Modular storage system and method for retrieving elements stored in such a system

Abstract

The present disclosure relates to a modular storage system comprising: - a modular structure (200); - a rack (300); - an ejection system (400) comprising an ejection module (220a) and an ejector module (230), the ejection module and the ejector module comprising a common side face (410), the ejection module comprising an ejection face (420) opposite the common side face (410) and the ejector module (230) comprising a pusher (430) positioned on the frame (240) of the ejector module (230), the pusher comprising a rod (434), the rod pushing the element to be retrieved placed on the rack located in the ejection module in order to eject the element to be retrieved from the modular structure via the ejection face of the ejection module.

Description

[0001] Modular storage system and method of retrieving items stored in such a system

[0002] TECHNICAL FIELD

[0003] The present invention relates to automated storage solutions.

[0004] It relates more particularly to the extraction of elements stored in modular robotic storage structures and proposes for this purpose a modular storage system and a method of extracting elements stored in such a system.

[0005] STATE OF THE ART

[0006] With the rise of industrial needs, fine logistics, and e-commerce, the development and use of automated storage and collection solutions for items, such as goods, are proving crucial for many stakeholders. Different types of solutions have been proposed depending on the type of needs they address.

[0007] Technologies such as "Storage cranes" or "Carousels" or "Robotic fleets" or the implementation of autonomous and mobile robots allow stored items to be moved from one location to another. These technologies differ in their nature but also in their performance, and are therefore not suited to the same uses. In addition, they do not allow for a compact storage solution, adaptable to any type of space, particularly restricted ones, and offering a high distribution rate while limiting the need for manual intervention and thus facilitating its use.

[0008] Patent application WO 2020260639, in the name of the applicant, proposes a compact storage and movement system, adaptable to many types of storage environments and allowing high distribution rates. This system comprises on the one hand a modular structure consisting of a plurality of adjacent receiving modules and on the other hand racks storing the elements and capable of being moved in the modular structure from one module to another. But there is a need to improve this system such as for example the management of the extraction from the system of the stored elements transported by the racks.

[0009] Document US 2019 / 062058 A1 proposes a storage and movement system that is different and more complex than the one previously presented, but which includes a means of ejecting a single element from a rack. However, this system requires, for carrying out the extraction, the installation of an auxiliary robot external to the modular system. In addition, the extraction rates of this system are very reduced due to the overall operation of the storage system and the complexity due to the external presence of the robot.

[0010] There is therefore a need to improve the performance of existing modular systems.

[0011] GENERAL STATEMENT

[0012] One purpose of disclosure is to solve at least one of the problems previously cited.

[0013] To this end, according to one aspect of the present disclosure, there is provided a modular storage system comprising: a modular structure comprising a plurality of adjacent modules, each module of the plurality of modules comprising a parallelepiped-shaped frame and having four side faces, an upper face and a lower face; and a rack, capable of being moved in the modular structure from one module to an adjacent module, the rack being configured to transport stored elements, one of the stored elements of which is an element to be extracted from the system.

[0014] The modular structure further comprises an ejection system, which itself comprises an ejection module and an ejector module, among the plurality of modules, the ejection module and the ejector module comprising a common lateral face, the ejection module comprising an ejection face opposite the common lateral face, and the ejector module comprising a pusher positioned on the frame of the ejector module, said pusher comprising a rod configured to move from a retracted position, in which the rod is included in the ejector module, to an ejection position, in which the rod passes perpendicularly through the common lateral face and extends at least partially into the ejection module, the rod pushing the element to be extracted placed on the rack located in the ejection module to eject said element to be extracted from the modular structure, by the ejection face of said ejection module.

[0015] Such a system allows items stored in the lockers of a modular structure to be extracted quickly and easily. The ejection system is implemented directly into the modular structure without complicating the movement of the lockers within the structure.

[0016] In addition, the ejection of a rack of elements to be extracted is done by a simple axial translation movement of the pusher rod, which reduces the number of movements required. The compactness of the system is thus increased. Advantageously, but optionally, the method described comprises at least one of the following characteristics, taken alone or in any technically feasible combination:

[0017] - the pusher further comprises a carriage movable in translation relative to the chassis along at least one direction belonging to the plane of the common face of the ejector module, the rod being movable in axial translation on the carriage and the carriage being configured to position the rod in alignment with the element to be extracted and the ejection face;

[0018] - the pusher rod comprises a shoe fixed to the rod, the shoe being articulated on the rod so as to adapt its orientation to contact with a surface of the element to be extracted;

[0019] - the shoe comprises a surface provided for contact with the element to be extracted, the contact surface comprising a first dimension and a second dimension larger than the first dimension, the pusher comprising a motor configured to orient the shoe and its contact surface according to the element to be extracted;

[0020] - the shoe includes a sensor configured to acquire information on the relative position of the shoe and the element to be extracted, and transmit it to the central controller which controls the movement of the rod;

[0021] - the system includes a central controller, configured to synchronously manage the movements of the locker in the modular structure and of the pusher;

[0022] - the system comprises a conveying device, inert or motorized, the conveying device comprising an inlet and an outlet, the inlet of the conveying device being adjacent to the ejection face of the ejection module and the outlet of the conveying device being adjacent to a recovery point, the conveying device being configured to convey the element to be extracted ejected from the ejection module to the recovery point.

