Fall prevention device for lattice frame structure

Abstract

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

Description

Technical Field

[0001] The present invention relates to the field of remotely operable material handling devices on a grid framework structure for handling storage containers or storage boxes stacked within a grid framework structure, and more particularly to a fall prevention device for use on a grid framework structure.

Background Art

[0002] Storage systems with a three-dimensional storage grid structure in which storage containers / boxes are stacked on top of each other are well known. PCT Publication No. WO2015 / 185628A (Ocado) describes a known storage and fulfillment system in which a stack of boxes or containers is arranged within a grid framework structure. The boxes or containers are accessed by a material handling device that operates remotely on a track installed above the grid framework structure. This type of system is schematically shown in FIGS. 1 to 3 of the accompanying drawings.

[0003] As shown in FIGS. 1 and 2, stackable containers known as boxes or containers 10 are stacked on top of each other to form a stack 12. The stack 12 is arranged within a grid framework structure 14 in a warehouse storage environment or a manufacturing environment. The grid framework structure is composed of a plurality of storage columns or grid columns. Each grid in the grid framework structure has at least one grid column for storing a stack of containers. FIG. 1 is a schematic perspective view of the grid framework structure 14, and FIG. 2 is a top-down view showing the stack 12 of boxes 10 arranged within the framework structure 14. Each box 10 typically holds a plurality of product items (not shown), and the products within the box 10 can be the same or of different product types depending on the application.

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

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

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

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

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

[0009] In certain situations, it is necessary for personnel to enter a grid structure and perform necessary tasks on it. These tasks include repairing or removing faulty robotic handling devices on the grid structure, inspecting the condition of the grid structure, and / or paying attention to leaks, accumulation of dirt, or ducts on the grid structure that require attention. To facilitate personnel entry into grid structures, several automated service vehicles exist in the art.

[0010] WO2015 / 140216 (Ocado Innovation Ltd) teaches a robotic service device having a releaseable docking mechanism that allows it to dock and lock onto a malfunctioning material handling device. The service device may also be provided with cleaning means and camera means that allow the condition of the grid and other robotic devices to be monitored.

[0011] WO2019233749 (Autostore Technology AS) teaches a service vehicle comprising a propulsion means enabling the movement of the service vehicle across a rail system and a fire extinguisher compartment for housing fire extinguishing equipment, wherein the propulsion means comprises a continuous track configured to drive on the rail system, and the continuous track has a length Lpm in horizontal height that exceeds a length corresponding to the diagonal length across the largest grid opening of the rail system when the service vehicle is moving across the rail system.

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

[0013] The problem relating to automated service vehicles taught in the art is that the service vehicle needs to be permanently operational on a grid structure or at least permanently in a standby state on a grid structure, and if not on a grid structure, it needs to be lifted up to place the service vehicle on the grid structure when necessary work needs to be done. Therefore, the service vehicle may be able to move along a track to the location of an incident in the event of an incident or to perform necessary work on the grid structure.

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

[0015] As grid structures become larger and support more and more robotic handling devices, the need to access these grid structures is increasing. This increased need to access grid structures increases the likelihood of personnel being injured on them, and in the worst-case scenario, the likelihood of personnel falling into grid cells. Grid structures can exceed the height of 21 containers, thus increasing the risk of serious injury from falls. As a result, there is a growing trend towards providing systems that not only improve the safety of personnel working on grid structures but also enable the rapid recovery of injured personnel from them. Industrial safety organizations have petitioned for systems that not only allow personnel to safely access grid structures but also have the capability to recover injured personnel from them, provided that such safety systems remain a constant requirement. While the aforementioned service vehicles are known to be able to recover injured personnel from the grid structure, they must either have a permanent base on the grid structure and therefore occupy a grid cell, or they must be pulled up onto the grid structure, which not only increases the downtime when the grid structure is inoperable but also further delays the recovery of injured personnel from the grid structure. [Overview of the Initiative]

[0016] Therefore, a fall suppression system is needed that can operate safely on a grid structure and be rapidly deployed onto the grid structure.

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

[0018] The applicant has alleviated the above problem by providing a fall prevention device that is portable and manually operated so as to be lifted by an operator. More specifically, the present invention relates to a fall prevention device for manual movement on a grid structure comprising: a first set of parallel tracks; a second set of parallel tracks extending laterally to the first set in a substantially horizontal plane and arranged in a grid pattern comprising a plurality of grid cells; and each grid cell having a length in the range of 600 to 800 mm and a width in the range of 400 to 600 mm such that it defines a grid opening defined by an adjacent pair of tracks in the first set of parallel tracks and an adjacent pair of tracks in the second set of parallel tracks, A frame having an upper portion and a lower portion, the upper portion configured to restrain at least one worker, A movable assembly is attached to the lower part of the frame, and the movable assembly is configured to move the frame on a grid structure. Equipped with, The present invention provides a fall prevention device weighing less than 100 kg, such that the frame allows at least one worker, restrained in the upper part of the frame, to manually lift at least a portion of the mobile assembly from the lattice structure.

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

[0020] The weight of the fall restraint device is preferably less than 100 kg. Providing a lightweight fall restraint device weighing less than 100 kg makes it possible for the fall restraint device of the present invention to be lifted by at least one operator. This not only allows the fall restraint device to be deployed onto the grid structure when there is a need for a rapid response to an incident on the grid structure, but the lightness of the fall restraint device also allows the operator to easily move the fall restraint device in multiple directions on the grid structure by simply lifting the fall restraint device, which integrates a frame so that at least a portion of the rolling assembly is lifted from the grid structure below. This makes it possible for the fall restraint device to be rotated on the grid structure in a desired orientation, i.e., oriented towards the incident. To provide a lightweight fall restraint device, the weight of the frame alone is less than 100 kg. The weight of the frame is preferably less than 60 kg. The weight of the frame is more preferably less than 30 kg. Having a lightweight frame weighing less than 100 kg results in a lightweight fall restraint device such that at least a portion of the rolling assembly can be lifted from the track.

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

[0022] The upper portion preferably comprises a pair of parallel side frame members, the parallel side frame members connected to each other by at least one end frame member substantially perpendicular to the parallel side frame members to define a handle, the handle being supported above the wheel assembly by a plurality of supports or down tubes so that at least one worker, confined to the upper portion of the frame, can hold the handle in their hand while walking on the lattice structure. The frame members may be assembled in a "Zimmer®" type configuration to allow the worker to be supported by the frame by holding the handle while walking on the lattice structure.

[0023] To restrain at least one worker in the upper portion of the frame while providing structural integrity to the frame, it is preferable that multiple frame members be provided with at least one bracing member. For example, the bracing member may be a horizontal bracing member connecting parallel frame members, or a diagonal bracing member. It is more preferable that the upper portion of the frame be provided with an assembly of H-frames. Optionally, the upper portion of the frame may be provided with A-frames and suspension beams extending between the A-frames for supporting at least one worker against the suspension beams to define a gantry.

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

[0025] By configuring the rolling assembly to include a front wheel assembly and a rear wheel assembly, each wheel assembly having a length such that the front and rear wheel assemblies contact different tracks of the lattice structure, prevents the wheel assemblies from falling into the lattice openings, particularly when the fall prevention device is guided on the lattice structure. For the purposes of the present invention, the statement that the wheel assemblies contact different tracks of the lattice structure is interpreted to mean that there are at least two contact points between the wheel assemblies and the tracks. The at least two contact points are not on the same track, but on different tracks so as to prevent at least a portion of the wheel assemblies from falling into the lattice openings. The different tracks can be parallel tracks such that each part of the wheel assemblies contacts each of the parallel tracks or contacts the tracks that face diagonally. Another way to describe the contact of the front and rear wheel assemblies with the wheel assemblies is that each wheel assembly of the front and rear wheel assemblies contacts in at least two different regions of the lattice structure.

[0026] The length of each wheel assembly of the front and rear assemblies preferably has a length exceeding the length across at least one lattice cell, and more preferably has a length exceeding the length across at least one lattice opening. To enable the fall prevention device to be lifted and repositioned on the lattice structure so as to be oriented in any direction on the tracks, the length of each wheel assembly of the front and rear wheel assemblies preferably exceeds the length corresponding to the diagonal length across the lattice opening. The diagonal length represents the maximum diagonal length across the lattice opening assuming the lattice opening has a rectangular or square shape. By having wheel assemblies longer than the diagonal length across the lattice cell, when the fall prevention device is positioned on the diagonal of a pair of first and second parallel tracks, at least a portion of the rolling assembly is prevented from falling into the lattice openings.

[0027] To increase the contact surface area between the lattice structure and the wheel assemblies so that the fall restraint device can rotate in any direction on the lattice structure, each wheel assembly of the front wheel assembly and / or rear wheel assembly preferably comprises at least one elongated roller, for example, at least one freely rotating elongated roller. The elongated roller extends across the width of the track to allow the wheel assembly to extend outward from the upper portion of the frame and contact different points of the lattice structure, thereby improving the stability of the fall restraint device on the lattice structure. For example, a single elongated roller may be mounted on the front and rear portions of the fall restraint device, respectively. The length of the single elongated roller may exceed the distance across at least one lattice cell so that the width of the wheel assembly extends beyond the lattice cell laterally with respect to the longitudinal direction of the upper portion of the frame to contact two different tracks of the lattice structure when mounted on the frame.

