Clamping device for anchoring safety belt to track system and method of using same

Abstract

A gripping device (600) for anchoring a safety belt (700) to a rail system (108) is disclosed wherein the rail system (108) comprises:-a first set of parallel rails (110) arranged in a horizontal plane (PH) and extending in a first direction (X), and-a second set of parallel rails (111) arranged in the horizontal plane (PH) and extending in a second direction (Y) orthogonal to the first direction (X), the first and second sets of rails (110, 111) form a mesh pattern in a horizontal plane (PH), the mesh pattern comprising a plurality of openings (112), where each opening (112) is defined by a pair of adjacent rails in the first set of rails (110), a pair of adjacent rails in the second set of rails (111), and four intersections (113) at which each opening (112) is located in the horizontal plane (PH). Each rail of the first set of rails (110) respectively intersects with one rail of the second set of rails (111), and wherein the clamping device (600) comprises:-an attachment point (614) for the safety belt (700),-a first clamping jaw (612); and-a second clamping jaw (622) wherein the clamping device (600) is operable between a clamping configuration to pivot the clamping jaws (612, 622) relative to each other to adjust a jaw spacing (JG) between the distal ends of the clamping jaws (612, 622) wherein the first clamping jaw (612) and the second clamping jaw (622) are configured to release the first clamping jaw (612) and the second clamping jaw (622) when the clamping device (600) is in the clamping configuration. The first jaw (612) and the second jaw (622) engage to opposite sides of one of the first set of rails (110) or the second set of rails (111), and / or wherein the first jaw (612) and the second jaw (622) are configured to engage to two opposite corners of the intersection (113) when the gripping device (600) is in the gripping configuration.

Description

Technical Field

[0001] The present invention relates to a safety device for an automated storage and retrieval system for storing and retrieving containers, and more particularly, to a clamping device that provides attachment points for safety belts. Background Art

[0002] Figure 1 There is disclosed a prior art automated storage and retrieval system 1 having a frame structure 100, and Figure 2 、 Figure 3 and Figure 4 there are disclosed three different prior art container handling vehicles 201, 301, 401 adapted to operate on the system 1.

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

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

[0005] The upright members 102 of the frame structure 100 can be used to guide the storage containers during raising and lowering the storage containers from and to the rows 105. The stacks 107 of the containers 106 are generally self-supporting.

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

[0007] Each of the prior art container handling vehicles 201, 301, 401 further includes a lifting device for vertically transporting the storage container 106, for example, raising the storage container 106 from the storage row 105 and lowering the storage container 106 into the storage row. The lifting device includes one or more gripping / engaging devices adapted to engage with the storage container 106, and the gripping / engaging device can be lowered from the vehicles 201, 301, 401 so that the position of the gripping / engaging device relative to the vehicles 201, 301, 401 can be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y. Parts of the gripping devices of the container handling vehicles 301, 401 are shown in Figure 3 and Figure 4 and are denoted by reference numerals 304, 404. In Figure 2 , the gripping device of the container handling device 201 is located within the vehicle body 201a and is thus not shown.

[0008] Conventionally and also for the purposes of the present application, Z = 1 identifies the uppermost layer available for storing containers below the tracks 110, 111, i.e., the layer immediately below the track system 108, Z = 2 identifies the second layer below the track system 108, Z = 3 identifies the third layer, etc. In the exemplary prior art disclosed in Figure 1 , Z = 8 identifies the bottom layer at the lowermost side of the storage containers. Similarly, X = 1…n and Y = 1…n identify the positions of each storage row 105 in the horizontal plane. Thus, by way of example and using the Cartesian coordinate system X, Y, Z shown in Figure 1 , it can be said that Figure 1The storage container labeled 106’ in [the figure] occupies the storage position of X = 17, Y = 1, Z = 6. It can be said that the container handling vehicles 201, 301, 401 travel in the layer of Z = 0, and each storage column 105 can be identified by its X coordinate and Y coordinate. Therefore, Figure 1 The storage container extending above the rail system 108 as shown is also said to be arranged in the layer of Z = 0.

[0009] The storage volume part of the frame structure 100 is generally called a grid 104, where the possible storage positions within this grid are called storage units. Each storage column can be identified by positions in the X direction and Y direction, while each storage unit can be identified by the container number in the X direction, Y direction, and Z direction.

[0010] Each of the prior art container handling vehicles 201, 301, 401 includes a storage compartment or storage space for receiving and loading the storage container 106 when transporting the storage container 106 across the rail system 108. The storage space can include a cavity arranged inside the vehicle bodies 201a, 401a, as Figure 2 and Figure 4 shown, and as described, for example, in WO2015 / 193278A1 and WO2019 / 206487A1, the contents of which are incorporated herein by reference.

[0011] Figure 3 An alternative configuration of the container handling vehicle 301 with a cantilever construction is shown. Such a vehicle is described in detail, for example, in NO317366, the content of which is also incorporated herein by reference.

[0012] Figure 2 The occupied area of the cavity-type container handling vehicle 201 shown in [the figure] can cover an area with dimensions in the X direction and Y direction approximately equal to the lateral range of the storage column 105, as described, for example, in WO2015 / 193278A1, the content of which is incorporated herein by reference. The term "lateral" used herein can mean "horizontal".

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

[0014] The track system 108 generally includes a track having a groove in which the wheels of the vehicle travel. Alternatively, the track may include upwardly projecting elements, wherein the wheels of the vehicle include flanges to prevent derailment. These grooves and upwardly projecting elements are collectively referred to as guide rails. Each track may include one guide rail, or each of the tracks 110, 111 may include two parallel guide rails. In other track systems 108, each track in one direction (e.g., the X direction) may include one guide rail, while each track in the other perpendicular direction (e.g., the Y direction) may include two guide rails. Each of the tracks 110, 111 may also include two guide rail members fastened together, each of which provides one of the pair of guide rails provided by each track.

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

[0016] In the frame structure 100, most of the columns 105 are storage columns 105, i.e., columns 105 in which storage containers 106 are stored in the form of stacks 107. However, some of the columns 105 may have other purposes. In Figure 1 this case, columns 119 and 120 are such dedicated columns used by the container handling vehicles 201, 301, 401 to unload and / or pick up the storage containers 106, so that the storage containers can be transported to an access station (not shown), where the storage containers 106 can be accessed from outside the frame structure 100, or the storage containers can be moved in or out of the frame structure 100. In the art, such locations are generally referred to as "ports", and the columns in which the ports are located may be referred to as "port columns" 119, 120. The transportation to the access station can be carried out in any direction (i.e., horizontal, inclined, and / or vertical directions). For example, the storage container 106 can be placed in a random or dedicated column 105 within the frame structure 100, and then picked up by any container handling vehicle and transported to the port columns 119, 120 for further transportation to the access station. The transportation from the port to the access station may require moving in various different directions by means such as a distribution vehicle, a trolley, or other transportation routes. It should be noted that the term "inclined" refers to the transportation of the storage container 106 having a generally transportation orientation in a direction between horizontal and vertical.

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

[0018] The access station can generally be a pickup station or a stocking station at which product items are removed from or positioned in the storage container 106. In the pickup station or stocking station, the storage container 106 is generally not removed from the automated storage and retrieval system 1 but is returned to the frame structure 100 again after access. The ports can also be used to transfer the storage container to another storage facility (e.g., to another frame structure or to another automated storage and retrieval system), to a transport vehicle (e.g., a train or a truck), or to a production facility.

[0019] A conveyor system including conveyors is generally adopted to transport the storage containers between the port columns 119, 120 and the access station.

[0020] If the port columns 119, 120 and the access station are at different levels, the conveyor system can include a lifting device having vertical components for vertically transporting the storage containers 106 between the port columns 119, 120 and the access station.

[0021] The conveyor system can be arranged to transfer the storage containers 106 between different frame structures, as described, for example, in WO2014 / 075937A1, the content of which is incorporated herein by reference.

