by the claims. For example, different combinations of wheels and / or rollers may be used for the rolling components. This includes, but is not limited to, lengthening rollers to form a plurality of wheels rotating about a common axis of rotation.

[0114] Figures 19 to 23 Further features of the specific embodiments shown include:

[0115] 1. A fall-limiting device for manual movement on a grid structure, the grid structure comprising a first set of parallel rails and a second set of parallel rails running transversely to the first set in a substantially horizontal plane, arranged in a grid pattern comprising a plurality of grid cells, each grid cell having a length in the range of 600-800 mm and a width in the range of 400-600 mm, thereby defining a grid opening, the grid opening being defined by pairs of adjacent rails of the first set of parallel rails and pairs of adjacent rails of the second set of parallel rails; the fall-limiting device comprising:

[0116] A gantry crane, the gantry crane including at least one horizontal beam, the at least one horizontal beam being supported at each end by a plurality of legs to define a workspace for one or more workers to be confined within the workspace;

[0117] The gantry is mounted on a rolling assembly so that the user, confined within the workspace, can manually move the fall restraint device in any direction on the grid structure. The rolling assembly includes a front wheel assembly and a rear wheel assembly, each wheel assembly extending laterally outward to both sides of the at least one horizontal beam, such that each wheel assembly of the front wheel assembly and the rear wheel assembly contacts a different track of the grid structure.

[0118] 2. The fall limiting device according to feature 1, wherein the plurality of legs at each end of the at least one horizontal beam are respectively disposed for the front and rear wheel assemblies.

[0119] 3. The fall limiting device according to feature 1 or 2, wherein the plurality of legs at each end of the at least one horizontal beam comprises paired legs.

[0120] 4. The fall limiting device according to feature 3, wherein the paired legs at each end of the at least one horizontal beam converge parallel or upward.

[0121] 5. The fall limiting device according to feature 3 or 4 further includes a small container securely fixed between the paired legs, the paired legs being located at one or both ends of the at least one horizontal beam.

[0122] 6. The fall limiting device according to any one of features 3 to 5, further comprising at least one handle within the workspace, the at least one handle extending between the paired legs located at the front and / or rear of the gantry.

[0123] 7. The fall limiting device according to any of the foregoing features, wherein at least a portion of the front and rear wheel assemblies is pivotally mounted to at least one leg of the plurality of legs located at each end of the at least one horizontal beam, such that at least a portion of the front and rear wheel assemblies is rotatable from a loading configuration in which at least a portion of the front and rear wheel assemblies is lifted off the track to a scheduling configuration in which the front and rear wheel assemblies are engaged with the track.

[0124] 8. The fall limiting device according to feature 7, wherein at least a portion of each of the front and rear wheel assemblies is mounted on a transport vehicle, the transport vehicle engaging at least one leg of the plurality of legs located at each end of the at least one horizontal beam, so as to be securely fixed to the at least one leg of the plurality of legs in a loading configuration.

[0125] 9. The fall limiting device according to any of the foregoing features, wherein the at least portion of the front and rear wheel assemblies comprises a pair of wheel sets laterally positioned on either side of the at least one horizontal beam, such that the length of the front and rear wheel sets is greater than the length corresponding to the diagonal length spanning the grid opening.

[0126] 10. The fall limiting device according to feature 9, wherein each of the front and rear wheel assemblies comprises three sets of wheels.

[0127] 11. The fall limiting device according to feature 10, wherein each of the three sets of wheels comprises a plurality of wheels configured to rotate about a common axis.

[0128] 12. The fall limiting device according to any of the foregoing features, wherein the front wheel assembly and the rear wheel assembly are separated by a wheelbase distance greater than the length spanning at least one grid cell.

[0129] 13. The fall limiting device according to any of the foregoing features, further comprising a winch movably mounted to the at least one horizontal beam.

[0130] 14. The fall restraint device according to the foregoing features, wherein the at least one horizontal beam comprises a pair of horizontal parallel beams such that the pair of horizontal beams are supported at each end by the plurality of legs.

[0131] 15. The fall limiting device according to feature 14 further includes at least one bridging member supported by the pair of horizontal parallel beams, such that adjacent bridging members extend across the workspace.

[0132] 16. The fall limiting device according to feature 15, wherein the at least one bridging member is movable along the longitudinal length of the pair of horizontal parallel beams.

[0133] 17. The fall limiting device according to feature 16, wherein the at least one bridging member is mounted on a pair of tracks or rails so that it can move along the longitudinal length of the pair of horizontal parallel beams.

[0134] 18. The fall limiting device according to any of the foregoing features, wherein each of the plurality of legs located at each end of the at least one horizontal beam is extendable to raise the at least one horizontal beam relative to the rolling assembly.

[0135] 19. The fall limiting device according to any of the foregoing features, further comprising one or more support members extending between one or more of the legs located at the front and rear of the gantry to surround the workspace from at least one side of the gantry.

