Adjustable spacer

Abstract

An adjustable spacer (80) for adjusting a spacing between two objects, comprising: i) a first rotatable indexing mechanism (82), the first rotatable indexing mechanism (82) configured to rotate in a first rotational direction about an axis of rotation; and ii) a second rotatable indexing mechanism (84), the second rotatable indexing mechanism (84) configured to rotate in a second rotational direction about an axis of rotation, the second rotational direction being opposite to the first rotational direction, wherein the first and second rotatable indexing mechanisms The indexing mechanisms (82, 84) are configured to change the length of the adjustable spacer (80) along the axis of rotation by a first length when the first rotatable indexing mechanism (82) rotates a given angular rotation in a first rotational direction about the axis of rotation, and to change the length of the adjustable spacer (80) along the axis of rotation by a second length when the second rotatable indexing mechanism (84) rotates the same given angular rotation in a second direction about the axis of rotation, the second length being the same or different from the first length of the adjustable spacer (80).

Description

Technical Field

[0001] The present invention relates to the field of adjustable spacers for changing the distance between two objects. More specifically, it relates to the application of a grid framework structure for supporting a remotely operated handling device for handling storage containers or vessels stacked within a grid framework structure.

Background Art

[0002] A storage system 1 comprising a three-dimensional storage grid framework structure in which storage containers / vessels are stacked on top of each other therein is well-known. PCT Publication No. WO2015 / 185628A (Ocado) describes a known storage and fulfillment or distribution system in which a stack of containers or vessels is arranged within a grid framework structure. The containers or vessels are accessed by a remotely operated handling device on a track located at the top of the grid framework structure. This type of system is schematically illustrated in FIGS. 1 to 3 of the accompanying drawings.

[0003] As shown in FIGS. 1 and 2, stackable containers known as storage containers or vessels 10 are stacked on top of each other to form a stack 12. The stack 12 is arranged within a three-dimensional grid framework structure 14 in a warehouse or manufacturing environment. The grid framework is composed of a plurality of storage columns or grid columns. Each grid of 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 view showing the stack 12 of containers 10 arranged within the framework structure 14. Each container 10 typically holds a plurality of product items (not shown), and the product items within the container 10 may be the same or of different product types depending on the application.

[0004] In detail, the three-dimensional grid framework structure 14 comprises a plurality of vertical upright members or upright members or upright columns 16 supporting horizontal grid members 18, 20. A first set of parallel horizontal grid members 18 is arranged perpendicular to a second set of parallel horizontal grid members 20 to form a grid structure or grid 15 comprising a plurality of grid cells 17. The grid cells have openings that allow a material handling device to lift a container or storage container through the grid cell. In the grid structure, the first set of parallel horizontal grid members 18 intersects with the second set of parallel horizontal grid members at nodes. The grid structure is supported by upright members 16 at each node or at the points where the grid members intersect, thereby the upright members are interconnected at their upper ends by the intersecting grid members. The grid members 16, 18, 20 are typically manufactured from metal and are typically welded together, bolted together, or a combination of both. The storage containers 10 are stacked between the upright members 16 of the grid framework structure 14, so that the upright members 16 prevent the stack 12 of containers 10 from moving horizontally and guide the vertical movement of the storage containers 10.

[0005] The top level of the grid framework structure 14 includes rails 22 arranged in a grid pattern across the top of the stack 12. Referring further to Figure 3, the rails 22 support multiple load handling devices 30. A first set 22a of parallel rails 22 guides the movement of the robotic load handling devices 30 in a first direction (e.g., the X direction) across the top of the grid framework structure 14, and a second set 22b of parallel rails 22, 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 22 enable the robotic load handling devices 30 to move laterally in two dimensions in the horizontal XY plane, and as a result, the load handling devices 30 can be moved to an upper position on any of the stacks 12.

[0006] A known load-handling device, also known as a bot 30, comprising a body 32 and shown in Figures 4 and 5, is described in PCT Patent Publication No. WO2015 / 019055 (Ocado), incorporated herein by reference, where each load-handling device 30 covers only a single grid space or grid cell of a grid framework structure 14. Here, the load-handling device 30 comprises a wheel assembly comprising a first set of wheels 34, consisting of a pair of wheels at the front of the body 32 and a pair of wheels 34 at the rear of the vehicle 32, for engaging with a first set of rails or tracks that guide the movement of the device in a first direction, and a second set of wheels 36, consisting of a pair of wheels 36 at each side of the vehicle 32, for engaging with a second set of rails or tracks that guide the movement of the device in a second direction. Each set of wheels is driven to allow the vehicle to move along the rails in the X and Y directions, respectively. The wheels of one or both sets can be moved vertically so as to lift the wheels of each set away from their respective rails, thereby allowing the vehicle to move in a desired direction, for example, in the X or Y direction, on the grid structure.

[0007] The cargo handling equipment 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 in the form of a lifting frame. The lifting device comprises a set of vertically extending lifting tethers 38, which are connected near or to the four corners of the lifting frame 39, also known as the grabber device, for releasably connecting to the storage container 10 (one tether near each of the four corners of the grabber device). The grabber device 39 is configured to releasably grip the top of the storage container 10 and lift it from the 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 known as a container receiving recess 41 located in the lower part. 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 in the recess, the container is lifted away from the rails below, and as a result, the vehicle can move laterally to different locations. Upon reaching a target location, e.g., another stack, an access point in a storage system, or a conveyor belt, the container may be lowered from the container receiving section and released from the grabber device. The container receiving space may comprise a cavity or recess located within the vehicle body, for example, as described in WO2015 / 019055 (Ocado Innovation Limited). Alternatively, the vehicle body of the loading / unloading device may comprise a cantilever, as taught in WO2019 / 238702 (Autostore Technology AS), in which case the container receiving space is located below the cantilever of the loading / unloading device. In this case, the grabber device is lifted by the cantilever so that it can engage with the container and lift it from the stack into the container receiving space below the cantilever.

[0009] To construct a grid framework structure in the art, multiple vertical upright members are individually positioned on the ground in a grid pattern. Subgroups of vertical upright members are braced together to provide structural stability to the grid framework structure. At their upper ends, the vertical upright members are interconnected by grid members such that the grid members have the same grid pattern as the vertical upright members; that is, the vertical upright members support the grid members at the points where the grid members intersect in the grid pattern. For the purposes of explaining the present invention, the points where grid members intersect or are interconnected, or the joints, constitute the nodes of the grid structure and correspond to the regions where the grid structure is supported by the vertical upright members. The resulting grid framework structure can be considered as a self-supporting linear assembly of upright columns supporting a grid formed from intersecting horizontal grid members, i.e., a four-walled framework.

[0010] When one or more handling devices operate on a grid structure, it is crucial that the grid structure is substantially horizontal, as this affects the direction in which containers or storage vessels are lifted into the correct position through the grid cells. If the level of the grid structure is misaligned from the horizontal plane, this not only puts a strain on one or more handling devices moving along the grid structure but also causes the lifting tether to swing to one side depending on the direction of the misalignment, and in the worst-case scenario, can cause the grabber device to fail to engage with the container or storage vessel below. This problem is exacerbated when the floor on which the grid framework structure is installed is uneven. Conventionally, the level of a grid structure attached to vertical upright members is adjusted by having adjustable leveling feet at the base or lower end of the vertical upright members to compensate for uneven floors. The level of the grid structure is adjusted by experimentally adjusting the adjustable leveling feet at the base of one or more vertical upright members within the grid framework structure, and checking the level of the grid structure at the top of the grid structure each time an adjustment is made, for example, by using a suitable leveling measuring instrument, such as a laser level, which is commonly known in the art. Often, this requires the use of specialized tools to rotate a screw shaft in order to change the height of the adjustable leveling feet. However, the problem with this approach is that the separation between the adjustable feet and the grid structure, which may exceed the height of 21 containers or storage containers, makes incremental adjustment of the level of the grid structure at the top level difficult and time-consuming due to this separation. Furthermore, given the weight and variable forces that the grid framework structure is continuously subjected to during its operation, the grid structure, which was initially flat, may become uneven over time, requiring periodic adjustment of the level of the grid structure. This requires the user to identify uneven areas within the grid structure and adjust the base of the grid framework structure, which involves adjusting one or more adjustable leveling feet at the base of one or more vertical upright members and periodically checking the level of the grid structure at the top.The time and effort required to periodically check the level of the grid structure at the top of the structure and to adjust the adjustable leveling feet at the base of the grid framework structure is problematic because the grid level check is not actually performed in real time where the adjustments are made.

[0011] US10,660,438 (Autostore Technology AS) attempts to mitigate this problem by providing a self-adjusting leveling foot with a base having a raised hollow column. A spring is located within the hollow column. A movable upper part engages with the column and is movable vertically against the force of the spring. The upper part is slightly larger than the column such that when the spring is compressed, the sidewalls of the upper part overlap the sides of the column. The bottom edges of the sidewalls of the upper part are angled. A substantially U-shaped wedge device is provided, which can be pressed and engage with the base, so that the U-shaped legs engage with each side of the column. The upper surfaces of the legs of the U-shaped device are angled in the form of a wedge, and the angle of the upper surface of the legs corresponds to the angle of the sidewalls of the movable upper part. In this way, the sidewalls of the upper part rest on the angled upper surface of the legs of the wedge device when the upper part is under load. However, a problem with this grid leveling mechanism is that if the floor sinks, the U-shaped wedge device needs to be pushed further forward to achieve a stable base for the support. This also necessitates measuring the grid level at the top.

[0012] Therefore, an adjustable grid leveling mechanism is needed that allows for easy adjustment of the grid structure's level.

[0013] This application claims priority to UK Patent Application No. 2118393.4, filed on 17 December 2021, the contents of which are incorporated herein by reference. [Overview of the project]

[0014] In addition to having the advantage of adjusting the level of a grid structure, the present invention has a broader range of applications for adjusting the spacing between any two objects. Therefore, the present invention provides an adjustable spacer for adjusting the spacing between two objects, and this adjustable spacer is i) A first rotatable indexing mechanism configured to rotate in a first rotational direction about a rotation axis, ii) A second rotatable indexing mechanism configured to rotate in a second rotational direction about a rotation axis, wherein the second direction is opposite to the first direction, The first and second rotatable indexing mechanisms are configured such that when the first rotatable indexing mechanism rotates about the axis of rotation by a given angular rotation in a first rotational direction, the length of an adjustable spacer along the axis of rotation changes by a first length, and when the second rotatable indexing mechanism rotates about the axis of rotation by the same given angular rotation in a second rotational direction, the length of an adjustable spacer along the axis of rotation changes by a second length, the second length being the same as or different from the first length.

[0015] To provide coarse and fine level adjustments to the length of the adjustable spacer, the first length is optionally shorter than the second length. The first and second rotatable indexing mechanisms are mounted coaxially such that their respective axes of rotation are coaxial, i.e., both the first and second rotatable indexing mechanisms can rotate about the same axis of rotation. For example, the first and second directions of rotation about the axis of rotation of the first and second rotatable indexing mechanisms can be clockwise and counterclockwise, respectively. Each rotatable indexing mechanism of the first and second rotatable indexing mechanisms is configured to rotate in one direction about the axis of rotation, but is prevented from rotating in the opposite rotatable direction. In this way, the first rotatable indexing mechanism can be configured to rotate the second indexing mechanism, thus providing the advantage of having a single point of engagement with the adjustable spacer to rotate both the first and second rotatable indexing mechanisms about their respective first and second directions of rotation.