[0028] Alternatively, to provide a comparable stability to a single elongate roller extending across at least one lattice cell, optionally each wheel assembly of the front and rear wheel assemblies comprises a plurality of wheels, the plurality of wheels being arranged to be rotatable about a common axis, and the plurality of wheels being arranged to extend across at least one lattice cell. The plurality of wheels may be a plurality of elongate rollers, and the plurality of elongate rollers may be arranged to be rotatable about a common axis. One way of arranging the plurality of wheels so that the plurality of wheels are rotatable about a common axis is to attach the plurality of wheels to at least one shaft, or otherwise a common shaft, whereby the shaft has a length exceeding the distance across at least one lattice cell such that the plurality of wheels contact at least two different tracks of the lattice structure. Alternatively, the plurality of wheels may be attached to a plurality of shafts, the plurality of shafts being arranged so that the plurality of wheels are rotatable about a common axis. To prevent at least one of the plurality of wheels from falling into a lattice opening, it is preferred that each wheel of the plurality of wheels is spaced apart by a distance less than the width of the tracks of the first and second set of tracks. To further prevent at least a portion of the wheel assembly from falling into a lattice cell, the front wheel assembly is preferably spaced apart from the rear wheel assembly by an axle distance having a length exceeding the distance across at least one lattice cell such that the rolling assembly contacts different tracks of the lattice structure - in this case, the front and rear tracks. More specifically, the axle distance extends across at least two lattice cells or lattice openings.

[0029] The rolling assemblies are more preferably extended outward from the upper portion, i.e., they are more preferably extended outward and laterally on both sides of the frame. For example, the width of the upper portion may be sized to correspond to the width of the grid cells, and the wheel assemblies extend outward from the upper portion beyond the width of at least one grid cell to provide stability for the fall restraint device on the grid structure. In other words, the footprint occupied by the rolling assemblies is greater than the footprint occupied by the upper portion to provide enhanced stability for the fall restraint device on the grid structure. The wheel assemblies of the front and rear wheel assemblies are preferably extended laterally with respect to the longitudinal direction of the upper portion and have a width greater than the distance across at least one grid cell, so that the fall restraint device moves along the longitudinal direction of the upper portion. The lower portion of the frame is preferably provided with a subframe for supporting the rolling assemblies or wheel assemblies. The subframe provides additional stability for the fall restraint device and allows the fall restraint device to extend over a larger area of ​​the grid structure.

[0030] The sliding assembly is preferably made of food-safe material so that it can be used near food. The sliding assembly is preferably made of one or more skates or skis. The skates allow the fall restraint device to slide on the grid structure and allow for easier turning and movement on the grid structure. It is more preferable that one or more skates extend longitudinally along the length of the frame. By arranging the skates longitudinally along the length of the frame, contact between the frame and the grid structure is increased, thereby improving the stability of the fall restraint device. Alternatively, the sliding assembly may be made of a low-friction coating on one or more lower part frame members. In some cases, one or more skates extend outward from the front end of the frame toward the rear end of the frame. It is preferable that one or more skates extend outward at an acute angle from the front end of the frame.

[0031] To restrain at least one worker to the upper portion of the frame, the fall restraint device further comprises at least one carabiner or shackle. The carabiner may be connected to the upper portion of the frame, allowing a worker wearing a harness to be restrained by the upper portion of the frame by the carabiner connected to the upper portion of the frame.

[0032] To prevent workers restrained in the upper part of the frame from being injured by falling too far into a lattice opening, the fall restraint device preferably comprises a fall-stopping inertia reel connected to the upper part of the frame. Therefore, if a worker connected to the fall-stopping inertia reel were to slip into a lattice opening, the inertia reel restraining the worker in the upper part of the frame should prevent the worker from falling too deeply into the lattice cell through the locking action of the inertia reel. To remove injured personnel from the lattice structure or personnel who have fallen into a lattice cell, the fall restraint device preferably comprises a winch connected to the upper part of the frame. The winch may be a manual winch or an electrically assisted winch for lifting personnel who have fallen into a lattice cell. The upper part of the frame comprises a suspension frame member or suspension beam extending across a pair of parallel side bars for supporting at least one worker. The suspension beam may be detachably mounted to the pair of parallel side bars. A winch assembly may be connected to the suspension beam to provide support when hoisting up a person who has fallen into a lattice cell.

[0033] The fall restraint device of the present invention can also be used to remove a malfunctioning cargo handling device from a track. For example, a winch can be used to right a fallen cargo handling device on a track. While a winch may be sufficient to hoist up an injured person weighing up to 100 kg, the winch assembly may not be robust enough to hoist up a malfunctioning cargo handling device weighing more than 150 kg from the track and carry it to the edge of the grid structure without compromising the stability of the fall restraint device on the grid structure. This is especially true when the fall restraint device is manually driven by a worker restrained in the upper part of the frame. Furthermore, there may not be enough clearance to lift the cargo handling device from the track. For example, there may be only a small clearance above the grid structure to accommodate a winch assembly tall enough to lift the cargo handling device from the track. Typically, storage systems with grid framework structures are housed in distribution centers. To maximize space utilization and thus storage capacity in the distribution center, the height of the grid structure is made as large as possible so that it extends close to the ceiling of the distribution center, leaving little clearance above the tracks other than for the handling devices operating on the tracks. This excludes the ability of taller devices, including winch assemblies, from operating on the grid structure. This makes it difficult to lift a faulty handling device on the grid structure and move it to the edge of the grid structure. Furthermore, the taller the service vehicle housing the winch assembly, the higher the center of gravity becomes, making the service vehicle on the grid structure more unstable, as even the slightest sway of the handling device suspended from the winch assembly can cause the service vehicle to tip over on the grid structure. To mitigate this instability, it may be necessary to occupy more grid cells by increasing the footprint of the service vehicle's base across multiple grid cells, or to concentrate the weight of the service vehicle towards its base. Therefore, it may be necessary to separate a larger portion of the grid structure to retrieve a single handling device.

[0034] To mitigate this problem, the frame preferably further comprises a towing member for connecting to or interacting with a load-handling device on a grid structure. More preferably, the towing member is a towing rod having one end connected to the upper portion of the frame and the other end for connecting to or interacting with the load-handling device. To remove a faulty load-handling device that has become immobile on the track, the fall restraint device further comprises a towing rod that connects to the load-handling device and interacts with a hoist element at the top of the load-handling device used, for example, to lift the load-handling device, and can push or pull the faulty load-handling device to the edge of the grid structure. Wheel motors may be engaged and disengaged to allow the load-handling device to be pushed or pulled by human power alone, eliminating the need to hoist the load-handling device off the track as seen in service vehicles of the prior art.

[0035] The frame preferably includes one or more anti-tipping mechanisms on both sides of the frame to prevent the fall restraint device from tipping over on the lattice structure, and the one or more anti-tipping mechanisms include a continuous stabilizing surface extending between the front wheel assembly and the rear wheel assembly. The one or more anti-tipping mechanisms are configured to remain on the lattice members if the front wheel assembly and / or rear wheel assembly are not in contact with the lattice members and the fall restraint device becomes unstable and begins to fall into the lattice opening. Thus, the anti-tipping mechanisms act as stabilizers, preventing the fall restraint device from tilting significantly to one side and ensuring that the fall restraint device remains substantially vertical. Specifically, the stabilizing surface is continuous to ensure that the stabilizing surface can contact the lattice members at any point between the front wheel assembly and the rear wheel assembly if the fall restraint device becomes unstable and begins to tip over toward the lattice structure. The continuous stabilizing surface preferably includes one or more tethers stretched between the front wheel assembly and the rear wheel assembly. The tethers or cables may be made of stainless steel. The advantage of using tethers or cables is that they are lightweight, so workers can still lift the entire fall arrester.

[0036] The frame can have various shapes and relative dimensions. Preferably, the frame has a front end and an opposing rear end, the opposing rear end being wider than the front end and having an opening so that a second fall restraint can be nested inside another fall restraint. This particular configuration allows multiple fall restraints to be stored in a small area by nesting one fall restraint inside another. The frame is preferably wedge-shaped to allow for more efficient packing of the fall restraints.

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

[0038] A fall restraint device can be attached to another fall restraint device to form an assembly. The assembly may include a first fall restraint device, a second fall restraint device, and a suspension beam or suspension frame connecting the first and second fall restraint devices to each other, wherein each of the first and second fall restraint devices is equipped with the fall restraint device of the present invention. The suspension beam may be detachable and may be attached to the first and second fall restraint devices when in a desired location on the lattice structure, or the suspension beam may be attached while away from the lattice. The isolation between the first and second fall restraint devices by the suspension beam further provides workspace for workers restrained by the suspension beam.

[0039] For example, workers may be connected to the suspension beam by carabiner to enable lattice repair work to be carried out. The suspension beam or suspension frame member may be attached to the upper portion of the frames of the first and second fall restraint devices. Having the suspension beam attached to the upper portion of the frames of the first and second fall restraint devices provides more clearance (vertical space) that workers can use to perform various activities on the lattice structure. For example, workers may be connected to the suspension beam by a fall-stopping inertia reel to rescue personnel from the lattice structure. Furthermore, stretchers can be attached to the suspension beam. It is preferable that a winch be attached to the suspension beam or suspension frame member. This is advantageous as it enables the lifting of a load-handling device or injured personnel from the lattice structure. It is preferable that the suspension beam or suspension frame member be attached to the upper portion of the first and / or second fall restraint devices by at least one pivotable joint. This is advantageous as it enables each fall restraint device to move independently of the other fall restraint devices while still being connected to each other.

