Automatically guided vehicle and racking system suitable for such a vehicle.

Abstract

This disclosure relates to an automatically guided vehicle (V) configured for collecting receptacles (B) from a racking system (SR) for storing said receptacles, comprising: - a vehicle body equipped with vehicle drive and rolling means configured to ensure movement over the racking (RY) of the racking system during use, - a loading and unloading device connected to the vehicle body and comprising: - a gripping device comprising at least one base support equipped with a gripping means configured to grasp or release a laterally moving receptacle, - a lifting system comprising a means for raising and lowering the gripping device's base support and the receptacle held by the gripping device, relative to said vehicle body, in a third, vertical direction.Figure from the summary: Figure 1,

Description

Title of the invention: Automatically guided vehicle and rack system suitable for such a vehicle.

[0001] This disclosure relates to an automated guided vehicle configured for picking up receptacles from a rack system for storing said receptacles.

[0002] The present disclosure is still related to a rack system as such, configured to be operated by such a vehicle.

[0003] This disclosure further relates to a transport and storage assembly comprising a rack system according to this disclosure and one or more automated guided vehicles according to this disclosure, configured to load and unload bays of the rack system with receptacles. Technical field

[0004] This disclosure relates more specifically to the field of storage and retrieval systems.

[0005] Such storage and retrieval systems comprise a storage structure that is served by a transport system. In a common scenario, the transport system includes automated guided vehicles configured to pick up and drop off receptacles in the storage structure. These receptacles contain items that can be assembled to fulfill orders, which are then ultimately destined to leave the warehouse for delivery to an end customer or distributor. Such storage systems are known as ASRS, from the English acronym "Automated Storage and Retrieval System." Previous technique

[0006] The prior art, for example from document EP 3070027, describes a first type of ASRS comprising remotely controlled vehicles and a storage system including a storage structure delimiting a plurality of stacking columns. The stacking columns extend substantially vertically and are juxtaposed with respect to each other, along two horizontal directions of the storage volume.

[0007] A running track is arranged above the storage structure and may include a plurality of support rails forming a bidirectional matrix for guiding vehicles in a first direction and in a second perpendicular direction, both horizontal.

[0008] Each stacking column is arranged to receive a stack of re receptacles from a top opening of the column. The different top openings of the column open respectively, opposite the different openings of the matrix.

[0009] The vehicles each comprise a vehicle body comprising a first rolling assembly and a second rolling assembly, the first and second assemblies configured to travel, selectively, along the die rails, said rails being oriented along the first direction, and along the die rails, substantially perpendicular, oriented along the second direction.

[0010] The vehicle body moves substantially, at the level of the running track, up to above the track and therefore above the storage structure, moving in the first direction or the second direction, as required.

[0011] The vehicle further includes a lifting system, connected to the vehicle body, for example by means of cables, ensuring the raising or lowering of a receptacle gripping device, relative to the vehicle body, in the vertical direction.

[0012] In use, and in order to load a stacking column with a receptacle, the vehicle is moved to the side of the stacking column, then the receptacle suspended from the gripping device is lowered through the upper opening of the stacking column under the action of the lifting system which ensures the descent of the receptacle, until said receptacle comes to rest on the stack of other receptacles of the column.

[0013] Such an ASRS is efficient, with regard to storage density, in that the volume of the storage structure comprising the juxtaposed stacking columns can be entirely dedicated to the storage of receptacles, without wasted volume.

[0014] Such an ASRS, based on stacking columns of receptacles, has a notable drawback: the difficulty of accessing receptacles arranged on the lower part of the stacking column. For example, if a command requires unloading only the first, lowest receptacle in the stacking column, this necessitates a tedious task in which the remote-controlled vehicles must successively unload all the receptacles located above it, one after the other, in a sequence of unloading from the highest stored receptacle to the lowest one.

[0015] According to the inventors' findings, such a solution loses significant efficiency when the nature of the items stored in the same stacking column is heterogeneous, thus favoring such work. Specific strategies for storing items in the rack can then be considered, aiming to distribute the items that constitute the majority of orders onto the highest shelves. This operation, both lengthy and complex, does not even constitute a certain guarantee, given the diversity of orders can be large, which makes any prior storage strategy ineffective.' Furthermore, and according to the inventors' findings, if such a withdrawal and storage system solution according to this first family is optimized with regard to the densification of the storage system, such densification can complicate maintenance operations, if ever a receptacle happens to get stuck in a stacking column, particularly as such a storage system offers little space for an operator to intervene.

[0016] The prior art also includes, from document EP 3638607 Bl, a second family of ASRS which includes, on the one hand, rack-like shelving comprising superimposed cells for the storage of receptacles and, on the other hand, vehicles (or motorized trolleys) configured to serve the superimposed cells.

[0017] For this purpose, the vehicle body includes driving and drive means configured to allow the vehicle to move, typically on the warehouse floor, in both horizontal directions of space.

[0018] The vehicles further include climbing means, typically motorized, toothed wheels at the four corners of the vehicle body, configured to couple and mesh with climbing elements (i.e., a rack or roller chain) according to the height of the rack uprights to allow the vehicle to ascend in a vertical direction. Once at the height of the bay, the vehicle includes a telescopic fork configured to move a receptacle from a position above the vehicle chassis to a position cantilevered laterally from the chassis, where the receptacle is inserted into the bay. A slight descent of the vehicle along the height of the upright then ensures that the receptacle is deposited in the bay, resting on two mechanical interfaces supporting the rack.

[0019] According to the inventors' findings, such a storage system according to this second family may have the limitation of greater design complexity for such vehicles with such climbing means, in particular in that these vehicles must be able, in use, to support their own weight as well as that of the load (i.e. the receptacles), when the vehicle moves vertically along the height of the uprights of the racking.

[0020] In general, according to the Applicant's findings, there is a need for an ASRS system, more efficient during unloading operations compared to the first family comprising stacking columns, and of improved robustness compared to an ASRS according to the second family. Summary

[0021] This disclosure improves the situation.

