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

Abstract

This presentation concerns a system for moving a storage unit within 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 the transverse rack. The width of the teeth of the longitudinal rack is less than or equal to the spacing between the teeth of the transverse rack, and the width of the teeth of the transverse rack is less than or equal to the spacing between the teeth of the longitudinal rack. Figure for the abstract: Fig. 2

Description

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

[0001] The subject of this presentation relates to 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 common terminology), requiring flexible, precise and responsive logistics, the development and adoption of automated storage and retrieval solutions for goods are becoming crucial for many players.

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

[0004] French patent no. 1907047 describes a compact storage and retrieval solution, adaptable to various storage environments, and with a high distribution rate. The system described in the aforementioned patent comprises a modular structure and lockers configured to be moved within the modular structure. The movement of the lockers within the modular structure is enabled by a retrieval system comprising disengageable actuators that are fitted to the modular structure and interact with complementary recesses on the lockers.

[0005] However, the described drive device is complex, fragile, and limited in terms of acceptable load. Furthermore, it presents assembly and maintenance difficulties.

[0006] US patent 7941243B2 proposes a system for moving a compartment within a grid. The compartment comprises an upper grooved wall and a lower grooved wall that mesh respectively with gears fixed to the grid and configured to move the compartment in two perpendicular directions. However, this system requires compartments with very specific and complex walls and generates recurring tolerance problems due to the simultaneous contact between the gears 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 for simplification and improvement of the systems for moving a locker in a modular structure. GENERAL STATEMENT

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

[0009] To this end, according to one aspect of the present description, a system for moving a locker in a modular storage structure comprising a chassis forming a plurality of adjacent modules is proposed, the movement system comprising: - a longitudinal rack positioned on the locker and configured to move the locker within the modular structure in a first direction, and a transverse rack positioned on the locker and configured to move the locker within the modular structure in a second direction, perpendicular to the first direction; and - a longitudinal pinion and a transverse pinion positioned on the chassis 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 at 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 bidirectional movement of a locker within a modular storage structure. It offers reduced complexity and a compact design. Indeed, the system is simplified by positioning the two racks on the bottom of the locker. Furthermore, the system eliminates the need for disengagement and prevents the locker from jamming thanks to the spacing between the teeth of the intersecting racks. Moreover, the system is simplified by the use of so-called passive lockers, which can be moved solely by the action of the gears fixed to the chassis of the modular structure, and therefore without the need for a motor integrated into each locker and without disengaging the locker.

[0012] Advantageously, but optionally, the described method includes at least one of the following features, taken alone or in any combination: - the longitudinal pinion comprises successive teeth 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 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 gap between the teeth of the longitudinal rack is greater than the width the teeth of the longitudinal pinion and the gap 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 locker transversely, one in relation to the other, and they cross in such a way as to balance the loads on the locker;

[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 chassis, the ball joints allowing movement of the locker in the first direction and in the second direction;

[0017] - the system includes 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 to guide ball joints supporting the locker in the second direction, each longitudinal rail having an intersection with each transverse rail;

[0018] - each longitudinal pinion 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 driving in rotation each longitudinal pinion positioned along the same transverse rail and a single second motor driving in rotation 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 along the second direction and the width of the guide teeth of the transverse rack is greater than a length of the intersection along the first direction, in order to allow guidance of the locker when one of the ball joints of the locker crosses the intersection;

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

[0023] According to another aspect, a locker is proposed that is configured to be moved in a modular storage structure and comprising a longitudinal rack configured to move the locker in the modular structure in a first direction and a transverse rack configured to move the locker in the modular structure in a second direction, perpendicular to the first direction, the longitudinal rack and the transverse rack being positioned on the locker, characterized in that the longitudinal rack and the transverse rack respectively comprise teeth spaced at 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, a chassis for a modular storage structure is proposed, forming a plurality of adjacent modules configured to receive a locker, the chassis comprising: - a longitudinal pinion and a transverse pinion positioned on the chassis of each module, the longitudinal pinion being configured to mesh with a longitudinal rack of a compartment and the transverse pinion being configured to mesh with a transverse rack of the compartment; and - longitudinal rails fixed to the chassis to guide ball joints supporting the locker in the first direction and transverse rails fixed to the chassis 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, a modular storage structure is proposed comprising a locker as previously described and a chassis as previously described, the locker being configured to be moved into the chassis modules. DESCRIPTION OF THE FIGURES