[0040] Further features and aspects of the present invention will become apparent from the following detailed description of exemplary embodiments with reference to the drawings. [Brief explanation of the drawing]

[0041] [Figure 1] A schematic diagram of a lattice frame structure using a known system. [Figure 2] A schematic top-down view showing the stack of boxes arranged within the framework structure of Figure 1. [Figure 3] A schematic diagram of a known robotic material handling device operating on a lattice frame structure. [Figure 4] A schematic diagram of a cargo handling device using a known system. [Figure 5(a)] A schematic perspective cross-section of the cargo handling device in Figure 4, showing a container that fits into the container receiving space of the cargo handling device. [Figure 5(b)]A schematic perspective cross-section of the cargo handling device in Figure 4, showing the container receiving space of the cargo handling device. [Figure 6] A perspective view of a fall suppression device comprising a frame attached to a rolling assembly according to one embodiment of the present invention. [Figure 7] A schematic diagram of the top view of a cell, showing the dimensions of the lattice cell opening. [Figure 8] A schematic top view of a rolling assembly of one embodiment of a fall suppression device moving on a grid structure. [Figure 9] A schematic top view of a rolling assembly according to another embodiment of the present invention of a fall suppression device moving on a grid structure. [Figure 10] A perspective view of a long roller of a wheel assembly of a rolling assembly according to one embodiment of the present invention. [Figure 11] A perspective view of a worker restrained to the frame of a fall arrest device via a harness according to one embodiment of the present invention. [Figure 12] A perspective view of a fall suppression device shown in Figure 6, comprising a suspension beam and a winch according to one embodiment of the present invention. [Figure 13] A top perspective view of a cargo handling device, showing the hoist element on the top surface of the cargo handling device. [Figure 14] A schematic diagram of a fall prevention device equipped with a towing rod for towing a cargo handling device according to one embodiment of the present invention. [Figure 15(a)] A perspective view showing a worker, restrained by a fall prevention device, walking on a grid structure. [Figure 15(b)] A perspective view showing a worker restrained by a fall restraint device, guiding the fall restraint device by lifting at least a portion of the rolling assembly. [Figure 16] A schematic diagram of a fall suppression device equipped with a long suspension beam according to a second embodiment of the present invention. [Figure 17] A schematic diagram of a fall suppression device according to a third embodiment of the present invention. [Figure 18] A schematic diagram showing an assembly of fall suppression devices connected to each other by suspension beams according to a fourth embodiment of the present invention. [Figure 19]A schematic diagram of a fall suppression device according to a fifth embodiment of the present invention. [Figure 20] A schematic diagram of the fall suppression device in Figure 19, showing the rolling assembly in the storage configuration. [Figure 21] A schematic diagram of a fall suppression device having a different height from the fall suppression device shown in Figure 19. [Figure 22] A schematic diagram of the fall suppression device shown in Figure 21 on a grid structure. [Figure 23] A schematic diagram of an adapted fall suppression device shown in Figure 21, which includes a single suspension beam according to a sixth embodiment of the present invention. [Figure 24] A schematic diagram of a fall suppression device according to the sixth embodiment of the present invention. [Figure 25] A schematic diagram of multiple fall suppression devices nested within each other, as shown in Figure 24. [Modes for carrying out the invention]

[0042] The present invention was conceived against the backdrop of known features of storage systems such as lattice framework structures and cargo handling devices described above with reference to Figures 1 to 5. To enable access to the lattice structure and movement along the tracks, it is of paramount importance that any service vehicle devised can move along the lattice cells without any of its wheels entering or falling into any of the lattice cells. Various techniques in the art, discussed above, exist to enable service vehicles to move along the tops of the lattice structure. The simplest method would be to employ a vehicle assembly of a typical cargo handling device operating on the lattice structure and a drive mechanism for driving the wheels, i.e., comprising a first set of wheels for engaging with a track extending in the X direction and a second set of wheels for engaging with a track extending in the Y direction. Such wheel assemblies have been taught in the art in WO2015 / 140216 (Ocado Innovation Ltd) and WO2020 / 151866 (Autostore Technology AS) and discussed above. However, such a wheel arrangement restricts service vehicles to movement in either the X or Y direction on the grid structure. Therefore, to bypass obstacles or other loading / unloading devices on the grid structure, service vehicles must move in both the X and / or Y directions to reach a location or desired destination on the grid structure. In most cases, a route is planned that involves movement in both the X and Y directions to reach a desired location on the grid structure. This not only represents a longer travel distance to reach the desired location on the grid structure, but also takes more time.

[0043] To shorten the travel distance to a desired location on the grid structure and to avoid being restricted in the X and Y directions by the track, WO2019 / 233749 (Autostore Technology AS) teaches the use of an endless track that straddles the surface of the track, i.e., runs on the surface of the track. The endless track is dimensioned to have a length exceeding the diagonal length across the largest grid opening of the grid structure, so that no part of the endless track can straddle or run on the track without falling into any of the grid cell openings. The endless track comprises a longitudinally extending belt and is driven by a belt motor.

[0044] Referring to Figure 7, the dimensions of a given grid cell are approximately 600-800 mm in length and 400-600 mm in width. The dimensions of the grid cell depend on the size of the containers or goods to be stored in the storage system and the capacity of the handling device operating on the grid structure to remove the storage containers by lifting them through the grid cell openings. This is 3,600 cm 2 From 6,400cm 2 This is the same as the lattice opening 14c having an area in the region. If the width of a single orbit is approximately 75 mm, the maximum length Lg of a given lattice cell from the midpoint of the orbit is approximately 760 mm, and the width Wg is approximately 560 mm, then this is approximately 944 mm diagonal length Dg and approximately 4,256 cm 2 The length of the rolling assembly is equal to the area of ​​the grid cell opening. Other dimensions of the grid cell include a length of 654 mm along the longest length Lg and a width Wg of approximately 454 mm. In Figure 7, the longest length of the grid cell is along the X direction, and the width, which is the shorter of the two lengths, is along the Y direction. To prevent the wheels of a service vehicle from falling into the opening of a grid cell, thereby immobilizing the service vehicle on the grid structure or at least damaging the track, the length of the rolling assembly should exceed the length across the diagonal length Dg across the grid opening 14c, or at least the longest length Lg across at least one grid cell. Taking the above example, the maximum diagonal length Dg of the grid cell is approximately 944 mm, and the longest length Lg is approximately 760 mm.

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

[0046] Figure 6 shows a fall prevention device 60 according to one embodiment of the present invention. In contrast to service vehicles known in the art, the fall prevention device 60 of the embodiment of the present invention comprises a frame or frame structure 62 having an upper portion 64 including an open internal space 66 bounded by a plurality of vertical support frame members 68, and a lower portion 70 for mounting a rolling assembly 72. The rolling assembly 72 allows the fall prevention device 60 of the present invention to be guided in any direction on a track (not shown) without any part of the rolling assembly 72 falling into a grid opening. Various embodiments of the rolling assembly according to the present invention exist to provide a rolling assembly that allows the fall prevention device to be guided in any direction on a grid structure without any part of the rolling assembly falling into a grid opening. In all of the various embodiments of the present invention, it is essential that the rolling assembly contacts the grid structure by at least two contact points on the grid structure, and since the grid structure comprises a first set of parallel tracks extending in a first direction and a second set of parallel tracks extending in a second direction, the at least two contact points are interpreted to mean that the rolling assembly contacts different tracks or different regions of the grid structure. The rolling assembly may also be a freewheel to allow a worker constrained to the frame to manually move the fall restraint device on the grid structure, for example by walking on the grid structure. Further details of the rolling assembly of the fall restraint device according to the present invention are discussed below.

[0047] Referring to a specific embodiment of the fall restraint device shown in Figure 6, the frame 62 comprises an assembly of frame members 74 connected to one another to provide an open internal structure 66 for accommodating at least one worker in an open internal space. The frame members 74 are connected to one another via appropriate fastening means 76 to support the load of at least one worker restrained in the frame 62. Appropriate fastening means for connecting the frame members 74 to one another include, but are not limited to, welding, one or more bolts, adhesive, etc. To provide a lightweight frame that can be lifted by at least one worker restrained in the frame 62, the frame members 74 may be tubular members having sufficient strength to support the load of at least one worker restrained in the frame. Examples of tubular frame members include, but are not limited to, aluminum tubular frame members or alloys comprising aluminum. Other examples of frame members include the use of plastic or synthetic materials, such as carbon fiber reinforced plastics. The use of carbon fiber reinforced plastic material for the frame members not only provides a frame sturdy enough to support at least one worker restrained to the frame, but also helps to provide a lightweight frame so that the fall restraint device of the present invention can be easily placed on a lattice structure and moved in any direction on the lattice structure. The combination of the use of lightweight material and the open structure of the frame provides a frame weighing less than 100 kg, preferably less than 60 kg, and more preferably less than 30 kg. Since the weight of the rolling assembly accounts for only a small portion of the total weight of the fall restraint device, the frame, together with the rolling assembly, provides a lightweight fall restraint device weighing less than 100 kg, preferably less than 60 kg, and more preferably less than 30 kg. A fall restraint device 60 in a particular embodiment of the present invention shown in Figure 6, comprising an aluminum-based tubular frame member, weighs about 25 kg.

[0048] The lightweight frame 62 allows a worker within the frame's open structure 66 to lift the frame and guide the fall restraint 60 on the grid structure. Guiding the fall restraint 60 may involve lifting the frame 62 so that at least a portion of the rolling assembly 72 is lifted off the track, rather than attempting to rotate the fall restraint when the rolling assembly 72 is in full contact with the track. In the particular embodiment shown in Figure 6, the frame 62 accounts for a significant portion of the weight of the fall restraint, and therefore the lightweight frame results in a lightweight fall restraint. Thus, a lightweight fall restraint may be provided by a combination of the frame's weight and the rolling assembly's weight.

