Orbital system for storage and retrieval systems

Abstract

Track system for storage and retrieval system A track system 13 for a storage and retrieval system, the track system 13 comprising a first set 17 of tracks extending in a first direction and a second set 19 of tracks extending in a second direction, the second direction being substantially perpendicular to the first direction, each of the first and second sets 17, 19 of tracks comprising a plurality of track elements, and at least one section 51 of at least one track element 50 of the first and / or second sets 17, 19 of tracks comprising a plurality of interlocking slots 52 into which the at least one track element 50 fits.

Description

Technical Field

[0001] The present invention relates to a track system for an automatic storage and picking system.

Background Art

[0002] The present invention intends to provide improvements related to an automatic storage and retrieval system.

[0003] Thermal expansion and contraction in a rigid structure, especially a large rigid structure, can be a problem. Although the expansion of individual members of the structure is small, when the overall structure is large, the cumulative displacement can become significant. If no provisions are made for thermal expansion and contraction, the relative movement of the structure can cause the members to bend and break.

[0004] Thermal expansion can be a problem in an automatic storage and retrieval system having a large rigid lattice framework structure. The lattice framework structure includes a track system supported by a support framework structure. Under the track system within the support frame structure, a stack of storage containers is stored. In a large lattice framework structure, especially the track system can be subject to thermal expansion and contraction.

[0005] A track system is typically formed from a number of track elements or sections of track that are cut at right angles and joined together. Gaps may be left between adjacent track ends to allow for thermal expansion of the track elements or sections. The cutting of track sections is done so that the gap intersects the track perpendicularly. Joints at the intersections of track elements tend to present a small step for approaching vehicles or load handling equipment moving along the track. When a vehicle approaches a track joint at an intersection, its wheels tend to catch on or collide with the edge of the track as the vehicle crosses the intersection. The vertical displacement of the wheels when a vehicle moves across an intersection is exacerbated when there is a gap between the intersecting sets of rails or track. In this case, as the vehicle approaches the track joint, the wheels sink into the gap as they pass. Due to a narrow gap, when the wheels sink, they collide with the edge of the next section of track. After rolling over the gap, the wheels rise to the surface of the next section of track.

[0006] Another solution to the problem of thermal expansion and contraction of a track system on a lattice framework structure, which does not require a gap between the ends of adjacent tracks to allow for thermal expansion, is to use an expansion joint. Such an expansion joint is illustrated in Figure 6. The expansion joint 2 comprises a sliding plate 4 covering the track, positioned on the contact surface between two track sections 6, 8. The sliding plate 4 is fixed to the first track section 6, rests on the second track section 8 (not shown), and slides relative to the second track section 8. Thus, the two track sections 6, 8 can move relative to each other as the sliding plate 2 moves relative to and slides on the second track section 8. The sliding plate 2 compensates for the thermal expansion, thermal contraction, and movement of the lattice. However, this solution has several problems. In other words, expansion joints are not expandable to lattice framework structures of different sizes, the sliding motion of the sliding plate on the second track section causes wear, and the raised contour of the sliding track can impose impact loads on the load handling equipment passing over it, potentially leading to inaccuracies in position and / or velocity measurements.

[0007] In addition to thermal expansion and contraction, the orbital system must also take into account other motions within the lattice framework structure due to vibrations, such as the motion of the underlying orbital supports. [Overview of the Initiative]

[0008] The present invention relates to a track system for a storage and retrieval system, the track system comprising a first set of track extending in a first direction and a second set of track extending in a second direction, the second direction being substantially perpendicular to the first direction, each of the first and second sets of track comprising a plurality of track elements, and at least one section of at least one track element of the first and / or second set of track comprising a plurality of interlocking slots to accommodate at least one track element.

[0009] Adapted raceway elements allow for thermal expansion, contraction, and other movements, such as those resulting from vibrations, in the raceway system and the underlying lattice framework structure. The main advantage of using adapted raceway elements instead of conventional expansion joints is the absence of sliding parts. The relative motion of sliding parts causes wear when the structure thermally expands or contracts. For example, the sliding plate and second raceway section of the conventional expansion joint described above slide against each other, causing wear on both parts. The absence of sliding parts means that adapted raceway elements experience less wear and can potentially have a longer operating life.

[0010] Another significant advantage of using conforming track elements is a smoother contour. In contrast, the presence of sliding plates in conventional expansion joints means that the path for the cargo handling equipment moving over the joint is not smooth and continuous. As the cargo handling equipment passes over the sliding plates, there are bumps when the wheels of the cargo handling equipment are placed on the sliding plates and when the wheels leave the sliding plates again. Although the vertical displacement of the wheels when the vehicle travels over the lip of the sliding plate is very small, this vertical impact on the wheels causes noise and vibration in the cargo handling equipment. Passing through an expansion joint puts an impact load on the cargo handling equipment, which, after repeated application, can cause wear or damage to both the wheels and the track. The impact from the wheels is transmitted to the body of the cargo handling equipment, and in the worst case, can shorten the expected lifespan of the internal components of the cargo handling equipment. By using conforming track elements, these impact loads are eliminated, providing a smoother ride for the cargo handling equipment and significantly reducing the effects of wear.

[0011] Knowing the position of each load handling device at the top of a grid-like framework structure is crucial for the load handling device and / or control system. This positional information allows the load handling device to move to a specific stack and retrieve a specific container, in order to avoid collisions with other load handling devices and / or to avoid moving across the boundaries of the grid-like framework structure. Therefore, the load handling device may be equipped with means for detecting the position and / or speed of the load handling device on the grid, as described in UK Patent Application GB2020681.9. This function may be provided by wheel encoders for measuring the speed of one or more wheels of the load handling device. In some applications, the wheel encoders may be coupled to additional position wheels. Rolling over the sliding plates of conventional expansion joints can cause the position wheels to slip or lose static friction, thus impairing the accuracy of speed or position measurements from the wheel encoders. However, with fitted track elements, the contour of the top of the track is relatively smooth, and the wheels of the load handling device maintain static friction and do not slip.

[0012] The adapted track of the present invention has the further advantage of replacing one or more expansion joints with a much simpler component. Reducing the number and complexity of parts results in lower manufacturing and installation costs.

[0013] The width of the interlocking slots changes under deformation of at least one orbital element.

[0014] Multiple interlocking slots may extend in a direction substantially perpendicular to the longitudinal direction of at least one orbital element.

[0015] The slots of at least one orbital element may be evenly spaced along at least one section of at least one orbital element. Even spacing has the advantage of distributing both deformation and applied forces along the section of the orbital element in which the slots are located. Alternatively, the spacing between slots can be varied to adjust the deformation of at least one orbital element.

[0016] In a first embodiment of the present invention, the interlocking slots may comprise a first set of slots and a second set of slots, where the first set of slots interlocks with the second set of slots, and each slot in the first and second sets has an open end and a closed end, where the open ends of the first and second sets of slots are on opposite sides of the respective orbital element. The first embodiment has the advantage that the material between the slots forms a long deformation path between the interlocking slots. Since the deformation can be distributed along the deformation path, only small deformations in each segment of the deformation path are required to achieve a larger cumulative deformation of the orbital element.

