MOBILE ROBOT STOWAGE AND CENTERING SYSTEM

Abstract

The invention relates to a vertical article movement system (10) comprising: an autonomous mobile robot (4; 40) including a platform (4B; 40B) for receiving an article to be moved, and a vertical movement column including a plurality of conveying means (2A, 2B, 2C, 2D; 20A, 20B, 20C, 20D), each equipped with a drive means (3; 30), the mobile robot (4; 40) including retractable docking means (40D) configured to cooperate with said drive means (3; 30) to allow the movement of the mobile robot (4; 40) by the conveying means (2A, 2B, 2C, 2D; 20A, 20B, 20C, 20D), wherein the drive means (30) each have a lower portion (30B) and an upper part (30A), the lower part (30B) being narrower than the upper part and configured to allow the lashing means (40D) to be locked (by gravity).The invention also relates to an automated storage system and method. See Figure 4 for the abstract.

Description

Title of the invention: MOBILE ROBOT DOCKING AND CENTERING SYSTEM Technical field of the invention

[0001] The invention relates to the field of intralogistics and relates to a vertical movement system and an automated article storage system comprising such a vertical movement system. State of the art

[0002] The latest generation of automated warehouses uses autonomous mobile robots to improve the performance of such systems. This involves vertical movement of the mobile robots to reach the different storage levels. When the robot has to perform vertical movements and does not have its own lifting means, the robot must dock with a vertical conveyor means and position itself in a repeatable manner in said vertical conveyor means.

[0003] Furthermore, in order to increase the throughput of the stock, it is necessary to allow several mobile robots to dock quickly and precisely with the drive means and remain well centered and stable during vertical movement by the conveying means.

[0004] The existing solutions of the prior art for vertical conveyance of autonomous mobile robots do not meet these needs. The objective of the invention is to overcome the lack of existing solutions by proposing a vertical movement system making it possible to ensure rapid docking, repeatable centering each time an autonomous mobile robot docks on the lifting means, as well as safe lifting. Summary of the invention

[0005] To this end, the invention relates to a system for vertically moving articles comprising: • an autonomous mobile robot comprising a platform intended to receive an item to be moved, and • a vertical displacement column comprising a plurality of conveying means, each provided with a drive means, • the autonomous mobile robot (AMR) comprising retractable mooring means configured to cooperate with said drive means to allow the movement of the mobile robot by the conveying means.

[0006] According to the invention, a drive means has a lower part and an upper part, the lower part being narrower than the upper part and configured to allow blocking of the mobile robot, for example by gravity.

[0007] The fact that the upper part is larger than the lower part allows easy passage of the securing means and therefore ensures repeatability of the securing of the mobile robot. The lower part, which is narrower, makes it possible to generate a translational blocking of the mobile robot in all directions of a horizontal plane. This also allows centering of the AMR. Consequently, the vertical movement of the AMR in the vertical displacement column is secured.

[0008] Advantageously, a securing means may comprise a notch complementary to the lower part of the drive means and arranged to cooperate with it. Such a notch makes it possible to guarantee good centering of the AMR in the vertical displacement column. This therefore consequently increases the safety of the movements of the AMR in the column.

[0009] The conveying means may be chosen from belts, cables or chains. These means have the advantage of being strong and flexible and may include drive means. The drive means, such as cleats, may be attached and fixed by methods known to those skilled in the art.

[0010] According to exemplary embodiments, a drive means may have a lower part in the shape of a V. The upper part may for example be rectangular or circular to allow easy insertion of the lashing means, while the lower part allows the lashing means to be blocked under the effect of the weight of the AMR.

[0011] The securing means may be in the form of a pin or a hook.

[0012] Advantageously, a securing means has a section at least partially in the shape of a V complementary to the lower part of the drive means. This guarantees good locking in translation of the robot.

[0013] Alternatively, the drive means may comprise a vertically oriented oblong hole. An oblong hole comprises a wide central portion to allow easy passage of the securing means, and a narrower lower portion to lock the robot in translation.

[0014] The invention also relates to an automated article storage system comprising a plurality of storage levels capable of receiving articles to be stored and a system for vertically moving articles as described above.

