TWO-DIMENSIONAL MOVEMENT SYSTEM FOR A LOCKER IN A MODULAR STORAGE STRUCTURE

Abstract

This disclosure relates to a system for moving a rack in a modular storage structure, comprising: a longitudinal rack and a transverse rack perpendicular to the longitudinal rack; and a longitudinal pinion and a transverse pinion positioned on the structure to mesh with the longitudinal rack and with the transverse rack. The width of the teeth of the longitudinal rack is less than or equal to the interval between the teeth of the transverse rack and the width of the teeth of the transverse rack is less than or equal to the interval between the teeth of the longitudinal rack. Figure for abstract: Fig. 2

Description

Title of the invention: TWO-DIMENSIONAL MOVEMENT SYSTEM FOR A LOCKER IN A MODULAR STORAGE STRUCTURE Technical field

[0001] The subject of this presentation concerns the field of automated storage systems. More particularly, this presentation concerns drive and guidance devices for the movement of storage elements within a robotic modular structure. STATE OF THE ART

[0002] With the growth of industrial needs and online commerce (or "e-commerce" according to the usual terminology), requiring flexible, fine and responsive logistics, the evolution and adoption of automated solutions for the storage and retrieval of goods are becoming decisive for many players.

[0003] For example, it is possible to use transport technologies such as "Transtockers", "Carousels", "Robotic Fleets", or even the implementation of autonomous and mobile robots. But these technologies do not necessarily provide a compact storage solution, adaptable to all types of spaces, including the most restricted, while maintaining a high distribution rate.

[0004] French patent No. 1907047 presents a compact storage and movement solution, adaptable to various storage environments, and with a high distribution rate. The system described in the mentioned patent comprises a modular structure and racks configured to be moved within the modular structure. The movement of the racks within the modular structure is enabled by a movement system comprising disengageable actuators which equip the modular structure and interact with complementary imprints present on the racks.

[0005] However, the training device described is complex, fragile and limited in terms of acceptable load. In addition, it causes difficulties in assembly and maintenance.

[0006] Patent US7941243B2 proposes a system for moving a rack in a grid. The rack comprises an upper grooved wall and another lower grooved wall which mesh respectively with pinions fixed to the grid and configured to move the rack in two perpendicular directions. But this system requires racks with very specific and complex walls and generates recurring tolerance problems due to the concomitant contact between pinions and the upper grooved wall and gables and the other lower grooved wall regardless of the direction of movement of the locker.

[0007] There is therefore a need to simplify and improve the systems for moving a locker in a modular structure. GENERAL STATEMENT

[0008] One of the objectives of the present disclosure is, for example, to propose a system for moving a locker in a compact modular structure and allowing rapid and reliable movement in two perpendicular directions.

[0009] To this end, according to one aspect of the present disclosure, there is proposed a system for moving a locker in a modular storage structure comprising a chassis forming a plurality of adjacent modules, the moving system comprising: - a longitudinal rack positioned on the rack and configured to move the rack in the modular structure in a first direction and a transverse rack positioned on the rack and configured to move the rack in the modular structure in a second direction, perpendicular to the first direction; and - a longitudinal pinion and a transverse pinion positioned on the frame of each module, the longitudinal pinion being configured to mesh with the longitudinal rack and the transverse pinion being configured to mesh with the transverse rack.

[0010] The longitudinal rack and the transverse rack respectively comprise teeth spaced apart by an interval and having a width, the width of the teeth of the longitudinal rack being less than or equal to the interval between the teeth of the transverse rack and the width of the teeth of the transverse rack being less than or equal to the interval between the teeth of the longitudinal rack.

[0011] This movement system thus allows two-way movement of a locker in a modular storage structure. It has reduced complexity and space requirements. Indeed, the system is simplified by the positioning of the two racks on the bottom of the locker. In addition, the system does away with a clutch and avoids jamming of the locker thanks to the spacing between the teeth of the racks which cross. Furthermore, the system is simplified by the implementation of so-called passive lockers which can be moved by the sole actuation of the pinions fixed on the chassis of the modular structure and therefore without motorization incorporated in each locker and without disengaging the locker.

[0012] Advantageously, but optionally, the method described comprises at least one of the following characteristics, taken alone or in any combination: - the longitudinal pinion comprises successive teeth each spaced apart by an interval greater than the thickness of the teeth of the longitudinal rack so as to allow the teeth of the longitudinal rack to translate through the interval of the longitudinal pinion when the transverse rack meshes with the transverse pinion and the transverse pinion comprises successive teeth each spaced apart by an interval greater than the thickness of the teeth of the transverse rack, so as to allow the teeth of the transverse rack to translate through the interval of the transverse pinion when the longitudinal rack meshes with the longitudinal pinion;

[0013] - the interval between the teeth of the longitudinal rack is greater than the width of the teeth of the longitudinal pinion and the interval between the teeth of the transverse rack is greater than the width of the teeth of the transverse pinion, so as to allow the longitudinal pinion to cross the transverse rack when it meshes with the longitudinal rack and the transverse pinion to cross the longitudinal rack when it meshes with the transverse rack;

[0014] - the longitudinal rack and the transverse rack are positioned on the rack transversely, one with respect to the other, and intersect so as to balance the loads on the rack;

[0015] - the system comprises two separate and parallel longitudinal racks, and two separate and parallel transverse racks, each of the two longitudinal racks and the two transverse racks meshing respectively with two longitudinal pinions and two transverse pinions;

[0016] - the system includes ball joints for supporting the locker on the frame, the ball joints allowing movement of the locker in the first direction and in the second direction;