[0136] 20. The fall limiting device according to feature 19, wherein the one or more support members include first and second support members, the first and second support members being configured to K-shaped support one of the parallel support beams to one of the one or more legs located at the front and rear of the gantry.

Claims

1. A fall restraint device (60) for manual movement on a grid structure, the grid structure comprising a first set of parallel rails and a second set of parallel rails running transversely to the first set in a substantially horizontal plane, and arranged in a grid pattern comprising a plurality of grid cells, each grid cell having a length in the range of 600-800 mm and a width in the range of 400-600 mm, thereby defining a grid opening, the grid opening being defined by pairs of adjacent rails of the first set of parallel rails and pairs of adjacent rails of the second set of parallel rails; The fall limiting device includes: A frame (62) having an upper portion (64) and a lower portion (70), the upper portion being configured to restrict at least one operator. A moving component (72) is mounted to the lower portion (70) of the frame and is configured to move the frame (62) on the grid structure. The moving component (72) includes a rolling component (172) which includes a front wheel assembly (173a) and a rear wheel assembly (173b). Each wheel assembly of the front wheel assembly and the rear wheel assembly extends outward and laterally on each side of the frame such that the length of each wheel assembly of the front wheel assembly (173a) and the rear wheel assembly (173b) is greater than the length corresponding to the diagonal length across the grid opening, thereby enabling the fall limiting device (60) to turn in any direction on the grid structure. The frame (62) is lighter than 100 kg, such that at least a portion of the moving component can be manually lifted away from the grid structure by at least one operator from the upper portion (64) of the frame (62).

2. The fall limiting device according to claim 1, wherein the fall limiting device (60) weighs less than 100 kg.

3. The fall limiting device according to claim 1 or 2, wherein the wheel assembly of the front wheel assembly (173a) and / or the rear wheel assembly (173b) includes at least one extended roller (80).

4. The fall limiting device according to claim 1 or 2, wherein the wheel assemblies of the front wheel assembly (173a) and the rear wheel assembly (173b) comprise a plurality of wheels arranged to rotate about a common axis.

5. The fall limiting device according to claim 4, wherein each of the plurality of wheels is spaced apart by a distance less than the width of the first set of tracks and the second set of tracks.

6. The fall limiting device according to claim 1 or 2, wherein the front wheel assembly (173a) and the rear wheel assembly (173b) are separated by a wheelbase distance greater than the length spanning at least one grid cell.

7. The fall limiting device of claim 4, wherein the plurality of wheels are mounted to at least one bar.

8. The fall limiting device according to claim 1 or 2, wherein the wheel assemblies of the front wheel assembly (173a) and the rear wheel assembly (173b) extend transversely to the longitudinal direction of the upper portion.

9. The fall restraint device according to claim 1 or 2, wherein the frame (62) includes components of a frame element (74) configured to form an internal open structure (66) for accommodating at least one worker, such that the at least one worker restrained by the upper portion (64) can autonomously walk on the grid structure within the open internal space.

10. The fall restraint device of claim 9, wherein the upper portion comprises a pair of parallel side frame members connected together by at least one end frame member, the at least one end frame member being substantially perpendicular to the parallel side frame members to define a handle (680), the handle being supported above the wheel assembly by a plurality of supports such that at least one worker can manually grip the handle while walking on the grid structure.

11. The fall restraint device of claim 10, wherein the upper portion of the frame includes a suspension member or suspension beam (96) extending across the pair of parallel side bars for supporting at least one worker.

12. The fall limiting device according to claim 1 or 2, wherein the lower portion (70) of the frame includes a subframe (78) for supporting the moving component.

13. The fall restraint device according to claim 1 or 2, wherein the upper portion (64) of the frame comprises an A-frame and a suspension frame member (96) extending between the A-frames for supporting at least one worker.

14. The fall restraint device according to claim 1 or 2, wherein the frame further includes a traction member (106) for coupling or interacting with the load handling device (30) on the grid structure.

15. The fall restraint device according to claim 14, wherein the traction member (106) is a traction rod having one end coupled to the upper portion (64) of the frame and the other end coupled to or interacting with the load handling device (30).

16. The fall limiting device according to claim 1 or 2, wherein the frame has a front end (870) and an opposing rear end (880), the opposing rear end being wider than the front end and having an opening so that a second fall limiting device can be nested within the fall limiting device.

17. A component comprising: i) First fall limiting device (506a). ii) Second fall restraint device (506b), iii) A suspension beam or suspension structure component (594) connecting the first fall limiting device and the second fall limiting device. Each of the first fall limiting device and the second fall limiting device includes the fall limiting device as described in any one of claims 1 to 16.

18. The component of claim 17, wherein the suspension beam or suspension structure member (594) is mounted to the upper portion of the frame of the first fall limiting device and the second fall limiting device.

19. The assembly of claim 18, wherein the suspension beam or suspension structure member (594) is mounted to the upper portion of the first fall limiting device and / or the second fall limiting device via at least one pivotable joint.

20. The component of claim 18 or 19, wherein the winch is mounted to the suspension beam or the suspension structure member.

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