[0016] To allow rotation in both the first and second rotational directions from a single engagement point with the adjustable spacer, the adjustable spacer is optionally provided. i) A first cam member rotatable about a rotation axis, having a first fitting surface, ii) A second cam member that is rotatable about a rotation axis and has a second fitting surface, iii) An intermediate cam member interposed between a first cam member and a second cam member, which is rotatable about a rotation axis and has a first intermediate fitting surface for engaging with a first fitting surface to provide a first rotatable indexing mechanism, and a second intermediate fitting surface for engaging with a second fitting surface to provide a second rotatable indexing mechanism, Each of the first intermediate fitting surface and each of the first fitting surfaces has an outer shape or contour with a variable thickness that extends circumferentially or changes in thickness such that when the first cam member rotates in a first rotational direction about the axis of rotation relative to the intermediate cam member by a given angular rotation, the length of the adjustable spacer along the axis of rotation changes by a first length. Each of the second intermediate fitting surface and each of the second fitting surfaces has an outer shape or contour with a variable thickness that extends circumferentially or changes in thickness such that when the intermediate cam member rotates in a second rotational direction opposite to the first rotational direction about the axis of rotation relative to the second cam member by the same given angular rotation, the length of the spacer along the axis of rotation changes by a second length.

[0017] When the adjustable spacer of the present invention is used to adjust the level of a grid structure, the thickness of the outer shape or profile is equal to the height of the outer shape or profile of the mating surface.

[0018] Preferably, the outer shape or contour of the first intermediate fitting surface and the first fitting surface are configured to prevent the intermediate cam member from rotating in a second rotational direction relative to the first cam member, or to prevent the first cam member from rotating in a second rotational direction relative to the intermediate cam member, and the outer shape or contour of the second intermediate fitting surface and the second fitting surface are configured to prevent the intermediate cam member from rotating in a first rotational direction relative to the second cam member.

[0019] For example, the first rotatable indexing mechanism may be a first ratchet mechanism, and the second rotatable indexing mechanism may be a second ratchet mechanism, so that each of the first intermediate mating surface and the first mating surface has a plurality of teeth to provide the first ratchet mechanism, and each of the second intermediate mating surface and the second mating surface has a plurality of teeth to provide the second ratchet mechanism. Optionally, each of the plurality of teeth of the first and second indexing mechanisms is wedge-shaped.

[0020] By having first and second rotatable indexing mechanisms rotatable about the same axis of rotation via a single point of engagement with the adjustable spacer, the adjustable spacer according to the present invention can be used to provide fine-level adjustment of the length of the adjustable spacer in a first rotational direction about the axis of rotation, and coarse-level adjustment of the length of the adjustable spacer in a second rotational direction about the axis of rotation. In other words, reverse rotation of the first and second rotatable indexing mechanisms provides coarse-level and fine-level adjustment of the length of the adjustable spacer, and thus allows for independent coarse and fine adjustments. Multiple teeth allow rotation in one rotational direction about the axis of rotation, but rotation in the other rotational direction is locked because the multiple teeth engage. For example, multiple teeth on the mating surface of the first cam member move over multiple teeth on the intermediate cam member in the first rotational direction about the axis of rotation, but engage when attempting to rotate in the second rotational direction.

[0021] The length of the adjustable spacer is preferably adjustable by configuring each of the mating surfaces of the first intermediate mating surface and the first mating surface to have at least one first ramp, which is inclined such that when the first cam member rotates relative to the intermediate cam member by a given angular rotation in a first rotational direction, the length of the adjustable spacer along the axis of rotation changes by a first length; and each of the mating surfaces of the second intermediate mating surface and the second mating surface to have at least one second ramp, which is inclined such that when the intermediate member rotates relative to the second cam member by a given angular rotation in a second rotational direction, the length of the adjustable spacer along the axis of rotation changes by a second length. The terms “first ramp” and “first type of ramp” are used interchangeably throughout this application. Similarly, the terms “second ramp” and “second type of ramp” are used interchangeably throughout this application.

[0022] To ensure the stability of the adjustable spacer, more specifically, the stability of each of the first cam member, the second cam member, and the intermediate cam member when mounted together such that their respective axes of rotation are coaxial, at least one first and / or second ramp comprises three or more ramps. Three ramps provide a “tripod” effect on the mating surface. However, the present invention is not limited to three ramps, and any number of ramps may be used. Alternatively, to change the length of the adjustable spacer when either one of the first and second cam members rotates around the axis of rotation relative to the intermediate cam member, the outer shape or contour of the first and second mating surfaces and the first and second intermediate surfaces are helical.

[0023] To provide coarse and fine adjustment of the adjustable spacer for a given angular rotation around the axis of rotation, at least one first ramp is shallower than at least one second ramp. The angle the ramp makes with the underside of the cam member controls the length adjustment of the adjustable spacer. A steeper ramp provides coarser adjustment of the length of the adjustable spacer. Conversely, a shallower or gentler ramp provides finer adjustment of the length of the adjustable spacer. Similarly, if the outer shape of the mating surface is helical, the steepness of the helical shape controls the separation of the cam member when rotated around the axis of rotation, and therefore the length of the adjustable spacer.

[0024] To independently provide both coarse and fine level adjustments, the first and second intermediate mating surfaces optionally cooperate with the first and second mating surfaces, respectively, such that when the first cam member rotates in a second rotational direction about the axis of rotation, the intermediate cam member rotates in a second rotational direction relative to the second cam member. Thus, when the first cam member rotates in a first rotational direction about the axis of rotation, the first cam member rotates relative to the intermediate cam member, and when the first cam member rotates in a second rotational direction (opposite to the first rotational direction), the intermediate cam member rotates in a second rotational direction relative to the second cam member. This is possible because the mating surface between the first cam member and the intermediate cam member provides a first ratchet mechanism, and the mating surface between the intermediate cam member and the second cam member provides a second ratchet mechanism, the first ratchet mechanism provides rotation of the first cam member relative to the intermediate cam member in a first rotational direction but not in a second rotational direction, and the second ratchet mechanism provides rotation of the intermediate cam member relative to the second cam member in a second rotational direction but not in the first rotational direction. Preferably, the second cam member is fixed so that the intermediate cam member rotates relative to the second cam member in a second rotational direction about the axis of rotation (i.e., rotation is prevented).

[0025] To provide rotation of the first and second indexing mechanisms by the rotation of the first cam member, the first cam member optionally comprises a plurality of teeth extending outward or beyond its circumference for engaging with a pinion. The plurality of teeth extending around the first cam member enable rotation of the first cam member about its axis of rotation by engaging with an external adjustment tool. Preferably, the adjustment tool is a pinion that meshes with the plurality of teeth around the first cam member and rotates the first cam member about its axis of rotation in first and second rotational directions, thereby providing both coarse and fine adjustment of the length of the adjustable spacer.

[0026] To enable the first and second cam members and the intermediate cam member to rotate about their respective rotation axes that are substantially coaxial, optionally, each of the first cam member and the intermediate cam member is ring-shaped. For the purposes of the present invention, the term "ring-shaped" is construed to include any shaped plate or body having holes (typically in the center) that are commonly used to distribute the load across the cam member. Preferably, the ring-shaped cam member is an annular plate or an annulus, such as a washer.

[0027] To provide an indication of the length of an adjustable spacer each time the first cam member is rotated in either the first or second rotational direction, optionally, each of the first and second cam members and the intermediate cam member comprises at least one marker for measuring the position of any one of the first cam member and / or the intermediate cam member and / or the second cam member relative to each other. For example, the angular position of the first cam member relative to the second cam member can provide an indication of the angular rotation of the first cam member relative to the second cam member. Different angular rotations of the first cam member relative to the second cam member can be calibrated to different lengths of the adjustable spacer. The angular position of the first cam member relative to the intermediate cam member can be determined by markers on the first and intermediate cam members. The same principle applies with respect to the angular position of the intermediate cam member relative to the second cam member.

[0028] To adjust the level of the grid structure of a three-dimensional grid framework structure comprising a plurality of vertical uprights supporting a grid structure, the adjustable spacer of the present invention is applied, and the present invention provides an adjustable grid leveling mechanism for adjusting the level of the grid structure of the grid framework structure. The plurality of vertical uprights can form part of a prefabricated panel braced by one or more brace members extending between the plurality of vertical uprights. The grid framework structure can be formed from a plurality of prefabricated panels arranged in a grid pattern to form a support framework structure. The grid structure is supported or attached on a support framework structure to form a grid framework structure according to an example of the grid framework structure of the present invention. The grid structure comprises a plurality of grid members arranged in a grid pattern comprising a plurality of grid cells. The adjustable grid leveling mechanism comprises a base for attachment to the upper or upper end portion of a vertical upright, a mounting head for attachment of the grid structure thereon, and an extensible section interposed between the base and the mounting head such that the mounting head is movable relative to the base, the extensible section comprising the adjustable spacer according to the present invention. Optionally, the base comprises a plug or insertion portion for attachment to the vertical upright. The plug portion may be integrated with a second cam member for attachment of the second cam member to the vertical upright. The plug portion enables the first cam member to rotate in a first rotational direction relative to an intermediate cam member and the intermediate cam member to rotate in a second rotational direction relative to the second cam member by a single engagement point with the first cam member, thereby fixing the second cam member to the vertical upright.

[0029] To interpose an adjustable spacer between the grid structure and one or more of the vertical upright members, the mounting head optionally comprises a rail cross member having four right-angled ends, each of which is configured to support a separate grid member in the grid pattern. The rail cross support is configured to connect grid members extending in first and second directions to the vertical upright members. More specifically, the vertical upright members are interconnected at their upper ends, i.e., at the junctions where the first set of grid members intersects with the second set of grid members in the grid structure, by a first set of grid members extending in a first direction and a second set of grid members extending in a second direction. The rail cross member interconnects the first and second sets of grid members to the vertical upright members at the junctions where the first and second sets of grid members intersect in the grid structure. The junctions where the first set of grid members and the second set of grid members intersect in the grid structure are generally known as nodes. To attach the adjustable spacer to the vertical upright member, the second cam member optionally includes a socket for attachment to the vertical upright member at a node of the grid structure.

[0030] The present invention further provides a grid framework structure configured to support one or more material handling devices, the grid framework structure is i) A grid structure comprising a first set of grid members extending in a first direction and a second set of grid members extending in a second direction, wherein the second set of grid members is a grid pattern comprising a plurality of grid cells in a substantially horizontal plane, extending transversely to the first set of grid members. ii) Multiple vertical upright members for supporting the grid structure, wherein the multiple vertical upright members are interconnected at their upper ends by a first set of grid members and a second set of grid members. iii) an adjustable grid leveling mechanism of the present invention is interposed between at least one of the multiple vertical members and the grid structure in one or more of the interconnections of the multiple vertical members, wherein the adjustable spacer is configured to adjust the vertical distance between at least one of the multiple vertical members and the grid structure.