[0023] According to another aspect, there is provided a method of extracting an element to be extracted from a system, the method comprising the following steps: moving the rack comprising the element to be extracted towards the ejection module, the rack being able to enter the ejection module either by its lateral faces other than the common lateral face and the ejection face, or by its lower face or its upper face, the movement being controlled to position the element to be extracted in front of the pusher; moving the pusher rod from the retracted position to an ejection position, this movement pushing the element to be extracted out of the rack.According to another aspect, there is provided a method for extracting an element to be extracted from a system, the method comprising the following steps: moving the rack comprising the element to be extracted into the ejection module, the rack being able to enter the ejection module either by its lateral faces other than the common lateral face and the ejection face, or by its lower face or its upper face, the movement being controlled to position the element to be extracted in front of the pusher; moving the pusher carriage relative to the frame of the ejector module so that the element to be extracted and the pusher are positioned face to face, and moving the pusher rod from the retracted position to an ejection position, this movement pushing the element to be extracted out of the rack.

[0024] According to another aspect, there is provided a computer program product comprising code data configured to control the implementation by a central controller of the steps of a method of extracting an element to be extracted.

[0025] DESCRIPTION OF FIGURES

[0026] Other characteristics, aims and advantages will emerge from the following description, which is purely illustrative and not limiting, and which must be read in conjunction with the attached drawings in which:

[0027] Figure 1 illustrates a perspective view of a modular system according to one embodiment of the present invention;

[0028] Figure 2 illustrates a perspective view of a modular structure comprising an ejection system, according to an embodiment of the present invention;

[0029] Figure 3 illustrates a perspective view of a pusher of an ejection system, according to an embodiment of the present invention;

[0030] Figures 4A, 4B and 4C illustrate several views of a shoe of a pusher rod according to one embodiment of the present invention;

[0031] Figures 5A and 5B illustrate several orientations of the shoe of the rod of a pusher, according to one embodiment of the present invention;

[0032] Figure 6 illustrates a perspective view of a locker, according to an embodiment of the present invention; Figure 7 illustrates a sectional view of a compartment of a locker of an ejection system, according to an embodiment of the present invention;

[0033] Figure 8 illustrates several positions of a locker relative to a sensor of the module, according to an embodiment of the present invention;

[0034] Figure 9 illustrates a perspective view of a modular system comprising a conveying device according to one embodiment of the present invention;

[0035] Figure 10 illustrates a step of moving the rack and the pusher of a method of extracting an element from a modular system according to a particular implementation of the present invention;

[0036] Figure 11 illustrates a step of moving a pushing arm of the pusher of a method of extracting an element from a modular system according to a particular implementation of the present invention;

[0037] Figure 12 illustrates an ejection step of a method of extracting an element from a modular system according to a particular implementation of the present invention.

[0038] Throughout the figures, similar elements have identical references.

[0039] DETAILED DESCRIPTION

[0040] General information on the modular storage system

[0041] The modular system 100, illustrated in FIG. 1, is a storage system allowing the robotic movement of stored items 600. The stored items 600, as illustrated in FIG. 2, can be of any type such as parcels, bundles, bags, boxes or any other solid material item. This system 100 comprises a modular structure 200, typically placed on the floor of a storage room, and one or more lockers 300 intended to be moved inside said structure 200.

[0042] The modular structure 200 is defined by a plurality of adjacent modules 210. The modules 210 are displacement modules 220 or ejector modules 230.

[0043] These modules 210 as illustrated in Figure 2, are juxtaposed, stacked and connected together to form the modular structure 200. The modular structure 200 comprises an external envelope 250 formed by modules 210, lateral to the modular structure 200, modules of which at least one of their faces is not adjacent to another module. For the sake of simplicity, the modular structure 200 will hereinafter be called structure 200. To simplify understanding, the modular structure 200 shown in Figure 1 is parallelepiped in shape, but it could be otherwise, such as forming a non-uniform volume with multiple sides.

