Vehicle for automated storage system and item storage and retrieval system

Abstract

Vehicle (10) for an automated storage system, comprising one or more climbing means (31) being adapted to move the vehicle (10) along a respective vertical upright (203), each climbing means (31) being movable in the vertical direction (Z) relative to the chassis (11) between a retracted position (PE) and a coupling position (PA) in which the climbing means (31) is adapted to couple with a complementary climbing support (205) extending along said vertical upright (203). Abstract figure: Figure 2

Description

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

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

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

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

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

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

[0006] The AGVs can move in at least one direction, or even both directions, of a horizontal surface which may typically be the warehouse floor. The automated guided vehicles can also move vertically on the storage racks. The automated guided vehicles are configured to pick receptacles of products or articles supported by the brackets in the storage racks, and transport them to another location, typically another storage location or to an order preparation station where said items are brought together, typically so as to constitute an order for an end customer.

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

[0008] Said AGVs may have a chassis equipped with climbing means. Typically, these means comprise motorized toothed wheels of the vehicle which are configured to mesh with the teeth of a rack bar extending along the uprights of the storage racks.

[0009] Thus, AGVs have means of locomotion and orientation, making them capable of moving in three dimensions. In addition to the two flat dimensions generally associated with the ground on which the AGVs move, there is a third vertical dimension associated with the storage racks on which the AGVs are capable of climbing and descending.

[0010] According to a known solution, the motorized toothed wheels are fixed relative to the chassis of the AGV. Also, the racks each have a lower end low enough to allow spontaneous meshing with the motorized toothed wheels of the AGV when the latter is positioned facing the uprights of the racks.

[0011] Furthermore, the AGVs may be required to move on the ground near the uprights of the racks, for example by moving in an aisle between two racks or by passing under a rack. Therefore, to allow these movements, the teeth of the motorized toothed wheels must be able to pass between the teeth of the racks.

[0012] This solution nevertheless has the disadvantage of first requiring constant precise control of the position of the teeth of each toothed wheel for all the AGVs, which requires expensive means. Furthermore, this solution can only be implemented in a warehouse in which the flatness of the ground is sufficient to avoid forming offsets which would block the passage of the teeth of the motorized toothed wheels between the teeth of the racks. Summary

[0013] There is provided a vehicle for an automated storage system, the vehicle comprising one or more climbing means each adapted to move the vehicle along a respective vertical upright, each climbing means being movable in the vertical direction relative to the chassis between a retracted position and a coupling position in which the climbing means is adapted to couple with a complementary climbing support extending along said vertical upright.

[0014] The vehicle may comprise a chassis and a rising structure which comprises an upper platform, the upper platform carrying said one or more climbing means, the rising structure being movable relative to the chassis in the vertical direction to move each climbing means between the retracted position and the coupling position.

[0015] The vehicle may include a gripping device that includes a support movable relative to the chassis that is configured to move between a retracted position in which the support is housed on the chassis, and to a deployed position in which the support extends cantilevered from the chassis, preferably for loading or unloading a receptacle from the chassis.

[0016] The vehicle may include a gripping device that includes a support movable relative to the rising structure that is configured to move between a retracted position in which the support is housed on the upper deck, and to a deployed position in which the support extends cantilevered from the upper deck, preferably for loading or unloading a receptacle from the upper deck.

[0017] The vehicle may include a deployment mechanism for moving the rising structure relative to the chassis in the vertical direction.

[0018] The vehicle may include a single motor configured to move the rising structure relative to the chassis in the vertical direction.

[0019] The motor may be configured to operate each climbing means to move the vehicle vertically along the respective upright.

[0020] The vehicle may comprise one or more guide rails secured to the chassis and extending vertically, the upper plate cooperating in sliding in the vertical direction with said one or more guide rails.

[0021] At least one of the guide rails, and preferably each of the guide rails, may comprise upper stop means for limiting the movement of the upper plate in the vertical direction, upwards, relative to the chassis.

[0022] The vehicle may include rolling means mounted on the chassis and configured to allow the vehicle to move on the ground.

[0023] The vehicle may comprise a deployment mechanism which comprises a threaded rod extending vertically along a first axis and which is adapted to be driven in rotation about the first axis by a motor, and in which the upper plate comprises a hole which comprises a thread screwed onto the threaded rod so that the rotation of the threaded rod causes a vertical displacement of the upper plate.

[0024] The vehicle may comprise a deployment mechanism which comprises a rod extending horizontally along a second axis and which is adapted to be driven in translation along the second axis by a motor, and in which the upper plate comprising a guide face extending in the direction of the second axis in an inclined manner in the vertical direction, a free end of the rod of the deployment mechanism bearing on the guide face of the upper plate so that a translation of the rod in the direction of the second axis causes a vertical movement of the upper plate.

[0025] The vehicle may comprise a deployment mechanism which comprises: - one or more deployment toothed wheels, each deployment toothed wheel being fixed in translation, preferably at least in the vertical direction, relative to the rising structure - one or more deployment racks connected to the vehicle chassis, each deployment rack extending vertically, each deployment gear meshing with an associated deployment rack among said one or more deployment racks.

[0026] The vehicle may comprise one or more transmission shafts, each transmission shaft being fixed in translation, preferably at least in the vertical direction, relative to the rising structure, and in which: - each climbing means is mounted in rotation on one of said one or more transmission shafts, and - each deployment toothed wheel is mounted so as to rotate securely on one of said one or more transmission shafts.

[0027] The motor may be configured to drive each drive shaft in rotation.

[0028] Also provided is an article storage and retrieval system comprising one or more storage racks each comprising a plurality of uprights aligned in a first horizontal direction, each upright comprising one or more climbing supports each extending in the vertical direction between a lower end and an upper end, the article storage and retrieval system further comprising a vehicle as described above, each climbing means being configured to be vertically spaced below the lower end of each climbing support when in the retracted position.

