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

Abstract

This presentation concerns a modular storage system comprising: a modular structure, a bin, and an ejection system, including an ejection module and an ejector module. The ejection module and the ejector module share a common side face. The ejection module includes an ejection face opposite the common side face. The ejector module includes a pusher positioned on the ejector module's frame. This pusher includes a rod that pushes the item to be extracted, placed on the bin within the ejection module, to eject said item from the modular structure through the ejection face of said ejector module. Figure 2 is shown for the abbreviation.

Description

Title of the invention: Modular storage system and method for extracting elements stored in such a system. Technical field

[0001] The present invention relates to automated storage solutions.

[0002] 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 for extracting elements stored in such a system. PRIOR TECHNOLOGY

[0003] With the rise of industrial needs, precision logistics, and e-commerce, the development and use of automated storage and retrieval solutions for items such as goods are proving crucial for many stakeholders. Different types of solutions have been proposed, depending on the specific needs they address.

[0004] Technologies such as "rear stacker" systems, "carousel" systems, robotic fleets, or the implementation of autonomous and mobile robots allow for the movement of stored items from one location to another. These technologies differ in their nature and performance, and are therefore not suited to the same uses. Furthermore, they do not provide a compact storage solution adaptable to all types of spaces, particularly confined spaces, and offering a high throughput while minimizing the need for manual intervention and thus facilitating its use.

[0005] Patent application WO 2020260639, filed in the name of the applicant, proposes a compact storage and transport system, adaptable to many types of storage environments and enabling high distribution rates. This system comprises, on the one hand, a modular structure made up of a plurality of adjacent receiving modules and, on the other hand, bins for storing items and capable of being moved within the modular structure from one module to another. However, there is a need for improvement in this system, such as managing the retrieval of stored items transported by the bins.

[0006] US patent 2019 / 062058 A1 proposes a different and more complex storage and handling system than the one previously presented, but which includes a means for ejecting a single element from a bin. However, this system requires, for extraction, the use of an auxiliary robot external to the modular system. Furthermore, the extraction rates of this system are very low due to the overall operation of the storage system and the complexity due to the external presence of the robot.

[0007] There is therefore a need to improve the performance of existing modular systems. GENERAL STATEMENT

[0008] One purpose of the disclosure is to resolve at least one of the problems mentioned above.

[0009] To this end, a modular storage system is proposed, according to one aspect of this disclosure, comprising: - a modular structure comprising a plurality of adjacent modules, each module of the plurality of modules comprising a parallelepiped-shaped chassis and having four lateral faces, a top face and a bottom face; and - a locker, suitable for being moved within the modular structure from one module to an adjacent module, the locker being configured to transport stored elements, one of which is an element to be extracted from the system.

[0010] 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 side face, the ejection module comprising an ejection face opposite to the common side face, and the ejector module comprising a pusher positioned on the chassis 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 side face and extends at least partially into the ejection module, the rod pushing the element to be extracted placed on the slot located in the ejection module to eject said element to be extracted from the modular structure, through the ejection face of said ejector module.

[0011] Such a system allows for the quick and easy extraction of items stored in the compartments of a modular structure. The ejection system is implemented directly within the modular structure without complicating the movement of the compartments within the structure.

[0012] Furthermore, the ejection of the elements to be extracted from a compartment is achieved by a simple axial translational movement of the pusher rod, which reduces the number of movements required. The compactness of the system is thus increased.

[0013] Advantageously, but optionally, the described method includes at least one of the following features, taken alone or in any technically feasible combination:

[0014] - the pusher further comprises a trolley that moves 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;

[0015] - the pusher rod includes a shoe fixed to the rod, the shoe being articulated on the rod so as to adapt its orientation to the contact with a surface of the element to be extracted;

[0016] - the shoe includes a surface intended 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 motorization configured to orient the shoe and its contact surface according to the element to be extracted;

[0017] - the shoe includes a sensor configured to acquire information on the relative position of the shoe and the element to be extracted, and transmit them to the central controller which controls the movement of the rod;

[0018] - the system includes a central controller, configured to manage synergistically chronicled the movements of the locker in the modular structure and of the pusher;

[0019] - the system includes a conveying device, inert or motorized, the device of conveying system 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.

