Box storage system including robots running on the lid

Abstract

This invention relates to a cabinet storage system comprising a plurality of storage columns and at least one robot. The storage columns are configured to receive stacks of cabinets, the upper contours of the storage columns forming a grid. The at least one robot moves above the grid and is capable of picking up, transporting, and storing cabinets. The robot includes means for gripping and lifting at least one cabinet. According to the invention, such a system includes a plurality of removable covers located above the grid, the covers forming a flow platform for the robot. The robot includes means for pushing, pulling, and / or lifting the covers so that the covers can be repositioned to freely access the upper part of the columns.

Description

TECHNICAL FIELD

[0001] The field of the invention is the field of warehouse logistics and in particular the field of automatic storage and retrieval of products.

[0002] More specifically, the invention relates to a system for storing cabinets stacked in columns.

[0003] The invention applies in particular to the storage of food products at a controlled temperature, for example in a refrigerated or frozen environment. BACKGROUND

[0004] Automated structures for storing cabinets containing products in a three-dimensional grid are known, for example from document NO 317366 B1, in which the cabinets are stored in columns that have been attached with guide rails in such a way that they are on top of each other, to allow movement of a robot to pick up or put down one or more cabinets in a column and transport them on a grid-like network of guide rails to another storage column or a collection point, where the cabinets are for example transferred onto a conveyor belt or into an elevator.

[0005] In order to ensure the storage of fresh or frozen food products, it has been proposed, for example in US 2018 / 0128532 A1, to create a temperature-controlled storage area, grouping several columns together, in which the temperature is respectively maintained at a positive cold or at a temperature of approximately -18°C. The perimeter of this area is insulated and a cover made of insulating material is placed on each of the columns of the temperature-controlled storage area between the robot traffic guide rails.

[0006] The drawback of this known technique is the handling of the covers. The covers must be removed and placed on top of other covers to access the cabinets stored in the temperature-controlled columns, then put back between the guide rails above the columns, or a dedicated robot must be used to handle the covers while another robot picks up or places the cabinets in the temperature-controlled columns. These techniques are therefore complex to implement and costly. In addition, the different handling of the covers increases the time required to remove the cabinets from the storage structure.

[0007] Furthermore, the products in the cabinets heat up during the multiple operations of the covers, which is undesirable.

[0008] In order to reduce the time of exposure of the products to the warehouse ambient temperature, it has also been considered to maintain a controlled temperature in the robot traffic area above the storage columns of the temperature-controlled area.

[0009] The drawback of this known technique is that condensation can occur on the electronic circuits of the robot when it moves from one area to another with a different temperature, which can damage the robot or impede its proper functioning.

[0010] To overcome this shortcoming, WO2019 / 001816A1 recommends dividing the space into different temperature zones and using elevators to transport the containers from one zone to another.

[0011] The drawback of this technology is that it is expensive and complex to implement.

[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 technology that allows for the quick and easy removal of cabinets.

[0015] Another object of the present invention is to provide a technique that limits the heating of products stored in cabinets during processing.

[0016] Another object of the present invention is to provide a technology that is simple to implement and low in cost.

[0017] In particular, the object of the present invention is to provide a storage technology that allows products to be stored in the same facility at different temperatures.

[0018] Another object of the present invention is to provide such a reliable technology. Summary of the Invention

[0019] These objectives, and others that will appear later, are achieved by a container storage system comprising a plurality of storage columns with substantially rectangular cross-sections configured to receive vertically stacked containers, the upper contours of the storage columns forming a grid, and at least one robot operating above the grid, the robot being capable of picking up, transporting and storing containers, the robot including means for gripping and lifting at least one container and being equipped with wheels.

[0020] According to the invention, such a system includes a plurality of removable covers located above the grid, the covers and adjacent covers being substantially adjacent to and extending substantially across the entire surface of the grid cells, the covers forming a transportation platform for the robot, and the robot having means for pushing, pulling and / or lifting the covers to change the position of the covers to freely access the upper part of the posts.

[0021] Therefore, in a novel way, the present invention proposes the use of a cover to form a rolling surface for a robot, on which the robot can move freely in all directions or along a predefined path, for example by running in a guide formed in the cover. This limits infrastructure costs and allows for greater mobility and significantly increases the robot's speed of movement between two distant locations on a grid, while allowing the robot to move freely.

[0022] It should be noted that, without departing from the scope of the invention, the cover may be tilted vertically, pushed or pulled substantially horizontally to slide over or under other covers, or lifted by a robot to provide access to the post.

