Vehicle for automated storage and retrieval system

Abstract

Vehicle (10) for an automated storage and retrieval system, comprising a chassis extending horizontally in a longitudinal direction (X) and a transverse direction (Y) and one or more climbing means (20ap; 20bp; 20ad; 20bd) each being adapted to move the vehicle (10) along a respective vertical upright, each climbing means (20ap; 20bp; 20ad; 20bd) being movable relative to the chassis between a retracted position, and a deployed position in which the climbing means is able to cooperate with a complementary member extending along said vertical upright, the vehicle (10) comprising at least one actuator configured to deploy each climbing means (20ap; 20bp; 20ad; 20bd) relative to the chassis between the retracted position and the deployed position. Abstract figure: Figure 1

Description

Title of the invention: Vehicle for automated storage and retrieval system Technical field

[0001] The present description relates to a vehicle for an automated storage and retrieval system and to an item storage and retrieval system comprising such a vehicle. Prior art

[0002] In the field of logistics, it is known to have storage racks in warehouses. A storage rack in a warehouse typically comprises a vertical structure, formed by a set of vertical uprights, often in the form of vertical metal profiles.

[0003] In warehouses, these storage racks are intended to accommodate and store items, said items then being brought together to form orders; these orders are subsequently sent to an end customer by means of road, rail or any other type of transport, or taken out of the warehouse to be collected directly by the end customer at a "drive".

[0004] Within their structure, storage racks define storage locations, also called cells. These cells are intended to receive bins or more generally receptacles, in which items are placed and stored. For this purpose, pairs of mechanical interfaces, typically in the form of brackets, are secured to the uprights, to ensure the centering and support of the different loads at the level of the different cells.

[0005] Such storage racks may be served by a transport system comprising automatic guided vehicles configured to pick up and place items in said storage racks. Such storage systems are called ASRS according to the English acronym "Automated Storage and Retrieval System". The automatic guided vehicles hereinafter referred to by their abbreviation AGV according to the English expression "Automatic guided vehicle" are robots which move autonomously without human intervention.

[0006] The AGVs can move in at least one direction, or even both directions, of a horizontal surface which can typically be the warehouse floor. The automated guided vehicles can also move vertically on the storage racks. Such storage systems are disclosed in particular by document WO 2019 / 072432. As disclosed by this document WO 2019 / 072432 vehicles self-guided are configured to pick up receptacles of products or items supported by the brackets in the storage racks, and transport them to another location, typically another storage location or to an order preparation station where said items are gathered, typically so as to constitute an order for an end customer.

[0007] To do this, the chassis of the automatic guided vehicle typically has a gripping device comprising a support that is movable relative to the chassis and is configured to move from a retracted position for loading a receptacle (typically a bin) onto the chassis of the vehicle, in which the support is typically housed on the chassis, and to a deployed unloading position in which the movable support extends cantilevered from the chassis to unload / deposit the receptacle, typically onto one of the pairs of brackets of the storage rack.

[0008] As disclosed by WO 2019 / 072432, said AGVs may have a chassis equipped with climbing means. Typically, these means comprise motorized toothed wheels of the vehicle which are configured to mesh with the links of a substantially tensioned roller chain, or with the teeth of a rack bar extending along the uprights of the storage racks.

[0009] Document US 7,931,431 B2 discloses a vehicle for use in a warehouse, said vehicle comprising a drive system comprising deployable pinions which can engage with vertical racks. In one embodiment, the pinions are arranged diagonally at the four corners of the vehicle and are deployable diagonally relative to the vehicle. In this case, the vertical racks are also mounted diagonally at the corners of the posts, which complicates their manufacture. In another embodiment, the pinions deploy laterally from the vehicle to engage with vertical racks mounted towards the inside of opposite posts. In this embodiment, the vehicle's size remains significant.

[0010] Thus, AGVs have means of locomotion and orientation, making them capable of moving in three dimensions. In addition to the two flat dimensions generally associated with the ground on which the AGVs move, there is a third vertical dimension associated with the storage racks on which the AGVs are capable of climbing and descending.

[0011] In such a state of the art, it is desirable to provide an AGV having climbing means whose compactness and mass are reduced.

[0012] In such a state of the art, it is also desirable to provide an AGV having increased reliability with respect to the coupling between the climbing means and the corresponding member along the vertical uprights. Summary

[0013] A vehicle for an automated storage and retrieval system is provided, comprising a chassis extending horizontally in a longitudinal direction and a transverse direction and one or more climbing means each being adapted to move the vehicle along a respective vertical upright, each climbing means being movable relative to the chassis between a retracted position, and a deployed position in which the climbing means is able to cooperate with a complementary member extending along said vertical upright. The vehicle may comprise at least one actuator configured to deploy each climbing means relative to the chassis between the retracted position and the deployed position.

[0014] Said one or more climbing means may comprise at least a first proximal climbing means and a second proximal climbing means arranged at a proximal end of the chassis in the longitudinal direction, the first proximal climbing means and the second proximal climbing means preferably being arranged, transversely, respectively at a first transverse end and a second transverse end of the chassis in the transverse direction.

[0015] Said one or more climbing means may comprise at least a first distal climbing means and a second distal climbing means, arranged at a distal end of the chassis in the longitudinal direction, the first distal climbing means and the second distal climbing means preferably being arranged, transversely, respectively at the first transverse end and the second transverse end of the chassis.

[0016] In the retracted position, each climbing means may be housed, in whole or in part, laterally in the longitudinal direction and / or in the transverse direction in the chassis. In the deployed position, each climbing means may be arranged laterally in the longitudinal direction and / or in the transverse direction outside the chassis to cooperate with a complementary member extending along said vertical upright.

[0017] Each climbing means can be movable relative to the chassis between the retracted position and the deployed position in a respective deployment direction which comprises at least one component in the longitudinal direction and / or one component in the transverse direction.

[0018] The vehicle may have a longitudinal dimension in the longitudinal direction and a transverse dimension in the transverse direction: - the longitudinal dimension of the vehicle when said one or more climbing means are in the deployed position may be greater than the longitudinal dimension of the vehicle when said one or more climbing means are in the retracted position, and / or - the transverse dimension of the vehicle when said one or more climbing means are in the deployed position may be greater than the transverse dimension of the vehicle when said one or more climbing means are in the retracted position.

[0019] The actuator may be configured to move each climbing means relative to the chassis between the retracted position and the deployed position in at least one translational movement, preferably in a single translational movement in the respective deployment direction.

[0020] The actuator may include a single deployment motor.

[0021] The actuator may comprise one or more pairs of rails each associated with one of said one or more climbing means, each pair of rails each comprising: - a fixed rail rigidly fixed to the chassis, - a movable rail configured to slide relative to the fixed rail, the associated climbing means being rigidly fixed to a first end of the first movable rail. The actuator may further comprise a transmission system adapted to be coupled with the deployment motor and to slide the movable rail of each pair of rails relative to the corresponding fixed rail.

[0022] Said one or more pairs of rails may comprise a first proximal pair of rails associated with the first proximal climbing means and a second proximal pair of rails associated with the second proximal climbing means.

[0023] The fixed rail and the movable rail of each pair of rails can extend according to the direction of deployment of the associated climbing means. The transmission system can be adapted to slide the movable rail of each pair of rails relative to the fixed rail according to the direction of deployment of the climbing means associated with the pair of rails in question.

[0024] The transmission system may comprise: - a belt stretched between an output shaft of the deployment motor and a guide pinion, and - one or more pusher arms, the belt being configured to move each pusher arm in translation in the longitudinal direction, each pusher arm coupled to the movable rail of at least one of said one or more pairs of rails so that the actuation of the belt by the deployment motor causes said movable rail to slide relative to the corresponding fixed rail via the associated pusher arm.

[0025] The transmission system may include a proximal pusher arm coupled to the movable rail of the first proximal rail pair and to the movable rail of the second proximal rail pair.

[0026] Each pusher arm may comprise one or more grooves extending at least in the transverse direction, each groove of said pusher arm receiving a rod of the movable rail of one of said one or more pairs of rails associated with said pusher arm.

[0027] Each climbing means may comprise a wheel intended to cooperate with the vertical upright, each wheel having an axis of rotation. The axis of rotation of the wheel of each climbing means may extend in the transverse direction or in the longitudinal direction, in the retracted position and / or in the deployed position.

[0028] The vehicle may comprise one or more climbing motors, the wheel of each climbing means being coupled with one of said one or more climbing motors to be driven in rotation around its axis of rotation.

[0029] Said one or more climbing motors may comprise a proximal climbing motor configured to drive the wheel of the first proximal climbing means in rotation about its axis of rotation and the wheel of the second proximal climbing means in rotation about its axis of rotation.

[0030] Each climbing motor may be rigidly attached to the chassis, the vehicle comprising one or more transmission arms, the wheel of each climbing means being coupled with an output shaft of one of said one or more climbing motors via one of said one or more transmission arms, each transmission arm comprising an extendable middle portion.