[0044] The modularity of the structure 200 allows adaptation to any environment; it also facilitates and streamlines the flow of stored elements 600 between the delivery point(s) and the collection point(s) of the stored elements 600.

[0045] The modular storage system 100 further comprises a plurality of horizontal and vertical actuators 500 and a plurality of control elements 201. The horizontal and vertical actuators 500 are configured to drive the racks 300 in some of the modules 210. Advantageously, a plurality of motors (not shown) allows the vertical and horizontal actuators 500 to be moved. The control elements 201 are configured, among other things, to control the motors of the actuators 500 and thus manage the movement in the structure 200 of the rack(s) 300 present in the system 100. According to one embodiment, each module 210 comprises a control element 201 configured to control the movement of a rack 300 present in this same module 210.

[0046] The modular storage system 100 may further comprise a central controller 800 configured to generate the control orders for moving the different lockers 300 to be transmitted to the control elements 201 and thus implement a method for automatically moving the lockers 300.

[0047] A control element 201 may comprise a processing unit (not shown) or calculation unit such as a processor, as well as one or more pre-actuators (not shown) capable of distributing energy to the actuators 500 according to the commands received from the central controller 800.

[0048] The central controller 800 comprises a processing or computing unit, such as a processor, and one or more memories comprising code data generating operating commands configured to implement a method of moving a locker 300 in the system 100 when implemented by a processing unit.

[0049] Advantageously, the control elements 201 are integral with the modules 210 which can be interconnected with each other in their mechanical, electrical and electronic operations. The mechanical interconnection of the modules 210 makes it possible to fix a module 210 to its adjacent modules 210.

[0050] The electrical interconnection of the modules 210 makes it possible to propagate the electrical power and thus supply the various electromechanical systems such as the actuators 500 and the control elements 201. This makes it possible to supply the entire system 100 by means of a limited number of power sources, and in particular to limit the need to carry on-board energy storage means, which would be heavy and bulky.

[0051] In a preferred embodiment, each module 210 has its own control element 201 which is interconnected to the control elements 201 of the adjacent modules 210 via a wired electronic link, forming a global network within the system 100 making it possible to exchange and transmit commands to any module 210 of the system 100.

[0052] This helps limit electromagnetic interference, and limits the wiring of the 100 system.

[0053] The modules

[0054] The structure 200 is defined by a plurality of vertical uprights 241 and horizontal bars 242 assembled during the installation of said structure 200, which can be dismantled or modified easily.

[0055] Said uprights and bars 241, 242 thus define for each module 210 a frame 240 of identical shape which is typically rectangular parallelepiped and which defines a reception volume adapted to receive a locker 300.

[0056] Advantageously, four uprights 241 extend in a vertical direction Y, the vertical direction Y being relative to the arrangement of the system 100 under normal conditions of use. The vertical uprights 241 define four lateral faces 243 of the module. And four horizontal bars 242 extend in two horizontal directions X, the horizontal direction X being relative to the arrangement of the system 100 under normal conditions of use. The four horizontal bars define a lower face 245 of the module 210 as well as an upper face 246 of the module 210 adjacent to the lower face of the module 210 in question. The term lower is defined according to the vertical direction Y.

[0057] The modules 210 are advantageously identical in their structure, so as to limit the cost price of the locker 300 by scale effect and to facilitate the maintenance of the system 100. Each module 210 comprises information connectors, and power connectors (not shown), integral with the chassis 240. This makes it possible to limit the electrical consumption of the system 100 and to limit the use of batteries and constraints linked to the batteries, in particular those linked to recharging.

[0058] The information connectors allow the control elements 201 of two adjacent modules 210 to transmit information to each other. The power connectors allow the electrical power to be transmitted from module 210 to module 210.

[0059] The central controller 800 is able to detect the connection, position and orientation of a new module 210 in the system 100, and is configured to virtually model the modules 210 forming the system 100. The central controller 800 thus updates the virtual model of the system 100 as new modules 210 are connected. The central controller 800 is thus able at any time to know the state of the system 100, its geometry and the distribution of the full and empty modules 210 in the system 100.

[0060] The modules 210 of the structure 200 advantageously comprise movement modules 220 and at least one ejector module 230. Each locker 300 can be placed within each movement module 220.

[0061] The displacement modules 220 comprise at least one ejection module 220a whose particular function is explained below.

[0062] The movement modules 220 are configured to allow the lockers 300 to move in the structure 200. The movement modules 220 are configured to receive a locker 300 or a portion of a locker 300 in their receiving volume. The lockers 300 can enter the movement modules 220 indifferently by their side faces 243, their lower face 245 or their upper face 246. Such modules allow a simplification of the movements of the lockers 300 in the structure 200 as well as the installation of this same structure 200.