[0026] Other features, purposes and advantages will become apparent from the following description, which is purely illustrative and not limiting, and which should be read in conjunction with the accompanying drawings on which:

[0027] Fig. 1 illustrates a perspective view of a modular storage structure, according to one possible embodiment of the present exposition;

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

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

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

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

[0032] Fig. 6 illustrates the displacement system and more particularly a set of supports, according to one possible embodiment of the present description;

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

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

[0035] Fig. 9 is a flowchart of steps of a process for moving a locker in a modular structure according to an implementation method of the present exposition.

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

[0037] Modular storage structure

[0038] A modular storage structure 1, as illustrated by [Fig. 1], comprises a chassis 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 chassis 10 of the modular structure 1 may include 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], can be identical in shape and size. The vertical posts 12 are positioned 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 can thus present a three-dimensional matrix.By three-dimensional matrix we will understand that the modules 11 of the modular structure 1 are identical according to their shape and size and can be adjacent to each other along 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. Module 11 is therefore bounded by the four vertical posts 12, the four horizontal posts 13, and the four horizontal posts 13 of the module 11 adjacent to module 11 along the third vertical Z direction.

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

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

[0044] Displacement system

[0045] Hereafter, the first module 111 will be the module 11 among the plurality of modules 11 in which a given slot 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 X direction, and the third module 113 is neighboring the first module 111 along the second horizontal Y direction.

[0046] The displacement system 100 allows each compartment 20 considered of 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 displacement system 100 is configured to move a compartment 20 horizontally in the modular structure 1, that is to say on the same floor of the chassis 10.

[0047] The movement system 100 can be connected to a central control unit C by means of wired cabling along the chassis 10. The control unit C is programmed to coordinate the movements of the lockers 20 according to a given algorithm and to activate the movement system 100 accordingly. The control unit C may further include a PID controller. The PID controller is a control device used to regulate the movement of a locker 20 and to synchronize the drive of the locker 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 locker 20 and a support assembly 300 of the locker 20. The translation assembly 200 is configured to drive the locker 20 into motion within the frame 10. The support assembly 300 is configured to support and guide the locker 20 on the frame 10.

[0049] Translation set

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

[0051] The 200 translation assembly thus uses a rack and pinion system. The rack and pinion system transmits power efficiently, reducing energy losses due to friction. The transmission is direct, meaning that energy is transferred more efficiently compared to a friction system, where transmission depends primarily on the friction force between the contacting surfaces. The rack and pinion system is configured to withstand high loads, making it a robust choice for applications requiring the movement of heavy loads. The pinion teeth distribute the load evenly, minimizing pressure points. Furthermore, the rack and pinion system exhibits a dynamic response, meaning 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 along 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 along the second direction Y. The second rack 220 is positioned transversely to the longitudinal rack 210, and is called the transverse rack 220.

[0055] The longitudinal rack 210 and the transverse rack 220 are respectively positioned on the bottom 21 of the compartment 20. Furthermore, the longitudinal rack 210 and the transverse rack 220 are positioned on the compartment 20 in the same horizontal plane parallel to the horizontal posts 13 of the frame 10. Thus, the longitudinal rack 210 and the transverse rack 220 intersect on the bottom 21 of the compartment 20. The longitudinal rack 210 and the transverse rack 220 have a length adapted to the dimensions of the compartment 20 along 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 spaced apart from each other by the same first interval 212. The transverse rack 220 comprises a plurality of successive teeth 221 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 to 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 can 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 intersect without preventing the longitudinal pinion 230 from engaging with the longitudinal rack 210 and the transverse pinion 240 with 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 locker 20.