[0022] When it is necessary to access the storage in Figure 1When storing container 106 in one of the multiple columns 105 disclosed in the present disclosure, it is indicated that one of the multiple container handling vehicles 201, 301, 401 takes the target storage container from the position of the target storage container 106 and transports the target storage container to the unloading port column 119. This operation involves moving the container handling vehicles 201, 301, 401 to a position above the storage column 105 where the target storage container 106 is located, using the lifting devices (not shown) of the container handling vehicles 201, 301, 401 to take out the storage container 106 from the storage column 105, and transporting the storage container 106 to the unloading port column 119. If the target storage container 106 is deep within the stack 107, that is, one or more other storage containers 106 are located above the target storage container 106, this operation also involves temporarily moving the storage containers located above before lifting the target storage container 106 from the storage column 105. This step (sometimes referred to in the art as "digging") can be performed using the same container handling vehicle that will subsequently be used to transport the target storage container to the unloading port column 119, or using one or more other collaborative container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 1 can have container handling vehicles 201, 301, 401 dedicated to the task of temporarily removing the storage container 106 from the storage column 105. After removing the target storage container 106 from the storage column 105, the temporarily removed storage container 106 can be repositioned back to the original storage column 105. However, the removed storage container 106 can alternatively be repositioned to other storage columns 105.

[0023] When storage container 106 is to be stored in a column 105, it is indicated that one of the container handling vehicles 201, 301, 401 picks up the storage container 106 from the pick-up port column 120 and transports the storage container to a position above the storage column 105 where the storage container is to be stored. After removing any storage containers 106 located at or above the target position within the stack 107, the container handling vehicles 201, 301, 401 position the storage container 106 at the desired location. The removed storage container 106 can then be lowered back into the storage column 105 or repositioned to other storage columns 105.

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

[0025] During the life cycle of a storage system, maintenance may be required on top of the rail system. Alternatively, maintenance may be required in areas of the system that are accessible via the top of the rail system. If such maintenance needs to be performed by an operator, the operator should wear a safety belt and secure the safety belt to a connection point to prevent or at least limit injuries caused by falling.

[0026] Various devices have been proposed to provide a temporary connection point for a safety belt. Scissorsafe TM There is a product called "Sliding Beam Clamp - Fall Arrest Anchor", which can be purchased online. The device has two claws that can be adjusted in a sliding manner to allow a D-ring to be attached to a beam, such as an I-beam or an H-beam. The device is designed to slide along the beam as the user moves along the length of the beam, and the device can be used with beams of different sizes.

[0027] The rail systems of automated storage and retrieval systems generally do not have the geometry of the webs and flanges of H-beams and I-beams. Therefore, the sliding beam clamping devices of the prior art cannot be adapted to the profile of the rail system.

[0028] In addition, when connecting a sliding beam clamping device of the prior art to a beam, the sliding beam clamping device must be operated at a vertical height that is substantially the same as that of the beam. This can be cumbersome and dangerous for the operator, for example, in cases where the operator has to lean over a fence for maintenance or lean outside a service vehicle (which transports the operator on the rail system) for maintenance.

[0029] In addition, the sliding beam clamping devices of the prior art may damage the guide rails provided on top of the rail system, especially in the case of an operator fall. The force exerted by the sliding beam clamping device on the top of the rail system may deform or compress the guide rails.

[0030] The object of the present invention is to provide a clamping device for fixing an operator to a rail system, which can mitigate or alleviate at least some of the drawbacks associated with known beam clamping devices. Summary of the Invention

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

[0032] The present disclosure relates to a clamping device for anchoring a safety belt to an orbital system, wherein the orbital system includes: a first set of parallel tracks arranged in a horizontal plane and extending in a first direction X; and a second set of parallel tracks arranged in the horizontal plane and extending in a second direction Y orthogonal to the first direction, wherein the first set of tracks and the second set of tracks form a grid pattern in the horizontal plane, the grid pattern including a plurality of openings, each of which is defined by a pair of adjacent tracks in the first set of tracks, a pair of adjacent tracks in the second set of tracks, and four intersections at which each track in the first set of tracks intersects with one track in the second set of tracks respectively, wherein the clamping device includes: an attachment point for the safety belt; a first jaw; and a second jaw, wherein the clamping device is convertible between a clamping configuration and a release configuration to pivot the jaws relative to each other to adjust the jaw spacing between the distal ends of the jaws, wherein the first jaw and the second jaw are configured such that when the clamping device is in the clamping configuration, the first jaw and the second jaw engage opposite sides of one track in the first set of tracks or the second set of tracks, and / or wherein the first jaw and the second jaw are configured such that when the clamping device is in the clamping configuration, the first jaw and the second jaw engage two diagonals of the intersection.

[0033] The first jaw and the second jaw can be configured to hold the clamping device in place by means of the frictional force generated against one or more tracks when the clamping device is arranged on the orbital system in the clamping configuration. This can be achieved, for example, by means of the surface roughness of the jaws or the material used for the jaws / the entire clamping device.

[0034] By connecting the clamping device to two diagonals of the intersection, the clamping device is fixed in all directions. In this way, the clamping device can bear the weight of a falling operator without applying a force to the top surface of the orbital system. Therefore, the risk of damaging the guide rails provided on the top of the orbital system can be avoided.

[0035] In addition, the clamping device is fixed in all directions regardless of the frictional force between the clamping device and the tracks.

[0036] By connecting the clamping device to the intersection of the tracks, due to the cross shape of the intersection and the uniform support around the intersection (like the spokes of a wheel for absorbing the force generated by a fall), the possibility of the tracks being deformed by torsion is relatively low.

[0037] Each track in the orbital system has an orbital width R W . All tracks in the first set of parallel tracks generally have the same orbital width. All tracks in the second set of parallel tracks generally have the same orbital width. In a preferred configuration of the orbital system, all tracks in both the first set of parallel tracks and the second set of parallel tracks generally have the same orbital width.

[0038] When the clamping device is in the clamping configuration, the jaw spacing J G is typically approximately equal to the track width multiplied by the square root of two, i.e., .

[0039] The jaws can be configured to grip on the vertical sides of the track. Alternatively or additionally, the jaws can be configured to grip below the track.

[0040] By configuring the clamping device to be able to clamp onto the track only in the correct way, a more reliable clamping device is achieved. Thus, the clamping device can provide higher safety, because an inaccurately fixed clamping device may pose a safety risk to the operator.

[0041] By engaging the first jaw and the second jaw with two diagonals of the intersection when the clamping device is in the clamping configuration, the corners at the positions where the tracks are adjacent to each other provide support for the clamping device to prevent the clamping device from being pulled down / twisted in the event of an accident.

[0042] The attachment point for the safety belt is preferably as close as possible to the track and the anchor point. This at least to some extent prevents the clamping device from being pried open or otherwise forced off the track in the event of an accident.

[0043] The clamping device can include a first tooth disposed on the first jaw and a second tooth disposed on the second jaw.

[0044] Each track can include two vertical sides, and each track can be formed with horizontal grooves provided in each vertical side of the track, wherein the grooves on the first set of parallel tracks can be positioned to align with the grooves on the second set of parallel tracks at the intersection, wherein the first tooth and the second tooth are configured such that when the clamping device is in the clamping configuration, the first tooth and the second tooth engage with the grooves on opposite sides of one of the tracks in the first set of tracks or the second set of tracks, and / or, wherein the first tooth and the second tooth can be configured such that when the clamping device is in the clamping configuration, the first tooth and the second tooth engage with the grooves across two diagonals of the intersection between the track extending in the first direction and the track extending in the second direction.

[0045] The horizontal grooves also lock the clamping device onto the vertical sides of the track to prevent the clamping device from falling off.

[0046] The clamping device can be arranged to operate in a scissor mechanism to cause the jaws to clamp around one track or around the intersection of the tracks.

