Grid framework structure

Abstract

To provide a seismic grid framework system that inhibits movement of a superstructure relative to a substructure during an earthquake.SOLUTION: There is provided a seismic grid framework system, further comprising a seismic isolation system 208 for reducing a seismic force acting on a grid framework structure, in which the grid framework structure is supported by the seismic isolation system 208, the seismic isolation system 208 includes a superstructure 202, a substructure 200, and at least one seismic isolation device 204 disposed between the superstructure 202 and the substructure 200, and at least one seismic isolation device 204 inhibits movement of the superstructure 202 relative to the substructure 200 during an earthquake.SELECTED DRAWING: Figure 18

Description

[Technical Field]

[0001] The present invention relates to the field of remotely operated material handling devices on trucks arranged on a lattice framework structure for handling storage containers or bins stacked on the lattice framework structure, and more particularly to a lattice framework structure for supporting the remotely operated material handling devices. [Background technology]

[0002] Storage systems comprising a three-dimensional storage grid structure in which storage containers / bins are stacked on top of one another 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 the grid framework structure. The bins or containers are accessed by remotely operated material handling devices on trucks positioned on top of the grid framework structure. This type of system is shown diagrammatically in Figures 1 to 3 of the accompanying drawings.

[0003] As shown in Figures 1 and 2, stackable containers known as bins or containers 10 are stacked on top of each other to form stacks 12. The stacks 12 are arranged in a lattice framework structure 14 in a warehouse or manufacturing environment. The lattice framework is made up of a plurality of storage posts or lattice posts. Each lattice of the lattice framework structure has at least one lattice post for storing a stack of containers. Figure 1 is a schematic perspective view of the lattice framework structure 14, and Figure 2 is a top view showing a stack 12 of bins 10 arranged within the framework structure 14. Each bin 10 typically holds multiple product items (not shown), which may be the same or different product types depending on the application.

[0004] The lattice framework structure 14 includes a plurality of upright members or upright posts 16 that support horizontal members 18, 20. A first set of parallel horizontal lattice members 18 are arranged perpendicular to a second set of parallel horizontal lattice members 20 to form a plurality of horizontal lattice structures supported by the upright members 16. The members 16, 18, 20 are typically fabricated from metal and are typically welded or bolted together, or a combination of both. As the bins 10 are stacked between the members 16, 18, 20 of the lattice framework structure 14, the lattice framework structure 14 prevents horizontal movement of the stack 12 of bins 10 and guides vertical movement of the bins 10.

[0005] The upper level of the lattice framework structure 14 includes rails 22 arranged in a lattice pattern across the top of the stack 12. Still referring to FIG. 3 , the rails 22 support a plurality of load handling devices 30. A first set 22a of parallel rails 22 guides movement of the robotic load handling device 30 in a first direction (e.g., the X direction) across the top of the lattice framework structure 14, while a second set 22b of parallel rails 22, positioned perpendicular to the first set 22a, guides movement of the load handling device 30 in a second direction (e.g., the Y direction) perpendicular to the first direction. In this manner, the rails 22 enable lateral movement of the robotic load handling device 30 in two dimensions in the horizontal XY plane, so that the load handling device 30 can be moved to a position above any of the stacks 12.

[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, and includes a vehicle body 32, each of which covers only one grid space of a lattice framework structure 14. Here, the load handling device 30 includes a wheel assembly, including a first pair of wheels 34 at the front of the vehicle body 32 that engage with a first set of rails or tracks to guide movement of the device in a first direction, a first pair of wheels 34 at the rear of the vehicle body 32, and a second set of wheels 36, each pair of wheels 36 on each side of the vehicle body 32 that engage with a second set of rails or tracks to guide movement of the device in a second direction. Each set of wheels is driven to move the vehicle in the X and Y directions, respectively, along the rails. One or both sets of wheels can be moved vertically to lift the wheels of each set off their respective rails, thereby allowing the vehicle to move in a desired direction.

[0007] The material handling device 30 comprises 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 extending vertically and connected near or to the four corners of a lifting frame 39, also known as a grabber device (one tether near each of the four corners of the grabber device) for releasably connecting to the storage container 10. The grabber device 39 is configured to releasably grasp the top of the storage container 10 to lift it from a stack of containers in a storage system of the type shown in FIGS. 1 and 2.

[0008] The wheels 34, 36 are positioned around a cavity or recess known as the lower 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 5(b). When in the recess, the container is lifted from the lower rails, allowing the vehicle to move laterally to another location. Once the target location is reached, e.g., another stack, an access point in the storage system, or a conveyor belt, the bin or container can be lowered from the container receiving area and released from the grabber device.

[0009] However, lattice framework structures are subject to a variety of external and internal forces, including, but not limited to, ground motions that may be due to the composition or soil type of the ground, forces generated by the movement of load-handling devices on the lattice framework structure that may weigh in excess of 100 kg, movement as a result of nearby construction or moving vehicles such as trains, and even movement during earthquakes and storms. As a result of such external forces experienced by the lattice framework, it is of utmost importance that the individual elements within the lattice framework structure remain intact.

[0010] To ensure the stability of the lattice framework structure, prior art storage systems rely heavily on various supports and braces positioned within or at least partially along the perimeter of the lattice. However, using various supports and braces (anti-shift braces) to stabilize the lattice framework structure from internal and external forces is disadvantageous for a number of reasons. The lattice framework structure occupies space or area that could be used for storing containers, in that it prevents optimal use of the space or area available for container storage. The need for support structures can limit the options available for the placement of the lattice framework structure. This is because auxiliary lattice support structures often require connections to surrounding structures, such as the interior walls of a building, and the requirement for cost-ineffective support structures.

[0011] WO2019 / 101367 (Autostore Technology AS) teaches a grid support structure for integration into a storage grid structure of a deployed automated storage system. The grid support structure is composed of four storage columns interconnected by a plurality of vertically inclined support struts. The storage column profile has a cross section with a hollow central section and four corner sections, each of which has two vertical bin guide plates for accommodating the corners of a storage bin. The support struts have a width that allows them to fit between the two parallel guide plates without compromising the storage column's ability to accommodate a stack of containers or storage bins.

[0012] Therefore, there is a need for an alternative grid framework structure that provides a separate storage grid with minimal impact on the space or area available for container storage, or at least requires less auxiliary grid support structure.

[0013] Much of the world's population is located along earthquake fault lines or in the path of powerful storms such as hurricanes and tornadoes. Placing lattice-frame structures in such areas risks structural damage from earthquakes and storms, as current lattice framework construction may not be able to hold the lattice together. A powerful earthquake or storm could result in a loss of structural integrity. For example, structural fasteners may no longer be able to securely attach the lattice to the uprights. Earthquakes can be classified into four categories—Type A, B, C, or D—based on their magnitude. Type A is considered the weakest earthquake, while Type D is considered the most powerful. Types A through D can be graded by spectral acceleration, which is the maximum acceleration, measured in g, experienced by objects on the ground during an earthquake. Type D is considered to represent the most powerful seismic events, typically with measured spectral accelerations ranging from 0.5g to 1.83g (see Short Period Spectral Response Acceleration SDS https: / / www.fegstructural.com / seismic-design-category-101 / ) and resulting in the failure of most buildings. When a powerful seismic event acts on a structure, the three-dimensional dynamic forces weaken the structural fasteners holding the lattice framework structure together, causing them to loosen, break away from embedded members, or, if still in place, they may break through the structural fasteners.

[0014] Many jurisdictions, including U.S. states, have passed laws requiring all new residential and commercial buildings to be constructed with specific seismic bracing features. Lattice framework structures incorporate internal bracing features within the lattice framework structure, whereby one or more of the upright members are braced together by one or more bracing members or bracing towers, as shown in Figure 8. Typically, the bracing members are distributed internally throughout the lattice framework structure. The distribution of the internal bracing is highly dependent on the size of the lattice framework structure, ground conditions, and environmental conditions such as temperature. However, while lattice framework structures can withstand very low-level seismic events with spectral accelerations below 0.3 g, currently no seismic suppression systems for lattice framework structures are available that can withstand more powerful Type C and Type C seismic events, which are classified by spectral accelerations in the range of 0.5 g to 1.83 g.

[0015] Therefore, there is a need for a seismic lattice framework system that can withstand powerful seismic events.

[0016] This patent application claims priority to UK application number GB2009430.6, filed June 19, 2020, the contents of which are incorporated herein by reference. Summary of the Invention

[0017] Current lattice framework structures can withstand relatively small levels of ground motion, typically with spectral accelerations below 0.33 g (see https: / / www.fegstructural.com / seismic-design-category-101 / for short-term spectral response accelerations SDS), but this cannot be said for ground motions above 0.33 g, which typically represent Type C and Type D seismic events. The joints connecting the lattice members to the upright columns, which are mostly bolted, tend to loosen and, in extreme cases, separate, affecting the structure of the lattice framework structure. To improve the stability of the lattice framework structure, one or more braced towers can be incorporated between the upright columns, but this may be insufficient to maintain the stability of the lattice framework structure in the event of a Type C or Type D seismic event. The present invention alleviates the above-mentioned problems by isolating or isolating the lattice framework structure from its foundation. More specifically, the present invention provides a seismic lattice framework system comprising a lattice framework structure for supporting a material handling device operable to move one or more containers in a stack, the lattice framework structure comprising: 1. A seismic lattice framework system comprising a series of intersecting lattice members arranged to form a lattice comprising a plurality of substantially rectangular frames in a horizontal plane, each substantially rectangular frame constituting a lattice cell, said lattice being supported by a plurality of upright posts at each of the intersections of the series of lattice members, forming a plurality of vertical storage locations such that containers are stacked between the upright posts and guided vertically by the upright posts through the plurality of substantially rectangular frames; The present invention provides a seismic lattice framework system, further comprising a seismic isolation system for reducing seismic forces acting on the lattice framework structure, wherein the lattice framework structure is supported by the seismic isolation system, the seismic isolation system comprising an upper structure, a lower structure, and at least one seismic isolation device disposed between the upper structure and the lower structure, wherein the at least one seismic isolation device suppresses movement of the upper structure relative to the lower structure in the event of an earthquake.

[0018] The seismic isolation system isolates the lattice framework structure from the horizontal component of ground motion during an earthquake event by disposing at least one isolation device between the superstructure and the substructure, the isolation device having a structural element with a relatively low horizontal stiffness. This isolates the lattice framework structure from uncontrolled horizontal ground motion. This gives the lattice framework structure a fundamental frequency that is much lower than both the frequency of its fixed base and the dominant frequency of ground motion. This shift in natural period causes a reduction in spectral acceleration during typical earthquake shaking. The seismic isolation system includes a superstructure, a substructure, and at least one isolation device disposed between the superstructure and the substructure, such that the at least one isolation device inhibits movement of the superstructure relative to the substructure during an earthquake. The superstructure comprises at least a portion, and possibly all, of the load-bearing structure of the lattice framework structure. Similarly, the substructure comprises at least the foundation of the lattice framework structure.