[0061] The first gap 212 between the teeth 211 of the longitudinal rack 210 can be equal to the second gap 222 between the teeth 221 of the transverse rack 220. The first width 213 of the teeth 211 of the longitudinal rack 210 can 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 can be equal to the second thickness 225 of the teeth 221 of the transverse rack 220. Thus, the assembly 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 along the first direction X and by two successive teeth 221 of the transverse rack 220 along 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 relative to each other. The longitudinal rack 210 and the transverse rack 220 can be positioned crosswise on the slot 20 and They cross each other at their midpoints. This allows the loads on locker 20 to be balanced.

[0064] According to another embodiment, as illustrated for example by [Fig. 3], the translation assembly 200 comprises two longitudinal racks 210 and two transverse racks 220, positioned transversely with respect 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 purpose, the two longitudinal racks 210 can be positioned symmetrically on the slot 20 with respect to the middle of the slot along the second direction Y and the two longitudinal racks 210 can be positioned symmetrically on the slot 20 with respect to the middle of the slot along the first direction X.For example, the two longitudinal racks 210 can each be offset from the center of the compartment 20, along the second Y direction, by one-sixth or one-quarter of the total length of the compartment 20 along the second Y direction. And, the two transverse racks 220 can be positioned 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 offset from the center of the compartment 20, along the first X direction, by one-sixth or one-quarter of the total length of the compartment 20 along the first X direction. This balances the loads on the compartment 20 and prevents the compartment 20 from jamming during movement between two modules 11.Furthermore, the two longitudinal racks 210 are each positioned on the slot 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 slot 20 so as to cross the two longitudinal racks 210 at a first interval 212.

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

[0066] Pinions

[0067] As illustrated in [Fig. 3], the first pinion 230 is configured to be driven in rotation by a first motor 250 around the second Y direction so as to move the longitudinal rack 210 along the first X direction. Hereafter, the first pinion 230 is referred to as the longitudinal pinion 230, since it is configured to drive the longitudinal rack 210. The second pinion 240 is configured to be driven by a second motor 251 around the first X direction so as to move the transverse rack 220 along the second Y direction. By The second pinion 240 is called the 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 under consideration.

[0068] As illustrated in [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. The interval between two successive teeth of a pinion is the dimension of the arc of the pitch circle between the two teeth. The tooth width of a pinion is the dimension of the tooth in the direction of the pinion's axis of rotation.

[0069] The width 233 of the teeth 231 of the longitudinal pinion 230 is less than the gap 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 gap 212 between the teeth 211 of the longitudinal rack 210. This allows: - to 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 - to 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, along the second direction Y, through the first gap 232 between two teeth 231 of the longitudinal pinion 230, when the transverse rack 220 meshes with the transverse pinion 240 and the slot 20 translates along the second direction Y, and - to the teeth 221 of the transverse rack 220 to translate, along the first direction X, through the second gap 242 between two teeth 241 of the transverse pinion 240 when the longitudinal rack 210 engages with the longitudinal pinion 230 and the locker 20 translates along the first direction X.

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

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

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

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

[0075] The translation assembly 200 may include an indexing system for 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. The orientation may include 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 along the second direction Y, and a single second motor 251 can be positioned on each of the horizontal posts 13x along the first direction X. Each single first motor 250 drives, respectively, in rotation the longitudinal pinions 230 positioned on the horizontal post 13y along the second direction Y. Each single second motor 251 drives, respectively, in rotation the transverse pinions 240 positioned on the horizontal post 13x along the first direction X. In other words, each longitudinal pinion 230 of each longitudinal rack 210 positioned on the same horizontal post 13y along 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 along 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 along the first direction X and a single second motor 251 on each horizontal post 13y along the second direction Y. This allows the mechanical synchronization of the translation of the compartment 20 by the two longitudinal racks 210 or transverse racks 220 along the first direction X or the second direction Y. This also prevents any blockage of the compartment 20 due to over-stress or deformation of the compartment 20.

