Fall restraint devices for lattice frame structures.

Abstract

1. A fall restraint device (60) for travelling on a grid structure comprising: a first set of parallel tracks; a second set of parallel tracks extending 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, such that each grid cell defines a grid opening defined by adjacent pairs of tracks of the first set of parallel tracks and adjacent pairs of tracks of the second set of parallel tracks, the fall restraint device having an upper portion (64) and a lower portion (70) a moving assembly (72) attached to a lower portion (70) of the frame (62), the upper portion being configured to restrain at least one workman, the moving assembly being configured to move the frame over the lattice structure, the frame (62) having a weight of less than 100 kg such that at least a portion of the moving assembly (72) can be manually lifted from the lattice structure by at least one workman restrained on the upper portion (64) of the frame (62).

Description

[Technical field]

[0001] The present invention relates to the field of tracked, remotely operated loading and unloading devices mounted on a lattice frame structure for handling storage containers or boxes stacked within the lattice frame structure, and more particularly to a fall restraint apparatus for use on a lattice frame structure. [Background technology]

[0002] Storage systems comprising a three-dimensional storage lattice structure in which storage containers / bins are stacked on top of each other are well known. PCT Publication No. WO2015 / 185628A (Ocado) describes a known storage and fulfillment system in which stacks of bins or containers are arranged within a lattice framework structure. The bins or containers are accessed by remotely operated handling devices on tracks mounted above the lattice framework structure. A system of this type is shown diagrammatically in Figures 1 to 3 of the accompanying drawings.

[0003] As shown in Figures 1 and 2, stackable containers known as boxes or containers 10 are stacked on top of each other to form a stack 12. The stack 12 is arranged within a lattice frame structure 14 in a warehousing or manufacturing environment. The lattice frame structure is made up of a number of storage columns or grid columns. Each grid in the lattice frame structure has at least one grid column for storage of a stack of containers. Figure 1 is a schematic perspective view of the lattice frame structure 14, and Figure 2 is a top-down view showing a stack 12 of boxes 10 arranged within the grid structure 14. Each box 10 typically holds multiple product items (not shown), and the products within the boxes 10 may be the same or may be of different product types depending on the application.

[0004] The lattice frame structure 14 comprises a plurality of vertical members or columns 16 supporting horizontal members 18, 20. A first set of parallel horizontal lattice members 18 are disposed at right angles to a second set of parallel horizontal lattice members 20 and arranged in a lattice pattern to form a lattice structure 14b comprising a plurality of lattice cells located in a horizontal plane. The lattice structure is supported by the vertical members 16. The members 16, 18, 20 are typically fabricated from metal and are typically welded or bolted together or a combination of both. The boxes 10 are stacked between the members 16, 18, 20 of the lattice frame structure 14 such that the lattice frame structure 14 prevents horizontal movement of the stack 12 of boxes 10 and guides vertical movement of the boxes 10.

[0005] The top of the lattice frame structure 14 includes rails or tracks 22a, 22b arranged in a lattice pattern across the top of the stack 12. With further reference to Figures 2 and 3, the rails 22 support a plurality of load handling devices 30. A first set of parallel rails or tracks 22a guides movement of the robotic load handling device 30 in a first direction (e.g., X direction) across the top of the lattice frame structure 14, and a second set of parallel rails or tracks 22b arranged perpendicular to the first set 22a guides movement of the load handling device 30 in a second direction (e.g., Y direction) perpendicular to the first direction. In this manner, the rails or tracks 22a, 22b allow lateral movement in two dimensions of the robotic load handling device 30 in a horizontal XY plane such that the load handling device 30 can be moved to a position above any of the stacks 12. Many methods exist in the art for providing tracks to a lattice structure. One configuration involves separately mounting the tracks to the track supports. This involves arranging the track supports in a grid-like pattern and then attaching or fastening the track to the track supports so that the track takes on the grid-like pattern of the track supports. In an alternative equally valid arrangement of the grid members of a grid structure as taught in WO18146304 (Autostore), the track is integrated or combined with the track supports to define the grid members. The grid structure thus comprises an arrangement of the grid members into a grid pattern comprising a plurality of grid cells or grid spaces. In both methods of arranging the track, the grid structure comprises a plurality of grid cells or grid spaces. With reference to FIG. 2, the grid cells or grid spaces are in the form of a plurality of substantially rectangular frames in the horizontal plane, each rectangular frame constituting a grid cell suitable for accommodating a correspondingly shaped container or load. Based on the Cartesian coordinates shown in FIG. 2, typically the dimensions of the grid cells are in the range of 600 mm to 800 mm in the X direction and 400 mm to 600 mm in the Y direction suitable for allowing containers or loads of smaller dimensions to pass through the grid cells. For example, a typical package may be 653mm long and 543mm wide and be able to pass through a grate opening of approximately 761mm by 561mm.

[0006] A known load handling device 30 shown in Figures 4 and 5 is described in PCT Patent Publication No. WO2015 / 019055 (Ocado), which is incorporated herein by reference, comprising a car body 32, each of which only covers one grid space of the lattice frame structure 14. Here, the load handling device 30 comprises a wheel assembly comprising a first wheel set 34 consisting of a pair of wheels at the front of the car body 32 and a pair of wheels 34 at the rear of the car body 32 for engaging a first set of rails or tracks to guide the movement of the device in a first direction, and a second wheel set 36 consisting of a pair of wheels 36 on each side of the car body 32 for engaging a second set of rails or tracks to guide the movement of the device in a second direction. Each of the wheel sets is driven to enable the movement of the vehicle in the X and Y directions along the rails, respectively. One or both wheel sets can be moved vertically to lift each wheel set off its respective rail, thereby allowing the vehicle to move in a desired direction.

[0007] The handling device 30 is equipped with a lifting device or crane mechanism for lifting the storage container from above. The crane mechanism comprises a winch tether or cable 38 wound on a spool or reel (not shown) and a grabber device 39. The lifting device comprises a set of lifting tethers 38 (one tether near each of the four corners of the grabber device) extending vertically and connected near or to four corners of a lifting frame 39, also known as the grabber device, for releasable connection to the storage container 10. The grabber device 39 is configured to releasably grip the top of the storage container 10 for lifting the storage container 10 from a stack of containers in a storage system of the type shown in Figures 1 and 2.

[0008] The wheels 34, 36 are positioned around a cavity or recess in the lower portion known as a container receiving recess 40. The recess is sized to accommodate the container 10 when it is lifted by the crane mechanism as shown in Figures 5(a and b). When the container is in the recess, it is lifted from the rails underneath to allow the vehicle to move laterally to a different location. Upon reaching the target location, for example another stack, an access point in a storage system, or a conveyor belt, the box or container can be lowered from the container receiving portion and released from the gripping device.

[0009] In certain situations, it is necessary for personnel to enter the lattice structure to perform necessary operations on the lattice structure. These operations may include repairing or removing a malfunctioning robotic loading device on the lattice structure, inspecting the condition of the lattice structure, and / or attending to leaks or dirt buildup or ducts on the lattice structure that require attention. Several automated service vehicles exist in the art to facilitate personnel access to the lattice structure.

[0010] WO2015 / 140216 (Ocado Innovation Ltd) teaches a robotic servicing device with a releasable docking mechanism to enable it to dock and latch onto a faulty handling device. The servicing device may also be provided with cleaning means and camera means to enable the condition of the grates and other robotic devices to be monitored.

[0011] WO2019233749 (Autostore Technology AS) teaches a service vehicle comprising a propulsion means enabling the movement of the service vehicle over a rail system and a fire extinguisher compartment for accommodating fire extinguishing equipment, the propulsion means comprising endless tracks configured for driving over the rail system, the endless tracks having a length Lpm at a horizontal plane height that exceeds a length corresponding to a diagonal length across a maximum grid opening of the rail system when the service vehicle is moving over the rail system.

[0012] WO2020151866 (Autostore Technology AS) teaches a service vehicle comprising a displacement mechanism and a hoisting device connected to the displacement mechanism, the displacement mechanism and the hoisting device being configured to move a container handling vehicle between an operating position on a rail system and a loading position within the container handling vehicle section.

[0013] A problem with automated service vehicles as taught in the art is that the service vehicles require that they be permanently operable on the grid structure or at least permanently on standby on the grid structure, and if not on the grid structure, require that they be raised to lift the service vehicle and place it on the grid structure when necessary work needs to be performed. Thus, the service vehicle may be able to travel on a track to the location of an incident when an incident occurs or to perform necessary work on the grid structure.

[0014] Individual containers are stacked in vertical layers and their locations or "hives" in the lattice frame structure may be indicated using coordinates in three dimensions to represent the location of a loading device or container and container depth (e.g., (X,Y,Z), a container at depth W). Similarly, locations in the lattice frame structure may be indicated in two dimensions to represent the location of a loading device or container and container depth (e.g., (X,Y), a container at depth Z). For example, Z=1 identifies the top layer of the lattice, i.e., the layer directly below the rail system, Z=2 is the second layer below the rail system, etc., down to the bottom layer at the bottom of the lattice. Modular frames may be stacked on top of each other to increase the height of the lattice frame structure, thus increasing the value of depth Z, thereby allowing vertically stacked containers to extend through one or more modular frames.

[0015] As lattice structures become larger and support an increasing number of robotic loading devices, the need to access the lattice structure increases. The increased need to access the lattice structure increases the possibility that personnel may be injured on the lattice structure and, in a worst case scenario, that personnel may fall into the lattice cells. The height of the lattice structure may exceed the height of 21 containers, thus increasing the risk of serious injury from falls. As a result, there is a movement to provide a system that not only improves the safety of personnel when working on the lattice structure, but also allows injured personnel to be quickly extracted from the lattice structure. Industrial safety organizations have petitioned for a system that allows personnel to safely access the lattice structure as well as has the ability to extract injured personnel on the lattice structure, so long as such a safety system remains a constant requirement. While the service vehicles described above are known to be able to extract injured personnel from the grid structure, the service vehicle must have a permanent home base on the grid structure and therefore occupy a grid cell or the service vehicle must be pulled up onto the grid structure, which not only increases the downtime the grid structure is out of service, but also further delays the extraction of injured personnel on the grid structure. Summary of the Invention

[0016] Therefore, there is a need for a fall arrest system that can be safely operated on a lattice structure and that can be quickly deployed on a lattice structure.

[0017] This application claims priority from UK Application No. 2102508.5 filed on February 22, 2021, UK Application No. 2103124.0 filed on March 5, 2021, and UK Application No. 2111707.2 filed on August 16, 2021, the contents of which are incorporated herein by reference.