[0031] The transmission arm by which the wheel of each climbing means can be coupled with an output shaft of one of said one or more climbing motors, can further comprise: - a first end portion coupled to the output shaft of said corresponding climbing motor and connected to the middle part by a first universal joint, and - a second end portion coupled to the wheel and connected to the middle part by a second universal joint.

[0032] The transmission system may be configured to allow free relative movement between the movable rail of the first proximal pair of rails and the movable rail of the second proximal pair of rails, at least when the first proximal climbing means and the second proximal climbing means are in their deployed position.

[0033] The movable rail of the first proximal rail pair may be pivotally mounted about a first vertical axis proximal to the proximal pusher arm, at a first transverse end of the proximal pusher arm. The movable rail of the second proximal rail pair may be pivotally mounted about a second vertical axis proximal to the proximal pusher arm, at a second transverse end of the proximal pusher arm. The proximal pusher arm may be pivotally mounted about a third vertical axis proximal to the belt.

[0034] The proximal pusher arm may be pivotally mounted about the third vertical axis at an angle of between 0° and 5°, preferably at an angle of between 0° and 2.5°, from a reference position in which the proximal pusher arm extends in the transverse direction.

[0035] The vehicle may comprise a proximal stop member rigidly fixed to the belt and comprises at least one side wall facing the proximal pusher arm in the longitudinal direction, said at least one side wall comprising: - a first surface element forming a first end stop for pivoting the proximal pusher arm in a first direction around the third vertical axis, and - a second surface element forming a second end stop for pivoting the proximal pusher arm in a second direction around the third vertical axis.

[0036] Said at least one side wall may comprise a first side wall and a second side wall arranged on either side of the proximal pusher arm in the longitudinal direction.

[0037] The stop member may comprise a relief extending along the third proximal vertical axis, the relief being received by complementary shape in a relief of the proximal pusher arm in order to guide the proximal pusher arm in pivoting about the third proximal vertical axis relative to the proximal stop member and the belt.

[0038] The proximal stop member may comprise an external part bearing on an external face of the belt and an internal part bearing on an internal face of the belt, the external part and the internal part being rigidly fixed to each other, the external part forming said at least one side wall, and where appropriate the relief.

[0039] Also provided is an item storage and retrieval system comprising: - at least one storage rack, said at least one storage rack comprising a plurality of vertical uprights aligned in a first horizontal direction, - the vehicle as described previously, the longitudinal direction of the vehicle being perpendicular to the first horizontal direction, at least one of said one or more climbing means being in the deployed position and cooperating with one of the plurality of vertical uprights. Brief description of the drawings

[0040] Other characteristics, details and advantages will appear on reading the detailed description below, and on analyzing the attached drawings, in which:

[0041] [Fig-1] is a perspective view showing a vehicle according to the present description, in which a cowling has been removed.

[0042] [Fig.2] is an exploded perspective view showing a chassis and part of a actuator for climbing means of the vehicle of [Fig.l].

[0043] [Fig.3] is a semi-exploded perspective view which represents the vehicle according to [Fig.2], in which climbing means and another part of the actuator are added.

[0044] [Fig.4] is a perspective view showing the vehicle according to [Fig.3] in in which the climbing means are in a deployed position.

[0045] [Fig.5] is a semi-exploded perspective view which represents the vehicle according to the [Fig.4] in which a mechanism for driving the climbing means is added.

[0046] [Fig.6] is a partial sectional view showing transmission arms of the drive mechanism of [Fig.6].

[0047] [Fig.7] is a schematic top view which represents the vehicle according to the present description with the means of climbing in a retracted position and in a deployed position.

[0048] [Fig.8] is a perspective view of the vehicle according to the present description, which including a hood.

[0049] [Fig.9] is a top view which shows in isolation the actuator and the climbing means in a deployed position, without relative movement between the climbing means.

[0050] [Fig. 10] is a top view showing in isolation the actuator and the climbing means in a deployed position, with relative movement between proximal climbing means.

[0051] [Fig. 11] is an enlarged view of the dotted area of ​​[Fig.9] and illustrates a rocker mechanism of the actuator.

[0052] [Fig. 12] is an enlarged view of the dotted area of ​​[Fig. 11].

[0053] [Fig. 13] is a sectional view of [Fig. 12] along section plane XIII-XIII. Description of the embodiments

[0054] Reference is now made to Figures 1 to 13 which represent a vehicle 10 for an automated storage and retrieval system. The vehicle 10 comprises a chassis 11 which extends horizontally in a longitudinal direction X and a transverse direction Y. The transverse direction Y may be perpendicular to the longitudinal direction X. In the following description, when reference is made to absolute position qualifiers, such as the terms "front", "rear", "top", "bottom", "left", "right", etc., or relative position qualifiers, such as the terms "above", "below", "upper", "lower", etc., or to orientation qualifiers, such as "horizontal", "vertical", etc., reference is made, unless otherwise specified, to the orientation of the figures or of the vehicle 10 in its normal position of use.

[0055] With reference to [Fig.2], the chassis 11 may comprise a frame, preferably rectangular in shape. The frame of the chassis 11 may comprise two longitudinal members 12a; 12b which extend in the longitudinal direction X and two cross members 13p; 13d which extend transversely between the longitudinal members 12a; 12b. A proximal cross member 13p may be located at the proximal end of the chassis 11 and a distal cross member 13d may be located at the distal end of the chassis 11. The chassis 11 may comprise a middle cross member 13m, i.e. arranged longitudinally between the proximal cross member 13p and the distal cross member 13d. The chassis 11 may have a parallelepiped shape having four corners.

[0056] The vehicle also comprises one or more climbing means 20ap; 20bp; 20ad; 20bd. Each climbing means 20ap; 20bp; 20ad; 20bd is adapted to move the vehicle 10 along a respective vertical upright. Each climbing means 20ap; 20bp; 20ad; 20bd is movable relative to the chassis 11 between a retracted position, and a deployed position in which the climbing means is able to cooperate with a complementary member extending along said vertical upright.

[0057] The vehicle 10 further comprises at least one actuator configured to deploy each climbing means 20ap; 20bp; 20ad; 20bd relative to the chassis 11 between the retracted position and the deployed position.

[0058] Advantageously, the climbing means 20ap; 20bp; 20ad; 20bd can be retracted to make the vehicle more compact and be deployed only when the vehicle has to move vertically along vertical uprights. This also makes it possible to avoid damaging the climbing means 20ap; 20bp; 20ad; 20bd when they are not in use, for example if the vehicle is moving horizontally on the ground.

[0059] Each climbing means 20ap; 20bp; 20ad; 20bd may be fully housed in the chassis 11 in the retracted position. Each climbing means 20ap; 20bp; 20ad; 20bd may be arranged fully outside the chassis 11 in the deployed position. It is not excluded that the climbing means protrudes below or above the chassis 11 when it is in the retracted position and / or in the deployed position.

[0060] Said one or more climbing means 20ap; 20bp; 20ad; 20bd comprise at least a first proximal climbing means 20ap and a second proximal climbing means 20bp arranged at a proximal end of the frame 11 in the longitudinal direction X. The first proximal climbing means 20ap and the second proximal climbing means 20bp are preferably arranged, transversely, respectively at a first transverse end and a second transverse end of the frame 11 in the transverse direction Y. Said one or more climbing means 20ap; 20bp; 20ad; 20bd comprise at least a first distal climbing means 20ad and a second distal climbing means 20bd, arranged at a distal end of the chassis 11 in the longitudinal direction X. The first distal climbing means 20ad and the second distal climbing means 20bd are preferably arranged, transversely, respectively at the first transverse end and the second transverse end of the chassis 11. The proximal and distal ends of the chassis 11 may be opposite in the longitudinal direction X. The vehicle 10 may comprise at least one climbing means arranged substantially at each corner.

[0061] As can be seen in [Fig.7], in the retracted position, each climbing means 20ap; 20bp; 20ad; 20bd is housed, in whole or in part, laterally in the longitudinal direction X and / or in the transverse direction Y in the chassis 11. In the deployed position, each climbing means 20ap; 20bp; 20ad; 20bd is arranged laterally in the longitudinal direction X and / or in the transverse direction Y outside the chassis 11 to cooperate with a complementary member extending along said vertical upright. In [Fig.7], each climbing means 20ap; 20bp; 20ad; 20bd is arranged laterally in the longitudinal direction X and in the transverse direction Y outside the chassis 11. It is therefore understood that the vehicle has a reduced footprint when the climbing means are in the retracted position, thus allowing the vehicle to move on the ground in passages with reduced dimensions.For example, this may allow the vehicle to move on the ground in an aisle separating two racks or even under a rack, that is to say below a lower level of storage of articles in a rack, in particular between vertical uprights of the rack. In a warehouse comprising a plurality of racks, it is thus possible to increase the number of possible routes for the vehicle to retrieve an article and therefore to increase the number of vehicles operating simultaneously. Consequently, the order preparation rates can be increased.