[0017] In a second embodiment of the present invention, the interlocking slots may comprise first, second, and third sets of slots, each of the first and second sets having an open end and a closed end, wherein the open ends of the first and second sets of slots are on opposite sides of at least one raceway element, and the third set of slots is a closed-end slot having a closed end, and the third set of slots interlocks with the first and second sets of slots. The first and second sets of slots may comprise pairs of open-end slots such that the open ends of the pair of open-end slots directly face each other on opposite sides of the raceway section.

[0018] The second embodiment has the advantage that the arrangement of the slots is symmetrical with respect to the longitudinal axis of the slot element, so that deformation is kept central and the orbital element is less susceptible to undesirable deformation in other directions (e.g., bending).

[0019] The closed ends of interlocking slots can have a rounded profile. The advantage of a rounded profile is the absence of sharp corners that act as stress concentrations. If the slot ends are not rounded (for example, if the ends have a square profile), the sharp corners will concentrate stress, and therefore the orbital element will not deform as much before reaching its elastic limit.

[0020] The closed ends of the interlocking slots may have a keyhole profile. Similar to a circular profile, the advantage of a keyhole profile is that there are no sharp corners that act as stress concentration points.

[0021] The orbital system may comprise a first section and a second section, each section comprising a first set of orbits extending in a first direction and a second set of orbits extending in a second direction, the second direction being substantially perpendicular to the first direction, wherein the first and second sections of the orbital system are joined by a linkage mechanism comprising at least one orbital element having interlocking slots so as to fit a linkage mechanism between the first and second sections of the orbital system.

[0022] Because different fulfillment centers have grid framework structures of different sizes, the total cumulative displacement of the orbital system due to thermal expansion or contraction will differ for different fulfillment centers. Fulfillment centers exist in a wide range of sizes, from micro or mini fulfillment centers that serve as convenience stores in urban areas to very large fulfillment centers such as Erith's Ocado customer fulfillment center, which occupies an area of ​​approximately 600,000 square feet.

[0023] The advantage of a modular grid framework structure, where the orbital system is divided into sections and fitted orbital elements are present between sections, is that the available expansion and contraction correspond to the size of the grid framework structure. Fitted orbital elements of the same design can be used for grid framework structures of different sizes in different fulfillment centers. Conventional expansion joints need to be redesigned for each fulfillment center to account for different cumulative displacements, thus resulting in extra development time and cost.

[0024] To fully expand the orbital system to a grid framework structure of any size, the orbital system may be divided into sections of standard size, and different numbers of sections may be used for grid framework structures of different sizes. For example, if the sections of the orbital system have a standard size of 50 × 50 grid cells, four sections can be used for a grid framework structure of 101 × 101 grid cells, with 50 grid cells in one section in each direction, and a connecting link mechanism between sections forming one grid cell in the center, then another 50 grid cells in another section. Other sizes may be formed from different numbers of sections of the orbital system, for example, 152 × 152 grid cells from 9 sections, 203 × 203 grid cells from 16 sections, or any other required size. Thus, the same design of orbital system sections and connecting link mechanisms can be used for a wide range of different sizes of grid framework structures, and therefore for fulfillment centers of a wide range of sizes.

[0025] At least one orbital element may comprise two or more orbital elements.

[0026] At least one track element may be cast or machined or extruded. Slots that engage with each other may be machined into at least one track element. At least one track element may be made of metal or plastic. Any other suitable material may be used. The advantage of achieving the required compliance by the arrangement of the slots rather than by the choice of material is that the conforming track elements can be made of the same material as the standard track elements. This has the advantage that the conforming track elements can use the same material and the same basic design as the standard rigid track elements, and the only difference is that a subset of the track elements that need to be conforming have intermeshing slots machined therein.

[0027] At least one track element may be supported by a track support connected to each other by at least one connecting member, and at least one connecting member is configured to slide relative to at least one of the track supports such that the track supports move longitudinally relative to each other during use.

[0028] The present invention also includes a lattice framework structure for a storage and retrieval system, comprising the above-described track system, a support framework structure for supporting the track system, and a stack of a plurality of containers arranged on a storage column located below the track system.

[0029] The present invention also includes a storage and retrieval system comprising a lattice framework structure as described above and one or more load handling devices for lifting and moving the containers stacked in the stack, each load handling device comprising a wheel assembly for moving the load handling device on the track system, a container receiving space located above the track system, and a lifting device arranged to lift a single container from the stack into the container receiving space.

[0030] The present invention will be described in detail with reference to examples.

Brief Description of the Drawings

[0031] [Figure 1] Figure 1 schematically illustrates the lattice framework structure and containers. [Figure 2] Figure 2 schematically illustrates the orbit at the top of the lattice framework structure shown in Figure 1. [Figure 3] Figure 3 schematically illustrates the cargo handling equipment located at the top of the lattice framework structure shown in Figure 1. [Figure 4] Figure 4 schematically illustrates a single cargo handling device in which the container lifting mechanism is in a downward configuration. [Figure 5] Figure 5 schematically illustrates a cutaway view of a single cargo handling device in which the container lifting mechanism has an upward and downward configuration. [Figure 6] Figure 6 schematically illustrates an expansion joint of prior art. [Figure 7] Figure 7 schematically illustrates a compatible track element according to the first embodiment of the present invention. [Figure 8] Figure 8 is a top view of the compatible track section in Figure 7. [Figure 9] Figure 9 schematically illustrates a compatible track element according to a second embodiment of the present invention. [Figure 10] Figure 10 is a top view of the compatible track element shown in Figure 9. [Figure 11] Figure 11 illustrates the deformation paths of the conforming raceway element for (a) the first embodiment and (b) the second embodiment of the present invention. [Figure 12] Figure 12 illustrates a fitted raceway element according to a first embodiment of the present invention under (a) tension and (b) compression. [Figure 13] Figure 13 illustrates a fitted raceway element according to a second embodiment of the present invention under (a) tension and (b) compression. [Figure 14] Figure 14 illustrates the closed ends of slots having (a) a square contour, (b) a circular contour, and (c) a keyhole contour. [Figure 15]Figure 15 illustrates the interlocking slots within a raceway element of the first embodiment, with a wider gap (a) and a narrower gap (b) between the closed end of the slot and the side surface of the raceway element. [Figure 16] Figure 16 illustrates the interlocking slots of the raceway elements in the second embodiment, with a wider gap (a) and a narrower gap (b) between the closed end of the slot and the side surface of the raceway element. [Figure 17] Figure 17 illustrates a track system comprising four sections connected by a compatible linkage mechanism. [Figure 18] Figure 18 illustrates the adapted track element supported by the track support in (a) an oblique view and (b) a side view. [Modes for carrying out the invention]

[0032] The following embodiments represent the applicant's preferred examples of how to implement compatible track elements, but they are not necessarily the only examples of how it can be achieved.