[0019] For the purposes of this description, the terms "base isolation device," "base isolator," and "base isolator device" are used interchangeably.

[0020] Preferably, at least one isolation device comprises an elastomeric bearing comprising a laminated assembly of elastomeric layers disposed between upper and lower mounting plates for connection to the superstructure and substructure, respectively. For purposes of this description, the terms "elastomeric layer" and "elastic layer" are used interchangeably.

[0021] The relatively low horizontal stiffness of the at least one isolation device is provided by the elastic properties of the elastomer layers, which may be natural and / or synthetic elastomers, in which case the isolation system, and more particularly the at least one isolation device, dissipates energy by utilizing the elastic deformation of the elastomer layers.

[0022] Preferably, at least one seismic isolation device comprises an elastomeric bearing comprising a stack assembly of alternating elastomeric and rigid layers, the stack assembly disposed between upper and lower mounting plates for connection to the superstructure and substructure, respectively. More preferably, the elastomeric layers comprise rubber and the rigid layers comprise steel, and the elastomeric bearing comprises a stack assembly of alternating rubber and steel layers. The elastomeric layers provide lateral flexibility and elastic recovery. The steel plates strengthen the elastomeric bearing by providing vertical load capacity and preventing lateral bulging. The upper and lower mounting plates connect the elastomeric bearing to the superstructure above the stack assembly and to the substructure below the stack assembly.

[0023] Preferably, the elastomeric bearing further comprises: an energy dissipating core disposed within the stack assembly, the energy dissipating core adapted to damp vibrations in the shear direction of the stack assembly by absorbing vibrational energy in the shear direction of the stack assembly; The outer periphery of the elastomeric layer and the rigid layer is covered with an outer coating. The energy dissipating core provides damping by plastically deforming when the elastomeric bearing moves laterally in an earthquake. More preferably, the energy dissipating core comprises lead, tin, zinc, aluminum, copper, nickel, or alloys thereof. Optionally, the energy dissipating core extends between the upper and lower mounting plates.

[0024] Preferably, the upper mounting plate is bonded to the upper connecting plate and the lower mounting plate is bonded to the lower connecting plate such that the stack assembly is sandwiched between the upper and lower connecting plates. Preferably, the elastomeric bearing comprises a slider disk disposed between the stack assembly and either or both of the upper and lower mounting plates. More preferably, the slider disk comprises PTFE. The sliding friction of the slider disk against the upper and / or lower mounting plate provides the elastomeric bearing's damping to small or weak vibrations, for example to accommodate high frequency vibrations.

[0025] In another embodiment of the invention, or in combination with an elastomeric bearing, the at least one seismic isolation device comprises a sliding pendulum bearing or a sliding bearing comprising: i) an upper bearing element having a first sliding surface; ii) a lower bearing element having a second sliding surface; iii) a slider disposed between the upper bearing plate and the lower bearing plate so as to be in surface contact with the first sliding surface and the second sliding surface, wherein the first sliding surface and / or the second sliding surface have a concave spherical surface with a particular radius of curvature such that the slider slides along the concave spherical surface of the first sliding surface and / or the second sliding surface and is disposed to cause lifting of the superstructure during seismic motion consistent with providing at least one sliding pendulum mechanism.

[0026] A sliding pendulum bearing employs at least one concave spherical surface and a slider that slides along the at least one concave spherical surface to lift the superstructure during seismic motion. Lifting the superstructure results in an equivalent pendulum motion. The radius of curvature of the concave surface determines the effective length of the pendulum arm, which determines the dynamic natural period of vibration of the sliding pendulum bearing. The simplest sliding pendulum bearing is a single sliding pendulum bearing consisting of a spherical-concave surface supporting a slider to provide a single pendulum mechanism. Sliding pendulum bearings can also include double pendulum bearings consisting of two spherical-concave surfaces, a slider positioned between the two spherical-concave surfaces to provide two independent pendulum mechanisms, and triple pendulum bearings, which consist of four spherical-concave surfaces and three sliders, arranged to provide three independent pendulum mechanisms. The operation of double pendulum bearings and triple pendulum bearings exhibits different hysteretic characteristics during different displacement phases.

[0027] Preferably, at least one seismic isolation device comprises a triple pendulum bearing comprising: i) an upper bearing element having a downwardly facing concave spherical surface with a specific radius of curvature; ii) a lower bearing element having an upwardly facing spherical surface with a particular radius of curvature; and iii) a first slider having a convex spherical surface arranged to slide along the upwardly facing concave spherical surface of the lower bearing element and an opposing concave spherical surface having a radius of curvature substantially smaller than the radius of curvature of the upwardly facing concave spherical surface of the lower bearing element; iv) a second slider having a convex spherical surface arranged to slide along the downwardly facing concave spherical surface of the upper bearing element and an opposing concave spherical surface having a radius of curvature substantially smaller than the radius of curvature of the downwardly facing concave spherical surface of the upper bearing element; v) A third slider having an upper convex spherical surface arranged to slide along the concave spherical surface of the first slider and a lower convex spherical surface arranged to slide along the concave spherical surface of the second slider.

[0028] A triple pendulum bearing incorporates three separate sliding pendulum mechanisms connected in series to support the same structural load. Increasing the number of pendulum mechanisms has the advantage of providing different pendulum mechanisms for different strengths of earthquake motion. For example, each pendulum mechanism in a triple pendulum bearing can operate at different strengths or intensities of earthquake motion.

[0029] Preferably, in order to protect the inner surfaces of the sliders from contamination, the triple pendulum bearing further comprises means for connecting the first and second sliders together, such that an independent pendulum mechanism can be achieved from the sliding of said first slider relative to the lower bearing element and the sliding of the second slider relative to the upper bearing element. Optionally, the first and second sliders are connected together by a peripheral seal, for example an elastic seal.

[0030] The number of sliding pendulum mechanisms in a sliding pendulum bearing depends on the number of sliders operating between the spherical concave surfaces. A single slider operating against a single spherical concave surface creates a single pendulum mechanism, while three sliders operating between respective spherical concave surfaces create three pendulum mechanisms. The sliding pendulum mechanisms are connected in series in such a way that different pendulum mechanisms are activated at different intensities of seismic motion. This is achieved by providing different coefficients of friction for the different pendulum mechanisms. Once the respective friction coefficients are overcome, the sliders are able to move on their respective spherical concave surfaces. This is repeated for the various pendulum mechanisms in the sliding pendulum bearing. Lateral movement is accompanied by vertical movement of the superstructure, which provides a restoring force.

[0031] Preferably, the sliding surface between the first slider and the lower bearing element has a first coefficient of friction, and the sliding surface between the second slider and the upper bearing element has a second coefficient of friction, the first coefficient of friction being different from the second coefficient of friction. The configuration of the sliding pendulum bearing can be such that the first and second coefficients of friction provide an optimized reduction in seismic forces acting on the upper structure, e.g., an optimized increase in friction at increased displacement amplitudes of the lower structure or ground motion. More preferably, the first coefficient of friction is less than the second coefficient of friction. For a given seismic motion, this allows the first slider to actuate, i.e., slide against the lower bearing element, before the second slider actuates.

[0032] Preferably, the sliding surface between the third slider and the first slider has a third coefficient of friction, and the sliding surface between the third slider and the second slider has a fourth coefficient of friction, the third coefficient of friction being substantially equal to or different from the fourth coefficient of friction. Optionally, the third coefficient of friction is less than both the first and second coefficients of friction. Similarly, the fourth coefficient of friction is less than the first and second coefficients of friction. The third or inner slider enables the sliding pendulum bearing to dampen high-frequency vibrations to prevent damage to sensitive components of a storage system comprising a lattice framework structure. The storage system includes one or more load-bearing devices operating on a lattice and one or more containers stored in the lattice framework structure. Damping high-frequency vibrations helps to mitigate derailment or tipping of one or more loading devices or bots from the lattice, or spillage of the contents of the containers.

[0033] Preferably, the upper bearing element is fixed to the superstructure, and the lower bearing element is fixed to the substructure. More preferably, the superstructure comprises a load-bearing structure of a lattice framework structure. Preferably, the substructure comprises a foundation of the lattice framework structure. Optionally, the substructure comprises a well such that at least one seismic isolation device is disposed within the well. This allows the lattice framework structure supported by the superstructure to be at ground level. The distribution of lateral forces during a seismic event, and therefore the magnitude of damping of the lattice framework structure provided by the seismic isolation system of the present invention, depends on the number and distribution of the one or more seismic isolation devices between the substructure and the superstructure. The distribution of the one or more isolation devices can be adjusted to eliminate irregularities in the superstructure. Preferably, the at least one seismic isolation device comprises a plurality of isolation devices disposed between the superstructure and the substructure, the plurality of isolation devices being spaced apart in an X meter by X meter array or lattice pattern, where X is in the range of 1 m to 15 m. Optionally, the plurality of isolation devices are distributed in a 6 meter by 6 meter, preferably a 3 meter by 3 meter array. The spacing between the isolation devices in the array depends equally on the size of each of the isolation devices. Preferably, the width of each of the at least one isolation device is substantially in the range of 150 mm to 500 mm. Preferably, the width of each of the at least one isolation device is substantially in the range of 900 mm to 1200 mm.

[0034] Preferably, at least one isolation device is disposed between the upper structure and the lower structure such that the upper structure is vertically spaced from the lower structure by a height in the range of substantially 50 mm to 250 mm. The distribution, and therefore spacing, of the isolation devices within the array depends on the size of each isolation device. For example, for relatively large isolation devices having widths in the range of 400 mm to 460 mm and heights in the range of 190 mm to 210 mm, the isolation devices can be arranged in a grid pattern with large spacing between them, e.g., 12 meters by 12 meters. Conversely, for relatively small isolation devices having widths in the range of 150 mm to 250 mm and heights in the range of 50 mm to 80 mm, the isolation devices can be arranged in a grid pattern with smaller spacing between them, e.g., 3 meters by 3 meters.

[0035] Preferably, the at least one isolation device has a height substantially in the range of 320 mm to 350 mm.

[0036] Preferably, the at least one seismic isolation device comprises a plurality of seismic isolation devices arranged between the upper structure and the lower structure, and the areal density of the plurality of seismic isolation devices is substantially in the range of 0.005 to 0.015 devices per square meter.

[0037] Optionally, the superstructure comprises a slab supported by one or more substantially horizontal beams. Optionally, the slab may comprise a composite steel / concrete slab, which combines the advantages of tension-strong steel and compression-strong concrete to form a composite structure with excellent load-bearing properties.

[0038] Optionally, the seismic isolation system further comprises one or more pedestals disposed between the at least one isolation device and the superstructure and / or disposed between the substructure and the at least one isolation device, increasing the vertical distance between the substructure and the superstructure. The additional space between the substructure and the superstructure can be used for a variety of different functions. For example, it can provide employee parking spaces in a fulfillment center housing the seismic lattice framework structure. The additional space also allows access below the superstructure for convenient inspection and maintenance.

