Telescopic system and motorized trolley including such a system

Abstract

This disclosure relates to a telescopic system (1) comprising: - a telescopic arm (2) comprising a first segment (20) and a second segment (21) mounted to slide relative to the first segment (20) along a sliding direction (X), - a motorized actuation device (3) comprising a transmission connecting the first segment (20) and the second segment (21), the transmission comprising an open belt having two ends (300, 301) connected to the second segment (21), and pulleys (31, 32) mounted for rotation on the first segment (20) cooperating with said belt, as well as a motor (33) configured to drive one of the motorized pulleys, said pulleys (31, 32) arranged in at least two offset positions on the first segment (20) along the sliding direction (X). Abstract figure: Figure 3a

Description

Title of the invention: Telescopic system and motorized trolley comprising such a system

[0001] The present disclosure relates to a telescopic system comprising: - a telescopic arm having a first segment and a second segment, the second segment mounted to slide relative to the first segment in a sliding direction, - a motorized actuating device comprising a transmission connecting the first segment and the second segment, the transmission comprising a belt and pulleys rotatably mounted on the first segment, said pulleys cooperating with said belt, as well as a motor configured to drive one of the motorized pulleys, said pulleys arranged in at least two offset positions on the first segment in the sliding direction.

[0002] The present disclosure further relates to a motorized trolley, such as an automatic guided vehicle, comprising: - a chassis provided with rolling members configured to ensure movement on a horizontal surface, and - a gripping device comprising a receptacle gripper and a telescopic system according to the present disclosure, the telescopic arm of which connects in a deployable / retractable manner said gripper and the chassis of the vehicle, said gripping device configured to ensure the loading of the receptacle on the chassis of the vehicle in a retracted position of the telescopic arm and to allow the unloading of the receptacle in lateral overhang of the chassis of the vehicle in a deployed position of the telescopic arm.

[0003] The present disclosure also relates to a storage and transport system for a warehouse, said storage and transport system having at least one storage rack and at least one receptacle, said at least one storage rack comprising a set of vertical uprights and several pairs of mechanical interfaces defining several storage cells for said receptacles, each pair of mechanical interfaces comprising a first interface fixed to at least two uprights of the vertical structure and a second interface fixed to at least two other uprights of the vertical structure, support portions of the two interfaces being oriented towards each other in cantilever of the uprights, configured to ensure the support of the receptacle by the two support portions of the mechanical interfaces, distant from each other, and wherein the storage and transport system comprises at least one motorized trolley according to the present disclosure comprising climbing means configured to cooperate with the uprights of the storage rack to allow said trolley to rise along said rack Technical field

[0004] The present disclosure relates to the field of warehouses which comprise a storage system comprising at least one storage rack defining several storage cells for receptacles, superimposed on each other in a vertical direction. Such a storage rack conventionally comprises a vertical structure, formed by a set of vertical uprights, very often in the form of vertical metal profiles.

[0005] The different cells are materialized by pairs of mechanical interfaces secured to the uprights, usually called “brackets” which ensure the centering and support of the different receptacles in the storage cells.

[0006] The present disclosure relates more particularly to the field of storage and retrieval systems. The storage racks are then served by a transport system comprising, for example, typically automatically guided vehicles, the system being capable of picking up and depositing receptacles in the cells of said rack. These receptacles contain articles which are likely to be assembled in order to carry out orders, said orders ultimately being intended to leave the warehouse to be delivered to an end customer or a distributor. Such storage systems are called ASRS according to the English acronym "Automated Storage and Retrieval System".

[0007] Document EP 3638607A1, in the name of the present Applicant, is an example of such a state of the art. Such a storage and transport system thus comprises: - at least one receptacle (or "bin" according to EP 3638607 A1) capable of receiving an object or an articulate, said receptacle capable of being housed in the shelving, in particular resting on two mechanical interfaces (or brackets) secured to the uprights, - a motorized trolley (the vehicle) comprising climbing means configured to cooperate with the uprights of the storage rack to allow the trolley to rise along the uprights of the storage rack, the trolley comprising a device for gripping and depositing said receptacle.

[0008] The gripping device comprises a gripper formed by a support mounted movably relative to the carriage between, on the one hand, a deployed position, in which said movable support extends at least partially on a lateral edge of the carriage outside the alignment of the chassis and, on the other hand, a retracted position, in which said support is housed opposite the chassis.

[0009] Such a gripping system is configured, during loading, to load a receptacle arranged above the chassis of the vehicle from the retracted position of the mobile support, and up to the deployed position of the mobile support for which the receptacle can be placed in the cell, the receptacle then supported by simultaneously pressing on the first interface and the second interface of the cell.

[0010] Conversely, the gripping system is configured to extract a receptacle by simultaneously pressing on the first interface and the second interface of a pair of interfaces from the deployed position of the mobile support, then load it onto the chassis of the trolley in the retracted position of said mobile support.

[0011] The present disclosure is more particularly concerned with the telescopic, motorized arm connecting the gripper to the chassis of the vehicle, configured to deploy or retract during unloading or loading operations. Prior art

[0012] In this field, and as illustrated in [Fig. 1a] according to one embodiment, a telescopic arm as known from the state of the art comprises at least two telescopic segments including a first segment 20, a second segment 21, or even a third segment 22, the segments configured to slide relative to each other in a sliding direction X.

[0013] In a known manner, a motorized actuating device comprises a transmission connecting the first segment 20 and the second segment 21, the transmission comprising a toothed belt CR and pulleys PLI, PL2 mounted in rotation on the first segment 20, of positions offset along the length of the first segment 20 and cooperating with said belt CR.

[0014] The belt is a closed belt, namely forming a loop, extending generally without twisting in a plane, parallel to the plane XZ in [Fig.1a], and which comprises an upper strand of the belt CO, and a lower strand which run parallel to each other between the two pulleys PLI, PL2 and in directions parallel to the sliding direction. The teeth of an upper one of the two strands are engaged with the teeth of a typically metallic rack which runs, in the sliding direction X, said rack secured to the second segment 21.