[0062] The chassis 11 may comprise at least one housing 14 associated with each climbing means 20ap; 20bp; 20ad; 20bd, each climbing means 20ap; 20bp; 20ad; 20bd being housed in the associated housing 14 in the retracted position. Such housings 14 are notably visible in [Fig. 8]. The chassis 11 may comprise a lateral cowling 15 mounted on the frame and defining an internal volume of the chassis 11 in which said one or more climbing means 20ap; 20bp; 20ad; 20bd are housed in their retracted position. The chassis 11 may comprise a housing 14 at each corner. The actuator may be arranged entirely in the internal volume of the chassis 11, in particular when each climbing means 20ap; 20bp; 20ad; 20bd is in its retracted position, preferably above the frame.

[0063] The vehicle 10 may comprise ground rolling means, preferably motorized. Said rolling means may comprise at least a first proximal wheel 19 and a first distal wheel 19 arranged respectively at the proximal end and the distal end of the chassis. The first proximal wheel 19 and the first distal wheel 19 may be arranged, transversely, respectively at the first transverse end. Said rolling means may comprise at least a second proximal wheel 19 and a second distal wheel 19 arranged respectively at the proximal end and the distal end of the chassis. The second proximal wheel 19 and the second distal wheel 19 may be arranged, transversely, respectively at the second transverse end.The rolling means may be advantageously configured to allow the vehicle to move on the ground in free space, that is to say in the absence of rails or any other guidance means which requires structural cooperation with the vehicle.

[0064] The vehicle may be automatically guided, i.e. of the "automated guided vehicle" or AGV type. For this purpose, the vehicle may include on-board guidance means adapted to the automatic guidance of the vehicle.

[0065] Finally, the vehicle may comprise deployable gripping means 18, preferably in the longitudinal direction X.

[0066] In the following, the deployment of the climbing means 20ap; 20bp; 20ad; 20bd is described in more detail.

[0067] Each climbing means 20ap; 20bp; 20ad; 20bd is movable relative to the chassis 11 between the retracted position and the deployed position along a respective deployment direction Dap; Dbp; Dad; Dbd which comprises at least one component along the longitudinal direction X and / or one component along the transverse direction Y.

[0068] In the case where the deployment direction Dap; Dbp; Dad; Dbd of each climbing means 20ap; 20bp; 20ad; 20bd comprises a component along the transverse direction Y, it is possible to provide a vehicle 10, in particular the chassis 11, having reduced dimensions along the transverse direction Y, in order to advantageously be able to circulate the vehicle 10 below the racking. In other words, when the climbing means 20ap; 20bp; 20ad; 20bd are in their retracted position, the vehicle 10 can circulate on the ground between the uprights of a racking and, when the climbing means 20ap; 20bp; 20ad; 20bd are in their deployed position, they can cooperate with uprights of a racking to climb thereon even though the uprights have a spacing greater than a transverse dimension of the vehicle 10.

[0069] Preferably, the deployment direction Dap; Dbp; Dad; Dbd is horizontal. In other words, the climbing means in the retracted position and the deployed position can be arranged in the same horizontal plane along the longitudinal direction X and the transverse direction Y. Alternatively, the deployment direction Dap; Dbp; Dad; Dbd can comprise a vertical component.

[0070] The vehicle 10 has a longitudinal dimension dX along the longitudinal direction X and a transverse dimension dY along the transverse direction. As can be seen in [Fig.7], the longitudinal dimension dXp of the vehicle when said one or more climbing means 20ap; 20bp; 20ad; 20bd are in the deployed position is greater than the longitudinal dimension dXe of the vehicle when said one or more climbing means 20ap; 20bp; 20ad; 20bd are in the retracted position. Similarly, the transverse dimension dYp of the vehicle when said one or more climbing means 20ap; 20bp; 20ad; 20bd are in the deployed position is greater than the transverse dimension dYe of the vehicle when said one or more climbing means 20ap; 20bp; 20ad; 20bd are the retracted position.

[0071] Furthermore, the actuator is here configured to move each climbing means 20ap; 20bp; 20ad; 20bd relative to the chassis 11 between the retracted position and the deployed position according to at least one translational movement, preferably according to a single translational movement according to the respective deployment direction Dap; Dbp; Dad; Dbd. Such a movement makes it possible to reduce the vertical dimension of the actuator and therefore of the vehicle, which is advantageous for circulating the vehicle in low-height spaces, for example for circulating it below a storage rack.

[0072] According to an alternative, the actuator may be configured to move each climbing means 20ap; 20bp; 20ad; 20bd relative to the chassis 11 between the retracted position and the deployed position according to at least a first translational movement in a first direction and a second translational movement in a second direction. The first direction may coincide with the longitudinal direction X. The second direction may coincide with the second direction.

[0073] It is not excluded that the actuator is configured to move each climbing means 20ap; 20bp; 20ad; 20bd relative to the chassis 11 between the retracted position and the deployed position according to at least one translational movement and at least one rotational movement.

[0074] The transverse component of the deployment direction Dab of the first proximal climbing means 20ap may be in an opposite direction along the transverse direction Y of the transverse component of the deployment direction Dbp of the second proximal climbing means 20bp. The transverse component of the deployment direction Dad of the first distal climbing means 20ad may be in an opposite direction along the transverse direction Y of the transverse component of the deployment direction Dbd of the second distal climbing means 20bd.

[0075] The first proximal climbing means 20ap and the second proximal climbing means 20bp may be closer to each other in the transverse direction Y when they are each in the retracted position than when they are each in the retracted position. The first distal climbing means 20ad and the second distal climbing means 20ad may be closer to each other in the transverse direction Y when they are each in the retracted position than when they are each in the retracted position. In other words, the proximal climbing means 20ap; 2bp may deploy away from each other in the transverse direction Y. Similarly, the distal climbing means 20ad; 2bd may deploy away from each other in the transverse direction Y.

[0076] The first proximal climbing means 20ap may be movable relative to the chassis 11 between the retracted position and the deployed position along a first proximal axis Aap extending along a first proximal deployment direction Dap and the second proximal climbing means 20bp being movable relative to the chassis 11 between the retracted position and the deployed position along a second proximal axis Abp which extends along a second proximal deployment direction Dbp. The first proximal axis Aap and the second proximal axis Abp may be symmetrical relative to a first longitudinal plane.

[0077] The first longitudinal plane may extend along the longitudinal direction X and the vertical direction Z. The first longitudinal plane may be a transversely median plane of the vehicle 10, i.e. the first longitudinal plane may be located transversely on the vehicle 10 in the middle between the first transverse end and the second transverse end of the vehicle 10.

[0078] The first distal climbing means 20ad may be movable relative to the frame 11 between the retracted position and the deployed position along a first distal axis Aad which extends along a first distal deployment direction Dbd. The first proximal axis Aap and the first distal axis Aad may be symmetrical relative to a first transverse plane.

[0079] The first transverse plane may extend along the transverse direction Y and the vertical direction Z. The first transverse plane may be a longitudinally median plane of the vehicle 10, i.e. the first transverse plane may be located longitudinally on the vehicle 10 in the middle between the proximal end and the distal end of the vehicle 10.

[0080] The second distal climbing means 20bd can be movable relative to the chassis 11 between the retracted position and the deployed position along a second distal axis Abd which extends along a second distal deployment direction Dbd. The first distal axis Aad and the second distal axis Abd can be symmetrical with respect to the first longitudinal plane.

[0081] The actuator, more particularly visible in Figures 2 to 4, is now described in more detail.

[0082] First of all, the actuator here comprises a single deployment motor 36. In the case where the vehicle 10 comprises several climbing means 20ap; 20bp; 20ad; 20bd, a single deployment motor 36 makes it possible to reduce the volume and mass of the vehicle 10. It is understood that all the climbing means 20ap; 20bp; 20ad; 20bd are deployed via the single deployment motor 36.

[0083] Alternatively, the actuator may comprise a plurality of deployment motors. Each deployment motor 36 may be adapted to move one or more climbing means 20ap; 20bp; 20ad; 20bd relative to the chassis 11 between the retracted position and the deployed position.

[0084] The actuator comprises one or more pairs of rails 31ap; 31bp; 3lad; 31bd each associated with one of said one or more climbing means 20ap; 20bp; 20ad; 20bd, each pair of rails 31ap; 31bp; 3lad; 31bd each comprising: - a fixed rail 32ap; 32bp; 32ad; 32bd rigidly fixed to the frame 11, - a movable rail 33ap; 33bp; 33ad; 33bd configured to slide relative to the fixed rail 32ap; 32bp; 32ad; 32bd, the associated climbing means being rigidly fixed to a first end of the first movable rail, and wherein the actuator further comprises a transmission system adapted to be coupled with the deployment motor 36 and to slide the movable rail 33ap; 33bp; 33ad; 33bd of each pair of rails 31ap; 31bp; 3lad; 31bd relative to the corresponding fixed rail 32ap; 32bp; 32ad; 32bd.

