Cabinet storage system comprising a robot equipped with hooks or fingers for grabbing and lifting cabinets and method of grabbing cabinets thereof

Abstract

The invention relates to a system for automatic storing and retrieving products, comprising: - a cabinet storage unit comprising a plurality of storage columns arranged along a grid and configured to receive a vertical stack of cabinets, and - at least one robot comprising a device for gripping and lifting at least one cabinet, the device comprising a movable support configured to be able to slide vertically around the cabinet. According to the invention, the gripping and lifting device comprises at least one hook mounted to pivot with respect to the support or a finger guided in translation in a horizontal slide cooperating with one or more return springs, the cabinet being provided with an inclined portion and at least one lug having a substantially downward facing slot for locking the hook and a substantially upward facing inclined portion for pushing the free end of the hook or finger towards the outside of the cabinet when the support is moved downwards.

Description

Technical Field

[0001] The field of this invention is warehousing and logistics, particularly the field of automated storage and retrieval of products.

[0002] More specifically, the present invention relates to a product storage and retrieval system.

[0003] This invention is particularly suitable for the storage of products in warehouses. Background Technology

[0004] Automated structures for storing cabinets containing products in a three-dimensional grid are known, for example from document NO317366 B1, in which cabinets are stored in columns with rails attached, with the cabinets on top of each other, to allow the movement of a robot to pick up or put down the cabinets in the columns and transport them on a grid-like network of rails to another storage column or collection point, where, for example, the cabinets are transferred to a conveyor belt or elevator.

[0005] To retrieve cabinets from a column, document NO317366 B1 suggests implementing a platform suspended by a vertically movable cable, equipped with a gripper that allows cabinets placed at the top of a stack of cabinets stored in the column to be retrieved from above.

[0006] A drawback of this known technique is that it only allows one cabinet to be removed from a storage column at a time. This limitation is particularly disadvantageous when it is desirable to remove cabinets located below several cabinets in a stack. This necessitates removing each cabinet placed above the target cabinet one by one to access the cabinet to be picked up and temporarily storing them outside the column. This significantly increases the total time required to pick up the target cabinet and can lead to difficulties in robot movement across the grid due to the presence of cabinets that have already been removed to access the target cabinet and are waiting to be returned to the column. Furthermore, this known technique does not allow picking up multiple target cabinets stacked on top of each other in a single operation.

[0007] To overcome this drawback, frames or arms have been designed that can slide along the stack of boxes and are equipped with claws that allow them to grab boxes in a stack located below one or more boxes and lift that box and the boxes above it with a single movement.

[0008] EP 0 767 113 A2 describes a robot with a lifting frame shaped like a rectangular tube. A drawback of this tubular frame is that its height corresponds to the maximum stack height of boxes and cabinets that can be stored in the column, meaning this maximum stack can be picked up in a single operation. This limits its use in warehouses where height may be insufficient.

[0009] WO 2013 / 167907 A1 also describes a robot with an arm equipped with a gripper for picking up stacks of several boxes in a column.

[0010] The drawback of these known gripper frame or arm technologies is the risk of failure in the hydraulic, pneumatic, or electrical control systems that operate the gripper, requiring intervention to repair the robot and potentially damage or even shut down the storage facility.

[0011] Another drawback of these known technologies is that they are complex to implement and require a great deal of maintenance.

[0012] 3. Purpose of the invention

[0013] Therefore, the present invention aims to overcome the above-mentioned disadvantages of the prior art.

[0014] More specifically, the object of the present invention is to provide a technique for storing and retrieving products that allows for the rapid and reliable removal of products from storage.

[0015] Another object of the present invention is to provide a technology that is simple to implement and has reduced costs.

[0016] Another object of the present invention is to provide a technology that allows products to be stored in cabinets of varying heights. Summary of the Invention

[0017] These objectives, and others that will emerge later, are achieved through an automated product storage and retrieval system, which includes:

[0018] - Multiple boxes or cabinets for receiving the products;

[0019] - A storage facility for the cabinets, comprising a plurality of storage columns arranged in a grid and configured to receive a vertical stack of the plurality of cabinets, and

[0020] - At least one robot operating above the grid, the robot being capable of transporting the cabinets and picking up and storing the cabinets in the columns, the robot including means for gripping and lifting at least one cabinet, the gripping and lifting means including a movable support, such as a frame or arm, the movable support being configured to slide vertically around the cabinet.