[0015] A motor 33 is configured to drive one of the motorized pulleys, to ensure the actuation of the deployment of the second segment relative to the first segment from a retracted position between the two segments 20, 21, to a first deployed position PI, in a first deployment direction SI, and to a second deployed position P2 in a second deployment direction S2.

[0016] The documents, US11014750_B2, CN210192481U_U, or even CN 209720638 U are examples of telescopic systems comprising such a motorized transmission based on a closed toothed belt, motorized integral with a first segment engaged with the teeth of a rack integral with the second telescopic segment.

[0017] Such an actuation solution is commonly used for telescopic arms of ASRS storage systems, in particular those requiring two deployment directions S1, S2 and as illustrated in Figures 1b and 1c, but nevertheless have certain limitations.

[0018] According to the inventors' findings, such a toothed belt / rack transmission is difficult to assemble, requiring the presence of an adjustment system to ensure reliable coupling between the teeth of the rack and those of the belt.

[0019] Indeed, the presence of too much play in the Z direction between the teeth of the belt and those of the rack can cause teeth to jump, namely to escape of the teeth between the belt and the rack, in particular when the arm is loaded, ultimately resulting in a positioning defect of the telescopic arm. On the contrary, the presence of too little play, in particular pinching of the belt between the rack and the pulleys, can result in excessive friction due to tightening and can go as far as blocking the sliding of the telescopic arm, or at the very least generate work of the motor in overload to cause the deployment retraction of the arm.

[0020] The adjustment system allowing the adjustment of the operating clearance between the belt and the rack may then typically comprise a metal frame forming a closed cradle for the belt, cradle on which the pulleys can be in adjustable positions, for example using different mounting shims. During assembly, and due to the dispersions along the Z direction between the first segment and the second segment, the assembly very often requires testing several shims before finding the assembly ensuring adequate operating clearance between the belt and the rack. These different adjustments increase the assembly cycle time of the telescopic arm.

[0021] According to the inventor's findings, such a telescopic arm design can be significantly optimized. Summary

[0022] The present disclosure improves the situation.

[0023] A telescopic system is proposed comprising: - a telescopic arm comprising a first segment and a second segment mounted to slide relative to the first segment in a sliding direction, - a motorized actuating device comprising a transmission connecting the first segment and the second segment, the transmission comprising a belt and pulleys mounted in rotation on the first segment cooperating with said belt, as well as a motor configured to drive one of the motorized pulleys, said pulleys being arranged in at least two offset positions on the first segment in the sliding direction, and wherein said motorized actuating device is configured to, in a first direction of rotation of the motorized pulley, deploy the frame system from a retracted position between the first segment and the second segment to a deployed position between the first segment and the second segment and, in a second direction of rotation of the motorized pulley, retract the frame system from the deployed position to the retracted position.

[0024] According to the present disclosure, said belt is an open belt comprising a first longitudinal end and a second longitudinal end, secured respectively to the second frame, the pulleys comprising a first pulley and a second pulley arranged and rotatably mounted in the two offset positions on the first segment in the sliding direction, and in which at least in said retracted position between the first segment and the second segment, of lesser bulk, said open belt extends along a trajectory defining: - a first belt strand extending from said first longitudinal end secured to the second segment to the first pulley, - a second belt strand, extending the first belt strand, said first pulley forming an angle transmission between the first strand and the second strand, said second strand extending from the first pulley to the second pulley, - a third belt strand, extending the second belt strand, said second pulley forming an angle transmission between the second strand and the third strand, said third strand extending from the second pulley to the second longitudinal end secured to the second segment, and in which the first longitudinal end of the belt, the first pulley, the second pulley and the second longitudinal end of the belt are arranged respectively relative to each other, in offset positions, in said transverse direction, generating a twist of the belt,the first longitudinal end and the second longitudinal end offset along said transverse direction of the telescopic arm at least along a dimension corresponding to a width dimension of the belt along said transverse direction configured to ensure an offset between the first strand and the third strand along said transverse direction, and wherein the motorized actuating device is configured to ensure said movement of the second chassis relative to the first segment by: - a tensile force from the first longitudinal end on the second segment during rotation of the motorized pulley in the first direction of rotation, - a tensile force from the second longitudinal end on the second segment during rotation of the motorized pulley in the second direction of rotation.

[0025] The features set out in the following paragraphs may, optionally, be implemented, independently of one another or in combination with one another:

[0026] According to one embodiment, the first pulley and the second pulley are pivotally mounted on the first segment along axes of rotation parallel to the transverse direction of the telescopic arm;

[0027] According to one embodiment, said first strand extending from the first longitudinal end to the first pulley, on the one hand, and the third strand extending from the second pulley to the second end on the other hand, cross, when seen in the transverse direction.

[0028] According to one embodiment, the first longitudinal end of the belt is fixed to the second segment at a first end portion of the second segment in the sliding direction, and the second longitudinal end of the belt is fixed to the second segment at a second end portion of the second segment in the sliding direction;

[0029] According to one embodiment, the first pulley is fixed to the first segment at a first end portion of the first segment in the sliding direction and in which the second pulley is fixed to the first segment at a second end portion of the first segment, opposite the first end portion, in said sliding direction.

[0030] According to one embodiment, the telescopic arm is: - deployable from the retracted position to the deployed position which is a first deployed position in a first direction of deployment of the second segment relative to the first segment and, - deployable from the retracted position to a second deployed position, in a second direction of deployment of the second segment relative to the first segment, and wherein said motorized actuating device is configured to, in the first direction of rotation of the motorized pulley, deploy the telescopic arm from the retracted position between the first segment and the second segment to the first deployed position between the first segment and the second segment and, in the second direction of rotation of the motorized pulley, retract the segment system from the first deployed position to the retracted position, and wherein the motorized actuating device is configured to, in the second direction of rotation of the motorized pulley, deploy the segment system from the retracted position between the first segment and the second segment to the second deployed position between the first segment and the second segment and, in the first direction of rotation (RI) of the motorized pulley, retract the segment system from the second deployed position to the retracted position.