[0023] Furthermore, the term "removable" is used in its general sense in the context of this invention, meaning that the cover can be moved by translation or rotation, or a combination of both.

[0024] In an advantageous embodiment of the invention, each of the covers is pivotally mounted along a horizontal axis between a horizontal position and a vertical position, in which the cover closes the top of the pillar and in the vertical position releases access to the top of the pillar, and the pushing, pulling and / or lifting device is adapted to push the free end of the cover to tilt it upward.

[0025] Therefore, by pivotally mounting the covers, robots can easily access the boxes stored below them in the columns by simply pushing or pulling their free ends to tilt them upwards.

[0026] In a variation of this particular embodiment of the invention, the means for pushing, pulling, and / or lifting the cover includes a member projecting from the chassis of the robot for engaging the underside of the cover and pushing it upward to the vertical position.

[0027] In a particular embodiment of the invention, the cover is pivotally mounted along two parallel horizontal axes that extend substantially at the two opposite edges of the cover.

[0028] This allows the cover to move to one side or the other, allowing the robot to approach the cover from either side, which reduces the distance the robot has to move and makes way for another robot to move.

[0029] In a particular embodiment of the invention, at least one of the covers is slidably mounted between a first position and a second position, wherein in the first position the cover closes the top of the post, and in the second position the cover is accommodated beneath the cover adjacent to it in the first position, thereby releasing access to the top of the post.

[0030] In a particular embodiment of the invention, the sliding cover has a first pair of laterally protruding fingers and a second pair of laterally protruding fingers, and includes a first pair of finger guide rails for the first pair of fingers and a second pair of finger guide rails for the second pair of fingers. The first pair of finger guide rails extends on opposite edges of a post closed by the sliding cover in the first position, and the second pair of finger guide rails extends on opposite edges of adjacent posts of the post closed by the sliding cover in the first position. The second pair of finger guide rails is located in the extension of the first pair of rails.

[0031] In an advantageous embodiment of the invention, the cover has a heat-insulating layer, and the storage column beneath the cover is a temperature-controlled volume.

[0032] The storage system allows products to be stored in all or part of their volume at one or more controlled temperatures, while avoiding cooling losses.

[0033] In a particular embodiment of the invention, at least two of the storage columns are at different controlled temperatures.

[0034] This means, for example, that chilled, frozen, and room-temperature products in a warehouse can be stored in the same system.

[0035] According to a particular aspect of the invention, the means for pulling and / or pushing the free end of the cover includes fingers adapted to engage with a housing formed in one of the covers.

[0036] Preferably, the robot has at least two drive wheels.

[0037] In a particular embodiment of the invention, the robot has three or four drive wheels.

[0038] According to an advantageous embodiment of the invention, the device for grasping and lifting at least one container includes a frame capable of sliding around the container, the frame being equipped with means for attaching to the container and means for vertically displacing the frame below the chassis of the robot.

[0039] In the context of this invention, the term "frame" refers to a device, such as a chassis, for enclosing a container on at least three sides.

[0040] In a particular embodiment of the invention, the fastening device includes a hook or claw.

[0041] In a particular embodiment of the invention, the system described above includes at least one column for storing the cabinet and means for removing the cabinet from the storage column.

[0042] This means that the robot can easily return to the storage container.

[0043] In a particular embodiment of the invention, first and second parallel guide rails or guide rail pairs are formed on the upper part of the cover, the guide rails or guide rails of the second parallel guide rail or guide rail pair are perpendicular to the first guide rail or guide rail pair, and the robot is equipped with wheels suitable for running on the guide rails or guide rails, and runs on any of the guide rails or guide rail pairs.

[0044] Therefore, by building the guide rails directly into the lid, the cost of implementing the storage system is reduced. Attached Figure Description

[0045] Other features and advantages of the invention will become clearer from the following description of two embodiments of the invention—given only as illustrative and non-limiting examples—and the accompanying drawings, wherein:

[0046] - Figure 1 This is an example perspective view of an embodiment of the storage system according to the present invention;

[0047] - Figure 2 It is for reference. Figure 1 A detailed view of the lid of the storage system in an upright position;

[0048] - Figure 3 It shows the reference Figure 1 The system shown illustrates the steps of a robot picking up a stack of boxes and cabinets, wherein the robot positions itself opposite the lid to be lifted in order to pick up the stack of boxes and cabinets.