[0018] Applicant has alleviated the above problems by providing a fall restraint device that is portable and manually operated so that it can be picked up by an operator. More specifically, the present invention relates to a fall restraint device for manual travel on a grid structure comprising a first set of parallel tracks and a second set of parallel tracks extending 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, such that each grid cell defines a grid opening defined by adjacent pairs of tracks of the first set of parallel tracks and adjacent pairs of tracks of the second set of parallel tracks, a frame having an upper portion and a lower portion, the upper portion configured to restrain at least one worker; a movement assembly attached to a lower portion of the frame, the movement assembly configured to move the frame on the lattice structure; Equipped with A fall restraint device is provided, the frame having a weight of less than 100 kg such that at least a portion of the moving assembly can be manually lifted from the lattice structure by at least one worker restrained on an upper portion of the frame.

[0019] The fall restraint system of the present invention operates in the field of storage systems comprising a lattice frame structure. The lattice frame structure comprises a first set of parallel tracks and a second set of parallel tracks extending transversely to the first set in a substantially horizontal plane and arranged in a lattice pattern comprising a plurality of lattice cells. The lattice structure is supported by a plurality of vertical columns at one or more intersections of the first set of parallel tracks and the second set of parallel tracks. The storage system stores a plurality of stacks of storage containers arranged in the storage columns below the lattice structure. A loading device operating on the lattice structure can hoist the storage containers above the tracks guided by the vertical columns supporting the lattice structure. Each lattice cell has a length in the range of 600-800 mm and a width in the range of 400-600 mm to define a lattice opening defined by adjacent pairs of tracks of the first set of parallel tracks and adjacent pairs of tracks of the second set of parallel tracks.

[0020] The weight of the fall restraint device is preferably less than 100 kg. Providing a lightweight fall restraint device having a weight of less than 100 kg allows the fall restraint device of the present invention to be lifted by at least one operator. Not only does this allow the fall restraint device to be thrown onto the lattice structure when there is a need for rapid response to an incident on the lattice structure, but the light weight of the fall restraint device allows the operator to easily move the fall restraint device in multiple directions on the lattice structure by simply lifting the fall restraint device that incorporates the frame so that at least a portion of the rolling assembly is lifted from the lattice structure below. This allows the fall restraint device to be rotated to a desired orientation on the lattice structure, i.e., to be oriented in the direction of the incident. To provide a lightweight fall restraint device, the weight of the frame alone is less than 100 kg. The weight of the frame is preferably less than 60 kg. More preferably, the weight of the frame is less than 30 kg. Having a lightweight frame weighing less than 100 kg results in a lightweight fall restraint device such that at least a portion of the rolling assembly can be lifted off the track.

[0021] To provide a lightweight fall restraint device, the frame preferably comprises an assembly of frame members arranged to form an interior open structure for accommodating at least one worker restrained by the upper portion, so that the at least one worker can manually walk on the lattice structure in the open interior space. For example, the frame members may be lightweight aluminum tubular members or other lightweight frame members including, but not limited to, plastic materials or fiber composite materials. To enable the fall restraint device to hoist a load, such as an injured person on the track or a person who has fallen through a lattice opening, or generally a load on the track, the upper portion of the frame preferably comprises a suspension frame member or suspension beam for supporting at least one worker on the track or a load. The terms "suspension frame member" and "suspension beam" are used interchangeably throughout this patent specification to mean the same feature. Similarly, the terms "open interior space" and "open interior structure" are used interchangeably throughout this patent specification to mean the same feature.

[0022] The upper portion preferably comprises a pair of parallel side frame members connected to one another by at least one end frame member substantially perpendicular to the parallel side frame members to define a handle supported above the wheel assemblies by a plurality of supports or downtubes such that at least one worker restrained in the upper portion of the frame can hold the handle while walking on the trellis structure. The frame members may be assembled in a "Zimmer" type configuration to enable a worker to be supported by the frame by holding the handle while walking on the trellis structure.

[0023] Preferably, the plurality of frame members include at least one brace member to provide structural integrity to the frame while restraining the at least one worker to the upper portion of the frame. For example, the brace member may be a horizontal brace member or a bracing member connecting parallel frame members. More preferably, the upper portion of the frame includes an H-frame assembly. Optionally, the upper portion of the frame includes A-frames to define a gantry, and suspension beams extending between the A-frames to support the at least one worker against the suspension beams.

[0024] The moving assembly preferably comprises a rolling assembly and / or a sliding assembly. The moving assembly allows the frame to be easily moved on the lattice structure. In order to improve the stability of the fall restraint device on the lattice structure and to allow the worker restrained by the upper part of the frame to guide or move the fall restraint device in any direction on the lattice structure without any part of the rolling assembly falling into the lattice opening, the rolling assembly comprises a front wheel assembly and a rear wheel assembly, each wheel assembly of the front wheel assembly and the rear wheel assembly extending across at least one lattice cell or lattice opening so as to contact a different track of the lattice structure. The rolling assembly is freewheeling so as to allow the worker restrained by the upper part of the frame to manually move the fall restraint device on the lattice structure, i.e. to manually push the fall restraint device on the lattice structure.

[0025] By configuring the rolling assembly to include a front wheel assembly and a rear wheel assembly, each wheel assembly has a length such that each wheel assembly of the front wheel assembly and the rear wheel assembly contacts a different track of the lattice structure, preventing the wheel assembly from falling into the lattice opening, especially when guiding the fall restraint device on the lattice structure. For the purposes of the present invention, the wheel assembly contacts different tracks of the lattice structure is interpreted to mean that there are at least two contact points between the wheel assembly and the track. The at least two contact points are not on the same track, but on different tracks such that at least a portion of the wheel assembly is prevented from falling into the lattice opening. The different tracks can be parallel tracks such that each portion of the wheel assembly contacts each of the parallel tracks or contacts diagonally opposite tracks. Another way to describe the contact of the front wheel assembly and the rear wheel assembly with the wheel assembly is that each wheel assembly of the front wheel assembly and the rear wheel assembly contacts at least two different areas of the lattice structure.

[0026] The length of each wheel assembly of the front and rear assemblies is preferably greater than the length across at least one grid cell, and more preferably greater than the length across at least one grid opening. In order to allow the fall restraint device to be lifted and repositioned on the grid structure to be oriented in any direction on the track, the length of each wheel assembly of the front and rear wheel assemblies is preferably greater than the length corresponding to the diagonal length across the grid opening. The diagonal length represents the maximum diagonal length across the grid opening, with the grid opening having a rectangular or square shape. Having a wheel assembly that is longer than the diagonal length across the grid cell prevents at least a portion of the rolling assembly from falling into the grid opening when the fall restraint device is positioned diagonally across the first and second sets of parallel tracks.

[0027] To increase the contact surface area between the lattice structure and the wheel assemblies to allow the fall restraint device to be rotated in any direction on the lattice structure, each wheel assembly of the front wheel assembly and / or the rear wheel assembly preferably includes at least one long roller, e.g., at least one freely rotating long roller. The long roller extends across the width of the track to allow the wheel assembly to extend outwardly of the upper portion of the frame and contact different points of the lattice structure, thereby improving the stability of the fall restraint device on the lattice structure. For example, a single long roller may be attached to each of the front and rear of the fall restraint device. The length of the single long roller may exceed the distance spanning at least one lattice cell such that when attached to the frame, the width of the wheel assembly extends beyond the lattice cell transversely to the longitudinal direction of the upper portion of the frame to contact two different tracks of the lattice structure.

[0028] Alternatively, to provide the same degree of stability of a single long roller extending over at least one lattice cell, each wheel assembly of the front and rear wheel assemblies may optionally comprise a plurality of wheels, the plurality of wheels being arranged to be rotatable about a common axis, the plurality of wheels being arranged to be ... To further prevent at least a portion of the wheel assembly from falling into a grid cell, the front wheel assembly is preferably separated from the rear wheel assembly by an axle distance having a length greater than the distance spanning at least one grid cell, such that the rolling assemblies contact different tracks of the grid structure, in this case the front and rear tracks. More specifically, the axle distance extends over at least two grid cells or grid openings.

[0029] More preferably, the rolling assemblies extend outwardly of the upper portion, i.e., the rolling assemblies extend outwardly and laterally on both sides of the frame. For example, the width of the upper portion may be sized to correspond to the width of the lattice cells, and the wheel assemblies extend outwardly of the upper portion beyond the width of at least one lattice cell to provide stability of the fall restraint device on the lattice structure. In other words, the footprint occupied by the rolling assemblies is greater than the footprint occupied by the upper portion to provide enhanced stability of the fall restraint device on the lattice structure. The wheel assemblies of the front and rear wheel assemblies preferably extend laterally to the longitudinal direction of the upper portion and have a width that exceeds the distance spanning at least one lattice cell, such that the fall restraint device moves in a direction along the longitudinal direction of the upper portion. The lower portion of the frame preferably includes a subframe for supporting the rolling or wheel assemblies. The subframe provides additional stability to the fall restraint device and allows the fall restraint device to extend over a larger area of ​​the lattice structure.

[0030] The sliding assembly preferably comprises a food-safe material so that it may be used near food. The sliding assembly preferably comprises one or more skates or skis. The skates allow the fall restraint device to slide on the lattice structure, allowing easier turning and movement on the lattice structure. More preferably, the skates or skates extend longitudinally along the length of the frame. By locating the skates longitudinally along the length of the frame, contact between the frame and the lattice structure is increased, thereby increasing the stability of the fall restraint device. Alternatively, the sliding assembly may comprise a low-friction coating on one or more lower portion frame members. Optionally, the skates or skates extend outward from a forward end of the frame toward a rearward end of the frame. Preferably, the skates or skates extend outward from a forward end of the frame at an acute angle.

[0031] The fall arrest device further comprises at least one carabiner or shackle for restraining the at least one worker to the upper portion of the frame. The carabiner can be coupled to the upper portion of the frame to enable a worker wearing a harness to be restrained by the upper portion of the frame via the carabiner coupled to the upper portion of the frame.

[0032] The fall restraint device preferably includes a fall arrest inertia reel coupled to the upper portion of the frame to prevent a worker restrained on the upper portion of the frame from falling too far into the grid opening and being injured. Thus, if a worker tethered to the fall arrest inertia reel were to slip and fall into the grid opening, the inertia reel restraining the worker on the upper portion of the frame would prevent the worker from falling too far into the grid cell through the locking action of the inertia reel. To retrieve injured personnel on the grid structure or personnel who have fallen into the grid cell, the fall restraint device preferably includes a winch coupled to the upper portion of the frame. The winch may be a manual winch or a power assisted winch to hoist personnel who have fallen into the grid cell. The upper portion of the frame includes a suspension frame member or suspension beam extending across the pair of parallel side bars for supporting at least one worker. The suspension beam may be removably attached to the pair of parallel side bars. A winch assembly may be coupled to the suspension beam to provide support when hoisting a person who has fallen into the grid cell.