[0085] The fixed rail 32ap; 32bp; 32ad; 32bd of each pair of rails 31ap; 31bp; 3lad; 31bd may be rigidly fixed to the frame of the chassis 11, in particular to one of the side members and to the central cross member 13m. By "rigidly fixed" above, it is meant a fixing immobilizing two elements relative to each other. Such a fixing may be achieved by any known permanent or removable fixing means, for example clipping, welding, riveting, tight assembly by interference. The fixed rail 32ap; 32bp; 32ad; 32bd and the movable rail 33ap; 33bp; 33ad; 33bd of each pair of rails may comprise a profile, preferably metallic, for example aluminum.The movable rail 33ap; 33bp; 33ad; 33bd of each pair of rails 31ap; 31bp; 3lad; 31bd can slide relative to the fixed rail 32ap; 32bp; 32ad; 32bd between a first position in which the associated climbing means is in the retracted position and a second position in which the associated climbing means is in the deployed position.

[0086] Said one or more pairs of rails 31ap; 31bp; 3lad; 31bd comprise a first proximal pair of rails 31ap associated with the first proximal climbing means 20ap and a second proximal pair of rails 31bp associated with the second proximal climbing means 20bp. Said one or more pairs of rails 31ap; 31bp; 3lad; 31bd may comprise a first distal pair of rails 3lad associated with the first distal climbing means 20ad and a second distal pair of rails 31bd associated with the second distal climbing means 20bd.

[0087] The fixed rail 32ap; 32bp; 32ad; 32bd and the movable rail 33ap; 33bp; 33ad; 33bd of each pair of rails 31ap; 31bp; 3lad; 31bd extend in the direction of deployment Dap; Dbp; Dad; Dbd of the associated climbing means. To do this, the transmission system is adapted to slide the movable rail 33ap; 33bp; 33ad; 33bd of each pair of rails 31ap; 31bp; 3lad; 31bd relative to the fixed rail 32ap; 32bp; 32ad; 32bd in the direction of deployment Dap; Dbp; Dad; Dbd of the climbing means associated with the pair of rails 31ap; 31bp; 3lad; 31bd considered.

[0088] The fixed rail 32ap and the movable rail 33ap of the first proximal pair of rails 31ap extend along the first proximal deployment direction Dap, in particular along the first proximal axis Aap. The fixed rail 32bp and the movable rail 33bp of the second proximal pair of rails 31bp extend along the second proximal deployment direction Dbp, in particular along the second proximal axis Abp. The fixed rail 32ad and the movable rail 33ad of the first distal pair of rails 3lad extend along the first distal deployment direction Dbd, in particular along the first distal axis Aad. The fixed rail 32bd and the movable rail 33bd of the second distal pair of rails 31bd extend along the second distal deployment direction Dbd, in particular along the second distal axis Abd.

[0089] For this purpose, the transmission system comprises: - a belt 35 stretched between an output shaft of the deployment motor 36 and a guide pinion, and - one or more pusher arms 34p; 34d, the belt 35 being configured to move each pusher arm 34p; 34d in translation along the longitudinal direction X, each pusher arm 34p; 34d being coupled to the movable rail 33ap; 33bp; 33ad; 33bd of at least one of said one or more pairs of rails 31ap; 31bp; 3lad; 31bd so that the actuation of the belt 35 by the deployment motor 36 causes said movable rail 33ap; 33bp; 33ad; 33bd to slide relative to the corresponding fixed rail 32ap; 32bp; 32ad; 32bd via the associated pusher arm 34p; 34d.

[0090] The output shaft of the deployment motor 36 may comprise an output pinion on which the belt 35 engages. Each pusher arm 34p; 34d may be integral in translation with the belt 35. Each pusher arm 34p; 34d may be moved by the belt 35 between a first position in which the movable rail 33ap; 33bp; 33ad; 33bd of each associated pair of rails 31ap; 31bp; 3lad; 31bd is in the first position and a second position in which the movable rail 33ap; 33bp; 33ad; 33bd of each associated pair of rails 31ap; 31bp; 3lad; 31bd is in the second position.

[0091] The transmission system includes a proximal pusher arm 34p coupled to the movable rail 33ap of the first proximal rail pair 31ap and to the movable rail 33bp of the second proximal rail pair 31bp. The transmission system may further include a distal pusher arm 34d that is coupled to the movable rail 33ad of the first distal rail pair 3lad and to the movable rail 33bd of the second distal rail pair 31bd.

[0092] The belt 35 may comprise a first portion and a second portion, the first portion and the second portion of the belt 35 being moved in opposite directions when the deployment motor 36 drives the belt 35. The proximal pusher arm 34p may be connected to the first portion of the belt 35 and the distal pusher arm 34d may be connected to the second portion of the belt 35. The belt 35 may comprise a first strand and a second strand, the first strand and the second strand of the belt 35 being moved in opposite directions when the deployment motor 36 drives the belt 35. The first strand may comprise the first portion and the second strand may comprise the second portion. The first strand may be arranged above the second strand in the vertical direction Z.

[0093] The output shaft of the deployment motor 36 can extend along a transverse motor axis. The guide pinion can extend along a transverse guide axis. The first strand of the belt 35 can move in a first direction S1 of the longitudinal direction X and the second strand of the belt 35 can move in a second direction S2 of the longitudinal direction X. The first portion of the belt 35 can move in a first direction S1 of the longitudinal direction X and the second portion of the belt 35 can move in a second direction S2 of the longitudinal direction X.

[0094] The proximal pusher arm 34p can be moved from the first position to the second position in the first direction S1 of the longitudinal direction X. The distal pusher arm 34d can be moved from the first position to the second position in the second direction S2 of the longitudinal direction X.

[0095] Each pusher arm 34p; 34d comprises one or more grooves 38pl; 38p2; 38dl; 38d2 visible in Figures 9 to 11. Each groove 38pl; 38p2; 38dl; 38d2 extends at least in the transverse direction Y. Each groove 38pl; 38p2; 38dl; 38d2 of said pusher arm 34p; 34d receives a rod 37ap; 37bp; 37ad; 37bd of the rail mobile 33ap; 33bp; 33ad; 33bd of one of said one or more pairs of rails 31ap; 31bp; 3lad; 31bd associated with said pusher arm 34p; 34d.

[0096] When one of said one or more pusher arms 34p; 34d is moved by the belt 35 in the longitudinal direction X in a first direction S1 or in a second direction S2, the edges of each groove come into contact in the first direction on the corresponding rod 37ap; 37bp; 37ad; 37bd so that a movement in the longitudinal direction X of the pusher arm 34p; 34d causes a movement in the longitudinal direction X and in the same direction of the associated movable rail 33ap; 33bp; 33ad; 33bd. Such an arrangement makes it possible to convert a movement of each pusher arm 34p; 34d in the longitudinal direction X into a movement in the longitudinal X and transverse Y directions of the corresponding movable rails 33ap; 33bp; 33ad; 33bd.

[0097] Remarkably, the transmission system is also configured to allow free relative movement between the movable rail 33ap of the first proximal pair of rails 31ap and the movable rail 33bp of the second proximal pair of rails 31bp, at least when the first proximal climbing means 20ap and the second proximal climbing means 20ad are in their deployed position.

[0098] This allows for differentiated deployment of the first and second proximal climbing means 20ap; 20bp. Due to manufacturing tolerances, it is possible that in the deployed position, i.e. the position in which the proximal climbing means 20ap; 20bp are able to cooperate with a respective vertical upright 101; 102, the distance in the longitudinal direction X between the frame and the proximal climbing means 20ap; 20bp is not identical for each of the climbing means 20ap; 20bp. This may in particular be due to an offset e in the longitudinal direction between the vertical uprights 101; 102 with which the proximal climbing means are intended to cooperate. Also, the free relative movement between the two movable rails allows for adjustment of the deployed position of the proximal climbing means 20ap; 20bp along the longitudinal direction X even though the actuator includes a single deployment motor 36.

[0099] In other words, the movable rail 33ap of the first proximal pair of rails 31ap and the movable rail 33bp of the second proximal pair of rails 31bp can slide independently of each other over a limited stroke, that is to say over a stroke reduced compared to the complete stroke between the first position and the second position.

[0100] To do this, as shown in Figures 9 to 13, the movable rail 33ap of the first pair of proximal rails 31ap is pivotally mounted about a first proximal vertical axis Avpl relative to the proximal pusher arm 34p, at a first transverse end of the proximal pusher arm 34p. The movable rail 33bp of the second pair of proximal rails 31bp is pivotally mounted about a second proximal vertical axis Avp2 relative to the proximal pusher arm 34p, at a second transverse end of the proximal pusher arm 34p. Finally, the proximal pusher arm 34p is pivotally mounted about a third proximal vertical axis Avp3 relative to the belt 35. The proximal pusher arm 34p, the movable rail 33ap of the first pair of proximal rails 31ap and the movable rail 33bp of the second pair of proximal rails 31bp thus form a spreader bar which allows differentiated sliding between the movable rail 33ap of the first pair of proximal rails 31ap relative to the movable rail 33bp of the second pair of proximal rails 31bp. The third proximal vertical axis Avp3 can be arranged at a transversely medial portion of the proximal pusher arm 34p.

