Abstract: The present invention provides a high productivity, high density container storage yard adjacent to a facility for loading and unloading containers, such as to and from ships, with the individual containers stored therein being stacked up to four containers high. An integrated container handling system is designed to move the containers from the container storage yard to the loading and unloading facility, and includes an overhead grid rail system on which container carrying shuttle vehicles are routed to designated yard locations by a master control system. Passive switching mechanisms are utilized to selectively move the shuttle vehicles through the grid rail network, wherein the actual switch mechanism is carried on the shuttle vehicle rather than on the track. One disclosed embodiment of the loading and unloading facility comprises overhead cranes and associated buffers in a marine terminal for loading and unloading a container ship.

Abstract: A motion system is provided by a platform generally parallel to a base and connected thereto by a column and powered and controlled extensible members, at least three of which are connected between distributed points around the column. In a three degree of freedom device, the column is conical, rigidly supported at its base with a universal joint at its top. The points of attachment define triangles in the base and in the platform surrounding the column with one extensible member connected between each.In the four degree of freedom version, the column is modified by making it effectively a column which is pivoted or guided at the base or contains an extensible member, preferably retains its triangular shape and its universal joint connection to the platform at its apex. For stability four powered and controlled extensible members are provided between points in the base and platform distributed around the column, a preferred pattern of arrangement being a square with the column at the center.