[0029] Each upright may comprise a post, preferably fixed to the ground, each climbing support being fixed to the post of the corresponding upright.

[0030] The vehicle may have a first width in the transverse direction which is less than a distance in the first horizontal direction which separates the posts of each pair of consecutive uprights of said one or more racks.

[0031] Said one or more racks may comprise a first rack and a second rack, spaced apart from each other in a second horizontal direction, the post of each upright of the first rack being aligned in the second horizontal direction with the post of one of the uprights of the second rack. The vehicle may have a first length in the longitudinal direction which is less than a distance in the second horizontal direction which separates the posts of each pair of uprights of the first rack and the second rack aligned in the second horizontal direction. Brief description of the drawings

[0032] Other characteristics, details and advantages will appear on reading the detailed description below, and on analyzing the attached drawings, in which:

[0033] [Fig-1] represents a schematic perspective view of a vehicle for system automated storage according to the present description, in which climbing means are in a retracted position;

[0034] [Fig.2] represents a schematic perspective view of the vehicle of [Fig.l] in which the climbing means are in a coupling position;

[0035] [Fig.3] represents stop means of the vehicle of [Fig.l];

[0036] [Fig.4] includes Figures 4A and 4B which each represent a partial schematic perspective view of the vehicle of [Fig.l] according to a first embodiment;

[0037] [Fig.5] includes Figures 5A and 5B which each represent a partial schematic perspective view of the vehicle of [Fig.l] according to a second embodiment;

[0038] [Fig.6] each represents a schematic perspective view of the vehicle of [Fig.l] according to a third embodiment;

[0039] [Fig.7] represents an alternative embodiment of the connection to the chassis of a deployment rack of the vehicle of [Fig.6];

[0040] [Fig.8] includes Figures 8A and 8B which each represent a schematic perspective view of an item storage and retrieval system comprising a plurality of racks and the vehicle of [Fig.l] on the ground;

[0041] [Fig.9] includes Figures 9A and 9B which each represent a ground movement of the vehicle of the system of [Fig.8];

[0042] [Fig. 10] shows the coupling of the climbing means of the vehicle with climbing supports of the racks;

[0043] [Fig. 11] represents the arrangement between a vehicle deployment rack and a rack of the climbing supports of the racks;

[0044] [Fig. 12] includes Figures 12A and 12B which each represent a vertical movement of the vehicle of the system of [Fig.8]. Description of the embodiments

[0045] A vehicle 10 for an automated storage system is first described with reference to FIGS. 1 to 7.

[0046] As visible in Figures 1 and 2, the vehicle 10 comprises one or more climbing means 31, each being adapted to move the vehicle 10 along a respective vertical upright 203. Remarkably and as will be described in more detail below, each climbing means 31 is movable in the vertical direction Z relative to the chassis 11 between a retracted position PE and a coupling position PA in which the climbing means 31 is able to couple with a complementary climbing support 205 extending along said vertical upright 203.

[0047] Each climbing means 31 may comprise a climbing toothed wheel 32. The toothed wheel of each climbing means 31 is called a “climbing” toothed wheel in distinction from a toothed wheel called a “deployment” toothed wheel described in more detail below.

[0048] The coupling position PA of each climbing means 31 may be located above the retracted position PE. In other words, each climbing means may be moved upwards to move from the retracted position PE to the coupling position PA, and conversely downwards to move from the coupling position PA to the retracted position PE.

[0049] The vehicle 10 may further comprise a chassis 11. The chassis 11 may extend in a longitudinal direction LO and a transverse direction TR. In a standard use of the vehicle 10, the longitudinal direction LO and / or the transverse direction TR may each be horizontal or close to horizontal. Thus, the longitudinal direction LO and / or the transverse direction TR may be perpendicular to the vertical direction Z. The transverse direction TR may be perpendicular to the longitudinal direction LO. In the following description, when referring to absolute position qualifiers, such as the terms “front”, “rear”, “top”, “bottom”, “left”, “right”, etc., or relative position qualifiers, such as the terms “above”, “below”, “upper”, “lower”, etc., or to orientation qualifiers, such as “horizontal”, “vertical”, etc., unless otherwise specified, reference is made to the orientation of the figures or the vehicle 10 in its normal position of use or the article storage and retrieval system 200 described later in the standard configuration.

[0050] The chassis 11 may extend in the longitudinal direction LO between a proximal end and a distal end. A proximal side P and a distal side D of the vehicle 10 are thus distinguished in the longitudinal direction LO. The terms “proximal” and “distal” are used for purposes of distinguishing the ends of the chassis 11 of the vehicle 10, so they may be interchanged without consequence in the rest of the description. The chassis 11 may extend in the transverse direction TR between a first end and a second end. A first side I and a second side II of the vehicle 10 are thus distinguished in the transverse direction TR. The chassis 11 may be of substantially parallelepipedal shape. Said one or more climbing means 31 may be arranged substantially at the four corners of the chassis 11.

[0051] Each climbing gear wheel 32 may have a respective axis of rotation. The axis of rotation of each climbing gear wheel 32 may extend in a direction that includes a component in the longitudinal direction LO and / or in the transverse direction TR. Preferably, the axis of rotation of each climbing gear wheel 32 may extend in the longitudinal direction LO. Each climbing gear wheel 32 may be motorized. In this sense, each climbing gear wheel 32 may be driven in rotation about its respective axis of rotation.

[0052] Said one or more climbing means 31 may comprise a first proximal climbing means 31 arranged longitudinally at the proximal end of the frame 11 and transversely at the first end of the frame 11. Said one or more climbing means 31 may comprise a first distal climbing means 31 arranged longitudinally at the distal end of the frame 11 and transversely at the first end of the frame 11. Said one or more climbing means 31 may comprise a second proximal climbing means 31 arranged longitudinally at the proximal end of the frame 11 and transversely at the second end of the frame 11. Said one or more climbing means 31 may comprise a second distal climbing means 31 arranged longitudinally at the distal end of the frame 11 and transversely at the second end of the frame 11.