[0021] According to the invention, the device for gripping and lifting at least one cabinet includes at least one substantially vertically extending element mounted to be movable relative to the support between the following positions:

[0022] - A stable equilibrium position, in which the lower end of the component is not subjected to any horizontal thrust, or the resultant force of the horizontal thrust acting on the lower end of the component is zero; and

[0023] - At least one unbalanced position, in which the resultant force of the horizontal thrust on the lower end of the member is not zero, and the lower end of the member is displaced to either side of its position in the balanced position.

[0024] The cabinet has at least one lug with a substantially downward-facing locking housing and a substantially upward-facing inclined portion. The locking housing is used to lock the movable component in the unbalanced position, and the inclined portion is used to push the lower end of the movable component outward from the cabinet when the support moves downward.

[0025] Therefore, the present invention proposes a novel and ingenious method for implementing a support on which at least one element is mounted, movable relative to the support and movable away from a stable equilibrium position, in order to pick up and lift stacks of cabinets from storage columns. This technical solution is particularly advantageous because, in addition to its ease of use and efficiency, it is highly reliable and requires no maintenance.

[0026] In the context of this invention, the support member may take the form of a frame, one or more panels, a frame that may surround the cabinet on at least three sides, or an arm. Such a support member may be a single piece or composed of several separate parts.

[0027] It should also be noted that, without departing from the scope of the invention, the locking housing can take any hollow shape, such as a concave shape or a hollow triangle.

[0028] In an advantageous embodiment of the invention, the movable element is a hook designed to suspend from the support and is pivotally mounted about an axis relative to the support.

[0029] In another advantageous embodiment of the invention, the movable element is a finger that is guided to translate in a horizontal slide rail and engages with one or more return springs in the stable equilibrium position.

[0030] In a particular embodiment of the invention, it is conceivable that the means for gripping and lifting at least one cabinet includes two or three movable members, and it is conceivable that the lugs have two or three lugs positioned relative to each other such that each of the movable members is substantially opposite one of the lugs of the cabinet or the stack of cabinets when the support moves around the cabinet or the stack of cabinets.

[0031] In a particular embodiment of the invention, the means for gripping and lifting at least one cabinet includes four movable members, and the lugs have four lugs positioned relative to each other such that each of the movable members is substantially opposite one of the lugs of the cabinet or stack of cabinets as the support moves around the cabinet or stack of cabinets.

[0032] According to a particular aspect of the invention, the movable element is substantially mounted at one end or corner of the support.

[0033] In an advantageous embodiment of the invention, the device for gripping and lifting at least one cabinet comprises a plurality of movable components, each substantially mounted at a different end or corner of the support.

[0034] In an advantageous embodiment of the invention, the locking lug is integrally formed with the cabinet.

[0035] In a particular embodiment of the invention, the hook is formed of a rod having a lug projecting substantially on one side at the free end of the rod.

[0036] According to a particular aspect of the invention, the inclined portion includes an inclined plane.

[0037] According to a specific embodiment of the invention, the locking housing has a bend in the form of a hyperbola, parabola, or truncated ellipse.

[0038] Advantageously, the cabinet has a guide stop opposite the locking housing for pushing the movable element against the locking housing.

[0039] In a particular embodiment of the invention, the means for gripping and lifting at least one cabinet includes a single movable element that can provide for the use of guides, such as those attached to or formed on a post, to guide the corners of the cabinet. Lugs may also be attached to or formed on the lower part of the cabinet.

[0040] In a particular embodiment of the invention, the gripping and lifting device includes at least one rack or multiple cables attached to the support member, and means for actuating the rack or the cables to raise or lower the support member.

[0041] Advantageously, the robot's chassis has an opening that allows the support to pass through the chassis so that cabinets or stacks of cabinets can be lifted from the top of the chassis and vice versa, thereby storing cabinets or stacks in columns below the robot through the opening.