[0039] Further features of the present invention will become apparent from the following detailed description taken in conjunction with the drawings.

[0040] Further 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 explanation of the drawings]

[0041] [Figure 1] 1 is a schematic diagram of a lattice framework structure according to a known system; [Figure 2] FIG. 2 is a top-down schematic diagram showing a stack of bins arranged within the framework structure of FIG. 1. [Figure 3] 1 is a schematic diagram of a system of known load handling devices operating on a lattice framework structure; [Figure 4] FIG. 1 is a schematic perspective view of the cargo handling device showing the lifting device gripping the container from above. [Figure 5] 5 is a schematic perspective cutaway view of the load handling device of FIG. 4, showing (a) a container accommodating space of the load handling device, and (b) a container accommodating the container accommodating space of the load handling device. [Figure 6] Schematic comparison of the expected lateral modes of vibration for (a) the non-isolated model (left) and (b) the isolated model (right). [Figure 7] 1 is a schematic plot of earthquake spectral acceleration response. [Figure 8]1 is a perspective view of a lattice framework structure according to one embodiment of the present invention; FIG. [Figure 9] FIG. 10 is a perspective view of a cap plate for joining adjacent grid elements at intersections according to one embodiment of the present invention. [Figure 10] FIG. 10 is a perspective view of a cap plate linking adjacent grid elements by connecting the ends of the grid elements at intersections according to one embodiment of the present invention. [Figure 11] FIG. 10 is a perspective view of a cap plate that joins adjacent grid elements at intersections by connecting a central portion of a grid element with an edge of an adjacent grid element, according to an embodiment of the present invention. [Figure 12] FIG. 10 is a perspective view of a cap plate attached to an upright post for connecting adjacent grid elements to each other at the intersections where the grid elements intersect, according to one embodiment of the present invention. [Figure 13] FIG. 10 is a perspective view illustrating a pattern of grid elements at a cross point according to one embodiment of the present invention. [Figure 14] FIG. 1 is a schematic diagram of a braced tower according to one embodiment of the present invention. [Figure 15] FIG. 1 is a perspective view of an adjustable foot according to one embodiment of the present invention. [Figure 16a] FIG. 10 is a side view of a fixing foot according to a second embodiment of the present invention. [Figure 16b] FIG. 10 is a top view of a fixed foot according to a second embodiment of the present invention. [Figure 17] FIG. 1 is a cross-sectional isometric view of a seismic lattice framework system showing the distribution of seismic isolation devices at the base of the lattice framework structure according to one embodiment of the present invention. [Figure 18] 1 is a cross-sectional view of a portion of a seismic isolation system illustrating a seismic isolation device according to one embodiment of the present invention. [Figure 19] 1 is a cross-sectional view of an elastomer bearing according to one embodiment of the present invention. [Figure 20] FIG. 20 is a plan view of the elastomer bearing shown in FIG. 19. [Figure 21] FIG. 2 is a cross-sectional view of an elastomer bearing according to another embodiment of the present invention. [Figure 22] FIG. 10 is a cross-sectional view of an elastomeric bearing formed from a stacked assembly of recycled rubber tires according to another embodiment of the present invention. [Figure 23] Cross section of a Triple Pendulum Bearing® by Earthquake Protection Systems. [Figure 24a] 1A and 1B are perspective views showing three different displacement positions of a Triple Pendulum Bearing®. [Figure 24b] 1A and 1B are perspective views showing three different displacement positions of a Triple Pendulum Bearing®. [Figure 24c] 1A and 1B are perspective views showing three different displacement positions of a Triple Pendulum Bearing®. [Figure 25] FIG. 10 is a cross-sectional isometric view of a seismic lattice framework system showing the distribution of seismic isolation devices at the base of the lattice framework structure according to another embodiment of the present invention. [Figure 26] 10 is a cross-sectional view of a portion of a seismic system illustrating a seismic isolation device according to another embodiment of the present invention. [Figure 27] 1 is an isometric view of an alternative configuration of a seismic system with one or more seismic isolation devices disposed in a well or recess. FIG. [Figure 28] FIG. 10 is an isometric view of an alternative configuration of a portion of the seismic system showing the plinth and superstructure with support beams and composite steel / concrete slab. [Figure 29] FIG. 29 is a side view of a portion of the seismic system of FIG. 28. [Figure 30] 1 is a schematic diagram of a part of a seismic system with building columns and pillars. [Figure 31] 1 is a schematic diagram of a portion of a seismic system with a building column. [Figure 32] Schematic diagrams of an elastomeric bearing with slider disks located both above and below the stack assembly (a) (b) (c) above the stack assembly. DETAILED DESCRIPTION OF THE INVENTION

[0042] The present invention relates to a seismic isolation system for a lattice framework structure 14 forming a seismic lattice framework system. The basic principles of the seismic isolation system can be illustrated by the lateral vibration modes of a non-isolated model shown in Figure 6a and a seismically isolated model shown in Figure 6b. Typically, the lattice framework structure 14 is rigidly attached to a solid concrete foundation on the ground 200, which can comprise a variety of hard rock deposits. Seismic waves generated during an earthquake are composed of a wide range of frequencies. While the energy of high-frequency waves tends to be absorbed by hard rock, low-frequency waves (with periods greater than 1 second) pass through the hard rock without being absorbed but are ultimately amplified by soft sediments. Without some form of isolation between the lattice framework structure 14 and the ground 200, the seismic waves, and therefore the seismic forces, would be transmitted through the solid concrete foundation, causing structural damage or deformation to the lattice framework structure, i.e., increased floor shear forces. The lateral forces generated by the seismic waves would cause the lattice framework structure to sway, potentially causing load-bearing devices operating on the lattice to derail from the lattice. Seismic isolation is a seismic design strategy that can mitigate the effects of earthquake ground motions by isolating a lattice framework structure from its foundation. As shown on the right side of Figure 6b, the lattice framework structure 14 is isolated from the horizontal component of the ground motion by interposing a structural element with low horizontal stiffness between the foundation and the lattice framework structure. As shown in Figure 6b, the lattice framework structure 14 is attached to a superstructure or diaphragm 202, e.g., a reinforced concrete slab, which is elevated above the ground by one or more isolation devices 204. This causes the fundamental frequency of the lattice framework structure to be much lower than both the fixed fundamental frequency and the dominant frequency of the ground motion. This shift in natural period reduces the spectral acceleration of typical earthquake motions, resulting in a significant reduction in the forces on the structural and nonstructural elements of the lattice framework structure. The relationship of spectral acceleration to the period that completes one cycle of the seismic wave is best illustrated by the schematic plot shown in Figure 7. As shown in Figure 7, as the period increases and damping increases, the spectral acceleration decreases. Therefore, the seismic force, i.e., floor shear, is reduced.For purposes of this invention, the ground is referred to as the substructure. There are various types of seismic isolation devices for isolating the lattice framework structure from seismic motions resulting from an earthquake, thereby preventing large deflections from being transmitted to the lattice framework structure. These include, but are not limited to, elastomer-based bearings and sliding bears. The effect of seismic isolation systems on the lattice framework structure is best explained by first describing the components that make up the lattice framework structure. This helps understand the areas of the lattice framework structure that are vulnerable to seismic forces. [Lattice framework structure] FIG. 8 shows a perspective view of a lattice framework structure 114 according to one embodiment of the present invention. The basic components of the lattice framework structure 114 according to the present invention comprise a lattice 50 in a horizontal plane attached to a plurality of upright columns or members 116. The terms “upright members” and “upright columns” are used interchangeably in the description. As shown in FIG. 8 , the lattice 50 comprises a series of horizontal cross beams or lattice members 118, 120 arranged to form a plurality of rectangular frames 54; more specifically, a first set of lattice members 118 extend in a first direction x, and a second set of lattice members 120 extend in a second direction y, the second set of lattice members 120 extending transversely to the first set of lattice members 118 in a substantially horizontal plane. Each of the lattice members extending in the first and / or second directions can be subdivided or compartmentalized into separate lattice elements that are joined or connected together. A connecting plate or cap plate 150, shown in FIG. 9, can be used to connect or join individual grid elements in both the first and second directions at the junctions where the grid elements cross or cross each upright post. That is, the cap plate 150 is used to connect the grid elements together to the upright posts 116. As a result, the upright posts are interconnected at their top ends at the junctions where multiple grid elements cross within the grid structure by the cap plate 150. As shown in FIG. 9, the cap plate 150 is cross-shaped with four connecting portions 152 for connecting to the ends or anywhere along the length of the grid elements at their intersections (see FIGS. 10 and 11). The cap plate 150 includes a spigot or protrusion 154 sized to fit snugly into the hollow central section 70 of the upright post 116 (the second end of the upright post) to interconnect multiple upright posts to a grid member, as shown in FIG. 12. FIG. 13 illustrates the use of one or more cap plates to join adjacent grid elements at the top ends of the upright posts. For purposes of illustration, the lower end of the upright attached to the floor constitutes a first end of the upright, and the upper end of the upright adjacent the grid 50 constitutes a second end of the upright.

[0043] The first and second sets of grid members support first and second sets of tracks or rails 57a, 57b, respectively, along which a material handling device moves one or more containers over the grid framework structure. For purposes of this description, the intersections 56 constitute nodes of the grid structure. Each of the rectangular frames 54 constitutes a grid cell and is sized for a remotely operated material handling device or bot that moves over the grid framework structure to retrieve and drop off one or more containers stacked between the uprights 116. The grid 50 is elevated above ground level by being attached to a plurality of uprights 116 at the intersections or nodes 56 where the grid members 118, 120 intersect, forming a plurality of vertical storage locations 58 as containers are stacked between the uprights 116 and guided vertically by the uprights 116 through the plurality of substantially rectangular frames 54. For purposes of this invention, a stack of containers can encompass a plurality of containers or one or more containers.