[0033] The fall restraint apparatus of the present invention may also be used to recover a failed load handling device on the track. For example, a winch may be used to upright a fallen load handling device on the track. Although the winch may be sufficient to hoist an injured person, which may weigh up to 100 kg, the winch assembly may not be sturdy enough to hoist a failed load handling device, which may weigh more than 150 kg, from the track and carry the load handling device to the edge of the lattice structure without compromising the stability of the fall restraint apparatus on the lattice structure. This is especially true when the fall restraint apparatus is manually driven by personnel restrained on the upper part of the frame. Furthermore, there may not be enough clearance to lift the load handling device from the track. For example, there may be only a small amount of clearance above the lattice structure to accommodate a winch assembly tall enough to lift the load handling device from the track. Typically, the storage system with the lattice frame structure is housed in a distribution center. In order to maximize the use of space in the distribution center, and therefore the storage of goods, the height of the lattice frame structure is made as large as possible so that it extends close to the ceiling of the distribution center, leaving little clearance above the tracks other than the loading devices operating on the tracks. This precludes the ability of taller devices with winch assemblies to operate on the lattice structure. This makes it difficult to lift a failed loading device on the lattice structure and move it to the edge of the lattice structure. Furthermore, the taller the service vehicle housing the winch assembly, the more unstable the service vehicle will be when it is on the lattice structure, as the center of gravity will be so high that any slight swing of the loading device suspended from the winch assembly can cause the service vehicle to tip over on the lattice structure. To mitigate this instability, it may be necessary to occupy more lattice cells by increasing the footprint of the base of the service vehicle across multiple lattice cells, or to concentrate the weight of the service vehicle toward the base of the service vehicle. Thus, it may be necessary to isolate a larger portion of the lattice structure in order to retrieve a single loading device.

[0034] To alleviate this problem, the frame preferably further comprises a towing member for coupling or interacting with the load handling device on the lattice structure. More preferably, the towing member is a towing bar having one end coupled to the upper part of the frame and the other end for coupling or interacting with the load handling device. To retrieve a faulty load handling device stuck on the track, the fall restraint device further comprises a towing bar that can couple to the load handling device and interact with, for example, a hoist element at the top of the load handling device used to lift the load handling device, and push or pull the faulty load handling device to the edge of the lattice structure. The wheel motors may be disengaged to allow the load handling device to be pushed or pulled by human power alone, eliminating the need to hoist the load handling device from the track as found in prior art service vehicles.

[0035] The frame preferably includes one or more anti-tip mechanisms on both sides of the frame to prevent the fall restraint device from tipping over on the lattice structure, the one or more anti-tip mechanisms including a continuous stabilizing surface extending between the front and rear wheel assemblies. The one or more anti-tip mechanisms are configured to stay on the lattice member if the front and / or rear wheel assemblies are not in contact with the lattice member and the fall restraint device becomes unstable and starts to fall into the lattice opening. The anti-tip mechanisms thus act as stabilizers that prevent the fall restraint device from tipping too far to one side and ensure that the fall restraint device remains substantially vertical. In particular, the stabilizing surfaces are continuous to ensure that the stabilizing surfaces can contact the lattice member at any point between the front and rear wheel assemblies if the fall restraint device becomes unstable and starts to tip over towards the lattice structure. The continuous stabilizing surfaces preferably include one or more tethers tensioned between the front and rear wheel assemblies. The tethers or cables may include stainless steel. The advantage of using tethers or cables is that they are lightweight, so a worker can still lift the entire fall arrest device.

[0036] The frame can have a variety of shapes and relative dimensions. The frame preferably has a forward end and an opposing rearward end that is wider than the forward end and has 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 within another. The frame is preferably wedge shaped to allow for more efficient packing of the fall restraint devices.

[0037] The height of the fall restraint device is preferably less than 2m. The height of the fall restraint device may be 1.9m, 1.8m, 1.7m, or 1.6m. More preferably, the height of the fall restraint device is less than 1.5m to allow the fall restraint device to be used under low ceiling heights. The height of the fall restraint device may be 1.4m, 1.3m, 1.2m, or 1.1m.

[0038] A fall restraint device may be attached to another fall restraint device to form an assembly. The assembly may comprise a first fall restraint device, a second fall restraint device, and a suspension beam or frame that couples the first and second fall restraint devices together, where each of the first and second fall restraint devices comprises a fall restraint device of the present invention. The suspension beam may be detachable and may be attached to the first and second fall restraint devices when they are in a desired location on the lattice structure, or the suspension beam may be attached while away from the lattice. Isolation between the first and second fall restraint devices by the suspension beam further provides a working space for a worker restrained by the suspension beam.

[0039] For example, a worker may be connected to the suspension beam by a carabiner to allow lattice repair work to be performed. The suspension beam or suspension frame member may be attached to the upper part of the frame of the first and second fall restraint devices. By having the suspension beam attached to the upper part of the frame of the first and second fall restraint devices, there is more room (vertical space) available to the worker to perform various activities on the lattice structure. For example, a worker may be connected to the suspension beam by a fall arrest inertia reel to rescue a person from the lattice structure. Furthermore, a stretcher may be attached to the suspension beam. A winch is preferably attached to the suspension beam or suspension frame member. This advantageously allows a loading device or an injured person to be lifted from the lattice structure. The suspension beam or suspension frame member is preferably attached to the upper part of the first and / or second fall restraint devices by at least one pivotable joint. This advantageously allows each fall restraint device to move independently of the other while still being connected to each other.

[0040] Additional features and aspects of the present invention will become apparent from the following detailed description of illustrative embodiments that proceeds with reference to the drawings. [Brief description of the drawings]

[0041] [Figure 1] 1 is a schematic diagram of a lattice frame structure according to known systems; [Diagram 2] FIG. 2 is a schematic top-down view showing a stack of boxes arranged within the framework structure of FIG. 1 . [Diagram 3] 1 is a schematic diagram of a known robotic load-handling device operating on a lattice frame structure; [Figure 4] 1 is a schematic diagram of a load handling device according to a known system; [Figure 5(a)] 5 is a schematic perspective cutaway view of the load handling device of FIG. 4 showing a container fitting into the container receiving space of the load handling device; [Figure 5(b)]5 is a schematic perspective cutaway view of the load handling device of FIG. 4 showing a container receiving space of the load handling device; [Figure 6] 1 is a perspective view of a fall restraint device including a frame attached to a rolling assembly in accordance with one embodiment of the present invention; [Figure 7] Schematic of a top view of a cell showing the dimensions of the lattice cell openings. [Figure 8] 1 is a schematic top view of a rolling assembly of one embodiment of the present invention of a fall restraint device moving on a lattice structure. [Figure 9] 13 is a schematic top view of a rolling assembly according to another embodiment of the present invention of a fall restraint device moving on a lattice structure. [Figure 10] FIG. 2 is a perspective view of a long roller of a wheel assembly of a rolling assembly according to one embodiment of the present invention; [Figure 11] 1 is a perspective view of a worker restrained to a frame of a fall restraint device via a harness according to one embodiment of the present invention. [Figure 12] 7 is a perspective view of the fall restraint device shown in FIG. 6 including a suspension beam and winch in accordance with one embodiment of the present invention. [Figure 13] 1 is a top perspective view of the load handling device showing the hoist element on the top surface of the load handling device. [Figure 14] 1 is a schematic diagram of a fall restraint apparatus including a tow bar for towing a load handling device according to an embodiment of the present invention; [Figure 15(a)] FIG. 1 is a perspective view showing a worker restrained by a fall restraint device walking on a lattice structure. [Figure 15(b)] 1 is a perspective view showing a worker restrained in a fall restraint device guiding the fall restraint device by lifting at least a portion of a rolling assembly; [Figure 16] Schematic diagram of a fall restraint device including a long suspension beam according to a second embodiment of the present invention. [Figure 17] FIG. 11 is a schematic diagram of a fall restraint device according to a third embodiment of the present invention. [Figure 18] FIG. 13 is a schematic diagram showing an assembly of fall restraint devices connected together by a suspension beam according to a fourth embodiment of the present invention. [Figure 19]FIG. 13 is a schematic diagram of a fall restraint device according to a fifth embodiment of the present invention. [Figure 20] 20 is a schematic diagram of the fall restraint device of FIG. 19 showing the rolling assembly in a stowed configuration. [Figure 21] 20 is a schematic diagram of a fall restraint device having a different height than the fall restraint device shown in FIG. 19. [Figure 22] 22 is a schematic diagram of the fall restraint device shown in FIG. 21 on a lattice structure. [Diagram 23] FIG. 22 is a schematic diagram of an adaptation of the fall restraint device shown in FIG. 21 including a single suspension beam in accordance with a sixth embodiment of the present invention. [Figure 24] FIG. 13 is a schematic diagram of a fall restraint device according to a sixth embodiment of the present invention. [Diagram 25] 25 is a schematic diagram of a plurality of the fall restraint devices of FIG. 24 nested within one another. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0042] The present invention was conceived against the background of known features of storage systems such as the lattice frame structure and the load handling device described above with reference to Figures 1 to 5. To be able to access the lattice structure and move on the tracks, it is of utmost importance that any service vehicle conceived is able to move on the lattice cells without any of its wheels entering or falling into the lattice cells. There are various techniques in the art, discussed above, to enable the service vehicle to move on top of the lattice structure. The simplest way would be to adopt the vehicle assembly of a typical load handling device operating on the lattice structure and a drive mechanism for driving the wheels, i.e. with a first set of wheels for engaging with the tracks extending in the X direction and a second set of wheels for engaging with the tracks extending in the Y direction. Such wheel assemblies are taught in the art in WO2015 / 140216 (Ocado Innovation Ltd) and WO2020 / 151866 (Autostore Technology AS) and discussed above. However, such wheel arrangement limits the service vehicle to movement in either the X or Y direction on the grid structure. Thus, to get around an obstacle or other loading device on the grid structure, the service vehicle must move in the X and / or Y direction to reach a location or desired destination on the grid structure. In most cases, a path is planned that comprises movement in the X and Y directions to reach a desired location on the grid structure. This not only represents a longer travel distance to reach a desired location on the grid structure, but also takes time.

[0043] In order to reduce the travel distance to a desired location on the lattice structure and not be limited in the X and Y directions by the track, WO2019 / 233749 (Autostore Technology AS) teaches the use of an endless track that spans the surface of the track, i.e. runs on the surface of the track. The endless track is dimensioned to have a length that exceeds the length corresponding to the diagonal length across the largest lattice opening of the lattice structure so that any part of the endless track can span or run on the track without falling into any of the openings of the lattice cells. The endless track is provided with a belt that extends in the longitudinal direction and is driven by a belt motor.