[0031] According to one embodiment, the telescopic arm comprises a third segment sliding on the second segment in the sliding direction, as well as a second transmission comprising a first belt and a second belt, antagonistic: - said first belt having a first end linked to the first segment and a second end linked to the third segment, said first belt cooperating with a pulley secured to the second segment, said first belt configured to tension and ensure the deployment of the third segment relative to the second segment during the deployment of the second segment relative to the first segment from the retracted position to the deployed position, - the second belt having a first end linked to the first segment and a second end linked to the third segment cooperating with a pulley secured to the second segment, said second belt configured to tension and ensure the retraction of the third segment relative to the second segment during the retraction of the second segment relative to the first segment from the deployed position to the retracted position.

[0032] According to one embodiment: - the first segment comprises two first rails, extending parallel in the sliding direction, offset from each other in the transverse direction and held together by at least one first transverse support, - the second segment comprises two second rails, extending parallel in the sliding direction, configured to cooperate in guiding with the first rails, the second rails offset from each other in the transverse direction, held together by at least one second transverse support, and optionally when said system comprises said second segment, two third rails offset from each other in the transverse direction, held together by said second transverse support, - said third segment, when said system comprises said third segment, comprising two fourth rails extending parallel in the sliding direction, configured to cooperate in guiding with the second rails, the fourth rails offset from each other in the transverse direction, held together by at least one third transverse support.

[0033] According to a second aspect, the present disclosure relates to a motorized trolley, in particular an automatic guided vehicle comprising: - a chassis provided with rolling members configured to ensure movement on a horizontal surface, and - a gripping device comprising a receptacle gripper and a telescopic system according to the present disclosure, deployably / retractably connecting said gripper and the vehicle chassis, said gripping device configured to ensure loading of the receptacle onto the vehicle chassis in a retracted position of the telescopic arm and to allow unloading of the receptacle laterally cantilevered from the vehicle chassis in a deployed position of the telescopic arm.

[0034] According to a third aspect, the present disclosure relates to a storage and transport system for a warehouse, said storage and transport system having at least one storage rack and one or more receptacles, said at least one storage rack comprising a set of vertical uprights and several pairs of mechanical interfaces defining several storage cells for said receptacles, each pair of mechanical interfaces comprising a first interface fixed to at least two uprights of the vertical structure and a second interface fixed to at least two other uprights of the vertical structure, support portions of the two interfaces being oriented towards each other in cantilever of the uprights, configured to ensure the support of the receptacle by the two support portions of the mechanical interfaces, spaced apart from each other,and wherein the transport system comprises at least one motorized trolley according to the present disclosure comprising climbing means configured to cooperate with the uprights of the storage rack to allow said trolley to rise along said rack and wherein said at least one motorized trolley has the gripping device which comprises the gripper movable relative to the chassis of the trolley between a deployed position, in which said gripper extends at least partially over a lateral edge of said trolley out of alignment with said chassis; and a retracted position, in which said gripper is housed opposite said chassis, said gripping device configured to: , - during loading, to load a receptacle arranged above the chassis from the retracted position of the gripper, and up to the deployed position of the gripper for which the receptacle is placed in the cell, - during unloading to extract a receptacle by simultaneously pressing on the first interface and the second interface of a pair of interfaces from the gripper deployed position, then load it onto the chassis of the trolley in the retracted position of said gripper Brief description of the drawings

[0035] Other characteristics, details and advantages will appear on reading the detailed description below, and on analyzing the attached drawings, in which: Fig.

[0036] [Fig.1a] is a sectional view of a telescopic system as known according to the state of the art which comprises a motorized transmission between a first segment and a second segment of a telescopic arm, said transmission comprising a closed belt mounted on two pulleys, articulated at two longitudinal ends of the first segment, the external teeth of an upper strand of the belt engaging with the teeth of a rack, the rack secured to the second segment of the telescopic arm, the telescopic arm in a retracted position for which the first, second and a third segment are retracted relative to each other, in overlap Fig. 1b

[0037] [Fig.lb] is a view of the system according to the state of the art, when the second segment is deployed by the toothed belt in a first deployed position relative to the first segment. Fig. the

[0038] [Fig. 1c] is a view of the system according to the state of the art, when the second segment is deployed by the toothed belt in a second deployed position relative to the first segment, and in a second direction of deployment, opposite to that of [Fig. 1b]. Fig. 2

[0039] [Fig.2] is a view of a telescopic system according to the present disclosure in a retracted position of the telescopic arm for which three telescopic segments comprising a first, a second and a third segment are overlapping, said telescopic segments configured to deploy in a sliding direction marked X, a motorized actuating device comprising a belt cooperating with a first pulley and a second pulley mounted articulated on the first segment, the pulleys offset from each other in the sliding direction, secured to the first segment at two longitudinal ends of the first segment, the belt being an open belt having a first longitudinal end and a second longitudinal end secured to the second segment, respectively at two longitudinal ends of the second segment. Fig. 2a

[0040] [Fig.2a] is a sectional view of the telescopic system according to [Fig.2], according to a plane section parallel to the YZ plane, illustrating in particular: - the first segment, which comprises two first rails extending in the sliding direction, offset in the transverse direction Y by a first transverse support, - the second segment, which comprises two second rails extending in the sliding direction forming with the first rails first sliding guide means between the first segment and the second segment, the two second rails offset in the transverse direction Y by a second transverse support, the second segment comprising third rails extending in the sliding direction offset along the second transverse support, - the third segment, which comprises two fourth rails cooperating with the third rails, forming with the third rails second sliding guide means between the third segment and the second segment. Fig. 2b