[0017] - the system comprises longitudinal rails fixed to the chassis in order to guide ball joints supporting the rack in the first direction and transverse rails fixed to the frame in order to guide ball joints supporting the rack in the second direction, each longitudinal rail having an intersection with each transverse rail;

[0018] - each longitudinal gable is positioned on the chassis along a transverse rail and each transverse pinion is positioned on the chassis along a longitudinal rail, a single first motor rotating each longitudinal pinion positioned along the same transverse rail and a single second motor rotating each transverse pinion positioned along the same longitudinal rail;

[0019] - each ball joint includes a guide skirt configured to hold the ball joint in one of the longitudinal rails or in one of the transverse rails;

[0020] - each of the longitudinal rack and transverse rack comprises respectively at its two ends a guide tooth whose width is respectively greater than the width of the teeth of the longitudinal rack and the transverse rack, the guide tooth of the longitudinal rack being configured to guide the rack in the second direction by sliding in the gap of the longitudinal pinion and the guide tooth of the transverse rack being configured to guide the rack in the first direction by sliding in the gap of the transverse pinion;

[0021] - the width of the guide teeth of the longitudinal rack is greater than a length of the intersection in the second direction and the width of the guide teeth of the transverse rack is greater than a length of the intersection in the first direction, in order to allow guidance of the rack when one of the ball joints of the rack crosses the intersection;

[0022] - the system comprises guide pins fixed on the rack and configured to translate in one of the longitudinal rails or in one of the transverse rails, the guide pin guiding the rack in the first direction or in the second direction when a ball joint is at one of the intersections.

[0023] According to another aspect, there is provided a rack configured to be moved in a modular storage structure and comprising a longitudinal rack configured to move the rack in the modular structure in a first direction and a transverse rack configured to move the rack in the modular structure in a second direction, perpendicular to the first direction, the longitudinal rack and the transverse rack being positioned on the rack, characterized in that the longitudinal rack and the transverse rack respectively comprise teeth spaced apart by an interval and having a width, the width of the teeth of the longitudinal rack being less than or equal to the interval between the teeth of the transverse rack and the width of the teeth of the transverse rack is less than or equal to the interval between the teeth of the longitudinal rack.

[0024] According to another aspect, there is provided a frame of a modular storage structure, forming a plurality of adjacent modules configured to receive a locker, the frame comprising: - a longitudinal pinion and a transverse pinion positioned on the frame of each module, the longitudinal pinion being configured to mesh with a longitudinal rack of a rack and the transverse pinion being configured to mesh with a transverse rack of the rack; and - longitudinal rails fixed to the chassis in order to guide ball joints supporting the locker in the first direction and transverse rails fixed to the chassis in order to guide ball joints supporting the locker in the second direction direction, each longitudinal rail having an intersection with each transverse rail.

[0025] According to another aspect, there is provided a modular storage structure comprising a locker as previously described and a chassis as previously described, the locker being configured to be moved within the modules of the chassis. DESCRIPTION OF FIGURES

[0026] Other characteristics, aims and advantages will emerge from the following description, which is purely illustrative and non-limiting, and which must be read in conjunction with the appended drawings in which:

[0027] [Fig.l] illustrates a perspective view of a modular storage structure, according to a possible embodiment of the present disclosure;

[0028] [Fig.2] illustrates a perspective view of a frame forming three neighboring modules of a modular storage structure and a locker in one of the three modules, according to a possible embodiment of the present disclosure;

[0029] [Fig. 3] illustrates a perspective view of a system for moving a locker in a modular storage structure, according to a possible embodiment of the present disclosure;

[0030] [Fig.4] illustrates a perspective view of a part of the system for moving a locker in a modular storage structure, according to a possible embodiment of the present disclosure;

[0031] [Fig.5] illustrates a part of a displacement system and a guide tooth of the displacement system, according to a possible embodiment of the present disclosure;

[0032] [Fig.6] illustrates the movement system and more particularly a support assembly, according to a possible embodiment of the present disclosure;

[0033] [Fig.7] illustrates a part of the support assembly, according to a possible embodiment of the present disclosure;

[0034] [Fig.8] illustrates a view in a plane perpendicular to a first direction of the system for moving a locker in a first module, according to a possible embodiment of the present disclosure;

[0035] [Fig.9] is a flowchart of steps of a method of moving a locker in a modular structure according to an embodiment of the present disclosure.

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

[0037] Modular storage structure

[0038] A modular storage structure 1, as illustrated in [Fig.l], comprises a frame 10, forming a plurality of adjacent modules 11, and configured lockers 20 to be positioned in modules 11 and to move from module 11 to module 11.

[0039] The frame 10 of the modular structure 1 may comprise vertical posts 12, fixed to the floor of a warehouse, and horizontal posts 13, fixed to the vertical posts 12. The vertical posts 12 and the horizontal posts 13 define the plurality of modules 11 of the modular structure 1.

[0040] The modules 11, as illustrated in [Fig. 2], may be identical in shape and size. The vertical posts 12 are positioned between them at regular intervals along a first horizontal X direction and at regular intervals along a second horizontal Y direction, perpendicular to the first horizontal X direction. The horizontal posts 13 are fixed between the vertical posts 12 so as to form floors at regular intervals along a third vertical Z direction. Each horizontal post is fixed between two vertical posts 12 parallel to the first horizontal X direction or to the second horizontal Y direction. The frame 10 may thus have a three-dimensional matrix.By three-dimensional matrix it will be understood that the modules 11 of the modular structure 1 are identical in shape and size and can be adjacent to each other in the first direction X, the second direction Y and the third direction Z.