[0031] By interposing an adjustable grid leveling mechanism between at least one of the multiple vertical members and the grid structure, the measurement and operation of the adjustable grid leveling mechanism can be performed from the same location. This has the advantage of requiring fewer operators to measure and adjust the grid level. As a result, grid level adjustments can be made in real time, which is in contrast to measuring the grid level first and then making the necessary adjustments afterward, which may not be accurate and may require further adjustments at the bottom of the vertical members. Another advantage of mounting the grid structure on an adjustable grid leveling mechanism is that, since the adjustable grid leveling mechanism is moved to the upper end of the vertical members, the components of the adjustable grid leveling mechanism do not need to support the entire weight of the vertical members. This provides a grid framework structure with greater flexibility, anchoring the lower end of the vertical members on a more rigid bottom that provides greater lateral stability than the adjustable grid leveling mechanism could provide on its own. Furthermore, threaded shafts known in the art for adjusting the height, and therefore the level, of a grid structure may wear down over time, as they tend to support the entire weight of the grid structure and one or more load-handling devices operating on it. This can lead to cross-threading of the shaft, resulting in a loss of its ability to adjust its height, i.e., its ability to move vertically. Such vulnerability does not exist when the adjustable spacer has opposing mating surfaces, because the load is distributed or diffused over the larger surface area of ​​the mating surface of the cam member rather than the shaft. For the purposes of the present invention, the grid level represents the orientation of the grid structure in the horizontal plane. The orientation of the grid structure in the horizontal plane is adjusted by adjusting the height in one or more regions of the grid structure.

[0032] Preferably, the multiple vertical upright members are arranged to form multiple vertical storage spaces where one or more containers are stacked between the vertical upright members and guided vertically by the vertical upright members. Preferably, the grid structure is attached to an adjustable grid leveling mechanism at one or more of the interconnections of the multiple vertical upright members.

[0033] The present invention further provides a robotic grid leveling device for moving on a grid structure according to the present invention, and this robotic grid leveling device is A) A wheel assembly, i) A first set of wheels for moving a robotic leveling device in a first direction, ii) comprising a second set of wheels for moving a robotic leveling device in a second direction, A) Wheel assembly and B) A drive mechanism for selectively driving a first and / or second set of wheels, C) comprising an adjustment tool configured to rotate the first and / or second rotatable indexing mechanisms in their respective first and second rotational directions about a rotation axis.

[0034] Optionally, the adjustment tool includes a pinion for engaging with a first and / or second rotatable indexing mechanism. Measurements of the vertical position of the robotic grid leveling device at different locations on the grid structure relative to one or more fixed reference points can provide an indicator of the grid structure's level. Multiple measurements of the vertical position of the robotic load handling device at different locations on the grid structure may be used by a control system to determine the orientation or plane of the grid structure and whether adjustment is needed in any of the adjustable grid leveling mechanisms interposed between the grid structure and the vertical upright members to ensure the grid structure is in a substantially horizontal plane.

[0035] In a further aspect of the present invention, a method for leveling the grid structure of a grid framework structure is provided, which is: i) A step of measuring the first vertical position of a robotic grid leveling device in a first grid cell of a grid structure with respect to one or more fixed reference points, ii) A step of moving a robotic leveling device on the grid structure to a second grid cell on the grid structure, iii) A step of measuring the second vertical position of a robotic leveling device on the grid structure in a second grid cell with respect to one or more fixed reference points, iv) A step of calculating the difference between the measured second vertical position and the first vertical position, As a result, v) If the calculated difference is greater than a predetermined value, the step of adjusting the length of the adjustable spacer by engaging an adjustable tool with the adjustable spacer to rotate the first and / or second rotatable indexing mechanism about its axis of rotation in its respective first and / or second rotational directions until the calculated difference is less than a predetermined value, vi) The process includes repeating steps (i) to (iv) until the grid structure becomes a substantially horizontal plane.

[0036] Optionally, one or more fixed reference points are located at one or more corners of the grid structure. Ideally, the given values ​​are substantially equal to zero, so that everything is fixed and the vertical position of the robotic leveling device in different grid cells does not change significantly, and the portion of the grid structure covered by different grid cells is substantially in a horizontal plane. The process of measuring the vertical position of the robotic leveling device in different grid cells covering different portions of the grid structure is repeated, and adjustments are made to their respective adjustable grid leveling mechanisms, if necessary, so that the difference in vertical position is within a predetermined value. Optionally, the level of the grid structure is set to a predetermined reference level, and the vertical position of the robotic grid leveling device is adjusted to the predetermined reference level.

[0037] The vertical position of a robotic leveling device can be determined by measuring the angle of the robotic leveling device from one or more fixed reference points and knowing the distance between the fixed reference points, and the measured angle can be used to determine the vertical position of the robotic leveling device relative to the fixed reference points, and therefore the vertical position on the grid structure. One example of measuring the vertical position of a robotic leveling device relative to multiple fixed reference points is by using one or more total stations by the process of triangulation. Preferably, the first and second vertical positions of the robotic leveling device are measured by one or more total stations at one or more of the fixed reference points, each of which comprises a transmitter at one or more of the multiple fixed reference points for illuminating the robotic leveling device with light of at least one wavelength, and a receiver at one or more of the multiple fixed reference points for receiving light reflected from the robotic leveling device. One or more mirrors may be attached to the robotic leveling device to reflect the light sent to the robotic leveling device from the fixed reference points. The reverse is also applicable if a robotic leveling device sends light of at least one wavelength to one or more fixed reference points and has a receiver for receiving the light reflected from one or more fixed reference points. The fixed reference points are equipped with one or more mirrors for reflecting the light sent from the transmitter.

[0038] The present invention further provides a grid leveling system, which is: i) The grid framework structure of the present invention, ii) A robotic leveling device operating on the grid structure of a grid framework structure, iii) A control system comprising one or more processors and memory storing instructions, wherein when an instruction is executed by one or more processors, the instructions are sent to one or more processors, a) Measuring the first vertical position of a robotic leveling device on the grid structure in a first grid cell on the grid structure with respect to a plurality of fixed reference points on the grid structure, b) Moving the robotic leveling device to a second grid cell on the grid structure, c) Measuring the second vertical position of a robotic leveling device in a second grid cell on the grid structure with respect to multiple fixed reference points on the grid structure, d) Calculate the difference between the second vertical position and the first vertical position, If the calculated difference is greater than a predetermined value, the length of the adjustable spacer is adjusted by engaging an adjustable tool with the adjustable spacer to rotate the first and / or second rotatable indexing mechanism around its axis of rotation in its respective first and second rotational directions until the calculated difference is less than the predetermined value.

[0039] 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]

[0040] [Figure 1] Figure 1 is a schematic diagram of the grid framework structure for a known system. [Figure 2] Figure 2 is a schematic top view showing a stack of containers arranged within the framework structure of Figure 1. [Figure 3] Figure 3 is a schematic diagram of a known storage system for material handling equipment operating on a grid framework structure. [Figure 4] Figure 4 is a schematic perspective view of a cargo handling device showing a lifting device that grips a container from above. [Figure 5] Figures 5(a) and 5(b) are schematic perspective cross-sections of the cargo handling device shown in Figure 4, where (a) a container housed within the container receiving space of the cargo handling device and (b) the container receiving space of the cargo handling device. [Figure 6]Figure 6 is a perspective view showing the arrangement of tracks and track supports interconnected at their nodes or intersections by cap plates. [Figure 7] Figure 7 is a perspective view of the track support. [Figure 8] Figure 8 is a perspective view of a cap plate for interconnecting vertical upright members to grid members at a node. [Figure 9] Figure 9 is a perspective cross-sectional view of the interconnection between the vertical upright member and the grid member at a node, using a cap plate. [Figure 10] Figure 10 is a perspective view of a track or rail. [Figure 11] Figure 11 is a perspective view showing four vertical upright members that constitute a storage space or storage column within a grid framework structure. [Figure 12] Figure 12 is a perspective view of a known adjustable grid leveling mechanism at the bottom of a vertical upright member. [Figure 13] Figure 13 is a perspective view of a known adjustable grid leveling mechanism shown in Figure 12. [Figure 14] Figure 14 is a perspective view of an adjustable spacer according to one embodiment of the present invention. [Figure 15] Figure 15 is an exploded view of the adjustable spacer shown in Figure 14. [Figure 16] Figures 16(a) and 16(b) are perspective views showing different adjustments of the length of the adjustable spacer provided by (a) the second indexing mechanism and (b) the first indexing mechanism. [Figure 16c] Figure 16c is a perspective view of an alternative embodiment of different adjustments to the length of the adjustable spacer provided by the first and second indexing mechanisms shown in Figures 16(a) and (b). [Figure 17] Figure 17 is a perspective view of an adjustable grid leveling mechanism interposed between a portion of a grid structure and a vertical upright member, according to a first embodiment of the present invention. [Figure 18]Figure 18 is a perspective view of the adjustable grid leveling mechanism of the present invention, which includes the adjustable spacers shown in Figures 14 to 16(a) and (b). [Figure 19] Figure 19 is an exploded view of the adjustable grid leveling mechanism shown in Figure 18, which includes a mounting head for supporting the grid structure. [Figure 20] Figure 20 is a perspective view of a section of a grid framework structure, showing the attachment of the grid structure to vertical upright members by an adjustable grid leveling mechanism. [Figure 21] Figure 21 is a perspective view of the engagement between the pinion and the adjustable spacer. [Figure 22] Figure 22 is a perspective view of the engagement between the pinion and the adjustable spacer through the grid structure. [Figure 23] Figure 23 is a perspective view of a robotic grid leveling device capable of operating on a grid structure. [Figure 24] Figure 24 is a perspective view of a robotic grid leveling device that can operate on a grid structure, interacting with a total station at one or more fixed reference points to measure the vertical position of the robotic leveling device on the grid structure. [Figure 25] Figure 25 is a flowchart illustrating an exemplary process of leveling a grid structure using a robotic grid leveling device. [Modes for carrying out the invention]

[0041] The present invention was conceived in contrast to known features of storage systems such as grid framework structures and material handling equipment described above with reference to Figures 1 to 5. As shown in Figure 6, a grid structure 40 for guiding the movement of one or more material handling devices comprises a first set of parallel grid members extending in a first direction and a second set of parallel grid members extending in a second direction, the first direction being substantially perpendicular to the second direction so as to form a plurality of rectangular or square frames that make up grid cells. More specifically, the first set of grid members extends in the first direction, the second set of grid members extends in the second direction, and the second set of grid members extends transversely to the first set of grid members in a substantially horizontal plane, i.e., the grid structure is represented by Cartesian coordinates in the X and Y directions. Each grid member may comprise track supports 18, 20 and / or tracks or rails 22a, 22b, thereby attaching the tracks or rails 22a, 22b to the track supports 18, 20. A cargo handling device operates to move along the tracks or rails 22a, 22b of the present invention. Alternatively, the tracks 22a, 22b may be integrated as a single unit with the track supports 18, 20, for example, by extrusion molding. In a particular embodiment of the present invention, the grid member comprises track supports 18, 20 and tracks 22a, 22b, thereby attaching the tracks or rails 22a, 22b to the track supports 18, 20.

[0042] Typically, at least one grid member in a set, for example, a single grid member, may be subdivided or sectioned into individual grid elements that can be joined or connected together to form a grid member extending in a first or second direction. If the grid member comprises track supports 18, 20, the track supports may also be subdivided into individual track support elements that are linked together to form a track support. Individual track support elements constituting track supports extending in a first axial direction and a second axial direction are shown in Figure 6. Individual track support elements 56 used to constitute the track supports 18, 20 are shown in Figure 7. The track supports 18, 20 may be solid supports having a C-shaped, U-shaped, or I-shaped cross-section in cross-section, or they may even be double C-shaped or double U-shaped supports. In certain embodiments of the present invention, the track support element 56 comprises double back-to-back C-shaped sections bolted together.