[0042] The present invention also relates to a method for a robot to grasp and lift stacked cabinets in storage columns of a storage facility comprising a plurality of storage columns arranged in a grid, the robot operating above the grid and including means for grasping and lifting at least one cabinet, the grasping and lifting means comprising a movable support and at least one element movable relative to the support, the movable support being configured to slide vertically about the cabinet, the element preferably being four elements movable relative to the support between the following positions:

[0043] - A stable equilibrium position in which the lower end of the movable component is not subjected to any horizontal thrust, or the resultant force of the horizontal thrust acting on the lower end of the component is zero; and

[0044] - At least one unbalanced position, in which the resultant force of the horizontal thrust acting on the lower end of the movable member is not zero, and the lower end of the member moves to either side of its position in the balanced position.

[0045] The cabinet in the stack has at least one, preferably four lugs, each lug having a substantially downward-facing locking housing for the movable component and a substantially upward-facing inclined portion for pushing the free end of the movable component outward from the cabinet when the support moves downward.

[0046] It should be noted that, in the context of this invention, a stack of cabinets may consist of all the cabinets in a stack of cabinets stored in a column, or only the top of a stack of cabinets stored in a column.

[0047] According to the present invention, such a method includes the following steps:

[0048] - The support member is moved downwards around the stack to the height of the bottom of the stack, wherein the movable member engages in the locking housing at the bottom of the stack;

[0049] - Move the support member upward from the height to the upper level of the column, so that the stack is lifted out of the column. Attached Figure Description

[0050] Other features and advantages of the invention will become clearer upon reading the following description of two embodiments of the invention—as simple illustrative and non-limiting examples—and the accompanying drawings, which are shown below:

[0051] - Figure 1 This is a perspective view of an example embodiment of the product storage and retrieval system according to the present invention;

[0052] - Figure 2 yes Figure 1 The system shown is a view of a robot positioned above a column to pick up stacks of boxes and cabinets.

[0053] - Figure 3 It is for reference. Figure 1 A detailed perspective view of the robot of the system shown, equipped with a hook-like frame, is shown separately.

[0054] - Figure 4 It is for reference. Figure 1 A perspective view of the cabinet of the system shown, which is shown separately;

[0055] - Figure 5 This illustrates the effect of the reference frame being lowered by the robot. Figure 1 The system shown illustrates the steps involved in the robot picking up stacked boxes and cabinets.

[0056] - Figure 6 This illustrates how the frame is lowered by the robot. Figure 1 Another step in the system shown is the robot removing the stack of boxes and cabinets.

[0057] - Figure 7 This shows that after the frame is raised and the hook has passed the lower end of the inclined plane of the lug, by Figure 1 Another step in the system shown is the robot removing the stack of boxes and cabinets.

[0058] - Figure 8 It shows the reference Figure 1 Another step in the system shown is the robot picking up a stack of cabinets, wherein the robot frame lifts the stack of cabinets.

[0059] - Figure 9 The steps for removing a stack of boxes from a column are shown, wherein hooks are released from the stack of boxes;

[0060] - Figure 10 Another step in storing a stack of cabinets in a column is shown, in which a robotic frame moves the stack of cabinets upwards;

[0061] - Figure 11 This is a diagram illustrating another embodiment of the frame of a robot mounted on the system according to the invention. Detailed Implementation

[0062] Figure 1 An example of an automated product storage and retrieval system according to the invention, implemented in a warehouse, is shown in a perspective view.

[0063] The system 10 includes a storage facility 11 formed by columns 12 arranged in a grid plane, the columns 12 defining parallel storage columns 13 or units for storing boxes 14 stacked on top of each other.

[0064] In this particular embodiment of the invention, the cover 15 closes the top opening of the column 13. When tilted and leveled, they rest against a horizontal beam and crossbar, which connect the upper ends of the column 12 in the longitudinal and transverse directions and form a rolling platform for a self-guided robot 16 for transporting containers and for storing or removing one or more containers from the column.