[0049] In a particular embodiment of the present invention shown in Figure 6, the upper portion 64 of the frame comprises at least one pair of parallel side frame members and a pair of parallel end frame members, shorter than the parallel side frame members and fixed substantially perpendicular to the parallel side frame members in a common horizontal plane to define a rectangular frame structure. The parallel side frame members and end frame members are arranged to provide an internal open space 66 for accommodating at least one worker (see Figures 11 and 15(a and b)). The rectangular frame structure of the upper portion 64 allows one or more workers to be accommodated in the open internal space 66. The parallel side frame members and / or end frame members also provide handles for at least one worker to hold onto the frame while walking on the lattice structure. The handles defined by the parallel side frame members and end frame members are supported above the track by a plurality of support frame members or down frame members 68. As shown in Figure 11, the height of the parallel side frame members 74 is approximately waist height of a worker so that a worker confined within the open structure 66 can easily reach out and grasp the parallel side frame members 74 while walking on the lattice structure. In a particular embodiment of the present invention shown in Figure 6, the frame member 74 is a tubular member, such as an aluminum tube, but the frame member may be a rod or other material discussed above. To increase the structural rigidity of the frame, one or more bracing members are used to reinforce the parallel frame members. In a particular embodiment shown in Figure 6, the frame members are assembled to provide opposing H-frames on both sides of the open structure 66. Other types of bracing members may be used to increase the structural rigidity of the frame, and these include, but are not limited to, bracing members. The frame of a particular embodiment of the present invention can be assumed to resemble a Zimmer® frame for at least one worker to walk on the lattice structure while holding onto the parallel side frame members 74.

[0050] The lower portion 70 of the frame includes a rolling assembly 72 to allow the fall prevention system 60 to be manually driven on the grid structure. In the particular embodiment shown in Figure 6, the lower portion 70 of the frame is connected to the upper portion 64 of the frame. The lower portion of the frame includes a subframe 78 for mounting the rolling assembly 72. The rolling assembly is mounted on the subframe 78 such that the rolling assembly 72 has a width over the length of one or more grid cells, more preferably one or more grid openings. For improved stability of the fall prevention device 60 on the grid structure, in the particular embodiment of the present invention, the rolling assembly has a width W over the longest length of at least two grid cells (see Figures 6 and 15(a and b)). Considering the longest length of a grid cell to be 760 mm, this corresponds to a width of approximately 2 × 760 mm (1520 mm). Ideally, the width of the rolling assembly should have a length over the longest diagonal length of a given grid cell to allow the fall prevention device 60 to be guided in any direction on the grid structure. In the specific example described above, this corresponds to a length of approximately 944 mm. The rolling assembly 72 shown in Figure 6 comprises a front wheel assembly 73a and a rear wheel assembly 73b, with each wheel assembly of the front wheel assembly 73a and the rear wheel assembly 73b extending laterally with respect to the longitudinal direction of the upper portion.

[0051] The width of the rolling assembly is selected to prevent any part of the rolling assembly from falling into the grid opening, which can be illustrated in the schematic diagrams shown in Figures 8 and 9, in conjunction with Figure 7. In both examples of the fall prevention devices 160 and 260, the rolling assemblies 172 and 272 comprise front wheel assemblies 173a, 273a and rear wheel assemblies 173b, 273b, with each wheel assembly of the front wheel assemblies 173a, 273a and the rear wheel assemblies 173b, 273b extending laterally with respect to the length L of the upper portion. The axle distance, which is the distance between the front and rear wheel assemblies, extends beyond the length of one or more grid cells to allow a worker confined to the upper portion of the frame to access the grid opening. In the examples shown in Figures 8 and 9, the width of the front and rear wheel assemblies is such that each wheel assembly of the front and rear wheel assemblies contacts two different regions of the grid structure, indicated by reference numerals A and B in Figures 8 and 9. The grid structure consists of a first set of parallel tracks extending in a first direction and a second set of parallel tracks extending in a second direction, so that each wheel assembly of the front and rear wheel assemblies contacts a different track of the grid structure to prevent any part of the rolling assembly from falling into the grid opening. There are many ways to achieve this. A first example is shown in Figure 8, showing that each wheel assembly of the front and rear wheel assemblies has a single long roller with a length spanning the maximum diagonal length Dg of a single grid opening 14c. A second example is shown in Figure 9, showing that each wheel assembly of the front and rear wheel assemblies has multiple wheels. The multiple wheels of the front and rear wheel assemblies are arranged to rotate around their respective common axes of rotation FF (front axis) and RR (rear axis). In both examples shown in Figures 8 and 9, the length Lw of each wheel assembly of the front and rear wheel assemblies is such that the wheel assembly of the front and rear wheel assemblies contacts two different tracks of the grid structure. For the purposes of the present invention, the length of each wheel assembly of the front and rear wheel assemblies corresponds to the width W of the rolling assembly as shown in Figure 6. In the particular embodiment shown in Figure 6, each wheel assembly of the front and rear wheel assemblies extends outward from the upper portion 64 of the frame to rest on different regions of the grid structure, i.e., at least two different tracks.When a wheel assembly comprises multiple wheels, the spacing D between the wheels is, in some cases, less than the width Lt of a single track to prevent the track from encroaching between the multiple wheels (see Figure 9). In both examples shown in Figures 8 and 9, the length of the front and rear wheel assemblies, indicated by the reference symbol Lw, exceeds the maximum diagonal length of the grid opening 14c, indicated by the reference symbol Dg. As a result, each wheel assembly of the front and rear wheel assemblies contacts a different track of the grid structure.

[0052] However, the present invention is not limited to the wheel assembly configurations shown in Figures 8 and 9, and other configurations of the wheel assembly are applicable in the present invention to contact two different tracks of the grid structure. In a particular embodiment shown in Figure 6, the front and rear wheel assemblies 73a, 73b each comprise two rollers 80 that are rotatable around a common axis of rotation FF and RR. The wheels of the front and rear wheel assemblies are each rotatable around one or more common shafts or axles. In the particular embodiment in Figure 6, the two rollers 80 are rotatably mounted on separate shafts in the front wheel assembly 73a and the rear wheel assembly 73b, and are sufficiently isolated so that each roller 80 of the front and rear wheel assemblies contacts a track of the grid structure. The length of each roller is less than the longest length of the grid cell, for example 700 mm, but the total length of the two rollers, including the distance between them, exceeds the length of the maximum diagonal length Dg of the grid opening 14c. An example of a single roller 80 for moving the frame of a fall restraint device on a grid structure is shown in Figure 10, comprising a stainless steel roller 82 rotatably mounted on a shaft 84, the shaft 84 rotatably mounted on the lower portion 70 of the frame. The stainless steel roller 82 is provided with an outer rubber sleeve 86 to prevent damage to the track, particularly to the track contour, as the fall restraint device of the present invention moves across the grid structure.

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

[0054] The fall prevention device of the present invention can be used as a recovery device when a person is injured on a lattice structure or falls into a lattice opening. In a particular embodiment shown in Figure 12, the frame 62 includes a winch 94 attached to a suspension frame member or suspension beam 96. The suspension frame member or suspension beam 96 is robust enough to support the weight of a worker, which may weigh about 100 kg or more. In a particular embodiment of the present invention shown in Figure 12, the suspension beam 96 extends across the open structure 66 to a parallel frame member within the upper portion of the frame and is removably supported or fixed to the parallel frame member via an inwardly curved end 98. The winch 94 allows the injured person to be suspended from the suspension beam 96 so that they are carried to a shelter at the edge of the lattice structure. The winch 94, having a winch cable, is long enough so that the winch cable can be fed down down a lattice opening, which may be as high as the height of 21 containers (e.g., more than 3 m). The end of the winch cable is a hook 100 or other fastening means for securing a person who has fallen onto the track or into a grate opening. A stretcher (not shown) may be attached to the winch 94 to assist in the safe removal of an injured person from the grate structure. The winch may be manually driven or motorized to give more control to a worker restrained to the frame in order to safely hoist the injured person off the track.

[0055] Winches can be used not only to lift injured persons who have fallen onto the track or into a grating opening, but also to right a load-handling device that has fallen onto the track. Occasionally, one or more load-handling devices may fall onto the grating structure, rendering a section of the grating inoperable until the fallen device can be righted or, in the case of a malfunction, withdrawn to the edge of the grating structure. This results in increased downtime for that section of the grating structure. The fall restraint device of the present invention, equipped with a winch, can be deployed quickly into the grating structure and can reach a load-handling device that has become immobile on the grating structure, and therefore can be used to right a fallen load-handling device.

[0056] The top of the handling device is equipped with a hoist element that can be used to lift the handling device off the track. Figure 13 shows a hoist element 102 used for manual movement of the handling device 30. The hoist element 102 is equipped with a notch below the spherical head that gives rise to a lower surface 104. The hoist element 102 is designed so that the hoist mounting allows the handling device 30 to be lifted from the grid cell. In certain cases, the handling device may malfunction and become immobile on the track. Typically, in the prior art, to remove a malfunctioning handling device, the handling device is hoisted by a service vehicle so that the wheels of the handling device are lifted off the track, the malfunctioning handling device is placed on a platform in the service vehicle, and then the service vehicle is transported to the edge of the grid structure. However, there may not be enough height above the handling device to lift the handling device off the track. This is especially true when the clearance above a handling device in a distribution center or fulfillment center is sufficient for the handling device to operate on a track but insufficient to accommodate a tall winch assembly exceeding 2 meters in height. To overcome this problem, the fall restraint device of the present invention, instead of suspending the handling device from a track, includes a tow bar that can be connected to a stuck handling device and pulled to the edge of a grid structure. As shown in Figure 14, one end 108 of the tow bar 106 is fixed to the frame of the fall restraint device 60 of the present invention, and the other end 110 of the tow bar 106 is connected to or interacts with the handling device 30, more specifically, with the hoist element 102 at the top of the handling device. Then, one or more workers, restrained to the frame of the fall restraint device 60, can manually pull or push the stuck handling device to the edge of the grid structure. The wheels of the loading / unloading device can be engaged and disengaged so as to allow the loading / unloading device to coast along the track, thereby enabling a worker constrained to the frame to push or pull the loading / unloading device on the track.While a particular embodiment in Figure 14 shows a towing bar attached to the top of the handling device, other means of attaching the towing bar to the handling device, such as at the base of the handling device, provide greater stability when the handling device is towed to the edge of the grid structure.