[0041] [Fig.2b] is a sectional view along a plane parallel to the XZ plane of the system telescopic according to [Fig.2], illustrating the open belt which extends along a trajectory defining: - a first belt strand extending from said first longitudinal end secured to the second segment to the first pulley, - a second belt strand, extending the first belt strand, said first pulley forming an angle transmission between the first strand and the second strand, said second strand extending from the first pulley to the second pulley, - a third belt strand, extending the second belt strand, said second pulley forming an angle transmission between the second strand and the third strand, said third strand extending from the second pulley to the second longitudinal end secured to the second segment, [Fig.2b] further illustrating a second transmission comprising a first belt and a second belt, antagonistic: - said first belt having a first end linked to the first segment and a second end linked to the third segment, said first belt cooperating with a pulley secured to the second segment, said first belt configured to tension and ensure the deployment of the third segment relative to the second segment during the deployment of the second segment relative to the first segment from the retracted position to the deployed position, - the second belt having a first end linked to the first segment and a second end linked to the third segment cooperating with a pulley secured to the second segment, said second belt configured to be tensioned and ensure retraction of the third segment relative to the second segment upon retraction of the second segment relative to the first segment from the deployed position to the retracted position. Fig. 2c

[0042] [Fig.2c] is a partial top view of the telescopic system of [Fig.2], illustrating the first longitudinal end of the belt, the first pulley, the second pulley and the second longitudinal end of the belt which are arranged respectively, relative to each other, in offset positions, according to said transverse direction Y, generating a twist of the belt, the first longitudinal end and the second longitudinal end offset according to said transverse direction of the telescopic arm at least according to a dimension corresponding to a width dimension of the belt according to said transverse direction configured to ensure an offset between the first strand and the third strand according to said transverse direction. Fig. 2d

[0043] [Fig.2d] is a view of the belt of the system of [Fig.2] the other components hidden, the first strand and the third strand crossing, when the two strands (first and third strand) are viewed in the transverse direction. Fig. 2f

[0044] [Fig.2f] is a view of the system according to [Fig.2] along a plane parallel to XZ illustrating the trajectory of the two opposing belts synchronizing the deployment of the third segment relative to the second segment as a function of the displacement between the second segment and the first segment. Fig. 3

[0045] [Fig.3] is a view of the telescopic system in the first deployed position of the second segment relative to the first segment, the second segment deployed relative to the first segment in a first direction of deployment by the first transmission comprising the open belt which ensures traction of the second segment by the first longitudinal end of the belt, the third segment deployed relative to the second segment in the first direction, by the first belt of the second transmission. Fig. 3a

[0046] [Fig.3a] is a bottom view of [Fig.3]. Fig. 4

[0047] [Fig.4] is a view of the telescopic system in the second deployed position of the second segment relative to the first segment, the second segment deployed relative to the first segment in a second direction of deployment by the first transmission comprising the open belt which provides traction of the second segment by the second longitudinal end of the belt, the third segment deployed relative to the second segment in the second direction of deployment, by the second belt of the second transmission. Fig. 4a

[0048] [Fig.4a] is a bottom view of [Fig.4]. Fig. 5

[0049] [Fig.5] is a view of a motorized trolley, such as an automatic guided vehicle, which comprises a vehicle chassis and a gripping device comprising a receptacle gripper and a telescopic arm according to the present disclosure, deployably / retractably connecting said gripper and the vehicle chassis, and a gripper in the form of a movable support having vertically projecting fingers, configured to engage with cavities of a receptacle such as a bin, the gripping device configured to ensure loading of the receptacle onto the vehicle chassis in a retracted position of the telescopic arm and to allow unloading of the receptacle laterally cantilevered from the vehicle chassis in an extended position of the telescopic arm. Fig. 6

[0050] [Fig.6] shows a transport and storage system according to the present disclosure comprising a motorized trolley according to [Fig. 5] comprising in particular at four corners of the chassis climbing means configured to cooperate with uprights of the storage racks to ensure the motorized trolley rises in height to one of the storage cells of the rack, the gripping device configured to engage with a receptacle stored in said cell, for the purpose of loading it, by retraction of the telescopic arm connecting the gripper to the chassis of the vehicle. Description of the embodiments

[0051] The present disclosure relates to a telescopic system 1 comprising a telescopic arm 2, comprising a first segment 20 and a second segment 21 mounted to slide relative to the first segment 20 in a sliding direction X, typically via sliding guide means between the two segments 20, 21.

[0052] The telescopic system comprises a motorized actuating device 3 having a transmission connecting the first segment 20 and the second segment 21, the transmission comprising a belt 30 and pulleys 31, 32 mounted in rotation on the first segment 20 cooperating with said belt 30, as well as a motor 33 configured to drive one of the motorized pulleys, said pulleys 31, 32 arranged in at least two offset positions on the first segment 20 along the sliding direction X.

[0053] Such a motorized actuating device is configured to, in a first direction of rotation RI of the motorized pulley, deploy the chassis system from a retracted position between the first segment 20 and the second segment 21 to a deployed position PI between the first segment 20 and the second segment 21 and, in a second direction of rotation R2 of the motorized pulley, retract the chassis system from the deployed position PI to the retracted position PR.

[0054] According to one embodiment, the first pulley 31 and the second pulley 32 can be pivotally mounted on the first segment 20 along axes of rotation parallel to the transverse direction Y of the telescopic arm, orthogonal to the sliding direction X.

[0055] Generally speaking and according to one embodiment, the telescopic arm can have a double direction of deployment SI, S2, namely deployable from the retracted position PR to the deployed position PI which is a first deployed position PI in a first direction SI of deployment of the second segment 21 relative to the first segment 20, in particular when the motorized pulley is driven in rotation in the first direction of rotation RI, but also deployable from the retracted position PR to a second deployed position P2, in a second direction S2 of deployment of the second segment relative to the first segment 20, in particular when the motorized pulley is driven in rotation in the second direction of rotation R2.

[0056] In such a case, said motorized actuating device is configured to, in the first direction of rotation RI of the motorized pulley, deploy the telescopic arm from the retracted position between the first segment 20 and the second segment 21 to the first deployed position PI between the first segment 20 and the second segment 21 and, in the second direction of rotation R2 of the motorized pulley, retract the segment system from the first deployed position PI to the retracted position PR.

