Devices for picking and / or depositing items in automated warehousing

Abstract

The invention relates to a device (20) for picking objects (S) from or depositing objects in compartments (14) of an automated warehouse (50). The device (20) comprises first movement means for moving the device (20) along a main direction (X) within the warehouse and main power supply means (28, 30) of the same device. The device also comprises a pair of forks (34A, 34B) movable between a retracted position and an extended position by second movement means (35A, 36A, 35B, 36B) along at least one transverse direction (Y) relative to said main direction (X). Each fork (34A, 34B) comprises an end section (343A, 343B) provided with at least one thrust element (50A, 51A, 52A, 50B, 51B, 52B) for said object (S), wherein the thrust element is movable between an operating position and at least one idle position. The end section (343A, 343B) further comprises third movement means (54A, 55A, 56A, 54B, 55B, 56B) for moving the thrust element. The device comprises a central unit (80, 80') which controls the moving part of the device (20). According to the invention, the end section (343A, 343B) comprises a peripheral control unit (90A, 90B) for the third movement means (54A, 55A, 56A, 54B, 55B, 56B); the peripheral control unit (90A, 90B) and the central control unit (80, 80') are configured for wireless communication with each other. Furthermore, according to the present invention, the end section (343A, 343B) further comprises a rechargeable auxiliary power supply device (100A, 100B), which is suitable for supplying power to the peripheral control unit (90A, 90B) and the third mobile device (54A, 55A, 56A, 54B, 55B, 56B).

Description

Technical Field

[0001] The present invention relates to the field of realizing automated systems for storing objects or automated warehousing, in particular boxed objects.

[0002] In particular, the present invention relates to a device for picking objects, preferably boxed objects, from or depositing objects at a location in a warehouse in an automated storage system for objects. Background Art

[0003] In the field of object storage systems it is known to use automated devices capable of moving objects between different points / locations in the system.

[0004] Typically, the system consists of a storage area or warehouse in the strict sense, including: positioning compartments for multiple items, for example defined by shelves arranged side by side and / or stacked; one or more supply areas for storage, in which the items to be stored are positioned; and one or more output areas for items picked from the storage.

[0005] According to the background art, the movements between the different locations of the system are performed by suitable automatic devices for picking and / or depositing the objects.

[0006] Devices of known type are suitably shaped to pick / unload items from compartments / shelves and transport them to a picking point and, conversely, to bring them from the picking point to a compartment / shelf loaded with items.

[0007] Devices of known type have an area, such as a platform, for temporarily placing objects during their movement.

[0008] The device moves between storage aisles in a main direction and a preferential direction. Preferably, the storage compartments / shelves are arranged on both sides of the aisles, on the right and / or left side relative to the main direction of advancement of the device.

[0009] The device moves along the aisle by means of wheels driven by one or more electric motors powered by supercapacitors and batteries (e.g., lithium batteries) located on the device itself. Alternatively, the motor power supply system can be provided by means of power supply poles placed on the floor of the aisle. Brushes in contact with the power supply poles transfer electrical energy to power the electrical parts on the device.

[0010] In fact, in addition to moving along the aisles, the device is equipped with two forks that can move in a direction perpendicular to said main direction. The two forks have a telescopic configuration formed by a plurality of sections (also called stages) that allow the forks to be extended to enter a storage location during loading or unloading of objects in storage, and to be subsequently retracted to retrieve the objects.

[0011] The last stage of each fork is provided with a movable element, also called a finger, which can be positioned in a retracted intermediate position and an extended operating position relative to the fork, whose function is to feed / push the box from the compartment to the device platform or, conversely, to push the box from the device platform to the storage compartment. Suitable motors mounted on the fork allow the finger to be moved between the intermediate position and the operating position and vice versa.

[0012] However, loading / unloading devices of known type have some disadvantages.

[0013] A first drawback of such a system is the need to reach the motor mounted on the fork by means of the routing of several cables for powering and / or controlling the fork, usually by means of a cable chain, to allow the movement of the fingers. The result is a high construction complexity, which has a negative impact both during the construction of the device and in possible subsequent maintenance and / or replacement operations.

[0014] Furthermore, the presence of cables and cable chains increases the overall size of the moving parts and generally implies greater dimensions to the detriment of the compactness of the device.

[0015] Furthermore, since the fork is continuously telescopically moved back and forth during operation, the cables are also subject to continuous movement, which adversely affects the reliability of the system in terms of possible wear of moving parts, possible wear of the cables, and / or possible separation between interconnection areas (e.g., electrical connection terminals) of the cables.

[0016] An example of a prior art device is described in WO 2015 / 038999 A2. However, this device inconveniently only allows its forks to be extended at one time and on only one side to move boxes, thus not allowing the boxes to be moved symmetrically on two opposing storage aisles. In addition, the space to accommodate the boxes is inconveniently cluttered with motors and motor control electronics.

[0017] The object of the present invention is to at least partially overcome the disadvantages of the prior art.

[0018] In particular, the object of the invention is to propose a loading / unloading device for automated warehousing which makes it possible to reduce the structural complexity with respect to devices of known type.

[0019] The object of the present invention is to propose a loading / unloading device for automated warehousing which makes it possible to reduce assembly times and / or costs with respect to devices of known type.