[0047] The clamping device can adopt a scissor mechanism so that, on the premise that the clamping device has sufficient length, it allows the operator to connect the clamping device to the track system at a distance from the track system (for example, in the state of sitting in a service vehicle). The length L of the clamping device can be, for example, at least 50 cm. Therefore, the clamping device can allow the operator to easily reach it without excessive bending down, thereby improving operation safety.

[0048] The clamping device can be self-locking, for example, of the type of locking pliers.

[0049] The clamping device can include a first arm and a second arm, and the second arm is connected to the first arm at a pivot joint. Among them, the first arm and the second arm each have a first part and a second part, and the first part and the second part are located on opposite sides of the pivot joint. Among them, the first part can form a rod part, and the second part can form a jaw, so that the rod part can be used to operate the jaws to move relative to each other.

[0050] The rod part can be a handle for the operator to grasp the clamping device and operate the clamping device between the clamping configuration and the release configuration.

[0051] When the clamping device is in the clamping configuration, the first rod part, the second rod part, the first jaw and the second jaw can be parallel to each other.

[0052] The clamping device can include a releasable locking mechanism configured to lock the jaws in the clamping configuration.

[0053] To close the clamping device and engage the locking mechanism in place, it may be necessary to ensure the accurate engagement of the horizontal grooves with the teeth, and these grooves effectively allow the jaws to make additional movements and enter the clamping configuration.

[0054] The locking mechanism can include a releasable locking pin. The locking pin can be biased towards the locking position. Then, the locking pin can be locked, accompanied by an audible click that can be perceived by the operator. The locking pin can be arranged on the first rod part. A locking hole can be provided on the second rod part, and the locking hole is located at a position that allows the locking pin to enter when the clamping device is in the clamping configuration.

[0055] When accurately assembled so that the handle / rod part of the clamping device is joined together and the locking mechanism is engaged in place, the intersection provides stability for the fixation of the clamping device to prevent the clamping device from sliding along the track when the operator falls from the grid.

[0056] The clamping device can include an attachment part arranged in the second part of the first arm, and the attachment point is a through hole arranged in the attachment part.

[0057] The attachment part is preferably arranged below the rod part / handle and the pivot part / pivot point of the clamping device, so that the safety belt is anchored as close as possible to the intersection.

[0058] The safety belt can be connected to the attachment part at any time. However, if the safety belt and the clamping device are connected to each other before the clamping device is connected to the track, the operator can connect the safety belt to the clamping device without having to bend down.

[0059] The teeth can be configured to engage with the grooves of the track system in a state where the clamping device is operated such that the first jaw and the second jaw are parallel to each other.

[0060] Then, the first jaw and the second jaw can be aligned with the vertical sides of the track.

[0061] When the jaws are parallel to each other, the first tooth and the second tooth can face each other. Then, the first tooth and the second tooth preferably extend in a direction parallel to each other. Then, the first tooth and the second tooth are preferably collinear.

[0062] When the first jaw is parallel to the second jaw, the jaw spacing is greater than zero.

[0063] When the first jaw is parallel to the second jaw, the jaw spacing is greater than the horizontal diagonal of the intersection. However, the jaw spacing should be small enough so that the clamping device fits tightly with the track at the intersection.

[0064] The intersection is defined by the area where two tracks meet. The intersection can be referred to as the guide rail crossing.

[0065] When the clamping device is in the clamping configuration, the jaw spacing can be 30 mm - 100 mm. More preferably, when the clamping device is in the clamping configuration, the jaw spacing can be 35 mm - 75 mm.

[0066] The jaw spacing can be configured to clamp a double - rail - double - rail track configuration. Then, when the clamping device is in the clamping configuration, the jaw spacing can be 70 mm - 75 mm, such as 71 mm.

[0067] The jaw spacing can be configured to clamp a single - rail - single - rail track configuration. Then, when the clamping device is in the clamping configuration, the jaw spacing can be 35 mm - 40 mm, such as 36 mm.

[0068] The jaw spacing can be configured to clamp a double - rail - double - rail track configuration. Then, when the clamping device is in the clamping configuration, the jaw spacing can be 55 mm - 60 mm, such as 56 mm.

[0069] The second part of the first arm may be formed with a surface for supporting the clamping device on top of the track system.

[0070] This surface may be part of the attachment portion.

[0071] This surface may be arranged at a distance from the first tooth to define the jaw depth J D , where the jaw depth corresponds to the distance between the top of the track and the groove.

[0072] The shape of the jaws and the shape of the teeth are generally determined by the dimensions of the track.

[0073] The jaw depth may be at least 50 mm, preferably 50 mm - 150 mm, more preferably 75 mm - 115 mm.

[0074] Considering the inner corner profile where two grooves intersect at the intersection, the teeth may be pointed.

[0075] The first tooth and the second tooth may have different heights to allow one jaw to pivot into the clamping position.

[0076] The first jaw may have an inner portion, and the second jaw has an inner portion, where the inner portion of the first jaw and the inner portion of the second jaw face each other, where the inner portion of the first jaw may be chamfered towards the second jaw, and the inner portion of the second jaw may be chamfered towards the first jaw.

[0077] Through the chamfers on the inner portion of the first jaw and the inner portion of the second jaw, the jaws can be closer to the intersection of the two tracks.

[0078] The chamfer of the first jaw may form a 90° angle, and the chamfer of the second jaw may form a 90° angle.

[0079] Then, the jaws have a pointed / flat triangular shape corresponding to the profile in the angle of the intersection.

[0080] The chamfers of the first jaw and the second jaw may form a pair of parallel surfaces.

[0081] Thus, the side surfaces of the teeth are configured to align with the parallel side surfaces of the track.

[0082] The inner portion of the first jaw may be configured to engage with a vertical side portion of one track extending in a first direction and at the same time engage with a vertical side portion of one track extending in a second direction, and

[0083] The inner portion of the second jaw can be configured to engage with another vertical side portion of the track extending in the first direction and, at the same time, engage with another vertical side portion of the track extending in the second direction, such that when the clamping device is in the clamping configuration and the first tooth and the second tooth are engaged with the corresponding grooves at two diagonals of the intersection portion, the clamping device straddles the intersection portion.

[0084] The chamfered portions of the first jaw and the second jaw are generally configured to engage with the vertical side portions of the track.

[0085] The first tooth can extend towards the second jaw, and the second tooth can extend towards the first jaw, wherein the first tooth can be chamfered towards the second jaw, and the second tooth can be chamfered towards the first jaw.

[0086] Then, the first tooth and the second tooth have a pointed / flat triangular shape corresponding to the groove profile in the corner of the intersection portion.

[0087] With the chamfers on the first tooth and the second tooth, the teeth can be closer to the grooves at the intersection of the two tracks.

[0088] With the chamfers on the first tooth and the second tooth, the teeth can obtain a larger contact surface with the grooves.

[0089] With the chamfers on the first tooth and the second tooth, the jaws can be embedded into the vertical surfaces of the corners of the intersection portion.

[0090] The chamfer of the first tooth can form a 90° angle, and the chamfer of the second tooth can form a 90° angle.

[0091] The chamfers of the first tooth and the second tooth can form a pair of parallel surfaces.

[0092] The chamfer of the first tooth and the chamfer of the first jaw can form a pair of parallel surfaces, and the chamfer of the second tooth and the chamfer of the second jaw can form a pair of parallel surfaces.

[0093] A releasable locking mechanism can be arranged on the first rod portion and configured to releasably lock the first rod portion to the second rod portion, such that the relative movement between the first rod portion and the second rod portion is prevented.

[0094] The releasable locking mechanism can preferably be arranged in the upper part of the clamping device. In this way, when the clamping device is connected to the track system, the operator can easily access the releasable locking mechanism.

[0095] The releasable locking mechanism can be biased towards the locking position by a spring.

[0096] A first part of the first arm can be provided with an opening through which the second arm is clamped.

[0097] The pivot joint portion can be arranged at a position where the second arm is clamped by the first arm.