[0053] The vehicle 10 may comprise a rising structure 20. The rising structure 20 may comprise an upper platform 21 which carries said one or more climbing means 31. Said one or more climbing means 31 may be fixed in translation, preferably at least in the vertical direction Z, relative to the upper platform 21. The rising structure 20 may comprise an upper cover 23 secured to the upper platform 21. The upper cover 23 may cover the upper platform 21.

[0054] The rising structure 20 can be movable relative to the chassis 11 in the vertical direction Z to move each climbing means 31 between the retracted position PE and the coupling position PA. Thus, the movement of the rising structure 20 makes it possible to move said one or more climbing means 31 jointly. The position of the upper plate 21 when said one or more climbing means 31 are in their coupling position PA can be above the position thereof when said one or more climbing means 31 are in the retracted position PE. In other words, the upper plate 21 can be moved upwards to cause each climbing means 31 to move from the retracted position PE to the coupling position PA, and conversely downwards to move from the coupling position PA to the retracted position PE.

[0055] The vehicle 10 may comprise a gripping device, not shown, which comprises a movable support. According to a first variant, the movable support may be movable relative to the chassis 11 and configured to move from a retracted position in which the support is housed on the chassis 11, and to a deployed position in which the support extends cantilevered from the chassis 11, preferably for loading or unloading a receptacle from the chassis 11. According to a second variant, the movable support may be movable relative to the upper plate 21 and configured to move from a retracted position in which the support is housed on the upper plate 21, and to a deployed position in which the support extends cantilevered from the upper plate 21, preferably for loading or unloading a receptacle from the upper plate 21.The mobile support can be movable relative to the upper plate 21 or relative to the chassis 11 in the longitudinal direction LO of the vehicle 10 to move from the retracted position to the deployed position.

[0056] The vehicle 10 may comprise a deployment mechanism 100 for moving the rising structure 20, and in particular the upper platform 21, relative to the chassis 11 in the vertical direction Z. The upper cover 23 may cover the deployment mechanism 100. The deployment mechanism 100 may be, in whole or in part, carried by the upper platform 21 of the rising structure 20.

[0057] The vehicle 10 may also comprise a motor 30, preferably a single motor, configured to move the rising structure 20, in particular the upper platform 21, relative to the chassis 11 in the vertical direction Z. The motor 30 may be connected to the chassis 11 of the vehicle 10 or to the upper platform 21 of the rising structure 20. The motor 30 may also be configured to actuate each climbing means 31 in order to move the vehicle 10 vertically along the respective upright 203.

[0058] The vehicle 10 may comprise one or more guide rails 12. Each guide rail 12 may be integral with the chassis 11 and extend vertically. The upper plate 21 may cooperate in sliding in the vertical direction Z with each guide rail 12. Said one or more guide rails 12 may comprise at least one proximal guide rail 12. Said at least one proximal guide rail 12 may be arranged longitudinally at the proximal end of the chassis 11. Said one or more guide rails 12 may comprise a first proximal guide rail 12 and a second proximal guide rail 12. The first proximal guide rail 12 may be arranged transversely in the vicinity of the first end of the chassis 11. The second proximal guide rail 12 may be arranged transversely in the vicinity of the second end of the frame 11. Said one or more guide rails 12 may comprise at least one distal guide rail 12. Said at least one distal guide rail 12 may be arranged longitudinally at the distal end of the frame 11. Said one or more guide rails 12 may comprise a first distal guide rail 12 and a second distal guide rail 12. The first distal guide rail 12 may be arranged transversely in the vicinity of the first end of the frame 11. The second distal guide rail 12 may be arranged transversely in the vicinity of the second end of the frame 11.

[0059] More particularly visible in [Fig. 3], at least one of the guide rails 12, and preferably each of the guide rails 12, may comprise upper stop means 13 for limiting the movement of the upper plate 21 in the vertical direction Z, upwards, relative to the chassis 11. In other words, the upper stop means 13 prevent a vertical movement of the upper plate 21 upwards beyond a high position. The high position of the upper plate 21 may be above the position thereof when each climbing means 31 is in the coupling position PA. Alternatively, the high position of the upper plate 21 may coincide with the vertical position in which each climbing means 31 is in the coupling position PA. Similarly, the upper plate 21 may be movable in a low position.The low position of the upper plate 21 may be below the position thereof when each climbing means 31 is in the retracted position PE. Alternatively, the low position of the upper plate 21 may coincide with the vertical position in which each climbing means 31 is in the retracted position PE. In the low position of the upper plate 21, the upper cover 23 may bear vertically on the chassis 11.

[0060] The upper plate 21 may comprise a lug 22 mounted to cooperate with each guide rail 12 in a sliding manner in the vertical direction Z. At least one of the guide rails 12, and preferably each of the guide rails 12, may comprise a slot 14 in which the associated lug 22 of the upper plate 21 slides in the vertical direction Z.

[0061] The slot 14 of each guide rail 12 may comprise an upper end against which one of the lugs 22 of the upper plate 21 abuts. Each lug 22 may abut vertically upwards on the upper end of the corresponding slot 14 to limit the movement of the upper plate 21 in the vertical direction Z, upwards, relative to the chassis 11. In other words, the upper abutment means 13 of said at least one of the guide rails 12, and preferably of each of the guide rails 12, may comprise the upper end of the corresponding slot 14. In addition, the support between the upper plate 21 and the upper stop means 13 make it possible to distribute the forces linked to the weight of the chassis 11 in the upper plate 21 instead of the climbing means 31 when the vehicle 10 is raised along the uprights 203.

[0062] The vehicle 10 may comprise rolling means mounted on the chassis 11 and configured to allow the vehicle 10 to move on the ground 201. The rolling means may advantageously be configured to allow the vehicle 10 to move on the ground 201 in free space, i.e. in the absence of rails or any other guidance means which requires structural cooperation with the vehicle 10. The vehicle 10 may be automatically guided, i.e. of the “automated guided vehicle” or AGV type. For this purpose, the vehicle 10 may comprise on-board guidance means adapted to the automatic guidance of the vehicle 10.