[0020] According to another aspect, a method for extracting an element from a system is proposed, the method comprising the following steps: - movement of the compartment containing the item to be extracted towards the ejection module, the compartment being able to enter the ejection module either through its lateral faces other than the common lateral face and the ejection face, or through its lower or upper face, the movement being controlled to position the item to be extracted in front of the pusher; - movement of the pusher rod from the retracted position to an ejection position, this movement pushing the item to be extracted out of the compartment.

[0021] According to another aspect, a method for extracting an element from a system is proposed, the method comprising the following steps: - movement of the compartment containing the item to be extracted into the ejection module, the compartment 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 or upper face, the movement being controlled for position the item to be extracted in front of the pusher; - movement of the pusher carriage relative to the ejector module chassis so that the element to be extracted and the pusher are positioned face to face, and - displacement of the pusher rod from the retracted position to an ejection position, this displacement pushing the element to be extracted out of the compartment.

[0022] According to another aspect, a computer program product is proposed comprising code data configured to control the implementation by a central controller of the steps of a process for extracting an element to be extracted. DESCRIPTION OF THE FIGURES

[0023] Other features, purposes and advantages will become apparent from the following description, which is purely illustrative and not limiting, and which should be read in conjunction with the accompanying drawings on which:

[0024] Fig. 1 illustrates a perspective view of a modular system according to one embodiment of the present invention;

[0025] Fig. 2 illustrates a perspective view of a modular structure comprising an ejection system, according to an embodiment of the present invention;

[0026] Fig. 3 illustrates a perspective view of a pusher of an ejection system, according to an embodiment of the present invention;

[0027] Figs. 4A, 4B and 4C illustrate several views of a shoe of a pusher rod according to an embodiment of the present invention;

[0028] Figures [Fig. 5A] and [Fig. 5B] illustrate several orientations of the shoe of the rod of a pusher, according to an embodiment of the present invention;

[0029] Figure 6 illustrates a perspective view of a locker, according to one embodiment of the present invention;

[0030] Fig. 7 illustrates a cross-sectional view of a compartment of a locker of an ejection system, according to an embodiment of the present invention;

[0031] Fig. 8 illustrates several positions of a locker relative to a sensor of the module, according to one embodiment of the present invention;

[0032] Figure 9 illustrates a perspective view of a modular system comprising a conveying device according to an embodiment of the present invention;

[0033] Fig. 10 illustrates a step in moving the locker and the pusher of a method for extracting an element from a modular system according to a particular embodiment of the present invention;

[0034] Fig. 11 illustrates a step in the movement of a push arm of the pusher of a method for extracting an element of a modular system according to a particular embodiment of the present invention;

[0035] Fig. 12 illustrates an ejection step of a method for extracting an element from a modular system according to a particular embodiment of the present invention.

[0036] Throughout the figures, similar elements bear identical references. DETAILED DESCRIPTION

[0037] General information on the modular storage system

[0038] The modular system 100, illustrated in [Fig. 1], is a storage system enabling the robotic movement of stored items 600. The stored items 600, as illustrated in [Fig. 2], can be of any type, such as parcels, packages, bags, boxes, or any other solid material. This system 100 comprises a modular structure 200, typically placed on the floor of a storage room, and one or more bins 300 intended to be moved within said structure 200.

[0039] The modular structure 200 is defined by a plurality of adjacent modules 210. The modules 210 are displacement modules 220 or ejector modules 230.

[0040] These modules 210, as illustrated in [Fig. 2], are juxtaposed, stacked, and connected to each other to form the modular structure 200. The modular structure 200 comprises an outer envelope 250 formed by modules 210, lateral to the modular structure 200, modules of which at least one face is not adjacent to another module. For simplicity, the modular structure 200 will hereafter be referred to as structure 200. For ease of understanding, the modular structure 200 shown in [Fig. 1] is parallelepiped in shape, but it could be otherwise, such as forming a non-uniform volume with multiple sides.

[0041] 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 withdrawal point(s) of the stored elements 600.

[0042] 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 bins 300 in some of the modules 210. Advantageously, a plurality of motors (not shown) enables the movement of the vertical and horizontal actuators 500. The control elements 201 are configured, among other things, to drive the motors of the actuators 500 and thus manage the movement within the structure 200 of the bin(s) 300 present in the system 100. According to one embodiment, each module 210 includes a control element 201 configured to control the movement of a bin 300 present in that same module 210.

[0043] The modular storage system 100 may further include a central controller 800 configured to generate the movement commands for the various bins 300 to be transmitted to the control elements 201 and thus put into operation implements an automatic relocation process for 300 lockers.