[0020] Another object of the invention is to propose a loading / unloading device for automated warehousing which makes it possible to increase the reliability with respect to devices of known type. Summary of the invention

[0021] Thus, in its first aspect, the present invention relates to a device for picking objects from or depositing objects into a compartment of an automated warehouse, the device comprising:

[0022] - a support structure provided with first movement means suitable for moving said device along a main direction within said warehouse;

[0023] - a temporary storage area for said items;

[0024] - a mains power supply for the device connected to the support structure;

[0025] - a pair of forks facing each other, comprising second movement means suitable for moving said forks relative to said support structure between a retracted position in said temporary resting area in at least a transverse direction with respect to said main direction and an extended position in the direction of said compartment, each fork of said pair of forks comprising an end section provided with at least one thrust element positionable in at least one operating position in which said thrust element can rest on said objects and in at least one idle position in which said thrust element does not interfere with said objects, said end section comprising third movement means for moving said at least one thrust element;

[0026] - a central control unit integrally formed with the support structure;

[0027] wherein the end section comprises a peripheral control unit for the third mobile device, the peripheral control unit and the central control unit being configured to communicate wirelessly with each other, and wherein the end section comprises a rechargeable auxiliary power supply device suitable for supplying power to the peripheral control unit and the third mobile device.

[0028] In a preferred embodiment, the rechargeable auxiliary power supply is adapted to be recharged by energy provided by the primary power supply when the fork is positioned in a predetermined recharging position relative to the support structure.

[0029] According to a preferred embodiment of the invention, the predetermined recharging position corresponds to a retracted position of the fork.

[0030] Preferably, the rechargeable auxiliary power supply comprises at least one supercapacitor.

[0031] In a preferred embodiment, the apparatus comprises an electrical interconnection between the auxiliary power supply and the main power supply.

[0032] According to a preferred embodiment of the present invention, the electrical interconnection device comprises a sliding contact.

[0033] Preferably, the lateral direction of movement of the fork is a direction perpendicular to the main direction of movement of the device.

[0034] In a preferred embodiment, the primary power supply comprises one or more supercapacitors and / or lithium batteries.

[0035] According to a preferred embodiment of the invention, the primary power supply means comprises a system which receives electrical energy by sliding contact with one or more fixed electrical bars of said warehouse.

[0036] Preferably, the device further comprises an adjusting device for adjusting the mutual distance between the pair of forks.

[0037] In a preferred embodiment, the operating position of the thrust element is a horizontal position and / or the idle position of the thrust element is a vertical position.

[0038] According to a preferred embodiment of the invention, the thrust element is positionable between an operating position and an idle position by rotation.

[0039] Preferably, the end section further comprises sensor means for detecting the position of the thrust element.

[0040] In a preferred embodiment, the central control unit comprises a second unit interposed between the central control unit and the peripheral control unit, said second unit being adapted to send command signals for operating said third mobile device.

[0041] Preferably, the communication between the second unit and the central control unit is wired communication.

[0042] In a variant embodiment, the communication between the second unit and the central control unit is wireless communication.

[0043] On the other hand, the present invention relates to an automated storage system comprising a warehouse, which comprises one or more compartments for receiving items to be stored and at least one device for picking items from one of the compartments or storing items in one of the compartments, wherein the device is implemented as described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to better understand the characteristics and advantages of the present invention, a non-limiting example of a practical embodiment is described below with reference to the accompanying drawings, in which:

[0045] - Figure 1 A schematic diagram showing an automated warehousing and picking or depositing device in a first operating position according to a preferred embodiment of the present invention is shown;

[0046] - Figure 2 Shows Figure 1 Automated warehousing in which the picking or depositing device is in an operating position;

[0047] - Figure 3 The first operating position is shown Figure 1 A three-dimensional diagram of the device in the middle;

[0048] - Figure 4 Shows Figure 3 A side view of the device;

[0049] - Figure 5 Shows Figure 3 Bottom plan view of the device in the middle;

[0050] - Figure 6 Shows Figure 3 a device in which some of its components have been removed;

[0051] - Figure 7 Shows from Figure 6 The plan view from the right side of the device in the middle;

[0052] - Figure 8 The second operating position is shown Figure 3 A three-dimensional diagram of the device in the middle;

[0053] - Fig. 9 Shows Figure 8 Magnified details of

[0054] - Fig.10 Shows Figure 8 The device in which the thrust element is lowered;

[0055] - Fig.11 Shows Figure 4 Magnified details of

[0056] - Fig.12 Shows Fig.11 an enlarged detail of the clamping element being lowered;

[0057] - Fig.13 Shows Figure 1 A schematic block diagram of the system in FIG.

[0058] - Fig.14 Shows Fig.13 A variant embodiment of the block diagram. DETAILED DESCRIPTION

[0059] Although the invention is described below in detail with reference to the embodiments shown in the drawings, the invention is not limited to the embodiments described below and shown in the drawings. Rather, the described and shown embodiments illustrate some aspects of the invention.

[0060] The invention has proven to be particularly advantageous with regard to the production of picking or depositing devices that move in a warehouse in an automated and self-powered manner, as will be explained in more detail below.

[0061] It is worth noting that the invention is not limited to making automatic and self-powered devices. On the contrary, the invention is conveniently applicable to all situations envisaging the use of devices moving in a suitably powered warehouse, for example, a power supply system on fixed rails on which the device rests.