[0041] Each module 11 comprises four vertical posts 12 and four horizontal posts 13. The four horizontal posts 13 are fixed to the four vertical posts 12 and define a parallelogram. The four horizontal posts 13 comprise two horizontal posts 13x along the first horizontal X direction and two horizontal posts 13y along the second horizontal Y direction. The module 11 is therefore delimited by the four vertical posts 12, the four horizontal posts 13 and by the four horizontal posts 13 of the neighboring module 11 above the module 11 along the third vertical Z direction.

[0042] The locker 20 may be a tray or a crate or a box, open or closed or partially closed. The locker 20 has dimensions and a shape, in particular a rectangular parallelepiped, which allow it to be moved in each module 11. The locker 20 has a bottom 21 parallel to the horizontal posts 13 of the chassis 10. The bottom 21 is the lower part of the locker 20 in the third direction Z.

[0043] The modular structure 1 can be configured so that each locker 20 can move in the chassis 10, and more precisely in the plurality of modules 11, from module 11 to module 11. The modular structure 1 comprises a system 100 for moving a locker 20.

[0044] Displacement system

[0045] Hereinafter, the first module 111 will be called the module 11 among the plurality of modules 11 in which a considered locker 20 is positioned. The plurality of modules 11 comprises, for each first module 111, at least one neighboring second module 112 and at least one neighboring third module 113. The second module 112 is neighboring the first module 111 along the first horizontal direction X and the third module 113 is neighboring the first module 111 along the second horizontal direction Y.

[0046] The movement system 100 allows each locker 20 considered in the modular structure 1 to move in the chassis 10, from the first module 111 to the second module 112 and / or to the third module 113. In other words, the movement system 100 is configured to move a locker 20 horizontally in the modular structure 1, that is to say on the same level of the chassis 10.

[0047] The movement system 100 may be connected to a central control unit C by wired cabling along the chassis 10. The control unit C is programmed to coordinate the movements of the racks 20 according to a given algorithm and activate the movement system 100 appropriately. The control unit C may further comprise a PID controller. The PID controller is a control device used to regulate the movement of a rack 20 and synchronize the drive of the rack 20 from the first module 111 to the second module 112 or the third module 113.

[0048] The movement system 100, as illustrated in [Fig. 3], comprises a translation assembly 200 of the rack 20 and a support assembly 300 of the rack 20. The translation assembly 200 is configured to drive the rack 20 in movement in the chassis 10. The support assembly 300 is configured to support and guide the rack 20 on the chassis 10.

[0049] Translation assembly

[0050] The translation assembly 200 comprises: - at least one first rack 210 fixed on the rack 20 and configured to allow the rack 20 to move in the first direction X, - at least one second rack 220 fixed on the rack 20 and configured to allow the rack 20 to move in the second direction Y, - at least one first pinion 230 positioned on the chassis 10 in each module 11 and configured to mesh with the first rack 210 of the rack 20, - at least one second pinion 240 positioned on the chassis 10 in each module 11 and configured to mesh with the second rack 220 of the locker 20,

[0051] The translation assembly 200 thus uses the rack and pinion system. The rack and pinion system transmits power efficiently, reducing energy losses due to friction. The transmission is direct, which means that energy is transferred more efficiently compared to a friction system, where the transmission depends primarily on the frictional force between the contacting surfaces. The rack and pinion system is configured to support high loads, making it a robust choice for applications requiring the movement of large loads. The teeth of the pinions distribute the load evenly, minimizing high pressure points. In addition, the rack and pinion system has a dynamic response, which means that it can start, stop, and change direction more quickly and precisely than some friction systems.

[0052] Racks

[0053] The first rack 210 is configured to allow the movement of the locker 20 between the first module 111 and the second module 112. For this, the first rack 210 is directed in the first direction X and is called longitudinal rack 210.

[0054] The second rack 220 is configured to allow the movement of the locker 20 between the first module 111 and the third module 113. For this, the second rack 220 is directed in the second direction Y. The second rack 220 is positioned transversely to the longitudinal rack 210, and is called transverse rack 220.

[0055] The longitudinal rack 210 and the transverse rack 220 are respectively positioned on the bottom 21 of the rack 20. In addition, the longitudinal rack 210 and the transverse rack 220 are positioned on the rack 20 in the same horizontal plane parallel to the horizontal posts 13 of the chassis 10. Thus, the longitudinal rack 210 and the transverse rack 220 intersect on the bottom 21 of the rack 20. The longitudinal rack 210 and the transverse rack 220 respectively have a length adapted to the dimensions of the rack 20 in the first direction X and the second direction Y.

[0056] As illustrated by [Fig.4], the longitudinal rack 210 comprises a plurality of successive teeth 211 each spaced apart from each other by the same first interval 212. The transverse rack 220 comprises a plurality of successive teeth 221 each spaced apart from each other by the same second interval 222. An interval between two successive teeth of a rack is the distance between the two successive teeth measured at the pitch line of the rack.

[0057] The teeth 211 of the longitudinal rack 210 have the same first width 213. The teeth 221 of the transverse rack 220 have the same second width 223. A tooth width of a rack is the dimension of the tooth in the direction orthogonal to the direction of the rack.

[0058] The teeth 211 of the longitudinal rack 210 have the same first thickness 215. The teeth 221 of the transverse rack 220 have the same second thickness 225. A tooth thickness of a rack is the dimension of the tooth at the pitch line of the rack.