[0098] The present disclosure relates to a safety system for use on a track system, wherein the track system includes: a first set of parallel tracks arranged in a horizontal plane and extending along a first direction X, and a second set of parallel tracks arranged in a horizontal plane and extending along a second direction Y orthogonal to the first direction, wherein the first set of tracks and the second set of tracks form a grid pattern in the horizontal plane, the grid pattern including a plurality of openings, each of which is defined by a pair of adjacent tracks in the first set of tracks, a pair of adjacent tracks in the second set of tracks, and four intersection portions where each track in the first set of tracks intersects with one track in the second set of tracks respectively, wherein the safety system includes the clamping device disclosed herein and includes a safety belt and a tether.

[0099] The safety belt can include a shoulder strap, a chest strap, a leg strap, a waist strap, a back loop, or any combination thereof.

[0100] The tether can include a carabiner, a shock absorber, a rope, a snap hook, or any combination thereof.

[0101] The operator generally wears the safety belt, which can be anchored to the track by means of the clamping device. The safety belt can be connected to the clamping device by a tether.

[0102] The carabiner of the tether can be connected to the back loop of the safety belt. One or more snap hooks can be connected to the attachment point of the clamping device before or after the clamping device is connected to the track.

[0103] The safety system can include one or more service plates for covering the openings in the track system. The service plate can be used to form a platform for the operator at the service area.

[0104] The present disclosure relates to an automated storage and retrieval system, wherein the automated storage and retrieval system includes the clamping device disclosed herein and includes a track system, wherein the track system includes: a first set of parallel tracks arranged in a horizontal plane and extending along a first direction X; and a second set of parallel tracks arranged in a horizontal plane and extending along a second direction Y orthogonal to the first direction, wherein the first set of tracks and the second set of tracks form a grid pattern in the horizontal plane, the grid pattern including a plurality of openings, each of which is defined by a pair of adjacent tracks in the first set of tracks, a pair of adjacent tracks in the second set of tracks, and four intersection portions where each track in the first set of tracks intersects with one track in the second set of tracks respectively.

[0105] Each track may include two horizontal grooves disposed on respective ones of two vertical sides of the track, wherein the grooves on the first set of parallel tracks may be arranged to intersect the grooves on the second set of parallel tracks at the intersection between the first set of parallel tracks and the second set of parallel tracks.

[0106] The automated storage and retrieval system may include a safety system.

[0107] The thickness of the first tooth and the thickness of the second tooth may match the height of the groove.

[0108] The automated storage and retrieval system may include a plurality of upright members that support the track system, wherein the upright members are disposed directly below the intersection.

[0109] When the clamping device engages two diagonals of the intersection, the intersection transfers the load directly to the floor of the warehouse via the upright members below.

[0110] The frame structure may include upright members and storage volume portions that include storage columns arranged in rows between the upright members. In these storage columns, storage containers are stacked one on top of another to form stacks. These members may generally be made of metal (such as extruded aluminum profiles).

[0111] The track system may be disposed across the top of the frame structure, and a plurality of container handling vehicles may operate on the track system to raise storage containers from the storage columns and lower storage containers into the storage columns, and also transport the storage containers above the storage columns.

[0112] The first set of parallel tracks is arranged to guide the container handling vehicle to move along a first direction X across the top of the frame structure, and the second set of parallel tracks is arranged perpendicular to the first set of tracks to guide the container handling vehicle to move along a second direction Y perpendicular to the first direction X. The containers stored in the columns are accessed by the container handling vehicle through openings in the track system. The container handling vehicle may move laterally above the storage columns, i.e., laterally in a plane parallel to the horizontal X - Y plane.

[0113] The upright members of the frame structure may be used to guide the storage container during raising the storage container from the column and lowering the storage container into the column. The stack of containers is generally self - supporting.

[0114] The automated storage and retrieval system may include a service vehicle for transporting an operator on the track system, wherein the clamping device has a length L such that the operator can connect the clamping device to the track system in a state of sitting in the service vehicle.

[0115] The automated storage and retrieval system may include: a plurality of StorageA storage container; a plurality of vertical storage columns in which the storage containers are stackable; and a remotely operated vehicle configured to move along a track system and transport at least one storage container.

[0116] An automated storage and retrieval system may include a control system configured to wirelessly monitor and control the movement of one or more remotely operated vehicles.

[0117] The remotely operated vehicle may include a lifting device configured to grip and vertically lift and lower the storage container.

[0118] An automated storage and retrieval system may include a safety belt.

[0119] An automated storage and retrieval system may include one or more service plates for covering openings in the track system. The service plates may be used to form a platform for an operator at a service area.

[0120] The present disclosure relates to a method of anchoring a safety belt to a track system using a clamping device, wherein the track system includes: a first set of parallel tracks arranged in a horizontal plane and extending in a first direction X; and a second set of parallel tracks arranged in a horizontal plane and extending in a second direction Y orthogonal to the first direction X, wherein the first set of tracks and the second set of tracks form a grid pattern in the horizontal plane, the grid pattern including a plurality of openings, each of which is defined by a pair of adjacent tracks in the first set of tracks, a pair of adjacent tracks in the second set of tracks, and four intersections at which each track in the first set of tracks intersects one track in the second set of tracks, and wherein the method includes the steps of: clamping the clamping device to one of the intersections of the tracks, the clamping device straddling the intersection by clamping across two diagonals of the intersection.

[0121] The present disclosure relates to a method of anchoring a safety belt to a track system using a clamping device, wherein the track system includes: a first set of parallel tracks arranged in a horizontal plane and extending in a first direction X; and a second set of parallel tracks arranged in a horizontal plane and extending in a second direction Y orthogonal to the first direction X, wherein the first set of tracks and the second set of tracks form a grid pattern in the horizontal plane, the grid pattern including a plurality of openings, each of which is defined by a pair of adjacent tracks in the first set of tracks, a pair of adjacent tracks in the second set of tracks, and four intersections at which each track in the first set of tracks intersects one track in the second set of tracks, and wherein the method includes the steps of: clamping the clamping device to one of the tracks extending in the first direction X or in the second direction Y, the clamping device straddling the track by clamping across opposite sides of the track.

[0122] The clamping device used in this method can be the clamping device described herein.

[0123] The present disclosure relates to a method of anchoring a safety belt to a track system using a clamping device disclosed herein, wherein the track system is part of an automated storage and retrieval system disclosed herein, and wherein the method comprises the steps of: moving a first jaw and a second jaw away from each other to increase the jaw spacing between the first jaw and the second jaw, thereby opening the clamping device; arranging the clamping device on the track system, wherein the first jaw and the second jaw are located on opposite sides of a track or an intersection; engaging the first jaw with a track extending in a first direction X and / or a track extending in a second direction Y; and moving the first jaw and the second jaw towards each other to decrease the jaw spacing until the second jaw engages with a track extending in the first direction X and / or a track extending in the second direction Y, thereby closing the clamping device.

[0124] Thus, the clamping device can be connected to a track extending in the first direction X, or to a track extending in the second direction Y, or to an intersection of the tracks.

[0125] If each track includes two vertical sides and each track is formed with horizontal grooves provided in each vertical side of the track, and the grooves on a first set of parallel tracks are positioned to align with the grooves on a second set of parallel tracks at an intersection, and if the clamping device includes a first tooth arranged on the first jaw and a second tooth arranged on the second jaw, then the method can further comprise the steps of: engaging the first tooth with a groove of a track extending in the first direction X and / or with a groove of a track extending in the second direction Y; and by closing the clamping device, engaging the second tooth with another groove of a track extending in the first direction X and / or with another groove of a track extending in the second direction Y.

[0126] Thus, the clamping device can be connected to a track extending in the first direction X, or to a track extending in the second direction Y, or to an intersection of the tracks.

[0127] The portion of the jaw not provided with teeth can preferably engage with the portion of the vertical side not provided with grooves while the teeth engage with the grooves.

