Order preparation or buffer storage system
By designing an order preparation system with retractable gears and brake blocks on an automated guided vehicle, the problem of column deformation when the robot climbs the shelf was solved, thus achieving system reliability and economy.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- EXOTEC PRODUCT FRANCE
- Filing Date
- 2022-07-20
- Publication Date
- 2026-06-16
AI Technical Summary
In existing technologies, mechanical failures can cause deformation of the uprights when robots climb shelves, requiring long-term shutdowns, and the systems are not reliable or economical.
Design an order preparation system that employs an automated guided vehicle with four retractable gears and brake blocks. The gears mesh with the uprights to climb, and the brake blocks prevent the vehicle from descending in the event of a mechanical failure, thus avoiding deformation of the uprights. The system includes first and second shelf units, uprights, and an automated guided vehicle, on which movable supports and brake blocks are provided.
This system eliminates the need for prolonged shutdowns in case of mechanical failure, improves system reliability, reduces column deformation, and lowers system complexity and cost.
Smart Images
Figure CN117881614B_ABST
Abstract
Description
1. Technical Field
[0002] The field of this invention is warehouse logistics, and in particular the handling, storage and transportation of parts or products.
[0003] More specifically, the present invention relates to an order preparation or buffer inventory system.
[0004] This invention is particularly applicable to the automation of process management in warehouses (e.g., warehouses for preparing orders for a logistics chain), or to the automation of services that deliver orders to collection points (often referred to as "click-to-pickup"). 2. Background Technology
[0006] In the global logistics chain, process management and product handling within warehouses play a decisive role.
[0007] Traditionally, order preparers walk around the warehouse to collect the products at their designated locations on the shelf units of each order.
[0008] It was found that this kind of preparation work means that the preparers will be engaged in long-distance activities within a working day, which can lead to fatigue and time loss when the route is not optimized.
[0009] Another drawback is that the person preparing the preparations must be very familiar with the warehouse layout to avoid wasting time.
[0010] To limit fatigue caused by movement, to improve picking management, and to reduce order preparation time and costs, a warehouse organization has been designed in which products are taken from shelf units by robots and then transported to order preparation stations by the same robots.
[0011] In particular, it proposes to implement a self-guided carrier that can both roll on the ground and climb along the shelf unit to retrieve products stored in boxes.
[0012] Therefore, for example, from document WO 2010 / 100513 A2 or document WO 2017 / 064410 A1, a robot is known to be equipped with retractable gears that can be deployed laterally on the sides of its frame. These gears are used to mesh on vertical racks or chains fixed to the uprights of the shelf units to allow the robot to rise between two shelf units to reach the level of the box to be retrieved. Furthermore, the robot also has auxiliary wheels to guide its movement and prevent it from falling.
[0013] One drawback of these known robotic technologies is that when one of the arms carrying the gears breaks and the robot tends to droop, one or more auxiliary wheels that prevent it from falling exert a torque on the upright, causing the upright to deform. The deformed upright must then be replaced, which requires intensive intervention in the shelving unit and may result in a prolonged interruption of the order preparation system.
[0014] 3. Object of the invention
[0015] Therefore, the objective of this invention is particularly to reduce the disadvantages of the prior art described above.
[0016] More specifically, the objective of this invention is to provide an order preparation system that incorporates a robot capable of climbing on shelf units, wherein the order preparation system does not require prolonged shutdown in the event of a mechanical failure in the robot's climbing system.
[0017] Another objective of this invention is to provide a reliable and easy-to-implement order preparation technology.
[0018] Another objective of this invention is to provide an inexpensive order preparation technology. 4. Summary of the Invention
[0020] These and other objectives, which will become clearer below, are achieved using systems such as order preparation systems or buffer inventory systems, which include:
[0021] - A first shelving unit and a second shelving unit, wherein the first shelving unit and the second shelving unit define an aisle;
[0022] - A first pair of uprights and a second pair of uprights, the first pair of uprights being fixed to the first shelf unit, the second pair of uprights being fixed to the second shelf unit, and each of the uprights in the first pair of uprights being installed facing the uprights in the second pair of uprights;
[0023] - At least one automated guided vehicle for retrieving items from at least one of the shelving units, the vehicle including a motorized climbing member capable of cooperating with the uprights to allow the vehicle to ascend along the uprights, the climbing member including four gears, each gear cooperating with a rack or chain fixed to the uprights in the first pair of uprights and the second pair of uprights.