[0059] The first width 213 of the teeth 211 of the longitudinal rack 210 is less than or equal to the second interval 222 between the teeth 221 of the transverse rack 220 and the second width 223 of the teeth 221 of the transverse rack 220 is less than or equal to the first interval 212 between the teeth 211 of the longitudinal rack 210. Thus, the longitudinal rack 210 and the transverse rack 220 may have an intersection 216 free of teeth 211 of the longitudinal rack and teeth 221 of the transverse rack 220. This allows the longitudinal rack 210 and the transverse rack 220 to cross without preventing meshing of the longitudinal pinion 230 on the longitudinal rack 210 and of the transverse pinion 240 on the transverse rack 220 at the intersection 216 between the longitudinal rack 210 and the transverse rack 220.

[0060] Thus, the intersection 216 between the longitudinal rack 210 and the transverse rack 220 does not present an obstacle to the movement of the rack 20.

[0061] The first interval 212 between the teeth 211 of the longitudinal rack 210 may be equal to the second interval 222 between the teeth 221 of the transverse rack 220. The first width 213 of the teeth 211 of the longitudinal rack 210 may be equal to the second width 223 of the teeth 221 of the transverse rack 220. The first thickness 215 of the teeth 211 of the longitudinal rack 210 may be equal to the second thickness 225 of the teeth 221 of the transverse rack 220. Thus, the mounting of the translation assembly 200 is facilitated and the movements of the rack 20 are simplified.

[0062] The intersection 216 between the longitudinal rack 210 and the transverse rack 220 can be delimited by two successive teeth 211 of the longitudinal rack 210 in the first direction X and by two successive teeth 221 of the transverse rack 220 in the second direction Y.

[0063] According to one embodiment, the translation assembly 200 comprises a single longitudinal rack 210 and a single transverse rack 220. The longitudinal rack 210 and the transverse rack 220 can be positioned transversely, one with respect to the other. The longitudinal rack 210 and the transverse rack 220 can be positioned crosswise on the rack 20 and cross respectively in their middle. This allows the loads on the rack 20 to be balanced.

[0064] According to another embodiment, as for example illustrated by [Fig. 3], the translation assembly 200 comprises two longitudinal racks 210 and two transverse racks 220, positioned transversely relative to the longitudinal racks 210. The two longitudinal racks 210 can be positioned so as to balance the forces transmitted by the longitudinal pinion 230 meshing with each of the longitudinal racks 210. For this, the two longitudinal racks 210 can be positioned symmetrically on the rack 20 relative to the middle of the rack in the second direction Y and the two longitudinal racks 210 can be positioned symmetrically on the rack 20 relative to the middle of the rack in the first direction X.For example, the two longitudinal racks 210 can each be spaced from the middle of the rack 20, in the second direction Y, by one-sixth or one-quarter of the total length of the rack 20 in the second direction Y. And, the two transverse racks 220 can be positioned so as to balance the forces transmitted by the transverse pinion 240 meshing with each of the transverse racks 220. For example, the two transverse racks 220 can each be spaced from the middle of the rack 20, in the first direction X, by one-sixth or one-quarter of the total length of the rack 20 in the first direction X. This makes it possible to balance the loads on the rack 20 and to avoid any blocking of the rack 20 during movement between two modules 11.In addition, the two longitudinal racks 210 are each positioned on the rack 20 so as to cross the two transverse racks 220 at a second interval 222 and the two transverse racks 220 are each positioned on the rack 20 so as to cross the two longitudinal racks 210 at a first interval 212.

[0065] According to another embodiment, the translation assembly 200 may comprise more than two longitudinal racks 210 and more than two transverse racks 220.

[0066] Pinions

[0067] As illustrated by [Fig. 3], the first pinion 230 is configured to be rotated by a first motor 250 around the second direction Y so as to move the longitudinal rack 210 in the first direction X. Subsequently, the first pinion 230 is called longitudinal pinion 230, because it is configured to drive the longitudinal rack 210. The second pinion 240 is configured to be rotated by a second motor 251 around the first direction X so as to move the transverse rack 220 in the second direction Y. Subsequently, the second pinion 240 is called transverse pinion 240, because it is configured to drive the transverse rack 220. The first motor 250 and the second motor 251 are respectively positioned on the chassis 10 of the module 11 considered.

[0068] As illustrated by [Fig.4], the longitudinal pinion 230 comprises successive teeth 231 spaced apart by the same first interval 232. Each tooth 231 of the longitudinal pinion 230 has the same first width 233. The transverse pinion 240 comprises successive teeth 241 spaced apart by the same second interval 242. Each tooth 241 of the transverse pinion 240 has the same second width 243. An interval between two successive teeth of a pinion is the dimension of the arc of the pitch circle between the two teeth. A tooth width of a pinion is the dimension of the tooth in the direction of the axis of rotation of the pinion.

[0069] The width 233 of the teeth 231 of the longitudinal pinion 230 is less than the interval 222 between the teeth 221 of the transverse rack 220 and the width 243 of the teeth 241 of the transverse pinion 240 is less than the interval 212 between the teeth 211 of the longitudinal rack 210. This allows: - the teeth 231 of the longitudinal pinion 230 to cross the transverse rack 220 without being blocked by the teeth 221 of the transverse rack 220 when the longitudinal pinion 230 meshes with the longitudinal rack 210, and - the teeth 241 of the transverse pinion 240 to cross the longitudinal rack 210 without being blocked by the teeth 211 of the longitudinal rack 210 when the transverse pinion 240 meshes with the transverse rack 220.

[0070] The first gap 232 between the teeth 231 of the longitudinal pinion 230 is greater than the first thickness 215 of the teeth 211 of the longitudinal rack 210. The second gap 242 between the teeth 241 of the transverse pinion 240 is greater than the second thickness 225 of the teeth 221 of the transverse rack 220. This allows: - to the teeth 211 of the longitudinal rack 210 to translate, in the second direction Y, through the first interval 232 between two teeth 231 of the longitudinal pinion 230, when the transverse rack 220 meshes with the transverse pinion 240 and the rack 20 translates in the second direction Y, and - to the teeth 221 of the transverse rack 220 to translate, in the first direction X, through the second interval 242 between two teeth 241 of the transverse pinion 240 when the longitudinal rack 210 meshes with the longitudinal pinion 230 and that the locker 20 translates according to the first direction X.