[0065] These covers 15 can also be pivotally mounted to allow access to cabinets stored beneath them in the column. These covers 15 can be tilted vertically by pushing or pulling the free end of the cover by a robot 16.

[0066] Figure 2 The robot 16, positioned above column 13, picks up a stack of boxes 14 from column 13 after the cover 15 of column 13 is closed by tilting it vertically.

[0067] To pick up this stack of cabinets, the robot 16 initiates the descent of frame 21 into column 13. Frame 21 has an internal opening wider than the external width of cabinet 14, allowing it to slide around cabinet 14.

[0068] In this particular embodiment of the invention, frame 21 is attached to a rack driven by an electric pinion ( Figure 2 (Not shown in the image). The rotation of the pinion in either direction drives the rack downward or upward, allowing the frame 21 to slide vertically around the cabinet 14 within the column 13.

[0069] In this particular embodiment of the invention, the frame 21 is formed by two mutually facing vertical "U"-shaped plates 22, as shown below. Figure 3 As shown in the figure, frame 21 is shown separately.

[0070] Four hooks 31 are pivotally mounted at the four corners of the frame 21 about a transverse axis 32, and the four hooks 31 are suspended below it. These hooks 31 are designed to mate with lugs 41 integrally formed with the cabinet 14, as illustrated in the diagram. Figure 4 As seen in the text, Figure 4 It is a perspective view of an insulating box with an essentially parallelepiped external shape. These hooks 31 have a rod-shaped body 33 with a pin 34 at its free end that protrudes at a right angle and extends parallel to the axis of rotation 32 of the hook 31.

[0071] like Figure 4As shown, the lug 41 is formed to protrude from the upper edge of the longer side of the cabinet 14 near the upper corner. The lugs 41 formed on the same surface have the same shape but face opposite directions and are symmetrical with respect to the transverse plane of the cabinet 14.

[0072] These lugs 41 have two inclined planes 42 and 43 on their upper part in the thickness direction, which intersect at point 46. The two inclined planes 42 and 43 are connected at their lower part by a downwardly curved locking housing 44 that rotates downward. The cross-section of the locking housing 44 is in the shape of a hyperboloid branch. It should also be noted that the upper inclined plane 42 faces upward.

[0073] Below the locking housing 44, a tongue 45 protruding from the upper contour of the cabinet 14 and having a thickness substantially the same as that of the lug 41 is also formed. This tongue 45 forms a guide stop that allows the free end of the hook 31 of the frame 21 to be pushed against the locking housing 44 when the free end is substantially at the level of the locking housing 44 of the lug of the cabinet 14.

[0074] Figures 5 to 8 The diagram illustrates the different steps involved in a robot 16 positioned above storage column 13 picking up a stack of boxes from the storage column 13. For ease of reading, [details omitted]. Figures 6 to 8 Only the lugs 41 and hooks 31 of the cabinet 14 are shown in the image.

[0075] As from Figure 5 As can be seen in the detailed view of the plate 22 showing only the frame 21, as the frame 21 begins to descend into the storage column, the hook 31 then hangs vertically above the lug 41 of the cabinet 14 placed on top of the stack of cabinets to be picked up.

[0076] As the frame continues to descend and the pin 34 at the free end of hook 31 reaches lug 41, it gradually slides down the inclined plane 42 (see...). Figure 6 This pushes the free end of hook 31 out of the cabinet and causes hook 31 to tilt upward.

[0077] As frame 21 continues to descend and pin 34 passes below the lower end 61 of inclined plane 42, hook 31 tends to swing back to the vertical position and first rests on tongue 45 (see...). Figure 7 Then, as the pin passes below the lower end 71 of the tongue 45, the hook 31 returns to the vertical position. If the frame 21 is lowered further, the pin 34 will stop on the lug 41 of the next box in the stack and will be gradually pushed outward by the lug 41 of that box, and so on.