[0044] A control element 201 may include a processing unit (not shown) or a 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.

[0045] The central controller 800 includes a processing or computing unit, such as a processor, and one or more memories comprising code data generating operating instructions configured to implement a method for moving a locker 300 in the system 100 when implemented by a processing unit.

[0046] Advantageously, the control elements 201 are integral with the modules 210 which can be interconnected with each other in their mechanical, electrical, electronic operations.

[0047] The mechanical interconnection of the 210 modules allows a 210 module to be fixed to its adjacent 210 modules.

[0048] The electrical interconnection of the modules 210 allows the electrical power to be propagated and thus power the various electromechanical systems such as the actuators 500 and the control elements 201. This makes it possible to power 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.

[0049] In a preferred embodiment each module 210 has its own control element 201 which is interconnected to the control elements 201 of adjacent modules 210 via a wired electronic link, forming a global network within the system 100 allowing the exchange and transmission of commands to any module 210 of the system 100.

[0050] This helps to limit electromagnetic interference, and to limit the wiring of system 100.

[0051] The modules

[0052] 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 easily disassembled or modified.

[0053] 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 receiving volume adapted to receive a locker 300.

[0054] Advantageously, four uprights 241 extend along a vertical direction Y, the vertical direction Y being relative to the arrangement of the system 100 under normal operating conditions. The vertical uprights 241 define four lateral faces 243 of the module. And four horizontal bars 242 extend along two horizontal directions X, the horizontal direction X being relative to the arrangement of the system 100 under normal operating conditions. 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 lower term is defined along the vertical direction Y.

[0055] The modules 210 are advantageously identical in their structure, so as to limit the cost of the locker 300 by economies of scale and to facilitate the maintenance of the system 100.

[0056] Each module 210 includes information connectors and power connectors (not shown), attached to the chassis 240. This helps to limit the electrical consumption of the system 100 and to limit the use of batteries and the constraints related to batteries, in particular those related to charging.

[0057] The information connectors allow the control elements 201 of two adjacent modules 210 to exchange information. The power connectors allow the transmission of electrical power from module 210 to module 210.

[0058] The central controller 800 is capable of detecting 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 therefore able to know at all times the state of the system 100, its geometry, and the distribution of full and empty modules 210 in the system 100.

[0059] The modules 210 of the structure 200 advantageously comprise displacement modules 220 and at least one ejector module 230. Each compartment 300 can be placed within each displacement module 220.

[0060] The displacement modules 220 include at least one ejection module 220a whose particular function is explained below.

[0061] The movement modules 220 are configured to allow the lockers 300 to move within the structure 200. The movement modules 220 are configured to receive a locker 300 or part of a locker 300 within their receiving volume. The lockers 300 can enter the movement modules 220 through their lateral faces 243, their lower face 245, or their upper face 246. Such modules simplify the movement of the lockers 300 within the structure 200, as well as the installation of the structure 200 itself.

[0062] Each displacement module 220 comprises vertical and horizontal actuators 500 attached to the chassis 240. This makes it possible, in particular, to avoid positioning the 500 actuators on 300 racks thus limit the weight of the 300 racks and therefore increase the weight of the stored items (600), in other words, the payload, at the same power level. This also limits the system's power consumption (100), facilitates powering the 500 actuators, and reduces the use of batteries and the associated constraints, particularly those related to recharging.

[0063] Advantageously, each displacement module 220 can be equipped with a detection device configured to detect the presence or absence or the precise position of a locker 300 within said displacement module 220. It can include, for example, an optical sensor, or an inductive proximity detector, or any sensor capable of detecting the presence of a locker 300 in the displacement module 220.

[0064] Ejection system

[0065] The ejector module 230 is a module of the modular structure 200 within which the compartments 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 with a displacement module 220 whose lateral face 243 opposite the common face 410, called ejection face 420, is not adjacent to any module 210. The displacement module 220 whose lateral face is common to a lateral face of the ejector module 230 and whose opposite lateral face is an ejection face 420, is called 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's function is to deliver a force to push one or more items to be extracted 610 from the bin 300 located in the ejection module 220a. Indeed, among the items stored 600 in the bins 300 of the system 100, some of these items are identified as being to be extracted from the system 100 and are therefore called items to be extracted 610. The installation of a plurality of pushers 430 on the frame 240 of an ejector module 230 can allow the simultaneous ejection of several items to be extracted 610 or the ejection of a single item to be extracted 610, for example, in the case of an item 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 by [Fig.3], comprises a first carriage 431 and a push arm 432. The carriage 431 is attached to the chassis 240 of the ejector module 230 and the push 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 of the 430 pusher.