[0063] Each movement module 220 comprises vertical and horizontal actuators 500 secured to the chassis 240. This makes it possible in particular to avoid positioning the actuators 500 on the racks 300 and thus to limit the weight of the racks 300 and therefore to increase the weight of the stored elements 600, in other words the payload, at equal power. This also makes it possible to limit the electrical consumption of the system 100 and to facilitate the power supply of the actuators 500 and to limit the use of batteries and constraints linked to the batteries, in particular those linked to recharging. Advantageously, each movement module 220 can be equipped with a detection device configured to detect the presence or absence or the precise position of a rack 300 within said movement module 220.It may comprise, for example, an optical sensor, or an inductive proximity detector, or any sensor capable of detecting the presence of a locker 300 in the movement module 220.

[0064] Ejection system

[0065] The ejector module 230 is a module of the modular structure 200 within which the lockers 300 cannot move. A structure 200 advantageously comprises one or more ejector modules 230.

[0066] The ejector module 230 is adjacent to a lateral face 243 of a lateral displacement module 220 of the structure 200, that is to say that the ejector module 230 comprises a common lateral face 410 to a displacement module 220 whose lateral face 243 opposite the common face 410, called the ejection face 420, is not adjacent to any module 210. The displacement module 220, one lateral face of which is common to a lateral face of the ejector module 230 and whose opposite lateral face is an ejection face 420, is called the ejection module 220a.

[0067] The ejector module 230 and the ejection module 220a form an ejection system 400.

[0068] The ejector module 230 comprises one or more pushers 430. The pusher 430 has the function of delivering a force to push one or more elements to be extracted 610 from the rack 300 placed in the ejection module 220a. Indeed, among the elements stored 600 in the racks 300 of the system 100, some of these elements are identified as being to be extracted from the system 100 and are therefore called elements to be extracted 610. The placement of a plurality of pushers 430 on the chassis 240 of an ejector module 230 can make it possible to simultaneously eject several elements to be extracted 610 or to eject the same element to be extracted 610, for example in the case of an element to be extracted 610 of a size or weight requiring a force greater than the force of a single pusher 430.

[0069] The pusher 430, as illustrated in FIG. 3, comprises a first carriage 431 and a pushing arm 432. The carriage 431 is attached to the frame 240 of the ejector module 230 and the pushing arm 432 is movable in translation relative to the carriage 431.

[0070] According to one embodiment, the carriage 431 is fixed on the chassis 240. The pusher 430 is then configured to push the element to be extracted 610 placed in alignment with the pusher 430. According to another embodiment, the carriage 431 is mounted to move in translation relative to the chassis 240. The carriage 431 is then configured to position the pushing arm 432 in alignment with the element to be extracted 610.

[0071] Advantageously, the carriage 431 can translate in a plane parallel to the common face 410. Furthermore, this carriage 431 can in different cases:

[0072] Move only in a direction parallel to the common face 410 and included in the plane parallel to the common face 410.

[0073] Move only in a direction parallel to the lower face 245 included in the plane parallel to the common face 410.

[0074] According to two directions included in the plane parallel to the common face 410. One being parallel to the common face 410, the other being parallel to the lower face 245.

[0075] The push arm 432 comprises a second carriage 433, a rod 434 connected to the second carriage 433 and a shoe 435 fixed to one end of the rod 434. The push arm 432 is configured to extend from the ejector module 230 towards the ejection module 220a to eject via the ejection face 420 an element to be extracted 610 placed on the rack 300 located in the ejection module 220a. The push arm 432 extends between two extreme positions 432a, 432b. The push arm 432 comprises a retracted position 432a, in which it does not block the movement of the rack 300 in the ejection module 220a, the push arm 432 then being mainly included in the ejector module 230 and does not pass through the common face 410, in other words, the push arm 432 is positioned on the side of the ejector module 230 of the common face 410.The pushing arm 432 also includes an ejection position 432b in which it has completely pushed the element to be extracted 610 from the rack 300, the pushing arm 432 then passes through the common face 431 and extends into the ejection module 220a.

[0076] The second carriage 433 slides along the first carriage 431 and in a direction normal to the common face 410. The second carriage 433 thus drives the rod 434 in translation relative to the first carriage 431. The first carriage 431 of the pusher 430 may comprise a guide rail 436 on which the second carriage 433 of the pushing arm 432 is mounted to move in translation.

[0077] Advantageously, the carriage 431 may comprise a second guide element 443 which is placed at the end of the guide rail 436 in order to ensure the alignment of the pushing arm 432 with the latter when the pushing arm 432 is in the ejection position 432b. The rod 434 may be of several shapes and is fixed by one of its ends to the second carriage 433 of the pushing arm 432 and by another of its ends to the shoe 435. In order to reduce the overall size of the pusher 430 while retaining its travel, the rod 434 may be a telescopic arm.