[0022] According to a first aspect, an automatically guided vehicle is proposed. configured for collecting receptacles from a rack system for storing said receptacles, said vehicle comprising: - a vehicle body equipped with vehicle drive and rolling means configured to ensure the movement of the vehicle along a first direction and along a second direction perpendicular to the first direction, above the racking system shelves during use, - a loading and unloading device connected to the vehicle body and comprising: — a gripping device comprising at least one base support equipped with a gripping means configured to grasp or release a receptacle — a lifting system comprising a means for raising and lowering the gripping device, configured to raise and lower the base support of the gripping device and the receptacle held by the gripping device, relative to said vehicle body, in a third, vertical direction. According to this disclosure, said loading and unloading device comprises said gripping means which is laterally displaced relative to the base support, configured to transfer the grasped receptacle from the base support to the rack system, or vice versa, from the rack system to the base support.

[0023] The characteristics of the first aspect described in the following paragraphs may optionally be implemented independently of each other or in combination with each other:

[0024] The gripping device includes the base support which is equipped with guiding means, in particular guide rollers or guide pads, configured to ensure guidance of said base support along vertical rails of the storage rack system.

[0025] The laterally moving gripping means is provided with a lateral deployment mechanism which may include: — a telescopic arm connecting the gripping means and said base support comprising at least a first segment and a second segment mounted to slide relative to the first segment along a horizontal sliding direction, - an actuation means comprising a transmission linking the first segment and the second segment configured to deploy the telescopic arm from a retracted position between the first segment and the second segment for which said gripping means is retracted relative to the base support along the sliding direction, and to a deployed position between the first segment and the second segment for which the gripping means and the retained receptacle are deployed laterally relative to the base support.

[0026] The telescopic arm can be configured to be: - deployable from the retracted position to the deployed position, which is a first deployed position in the first direction of deployment of the second segment relative to the first segment, - 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.

[0027] The transmission may include a toothed belt and belt guide pulleys comprising at least one motorized pulley.

[0028] The rolling and drive means may include a first set of rolling means configured to ensure the movement of the vehicle along a first direction in the rack system during use, and a second set of rolling means configured to ensure the movement of the vehicle along a second direction in the rack system during use.

[0029] The vehicle may have means for reversibly and selectively moving the first set of rolling means or the second set of rolling means away from an underlying vehicle support, during a change of direction between the first direction and the second direction.

[0030] The sliding direction of the telescopic arm is oriented along the first direction, or oriented along the second direction.

[0031] The vehicle body may include a centrally arranged cavity inside the vehicle body, the cavity having at least one receptacle receiving opening oriented towards the circulation chimneys, during use.

[0032] According to a second aspect, a rack system for storing receptacles is proposed, configured to be operated by one or more automatically guided vehicles as detailed in this disclosure, comprising: - shelving comprising at least one set of shelving including a first shelving unit and a second shelving unit arranged relative to each other along a first direction, the first and second shelving units extending lengthwise along a second direction, perpendicular to the first direction, the first and second shelving units spaced along the first direction, leaving between them a circulation aisle extending lengthwise along the second direction, between the two shelving units, and wherein at least the first and second racking systems each comprise one or more columns of storage bays, the bays of each column stacked vertically, said several columns of storage bays offset along the second direction, the bays having lateral access openings, allowing the loading of the bays from receptacles from the maintenance aisle or at Conversely, the unloading of receptacles contained in the cells in said maintenance aisle, - a running track arranged on the racking system, above said racking, said running track configured to cooperate with the rolling and drive means of the automated guided vehicle to permit the movement of the vehicle above the racking and above said traffic aisle in the first and second directions in a raised position of the gripping device, said running track comprising one or more passages for the gripping device, opposite one or more traffic chimneys of the traffic aisle, the passage(s) configured to permit the descent of the gripping device, selectively in said traffic chimneys,and wherein the cells of the first and / or second shelving unit have said lateral access openings allowing the cells to be loaded with receptacles from the circulation shafts of said circulation aisle, from a first position of the laterally moving gripping means for which the receptacle is retracted relative to the base body in said circulation shaft to a second position for which the receptacle is moved into said cell.

[0033] The characteristics of the second aspect described in the following paragraphs may optionally be implemented independently of each other or in combination with each other:

[0034] The running track may include first rails, oriented along the first direction, configured for the movement of the vehicle along said first direction and second rails, oriented along the second direction, configured for the movement of the vehicle along the second direction.

[0035] The rack system may include a system of hoods closing the racks from above, including removable hoods, in particular sliding or pivoting hoods, configured to removably close said passage(s).

[0036] The racking systems, including the first and second racking systems, may comprise vertical uprights connected by a bracing system, and a plurality of pairs of mechanical interfaces which are fixed to the uprights distributed along the height of the rack to form said superimposed cells, each pair of mechanical interfaces comprising: - a first interface fixed to at least two uprights of the vertical structure, cantilevered from the two uprights; extending lengthwise along the first direction, - a second interface fixed to at least two other uprights of the vertical structure, cantilevered from the other two uprights, extending lengthwise along the first direction, and wherein support portions of the first interface and the second interface are oriented towards each other in cantilever of the uprights, along the second direction, said support portions configured to provide support for a receptacle supported by the two support portions of the two interfaces on both sides of the receptacle.

[0037] According to a third aspect, a transport and storage assembly is proposed comprising a rack system according to this disclosure and one or more automated guided vehicles according to this disclosure serving the rack system.

[0038] The vehicle(s) are specifically configured to: - to move along the rack system's running track in the first and second directions, above the racking and the said circulation aisle between the first and second racking, - lower the base support and said gripping means, in the first position of the gripping means, through one of the passages of the running track, into one of the vertical circulation chimneys belonging to said circulation aisle up to the height of one of the bays of one of the racks and, - to load said cell with a receptacle by lateral movement of the gripping means into the second position for which the receptacle is deployed through the lateral access opening in said cell or to unload a receptacle stored in said cell by retracting the gripping means into the first position.

[0039] The characteristics of the third aspect described in the following paragraphs may optionally be implemented independently of each other or in combination with each other:

[0040] The assembly may include a robotic arm, in particular multi-axis, arranged at the level of the running track comprising a typically pneumatic gripper, said robotic arm configured to transfer articles fed by the automated guided vehicles, said robotic arm arranged in a fixed position on said track, or even provided to be mobile on the track, at least in a horizontal direction, or even in the first and second directions, for example the robotic arm mounted on an automated guided vehicle configured to move in the first and second directions.