[0033] Container storage and retrieval system Figure 1 illustrates a grid framework structure 1 for a storage and retrieval system. The grid framework structure comprises a track system 13 having a first set 17 of tracks extending in a first direction and a second set 19 of tracks extending in a second direction. The tracks 17 and 19 of the track system 13 are arranged in a grid pattern comprising a plurality of grid cells 14. The track system 13 is supported at the top of a support framework structure. The support frame structure forms a storage space below the track system 13, comprising a plurality of storage columns 10. Each storage column 10 is positioned to store a stack of storage containers.

[0034] In the specific example illustrated in Figure 1, the grid framework structure 1 comprises upright members 3 and horizontal members 5 and 7 supported by the upright members 3. The horizontal members 5 extend parallel to each other and along the illustrated x-axis. The horizontal members 7 extend parallel to each other and along the illustrated y-axis, and transversely to the horizontal members 5. The upright members 3 extend parallel to each other and along the illustrated z-axis, and transversely to the horizontal members 5 and 7. The horizontal members 5 and 7 form a grid pattern that defines a plurality of grid cells. In the illustrated example, the containers 9 are arranged in stacks 11 below the grid cells defined by the grid pattern, with one stack 11 of containers 9 per grid cell.

[0035] The support framework structure illustrated in Figure 1 can be called a “field-assembled” design and comprises upright members 3 supporting horizontal grid members 7, 9. PCT Publication No. WO2015 / 185628A (Ocado), incorporated herein by reference, describes in detail a “field-assembled” grid structure for storage and fulfillment or distribution systems in which stacks of containers are arranged within a grid framework structure. The containers are accessed by a loading / unloading device operating on a track located at the top of the grid framework structure.

[0036] The support framework structure is not limited to a “field-assembled” design and may include other types of support grid framework structures. In other examples, the support framework structure may comprise multiple pre-fabricated modular panels arranged in a grid pattern, further details of which are described in PCT application WO2022 / 034195A1 (Ocado), incorporated herein by reference. This grid framework structure addresses the time and cost issues for assembly by providing a support framework structure comprising multiple pre-fabricated modular panels arranged in a three-dimensional grid pattern to define multiple grid cells. Each grid cell of the support framework structure is sized to support two or more grid cells of the orbital system. The grid framework structure is formed from fewer structural components and, furthermore, maintains the same structural integrity as the “field-assembled” grid framework structure described above, is much faster and cheaper to construct.

[0037] Figure 2 shows an enlarged plan view of a section of a track structure 13 that forms part of the grid framework structure 1 illustrated in Figure 1 and is located at the top of the horizontal members 5, 7 of the grid framework structure 1 illustrated in Figure 1. The track structure 13 may be provided by the horizontal members 5, 7 themselves (for example, formed within or on the surface of the horizontal members 5, 7) or by one or more additional components attached to the top of the horizontal members 5, 7. The illustrated track structure 13 comprises x-direction track 17 and y-direction track 19, i.e., a first set 17 of track extending in the x direction and a second set 19 of track extending in the y direction, transverse to the track 17 in the first set 17 of track. The track 17, 19 define an opening 15 in the center of the grid cell. The opening 15 is sized to allow a container 9 located below the grid cell to be lifted and lowered through the opening 15. The orbitals 17 in the x-direction are provided in pairs separated by channels 21, and the orbitals 19 in the y-direction are provided in pairs separated by channels 23. Other arrangements of the orbital structure are also possible.

[0038] Figure 3 shows a plurality of load handling devices 31 moving along the top of the grid framework structure 1 illustrated in Figure 1. The load handling devices 31, which may also be called robots 31 or bots 31, are provided with a set of wheels for engaging with corresponding x-direction tracks 17 or y-direction tracks 19, enabling the bots 31 to move across the track structure 13 and reach specific grid cells. The illustrated pairs of tracks 17, 19, separated by channels 21, 23, allow the bots 31 to occupy (or pass through) neighboring grid cells without colliding with each other.

[0039] As illustrated in detail in Figure 4, the bot 31 comprises a body 33 in which one or more components are attached or attached thereto, enabling the bot 31 to perform its intended function. These functions may include moving across the grid framework structure 1 on the track structure 13 and raising or lowering the container 9 (e.g., from or to the stack 11), thereby enabling the bot 31 to retrieve or place the container 9 at a specific location defined by the grid pattern.

[0040] The illustrated bot 31 comprises a first set of wheels 35 and a second set of wheels 37, which are mounted on the body 33 of the bot 31, allowing the bot 31 to move along tracks 17 and 19 in the x and y directions, respectively. In particular, two wheels 35 are provided on the shorter side of the bot 31 as seen in Figure 4, and two additional wheels 35 are provided on the opposite short side of the bot 31 (the side and the additional two wheels 35 are not visible in Figure 4). The wheels 35 engage with the track 17 and are rotatably mounted on the body 33 of the bot 31, allowing the bot 31 to move along the track 17. Similarly, two wheels 37 are provided on the longer side of the bot 31 as seen in Figure 4, and two additional wheels 37 are provided on the opposite long side of the bot 31 (the side and the additional two wheels 37 are not visible in Figure 4). The wheels 37 engage with the track 19 and are rotatably mounted on the body 33 of the bot 31, allowing the bot 31 to move along the track 19.

[0041] Bot 31 also includes a container lifting mechanism 39 configured to raise and lower the container 9. The illustrated container lifting mechanism 39 comprises four tapes or reels 41, which are connected at their lower ends to a container engagement assembly 43.

[0042] The container engagement assembly 43 comprises engaging means configured to engage with features of the container 9 (these may be provided, for example, at the corners of the assembly 43 near the tape 41). For example, these containers 9 may have one or more openings on their upper sides into which the engaging means can engage. Alternatively or additionally, the engaging means may be configured to hook under the rim or lip of the container 9 and / or clamp or grip the container 9. The tape 41 may be wound up or down as needed to raise or lower the container engagement assembly. One or more motors or other means may be provided to wind up or down or control the winding up or down of the tape 41.

[0043] As can be seen in Figure 5, the body 33 of the illustrated bot 31 has an upper part 45 and a lower part 47. The upper part 45 is configured to accommodate one or more operating components (not shown). The lower part 47 is located below the upper part 45. The lower part 47 has a container housing space or cavity for housing at least a portion of the container 9 lifted by the container lifting means 39. The container housing space is sized so that the container 9 fits sufficiently inside the cavity, allowing the bot 31 to move across the track structure 13 at the top of the lattice framework structure 1 without the lower side of the container 9 getting caught on the track structure 13 or another part of the lattice framework structure 1. When the bot 31 reaches its intended destination, the container lifting means 39 controls the tape 41 to lower the container gripping assembly 43 and the corresponding container 9 out of the cavity in the lower part 47 to the intended position. The intended location may be the exit point of the stack 11 of container 9 or the grid framework structure 1 (or the entry point of the grid framework structure 1 if the bot 31 has moved to collect container 9 for the grid framework within the grid framework structure 1). In the illustrated example, the upper portion 45 and the lower portion 47 are separated by a physical partition, but in other embodiments, the upper portion 45 and the lower portion 47 may not be physically separated by a particular component or part of the body 33 of the bot 31.