[0062] Figure 1 An automatic storage system 1 for articles S according to a preferred embodiment of the present invention is schematically shown, which comprises a warehouse 10 and a picking or depositing device 20 .

[0063] The warehouse 10 shown in the figure as an example has a simple layout and preferably includes two rows 12A and 12B of three compartments 14 arranged laterally relative to the central aisle 16, that is, the three compartments 14 of the first row 12A are arranged on the right side of the central aisle 16, and the three compartments 14 of the second row 12B are arranged on the left side of the central aisle 16.

[0064] The warehouse 10 further preferably includes a loading / unloading location 18 for the items S, ie, an area where items S to be stored in predetermined compartments 14 of the warehouse 10 are placed, or an area where items S to be picked from compartments 14 of the warehouse 10 are placed.

[0065] The objects S are advantageously moved in the system 1 by means of a picking or depositing device 20 according to the invention, hereinafter referred to as the device 20 for the sake of simplicity of description.

[0066] Preferably, the movement of the object S in the system 1 comprises moving the object S from the loading / unloading position 18 to the compartment 14, or vice versa, from the compartment 14 to the loading / unloading position 18. In different embodiments, the movement can also provide for shifting the object S between two compartments 14 of the warehouse 10, either within the same first row 12A, or within the same second row 12B, or from the first row 12A to the second row 12B, and vice versa.

[0067] The device 20 according to the invention preferably allows moving box-shaped objects S (ie preferably box-shaped objects S, such as Figure 1 in a simplified manner).

[0068] The device 20 includes a support structure 21 or frame on which a resting area 22 is defined for temporarily resting the objects S during their movement, e.g. Figure 3In the illustrated embodiment, the storage area 22 includes a pair of support rods 22A, 22B. Preferably, corresponding feed belts 24A, 24B are wrapped around the support rods 22A, 22B to facilitate positioning of the articles S on the device 20, as shown in more detail below. There is also a row of central rolling rollers 25 on the storage area 22.

[0069] like Figure 6 As shown, the feed belts 24A, 24B are preferably moved by motorized means 24C and 24D, which preferably comprise electric motors, more preferably of the brushless type.

[0070] The device 20 is firstly provided with first movement means 23 suitable for moving the device 20 in the main direction X along the corridor 16 .

[0071] Preferably, the first movement means 23 comprises wheels 240A, 240B driven by one or more electric motors 26, where relevant, two electric motors 26 are associated with the two wheels 240A or the drive wheels 240A (eg Figure 6 shown).

[0072] In a preferred embodiment, the device 20 includes a main power supply 28, or primary power supply, mounted on the device 20 to render the device 20 autonomous and self-powered.

[0073] In a preferred embodiment, the main power supply 28 comprises a supercapacitor and / or a battery 30 , such as a lithium battery, which is positioned in the head 32A, 32B of the device 20 and connected to the frame 21 .

[0074] In an alternative embodiment, the power supply system for the motors may be provided by means of power bars placed on the floor along the aisle and brushes on the device placed in continuous contact with the power bars, which deliver power to the parts on the device.

[0075] The central control unit 80 is integrally associated with the frame 21 of the device 20. The central unit 80 controls all the moving parts of the device 20. Preferably, the central unit 80 communicates with the system management unit U, such as Fig.13 and Fig.14 As shown, on the system management unit U, the warehouse software manages the operation of the system 1, in particular the movement of the devices 20 in the warehouse 10. The communication between the central unit 80 and the system management unit U is preferably wireless communication.

[0076] The central unit 80 is powered by said main power supply 28 and is preferably located in the first head 32A of the device 20 .

[0077] Furthermore, the device 20 preferably comprises two forks 34A, 34B adapted to be moved along a second direction Y. The second direction Y is preferably transverse to said main direction X, more preferably perpendicular thereto.

[0078] The two forks 34A, 34B face each other, preferably parallel, to define a predetermined mutual distance. Preferably, the device 20 is provided with an adjustment means 40 ( Figure 6 ), the adjustment means advantageously adjusts the distance between the forks 34A, 34B according to the size of the box S to be transported, for example, within a range between 300 and 800 mm. Figure 6 In the arrangement shown, the spacing is adjusted by a toothed belt (not shown) which is preferably driven by an electric motor (preferably, but not exclusively, of the brushless type) 34C which feeds the forks 34A, 34B as required.

[0079] Preferably, the two forks 34A, 34B have a telescopic structure formed by three sections 341A, 342A, 343A, 341B, 342B, 343B, which are hereinafter referred to as stages, and which move telescopically along the second direction Y (see Figure 8 ). In variants, a different number of stages may be provided, or even only one stage.

[0080] The forks 34A, 34B can be moved / extended along the second direction Y to be inserted into the compartment 14 of the warehouse 10, for example Figure 2 shown.

[0081] Auxiliary moving devices 35A, 35B (see Figure 6 ) allows the forks 34A, 34B to move along the second direction Y. Preferably, the second moving means 35A, 35B comprises motors 36A, 36B associated with a pinion rack mechanism (see Figure 6 ). As a variant, equivalent movement means may be provided, such as a belt system, a chain system, etc.