[0043] The connecting plates or cap plates 58 shown in Figures 6 and 8 may be used to connect or join individual track support elements 56 in both a first and second direction at junctions where multiple track support elements intersect within the grid structure 40; that is, the cap plates 58 are used to connect these track support elements 56 together to the vertical upright members 16. As a result, the vertical upright members 16 are interconnected at their upper ends by the cap plates 58 at junctions where multiple track support elements intersect within the grid structure 40; that is, the cap plates are located at the nodes 50 of the grid structure 40. For the purpose of describing the present invention, the points or regions where grid members intersect or intersect, as shown in Figure 6, can be defined as nodes or intersections 50. From the layout of at least a portion or section of a known grid structure 40 forming a single grid cell 42 shown in Figure 6, it is clearly evident that each intersection or node 50 of the grid structure 40 is supported by the vertical upright members 16.

[0044] As shown in Figure 8, the cap plate 58 is cross-shaped and has four connecting portions 60 for connecting to the ends of the track support elements 56 or at any point along their length at the intersection 50 of the track support elements 56. The interconnection of the track support elements and vertical upright members at the node by the cap plate 58 is shown in the cross-sectional outline of the node 50 shown in Figure 9. As shown in Figure 9, the cap plate 58 has insert or projection portions 62 sized to fit into the hollow section 46 of the vertical upright member 16 to interconnect multiple upright columns to the track support elements. Figure 9 also shows track support elements 56a, 56b extending in both right-angle directions corresponding to the first direction (x direction) and the second direction (y direction). The connecting portions 60 are perpendicular to each other in order to connect to the track support elements 56a, 56b extending in the first and second directions. The cap plate 58 is configured to be bolted to the ends of the track support elements 56a, 56b, or along the length of the track support elements. The track support elements 56a, 56b are arranged to interlock with each other at nodes to form a grid structure 40 according to the present invention. To achieve this, the distal or opposing ends of each of the track support elements 56a, 56b are provided with a locking feature 64 for interconnecting with the corresponding locking feature 66 of an adjacent track support element. In certain embodiments of the present invention, the opposing or distal ends of one or more track support elements are provided with at least one hook or tongue 64 that can be received into an opening or slot 66 in the middle of an adjacent track support element 56 at the joint where the track support elements intersect in the grid structure 40. Returning to and referring in combination with Figure 9, it is shown that the hook 64 at the end of the track support element 56 is received into an opening 66 of an adjacent track support element that extends across the vertical upright member 16 at the joint where the track support elements 56 intersect. Here, these hooks 64 extend out to the opening 66 on both sides of the track support element 56b.In a particular embodiment of the present invention, the opening 66 is located midway along the length of the track support element 56, so that when assembled together, adjacent parallel track support elements 56 in the first and second directions are offset by at least one grid cell. This is shown in Figure 6.

[0045] To complete the grid structure 40, the track support elements 56 are interlocked together to form a grid pattern comprising track supports 18 extending in a first direction and track supports 20 extending in a second direction, and then the tracks 22a, 22b are attached to the track support elements 56. The tracks 22a, 22b are either fitted onto the track supports 18, 20 in a slide-fit arrangement and / or snap-fit ​​(see Figure 6). Similar to the track supports of the present invention, the tracks comprise a first set of tracks 22a extending in a first direction and a second set of tracks 22b extending in a second direction, where the first direction is perpendicular to the second direction. The first set of tracks 22a is subdivided into a plurality of track elements 68 in the first direction such that, when assembled, adjacent parallel track elements in the first direction are offset by at least one grid cell. Similarly, the second set of tracks 22b is subdivided into multiple track elements 68 in the second direction such that, when assembled, adjacent track elements in the second direction are offset by at least one grid cell. This is shown in Figure 6. An example of a single track element 68 is shown in Figure 10. Similar to the track support elements, multiple track elements in the first and second directions are laid together to form tracks in both directions. The fit of the track element 68 into the track supports 18, 20 has an inverted U-shaped cross-sectional outline molded to embrace or overlap the top of the track supports 18, 20. One or more projections extending from each branch of the U-shaped outline engage with the ends of the track supports 18, 20 in a snap-fit ​​configuration. It is equally reasonable in the present invention that the tracks 22a, 22b may be integrated into the track supports 18, 20 rather than being separate components.

[0046] As shown in Figure 11, the vertical upright members are typically arranged such that a single grid cell 42 is supported by four vertical upright members 16 to form a single storage column 44 for storing one or more containers 10 in a stack. The horizontal cross-section of the storage location 44 in Figure 2 shows that each individual storage column 44 consists of four vertical upright members 16 positioned at the corners of the container or storage vessel 10. The storage column 44 corresponds to a single grid cell. The cross-section of the vertical upright member 16 is constant along the entire length of the vertical upright member. The periphery of the container or storage vessel in the horizontal plane of Figure 2 shows the container or storage vessel having four corners and the arrangement of the four vertical upright members 16 at these corners of the container or storage vessel within the storage column 44. One corner section from each of the four vertical members, and each of the four vertical members, ensures that containers or storage vessels stored in the storage column 44 are guided into the correct position relative to any containers or storage vessels stored in this storage column and the stacks of containers or storage vessels in the surrounding storage columns. A handling device (not shown) operating on the grid structure 40 can lift the containers or storage vessels when they are guided along the vertical members 16 through the grid cells 42.

[0047] The terms “vertical upright member (single or multiple),” “upright member (single or multiple),” and “upright column (single or multiple)” are used interchangeably in this description to mean the same thing. Each of the vertical upright members 16 is generally tubular. More specifically, as shown in Figure 2, each of the vertical upright members 16 comprises a hollow section 46 (typically a box-shaped section), which has one or more guides 48 attached to or formed at the corners of the hollow section 46, which extends along the longitudinal length of the vertical upright member 16, for guiding the movement of containers along the storage column 44. One or more guides 48 comprises two container guide plates that are perpendicular to each other. The two container guide plates that are perpendicular to each other are positioned to accommodate the corners of a container or a stack of containers. In other words, each corner of the hollow section 46 defines two sides of a substantially triangular area that can accommodate the corners of a container or storage vessel. These corners are evenly spaced around the hollow section 46 so that multiple vertical upright members 16 can provide multiple adjacent storage columns, and each vertical upright member 16 may be common to or shared by up to four separate storage columns.

[0048] Figures 11 and 12 also show that each of the vertical upright members 16 is attached to an adjustable grid leveling mechanism 70 at the bottom of the vertical upright member, which comprises a base and a screw shaft that can be extended or retracted to compensate for uneven floors. Further details of the adjustable grid leveling mechanism are described below. It should be noted that the present invention is not limited to grid structures supported at each of the intersections or nodes of the grid structure. A grid structure may be supported at any section or portion of the grid structure. For example, a grid structure may be supported only at the corners of the grid structure. In this case, the connecting plate or cap plate 58 has at least two right-angled connecting portions 60 for connecting at the ends of the track support elements or at any point along their length, at the intersections 50 of the track support elements, for example, at the corners of the grid structure.

[0049] As shown in Figure 11 and in detail in Figures 12 and 13, the vertical upright member is anchored to the floor, more specifically to a concrete foundation, by adjustable feet 70 having a threaded shaft 72 that can be extended or retracted to compensate for uneven floors. As its name suggests, the adjustable feet or adjustable anchor feet 70 are attached to the lower end of the vertical upright member 16. The adjustable feet 70 shown in Figure 13 comprises a base plate 74 and a threaded spindle or threaded rod 72 that can screw into a separate push-fit cap or plug 76. The push-fit cap 76 is positioned to fit into the lower end of the vertical upright member 16 in an interlocking fit to adjust the height of the vertical upright member 16. The push-fit cap 76 shown in Figures 12 and 13 comprises a bent portion positioned around a box-shaped section, more specifically, to accommodate the lower end of the vertical upright member 16. During use, the screw spindle 72 engages with the screw hole 78 of the push-fit cap 76. Rotating the screw spindle 72 changes the distance between the base plate 74, which is placed on the floor, and the push-fit cap 76, thereby changing the height of the vertical upright members 16 in the grid framework structure. Conventionally, the grid level has been measured at the upper end of the vertical upright members whenever the adjustable feet 70 at the lower end of the vertical upright members were adjusted. As a result, correcting the level of the grid structure requires two operators: one at the top of the grid framework structure to measure the level of the grid structure 40, and the other at the bottom of the grid framework structure to make the necessary adjustments to the height of the vertical upright members.

[0050] [Adjustable spacers] Figure 14 is a perspective view of an adjustable spacer 80 according to one embodiment of the present invention. In a preferred embodiment of the present invention, the adjustable spacer 80 according to an exemplary embodiment of the present invention is interposed between the top of a vertical upright member and a grid structure to allow adjustment of the grid level at a point where grid level measurement is being performed, but the adjustable spacer has a broader range of practical applications requiring adjustment of the separation between two objects. In the preferred embodiment of the present invention shown in Figure 14, the adjustable spacer 80 comprises a first rotatable indexing mechanism 82 and a second rotatable indexing mechanism 84. The first and second rotatable indexing mechanisms are rotatable about first and second rotatable axes that are substantially coaxial, i.e., rotatable about the same axis of rotation XX. Each of the first and second rotatable indexing mechanisms 82, 84 is configured to be rotatable in one direction about the axis of rotation XX relative to each other, but not in the opposite direction. In a particular embodiment of the present invention, the adjustable spacer 80 comprises an assembly of cam members that are rotatable about an axis and substantially coaxial, namely a first cam member 86, a second cam member 88, and an intermediate cam member 90 interposed between the first cam member 86 and the second cam member 88.

[0051] The first, second, and intermediate cam members 86, 88, and 90 are mounted coaxially such that each of the first, second, and intermediate cam members has opposing, engageable mating surfaces. When the intermediate cam member 90 is interposed between the first cam member 86 and the second cam member 88, the mating surface of the first cam member 86 opposite one mating surface of the intermediate cam member 90 is engageable, and the mating surface of the second cam member 88 opposite the other mating surface of the intermediate cam member 90 is engageable. For ease of explanation, the mating surface of the first cam member 86 is referred to as the first mating surface 92, the mating surface of the second cam member 88 is referred to as the second mating surface 94, and the opposing mating surfaces of the intermediate cam member 90 are referred to as the first intermediate mating surface 96 and the second intermediate mating surface 98, respectively. Compared to a screw shaft that supports the weight of the grid structure on the threads of the shaft, as seen in prior art grid level adjustment mechanisms, and is therefore prone to cross-threading, the mating surfaces 92, 94, 96, and 98 of the first cam member 86, the second cam member 88, and the intermediate cam member 90 distribute the load across the mating surfaces, thus providing the advantage that the adjustable spacer can withstand heavier loads than a screw shaft. The first, second, and intermediate cam members 86, 88, and 90 are annular or ring-shaped so that the mating surfaces 92 and 94 of the first and second cam members 86, 88 engage with the respective opposing mating surfaces 96 and 98 of the intermediate cam member 90, and are mounted on a carrier or base with a shaft (not shown), allowing them to rotate substantially around a coaxial axis of rotation XX. One or more slip rings of low-friction material may be interposed between the carrier and the outer surface of the adjustable spacer to allow the cam members of the adjustable spacer to rotate relative to the carrier.