[0063] A first embodiment is now described with reference to [Fig.4].

[0064] The deployment mechanism 100 may comprise a threaded rod 101 extending vertically along a first axis and which is capable of being driven in rotation around the first axis by a motor 30. The upper plate 21 may comprise a hole which has a thread screwed onto the threaded rod 101 so that the rotation of the threaded rod 101 (represented by the arrow R in FIG. 4B) causes a vertical displacement (represented by the arrows SM and SD in FIG. 4B) of the upper plate 21, upward SM or downward SD depending on the direction of rotation. The threaded rod 101 may be fixed in translation, preferably at least in the vertical direction Z, relative to the chassis 11.

[0065] A second embodiment is now described with reference to [Fig.5].

[0066] The deployment mechanism 100 may comprise a push rod 102 extending horizontally along a thrust axis AP and which is capable of being driven in translation along the thrust axis AP by a motor 30. The thrust axis AP may extend in a direction which comprises a component along the longitudinal direction LO and / or along the transverse direction TR.

[0067] The upper plate 21 may comprise a guide face 24 extending in the direction of the thrust axis AP and inclined in the vertical direction Z. The plate may comprise a lower face. The lower face may comprise the guide face 24. A free end of the push rod 102 of the deployment mechanism 100 may bear on the guide face 24 of the upper plate 21 so that a translation of the push rod 102 in the direction of the thrust axis AP causes a vertical displacement of the upper plate 21.

[0068] In other words, when the push rod 102 is moved in translation in the direction of the thrust axis AP by the motor 30, the free end of the push rod 102 moves by ramp effect on the guide face 24 of the upper plate 21 moving the latter in the vertical direction Z.

[0069] When the push rod 102 is moved in deployment in a first direction SI of the direction of the thrust axis AP by the motor 30, the free end of the push rod 102 pushes on the guide face 24 of the upper plate 21, thus moving the latter vertically upwards (represented by the arrow SM in FIG. 5B). Conversely, when the push rod 102 is moved backwards in a second direction of the direction of the thrust axis AP by the motor 30, the free end of the push rod 102 tends to withdraw from the guide face 24 of the upper plate 21, thus allowing the upper plate 21 to move vertically downwards by gravity.

[0070] The motor 30 may comprise a pneumatic or hydraulic cylinder. The push rod 102 may be integral, or even coincide, with a piston of the cylinder.

[0071] A third embodiment is now described with reference to [Fig. 6].

[0072] The deployment mechanism 100 may comprise one or more deployment toothed wheels 103. Each deployment toothed wheel 103 may have a respective axis of rotation. Each deployment toothed wheel 103 may be fixed in translation, preferably at least in the vertical direction Z, relative to said one or more climbing means 31. More particularly, each deployment toothed wheel 103 may be fixed in translation, preferably at least in the vertical direction Z, relative to the rising structure 20, and preferably relative to the upper plate 21. The axis of rotation of each deployment toothed wheel 103 may extend in a direction which comprises a component in the longitudinal direction LO and / or in the transverse direction TR.Preferably, the axis of rotation of each deployment toothed wheel 103 extends in the longitudinal direction LO.

[0073] The deployment mechanism 100 may comprise as many, fewer or more deployment gears 103 as the vehicle 10 comprises climbing means 31.

[0074] The one or more deployment gears 103 may comprise a first deployment gear 103. The first deployment gear 103 may be arranged longitudinally between the proximal end and the distal end of the frame 11. The first deployment gear 103 may be arranged transversely at the first end of the frame 11. The one or more deployment gears 103 may comprise a second deployment gear 103. The second deployment gear 103 may be arranged longitudinally between the proximal end and the distal end of the frame 11. The second deployment gear 103 may be arranged transversely at the second end of the frame 11.

[0075] The deployment mechanism 100 may comprise one or more deployment racks 104. Each deployment rack 104 may extend vertically, particularly between a lower end and an upper end. Each deployment rack 104 may be connected to the frame 11 at its lower end.

[0076] Each deployment gear 103 may be configured to be associated, or coupled, with an associated deployment rack 104 among said one or more deployment racks 104. The deployment mechanism 100 may comprise as many deployment gears 103 as deployment racks 104. Each deployment gear 103 may mesh with the associated deployment rack 104. More particularly, each deployment gear 103 may comprise, at its periphery, teeth adapted to mesh with the teeth of the associated deployment rack 104.

[0077] Each deployment rack 104 may comprise a series of teeth in the vertical direction Z. The series of teeth of each deployment rack 104 may comprise an upper tooth 104s which corresponds to the tooth of the series of teeth which is closest to the upper end of the deployment rack 104. The upper tooth 104s of each deployment rack 104 may be arranged vertically so as to be able to coincide vertically with a lower tooth 205i of the climbing support(s) 205 with which said one or more climbing means 31 may couple.

[0078] Each deployment rack 104 may be integral with the chassis 11 of the vehicle 10. Alternatively, as shown in [Fig.7], each rack may be connected to the chassis 11 by a connection which allows free relative movement in the vertical direction Z of the deployment rack 104 relative to the chassis 11. Such a connection may comprise a spring 105 inserted vertically between a lower end of each deployment rack 104 and the chassis 11 of the vehicle 10. The free relative movement of each deployment rack 104 may be of the order of 4 to 6 mm.Such free relative movement of each rack makes it possible to compensate for a vertical offset of the upper tooth 104s of the deployment rack 104 with the lower tooth 205i of the climbing support(s) 205 with which said one or more climbing means 31 engage, which would result for example from manufacturing tolerances or defects in the flatness of the ground.

[0079] Said one or more deployment racks 104 may comprise a first deployment rack 104. The first deployment rack 104 may be arranged longitudinally between the proximal end and the distal end of the frame 11. The first deployment rack 104 may be arranged transversely at the first end of the frame 11.