[0041] The assembly may include receptacles configured to be loaded and unloaded into the bays of the racking system by means of lateral-moving vehicle gripping, and wherein all or part of the bays of the first or second racking may be multiple bays of multiple depths, each multiple bay configured to receive at least two receptacles arranged one behind the other along the first direction, and in which the laterally moving gripping means is configured to load and unload said at least two receptacles into said multiple cell.

[0042] The rack system shelving resting on the floor, said assembly may include at least one receptacle elevator configured to raise the receptacles from the floor to the running track for pickup by the automated guided vehicles, or configured to lower the receptacles unloaded by the vehicles from the running track to the floor. Brief description of the drawings

[0043] Other features, details and advantages will become apparent upon reading the detailed description below, and upon analysis of the accompanying drawings, on which: Fig. 1

[0044] [Fig. 1] shows an assembly according to the present disclosure which includes automatically guided vehicles and a racking system comprising a first rack and a second rack separated by a traffic aisle, the racking system comprising a track arranged above the racking, the track being configured for the circulation of the vehicle bodies above the racking and said maintenance aisle in a first direction X and in a second direction Y, Fig. 2

[0045] [Fig.2] is a view of [Fig.1], illustrating an automatically guided vehicle whose vehicle body is arranged on the running track, directly above a traffic aisle between two racks, a vehicle receptacle gripping device comprising a base support being lowered relative to the vehicle body, by a lifting system, into a traffic chimney belonging to said aisle. Fig. 3

[0046] [Fig.3] is a detail view of [Fig.2], illustrating the gripping device comprising the base support, in the circulation chimney, at the height of a higher level cavity, said cavity being a multiple (double) cavity configured to receive two receptacles, one behind the other, along the first direction X. Fig. 4

[0047] [Fig. 4] is a detail view of [Fig. 3], illustrating a pair of mechanical interfaces configured for supporting a receptacle in said cell, the pair comprising a first mechanical interface, connecting two uprights of the shelving unit, along the first direction X, and a second mechanical interface, connecting two other amounts, along the first direction X, support portions of the first interface and the second interface being oriented towards each other in cantilever of the amounts, along the second direction Y, the two portions configured to provide support for a receptacle supported by the two support portions of the two interfaces on both sides of the receptacle. Fig. 5

[0048] [Fig.5] is a detail view illustrating on the vehicle body, the first set of rolling means configured to engage with the first rails of the running track to ensure the movement of the vehicle body along the first direction X, and the second set of rolling means configured to engage with the second rails of the running track to ensure the movement of the vehicle body along the second direction Y, said running track comprising a set of hoods forming a cover, above the racking, one of the hoods, above said aisle being retracted in translation into a position freeing a passage allowing the descent of the gripping device through said passage, from the track, into the chimney of the traffic aisle, in particular the gripping means being in a first position ensuring the retention of a retracted receptacle on the base support, Fig. 5A

[0049] [Fig.5A] is a top view illustrating the cover formed by the cowling Fig. 6

[0050] [Fig.6] is a detail view of the maintenance aisle between the two racks, illustrating two gripping devices belonging to two separate automated guided vehicles, the two gripping devices lowered respectively to different heights in two circulation chimneys, the two chimneys juxtaposed along the second direction Y of said maintenance aisle, the two juxtaposed circulation chimneys being arranged respectively at the right, along the first direction, of two columns of cells juxtaposed along the second direction Y of the racks. Fig. 6A

[0051] [Fig. 0A] is a detail view of [Fig. 6] illustrating a laterally moving gripping means from a first position to a second, laterally offset position, wherein the gripping means is deployed laterally relative to a base support and in a horizontal displacement, by means of a lateral deployment mechanism comprising a telescopic arm connecting the gripping means and said base support, the telescopic arm comprising a first segment, a second segment mounted to slide relative to the first segment, and a third segment mounted to slide relative to the second segment, the gripping means possibly comprising a finger projecting from the second segment, configured to engage with a groove under the bottom of the receptacle. Fig. 6B

[0052] [Fig.6B] is a detail view of [Fig.6A]. Fig. 7

[0053] [Fig.7] is a detailed perspective view of [Fig.6] of the gripping device including the base support, which is suspended by flexible links such as lifting system cables. Fig. 7A

[0054] [Fig.7A] is a view of the guiding means, including rollers of the base support configured to ensure the guidance of the base support along a vertical rail along a rack upright. Fig. 7B

[0055] [Fig.7B] is a view of a possible guidance of the base support comprising rollers configured to be guided vertically along two vertical rails distributed on either side of said traffic aisle. Fig. 8A

[0056] [Fig.8A] is a schematic side view illustrating a possible embodiment of the gripping means, which takes the form of a hooking member, such as a hooking bar configured to hook a complementary part, in particular a concave part of the receptacle, and a mechanism for lateral movement of the hooking bar, along a limited stroke along the first direction X, within the limits of the base support, the mechanism having a motorized transmission, such as at least one closed belt (or chain), and typically two synchronized belts (or chains), ensuring the movement of the gripping means from the first position for which the receptacle is retracted onto the base support to the second position configured to ensure the lateral deployment of the receptacle relative to the base support. Fig. 8B

[0057] [Fig.8B] is a top view of the lateral displacement mechanism, illustrating the position of the gripping means as a non-limiting example in the form of a hook bar, in solid line, in the first position configured to ensure the retention of the receptacle in the retracted position on the base support, and in dashed line, in the second position configured to ensure lateral deployment of the receptacle cantilevered from the base support. Description of the implementation methods

[0058] In [Fig. 1], the present disclosure relates to a transport and storage assembly comprising a rack system and one or more automated guided vehicles (AGVs) configured to service the rack system. The present disclosure relates to such an AGV as such, as well as to such a rack system as such.

[0059] The racking system for storing receptacles is configured to be operated by one or more automated guided vehicles. The racking system has RY racks comprising at least one racking assembly including a first RY1 rack and a second RY2 rack.

[0060] The first shelving unit RY 1 and the second shelving unit RY2 are arranged in relation to each other offset, along a first direction X, the first shelving unit RY 1 and the second shelving unit RY2 extending lengthwise along a second direction Y, perpendicular to the first direction X.

[0061] The first shelving unit RY1 and the second RY2 are spaced along the first direction X, clearing between them a circulation aisle AL extending lengthwise along the second direction Y between the two shelving units RY1, RY2.