[0044] Referring to Figure 7, the dimensions of a given grid cell are approximately 600-800mm in length and 400-600mm in width. The dimensions of the grid cells depend on the size of the containers or loads to be stored within the storage system and the ability of the handling devices operating on the grid structure to retrieve the storage containers by lifting them through the grid cell openings. This can be as small as 3,600cm. 2 From 6,400cm 2 Assuming that the width of a single track is about 75 mm wide, the longest length Lg of a given grid cell from the midpoint of the track is about 760 mm long, and the width Wg is about 560 mm, this corresponds to a diagonal length Dg of about 944 mm and a width Wg of about 4,256 cm 2 The area of ​​the grid cell opening is equal to the area of ​​the grid cell opening of 14c. Other dimensions of the grid cell include a length of 654 mm along the longest length Lg and a width Wg of about 454 mm. In FIG. 7, the longest length of the grid cell is along the X direction and the shorter of the two lengths, the width, is along the Y direction. To prevent the wheels of the service vehicle from falling into the grid cell opening and thereby getting the service vehicle stuck on the grid structure or at the very least damaging the track, the length of the rolling assembly should exceed the length across the diagonal length Dg across the grid opening 14c or at the very least exceed the longest length Lg across at least one grid cell. Taking the above example, the maximum diagonal length Dg of the grid cell is about 944 mm and the longest length Lg is about 760 mm.

[0045] The length of the tracks spans several grid cells, thereby allowing the service vehicle to be guided in any direction on the grid structure. However, WO2019 / 233749 (Autostore Technology AS) requires the use of tracks to move on the tracks. Tracks are heavy and require a motor to drive the belt, which increases the weight of the tracks. Thus, any service vehicle with tracks is not portable and requires one or more motors to drive the belt, eliminating the ability of the service vehicle to be rapidly deployed on the grid structure.

[0046] 6 illustrates a fall restraint device 60 according to an embodiment of the present invention. In contrast to service vehicles known in the art, the fall restraint device 60 of the present embodiment comprises a frame or frame structure 62 with an upper portion 64 including an open interior space 66 bounded by a plurality of vertical support frame members 68, and a lower portion 70 for mounting a rolling assembly 72. The rolling assembly 72 allows the fall restraint device 60 of the present invention to be guided in any direction on a track (not shown) without any portion of the rolling assembly 72 falling into a grid opening. Various embodiments of rolling assemblies according to the present invention exist to provide a rolling assembly that allows the fall restraint device to be guided in any direction on a grid structure without any portion of the rolling assembly falling into a grid opening. In all of the various embodiments of the present invention, it is essential that the rolling assembly contacts the lattice structure by at least two contact points on the lattice structure, and since the lattice structure comprises 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 is interpreted to mean that the rolling assembly contacts different tracks of the lattice structure or different areas of the lattice structure. The rolling assembly may also be free-wheeling to allow an operator restrained by the frame to manually move the fall restraint device on the lattice structure, for example by walking on the lattice structure. Further details of the rolling assembly of the fall restraint device according to the present invention are discussed below.

[0047] With reference to the particular embodiment of the fall restraint device depicted in FIG. 6, the frame 62 comprises a collection of frame members 74 connected together to provide an open interior structure 66 for accommodating at least one worker within the open interior space. The frame members 74 are connected together via suitable fastening means 76 to support the load of at least one worker restrained to the frame 62. Suitable fastening means for connecting the frame members 74 together include, but are not limited to, welding, one or more bolts, adhesives, and the like. To provide a lightweight frame that can be lifted by the at least one worker restrained to the frame 62, the frame members 74 may be tubular members having sufficient strength to support the load of at least one worker restrained to the frame. Examples of tubular frame members include, but are not limited to, aluminum tubular frame members, or alloys comprising aluminum. Other examples of frame members include the use of plastic or synthetic materials, such as carbon fiber reinforced plastic. The use of carbon fiber reinforced plastic materials for the frame members not only provides a sturdy frame sufficient to support at least one worker restrained on the frame, but also helps provide a lightweight frame so that the fall restraint device of the present invention can be easily thrown onto the lattice structure and moved in any direction on the lattice structure. The use of lightweight materials combined with the open structure of the frame provides a frame weighing less than 100 kg, preferably less than 60 kg, and more preferably less than 30 kg. Since the weight of the rolling assembly represents only a small portion of the total weight of the fall restraint device, the frame together with the rolling assembly provides a lightweight fall restraint device having a weight of less than 100 kg, preferably less than 60 kg, and more preferably less than 30 kg. The fall restraint device 60 in the particular embodiment of the present invention shown in FIG. 6 with aluminum-based tubular frame members weighs approximately 25 kg.

[0048] The lightweight frame 62 allows personnel within the open structure 66 of the frame to lift the frame and guide the fall restraint device 60 on the lattice structure. Guiding the fall restraint device 60 may include lifting the frame 62 such that at least a portion of the rolling assemblies 72 are lifted off the track, rather than attempting to rotate the fall restraint device when the rolling assemblies 72 are in full contact with the track. In the particular embodiment shown in FIG. 6, the frame 62 represents a significant percentage of the weight of the fall restraint device, and thus the lightweight frame results in a lightweight fall restraint device. Thus, a lightweight fall restraint device may be provided by a combination of the weight of the frame and the weight of the rolling assemblies.

[0049] In a particular embodiment of the invention shown in FIG. 6, the upper portion 64 of the frame comprises at least one pair of parallel side frame members and a pair of parallel end frame members shorter than the parallel side frame members and secured substantially perpendicular to the parallel side frame members in a common horizontal plane to define a rectangular frame structure. The parallel side and end frame members are arranged to provide an interior open space 66 for accommodating at least one worker (see FIGS. 11 and 15(a and b)). The rectangular frame structure of the upper portion 64 allows one or more workers to be accommodated within the open interior space 66. The parallel side and / or end frame members also provide handles for the at least one worker to hold the frame while walking on the trellis structure. The handles defined by the parallel side and end frame members are supported above the track by a number of supporting or down frame members 68. As presented in FIG. 11, the height of the parallel side frame members 74 is approximately at waist height of a worker restrained within the open structure 66 so that the worker can easily reach and grab the parallel side frame members 74 while walking on the lattice structure. In the particular embodiment of the invention shown in FIG. 6, the frame members 74 are tubular members, such as aluminum tubes, although the frame members may be bars or other materials discussed above. To increase the structural rigidity of the frame, one or more bracing members are used to reinforce the parallel frame members. In the particular embodiment shown in FIG. 6, the frame members are assembled to provide opposing H-frames on both sides of the open structure 66. Other types of bracing members may be used to increase the structural rigidity of the frame, including, but not limited to, bracing members. The frame of the particular embodiment of the invention may be envisioned as being similar to a Zimmer® frame for at least one worker to walk on the lattice structure while holding the parallel side frame members 74.

[0050] The lower portion 70 of the frame includes a rolling assembly 72 to allow the fall restraint system 60 to be manually driven on the lattice structure. In a particular embodiment shown in FIG. 6, 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 on the subframe 78 such that the rolling assembly 72 has a width that spans the length of one or more lattice cells, more preferably one or more lattice openings. For improved stability of the fall restraint device 60 on the lattice structure, in a particular embodiment of the invention, the rolling assembly has a width W that spans the longest length of at least two lattice cells (see FIG. 6 and FIG. 15(a and b)). Considering the longest length of the lattice cell to be 760 mm, this corresponds to a width of about 2×760 mm (1520 mm). Ideally, the width of the rolling assembly should have a length that spans the maximum diagonal length of a given lattice cell to allow the fall restraint device 60 to be guided in any direction on the lattice structure. In the particular example described above, this corresponds to a length of about 944 mm. The rolling assembly 72 shown in Figure 6 comprises a front wheel assembly 73a and a rear wheel assembly 73b, each of which extends transversely to the longitudinal direction of the upper portion.

[0051] The width of the rolling assembly is selected to prevent any part of the rolling assembly from falling into the grid opening, which can be presented in the schematic diagrams shown in Figs. 8 and 9 in conjunction with Fig. 7. In both examples of the fall restraint device 160, 260, the rolling assembly 172, 272 comprises a front wheel assembly 173a, 273a and a rear wheel assembly 173b, 273b, each of which extends transversely to the length L of the upper part. The axle distance between the front and rear wheel assemblies extends beyond the length of one or more grid cells to allow the worker restrained in the upper part of the frame to access the grid opening. In the example shown in Figs. 8 and 9, the width of the front and rear wheel assemblies is such that each of the front and rear wheel assemblies contacts two different areas of the grid structure, indicated by reference symbols A and B in Figs. 8 and 9. The lattice structure is composed of a first set of parallel tracks extending in a first direction and a second set of parallel tracks extending in a second direction, so that each wheel assembly of the front and rear wheel assemblies contacts a different track of the lattice structure to prevent any part of the rolling assembly from falling into the lattice opening. There are many ways to achieve this. A first example is shown in FIG. 8, which shows that each wheel assembly of the front and rear wheel assemblies includes a single long roller having a length that spans the maximum diagonal length Dg of a single lattice opening 14c. A second example is shown in FIG. 9, which shows that each wheel assembly of the front and rear wheel assemblies includes multiple wheels. The multiple wheels of the front and rear wheel assemblies are arranged to rotate around respective common rotation axes FF (front axle) and RR (rear axle). In both examples shown in FIGS. 8 and 9, the length Lw of each wheel assembly of 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 lattice structure. For purposes of the present invention, the length of each of the front and rear wheel assemblies corresponds to the width W of the rolling assembly as shown in Figure 6. In the particular embodiment shown in Figure 6, each of the front and rear wheel assemblies extends outwardly of the upper portion 64 of the frame to ride on different regions of the lattice structure, i.e., at least two different tracks.When a wheel assembly includes multiple wheels, the wheel gap D of the multiple wheels is possibly less than the width Lt of a single track to prevent the track from getting between the multiple wheels (see FIG. 9). In both examples shown in FIGS. 8 and 9, the wheel assembly lengths of the front and rear wheel assemblies, indicated by reference character Lw, exceed the maximum diagonal length of the lattice opening 14c, indicated by reference character Dg. As a result, each wheel assembly of the front and rear wheel assemblies contacts a different track of the lattice structure.

[0052] However, the present invention is not limited to the configuration of the wheel assemblies shown in Figures 8 and 9, and other configurations of the wheel assemblies are applicable in the present invention to contact the two different tracks of the lattice structure. In the specific embodiment shown in Figure 6, the front and rear wheel assemblies 73a, 73b are provided with two rollers 80 that are rotatable around common rotation axes FF and RR. The wheels of the front and rear wheel assemblies are rotatable around one or more common shafts or axles, respectively. In the specific embodiment in Figure 6, the two rollers 80 are rotatably mounted on separate shafts in the front wheel assembly 73a and the rear wheel assembly 73b, and are sufficiently separated so that each roller 80 of the front and rear wheel assemblies contacts the tracks of the lattice structure. The length of each roller is less than the maximum length of the lattice 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 lattice opening 14c. An example of a single roller 80 for moving the frame of a fall restraint device over a lattice structure is shown in Figure 10 and includes a stainless steel roller 82 rotatably mounted on a shaft 84 which is rotatably mounted to the lower portion 70 of the frame. The stainless steel roller 82 includes an outer rubber sleeve 86 to prevent damage to the track, particularly to the contours of the track, as the fall restraint device of the present invention is moved over the lattice structure.