[0080] Said one or more deployment racks 104 may comprise a second deployment rack 104. The second deployment rack 104 may be arranged longitudinally between the proximal end and the end distal end of the frame 11. The second deployment rack 104 may be arranged transversely at the first end of the frame 11.

[0081] The rotation of each deployment toothed wheel 103 around its axis of rotation causes the vertical displacement of the deployment toothed wheel 103 along the associated deployment rack 104 and consequently the vertical displacement of said one or more climbing means 31, in this case the vertical displacement of the upper plate 21 which carries said one or more climbing means 31.

[0082] The vehicle 10 may comprise one or more transmission shafts 33. Each transmission shaft 33 may be fixed in translation, preferably at least in the vertical direction Z, relative to the rising structure 20, and preferably relative to the upper plate 21. Each transmission shaft 33 may extend in the longitudinal direction LO between a first end portion and a second end portion. Each shaft may comprise a middle portion longitudinally between the first end portion and the second end portion. In order to optimize the integration of the various elements in the vehicle (transmission shafts, deployment mechanism, engine, belt, etc.) each transmission shaft may comprise several sections inclined relative to each other and connected to each other by universal joints.

[0083] Each climbing means 31, in particular the climbing gear wheel 32 of each climbing means 31, may be mounted integral in rotation on one of said one or more transmission shafts 33. Each climbing means 31, in particular the climbing gear wheel 32 of each climbing means 31 may be mounted at the first end portion of one of said one or more transmission shafts 33. Preferably, each transmission shaft 33 may carry an associated climbing means 31 among said climbing means 31, in particular the climbing gear wheel 32 of the climbing means 31. In other words, the vehicle 10 may comprise a transmission shaft 33 for each climbing means 31.

[0084] Each deployment toothed wheel 103 may be mounted integral in rotation on one of said one or more transmission shafts 33, in particular at the level of the middle portion of the transmission shaft 33. In the case where the deployment mechanism 100 comprises fewer deployment wheels than the vehicle 10 comprises climbing means 31, at least one of said one or more transmission shafts 33 may be devoid of deployment toothed wheel 103.

[0085] Said one or more transmission shafts 33 may comprise a first proximal transmission shaft 33. The first proximal transmission shaft 33 may carry the first proximal climbing means 31. Said one or more transmission shafts 33 may comprise a first distal transmission shaft 33. The first distal transmission shaft 33 may carry the first climbing means 31 distal. Said one or more drive shafts 33 may comprise a second proximal drive shaft 33. The second proximal drive shaft 33 may carry the second proximal climbing means 31. Said one or more drive shafts 33 may comprise a second distal drive shaft 33. The second distal drive shaft 33 may carry the second distal climbing means 31. The first deployment gear 103 may be mounted on the first proximal drive shaft 33 or on the first distal drive shaft 33. The second deployment gear 103 may be mounted on the second proximal drive shaft 33 or on the second distal drive shaft 33.

[0086] The vehicle 10 may comprise at least one motor 30, preferably a single motor, configured to drive each deployment toothed wheel 103 in rotation around its axis of rotation.

[0087] More generally, the motor 30, preferably single, can be configured to drive each transmission shaft 33 in rotation. In other words, the motor 30, preferably single, can be configured to jointly drive each deployment toothed wheel 103 in rotation around its axis of rotation and each climbing toothed wheel 32 in rotation around its axis of rotation.

[0088] An embodiment is not excluded in which the vehicle 10 comprises several motors 30, for example a motor 30 for driving each deployment gear wheel 103 in rotation about its axis of rotation and a motor 30 for driving each climbing gear wheel 32 in rotation about its axis of rotation. An embodiment is not excluded in which the vehicle 10 comprises a motor 30 for driving a first set of one or more deployment gear wheels 103 and a motor 30 for driving a second set of one or more deployment gear wheels 103.

[0089] The vehicle 10 may comprise one or more belts 34. Each belt 34 may be rotationally coupled to an output shaft of the engine 30. Each belt 34 may be rotationally coupled, directly or indirectly, to at least one associated transmission shaft 33 among said one or more transmission shafts 33. Each belt 34 may be rotationally coupled, directly or indirectly, to the second end portion of said at least one transmission shaft 33. For example, one of said belts 34 may be rotationally coupled, directly or indirectly, together with the second end portion of two transmission shafts 33.

[0090] At least one, or even each, of said one or more belts 34 may be coupled to said at least one associated transmission shaft 33 by means of a double pinion system 35 so as to reverse the direction of rotation between the belt 34 and said at least one associated rotation shaft. In this case, it is understood that an output pinion of the double pinion system 35 can be coupled in rotation, directly or indirectly, with said at least one transmission shaft 33, in particular with the second end portion of said at least one transmission shaft 33.

[0091] Said one or more belts 34 may comprise a first belt 34. The first belt 34 may be rotationally coupled, preferably directly, together with the first proximal transmission shaft 33 and the first distal transmission shaft 33. More specifically, the first belt 34 may be rotationally coupled, preferably directly, with the second end portion of the first proximal transmission shaft 33 and the second end portion of the first distal transmission shaft 33. The first proximal transmission shaft 33 and the first distal transmission shaft 33 may be connected to each other at their second end portion. In particular, the second end portion of the first proximal transmission shaft 33 may be integral with the second end portion of the first distal transmission shaft 33. Said one or more belts 34 may comprise a second belt 34.The second belt 34 may be rotationally coupled, preferably directly, together with the second proximal drive shaft 33 and the second distal drive shaft 33. More specifically, the second belt 34 may be rotationally coupled, preferably directly, with the second end portion of the second proximal drive shaft 33 and the second end portion of the second distal drive shaft 33. The second proximal drive shaft 33 and the second distal drive shaft 33 may be connected to each other at their second end portion. In particular, the second end portion of the second proximal drive shaft 33 may be integral with the second end portion of the second distal drive shaft 33.