[0128] The two sides of the intersection on which the first jaw and the second jaw are placed are arranged diagonally, i.e., these sides are not arranged on the same side of a track extending in the first direction or on the same side of a track extending in the second direction.

[0129] The method can comprise the step of locking the clamping device to the track system by preventing relative movement of the first jaw and the second jaw.

[0130] The relative movement of the first jaw and the second jaw can be prevented by means of a self-locking clamping device (such as of the type of a locking pliers).

[0131] The relative movement of the first jaw and the second jaw can be prevented by means of a clamping device including the locking mechanism described herein.

[0132] The method can include the step of connecting a safety belt to a connection point on the clamping device.

[0133] Preferably, the safety belt can be connected to the connection point before the clamping device is clamped onto the intersection.

[0134] The method can include the steps of transporting an operator to a service area on the track system by means of a service vehicle, and then clamping the clamping device onto an intersection adjacent to the service area. Description of the Drawings

[0135] The following drawings are attached to facilitate the understanding of the present invention. The drawings illustrate embodiments of the present invention, which will now be described only by way of example, in which:

[0136] Figure 1 is a perspective view of a frame structure of an automated storage and retrieval system of the prior art.

[0137] Figure 2 is a perspective view of a container handling vehicle of the prior art, which has an internally arranged cavity for carrying a storage container therein.

[0138] Figure 3 is a perspective view of a container handling vehicle of the prior art, which has a cantilever for carrying a storage container thereunder.

[0139] Figure 4 is a perspective view of a container handling vehicle of the prior art as viewed from below, which has an internally arranged cavity for carrying a storage container therein.

[0140] Figure 5 is a perspective view of a clamping device configured to anchor a safety belt to a track system, the clamping device including a first jaw, a second jaw, and an attachment point for the safety belt.

[0141] Figure 6 is Figure 5 a front view of the clamping device in

[0142] Figure 7 is Figure 5 a front view of a safety belt and a lanyard that can be used in combination with the clamping device in

[0143] Figure 8 is Figure 5 A perspective view when the clamping device in

[0144] Figure 9 is Figure 5 A perspective view when the clamping device in

[0145] Figure 10 is Figure 9 Another perspective view of the clamping device in

[0146] Figure 11 is a perspective view of an automated storage and retrieval system including an orbital system, in which an operator is wearing a safety belt anchored to the orbital system.

[0147] Figure 12 is Figure 11 A detailed view of DETAILED DESCRIPTION

[0148] Hereinafter, embodiments of the present invention will be discussed in more detail with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the present invention to the subject matter depicted therein.

[0149] The frame structure 100 of the automated storage and retrieval system 1 is constructed in a manner similar to the frame structure 100 of the prior art described above in connection with Figures 1 to 3 That is, the frame structure 100 includes a plurality of upright members 102 and includes a first upper orbital system 108 extending in the X and Y directions.

[0150] The frame structure 100 further includes storage compartments in the form of storage columns 105 disposed between the members 102, wherein a plurality of storage containers 106 can be stacked in the storage columns 105 in the form of a stack 107.

[0151] The frame structure 100 can have any size. Specifically, it should be understood that the frame structure can be much wider and / or much longer and / or much deeper than the frame structure Figure 1 disclosed in. For example, the frame structure 100 can have a horizontal extent of more than 700×700 columns and a storage depth of more than twelve containers.

[0152] Now, an embodiment of the automated storage and retrieval system according to the present invention will be discussed in more detail with reference to the accompanying drawings.

[0153] Figure 5Shows a clamping device 600 for anchoring a safety belt 700 to a track system 108. The track system 108 can be part of an automated storage and retrieval system 1. The track system 108 is typically arranged at a height above the floor and is very dangerous for an operator 960 to move on unless safety measures are taken. In particular, falling from the track system can cause injury. By having the operator wear a safety belt 700 anchored to the track system 108, the safety of the operator can be improved.

[0154] An example of such a track system 108 is shown in Figure 8 The track system 108 can include: a first set of parallel tracks 110, arranged in a horizontal plane P H and extending in a first direction X; and a second set of parallel tracks 111, arranged in a horizontal plane P H and extending in a second direction Y orthogonal to the first direction X.

[0155] Figure 5 and Figure 6 The clamping device 600 shown in includes a first jaw 612, a second jaw 622, and an attachment point 614 for the safety belt 700. In addition, the clamping device 600 can include a first tooth 613 arranged on the first jaw 612 and a second tooth 623 arranged on the second jaw 622.

[0156] The clamping device 600 can include a first arm 610 and a second arm 620, and the second arm is connected to the first arm 610 at a pivot portion 640. In addition, the first arm 610 and the second arm 620 can each have a first part 610', 620' and a second part 610'', 620''. The first parts 610', 620' and the second parts 610'', 620'' are located on opposite sides of the pivot portion 640.

[0157] The first parts 610', 620' can form rod portions 611, 621, and the second parts 610'', 620'' can form jaws 612, 622, such that the rod portions 611, 621 can be used to operate the jaws 612, 622 to move relative to each other.

[0158] The jaws 612, 622 can be operated in a pivoting manner. When the jaws 612, 622 pivot relative to each other, the jaw spacing J between the distal ends of the adjustable jaws 612, 622 G . By pivoting the rod portions 611, 621 away from each other, the jaw spacing J can be increased G , and by pivoting the rod portions 611, 621 towards each other, the jaw spacing J can be decreased G .

[0159] The clamping device 600 can be operated between a release configuration, as shown in Figure 8 , and a clamping configuration, as shown in Figure 5 , Figure 6 , and Figures 9 to 12 . The first jaw 612 and the second jaw 622 are configured such that when the clamping device 600 is in the clamping configuration, the first jaw and the second jaw engage two diagonals of the intersection 113.

[0160] The clamping device 600 can include a releasable locking mechanism 630 configured to lock the jaws 612, 622 in the clamping configuration.

[0161] The releasable locking mechanism 630 can be disposed on the first rod portion 611 and is configured to releasably lock the first rod portion 611 to the second rod portion 621, such that relative movement between the first rod portion 611 and the second rod portion 621 is prevented, thereby preventing relative movement between the jaws 612, 622.

[0162] The clamping device 600 can be configured to operate in a scissor mechanism to clamp the jaws 612, 622 around the intersection 113 of the tracks.

[0163] When the clamping device 600 is in the clamping configuration, the first rod portion 611 and the second rod portion 621 can be parallel to each other, and when the clamping device 600 is in the clamping configuration, the first jaw 612 and the second jaw 622 can be parallel to each other.

[0164] Figures 8 to 12 It is shown that each of the tracks 110, 111 can include two vertical sides, and each of the tracks 110, 111 can be formed with horizontal grooves 109 provided in each vertical side of the tracks 110, 111. In addition, the grooves 109 on the first set of parallel tracks 110 can be positioned to align with the grooves 109 on the second set of parallel tracks 111 at the intersection 113. Thus, at each of the four corners of each intersection 113, two grooves 109 can intersect. All the grooves 109 can be arranged in the same horizontal plane.

[0165] Figures 8 to 12 It is shown how the first teeth 613 and the second teeth 623 cooperate to engage the grooves 109 across two diagonals of the intersection when the clamping device 600 is in the clamping configuration.

[0166] The teeth 613, 623 can be configured to engage the grooves 109 of the track system 108 in a state where the clamping device 600 is operated such that the first jaw 612 and the second jaw 622 are parallel to each other.

[0167] The second part 610’’ of the first arm 610 may form a surface for supporting the clamping device 600 on top of the track system 108, particularly as Figure 8 shown. This may facilitate the connection of the clamping device 600 to the track system 108. In particular, if the surface is arranged at a distance from the first tooth 613, the defined jaw depth J D corresponds to the distance between the tops of the tracks 110, 111 and the groove 109.