[0077] The translation assembly 200 can also participate in guiding the slot 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 can 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 compartment 20 along the second Y direction when the compartment 20 moves along the second Y direction. For this purpose, the guide teeth The longitudinal teeth 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 slot 20 along the first direction X when the slot 20 moves along the first direction X. For this purpose, 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 in 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 along 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 along the first direction X.

[0080] Support assembly

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

[0082] Rails

[0083] The chassis 10 includes rails 320 to support the ball joints 310 of the locker 20. More specifically, the rails 320 are fixed to the four horizontal posts 13 of each module 11.

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

[0085] The 320 rails comprise 320x longitudinal rails fixed to the 13x horizontal posts along the first X direction and configured to guide the ball joints 310 of locker 20 in the first direction X when locker 20 moves in the first direction X. And, the rails 320 include transverse rails 320y fixed on the horizontal posts 13y in the second direction Y and configured to guide the ball joints 310 of locker 20 in the second direction Y when 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 along the second direction Y when the rack 20 moves along the second direction Y, and the transverse guide teeth 224 of the transverse rack 220 are configured to guide the rack 20 along the first direction X when the rack 20 moves along the first direction X, when one of the ball joints crosses one of the intersections 324.The intersection 324 can 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 locker 20 preferably includes four ball joints 310 in order to distribute the load of the locker 20 evenly and to balance the locker 20 on the chassis 10. The ball joints 310 can be positioned at the four corners of the locker 20. The ball joints 310 allow the locker 20 to move in several different horizontal directions without opposing resistance to 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 locker 20 on the chassis 10. Thus, the ball joints 310 support the locker 20 on the chassis 10 and allow the locker 20 to translate along the first X direction and along the second Y direction. The ball joints 310 therefore eliminate the need for a disengagement system often required with a support assembly 300 that includes wheels.

[0089] Each ball joint 310 may include 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 thus that the slot 20 is properly guided in the frame 10. The skirt 311 is fixed to the slot 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 rail 320 in a direction other than the direction of rail 320 under consideration.

[0090] Guide pin

[0091] The support assembly 300 may further include guide pins 330. The guide pins 330 are configured to slide in the guide rails 320 and to guide the compartment 20 when one or more of the ball joints 310 of the compartment 20 pass through 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 of the compartment 20 guide when one or more of the ball joints 310 of the compartment 20 pass through 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 slot 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 one of the intersections 324.

[0093] The locker 20 can include a guide pin 330 on each side of the locker 20, i.e., four guide pins 330.

[0094] Each rail 320 has a passage 323, as illustrated in [Fig. 8], in the guide portion 322 to allow the guide pin 330 to pass through. The passage 323 is positioned on the rail 320 so that each guide pin 330 is opposite the passage 323 when the compartment 20 is positioned in the center of the module 11. This allows the guide pins 330 that do not participate in guiding the compartment 20 in the direction of movement considered, not to impede movement in that direction by abutting the guide portion 322.

[0095] Method for moving the locker between two adjacent 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 detailed process below relates to 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 schematically represented by a flowchart in [Fig. 9], is described for a locker 20 according to the embodiment in which the displacement 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. However, a displacement of a locker 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 pinions 240 for each different transverse rack 220 is also similar in principle.

[0098] The compartment 20 is initially positioned at the center of the first module 111, as illustrated, for example, in [Fig. 2]. The guide teeth 214 of each longitudinal rack 210 are each positioned in the gap 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 gap 242 between two teeth 241 of one of the transverse pinions 240. The compartment 20 can thus optionally be moved along the first direction X and along the second direction Y by actuating the longitudinal pinions 230 or the transverse pinions 240.

[0099] The control system C (step 11) controls the second motors 251 of the first module 111 so that the transverse pinions 240 move into a guiding position for the transverse guide teeth 224 of the transverse racks 220. In the guiding position, as illustrated in [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 along the first direction X to which the transverse pinion 240 is attached. This allows for sliding on the rack 20 along 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 driving the longitudinal pinions 230 of the first module 111 fixed on the horizontal post 13y along the second direction Y adjacent to the second module 112 is driven.