[0052] The first, second, and intermediate cam members 86, 88, and 90 are mounted on or assembled on top of each other such that their respective mating or opposing surfaces cooperate. The mating surfaces 92, 94, 96, and 98 of the first, second, and intermediate cam members are clearly shown in the exploded view of the adjustable spacer in Figure 15. Here, the first mating surface 92 of the first cam member 86 is positioned to engage with the first intermediate mating surface 96 of the intermediate cam member 90 to provide a first indexing mechanism 82, and the second mating surface 94 of the second cam member 88 is positioned to engage with the second intermediate mating surface 98 of the intermediate cam member 90 to provide a second indexing mechanism 84. While the first cam member 86 rotates around the rotation axis XX, the first mating surface 92 moves over the first intermediate mating surface 96 of the intermediate cam member 90, and while the intermediate cam member 90 rotates around the rotation axis XX, the second intermediate mating surface 98 moves over the second mating surface 94 of the second cam member 88. The first and second indexing mechanisms 82 and 84 are configured to allow the first cam member 86 to rotate around the rotation axis XX in one direction (first rotation direction) relative to the intermediate cam member 90, but not to allow it to rotate in the reverse direction. The intermediate cam member 90 can rotate around the rotation axis XX in one direction (second rotation direction) relative to the second cam member 88, but cannot rotate in the reverse direction (first rotation direction).

[0053] In certain embodiments of the present invention, the first mating surfaces 92 and 96 of the first and intermediate cam members 86, 90 are each provided with a plurality of teeth 99 to provide a first indexing mechanism 82. The second mating surfaces 94 and 98 of the second and intermediate cam members 88, 90 are each provided with a plurality of teeth 100 to provide a second indexing mechanism 84. The plurality of teeth 99 of the first mating surfaces 92 and 96 are wedge-shaped and oriented to allow the first cam member 86 to rotate in a first rotational direction about the axis of rotation XX relative to the intermediate cam member 90, but not to allow rotation in a second rotational direction. Similarly, the plurality of teeth 100 of the second mating surfaces 94 and 98 are wedge-shaped and oriented to allow the intermediate cam member 90 to rotate in a second rotational direction about the axis of rotation XX relative to the second cam member 88, but not to allow rotation in the first rotational direction. The ability of the mating surfaces to allow rotation in one direction but not in the opposite direction allows the rotation of the first and second indexing mechanisms 82 and 84 to be performed from a single point of engagement with the adjustable spacer 80. For example, when the first cam member 86 is rotated in a first rotational direction about the axis of rotation, the first cam member 86 rotates relative to the intermediate cam member 90. However, due to the engagement of the multiple teeth 99 of the first mating surface 92 with the multiple teeth of the first intermediate mating surface 96, the first cam member cannot rotate in a second rotational direction about the axis of rotation relative to the intermediate cam member. Therefore, when the first cam member 86 is rotated in a second rotational direction about the axis of rotation, the intermediate cam member 90 is forced to rotate in a second rotational direction about the axis of rotation relative to the second cam member 88. As a result, by rotating the first cam member 86 in the opposite direction, both the first and second rotational directions of the first cam member 86 and the second cam member 88 relative to the intermediate cam member 90 can be achieved. These could be, for example, clockwise and counterclockwise directions.

[0054] In certain embodiments of the present invention, a single engagement point of the adjustable spacer is provided by a plurality of teeth 112 arranged around the outer circumference or outside of the first cam member for engaging with the pinion (see Figure 18). In other words, the first cam member 86 is formed as a gear that can mesh with the gear of the pinion. By engaging the pinion with the gear of the first cam member 86, the pinion can rotate the first cam member 86 in both a first and second rotational direction opposite to the axis of rotation. However, other means of rotating the first cam member are applicable to the present invention. These include, but are not limited to, a variety of adjustment tools that can engage with the first cam member and rotate it relative to an intermediate cam member and / or a second cam member. For example, the edge or side of the first cam member may have one or more openings sized to receive one or more pins for manually rotating the first cam member relative to an intermediate cam member and / or a second cam member.

[0055] The mating surfaces or opposing surfaces of the first, second, and intermediate cam members 86, 88, and 90 have an outer shape or contour with a variable length in the circumferential direction of each of them, such that rotating the first cam member 86 by a given angular rotation in a second rotational direction about the rotation axis XX causes the intermediate cam member 90 to rotate relative to the second cam member 88, thereby adjusting the length of the adjustable spacer by a second predetermined length L2 (see Figure 16a). Conversely, rotating the first cam member 86 by the same given angular rotation in a first rotational direction opposite to the second rotational direction about the rotation axis XX causes the first cam member 86 to rotate relative to the intermediate cam member 90, thereby adjusting the length of the adjustable spacer by a first predetermined length L1 (see Figure 16b). Similarly, in the present invention, a plurality of teeth between the mating surfaces may be oriented such that rotating the first cam member 86 in a first rotational direction about the rotation axis XX rotates the intermediate cam member 90 relative to the second cam member 88, and rotating the first cam member 86 in a second rotational direction about the rotation axis rotates the first cam member 86 relative to the intermediate cam member 90. The contours or shapes of the first mating surface 92 and the first intermediate mating surface 96 may be contoured such that they provide a different level of adjustment of the length of the adjustable spacer 80 for a given angular rotation than the contours or shapes of the second mating surface 94 and the second intermediate mating surface 98. This has the advantage of providing a coarse level of adjustment of the length of the adjustable spacer by rotating the first cam member 86 in one rotational direction, and providing a fine level of adjustment of the length of the adjustable spacer by rotating the first cam member 86 in the other counter-rotational direction.

[0056] In a particular embodiment of the present invention shown in Figures 14 and 15, the mating surfaces 92, 94, 96, 98 of the first, second, and intermediate cam members 86, 88, 90 are provided with one or more ramps 101, so that as the first, second, and intermediate cam members rotate relative to each other, the first, second, and intermediate cam members move along one or more ramps 101, increasing the length of the adjustable spacer. The inclination angle of the ramps relative to a horizontal or vertical object depends on whether the adjustable spacer is mounted horizontally or vertically and controls the degree of adjustment of the length of the adjustable spacer with respect to a given angular rotation of the first cam member 86 or the second cam member 88 relative to the intermediate cam member 90. A steeper inclination angle with respect to a given angular rotation of the first cam member 86 or the second cam member 88 relative to the intermediate cam member 90 provides a coarser level of adjustment of the length of the adjustable spacer 80, while a gentler angle provides a finer level of adjustment of the length of the adjustable spacer 80. In the example shown in Figures 16(a) and (b), one or more ramps 102 of the first mating surface 92 of the first cam member 86 and the first intermediate mating surface 96 of the intermediate cam member 90 are shallower than one or more ramps 101 of the second mating surface 94 of the second cam member 88 and the second intermediate mating surface 98 of the intermediate cam member 90, so that when the first cam member 86 is rotated in a first rotational direction about the axis of rotation, fine adjustment of the length of the adjustable spacer is provided (see Figure 16b), and when the first cam member 86 is rotated in the opposite second rotational direction about the axis of rotation, the intermediate cam member 90 is rotated in a second rotational direction relative to the second cam member 88, so that the length of the adjustable spacer is provided. Each incremental rotation of the first cam member 86 relative to the intermediate cam member 90 is locked by the first indexing mechanism 82 so that the first cam member 86 does not rotate in the reverse direction. Similarly, each gradual rotation of the intermediate cam member 90 relative to the second cam member 88 is locked by the second indexing mechanism 84 to prevent the intermediate cam member 90 from rotating in the reverse direction.

[0057] Specific embodiments shown in Figures 16a and 16b demonstrate that coarse adjustment is provided between the opposing mating surfaces 94, 98 of the second cam member 88 and the intermediate cam member 90, and fine adjustment is provided between the opposing mating surfaces 92, 96 of the first cam member 86 and the intermediate cam member 90, but the reverse is also applicable. In an alternative embodiment of the adjustable spacer 80b shown in Figure 16c, the first mating surface 92b of the first cam member 86b and the first intermediate mating surface 96b of the intermediate cam member 90b are shaped to provide coarse adjustment of the length of the adjustable spacer 80b. Similarly, the second mating surface 94b of the second cam member 88b and the second intermediate mating surface 98b of the intermediate cam member 90b are shaped to provide fine adjustment of the length of the adjustable spacer 80b, that is, one or more ramps 102b of the opposing mating surfaces 92b, 96b of the first cam member 86b and the intermediate cam member 90b are steeper inclined than one or more ramps 101b of the opposing mating surfaces 94b, 98b of the second cam member 88b and the intermediate cam member 90b. Thus, rotating the first cam member 86b in a first rotational direction about the rotation axis XX relative to the intermediate cam member 90b provides a coarse level of adjustment of the length of the adjustable spacer 80b, and rotating the intermediate cam member 90b in a second rotational direction about the rotation axis XX relative to the second cam member provides a fine level of adjustment of the length of the adjustable spacer 80b.

[0058] To improve the stability of the first, second, and intermediate cam members when assembled together, the mating surfaces of the first, second, and intermediate cam members are provided with at least three ramps. The at least three ramps on the mating surfaces of the first, second, and intermediate cam members provide a “tripod” effect, thereby maintaining the orientation of the first, second, and intermediate cam members when rotating relative to each other about the axis of rotation. Alternatively, the outer shape or contour of the opposing mating surfaces of the first, second, and intermediate cam members may be helical or spiral so as to vary the length of the spacer 80, which is adjustable for the relative rotation of the first, second, and intermediate cam members 86, 88, 90 relative to each other.

[0059] While the specific embodiments shown in Figures 14 and 15 illustrate two indexing mechanisms 82, 84 provided by the mating surfaces of the first, second, and intermediate cam members 86, 88, 90, the adjustable spacer 80 according to the present invention is not limited to two indexing mechanisms and may comprise multiple indexing mechanisms, each of which provides a different degree of adjustment of the length of the adjustable spacer for a given rotation of a separate rotatable indexing mechanism. Equally reasonable in the present invention, two indexing mechanisms provided by the mating surfaces of the first, second, and intermediate cam members may provide the same level of adjustment of the length of the adjustable spacer for a given rotation of the first cam member relative to the intermediate cam member and for a given rotation of the intermediate cam member relative to the second cam member. This allows for further adjustment of the length of the adjustable spacer 80 when the first indexing mechanism 82 has reached its maximum adjustment. Furthermore, the adjustment of the length of the adjustable spacer is not limited to a single engagement point where one cam member provides rotation of both the first and second cam members relative to the intermediate cam members. The adjustment may include rotating other cam members in the cam member assembly, allowing each of the cam members to rotate relative to one another.

[0060] [Grid leveling adjustment mechanism] In a preferred application of the present invention, adjustable spacers may be used to adjust the level of the grid structure 140 described above. In this case, adjustment of the length of the adjustable spacer refers to an adjustment made to the height H of the adjustable spacer. In a preferred embodiment of the present invention, an adjustable grid leveling mechanism comprising the adjustable spacers described above is interposed between the upper part of the vertical upright member and the grid structure. This makes it possible to adjust the grid level at the point where the grid level measurement is being performed. Thus, the grid level adjustment can be performed in place or in real time when the grid level is being measured. An example in which the adjustable grid leveling mechanism is moved to the connection point with the grid structure 140 at the upper end of the vertical upright member is shown in Figure 17. In a particular embodiment of the present invention shown in Figure 17, the grid members comprise track supports 118, 120 that are connected together at the nodes or intersections 50 of the grid structure 140 by an adjustable grid leveling mechanism 104, rather than being directly connected to the vertical upright member via cap plates as described above with reference to Figure 8. Figure 17 also shows the tracks 122a and 122b attached to the track supports 118 and 120.