[0057] When access to the grid structure is required during use, a worker can lift the fall restraint by simply lifting the frame, and position the fall restraint on the track so that the rolling assembly attached to the frame contacts the track. The worker can enter the open structure and be confined to the upper part of the frame, as shown in Figure 15a. Confined to the upper part of the frame, the worker can walk on the grid structure 14b by stepping on the tracks 22a, 22b while holding onto the parallel side frame members. The width of the rolling assembly is such that it prevents any part of the rolling assembly from falling into the grid opening 14c. As shown in Figure 15b, in order to move or guide it on the grid structure, the worker can simply lift the frame so that at least a portion of the rolling assembly is lifted off the track. The worker can then rotate the frame on the grid structure to the desired orientation without the problem of any part of the rolling assembly falling into the grid opening 14c. Having a lightweight frame as discussed above allows the fall restraint to be easily lifted and rotated on the track. A worker confined to the upper part of the frame, more specifically within the open structure of the frame, can walk to a desired location or cell in the grid structure.

[0058] A particular embodiment shown in Figure 6 exhibits an open structure closed by parallel frame members, but other types of frames may be used to restrain at least one worker to the upper portion of the frame. In a second embodiment of the fall restraint device 360 ​​of the present invention shown in Figure 16, the upper frame 364 comprises opposing A-frames 366, or oblique frame members intersecting at vertices near the top of the frame. The A-frames 366 support a suspension frame member or suspension beam 396 positioned between the opposing A-frames 366. Compared to the upper portion of the frame shown in Figure 6, at least one worker is suspended from the suspension beam 396 positioned between the opposing A-frames 366. The front wheel assemblies 373a and rear wheel assemblies 373b are respectively attached to the base of the A-frames such that the length of the suspension beam matches the axle-to-axle distance of the fall restraint device 360, i.e., the distance between the front wheel assemblies 373a and the rear wheel assemblies 373b. The suspension beam 396 is elongated to allow two or more workers to be suspended from the suspension beam, for example, via an inertia reel (not shown) connected to the suspension beam. As shown in Figure 16, one or more hooks 382 are suspended from the suspension beam 396 to allow workers or a winch assembly (not shown) to be connected to the suspension beam 396. The fall prevention device 360 ​​may employ a rolling assembly 370 that is the same as or similar to the first embodiment of the present invention described above, in that the rolling assembly comprises a front wheel assembly 373a and a rear wheel assembly 373b. The length Lw of each wheel assembly of the front and rear wheel assemblies extends across the grid opening 14c so that the wheel assembly contacts different tracks or regions of the grid structure (at least at two contact points) when moving on the grid structure, in order to prevent any part of the rolling assembly from falling into the grid cell opening. In a second embodiment of the fall suppression device 370, each wheel assembly of the front and rear wheel assemblies comprises three elongated rollers 380 that are rotatable around their respective common axes.Similar to the first embodiment of the fall restraint device, the front and rear wheel assemblies 373a, 373b extend laterally with respect to the longitudinal direction of the suspension beam 396 so that the fall restraint device can be moved longitudinally as a worker restrained on the suspension beam walks over the grid structure. One or more winch assemblies (not shown) discussed above may be attached to the suspension beam 396. The elongated suspension beam 396 according to the second embodiment of the present invention provides sufficient clearance for the fall restraint device to be positioned over the grid cells, and the winch assemblies (not shown) attached to the elongated suspension beam can lift a faulty load handling device from the grid structure.

[0059] Various arrangements of frame members can be used in the upper portion of the frame depending on the application of the fall restraint device. In the first embodiment, the frame members are arranged to provide an internally open structure to support a worker restrained to the frame for walking on the track. In the second embodiment shown in Figure 16, the frame members are arranged to provide opposing A-frames and a suspension beam positioned between the A-frames to define a gantry, allowing the fall restraint device to easily lift larger objects, such as a faulty handling device. In both embodiments of the present invention, the frame is light enough to be easily moved on the track, and the rolling assembly extends outward from the upper portion of the frame to provide improved stability of the fall restraint device on the grid structure by contacting the grid structure or different areas of the track; i.e., the footprint occupied by the rolling assembly is greater than the footprint occupied by the upper portion of the frame. Since the frame is light enough for at least a portion of the rolling assembly to be lifted off the track, the above allows the fall restraint device to be easily moved and guided on the grid structure. Although not shown in Figure 16, a tow bar may be incorporated into a fall restraint device of a second embodiment of the fall restraint device 360 ​​to push or pull a load handling device connected to the tow bar to the edge of the grid structure.

[0060] An adaptation of the first embodiment of the fall restraint device shown in Figure 6, the fall restraint device 460, which includes an internal open structure 466 for a worker 88 restrained to the frame 462, is shown in Figure 17, in a third embodiment of the present invention. Similar to the first and second embodiments of the present invention shown in Figures 6 and 16, the fall restraint device 460 of the third embodiment of the present invention includes a frame 462 comprising an upper portion 464 for restraining at least one worker 88 to the frame 462 and a lower portion 468 for mounting a rolling assembly 472. The fall restraint device 460 is adapted to the same or similar rolling assembly 472 of the other embodiments of the present invention in that the stability of the frame 462 on the grid is provided by a rolling assembly attached to the lower portion and extending outward from the upper portion across the grid opening. Importantly, the rolling assembly 472 comprises a front wheel assembly 473a and a rear wheel assembly 473b. Each wheel assembly of the front and rear wheel assemblies 473a, 473b has a length Lw that extends across the grid opening 14c such that the wheel assemblies 473a, 473b contact the grid 14b at two points or two different tracks 22a, 22b, as shown in Figure 17, and extends laterally with respect to the longitudinal direction of the upper portion 464. In certain embodiments of the present invention, each wheel assembly of the front and rear wheel assemblies 473a, 473b comprises elongated rollers, more specifically two elongated rollers 480 arranged to rotate around common axes FF and RR, respectively.

[0061] In contrast to the first embodiment of the present invention shown in Figure 6, the upper portion 464 of the frame further comprises upward-extending frame members fixed to or connected to each other to form a lifting or hoisting frame 465 for supporting a winch 482. In a particular embodiment of the present invention shown in Figure 17, the lifting frame 465 comprises upward-extending tubular frame members connected to the lower portion 468 of the frame and to parallel frame members in the upper portion of the frame. The lifting frame 465 can also function as a roll cage to protect workers in the upper portion 468 of the frame when the fall restraint device 460 falls over the grid structure 14b. The winch 482 is attached to the hoisting frame 465 so as to be suspended from the uppermost portion of the lifting frame. As in other embodiments of the present invention, during operation, workers restrained by the frame can walk along tracks 22a, 22b while holding onto the parallel frame members. To guide the fall restraint device on the grid, the worker simply lifts the frame so that at least a portion of the rolling assembly 472 is lifted from the track, allowing the worker to rotate the frame in the desired orientation. The gist of the present invention is that it is possible to have a lightweight fall restraint device in order to lift at least a portion of the rolling assembly from the track so as to enable the fall restraint device to be guided on the grid. The fall restraint device preferably weighs less than 100 kg, preferably less than 60 kg, and more preferably less than 30 kg. Providing a lightweight frame comprising an assembly of tubular frame members to form an open structure enables a lightweight fall restraint device.

[0062] In further embodiments of the present invention, two or more fall restraint devices of the first and / or third embodiments of the present invention shown in Figures 6 and 17 may be connected to one another by linkage 594 to form an assembly 500 as shown in Figure 18. By enabling two or more fall restraint devices 560a, 560b to be connected to one another by linkage 594 to form an assembly 500, two or more operators can drive the assembly on a track, thereby increasing the load-bearing capacity of the assembly. Each of the two or more fall restraint systems may operate independently of each other so that a person restrained by each of the two or more fall restraint devices can move each fall restraint independently by lifting at least a portion of the rolling assembly of the fall restraint device. In the particular embodiment shown in Figure 18, the first fall restraint device 560a and the second fall restraint device 560b are shown separated and isolated by linkage 594 to define a working area between the first fall restraint device 560a and the second fall restraint device 560b. The linkage 594 extending between the first fall suppression device 560a and the second fall suppression device 560b may be a suspension beam, horizontal beam, or suspension frame member for suspending a faulty robotic handling device on the track and / or a worker working on the track.

[0063] The suspension beam or suspension frame member 594 can be attached to the upper portions 564a, 564b of the frame structures of the first and second fall restraint devices. The attachment of the ends of the suspension beam or suspension frame member 594 to the upper portions of the frame structures in each of the first and second fall restraint devices is similar to the lifting frame shown in Figure 17, which has tubular frame members extending upward on both sides of the frame structure of the fall restraint device and is supported by frame members extending across the frame structure in a direction substantially perpendicular to the longitudinal direction of the suspension frame member. The lifting frame 565 helps to lift the suspension frame member 594 above the track sufficiently to suspend a load handling device from the suspension frame member, or, if applicable, sufficiently to suspend a person who is to be tethered to the suspension frame member while standing on the track.