[0082] As attached Figure 3 , Figure 6 , Fig.10 and Fig.11As explicitly shown in FIG. 1 , according to an advantageous embodiment, a first motor 36A of such motors 36A, 36B is operatively connected to one of the two forks 34A, 34B (the left fork 34A), and a second separate motor 36B is operatively connected to the other of the two forks 34A, 34B (the right fork 34B), such that the first motor 36A is adapted to move one of the two forks 34A, 34B independently of the other of the two forks 34A, 34B. In particular, the first motor 36A is adapted to move the left fork 34A, and the second motor 36B is adapted to move the right fork 34B independently of the movement of the left fork 34B.

[0083] In a preferred embodiment, two forks 34A, 34B are configured to extend from both sides of the device 20, for example, Figure 1 and Figure 2 Towards the right or to the left, so as to be able to reach all the compartments 14 on the right and on the left relative to the central aisle 16 of the warehouse 10. In other words, both forks 34A, 34B can be extended towards the right side of the device, facing the first row 12A of the warehouse, and towards the left side of the device, facing the row 12B of the warehouse, thus extending in both directions along the second direction Y.

[0084] Thus, in particular, the second movement means 35A, 35B allow the forks 34A, 34B to be moved along the second direction Y in both directions.

[0085] In a preferred embodiment, the movement and / or extension of the forks 34A, 34B along the second direction Y is managed by encoders measuring the rotation of the motors 36A, 36B. For example, the overall displacement is associated with the motor rotation 36A, 36B by a fixed value (mm per motor rotation).

[0086] The forks 34A, 34B are connected by supporting structures 33A, 33B (see Figure 4 ) is connected to the frame 21, and the support structure preferably includes a pair of columns 331A, 332A, 331B, 332B (at Figure 4 shown in Figure 3 , Figure 4 , Figure 6 , Figure 7 , Figure 8 , Fig.11 and Fig.12 It is worth noting that some of the reference numerals shown in this specification are not shown in the figures because the corresponding elements are not clearly visible. However, the position and configuration of such invisible elements can be easily inferred because they refer to elements of one fork that can be easily associated with corresponding visible elements of the other fork, the two forks being made of the same type of elements in a mirrored manner.

[0087] exist Figure 8 and Fig. 9 As can be seen in more detail in the figure, the last stage 343A, 343B of the two forks 34A, 34B is preferably flat or plate-shaped, which is vertically positioned to be placed laterally relative to the article S, and more preferably, when the article is packaged in a box S, to be placed laterally relative to the vertical wall of the box S.

[0088] The last stage 343A, 343B constituting each fork 34A, 34B is provided with at least one thrust element 50A, 51A, 52A, 50B, 51B, 52B, also referred to as a finger (see Figure 8 and Fig.10 ), whose function is to push / pull the box S from the compartment 14 of the warehouse 10 to the temporary storage area 22 of the device 20, or to push the box S from the temporary storage area 22 of the device 20 to the compartment 14 of the warehouse 10 (it is worth noting that some of the fingers are not fully visible in the figure).

[0089] Each finger 50A, 51A, 52A, 50B, 51B, 52B may be positioned in a retracted, preferably vertical, idle position, e.g. Figure 3 , Figure 6 , Figure 8 and Fig.11 , and can be positioned in a lowered, preferably horizontal operating position, e.g. Fig.10 and Fig.12 shown.

[0090] Each finger 50A, 51A, 52A, 50B, 51B, 52B is associated with third movement means for allowing the finger 50A, 51A, 52A, 50B, 51B, 52B to rotate between its idle position and its operating position. The third movement means comprise motor means 54A, 55A, 56A, 54B, 55B, 56B, comprising an electric motor (preferably of the brushless type), such as Figure 7 and Fig. 9 shown.

[0091] According to the preferred embodiment shown, the positioning of each finger between the idle position and the operating position is preferably achieved by rotation.Equivalent embodiments can be provided as a variant, for example by means of an element associated with the last stage, which element protrudes telescopically from the last stage.

[0092] According to the preferred embodiment shown in the figures, each end stage 343A, 343B comprises three fingers 50A, 51A, 52A, 50B, 51B, 52B.

[0093] Preferably, the first pair of facing fingers 50A, 50B in their lowered operating position allow the box S to be fed from the compartment 14 on the right side of the warehouse 10 to the temporary storage area 22 of the device 20, or allow the box to be pushed from the temporary storage area 22 of the device 20 to the compartment 14 on the left side of the warehouse 10; the second pair of facing fingers 51A, 51B in their lowered operating position allow the box S to be fed from the compartment 14 on the left side of the warehouse 10 to the temporary storage area 22 of the device 20, or allow the box to be pushed from the temporary storage area 22 of the device 20 to the compartment 14 on the right side of the warehouse 10; the third pair of facing fingers 52A, 52B are optionally present and depend on how the warehouse 10 is manufactured, that is, whether there is one box S or two boxes that can be positioned at different depths in the compartment 14.

[0094] The basic steps for picking a box S from the storage 10 provide:

[0095] - moving the device 20 along the main direction X until it reaches a position at the compartment 14 of the warehouse 10 where the boxes S to be picked are stored;

[0096] - extending the forks 34A, 34B along the second direction Y to a length sufficient to cover the box S;

[0097] - lowering the first pair of fingers 50A, 50B;

[0098] - Retracting the forks 34A, 34B while the fingers 50A, 50B feed / push the box S towards the temporary resting area 22.

[0099] Preferably, in the final step, the feeding of the box S toward the temporary resting area 22 is facilitated by actuating the lower feeding belts 24A, 24B and resting on the rolling rollers 25 .