[0024] Each of the gears is mounted on a bracket, which is movable relative to the frame of the vehicle between two positions:
[0025] - The unfolded position, wherein at least a portion of the gear mounted on the bracket protrudes from the frame;
[0026] - Retractable position, wherein the gear mounted on the bracket is accommodated within the frame or on the top of the frame.
[0027] The carrier includes a component for driving the gear to rotate, and the movable support includes a component for fixing to the column, the component including a secondary wheel mounted on each of the supports, each of the secondary wheels being for rolling on a surface of one of the columns, the surface being opposite to the surface of the column to which the rack or the chain is fixed.
[0028] According to the invention, the brake block is substantially fixed at the distal end of each of the brackets, the brake block extending substantially vertically, the brake block and the auxiliary wheel of the same movable bracket being positioned relative to each other on the bracket such that when the drive member engages the gear mounted on this same movable bracket with the rack or chain of one of the columns, the auxiliary wheel contacts the opposing surface of this column and the brake block separates from this column, and such that when the vehicle has climbed on the column and the gear can rotate freely after a failure of the drive member, causing the movable bracket to droop, the brake block is supported on a portion of the surface of the column to which the rack (26) or chain is fixed, so as to prevent the movable bracket from moving downward.
[0029] Therefore, in an original manner, the present invention proposes to implement a brake block that is cleverly positioned relative to the auxiliary wheel in order to prevent the vehicle from descending without deforming the column.
[0030] In a particular embodiment of the invention, the uprights of the first pair of uprights and the second pair of uprights have an omega profile or an angle-iron profile, at least one of their flanges having a downwardly folded edge, and each of the brake blocks faces the shelf unit when the carrier engages in the aisle, and a portion of the surface of the upright to which the rack or chain is fixed and on which the brake block can be supported is a portion of the downwardly folded edge of the upright facing the aisle.
[0031] In a variation of this particular embodiment of the invention, the columns of the first pair of columns and the second pair of columns may have a U-shaped profile, and a portion of the surface of the column to which a rack or chain is fixed and on which a brake block may be supported may be part of the surface of a flange of one of the columns, the columns extending at right angles to the passageway.
[0032] Preferably, the brake block is mounted on the bracket at a height greater than that of the secondary wheel.
[0033] According to a particular aspect of the invention, when the drive member engages a gear mounted on a movable bracket with a rack or chain in one of the columns, the distance between the outer surface of the brake block fixed to the same movable bracket and the axis of the auxiliary wheel mounted on the same movable bracket is greater than the sum of the radius of the auxiliary wheel and the thickness of the flange of the column.
[0034] Therefore, when the vehicle is running normally, the brake blocks will not rub against the column.
[0035] Advantageously, the brake block comprises a block made of an elastomeric material, preferably polyurethane.
[0036] According to an advantageous aspect of the invention, the block is housed in a ring.
[0037] In a particular embodiment of the invention, the width or length of the carrier is less than the interval between the columns of the first pair of columns or the second pair of columns, and the movable support is configured such that, in the deployed position, at least a portion of each of the gears also protrudes from the edge of the frame facing the passageway.
[0038] Therefore, since the gears can be deployed on the side, front, or rear of the vehicle, the vehicle can both climb on and travel beneath the rack units. This optimizes the vehicle's path, particularly reducing the distance the vehicle travels on the ground and avoiding the risk of collisions by significantly increasing the possibility of alternative routes. Ultimately, this greatly increases the order preparation process in the warehouse, or the amount of goods that can be stored or retrieved from the buffer storage equipment per hour. Furthermore, with this invention, two vehicles can climb between first and second rack units in adjacent vertical ventilation ducts, each ventilation duct defined by a first pair of uprights fixed to the first rack unit and a second pair of uprights fixed to the second rack unit, the ventilation ducts sharing a common upright of each rack unit.