[0071] According to another embodiment, the carriage 431 is mounted movable in translation relative to the chassis 240. The carriage 431 is then configured to position the push arm 432 in alignment with the element to be extracted 610.

[0072] Advantageously, the carriage 431 can translate in a plane parallel to the common face 410. Furthermore, this carriage 431 will be able in different cases: - To move only in a direction parallel to the common face 410 and included in the plane parallel to the common face 410. - Only move in a direction parallel to the lower face 245 included in the plane parallel to the common face 410. - Along 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.

[0073] The push arm 432 comprises a second carriage 433, a rod 434 connected to the second carriage 433, and a shoe 435 attached to one end of the rod 434. The push arm 432 is configured to extend from the ejector module 230 to the ejection module 220a to eject, through the ejection face 420, an element to be extracted 610 placed on the slot 300 located in the ejection module 220a. The push arm 432 extends between two extreme positions 432a, 432b. The push arm 432 includes a retracted position 432a, in which it does not block the movement of the locker 300 in the ejection module 220a, the push arm 432 then being mainly contained in the ejection module 230 and does not cross the common face 410, in other words, the push arm 432 is positioned on the side of the ejection module 230 of the common face 410.The push arm 432 also includes an ejection position 432b in which it has fully pushed out of the locker 300 the element to be extracted 610 from it, the push arm 432 then passes through common face 431 and extends into the ejection module 220a.

[0074] 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 include a guide rail 436 on which the second carriage 433 of the push arm 432 is mounted movably in translation.

[0075] Advantageously, the carriage 431 may include a second guide element 443 which is placed at the end of the guide rail 436 in order to ensure the alignment of the push arm 432 with the latter when the push arm 432 is in the ejection position 432b.

[0076] The rod 434 can be of several shapes and is fixed by one of its ends to the second carriage 433 of the push arm 432 and by another of its ends to shoe 435. In order to reduce the overall size of the pusher 430 while maintaining its travel, the rod 434 may be a telescopic arm.

[0077] The shoe 435 is fixed to one end of the rod 434, the end closest to the common face 410 in the retracted position 432a and the end closest to the ejection face 420 in the ejection position 432b. The shoe 435 can be fixed to the rod 434 in a hinged manner so as to allow its orientation to be adapted to contact a surface 611 of the element to be extracted 610. Thus, as illustrated by Figures 4A, 4B and 4C, the shoe 435 can be free to rotate about axes perpendicular to the direction of the rod 434.

[0078] The shoe 435 includes a contact surface 437 designed for contact with the element to be extracted 610. The contact surface 437 comprises a first dimension 437a and a second dimension 437b that is 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. Furthermore, and according to a possible embodiment illustrated by Figures 5A and 5B, the rod 434 can be rotated so as to orient the shoe 435 fixed to its end. Thus, the shoe 435 is configured to be able to push an element to be extracted 610 from a compartment 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 include a motor (not shown) configured to orient the shoe 435 and its contact surface 437 according to the element to be extracted 610.

[0079] The shoe 435 preferably includes a proximity sensor 438. The sensor 438 is thus advantageously located at the end of the push 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 the speed of the translational movement of the push arm 432 in order to limit the shock at the moment of contact between the shoe 435 and the element to be extracted 610 and, on the other hand, to confirm the presence of the latter. The integration of this sensor 438 within the pusher 430 optimizes its movement since it allows rapid translation of the push arm 432 over a large majority of its range of motion while limiting the jolts during contact with the element to be extracted 610.

[0080] Different technologies can be considered for the sensor 438; it can, according to one embodiment, be a proximity sensor of optical, inductive, capacitive, ultrasonic type or, according to another embodiment, be a mechanical contact sensor.

[0081] The pusher 430 further includes a drive device for the first carriage 431 according to its direction(s) of translation and a drive device for the second carriage 433 of the push arm 432 according to its direction of extension.

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

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

[0084] Thus, the ejection system 400 allows a simple, fast 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 ejected quickly or only some or only one selectively.