[0100] Similarly, the basic steps for loading boxes S from storage 10 provide:

[0101] - moving the device 20 loaded with the boxes S along the main direction X until it reaches a position at the compartment 14 of the warehouse 10 where the boxes S must be stored;

[0102] - lowering the second pair of fingers 51A, 51B;

[0103] - extending the forks 34A, 34B along the second direction Y by a sufficient length to insert the box S into the compartment 14 while the fingers 51A, 51B push the box S;

[0104] - Retract the forks 34A, 34B and the fingers 51A, 51B.

[0105] The pushing step is preferably facilitated by actuating the feed belts 24A, 24B below and by resting on rolling rollers 25 .

[0106] According to one aspect of the invention, the last stage 343A, 343B of the fork 34A, 34B comprises a motor control unit 90A, 90B or a peripheral unit or a slave unit operatively connected to the motor means 54A, 55A, 56A, 54B, 55B, 56B of each finger 50A, 51A, 52A, 50B, 51B, 52B, as Figure 7 As shown, it is only used for the right hand side fork 34B.

[0107] The slave units 90A, 90B receive information from the central unit 80 for managing the movement of the fingers 50A, 51A, 52A, 50B, 51B, 52B. The communication between the slave units 90A, 90B and the central unit 80 is advantageously a wireless communication.

[0108] The slave units 90A, 90B are preferably connected to the motor devices 54A, 55A, 56A, 54B, 55B, 56B via respective motor boards 60A, 61A, 62A, 60B, 61B, 62B, also as shown. Fig.13 As shown in the diagram.

[0109] Each of the boards 60A, 61A, 62A, 60B, 61B, 62B is preferably connected to the corresponding motor 54A, 55A, 56A, 54B, 55B, 56B and the slave board 90A, 90B by a flat cable 92A, 92B, which passes longitudinally through the end stage 343A, 343B of the fork frame 34A, 34B; therefore, the slave board 90A, 90B includes at least "n" output ports, where "n" corresponds to the number of fingers 50A, 51A, 52A, 50B, 51B, 52B (three for the embodiment shown and described herein).

[0110] According to an embodiment, the movement of one or more motors 54A, 55A, 56A associated with the command of one or more thrust elements 50A, 51A, 52A of one of the two forks 34A is synchronized with the movement of one or more motors 54B, 55B, 56B associated with the command of one or more thrust elements 50B, 51B, 52B of the other of the two forks 34B.

[0111] In particular, the central unit 80 is configured to send a first command signal to each slave board 90A, 90B, the first command signal containing data related to the specific motor 54A, 55A, 56A, 54B, 55B, 56B to be commanded and possibly containing data related to the position to which the associated thrust element 50A, 51A, 52A, 50B, 51B, 52B must reach. In addition, the central unit 80 is configured to send a second command signal to each slave board 90A, 90B, the second command signal containing the same data as the first command signal. The central unit 80 is configured to wirelessly send the first command signal at a predetermined radio signal frequency (e.g., at a frequency suitable for signals according to the Bluetooth standard, e.g., about 2.4 GHz). In addition, the central unit 80 is configured to wirelessly send the second command signal at a second predetermined radio signal frequency, the second predetermined radio signal frequency being lower than the predetermined radio signal frequency of the first signal, e.g., a radio communication frequency less than 1 GHz, e.g., a carrier frequency of 868 MHz (FSK) or 434 MHz.

[0112] Advantageously, the central unit 80 is configured to send the first command signal together with the second command signal within a predetermined time interval, for example within a time interval of about 100 milliseconds or of about several hundred milliseconds.

[0113] In particular, the central unit 80 is configured to send the first command signal and the second command signal together within a predetermined time interval, for example within a predetermined time interval of about 100 milliseconds or about 200-300 milliseconds.

[0114] Furthermore, preferably, the central unit 80 is configured to send a plurality of first command signals that are identical to one another and are temporally spaced apart by a first time interval that is shorter than the predetermined time interval. Furthermore, preferably, together with the plurality of mutually identical first command signals, the central unit 80 is configured to send a plurality of second mutually identical command signals that are temporally spaced apart by a second time interval that is shorter than the predetermined time interval and greater than the first predetermined time interval.

[0115] This allows the same motor start command to be sent on two separate wireless communication channels in a redundant manner, minimizing the risk of lost communication.

[0116] Furthermore, this ensures synchronization between the thrust elements. In fact, it is substantially ensured that the commands are transmitted within the predetermined time interval (in the worst case) and any interference problems are also minimized.

[0117] In particular, according to an embodiment, the central unit 80 includes two radio modules of different frequencies, and each slave board ( 90A and 90B) also includes two radio modules of different frequencies.

[0118] Preferably, the first radio module of the two radio modules is a Bluetooth BLE v5 2.4 GHz communication module.

[0119] Preferably, the second of the two radio modules is a FSK modulation module with a frequency of 868 MHz (or a SUB-GHz radio module in any case, ie a carrier frequency of less than 1 GHz).

[0120] Preferably, the communication between the central unit 80 and the slave boards is always transmitted and received in parallel on both radio modules.