[0039] In a particular embodiment of the invention, when the vehicle is engaged in the passageway, the axis of the gear is parallel to the axis of the passageway.
[0040] According to a particular embodiment of the invention, the movable support is mounted to pivot and / or slide relative to the frame.
[0041] In a particular embodiment of the invention, the movable support is substantially mounted at the four corners of the frame of the vehicle.
[0042] According to a particular aspect of the invention, the drive component comprises four independent electric motors, each of which drives one of the gears.
[0043] In a particular embodiment of the invention, the rack fixed to the columns is formed as a single piece with these columns, for example, by a stretching method.
[0044] In an advantageous embodiment of the invention, each of the racks or chains fixed to one of the columns extends substantially to the ground below this column, and a guide element having a rolling surface of one of the secondary wheels extends substantially vertically from the ground along the lower portion of the rack or chain to the height of the base of the column.
[0045] Therefore, once the vehicle rises from the ground, it will be guided to climb / descend.
[0046] According to a particular aspect of the invention, the automated guided vehicle is capable of rolling on the ground.
[0047] In a particular embodiment of the invention, the brake block faces outwards from the vehicle.
[0048] The brake block can rotate at right angles to the side, front, or rear of the vehicle.
[0049] According to another specific aspect of the invention, in the deployed position, at least a portion of the gear mounted on the bracket protrudes laterally from the carrier. 5. Description of the attached drawings
[0051] Other features and advantages of the invention will become clearer upon reading the following description, along with the accompanying drawings, which are given as simple illustrative and non-limiting examples of embodiments of the invention:
[0052] - Figure 1 A schematic perspective view of a warehouse equipped with an exemplary embodiment of the order preparation system according to the present invention;
[0053] - Figure 2 For reference Figure 1 The presented view shows a perspective view of a mobile, automated guided vehicle climbing between two racking units in a warehouse.
[0054] - Figure 3 For reference Figure 2 A detailed view of the end area of the vehicle's arm;
[0055] - Figure 4 For reference Figure 2 A top view of the end section of the vehicle's arm;
[0056] - Figure 5 For reference Figure 2 A side view of a motor vehicle is presented, which stops after the drive shaft of one of the gears on the left side of the vehicle breaks.
[0057] - Figure 6 For reference Figure 5 A side view of the end region G of the left arm of the vehicle, which is fixed to the damaged drive shaft;
[0058] - Figure 7 For reference Figure 5 A side view of the end region D of the right arm of the vehicle;
[0059] - Figure 8 For reference Figure 5 A top view of the end area of the left arm of the vehicle, which is fixed to the damaged drive shaft;
[0060] - Figure 9 For reference Figure 5 A top view of the end section of the right arm of the vehicle. 6. Detailed Implementation Methods
[0062] Figure 1 A warehouse 10 is shown for storing products for shipment. This warehouse is divided into a storage area 11 and an order preparation area where an order preparation station 12 is located, where an operator 13 prepares packages for ordered products.
[0063] Storage area 11 is organized into shelving units 14, each shelving unit comprising shelves at several levels supported by uprights 15, and boxes 16 for storing products or items inserted into the shelving units.
[0064] The convoy of automated guided vehicles 17 ensures the transport of containers 16 between storage area 11 and order preparation station 12.
[0065] When robot 17 receives location information about the box 16 containing one or more items to be retrieved in order to complete an order processed by operator 13, robot 17 rolls on the ground to the bottom of the shelf unit 14 where the box 16 is placed and positions itself in the aisle 18 between this shelf unit 14 and the shelf unit facing it.
[0066] During this movement, robot 17 follows the orientation of a strip drawn on the ground according to the grid scheme 19. (As can be...) Figure 1 As can be seen, robot 17 can therefore move in the direction of longitudinal belt 191 or transverse belt 192 perpendicular to belt 191, and can travel under shelf unit 14.
[0067] This robot 17 then... Figure 1The robot 171, as shown in the diagram, climbs to the shelf level where the box 16 is placed by supporting itself on two shelf units and removes the box from the shelf unit. The robot then descends again between the two shelf units and, once on the ground, transports the box 16 along grid 19 to order preparation station 12. Operator 13 now only needs to retrieve the ordered quantity of items and pack them.