[0049] - Figure 4 It shows the result of Figure 1 The system shown illustrates the steps of a robot picking up stacks of boxes and cabinets, where the robot engages fingers in the lid to lift it.

[0050] - Figure 5 It shows the result of Figure 1 The system shown illustrates the steps of a robot picking up stacked boxes, where the robot pushes the underside of the lid to tilt it upwards.

[0051] - Figure 6 It shows the reference Figure 1 The system shown illustrates the steps of a robot picking up a stack of cabinets, where the robot is positioned above a column and actuates a frame to slide down around the stack of cabinets in order to pick up the stack of cabinets.

[0052] - Figure 7 This is a partial view of a robotic circulation platform, which is another example of an embodiment of the storage system of the present invention, wherein all the covers enclose the columns;

[0053] - Figure 8 It is for reference. Figure 7The detailed view of the platform shown shows the front of one of the covers tilted downwards by the robot so that the cover can slide under the cover in front of it;

[0054] - Figure 9 It is for reference. Figure 7 and Figure 8 The view shown depicts the platform as the cover begins to slide under the cover in front of it.

[0055] - Figure 10 It is for reference. Figure 7 and Figure 9 The view shown is of the platform, which was then flattened under the cover in front of it. 6. Detailed Implementation Methods

[0057] Figure 1 An example of an automated storage system according to the invention, implemented in a food storage warehouse, is shown in a perspective view.

[0058] The system 10 includes a storage facility 11 formed by columns 12 arranged in a grid plane, the columns 12 defining side-by-side storage columns or units 13 with rectangular cross-sections for storing boxes 14 stacked on top of each other.

[0059] In this particular embodiment of the invention, facility 11 is divided into three zones: a first zone 15 for maintaining the contents of containers at a low temperature; a second zone 16 for receiving containers containing frozen products; and a third zone 110 for receiving containers that can be stored at the ambient temperature of the warehouse.

[0060] Vertical partition walls 17, made of insulating material, extending along the entire height of the column, are installed between the first partition 15 and the second partition 16, and between the second partition and the third partition 110. Furthermore, the outer edge of the first partition 15 is covered with a protective thermal insulation layer.

[0061] Covers 18 are pivotally mounted above the columns of the first, second, and third sections 15 and 110, respectively. These covers 18 are substantially abutting each other and allow the top openings of the columns 13 to be closed. When tilted and leveled, these covers 18 rest against horizontal beams and crossbars, which connect the upper ends of the columns 12 in both longitudinal and transverse directions, forming a rolling platform for a self-guided two-wheeled robot 19 for transporting containers and for storing or retrieving one or more containers from the columns. The covers 18 have thermal insulation to limit cold loss between the flow space of the first section 15 and the robot 19, and to limit cold loss between the flow space of the second section 16 and the robot 19, allowing the robot to operate within the warehouse's ambient temperature.

[0062] As in Figure 2As can be seen in the detailed view of the vertically tilted cover 18 that allows access to the cabinet stored in column 13, this cover 18 can be tilted around the horizontal axis 21 (in Figure 2 (Shown in dashed lines) Pivoting, the horizontal axis 21 is formed by two axial portions 22 of a crossbar 23 fixed to the upper contour of the defining post 13. The cover 18 is hinged to the axial portions 22 by means of a first pair of hooks 24 formed on the lateral edges 25 of the cover 18. In this particular embodiment of the invention, the cover 18 is configured to pivot upward from either of its two lateral edges 25 and 26. For this purpose, a second pair of hooks 27 is formed on the lateral edge 26 of the cover 18.

[0063] Figures 3 to 6 Various operations are shown that enable the robot to pick up stacks of boxes from columns.

[0064] In the first step (see) Figure 3 In this scenario, the robot faces the cover 18 of the cover pillar, perpendicular to the axis of rotation of the cover 21. The robot 19 tilts the cover 18 about the axis of rotation and approaches the lateral edge 31 of the cover 18 furthest from the axis 21. Then, the robot introduces a finger 41, mounted at the free end of an arm 42 that pivots about a horizontal axis 43, into a blind groove 44 formed on one edge of the cover (see...). Figure 4 The blind slot gradually lifts the cover. It should be noted that during this step, robot 19 moves forward slowly to keep the finger engaged in the slot 44. When arm 42 is fully pivoted upwards, and in this particular embodiment of the invention extends substantially vertically, it corresponds to the position of cover 18 where cover 18 is tilted approximately 12° relative to the horizontal, and the chassis of robot 19 abuts against the underside of the hook 24 of the cover. Then, robot 19 pushes the hook 24 of cover 18 upwards, releasing the finger 41 from the slot 44, until cover 18 reaches... Figure 5 The vertical position is shown. It should be noted that in this particular embodiment of the invention, the finger 41 advantageously has a substantially spherical shape, which allows for easy release of the finger 41 from the slot 44. It should also be noted that in this particular embodiment of the invention, the chassis of the robot 19 has two vertical guide rails, and when the robot 19 pushes on the cover 18, the inner surface of the hook 24 remains at the bottom of the vertical guide rails.