[0044] In some embodiments, the container storage space of the bot 31 may not be located within the body 33 of the bot 31. For example, in some embodiments, the container storage space may be adjacent to the body 33 of the bot 31 in a cantilever configuration having a weight of the body 33 of the bot 31 that balances the weight of the container being lifted, for example. In such embodiments, the frame or arm of the container lifting means 39 may project horizontally from the body 33 of the bot 31, and the tape / reel 41 may be positioned at their respective locations on the projecting frame / arm and configured to move up and down from those locations to raise and lower the container into the container storage space adjacent to the body 33. The height to which the frame / arm is attached to and projects from the body 33 of the bot 31 may be selected to provide a desired effect. For example, it may be preferable for the frame / arm to project at a high level on the body 33 of the bot 31 to allow larger containers (or multiple containers) to be lifted into the container storage space below the frame / arm. Alternatively, the frame / arm may be positioned to protrude lower below the body 33 (but still high enough to accommodate at least one container between the frame / arm and the track structure 13) in order to keep the center of mass of the bot 31 lower when a container is loaded into the bot 31.

[0045] A specific example of a cargo handling device shown in Figures 4 and 5 shows a cargo handling device 31 having a substantially box-shaped body 33 with four side walls and a top wall, and the components of the cargo handling device 31 are housed within the body 33. In other examples, the body 33 may have an open frame or skeleton structure in which the components of the cargo handling device 31 are supported, either in or on top of it.

[0046] To enable the bot 31 to move in first and second directions on different wheels 35, 37, the bot 31 includes a wheel positioning mechanism for selectively engaging a first set of wheels 35 with a first set of tracks 17, or a second set of wheels 37 with a second set of tracks 19. The wheel positioning mechanism is configured to raise and lower the first set of wheels 35 and / or the second set of wheels 37 relative to the body 33, thereby enabling the load handling device 31 to selectively move in either a first or second direction across the tracks 17, 19 of the grid framework structure 1.

[0047] The wheel positioning mechanism may include one or more linear actuators, rotating components, or other means for raising and lowering at least one set of wheels 35, 37 relative to the body 33 of the bot 31, thereby moving at least one set of wheels 35, 37 away from and into contact with the tracks 17, 19. In some examples, only a set of wheels may be configured to raise and lower, where the action of lowering a set of wheels can effectively lift the other set of wheels away from the corresponding track, while the action of raising a set of wheels can effectively lower the other set of wheels into contact with the corresponding track. In other examples, both sets of wheels may be raised and lowered, which is advantageous as it means that the body 33 of the bot 31 remains at substantially the same height and therefore the weight of the body 33 and any components mounted thereon does not need to be raised and lowered by the wheel positioning mechanism.

[0048] orbital system The track system 13 is supported by a support frame structure. In examples where the support framework structure is a “field-assembled” support framework structure, the upright columns of the grid framework structure are interconnected at their upper ends by rails or tracks that intersect within the grid framework structure. The rails or tracks may be supported by horizontal members 5, 7, or integrated with the horizontal members 5, 7. In examples where the support framework structure comprises multiple pre-fabricated modular panels, each grid cell of the support framework structure is sized to support two or more grid cells of the track system.

[0049] In a grid structure, the intersections of rails or tracks are generally called "nodes" in the track system. Typically, the first and second sets of tracks consist of individual elongated rails or track elements interconnected in the first and second directions at the interconnections where the track elements meet.

[0050] A track typically comprises an elongated element contoured to guide a load handling device on a track system. Typically, a track is contoured to provide a single track surface to allow a single load handling device to move along the track, or to provide a dual track to allow two load handling devices to pass each other on the same track. When the elongated element is contoured to provide a single track, the track comprises opposing lips along the length of the track (one lip on one side of the track and the other lip on the other side of the track) to guide or restrain each wheel from lateral movement on the track. When the contour of the elongated element is a dual track, the track may comprise two pairs of lips along the length of the track to allow the wheels of adjacent load handling devices to pass each other in both directions on the same track. Alternatively, as disclosed in UK Patent Application No. GB2016097.4 (Ocado), a dual track may comprise only two guide surfaces or lips extending from the track surface, rather than two pairs of lips.

[0051] The present invention is applicable to both single and double orbitals and can be applied to any shape or contour of orbital elements.

[0052] Suitable track - Embodiment Here, the compatible raceway 50 of the present invention, which has interlocking slots 52, will be described with reference to the drawings. Although two exemplary embodiments are described, it will be understood that many different patterns of interlocking slots are possible and all are within the scope of the present invention.

[0053] Figure 7 illustrates a fitted track element 60 according to a first embodiment of the present invention. Figure 8 is a top view of the track element of Figure 7. The fitted track 60 comprises a plurality of slots 52. The slots are substantially parallel to each other and are located in a plane substantially perpendicular to the main longitudinal axis of the track, and thus to the direction of movement of the load handling device on the track. The slots 52 are evenly spaced within a section 51 of the fitted track element. The slots 52 are open-end slots, and each slot 52 has an open end 54 or mouth on the side of the track and a closed end 56 on the inside of the body of the track section. The slots interlock with each other in the sense that adjacent slots 52 have their open ends 54 on both sides of the track. The body of the track forms a zigzag deformable path 66 between the interlocking slots 52.

[0054] Slot 52 can be divided into a first set of slots 62 and a second set of slots 64. The first set of slots 62 have their open ends on the same side of the track. The second set of slots 64 have their open ends on the side of the track opposite to the side of the first set of slots 62 that has its open ends. The slots are arranged in an alternating pattern, so that each slot from the first set of slots 62 is directly between two slots from the second set of slots 64, and each slot from the second set of slots 64 is directly between two slots from the first set of slots 62, with the exception of the first and last slots in a set, which are each adjacent to only one other slot.

[0055] The orbital element is a fitting mechanism, and the arrangement of the slots allows the orbital element to be fitting even if the material on which the orbit is formed is rigid rather than fitting. The fitting mechanism allows deformation of the rigid material within its elastic limit. The deformation paths 66 (shown in Figure 11) between the interlocking slots provide longer paths through which structural forces are diffused and the orbit can deform. Thus, the deformation of the orbit spreads evenly along the entire length of section 51 of the orbital element containing the interlocking slots, allowing for greater expansion / contraction while remaining within the elastic limit of the material. Remaining within the elastic limit of the material means that the deformation can be completely reversed and there is no permanent change to the orbital material when it is subjected to deformation.

[0056] Figure 9 shows a second embodiment of the present invention, which is more resistant to bending than the first embodiment. Figure 10 is a top view of the conforming track element of Figure 9. The conforming track 70 comprises a plurality of slots 52. Similar to the first embodiment, the slots are substantially parallel to each other and located in a plane substantially perpendicular to the longitudinal axis of the track element 70, and thus to the direction of movement of the load handling device on the track. The slots 52 are evenly spaced within a section 51 of the conforming track element.