[0053] A worker 88 may be restrained to the upper portion 64 of the frame 62 via a suitable harness 90. In the particular embodiment shown in FIG. 11, a worker 88 wearing a suitable harness 90 may be connected to the upper portion 64 of the frame 62 via one or more fastening means (not shown). Commercially available harnesses for restraining a worker to the upper portion of the frame include DBI-SALA® ExoFit®. Examples of positive fastening means for restraining a worker to the upper portion of the frame include, but are not limited to, carabiners or shackles. At least one worker may be restrained to the upper portion of the frame by being connected to one of the parallel side or end frame members of the frame 62. The frame 62 of the fall restraint device functions like a Zimmer® frame, allowing a worker to safely walk on the tracks while holding onto the upper portion of the frame, particularly the parallel side frame members. However, if a worker were to accidentally slip into a grid cell, the worker could be restrained to the frame 62 via an inertia reel 92 coupled to the frame, and in particular to the upper portion of the frame. The inertia reel 92 prevents a worker restrained in the upper portion of the frame from falling too far into a grid cell. Other methods of restraining a worker to prevent the worker from falling into a grid opening are applicable in the present invention, including various harnesses or ropes.

[0054] The fall restraint device of the present invention may be used as a recovery device when a person is injured on a lattice structure or falls into a lattice opening. In the particular embodiment shown in FIG. 12, the frame 62 includes a winch 94 attached to a suspended frame member or beam 96. The suspended frame member or beam 96 is sturdy enough to support the weight of a worker, which may weigh as much as 100 kg or more. In the particular embodiment of the present invention shown in FIG. 12, the suspended beam 96 extends across the open structure 66 onto a parallel frame member in the upper part of the frame and is removably supported or secured to the parallel frame member via an inwardly bent end 98. The winch 94 allows the injured person to be suspended from the suspended beam 96 to be carried to a shelter at the edge of the lattice structure. The winch 94 with the winch cable is long enough so that the winch cable can be paid out down a lattice opening that may be as high as one container 21 (e.g., more than 3 m). The end of the winch cable is a hook 100 or other securing means for hanging a person who falls onto the tracks or into the grid openings. A litter (not shown) can be attached to the winch 94 to assist in the safe withdrawal of the casualty from the grid structure. The winch can be manually driven or motorized to give more control to the personnel restrained in the frame to hoist the casualty safely off the tracks.

[0055] The winch can be used not only to lift injured persons who have fallen onto the track or into the lattice opening, but also to erect fallen load-handling devices on the track. Occasionally, one or more load-handling devices may fall onto the lattice structure, declaring a section of the lattice inoperable until the fallen load-handling devices can be erected or, in the event of a load-handling device failure, retracted to the edge of the lattice structure. This results in increased downtime for that section of the lattice structure. The fall restraint device of the present invention with a winch can be used to erect fallen load-handling devices, since it can be rapidly deployed onto the lattice structure and can reach stuck load-handling devices on the lattice structure.

[0056] The top of the load handling device is equipped with a hoist element that can be used to lift the load handling device from the track. Figure 13 shows a hoist element 102 used for manual movement of the load handling device 30. The hoist element 102 is equipped with a cutout below the spherical head that creates a lower surface 104. The hoist element 102 is designed to allow the attachment of the hoist to lift the load handling device 30 from the grid cell. In certain cases, the load handling device may malfunction and become stuck on the track. Typically, in the prior art, to remove a malfunctioning load handling device, the load handling device is hoisted by a service vehicle so that the wheels of the load handling device are lifted off the track, the malfunctioning load handling device is placed on a platform in the service vehicle, and then the service vehicle is transported to the edge of the grid structure. However, there may be cases where there is not enough height above the load handling device to lift the load handling device from the track. This is especially true when the clearance above the load handling device in a distribution or fulfillment center is sufficient simply for the load handling device to operate on a track, but insufficient to accommodate a taller winch assembly of more than 2 meters. To overcome this problem, instead of suspending the load handling device from a track, the fall restraint apparatus of the present invention includes a tow bar that can be coupled to the stuck load handling device to tow the load handling device to the edge of the lattice structure. As shown in FIG. 14, one end 108 of the tow bar 106 is fixed to the frame of the fall restraint apparatus 60 of the present invention, and the other end 110 of the tow bar 106 is coupled to or interacts with the load handling device 30, more specifically, with the hoist element 102 at the top of the load handling device. One or more workers restrained by the frame of the fall restraint apparatus 60 can then manually pull or push the stuck load handling device to the edge of the lattice structure. The wheels of the load handling device can be disengaged to allow the load handling device to coast on the tracks, thereby allowing personnel restrained by the frame to push or pull the load handling device along the tracks.Although the particular embodiment in FIG. 14 shows a tow bar attached to the top of the load handling device, other means of attaching the tow bar to the load handling device, such as at the base of the load handling device, provide greater stability when towing the load handling device to the edge of the lattice structure.

[0057] In use, when access to the lattice structure is required, a worker can lift the fall restraint device by simply lifting the frame and place it on the track so that the rolling assemblies attached to the frame abut the track. A worker can enter the open structure and restrain in the upper portion of the frame as shown in FIG. 15a. A worker restrained in the upper portion of the frame can walk on the lattice structure 14b by stepping on the tracks 22a, 22b while holding on to the parallel side frame members. The width of the rolling assemblies is such that any portion of the rolling assemblies is prevented from falling into the lattice openings 14c. To move or guide on the lattice structure, as shown in FIG. 15b, a worker can simply lift the frame so that at least a portion of the rolling assemblies is lifted off the track. The worker can then rotate the frame to a desired orientation on the lattice structure without the problem of any portion of the rolling assemblies falling into the lattice openings 14c. Having a lightweight frame as discussed above allows the fall restraint device to be easily lifted and rotated on the track. A worker restrained in the upper portion of the frame, and more specifically within the open structure of the frame, can walk to a desired location or grid cell of the grid structure.

[0058] Although the particular embodiment shown in FIG. 6 shows an open structure closed by parallel frame members, other types of frames may be used to restrain at least one worker to the upper portion of the frame. In a second embodiment of a fall restraint device 360 ​​of the present invention shown in FIG. 16, an upper frame 364 includes opposing A-frames 366, or diagonal frame members that meet at an apex near the top of the frame. The A-frames 366 support a suspension frame member or suspension beam 396 disposed between the opposing A-frames 366. In comparison to the upper portion of the frame shown in FIG. 6, at least one worker is suspended from the suspension beam 396 disposed between the opposing A-frames 366. The front wheel assembly 373a and the rear wheel assembly 373b are each attached to the base of the A-frame such that the length of the suspension beam matches the centerline distance of the fall restraint device 360, i.e., the distance between the front wheel assembly 373a and the rear wheel assembly 373b. The suspension beam 396 is elongated to allow two or more workers to be suspended from the suspension beam, for example, via an inertia reel (not shown) coupled to the suspension beam. As shown in FIG. 16, one or more hooks 382 are suspended from the suspension beam 396 to allow a worker or a winch assembly (not shown) to be connected to the suspension beam 396. The fall restraint device 360 ​​may employ a rolling assembly 370 that is the same as or similar to the first embodiment of the invention described above, in that the rolling assembly comprises 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 lattice openings 14c such that the wheel assemblies contact different tracks or regions of the lattice structure (at at least two contact points) while moving on the lattice structure to prevent any portion of the rolling assembly from falling into the lattice cell opening. In a second embodiment of the fall restraint device 370, each of the front and rear wheel assemblies includes three elongated rollers 380 rotatable about a respective common axis.As with the first embodiment of the fall restraint device, the front and rear wheel assemblies 373a, 373b extend transversely to the longitudinal direction of the suspension beam 396 so that the fall restraint device can be moved longitudinally as a worker restrained by the suspension beam walks on the lattice structure. One or more winch assemblies (not shown), as discussed above, can be attached to the suspension beam 396. The long suspension beam 396 according to the second embodiment of the invention provides sufficient clearance for the fall restraint device to be positioned above the lattice cells, and a winch assembly (not shown) attached to the long suspension beam can pull a failed load handling device off the lattice structure.

[0059] Various arrangements of frame members may be used in the upper portion of the frame depending on the application of the fall restraint apparatus. In a first embodiment, the frame members are arranged to provide an internally open structure to support a worker restrained by the frame to walk on the track. In a second embodiment shown in FIG. 16, the frame members are arranged to provide opposing A-frames and suspension beams arranged between the A-frames to define a gantry to allow the fall restraint apparatus to easily hoist larger objects such as a broken load handling device. In both embodiments of the invention, the frame is light enough to be easily moved on the track, and the rolling assemblies extend outwardly of the upper portion of the frame to provide improved stability of the fall restraint apparatus on the lattice structure by abutting different areas of the lattice structure or the track, i.e., the footprint occupied by the rolling assemblies is larger than the footprint occupied by the upper portion of the frame. This allows the fall restraint apparatus to be easily moved and guided on the lattice structure, since the frame is light enough for at least a portion of the rolling assemblies to be lifted off the track. Although not shown in FIG. 16, a tow bar may be incorporated into the fall restraint device of the second embodiment of fall restraint device 360 ​​to push or pull a stuck loading device connected to the tow bar to the edge of the lattice structure.

[0060] An adaptation of the first embodiment of the fall restraint device shown in fall restraint device 460 in FIG. 6, which includes an interior opening structure 466 for an employee 88 restrained on the frame 462, is shown in the third embodiment of the invention in FIG. 17. Similar to the first and second embodiments of the invention shown in FIGS. 6 and 16, the fall restraint device 460 of the third embodiment of the invention includes a frame 462 including an upper portion 464 for restraining at least one employee 88 on the frame 462 and a lower portion 468 for mounting a rolling assembly 472. The fall restraint device 460 is fitted with the same or similar rolling assembly 472 as the other embodiments of the invention in that stability of the frame 462 on the grid is provided by a rolling assembly attached to the lower portion and extending outwardly of the upper portion across the grid opening. Importantly, 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, 473b has a length Lw extending across the grid opening 14c and extends transversely to the longitudinal direction of the upper portion 464 such that the wheel assembly 473a, 473b contacts the grid 14b at two points or at two different tracks 22a, 22b as shown in Figure 17. In a particular embodiment of the invention, each wheel assembly 473a, 473b of the front and rear wheel assemblies comprises an elongated roller, more specifically two elongated rollers 480 arranged to rotate about common axes FF and RR, respectively.