[0168] As Figure 5 and Figure 6 shown, the inner part of the first jaw 612 faces the inner part of the second jaw 622. In addition, the inner part of the first jaw 612 may be chamfered towards the second jaw 622, and the inner part of the second jaw 622 may be chamfered towards the first jaw 612.

[0169] The chamfer of the first jaw 612 may form a 90° angle, and the chamfer of the second jaw 622 may form a 90° angle. Thus, the chamfer may correspond to the angle between the two tracks 110, 111 at the corner of the intersection 113.

[0170] The chamfer of the first jaw 612 and the chamfer of the second jaw 622 may form a pair of parallel surfaces, i.e., one chamfer of the first jaw 612 may be parallel to the first chamfer of the second jaw 622, and the second chamfer of the first jaw 612 may be parallel to the second chamfer of the second jaw 622.

[0171] As Figure 9 and Figure 10 shown, the inner part of the first jaw 612 may be configured to engage with a vertical side of one of the tracks 110 extending in the first direction X, while engaging with a vertical side of one of the tracks 111 extending in the second direction Y, and the inner part of the second jaw 622 is configured to engage with the other vertical side of the track 110 extending in the first direction X, while engaging with the other vertical side of the track 111 extending in the second direction Y, such that when the clamping device 600 is in the clamping configuration and the first tooth 613 and the second tooth 623 are engaged to the corresponding grooves 109 at two diagonals of the intersection 113, the clamping device 600 straddles the intersection 113.

[0172] Figure 5 and Figure 6 show how the first tooth 613 may extend towards the second jaw 622, and how the second tooth 623 may extend towards the first jaw 612. In addition, the first tooth 613 may be chamfered towards the second jaw 622, and the second tooth 623 may be chamfered towards the first jaw 612.

[0173] The chamfers of the first tooth 613 can form a 90° angle, and the chamfers of the second tooth 623 can form a 90° angle. Accordingly, the chamfers can correspond to the angle between two grooves 109 at the corner of the intersection portion 113.

[0174] The chamfers of the first tooth 613 and the second tooth 623 form pairs of parallel surfaces, i.e., one chamfer of the first tooth 613 can be parallel to the first chamfer of the second tooth 623, and the second chamfer of the first tooth 613 can be parallel to the second chamfer of the second tooth 623.

[0175] Additionally or alternatively, the chamfers of the first tooth 613 and the first jaw 612 can form pairs of parallel surfaces, and the chamfers of the second tooth 623 and the second jaw 622 can form pairs of parallel surfaces.

[0176] The first part 610' of the first arm 610 can be provided with an opening 616 through which the second arm 620 is clamped.

[0177] Figure 5 and Figure 6 It is shown that the clamping device 600 can include an attachment portion 615 arranged in the second part 610'' of the first arm 610. The attachment point 614 of the clamping device 600 can be a through hole arranged in the attachment portion 615. The attachment point 614 allows, for example, the connection of a safety belt 700 to the clamping device 600 by means of a tether 800.

[0178] Figure 7 It is shown a safety belt 700 and a tether 800 that can be used with the clamping device 600. The safety belt 700 is configured to be worn by an operator 960.

[0179] The safety belt 700 can include: a shoulder strap 710, a chest strap 720, leg straps 730, a waist strap 740, and a back loop 750. The tether 800 can be connected to the back loop 750.

[0180] The tether can include: a snap hook 810 that can be connected to the safety belt 700, a buffer device 820, a rope 830, and a snap hook 840 that can be connected to the clamping device 600. The clamping device 600, the safety belt 700, and the tether 800 can together form a safety system for use on the track system 108 disclosed herein.

[0181] The safety system can further include a safety plate 950 and / or a service vehicle 900, as Figure 11 shown.

[0182] Service vehicle 900 is configured to transport operator 960 on track system 108. Service vehicle 900 may include a wheeled base on which operator 960 can sit or stand safely while service vehicle 900 is in motion.

[0183] Service vehicle 900 may include: a first set of wheels arranged to engage two adjacent tracks in a first set of tracks 110; and a second set of wheels arranged to engage two adjacent tracks in a second set of tracks 111. At least one of these sets of wheels can be raised and lowered such that the first set of wheels and / or the second set of wheels can engage a corresponding set of tracks 110, 111 at any given time. Service vehicle 900 can be motorized or powered by operator 960, such as in a manner similar to a wheelchair.

[0184] Service plate 950 is preferably configured to cover one or more openings in track system 108. Service plate 950 is preferably configured to be carried by operator 960.

[0185] Figures 8 to 12 An automated storage and retrieval system 1 including a track system 108 is shown. Track system 108 includes: a first set of parallel tracks 110 arranged in a horizontal plane P H and extending in a first direction X; and a second set of parallel tracks 111 arranged in a horizontal plane P H and extending in a second direction Y orthogonal to the first direction X, wherein the first set of tracks 110 and the second set of tracks 111 form a grid pattern in the horizontal plane P H that includes a plurality of openings 112, each of which is defined by a pair of adjacent tracks in the first set of tracks 110, a pair of adjacent tracks in the second set of tracks 111, and four intersections 113 at which each track in the first set of tracks 110 intersects one track in the second set of tracks 111, respectively. The automated storage and retrieval system 1 further includes a gripping device 600. Gripping device 600 can be a gripping device of the type disclosed herein.

[0186] Intersection 113 has an intersection width 113' between two diagonals. Gripping device 600 can have a jaw spacing J G . Then, jaw spacing J G is configured such that gripping device 600 can straddle and fit tightly on intersection 113 when in a gripping configuration.

[0187] Each of the tracks 110, 111 may include two horizontal grooves 109 disposed on a respective one of two vertical sides of the tracks 110, 111. The grooves 109 on the first set of parallel tracks 110 are arranged to intersect the grooves 109 on the second set of parallel tracks 111 at an intersection 113 between the first set of parallel tracks 110 and the second set of parallel tracks 111.

[0188] Figure 11 and Figure 12 The automated storage and retrieval system 1 may include a service vehicle 900 for transporting an operator 960 on the track system 108. Preferably, the gripping device 600 has a length L such that the operator 960 can connect the gripping device 600 to the track system 108 in a seated or safely remaining in the service vehicle 900 state, that is, without bending over or reaching outside the service vehicle 900, thereby reducing the risk of falling.

[0189] The automated storage and retrieval system 1 may include: a plurality of storage containers 106; a plurality of vertical storage columns 105 in which the storage containers 106 are stacked; and remotely operated vehicles 201; 301; 401 configured to move along the track system 108 and transport at least one storage container 106.

[0190] In Figure 8 it, the first jaw 612 and the second jaw 622 are moved away from each other to increase the jaw spacing J between their distal ends G , thereby opening the gripping device 600. This is typically achieved by moving the first rod portion 611 and the second rod portion 621 away from each other. Then, the gripping device 600 is in a release configuration and can be disposed on the track system 108, wherein the first jaw 612 and the second jaw 622 are located on opposite sides of the intersection 113. Then, the first tooth 613 can engage with a groove 109 of the track 110 extending in the first direction X and engage with a groove 109 of the track 111 extending in the second direction Y.

[0191] In Figure 9 and Figure 10 it, the first jaw 612 and the second jaw 622 are moved towards each other to decrease the jaw spacing J between their distal ends G , until the second tooth 623 engages with another groove 109 of the track 110 extending in the first direction X and engages with another groove 109 of the track 111 extending in the second direction Y, thereby closing the gripping device 600. This is typically achieved by moving the first rod portion 611 and the second rod portion 621 towards each other. Then, the gripping device 600 is in a gripping configuration.

[0192] When the clamping device 600 is in the clamping configuration and engaged with the track system 108, the clamping device 600 can be locked to the track system 108 by preventing relative movement between the first jaw 612 and the second jaw 622. Preventing relative movement between the first jaw 612 and the second jaw 622 can be achieved by means of a locking mechanism 630.