[0057] Slot 52 is divided into a first set of slots 72, a second set of slots 73, and a third set of slots 74. The first and second sets of slots 72 and 73 are open-ended, having open and closed ends, with the open ends located on opposite sides of the orbital element 70 (the first set of slots 72 is on the first side of the orbital element, and the second set of slots 73 is on the second opposite side of the orbital element), and the closed ends located within the body of the orbital element. The third set of slots 74 is a closed-ended, having two closed ends located within the body of the orbital element 70. The first and second sets of slots 72 and 73 are arranged in pairs, with each pair of slots located in the same plane, with the open ends of each pair of slots on either side of the orbital element 70. The third set of slots, 74, is arranged in an alternating pattern with the first and second sets of slots, 72 and 73. Each slot in the third set of slots, 74, lies directly between two pairs of slots from the first and second sets of slots, 72 and 73, with the exception of the first slot in the third set of slots, which is adjacent to only one pair of slots.

[0058] Figure 11 illustrates the deformation paths in a fitted raceway element in (a) a first embodiment and (b) a second embodiment. In the first embodiment shown in Figure 11(a), the deformation path 66 is shown weaving between the interlocking slots of the first set 62 and the second set 64. In the second embodiment shown in Figure 11(b), there are two deformation paths 76 on either side of the raceway element 70. The deformation paths are substantially symmetrical. The deformation path 76 on the left side of the raceway element 70 weaves between the first set 72 and the slot 74 of the third set of slots, and the deformation path 76 on the right side of the raceway element 70 weaves between the second set 73 and the third set 74 of slots. The two deformation paths 76 pass on both sides of the third set 74 of slots.

[0059] The main advantages of the first embodiment are that open-end slots are easier to manufacture than closed-end slots, and a single deformation path provides a longer deformation path than embodiments with multiple deformation paths. A longer deformation path means that the deformation spreads over a longer length, so that each section of material along the path can deform less, while still achieving the required cumulative deformation along the entire path. The main advantages of the second embodiment are that closed-end slots and a symmetrical arrangement of slots provide greater stability to the design. The orbital elements of the second embodiment are more stable against torsion, keep the deformation more central / linear, and are less susceptible to undesirable deformations such as bending and torsion.

[0060] Both the first and second embodiments of the present invention, or any other pattern of interlocking slots, may be applied to either single or double orbitals. Other embodiments of the present invention are possible using more than two deformation paths, e.g., three or four. An even number of symmetrical deformation paths provides greater stability and can resist deformation in directions other than along the longitudinal direction of the orbital element (e.g., bending or torsion). There are many possible patterns of interlocking slots, and it will be understood that different patterns of interlocking slots can be suited to different deformation requirements or different levels of thermal expansion / contraction. The first and second embodiments described above are merely examples, and any pattern of interlocking slots is within the scope of the present invention.

[0061] Deformation When the ambient temperature rises, the orbital system undergoes thermal expansion. The fitted orbital elements must contract to compensate for the expansion in the rest of the orbital system. Thus, the fitted orbital elements are under compression. Interlocking slots narrow as the material on both sides of the slot is pressed together along the longitudinal axis of the orbital element. The limiting factor of compression is when the slot closes as its width approaches zero.

[0062] Under compression, open-end slots are narrower at the open end than at the closed end. Closed-end slots are narrower towards the center than at the closed end.

[0063] When the ambient temperature decreases, the orbital system undergoes thermal contraction. The fitted orbital sections must expand to compensate for the contraction in the rest of the orbital system. Thus, the fitted orbital elements are under tension. The interlocking slots widen as the material on both sides of the slots is further pulled apart along the longitudinal axis of the orbital elements.

[0064] Under tension, the open-end slot is wider at the open end than at the closed end. The closed-end slot is wider towards the center of the slot than at the closed end.

[0065] In both cases (tension and compression), the deformation is such that the width of the slot changes along the length of the slot.

[0066] In addition to thermal expansion and contraction, the fitted orbital elements may be under tension and / or compression due to other motions in the orbital system or the underlying lattice framework structure, such as shaking.

[0067] Figures 12 and 13 illustrate the deformation of the fitted raceway element under tension and compression, with the direction of the applied force indicated by arrows. Figure 12(a) illustrates a first embodiment 60 of the fitted raceway element under tension. From the figure, it can be seen that the first and second sets 62, 64 of the interlocking slots are deformed to be wider, with the open end 54 of the slot being wider than the closed end 56 of the slot. The section 51 of the fitted raceway occupied by the interlocking slots 62, 64 is increasing in length along its longitudinal axis.

[0068] In contrast, as shown in Figure 12(b), when the first embodiment 60 of the compatible raceway is under compression, the first and second sets of interlocking slots 62, 64 are deformed to become narrower, and as a result, the open end 54 of the slot becomes narrower than the closed end 56 of the slot. Section 51 of the compatible track, occupied by the interlocking slots 62 and 64, has a decreasing length along its longitudinal axis.

[0069] Figure 13(a) illustrates a second embodiment 70 of the conforming raceway element under tension. From the figure, it can be seen that the first, second, and third sets of interlocking slots 72, 73, and 74 are deformed and wider. The open ends 54 of the first and second sets of slots 72, 73 are wider than the closed ends 56 of the first and second sets of slots, and the center of the third set of slots 74 is wider than the ends. The section 51 of the conforming raceway occupied by the interlocking slots 72, 73, and 74 has an increased length along its longitudinal axis.

[0070] In contrast, as shown in Figure 13(b), when the second embodiment 70 of the fitted raceway is under compression, the first, second, and third sets of interlocking slots 72, 73, and 74 are deformed to become narrower. The open ends 54 of the first and second sets of slots 72, 73 are narrower than the closed ends 56 of the first and second sets of slots, and the center of the third set of slots 74 is narrower than its ends. The section 51 of the fitted raceway occupied by the interlocking slots 72, 73, and 74 is reduced in length along its longitudinal axis.

[0071] In the case of compression, the slot width is a limiting factor because it is compressed sufficiently to close the slot. Compression limiters may be used to ensure that the orbital elements are not subjected to compressive stress greater than that for which the orbit was designed.

[0072] The arrangement of slots within a conforming track may be designed so that the track conforms better in some directions than in others. For example, a conforming track can be designed that expands easily under tension and contracts easily under compression, but does not conform well to torsional or bending deformation.

[0073] Design of interlocking slots The shape of the closed end 56 of the slot 52 is important because the profile of the slot end affects the stress behavior of the fitted raceway element 50. The shape of the closed end of the slot can be selected to avoid a high stress concentration factor, for example, by avoiding sharp corners and small features. Figure 14 illustrates closed ends of slots having (a) a square profile, (b) a circular profile, and (c) a keyhole profile.