[0101] The control system C can also control (step E3) the first motor 250 driving the longitudinal gears 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 cooperate with the longitudinal gears 230 of the first module 111 which are driven, to move the compartment 20 and then to replace them once the longitudinal racks 210 no longer mesh with the longitudinal gears 230 of the first module 111. The actuation of the longitudinal gears 230 of the second module 112 is carried out synchronously with the actuation of the longitudinal gears 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 locker 20 to move from the first module 111 to the second module 112 without blocking.

[0102] The control system C (step E4) also controls the second motors 251 of the second module 112 so that the transverse pinions 240 are positioned 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 compartment 20 in the first direction X is not prevented or hindered by the transverse racks 220 and the transverse pinions 240, which are configured for movement in the second direction Y.The transverse pinions 240 of the second module 112 can be actuated to move into the guide position when at least one of the ball joints 310 of the compartment 20 passes through one of the intersections 324.

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

Claims

1.

2. Demands A system for moving a locker (20) in a modular storage structure (1) comprising a frame (10) forming a plurality of adjacent modules (11), the system for moving (100) comprising: - a longitudinal rack (210) positioned on the compartment (20) and configured to move the compartment (20) in the modular structure (1) along a first direction (X) and a transverse rack (220) positioned on the compartment (20) and configured to move the compartment (20) in the modular structure (1) along a second direction (Y), perpendicular to the first direction (X); and - a longitudinal pinion (230) and a transverse pinion (240) positioned on the chassis (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 at 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) 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) 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 displacement 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 meshes with the longitudinal rack (210) and the transverse pinion (240) to cross the longitudinal rack (210) when it meshes with the transverse rack (220).

4. Displacement 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, relative to each other, and cross each other so as to balance the loads on the rack (20).

5. Displacement system (100) according to any one of claims 1 to 4, comprising two separate parallel longitudinal racks (210), and two separate 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. Displacement system (100) according to any one of claims 1 to 5, comprising ball joints (310) for supporting the locker (20) on the chassis (10), the ball joints (310) allowing displacement of the locker (20) in the first direction (X) and in the second direction (Y).

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

8. A drive 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) driving in rotation each longitudinal pinion (230) positioned along the same transverse rail (320y) and a single second motor (251) driving in rotation each transverse pinion (240) positioned along the same longitudinal rail (320x).

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

10. A displacement system (100) according to any one of claims 1 to 9, wherein each of the longitudinal rack (210) and transverse rack (220) comprises, respectively, at its two ends, 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 the transverse rack (220), the guide tooth (214) of the longitudinal rack (210) being configured to guide the rack (20) along 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) along the first direction (X) by sliding in the gap (242) of the transverse gable (240).

11. Displacement 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) along 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) along the first direction (X), in order to allow guidance of the locker (20) when one of the ball joints (310) of the locker (20) crosses the intersection (324).

12. A 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 locker (20) configured to be moved in a modular storage structure (1) and comprising a longitudinal rack (210) configured to move the locker (20) in the modular structure (1) along a first direction (X) and a transverse rack (220) configured to move the locker (20) in the modular structure (1) along a second direction (Y), perpendicular to the first direction (X), the longitudinal rack (210) and the transverse rack (220) being positioned on the locker (20), characterized in that the longitudinal rack (210) and the transverse rack (220) respectively comprise teeth (211,221) spaced at 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).

14. Chassis (10) of a modular storage structure (1), forming a plurality of adjacent modules (11) configured to receive a locker (20), the chassis (10) comprising: - a longitudinal pinion (230) and a transverse pinion (240) positioned on the chassis (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 chassis (10) to guide ball joints (310) supporting the locker (20) in the first direction (X) and transverse rails (320y) fixed to the chassis (10) to guide ball joints (310) supporting the locker (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 into the modules (11) of the chassis (10).

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