[0078] On the other hand, if the frame 21 is commanded to rise after the pin 34 has passed the lower end 61 of the inclined plane 42, the pin 34 will be pushed against the outermost contour 81 of the locking housing 44 by the tongue 45 and will gradually slide along the outermost contour 81 of the locking housing 44. It should also be noted that in this particular embodiment of the invention, the tongue 45 also makes it possible for the retaining hook 31 to tilt and tilt upwards. When the frame 21 continues to rise and the pin 34 is positioned at the highest point 82 of the locking housing 44 (see...), Figure 8 The hook 31 then lifts the cabinet 14 with which it is engaged and the cabinet placed above it, allowing this stack of cabinets to be raised to the height of the robot traffic area above the storage column. It should be noted that an opening 23 is provided in the robot chassis to allow the stack of cabinets to pass through when lifted by means of the frame 21.

[0079] Then, robot 16 can retreat to place cover 15 on top of the column and move to a new column 13, where it has been instructed to store the cabinet stack, or move to storage column 17, where the cabinet stack 14 is lowered by moving the operating frame 21 and stored in the elevator located at the bottom of storage column 17. Figure 1 (Not shown in the image) is transported to the delivery station.

[0080] Figure 9 and Figure 10 The steps are shown to store a stack of boxes picked up by a robot from one column into another storage column.

[0081] After tilting the cover 15 of the storage column covering the stack of storage boxes to a vertical position, the robot located above this storage column initiates the descent of the frame 21 supporting the stack of boxes 14. In this first step, Figure 8 At the position shown, hook 31 is locked in lug 41 of the stacked lower cabinet.

[0082] When the bottom cabinet of the stacked cabinets contacts the bottom of post 13 or the stack of cabinets already stored in the post, frame 21 moves downward again, allowing hook 31 to be released from lug 41 of the bottom cabinet of the stack. Pin 34, positioned at the apex 82 of the locking housing, then slides downward gradually along the inner contour 83 of the locking housing 44.

[0083] In this particular embodiment of the invention, it should be noted that a return spring or leaf spring (not shown) may be mounted along the axis of rotation of the hook in order to return the hooks 31 to the vertical position and hold them there.

[0084] When frame 21 has been fully lowered and pin 34 has been released from locking housing 44, hook 31 returns to the vertical position (see below). Figure 9Then, robot 16 can actuate the lifting of frame 21. Then, pin 34 moves upward along lug 41 and slides against the lower inclined plane 43 of lug 41 (see...). Figure 10 This pushes the hook 31 back into the lug 41 while tilting it upwards until it reaches the upper tip 46 of the lug 41. In this particular embodiment of the invention, it should be noted that the rod 33 of the hook 31 is in a vertical position when the pin 34 passes below the inner end 91 of the inner contour 83 of the locking housing 44.

[0085] Then, frame 21 continues to rise, and pin 34 is released from lug 41, allowing hook 31 to return to the vertical position until it meets lug 41 of the previous cabinet on top of the cabinet and is pushed inward again, and so on, until frame 21 comes out of post 13 and robot 16 can move on the grid again.

[0086] Figure 11 An alternative implementation of the frame 1101 for picking up the cabinet is shown.

[0087] The frame 1101 is formed by two vertical plates 1102 facing each other in a "U" shape. Each vertical plate 1102 is equipped with two movable fingers 1103 at its corners, the heads 11031 of which extend from the plate 1102 and are oriented horizontally within the plate 1102. Figure 11 The double arrow 1107 in the figure indicates that the slide rail 1104 is guided to translate upwards.

[0088] The internal body 11032 of the finger 1103 is mounted between two substantially identical return springs 1105 and 1106 located on its two sides. When the finger is pushed away from its equilibrium position by either side of the center of the slide rail 1104, these springs tend to return the finger 1103 to a stable equilibrium position that substantially coincides with the center of the slide rail 1104.

[0089] These fingers are designed to engage with lugs formed on the cabinet 14 so that one or more cabinets can be picked up using the frame 1101.