[0074] The advantage of a rounded or keyhole-shaped profile at the slot end is the absence of sharp corners that act as stress concentration points. If the slot end profile is not smoothed (for example, if the end has a square profile as shown in Figure 14(a)), the sharp corners 82 will concentrate stress, and therefore the orbital element will not be able to deform until the stress at the corner reaches the fatigue stress or elastic limit. In a circular profile as shown in Figure 14(b), the slot end can have a radius of curvature r equal to half the width w of the slot. In a keyhole profile as shown in Figure 14(c), the slot end can have an even larger radius of curvature. To avoid sharp corners, a fillet radius 84 can be applied to the slot end where the circular portion of the slot profile intersects with the straight portion of the slot profile. These slot end profiles are merely examples, and many options are available for the slot end profile, and any shape of the slot is within the scope of the present invention.

[0075] When determining the design of interlocking slots, there is a trade-off between the number of slots and their width. Fewer, wider slots are easier to manufacture (fewer slots for machining, and wider slots mean wider tolerances, and therefore lower precision tool scans are used). Also, if round or keyhole-shaped slots are used, wider slots have a larger radius of curvature and therefore a lower stress concentration factor. However, more narrow slots are more difficult to manufacture, but the deformation of each slot is reduced (potentially reducing the stress induced by the deformation), providing a smoother ride for the wheels of a load handling device running on a track.

[0076] The length of the slots is also an important design consideration. Longer slots have the advantage of forming longer deformation paths and have narrower gaps between the closed ends of the slots and the sides of the orbital elements. Very narrow gaps with small amounts of material are similar to living hinge configurations, and orbital elements with all slots being long and with narrow gaps are like a series of living hinges, with each gap acting like a single living hinge.

[0077] The difference between wide and narrow gaps is illustrated in Figures 15 and 16. Figure 15 illustrates interlocking slots within a raceway element of a first embodiment having (a) a wider gap and (b) a narrower gap. The gap 68 is between the closed end of the interlocking slots and the side of the raceway element. A first set 62 of slots with an open end on the left side of the raceway element has a gap 68 on the right side of the raceway element, and a second set 64 of slots with an open end on the right side of the raceway element has a gap 68 on the left side of the raceway element. In Figure 15(b) with a narrow gap 68, the living hinge in the narrow gap 68 is located at the turning point of the deformation path 66 illustrated in Figure 11.

[0078] Figure 16 illustrates interlocking slots within a raceway element of a second embodiment having wider gaps (a) and narrower gaps (b). In this embodiment, there are two sets of gaps: a first set 78 of gaps between pairs of closed ends of the first set of slots, and a second set 80 of gaps between the closed ends of the second set of slots and the sides of the raceway element. Similar to the first embodiment, in Figure 16(b) with narrow gaps 78, 80, the living hinge in the narrow gaps 78, 80 is located at the turning point of the deformation path 76 illustrated in Figure 11.

[0079] The length of the slot also affects manufacturability. In living hinge configurations with narrow gaps of 68, 78, and 80, tolerances are critical, and machining the slot must be precise, potentially requiring more specialized tools than machining wider gaps. The raceway contour is also relevant here, as it is easier to machine slots through thinner or shallower parts of the raceway than through thicker or deeper parts such as a lip extending upwards over the raceway. For example, in Figures 7 and 9, it can be seen that the slot terminates just before a lip that extends upwards and outwards at the edge of the raceway.

[0080] Conformable track elements must be designed to always remain within the elastic limits of the materials constituting the track, in order to avoid permanent deformation. The maximum allowable stress can be calculated by multiplying the yield stress of the material by a safety factor. The yield stress is the stress at which the material reaches its elastic limit; beyond this limit, the material can deform permanently.

[0081] Matching raceway elements may be designed to withstand fatigue. The maximum allowable fatigue stress can be calculated for a desired lifespan of the raceway (e.g., 20 years). Generally, fatigue stress is lower than the elastic limit, and therefore, design for fatigue ensures that deformation always remains within the elastic limit. Fatigue stress can be determined, for example, by calculating the expected number N of expansion-contraction cycles over the expected lifespan of the raceway (e.g., caused by daily temperature cycles) and reading the stress from the material's S / N curve. If different levels of stress or deformation are expected due to different types of loading (e.g., daily temperature cycles, annual seasonal temperature changes, and smaller deformations due to less frequent fluctuations), Minor's law can be used to calculate the cumulative effect of stresses of different magnitudes at different cycle counts in order to calculate the maximum allowable stress for a desired fatigue life. Once the maximum allowable stress is calculated, this stress value can be multiplied by a safety factor.

[0082] Those skilled in the art will understand that other methods exist for calculating fatigue life and maximum allowable stress (e.g., stress life method, strain life method, crack growth method, and stochastic method), and that the above examples are merely non-limiting and any suitable method can be used.

[0083] The target temperature range can be determined based on the expected maximum and minimum temperatures. Then, the maximum expected expansion / contraction of the grid can be calculated using the target temperature range and the thermal expansion coefficient of the material on which the orbits are made.

[0084] The change in the linear dimension of the orbit, ΔL, is given by the following equation:

number

[0085] When the required deformation and maximum allowable stress are known, a fitted orbital element can be modeled (e.g., using the finite element method) to ensure that the design of the orbital element with interlocking slots is appropriate for the desired fatigue life. Using the finite element method, the required deformation can be applied to the orbital element model and the stress can be calculated across the entire material. If the calculated stress is too high (exceeds the maximum allowable stress), the design can be modified, and the analysis can be repeated until a design is found in which the stress falls below the maximum allowable stress. Modifiable design parameters include the number of slots, the width of the slots, the length of the slots, the spacing between the slots, the profile of the closed ends of the slots, the distance between the closed ends of the slots and the sides of the orbital element, and the material used.

[0086] One design approach is to maximize deformation per slot within the fatigue and elastic limits. This can be achieved by approaching the maximum allowable stress from either direction, i.e., by starting with a design where the stress is too high and then modifying the design to reduce the stress, or by starting with a design where the stress is below the maximum stress and then modifying the design to increase the stress. There are trade-offs between stress and other design objectives; for example, increasing stress while keeping it low enough to meet fatigue life may result in a design that is easier to manufacture (e.g., with fewer or wider slots). Finding the optimal design is a matter of balancing different (and sometimes competing) design objectives to produce a design that properly balances stress, expected life, noise and vibration performance, cost, and ease of manufacture.

[0087] Materials and manufacturing The raceways may be made from any suitable material, including metal (e.g., aluminum). Since the raceways are elongated elements with a constant profile along their length, they can be formed by extrusion. Alternatively, the raceway elements may be cast.

[0088] Plastic is another material option; it is cheaper and more easily deformed, but more prone to wear and tear.

[0089] The slots may be formed by machining, water or laser cutting, EDM (electrical discharge machining), or any other suitable method.