[0057] The motorized actuating device is further configured to, in the second direction of rotation R2 of the motorized pulley, deploy the segment system from the retracted position PR between the first segment 20 and the second segment 21 to the second deployed position P2 between the first segment 20 and the second segment 21 and, in the first direction of rotation RI of the motorized pulley, retract the segment system from the second deployed position P2 to the retracted position PR.

[0058] Notably, and according to the present disclosure, said belt 30 is an open belt comprising a first longitudinal end 300 and a second longitudinal end 301, secured respectively to the second chassis 21.

[0059] According to the inventor's findings, the use of an open belt according to the present disclosure is advantageous in that its manufacturing cost is lower compared to a closed belt, according to the design of the state of the art.

[0060] The pulleys comprise a first pulley 31 and a second pulley 32 arranged and rotatably mounted in the two offset positions on the first segment 20 along the sliding direction X.

[0061] At least in said retracted position PR between the first segment 20 and the second segment 21, of less bulk, or even in the deployed position PI, in particular in the first deployed position PI and the second deployed position P2, said open belt 30 preferably extends along a trajectory defining: - a first belt strand BRI extending from said first longitudinal end 300 secured to the second segment 21 to the first pulley 31, - a second belt strand BR, extending the first belt strand BRI, said first pulley 31 forming an angle transmission between the first strand BRI and the second strand BR2, said second strand BR2 extending from the first pulley 31 to the second pulley 32, - a third belt strand BR3, extending the second belt strand BR2, said second pulley 21 forming an angle transmission between the second strand BR2 and the third strand BR3,said third strand BR3 extending from the second pulley 32 to the second longitudinal end 301 secured to the second segment 21.,

[0062] Optionally, a belt tensioning device which may include an additional pulley (not shown) may be provided. The function of the tensioning device is to tension the belt, said optional pulley, typically constrained by an elastic member such as a spring.

[0063] Generally, the belt 30 may have teeth or grooves, and all or part of the pulleys, in particular the first pulley 31 and the second pulley, may have teeth configured to engage with the teeth of the belt.

[0064] Notably, and preferably, the first longitudinal end 300 of the belt, the first pulley 31, the second pulley 32 and the second longitudinal end 301 of the belt are arranged respectively relative to each other, in offset positions, in said transverse direction Y, and as visible for information purposes in [Fig.2d], generating a twisting of the belt 30.

[0065] By torsion of the belt 30 is meant the fact that the trajectory of the latter comprises in length along not only a longitudinal component X, and a component along the direction Z, but also notably comprises a component along the transverse direction Y.

[0066] Generally, the first longitudinal end 300 and the second longitudinal end 301 are then offset along said transverse direction Y. of the telescopic arm at least along a dimension corresponding to a width dimension of the belt 30 along said transverse direction configured to ensure an offset between the first strand BRI and the third strand BR3 along said transverse direction Y, and as visible in [Fig.2c].

[0067] Generally, said first strand BRI extending from the first longitudinal end 300 to the first pulley 31, on the one hand, and the third strand BR3 extending from the second pulley 32 to the second end 301, on the other hand, cross, when seen in the transverse direction Y, and as visible in [Fig.2d] in the retracted position, or in the deployed position, for example in the first deployed position as visible in [Fig.3] or in the second deployed position, as visible in [Fig.4].

[0068] Such an offset of the two longitudinal ends 300 and 301, in the transverse direction Y, allows a sliding amplitude between the second segment 21 and the first segment 20 between the retracted position PR and the deployed position (first deployed position PI or second deployed position P2 which may be greater than or equal to 75% of the length dimension of the second segment 21 in the sliding direction X, preferably greater than or equal to 80% and typically up to 90% / 95% of this dimension and without interference or blocking of the transmission at the level of the extreme deployed positions PI or P2.

[0069] The motorized actuating device is configured to ensure said movement of the second chassis 21 relative to the first segment 20 by: - a tensile force from the first longitudinal end 300 on the second segment 21 during rotation of the motorized pulley in the first direction of rotation RI, - a tensile force from the second longitudinal end 301 on the second segment 21 during rotation of the motorized pulley in the second direction of rotation R2.

[0070] Such a transmission design between the second segment 21 and the first segment 20 based on the implementation of an open belt, has the following advantages, compared to a closed belt / rack transmission as known from the state of the art: - a reduced cost, due to the simplification of structure compared to the state of the art with toothed belt / rack transmission which does not require a rack, nor an adjustment system for the operating clearance between the rack and the belt, but still only requires the use of an open belt with a manufacturing cost lower than that of a closed belt according to the state of the art, - a reduction in the mass of the telescopic arm, in particular due to the elimination of the rack and the cradle frame compared to the known state of the art, - simplified assembly, and a shortened assembly cycle, in particular in that such a design eliminates the number of adjustments during assembly, or even - reduced friction when extending or retracting the telescopic arm, resulting in reduced power consumption (and therefore longer battery life when the motor is powered by a battery).

[0071] According to one embodiment, the first longitudinal end 300 of the belt 30 is fixed to the second segment 21 at a first end portion of the second segment 21 in the sliding direction X, and the second longitudinal end 301 of the belt is fixed to the second segment at a second end portion of the second segment 21 in the sliding direction.

[0072] According to one embodiment, the first pulley 31 can be fixed to the first segment 20 at a first end portion of the first segment 20 in the sliding direction X and the second pulley 32 is fixed to the first segment 21 at a second end portion of the first segment 200, opposite the first end portion, in said sliding direction X.

[0073] The two preceding arrangements make it possible, in particular when combined, to maximize the amplitude of the sliding, namely that the amplitude between the first deployed position PI and the second deployed position P2 can be slightly less (typically less than 20%, or even 10%) than the sum of the length of the first segment 20 and the length of the second segment 21 and typically up to 180% / 190% of the length of the segment when the first segment 20 and the second segment 21 have the same length.