[0092] This third embodiment has the advantage in particular of pooling the motorization and the drive of the climbing gear wheels 32 and the deployment gear wheels 103.

[0093] The vehicle 10 according to the first embodiment or according to the second embodiment may comprise one or more transmission shafts 33, one or more climbing means 31, at least one motor 30, one or more belts 34 and / or a double pinion system 35 as described above with reference to the third embodiment.

[0094] An article storage and retrieval system 200 is now described with reference to FIGS. 8 to 12.

[0095] As seen in [Fig.8], the article storage and retrieval system 200 may comprise at least one vehicle 10 as described above.

[0096] The article storage and retrieval system 200 may also comprise one or more storage racks 202 each comprising a plurality of uprights 203 aligned in a first horizontal direction X. Each upright 203 may comprise one or more climbing supports 205 each extending in the vertical direction Z between a lower end and an upper end.

[0097] Remarkably, each climbing means 31 of the vehicle 10 can be vertically spaced below the lower end of each climbing support 205 when it is in the retracted position PE. Thus, when each climbing means 31 is in the retracted position PE, the vehicle 10 can travel on the ground 201 while avoiding any risk of collision, or even blocking, with one of said one or more climbing supports 205.

[0098] More generally, the article storage and retrieval system 200 may comprise a plurality of racks 202 spaced apart from each other in a second horizontal direction Y, preferably perpendicular to the first horizontal direction X, and a plurality of aisles 207 extending in the first direction between each pair of consecutive racks 202. Each rack 202 may be adapted to store articles. Each rack 202 may comprise a plurality of levels distributed vertically between a lower level and an upper level. Thus, a free space is formed between the floor 201 and the lower level of each rack 202. Each level may comprise a plurality of cells, each cell being delimited by two consecutive uprights 203 in the first horizontal direction X. Each cell may receive one or more articles, preferably in a bin.

[0099] Each upright 203 may comprise a post 204, preferably fixed to the ground 201. Each climbing support 205 may be fixed to the post 204 of the corresponding upright 203. The lower end of each climbing support 205 may be located at a first height hl from the ground 201. It is therefore understood that the lower end of each climbing support 205 may be at a distance from the ground 201.

[0100] Each climbing support 205 may comprise a climbing rack or a chain which extends in the vertical direction Z. The rack of each complementary member is called a “climbing” rack in distinction from a so-called “deployment” rack described above. The climbing rack of each climbing support 205 may comprise a series of teeth in the vertical direction Z. The teeth of the climbing rack of each climbing support 205 may project in the first horizontal direction X.

[0101] The climbing gear wheel 32 of each climbing means 31 may be configured to mesh with the climbing support 205. More particularly, the climbing gear wheel 32 of each climbing means 31 may comprise, at its periphery, teeth adapted to mesh with teeth of the climbing support 205.

[0102] Said one or more climbing supports 205 of each upright 203 may comprise a first climbing support 205 and a second climbing support 205. The teeth of the climbing rack of the first climbing support 205 and the teeth of the climbing rack of the second climbing support 205 may project in opposite directions from the first horizontal direction X. The first climbing support 205 and the second climbing support 205 of each upright 203 may be made in one piece.

[0103] The climbing rack of each climbing support 205 may comprise a lower tooth 205i which corresponds to the tooth of the series of teeth which is closest to the lower end of the corresponding climbing support 205. In the case of the third embodiment described above, as shown in [Fig.l 1], the upper tooth 104s of each deployment rack 104 may be arranged vertically so as to vertically coincide with the lower tooth 205i of the climbing rack of each climbing support 205.

[0104] The posts 204 of two consecutive uprights 203 of each of said one or more racks 202 can be spaced apart from each other by a first distance dl in the first horizontal direction X. The climbing supports 205 of two consecutive uprights 203 of each of said one or more racks 202 can be spaced apart from each other by a second distance d2 in the second horizontal direction Y, preferably less than the first distance dl.

[0105] The vehicle 10 may have a first width 11 in the transverse direction TR (FIG. 8A). The first width 11 of the vehicle 10 may be less than the first distance dl. Thus, as shown in FIG. 9A, when each climbing means 31 is in the retracted position PE and when the longitudinal directions LO and transverse directions TR of the vehicle 10 coincide respectively with the second horizontal direction Y and the first horizontal direction X, the vehicle 10 may be able to travel on the ground 201 in the second horizontal direction Y between two consecutive uprights 203 of the rack 202 (represented by the arrows Y1 and Y2). The first width 11 of the vehicle 10 may correspond to the distance which separates opposite transverse ends of the vehicle 10 in the transverse direction TR. The opposite transverse ends may each be at the level of climbing means 31.More particularly, one of the opposite transverse ends may be at the proximal and distal first climbing means 31 and the other of the opposite transverse ends may be at the proximal and distal second climbing means 31. Furthermore, the frame 11 and / or the upper cover 23 may have a second width 12. The second width 12 may be less than the first width 11. The second width 12 may also be less than the second distance d2.

[0106] Said one or more racks 202 may comprise a first rack 202 and a second rack 202, spaced apart from each other in a second horizontal direction Y. The article storage and retrieval system 200 may comprise an aisle 207 extending in the first direction between the first rack 202 and the second rack 202. Each upright 203 of the first rack 202 may be arranged facing one of the uprights 203 of the second rack 202 in the second horizontal direction Y. The post 204 of each upright 203 of the first rack 202 may be spaced apart from the post 204 of the upright 203 of the second rack 202 which is facing each other in the second direction, by a third distance d3 in the second horizontal direction Y.The climbing support 205 of each upright 203 of the first rack 202 may be spaced from the climbing support 205 of the upright 203 of the second rack 202 which is opposite in the second direction, by a fourth distance d4 in the second horizontal direction Y, which is preferably less than the third distance d3. Said one or more racks 202 may comprise a plurality of pairs of racks 202 in the second direction and which comprise a first rack 202 and a second rack 202 as described herein.