[0090] Track system with compatible track elements Figure 17 schematically shows a track system 13 comprising four sections 88, the sections joined by a linkage mechanism 86. The linkage mechanism 86 comprises conforming track elements 50, and therefore the linkage mechanism 86 is conforming, and the sections 88 of the track system 13 can move relative to each other. The track elements within each section 88 of the track system 13 are rigid track elements.

[0091] Each of the four sections 88 of the orbital system 13 comprises a first set of orbits extending in a first direction (X direction) and a second set of orbits extending in a second direction (Y direction), the second direction being substantially perpendicular to the first direction. The four sections 88 of the orbital system are joined by a link mechanism 86, each comprising a compatible orbital element 50 having interlocking slots, the link mechanism 86 itself being compatible.

[0092] As mentioned above, the advantage of dividing the orbital system into sections and providing a fitting link mechanism between sections is that the available scaling scales corresponding to the size of the orbital system, and the same design of fitting orbital elements, can be used for orbital systems of different sizes in different fulfillment centers.

[0093] In the example shown in Figure 17, the orbital system 13 is divided into four sections 88 of 2x2 grid cells. The four 2x2 sections comprise an orbital system of 5x5 grid cells, and a connecting link mechanism 86 between the sections 88 forms one row and one column of grid cells in the center between the sections 88. Other sizes of orbital systems may be formed from a different number of sections 88, for example, 8x8 grid cells from 9 2x2 sections, 11x11 grid cells from 16 2x2 sections, or any other required size. The same design of orbital system sections and connecting link mechanism can be used for a wide range of different sized orbital systems, and therefore for a wide range of sized grid framework structures and fulfillment centers.

[0094] For ease of explanation, section 88 of the orbital system in Figure 17 is a small section of 2x2 grid cells. In practice, much larger sections (e.g., 20x20, 40x40, or 100x100 grid cells, or any other size) may be used, and any number of sections of the orbital system may be joined with a fitting link mechanism to form the required size of the orbital system.

[0095] orbital support The compatible raceway element 50 may be supported from below by a horizontal member to prevent deformation due to bending. The raceway element may be configured to slide on the upper part of the supporting horizontal member. Alternatively, a sliding bearing can be used.

[0096] One method of supporting a conforming track element is illustrated in Figure 18(a and b). The conforming track section 50 is supported by track supports 90. There are two track supports 90a and 90b, each supporting one end of the conforming track element 50. Track supports 90a and 90b are connected by a connecting member 92 located on the side of the track support 90. The connecting member 92 can be formed as a single piece having two elongated portions on either side of the track support connected by a bridge, or the connecting member can have a pair of members on either side of the track support. The connecting member 92 overlaps the track support 90 along its longitudinal axis. The track support 90 has a slot 94 cut into it and extending in the direction of the longitudinal axis of the track support. The track support 90 is attached to the connecting member 92 via a slider 96 located within the slot 94. The slider 96 is connected to the connecting member 92 via a bolt 98. This allows the two orbital supports 90a and 90b to move along their longitudinal axes as the slider 96 slides along the length of the slot 94 of the orbital support 90.

[0097] The sliding configuration illustrated in Figures 18(a and b) allows the conforming orbital element 50 to expand and contract along its longitudinal axis, while restricting movement in any other direction. When the conforming orbital element 50 expands, the slider 96 slides along the slot 94, allowing the two orbital supports 90a and 90b to separate. Figure 18(b) illustrates two sets of slots and sliders at different heights, one positioned above the other. The advantage of this configuration is that it helps to constrain the motion of the orbital supports along their longitudinal axis.

[0098] Figures 18(a and b) illustrate four sliders 96 and four slots 94, with one slider 96 in each slot 94; however, in other embodiments, different arrangements or numbers of sliders 96 and slots 94 may exist. There may be more than one slider in each slot. The slots 94 in Figures 18(a and b) are positioned along the longitudinal axis of the orbital support 90; however, in other embodiments, the slots may be positioned at different locations. For example, there may be a pair of parallel slots positioned on either side of the orbital support 90. To provide relative motion between two orbital supports 90a, 90b, a single slider 96 moving within a single slot 94 is sufficient.

[0099] To reduce wear and facilitate low-friction sliding, the contact surfaces (the outer edge of the slider 96 and the inner surface of the slot 94) may be coated with a low-friction material such as PTFE.

[0100] Alternatively, as an alternative to the sliding configuration shown in Figure 18, the compatible raceway element 50 may be configured to be directly mounted on one or more raceway supports and to slide against them, or the compatible raceway element 50 may be supported by a sliding bearing, or the raceway supports may be connected in a pivot configuration, or the compatible raceway element 50 may be supported on rollers positioned on one or more raceway supports, or any other suitable mechanism may be used.

[0101] definition In this text, the phrase "movement in the n direction" (and related expressions) where n is one of x, y, and z is intended to mean movement substantially along or parallel to the n-axis in either direction (i.e., towards the positive end of the n-axis or towards the negative end of the n-axis).

[0102] In this document, the term “connect” and its derivatives are intended to include the possibility of direct and indirect connection. For example, “x is connected to y” is intended to include the possibility that x is directly connected to y without any intervening components, and the possibility that x is indirectly connected to y with one or more intervening components. When direct connection is intended, the terms “directly connected,” “direct connection,” or similar terms are used. Similarly, the term “support” and its derivatives are intended to include the possibility of direct and indirect contact. 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 with one or more intervening components that contact x and / or y. The term “attach” and its derivatives are intended to include the possibility of direct and indirect attachment. For example, the statement "x is attached to y" is intended to include both the possibility that x is directly attached to y without any intervening components, and the possibility that x is indirectly attached to y with one or more intervening components.

[0103] In this specification, the term “to comprise” 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 comprises one and just one y, multiple ys, or one or more ys and one or more other elements. When an exclusive meaning is intended, the phrase “x comprises y” is used, meaning that x comprises only y and nothing else. The invention described in the original claims of this application is listed below. [1] A track system 13 for a storage and retrieval system comprising a first set 17 of tracks extending in a first direction and a second set 19 of tracks extending in a second direction, wherein the second direction is substantially perpendicular to the first direction, and each of the first and second sets 17, 19 of tracks comprises a plurality of track elements. An orbital system 13 characterized in that at least one section 51 of at least one orbital element 50 from the first and / or second set 17, 19 of the orbits comprises a plurality of interlocking slots 52 to accommodate the at least one orbital element 50. [2] The width of the interlocking slots 52 varies under deformation of the at least one orbital element 50 in the orbital system 13 according to [1]. [3] The orbital system 13 according to [1] or [2], wherein the plurality of interlocking slots 52 extend substantially perpendicular to the longitudinal direction of at least one orbital element 50. [4] The orbital system 13 according to any one of [1] to [3], wherein the slots 52 of the at least one orbital element 50 are evenly spaced along the at least one section 51 of the at least one orbital element 50. [5] The interlocking slots 52 comprises a first set of slots 62 and a second set of slots 64, wherein the first set of slots 62 interlocks with the second set of slots 64, and each slot in the first and second sets of slots has an open end 54 and a closed end 56, and the open ends of the first and second sets of slots 62, 64 are on opposite sides of at least one orbital element 60, the orbital system 13 according to any one of [1] to [4]. [6] The interlocking slots 52 comprise a first set 72, a second set 73, and a third set 74 of slots, where each slot in the first set 72 and the second set 73 has an open end 54 and a closed end 56, where the open ends of the first set 72 and the second set 73 are on opposite sides of at least one orbital element 70, where the third set 74 is a closed-end slot having a closed end, and the third set 74 interlocks with the first set 72 and the second set 73 of slots, the orbital system 13 according to any one of [1] to [4]. [7] The closed ends 56 of the interlocking slots 52 have a circular contour, the orbital system 13 according to any one of [1] to [6]. [8] The closed end 56 of the interlocking slots 52 has a keyhole contour, the orbital system 13 according to any one of [1] to [7]. [9] A track system 13 according to any one of [1] to [8], comprising a first section and a second section, wherein each section 88 of the first and second sections comprises a first set 17 of track extending in a first direction and a second set 19 of track extending in a second direction, the second direction being substantially perpendicular to the first direction, wherein the first and second sections 88 of the track system are joined by a link mechanism 86 comprising the at least one track element 50 having interlocking slots 52 to each other, such that a link mechanism 86 between the first and second sections 88 of the track system 13 is fitted.