Claims

1. An automated product storage and retrieval system, comprising: - Multiple boxes or cabinets for receiving the products; - A storage facility for the cabinets, the storage facility comprising a plurality of storage columns arranged in a grid and configured to receive a vertical stack of the plurality of cabinets, and - At least one robot operating above the grid, the robot being capable of transporting the cabinets and picking up and storing the cabinets in the columns, the robot including means for gripping and lifting at least one cabinet, the means for gripping and lifting at least one cabinet including a movable support configured to slide vertically around the cabinet. The device for gripping and lifting at least one cabinet is characterized in that it comprises at least one substantially vertically extending element mounted relative to the support member and movable between the following positions: - A stable equilibrium position in which the lower end of the element is not subjected to any horizontal thrust, or the resultant force of the horizontal thrust acting on the lower end of the element is zero; and - At least one unbalanced position, in which the resultant force of the horizontal thrust on the lower end of the element is not zero, and the lower end of the element is displaced to either side of its position in the balanced position. Furthermore, the cabinet is characterized in that it has at least one lug, the lug having a substantially downward-facing locking housing and a substantially upward-facing inclined portion, the locking housing having a downward-facing groove for locking the movable element, the locking housing for locking the movable element in the unbalanced position, and the inclined portion allowing the lower end of the movable element to be pushed back towards the outside of the cabinet to be in one of the unbalanced positions when the support moves downward.

2. The system according to claim 1, characterized in that, The movable element is a hook for suspending from the support, the hook being pivotally mounted about an axis relative to the support.

3. The system according to claim 1, characterized in that, The movable element is a finger that is guided to translate in a horizontal slide rail and engages with one or more return springs in the stable equilibrium position.

4. The system according to claim 2, characterized in that, The device for gripping and lifting at least one cabinet includes four movable elements relative to the support member, and the lugs have four lugs positioned relative to each other such that, as the support member moves around the cabinet or a stack of cabinets, each of the movable elements is substantially opposite to one of the lugs of the cabinet or the stack of cabinets.

5. The system according to any one of claims 1 to 4, characterized in that, The lug is integrally formed with the cabinet.

6. The system according to claim 2, characterized in that, The hook is formed of a rod having a lug that protrudes from one side substantially at the free end of the rod.

7. The system according to any one of claims 1 to 6, characterized in that, The inclined portion includes an inclined plane.

8. The system according to any one of claims 1 to 7, characterized in that, The locking housing has a bend in the form of a hyperbola, parabola, or truncated ellipse.

9. The system according to any one of claims 1 to 8, characterized in that, The cabinet has a guide stop opposite to the locking housing for pushing the movable element against the locking housing.

10. The system according to any one of claims 1 to 9, characterized in that, The gripping and lifting device includes at least one rack or multiple cables attached to the support, and means for actuating the rack or the cables to lift or lower the support.

11. The system according to any one of claims 1 to 10, characterized in that, The robot's chassis has an opening that allows the support to pass through the chassis, enabling the lifting or lowering of cabinets or stacks of cabinets from above the chassis, so that the cabinets or stacks can be stored in columns below the robot through the opening.

12. A method for a robot to grasp a stack of cabinets in storage columns of a storage facility, the storage facility comprising a plurality of storage columns arranged in a grid, the robot operating above the grid and including means for grasping and lifting at least one cabinet, the means for grasping and lifting at least one cabinet comprising a movable support and at least one element movable relative to the support, the movable support being configured to slide vertically about the cabinet, the element being movable relative to the support between the following positions: - A stable equilibrium position in which the lower end of the movable element is not subjected to any horizontal thrust, or the resultant force of the horizontal thrust acting on the lower end of the element is zero. and At least one unbalanced position, in which the resultant force of the horizontal thrust on the lower end of the movable element is not zero, and the lower end of the element moves to either side of its position in the balanced position. The cabinet in the stack has at least one lug, the lug having a substantially upward-facing inclined portion and a substantially downward-facing locking housing, the locking housing having a downward-facing groove for locking the movable element, the locking housing for locking the movable element in the unbalanced position, the inclined portion for pushing the free end of the movable element outward from the cabinet when the support moves downward. Its features are, The method includes the following steps: - The support is moved downward around the stack to the height of the bottom of the stack, wherein the movable element engages in the locking housing of the lug of the bottom cabinet of the stack; - Move the support member upward from the height to the upper level of the column, so that the stack is lifted out of the column.

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