[0107] The vehicle 10 may have a first length L1 in the longitudinal direction LO (FIG. 8B). The first length L1 of the vehicle 10 may be less than the third distance d3. Thus, as shown in FIG. 9B, when each climbing means 31 is in the retracted position PE and when the longitudinal directions LO and transverse directions TR of the vehicle 10 coincide respectively with the second horizontal direction Y and the first horizontal direction X, the vehicle 10 may be able to travel on the ground 201 in the first horizontal direction X along the aisle 207 between the first rack 202 and the second rack 202. The first length L1 of the vehicle 10 may correspond to the distance which separates opposite longitudinal ends of the vehicle 10 in the longitudinal direction LO. The opposite longitudinal ends may each be at the level of climbing means 31.More particularly, one of the opposite longitudinal ends may be at the proximal climbing means 31 and the other of the opposite transverse ends may be at the distal climbing means 31. Furthermore, the frame 11 and / or the upper cover 23 may have a second length L2. The second length L2 may be less than the first length LL. The second length L2 may also be less than the fourth distance d4.

[0108] In the coupling position PA, visible in [Fig. 10], at least one of said one or more climbing means 31 can be coupled with one of said one or more climbing supports 205 of one of the uprights 203 of the first rack 202. Alternatively or in addition, in the coupling position PA, at least one other of said one or more climbing means 31 can be coupled with one of said one or more climbing supports 205 of one of the uprights 203 of the second rack 202.

[0109] More particularly, the first rack 202 and the second rack 202 can each comprise a first upright 203 and a second upright 203. The first upright 203 of the first rack 202 can be opposite the first upright 203 of the second rack 202 in the second horizontal direction Y. Similarly, the second upright 203 of the first rack 202 can be opposite the second upright 203 of the second rack 202 in the second horizontal direction Y.In the coupling position PA: - the first proximal climbing means 31 can be coupled with one of the climbing supports 205 of the first upright 203 of the first rack 202, - the second proximal climbing means 31 can be coupled with one of the climbing supports 205 of the second upright 203 of the first rack 202, - the first distal climbing means 31 can be coupled with one of the climbing supports 205 of the first upright 203 of the second rack 202, - the second distal climbing means 31 can be coupled with one of the climbing supports 205 of the second upright 203 of the second rack 202.

[0110] As visible in [Fig. 12], when at least one of said one or more climbing means 31 of the vehicle 10, and preferably when each climbing means 31 of the vehicle 10, is coupled with one of said one or more climbing supports 205, the vehicle 10 can be configured to move vertically along the corresponding uprights 203, uphill (represented by the arrow VM) or downhill (represented by the arrow VD). More particularly, the rotation of each climbing gear wheel 32 about its axis of rotation can cause the vehicle 10 to move vertically along the associated climbing rack, uphill (represented by the arrow VM) or downhill (represented by the arrow VD) depending on the direction of rotation of the climbing gear wheels.

[0111] More particularly, the actuation of each climbing means 31 causes the vertical displacement of the rising structure 20 which carries each climbing means, and consequently the chassis 11 which is connected to the rising structure 20. As described above, the upper stop means 13 of the upper plate 21 can allow the chassis 11 to be driven by the rising structure 20 in the vertical direction Z, in order to limit, or even prevent, the weight of the chassis 11 from being exerted in said one or more climbing means 31 and / or the transmission shafts 33 and / or the deployment mechanism 100.

[0112] The vehicle 10 may have a first vertical dimension DV1 when each climbing means 31 is in the retracted position PE. The vehicle 10 may also have a second vertical dimension DV2 when each climbing means 31 is in the coupling position PA. The second vertical dimension DV2 may be greater than the first vertical dimension DV1. The first vertical dimension DV1 and / or the second vertical dimension DV2 may correspond to the distance in the vertical direction Z between a lower face of the chassis 11 or of the rolling means and an upper face of the upper cover 23 of the rising structure 20.

[0113] The first vertical dimension DV 1 and / or the second vertical dimension DV2 of the vehicle 10 may be greater than the first height hl which separates the lower end of the climbing support 205 from each upright 203 of the ground 201.

[0114] The first vertical dimension DV 1 of the vehicle 10, preferably combined with a vertical dimension of a tray carried by the vehicle 10, may be less than a height of the lower level of each rack 202. Thus, when each climbing means 31 is in the retracted position PE and when the longitudinal directions LO and transverse directions of the vehicle 10 coincide respectively with the second horizontal direction Y and the first horizontal direction X, the vehicle 10 may be able to travel on the ground 201 in the second horizontal direction Y under the lower level of each rack 202.

[0115] More generally, when each climbing means 31 is in the retracted position PE and when the longitudinal directions LO and transverse directions of the vehicle 10 coincide respectively with the second horizontal direction Y and the first horizontal direction X, the vehicle 10 may be able to move along a trajectory aligned with the second horizontal direction Y which successively passes under the lower level of at least one of the racks 202 and crosses at least one of the aisles 207.

[0116] Thus, the vehicle 10 can be adapted to move on the ground 201 in the first horizontal direction X in at least one of the aisles 207. Alternatively or additionally, the vehicle 10 can be adapted to move on the ground 201 in the first horizontal direction X under at least one of said one or more racks 202, in particular under the lower level. Still alternatively or additionally, the vehicle 10 can be adapted to move on the ground 201 in the second horizontal direction Y which successively passes under the lower level of at least one of said one or more racks 202 and crosses at least one of the aisles 207.

Claims

Claims

1. Vehicle (10) for an automated storage system, comprising one or more climbing means (31) each being adapted to move the vehicle (10) along a respective vertical upright (203), each climbing means (31) being movable in the vertical direction (Z) relative to the chassis (11) between a retracted position (PE) and a coupling position (PA) in which the climbing means (31) is adapted to couple with a complementary climbing support (205) extending along said vertical upright (203).