[0044] The lattice framework structure 114 can be thought of as a free-standing (or self-supporting) linear collection of upright columns 116, i.e., a four-walled framework, that supports the lattice 50 formed from intersecting horizontal lattice members 118, 120. Two or more of the upright columns are braced by at least one diagonal brace member to provide one or more braced towers 80 within the lattice framework structure 114. The structural rigidity and moment resistance of the lattice framework structure is primarily provided by incorporating one or more truss assemblies or braced towers 80 at least partially around the perimeter and / or within the body of the lattice framework structure (see FIG. 8 ). The truss assemblies can have a triangular or other non-trapezoidal shape. For example, the truss assemblies can be any type of truss that provides structural rigidity to the lattice framework structure against lateral forces, including, but not limited to, a Warren Truss, a K Truss, a Fink Truss, a Pratt Truss, a Gambrel Truss, or a Howe Truss. Bolts or other suitable attachment means can be used to secure the diagonal braces to the upright columns. The braced tower 80 shown in FIG. 14 according to one embodiment of the present invention can be formed by rigidly joining a subset or subgroup of multiple upright columns 116 with one or more angled or diagonal braces or diagonal bracing members 82. For purposes of the present invention, the diagonal braces 82 cooperate with the upright columns 116 in the braced tower 80 to form one or more triangles. The subset of multiple upright columns braced together to form the braced tower 80 of the present invention can be two or more adjacent upright columns 116 that lie in the same or a single vertical plane and are joined by one or more diagonal braces 82. Stated another way, two or more adjacent upright columns 116 connected by one or more diagonal braces 82 lie in the same or a single vertical plane, i.e., are coplanar.In a specific embodiment of the present invention shown in FIG. 14 , each braced tower 80 comprises three parallel upright columns 116 a, 116 b, residing in a single vertical plane (coplanar), rigidly connected together by a plurality of diagonal braces 82. Two of the three upright columns 116 a, 116 b are laterally disposed on either side of an intermediate upright column 116 c, and the two laterally disposed upright columns 116 a, 116 b are rigidly connected to the intermediate upright column 116 c by a plurality of diagonal braces 82. In the braced tower 80 of the present invention, one end of the diagonal brace member 82 is connected to the intermediate upright column by a connecting plate 121. The connecting plate 121 is inserted into a slot through the hollow central section of the intermediate upright column 116 c in a direction perpendicular to the longitudinal direction of the upright column. By internally bracing one or more subgroups of upright columns 116 within the lattice framework structure by one or more diagonal braces 82, the structural rigidity of the lattice framework structure is improved. For purposes of the present invention, the terms "vertical uprights", "uprights" and "uprights" are used interchangeably throughout the description.

[0045] The lattice framework structure is fixed to the ground (in this case, the superstructure) by one or more fixing bolts. In one embodiment of the present invention, one or more upright posts at its lower ends are attached to the superstructure by adjustable feet (see FIG. 15). The adjustable feet allow the height of one or more upright posts, and therefore the height of the entire lattice framework structure, to be adjusted. This allows the level of the lattice in the horizontal plane to be substantially flat, primarily for remotely operated loading devices, which move on the lattice structure, thereby preventing distortion of either the tracks or rails due to changes in the height of one or more of the upright members 116 in the lattice framework structure. As shown in FIG. 15, the adjustable foot 90 includes a base plate 92 and a threaded spindle or rod 94 that can be threadedly engaged with separate push-fit caps or plugs 96 located at the lower ends of the upright posts, as shown in FIG. 10. As shown in FIG. 8, one or more of the upright posts 116 are attached to the floor or superstructure by the base plate 92. The base plate 92 has one or more mounting holes for attaching the base plate 92 to the floor with one or more bolts.

[0046] In addition to attaching the uprights that make up the lattice framework structure via the adjustable feet described above, one or more uprights that make up the braced tower 80 are secured to the superstructure via one or more anchoring feet 132a, 132b (see FIG. 14 ). In the specific embodiment shown in FIG. 14 , the outer uprights 116a, 116b or the laterally disposed uprights 116a, 116b are secured to the concrete foundation via one or more anchoring feet 132, while the intermediate upright 116c is supported on the adjustable foot 90 as described above. The lower end (first end) of the braced tower is secured to the concrete foundation via one or more anchoring bolts. Various types of anchoring feet 132a, 132b for firmly securing the braced tower to the concrete foundation are applicable to the present invention. The anchoring feet support the loads of the uprights and the brace loads of the brace assemblies 82 of the braced tower 80.

[0047] 14 and 16 show two examples of anchoring feet used to secure a braced tower to a concrete foundation in accordance with the present invention. Compared to the anchoring foot shown in FIG. 16, the anchoring foot shown in FIG. 14 is more substantial in size and weight than the anchoring foot shown in FIG. 16. The anchoring foot 132a shown in FIG. 14 is fabricated as a T-joint with a base plate 133 in a horizontal plane for fastening to the floor with one or more anchor bolts and a anchoring plate 134 perpendicular to the base plate 133, and attached to the lower ends of the upright columns and the ends of the brace members 82. The anchoring plate 134 is oriented so that the surface of the anchoring plate 134 with the largest surface area is in the same vertical plane as the three upright columns 116a, 116b, and 116c of the braced tower 80, i.e., the surface of the anchoring plate 134 with the largest surface area is flush with the upright members 116a, 116b, and 116c of the braced tower 80. A problem with the fixed foot 132a shown in Figure 14 is the significant weight and therefore expense of manufacturing the fixed foot.

[0048] 16 shows an alternative anchoring foot 132b for anchoring a braced tower 80 to a concrete foundation in accordance with a second embodiment of the present invention. Instead of a solid rectangular base plate 133, the anchoring foot is a topology optimization that optimizes the material layout within a given design space for a given set of loads. The two loads considered in the topology optimization of the anchoring foot are the loads from the upright columns 116a, 116b, and 116c and the brace member 82. Based on the constraints imposed by the applied loads, the anchoring foot 132b of the present invention includes a stabilizer 136 with multiple separate fingers or digits 138 extending from an upright portion 140, such that the load is distributed among the multiple digits 138, e.g., spacing the digits apart. In the particular embodiment of the invention shown in Figure 16, the upright portion 140 comprises a fixing plate arranged to rigidly connect to the upright columns 116a, 116b and the diagonal brace 82 by one or more bolts to withstand the loads of the upright columns 116a, 116b and the applied load of the diagonal brace 82. Like the fixing plate 134 of the first embodiment of the invention shown in Figure 14, the fixing plate 140 is oriented so that the surface of the fixing plate 140 having the largest surface area is in the same vertical plate as the three upright columns 116a, 116b, 116c that make up the braced tower 80 of the invention (see Figure 11). Using the terminology of the invention, the surfaces of the upright columns 116a, 116b, 116c, the diagonal brace 82, and the fixing plates 134, 140 all lie in the same plane, i.e., they are coplanar.

[0049] One or more of the separate fingers 138 of the fixed foot 132b extend or splay in two or more different directions from the upright portion 140 to improve the stability of the fixed foot 132b. To aid in the stability of the fixed foot 132b of the present invention, one or more of the fingers 138 are of different lengths. The fingers 138 may be of different lengths, thereby providing different levels of stability for the braced tower 80. One or more connecting webs 142 are used to support the one or more fingers 138 from axial movement. The fixed foot 132b is secured to the concrete foundation by one or more bolts that pass through holes in the fingers 138 of the fixed foot 132b.

[0050] In a particular embodiment of the invention, five fingers 138 of various lengths are shown extending from an upright portion 140 with holes at the distal ends of the fingers 138 for securing the fixation foot to the ground via fixation bolts (see FIG. 16b). Fixation foot 132b according to the second embodiment of the invention can be formed as a single piece, such as by casting, or as separate pieces joined together, such as by welding. [Seismic grid framework system] While the current lattice framework structure 114 is suitable when the ground is relatively stable, i.e., when the ground has spectral accelerations below 0.33 g, which would be classified as Type A and Type B events, this is not the case when the lattice framework structure is subjected to a powerful seismic event that generates strong lateral forces exceeding 0.55 g, which would be classified as a Type C or D seismic event. Such a powerful seismic event would weaken the structural fasteners connecting the lattice elements (e.g., track support elements) at their intersections, causing them to loosen or disengage from the cap plates to which they are bolted. This would result in a weakening or complete loss of the structural integrity of the lattice framework because lateral forces would no longer be safely transmitted to the structural foundation. Failures could occur at the intersections of the lattice members or the track support elements that make up the lattice. The braced towers 80 described above, used to maintain the structural integrity of the lattice framework structure, may not be able to withstand the lateral forces resulting from a powerful Type D seismic event, much greater than 0.55 g.

[0051] In certain embodiments of the present invention, a seismic lattice framework system 206 is provided, whereby the base or footing of the lattice framework structure 114 is adapted to be flexible to damp, inhibit, or attenuate excessive movement of the lattice framework structure in response to ground or earth motions resulting from seismic forces. In certain embodiments of the present invention, the base or footing of the lattice framework structure 114 is made flexible by providing a seismic isolation system 208 and includes at least one seismic isolation device 204 that inhibits or attenuates seismic waves. FIG. 17 is an example of a seismic lattice framework system 206 in which the lattice framework structure 114 is isolated from its foundation by at least one seismic isolation device 204 to protect the lattice framework structure 114 from lateral forces resulting from ground motions. The seismic isolation device 204 effectively damps ground motions during strong seismic events, thereby inhibiting movement of the lattice framework structure that effectively increases the period of vibration of the lattice framework structure.

[0052] A cross-sectional view of a seismic isolation system 208 according to an embodiment of the present invention is shown in FIG. 18 . The seismic isolation system 208 comprises a superstructure or diaphragm 202 and a substructure or foundation 200. The superstructure 202 comprises at least a portion, and possibly all, of the load-bearing structure of the lattice framework structure 114. The superstructure 202 may be a concrete load-bearing structure. The lattice framework structure 114, more specifically, the footings of the upright columns 116, are attached to the superstructure 202 by one or more fixing bolts. The upright columns 116, and thus the lattice framework structure 114, are attached to the superstructure 202 by one or more adjustable feet 90 and / or fixed feet 132. Further details of the adjustable feet and fixed feet are described above. The need for the superstructure 202 at the base of the lattice framework structure has the advantage of redistributing concentrated forces from one or more separate braced frame locations to a relatively large number of support points. The substructure 200 comprises at least the foundation of the lattice framework structure. This can be the ground or a concrete foundation.

[0053] Disposed between the superstructure 202 and the substructure 200 are one or more seismic isolation devices 204. The distribution of the seismic isolation devices 204 can be adjusted to eliminate irregularities or possible torsional problems in the superstructure 202. The one or more seismic isolation devices 204 isolate the superstructure 202, and therefore the lattice framework structure 114 attached to the superstructure, from substructure movement or ground motion during an earthquake. In this way, large deflections and high accelerations are prevented from being transmitted to the lattice framework structure 114. The number and distribution of the one or more seismic isolation devices 202 depend on the weight of the lattice framework structure, the height of the lattice framework structure, i.e., the container depth Z, and the composition of the ground. For example, the energy of high-frequency seismic waves is easily absorbed by solid rock, while low-frequency seismic waves pass through the solid rock without being absorbed and are eventually amplified by soft sediments. As seen in FIG. 17 , one or more isolation devices are distributed in a grid-like pattern array, with each isolation device 204 attached between the substructure 200 and the superstructure 202 by lower and upper mounting plates, respectively. The number and pattern of one or more isolation devices disposed between the superstructure and substructure are discussed further below. The isolation devices provide lateral flexibility for the isolation system and attenuate ground motions transmitted to the lattice framework structure. Various known isolation devices that seek to maximize energy dissipation through damping are acceptable in the present invention. Options include elastomeric bearings, sliding bearings, or a combination thereof.