[0062] The first rack RY 1 and the second rack RY2 each comprise one, or preferably several, columns of storage cells. The cells of each column are stacked along the vertical direction Z. The different columns of storage cells are offset along the second direction Y. The storage cells have lateral access openings, EA, allowing the loading of the cells from receptacles B from the maintenance aisle AL, or conversely, allowing the unloading of receptacles B contained in the cells into said maintenance aisle.

[0063] The lateral access openings of the different cells are independent, so as to allow the loading and / or unloading of the cells independently of each other, or even the loading and / or unloading in masked time, of the different cells from several automatically guided vehicles.

[0064] In general, ALV alveoli can be simple alveoli, in that they are of a depth configured to receive each a single receptacle.

[0065] Advantageously, the cells can also be multiple cells, namely of multiple depth, each multiple cell configured to receive at least two receptacles B arranged one behind the other along the first direction X, and typically two receptacles along the first direction X, or even more such as three receptacles, one behind the other along the first direction X.

[0066] Multiple cells make it possible to increase the storage capacity of the system, namely to increase the number of receptacles stored per unit volume of the rack system, and by comparison to the same storage system comprising cells simple, which will require a larger lost volume (for storage) for the additional traffic aisles.

[0067] It is further understood that the rack system is not limited to two racks consisting of the first rack RY1 and the second rack RY2, namely that the rack system may include other rack(s), and for example a third rack RY3, extending along the second direction Y, parallel to the second and first racks RY1, RY2, the third rack offset along the first direction relative to the second rack RY2 by a (second) maintenance aisle, extending parallel to said maintenance aisle.

[0068] The third racking unit may itself comprise one or more columns of storage compartments, typically as many as the other racking units (i.e., the first racking unit RY1 or the second racking unit RY2). The number of columns of storage compartments in the RY1 (or RY2) racking units is typically greater than 1 and may, depending on storage requirements, for example, be between 1 and 10, or even more. The number of racking units may be greater than 3.

[0069] The structure of the RY1, RY2, RY3 racking systems typically comprises a set of vertical uprights M1, M2, M3, M4, the uprights distributed along the second direction Y, at a typically constant spacing corresponding to the width of the ALV cells, and along the first direction along the length of the ALV cells. The various uprights are held together by a bracing system ensuring the stability of the vertical structure of the uprights.

[0070] The shelving structure also includes a plurality of pairs of mechanical interfaces which are fixed to the uprights M1, M2, M3, M4 distributed along the height of the shelving to form said superimposed cells.

[0071] Each pair of mechanical interfaces comprises: - a first ITA interface fixed to at least two uprights M1, M2 of the vertical structure, cantilevered from the two uprights extending lengthwise along the first direction X - a second ITB interface fixed to at least two other uprights M3, M4 of the vertical structure, cantilevered from the other two uprights, extending lengthwise along the first direction.

[0072] Support portions of the first interface ITA and the second interface ITB are oriented towards each other in cantilever of the uprights M1, M2, M3, M4, along the second direction Y, the support portions configured to ensure the support of a receptacle supported by the two support portions of the two interfaces on both sides of the receptacle.

[0073] The rack system further includes a PST track, which is arranged above the RY racking of the rack system, above said RY racking configured to cooperate with rolling and drive means of the automatically guided vehicle V to allow the vehicle to move over the racking and over said traffic aisle in the first direction X and the second direction Y. According to one embodiment, the PST track may include first rails Ral, oriented in the first direction X, configured for the movement of the vehicle in said first direction X, and second rails Ra2, oriented in the second direction Y, configured for the movement of the vehicle in the second direction Y. The first rails Ral and the second rails Ra2 form a bidirectional matrix.

[0074] The self-guided vehicle V according to this disclosure is configured for collecting receptacles B from the rack system SR, said vehicle comprising a vehicle body 1 equipped with vehicle drive and bearing means configured to ensure vehicle movement along the first direction X and along the second direction Y perpendicular to the first direction X, at the top of a rack system during use. The drive and bearing means are configured to cooperate with the bearing track.

[0075] The rolling and drive means may include a first set of rolling means RI configured to ensure the movement of the vehicle along a first direction in the rack system during use, and a second set of rolling means R2 configured to ensure the movement of the vehicle along a second direction Y in the rack system during use.

[0076] The first rolling assembly RI can be configured to cooperate with the first rails Ral by being guided by the first rails Ral to ensure the movement of the vehicle along the first direction X while the second rolling assembly R2 can be configured to cooperate with the second rails Ra2 by being guided by the second rails Ra2 to ensure the movement of the vehicle along the second direction Y of the running track.

[0077] According to such an embodiment, the vehicle may include means for reversibly and selectively moving the first set of rolling means RI or the second set of rolling means R2 away from an underlying vehicle support, during a change of direction between the first direction X and the second direction Y.

[0078] Thus, said means for reversibly and selectively moving ensure the engagement of the first set of rolling means RI to ensure the movement of the vehicle body along the first rails Ral, while the second set of rolling means R2 is free from the second rails Ra2.

[0079] During the change of direction, the second set of rolling means R2 is lowered to engage with the second rails Ra2, then the first set of running gear RI is raised to disengage from the first rails RI. The vehicle body can then be moved along the direction of the first rails Ral. The reverse direction is changed by lowering the first set of running gear RI to engage with the first rails Ral, then raising the second rails Ra2 to disengage them from the second rails Ra2.

[0080] According to another embodiment (not illustrated), the running track may be railless. The rolling and drive means may include, as taught in itself by document FR3125515 of this applicant, at least three drive wheels (for example, three wheels or four wheels) intended to roll on the ground, capable of pivoting by at least 90°.

[0081] Said drive wheels are mounted on pivoting and drive devices fixed to the vehicle body, each of said pivoting and drive devices comprising a motor for actuating means for pivoting a drive wheel around a vertical axis, intended to allow a drive wheel to pivot about itself. The pivoting devices, configured to pivot the wheels by 90°, allow changes in vehicle direction by aligning the rolling direction of the wheels with the X direction or with the Y direction, between two pivots, in order to allow the vehicle to move along the track in the first X direction and in the second Y direction.

[0082] The automatically guided vehicle further includes a loading and unloading device connected to the vehicle body and comprising: - a gripping device 2 comprising at least one base support 23 equipped with a gripping means MP configured to grasp or release a receptacle - a lifting system comprising a means for raising and lowering the gripping device, configured to raise and lower the base support 23 of the gripping device and the receptacle held by the gripping device, relative to said vehicle body, along a third direction Z, vertical.