2. Vehicle (10) according to the preceding claim, comprising a chassis (11) and a rising structure (20) which comprises an upper platform (21), the upper platform (21) carrying said one or more climbing means (31), the rising structure (20) being movable relative to the chassis (11) in the vertical direction (Z) to move each climbing means (31) between the retracted position (PE) and the coupling position (PA).

3. Vehicle (10) according to the preceding claim, comprising a gripping device which comprises a support movable relative to the chassis (11) which is configured to pass from a retracted position in which the support is housed on the chassis (11), and to a deployed position in which the support extends cantilevered from the chassis (11), preferably for loading or unloading a receptacle from the chassis (11).

4. A vehicle (10) according to claim 2, comprising a gripping device which comprises a support movable relative to the rising structure (20) which is configured to move from a retracted position in which the support is housed on the upper deck (21), and to a deployed position in which the support extends cantilevered from the upper deck (21), preferably for loading or unloading a receptacle from the upper deck (21).

5. Vehicle (10) according to any one of claims 2 to 4, comprising a single motor (30) for moving the rising structure (20) relative to the chassis (11) in the vertical direction (Z).

6. Vehicle (10) according to the preceding claim, wherein the motor (30) is configured to actuate each climbing means (31) in order to move the vehicle (10) vertically along the respective upright (203).

7. Vehicle (10) according to any one of claims 2 to 6, wherein the vehicle (10) comprises one or more guide rails (12) integral with the chassis (11) and extending vertically, the upper plate (21) cooperating in sliding in the vertical direction (Z) with said one or more guide rails (12).

8. Vehicle (10) according to the preceding claim, in which at least one of the guide rails (12), and preferably each of the guide rails (12), comprises upper stop means (13) for limiting the movement of the upper plate (21) in the vertical direction (Z), upwards, relative to the chassis (11).

9. Vehicle (10) according to any one of claims 2 to 8, wherein the vehicle (10) comprises rolling means mounted on the chassis (11) and configured to allow the vehicle (10) to move on the ground (201).

10. Vehicle (10) according to any one of claims 2 to 9, comprising a deployment mechanism (100) for moving the rising structure (20) relative to the chassis (11) in the vertical direction (Z).

11. Vehicle (10) according to the preceding claim, in which the deployment mechanism (100) comprises a threaded rod (101) extending vertically along a first axis and which is capable of being driven in rotation around the first axis by a motor (30), and in which the upper plate (21) comprises a hole which has a thread screwed onto the threaded rod (101) so that the rotation of the threaded rod (101) causes a vertical displacement of the upper plate (21).

12. Vehicle (10) according to claim 10, in which the deployment mechanism (100) comprises a rod extending horizontally along a second axis and which is capable of being driven in translation along the second axis by a motor (30), and in which the upper plate (21) comprises a guide face (24) extending in the direction of the second axis in an inclined manner in the vertical direction (Z), a free end of the rod of the deployment mechanism (100) being supported on the guide face (24) of the upper plate (21) so that a translation of the rod according to the direction of the second axis causes a vertical movement of the upper plate (21).

13. Vehicle (10) according to claim 10, wherein the deployment mechanism (100) comprises: - one or more deployment toothed wheels (103), each deployment toothed wheel (103) being fixed in translation, preferably at least in the vertical direction (Z), relative to the rising structure (20) - one or more deployment racks (104) connected to the chassis (11) of the vehicle (10), each deployment rack (104) extending vertically, each deployment toothed wheel (103) meshing with an associated deployment rack (104) among said one or more deployment racks (104).

14. Vehicle (10) according to the preceding claim, in which each rack is connected to the chassis 11 by a connection which allows free relative movement in the vertical direction Z of the deployment rack 104 relative to the chassis 11, preferably between 4 mm and 6 mm, said such connection preferably comprising a spring 105 inserted vertically between a lower end of each deployment rack 104 and the chassis 11 of the vehicle 10.

15. Vehicle (10) according to the preceding claim, comprising one or more transmission shafts (33), each transmission shaft (33) being fixed in translation, preferably at least in the vertical direction (Z), relative to the rising structure (20), and in which: - each climbing means (31) is mounted integral in rotation on one of said one or more transmission shafts (33), and - each deployment toothed wheel (103) is mounted integral in rotation on one of said one or more transmission shafts (33).

16. Vehicle (10) according to the preceding claim, claim 5 applying, wherein the motor (30) is configured to drive each transmission shaft (33) in rotation.

17. An item storage and retrieval system (200) comprising one or more storage racks (202) each comprising a plurality of uprights (203) aligned along a first horizontal direction (X), each upright (203) comprising one or more climbing supports (205) each extending in the vertical direction (Z) between a lower end and an upper end, the article storage and retrieval system (200) further comprising a vehicle (10) according to any one of the preceding claims, each climbing means (31) being configured to be vertically spaced below the lower end of each climbing support (205) when in the retracted position (PE).

18. An item storage and retrieval system (200) according to the preceding claim, wherein each upright (203) comprises a post (204), preferably fixed to the ground (201), to which each climbing support (205) of the corresponding upright (203) is fixed.

19. An article storage and retrieval system (200) according to the preceding claim, wherein the vehicle (10) has a first width (11) in the transverse direction (TR) which is less than a distance in the first horizontal direction (X) which separates the posts (204) of each pair of consecutive uprights (203) of said one or more racks (202).

20. An item storage and retrieval system (200) according to claim 18, wherein said one or more racks (202) may comprise a first rack (202) and a second rack (202), spaced apart from each other in a second horizontal direction (Y), the post (204) of each upright (203) of the first rack (202) being aligned in the second horizontal direction (Y) with the post (204) of one of the uprights (203) of the second rack (202), and wherein the vehicle (10) has a first length (L1) in the longitudinal direction (LO) which is less than a distance in the second horizontal direction (Y) which separates the posts (204) of each pair of uprights (203) of the first rack (202) and the second rack (202) aligned in the second horizontal direction (Y).

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