[0101] The proximal pusher arm 34p is pivotally mounted about the third proximal vertical axis Avp3 at an angle ap of between 0° and 5°, preferably at an angle a of between 0° and 2.5°, from a reference position in which the proximal pusher arm 34p extends in the transverse direction Y. It is understood that the free relative movement between the movable rail 33ap of the first pair of proximal rails 31ap and the movable rail 33bp of the second pair of proximal rails 31bp is limited by the angular movement of the proximal pusher arm 34p. In other words, the pivoting P of the proximal pusher arm may be limited about the third proximal vertical axis Avp3 at the angle ap of between 0° and 5°, preferably at an angle a of between 0° and 2.5°, from the reference position in which the proximal pusher arm 34p extends in the transverse direction Y.The proximal pusher arm 34p can pivot around the third proximal vertical axis Avp3 in one direction and / or the other, i.e. clockwise and / or counterclockwise.

[0102] The proximal pusher arm 34p can extend along a proximal extension axis Ae, preferably horizontal. In the reference position of the proximal pusher arm 34p, the proximal extension axis Ae can extend along the transverse direction Y. When the proximal pusher arm 34p is in a pivoted configuration P about the third proximal vertical axis Avp3 relative to the reference position, the extension axis Ae can form an angle of between 0° and 5°, preferably at an angle of between 0° and 2.5° with the transverse direction Y.

[0103] The vehicle 10 comprises a proximal stop member rigidly fixed to the belt 35 and comprises at least one side wall 53; 54 facing the proximal pusher arm 34p in the longitudinal direction X, said at least one side wall 53; 54 comprising: - a first surface element 53a; 54a forming a first proximal end stop P of pivoting of the proximal pusher arm 34p in a first direction around the third proximal vertical axis Avp3, and - a second surface element 53b; 54b forming a second end stop P for pivoting the proximal pusher arm 34p in a second direction around the third vertical axis Avp3.

[0104] When the proximal pusher arm 34p is resting against the first proximal stop, the proximal pusher arm can be pivoted about the third proximal vertical axis Avp3 in a first direction according to a first maximum angle. Similarly, when the proximal pusher arm 34p is resting against the second stop, the proximal pusher arm 34p can be pivoted about the third proximal vertical axis Avp3 in a second direction according to a second maximum angle, which can be equal to, greater than or less than the first maximum angle.

[0105] Said at least one side wall 53; 54 comprises a first side wall 53 and a second side wall 54 arranged on either side of the proximal pusher arm 34p in the longitudinal direction X. This provides a more robust assembly. The first surface element 53a of the first side wall 53 and the first surface element 54a of the second side wall 54 may be symmetrical with respect to the third proximal vertical axis Avp3. Also, when the proximal pusher arm 34p is bearing against the first proximal stop, a first edge of the proximal pusher arm 34p may be bearing against the first surface element 53a of the first side wall 53 and a second edge of the proximal pusher arm 34p may be bearing against the first surface element 54a of the second side wall 54.The second surface element 53b of the first side wall 53 and the second surface element 54b of the second side wall 54 may be symmetrical with respect to the third proximal vertical axis Avp3. Also, when the proximal pusher arm 34p is in abutment against the second stop, a first edge of the proximal pusher arm 34p may be in abutment against the second surface element 53b of the first side wall 53 and the second edge of the proximal pusher arm 34p may be in abutment against the second surface element 54b of the second side wall 54.

[0106] The stop member comprises a relief 55 extending along the third proximal vertical axis Avp3, the relief 55 being received by complementary shape in a relief, here a hole, of the proximal pusher arm 34p in order to guide the proximal pusher arm 34p in pivoting around the third proximal vertical axis Avp3 relative to the proximal stop member and the belt 35. The relief 55 of the proximal stop member and the hole formed in the proximal pusher arm 34p may be cylindrical in revolution around the third proximal vertical axis Avp3.

[0107] The proximal stop member may be connected to the first strand of the belt 35, in particular to the first portion of the belt 35. The proximal stop member comprises an external part 51 bearing on an external face of the belt 35 and an internal part 52 bearing on an internal face of the belt 35, the external part 51 and the internal part 52 being rigidly fixed to each other, the external part 51 forming said at least one side wall 53; 54, and where appropriate the relief 55.

[0108] The external part 51 and / or the internal part 52 of the proximal stop member may each bear in the vertical direction Z on the belt 35. It is understood that the belt 35 is clamped between the external part 51 and the internal part 52. The internal part 52 and / or the external part 51 may comprise a surface adapted to mesh with the belt 35. The external part 51 and the internal part 52 may be fixed to each other by any known permanent or removable fixing means, for example clipping, welding, riveting, tight assembly by interference.

[0109] The external part 51 may comprise a slot 56 extending in the transverse direction Y and adapted to receive a portion of the proximal pusher arm 34p. Said at least one side wall 53; 54 may longitudinally delimit the slot 56. In particular, the first side wall 53 and the second side wall 53; 54 may longitudinally delimit the slot 56 on each side. The relief 55 may extend vertically inside the slot 56. The relief 55 may extend vertically from a base wall of the external part 51 towards the belt 35.

[0110] Said one or more grooves of the proximal pusher arm 34p may comprise a first groove and a second groove. The rod 37ap of the movable rail 33ap of the first proximal pair of rails 31ap may extend along the first proximal vertical axis Avpl, the movable rail 33ap of the first proximal pair of rails 31ap being guided in pivoting about the first proximal vertical axis Avpl relative to the proximal pusher arm 34p by the insertion of the rod 37ap of the movable rail 33ap of the first proximal pair of rails 31ap into the first groove.The rod 37bp of the movable rail 33bp of the second proximal pair of rails 31bp can extend along the second proximal vertical axis Avp2, the movable rail 33bp of the second proximal pair of rails 31bp being pivotally guided around the first distal vertical axis Avdl relative to the proximal pusher arm 34p by the insertion of the rod 37bp of the movable rail 33bp of the second proximal pair of rails 31bp into the second groove.

[0111] The first groove of the proximal pusher arm 34p may extend along the extension axis Ae of the proximal pusher arm 34p, in the vicinity of the first end of the proximal pusher arm 34p.

[0112] The second groove of the proximal pusher arm 34p may extend along the extension axis Ae of the proximal pusher arm 34p, in the vicinity of the second end of the proximal pusher arm 34p.

[0113] Similarly, the transmission system may be configured to allow free relative movement between the movable rail 33ad of the first distal rail pair 3lad and the movable rail 33bd of the second distal rail pair 31bd, at least when the first distal climbing means 20ad and the second distal climbing means 20bd are in their deployed position.

[0114] This allows for differentiated deployment of the first and second distal climbing means 20ad; 20bd. Due to manufacturing tolerances, it is possible that in the deployed position, i.e. the position in which the distal climbing means 20ad; 20bd are capable of cooperating with a respective vertical upright, the distance in the longitudinal direction X between the chassis and the distal climbing means 20ad; 20bd is not identical for each of the climbing means 20ad; 20bd. This may in particular be due to an offset in the longitudinal direction between the vertical uprights with which the distal climbing means are intended to cooperate. Also, the free relative movement between the two movable rails allows for adjustment of the deployed position of the distal climbing means 20ad; 20bd in the longitudinal direction X even though the actuator comprises a single deployment motor 36.

[0115] In other words, the movable rail 33ad of the first distal pair of rails 3lad and the movable rail 33bd of the second distal pair of rails 31bd can slide independently of each other over a limited stroke, that is to say over a stroke reduced compared to the complete stroke between the first position and the second position.

[0116] The movable rail 33ad of the first pair of distal rails 3lad may be pivotally mounted about a first distal vertical axis Avdl relative to the distal pusher arm 34d, at a first transverse end of the distal pusher arm 34d. The movable rail 33bd of the second pair of distal rails 31bd may be pivotally mounted about a second distal vertical axis Avd2 relative to the distal pusher arm 34d, at a second transverse end of the distal pusher arm 34d. The distal pusher arm 34d may be pivotally mounted about a third distal vertical axis Avd3 relative to the belt 35.

[0117] The distal pusher arm 34d, the movable rail 33ad of the first pair of distal rails 3lad and the movable rail 33bd of the second pair of distal rails 31bd thus form a spreader bar which allows differentiated sliding between the movable rail 33ad of the first pair of distal rails 3lad relative to the movable rail 33bd of the second pair of distal rails 31bd.

[0118] The third distal vertical axis Avd3 may be arranged at a transversely medial portion of the distal pusher arm 34d.

[0119] The distal pusher arm 34d can pivot about the third distal vertical axis Avd3 at an angle between 0° and 5°, preferably at an angle between 0° and 2.5°, from a reference position in which the distal pusher arm 34d extends in the transverse direction Y.

[0120] It is understood that the differentiated sliding between the movable rail 33ad of the first pair of distal rails 3lad and the movable rail 33bd of the second pair of distal rails 31bd is limited by the angular movement of the distal pusher arm 34d.

[0121] The distal pusher arm 34d can pivot about the third distal vertical axis Avd3 in one direction and / or the other, i.e. in a clockwise direction and / or in a counterclockwise direction.