[0193] An example of the locking mechanism 630 is a locking pin disposed on the first rod portion 611 and biased towards the second rod portion 621. The second rod portion 621 has a hole or similar structure for receiving the locking pin. After the locking pin enters the hole, the clamping device 600 is locked in the clamping configuration until the operator 960 actively releases the locking mechanism 630.

[0194] The locking pin can be disposed in a portion of the first rod portion 611 that overhangs a portion of the second rod portion 621 when the clamping device 600 is in the clamping configuration. Then, the hole in the second rod portion 621 for receiving the locking pin is disposed in a portion of the second rod portion 621 that aligns the hole with the locking pin when the clamping device 600 is in the clamping configuration.

[0195] The locking mechanism 630 can have a handle or other type of grasping element for the operator 960 to grasp and pull to release the locking mechanism 630, whereby the clamping device can be operated to the release configuration and lifted off the track system 108.

[0196] As Figure 5 shown, the locking mechanism 630 can include a knob for the operator 960 to retract the locking pin, thereby releasing the first rod portion 611 from the second rod portion 621.

[0197] Figure 11 and Figure 12 illustrates how the clamping device 600 can be used to anchor the safety belt 700 to the track system 108 when the clamping device 600 is connected to the track system 108. As shown, the safety belt 700 worn by the operator 960 can be connected to the clamping device 600 via a tether 800. The safety belt 700 can be connected to the clamping device 600 at any time. However, for safety reasons, it is preferred that the safety belt 600 be connected to the clamping device 600 before connecting the clamping device 600 to the track system 108.

[0198] The clamping device 600 includes an attachment point 614 for connecting the safety belt 600. The attachment point 614 can preferably be disposed below the pivot point 640, for example on the attachment portion 615 of the second portion 610'' of the first arm 610. In this way, when the clamping device 600 is connected to the track system 108, the attachment point 614 can be positioned close to the track system 108.

[0199] AsFigure 11 and Figure 12 As shown in Figure 12 , the service vehicle 900 can be used to transport the operator 960 to the service area on the rail system 108. When arriving at the service area, the operator 960 can connect the clamping device 600 to the intersection 113 in or near the service area.

[0200] Alternatively, one or more clamping devices 600 can also be connected to the rail system 108 before the operator 960 arrives at the service area. However, the operator 960 must then connect the safety belt 700 to the clamping device 600 while the clamping device 600 is connected to the rail system 108.

[0201] At the service area, a work area can be created for the operator 960 by arranging the service plate 950 on top of the rail system 108, as Figure 11 and Figure 12 illustrated by way of example.

[0202] In the foregoing description, various aspects of the distribution vehicle and the automated storage and retrieval system according to the present invention have been described with reference to illustrative embodiments. For purposes of illustration, specific numbers, systems, and configurations have been set forth to provide a thorough understanding of the system and its operating principles. However, the description is not intended to be construed in a limiting sense. Various modifications and variations of the illustrative embodiments, as well as other embodiments of the system, which are obvious to those skilled in the art to which the disclosed subject matter pertains, are considered to be within the scope of the present invention.

[0203] List of Reference Numerals

[0204] 1 Automated storage and retrieval system of the prior art

[0205] 100 Frame structure

[0206] 102 Upright member of the frame structure

[0207] 104 Storage grid

[0208] 105 Storage column

[0209] 106 Storage container

[0210] 106’ Specific position of the storage container

[0211] 107 Stack

[0212] 108 Rail system

[0213] 109 Groove

[0214] 110 Parallel rails in the first direction (X)

[0215] 111 Parallel tracks in the second direction (Y)

[0216] 112 Opening

[0217] 113 Intersection

[0218] 113’ Width of the intersection

[0219] 115 Unit

[0220] 119 First port column

[0221] 120 Second port column

[0222] 201 Container handling vehicle of the prior art

[0223] 201a Body of the container handling vehicle 201

[0224] 201b Driving device / wheel arrangement / first set of wheels in the first direction (X)

[0225] 201c Driving device / wheel arrangement / second set of wheels in the second direction (Y)

[0226] 301 Cantilever container handling vehicle of the prior art

[0227] 301a Body of the container handling vehicle 301

[0228] 301b Driving device / first set of wheels in the first direction (X)

[0229] 301c Driving device / second set of wheels in the second direction (Y)

[0230] 304 Gripping device

[0231] 401 Container handling vehicle of the prior art

[0232] 401a Body of the container handling vehicle 401

[0233] 401b Driving device / first set of wheels in the first direction (X)

[0234] 401c Driving device / second set of wheels in the second direction (Y)

[0235] 404 Gripping device

[0236] 404a Lifting belt

[0237] 404b Gripper

[0238] 404c Guide pin

[0239] 404d Lifting frame

[0240] 500 Control System

[0241] 600 Gripping Device

[0242] 610 First Arm

[0243] 610’ First Part of the First Arm

[0244] 610’’ Second Part of the First Arm

[0245] 611 First Rod Portion

[0246] 612 First Jaw

[0247] 613 First Tooth

[0248] 614 Attachment Point for Seat Belt

[0249] 615 Attachment Portion

[0250] 616 Opening in the First Part of the First Arm

[0251] 620 Second Arm

[0252] 620’ First Part of the Second Arm

[0253] 620’’ Second Part of the Second Arm

[0254] 621 Second Rod Portion

[0255] 622 Second Jaw

[0256] 623 Second Tooth

[0257] 624 Bending Portion

[0258] 624 Hole for Locking Pin

[0259] 630 Locking Mechanism

[0260] 640 Pivoting Portion / Pivoting Point

[0261] 700 Seat Belt

[0262] 710 Shoulder Strap

[0263] 720 Chest Strap

[0264] 730 Leg Strap

[0265] 740 Waist Strap

[0266] 750 Back Loop

[0267] 800 Tether

[0268] 810 Hook and Loop

[0269] 820 Buffer device

[0270] 830 Rope

[0271] 840 Snap hook

[0272] 900 Service vehicle

[0273] 950 Service board

[0274] 960 Operator

[0275] X First direction

[0276] Y Second direction

[0277] Z Third direction

[0278] P H Horizontal plane

[0279] J D Jaw depth

[0280] J G Jaw spacing

[0281] L Length of the clamping device

[0282] R W Track width

Claims

1. A clamping device (600) for anchoring a seat belt (700) to a track system (108), wherein, The rail system (108) includes: - A first set of parallel tracks (110), arranged in a horizontal plane (P H ) and extending in a first direction (X), and - A second set of parallel tracks (111), arranged in the horizontal plane (P H ) and extending along a second direction (Y) orthogonal to the first direction (X), Wherein, the first set of tracks and the second set of tracks (110, 111) form a grid pattern in the horizontal plane (P H )), the grid pattern includes a plurality of openings (112), and each opening (112) is defined by a pair of adjacent tracks in the first set of tracks (110), a pair of adjacent tracks in the second set of tracks (111), and four intersections (113), at which each track in the first set of tracks (110) intersects with one track in the second set of tracks (111) respectively, Wherein, the clamping device (600) includes: - An attachment point (614) for the safety belt (700), - A first jaw (612), and - A second jaw (622), Wherein, the clamping device (600) is operable between a clamping configuration and a release configuration to pivot the jaws (612, 622) relative to each other to adjust the jaw spacing (J G ) between the distal ends of the jaws (612, 622). Wherein, the first jaw (612) and the second jaw (622) are configured such that when the clamping device (600) is in the clamping configuration, the first jaw and the second jaw engage on opposite sides of one of the first set of rails (110) or the second set of rails (111), and / or Wherein, the first jaw (612) and the second jaw (622) are configured such that when the clamping device (600) is in the clamping configuration, the first jaw and the second jaw engage on two diagonals of the intersection (113).

2. The clamping device (600) according to claim 1, Among them, The clamping device (600) includes: - A first tooth (613) disposed on the first jaw (612), and - A second tooth (623) disposed on the second jaw (622).