[0071] The longitudinal pinion 230 comprises, for a previously chosen module and pitch diameter, a number of teeth 231 less than the ratio of the pitch diameter to the module. Thus, the first interval 232 between the teeth 231 of the longitudinal pinion 230 is greater than the interval between the teeth of a standard pinion (the number of teeth of which is strictly equal to the ratio of the pitch diameter to the chosen module). The transverse pinion 240 comprises, for a previously chosen module and pitch diameter, a number of teeth 241 less than the ratio of the pitch diameter to the module. Thus, the interval 242 between the teeth 241 of the transverse pinion 240 is greater than the interval between the teeth of a standard pinion (the number of teeth of which is strictly equal to the ratio of the pitch diameter to the chosen module). This makes it possible to reduce the sizing constraints of the displacement system 100.

[0072] The longitudinal pinion 230 and the transverse pinion 240 may respectively comprise a number of teeth 231, 241 equal to half the ratio of the primitive diameter by the module, in other words, they respectively comprise one tooth out of two compared to a standard pinion of the same primitive diameter and the same module.

[0073] The number of teeth 231 and the width 233 of the teeth 231 of the longitudinal pinion 230 may be respectively equal to the number of teeth 241 and the width 243 of the teeth 241 of the transverse pinion 240. Thus the mounting of the translation assembly 200 is facilitated and the movements of the rack 20 are simplified.

[0074] The translation assembly 200 may comprise two longitudinal pinions 230 for driving the longitudinal rack 210 and two transverse pinions 240 for driving the transverse rack 220. The two longitudinal pinions 230 may each be distributed on one of the two horizontal posts 13y in the second horizontal direction Y. The two transverse pinions 240 may each be distributed on one of the two horizontal posts 13x in the first horizontal direction X. Thus, when the rack 20 is positioned in the center of a module, the longitudinal rack 210 may mesh with the two longitudinal pinions 230 and the transverse rack 220 may mesh with the two transverse pinions 240.

[0075] The translation assembly 200 may comprise a system for indexing each longitudinal pinion 230 and each transverse pinion 240. The indexing system makes it possible to impose a precise orientation on each longitudinal pinion 230 and each transverse pinion 240 considered. The orientation may comprise a disengaged position and an engaged position. In the engaged position, the longitudinal pinion 230, and respectively the transverse pinion 240, is able to cooperate with the rack longitudinal 210, respectively with the transverse rack 220, to ensure the drive.

[0076] In the embodiment in which the translation assembly 200 comprises two longitudinal racks 210 and two transverse racks 220, a single first motor 250 can be positioned on each of the horizontal posts 13y in the second direction Y and a single second motor 251 can be positioned on each of the horizontal posts 13x in the first direction X. Each single first motor 250 respectively drives in rotation the longitudinal pinions 230 positioned on the horizontal post 13y in the second direction Y considered. Each single second motor 251 respectively drives in rotation the transverse pinions 240 positioned on the horizontal post 13x in the first direction X considered. In other words, each longitudinal pinion 230 of each longitudinal rack 210 positioned on the same horizontal post 13y in the second direction Y is driven in rotation by the same first motor 250.And, each transverse pinion 240 of each transverse rack 220, positioned on the same horizontal posts 13x in the first direction X is driven in rotation by the same second motor 251. In other words, each module comprises a single first motor 250 on each horizontal post 13x in the first direction X and a single second motor 251 on each horizontal post 13y in the second direction Y. This makes it possible to mechanically synchronize the translation of the rack 20 by the two longitudinal racks 210 or transverse racks 220 in the first direction X or the second direction Y. This also makes it possible to avoid any blocking of the rack 20 due to over-stressing or deformation of the rack 20.

[0077] The translation assembly 200 can also participate in guiding the rack 20, as illustrated in [Fig. 5]. The longitudinal rack 210 and the transverse rack 220 each have two ends. Each of the teeth 211 of the longitudinal rack 210 positioned closest to one of the two ends of the longitudinal rack 210 can be a longitudinal guide tooth 214. Each longitudinal guide tooth 214 has a width 217 greater than the first width 213 of the teeth 211 of the longitudinal rack 210 as illustrated in [Fig. 5]. Each of the teeth 231 of the transverse rack 220 positioned closest to one of the two ends of the transverse rack 220 may be a transverse guide tooth 224. Each transverse guide tooth 224 has a width 227 greater than the second width 223 of the teeth 221 of the transverse rack 220.

[0078] The longitudinal guide teeth 214 of the longitudinal rack 210 are configured to guide the rack 20 in the second direction Y when the rack 20 moves in the second direction Y. For this, the guide teeth longitudinal 214 of the longitudinal rack 210 can slide respectively in the first gap 232 between two teeth 231 of a longitudinal pinion 230. And, the transverse guide teeth 224 of the transverse rack 220 are configured to guide the rack 20 in the first direction X when the rack 20 moves in the first direction X. For this, the transverse guide teeth 224 of the transverse rack 220 can slide respectively in the second gap 242 between the teeth 241 of a transverse pinion 240.