[0122] The distal pusher arm 34d can extend along a distal extension axis, preferably horizontal. In the reference position of the distal pusher arm 34d, the distal extension axis can extend along the transverse direction Y. When the distal pusher arm 34d is in a pivoted configuration about the third distal vertical axis Avd3 relative to the reference position, the extension axis can form an angle of between 0° and 5°, preferably at an angle of between 0° and 2.5° with the transverse direction Y.

[0123] The vehicle 10 may comprise a distal stop member rigidly fixed to the belt 35 and comprises at least one side wall facing the distal pusher arm 34d in the longitudinal direction X, said at least one side wall comprising: - a first surface element forming a first distal stop at the end of pivoting of the distal pusher arm 34d in a first direction around the third distal vertical axis Avd3, and - a second surface element forming a second end stop for pivoting the distal pusher arm 34d in a second direction around the third distal vertical axis Avd3.

[0124] When the distal pusher arm 34d is resting against the first distal stop, the distal pusher arm can be pivoted about the third distal vertical axis Avd3 in a first direction according to a first maximum angle. Similarly, when the distal pusher arm 34d is resting against the second stop, the distal pusher arm 34d can be pivoted about the third distal vertical axis Avd3 in a second direction according to a second maximum angle, which can be equal to, greater than or less than the first maximum angle.

[0125] Said at least one wall may comprise a first wall and a second wall arranged on either side of the distal pusher arm 34d in the longitudinal direction X. The assembly is thus more robust. The first surface element of the first side wall and the first surface element of the second side wall may be symmetrical with respect to the third vertical axis Avd3. Also, when the distal pusher arm 34d is bearing against the first stop, a first edge of the distal pusher arm 34d may be bearing against the first surface element of the first side wall and a second edge of the distal pusher arm 34d may be bearing against the first surface element of the second side wall. The second surface element of the first side wall and the second surface element of the second side wall may be symmetrical with respect to the third distal vertical axis Avd3. Also, when the distal pusher arm 34d is in abutment against the second stop, a first edge of the distal pusher arm 34d may be in abutment against the second surface element of the first side wall and the second edge of the distal pusher arm 34d may be in abutment against the second surface element 54b of the second side wall.

[0126] The stop member may comprise a relief extending along the third distal vertical axis Avd3, the relief being received by complementary shape in a relief, here a hole, of the distal pusher arm 34d in order to guide the distal pusher arm 34d in pivoting around the third distal vertical axis Avd3 relative to the distal stop member and the belt 35.

[0127] The relief of the distal stop member and the hole formed in the distal pusher arm 34d may be cylindrical in revolution around the third distal vertical axis Avd3.

[0128] The distal stop member may be connected to the second strand of the belt 35, in particular to the second portion of the belt 35. The distal stop member may comprise an external part bearing on an external face of the belt 35 and an internal part bearing on an internal face of the belt 35, the external part and the internal part being rigidly fixed to each other, the external part forming said at least one side wall, and where appropriate the relief.

[0129] The external part and / or the internal part of the distal stop member may each be supported in the vertical direction Z on the belt 35. It is understood that the belt 35 is clamped between the external part and the internal part. The internal part and / or the external part may comprise a surface adapted to engage with the belt 35. The external part and the internal part may be fixed to each other by any known permanent or removable fixing means, for example clipping, welding, riveting, tight assembly by interference.

[0130] The outer part may comprise a slot extending in the transverse direction Y and adapted to receive a portion of the distal pusher arm 34d. Said at least one side wall may longitudinally delimit the slot. In particular, the first side wall and the second side wall may longitudinally delimit the slot on each side. The relief may extend vertically inside the slot. The relief may extend vertically from a base wall of the outer part towards the belt 35.

[0131] Said one or more grooves of the distal pusher arm 34d may comprise a first groove and a second groove and wherein: - the rod 37ad of the movable rail 33ad of the first pair of distal rails 3lad extends along the first distal vertical axis Avdl, the movable rail 33ad of the first pair of distal rails 3lad being pivotally guided around the first distal vertical axis Avdl relative to the distal pusher arm 34d by the insertion of the rod 37ad of the movable rail 33ad of the first pair of distal rails 3lad into the first groove, and - the rod 37bd of the movable rail 33bd of the second pair of distal rails 31bd extends along the second distal vertical axis Avd2, the movable rail 33bd of the second pair of distal rails 31bd being pivotally guided around the first distal vertical axis Avdl relative to the distal pusher arm 34d by the insertion of the rod 37bd of the movable rail 33bd of the second pair of distal rails 31bd into the second groove.

[0132] The first groove of the distal pusher arm 34d may extend along the extension axis of the distal pusher arm 34d, in the vicinity of the first end of the distal pusher arm 34d.

[0133] The second groove of the distal pusher arm 34d may extend along the extension axis of the distal pusher arm 34d, in the vicinity of the second end of the distal pusher arm 34d.

[0134] In the following paragraphs, said one or more climbing means and the means adapted to drive said one or more climbing means in order to move the vehicle along one or more vertical posts are described in more detail. Unless otherwise stated, this aspect may be considered independently or in combination with the means described above in connection with the deployment of said one or more climbing means and the actuator.

[0135] Each climbing means 20ap; 20bp; 20ad; 20bd comprises a wheel 21 intended to cooperate with the vertical upright, each wheel 21 having an axis of rotation. The vehicle 10 further comprises one or more climbing motors, the wheel 21 of each climbing means 20ap; 20bp; 20ad; 20bd being coupled with one of said one or more climbing motors to be driven in rotation about its axis of rotation. It is understood here that one of said one or more climbing motors can drive, preferably simultaneously, the wheel 21 of at least two, or even all, of said climbing means 20ap; 20bp; 20ad; 20bd.

[0136] The axis of rotation of the wheel 21 of each climbing means 20ap; 20bp; 20ad; 20bd may coincide with an axis of revolution of the wheel 21. Each wheel 21 may be toothed, i.e. each wheel may comprise a series of teeth distributed over its periphery and adapted to mesh with a complementary climbing member of a vertical upright. The vertical upright may comprise a chain or a rack with which the wheel 21 of the climbing means cooperates. Each wheel 21 may have a cylindrical shape of revolution around its axis of rotation or a truncated cone shape around its axis of revolution. Each wheel 21 may have a disc shape, for example by having a thickness along the axis of rotation which is less than a radius of the wheel, or a roller shape, for example by having a thickness according to the axis of rotation which is greater than a radius of the wheel. Each climbing motor can be fully arranged inside the internal volume of the chassis 11.

[0137] The axis of rotation of the wheel 21 of each climbing means 20ap; 20bp; 20ad; 20bd extends in the transverse direction Y or in the longitudinal direction X, in the retracted position and / or in the deployed position. In the example shown, the axis of rotation of the wheel 21 of each climbing means 20ap; 20bp; 20ad; 20bd extends in the transverse direction Y, in the retracted position and in the deployed position. With the wheels thus arranged, the space inside the vehicle is optimized, which makes it possible to reduce the volume of said vehicle. Furthermore, having the axis of rotation of the wheel 21 of each climbing means extending in the same direction facilitates the driving of the wheel 21 of each climbing means around its axis of rotation by a mechanism common to at least two, or even all, of the climbing means, which makes it possible to reduce the volume and mass of the vehicle 10.When the axis of rotation of the wheel of each climbing means extends in the transverse direction Y, the vehicle can have a reduced ground encroachment and can thus advantageously: - travel on the ground, for example by means of rolling means 19, along an aisle delimited by two racks which comprise vertical uprights along which the vehicle can climb but also under one of the racks, and / or - pivot on the ground, for example by means of rolling means 19, in the aisle but also under a rack.

[0138] The axis of rotation of the wheel 21 of each climbing means 20ap; 20bp; 20ad; 20bd may be perpendicular to the vertical direction Z in the retracted position and / or in the deployed position. Alternatively, the axis of rotation of the wheel 21 of each climbing means 20ap; 20bp; 20ad; 20bd may comprise a component along the transverse direction Y and a component along the longitudinal direction X in the retracted position and / or in the deployed position. According to a particular example, the axis of rotation of the wheel 21 of each climbing means 20ap; 20bp; 20ad; 20bd may extend along the longitudinal direction X in the retracted position and / or in the deployed position. The rotation axis orientation of the wheel 21 may remain fixed during the deployment of each climbing means. Alternatively, the rotation axis orientation of the wheel 21 may vary during the deployment of each climbing means.

[0139] Said one or more climbing motors comprise a proximal climbing motor configured to drive the wheel 21 of the first proximal climbing means 20ap in rotation about its axis of rotation and the wheel 21 of the second proximal climbing means 20bp in rotation about its axis of rotation. Said one or more climbing motors may comprise a distal climbing motor configured to drive the wheel 21 of the first distal climbing means 20ad in rotation about of its axis of rotation and the wheel 21 of the second distal climbing means 20bd rotating around its axis of rotation. This reduces the number of climbing motors required, reducing the size and mass of the vehicle 10. In other words, the vehicle 10 comprises a first single climbing motor for rotating the wheel 21 of the first climbing means and the third climbing means, and a second single climbing motor for rotating the wheel 21 of the second climbing means and the fourth climbing means.