[10] The orbital system 13 according to any one of [1] to [9], wherein the at least one orbital element 50 comprises two or more orbital elements 50.

[11] The orbital system 13 according to any one of [1] to

[10] , wherein the at least one orbital element 50 is cast, machined or extruded.

[12] The interlocking slots 52 are machined into the at least one orbital element 50, the orbital system 13 according to any one of [1] to

[11] .

[13] The orbital system 13 according to any one of [1] to

[12] , wherein at least one orbital element 50 is made of metal or plastic.

[14] The orbital system 13 according to any one of [1] to

[13] , wherein the at least one orbital element 50 is supported by orbital supports 90a, 90b connected to each other by at least one connecting member 92, the at least one connecting member is configured to slide relative to at least one of the orbital supports 90a, 90b so that the orbital supports move longitudinally relative to each other when in use.

[15] A grid framework structure 1 for a storage and retrieval system, A trajectory system 13 described in any one of items [1] to

[14] , A support frame structure that supports the aforementioned track system 13, A grid framework structure 1 comprising a plurality of stacks 11 of containers 9 arranged in a storage column 10 located below the orbital system 13. A storage and retrieval system comprising a grid framework structure 1 as described in

[16]

[15] and one or more cargo handling devices 31 for lifting and moving containers 9 stacked on the stack 11, wherein each cargo handling device 31 is Wheel assemblies 35 and 37 for moving the cargo handling device 31 on the track system 13, A container storage space located above the aforementioned orbital system 13, A storage and retrieval system comprising a lifting device 43 positioned to lift a single container 9 from a stack 11 into the container storage space.

Claims

1. i) A lattice framework structure comprising a first set 17 of orbits extending in a first direction and a second set 19 of orbits extending in a second direction, wherein the second direction is substantially perpendicular to the first direction, and each of the first and second sets 17 and 19 of orbits comprises a plurality of orbital elements, A support frame structure that supports the aforementioned track system 13, A plurality of stacks 11 of containers 9 are arranged in a storage column 10 located below the aforementioned orbital system 13, A lattice framework structure comprising, ii) One or more cargo handling devices 31 for lifting and moving the container 9, wherein each cargo handling device 31 is Wheel assemblies 35 and 37 for moving the cargo handling device 31 on the track system 13, A container storage space located above the aforementioned track system 13, A lifting device 43 is provided to lift a single container 9 from the stack 11 into the container storage space, A cargo handling device comprising: a position detection system equipped with a wheel encoder for measuring the speed of one or more wheels of the wheel assembly; A storage and retrieval system comprising, A storage and retrieval system characterized in that at least one section 51 of at least one track element 50 of the first and / or second sets 17, 19 of the tracks is a responsive track element having a plurality of interlocking slots 52, wherein the responsive track element defines an upper contour configured to have a smoothness that maintains continuous contact between the wheel of the wheel assembly and the track system during movement of the load handling device, thereby reducing encoder errors caused by loss of static friction of the wheel.

2. The storage and retrieval system according to claim 1, wherein the width of the interlocking slots 52 changes under deformation of the at least one orbital element 50.

3. The storage and retrieval system according to claim 1, wherein the plurality of interlocking slots 52 extend in a direction substantially perpendicular to the longitudinal direction of at least one orbital element 50.

4. The storage and retrieval system according to claim 1, wherein the slots 52 of the at least one orbital element 50 are evenly spaced along the at least one section 51 of the at least one orbital element 50.

5. The storage and retrieval system according to claim 1, wherein the interlocking slots 52 comprise a first set of slots 62 and a second set of slots 64, the first set of slots 62 interlocks with the second set of slots 64, each slot in the first and second sets of slots has an open end 54 and a closed end 56, and the open ends of the first and second sets of slots 62, 64 are on opposite sides of at least one raceway element 60.

6. The storage and retrieval system according to claim 1, wherein the interlocking slots 52 comprise a first set 72, a second set 73, and a third set 74 of slots, each slot in the first set 72 and the second set 73 having an open end 54 and a closed end 56, where the open ends of the first set 72 and the second set 73 are on opposite sides of at least one raceway element 70, where the third set 74 is a closed-end slot having a closed end, and the third set 74 interlocks with the first set 72 and the second set 73 of slots.

7. The storage and retrieval system according to claim 1, wherein the closing ends 56 of the mutually interlocking slots 52 have a circular contour.

8. The storage and retrieval system according to claim 1, wherein the closed ends 56 of the mutually interlocking slots 52 have a keyhole contour.

9. Storage and retrieval system according to claim 1, comprising a first section and a second section, each section 88 of the first and second sections comprising a first set 17 of trajectories extending in a first direction and a second set 19 of trajectories extending in a second direction, the second direction being substantially perpendicular to the first direction, wherein the first and second sections 88 of the trajectory system are joined by a link mechanism 86 comprising at least one trajectory element 50 having interlocking slots 52 so that a link mechanism 86 between the first and second sections 88 of the trajectory system 13 is fitted.

10. The storage and retrieval system according to claim 1, wherein the at least one orbital element 50 comprises two or more orbital elements 50.

11. The storage and retrieval system according to claim 1, wherein the at least one orbital element 50 is cast, machined, or extruded.

12. The storage and retrieval system according to claim 1, wherein the interlocking slots 52 are machined into the at least one raceway element 50.

13. The storage and retrieval system according to claim 1, wherein at least one of the orbital elements 50 is made of metal or plastic.

14. The storage and retrieval system according to claim 1, wherein the at least one track element 50 is supported by track supports 90a, 90b connected to each other by at least one connecting member 92, and the at least one connecting member is configured to slide relative to at least one of the track supports 90a, 90b so that the track supports move longitudinally relative to each other when in use.

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