[0079] In the embodiment according to which each longitudinal rack 210 and each transverse rack 220 respectively comprises two longitudinal pinions 230 and two transverse pinions 240, the longitudinal guide teeth 214 of the same rack can each be guided by sliding along a tooth 231 of one of the two longitudinal pinions 230. In other words, each of the two longitudinal guide teeth 214 of the longitudinal rack 210 passes between two teeth 231 of one of the two longitudinal pinions 230 and can even be in contact with one of the two teeth 231 in order to be guided in the second direction Y. And, each of the two transverse guide teeth 224 of the transverse rack 220 passes between two teeth 241 of one of the two transverse pinions 240 and can even be in contact with one of the two teeth 241 in order to be guided in the first direction X.

[0080] Support assembly

[0081] As illustrated by [Fig.6], the support assembly 300 may include ball joints 310 positioned on the rack 20 and rails 320 attached to the frame 10 and configured to guide the ball joints 310 on the frame 10.

[0082] Rails

[0083] The frame 10 comprises rails 320 for supporting the ball joints 310 of the locker 20. More precisely, the rails 320 are fixed to the four horizontal posts 13 of each module 11.

[0084] The rails 320 preferably have a support part 321 and a guide part 322. The support part 321 is advantageously flat and is framed by the guide part 322 which projects from the support part 321 in the third direction Z. In other words, each rail 320 forms a channel of which the support part 321 forms a bottom 21 and the guide part 322 edges. The guide part 322 may have two parts, symmetrical to each other with respect to the support part 321 and respectively having a concave shape towards the support part 321. Such rails 320 make it possible to guide each ball joint 310 in the direction considered.

[0085] The rails 320 comprise longitudinal rails 320x fixed on the horizontal posts 13x in the first direction X and configured to guide the ball joints 310 of the locker 20 in the first direction X when the locker 20 moves in the first direction X. And, the rails 320 comprise transverse rails 320y fixed on the horizontal posts 13y in the second direction Y and configured to guide the ball joints 310 of the locker 20 in the second direction Y when the locker 20 moves in the second direction Y.

[0086] Each of the longitudinal rails 320x has an intersection 324 with each of the transverse rails 320y. The intersection 324 between the longitudinal rail 320x and the transverse rail 320y does not have a guide portion 322. The ball joint 310 is therefore not guided by the guide portion 322 at the intersection 324 between two rails 320. The longitudinal guide teeth 214 can participate in guiding a rack 20 in the second direction Y when the rack 20 moves in the second direction Y and the transverse guide teeth 224 of the transverse rack 220 are configured to guide the rack 20 in the first direction X when the rack 20 moves in the first direction X, when one of the ball joints crosses one of the intersections 324.The intersection 324 may be of a length 325 along the first direction X less than the width 227 of the transverse guide tooth 224 and a length 326 along the second direction Y less than the width 217 of the longitudinal guide tooth 214.

[0087] Ball joints

[0088] The rack 20 preferably comprises four ball joints 310 in order to evenly distribute the load of the rack 20 and to balance the rack 20 on the chassis 10. The ball joints 310 can be positioned at the four corners of the rack 20. The ball joints 310 allow the rack 20 to move in several different horizontal directions without offering resistance to the movement, unlike wheels which only allow one direction of movement. Indeed, the ball joints 310 are free to rotate and can therefore be driven in rotation regardless of the horizontal direction of movement of the rack 20 on the chassis 10. Thus, the ball joints 310 support the rack 20 on the chassis 10 and allow the rack 20 to translate in the first direction X and in the second direction Y. The ball joints 310 thus make it possible to dispense with a clutch system often necessary with a support assembly 300 comprising wheels.

[0089] Each ball joint 310 may comprise a skirt 311. The skirt 311, as illustrated for example by [Fig.7], is configured to cooperate with the concave guide portion 322 of the rail 320 to ensure that the ball joint 310 is held in the rail 320 and therefore that the rack 20 is properly guided in the chassis 10. The skirt 311 is fixed to the rack 20 and supports the ball joint 310. The skirt 311 surrounds the ball joint 310 and may have a circular outer edge to facilitate its insertion into the concave guide portion 322. Once in the rail 320, the skirt 311 is configured to prevent the ball joint 310 to move in the rail 320 in a direction other than the direction of the rail 320 considered.

[0090] Guide pin

[0091] The support assembly 300 may further comprise guide pins 330. The guide pins 330 are configured to slide in the guide rails 320 and to guide the rack 20 when one or more of the ball joints 310 of the rack 20 cross an intersection 324 between one of the longitudinal rails 320x and one of the transverse rails 320y. The guide pins 330 thus cooperate with the longitudinal guide teeth 214 and with the transverse guide teeth 224 with the rack guide 20 when one or more of the ball joints 310 of the rack 20 cross an intersection 324 between one of the longitudinal rails 320x and one of the transverse rails 320y.

[0092] The guide pin 330 is therefore advantageously positioned on the rack 20, between two ball joints 310 considered to be guided by the guide part 322 of a rail 320 in a direction of movement considered when one of the two ball joints 310 considered is located at the level of one of the intersections 324.

[0093] The rack 20 may comprise a guide pin 330 on each side of the rack 20, i.e. four guide pins 330.

[0094] Each rail 320 has a passage 323, as illustrated by [Fig.8], in the guide part 322 in order to allow the guide pin 330 to pass. The passage 323 is positioned on the rail 320 so that each guide pin 330 is opposite the passage 323 when the rack 20 is positioned in the center of the module 11. This allows the guide pins 330 which do not participate in guiding the rack 20 in the direction of movement considered, not to hinder the movement in this direction by coming into contact with the guide part 322.

[0095] Method for moving the locker between two neighboring modules

[0096] The locker 20 can move between the first module 111 and the second module 112 or the third module 113 under the action of the movement system 100. The method detailed below concerns a movement of the locker 20 from the first module 111 to the second module 112. But a movement from the first module 111 to the third module 113 is similar in principle.