[0140] Each climbing motor is rigidly fixed to the chassis 11. More visible in Figures 5 and 6, the vehicle 10 comprises one or more transmission arms 41ap; 41bp; 4lad; 41bd, the wheel 21 of each climbing means 20ap; 20bp; 20ad; 20bd being coupled with an output shaft of one of said one or more climbing motors via one of said one or more transmission arms 41ap; 41bp; 4lad; 41bd. Remarkably, and as shown in [Fig.7], each transmission arm 41ap; 41bp; 4lad; 41bd comprising an extendable middle portion 44ap; 44bp; 44ad; 44bd. This allows the coupling between the wheel 21 and the corresponding climbing motor output shaft to be maintained when the wheel 21 is moved between the retracted position and the deployed position.

[0141] The extendable middle portion 44ap; 44bp; 44ad; 44bd may be telescopic. For this purpose, the extendable middle portion 44ap; 44bp; 44ad; 44bd may comprise a tubular female element in which a cylindrical male element slides. The male element may be received in the female element by form-fitting in order to prevent rotation of the male and female elements relative to each other. For example, the male and female elements may each have a fluted shape complementary to each other.

[0142] The transmission arm 41ap; 41bp; 41ad; 41bd by which the wheel 21 of each climbing means 20ap; 20bp; 20ad; 20bd is coupled with an output shaft of one of said one or more climbing motors, further comprises: - a first end portion 43ap; 43bp; 43ad; 43bd coupled to the output shaft of said corresponding climbing motor and connected to the middle portion 44ap; 44bp; 44ad; 44bd by a first universal joint, and - a second end portion 45ap; 45bp; 45ad; 45bd coupled to the wheel 21 and connected to the middle part 44ap; 44bp; 44ad; 44bd by a second universal joint.

[0143] The first universal joint and the second universal joint provide angular transmission between the middle part 44ap; 44bp; 44ad; 44bd and the first and second end portions, in particular when the middle part 44ap; 44bp; 44ad; 44bd extends along an axis intersecting the axis of rotation of the corresponding wheel 21 and the axis of the output shaft of the corresponding climbing motor.

[0144] Said one or more transmission arms 41ap; 41bp; 41ad; 41bd may comprise: - a first proximal transmission arm 41ap whose first end portion 43ap is coupled to the output shaft of the proximal climbing motor, - a second proximal transmission arm 41bp whose first end portion 43bp is coupled to the output shaft of the proximal climbing motor, - a first distal transmission arm 41ad whose first end portion 43ad is coupled to the output shaft of the distal climbing motor, - a second distal transmission arm 41bd whose first end portion 43bd is coupled to the output shaft of the distal climbing motor.

[0145] The first end portion 43ap of the first proximal transmission arm 41ap and the first end portion 43bp of the second proximal transmission arm 41bp may be coupled respectively to opposite ends of the output shaft of the proximal climbing motor. The first end portion 43ad of the first distal transmission arm 4lad and the first end portion 43bd of the second distal transmission arm 41bd may be coupled respectively to opposite ends of the output shaft of the distal climbing motor.

[0146] The extensible middle portion of the first proximal transmission arm 41ap may have a length greater or less than the extensible middle portion of the second proximal transmission arm 41bp. The extensible middle portion of the first distal transmission arm 41ad may have a length greater or less than the extensible middle portion of the second distal transmission arm 41bd.

[0147] Thus the output shafts of the climbing motors can be offset relative to a transversely median plane of the vehicle 10 to allow more flexibility in the arrangement of the constituent elements of the vehicle 10.

[0148] The vehicle as described above may be intended for order preparation in an item storage and retrieval system. Such an item storage and retrieval system comprises: - at least one storage rack, said at least one storage rack comprising a plurality of vertical uprights aligned in a first horizontal direction, - the vehicle as described previously, the longitudinal direction of the vehicle being perpendicular to the first direction, at least one of said one or more climbing means being in the deployed position and cooperating with one of the plurality of vertical uprights.

[0149] Each rack is adapted to store articles. Each rack may comprise a plurality of levels distributed vertically between a lower level and an upper level. Each level may comprise a plurality of cells, each cell being delimited by two successive uprights along the first horizontal direction. Each cell can receive one or more items, preferably in a bin.

[0150] The vehicle may be intended to retrieve an item from one of the cells, for example to bring it to an order preparation station. As indicated above, the vehicle is adapted to move vertically along one or more uprights to access a cell which includes the item or bin to be retrieved. To do this, each vertical upright may include a climbing member, such as a chain or a rack, which extends vertically along the upright and with which the corresponding climbing means of the vehicle cooperates.

[0151] Said at least one rack may comprise a first rack and a second rack, the first rack and the second rack defining an aisle extending in the first horizontal direction. The vehicle may be adapted to travel, preferably on the ground, along the aisle and / or under said at least one rack, in particular under the lower level of said at least one rack. When the vehicle is in the aisle, to move the vehicle vertically along the first rack and the second rack: - at least one of said one or more climbing means may be in the deployed position and cooperates with one of the plurality of vertical uprights of the first rack, and / or - at least one of said one or more climbing means may be in the deployed position and cooperates with one of the plurality of vertical uprights of the second rack.

[0152] The plurality of vertical uprights of each rack may comprise at least a first upright and a second upright, preferably successive along the first horizontal direction. To move the vehicle vertically along the first rack and the second rack: - the first proximal climbing means may be in the deployed position and cooperates with the first upright of the first rack, - the second proximal climbing means can be in the deployed position and cooperates with the second upright of the first rack - the first distal climbing means may be in the deployed position and cooperates with the first upright of the second rack, and - the second distal climbing means can be in the deployed position and cooperates with the second upright of the second rack.

Claims

Claims

1. Vehicle (10) for an automated storage and retrieval system, comprising a chassis (11) extending horizontally in a longitudinal direction (X) and a transverse direction (Y) and one or more climbing means (20ap; 20bp; 20ad; 20bd) each being adapted to move the vehicle (10) along a respective vertical upright, each climbing means (20ap; 20bp; 20ad; 20bd) being movable relative to the chassis (11) between a retracted position, and a deployed position in which the climbing means is adapted to cooperate with a complementary member extending along said vertical upright, the vehicle (10) comprising at least one actuator configured to deploy each climbing means (20ap; 20bp; 20ad; 20bd) relative to the chassis (11) between the retracted position and the deployed position, wherein each means of climbing (20ap; 20bp; 20ad;20bd) comprises a wheel (21) intended to cooperate with the vertical upright, each wheel (21) having an axis of rotation, the axis of rotation of the wheel (21) of each climbing means (20ap; 20bp; 20ad; 20bd) extending in the transverse direction (Y), in the retracted position and in the deployed position, and in which each climbing means (20ap; 20bp; 20ad; 20bd) is movable relative to the chassis (11) between the retracted position and the deployed position in a respective deployment direction (Dap; Dbp; Dad; Dbd) which comprises at least one component in the longitudinal direction (X) and one component in the transverse direction (Y).;

2. Vehicle (10) according to the preceding claim, wherein said one or more climbing means (20ap; 20bp; 20ad; 20bd) comprise at least a first proximal climbing means (20ap) and a second proximal climbing means (20bp) arranged at a proximal end of the chassis (11) in the longitudinal direction (X), the first proximal climbing means (20ap) and the second proximal climbing means (20bp) being preferably arranged, transversely, respectively at a first transverse end and a second transverse end of the chassis (11) in the transverse direction (Y).

3. Vehicle (10) according to the preceding claim, wherein said one or more climbing means (20ap; 20bp; 20ad; 20bd) comprise at least a first distal climbing means (20ad) and a second distal climbing means (20bd), arranged at a distal end of the chassis (11) in the longitudinal direction (X), the first distal climbing means (20ad) and the second distal climbing means (20bd) being preferably arranged, transversely, respectively at the first transverse end and the second transverse end of the chassis (11).

4. Vehicle (10) according to any one of the preceding claims, in which: - in the retracted position, each climbing means (20ap; 20bp; 20ad; 20bd) is housed, in whole or in part, laterally in the longitudinal direction (X) and / or in the transverse direction (Y) in the chassis (11), and - in the deployed position, each climbing means (20ap; 20bp; 20ad; 20bd) is arranged laterally in the longitudinal direction (X) and / or in the transverse direction (Y) outside the chassis (11) to cooperate with a complementary member extending along said vertical upright.

5. Vehicle (10) according to any one of the preceding claims, which has a longitudinal dimension (dX) in the longitudinal direction (X) and a transverse dimension (dY) in the transverse direction, and wherein: - the longitudinal dimension (dXp) of the vehicle when said one or more climbing means (20ap; 20bp; 20ad; 20bd) are in the deployed position is greater than the longitudinal dimension (dXe) of the vehicle when said one or more climbing means (20ap; 20bp; 20ad; 20bd) are in the retracted position, and / or - the transverse dimension (dYp) of the vehicle when said one or more climbing means (20ap; 20bp; 20ad; 20bd) are in the deployed position is greater than the transverse dimension (dYe) of the vehicle when said one or more climbing means (20ap; 20bp; 20ad; 20bd) are in the deployed position ; 20bp ; 20ad ; 20bd) are the retracted position.