[0015] The invention also relates to a method of storing articles using a storage system according to the above description. Brief description of the figures

[0016] Other features and advantages of the invention will appear in the following description. after in relation to the attached drawings, given as non-limiting examples, in which:

[0017] [Fig-1] [Fig. 1] partially represents an example of a vertical displacement system according to the invention;

[0018] [Fig.2] [Fig.2] partially represents a second example of a system of de vertical placement according to the invention;

[0019] [Fig.3] [Fig.3] is a schematic view of an automatically guided robot (AMR) having securing means in accordance with the invention,

[0020] [Fig.4] [Fig.4] is an enlarged schematic view of a lashing means in contact with a drive means according to the invention.

[0021] In the remainder of the description, elements having an identical structure or similar functions will be designated by the same references. Detailed description

[0022] [Fig.l] represents an example of a system 1 for vertical movement of an automated storage system according to the invention. Such a system can in particular be arranged in a column connecting the different levels of the installation.

[0023] The system 1 comprises conveying means 2, which may comprise belts, as shown in [Fig. 1], or similar traction means such as cables or chains. In the example, the conveying means 2A, 2B, 2C, 2D are 4 in number, but in other embodiments not shown, the number of traction means may be different, for example, 2, 3 or 6. Each traction means may comprise one or more drive devices 3.

[0024] As can be seen in particular in [Fig.l], the traction device may be an endless belt provided with drive means 3, for example cleats spaced at a regular distance.

[0025] In the embodiment of [Fig. 2], each conveying means may comprise traction means 20A, 20B (for example belts, cables or chains) and a drive device 30. In this embodiment, the drive devices are configured to make back and forth movements, driven by the drive means 20A, 20B. Advantageously, guide devices 50A, 50B may be arranged to guide the drive device 30 for the movements and thus reinforce the stability.

[0026] As shown in Figures 1, 2 and 3, the autonomous mobile robot 4; 40 used in the system according to the invention may comprise a chassis 4A; 40A, a platform 4B; 40B for transporting articles, wheels 4C; 40C and lashing elements 4D; 40D configured to dock with the drive means 3; 30 of the conveying means 2; 20.

[0027] When an autonomous mobile robot 4; 40 arrives in the vertical movement column, it positions itself between the conveying means and activates its docking means 4D; 40D to come and hook onto the drive means 3; 30. Once the docking is carried out, the robot can then be driven vertically, for example to move from a reception level to a storage level.

[0028] During this movement, it is necessary, on the one hand, to ensure good centering of the autonomous mobile robot, and on the other hand to ensure rapid and repetitive docking.

[0029] The drive means 30 according to the invention and as represented for example in [Fig.4], comprise a lower part 30B and an upper part 30A, the lower part being narrower than the upper part and configured to allow the mobile robot to be locked by gravity.

[0030] For example, the upper portion 30A may be rectangular or round and the lower portion may be V-shaped.

[0031] In other embodiments not shown, the drive means may be vertically oriented oblong holes. Such means may, for example, be associated with the belts of [Fig.l].

[0032] Advantageously, the securing means 40D can each comprise a notch 41 to guarantee the centering of the AMR.

[0033] The lashing means may also have a partially triangular section complementary to the lower part of the drive means.

[0034] The invention further relates to an automated article storage system comprising a plurality of storage levels capable of receiving articles to be stored and a system for vertically moving articles according to the invention as described above.

Claims

Claims

1. System (1; 10) for vertical movement of articles comprising: - an autonomous mobile robot (4; 40) comprising a platform (4B; 40B) intended to receive an article to be moved, and - a vertical movement column comprising a plurality of conveying means (2A, 2B, 2C, 2D; 20A, 20B, 20C, 20D), each provided with a drive means (3; 30), - the mobile robot (4; 40) comprising retractable securing means (40D) configured to cooperate with said drive means (3; 30) to allow the movement of the mobile robot (4; 40) by the conveying means (2A, 2B, 2C, 2D;20 A, 20B, 20C, 20D), - in which the drive means (30) each have a lower part (30B) and an upper part (30A), the lower part (30B) being narrower than the upper part and configured to allow locking of the securing means (40D) characterized in that a drive means has a lower part in the shape of a V and a securing means has a lower part of substantially triangular section complementary to the lower part (30B) of the drive means (30).;

2. System (10) according to the preceding claim in which a securing means (40D) comprises a notch (41) complementary to the lower part (30B) of the drive means (30).

3. System (10) according to one of the preceding claims in which the conveying means (2A, 2B, 2C, 2D; 20A, 20B, 20C, 20D) are chosen from belts, cables or chains.

4. Automated article storage system comprising a plurality of storage levels capable of receiving articles to be stored and a system (10) for vertically moving articles according to one of the preceding claims.

5. A method of storing articles using a storage system according to the preceding claim.

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