[0061] In contrast to the first embodiment of the invention shown in FIG. 6, the upper portion 464 of the frame further comprises upwardly extending frame members secured or connected to each other to form a lifting or hoisting frame 465 for supporting a winch 482. In the particular embodiment of the invention shown in FIG. 17, the lifting frame 465 comprises upwardly extending tubular frame members connected to a lower portion 468 of the frame and to parallel frame members in the upper portion of the frame. The lifting frame 465 may double as a roll cage to protect personnel within the upper portion 468 of the frame in the event that the fall restraint device 460 falls onto the lattice structure 14b. A winch 482 is attached to the lifting frame 465 so as to be suspended from the top portion of the lifting frame. As with the other embodiments of the invention, in operation, personnel restrained by the frame may walk on the tracks 22a, 22b while holding on to the parallel frame members. To guide the fall restraint device over the grid, the worker simply lifts the frame so that at least a portion of the rolling assembly 472 is lifted off the track to allow the worker to rotate the frame to the desired orientation. The gist of the present invention is that it is possible to have a lightweight fall restraint device, in order to lift at least a portion of the rolling assembly off the track to allow the fall restraint device to be guided over the grid. It is preferred that the fall restraint device has a weight of less than 100 kg, preferably less than 60 kg, more preferably less than 30 kg. The provision of a lightweight frame with an assembly of tubular frame members to form an open structure allows for a lightweight fall restraint device.

[0062] In yet further embodiments of the present invention, two or more of the fall restraint apparatus of the first and / or third embodiments of the present invention shown in FIGS. 6 and 17 may be coupled together by a linkage 594 to form an assembly 500 as shown in FIG. 18. Allowing two or more fall restraint apparatuses 560a, 560b to be coupled together by a linkage 594 to form the assembly 500 increases the load-bearing capacity of the assembly since two or more operators can drive the assembly on a track. Each of the two or more fall restraint systems may be independently operated relative to each other such that a person restrained to each of the two or more fall restraint apparatuses can independently move each fall restraint apparatus by lifting at least a portion of the rolling assembly of the fall restraint apparatus. In the particular embodiment shown in FIG. 18, the first fall restraint apparatus 560a and the second fall restraint apparatus 560b are shown spaced apart and isolated by the linkage 594 to define a working area between the first fall restraint apparatus 560a and the second fall restraint apparatus 560b. The linkage 594 extending between the first fall restraint device 560a and the second fall restraint device 560b may be a suspension beam or horizontal beam or suspension frame member for suspending a failed robotic load handling device on the track and / or personnel working on the track.

[0063] The suspension beam or frame member 594 may be attached to the upper portions 564a, 564b of the frame structure of the first and second fall restraint devices. The attachment of the ends of the suspension beam or frame member 594 to the upper portions of the frame structure of each of the first and second fall restraint devices is similar to the lifting frame shown in FIG. 17, which includes tubular frame members extending upwardly on either side of the frame structure of the fall restraint devices and is supported by frame members extending across the frame structure in a direction substantially perpendicular to the longitudinal direction of the suspension frame members. The lifting frame 565 serves to lift the suspension frame member 594 above the track sufficiently to suspend a loading device from the suspension frame member, or, in some cases, to suspend a person to be tethered to the suspension frame member while standing on the track.

[0064] One or more operators constrained within each of the first and second fall restraint apparatuses 560a and 560b can move each of the first and second fall restraint apparatuses on the track such that the first and second fall restraint apparatuses behave in tandem on the track, i.e., the movement of the assembly on the track is dependent on the operators constrained within the first and second fall restraint apparatuses moving the respective fall restraint apparatuses. One or both ends 502 of the suspension beam or suspension frame member 594 are attached to the first fall restraint apparatus 560a and / or the second fall restraint apparatus 560b by pivotable joints such that the first fall restraint apparatus 560a can move independently of the second fall restraint apparatus 560b on the track. This allows the first fall restraint apparatus to swing relative to the second fall restraint apparatus while still being connected to each other on the track.

[0065] In the particular embodiment shown in FIG. 18, the linkage connecting the first and second fall restraint devices is a suspension frame member 594 with parallel beams 595 reinforced by one or more tie rods 504 in a ladder arrangement to provide the suspension frame member with more support to avoid buckling when suspending the robotic load-handling device. As discussed above with reference to FIG. 12, a winch (not shown) may be attached to the suspension beam or suspension frame member 594 to hoist a failed robotic load-handling device off the track and / or to upright a fallen robotic load-handling device on the track. As discussed above, a hook (not shown) or other suitable fastener may be attached to the free end of the winch cable to engage with the hoist element of the load-handling device. A stretcher (not shown) may be attached to the winch to aid in the safe withdrawal of the injured person from the lattice structure. The winch may be manually driven or motorized to give more control to the personnel restrained by the frame to safely hoist the injured person off the track. The spacing between the first fall restraint device and the second fall restraint device may be an area for an operator to act on the track or load handling device while tethered to the suspended frame member by, for example, an inertia reel.

[0066] In operation, one or more operators strapped to each of the first and second fall restraint devices 560a and 560b can move the assembly 500 on the track by the rolling assemblies 572a, 572b of the first and second fall restraint devices. The weight of each of the first and second fall restraint devices is sufficient to allow an operator strapped to each of the first and second fall restraint devices to move the assembly 500 on the track by lifting at least a portion of the wheel assemblies of the assembly 500 off the track. Although the combined weight of the assembly is greater than 100 kg, the weight of each of the first and second fall restraint devices is less than 60 kg, allowing the assembly to be easily moved on the track.

[0067] The second fall restraint apparatus 560b can follow behind the first fall restraint apparatus 560a as the assembly 500 moves on the track such that the second fall restraint apparatus 560b and the first fall restraint apparatus 560a move in tandem on the track. An operator in one or both of the first and second fall restraint apparatuses can guide the respective fall restraint apparatus on the track to guide the assembly on the track to position the suspension beam or suspension frame member over a failed load handling device or injured person on the track. Having a pivotable joint connecting the suspension beam or suspension frame member to the first and second fall restraint apparatus allows the first and second fall restraint apparatuses to move independently relative to each other, thereby providing improved guidance capabilities of the assembly on the track.

[0068] The fall restraint devices 560a, 560b shown in FIG. 18 further include anti-tip mechanisms 506a, 506b in the form of tensioned cables or wires. They provide a continuous stabilizing surface that prevents the fall restraint devices from falling into the lattice openings. The first restraint device 560a includes two tensioned tethers 506a, each of which is disposed on the lower portion 568a of the frame and extends 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 of each tension tether is attached to an opposite end of the rear wheel assembly 573b. The second restraint device 560b includes two tensioned tethers 506b, each of which is positioned in the same manner as the first restraint device 560a. The tensioned tether is positioned on the fall restraint device such that if the fall restraint device becomes unstable, the tensioned tether will contact or rest on the grid members to prevent the fall restraint device from falling into the grid openings. In effect, the anti-tip mechanism increases the footprint of the fall restraint device, thereby making it more stable on the grid structure.

[0069] The tensioned tether may be made of any material that is strong and capable of remaining taut for extended periods of time, for example, the tensioned tether may comprise steel. Additionally, the tensioned tether does not contribute significantly to the weight of the fall restraint device, thus providing an additional measure of stability while still allowing personnel to physically lift the fall restraint device to its desired location on the lattice structure. Anti-tip mechanisms such as the tensioned tether shown in FIG. 18 may be used with any of the embodiments of the fall restraint device.

[0070] 19, a fall restraint apparatus 660 includes a gantry 662 including 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 spaced apart and held apart by a spacer 668 connected to distal ends of the pair of horizontal beams 664. The spaced apart relationship 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. In comparison to other service vehicles operating on a lattice structure known in the art, the workspace 669 defined by the pair of horizontal beams 664 and one or more legs 666 at the front and rear of the gantry 662 provides an area for one or more workers 671 restrained within the workspace 669 to have clear visibility of a failed robotic load handling device on the lattice structure without having to move the robotic load handling device to a position on the service vehicle to access the failed robotic load handling device as found in prior art solutions. This allows one or more workers 671 restrained within the workspace 669 to make necessary repairs to the failed robotic load handling device while on the lattice structure without having to carry the failed robotic load handling device to the edge or periphery of the lattice structure. In comparison to the embodiment of the fall restraint device shown in Figures 6, 16, and 17, the fall restraint device shown in the embodiment shown in Figures 19 to 23 does not necessarily have to be lightweight in the sense of weighing less than 100 kg, preferably less than 60 kg. 19 can accommodate more than one worker, the weight of the fall restraint apparatus is not necessarily a determining factor when moving the fall restraint apparatus on a lattice structure. However, to reduce the weight of the fall restraint apparatus, the gantry and multiple leg components can be formed from tubular members, such as lightweight aluminum tubular members.

[0071] Having space within the fall restraint system to repair a failed robotic load handling device allows personnel to repair the failed robotic load handling device in its inoperative position. In most cases, repairing a failed robotic load handling device is generally a simple repair, and having the ability to repair a failed robotic load handling device in its inoperative position reduces downtime during which the robotic load handling device is unable to operate on the lattice structure.

[0072] Pairs of legs 666 at the front and rear of the gantry 662 support parallel horizontal beams 664 and are spaced apart with the same spacing as the pairs of horizontal beams. The legs 666 are braced on one or both sides of the gantry to enclose a workspace 669. One of the pairs of legs at the front and rear of the gantry are braced against one another by one or more bracing members 674, 676. In the particular embodiment of the invention shown in FIG. 19, the bracing members 674, 676 connect one of the pairs of legs 666 at the front and rear of the gantry to one of the pairs of horizontal beams 664 at one side of the gantry in a K-brace, although other bracing patterns including but not limited to cross braces are applicable in the invention. The spacing between the pairs of legs at the front and rear of the gantry is sized to accommodate one or more pockets 678 to allow personnel confined within the workspace to store tools and / or replacement parts in the one or more pockets 678. Alternatively, the spacing between the pairs of legs at the front and rear of the gantry may accommodate one or more cargo baskets for storing tools and / or replacement parts. One or more handles or bars 680 (see FIG. 20) extend across the pairs of legs 666 at the front and / or rear of the gantry (see FIG. 19) to allow personnel confined within the workspace to hold on to the handles while walking on the lattice structure.

[0073] Also shown in FIG. 19 is one or more bridging members 682 that extend across the workspace and are supported by the pair of horizontal beams 664. As with other embodiments of the invention discussed above, a winch (not shown) may be attached to the bridging members 682 for hoisting a load from the lattice structure. For example, a winch attached to a bridging member may be used to upright an upturned robotic load-handling device or to lift a malfunctioning robotic load-handling device off the track to allow the robotic load-handling device to be carried to the edge or periphery of the lattice structure. In the particular embodiment shown in FIG. 20, the bridging members 682 are attached to a pair of rails or tracks 684 supported by the pair of horizontal beams 664. The pair of rails 684 may be fixed to the pair of horizontal rails or may be integrally formed with the pair of horizontal beams 664. This allows the bridging member 682 to be movable along the length of the pair of horizontal beams 664, allowing the bridging member 682 to be precisely positioned above the failed robotic load handling device, rather than requiring the fall restraint apparatus to be moved when attempting to position a winch above the failed robotic load handling device.