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

[0086] In addition, 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 300 lockers are positioned in the structure 200. Each of the 300 lockers is configured to store and to move 600 stored items, some of which are items to be extracted 610.

[0090] The lockers 300 are of dimensions and shape (in this case, rectangular parallelepiped) enabling them to be received in the movement modules 220. They comprise, as illustrated by [Fig.6], for example each one 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.

[0091] 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 can be closed, as illustrated by [Fig. 7].

[0092] The enclosure 330 can be divided horizontally and / or vertically by several compartments 332 into several spaces 333. These compartments 332 can be These are constructed in various ways. In one embodiment, they may consist of a rigid frame with a canvas stretched across the middle, or in another embodiment, of a sheet of metal. The functions of the compartments 332 are as follows: - to facilitate the insertion of the items to be stored 600 into the compartment 300. - to maintain the position of the items to be stored (600) when the locker 300 moves within the modular structure 200. - guide the item to be extracted 610 when it is pushed out of the locker 300 by the pusher 430.

[0093] The number and position of these compartments 332 can vary from one rack 300 to another to accommodate the number and type of items stored 600. In one embodiment, the compartments 332 are positioned in the rack 300 at various predetermined locations. These are managed by means of openings 321 along the floor 320, into which the bottom of the compartments 332 are inserted, and by means of notches 311 along racks fixed to the frame 310, into which the top of the compartments 332 are inserted. To ensure the verticality of the compartments 332, the openings 321 and the notches 311 must be aligned one above the other.

[0094] Non-return devices 340, 341, and can be placed at the openings of the bin 300 to ensure that the stored items 600 cannot protrude from it. It is important to note that at least one of these non-return devices 340, 341, must not obstruct the movement of the stored item 600 during its ejection by the pushers 430 from the bin 300.

[0095] As illustrated by [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 frame elements 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 by means of the inclination of the floor 320 (between 1° and 15°) in order to keep the stored elements 600 in a stable position by the effect of gravity.

[0096] In one embodiment, the tray 300 is positioned, by means of horizontal actuators 500, partially or totally inside the ejection module 220a, so that the item to be extracted 610 faces the pusher 430, whose carriage 431 remains fixed. In another embodiment, the tray 300 is positioned, by means of vertical actuators 500, partially or totally inside the ejection module 220a, so that the item to be extracted 610 is level with the plane on which the pusher 430 translates. The pusher 430 then translates so as to face the item to be extracted 610. The vertical Y and horizontal X directions are relative to the arrangement of the system 100 under normal operating conditions.

[0097] In order to manage its position within the ejection module 220a and thus position the element to be extracted 610 in front of a pusher 430 located in the ejection module 230, the tray 300 is moved in translation by the actuators 500 located in the ejection module 220a. Advantageously, the tray 300 is equipped with an encoder 350 located on its frame 310. The tray 300 can be placed in the position required for the ejection of the element to be extracted 610. The information on the encoder 350 will be interpreted by one or more sensors 360 located in the ejection module 220a.

[0098] According to one embodiment, and as illustrated by [Fig. 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 to the chassis. It will cover part of it while having openings at regular intervals that allow the chassis 310 to be seen. Since the light reflection of these two elements is not the same, the sensor 360 determines the openings and thus precisely tracks the movement of the tray 300 in the ejection module 220a, with an accuracy determined by the size of the interval between two openings of the encoder 350.

[0099] The frame 310 of the locker 300 preferably comprises footprints 312. Some footprints 312 of the locker 300 are configured to cooperate with actuators 500 carried by the horizontal bars 242 of the displacement modules 220 to ensure movement in a vertical direction from one displacement module 220 to an adjacent displacement module 220. Other footprints 312 of the locker 300 can be configured to cooperate with 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 wires running along the bars, to the central controller 800 (not shown), which manages the movements of the lockers 300 and actuates these devices accordingly.

[0100] Conveying device

[0101] The modular system 100 may further include, 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 extractable element 610 from the system 100, and the outlet 720 of the conveying device 700 is adjacent to a retrieval point 730 of the system 100. The conveying device 700 is configured to transport the extractable element 610 to the retrieval point 730 so that this extractable element 610 is extracted from the system 100. The presence of this conveying mechanism 700 is important because it groups the extractable elements 610 at a single retrieval point 730.