[0121] Specifically, when a movement is desired, the central unit 80 communicates with the slave boards (90A and 90B) simultaneously. In addition to the machine information, the transmitted command signals (first command signal and second command signal) preferably contain synchronization and anti-overlapping control information, such as one or more of the following: package number, command time for executing the command. In particular, the command time for executing the command is a predetermined time value within which the movement command must be executed. For example, the command time is the value of a counter, which is decremented (counted down), and at the end of this value, each slave board (90A, 90B) executes a command for the motor. In this way, it is ensured that all motors are started simultaneously when the predetermined time value expires. In other words, synchronization between the motors is ensured.

[0122] For example, the first and second command signals are repeatedly transmitted throughout a predetermined time interval, such as 100 or 200 milliseconds, from the central unit 80. The transmissions occur in both the Bluetooth and SUB-GHz radio modules, and in particular in Bluetooth the transmissions occur more frequently (shorter time intervals between command signals), thus a greater number of commands are sent within a predetermined time interval, whereas in SUB-GHz the transmissions are less frequent, thus a smaller number of command signals within a predetermined time interval.

[0123] This allows real-time synchronization of the movement of the mechanical fingers. The motion synchronization lags by a few milliseconds.

[0124] Furthermore, if there is special radio interference that obscures one of the two carriers (such as Bluetooth), the 868MHZ communication continues to work.

[0125] In the same way, the central unit 80 receives from the slave boards status and diagnostic information of the slave boards, such as the status of the motor (normal, faulty, not connected, short circuit or mechanical blocking of the motor) and information on overheating of the motor drive.

[0126] Furthermore, the central unit 80 is always aware of the status and quality of the wireless communication to and from the slave boards.

[0127] According to another aspect of the present invention, the last stage 343A, 343B of the fork 34A, 34B further comprises an auxiliary power supply device 100A, 100B (see Figure 7 and Fig. 9 The auxiliary power supply device 100A, 100B preferably comprises a supercapacitor (especially as Fig. 9 shown).

[0128] The auxiliary power supply devices 100A, 100B provide power to the slave units 90A, 90B, the motor boards 60A, 61A, 62A, 60B, 61B, 62B and the motor devices 54A, 55A, 56A, 54B, 55B, 56B.

[0129] Thus, advantageously, the slave units 90A, 90B, the motor boards 60A, 61A, 62A, 60B, 61B, 62B and the motor means 54A, 55A, 56A, 54B, 55B, 56B are powered independently by the auxiliary power supply means 100A, 100B. Furthermore, thanks to the wireless communication between the slave units 90A, 90B and the central unit 80, no cables and the associated wiring are required between the last movable stage 343A, 343B of the forks 34A, 34B and the part integral with the frame 21 of the device 20. The disadvantages associated with the use of cables of systems of known type are thus overcome.

[0130] In another aspect of the present invention, sensors 120A, 121A, 122A, 120B, 121B, 122B are positioned at each finger 50A, 51A, 52A, 50B, 51B, 52B (one of these sensors 120B is located at Fig.12 ), such as an optical and / or magnetic and / or mechanical detector, which is suitable for detecting the position of the fingers 50A, 51A, 52A, 50B, 51B, 52B, in particular their vertically retracted position.

[0131] The finger positions 50A, 51A, 52A, 50B, 51B, 52B detected by the corresponding sensors 120A, 121A, 122A, 120B, 121B, 122B are transmitted to the slave units 90A, 90B.

[0132] In a preferred embodiment, the sensors 120A, 121A, 122A, 120B, 121B, 122B are connected to the slave units 90A, 90B by cables.

[0133] In a preferred embodiment, the sensors 120A, 121A, 122A, 120B, 121B, 122B are connected to the slave units 90A, 90B via wireless communication.

[0134] Preferably, all the above elements are mounted on the outside of the last movable stage 343A, 343B of the corresponding fork 34A, 34B. In particular, it is clear and obvious to a person skilled in the art from the accompanying drawings that the motor control unit 90A, 90B (or peripheral unit or slave unit) is mounted on the outside of the last movable stage. In addition, the third moving device 54A, 55A, 56A, 54B, 55B, 56B is mounted on the outside. In particular, the motor of each finger 50A, 51A, 52A, 50B, 51B, 52B and the corresponding motor plate 60A, 61A, 62A, 60B, 61B, 62B are all located on the outside of the last movable stage 343A, 343B. In addition, the auxiliary power supply device 100A, 100B is preferably located on the outside of the last movable stage. Therefore, this applies to both forks 34A, 34B.

[0135] The arrangement of one or more of the aforementioned components and all of these components on the outside makes it advantageous to avoid that the inner space, i.e. the shelf area, could become cluttered. Therefore, this ensures a suitable space for receiving boxes in the shelf area 22, without being affected by other devices. At the same time, this allows the forks 34A, 34B to move in both directions along the second direction Y, so that the two rows 12A, 12B of the warehouse 10 can be effectively served. In fact, the presence of elements facing the inside (i.e. towards the shelf area 22) would be an obstacle during the step of translation of the forks along the second direction Y on both sides.

[0136] It is also obvious that the outer side of the last movable stage means the outer side of the last movable stage arranged on the side opposite to the shelf area 22 for temporarily shelving the article S. In other words, each last movable stage 343A, 343B of the corresponding fork frame 34A, 34B includes, for example, a fork frame inner side facing the shelf area 22 when the fork frame is in the retracted position, and an opposite fork frame outer side not facing the shelf area 22.