[0097] The method, the main steps of which are shown diagrammatically by a flowchart in [Fig.9], is described for a rack 20 according to the embodiment in which the movement system 100 comprises two longitudinal racks 210 and two transverse racks 220 as well as two longitudinal pinions 230 for each longitudinal rack 210 and two transverse pinions 240 for each transverse rack 220. But a movement of a rack 20 with a different number of longitudinal racks 210 and a different number of transverse racks 220 as well as with a different number of longitudinal pinions 230 for each longitudinal rack 210 and transverse gears 240 for each transverse rack 220 different is also similar in principle.

[0098] The rack 20 is initially positioned in the center of the first module 111, as illustrated for example by [Fig. 2]. The guide teeth 214 of each longitudinal rack 210 are each positioned in the interval 232 between two teeth 231 of one of the longitudinal pinions 230 and the guide teeth 224 of each transverse rack 220 are each positioned in the interval 242 between two teeth 241 of one of the transverse pinions 240. The rack 20 can thus possibly be moved in the first direction X and in the second direction Y by actuation of the longitudinal pinions 230 or the transverse pinions 240.

[0099] The control system C controls (step El) the second motors 251 of the first module 111 so that the transverse pinions 240 are placed in a position for guiding the transverse guide teeth 224 of the transverse racks 220. In the guiding position, as illustrated by [Fig. 8], the transverse guide teeth 224 are each tangent to one of the teeth 241 of one of the transverse pinions 240. Advantageously, each transverse guide tooth 224 of the transverse racks 220 is tangent to one of the teeth 241 of one of the transverse pinions 240 on the side of the horizontal post in the first direction X to which the transverse pinion 240 in question is fixed. This thus makes it possible to produce a slide on the rack 20 in the first direction X.

[0100] The control system C then controls (step E2) the first motors 250 of the first module 111 so that the longitudinal pinions 230 mesh with the longitudinal racks 210. Advantageously, only the motor 250 actuating the longitudinal pinions 230 of the first module 111 fixed on the horizontal post 13y in the second direction Y adjacent to the second module 112 is actuated.

[0101] The control system C can also control (step E3) the first motor 250 actuating the longitudinal pinions 230 of the second module 112 fixed on the horizontal post in the second direction Y adjacent to the first module 111 in order to collaborate with the longitudinal pinions 230 of the first module 111 which are actuated, in the movement of the rack 20 then to replace them once the longitudinal racks 210 no longer mesh with the longitudinal pinions 230 of the first module 111. The actuation of the longitudinal pinions 230 of the second module 112 is carried out in a synchronized manner with the actuation of the longitudinal pinions 230 of the first module 111 by the PID controller. The PID controller is configured to maintain a constant speed and minimize position deviations to allow the rack 20 to move from the first module 111 to the second module 112 without jamming.

[0102] The control system C also controls (step E4) the second motors 251 of the second module 112 so that the transverse pinions 240 are placed in a position configured to allow the transverse guide teeth 224 of the transverse racks 220 to pass in the first direction X. In other words, the transverse pinions 240 of the second module 112 are oriented so that the transverse guide teeth 224 of the transverse racks 220 pass respectively in the gap 242 between two of the teeth 241 of the transverse pinions 240 of the second module 112. Thus, the movement of the rack 20 in the first direction X is not prevented or hindered by the transverse racks 220 and the transverse pinions 240, configured for movement in the second direction Y.The transverse pinions 240 of the second module 112 can be actuated to move into the guiding position when at least one of the ball joints 310 of the rack 20 crosses one of the intersections 324.

[0103] During the movement of the rack 20 between the first module 111 and the second module 112, the ball joints 310 of the rack 20 move in the rails 320 in the first direction X of the first module 111 then of the second module 112. During the movement, each guide pin 330 positioned in the rails 320 in the first direction X cooperates in guiding the rack 20 in the first direction X by sliding in the rails 320 in the first direction X.

Claims

1.

2. Claims System for moving (100) a locker (20) in a modular storage structure (1) comprising a frame (10) forming a plurality of adjacent modules (11), the moving system (100) comprising: - a longitudinal rack (210) positioned on the rack (20) and configured to move the rack (20) in the modular structure (1) in a first direction (X) and a transverse rack (220) positioned on the rack (20) and configured to move the rack (20) in the modular structure (1) in a second direction (Y), perpendicular to the first direction (X); and - a longitudinal pinion (230) and a transverse pinion (240) positioned on the frame (10) of each module (11), the longitudinal pinion (230) being configured to mesh with the longitudinal rack (210) and the transverse pinion (240) being configured to mesh with the transverse rack (220); characterized in that the longitudinal rack (210) and the transverse rack (220) respectively comprise teeth (211, 221) spaced apart by an interval (212, 222) and having a width (213, 223), the width (213) of the teeth (211) of the longitudinal rack (210) being less than or equal to the interval (222) between the teeth (221) of the transverse rack (220) and the width (223) of the teeth (221) of the transverse rack (220) being less than or equal to the interval (212) between the teeth (211) of the longitudinal rack (210). Displacement system (100) according to claim 1, in which the longitudinal pinion (230) comprises successive teeth (231) each spaced apart from each other by an interval (232) greater than the thickness of the teeth (211) of the longitudinal rack (210) so as to allow the teeth (211) of the longitudinal rack (210) to translate through the interval (232) of the longitudinal pinion (230) when the transverse rack (220) meshes with the transverse pinion (240) and the transverse pinion (240) comprises successive teeth (241) each spaced apart from each other by an interval (242) greater than the thickness of the teeth (221) of the transverse rack (220), so as to allow the teeth (221) of the transverse rack (220) to translate through the gap (242) of the transverse pinion (240) when the longitudinal rack (210) meshes with the longitudinal pinion (230).