[0065] like Figure 6 As shown, the robot 19, positioned above column 13, then initiates the descent of a frame formed by two vertical plates 61 that slide along two opposite sides of the cabinet 14 until they reach the level of the lower container of the stack of cabinets to be picked up, where hooks suspended on the plates 61 ( Figure 6(Not shown) can slide into lugs formed on the lower edge of the container. The robot 19 then lifts the frame carrying the stack of containers 14 to the height of the robot traffic area above the cover 18. It should be noted that a central opening 62 is provided in the robot frame to allow containers 14 to pass through the robot 19 frame.

[0066] Then, robot 19 moves backward to place cover 18 on the grid cell, and then moves to a new column 13, where robot 19 must store the stack of cabinets 14, or moves to a storage column 111 set in the third section 110, where the stack of cabinets 14 is lowered by the movement of the actuation frame and stored on the elevator 112 located at the bottom of the storage column 111.

[0067] Figures 7 to 10 The second example of the storage system according to the invention shows different positions occupied by the lid, in which the lid is operated by a robot ( Figures 7 to 10 (Not shown) The robot's arm pushes the column 72 to allow it to freely approach, enabling the cover to close the column.

[0068] exist Figure 7 In the middle, the cover 71 is positioned on the post 72, the cover 71 seals the post 72, and the top surface of the cover 71 is flush with the surface of the platform 70.

[0069] like Figure 7 As shown, the cover 71 has two protruding fingers 73 and 74 on its left longitudinal edge. Similar fingers extend from the right longitudinal edge of the cover 71. In this particular embodiment of the invention, the fingers 74 are formed horizontally below the fingers 73.

[0070] These fingers 73 and 74 are housed in their mating guide rails 75 and 76. These guide rails 75 and 76 are formed on the left longitudinal edge of post 72 and the left longitudinal edge of post 78 adjacent to post 72, respectively, and are closed by a cover 77. Figure 9 Similar-shaped slide rails 85 and 86, visible in the image, are also arranged opposite each other on the opposite longitudinal edges of the post 72 to guide the protruding fingers on the right longitudinal edge of the cover 71.

[0071] These slide rails 75, 76, 85 and 86 are formed by different continuous straight, horizontal or inclined sections.

[0072] When the robot pushes cover 71 in the direction of arrow 79 (see...) Figure 8 The finger 73 first slides in the first horizontal portion 751 of the slide rail 75, while the finger 74 slides in the inclined portion 761 of the slide rail 76, which causes the front portion 711 of the cover 71 to gradually tilt downward as the cover slides in the direction of arrow 79.

[0073] from Figure 9 As can be seen, the finger 73 is then guided forward in the inclined portion 752 of the slide rail 75, while the finger 74 continues to slide in the inclined portion 761 before entering the horizontal portion 762 of the slide rail 76 and moving forward therein.

[0074] When the finger 73 reaches the low point of the inclined portion 752, it enters the second horizontal portion 753 of the slide rail 75, and then the cover 71 can slide horizontally below the adjacent cover 72 (see...). Figure 10 ), until the finger 73 is adjacent to the blind bottom 754 of the horizontal portion 753.

[0075] It should be noted that in this particular embodiment of the invention, the height difference between the high point and the low point of the slide rail 75 or 76 is greater than the thickness of the cover 72, so as to allow the cover 71 to slide beneath it.

Claims

1. A cabinet storage system comprising a plurality of substantially rectangular cross-sectioned storage columns and at least one robot operating above a grid, said columns being configured to receive vertical stacks of cabinets, the upper profile of said storage columns forming said grid, said robot being capable of picking up, transporting and depositing cabinets, said robot comprising means for grasping and lifting at least one cabinet and being equipped with wheels, said cabinet storage system comprising a plurality of removable covers located above said grid, said covers and the covers adjacent thereto being substantially contiguous and extending substantially over the entire surface of the cells of said grid, and said covers forming a flow-through platform for said robot, and said robot comprising means for pushing or pulling said covers so that said covers can change position to free access to the upper part of said columns, characterized in that, At least one of the covers is slidably mounted between a first position in which it closes the top of the column and a second position in which it is housed under the cover adjacent to it when in the first position, thereby releasing access to the top of the column.