[0074] To move the fall restraint device 660 on the lattice structure, the gantry 662 is attached to a rolling assembly 670, as discussed above with reference to FIGS. 8 and 9. As discussed above, the rolling assembly may be a free-wheeling rolling assembly to allow personnel confined within the work space to manually move the fall restraint device on the lattice structure. The rolling assembly includes a front wheel assembly and a rear wheel assembly, each of which extends laterally and outwardly on either side of the gantry such that each of the front wheel assembly and the rear wheel assembly contacts a different track of the lattice structure. Here, the length Lw of each of the front and rear wheel assemblies 672a, 672b of the front and rear wheel assemblies extends across the lattice opening 14c such that the wheel assemblies contact different tracks or areas of the lattice structure (at at least two contact points) when moving on the lattice structure to prevent any part of the rolling assembly from falling into the lattice cell opening. In the particular embodiment shown in FIG. 19, each wheel assembly 672a, 672b of the front and rear wheel assemblies comprises three sets of wheels rotatable about their respective common axes. As in the first embodiment of the fall restraint device, the front and rear wheel assemblies 672a, 672b extend transversely to the longitudinal direction of the pair of horizontal beams 664 such that each wheel assembly 672a, 672b of the front and rear wheel assemblies extends laterally and outwardly on either side of the gantry 662. The outwardly extending wheel assemblies provide increased stability to the fall restraint device 660 such that the fall restraint device can be moved longitudinally when a worker 671 restrained within the workspace 669 is walking on the lattice structure. As in the other embodiments, the wheel assemblies at the front and rear of the gantry are freewheeling in the sense that they are free to rotate.

[0075] When the front and rear wheel assemblies 672a, 672b extend outwardly on either side of the gantry across a plurality of grid cells, at least a portion 673a, 673b of the front and rear wheel assemblies are foldable in the sense that they can be stored to reduce the footprint of the fall restraint device for purposes of storage of the fall restraint device or for freeing up a grid cell occupied by any of the front and rear wheel assemblies 672a, 672b. In the particular embodiment shown in FIG. 20, one or more wheel sets 673a, 673b of the front and rear wheel assemblies are pivotally mounted to one of the legs supporting the pair of parallel horizontal beams 664 at the front and rear of the gantry 662. One or more wheel sets 673a, 673b of the front and rear wheel assemblies are mounted to a carrier that is engageable with one of the legs 666 supporting the pair of parallel horizontal beams 664 at the front and rear of the gantry 662. Two wheel sets 673a, 673b from the three wheel sets at the front and rear of the gantry, which extend laterally on both sides of the gantry, are rotated to be lifted off the ground (in this case, the track) in the stored configuration and are fixed to one of the legs supporting the pair of parallel horizontal beams at the front and rear of the gantry. When deploying the stored wheels, the two wheel sets 673a, 673b at the front and rear of the gantry are disengaged from the gantry legs and rotated to contact the track. Figure 20 shows the wheel assemblies at the front and rear of the gantry in the stored configuration, and Figure 19 shows the wheel assemblies at the front and rear of the gantry in the deployed configuration with the wheels extending laterally on both sides of the gantry.

[0076] The height of the pair of horizontal beams 664 above the rolling assembly 670 can be changed by attaching the pair of horizontal beams 664 to legs of different lengths. In the particular embodiment shown in FIG. 21, the height of the gantry 662 is increased by attaching the pair of parallel horizontal beams 664 to longer legs 666. Alternatively, one or more legs at the front and rear of the gantry may be telescopic to allow the height of the gantry to be changed. The advantage of increasing the height of the gantry is that the height of the workspace can be increased to provide sufficient clearance for a worker 671 restrained within the workspace 669 as presented in FIG. 22. Restraining a worker within the workspace of the gantry may involve a worker wearing an appropriate harness being connected to any part of the gantry, such as the horizontal beams or legs, via one or more fixtures (not shown), as discussed above in connection with other embodiments of the invention. The one or more fixtures may comprise an inertia reel.

[0077] In operation, referring to FIG. 22, an operator 671 restrained within the workspace 669 of the gantry 662 can push the fall restraint system 660 on the track towards the failed robotic load handling device, and move the fall restraint system so that the failed robotic load handling device is located within the workspace of the gantry. Once in the workspace, the operator can move the bridging member 682 along the rails 684 to position the bridging member 682 directly above the robotic load handling device 30 to allow a winch attached to the bridging member 682 to engage with the robotic load handling device, and more specifically, with a hoist element (see FIG. 13) of the robotic load handling device. The winch can be used to upright an upturned robotic load handling device on the track, or to transport the failed robotic load handling device away from the “live” lattice structure to a safe location to prevent an operational robotic load handling device from colliding with the failed robotic load handling device, which is typically at the edge of the lattice structure.

[0078] Figure 23 shows a slight modification of the fall restraint apparatus shown in Figures 19 to 22, in which the fall restraint apparatus 760 comprises a single suspension or horizontal beam 764 extending between one or more legs 766 at the front and rear of a gantry 762, with a winch-carrying moveable trolley 782 attached to the single suspension beam 764. In contrast to the bridging members shown in Figures 19 to 22 where the load is distributed across a pair of parallel horizontal beams, the load in the embodiment shown in Figure 23 is supported by the single suspension beam 764. Other features of the fall restraint apparatus shown in Figure 23 are the same as in the embodiment shown in Figures 19 to 22.

[0079] In another embodiment shown in FIG. 24, the fall restraint apparatus 860 comprises a wedge-shaped frame structure. Specifically, the frame 862 comprises a forward end 870 and an opposing rear end 880, the rear end 880 being wider than the forward end 870. The rear end 880 of the frame is also taller than the forward end 870. Additionally, the rear end 880 provides an opening 882 into the open interior space 866. The opening 882 allows a worker positioned within the open interior structure 866 to take a longer, more natural stride when moving around the lattice structure, with the rear end 880 positioned in front of the worker. Additionally, the opening 882 allows the worker to more easily access a portion of the lattice structure to perform repair work. The opening 882 is also configured to receive additional fall restraint apparatuses. Multiple fall restraint apparatuses can be nested within one another by wedging the front end of a second fall restraint apparatus into the opening in the rear end of a first fall restraint apparatus. This allows multiple fall restraint devices to be stored in a small area.

[0080] FIG. 25 shows four fall restraint devices, each having the wedge-shaped frame of FIG. 24 nested together. A first fall restraint device 860 is located at the front of the nest and is wedged into an opening at the rear end 880 of the first fall restraint device 860 such that the front end 915 of the second fall restraint device 910 is positioned near the front end 870 of the first fall restraint device 860 within the interior open space 866. The wedge-shaped frame means that the frame converges toward the front end. Thus, the front end 870 of the frame 886 is both narrower and lower than the rear end 880 of the frame. The third fall restraint device 920 and the fourth fall restraint device 930 have frames of the same shape as the first fall restraint device 860 and the second fall restraint device 910 such that the third fall restraint device 920 can be pushed into an opening at the rear end 918 of the second fall restraint device 910 and the fourth fall restraint device 930 can be pushed into an opening at the rear end 928 of the third fall restraint device. In this manner, the first fall restraint device 860, the second fall restraint device 910, the third fall restraint device 920, and the fourth fall restraint device 930 can be moved as a set of fall restraint devices. Additional fall restraint devices can be added to the set of fall restraint devices shown in FIG. 25. Other shaped frames with a rear end that is wider than the front end can also be used, for example, the frame can be L-shaped.

[0081] As shown in FIG. 24, an opening 882 at the rear end 880 of the frame is defined by a pair of spaced apart vertical members 888 that are held apart 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. The bottom of the opening 882 is defined by the lattice structure when installed on a lattice, or by the ground when installed off a lattice. Thus, the fall restraint device 860 does not include a rear wheel assembly as is present in other embodiments. The dimensions of the opening 882 are such that the forward end of the frame of another fall restraint device can fit into the opening 882 and nest within the open interior structure 866 of the fall restraint device.

[0082] As in other embodiments of the invention, the frame 862 includes an upper portion 864 for restraining at least one worker to the frame 862 and a lower portion 878 for mounting a rolling assembly 872. The frame is configured for a worker to be positioned within an open interior structure 866. The upper portion 864 has a triangular shape when viewed from the side such that the parallel side frame members define a downwardly sloping handle. The lower portion 878 is rectangular in shape when viewed from the side. The forward end 870 is narrower and shorter than the rear end 880. In FIG. 24, the forward end 870 is approximately two-thirds the height and width of the rear end 880. Other height and width ratios of the forward end to the rear end are also possible. The worker can traverse the lattice structure with the rear end 880 of the frame in front. Alternatively, the worker can traverse the lattice structure with the forward end 870 in front to avoid obstruction of the view by the spacer 886 at the rear end 880 of the frame.

[0083] The fall restraint device 860 is movable by a rolling assembly 872 at the front end 870 of the frame. The rolling assembly 872 is attached to a lower portion 878 of the frame. To guide the fall restraint device, an operator pivots or tilts the frame about the rolling assembly 872. For example, to move the fall restraint device over a lattice structure, an operator lifts the rear end 880 of the frame and pivots the fall restraint device about a vertical axis that passes through the rolling assembly 872. Thus, an operator moves the fall restraint device in a manner similar to moving a wheelbarrow. The width of the front rolling assembly is such that an operator can tilt the fall restraint device over the rolling assembly of the fall restraint device, for example, the rolling assembly may be wider than twice the diagonal length across the lattice opening. FIG. 24 shows that the rolling assembly 872 comprises two rollers. However, the rolling assembly 872 may include any number of rollers, for example, one roller, three rollers, or four rollers. Using more rollers makes it easier to guide the fall restraint device. Alternatively, the rolling assembly 872 includes wheels. The rolling assembly 872 is freewheeling in the sense that the rollers or wheels are free to rotate. Alternatively, the fall restraint device does not include any rollers, but instead includes skates at the front end 870 of the frame in addition to the pair of skates 892, similar to the pair of skates 892 that extend longitudinally along the length of the frame, as shown in FIG. 24 and discussed below.