3. The clamping device (600) according to claim 2, Among them, Each of the rails (110, 111) includes two vertical sides, and each rail is formed with a horizontal groove (109) provided in each vertical side of the rail (110, 111), Wherein, the grooves (109) on the first set of parallel rails (110) are positioned to be aligned with the grooves (109) on the second set of parallel rails (111) at the intersection (113), Wherein, the first tooth (613) and the second tooth (623) are configured such that when the clamping device (600) is in the clamping configuration, the first tooth and the second tooth engage with the grooves (109) on opposite sides of one of the first set of rails (110) or the second set of rails (111), and / or Wherein, the first tooth (613) and the second tooth (623) are configured such that when the clamping device (600) is in the clamping configuration, the first tooth and the second tooth engage with the grooves (109) across two diagonals of the intersection (113) between the rail (110) extending along the first direction (X) and the rail (111) extending along the second direction (Y).

4. The clamping device (600) according to any one of the preceding claims, Among them, The clamping device (600) is arranged to operate in a scissor mechanism to clamp the jaws (612, 622) around one rail or around the intersection (113) of the rails.

5. The clamping device (600) according to any one of the preceding claims, Among them, The clamping device (600) includes: - A first arm (610), and - A second arm (620), the second arm being connected to the first arm (610) at a pivot portion (640), Wherein, the first arm (610) and the second arm (620) each have a first part (610', 620') and a second part (610'', 620''), and the first part (610', 620') and the second part (610'', 620'') are located on opposite sides of the pivot portion (640). Wherein, the first part (610', 620') forms a rod portion (611, 621), and the second part (610'', 620'') forms the jaws (612, 622), such that the rod portions (611, 621) can be used to operate the jaws (612, 622) to move relative to each other.

6. The clamping device (600) according to claim 5, Among them, When the clamping device (600) is in the clamping configuration, the first rod portion (611), the second rod portion (621), the first jaw (612) and the second jaw (622) are parallel to each other.

7. The clamping device (600) according to any one of the preceding claims, Among them, The clamping device (600) includes: - A releasable locking mechanism (630) configured to lock the jaws (612, 622) in the clamping configuration.

8. The clamping device (600) according to any one of claims 5 to 7, Among them, The clamping device (600) includes an attachment portion (615) disposed in the second part (610'') of the first arm (610), Wherein, the attachment point (614) is a through hole disposed in the attachment portion (615).

9. The clamping device (600) according to any one of claims 3 to 8, Among them, The teeth (613, 623) are configured to engage with the grooves (109) of the track system (108) in a state where the clamping device (600) is operated such that the first jaw (612) and the second jaw (622) are parallel to each other.

10. The clamping device (600) according to any one of claims 5 to 9, Among them, The second part (610'') of the first arm (610) is formed with a surface for supporting the clamping device (600) on the top of the track system (108).

11. A safety system for use on a track system (108), Among them, The track system (108) includes: - A first set of parallel tracks (110), arranged in a horizontal plane (P H ) and extending in a first direction (X), and - A second set of parallel tracks (111), arranged in the horizontal plane (P H ) and extending in a second direction (Y) orthogonal to the first direction (X), Wherein, the first set of tracks and the second set of tracks (110, 111) form a grid pattern in the horizontal plane (P H )), the grid pattern includes a plurality of openings (112), and each opening (112) is defined by a pair of adjacent tracks in the first set of tracks (110), a pair of adjacent tracks in the second set of tracks (111), and four intersections (113), where each track in the first set of tracks (110) intersects with one track in the second set of tracks (111) respectively at the intersections. Wherein, the safety system includes: - The clamping device (600) according to any one of the preceding claims, - A safety belt (700), and - A tether (800).

12. An automatic storage and retrieval system (1), wherein, The automatic storage and retrieval system (1) includes: - The clamping device (600) according to any one of claims 1 to 10, and - A track system (108), Wherein, the track system (108) includes: - A first set of parallel tracks (110), arranged in a horizontal plane (P H ) and extending in a first direction (X), and - A second set of parallel tracks (111), arranged in the horizontal plane (P H ) and extending in a second direction (Y) orthogonal to the first direction (X), Among them, the first set of tracks and the second set of tracks (110, 111) form a grid pattern in the horizontal plane (P H )), the grid pattern includes a plurality of openings (112), each of the openings (112) is defined by a pair of adjacent tracks in the first set of tracks (110), a pair of adjacent tracks in the second set of tracks (111), and four intersections (113), at the intersections, each track in the first set of tracks (110) intersects with one track in the second set of tracks (111) respectively.

13. The automatic storage and retrieval system (1) according to claim 12, Among them, Each of the tracks (110, 111) includes two horizontal grooves (109) disposed on a respective one of the two vertical sides of the track (110, 111). Wherein, the grooves (109) on the first set of parallel tracks (110) are arranged to intersect with the grooves (109) on the second set of parallel tracks (111) at the intersection portion (113) between the first set of parallel tracks (110) and the second set of parallel tracks (111).

14. The automated storage and retrieval system (1) according to claim 12 or 13, Among them, The automated storage and retrieval system (1) comprises: - A service vehicle (900) for transporting an operator (960) on the track system (108), wherein the gripping device (600) has a length (L) such that the operator (960) can connect the gripping device (600) to the track system (108) in a state of sitting in the service vehicle (900).

15. The automated storage and retrieval system (1) according to any one of claims 12 to 14, Among them, The automated storage and retrieval system (1) comprises: - A plurality of storage containers (106), - A plurality of vertical storage columns (105) for stacking the storage containers (106) therein, and - A remotely operated vehicle (201; 301; 401), configured to move along the track system (108) and transport at least one storage container (106).

16. A method of anchoring a safety belt (700) to a track system (108) using the gripping device (600) according to any one of claims 1 to 10, Among them, The track system (108) is part of the automated storage and retrieval system (1) according to any one of claims 12 to 15, Wherein, the method comprises the following steps: - Move the first jaw (612) and the second jaw (622) away from each other to increase the jaw spacing (J between the first jaw and the second jaw G ), thereby opening the gripping device (600). - Arranging the gripping device (600) on the track system (108), wherein the first jaw (612) and the second jaw (622) are located on opposite sides of one track or one intersection portion (113), - Engaging the first jaw (612) with one track (110) extending along the first direction (X) and / or with one track (111) extending along the second direction (Y), - Move the first jaw (612) and the second jaw (622) towards each other to reduce the jaw spacing (J G ), until the second jaw (622) engages with a track (110) extending along the first direction (X) and / or with a track (111) extending along the second direction (Y), thereby closing the clamping device (600).

17. The method according to claim 16, Among them, Each of the tracks (110, 111) includes two vertical sides, and each of the tracks is formed with horizontal grooves (109) provided in each vertical side of the track (110, 111), Wherein, the grooves (109) on the first set of parallel tracks (110) are positioned to be aligned with the grooves (109) on the second set of parallel tracks (111) at the intersection portion (113), Wherein, the gripping device (600) comprises: - A first tooth (613), arranged on the first jaw (612), and - A second tooth (623), arranged on the second jaw (622), Wherein, the method comprises the following steps: - engaging the first tooth (613) with a groove (109) of a track (110) extending along the first direction (X) and / or with a groove (109) of a track (111) extending along the second direction (Y), and - by closing the clamping device (600), engaging the second tooth (623) with another groove (109) of a track (110) extending along the first direction (X) and / or with another groove (109) of a track (111) extending along the second direction (Y).

18. The method according to claim 16 or 17, Among them, The method comprises the steps of: - locking the clamping device (600) to the track system (108) by preventing relative movement of the first jaw (612) and the second jaw (622).

19. The method according to any one of claims 16 to 18, Among them, The method comprises the steps of: - connecting a safety belt (700) to a connection point (614) on the clamping device (600).

20. The method according to any one of claims 16 to 19, Among them, The method comprises the steps of: - transporting an operator (960) to a service area on the track system (108) by means of a service vehicle (900), and then clamping the clamping device (600) to the intersection (113) adjacent to the service area.

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