[0083] The gripping means MP configured for releasing or grasping a receptacle may include a support surface (e.g., a flat support) configured to support the receptacle from below, as illustrated in the figures. Optionally, one or more positioning fingers projecting from the support surface may be configured to penetrate one or more corresponding cavities on a lower wall of the receptacle. The interaction between the fingers and the cavities ensures controlled positioning between the receptacle and the gripping means, as described in this Applicant's document EP 3638607 B1.

[0084] The gripping means is not limited to such cooperation, in particular from the underside of the receptacle, and may include any other means, such as hooks, suction cup (pneumatic) capable of gripping the receptacle from above.

[0085] The lifting system including the means for raising and lowering the gripping device, can typically include at least one flexible link LS, typically several flexible links LS extending in parallel, such as cables connecting the vehicle body to the base support 23 of the gripping device.

[0086] The lifting system may include in particular four flexible links, connected to the four corners of the base support 23. The lifting system may include a motorized winch mechanism, comprising one or more motorized reels, mounted on the body of the vehicle, on which the flexible links can be wound or unwound to ensure the lowering or raising of the base support 23.

[0087] The lifting system is configured to ensure the raising of the base support 23 to a raised position of the gripping device 2 for which the gripping device 2 and a receptacle held by the gripping device are positioned above the running track on which the rolling and drive means of the vehicle body are configured to move.

[0088] In this raised position, the gripping device and the receptacle carried by the gripping device do not impede the movement of the vehicle on the track: said body of the self-guided vehicle can move on the PST track, in particular along the first direction X and / or along the second direction Y, and by moving the held receptacle.

[0089] According to one embodiment, the vehicle body may include a CAV cavity arranged centrally inside the vehicle body, the cavity having at least one receptacle receiving opening oriented towards the circulation chimneys, during use.

[0090] In the raised position, the receptacle B carried by the gripping means is housed entirely or partially within the cavity CAV. This cavity allows the load (the receptacle) to be centered relative to the bearings of the rolling and drive means, particularly to promote stability during acceleration phases (positive or negative). According to another embodiment, in the raised position, the base support and the receptacle carried by the gripping means may be laterally cantilevered relative to the portion of the vehicle body comprising the rolling and drive means.

[0091] The running track further includes one or more PAS passages for the gripping device 2, opposite one or more circulation chimneys belonging to the said circulation aisle. The various PAS passages are configured to allow the descent of the gripping device 2 (and the receptacle carried by the gripping device) selectively into said circulation chimneys. leading to said circulation aisle. Said circulation chimneys are juxtaposed along the second direction Y, extending respectively opposite the different columns of shelving units, respectively along said second direction Y. In general, each circulation chimney can be delimited by four uprights belonging to two shelving units on either side of said circulation aisle, and for example two uprights belonging to the first shelving unit RY1, and two other uprights belonging to the second shelving unit RY2, diametrically opposed with respect to said circulation aisle.

[0092] When said track includes the first rails Ral extending along the first direction X and the second rails Ra2 extending along the second direction Y, forming a matrix of rails, the PAS passages can be formed by the gaps between the Ral Ra2 rails, extending above said traffic aisle AL, and respectively above the different traffic chimneys.

[0093] The ALV cells of the first rack RY1 and / or the second rack RY2 have said lateral access openings EA and in such a way as to allow the loading of the ALV cells with receptacles B from the circulation chimneys belonging to said circulation aisle AL.

[0094] For this purpose, said loading and unloading device includes a lateral displacement (or lateral deployment) mechanism configured to move the gripping means and the receptacle grasped by the gripping means, laterally relative to the base support 23.

[0095] According to this disclosure, said gripping means MP is therefore laterally displaced relative to the base support 23 configured to transfer the grasped receptacle B from the base support 23 to the rack system, in a first direction, or conversely from the rack system to the base support 23, in a second direction.

[0096] In particular, the laterally placed gripping means MP can be configured to move from a first position PI for which the receptacle grasped by the gripping means is retracted relative to the base support 23 to a second position P2 of the gripping means for which the receptacle grasped by the gripping means is deployed laterally relative to the base support 23 at least according to a horizontal displacement.

[0097] In the first position PI, the receptacle and the base support 23 are at least partially overlapping, in particular along the first direction X, and in particular along the direction Y, or even totally overlapping.

[0098] In the second position P2, the receptacle is deployed laterally cantilevered from the base support 23, totally, or at least mostly, in particular along the first direction X.

[0099] The lateral displacement gripping means MP advantageously allows, the loading of the ALV cells with receptacles B from the circulation chimneys belonging to said circulation aisle AL, from said first position PI of the gripping means for which the receptacle is retracted relative to the base body 23, the receptacle arranged in said circulation chimney up to said second position P2 for which the receptacle is moved into said ALV cell.

[0100] The lateral displacement of the gripping means MP relative to the base support 23 can be carried out along the first direction X.

[0101] Such a transport and storage system thus includes a rack system according to this disclosure and one or more automated guided vehicles V according to this disclosure.

[0102] In particular, the vehicle(s) are configured to: - to travel on the PST runway of the racking system in the first X direction and the second Y direction, above the RY racking, including the first RY 1 rack and the second rack, on the one hand, and of said AL circulation aisle between the first RY 1 rack and the second RY 2 rack, on the other hand, - lower the base support 23 and said gripping means, in particular in the first position PI of the gripping means MP, through one of the passages of the running track PST, into one of the vertical circulation chimneys belonging to said circulation aisle AL up to the height of one of the bays of one of the racks RY and, - to load said ALV compartment with a receptacle B by laterally moving the gripping means MP into the second position P2 of the gripping means MP, for which the receptacle is deployed through the lateral access opening EA in said ALV compartment, or to unload a receptacle stored in said compartment by retracting the gripping means to the first position PL

[0103] Such an assembly according to the present disclosure is advantageous compared to the first family of storage and retrieval system, as taught by EP 3070027 and based on a stacking column storage system, in that the different cells of the same column are accessible, independently of each other, from said circulation aisle AL, by means of laterally moving gripping MP, thanks to the lateral access openings EA: it is possible to load or unload any one of the cells of the column of cells, and independently of the other cells of the same column.