[0078] The shoe 435 is fixed to one of the ends of the rod 434, the closest to the common face 410 in the retracted position 432a and the closest to the ejection face 420 in the ejection position 432b. The shoe 435 can be fixed to the rod 434 in an articulated manner so as to be able to adapt its orientation to contact with a surface 611 of the element to be extracted 610. Thus, as illustrated by FIGS. 4A, 4B and 4C, the shoe 435 can be free to rotate about the axes perpendicular to the direction of the rod 434.

[0079] The shoe 435 comprises a contact surface 437 provided for contact with the element to be extracted 610. The contact surface 437 comprises a first dimension 437a and a second dimension 437b larger than the first dimension 437a. The shoe 435 can thus have a larger dimension in one direction and a smaller dimension in another direction. In addition, and according to a possible embodiment illustrated by FIGS. 5A and 5B, the rod 434 can be rotated so as to be able to orient the shoe 435 fixed at its end. Thus, the shoe 435 is configured to be able to push an element to be extracted 610 from a rack 300 by orienting its contact surface 437 according to the dimensions of the element to be extracted 610, thanks to the rotation of the rod 434.The shoe 435 then aligns the direction of its largest dimension with the largest dimension of the element to be extracted 610 in order to optimize the distribution of forces on the element to be extracted 610. The pusher 430 may comprise a motorization (not shown) configured to orient the shoe 435 and its contact surface 437 according to the element to be extracted 610.

[0080] The shoe 435 preferably comprises a proximity sensor 438. The sensor 438 is thus advantageously placed at the end of the pushing arm 432 and detects the presence of the element to be extracted 610. This detection makes it possible, on the one hand, to temporarily slow down the speed of the translational movement of the pushing arm 432 in order to limit the shock at the time of contact between the shoe 435 and the element to be extracted 610 and, on the other hand, to validate the presence of the latter. The integration of this sensor 438 within the pusher 430 optimizes its movement since it allows a rapid translation of the pushing arm 432 over a large majority of its movement while limiting the jolts during contact with the element to be extracted 610.Different technologies can be envisaged for the sensor 438; it can, according to one embodiment, be an optical, inductive, capacitive, ultrasonic proximity sensor or, according to another embodiment, be a mechanical contact sensor.

[0081] The pusher 430 further comprises a device for driving the first carriage 431 in its translation direction(s) and a device for driving the second carriage 433 of the pushing arm 432 in its extension direction.

[0082] The pusher 430 may comprise a motor 439, for example an electric motor, which drives the carriage 433 along the rail 436 by means of, for example, a pulley / belt assembly 440.

[0083] Indeed, a driving pulley 441, mounted in rotation relative to the carriage 431, is driven by the motor 439. A second pulley, called a free pulley 442, is also mounted in rotation relative to the carriage 431. A belt 444 is placed around these two pulleys in order to be able to advantageously transform the rotational movement of the motor 439 into a translational movement driving the second carriage 433. To do this, the second carriage 433 is therefore linked to the belt 444.

[0084] Thus, the ejection system 400 allows simple, rapid and selective extraction of the elements to be extracted 610 from the system 100. Indeed, it allows several elements to be extracted 610 present on the same rack to be quickly ejected or to eject only some or only one of them selectively.

[0085] Furthermore, the ejection system 400 as previously described is easily implementable in the structure 200 thanks to the ejector 230 and ejection 220a modules whose chassis 240 is identical to that of the displacement modules 220.

[0086] Furthermore, the ejection system 400 makes it possible to increase extraction rates by its arrangement inside the structure 200. This makes it easier to move a locker 300 towards and into the ejection system 400.

[0087] Finally, the arrangement of the ejection system 400 simplifies the controls and operation of the extraction by reducing it to a simple two-dimensional positioning of the element to be extracted and the pusher 430 relative to each other and followed by a unidirectional movement of the push arm 432 of the pusher 430.

[0088] The locker

[0089] The racks 300 are positioned in the structure 200. Each of the racks 300 is configured to store and move stored elements 600, some of which are elements to be extracted 610. The racks 300 are of dimensions and shape (in this case, rectangular parallelepiped) allowing them to be received in the movement modules 220. They comprise, as illustrated in FIG. 6, for example each a chassis 310 and a floor 320 which together form an enclosure 330 adapted to receive and carry an element to be stored 600 and / or an element to be extracted 610.

[0090] In the embodiment shown, the enclosure has open side faces 331, which improves accessibility for a user. But in another embodiment, some side faces 331 may be closed, as illustrated in Figure 7.