[0061] Each adjustable grid leveling mechanism 104 shown in Figures 18 and 19 comprises a base 106 for attachment to the upper end of a vertical upright member 116, a mounting head 108 for attachment to a grid structure 140, and an extendable section 110 having an adjustable spacer 80 of the present invention interposed between the base 106 and the mounting head 108 so that the mounting head 108 is movable vertically relative to the base 106. The base 106 is configured to be attached to the upper end of the vertical upright member 116. In a particular embodiment of the present invention shown in Figures 18 and 19, the base 106 includes an insertion or insert configured to be received at the open end of a box-shaped section at the upper end of the vertical upright member 116. The insertion 106 can be securely fastened to the upper end of the vertical upright member 116 by one or more bolts. To attach the adjustable spacer to the top of the vertical upright member, the insertion or insert can form part of a second or lower cam member 88. This may be formed as an integral part of the second or lower cam member 88, or it may be fixed to the second or lower cam member 88. When mounted on the top of a vertical upright member, the insertion or insert portion prevents the second or lower cam member 88 from physically rotating, allowing the intermediate cam member 90 to rotate relative to the second cam member 88 when the length of the adjustable spacer 80 is being adjusted.

[0062] A mounting head 108 for attaching the grid structure 140 to an adjustable spacer 80 comprises the cap plate described above with reference to Figure 8 and is adapted to be attached to the first cam member 86. In a particular embodiment of the invention shown in Figure 19, the cap plate 108 comprises four connecting portions for connecting to grid members 118, 120 at the nodes of the grid structure 140 by one or more bolts. The grid members 118, 120 shown in Figure 20 comprises track supports 118, 120 to which tracks or rails 122a, 122b are attached. The track supports 118, 120 may be in the form of I-beams to provide the structural support required for the grid structure 140. The track supports 118, 120 are attached to the cap plate 108 by one or more bolts. Tracks 122a, 122b are attached to the track supports 118, 120 for guiding one or more load handling devices on the grid structure 140 in a first direction and a second direction on the grid structure. As described above with reference to Figure 8, the insertion or insertion portion of the cap plate is not directly received on the top of the vertical upright member, but rather the insertion or insertion portion is received within the openings of the first and intermediate cam members 86, 90. In certain embodiments of the present invention shown in Figures 19 and 20, the first and intermediate cam members 86, 90 have a ring-shaped or annular structure to accommodate the insertion or insertion portion 106 of the cap plate 108. To facilitate the rotation of the first cam member 86 relative to the cap plate 108, an optional slip ring may be interposed between the cap plate 108 and the first cam member 86. Since an adjustable spacer 80 is interposed between the top of the vertical upright member 116 and the cap plate 108, the separation between the top of the vertical upright member 116 and the cap plate 108 changes as a result of the rotation of the first and / or second indexing mechanisms 82, 84, resulting in a change in the length of the adjustable spacer (in this case, the height of the adjustable spacer). This then changes the height of the grid structure 140 at intersections or nodes 50 connected by an adjustable grid leveling mechanism 104.The grid structure 140 has multiple adjustable grid leveling mechanisms 104, as shown in Figures 19 and 20, which connect the track supports 118, 120 at multiple nodes or intersections 50 of the grid structure 140. This allows the level of the grid structure 140 to be adjusted at various points in the grid structure so that they are all on the same horizontal plane. For example, if any given region of the grid structure is uneven during operation, one or more of the corresponding adjustable grid mechanisms 104 at a node 50 of the grid structure 140 can be adjusted by rotating the first and / or second indexing mechanisms 82, 84 around their axis of rotation so that the grid structure in that given region is at the same level as the rest of the grid structure. To adjust the adjustable grid leveling mechanism 104, the first cam member 86 can be rotated in a first rotational direction about the axis of rotation to provide fine level adjustment of the height of the adjustable spacer 80, and / or the first cam member 86 can be rotated in the opposite second rotational direction about the axis of rotation to provide coarse level adjustment of the height of the adjustable spacer 80. Typically, the first coarse level adjustment is made by rotating the first cam member 86 in the second rotational direction about the axis of rotation, and then the fine level adjustment is made by rotating the first cam member 86 in the first rotational direction about the axis of rotation.

[0063] Figures 18 to 23 also show a plurality of teeth 112 on the outer circumference or periphery of the first cam member 86, enabling the pinion 114 to engage or mesh with the plurality of teeth of the first cam member 86 on the outside. Rotating the pinion 114 in one direction rotates the first cam member 86 in the same direction about its axis of rotation, and rotating the pinion 114 in the opposite direction rotates the first cam member 86 in the opposite direction about its axis of rotation. The ability to rotate in opposite directions allows the level of the grid structure to be adjusted automatically with little or no manual intervention. The pinion 114 can be mounted on an extendable arm or post having an extendable configuration that engages with the first cam member 86 and a retractable configuration that engages with the adjustable spacer 80, as shown in Figure 21. Various means for providing an extendable arm are applicable in the present invention. For example, an extendable arm may be a linear actuator to which a pinion is attached. The linear actuator may be commanded to extend to engage the pinion with an adjustable spacer and to retract to disengage the pinion from the adjustable spacer. Various other means for engaging with the adjustable spacer, more specifically with the first cam member, are applicable in the present invention. For example, the pinion may be configured to engage with the inner edge of the ring-shaped first cam member rather than the outer circumference as shown in Figure 21. However, by having multiple teeth on the outer circumference of the first cam member, the pinion can be easily engaged with multiple teeth of the first cam member by a simple downward movement between grid members as shown in Figures 21 and 22. Figure 20 also shows a fixing bolt 124 extending through tracks 122a, 122b into an adjustable grid leveling mechanism 104 for clamping the first, second, and intermediate cam members 86, 88, 90 together to prevent them from rotating further relative to each other when the height of the adjustable spacer 80 is adjusted; that is, the fixing bolt locks the first, second, and intermediate cam members together. The fixing bolt has a head that can engage with a tool such as a screwdriver.In the specific example shown in Figure 22, the head of the fixing bolt 124 has a slot for engaging with a blade-type screwdriver, but other head shapes, such as a cross-shaped head, are acceptable.

[0064] A robotic grid leveling device or bot 126, which is operable on the grid structure 140 and includes an extendable pinion 114, can be commanded to selectively engage with one or more adjustable spacers 80 at one or more nodes 50 of the grid structure 140. When adjustments are needed on at least a portion of the grid structure, the robotic grid leveling device 126 can be commanded to move to at least a portion of the uneven grid structure 140 and adjust the height of one or more adjustable spacers 80 at one or more nodes 50 of the grid structure 140 until at least a portion of the grid structure becomes substantially level and thus at the same level as the rest of the grid structure. Since the adjustable grid leveling mechanism 104 is interposed between the grid structure 140 and the vertical upright members 116 at a node or intersection of the grid structure, Figure 23 shows an extendable arm with a pinion for engaging with a first cam member of an adjustable spacer extended at one of the corners of the grid cell.

[0065] Various techniques can be used to identify uneven areas of the grid structure, all of which involve measuring the vertical position of a reference point on a robotic grid leveling device that can operate on the grid structure relative to one or more fixed reference points 128. For example, one or more total stations attached to one or more fixed reference points may be used to determine coordinates including the vertical position of the robotic grid leveling device on the grid structure. This involves measuring the angle that the robotic grid leveling device makes with respect to one or more fixed reference points. One or more fixed reference points may be attached to the grid structure and / or to fixed reference points near the grid structure, e.g., in a building, ceiling, or column.

[0066] In one exemplary embodiment of the present invention shown in Figure 24, each of one or more fixed reference points 128 on the grid structure 140 may comprise a light-emitting unit for emitting light of at least one wavelength and a light-receiving unit for receiving light reflected from a robotic grid-leveling device operable on the grid structure. The light-emitting unit is positioned at a known position and orientation relative to the light-receiving unit to provide triangulation based on the position of the robotic grid-leveling device on the grid structure. The robotic grid-leveling device 126 comprises a light-reflecting unit 130, such as a prism, for reflecting the light emitted by the light-emitting unit. During operation, the light emitted by the light-emitting unit strikes the light-reflecting unit 130, where it is reflected by the light-reflecting unit toward the light-receiving unit. The deflection angle of the reflected light relative to a horizontal object (defined herein as the “vertical angle”) provides an indicator of the vertical position of the robotic grid-leveling device on the grid structure 140. One or more fixed reference points 128 may be equipped with one or more robotic total stations for automatically measuring the angle of light reflected from the light reflection unit 130 of the robotic grid leveling device 126 with respect to the horizontal axis. The vertical angle provides an indicator of the vertical position of the robotic grid leveling device 126 on the grid structure 140, and thus the level of the grid structure 140 at the measurement point. Light from one or more robotic total stations may be commanded to illuminate the grid structure, in particular the light reflection unit 130 of the robotic grid leveling device, at different positions on the grid structure, thereby allowing tracking of the movement of the robotic grid leveling device on the grid structure. As the robotic grid leveling device moves on the grid structure, the total stations at one or more of the fixed reference points 128 measure the vertical angle, and therefore the vertical position, of the robotic grid leveling device in one or more given grid cells of the grid structure. This is repeated as the robotic grid leveling device moves across consecutive grid cells.

[0067] Data on the vertical position of a robotic grid leveling mechanism at different points on the grid structure is supplied to a control system that determines whether the grid structure is flat. The control system is configured to communicate with one or more total stations at a fixed reference point 128 via a network. One or more total stations may be connected to the network by wire or wireless. The network may comprise a local area network (LAN), a wide area network (WAN), or any other type of network. The control system comprises one or more processors, memory (e.g., read-only memory and / or random access memory), and a communication bus. The memory may be any storage device commonly known in the art, but may include random access memory (RAM), computer-readable media, magnetic storage media, optical storage media, or other electronic storage media used to store data and which can be accessed by the processor. One method for determining the level of the grid structure is by comparing the vertical position of a robotic grid leveling device at different points on the grid structure. If there is a discrepancy between the vertical positions at different points on the grid structure, the control system can command the robotic grid leveling device to engage the pinion 114 with the adjustable grid leveling mechanism 104 and adjust the level of the grid structure at the measurement point by making coarse and / or fine adjustments of the adjustable spacer 80 described above until the vertical position of the robotic grid leveling device falls within a predetermined level. For the purposes of the present invention, the predetermined level can be the height of the grid structure relative to the ground. Thus, a feedback loop is established between the control system and the measurement data of the vertical position of the robotic grid leveling mechanism at different points on the grid structure from one or more fixed reference points 128.By lowering the pinion 114 to engage with the adjustable spacer 80, more specifically the first cam member 86, the adjustable spacer can be engaged at the grid level, and by making coarse and / or fine adjustments to the height of the adjustable spacer, the robotic grid leveling device can automatically adjust the level of the grid structure.

[0068] An exemplary embodiment of the present invention describes one or more total stations at one or more fixed reference points 128 and a light reflection unit 130 attached to a robotic grid leveling device, but the reverse is also applicable if one or more total stations are attached to a robotic grid leveling device and one or more fixed reference points are equipped with light reflection devices, such as prisms, for reflecting light sent from one or more total stations. In this way, light is sent by a robotic grid leveling device that can operate on the grid structure and reflected by a light reflection unit at one or more fixed reference points. The angle of inclination that the light makes with respect to a horizontal object provides an indicator of the vertical position of the robotic grid leveling device, and therefore the level of the grid structure.