[0074] Generally, the first segment 20 and the second segment 21 may be of substantially equal length along the sliding direction X, for example plus or minus 20%, or even 10% or less. In the retracted position, the two segments substantially overlap along the sliding direction X.

[0075] According to one embodiment, the telescopic arm may comprise a third segment 22 sliding on the second segment 21 in the sliding direction X, as well as a second transmission synchronizing the deployment of the third section 22, relative to the second segment 21 with the deployment of the second section 21 relative to the first segment 20, and in the same deployment direction, namely first direction S1 or second direction S2.

[0076] The third segment 22 has a dimension along the sliding direction X substantially equal to the dimension of the two segments 20, 21 along the direction of sliding X, for example at plus or minus 20%, or even 10% or less. The third segment overlaps along the sliding direction X, with the second segment 21 and the first segment 20 in the retracted position PR, and makes it possible to increase the deployment stroke in the deployed position of the telescopic arm.

[0077] The second transmission may typically comprise a first belt C1 and a second belt C2, antagonistic: - said first belt C1 has a first end linked to the first segment 20 and a second end linked to the third segment 22, said first belt cooperating with a pulley secured to the second segment 21, said first belt C1 configured to be tensioned and ensure the deployment of the third segment 22 relative to the second segment 21 during the deployment of the second segment 21 relative to the first segment 20 from the retracted position PR to the deployed position PI, namely the first deployed position PI, or possibly configured to be tensioned and ensure the retraction of the third segment 22 relative to the second segment 21 during the retraction of the second segment 21 relative to the first segment 20 from the second deployed position P2 to the retracted position PR. - the second belt C2 has a first end linked to the first segment 20 and a second end 21 linked to the third segment 22 cooperating with a pulley secured to the second segment 21, said second belt C2 configured to be tensioned and ensure the retraction of the third segment 22 relative to the second segment 21 during the retraction of the second segment 21 relative to the first segment 20 from the deployed position PI in particular to the retracted position PR, or possibly configured to be tensioned and ensure the deployment of the third segment 22 relative to the second segment 21 during the deployment of the second segment 21 relative to the first segment 20 from the retracted position PR to the second deployed position P2.

[0078] The length dimension of a three-segment telescopic arm, in an extended position (depending on the first extended position PI or second extended position P2 of the second segment) may typically be between 250% and 280% of the length of the telescopic arm in the retracted position of the telescopic arm.

[0079] The number of segments of the telescopic arm may be greater than three, the telescopic arm comprising a fourth segment, or even a fifth segment, or even more, depending on the requirements in terms of amplitude for deployment of the telescopic arm. Generally speaking, and generally speaking for a segment of integer number N, a transmission comprising two opposing belts. Each belt connects by its ends respectively, segments N, N-2 and cooperates with a pulley on segment N1 to ensure synchronization of deployment / retraction of segment N relative to segment Nl, depending on the deployment / retraction of segment Nl relative to segment N-2.

[0080] Generally speaking, and according to one embodiment of the telescopic arm; - the first segment 20 may comprise two first rails Ral, extending parallel in the sliding direction X, in length along the first segment, the two first rails Ral offset from each other in the transverse direction Y and held together by at least one first transverse support SP1, - the second segment 21 may comprise two second rails Ra2, extending parallel in the sliding direction, configured to cooperate in guiding with the first rails Ral, the second rails offset from each other in the transverse direction Y, held together by at least one second transverse support SP2.

[0081] The first two rails Ral, in particular facing outwards in the transverse direction Y, cooperate respectively in guiding with the two second rails Ral, typically by means of rolling members such as balls to form (first) guiding means between the second segment 21 and the first segment 20.

[0082] Optionally, when the telescopic arm comprises the third segment 23, the second segment 21 may further comprise two third rails Ra3 offset from each other in the transverse direction Y, held together by said second transverse support SP2. The third segment 22 then comprises two fourth rails Ra4 extending parallel in the sliding direction X, configured to cooperate in guiding with the second rails Ra3, the fourth rails offset from each other in the transverse direction Y, held together by at least one third transverse support SP3.

[0083] Of course, in general, a pair of rails can be provided in general between a segment N and a segment NL.

[0084] The present disclosure also relates to a motorized trolley CM in particular an automatic guided vehicle comprising: - a CHA chassis provided with rolling members configured to ensure movement on a horizontal surface, such as the floor of a warehouse, and - a gripping device comprising a receptacle gripper and a telescopic system according to the present disclosure, connecting in a deployable / retractable manner said gripper and the chassis of the vehicle, said gripping device configured to ensure the loading of the receptacle on the CHA chassis of the vehicle in a retracted position of the telescopic arm and to allow the unloading of the BC receptacle in lateral overhang of the chassis of the vehicle in a deployed position of the telescopic arm.

[0085] The first segment of the arm is typically secured to the frame, while the gripper is secured to the last segment of the arm (namely the segment of integer number N), such as the third segment 22 for an arm with three telescopic segments 20, 21, 22.

[0086] The present disclosure also relates to a warehouse storage and transport system, having at least one storage rack and at least one BC receptacle.

[0087] Said at least one storage rack Racl, Rac2 comprises a set of vertical uprights Ml, M2, M3, M4 and several pairs of mechanical interfaces defining several storage cells for said receptacles.

[0088] Each pair of mechanical interfaces comprises a first interface It1 fixed to at least two uprights M1, M2 of the vertical structure and a second interface It2 fixed to at least two other uprights of the vertical structure, support portions of the two interfaces being oriented towards each other in cantilever of the uprights, configured to ensure the support of the receptacle in the two support portions of the mechanical interfaces, distant from each other.

[0089] The transport system comprises at least one motorized trolley CM according to the present disclosure comprising climbing means configured to cooperate with the uprights of the storage rack to allow said trolley to rise along said storage rack.