[0091] The enclosure 330 can be divided horizontally and / or vertically by several compartments 332 into several spaces 333. These compartments 332 can be made in various ways. According to one embodiment, it can be a rigid frame in the middle of which a canvas is stretched, or according to another embodiment, a sheet metal. The functions of the compartments 332 are as follows: facilitate the insertion of the elements to be stored 600 into the rack 300. allow the position of the elements to be stored 600 to be maintained when the rack 300 moves in the modular structure 200. guide the element to be extracted 610 when it is pushed out of the rack 300 by the pusher 430.

[0092] The number and position of these compartments 332 may vary from one locker 300 to another in order to adapt to the number and type of stored elements 600. According to one embodiment, the compartments 332 are positioned in the locker 300 at different predetermined positions. These are managed by means of openings 321 present along the floor 320, into which the bottom of the compartments 332 is inserted, as well as by means of notches 311 present along racks fixed on the frame 310, into which the top of the compartments 332 is inserted. To ensure the verticality of the compartments 332, the openings 321 and the notches 311 must be aligned one above the other.

[0093] Anti-return devices 340, 341, and may be placed at the openings of the locker 300 in order to ensure that the stored elements 600 cannot protrude from the latter. It is important to note that at least one of these non-returns 340, 341 must not obstruct the movements of the stored element 600 during its ejection by the pushers 430 from the rack 300. As illustrated in FIG. 7, the non-return 340 can, on one side of the rack 300, be achieved by means of a step between one of the elements of the chassis 310 and the floor 320. The non-return can, on the other side of the rack 300, and still according to the same embodiment, be achieved via the inclination of the floor 320 (between 1° and 15°) in order to keep the stored elements 600 in place in a stable position by the effect of gravity.

[0094] According to one embodiment, the rack 300 is positioned using the horizontal actuators 500, partially or totally inside the ejection module 220a, so that the element to be extracted 610 is facing the pusher 430 whose carriage 431 remains fixed. And according to another embodiment, the rack 300 is positioned using the vertical actuators 500, partially or totally inside the ejection module 220a, so that the element to be extracted 610 is at the height of the plane on which the pusher 430 translates. The pusher 430 then translates so as to be facing the element to be extracted 610. The vertical Y and horizontal X directions relate to the arrangement of the system 100 under normal conditions of use of the system 100.

[0095] In order to be able to manage its position within the ejection module 220a and thus position the element to be extracted 610 in front of a pusher 430 present in the ejector module 230, the rack 300 is put into translation by the actuators 500 present in the ejection module 220a. Advantageously, the rack 300 is equipped with an encoder 350 present on its chassis 310. The rack 300 can be placed in the position required for the ejection of the element to be extracted 610. The information present on the encoder 350 will be interpreted by one or more sensors 360 present in the ejection module 220a.

[0096] According to one embodiment, and as illustrated by Figure 8, this encoder 350 may be a cut-out part having light reflection properties different from those of the chassis 240. The encoder 350 will be fixed on the latter. It will cover a part of it while presenting, at regular intervals, openings allowing the chassis 310 to be seen. The light reflection of these two elements not being the same, the sensor 360 determines the openings and thus precisely follows the movement of the locker 300 in the ejection module 220a, with a precision determined by the size of the interval between two openings of the encoder 350.

[0097] The frame 310 of the locker 300 preferably comprises indentations 312. Certain indentations 312 of the locker 300 are configured to cooperate with actuators 500 carried by the horizontal bars 242 of the movement modules 220 to ensure the movement in a vertical direction from one movement module 220 to an adjacent movement module 220. Certain other indentations 312 of the locker 300 may be configured to cooperate with the actuators 500 carried by the vertical uprights of the lockers 300 and ensure movement in a vertical direction. The vertical translation devices and the actuators 500 are connected, by wired cabling which runs along the bars, to the central controller 800 (not shown) which manages the movements of the lockers 300 and actuates these devices accordingly.

[0098] Conveyor device

[0099] The modular system 100 may further comprise, as illustrated in FIG. 9, an inert or motorized conveying device 700. The conveying device 700 comprises an inlet 710 and an outlet 720. The inlet 710 of the conveying device 700 is adapted to receive an element to be extracted 610 from the system 100 and the outlet 720 of the conveying device 700 is adjacent to a recovery point 730 of the system 100. The conveying device 700 is configured to convey the element to be extracted 610 to the recovery point 730 so that this element to be extracted 610 is extracted from the system 100. The presence of this conveying mechanism 700 is important because it groups the elements to be extracted 610 into a single reception point 730.