[0069] To provide an indicator of the adjustment made to the length of the adjustable spacer, the first cam member 86 and / or the second cam member 88 and / or the intermediate cam member 90 may be provided with one or more markers (not shown) that can be used to measure the relative angular position of any one of the first, second, and intermediate cam members relative to each other. Since the second cam member 88 is fixed, in one exemplary embodiment, the relative angular position of the first cam member 86 and / or the intermediate cam member 90 with respect to the second cam member 88 is measured to provide an indicator of the length or height of the adjustable spacer 80. For example, the angular position of the first cam member 86 with respect to the second cam member 88 provides an indicator of the degree of rotation in a first rotational direction about the axis of rotation of the first cam member 86, and therefore the length of the adjustable spacer. Since the first cam member 86 provides rotation in the opposite "second" rotational direction, the angular position of either the first cam member 86 and / or the intermediate cam member 90 relative to the second cam member 88 can provide an indicator of the adjustment made to the length of the adjustable spacer when the intermediate cam member 90 rotates relative to the second cam member 88.

[0070] The process of measuring and adjusting the level of the grid structure can be further illustrated by an exemplary embodiment of the present invention shown in the flowchart of Figure 25. The robotic grid leveling device moves to a first grid cell and is commanded by the total station described above to determine the coordinates of the robotic grid leveling device in the first grid cell, which includes measuring the vertical position of the robotic grid leveling device in the first grid cell (170). Once the vertical position of the robotic grid leveling device in the first cell is known, the robotic grid leveling device is commanded to move to a second grid cell and measure the vertical position of the robotic grid leveling device in the second grid cell (172). A control system communicating with the total station records the coordinates of the robotic grid leveling device in the first and second grid cells and determines the difference between the vertical positions of the robotic grid leveling device in the first and second grid cells (174). If the portion of the grid cell covering the first and second grid cells is uneven, there may be a discrepancy between the measured vertical positions of the robotic grid leveling device in the first and second grid cells. The control system determines whether this discrepancy exceeds a predetermined value (176), and if so, the control system instructs the robotic grid leveling device to adjust the adjustable spacers at the nodes of the second grid cell until the measured coordinates of the robotic grid leveling device in the second grid cell, particularly the vertical position, are such that the discrepancy falls below the predetermined value (178). The entire process of measuring and adjusting the grid level is repeated for the other grid cells (180).

[0071] In one example, the grid structure is within predetermined upper and lower limits when measured from the vertical position of a robotic grid leveling device on the grid structure. If the vertical position of the robotic grid leveling device is outside the predetermined upper and lower levels, the level of the grid structure is adjusted. In another example of the present invention, the level of the grid structure is set to a predetermined level or height, and the measurement of the robotic grid leveling device is compared to this set level or height. If there is a discrepancy, the robotic grid leveling device adjusts one or more adjustable spacers at one or more nodes so that the level or height of the grid structure is at the predetermined level or height, or within the predetermined upper and lower limits.

[0072] Ideally, the second grid cell is adjacent to the first grid cell. This has the advantage that the robotic grid leveling device moves across the grid structure and adjusts the grid structure at consecutive nodes of the grid structure. The level adjustment of the grid structure may be performed when the grid members of the grid structure are assembled on the vertical upright members. Alternatively, the grid level may be measured and adjusted after the grid frame structure has been assembled.

[0073] An adjustable grid leveling mechanism, equipped with adjustable spacers at the top of the vertical upright members, may be used in conjunction with a second adjustable grid leveling mechanism at the bottom of the vertical upright members. For example, initial level or height adjustments of the grid structure can be made at the base or bottom of the vertical upright members, after which final adjustments to the grid level can be made to ensure that the grid structure is in a substantially horizontal plane. Measurements and / or adjustments of the grid structure level may be made at intervals to ensure that the grid structure is substantially flat. Thermal expansion of various components of the grid framework structure, such as vertical upright members and / or grid members, may cause distortion of the grid structure and result in unevenness. By periodically measuring the level of the grid structure with a robotic grid leveling device, the level of the grid structure can be adjusted as necessary to ensure that the grid structure falls within a predetermined level.

[0074] While specific embodiments of the present invention have been disclosed, it is understood that the present invention as defined in the claims is not limited to the specific embodiments disclosed, and that many modifications and other embodiments are intended to be included within the scope of the appended claims. Furthermore, it is assumed that features of one embodiment may be combined with or used in conjunction with features from different embodiments. For example, the adjustable spacer may comprise any number of indexing mechanisms, not limited to only two indexing mechanisms provided by each indexing mechanism for different adjustments of the length of the adjustable spacer. Furthermore, each indexing mechanism may provide different adjustments of the length of the adjustable spacer for a given angular rotation around a coaxial axis, or it may provide the same adjustment of the length of the adjustable spacer. The invention described in the original claims of this application is listed below. [1] An adjustable spacer for adjusting the distance between two objects, i) A first rotatable indexing mechanism configured to rotate in a first rotational direction about a rotation axis, ii) A second rotatable indexing mechanism configured to rotate in a second rotational direction about a rotation axis, wherein the second rotational direction is opposite to the first rotational direction. Equipped with, The first and second rotatable indexing mechanisms are configured such that when the first rotatable indexing mechanism rotates in the first rotational direction by a given angular rotation about the axis of rotation, the length of the adjustable spacer along the axis of rotation changes by a first length, and when the second rotatable indexing mechanism rotates in the second rotational direction by the same given angular rotation about the axis of rotation, the length of the adjustable spacer along the axis of rotation changes by a second length, wherein the second length is the same as or different from the first length. [2] The adjustable spacer described in [1], wherein the first length is shorter than the second length. [3] i) A first cam member rotatable about the rotation axis, having a first fitting surface, ii) A second cam member that is rotatable about the rotation axis and has a second fitting surface, iii) An intermediate cam member interposed between the first cam member and the second cam member, which is rotatable about the rotation axis and has a first intermediate fitting surface for engaging with the first fitting surface to provide the first rotatable indexing mechanism, and a second intermediate fitting surface for engaging with the second fitting surface to provide the second rotatable indexing mechanism, Equipped with, Each of the first intermediate fitting surface and each of the first fitting surfaces has an outer shape or contour with a circumferentially variable thickness such that when the first cam member rotates relative to the intermediate cam member about the rotation axis in a first rotational direction by the amount of the given angular rotation, the length of the adjustable spacer along the rotation axis changes by a first length, and each of the second intermediate fitting surface and each of the second fitting surfaces has an outer shape or contour with a circumferentially variable thickness such that when the intermediate cam member rotates relative to the second cam member about the rotation axis in a second rotational direction opposite to the first rotational direction by the same given angular rotation, the length of the adjustable spacer along the rotation axis changes by a second length. The adjustable spacer described in [1] or [2]. [4] The adjustable spacer according to [3], wherein the shape or contour of the first intermediate fitting surface and each of the first fitting surfaces is configured to prevent the first cam member from rotating in the second rotational direction relative to the intermediate cam member, and the shape or contour of the second intermediate fitting surface and each of the second fitting surfaces is configured to prevent the intermediate cam member from rotating in the first rotational direction relative to the second cam member. [5] The adjustable spacer according to [3] or [4], wherein each of the first intermediate mating surface and the first mating surface is provided with a plurality of teeth to provide the first rotatable indexing mechanism, and each of the second intermediate mating surface and the second mating surface is provided with a plurality of teeth to provide the second rotatable indexing mechanism. [6] The adjustable spacer described in [5], wherein each of the plurality of teeth of the first and second rotatable indexing mechanism is wedge-shaped. [7] Each of the first intermediate fitting surface and the first fitting surface comprises at least one first type of ramp, the at least one first type of ramp being inclined such that when the first cam member rotates relative to the intermediate cam member by a given angular rotation in the first rotational direction, the length of the adjustable spacer along the axis of rotation changes by a first length. The second intermediate fitting surface and each of the second fitting surfaces are provided with at least one second type of ramp, the at least one second type of ramp being inclined such that when the intermediate cam member rotates relative to the second cam member in the second rotational direction by a given angular rotation, the length of the adjustable spacer along the axis of rotation changes by a second length. An adjustable spacer as described in any one of the items [3] to [6]. [8] The at least one first and / or second type ramp comprising three or more ramps, the adjustable spacer as described in [7]. [9] The adjustable spacer according to [7] or [8], wherein the at least one first type ramp is shallower than the at least one second type ramp.

[10] The adjustable spacer according to any one of [3] to [9], wherein the first and second intermediate mating surfaces cooperate with the first and second mating surfaces, respectively, to rotate the intermediate cam member in the second rotational direction relative to the second cam member when the first cam member rotates in the second rotational direction.

[11] The adjustable spacer according to

[10] , wherein the first cam member comprises a plurality of teeth extending outward around the first cam member for engaging with the pinion.

[12] The adjustable spacer according to any one of [3] to

[11] , wherein each of the first cam member and the intermediate cam member is ring-shaped.

[13] The adjustable spacer according to any one of [3] to

[12] , wherein each of the first and second cam members and the intermediate cam member is provided with at least one marker for measuring the relative position of either the first cam member and / or the intermediate cam member and / or the second cam member.

[14] An adjustable grid leveling mechanism for adjusting the level of a grid structure in a grid framework structure comprising a plurality of vertical upright members, wherein the plurality of vertical upright members support the grid structure, the adjustable grid leveling mechanism comprising a base for attachment to the top or upper end of the vertical upright members, a mounting head for which the grid structure is mounted thereon, and an extendable section interposed between the base and the mounting head such that the mounting head is movable relative to the base, the extendable section comprising an adjustable spacer as described in any one of [1] to

[13] .

[15] The adjustable grid leveling mechanism according to

[14] , wherein the base comprises a slot or insertion portion for attachment to a vertical upright member.

[16] The mounting head comprises a rail cross member having four right-angled ends, each of the four right-angled ends configured to support a separate grid member in a grid pattern, as described in

[14] or

[15] .

[17] A grid framework structure configured to support one or more load-handling devices, i) A grid structure comprising a first set of grid members extending in a first direction and a second set of grid members extending in a second direction, wherein the second set of grid members extends transversely to the first set of grid members in a substantially horizontal plane, comprising a grid pattern with a plurality of grid cells. ii) A plurality of vertical upright members for supporting the grid structure, wherein the plurality of vertical upright members are interconnected at their upper ends by the first set of grid members and the second set of grid members, iii) In one or more of the interconnected parts of the plurality of vertical upright members, an adjustable grid leveling mechanism according to any one of

[14] to

[16] is interposed between at least one of the plurality of vertical upright members and the grid structure, A grid framework structure comprising, wherein the adjustable spacer is configured to adjust the vertical distance between at least one of the plurality of vertical upright members and the grid structure.

[18] The grid framework structure according to

[17] , wherein the plurality of vertical upright members are arranged to form a plurality of vertical storage spaces in which one or more containers are stacked between the plurality of vertical upright members and guided vertically by the plurality of vertical upright members.

[19] The grid framework structure according to

[17] or

[18] , wherein the grid structure is attached to the adjustable grid leveling mechanism at one or more of the interconnected portions of the plurality of vertical upright members. A robotic grid leveling device for moving on the grid structure described in any one of the items

[20]

[17] to

[19] , A) A wheel assembly, i) A first set of wheels for moving the robotic grid leveling device in the first direction, ii) comprising a second set of wheels for moving the robotic grid leveling device in the second direction, A) Wheel assembly and, B) A drive mechanism for selectively driving the first and / or second set of wheels, C) An adjustment tool configured to rotate the first and / or second rotatable indexing mechanisms about their respective first and second rotation directions, A robotic grid leveling device equipped with [the following features].