[0064] One or more operators confined within the first fall restraint device 560a and the second fall restraint device 560b can move the first and second fall restraint devices on the track so that they behave in tandem on the track; that is, the movement of the assembly on the track depends on the operators confined within the first and second fall restraint devices moving the respective fall restraint devices. One or both ends 502 of the suspension beam or suspension frame member 594 are attached to the first fall restraint device 560a and / or the second fall restraint device 560b by a pivotable joint so that the first fall restraint device 560a can move on the track independently of the second fall restraint device 560b. This allows the first fall restraint device to swing relative to the second fall restraint device while still being connected to each other on the track.

[0065] In a particular embodiment shown in Figure 18, the linkage connecting the first fall restraint device and the second fall restraint device is a suspension frame member 594 having parallel beams 595 reinforced by one or more tie rods 504 in a ladder-type arrangement to provide the suspension frame member with more support to prevent buckling when suspending the robotic handling device. As discussed above with reference to Figure 12, a winch (not shown) may be attached to the suspension beam or suspension frame member 594 for hoisting a faulty robotic handling device from the track and / or for righting a fallen robotic handling device on the track. As discussed above, a hook (not shown) or other suitable fastener may be attached to the free end of the winch cable for engaging with the hoist element of the handling device. A stretcher (not shown) may be attached to the winch to assist in the safe removal of an injured person from the lattice structure. The winch may be manually driven or motorized to give more control to a worker restrained to the frame in order to safely hoist an injured person from the track. The distance between the first fall suppression device and the second fall suppression device may be an area for an operator to interact with the track or cargo handling device while connected to a suspension frame member, for example, by an inertia reel.

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

[0067] The second fall restraint device 560b can follow the first fall restraint device 560a when moving the assembly 500 on the track, such that the second fall restraint device 560b and the first fall restraint device 560a move in tandem on the track. An operator in one or both of the first and second fall restraint devices can guide the respective fall restraint device on the track to guide the assembly on the track to position a suspension beam or suspension frame member over a faulty loading device or injured person on the track. Having a pivotable joint connecting the suspension beam or suspension frame member to the first and second fall restraint devices allows the first and second fall restraint devices to move independently of each other, thereby providing an improved guidance capability for the assembly on the track.

[0068] The fall restraint devices 560a and 560b shown in Figure 18 further comprise anti-tipping mechanisms 506a and 506b in the form of tensioned cables or wires. They are provided with a continuous stabilizing surface to prevent the fall restraint devices from falling into the lattice openings. The first restraint device 560a comprises two tensioned tethers 506a, each tensioned tether positioned in the lower portion 568a of the frame and extending between the front wheel assembly 573a and the rear wheel assembly 573b. One end of each tensioned tether is attached to one end of the front wheel assembly 573a, and the other end of the tensioned tether is attached to the opposite end of the rear wheel assembly 573b. The second restraint device 560b comprises two tensioned tethers 506b, each tensioned tether positioned in the same manner as the first restraint device 560a. The stretched tether is positioned on the fall restraint device so that, in the event the fall restraint device becomes unstable, the stretched tether will contact or rest on the lattice member, preventing the fall restraint device from falling into the lattice opening. In effect, the anti-tipping mechanism increases the footprint of the fall restraint device, thereby making the fall restraint device more stable on the lattice structure.

[0069] The tensioned tether may be made of any material that is robust and can remain under tension over long periods of time; for example, the tensioned tether may be made of steel. Furthermore, the tensioned tether does not contribute significantly to the weight of the fall restraint device, thus providing a means of further stability while still allowing workers to physically lift the fall restraint device to its desired position on the lattice structure. Anti-tipping mechanisms such as the tensioned tether shown in Figure 18 may be used in any embodiment of the fall restraint device.

[0070] In another embodiment shown in Figure 19, the fall suppression device 660 comprises a gantry 662, which comprises a pair of horizontal beams 664 arranged in parallel and supported by one or more legs or vertical members 666 at the front and rear of the gantry 662. The pair of horizontal beams 664 are spaced apart and held apart by spacers 668 connected to the distal ends of the pair of horizontal beams 664. The spaced-apart relationship between the pair of horizontal beams 664 supported by one or more legs 666 at the front and rear of the gantry 662 provides an open internal space or working space 669 extending between the one or more legs 666 at the front and rear of the gantry. Compared to other service vehicles operating on grid structures known in the art, the workspace 669 defined by the pair of horizontal beams 664 and one or more legs 666 at the front and rear of the gantry 662 provides an area for one or more workers 671 confined within the workspace 669 to have a clear view of the faulty robotic handling device on the grid structure, without the need to move the robotic handling device to a position on the service vehicle in order to access the faulty robotic handling device, as seen in prior art solutions. This allows one or more workers 671 confined within the workspace 669 to perform necessary repairs on the faulty robotic handling device while it is on the grid structure, without the need to carry the faulty robotic handling device to the edge or periphery of the grid structure. Compared to the embodiments of the fall restraint shown in Figures 6, 16, and 17, the fall restraint shown in the embodiments shown in Figures 19 to 23 does not necessarily need to be lightweight in the sense of weighing less than 100 kg, preferably less than 60 kg. In the embodiment shown in Figure 19, the workspace 669 can accommodate two or more workers, so the weight of the fall arrester is not necessarily a decisive factor when moving the fall arrester on the grid structure. However, in order to reduce the weight of the fall arrester, the components of the gantry and multiple legs may be formed from tubular members, such as lightweight aluminum tubular members.

[0071] Having space within the fall prevention device for repairing a malfunctioning robotic handling device allows workers to repair the malfunctioning device in a non-functional position. In most cases, repairing a malfunctioning robotic handling device is generally a simple repair, and having the ability to repair the malfunctioning device in a non-functional position reduces the downtime during which the robotic handling device is unable to operate on the grid structure.

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

[0073] Figure 19 also shows one or more bridging members 682 extending across the workspace and supported by a pair of horizontal beams 664. As with other embodiments of the invention discussed above, a winch (not shown) for lifting loads from the grid structure may be attached to the bridging member 682. For example, a winch attached to the bridging member may be used to right an overturned robotic handling device or to lift a malfunctioning robotic handling device from its track so that it can be carried to the edge or periphery of the grid structure. In the particular embodiment shown in Figure 20, the bridging member 682 is attached to a pair of rails or tracks 684 supported by a pair of horizontal beams 664. The pair of rails 684 may be fixed to a pair of horizontal rails or formed integrally with the pair of horizontal beams 664. This allows the bridging member 682 to be movable along the length of the pair of horizontal beams 664, enabling the bridging member 682 to be precisely positioned over the faulty robotic handling device without requiring the fall restraint device to be moved when attempting to position the winch over the faulty robotic handling device.

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

[0075] When the front and rear wheel assemblies 672a, 672b extend outward on both sides of the gantry across multiple grid cells, at least a portion of the front and rear wheel assemblies 673a, 673b can be folded in the sense that they can be stored to reduce the footprint of the fall restraints for the purpose of storing the fall restraints or freeing up grid cells occupied by either of the front and rear wheel assemblies 672a, 672b. In the particular embodiment shown in Figure 20, one or more sets of wheels 673a, 673b of the front and rear wheel assemblies are pivotably mounted to one of the legs supporting a pair of parallel horizontal beams 664 at the front and rear of the gantry 662. One or more sets of wheels 673a, 673b of the front and rear wheel assemblies are mounted to a carrier that can engage with one of the legs 666 supporting a pair of parallel horizontal beams 664 at the front and rear of the gantry 662. Two sets of wheels 673a and 673b from the three sets of wheels at the front and rear of the gantry, which extend laterally on both sides of the gantry, are rotated in the stowed configuration to be lifted off the ground (in this case, the track) and secured to one of the legs supporting the pair of parallel horizontal beams at the front and rear of the gantry. When the stowed wheels are deployed, the two sets of wheels 673a and 673b at the front and rear of the gantry are disengaged from the legs of the gantry and rotated to make contact with the track. Figure 20 shows the wheel assemblies at the front and rear of the gantry in the stowed configuration, and Figure 19 shows the wheel assemblies at the front and rear of the gantry in the deployed configuration, which has wheels extending laterally on both sides of the gantry.

[0076] The height of the pair of horizontal beams 664 above the rolling assembly 670 can be changed by attaching the pair of horizontal beams 664 to legs of varying lengths. In a particular embodiment shown in Figure 21, the height of the gantry 662 is increased by attaching the pair of parallel horizontal beams 664 to longer legs 666. Alternatively, one or more legs at the front or rear of the gantry may be retractable to allow the height of the gantry to be changed. An advantage of increasing the height of the gantry is that the height of the workspace can be increased to provide sufficient clearance for a worker 671 confined within the workspace 669, as shown in Figure 22. Confining a worker within the workspace of the gantry may involve the worker, wearing a suitable harness, being connected to any part of the gantry, such as a horizontal beam or leg, via one or more fasteners (not shown), as discussed above in relation to other embodiments of the invention. One or more fasteners may include inertia reels.