[0068] Figure 2 The demonstration robot 12 ascends between two shelf units via two omega-shaped uprights supported on each shelf unit, providing a detailed view. Figure 2 For readability purposes, only the last moved pillars 22 and 23 are shown.
[0069] In order to climb between shelving units, robot 21 is equipped with four gears 24 mounted on a telescopic motor arm 25 at the corner of its frame. The robot extends the telescopic motor arm by sliding it out of the frame substantially diagonally until the gears 24 can contact and engage with racks 26 fixed to columns 22 and 23.
[0070] It should be noted that each of the racks 26 extends below the posts 22, 23 to which it is fixed, essentially downwards to the ground. Guide brackets 27 cover the lower portion of the racks extending from the ground to the base of the posts 22, 23. The edges 28 of these brackets 27 facing the aisle provide an initial rolling surface for the auxiliary wheels 32 equipped with each of the robot arms 25, which properly positions the auxiliary wheels at the first centimeter of their ascent from the ground, enabling them to then effectively cooperate with the posts.
[0071] If it is possible Figure 3 From this, we can see that Figure 3 This is a detailed view of one end of an arm 25, on which a gear 24 is mounted and driven to rotate by a motor shaft 31 connected to the gear 24 via a universal joint.
[0072] A secondary wheel 32, capable of supporting a portion of the robot's weight and controlling its balance to prevent it from tipping over, is fixed to the bottom end of the arm 25. This secondary wheel 32 is supported on the downwardly folded edge 331 of the flange 33 of the column 22, supported on a surface of the edge that rotates in the opposite direction to the aisle that separates the shelf unit, and rolls thereon.
[0073] Furthermore, the brake block 34 is fixed at its distal end to the top portion of the arm 25, facing the edge 331 towards the passageway surface 41, at a predetermined distance from the auxiliary wheel 32. (This is possible in...) Figure 4As can be seen in the top view of the end region of arm 25, when robot 21 climbs / descends, brake block 34 does not touch the downward folded edge 331.
[0074] In this particular embodiment of the invention, the brake block 34 is formed of a polyurethane block housed inside a ring that can limit the deformation of the block.
[0075] Figure 5 The vehicle 21 in the image shows the state after the drive shaft 31 of the gear 24 located on the left and front of the vehicle 21 has broken. Since the left front gear 24 can then rotate freely, the robot 21 droops to the left and is blocked between the pillars 22 and 23, in a position where... Figure 5 The location shown in the text.
[0076] Because the left forearm 25 of robot 21 extends downwards in this blocking position, the brake block 34 is supported on the surface of the downwardly folded edge 331 of the flange of column 22 facing the passageway 41, and by means of the friction of the brake block 34 on the edge 331, the arm 25 has stopped moving downwards. Figure 6 and 8 From this, we can see that Figure 6 and 8 These are detailed side and top views of the left forearm area, respectively.
[0077] On the robot's right front side, the brake block 34, in itself, remains a certain distance from the surface 71 of the edge 331 of the flange 33 of the column 23 (see...). Figure 7 and 9 , Figure 7 and 9 These are detailed side and top views of the right forearm area, respectively.
[0078] It should be noted that by means of the implementation of the brake block 34, the auxiliary wheel 32 does not apply shear force to the edge of the flange of the column 22 or column 23, which makes it possible to avoid deformation, and therefore, in the event of a breakage of the drive arm of the vehicle's gear, intervention is required to replace these columns.