[0090] The climbing means may comprise at least one motorized toothed wheel configured to cooperate with a climbing element secured to one of the uprights, and typically several motorized toothed wheels configured to cooperate with the climbing elements. The climbing element(s) may comprise one or more racks extending along the height of the uprights, or else comprise one or more roller chains, stretched along the height of the uprights.

[0091] The or each of the motorized carriages CM has the gripping device which comprises the gripper, movable relative to the chassis of the carriage between a deployed position, in which said gripper extends at least partially on a lateral edge of said carriage out of alignment with said chassis, and a retracted position, in which said gripper is housed opposite said chassis.

[0092] Such a gripping device is configured to: - during loading, to load a receptacle arranged above the chassis from the retracted position of the gripper, and up to the deployed position of the gripper for which the receptacle is placed in the cell, - during unloading to extract a receptacle by simultaneously pressing on the first interface Itl and the second interface It2 of a pair of interfaces from the position deployed gripper, then load it onto the trolley chassis in the retracted position of said gripper.

[0093] The gripper may comprise a mobile support SM which may comprise or be constituted by the third transverse support SP3, and one or more fingers D1, D2, D3, D4, projecting upwards, vertically, in the direction Z configured to engage with complementary cavities arranged on a lower wall of the receptacle BC.

[0094] During loading, the fingers are released from the cavities, by the descent of the motorized carriage along the uprights and while the receptacle rests in the first and second interfaces of the cell pair.

[0095] During unloading, the telescopic arm is deployed to a position where the fingers D1 to D4 are aligned in the vertical direction with the cavities of the receptacle resting on the two interfaces in a cell. The motorized carriage is moved upwards in order to engage the fingers in the cavities, or even to lift the receptacle, then the motor 33 is driven in order to retract the telescopic arm to the retracted position of the gripping device for which the receptacle is loaded onto the chassis of the motorized carriage. List of reference signs

[0096] - 1: Telescopic system, - 2. Telescopic arm, - 20. First segment, - Rai. First rails, - SP1. First transverse support, - 21. Second segment, - Ra2. Second rails, - SP2. Second transverse support, - 22. Third segment, - Ra3. Third rails, - SP3. Third transverse support, - 3. Motorized actuating device, - 30. Belt, - 300. First longitudinal end, - 301. Second longitudinal end, - BRI, BR2, BR3. Respectively first, second and third strand, - 31. First pulley, - 32. Second pulley, - 33. Engine, - X. Sliding direction (first direction), - Y. Transverse direction (second direction), - Z. Direction (third direction), - RI, R2. First direction and second direction of rotation, -SI, S2. First and second direction of deployment, - PR. Retracted position, - PI. First position deployed, - P2. Second deployed position, - CM. Motorized trolley, - CHa. Chassis, - Racl, Rac2. Storage racks, -Ml, M2, M3, M4. Uprights (Storage Rack), - Itl, It2. First and second storage interface, - Dl, D2, D3, D4. Fingers, - CR rack (state of the art according to [Fig.1a]), - CO. Closed belt (state of the art according to [Fig. la]).

Claims

1. Claims Telescopic system (1) comprising: - a telescopic arm (2) comprising a first segment (20) and a second segment (21) mounted to slide relative to the first segment (20) in a sliding direction (X), - a motorized actuating device (3) comprising a transmission connecting the first segment (20) and the second segment (21), the transmission comprising a belt (30) and pulleys (31, 32) mounted to rotate on the first segment (20) cooperating with said belt (30), as well as a motor (33) configured to drive one of the motorized pulleys, said pulleys (31, 32) arranged in at least two offset positions on the first segment (20) in the sliding direction (X) and wherein said motorized actuating device is configured to, in a first direction of rotation (RI) of the motorized pulley, deploy the telescopic system from a retracted position between the first segment (20) and the second segment (21) to a deployed position (PI) between the first segment (20) and the second segment (21) and, in a second direction of rotation (R2) of the motorized pulley, retract the telescopic system from the deployed position (PI) to the retracted position (PR) characterized in that said belt (30) is an open belt comprising a first longitudinal end (300) and a second longitudinal end (301), secured respectively to the second segment (21), the pulleys comprising a first pulley (31) and a second pulley (32) arranged and rotatably mounted in the two offset positions on the first segment (20) in the sliding direction (X), and in which at least in said retracted position (PR) between the first segment (20) and the second segment (21), of less bulk, said open belt (30) extends along a trajectory defining: - a first strand (BRI) of belt extending from said first longitudinal end (300) secured to the second segment (21) to the first pulley (31), - a second belt strand (BR2), extending the first belt strand (BRI), said first pulley (31) forming a return angle between the first strand (BR1) and the second strand (BR2), said second strand (BR2) extending from the first pulley (31) to the second pulley (32), - a third strand (BR3) of belt, extending the second strand (BR2) of belt, said second pulley (21) forming an angle transmission between the second strand (BR2) and the third strand (BR3), said third strand (BR3) extending from the second pulley (32) to the second longitudinal end (301) secured to the second segment, and in which the first longitudinal end (300) of the belt, the first pulley (31), the second pulley (32) and the second longitudinal end (301) of the belt are arranged respectively relative to each other, in offset positions, in said transverse direction (Y), generating a twist of the belt (30),the first longitudinal end (300) and the second longitudinal end (301) offset along said transverse direction (Y) of the telescopic arm at least along a dimension corresponding to a width dimension of the belt (30) along said transverse direction configured to ensure an offset between the first strand (BRI) and the third strand (BR3) along said transverse direction (Y), and in which the motorized actuating device is configured to ensure said movement of the second segment (21) relative to the first segment (20) by: - a tensile force of the first longitudinal end (300) on the second segment (21) during rotation of the motorized pulley along the first direction of rotation (RI), - a tensile force of the second longitudinal end (301) on the second segment (21) during rotation of the motorized pulley along the second direction of rotation (R2).,

2. Telescopic system according to claim 1, wherein the first pulley (31) and the second pulley (32) are pivotally mounted on the first segment (20) along axes of rotation parallel to the transverse direction (Y) of the telescopic arm.