6. Vehicle (10) according to any one of the preceding claims, wherein the actuator is configured to move each climbing means (20ap; 20bp; 20ad; 20bd) relative to the chassis (11) between the retracted position and the deployed position according to at least one translational movement, preferably according to a single translational movement according to the respective deployment direction (Dap; Dbp; Dad; Dbd).

7. A vehicle (10) according to any preceding claim, wherein the actuator comprises a single deployment motor (36).

8. Vehicle (10) according to the preceding claim, wherein the actuator comprises one or more pairs of rails (31ap; 31bp; 3lad; 31bd) each associated with one of said one or more climbing means (20ap; 20bp; 20ad; 20bd), each pair of rails (31ap; 31bp; 3lad; 31bd) each comprising: - a fixed rail (32ap; 32bp; 32ad; 32bd) rigidly fixed to the chassis (H), - a movable rail (33ap; 33bp; 33ad; 33bd) configured to slide relative to the fixed rail (32ap; 32bp; 32ad; 32bd), the associated climbing means being rigidly fixed to a first end of the first movable rail, and wherein the actuator further comprises a transmission system adapted to be coupled with the deployment motor (36) and for sliding the movable rail (33ap; 33bp; 33ad; 33bd) of each pair of rails (31ap; 31bp; 3lad; 31bd) relative to the corresponding fixed rail (32ap; 32bp; 32ad; 32bd).

9. Vehicle (10) according to the preceding claim, claim 2 applying, wherein said one or more pairs of rails (31ap; 31bp; 3lad; 31bd) comprise a first proximal pair of rails (31ap) associated with the first proximal climbing means (20ap) and a second proximal pair of rails (31bp) associated with the second proximal climbing means (20bp).

10. Vehicle (10) according to claim 8 or 9, wherein the fixed rail (32ap; 32bp; 32ad; 32bd) and the movable rail (33ap; 33bp; 33ad; 33bd) of each pair of rails (31ap; 31bp; 3lad; 31bd) extend in the direction of deployment (Dap; Dbp; Dad; Dbd) of the associated climbing means (20ap; 20bp; 20ad; 20bd), and wherein the transmission system is adapted to slide the movable rail (33ap; 33bp; 33ad; 33bd) of each pair of rails (31ap; 31bp; 3lad; 31bd) relative to the fixed rail (32ap; 32bp; 32ad; 32bd) according to the direction of deployment (Dap; Dbp; Dad; Dbd) of the means climbing associated with the pair of rails (31ap; 31bp; 3lad; 31bd) considered.

11. Vehicle (10) according to any one of claims 8 to 10, wherein the transmission system comprises: - a belt (35) stretched between an output shaft of the deployment motor (36) and a guide pinion, and - one or more pusher arms (34p; 34d), the belt (35) being configured to move each pusher arm (34p; 34d) in translation in the longitudinal direction (X), each pusher arm (34p; 34d) being coupled to the movable rail (33ap; 33bp; 33ad; 33bd) of at least one of said one or more pairs of rails (31ap; 31bp; 31ad; 31bd) so that actuation of the belt (35) by the deployment motor (36) causes said movable rail (33ap; 33bp; 33ad; 33bd) relative to the corresponding fixed rail (32ap; 32bp; 32ad; 32bd) via the associated push arm (34p; 34d).

12. Vehicle (10) according to the preceding claim, claim 9 applying, wherein the transmission system comprises a proximal pusher arm (34p) coupled to the movable rail (33ap) of the first proximal pair of rails (31ap) and to the movable rail (33bp) of the second proximal pair of rails (31bp).

13. Vehicle (10) according to claim 11 or 12, wherein each pusher arm (34p; 34d) comprises one or more grooves extending at least in the transverse direction (Y), each groove of said pusher arm (34p; 34d) receiving a rod (37ap; 37bp; 37ad; 37bd) of the movable rail (33ap; 33bp; 33ad; 33bd) of one of said one or more pairs of rails (31ap; 31bp; 3lad; 31bd) associated with said pusher arm (34p; 34d).

14. A vehicle (10) according to any one of claims 2 to 13, further comprising one or more climbing motors, the wheel (21) of each climbing means (20ap; 20bp; 20ad; 20bd) being coupled with one of said one or more climbing motors to be driven in rotation about its axis of rotation, and wherein said one or more climbing motors preferably comprise a proximal climbing motor configured to drive the wheel (21) of the first proximal climbing means (20ap) in rotation about its axis of rotation and the wheel (21) of the second proximal climbing means (20bp) in rotation about its axis of rotation.

15. Vehicle (10) according to the preceding claim wherein each climbing motor is rigidly fixed to the chassis (11), the vehicle (10) comprising one or more transmission arms (41ap; 41bp; 4lad; 41bd), the wheel (21) of each climbing means (20ap; 20bp; 20ad; 20bd) being coupled with an output shaft of one of said one or more climbing motors via one of said one or more transmission arms (41ap; 41bp; 41ad; 41bd), each transmission arm (41ap; 41bp; 4lad; 41bd) comprising an extendable middle portion (44ap; 44bp; 44ad; 44bd).

16. Vehicle (10) according to the preceding claim, wherein the transmission arm (41ap; 41bp; 41ad; 41bd) by which the wheel (21) of each climbing means (20ap; 20bp; 20ad; 20bd) is coupled with an output shaft of one of said one or more climbing motors, further comprises: - a first end portion (43ap; 43bp; 43ad; 43bd) coupled to the output shaft of said corresponding climbing motor and connected to the middle part (44ap; 44bp; 44ad; 44bd) by a first universal joint, and - a second end portion (45ap; 45bp; 45ad; 45bd) coupled to the wheel (21) and connected to the middle part (44ap; 44bp; 44ad; 44bd) by a second universal joint.

17. Vehicle (10) according to claim 9, wherein the transmission system is configured to allow free relative movement between the movable rail (33ap) of the first proximal pair of rails (31ap) and the movable rail (33bp) of the second proximal pair of rails (31bp), at least when the first proximal climbing means (20ap) and the second proximal climbing means (20ad) are in their deployed position.

18. Vehicle (10) according to the preceding claim, claim 12 applying, in which: - the movable rail (33ap) of the first proximal pair of rails (31ap) is pivotally mounted about a first proximal vertical axis (Avpl) relative to the proximal pusher arm (34p), at a first transverse end of the proximal pusher arm (34p), - the movable rail (33bp) of the second proximal pair of rails (31bp) is pivotally mounted about a second proximal vertical axis (Avp2) relative to the proximal pusher arm (34p), at a second transverse end of the proximal pusher arm (34p), and - the proximal pusher arm (34p) is pivotally mounted around a third proximal vertical axis (Avp3) relative to the belt (35).

19. Vehicle (10) according to the preceding claim, in which the proximal pusher arm (34p) is pivotally mounted around the third proximal vertical axis (Avp3) at an angle (ap) between 0° and 5°, preferably at an angle (a) between 0° and 2.5°, from a reference position in which the proximal pusher arm (34p) extends in the transverse direction (Y).

20. Vehicle (10) according to claim 18 or 19, wherein the vehicle (10) comprises a proximal stop member rigidly fixed to the belt (35) and comprises at least one side wall (53; 54) facing the proximal pusher arm (34p) in the longitudinal direction (X), said at least one side wall (53; 54) comprising: - a first surface element (53a; 54a) forming a first pivoting end stop (P) of the proximal pusher arm (34p) in a first direction around the third proximal vertical axis (Avp3), and - a second surface element (53b; 54b) forming a second pivoting end stop (P) of the proximal pusher arm (34p) in a second direction around the third proximal vertical axis (Avp3).

21. Vehicle (10) according to the preceding claim, wherein said at least one side wall (53; 54) comprises a first side wall (53) and a second side wall (54) arranged on either side of the proximal pusher arm (34p) in the longitudinal direction (X).

22. Vehicle (10) according to claim 20 or 21, in which the stop member comprises a relief (55) extending along the third proximal vertical axis (Avp3), the relief (55) being received by complementary shape in a relief of the proximal pusher arm (34p) in order to guide the proximal pusher arm (34p) in pivoting about the third proximal vertical axis (Avp3) relative to the proximal stop member and the belt (35).

23. Vehicle (10) according to any one of claims 20 to 22, in which the proximal stop member comprises an external part (51) bearing on an external face of the belt (35) and an internal part (52) bearing on an internal face of the belt (35), the external part (51) and the internal part (52) being rigidly fixed to each other. to the other, the external part (51) forming said at least one side wall (53; 54), and where appropriate the relief (55).

24. System for storing and retrieving articles comprising: - at least one storage rack, said at least one storage rack comprising a plurality of vertical uprights aligned in a first horizontal direction, - the vehicle (10) according to any one of the preceding claims, the longitudinal direction of the vehicle being perpendicular to the first horizontal direction, at least one of said one or more climbing means (20ap; 20bp; 20ad; 20bd) being in the deployed position and cooperating with one of the plurality of vertical uprights.

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