[0137] In the present embodiment, the last movable stage 343A, 343B is planar or plate-shaped, preferably, the outer fork frame side and the outer fork frame side are two opposite sides of the planar portion or the plate-shaped portion having a larger surface extension.

[0138] In particular, each of the sensors 120A, 121A, 122A, 120B, 121B, 122B is mounted near a corresponding finger 50A, 51A, 52A, 50B, 51B, 52B.

[0139] According to another aspect of the invention, the apparatus 20 comprises a main power supply 28 and auxiliary power supplies 100A, 100B (see Figure 7 ) between the electrical interconnection devices 150A, 150B (see Fig.12 ).

[0140] Preferably, the interconnects 150A, 150B allow for electrical connection between the primary power supply 28 and the auxiliary power supplies 100A, 100B when the yokes 34A, 34B are in a predetermined or recharging position relative to the frame 21 .

[0141] Preferably, the recharging position corresponds to the retracted position of the forks 34A, 34B, ie the last movable stage 343A, 343B of the forks 34A, 34B is located in the resting area 22 .

[0142] In the recharging position, the auxiliary power supplies 100A, 100B receive recharging energy from the main power supply 28 .

[0143] According to the preferred embodiment shown in the figure, the interconnection device 150A, 150B includes two sliding contacts 152A, 154A, 152B, 154B (see Fig.11 and Fig.12 ), the first contacts 152A, 152B are associated with the frame 21, more preferably, the first contacts 152A, 152B are associated with the support structure 33A, 33B of the fork 34A, 34B, and the second contacts 154A, 154B are associated with the last movable stage 343A, 343B of the fork 34A, 34B, as Figure 8 As shown in more detail in .

[0144] The first contacts 152A, 152B preferably include elastic thrust members 156A, 156B (see Fig.11 and Fig.12 ), the elastic thrust means being suitable for generating a force towards the forks 34A, 34B to ensure electrical contact when said forks contact the second contacts 154A, 154B. Furthermore, the second contacts 154A, 154B preferably comprise inclined surfaces 158A, 158B suitable for promoting interaction with corresponding inclined surfaces (not visible) present on the first contacts.

[0145] The auxiliary power supply means 100A, 100B are thus advantageously recharged without the need for cables, thus obtaining the above-mentioned advantages resulting from the elimination of the wiring provided in systems of known type.

[0146] Furthermore, the elimination of wiring simplifies the construction operations of the device, with associated benefits in terms of assembly time and / or costs, compared to devices of known type.

[0147] Likewise, advantageously, the reduction of wired parts makes it possible to increase reliability with respect to devices of known type.

[0148] Furthermore, the possibility of removing wired parts, and at the same time providing suitable spaces for housing boxes, improves the reliability and efficiency of the box movement. In fact, due to the lack of other electronic devices on the fork that could disturb or obstruct the shelving area, it is possible to avoid undesirable collisions, but above all, it is possible to move the fork on both sides of the device to serve the opposite rows of storage.

[0149] refer to Fig.14 A block diagram relating to a variant of an embodiment of the invention is shown, which differs from the previous embodiment in that the central control unit 80' further comprises a second unit 800' or master unit, interposed between the communication flows to and from the slave units 90A, 90B.

[0150] The function of the master control unit 800' is to send command signals for operating the motor devices 54A, 55A, 56A, 54B, 55B, 56B and collect signals from the sensors 120A, 121A, 122A, 120B, 121B, 122B that control the positions of the fingers 50A, 51A, 52A, 50B, 51B, 52B. The signals from the sensors 120A, 121A, 122A, 120B, 121B, 122B are detected by the slave units and then sent to the master control unit 800', which sends the status of the sensors to the central unit 80'.

[0151] The communication between the master unit 800' and the slave units 90A, 90B is preferably wireless communication.

[0152] The communication between the main control unit 800 ′ and the central control unit 80 ′ is preferably wired.

[0153] In a variant embodiment, the communication between the main control unit 800 ′ and the central control unit 80 ′ is preferably wireless communication.

[0154] Finally, it is worth noting that the wireless type communications mentioned in this specification preferably comply with the Bluetooth Low Energy or BLE 4.2 standard.

[0155] Thus, the present description has shown that the device according to the invention achieves the intended objects. In particular, the device according to the invention can reduce the structural complexity relative to known types of devices.

[0156] Although the invention has been explained above in detail with the aid of the embodiments of the invention shown in the drawings, the invention is obviously not limited to the embodiments described above and shown in the drawings; on the contrary, further variants of the described embodiments fall within the object of the invention defined by the claims.