[0104] Another advantage is the presence of said circulation aisle AL between the RY1 / RY2 racks, or even between the RY2 / RAY3 racks. This facilitates the maintenance operations by allowing an operator to move between said racks.

[0105] Said assembly may in particular be equipped with a maintenance device (such as a lifting platform) configured to travel along said maintenance aisle, said equipment being provided with: - of a basic body, featuring means of rolling on the ground, - a lifting platform configured for working at height and, - a lifting mechanism, for example of the telescopic or scissor type, connecting the lifting platform to the base structure, configured to extend the platform to a height, or to retract it into a position with a smaller vertical footprint. This maintenance equipment may include, in particular, that described in document FR2303593 of this Applicant, which provides improved stability through guidance on the uprights of said maintenance walkway.

[0106] Such an assembly according to the present disclosure is still advantageous compared to the second family of storage and retrieval system, as taught by EP 3638607 B1, in that the vehicle bodies remain during the loading / unloading operations of the ALV bays, at a constant height, above the PST running track, and therefore without requiring the vehicle to lift its own weight to proceed loading / unloading of the bays.

[0107] The racking system may include a system of CAP hoods closing the racking from above, at the level of the runway. The hood system forms a cover, separating the atmosphere above the runway from the internal atmosphere below the runway, including the racking. The internal atmosphere may be controlled, in particular refrigerated for the preservation of fresh products, or even for the preservation of frozen products.

[0108] The CPA hood system includes removable CAPm hoods, in particular sliding or pivoting hoods, configured to removably close said PAS passage(s).

[0109] According to one embodiment, the gripping device 2 comprises the base support 23, which is equipped with guiding means GD, in particular guide rollers or guide pads, configured to guide said base support 2 along vertical rails RV of the storage rack system. The guidance of the base support 2 can be carried out along at least two uprights of the racking, on either side of the circulation aisle AM, and in particular two of the uprights delimiting the circulation chimney.

[0110] The guidance can be carried out on only two uprights of the circulation chimney, and typically on two uprights arranged along a diagonal of the circulation chimney.

[0111] According to one embodiment, the lateral displacement (or lateral deployment) mechanism may include: - a telescopic arm connecting the gripping means and said base support comprising at least a first segment 20 and a second segment 21 mounted to slide relative to the first segment along a horizontal sliding direction, - an actuation means comprising a transmission linking the first segment and the second segment configured to deploy the telescopic arm from a retracted position between the first segment 20 and the second segment 21 for which said gripping means and base support 23 are retracted along the sliding direction in the first position PI of the gripping means, and up to a deployed position between the first segment 20 and the second segment 21 for which the gripping means and the retained receptacle are deployed laterally relative to the base support 23, in the second position P2 of the gripping means, as illustrated in [Fig.6]A in particular.

[0112] The transmission may include a toothed belt and belt guide pulleys comprising at least one motorized pulley. The transmission may further include a rack, as described in prior art in document FR2304077, or may be without such a rack as disclosed by FR2304077.

[0113] The telescopic arm may include a third segment 22, configured to be deployed and retracted relative to the second segment 21, and in a synchronized manner with the retraction / deployment of the second segment 21 relative to the first segment 20, and as taught by FR2304077 through a transmission comprising pulleys and belts.

[0114] In the case of a multi-cell design, the laterally moving gripping means is configured to load and unload at least two receptacles in said multi-cell design. The number of telescopic segments can be increased (to four or more segments), as required, to increase the effective stroke of the laterally deploying gripping means.

[0115] Generally, the laterally moving gripping means can be configured to operate loading or unloading operations, from one side of the base support 23 to work only on one side of the maintenance aisle AL, or even to operate loading or unloading operations, from both sides of the base support 23 to work on both sides of the maintenance aisle AL.

[0116] Thus, and according to one embodiment, the telescopic arm can be configured to be: - deployable from the retracted position to the deployed position, which is a first deployed position in a first SI direction of deployment of the second segment 21 relative to the first segment 21, - deployable from the retracted position to a second deployed position, in a second S2 direction of deployment of the second segment relative to the first segment.

[0117] The first deployed position of the telescopic arm and the second deployed position of the telescopic arm provide two so-called second positions of the gripping means, for which the receptacle B can be deployed laterally, respectively on both sides of the base support 23. In general, the lateral displacement mechanism ensuring the lateral displacement of the gripping means is not limited, however, to telescopic arm systems ensuring a lateral deployment of the gripping means in the second position P2, typically outside the limits of the base support 23, along the first direction X.

[0118] According to one embodiment, illustrated by way of example in figures 8a and 8b, the gripping means MP can remain within the limits of the base support 23, in particular in the second position P2 and in the first position PI, or even in the intermediate positions of the gripping means between these two positions PI, P2.

[0119] The base support 23 may thus include a chassis, in particular on which the receptacle B can slide along the first direction X, in particular on two lateral guides. The motorized lateral movement mechanism is configured to ensure the movement of the gripping means MP, along the first direction X, within the limits of the base support 23. The motorized mechanism may include at least one closed belt (or at least one chain) guided by two pulleys (or guided by two toothed wheels) and typically two closed belts (or two chains) in parallel, synchronized. The gripping means is fixed to the belt or chain, configured to be moved along the first direction X.

[0120] In Figures 8a and 8b, the gripping means MP can take the form of a transverse bar, attached at its two ends respectively to the two belts (or the two chains). This bar is configured to hook the receptacle by fitting into a recess EP, such as a groove opening under the receptacle B, typically extending along the second direction Y. The receptacle B can include two separate, offset grooves along the first direction, into which the hooking bar can be selectively inserted, depending on the direction of deployment of the receptacle relative to the maintenance aisle.

[0121] The rotation of said at least one belt in one direction (or of said at least one chain) ensures the movement of the gripping means, in particular of the hook bar from the first position PI to the second position P2, in particular during loading operations; the reverse rotation ensures the movement of the hooking bar in the opposite direction, from the second position P2 to the first position PI, particularly during unloading.

[0122] According to one embodiment, the hooking bar connecting the two belts can be replaced by two synchronized, independent hooking members, respectively attached to the two belts (or chains) and configured to be moved jointly along the first direction X.

[0123] According to one embodiment, said transport and storage assembly may include a robotic arm, in particular multi-axis, for example six-axis or more, arranged at the level of the PST track. The robotic arm includes a typically pneumatic gripper, said robotic arm configured to transfer items fed by automated guided vehicles.