2. The system of claim 1, wherein, The sliding cover has a first pair of laterally protruding fingers and a second pair of laterally protruding fingers, and it includes a first pair of finger guide rails of the first pair of fingers and a second pair of finger guide rails of the second pair of fingers, the first pair of finger guide rails extending over opposite edges of the column closed by the sliding cover in the first position, the second pair of finger guide rails extending over opposite edges of an adjacent column to the column closed by the sliding cover in the first position, the second pair of finger guide rails being located in the extension of the first pair of finger guide rails.

3. The system of claim 1 or 2, wherein, The covers have a thermal insulation layer, and the storage columns located under the covers are temperature-controlled volumes.

4. The system of claim 3, wherein, At least two of the storage columns are at different controlled temperatures.

5. The system of claim 1 or 2, wherein, The means for pushing or pulling the covers include a finger adapted to cooperate with a housing formed in one of the covers.

6. The system of claim 1 or 2, wherein, The robot has at least two drive wheels.

7. The system of claim 1 or 2, wherein, The means for grasping and lifting at least one cabinet include a frame capable of sliding around the cabinet, the frame being equipped with means for securing to a cabinet and means for moving the frame vertically under the chassis of the robot.

8. The system of claim 1 or 2, wherein, The system includes at least one column for storing the cabinets and means for removing the cabinets from the column for storing the cabinets.

9. The system of claim 1 or 2, wherein, First and second pairs of parallel guide rails or tracks are formed in the upper part of the covers, the tracks or guide rails of the second pair of parallel guide rails or tracks being perpendicular to the tracks or guide rails of the first pair of parallel guide rails or tracks, and the robot is equipped with wheels capable of running on the tracks or guide rails, and runs on either of the pairs of tracks or guide rails.

10. A cabinet storage system comprising a plurality of substantially rectangular in cross section storage columns configured to receive a vertical stack of cabinets and at least one robot operating above a grid, the upper profile of the storage columns forming the grid, the robot being capable of picking up, transporting and depositing cabinets, the robot comprising means for grasping and lifting at least one cabinet and being equipped with wheels, the cabinet storage system comprising a plurality of removable covers located above the grid, the cover and the cover adjacent thereto being substantially contiguous and extending substantially over the entire surface of the cells of the grid, and the cover forming a flow-through platform for the robot, and the robot comprising means for pushing or pulling the cover so that the cover can change position to free access to the upper part of the columns, characterized in that, Each of the covers is pivotally mounted along a horizontal axis between a horizontal position in which it closes the upper part of the column and a vertical position in which it releases access to the upper part of the column, and the pushing or pulling means are adapted to push the free end of the cover to tilt it upwards, the covers being pivotally mounted along two parallel horizontal axes extending substantially at two opposite edges of the covers.

11. The system of claim 10, wherein, The covers have a thermal insulation layer, and the storage columns located under the covers are temperature-controlled volumes.

12. The system of claim 11, wherein, At least two of the storage columns are at different controlled temperatures.

13. The system of claim 10 or 11, wherein, The means for pushing or pulling the covers include a finger adapted to cooperate with a housing formed in one of the covers.

14. The system of claim 10, wherein, The means for pushing or pulling the covers include a member protruding from the chassis of the robot, the member being for engaging the underside of the cover and pushing it to pivot upwards to the vertical position.

15. The system of claim 10 or 11, wherein, The robot has at least two drive wheels.

16. The system of claim 10 or 11, wherein, The device for gripping and lifting at least one cabinet comprises a frame able to slide around the cabinet, equipped with means for fixing to the cabinet and means for moving the frame vertically below the chassis of the robot.

17. The system of claim 10 or 11, wherein, The system comprises at least one column for storing the cabinets and a device for removing the cabinets from the column for storing the cabinets.

18. The system of claim 10 or 11, wherein, A first pair of parallel rails or guide runners and a second pair of parallel rails or guide runners are formed in the upper part of the cover, the rails or guide runners of the second pair of parallel rails or guide runners being perpendicular to the rails or guide runners of the first pair of parallel rails or guide runners, and the robot is equipped with wheels able to run on the rails or guide runners and runs on either of the pairs of rails or guide runners.

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