[0054] In a first embodiment of the present invention, at least one isolation device comprises an elastomeric bearing 1204 that relies on the elastomeric properties of the bearing to dampen lateral movement. The elastomeric bearing shown in FIG. 19 comprises a laminated assembly 1206 of alternating elastomeric layers 1207 and rigid layers 1208 that are vulcanized or glued together within a rubber body and positioned between upper and lower mounting plates 1210a, 1210b for fastening to the superstructure 202 and substructure 200, respectively. Examples of elastomeric bearings are described in U.S. Patent Application Publication No. 4,499,694 (New Zealand Development Finance Corporation), U.S. Patent Application Publication No. 4,593,502 (New Zealand Development Finance Corporation), European Patent Application Publication No. 3412929 (Olies Corporation), and / or European Patent Application Publication No. 2039958 (Olies Corporation), the details of which are incorporated herein by reference. The elastomeric bearing 1204 allows for flexibility through its ability to move and then return to its original position. For example, if the lattice framework structure has not returned to its original position at the end of an earthquake, the restoring force of the at least one elastomeric bearing slowly returns the lattice framework structure to its original position.

[0055] Elastomeric layer 1207 is preferably constructed from an elastomeric material such as natural or synthetic rubber, and the rigid layer is preferably fabricated from steel, aluminum, fiberglass, fabric, or other suitable rigid material. Elastomeric layer 1207 provides lateral flexibility and elastic recovery to return the elastomeric bearing to its original position. Rigid layer 1208 provides vertical load capacity and reinforces the elastomeric bearing by preventing lateral bulging. The individual layers within the assembly are bonded together, for example, by vulcanization, to form a single assembly or structure.

[0056] The lattice framework structure, together with one or more containers stacked on vertical columns and one or more remotely operated handling devices that move the containers stored in the lattice framework structure, constitutes a storage system of the present invention. The weight of the handling device or devices operating on the lattice and the additional weight of the containers not only increases the weight of the storage system, but also increases the vibration period and reduces the spectral acceleration. Due to the large mass of the storage system, after a strong earthquake, the lattice framework structure may continue to sway back and forth on one or more seismic isolation devices. Also shown in Figure 19 is an optional energy dissipation core 1212 located in the hollow interior of the stack 1206 and extending across the stack. For purposes of the present invention, the terms "stack assembly" and "stack" are used interchangeably herein and refer to the same feature. The energy dissipation core 1212 has a cylindrical shape and is adapted to damp vibrations in the shear direction B of the stack assembly by absorbing vibration energy in the shear direction B of the stack assembly through deformation in the shear direction B. The energy dissipating core 1212 is typically constructed from lead, tin, zinc, aluminum, copper, nickel, or alloys thereof and can be pressed into place. Lead is preferably chosen for its plasticity, which allows it to deform with earthquake shaking and then return to its original shape, and it can be deformed multiple times without losing strength.

[0057] In the specific embodiment of the invention shown in FIG. 19, the body of the stack assembly 1206 has a circular cross-sectional shape such that the body of the stack assembly 1206 has a cylindrical outer periphery, as shown in the top view of the elastomeric bearing in FIG. 20. Together with the interior hollow portion of the stack body, the stack assembly comprises an assembly of alternating annular elastomeric and rigid layers. The annular elastomeric and rigid layers are bonded by vulcanization to form a cylindrical stack. The outer periphery of the cylindrical stack is protected by a rubber outer coating 1214. The body of the stack assembly 1206 is disposed between an upper mounting plate 1210a and a lower mounting plate 1210b. The upper and lower mounting plates include one or more mounting holes 1216 for attaching the stack assembly body to an upper structure and a lower structure, respectively. The one or more mounting holes are distributed around or on the periphery of the upper and lower mounting plates.

[0058] 19 also shows that the upper and lower mounting plates 1210a, 1210b are joined to the upper connecting steel plate 1218a and the lower connecting steel plate 1218b by one or more bolts, respectively. Optionally, the upper connecting steel plate 1218a and / or the lower connecting steel plate 1218b can comprise a relatively low-friction material that allows the upper connecting steel plate 1218a and / or the lower connecting steel plate 1218b to slide relative to the respective upper and / or lower mounting plate.

[0059] The provision of the upper connecting steel plate 1218a and the lower connecting steel plate 1218b is optional, and the stack assembly body can be directly disposed or sandwiched between the upper and lower mounting plates. The stack assembly body is not limited to having a cylindrical outer periphery; other shapes, such as rectangular or square shapes, are acceptable in the present invention. For example, FIG. 21 shows an alternative configuration of an elastomeric bearing 2204 according to one embodiment of the present invention, in which the stack assembly body has a square or rectangular cross-sectional shape. Also, as shown in FIG. 21, the body of the elastomeric bearing 2204 comprises alternating elastomer layers 2207 and steel shims 2208 vulcanized or bonded together, i.e., the steel shims are embedded within the elastomeric body 2206. The energy dissipating core 2212 is adapted to damp vibrations in the shear direction B of the stack.

[0060] A more cost-effective alternative to dissipating energy through the elastic deformation permitted by the present invention is to replace the main body of the laminate assembly with a stack or laminate assembly of bonded retread tire rubber pads, each containing sandwiched steel reinforcing cords. The steel cords are believed to function similarly to stiffening layers in that they provide vertical load capacity and strengthen the elastomeric bearing by preventing lateral bulging. Figure 22 is a schematic layout of a laminate assembly 3206 of retread rubber tire layers or pads 3210. As seen on the left side of Figure 22, the tread portion of a retread tire 3209 forms each of the rubber layers or pads of the elastomeric bearing assembly. The tire pads 3210 are bonded together using a suitable adhesive. The use of scrap tire rubber pads as elastomeric bearings 3204 for attenuating seismic waves has been reported by Mishra et al. (Mishra, H.K., Igarashi, A., Matsushima, H., and Furukawa, A. (2012) “Experimental and analytical study of unbonded and bonded scrap tire rubber pad as base isolation device” 15 thThis has been extensively studied by WCEE, Lisbon, Portugal, and Muñoz et al. (Munoz, A. et al. (2019) "Applicability Study of Low-Cost Seismic Isolator Prototype Using Recycled Rubber," Journal TECNI A Vol. 29, No. 2). Similar to the elastomeric bearings shown in FIGS. 19 and 21, the body of the laminated assembly of elastomeric layers 3206 is sandwiched between upper and lower mounting plates (not shown) for attachment to the superstructure and substructure, respectively. While not as effective at attenuating seismic waves as the elastomeric bearings 1204, 204 comprising the laminated assemblies of elastomeric and rigid layers described above, the retread tire pad assembly 3206 offers a low-cost alternative that can be tailored to meet local building regulations. For example, the number and distribution of seismic isolation devices placed between the superstructure and substructure can be tailored to provide different damping characteristics depending on the vulnerability of the lattice framework structure to earthquake impacts in a particular region and / or local building regulations. Further details on various design alternatives for seismic isolation devices are provided below.

[0061] In all of the elastomeric bearing embodiments shown in Figures 19, 20, 21, and 22, the stack assembly body is sandwiched between upper and lower mounting plates. One or more elastomeric bearings can optionally include a slider disk (not shown) disposed between the stack assembly and either the upper mounting plate 1210a or the lower mounting plate 1210b, or both. The slider disk preferably comprises PTFE (Teflon) and allows the upper or lower bearing plate to move relative to the stack assembly body. The upper and / or lower mounting plates can include one or more stops that abut against the upper or lower ends of the stack assembly. The slider disk provides additional damping through sliding friction of the contact surfaces between the slider disk and the upper and / or lower mounting plates.

[0062] FIG. 32 schematically illustrates an elastomer bearing including a slider disk. In FIG. 32(a), a slider disk 1220 is disposed between the stack assembly 1206 and the upper mounting plate 1210a. The upper mounting plate 1210a includes a stop 1222. In FIG. 32(b), a slider disk 1220 is disposed between the stack assembly 1206 and the lower mounting plate 1210b. The lower mounting plate 1210b includes a stop 1222. In FIG. 32(c), there are two slider disks 1220: a first slider disk 1220 is disposed between the stack assembly 1206 and the upper mounting plate 1210a, and a second slider disk 1220 is disposed between the stack assembly 1206 and the lower mounting plate 1210b. Both the upper mounting plate 1210a and the lower mounting plate 1210b include stops 1222.

[0063] Embodiments of the elastomeric bearing with slider disks provide a combination of isolation and lateral sliding movement, which better distributes the load of the superstructure and grid between the isolation devices and accounts for uneven movement between support points. This is particularly useful in smaller fulfillment centers with lighter loads. In some instances, better load distribution allows for the use of lower-quality concrete in the superstructure, saving manufacturing and installation costs.

[0064] In a second embodiment of the present invention, at least one seismic isolation device can be based on a sliding system. In a sliding system, energy is dissipated by one or more sliding pendulum bearings or friction pendulum bearings. For example, a slider is typically arranged to slide against a surface by utilizing a reciprocal sliding arrangement between a convex surface and a spherical-concave surface. For purposes of this invention, the terms "sliding pendulum bearing," "sliding pendulum bearing," "sliding bearing," and "friction pendulum bearing" are used interchangeably herein to refer to the same feature. The reciprocal sliding arrangement between a convex surface and a spherical-concave surface allows the sliding bearing to naturally return to its original position without relying on the elastomeric properties of the bearing body. In other words, the concave sliding surface provides a restoring force and ensures self-centering. The simplest sliding system involves a single friction pendulum bearing consisting of a spherical-concave surface supporting a friction slider. The geometry and / or friction between the slider and the spherical-concave surface play an important role in dissipating the energy associated with seismic motion. The geometry of the contact surface between the slider and the spherical-concave surface is related to the radius of curvature of the spherical-concave surface. The radius of curvature of the spherical concave surface affects the vibration period of the slider, and therefore the restoring force. The larger the radius of curvature of the spherical concave surface, the larger the vibration period. The lateral movement of the slider is accompanied by vertical movement of the superstructure, so the mass of the storage system provides the restoring force. Lifting of the superstructure during earthquake motion results in an equivalent pendulum motion with one dynamic natural vibration period based on the pendulum motion. The natural period of vibration of the sliding system (T) is equal to:

[0065]

number

[0066] where L is the effective pendulum length and g is the acceleration due to gravity. The effective length of the pendulum, L, is proportional to the radius of curvature of the spherical concave surface, given by:

[0067]

number

[0068] Here, θ is the angle that the pendulum makes with the vertical line, and R is the radius of curvature of the spherical concave surface.