[0077] In operation, referring to Figure 22, a worker 671 confined within the working space 669 of the gantry 662 can push the fall restraint device 660 on the track toward the faulty robotic handling device, moving the fall restraint device so that the faulty robotic handling device is located within the working space of the gantry. Once in the working space, the worker can move the bridging member 682 along the rail 684 so that the bridging member 682 is positioned directly above the robotic handling device 30, allowing the winch attached to the bridging member 682 to engage with the robotic handling device, more specifically with the hoist element of the robotic handling device (see Figure 13). The winch can be used to right the overturned robotic handling device on the track, or to move the faulty robotic handling device away from the "living" lattice structure to a safe location to prevent a working robotic handling device from colliding with the faulty robotic handling device—which is usually at the edge of the lattice structure.

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

[0079] In another embodiment shown in Figure 24, the fall restraint device 860 comprises a wedge-shaped frame structure. Specifically, the frame 862 comprises a front end 870 and an opposing rear end 880, the rear end 880 being wider than the front end 870. The rear end 880 of the frame is also taller than the front end 870. Furthermore, the rear end 880 provides an opening 882 into the open internal space 866. The opening 882 allows a worker positioned within the open internal structure 866 to take longer, more natural strides when moving around the grid structure, and the rear end 880 is positioned in front of the worker. Furthermore, the opening 882 allows the worker to more easily access parts of the grid structure and perform repair work. The opening 882 is also configured to receive additional fall restraint devices. Multiple fall restraint devices can be nested together by pushing the front end of a second fall restraint device into an opening at the rear end of a first fall restraint device. This allows multiple fall prevention devices to be stored in a small area.

[0080] Figure 25 shows four fall restraint devices, each having a wedge-shaped frame as shown in Figure 24, nested within each other. The first fall restraint device 860 is positioned in front of the nesting, and the front end 915 of the second fall restraint device 910 is pushed into an opening at the rear end 880 of the first fall restraint device 860 so that it is positioned near the front end 870 of the first fall restraint device 860 within the internal open space 866. The wedge-shaped frame means that the frame converges toward the front end. Therefore, the front end 870 of frame 886 is both narrower and lower than the rear end 880 of the frame. The third fall restraint device 920 and the fourth fall restraint device 930 have frames of the same shape as the first fall restraint device 860 and the second fall restraint device 910, such that the third fall restraint device 920 can be pushed into an opening at the rear end 918 of the second fall restraint device 910, and the fourth fall restraint device 930 can be pushed into an opening at the rear end 928 of the third fall restraint device. In this way, the first fall restraint device 860, the second fall restraint device 910, the third fall restraint device 920, and the fourth fall restraint device 930 can be operated as a set of fall restraint devices. Further fall restraint devices may be added to the set of fall restraint devices shown in Figure 25. Other frame shapes with a rear end that is wider than the front end may also be used; for example, the frame may be L-shaped.

[0081] As shown in Figure 24, the opening 882 at the rear end 880 of the frame is defined by a pair of spaced vertical members 888, which are separated and held apart by a spacer 886 connected to the distal ends of the pair of vertical members 888. The spacer 886 defines the top of the opening 882, while the pair of vertical members 888 defines the sides of the opening 882. The bottom of the opening 882 is defined by the grid structure when installed on a grid, or by the ground when installed outside a grid. Thus, the fall restraint device 860 does not have a rear wheel assembly as present in other embodiments. The dimensions of the opening 882 are such that the front end of the frame of another fall restraint device can fit into the opening 882 and nest inside the open internal structure 866 of the fall restraint device.

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

[0083] The fall restraint device 860 is movable by a rolling assembly 872 at the front end 870 of the frame. The rolling assembly 872 is attached to the lower portion 878 of the frame. To guide the fall restraint device, the worker pivots or tilts the frame around the rolling assembly 872. For example, to move the fall restraint device on a grid structure, the worker lifts the rear end 880 of the frame and pivots the fall restraint device around a vertical axis passing through the rolling assembly 872. Thus, the worker moves the fall restraint device in a manner similar to moving a wheelbarrow. The width of the front rolling assembly is such that the worker can tilt the fall restraint device onto the rolling assembly of the fall restraint device; for example, the rolling assembly may be wider than twice the diagonal length across the grid opening. Figure 24 shows that the rolling assembly 872 comprises two rollers. However, the rolling assembly 872 may have any number of rollers, for example, one roller, three rollers, or four rollers. Using more rollers makes it easier to guide the fall restraint device. Alternatively, the rolling assembly 872 may have wheels. The rolling assembly 872 is a freewheel in the sense that the rollers or wheels rotate freely. Alternatively, the fall restraint device may have no rollers at all, and instead have skates similar to a pair of skates 892 extending longitudinally along the length of the frame, in addition to a pair of skates 892, at the front end 870 of the frame, as shown in and discussed in Figure 24.

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

[0085] Although not shown in Figure 24, the fall restraint device 860 may include an additional beam to which a hoist or hook can be attached, positioned laterally parallel to the spacer 886 but at a lower height than the spacer in the upper portion 864 of the frame. The hoist or hook may be used to lift a fallen handling device 30 from the grid structure. In this configuration, the handling device can be lifted from the grid structure into the internal open structure 866 without destabilizing the fall restraint device 860. Alternatively, two fall restraint devices of this embodiment may be connected to each other by a suspension beam 594 or suspension frame member, such as that shown in Figure 18, to suspend a faulty robotic handling device above the track.

[0086] Various modifications of exemplary embodiments that are apparent to those skilled in the art within the scope of the invention as described in the claims are considered to fall within the scope of the invention. For example, various rolling assemblies can be used without departing from the scope of the invention as described in the claims. For example, various combinations of wheels and / or rollers can be used for rolling assemblies. These include, but are not limited to, elongated rollers for a plurality of wheels rotatable around a common axis of rotation.

[0087] Further features of the embodiments shown in Figures 19 to 23 include the following:

[0088] 1. A fall prevention device for manually moving on a grid structure comprising: a first set of parallel tracks; a second set of parallel tracks extending laterally to the first set in a substantially horizontal plane and arranged in a grid pattern comprising multiple grid cells; and each grid cell having a length in the range of 600 to 800 mm and a width in the range of 400 to 600 mm such that it defines a grid opening defined by adjacent pairs of tracks in the first set of parallel tracks and adjacent pairs of tracks in the second set of parallel tracks; A gantry comprising at least one horizontal beam supported at each end by multiple legs to define a workspace for one or more workers confined within the workspace. Equipped with, A fall restraint device is attached to a rolling assembly, which is a gantry that allows a user confined within the workspace to manually move the fall restraint device in any direction on the grid structure, the rolling assembly comprising a front wheel assembly and a rear wheel assembly, the front and rear wheel assemblies extending laterally and outward on both sides of at least one horizontal beam such that each wheel assembly of the front and rear wheel assemblies contacts different tracks of the grid structure.

[0089] 2. The fall suppression device according to feature 1, wherein a plurality of legs at each end of at least one horizontal beam are provided with front and rear wheel assemblies, respectively.

[0090] 3. The fall suppression device according to feature 1 or 2, wherein a plurality of legs at each end of at least one horizontal beam comprises pairs of legs.

[0091] 4. The fall suppression device according to feature 3, wherein pairs of legs at each end of at least one horizontal beam are parallel or converge upward.

[0092] 5. The fall restraint device according to feature 3 or 4, further comprising a pocket fixed between a pair of legs at one or both ends of at least one horizontal beam.

[0093] 6. A fall prevention device according to any one of features 3 to 5, further comprising at least one handle in the working space, the at least one handle extending between a pair of legs at the front and / or rear of the gantry.

[0094] 7. A fall suppression device according to any one of features 1 to 6, wherein at least a portion of the front and rear wheel assemblies is pivotably attached to at least one of a plurality of legs at each end of at least one horizontal beam, so that at least a portion of the front and rear wheel assemblies is rotatable from a storage configuration in which at least a portion of the front and rear wheel assemblies is lifted from the track to a deployed configuration in which at least a portion of the front and rear wheel assemblies is engaged with the track.

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

[0096] 9. A fall restraint device according to any one of features 1 to 8, wherein at least a portion of the front and rear wheel assemblies comprises a pair of wheels arranged laterally on both sides of at least one horizontal beam such that the length of the front and rear wheel assemblies exceeds a length corresponding to the diagonal length across the lattice opening.

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

[0098] 11. The fall restraint device according to feature 10, wherein each of the three sets of wheels comprises multiple wheels arranged so as to be rotatable around a common axis.

[0099] 12. A fall prevention device according to any one of features 1 to 11, wherein the front wheel assembly is isolated from the rear wheel assembly by an inter-axle distance having a length exceeding the length across at least one grid cell.

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

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

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

[0103] 16. The fall restraint device according to feature 15, wherein at least one bridging member is movable along the longitudinal length of a pair of horizontal parallel beams.

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

[0105] 18. A fall restraint device according to any one of features 1 to 17, wherein each of a plurality of legs at each end of at least one horizontal beam is extendable to raise at least one horizontal beam relative to a rolling assembly.