[0100] The inlet 710 of the conveying device 700 is adjacent to each ejection system 400 and more particularly to the ejection face 420 of each ejection system 400. However, since the ejection systems 400 can be positioned anywhere in the structure 200, it is possible for them to be placed at different heights and far from each other. For this type of application, it is possible to use a roller conveying device 700 mounted on the structure 200. This roller conveying device 700 receives the elements to be extracted 610 once ejected from the racks 300 in which they were, then thanks to judicious inclinations and by the effect of gravity, they are conveyed to the recovery point 730. According to one embodiment, the ejection systems 400 can be positioned one above the other on one of the faces of the structure 200.According to this embodiment, a spiral conveying device 700 having as many inlets as the system 100 comprises ejection systems 400, may be preferred.

[0101] Method of moving a locker in the modular structure

[0102] A rack 300 is advantageously moved in the structure 200 of the system 100 from a first movement module 220 to a second movement module 220 such as for example the ejection module 220a according to the steps described in the document WO 2020 / 260639 A1 and including the following general steps. generation of commands by the central controller 800; control of the motors of the movement modules 220; deployment and retraction of the actuators 500 of the first movement module 220 and of the second movement module 220, so as to translate the rack 300 between these two movement modules 220 in the case of a vertical movement of the rack, or driving of the actuators 500 carried by the horizontal bars 242 of the racks 300 in the case of a movement in a horizontal direction

[0103] Method of extracting an element to be extracted from the modular system

[0104] Among the elements stored 600 in the racks 300 of the structure 200 of the system 100, one or more elements to be extracted 610 may be extracted from the structure 200. An extraction method, illustrated by FIGS. 10 to 12, may first require the implementation of the method of moving a rack 300 in the structure 200.

[0105] Once the rack 300 comprising an element to be extracted 610 has been moved into the structure 200 until it is placed in a movement module 220 adjacent to the ejection module 220a, a positioning step, illustrated by FIG. 10, is implemented. The positioning comprises a movement E11 of the rack 300 and / or a movement E12 of the pusher 430. It is interesting to note that the rack 300 can enter the ejection module 220a via its lateral faces 243, other than the common face 410 and the ejection face 420, as well as via its lower face 245 and its upper face 244. In addition, the method follows the same steps in the presence of several elements to be extracted 610 from the same rack 300.

[0106] Furthermore, in the embodiment according to which the ejector module 230 comprises a plurality of pushers 430, the method follows the same steps. Such an implementation mode simply improves the speed of ejection and makes it possible to eject several elements to be extracted 610 from the same locker 300 at the same time.

[0107] The rack 300 and the pusher 430 are moved (steps E11 and E12) respectively in the ejection module 220a and the ejector module 230 so as to position the element to be extracted 610 and the pusher 430 face to face in the extension direction of the push arm 432.

[0108] According to one embodiment, the rack 300 positions the element to be extracted 610 opposite the pusher 430, the translation of which is then not necessary. According to another embodiment, the rack 300 positions the element to be extracted 610 at the height or level, in the horizontal direction, of the pusher 430 and the pusher 430 translates in the ejection module 220a respectively in a horizontal or vertical direction to position itself opposite the element to be extracted 610.

[0109] According to another embodiment, the locker 300 is positioned entirely in the ejection module 220a then remains stationary and the pusher 430 translates vertically and horizontally relative to the frame 240 of the ejector module 230 to position itself opposite the element to be extracted 610.

[0110] Once the element to be extracted 610 and the pusher 430 are face to face, following the direction of extension of the pushing arm 432 and the ejection face 420, the pushing arm 432 moves (step E20) as illustrated in FIG. 11. The pushing arm 432 extends from its retracted position 432a to its ejection position 432b under the action of the second carriage 433 of the pushing arm 432 so that the shoe 435 comes into contact with the element to be extracted 610 and ejects it from the rack 300, as illustrated in FIG. 12. This step, called the ejection step, may comprise the following steps: the pushing arm 432 initiates a rapid translation movement from the retracted position 432a.This movement will continue until it reaches the proximity of the element to be extracted 610; the sensor 438 of the shoe 435 detects the presence of the element to be extracted 610; the speed of the pushing arm 432 then decreases and the pushing arm 432 extends until the shoe 435 comes into contact with the element to be extracted 610; once contact has been made, the speed of the pushing arm 432 increases again until the latter arrives in the ejection position 432b; the element to be extracted 610 is ejected from the rack 300, as illustrated in FIG. 12, the sensor 438 then detects that it is no longer in contact; the pushing arm 432 therefore returns to the retracted position 432a through a rapid translational movement.