Claims
1. An order preparation system, comprising: - First shelf unit and second shelf unit, the first shelf unit and the second shelf unit define an aisle (18); - A first pair of uprights (22) and a second pair of uprights (23), the first pair of uprights being fixed to the first shelf unit, the second pair of uprights being fixed to the second shelf unit, and the uprights in the first pair of uprights (22) being installed facing the uprights in the second pair of uprights (23); - At least one automated guided vehicle (21) for retrieving items from at least one of the shelving units (14), the vehicle (21) including a motorized climbing member capable of cooperating with uprights (22, 23) to allow the vehicle (21) to ascend along the uprights (22, 23), the climbing member including four gears (24), each gear cooperating with a rack (26) or chain fixed to the uprights in the first pair of uprights (22) and the second pair of uprights (23), each of the gears (24) being mounted on a movable support capable of moving between two positions relative to the frame of the vehicle (21): -In the unfolded position, at least a portion of the gear (24) mounted on the movable bracket protrudes from the frame; - Retracted position, wherein the gear (24) mounted on the movable bracket is accommodated in the frame or on the top of the frame, The carrier includes a drive component for driving the gear to rotate. The movable support includes components for securing to the columns (22, 23), each component including a secondary wheel (32) mounted on each of the movable supports, each of the secondary wheels (32) for rolling on an opposing surface of one of the columns (22, 23), the opposing surface being opposite to the surface of the column to which the rack (26) or the chain is secured. The feature is that the brake block (34) is fixed at the distal end of each of the movable brackets, the brake block (34) extending vertically. Furthermore, the brake block (34) and the auxiliary wheel (32) of the same movable bracket are positioned relative to each other on the movable bracket such that when the drive member causes the gear (24) mounted on this same movable bracket to mesh with the rack (26) or the chain of one of the columns (22, 23), the auxiliary wheel (32) contacts the opposing surface of the columns (22, 23) and the brake block (34) separates from this column, and such that when the vehicle (21) has climbed on the column and the gear (24) is able to rotate freely after the failure of the drive member, causing the movable bracket to droop, the brake block (34) is supported on a portion of the surface of the column to which the rack (26) or chain is fixed, so as to prevent the movable bracket from moving downward.
2. The order preparation system according to claim 1, characterized in that, The brake block (34) is mounted on the movable bracket at a height greater than that of the auxiliary wheel (32).
3. The order preparation system according to claim 1 or 2, characterized in that, When the drive member engages the gear (24) mounted on the movable bracket with the rack (26) or the chain of one of the columns, the distance between the outer surface of the brake block (34) fixed to the movable bracket and the axis of the auxiliary wheel (32) mounted on the movable bracket is greater than the sum of the radius of the auxiliary wheel (32) and the thickness of the flange (33) of this column.
4. The order preparation system according to claim 1 or 2, characterized in that, The brake block (34) comprises a block made of an elastomeric material.
5. The order preparation system according to claim 4, characterized in that, The block is contained within a ring.
6. The order preparation system according to claim 1 or 2, characterized in that, The width or length of the carrier (21) is less than the interval between the columns of the first pair of columns (22) or the second pair of columns (23). Furthermore, the movable bracket is configured such that, in the unfolded position, at least a portion of each of the gears (24) protrudes from the edge of the frame facing the passageway.
7. The order preparation system according to claim 6, characterized in that, When the vehicle (21) engages in the passageway (18), the axis of the gear (24) is parallel to the axis of the passageway (18).
8. The order preparation system according to claim 1 or 2, characterized in that, The movable support is mounted to pivot and / or slide relative to the frame.
9. The order preparation system according to claim 1 or 2, characterized in that, The movable brackets are installed at the four corners of the frame of the vehicle (21).
10. The order preparation system according to claim 1 or 2, characterized in that, The drive component includes four independent electric motors, each of which drives one of the gears (24).
11. The order preparation system according to claim 1 or 2, characterized in that, Each of the racks (26) or chains fixed to one of the posts (22, 23) extends substantially to the ground below this post, and wherein, A guide element (27) having a rolling surface for one of the secondary wheels (32) extends substantially vertically from the ground along the lower portion of the rack (26) or the chain to the height of the base of the column (22, 23).
12. The order preparation system according to claim 1 or 2, characterized in that, The brake block faces outward from the vehicle (21).
13. The order preparation system according to claim 1 or 2, characterized in that, The first pair of uprights (22) and the second pair of uprights (23) have an omega or angle steel profile, and at least one of their flanges (33) has a downwardly folded edge (33). i ), and wherein, when the vehicle engages in the aisle (18), each of the brake blocks faces the upright of the shelf unit (14), Furthermore, the portion of the surface of the column to which the rack (26) or chain is fixed and on which the brake block can be supported is the downwardly folded edge (33) of the column. i A portion of the surface of the passageway (18) facing the passageway.