[0102] The inlet 710 of the conveyor device 700 is adjacent to each system ejection 400, and more specifically the ejection face 420 of each ejection system 400. However, since the ejection systems 400 can be positioned anywhere within the structure 200, they may be placed at different heights and distances from each other. For this type of application, it is possible to use a roller conveyor 700 mounted on the structure 200. This roller conveyor 700 receives the items to be extracted 610 once they are ejected from the bins 300 in which they were located, and then, thanks to judicious inclines and the effect of gravity, they are conveyed to the retrieval point 730. In 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 conveyor device 700 with as many inlets as the system 100 includes ejection systems 400, can be preferred.

[0103] Method for moving a locker in the modular structure

[0104] A locker 300 is advantageously moved in the structure 200 of the system 100 from a first displacement module 220 to a second displacement module 220 such as for example the ejection module 220a following the steps described in document WO 2020 / 260639 Al and whose general steps are as follows. - generation of commands by the central controller 800; - control of the motors of the 220 displacement modules; - deployment and retraction of the actuators 500 of the first displacement module 220 and the second displacement module 220, so as to translate the locker 300 between these two displacement modules 220 in the case of a vertical displacement of the locker, - or driving the actuators 500 carried by the horizontal bars 242 of the compartments 300 in the case of movement along a horizontal direction

[0105] Method for extracting an element to be extracted from the modular system

[0106] Among the 600 items stored in the 300 compartments of the 200 structure of the system 100 one or more elements to be extracted 610 can be extracted from structure 200. An extraction process, illustrated by figures 10 to 12, may first require the implementation of the process of moving a compartment 300 in structure 200.

[0107] Once the compartment 300, containing an element to be extracted 610, has been moved within the structure 200 until it is positioned in a displacement module 220 adjacent to the ejection module 220a, a positioning step, illustrated in [Fig. 10], is implemented. The positioning includes a displacement Eli of the compartment 300 and / or a displacement E12 of the pusher 430. It is worth noting that the compartment 300 can enter the ejection module 220a through its lateral faces 243, other than the common face 410 and the ejection face 420, as well as through its lower face 245 and its upper face 244. Furthermore, the process follows the same steps in the presence of several elements to be extracted 610 from the same locker 300.

[0108] Furthermore, in the embodiment in which the ejector module 230 comprises a plurality of pushers 430, the process follows the same steps. Such an implementation merely improves the ejection speed and allows several elements to be ejected 610 from the same bin 300 to be ejected simultaneously.

[0109] The locker 300 and the pusher 430 are moved (steps Eli 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.

[0110] According to one embodiment, the locker 300 positions the element to be extracted 610 opposite the pusher 430, the translation of which is then not necessary.

[0111] According to another embodiment, the locker 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.

[0112] According to another embodiment, the locker 300 is positioned entirely in the ejection module 220a and then remains stationary and the pusher 430 translates vertically and horizontally relative to the chassis 240 of the ejection module 230 to position itself opposite the element to be extracted 610.

[0113] Once the element to be extracted 610 and the pusher 430 are facing each other, along the extension direction of the push arm 432 and the ejection face 420, the push arm 432 moves (step E20) as illustrated in [Fig. 11]. The push arm 432 extends from its retracted position 432a to its ejection position 432b under the action of the second carriage 433 of the push arm 432 so that the shoe 435 comes into contact with the element to be extracted 610 and ejects it from the bin 300, as illustrated in [Fig. 12]. This step, called the ejection step, may include the following steps: - the push arm 432 initiates a rapid translational movement from the retracted position 432a. This movement will continue until it reaches the vicinity 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 push arm 432 then decreases and the push arm 432 extends until the shoe 435 comes into contact with the element to be extracted 610; - once contact is made, the speed of the push arm 432 increases again until it reaches the ejection position 432b; - the element to be extracted 610 is ejected from the compartment 300, as illustrated by [Fig.12], the sensor 438 then detects that it is no longer in contact; - the push arm 432 therefore returns to the retracted position 432a through a rapid translational movement.

Claims

Claims

1. 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 rack (300), capable of being moved in the modular structure (200) from one module (210) to an adjacent module (210), the rack (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), by the ejection face (420) of said ejection module (220a).,

2. 2. System (100) according to claim 1, wherein 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 extract (610) and the ejection face (420).

3. 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. 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. 5. System (100) according to any one of claims 3 to 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. 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. 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. 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 (Eli) 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 side faces (243) other than the common side 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); 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. 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: movement (Eli) of 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), 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); moving (E12) 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 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).

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

Images