3. A movement system (100) according to any one of claims 1 and 2, wherein the gap (212) between the teeth (211) of the longitudinal rack (210) is greater than the width (243) of the teeth (241) of the transverse pinion (240) and the gap (222) between the teeth (221) of the transverse rack (220) is greater than the width (233) of the teeth (231) of the longitudinal pinion (230), so as to allow the longitudinal pinion (230) to cross the transverse rack (220) when it engages the longitudinal rack (210) and the transverse pinion (240) to cross the longitudinal rack (210) when it engages the transverse rack (220).

4. A movement system (100) according to any one of claims 1 to 3, wherein the longitudinal rack (210) and the transverse rack (220) are positioned on the rack (20) transversely, one with respect to the other, and intersect so as to balance the loads on the rack (20).

5. A movement system (100) according to any one of claims 1 to 4, comprising two separate and parallel longitudinal racks (210), and two separate and parallel transverse racks (220), each of the two longitudinal racks (210) and the two transverse racks (220) meshing respectively with two longitudinal pinions (230) and two transverse pinions (240).

6. A movement system (100) according to any one of claims 1 to 5, comprising ball joints (310) for supporting the rack (20) on the chassis (10), the ball joints (310) allowing movement of the rack (20) in the first direction (X) and in the second direction (Y).

7. A moving system (100) according to any one of claims 1 to 6, comprising longitudinal rails (320x) fixed to the frame (10) in order to guide ball joints (310) supporting the rack (20) in the first direction (X) and transverse rails (320y) fixed to the frame (10) in order to guide ball joints (310) supporting the rack (20) in the second direction (Y), each longitudinal rail (320x) having an intersection (324) with each transverse rail (320y).

8. A movement system (100) according to claim 7, wherein each longitudinal pinion (230) is positioned on the chassis (10) along a transverse rail (320y) and each transverse pinion (240) is positioned on the chassis (10) along a longitudinal rail (320x), a single first motor (250) rotating each longitudinal pinion (230) positioned along the same transverse rail (320y) and a single second motor (251) rotating each transverse pinion (240) positioned along the same longitudinal rail (320x).

9. A movement system (100) according to claims 6 and 7, wherein each ball joint (310) comprises a guide skirt (311) configured to hold the ball joint (310) in one of the longitudinal rails (320x) or in one of the transverse rails (320y).

10. A movement system (100) according to any one of claims 1 to 9, wherein each of the longitudinal rack (210) and transverse rack (220) comprises at its two ends respectively a guide tooth (214, 224) whose width (217, 227) is respectively greater than the width (213, 223) of the teeth (211, 221) of the longitudinal rack (210) and of the transverse rack (220), the guide tooth (214) of the longitudinal rack (210) being configured to guide the rack (20) in the second direction (Y) by sliding in the gap (232) of the longitudinal pinion (230) and the guide tooth (224) of the transverse rack (220) being configured to guide the rack (20) in the first direction (X) by sliding in the gap (242) of the transverse pinion (240).

11. A movement system (100) according to claims 7 and 10, wherein the width (217) of the guide teeth (214) of the longitudinal rack (210) is greater than a length (326) of the intersection (324) in the second direction (Y) and the width (227) of the guide teeth (224) of the transverse rack (220) is greater than a length (325) of the intersection (324) in the first direction (X), in order to allow guidance of the rack (20) when one of the ball joints (310) of the rack (20) crosses the intersection (324).

12. Movement system (100) according to claim 7, comprising guide pins (330) fixed on the rack (20) and configured to translate in one of the longitudinal rails (320x) or in one of the transverse rails (320y), the guide pin (330) guiding the rack (20) in the first direction (X) or in the second direction (Y) when a ball joint (310) is at one of the intersections (324).

13. A rack (20) configured to be moved in a modular storage structure (1) and comprising a longitudinal rack (210) configured to move the rack (20) in the modular structure (1) in a first direction (X) and a transverse rack (220) configured to move the rack (20) in the modular structure (1) in a second direction (Y), perpendicular to the first direction (X), the longitudinal rack (210) and the transverse rack (220) being positioned on the rack (20), characterized in that the longitudinal rack (210) and the transverse rack (220) respectively comprise teeth (211, 221) spaced apart by an interval (212, 222) and having a width (213, 223),the width (213) of the teeth (211) of the longitudinal rack (210) being less than or equal to the interval (222) between the teeth (221) of the transverse rack (220) and the width (223) of the teeth (221) of the transverse rack (220) is less than or equal to the interval (212) between the teeth (211) of the longitudinal rack (210).,

14. Frame (10) of a modular storage structure (1), forming a plurality of adjacent modules (11) configured to receive a locker (20), the frame (10) comprising: - a longitudinal pinion (230) and a transverse pinion (240) positioned on the frame (10) of each module (11), the longitudinal pinion (230) being configured to mesh with a longitudinal rack (210) of a locker (20) and the transverse pinion (240) being configured to mesh with a transverse rack (220) of the locker (20); and - longitudinal rails (320x) fixed to the frame (10) in order to guide ball joints (310) supporting the rack (20) in the first direction (X) and transverse rails (320y) fixed to the frame (10) in order to guide ball joints (310) supporting the rack (20) in the second direction (Y), each rail

15. longitudinal (320x) having an intersection (324) with each transverse rail (320y). Modular storage structure (1) comprising a locker (20) according to claim 13 and a chassis (10) according to claim 14, the locker (20) being configured to be moved in the modules (11) of the chassis (10).

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