[0124] The robotic arm can be arranged in a fixed position on said track according to a first embodiment. The robotic arm can also be provided to be mobile on the track at least in a horizontal direction, or even in the first X direction and the second Y direction; for example, the robotic arm can be mounted on an automatically guided vehicle configured to move in the first X direction and the second Y direction.

[0125] During the preparation of an order comprising an assembly of articles contained in several compartments, the robotic arm can be operated to assemble (totally or partially) the articles picked up by several automatically guided vehicles, at the level of the track.

[0126] The order preparation process may include: - / A / obtain an order containing at least one first item contained in a first receptacle, and at least one second item contained in a second receptacle, the first and second receptacles being stored in slots of the rack system, - / B / move a first automatically guided vehicle along the runway, to one of the traffic chimneys, lower the gripping means to the height of the cavity containing the first receptacle, and command the laterally moving gripping means to load the first receptacle onto the base support, then raise the base support and the receptacle held by the gripping means, to above the runway, - / C / move a second automated guided vehicle along the runway, to one of the traffic chutes, lower the gripping means to the level of the recess containing the second receptacle, and command the laterally deploying gripping means to load the second receptacle onto the base support, then raise the base support and the receptacle held by the means of gripping, up to above the track of the running track, - / D / move the first vehicle supporting the first receptacle and / or the second vehicle supporting the second receptacle into the field of action of the robotic arm at the level of the running track, and assemble the order containing the first item and the second item by the robotic arm.

[0127] Generally, the order assembly can be carried out wholly or partially at the PSR track level. The transport and storage assembly may include one or more order preparation stations.

[0128] The order picking station(s) are typically located on the floor on which the racking system rests: an order picking station may typically include a user interface with a screen configured to display order information. Once the receptacles (and items contained within them) have been collected by the automated guided vehicles at the top of the runway, the various receptacles (or an order assembly operated by the robotic arm) can be lowered.

[0129] According to one mode, the rack system shelving resting on the floor, said assembly may include at least one ASC receptacle lift, said lift configured to raise the receptacles from the floor to the runway for pickup by the automated guided vehicles, and / or at least one lift configured to lower the receptacles unloaded by the vehicles, from the runway to the floor.

[0130] According to another embodiment (not illustrated), the items (or the partially or fully assembled order) can be lowered from the track by one or more automatically guided vehicles, by actuating the base support and the receptacle held during descent. The storage system can typically include one or more circulation chimneys, in particular dedicated for lowering the items or the order to ground level, in particular to the order preparation station. List of reference signs

[0131] - V. Automatically guided vehicle, - 1 Vehicle body, - 2. Lifting device, - 20. First segment, - 21. Second segment, - 22. Third segment, - 23. Basic support, - PL First position (of the grasping means ensuring the retraction of the receptacle) (on the basic support), - P2. Second position (of the gripping means ensuring the lateral deployment of the receptacle relative to the base support), - MP. Gripping device (with lateral movement) - RI, R2. First and second sets of rolling means, - GD. Guiding means (basic support), - LS. Flexible connections, - B. Receptacles, - SR. Rack system, - RY. Shelving, - RY1, RY2, RY3. First, second and third shelves, -M1, M2, M3, M4. Amounts, - ITA, ITB. Mechanical interfaces (e.g., brackets), - ALV. Cells (for rack storage), - ALV1, ALV2. First and second alveoli, - RV. Vertical rails, - EA. Lateral access openings (cells), - CHR. Circulation chimneys, - CAP. Hood, - CAPm. Movable hoods, - AL Traffic Lane, - PST. Rolling track, -Rail. First rails (Running track), - Ra2. Second rails (Running track), - X. First direction, - Y. Second direction, - Z. Third direction, - ASC. Elevator, - MP. Means of grasping (with lateral displacement).

Claims

Claims

1. Automatic guided vehicle (V) configured for collecting receptacles (B) from a rack system (SR) for storing said receptacles, said vehicle comprising: - a vehicle body (1) equipped with vehicle drive and rolling means configured to ensure the movement of the vehicle along a first direction (X) and along a second direction (Y) perpendicular to the first direction (X), above the racks (RY) of the rack system during use, - a loading and unloading device connected to the vehicle body and comprising: - a gripping device (2) comprising at least one base support (23) equipped with gripping means configured to grip or release a receptacle - a lifting system comprising means for raising and lowering the gripping device,configured to raise and lower the base support (23) of the gripping device and the receptacle held by the gripping device, relatively to said vehicle body, in a third direction (Z), vertical, characterized in that said loading and unloading device comprises said gripping means (MP) which is laterally movable relative to the base support (23) configured to transfer the gripped receptacle from the base support (23) to the rack system, or vice versa from the rack system to the base support (23).,

2. Vehicle according to claim 1, wherein the gripping device (2) comprises the base support (23) which is equipped with guide means (GD), in particular guide rollers or guide pads, configured to ensure guidance of said base support (23) along vertical rails (RV) of the storage rack system.

3. Vehicle according to claim 1 or 2, in which the lateral displacement gripping means is provided with a lateral deployment mechanism comprising: - a telescopic arm connecting the gripping means and said base support comprising at least a first segment (20) and a second segment (21) slidably mounted relative to the first segment in a horizontal sliding direction, - an actuating means comprising a transmission connecting the first segment and the second segment configured to deploy the telescopic arm from a retracted position between the first segment (20) and the second segment (21) for which said gripping means is retracted relative to the base support (23) in the sliding direction, and to a deployed position between the first segment (20) and the second segment (21) for which the gripping means and the held receptacle are deployed laterally relative to the base support (23).

4. Vehicle according to claim 3, wherein the telescopic arm is configured to be: - deployable from the retracted position to the deployed position which is a first deployed position in a first direction (SI) of deployment of the second segment (21) relative to the first segment (21), - deployable from the retracted position to a second deployed position, in a second direction (S2) of deployment of the second segment relative to the first segment.

5. Vehicle according to one of claims 1 to 4, in which the transmission comprises a toothed belt and belt guide pulleys comprising at least one motorized pulley.

6. Vehicle according to one of claims 1 to 5, wherein the rolling and driving means comprise a first set of rolling means (RI) configured to ensure movement of the vehicle along a first direction (X) in the rack system during use, and a second set of rolling means (R2) configured to ensure movement of the vehicle along a second direction (Y) in the rack system during use.