[21] The robotic grid leveling device according to

[20] , wherein the adjustment tool comprises a pinion for engaging with the first and / or second rotatable indexing mechanism. A method for leveling the grid structure of a grid framework structure described in any one of the items

[22]

[17] to

[19] , i) measuring a first vertical position of the robotic grid leveling device described in

[20] or

[21] in a first grid cell of the grid structure with respect to one or more fixed reference points; ii) The step of moving the robotic grid leveling device on the grid structure to a second grid cell on the grid structure, iii) A step of measuring the second vertical position of the robotic grid leveling device on the grid structure in the second grid cell with respect to the one or more fixed reference points, iv) A step of calculating the difference between the second vertical position and the first vertical position, As a result, v) If the calculated difference is greater than a predetermined value, the step of adjusting the length of the adjustable spacer by engaging the adjustable tool with the adjustable spacer so that the first and / or second rotatable indexing mechanism rotates in their respective first and / or second rotational directions around the axis of rotation until the calculated difference is less than the predetermined value; vi) Repeat steps (i) to (v) until the grid structure becomes a substantially horizontal plane, A method that includes [a certain feature].

[23] The method according to

[22] , wherein the one or more fixed reference points are located at one or more corners of the grid structure.

[24] The method according to

[22] or

[23] , wherein the first and second vertical positions of the robotic grid leveling device are measured by one or more total stations at one or more fixed reference points, and each of the one or more total stations comprises a transmitter device for illuminating the robotic grid leveling device with light of at least one wavelength and a receiver device for receiving light reflected from the robotic grid leveling device.

[25] A grid leveling system, i) A grid framework structure described in any one of the items

[17] to

[19] , ii) A robotic grid leveling device according to

[20] or

[21] that operates on the grid structure of the grid framework structure, iii) A control system comprising one or more processors and memory storing instructions, The instruction is provided that, when executed by the one or more processors, the one or more processors, a) Measuring the first vertical position of the robotic grid leveling device on the grid structure with respect to one or more fixed reference points on the grid structure in a first grid cell on the grid structure, b) Moving the robotic grid leveling device to a second grid cell on the grid structure, c) Measuring the second vertical position of the robotic grid leveling device in the second grid cell on the grid structure with respect to the one or more fixed reference points on the grid structure, d) Calculate the difference between the second vertical position and the first vertical position, e) If the calculated difference is greater than a predetermined value, the length of the adjustable spacer is adjusted by engaging the adjustable tool with the adjustable spacer so that the first and / or second rotatable indexing mechanism rotates in their respective first and second rotational directions around the axis of rotation until the calculated difference is less than the predetermined value; A grid leveling system that performs this function.

Claims

1. An adjustable spacer for adjusting the distance between two objects, i) A first cam member that is rotatable about a rotation axis and has a first fitting surface, ii) A second cam member that is rotatable about the rotation axis and has a second fitting surface, iii) An intermediate cam member interposed between the first cam member and the second cam member, the intermediate cam member being rotatable about the rotation axis and having a first intermediate fitting surface for engaging with the first fitting surface to define a first rotatable indexing mechanism, and a second intermediate fitting surface for engaging with the second fitting surface to define a second rotatable indexing mechanism, Equipped with, Each of the fitting surfaces of the first intermediate fitting surface and the first fitting surface has an outer shape or contour with a circumferentially variable thickness such that when the first cam member rotates relative to the intermediate cam member by a given angular rotation in a first rotational direction about the rotation axis, the length of the adjustable spacer along the rotation axis changes by a first length, and each of the fitting surfaces of the second intermediate fitting surface and the second fitting surface has an outer shape or contour with a circumferentially variable thickness such that when the intermediate cam member rotates relative to the second cam member by the same given angular rotation in a second rotational direction opposite to the first rotational direction about the rotation axis, the length of the adjustable spacer along the rotation axis changes by a second length, Each of the first intermediate mating surface and the first mating surface is provided with a plurality of teeth to provide the first indexing mechanism, and each of the second intermediate mating surface and the second mating surface is provided with a plurality of teeth to provide the second indexing mechanism, wherein the plurality of teeth on each of the first and second intermediate mating surfaces are configured such that the first intermediate mating surface provides a fine level of adjustment of the length of the adjustable spacer, and the second intermediate mating surface provides a coarse level of adjustment of the length of the adjustable spacer, and the first length is shorter than the second length of the adjustable spacer.

2. The adjustable spacer according to claim 1, wherein the outer shape or contour of the first intermediate fitting surface and each of the first fitting surfaces is configured to prevent the first cam member from rotating in the second rotational direction relative to the intermediate cam member, and the outer shape or contour of the second intermediate fitting surface and each of the second fitting surfaces is configured to prevent the intermediate cam member from rotating in the first rotational direction relative to the second cam member.

3. The adjustable spacer according to claim 1 or 2, wherein each of the plurality of teeth of the first and second rotatable indexing mechanisms is wedge-shaped.

4. Each of the first intermediate fitting surface and the first fitting surface is provided with at least one first type of ramp, the at least one first type of ramp being inclined such that when the first cam member rotates relative to the intermediate cam member in the first rotational direction by a given angular rotation, the length of the adjustable spacer along the axis of rotation changes by a first length. The adjustable spacer according to claim 1, wherein each of the fitting surfaces of the second intermediate fitting surface and the second fitting surface comprises at least one second type of ramp, the at least one second type of ramp inclined such that when the intermediate cam member rotates relative to the second cam member in the second rotational direction by a given angular rotation, the length of the adjustable spacer along the axis of rotation changes by a second length, and optionally, the at least one first and / or second type of ramp comprises three or more ramps, and optionally, the at least one first type of ramp is shallower than the at least one second type of ramp.

5. The adjustable spacer according to claim 1, wherein the first and second intermediate mating surfaces cooperate with the first and second mating surfaces, respectively, to rotate the intermediate cam member in the second rotational direction relative to the second cam member when the first cam member rotates in the second rotational direction, and optionally the first cam member has a plurality of teeth extending outward around the first cam member for engaging with a pinion.

6. The adjustable spacer according to claim 1, wherein each of the first cam member and the intermediate cam member is ring-shaped.

7. The adjustable spacer according to claim 1, wherein each of the first and second cam members and the intermediate cam member is provided with at least one marker for measuring the relative position of any one of the first cam member and / or the intermediate cam member and / or the second cam member.

8. An adjustable grid leveling mechanism for adjusting the level of a grid structure in a grid framework structure comprising a plurality of vertical upright members, wherein the plurality of vertical upright members support the grid structure, and the adjustable grid leveling mechanism comprises a base for attachment to the top or upper end of the vertical upright members, a mounting head for which the grid structure is mounted thereon, and an extendable section interposed between the base and the mounting head such that the mounting head is movable relative to the base, wherein the extendable section comprises the adjustable spacer described in claim 1.

9. The adjustable grid leveling mechanism according to claim 8, wherein the base portion comprises a slot or insertion portion for attachment to a vertical upright member.

10. The adjustable grid leveling mechanism according to claim 8, wherein the mounting head comprises a rail cross member having four right-angled ends, each of the four right-angled ends configured to support a separate grid member in a grid pattern.

11. A grid framework structure configured to support one or more material handling devices, i) A grid structure comprising a first set of grid members extending in a first direction and a second set of grid members extending in a second direction, wherein the second set of grid members is a grid pattern comprising a plurality of grid cells in a substantially horizontal plane, extending transversely to the first set of grid members. ii) A plurality of vertical upright members for supporting the grid structure, wherein the plurality of vertical upright members are interconnected at their upper ends by the first set of grid members and the second set of grid members. iii) An adjustable grid leveling mechanism according to any one of claims 8 to 10, interposed between at least one of the plurality of vertical upright members and the grid structure in one or more of the interconnection portions of the plurality of vertical upright members, A grid framework structure comprising, wherein the adjustable grid leveling mechanism is configured to adjust the vertical distance between at least one of the plurality of vertical upright members and the grid structure.

12. The grid framework structure according to claim 11, wherein the plurality of vertical upright members are arranged to form a plurality of vertical storage spaces where one or more containers are stacked between the plurality of vertical upright members and guided vertically by the plurality of vertical upright members.

13. The grid framework structure according to claim 11, wherein the grid structure is attached to the adjustable grid leveling mechanism at one or more of the interconnected portions of the plurality of vertical upright members.

14. A robotic grid leveling device for moving on the grid structure according to claim 11, A) A wheel assembly, i) A first set of wheels for moving the robotic grid leveling device in the first direction, ii) comprising a second set of wheels for moving the robotic grid leveling device in the second direction, A) Wheel assembly and B) A drive mechanism for selectively driving the first and / or second set of wheels, C) An adjustment tool configured to rotate the first and / or second rotatable indexing mechanisms about their respective first and second rotation directions, A robotic grid leveling device equipped with [the following features].

15. The robotic grid leveling device according to claim 14, wherein the adjustment tool comprises a pinion for engaging with the first and / or second rotatable indexing mechanism.

16. A method for leveling the grid structure of the grid framework structure according to claim 11, i) A step of measuring the first vertical position of the robotic grid leveling device according to claim 14 in the first grid cell of the grid structure with respect to one or more fixed reference points, ii) The step of moving the robotic grid leveling device on the grid structure to a second grid cell on the grid structure, iii) A step of measuring the second vertical position of the robotic grid leveling device on the grid structure in the second grid cell with respect to one or more fixed reference points, iv) A step of calculating the difference between the second vertical position and the first vertical position, As a result, v) If the calculated difference is greater than a predetermined value, the step of adjusting the length of the adjustable spacer by engaging the adjustable tool with the adjustable spacer so that the first and / or second rotatable indexing mechanism rotates in their respective first and / or second rotational directions around the axis of rotation until the calculated difference is less than the predetermined value; vi) Repeating steps (i) to (v) until the grid structure becomes a substantially horizontal plane, A method that includes [a certain feature].

17. The method according to claim 16, wherein the one or more fixed reference points are located at one or more corners of the grid structure.

18. The method according to claim 16, wherein the first and second vertical positions of the robotic grid leveling device are measured by one or more total stations at one or more fixed reference points, and each of the one or more total stations comprises a transmitter device for illuminating the robotic grid leveling device with light of at least one wavelength and a receiver device for receiving light reflected from the robotic grid leveling device.

19. A grid leveling system, i) The grid framework structure according to claim 11, ii) A robotic grid leveling device according to claim 14, which operates on the grid structure of the grid framework structure, iii) A control system comprising one or more processors and memory storing instructions, The instruction, when executed by the one or more processors, is provided to the one or more processors, a) Measuring the first vertical position of the robotic grid leveling device on the grid structure in the first grid cell on the grid structure with respect to one or more fixed reference points on the grid structure, b) Moving the robotic grid leveling device to a second grid cell on the grid structure, c) Measuring the second vertical position of the robotic grid leveling device in the second grid cell on the grid structure with respect to the one or more fixed reference points on the grid structure, d) Calculate the difference between the second vertical position and the first vertical position, e) If the calculated difference is greater than a predetermined value, the length of the adjustable spacer is adjusted by engaging the adjustable tool with the adjustable spacer so that the first and / or second rotatable indexing mechanism rotates in their respective first and second rotational directions around the axis of rotation until the calculated difference is less than the predetermined value; A grid leveling system that performs this function.

Images