[0084] The fall restraint device of FIG. 24 includes a sliding assembly 892 in the form of a pair of skates arranged to slide on the lattice structure with minimal friction. The sliding assembly also increases contact with the lattice, thereby increasing the stability of the fall restraint device on the lattice structure. The pair of skates is attached to the underside of the horizontal beam 894 at the lower portion 878 of the fall restraint device. Each skate on each side of the frame flares outward from the front end 870 to the rear end 880 by an acute angle α to provide increased stability of the fall restraint device 860 on the lattice structure. The pair of skates 892 is wider than the width of the horizontal beam 894, thereby increasing contact with the lattice members, thereby increasing the stability of the fall restraint device. Additionally, although not shown, the pair of skates has rounded edges on all four sides to allow the frame to be moved in any direction. The skates may be attached directly to the underside of the horizontal beam 894, or, as shown in Figure 24, a pair of skates 892 may be attached to the underside of the horizontal beam 894 by a connector beam 896. Overall, the worker can move and guide the drop apparatus using a combination of both the rolling assembly 872 (or skates at the forward end 870 of the frame) and the pair of skates 892 extending longitudinally along the length of the frame.

[0085] Although not shown in FIG. 24, the fall restraint apparatus 860 may include an additional beam to which a hoist or hook may be attached, positioned laterally parallel to the spacer 886 but at a lower height than the spacer at the upper portion 864 of the frame. The hoist or hook may be used to lift the fallen load handling device 30 on the lattice structure. In this configuration, the load handling device may be lifted from the lattice structure into the interior open structure 866 without destabilizing the fall restraint apparatus 860. Alternatively, two fall restraint apparatuses of this embodiment may be coupled together by a suspension beam 594 or suspension frame member such as that shown in FIG. 18 to suspend a failed robotic load handling device above the track.

[0086] Various modifications of the exemplary embodiments that are obvious to one skilled in the art within the scope of the invention as claimed are considered to be within the scope of the invention. For example, various rolling assemblies may be used without departing from the scope of the invention as claimed. For example, various combinations of wheels and / or rollers may be used for the rolling assemblies, including, but not limited to, elongated rollers versus multiple wheels rotatable about a common axis of rotation.

[0087] Further features of the embodiment illustrated in FIGS.

[0088] 1. A fall restraint device for manual travel over a grid structure comprising a first set of parallel tracks and a second set of parallel tracks extending 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 such that each grid cell defines a grid opening defined by adjacent pairs of tracks in the first set of parallel tracks and adjacent pairs of tracks in the second set of parallel tracks, a gantry having at least one horizontal beam supported at each end by a plurality of legs to define a workspace for one or more workers confined within the workspace; Equipped with A fall restraint device, the gantry being mounted on a rolling assembly to enable a user confined within the workspace to manually move the fall restraint device in any direction on the lattice structure, the rolling assembly including a front wheel assembly and a rear wheel assembly, each wheel assembly of the front and rear wheel assemblies extending laterally and outwardly on either side of 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 lattice structure.

[0089] 2. A fall restraint device as described in feature 1, wherein a plurality of legs at each end of at least one horizontal beam are provided with front and rear wheel assemblies, respectively.

[0090] 3. A fall restraint device as described in feature 1 or 2, wherein the plurality of legs at each end of the at least one horizontal beam comprises pairs of legs.

[0091] 4. A fall restraint device as described in feature 3, wherein the pairs of legs at each end of at least one horizontal beam are parallel or converge upwardly.

[0092] 5. A fall restraint device as described in feature 3 or 4, further comprising a pocket secured between the pair of legs at one or both ends of at least one horizontal beam.

[0093] 6. A fall restraint device as described in any one of features 3 to 5, further comprising at least one handle within the workspace, the at least one handle extending between a pair of legs at the front and / or rear of the gantry.

[0094] 7. A fall restraint device described in any one of features 1 to 6, wherein at least a portion of the front and rear wheel assemblies are pivotally mounted to at least one of the multiple legs at each end of at least one horizontal beam so as to be rotatable from a stowed configuration in which at least a portion of the front and rear wheel assemblies are lifted from the track to a deployed configuration in which at least a portion of the front and rear wheel assemblies engage the track.

[0095] 8. A fall restraint device as described in feature 7, wherein at least a portion of each of the front and rear wheel assemblies is attached to a carrier that is engageable with at least one leg of a plurality of legs at each end of at least one horizontal beam so as to be secured to at least one leg of the plurality of legs in the stored configuration.

[0096] 9. A fall restraint device as described in any one of features 1 to 8, wherein at least a portion of the front and rear wheel assemblies include pairs of wheel sets arranged laterally on either side of at least one horizontal beam such that the length of the front and rear wheel assemblies exceeds a length corresponding to a diagonal length spanning the grid openings.

[0097] 10. The fall restraint device of feature 9, wherein each of the front and rear wheel assemblies includes a set of three wheels.

[0098] 11. A fall restraint device as described in feature 10, wherein each of the three wheel sets comprises a plurality of wheels arranged to be rotatable about a common axis.

[0099] 12. A fall restraint device as described in any one of features 1 to 11, wherein the front wheel assembly is separated from the rear wheel assembly by an axle distance having a length that exceeds the length spanning at least one grid cell.

[0100] 13. A fall restraint device as described in any one of features 1 to 12, further comprising a winch movably mounted to at least one horizontal beam.

[0101] 14. A fall restraint device as described in any one of features 1 to 13, wherein at least one horizontal beam comprises a pair of horizontal parallel beams such that the pair of horizontal beams is supported at each end by a plurality of legs.

[0102] 15. The fall restraint device of feature 14, further comprising at least one bridging member supported by a pair of horizontal parallel beams to extend across the workspace.

[0103] 16. A fall restraint device as described in feature 15, wherein at least one bridging member is movable along the longitudinal length of the pair of horizontal parallel beams.

[0104] 17. A fall restraint device as described in feature 16, wherein at least one bridging member is attached to the pair of rails or tracks so as to be movable along the longitudinal length of the pair of horizontal parallel beams.

[0105] 18. A fall restraint device as described in any one of features 1 to 17, wherein each of the plurality of legs at each end of the at least one horizontal beam is extendable to elevate the at least one horizontal beam relative to the rolling assembly.

[0106] 19. A fall restraint device as described in any one of features 1 to 18, further comprising one or more diagonal bracing members extending between one of the one or more legs at the front and rear of the gantry to surround the workspace from at least one side of the gantry.

[0107] 20. The fall restraint device of feature 19, wherein the one or more diagonal braces include first and second diagonal braces positioned to connect one of the parallel support beams in the K-brace to one of the one or more legs at the front and rear of the gantry.

Claims

1. A fall restraint device (60) for manual travel on a lattice structure, the lattice structure comprising a first set of parallel tracks and a second set of parallel tracks extending transversely to the first set of parallel tracks in a substantially horizontal plane and arranged in a lattice pattern comprising a plurality of lattice cells, each lattice cell having a length in the range of 600-800 mm and a width in the range of 400-600 mm such that each lattice cell defines a lattice opening defined by adjacent pairs of tracks of the first set of parallel tracks and adjacent pairs of tracks of the second set of parallel tracks, the fall restraint device (60) comprising: a frame (62) having an upper portion (64) and a lower portion (70), wherein said upper portion is configured to restrain at least one worker; a movement assembly (72) attached to the lower portion (70) of the frame, wherein the movement assembly is configured to move the frame (62) on the lattice structure; A fall restraint device (60), wherein the frame (62) has a weight of less than 100 kg such that at least a portion of the moving assembly can be manually lifted from the lattice structure by at least one worker restrained on the upper portion (64) of the frame (62).

2. The fall restraint device of claim 1 , wherein the moving assembly (72) comprises a rolling assembly (172) and / or a sliding assembly (892).

3. The fall restraint device of claim 1 or 2, wherein the rolling assembly (172) comprises a front wheel assembly (173a) and a rear wheel assembly (173b), and each wheel assembly of the front wheel assembly and the rear wheel assembly extends across at least one lattice cell so as to contact a different track of the lattice structure, such that the fall restraint device can move in any direction on the lattice structure.

4. 4. A fall restraint device as described in claim 3, wherein the length of each of the front wheel assembly (173a) and the rear wheel assembly (173b) exceeds a length corresponding to a diagonal length across a lattice opening.

5. A fall restraint device as described in claim 3 or 4, wherein the wheel assemblies of the front wheel assembly (173a) and / or the rear wheel assembly (173b) are provided with at least one long roller (80).

6. A fall restraint device as described in claim 3 or 4, wherein the wheel assemblies of the front wheel assembly (173a) and the rear wheel assembly (173b) have a plurality of wheels, the plurality of wheels being arranged so as to be rotatable around a common axis.

7. 3. A fall restraint device as described in claim 1 or 2, wherein the front wheel assembly (173a) is separated from the rear wheel assembly (173b) by an axis distance having a length that exceeds a length spanning at least one lattice cell.

8. A fall restraint device as set forth in claim 2 or 3, wherein the rolling assembly (72) extends outwardly of the upper portion (64).

9. 4. A fall restraint device as described in claim 3, wherein the front wheel assembly (173a) and the rear wheel assembly (173b) extend transversely to a longitudinal direction of the upper portion.

10. 3. A fall restraint device as described in claim 1 or 2, wherein the frame (62) comprises an assembly of frame members (74) arranged to form an interior open structure (66) for accommodating at least one worker restrained by the upper portion (64) such that the at least one worker can manually walk on the lattice structure within the open interior space.

11. 11. A fall restraint device as described in claim 10, wherein the upper portion comprises a pair of parallel side frame members connected to one another by at least one end frame member substantially perpendicular to the parallel side frame members to define a handle (680), the handle being supported above the wheel assemblies by a plurality of supports such that at least one worker can hold the handle in his / her hand while walking on the lattice structure.

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

13. The fall restraint device of claim 10 , wherein the frame member assembly includes at least one diagonal brace member connecting parallel frame members.

14. 3. A fall restraint device as described in claim 1 or 2, further comprising a winch (94) coupled to the upper portion of the frame.

15. The fall restraint apparatus of claim 1 or 2, wherein the frame further comprises a towing member (106) for connecting or interacting with a loading device (30) on the lattice structure.

16. 3. The fall restraint device of claim 1 or 2, wherein the frame comprises one or more anti-tip mechanisms (506) on either side of the frame to prevent tipping of the fall restraint device on the lattice structure, the one or more anti-tip mechanisms comprising a continuous stabilizing surface extending between the front wheel assembly (173a) and the rear wheel assembly (173b).

17. 3. The fall restraint device of claim 1 or 2, wherein the frame has a forward end (870) and an opposing rearward end (880), the opposing rearward end being wider than the forward end and having an opening so that a second fall restraint device can be nested within the fall restraint device.

18. i) a first fall restraint device (506a); ii) a second fall restraint device (506b); and iii) a suspension beam or frame member (594) connecting the first fall restraint device and the second fall restraint device together; An assembly, wherein each of the first and second fall restraint devices comprises a fall restraint device according to claim 1 or 2.

19. 20. The assembly of claim 18, wherein the suspension beam or frame member (594) is attached to the upper portions of the frames of the first and second fall restraint devices.

20. 20. The assembly of claim 18, wherein a winch is attached to the suspension beam or the suspension frame member.

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