[0069] In addition to controlling the shape of the spherical concave surface, the coefficient of friction between the slider and the spherical concave surface can be controlled or preset to provide resistance to loads or forces due to normal operation of the lattice framework structure, but insufficient to be overcome in a seismic event. This allows one or more sliding bearings to operate, i.e., prevent the friction slider from sliding, during normal operation or use of the storage system. Forces applied by normal operation of the storage system include, but are not limited to, forces generated by one or more material handling devices operating on the lattice, including material handling devices moving on rails / tracks and the operation of grabber devices for lifting and lowering containers in vertical storage columns. The coefficient of friction is overcome in a seismic event, allowing the slider to move on its respective spherical concave surface. The coefficient of friction between the slider and the spherical concave surface can be tailored by coating or treating the contact surface between the spherical concave surface and the slider with a special material. For example, the spherical concave surface can be coated with a special material to provide a tailored coefficient of friction between the slider and the spherical concave surface. Similarly, or in addition, the coefficient of friction between the slider and the spherical concave surface can be controlled by coating only the slider with a bearing liner material. In the case of the elastomeric bearing described above, the restoring force can be controlled by controlling the elastic properties of the elastomeric material, for example, by controlling the number of elastomeric and rigid layers and the composition of the energy dissipating core, so that the elastomeric bearing does not activate during normal operation of the storage system. This allows the storage system to function normally during operation without activating the seismic isolation device.

[0070] To accommodate earthquake motions of different intensities, the sliding bearing preferably includes multiple sliding bearings connected in series to support the lattice framework structure, each of which provides a separate sliding pendulum. When connected in series, the lateral displacement of the substructure is distributed to one or more of the multiple sliding bearings. The sum of the displacements generated by the multiple pendulum mechanisms equals the total structural displacement at the support point. In this way, different pendulum mechanisms are activated when earthquake motions of different intensities occur. This is intended to mitigate the impact of the sliding bearings selected to minimize the impact of low-intensity service-level earthquakes, which are expected to occur more than once during the service life of the lattice framework structure, but is not effective in minimizing the impact of stronger earthquakes, which may occur during the service life of the lattice framework structure.

[0071] The different pendulum mechanisms are activated at different strengths of seismic motion by using different coefficients of friction for the different pendulum mechanisms, i.e., they exhibit different hysteresis characteristics at different displacements. Thus, as each pendulum mechanism is activated, both the effective pendulum length and the effective friction increase as each pendulum mechanism is activated sequentially. In a preferred embodiment of the present invention, the sliding pendulum bearing provides three different pendulum mechanisms, or so-called Triple Pendulum® bearings supplied by Earthquake Protection Systems (EPS), Inc., having a place of business in Vallejo, Canada, which progressively exhibit different hysteresis characteristics at various stages of displacement. Details of the Triple Pendulum® bearing are further described in U.S. Patent Application Publication No. 2006 / 0174555 (Victor, Zayas, and Stanley Low), the details of which are incorporated herein by reference.

[0072] FIG. 23 shows a cross-sectional view of a Triple Pendulum® bearing 4204 that forms at least one isolation device of the seismic isolation system of the present invention. As described in U.S. Patent Application Publication No. 2006 / 0174555 (Victor, Zayas, and Stanley Low), the triple pendulum bearing has four concave surfaces to provide three independent pendulum mechanisms. The triple pendulum bearing includes an upper bearing element or plate 4206 having a downward-facing concave spherical surface 4208 with a specified radius of curvature R1 and a lower bearing element 4210 having an upward-facing concave spherical surface 4212 with a specified radius of curvature R2. The upper and lower bearing elements 4206 and 4210 may be in the form of upper and lower bearing plates, each fabricated from a single material such as stainless steel or iron. To facilitate sliding, a coating is deposited on the concave spherical surfaces 4208, 4212 of the upper and lower bearing elements 4206 and 4210. Bolt holes (not shown) are formed around the periphery of the upper bearing element 4206 and the lower bearing element 4210 for connecting the sliding pendulum bearings to the upper and lower structures, respectively. A plurality of sliders, including outer sliders 4214, 4216 and inner slider 4218, are disposed between the upper bearing element 4206 and the lower bearing element 4210 and are slidingly disposed therebetween.

[0073] In the case of a Triple Pendulum® bearing, the outer sliders include a first slider 4214 and a second slider 4216. An inner or third slider 4218 is disposed between the outer sliders and slides therebetween. The contact surfaces of the first slider 4214, the second slider 4216, and the third slider 4218 are adapted so that the first, second, and third sliders gradually slide along their respective concave spherical surfaces, providing a pendulum mechanism that operates with varying strengths of seismic motion. The first slider 4214 has a convex surface 4214b that slides along the upwardly facing concave spherical surface 4212 of the lower bearing element 4210, and a spherical concave surface 4214c with a radius of curvature R3, which is smaller than the radius of curvature R2 of the lower bearing element. The contact surface between the first slider 4214 and the lower bearing element 4210 is adapted to provide a first coefficient of friction for a design level of earthquake, which can be achieved by lining the upwardly facing concave spherical surface 4212 of the lower bearing element 4210 and / or lining the convex surface 4214b of the first slider 4214 with a bearing lining material.

[0074] The second slider 4216 has a convex surface 4216b adapted to slide along the downward-facing spherical concave surface 4208 of the upper bearing element 4206, and also has a concave spherical surface 4216c with a radius of curvature R4 equal to the radius of curvature R3 of the concave spherical surface of the first slider 4214. Like the first slider 4214, the radius of curvature R4 of the concave spherical surface 4216c of the second slider 4216 is less than the radius of curvature R1 of the upper bearing element 4206. The contact surface between the second slider 4216 and the upper bearing element 4206 is adapted to provide a second coefficient of friction, this time suitable for maximum reliability earthquakes, typically two to three times or more the coefficient of friction of the first slider 4214. In this manner, the first slider 4214 is adapted to slide along the upwardly facing concave spherical surface 4212 of the lower bearing element 4210 before the second slider 4216 slides along the downwardly facing concave spherical surface 4208 of the upper bearing element 4206.

[0075] The third slider 4218 forms the inner slider and is disposed between the first slider 4214 and the second slider 4216. The third slider 4218 has convex spherical surfaces at its bottom and top portions 4218b, 4218c that are disposed to slide along the concave spherical surfaces of the first slider 4214 and the second slider 4216, respectively. The convex surfaces 4218b, 4218c of the third slider 4218 are surfaced with a bearing liner material so that the sliding surface between the third slider 4218 and the first slider 4214 has a third coefficient of friction, and the sliding surface between the third slider 4218 and the second slider 4216 has a fourth coefficient of friction. The coefficient of friction between the sliding surface of the third slider 4218 and the concave spherical surfaces of both the first slider 4214 and the second slider 4216 is equal, i.e., the third coefficient of friction is substantially equal to the fourth coefficient of friction. However, the third and / or fourth coefficients of friction are typically half to one-third of the coefficient of friction of the first slider relative to the upwardly facing concave spherical surface of the lower bearing element, i.e., the first coefficient of friction. The low coefficient of friction between the contact surface of the third slider 4218 and the concave spherical surfaces of the first slider 4214 and the second slider 4216 (i.e., the inner pendulum mechanism) minimizes high-frequency vibrations of ground motion transmitted through the superstructure to the lattice framework structure. Reducing such high-frequency vibrations mitigates damage to one or more material handling devices operating on the lattice and / or containers stored in the vertical storage columns, particularly spillage of container contents. High frequency vibrations tend to derail one or more of the load handling devices from the track, and in the worst case scenario, cause one or more of the load handling devices to topple over on the grid. Furthermore, due to the low coefficient of friction, the third slider can accurately return to its equilibrium or original position after movement.

[0076] To protect the inner surfaces, particularly the contact surfaces of the sliders, from contamination and to maintain the slider assembly together, the upper and lower bearing elements may be joined together with elastomeric seals (not shown) around the periphery of the upper and lower bearing elements. The elastomeric seals are configured to accommodate the large deformations required during seismic motion. Similarly, to protect the inner surfaces of the sliders from contamination and to maintain the components of the first slider 4214 and second slider 4216 together, the first slider and second slider are typically joined together with elastomeric seals (not shown) around the periphery of the first and second sliders.

[0077] 24(a-c) show the movement of the sliders during seismic motion to provide three different pendulum mechanisms for the triple pendulum bearing. Details of the triple pendulum bearing are described in U.S. Patent Application Publication No. 2006 / 0174555 (Victor, Zayas, and Stanley Low), the details of which are incorporated herein by reference. The phase of lateral horizontal movement of each slider during ground motion depends on the friction of the contact surfaces between the respective sliders and the friction against the spherical concave surfaces of the upper and lower bearing elements. 24a, the coefficient of friction is such that the first slider 4214 moves horizontally relative to the second slider 4216, but the friction between the first slider 4214 and the lower bearing element 4210 (first coefficient of friction) and the friction between the second slider 4216 and the upper bearing element 4206 (second coefficient of friction) prevents both the first slider 4214 and the second slider 4216 from moving relative to the respective concave surfaces of the lower bearing element 4210 and the upper bearing element 4206. In other words, during the initial displacement of the sliding bearings, the friction between the first slider and the second slider against the respective concave spherical surfaces of the lower bearing element and the upper bearing element is too high. Therefore, the first pendulum motion is provided solely by the third slider 4218, which rotates and translates horizontally along the concave spherical surfaces of the first slider 4214 and the second slider 4216. The coefficient of friction between the bottom and top convex surfaces 4218b, 4218c of the third slider 4218 and the concave spherical surfaces of the first slider 4214 and the second slider 4216 is such that the third slider 4218 can slide easily to dampen high frequency vibrations.

[0078] The first pendulum motion is shown in FIG. 24a. As the ground motion gradually increases, the first coefficient of friction is overcome, causing the first slider 4214 to slide along the concave spherical surface 4212 of the lower bearing element 4210, thus creating a second pendulum motion. The movement of the first slider relative to the lower bearing element is indicated by the arrows shown in FIG. 24b. While FIG. 24b shows the first slider initially moving to the right, the first slider's movement is not limited to one direction and can initially move to the left. In reality, the slider moves in both directions due to the ground motion. Finally, as the ground motion gradually increases, the second coefficient of friction is overcome, causing the second slider 4216 to slide along the upper bearing plate 4206, creating a third pendulum mechanism. This is shown in FIG. 24c. The slider's friction coefficients are tuned to provide different levels of damping for different seismic motion intensities.

[0079] Multiple sliding bearings, positioned between the substructure and superstructure, are arranged to isolate the lattice framework structure from ground motions at different seismic intensities. For example, the separate pendulum mechanisms of the sliding bearings can be adjusted to damp various areas or components of the storage system that are susceptible to vibrations of different frequencies. While the braced tower provides some structural integrity and support to the lattice framework structure from ground motions resulting from weak seismic events, for example, when the spectral acceleration is less than 0.55g, this may not be the case for one or more material handling devices operating on the grid or trucks. The sliding bearings can be adjusted to provide damping to different areas of the storage system with different pendulum mechanisms operating at different seismic intensities. These include, but are not limited to, one or more material handling devices operating on the grid and / or one or more containers stacked in the vertical storage column.