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

[0107] 20. The fall restraint device according to feature 19, wherein one or more bracing members comprise first and second bracing members, the first and second bracing members being arranged such that one of the parallel support beams in the K-brace is connected to one or more legs at the front and rear of the gantry. The following is a direct reproduction of the claims as originally filed. [1] A fall prevention device (60) for manual movement on a grid structure, the grid structure comprising: a first set of parallel tracks; and a second set of parallel tracks extending laterally to the first set of parallel tracks in a substantially horizontal plane and arranged in a grid pattern comprising a plurality of grid cells, wherein each grid cell has a length in the range of 600 to 800 mm and a width in the range of 400 to 600 mm such that it defines a grid opening defined by adjacent pairs of tracks in the first set of parallel tracks and adjacent pairs of tracks in the second set of parallel tracks, the fall prevention device (60) is, A frame (62) having an upper portion (64) and a lower portion (70), wherein the upper portion is configured to restrain at least one worker, A movable assembly (72) is attached to the lower portion (70) of the frame, wherein the movable assembly is configured to move the frame (62) on the grid structure, A fall restraint device (60) weighing less than 100 kg is provided so that the frame (62) can be manually lifted from the lattice structure by at least one worker who is restrained to the upper portion (64) of the frame (62). [2] The fall suppression device according to [1], wherein the weight of the frame (62) is less than 60 kg. [3] The fall suppression device according to [1] or [2], wherein the weight of the frame (62) is less than 30 kg. [4] The fall suppression device according to any one of items [1] to [3], wherein the fall suppression device (60) weighs less than 100 kg. [5] The fall suppression device according to any one of [1] to [4], wherein the movable assembly (72) comprises a rolling assembly (172) and / or a sliding assembly (892). [6] The fall suppression device according to [5], wherein the sliding assembly (892) comprises one or more skates. [7] The fall prevention device according to [6], wherein one or more skates extend longitudinally along the length of the frame. [8] The fall suppression device according to any one of [1] to [7], wherein the rolling assembly (172) comprises a front wheel assembly (173a) and a rear wheel assembly (173b), and each wheel assembly of the front wheel assembly and the rear wheel assembly extends across the at least one grid cell so as to contact different tracks of the grid structure, allowing the fall suppression device to move in any direction on the grid structure. [9] The fall suppression device according to [8], wherein the length of each wheel assembly of the front wheel assembly (173a) and the rear wheel assembly (173b) exceeds the length corresponding to the diagonal length across the lattice opening.

[10] The fall suppression device according to [8] or [9], wherein the wheel assemblies of the front wheel assembly (173a) and / or the rear wheel assembly (173b) are each equipped with at least one long roller (80).

[11] The fall suppression device according to [8] or [9], wherein the wheel assemblies of the front wheel assembly (173a) and the rear wheel assembly (173b) are equipped with a plurality of wheels, and the plurality of wheels are arranged to be rotatable around a common axis.

[12] The fall suppression device according to

[11] , wherein each of the plurality of wheels is separated by a distance less than the width of the tracks of the first set of parallel tracks and the second set of parallel tracks.

[13] The fall suppression device according to any one of [8] to

[12] , wherein the front wheel assembly (173a) is isolated from the rear wheel assembly (173b) by an inter-axle distance having a length exceeding the length across at least one grid cell.

[14] The fall prevention device according to

[11] or

[13] , wherein the plurality of wheels are attached to at least one shaft.

[15] The fall suppression device according to any one of [5] to

[14] , wherein the rolling assembly (72) extends outward from the upper portion (64).

[16] The fall suppression device according to any one of [8] to

[15] , wherein the wheel assemblies of the front wheel assembly (173a) and the rear wheel assembly (173b) extend laterally with respect to the longitudinal direction of the upper portion.

[17] The fall restraint device according to any one of [1] to

[16] , wherein the frame (62) comprises an assembly of frame members (74) arranged to form an internal open structure (66) for accommodating the at least one worker, who is restrained by the upper portion (64), by hand walking on the grid structure in an open internal space.

[18] The fall prevention device according to

[17] , wherein the upper portion comprises a pair of parallel side frame members, the parallel side frame members being connected to each other by at least one end frame member substantially perpendicular to the parallel side frame members to define a handle (680), the handle being supported above the wheel assembly by a plurality of supports so that at least one worker can keep the handle in their hand as they walk on the lattice structure.

[19] The fall prevention device according to

[18] , wherein the upper portion of the frame comprises a suspension frame member or suspension beam (96) extending over a pair of parallel side frame members for supporting the at least one worker.

[20] The fall suppression device according to any one of [1] to

[19] , wherein the lower portion (70) of the frame comprises a subframe (78) for supporting the movable assembly.

[21] The fall suppression device according to any one of

[17] to

[20] , wherein the assembly of frame members comprises at least one bracing member connecting parallel frame members.

[22] The fall suppression device according to any one of

[17] to

[21] , wherein the upper portion comprises an H-frame assembly.

[23] The fall suppression device according to any one of [1] to [5] to

[17] , wherein the upper portion (64) of the frame comprises an A-frame and a suspension frame member (96) extending between the A-frames for supporting the at least one worker.

[24] The fall restraint device according to any one of [1] to

[23] , further comprising at least one carabiner for restraining the at least one worker to the upper portion (64) of the frame.

[25] The fall suppression device according to any one of [1] to

[24] , further comprising a fall-prevention inertia reel (94) connected to the upper portion (64) of the frame.

[26] The fall suppression device according to any one of [1] to

[25] , further comprising a winch (94) connected to the upper portion of the frame.

[27] The fall suppression device according to any one of [1] to

[26] , further comprising a traction member (106) for connecting to or interacting with a cargo handling device (30) on the grid structure.

[28] The fall suppression device according to

[27] , wherein the towing member (106) is a towing rod having one end connected to the upper portion (64) of the frame and the other end connected to or interacting with a cargo handling device (30).

[29] The fall restraint device according to any one of [1] to

[28] , wherein the frame is provided with one or more anti-tipping mechanisms (506) on both sides of the frame to prevent the fall restraint device from tipping over on the lattice structure, and the one or more anti-tipping mechanisms are provided with a continuous stabilizing surface extending between the front wheel assembly (173a) and the rear wheel assembly (173b).

[30] The fall suppression device according to

[29] , wherein the continuous stabilizing surface comprises one or more tethers stretched between the front wheel assembly and the rear wheel assembly.

[31] The fall restraint device according to any one of [1] to

[30] , wherein the frame has a front end (870) and an opposing rear end (880), the opposing rear end being wider than the front end, and having an opening such that a second fall restraint device can be nested inside the fall restraint device.

[32] i) First fall suppression device (506a), ii) A second fall suppression device (506b), iii) comprising a suspension beam or suspension frame member (594) connecting the first fall suppression device and the second fall suppression device to each other, An assembly in which each of the first and second fall suppression devices is a fall suppression device described in any one of items [1] to

[31] .

[33] The assembly according to

[32] , wherein the suspension beam or suspension frame member (594) is attached to the upper portion of the frame of the first and second fall suppression devices.

[34] The assembly according to

[33] , wherein the suspension beam or suspension frame member (594) is attached to the upper portion of the first and / or second fall restraint device by at least one pivotable joint.

[35] The assembly according to

[33] or

[34] , wherein the winch is attached to the suspension beam or the suspension frame member.

Claims

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

2. The fall suppression device according to claim 1, wherein the movable assembly (72) comprises a rolling assembly (172) and / or a sliding assembly (892).

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

4. The fall suppression device according to claim 3, wherein the length of each wheel assembly of the front wheel assembly (173a) and the rear wheel assembly (173b) exceeds the length corresponding to the diagonal length across the lattice opening.

5. The fall suppression device according to claim 3 or 4, wherein the wheel assemblies of the front wheel assembly (173a) and / or the rear wheel assembly (173b) are each equipped with at least one long roller (80).

6. The fall suppression device according to claim 3 or 4, wherein the wheel assemblies of the front wheel assembly (173a) and the rear wheel assembly (173b) each comprise a plurality of wheels, and the plurality of wheels are arranged to be rotatable around a common axis.

7. The fall suppression device according to claim 1 or 2, wherein the front wheel assembly (173a) is isolated from the rear wheel assembly (173b) by an inter-axle distance having a length exceeding the length across at least one grid cell.

8. The fall suppression device according to claim 2 or 3, wherein the rolling assembly (72) extends outward from the upper portion (64).

9. The fall suppression device according to claim 3, wherein the wheel assemblies of the front wheel assembly (173a) and the rear wheel assembly (173b) extend laterally with respect to the longitudinal direction of the upper portion.

10. The fall prevention device according to claim 1 or 2, wherein the frame (62) comprises an assembly of frame members (74) arranged to form an internal open structure (66) for accommodating at least one worker, restrained by the upper portion (64), so that the worker can manually walk on the grid structure within the open internal space.

11. The fall prevention device according to claim 10, wherein the upper portion comprises a pair of parallel side frame members, the parallel side frame members being connected to each other by at least one end frame member substantially perpendicular to the parallel side frame members to define a handle (680), and the handle being supported above the wheel assembly by a plurality of supports so that at least one worker can hold the handle in their hand while walking on the lattice structure.

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

13. The fall suppression device according to claim 10, wherein the assembly of frame members comprises at least one bracing member connecting parallel frame members.

14. The fall suppression device according to claim 1 or 2, further comprising a winch (94) connected to the upper portion of the frame.

15. The fall suppression device according to claim 1 or 2, wherein the frame further comprises a traction member (106) for connecting to or interacting with a cargo handling device (30) on the grid structure.

16. The fall suppression device according to claim 1 or 2, wherein the frame is provided with one or more anti-tipping mechanisms (506) on both sides of the frame to prevent the fall suppression device from tipping over on the lattice structure, and the one or more anti-tipping mechanisms are provided with a continuous stabilizing surface extending between the front wheel assembly (173a) and the rear wheel assembly (173b).

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

18. i) First fall suppression device (506a), ii) Second fall suppression device (506b), iii) comprising a suspension beam or suspension frame member (594) connecting the first fall suppression device and the second fall suppression device to each other, An assembly in which each of the first and second fall suppression devices is a fall suppression device according to claim 1 or 2.

19. The assembly according to claim 18, wherein the suspension beam or suspension frame member (594) is attached to the upper portion of the frame of the first and second fall suppression devices.

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

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