3. Telescopic system, according to claim 1 or 2 wherein, said first strand (BRI) extending from the first longitudinal end (300) to the first pulley (31), on the one hand, and the third strand (BR3) extending from the second pulley (32) up to the second end (301) on the other hand, intersect, when seen in the transverse direction (Y).

4. Telescopic system according to one of claims 1 to 3 wherein the first longitudinal end (300) of the belt (30) is fixed to the second segment (21) at a first end portion of the second segment (21) in the sliding direction (X), and the second longitudinal end (301) of the belt is fixed to the second segment at a second end portion of the second segment (21) in the sliding direction;

5. Telescopic system according to one of claims 1 to 4, in which the first pulley (31) is fixed to the first segment (20) at a first end portion of the first segment (20) in the sliding direction (X) and in which the second pulley (32) is fixed to the first segment (21) at a second end portion of the first segment (200), opposite the first end portion, in said sliding direction (X).

6. Telescopic system according to one of claims 1 to 5, wherein the telescopic arm is: - deployable from the retracted position (PR) to the deployed position (PI) which is a first deployed position (PI) in a first direction (SI) of deployment of the second segment (21) relative to the first segment (20) and, - deployable from the retracted position (PR) to a second deployed position (P2), in a second direction (S2) of deployment of the second segment relative to the first segment (20) and in which said motorized actuating device is configured to, in the first direction of rotation (RI) of the motorized pulley, deploy the telescopic arm from the retracted position between the first segment (20) and the second segment (21) to the first deployed position (PI) between the first segment (20) and the second segment (21) and, in the second direction of rotation (R2) of the motorized pulley,retracting the segment system from the first deployed position (PI) to the retracted position (PR) and wherein the motorized actuating device is configured to, in the second direction of rotation (R2) of the motorized pulley, deploy the segment system from the retracted position between the, first segment (20) and the second segment (21) to the second deployed position (P2) between the first segment (20) and the second segment (21) and, in the first direction of rotation (RI) of the motorized pulley, retract the segment system from the second deployed position (P2) to the retracted position (PR).

7. Telescopic system according to one of claims 1 to 6 in which telescopic arm comprises a third segment (22) sliding on the second segment (21) in the sliding direction (X), as well as a second transmission comprising a first belt (Cl) and a second belt (C2), antagonistic: - said first belt (Cl) having a first end linked to the first segment (20) and a second end linked to the third segment (22), said first belt cooperating with a pulley secured to the second segment (21), said first belt (Cl) configured to tension and ensure the deployment of the third segment (22) relative to the second segment (21) during the deployment of the second segment (21) relative to the first segment (20) from the retracted position (PR) to the deployed position (PI), - the second belt (C2) having a first end linked to the first segment (20) and a second end (21) linked to the third segment (22) cooperating with a pulley secured to the second segment (21), said second belt (C2) configured to be tensioned and ensure the retraction of the third segment (22) relative to the second segment (21) during the retraction of the second segment (21) relative to the first segment (20) from the deployed position (PI) to the retracted position (PR).

8. Telescopic system according to one of claims 1 to 7 in which: - the first segment (20) comprises two first rails (Ral), extending parallel in the sliding direction (X), offset from each other in the transverse direction (Y) and held together by at least one first transverse support (SP1) - the second segment (21) comprises two second rails (Ra2), extending parallel in the sliding direction, configured to cooperate in guiding with the first rails (Ral),

9.

10. the second rails offset from each other in the transverse direction (Y), held together by at least one second transverse support (SP2), and optionally when said system is according to claim 7 two third rails (Ra3) offset from each other in the transverse direction (Y), held together by at least one second transverse support (SP2), - said third segment (22), when said system is according to claim 7, comprising two fourth rails (Ra4) extending parallel in the sliding direction (X), configured to cooperate in guiding with the second rails (Ra3), the fourth rails offset from each other in the transverse direction (Y), held together by at least one third transverse support (SP3). Motorized trolley (MT) in particular an automatic guided vehicle comprising: - a chassis (CHA) provided with rolling members configured to ensure movement on a horizontal surface, and - a gripping device comprising a receptacle gripper and a telescopic system according to one of claims 1 to 8, connecting in a deployable / retractable manner said gripper and the chassis of the vehicle, said gripping device configured to ensure the loading of the receptacle (BC) on the chassis of the vehicle in a retracted position of the telescopic arm and to allow the unloading of the receptacle in lateral overhang of the chassis of the vehicle in a deployed position of the telescopic arm. Storage and transport system for a warehouse, said storage and transport system having at least one storage rack and one or more receptacles (BC), said at least one storage rack (Racl, Rac2) comprising a set of vertical uprights (Ml, M2, M3, M4) and several pairs of mechanical interfaces defining several storage cells for said receptacles, each pair of mechanical interfaces comprising a first interface (Itl) fixed to at least two uprights (Ml, M2) of the vertical structure and a second interface (It2) fixed to at least two other uprights of the vertical structure, support portions of the two interfaces being oriented towards each other in cantilever of the uprights, configured to ensure the support of the receptacle by two portions of support for mechanical interfaces, distant from each other, and wherein the transport system comprises at least one motorized trolley (CM) according to claim 9 comprising climbing means configured to cooperate with the uprights of the storage rack to allow said trolley to rise along said rack and wherein said at least one motorized trolley has the gripping device which comprises the gripper movable relative to the chassis of the trolley between a deployed position, in which said gripper extends at least partially on a lateral edge of said trolley out of alignment with said chassis; and a retracted position, in which said gripper is housed opposite said chassis, said gripping device configured to: - during loading, to load a receptacle arranged above the chassis from the retracted position of the gripper, and up to the deployed position of the gripper for which the receptacle is placed in the cell, - during unloading to extract a receptacle by simultaneously pressing on the first interface (It 1) and the second interface (It2) of a pair of interfaces from the gripper deployed position, then load it onto the chassis of the trolley in the retracted position of said gripper.

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