[0080] In addition to providing different levels of damping with multiple sliding bearings, a combination of different isolation devices can also be used to provide the necessary isolation characteristics for various intensities of earthquake motion, i.e., load-bearing capacity, lateral flexibility, energy dissipation, and self-centering capabilities. For example, a low-friction sliding bearing can be combined with the aforementioned elastomeric bearing. The low-friction sliding bearing can dampen high-frequency vibrations transmitted to the lattice framework structure, while the elastomeric bearing can dampen strong seismic forces.

[0081] Various other factors play an important role in effectively isolating a lattice framework structure from seismic motion. These include, but are not limited to, the distribution and pattern of one or more isolation devices, the type of isolation device, and / or the size of the isolation device. As shown in Figure 25, the isolation devices are distributed in a grid pattern between the substructure and superstructure. Among other factors mentioned above, the number of isolation devices distributed between the substructure and superstructure also depends on the size of the isolation devices. For example, using larger isolation devices 204 can extend the isolation but requires a thicker superstructure to redistribute the concentrated forces of the storage system's weight to the isolation devices. Figure 17 illustrates the use of larger isolation devices 204, each ranging from 400 mm to 460 mm in width and 190 mm to 210 mm in height, distributed in a 6 m x 6 m grid pattern and supporting a 200 mm thick concrete superstructure. The isolation device shown in FIG. 17 can be based on the aforementioned elastomer bearings 1204, 2204, 3204, or Triple Pendulum® 4204, or a combination of both bearing types. Using smaller isolation devices, a smaller dispersion of 3 m x 3 m can be achieved. FIGS. 25 and 26 show another dispersion of isolation devices 204 between the substructure and superstructure using smaller isolation devices with widths ranging from 150 mm to 250 mm and heights ranging from 50 mm to 80 mm. Using smaller isolation devices 204, the isolation devices are dispersed in a 3 m x 3 m grid pattern. The more isolation devices dispersed between the substructure and superstructure, the more the isolation system can afford to use a thinner superstructure. In the specific embodiment shown in FIG. 25, the thickness of the concrete superstructure is approximately 150 mm. The dispersion of the isolation devices can be adjusted to address irregularities in the superstructure and possible torsional issues. A large continuous lattice framework structure spanning a large footprint means that the superstructure or diaphragm is equally continuous to accommodate the large footprint of the lattice framework structure.

[0082] The constructibility of the substructure can be adapted to include one or more crawl spaces or trenches to provide an inspection area for one or more seismic isolation devices. For example, the substructure can include a plurality of columns or pedestals for attaching one or more seismic isolation devices to the columns, such that the one or more seismic isolation devices are positioned between the columns and the superstructure. The space between the columns or pedestals of the substructure provides the crawl space.

[0083] FIG. 27 illustrates another configuration of a seismic isolation system 208 of the present invention. Here, one or more isolation devices 204 are disposed in a well or recess 205 within a substructure 200 having upright walls 207. A superstructure 202 is attached to the one or more isolation devices 204 within the well so that the top wall of the superstructure 202 is level or flush with the surrounding area. The recess or well area is sized to allow the superstructure disposed within the well to move laterally to accommodate different seismic motions. To accomplish this, a gap 206 between the edge of the superstructure and the upright walls 207 of the well is sized to allow lateral movement of the superstructure 202 on the one or more isolation devices 204. Preferably, the substructure 200 is cast in place to provide the recess or well 205. A gap 209 between the edge of the superstructure and the upright walls 207 of the substructure can be covered with a protective cover for added safety. Examples of protective coverings include, but are not limited to, elastic members and / or movable slats that slide over one another.

[0084] Different combinations of isolation devices can be used to attenuate different strengths of seismic motion and provide different restoring forces. For example, an array of isolation devices can be placed between the superstructure and substructure and comprise a combination or mixture of elastomeric bearings and sliding pendulum bearings.

[0085] In some embodiments of the present invention, the isolation devices may be spaced 10 meters apart. The isolation devices may be arranged in a regular, repeating pattern between the superstructure and substructure, for example, a square array or grid pattern (10m x 10m spacing). The isolators may also be arranged in different patterns, such as a hexagonal grid pattern, or a square grid pattern with an isolation device in the center of each square of the square grid pattern, or any other suitable arrangement. The same pattern of isolation devices may be used throughout the space between the substructure and superstructure, or different patterns or distributions of isolation devices may be used under different portions of the grid framework structure. Optionally, the isolation devices may be arranged in an irregular pattern between the superstructure and substructure, with a higher concentration of isolation devices in one or more areas between the superstructure and substructure to increase damping in those areas.

[0086] In embodiments in which both elastomeric bearings and sliding pendulum bearings are used as isolation devices, the same spacing or distribution pattern can be used for both types of isolation devices, or different spacing or distribution patterns can be used for the different types of isolation devices. Different types of isolation devices can be used under different portions of the grid, or the different types of isolation devices can be interspersed.

[0087] The area density of the isolation devices, arranged in a square array with 10 m spacing, is 1 device per 100 square meters, or 0.01 devices per square meter. This density can be applied to other arrangements of isolation devices. The area density of the isolation devices can range from 0.005 to 0.015 devices per square meter.

[0088] The superstructure on which the grid is supported may be constructed of pure concrete or of a composite steel / concrete slab. When the superstructure comprises a composite steel / concrete slab, the concrete may be poured over the steel deck, so that the concrete is cast and forms an integral slab with the steel deck.

[0089] The concrete used in the superstructure (pure concrete or composite steel / concrete) must be of appropriate quality. The concrete for the superstructure and substructure can be manufactured to specified tolerances, with controlled mix ratios, defect-free, flat, level, and to standard specifications for the appropriate concrete grade. In some embodiments, the concrete can contain one or more additives. Additives can be used to extend the life of the concrete, control set speeds, control air entrapment, increase hardness, increase strength, reduce permeability, reduce shrinkage, reduce corrosion, or control the properties of the substructure and / or superstructure.

[0090] In some embodiments, pedestals can be used to provide additional space between the substructure and superstructure. The additional space between the substructure and superstructure can be used for various functions, such as providing employee parking in a fulfillment center. The additional space also allows access below the superstructure for convenient inspection and maintenance. The pedestals can be placed above the seismic isolation devices, one pedestal for each isolation device. Alternatively or additionally, lower pedestals can be placed below the seismic isolation devices to support the seismic isolation devices, one lower pedestal for each isolation device. The pedestals can be steel, concrete, or other suitable material.

[0091] The superstructure may further include one or more beams supporting a concrete or composite concrete / steel slab. FIG. 28 illustrates an exemplary embodiment of a seismic isolation system in which a superstructure 202 includes a slab 203 supported by beams 210 and 212. The beams 210 and 212 may be steel, I-beams as shown in FIG. 28, or other suitable shapes. The primary beam 210 extends substantially horizontally in a first direction (x-direction) and is substantially perpendicular to the secondary beams 212, which extend substantially horizontally in a second direction (y-direction). The beams 210 and 212 form a grid-like pattern in a substantially horizontal plane. The seismic isolation device 204 is disposed between the superstructure and the substructure 200 and is supported by the substructure 200. The primary beam 210 is supported by the seismic isolation device 204, and the secondary beams 212 are supported by the primary beams 210. The slab 203 is supported by the secondary beams 212.

[0092] In the embodiment shown in Figure 28, the isolation devices 204 are arranged in a regular square array with 10 m spacing in both the x and y directions. While four isolation devices are shown for ease of illustration, it should be understood that a larger array of isolation devices can be used and can extend over a larger area. Because the primary beams 210 are supported by the isolation devices, their spacing in the y direction is the same as the spacing of the isolation devices: 10 m. The secondary beams 212 are spaced more closely together, in this case at 2 m spacing in the x direction.

[0093] FIG. 29 illustrates the seismic isolation system of FIG. 28 in a side view, showing one isolation device disposed between the substructure 200 and the superstructure 202 for ease of illustration. The isolation device 204 is disposed on the substructure 200. A pedestal 214 is supported by the isolation device 204. In the particular embodiment illustrated in FIG. 29, the pedestal 214 is shown attached to the isolation device 204 such that the pedestal is disposed between the substructure 200 and the superstructure 202. The primary beam 210 is supported by the pedestal 214 such that the pedestal is sandwiched between the isolation device 204 and the primary beam 210. The secondary beam 212 is supported by the primary beam 210. The slab 203 is supported by a secondary steel beam. The upright columns 116 of the lattice framework structure are supported by the slab 203. The superstructure 202 comprises a composite steel / concrete slab 203, a primary beam 210, and a secondary beam 212.

[0094] In some embodiments, the seismic isolation system may include building columns 220 that provide structural support to the building housing the seismic lattice framework system 206, and / or columns 222 that extend below ground level. In some embodiments, in addition to the pedestal 214 located between the seismic isolation device 204 and the superstructure, an additional pedestal 216 (referred to as a sub-pedestal 216) may be provided below the seismic isolation device 204. The use of both the pedestal 214 and the sub-pedestal 216 has the advantage of further increasing the available vertical space between the substructure 200 and the superstructure 202, allowing this space to be used for purposes such as parking.

[0095] FIG. 30 schematically illustrates a seismic isolation system incorporating building columns 220, columns 222, and lower pedestals 216. Substructure 200 is at ground level 218. Columns 222 extend downward into the earth to provide a stable foundation for the building housing the seismic isolation system. Lower pedestals 216 are located at ground level, either partially internal (as shown) or supported by substructure 200. A subset of lower pedestals 216 is located above columns 222. Isolation devices 204 are located on lower pedestals 216, and pedestals 214 are supported by isolation devices 204 (thus, isolation devices 204 are located between lower pedestals 216 and pedestal 214). Superstructure 202 is supported by pedestals 214.

[0096] A subset of the pedestal, sub-pedestals, and isolation devices support a building column 220 that extends upward from the pedestal. The pedestal, sub-pedestals, and isolation devices that support the building column 220 are referenced by reference numerals 214a, 216a, and 204a, respectively. The building column 220 is positioned on a column 222 that extends downward to the ground to withstand large compressive loads and support the weight of the building structure above. The building column 220 is supported by pedestal 214a. The pedestal 214a is supported by isolation device 204a. The isolation device 204a is supported by a sub-pedestal 216a that is positioned on and supported by column 222.

[0097] A subset of the isolation devices 204a located above the columns 222 and below the building columns 220 may be sliding pendulum bearings. Sliding pendulum bearings are suitable for use in such locations because they can withstand high compressive loads. In embodiments where a combination of sliding pendulum bearings and elastomeric bearings is used, a subset of the isolation devices 204a located above the columns 222 and below the building columns 220 may be sliding pendulum bearings, and the other isolation devices 204a may be elastomeric bearings.