7. A vehicle according to claim 6 having means for reversibly and selectively moving the first set of rolling means (RI) or the second set of rolling means (R2) away from an underlying vehicle support, during a change of direction between the first direction (X) and the second direction (Y).

8. Vehicle according to one of claims 6 or 7, in which the sliding direction of the telescopic arm is oriented in the first direction (X), or oriented in the second direction (Y).

9. Vehicle according to one of claims 1 to 8, in which the body of the vehicle comprises a cavity (CAV) arranged centrally at inside the vehicle body, the cavity having at least one receptacle receiving opening facing the circulation stacks, during use.

10. A rack system for storing receptacles configured to be operated by one or more automated guided vehicles according to one of claims 1 to 9 comprising: - shelving (RY) comprising at least one set of shelving comprising a first shelving (RY 1) and a second shelving (RY2) arranged relative to each other in a first direction (X), the first shelving (RY 1) and the second shelving (RY2) extending lengthwise in a second direction (Y), perpendicular to the first direction (X), the first shelving (RY 1) and the second (RY2) spaced apart in the first direction (X), clearing between them a circulation aisle (ALI) extending lengthwise in the second direction (Y), between the two shelving units (RY1, RY2), and in which at least the first shelving (RY 1) and the second shelving (RY2), each comprise one or more columns of cells, the cells of each column superimposed in the vertical direction, said several columns of cells offset in the second direction (Y), the cells have access openings lateral (EA),authorizing the loading of cells from receptacles from the maintenance aisle or, on the contrary, the unloading of receptacles contained in the cells in said maintenance aisle, - a rolling track (PST) arranged on the rack system, above said shelves (RY), said rolling track configured to cooperate with the rolling and drive means of the automatic guided vehicle (V) to allow the vehicle to move above the shelves and above said traffic aisle in the first direction (X) and the second direction (Y) in a raised position of the gripping device (2), said rolling track comprising one or more passages (PAS) for the gripping device (2), opposite one or more traffic shafts of the traffic aisle, the passage(s) configured to allow the gripping device (2) to descend, selectively into said traffic shafts, and in which the cells (ALV) of the first shelf (RY 1) and / or of the second shelf (RY2) have said access openings lateral (EA) allowing the loading of the cells (ALV) with receptacles (B) from the circulation chimneys of said circulation aisle (AL), from a first position of the gripping means (MP) with lateral displacement for which the receptacle is retracted relative to the base body (23) in said circulation chimney to a second position (P2) for which the receptacle is moved into said cell (ALV).

11. Rack system according to claim 10, in particular implementing a vehicle according to claim 6 in which the rolling track (PST) comprises first rails (Ral), oriented in the first direction (X), configured for the movement of the vehicle in said first direction (X) and second rails (Ra2), oriented in the second direction (Y), configured for the movement of the vehicle in the second direction.

12. Rack system according to claim 10 or 11 comprising a system of covers (CAP) closing the shelves from above, comprising removable covers (CAPm), in particular sliding or pivoting, configured to removably close said passage(s) (PAS).

13. Rack system according to one of claims 10 to 12, wherein the shelving (RY), including the first shelving (RY1) and the second shelving (RY2), comprises vertical uprights (Ml, M2, M3, M4) connected to each other by a bracing system, and a plurality of pairs of mechanical interfaces which are fixed to the uprights (Ml, M2, M3, M4) distributed along the height of the rack (RK) to form said superimposed cells (ALV), each pair of mechanical interfaces comprising: - a first interface (ITA) fixed to at least two uprights (Ml, M2) of the vertical structure, cantilevered from the two uprights; extending in length along the first direction (X) - a second interface (ITB) fixed to at least two other uprights (M3, M4) of the vertical structure, cantilevered from the two other uprights, extending in length along the first direction (X) and in which supporting portions of the first interface (ITA) and of the second interface (ITB) are oriented towards each other in cantilever of the uprights, following the second direction (Y), said support portions configured to ensure the support of a receptacle (B) supported by the two support portions of the two interfaces (ITA, ITB) on both sides of the receptacle.

14. Transport and storage assembly comprising a rack system according to one of claims 10 to 13 and one or more automatic guided vehicles (V) according to one of claims 1 to 9 configured to: - circulate on the running track (PST) of the rack system in the first direction (X) and the second direction (Y), above the shelves (RY) and said circulation aisle (AL) between the first shelf (RY1) and the second shelf (RY2), - lower the base support (23) and said gripping means, in the first position (PI) of the gripping means, through one of the passages of the running track (PST), in one of the vertical circulation chimneys belonging to said circulation aisle (AL) up to the height of one of the cells of one of the shelves (RY) and,- proceed to load said cell (ALV) with a receptacle (B) by lateral displacement of the gripping means (MP) into the second position (P2) for which the receptacle is deployed through the lateral access opening (EA) in said cell (ALV) or proceed to unload a receptacle stored in said cell by retraction of the gripping means into the first position (PD-,

15. Transport and storage assembly according to claim 14, comprising a robotic arm, in particular multi-axis, arranged at the rolling track (PST) comprising a typically pneumatic gripper, said robotic arm configured to transfer articles fed by the automatic guided vehicles, said robotic arm arranged in a fixed position on said track, or else provided to be mobile on the track, at least in a horizontal direction, or even in the first direction (X) and the second direction (Y), for example the robotic arm on board an automatic guided vehicle configured to move in the first direction (X) and the second direction (Y).

16. An assembly according to claim 14 or 15, comprising receptacles (B) configured to be loaded and unloaded into the cells (ALV) of the rack system by the lateral displacement gripping means of the vehicles and in which all or part of the cells of the first rack (RY1) or of the second rack (RY2) are multiple cells, of multiple depth, each multiple cell configured to receive at least two receptacles (B) arranged one behind the other in the first direction (X), and in which the lateral displacement gripping means is configured to load and unload said at least two receptacles in said multiple cell.

17. Transport and storage assembly according to one of claims 14 to 16 in which the shelves of the rack system rest on the ground, said assembly comprising at least one receptacle elevator (ASC) configured to raise the receptacles from the ground to the running track for their collection by the automatic guided vehicles, or else configured to lower the receptacles unloaded by the vehicles, from the running track to the ground.

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