Claims

CLAIMS 1. Modular storage system (100) comprising: - a modular structure (200) comprising a plurality of adjacent modules (210), each module (210) of the plurality of modules (210) comprising a frame (240) of parallelepiped shape and having four lateral faces (243), an upper face (244) and a lower face (245); - a locker (300), capable of being moved in the modular structure (200) from one module (210) to an adjacent module (210), the locker (300) being configured to transport stored elements (600) of which one of the stored elements (600) is an element to be extracted (610) from the system (100); and the modular structure (200) comprising an ejection system (400), which itself comprises an ejection module (220a) and an ejector module (230), among the plurality of modules (210), the ejection module (220a) and the ejector module (230) comprising a common lateral face (410), the ejection module (220a) comprising an ejection face (420) opposite the common lateral face (410), and the ejector module (230) comprising a pusher (430) positioned on the frame (240) of the ejector module (230), said pusher (430) comprising a rod (434) configured to move from a retracted position (432a), in which the rod (434) is included in the ejector module (230),to an ejection position (432b), in which the rod (434) passes perpendicularly through the common lateral face (410) and extends at least partially into the ejection module (220a), the rod (434) pushing the element to be extracted (610) placed on the rack (300) located in the ejection module (220a) to eject said element to be extracted from the modular structure (200), via the ejection face (420) of said ejection module (220a)., 2. System (100) according to claim 1, in which the pusher (430) further comprises a carriage (431) movable in translation relative to the chassis (240) along at least one direction belonging to the plane of the common face (410) of the ejector module (230), the rod (434) being movable in axial translation on the carriage (431) and the carriage (431) being configured to position the rod (434) in alignment with the element to be extracted (610) and the ejection face (420).

3. System (100) according to any one of claims 1 to 2, in which the rod (434) of the pusher (430) comprises a shoe (435) fixed on the rod (434), the shoe (435) being articulated on the rod (434) so ​​as to adapt its orientation to contact with a surface (611) of the element to be extracted (610).

4. System (100) according to claim 3, wherein the shoe (435) comprises a surface provided for contact with the element to be extracted (610), the contact surface (437) comprising a first dimension (437a) and a second dimension (437b) larger than the first dimension (437a), the pusher (430) comprising a motorization configured to orient the shoe (435) and its contact surface (437) according to the element to be extracted (610).

5. System (100) according to any one of claims 3 and 4, wherein the shoe (435) comprises a sensor (438) configured to acquire information on the relative position of the shoe (435) and the element to be extracted (610), and transmit it to the central controller (800) which controls the movement of the rod (435).

6. System (100) according to any one of claims 1 to 5, comprising a central controller (800), configured to synchronously manage the movements of the locker (300) in the modular structure (200) and of the pusher (430).

7. System (100) according to any one of claims 1 to 6, comprising a conveying device (700), inert or motorized, the conveying device (700) comprising an inlet (710) and an outlet (720), the inlet (710) of the conveying device (700) being adjacent to the ejection face (420) of the ejection module (220a) and the outlet (720) of the conveying device (700) being adjacent to a recovery point (730), the conveying device (700) being configured to convey the element to be extracted (610) ejected from the ejection module (220a) to the recovery point (730).

8. Method for extracting an element to be extracted (610) from a system (100) according to any one of claims 1 to 7, the method comprising the following steps: moving (E11) the rack (300) comprising the element to be extracted (610) towards the ejection module (220a), the rack (300) being able to enter the ejection module (220a) either by its lateral faces (243) other than the common lateral face (410) and the ejection face (420), or by its lower face (245) or its upper face (244), the movement being controlled to position the element to be extracted (610) in front of the pusher (430); displacement (E20) of the rod (434) of the pusher (430) from the retracted position (432a) to an ejection position (432b), this displacement (E20) pushing the element to be extracted (610) outside the locker (300).

9. Method for extracting an element to be extracted (610) from a system (100) according to any one of claims 1 to 7, the method comprising the following steps: moving (E11) the rack (300) comprising the element to be extracted (610) in the ejection module (220a), the rack (300) being able to enter the ejection module (220a) either by its lateral faces (243) other than the common lateral face (410) and the ejection face (420), either by its lower face (245) or its upper face (244), the movement being controlled to position the element to be extracted (610) in front of the pusher (430); movement (E12) of the pusher carriage (430) relative to the frame (240) of the ejector module (230) so that the element to be extracted (610) and the pusher (430) are positioned face to face, and movement (E20) of the rod (434) of the pusher (430) from the retracted position (432a) to an ejection position (432b), this movement (E20) pushing the element to be extracted (610) out of the locker (300).

10. Computer program product comprising code data configured to control the implementation by a central controller (800) of the steps of a method for extracting an element to be extracted (610) according to any one of claims 8 and 9.

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