[0098] FIG. 31 schematically illustrates a seismic isolation device 204a supporting a building column 220. The substructure 200 is shaped so that the seismic isolation device 204a sits within a well or recess 205. The seismic isolation device 204a includes an upper isolation plate 230 and a bottom isolation plate 232. In applications where the seismic isolation device 204a is an elastomeric bearing, the upper mounting plate 1210a and the lower mounting plate 1210b may be identical to the upper and bottom isolation plates 230, 232, respectively. The bottom isolation plate 232 of the seismic isolation device 204a is attached to a base plate 226, which is attached to the substructure 200 by fastening bolts 228. The pedestal 214a is supported by the seismic isolation device 204a, with a pedestal base plate 230 attached to its underside. The pedestal base plate is attached directly atop the upper isolation plate 230 of the seismic isolation device 204a. The pedestals 214a support the superstructure 202. In the embodiment shown in Figure 31, the superstructure 202 comprises beams 212 that support the slab 203, and the beams 212 are supported by the pedestals 214a. definition In this document, the term "n-way motion" (and related expressions), where n is x, y, or z, is intended to mean motion in either direction substantially along or parallel to the n-axis (i.e., towards the positive end of the n-axis or towards the negative end of the n-axis).

[0099] In this document, the word "connect" and its derivatives are intended to include both direct and indirect connection possibilities. For example, "x is connected to y" is intended to include the possibility that x is directly connected to y with no intervening components, and the possibility that x is indirectly connected to y through one or more intervening components. When a direct connection is intended, words such as "directly connected" or "directly connected" are used. Similarly, the word "support" and its derivatives are intended to include both direct and indirect contact possibilities.

[0100] For example, "x supports y" is intended to include the possibility that x directly supports and directly contacts y without any intervening components, and the possibility that x indirectly supports y and one or more intervening components contact x and / or y. The word "attached" and its derivatives are intended to include the possibility of direct and indirect attachment. For example, "x is attached to y" is intended to include the possibility that x is directly attached to y with no intervening components, and the possibility that x is indirectly attached to y through one or more intervening components.

[0101] In this document, the word "comprises" and its derivatives are intended to have an inclusive rather than exclusive meaning. For example, "x comprises y" is intended to include the possibility that x contains one and only one y, multiple y's, or one or more y's and one or more other elements. When an exclusive meaning is intended, the phrase "x is composed of y" is used. This means that x contains only y and nothing else.

Claims

1. 1. A seismic resistant lattice framework system (206) comprising a lattice framework structure (114) for supporting a material handling device (30) operable to move one or more containers (10) in a stack (12), the lattice framework structure (114) comprising:

1. A seismic lattice framework system (206) comprising a series of intersecting lattice members (118, 120) arranged to form a lattice (50) comprising a plurality of substantially rectangular frames (54) in a horizontal plane, each of the substantially rectangular frames (54) constituting a lattice cell, the lattice (50) being supported by a plurality of upright columns (116) at each of the intersections (56) of the series of lattice members (118, 120), forming a plurality of vertical storage locations (58) such that containers (10) are stacked between the upright columns (116) and guided vertically by the upright columns (116) through the plurality of substantially rectangular frames (54), The seismic lattice framework system (206) further comprises a seismic isolation system (208) for reducing seismic forces acting on the lattice framework structure (114), the lattice framework structure (114) being supported by the seismic isolation system (208), the seismic isolation system (208) comprising an upper structure (202), a lower structure (200), and at least one seismic isolation device (204) disposed between the upper structure (202) and the lower structure (200), the at least one seismic isolation device (204) configured to suppress movement of the upper structure (202) relative to the lower structure (200) during an earthquake.

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

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

4. The elastomer bearing (1204) an energy dissipating core (1212) disposed within the stack assembly (1206), the energy dissipating core (1206) adapted to absorb vibrational energy in the shear direction of the stack assembly (1206) and thereby damp vibrations in the shear direction of the stack assembly (1206); 4. The seismic lattice framework system (206) of claim 2 or 3, wherein the elastomeric layer (1207) and the rigid layer (1208) are surrounded on their outer peripheries by a flexible support (1214).

5. 5. The seismic lattice framework system (206) of claim 3 or 4, wherein each of the elastomeric layers (1207) comprises rubber and each of the rigid layers (1208) comprises steel, such that the elastomeric bearing (1204) comprises a laminated assembly (1206) of alternating rubber and steel layers.

6. The seismic lattice framework system (206) of claim 4 or 5, wherein the energy dissipating core (1212) comprises lead, tin, zinc, aluminum, copper, nickel, or alloys thereof.

7. 7. The seismic lattice framework system (206) of claim 2, wherein the upper mounting plate (1210a) is joined to an upper connecting plate (1218a) and the lower mounting plate (1210b) is joined to a lower connecting plate (1218b), such that the stacked assembly (1206) is sandwiched between the upper connecting plate and the lower connecting plate.

8. 8. The seismic lattice framework system (206) of claim 2, wherein the elastomeric bearing (1204) comprises a slider disk disposed between the stack assembly (1206) and either the upper mounting plate (1210a) or the lower mounting plate (1210b).

9. The seismic lattice framework system (206) of claim 8, wherein the slider disk comprises PTFE.

10. The at least one seismic isolation device (204) comprises a sliding pendulum bearing, the sliding pendulum bearing comprising: i) an upper bearing element having a first sliding surface; ii) a lower bearing element having a second sliding surface; 10. The seismic lattice framework system (206) according to any one of claims 1 to 9, further comprising: a slider disposed between the upper bearing element and the lower bearing element so as to be in surface contact with the first sliding surface and the second sliding surface, wherein the first sliding surface and / or the second sliding surface have a concave spherical surface with a specific radius of curvature, and the slider is disposed to slide along the concave spherical surface of the first sliding surface and / or the second sliding surface to cause lifting of the superstructure (202) during a seismic movement corresponding to providing at least one sliding pendulum mechanism.

11. The at least one seismic isolation device (204) comprises a triple pendulum bearing, the triple pendulum bearing comprising: i) an upper bearing element (4206) having a downwardly facing concave spherical surface (4208) with a specific radius of curvature; ii) a lower bearing element (4210) having an upwardly facing spherical surface (4212) with a specific radius of curvature; iii) a first slider (4214) having a convex spherical surface (4214b) arranged to slide along the upwardly facing concave spherical surface (4212) of the lower bearing element (4210) and an opposing concave spherical surface (4214c) having a radius substantially smaller than the radius of curvature of the upwardly facing concave spherical surface (4212) of the lower bearing element (4210); iv) a second slider (4216) having a convex spherical surface (4216b) arranged to slide along the downwardly facing concave spherical surface (4208) of the upper bearing element (4206) and an opposing concave spherical surface (4216c) having a radius substantially smaller than the radius of curvature of the downwardly facing concave spherical surface (4208) of the upper bearing element (4206); v) a lower convex spherical surface (4218b) arranged to slide along the concave spherical surface (4214c) of the first slider (4214), and an upper convex spherical surface (4218c) arranged to slide along the concave spherical surface (4216c) of the second slider (4216); and a third slider (4218) having:

12. 12. The seismic lattice framework system (206) of claim 11, wherein the triple pendulum bearing further comprises means for connecting the first slider (4214) and the second slider (4216) together, allowing an independent pendulum mechanism to be achieved from the sliding of the first slider (4214) relative to the lower bearing element (4208) and the sliding of the second slider (4216) relative to the upper bearing element (4206).

13. 13. The seismic lattice framework system (206) of claim 11 or 12, wherein a sliding surface between the first slider (4214) and the lower bearing element (4208) has a first coefficient of friction, and a sliding surface between the second slider (4216) and the upper bearing element (4206) has a second coefficient of friction, and the first coefficient of friction is different from the second coefficient of friction.

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

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

16. The seismic lattice framework system (206) of any one of claims 11 to 15, wherein the first slider and the second slider are connected to one another by a perimeter seal.

17. The seismic lattice framework system (206) of any one of claims 10 to 16, wherein the upper bearing element is fixed to the upper structure and the lower bearing element is fixed to the lower structure.

18. The seismic lattice framework system (206) according to any one of claims 1 to 17, wherein the superstructure (202) comprises a load-bearing structure of the lattice framework structure (14).

19. The seismic lattice framework system (206) of any one of claims 1 to 18, wherein the substructure (200) comprises a base structure for the lattice framework structure (14).

20. The seismic lattice framework system (206) of any one of claims 1 to 19, wherein the at least one seismic isolation device (204) is disposed in a well (205).

21. 21. The seismic lattice framework system (206) of any one of claims 1 to 20, wherein the at least one seismic isolation device (204) comprises a plurality of seismic isolation devices (204) disposed between the upper structure (202) and the lower structure (200), the plurality of seismic isolation devices (204) being spaced apart in an array or grid pattern of X meters by X meters, where X is in the range of 1 m to 15 m.

22. The seismic lattice framework system (206) according to any one of claims 1 to 21, wherein the width of the at least one seismic isolation device (204) is substantially in the range of 150 mm to 500 mm.

23. The seismic lattice framework system (206) of any one of claims 1 to 22, wherein the width of the at least one seismic isolation device (204) is substantially in the range of 900mm to 1200mm.

24. The seismic lattice framework system (206) of any one of claims 1 to 23, wherein the at least one seismic isolation device (204) has a height substantially in the range of 50 mm to 250 mm.

25. The seismic lattice framework system (206) of any one of claims 1 to 24, wherein the at least one seismic isolation device (204) has a height substantially in the range of 320 mm to 350 mm.

26. 26. The seismic lattice framework system (206) of any one of claims 1 to 25, wherein the at least one seismic isolation device (204) comprises a plurality of seismic isolation devices (204) arranged between the upper structure (202) and the lower structure (200), and the areal density of the plurality of seismic isolation devices (204) is substantially in the range of 0.005 to 0.015 devices per square meter.

27. 27. The seismic lattice framework system (206) of any one of claims 1 to 26, wherein the superstructure (202) comprises a slab (203) supported by one or more substantially horizontal beams.

28. The seismic lattice framework system (206) of any one of claims 1 to 27, wherein the slab (203) comprises a steel / concrete composite slab.

29. 29. The seismic isolation system (208) of claim 1, further comprising one or more pedestals arranged between the at least one seismic isolation device (204) and the superstructure (202) and / or between the substructure (200) and the at least one seismic isolation device (204), such that the vertical distance between the substructure (200) and the superstructure (202) increases.

30. a) a seismic lattice framework system (206) according to any one of claims 1 to 29; b) one or more containers (10) each containing one or more items; and c) one or more material handling devices (30) remotely operated to move the one or more containers (10) stored in the lattice framework structure (114), Each of the one or more load handling devices (30) comprises: i) a wheel assembly for guiding the loading device (30) on the lattice framework structure (14); ii) a container receiving space (40) located above the lattice framework structure (114); iii) a lifting device (39) arranged to lift a single container (10) from the stack (12) into said container receiving space (40).

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