Claims

1. A device (20) for picking an object (S) from a compartment (14) of an automated warehouse (10) or for storing an object in a compartment of the automated warehouse, the device (20) comprising: - a supporting structure (21) provided with first movement means suitable for moving said device (20) along a main direction (X) in said warehouse; - a temporary storage area (22) for the article (S); - a main power supply (28, 30) for the device (20) connected to the support structure (21); - a pair of forks (34A, 34B) facing each other, comprising second movement means (35A, 36A, 35B, 36B) suitable for moving the forks (34A, 34B) relative to the support structure (21) between a retracted position at the temporary resting area (22) in at least a transverse direction (Y) relative to the main direction (X) and an extended position in the direction of the compartment (14), each fork of the pair of forks (34A, 34B) comprising an end section (343A, 343B) provided with at least one thrust element positionable in at least one operating position and in at least one idle position (50A, 51A, 52A, 50B, 51B, 52B), in at least one operating position, the thrust element (50A, 51A, 52A, 50B, 51B, 52B) can rest on the object (S), and in at least one idle position, the thrust element (50A, 51A, 52A, 50B, 51B, 52B) does not interfere with the object (S), the end section (343A, 343B) comprising third moving means (54A, 55A, 56A, 54B, 55B, 56B) for moving the at least one thrust element (50A, 51A, 52A, 50B, 51B, 52B); - a central control unit (80, 80') integrally formed with the support structure (21); The device (20) is characterized in that the end section (343A, 343B) comprises a peripheral control unit (90A, 90B) for the third mobile device (54A, 55A, 56A, 54B, 55B, 56B), the peripheral control unit (90A, 90B) and the central control unit (80, 80') being configured for wireless communication with each other, and wherein the end section (343A, 343B) comprises a rechargeable auxiliary power supply device (100A, 100B) suitable for powering the peripheral control unit (90A, 90B) and the third mobile device (54A, 55A, 56A, 54B, 55B, 56B), And wherein the peripheral control unit (90A, 90B) and the third moving device (54A, 55A, 56A, 54B, 55B, 56B) are installed outside the last movable stage of the corresponding fork (34A, 34B).

2. The device (20) according to claim 1, wherein: The forks (34A, 34B) of the pair of forks are shaped to be extendable on both sides of the device (20) so as to be able to reach all compartments on the right and left sides relative to the central aisle of the warehouse (10).

3. The device (20) according to claim 1, characterized in that The rechargeable auxiliary power supply (100A, 100B) is adapted to be recharged by energy provided by the main power supply (28, 30) when the fork (34A, 34B) is positioned in a predetermined recharging position relative to the support structure (21).

4. The device (20) according to claim 3, characterized in that The predetermined recharging position corresponds to the retracted position of the forks (34A, 34B).

5. The device (20) according to any one of the preceding claims, characterized in that The rechargeable auxiliary power supply (100A, 100B) comprises at least one supercapacitor.

6. The device (20) according to any one of the preceding claims, characterized in that It comprises an electrical interconnection (150A, 150B) between the auxiliary power supply (100A, 100B) and the main power supply (28, 30).

7. The device (20) according to claim 6, characterized in that The electrical interconnect device (150A, 150B) includes a sliding contact (152A, 154A, 152B, 154B).

8. The device (20) according to any one of the preceding claims, characterized in that The transverse direction (Y) of the fork (34A, 34B) is a direction perpendicular to the main direction (X).

9. The device (20) according to any one of the preceding claims, characterized in that The primary power supply (28, 30) includes one or more supercapacitors and / or lithium batteries.

10. The device according to any one of the preceding claims, characterized in that The main power supply comprises a system that receives electrical energy through sliding contact with one or more fixed electrical bars of the warehouse.

11. The device (20) according to any one of the preceding claims, characterized in that It further comprises an adjusting device (40) for adjusting the mutual distance between the pair of forks (34A, 34B).

12. The device (20) according to any one of the preceding claims, characterized in that The at least one operating position of the thrust element (50A, 51A, 52A, 50B, 51B, 52B) is a horizontal position and / or the idle position of the thrust element (50A, 51A, 52A, 50B, 51B, 52B) is a vertical position.

13. The device (20) according to any one of the preceding claims, characterized in that The thrust element (50A, 51A, 52A, 50B, 51B, 52B) is positionable between the operating position and the idle position by rotation.

14. The device (20) according to any one of the preceding claims, characterized in that The end section (343A, 343B) further comprises a sensor device (120A, 121A, 122A, 120B, 121B, 122B) adapted to detect the position of the thrust element (50A, 51A, 52A, 50B, 51B, 52B).

15. The device (20) according to any one of the preceding claims, characterized in that The central control unit (80') comprises a second unit (800') between the central control unit (80') and the peripheral control units (90A, 90B), the second unit (800') being adapted to send a command signal for operating the third mobile device (54A, 55A, 56A, 54B, 55B, 56B).

16. The device (20) according to any one of the preceding claims, wherein The movement of one or more motors of the third moving device associated with a command of one or more thrust elements (50A, 51A, 52A) of one fork (34A) of the pair of forks is synchronized with the movement of one or more motors of the third moving device associated with a command of one or more thrust elements (50B, 51B, 52B) of the other fork (34B) of the pair of forks.

17. The device (20) according to any one of the preceding claims, wherein The central control unit (80, 80') is configured to send a first command signal to each peripheral control unit (90A, 90B), the first command signal containing data related to the motor to be commanded, and wherein the central control unit (80, 80') is configured to send a second command signal to each peripheral control unit (90A, 90B), the second command signal containing the same data as the first command signal, And wherein the central control unit (80, 80') is configured to wirelessly send a first command signal at a predetermined radio signal frequency, and to wirelessly send a second command signal at a second predetermined radio signal frequency lower than the predetermined radio signal frequency of the first command signal.

18. An automated storage system (1) comprising a warehouse (10) comprising one or more compartments (14) for receiving objects (S) to be stored and at least one device (20) for picking an object (S) from one of the compartments (14) or depositing an object into one of the compartments, characterized in that The device (20) is made according to any one of the preceding claims.

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