USE OF A MAINTENANCE VEHICLE IN AN AUTOMATED STORAGE AND RETRIEVAL SYSTEM

Abstract

Use of a maintenance vehicle (30) in an automated storage and retrieval system comprising at least two storage racks (10) spaced apart to define an aisle (20) between them, each rack (10) comprising a lower level (13) located at a distance from the ground, the maintenance vehicle (30) comprising a lifting platform (32) for an operator, a stabilization system comprising a plurality of arms (40), wherein the stabilization system of the maintenance vehicle (30) is moved automatically between a first configuration in which each arm (40) is retracted and a second configuration in which each arm (40) is extended and forms a support on the ground at a distance from the chassis (31) below the lower level (13) of one of the storage racks (10). Abstract figure: Figure 3

Description

Title of the invention: USE OF A MAINTENANCE VEHICLE IN AN AUTOMATED SYSTEM FOR STORING AND RETRIEVING ITEMS technical field

[0001] This description relates to the use of a maintenance vehicle in an automated item storage and retrieval system. This description also relates to a stabilization system specifically designed for such use of a maintenance vehicle in an automated item storage and retrieval system. Previous technique

[0002] In the field of logistics, it is common practice to create storage facilities for items, for example in warehouses, that are compact and extend vertically in order to optimize the available storage space. Such a transport and storage facility generally comprises compactly arranged storage racks and aisles providing access to both sides of the storage racks. The storage racks are designed to hold and store items and, to this end, define within their structure consecutive columns of compartments, each compartment defining a storage location. These compartments are designed to hold bins or, more generally, receptacles, in which items are placed and stored. These items are then assembled to form orders.

[0003] Some storage facilities, designated as ASRS (Automatic Storage and Retrieval System), utilize automated guided vehicles (AGVs), specifically configured for placing and retrieving items from said storage racks. The following automated guided vehicles are generally robots that move autonomously without human intervention. Examples include shuttles, forklifts, stacker cranes, or other robots. The vehicles can, for example, move in at least one direction, or even both directions, across a horizontal surface, which is typically the warehouse floor.Automated guided vehicles can also move vertically by climbing onto storage racks.

[0004] Occasionally, a vehicle may become stuck in the rack, particularly at a certain height, and access is required to return it to service. This may be due to a breakdown, a collision with another vehicle, a lack of stability on the rack, or a problem related to the vehicle's vertical movement on the rack. These incidents require prompt intervention to return the vehicle to service. These troubleshooting or maintenance operations are essential, not only for the immobilized vehicle, but also potentially for other vehicles whose routes are affected by the immobilization of the vehicle in question. It may also be necessary to access the upper part of the rack to perform operations on the rack (for example, the structure) or directly on a container located at a height within the rack.Such operations can be time-consuming and costly, but also dangerous for the operators involved, especially if they have to be carried out at great heights.

[0005] In such a case, elevating work platforms are known, equipped with a platform for an operator and allowing work to be carried out at height. However, to reach great heights safely, it is necessary to stabilize the platform's chassis. This stabilization is essential to guarantee the stability and safety of the operator working at height, preventing any risk of tipping or unwanted movement of the platform.

[0006] Lifting platforms can be stabilized by a ceiling anchor, a rack anchor, or by their own weight. In all cases, these stabilization methods are bulky and inflexible, which limits their effectiveness and adaptability in compact and dynamic storage environments.

[0007] There is therefore a need for a flexible and compact maintenance system to carry out maintenance work at height in a stable and safe manner in an automated system for storing and retrieving items. Summary

[0008] It is proposed to use a maintenance vehicle in an automated storage and retrieval system for items comprising at least two storage racks spaced apart to define an aisle between them, each rack comprising storage locations distributed vertically on several levels, a lower level being located at a distance from the ground, the maintenance vehicle comprising: - a chassis configured to move on the ground, - a lifting platform designed to accommodate an operator, - a lifting system interposed between the chassis and the platform and configured to move the platform relative to the chassis at least in one vertical direction, - a stabilization system which includes a plurality of arms.

[0009] When the maintenance vehicle is positioned in the aisle, the maintenance vehicle stabilization system is automatically moved between: - a first configuration in which each arm is retracted so that the vehicle is adapted to move in the aisle, and - a second configuration in which each arm is deployed and forms a support on the ground at a distance from the chassis, the support on the ground formed by at least one of the arms being below the lower level of one of the storage racks.

[0010] Each rack may comprise a plurality of aligned uprights. Said at least one arm may form a support on the ground under the lower level of one of the racks in the second configuration, extending between two uprights of said rack.

[0011] Each rack can extend along a first horizontal direction, said at least two storage racks being spaced apart along a second horizontal direction, preferably perpendicular to the first horizontal direction, so that the aisle extends along the first horizontal direction.

[0012] Each arm may include a support foot configured to form the ground support when the arm is deployed. The support foot of each arm may be closer to the chassis in the first configuration than in the second configuration.

[0013] The support foot of each arm can be moved along a respective deployment direction which includes at least one component along the first horizontal direction and / or one component along the second horizontal direction when deploying the corresponding arm in the second configuration.

[0014] The maintenance vehicle may have a length along the first horizontal direction and a width along the second horizontal direction when positioned in the aisle. The length may be greater in the second configuration than in the first configuration. The width may be greater in the second configuration than in the first configuration.

[0015] The maintenance vehicle can have a footprint at least twice as large in the second configuration as in the first configuration.

[0016] The lifting platform can be raised by means of the lifting system when the stabilization system is in the second configuration, preferably to a height greater than or equal to 12 m, more preferably to a height greater than or equal to 14 m.

[0017] The maintenance vehicle may have a mass less than or equal to 600 kg.

[0018] Each arm among the plurality of arms may include: - a first segment mounted pivoting on the chassis around a first pivot axis, - a second segment mounted pivoting on the first segment around a second pivot axis, - a linking element connecting the second segment to the chassis such that a pivoting of the first segment relative to the chassis around the first axis causes a pivoting of the second segment relative to the first around the second axis, - an actuator configured to pivot the first segment relative to the chassis in order to move the arm between: — a retracted position in which the first and second segments are folded, and — a deployed position in which the first segment and the second segment are unfolded and the arm is able to form at least one support on the ground at a distance from the chassis.

[0019] The connecting member can be mounted on the one hand pivoting on the chassis around a third pivot axis and on the other hand pivoting on the second segment around a fourth pivot axis.

[0020] At least one of the links between the connecting member and the chassis and the link between the connecting member and the second segment can be configured to allow free relative movement of the connecting member respectively with respect to the chassis or the second segment.

[0021] In the deployed position, the second segment can be abutted against the first segment to prevent the second segment from pivoting relative to the first segment beyond the deployed position.

[0022] According to another aspect, a stabilization system for a maintenance vehicle is proposed, specifically designed for use in an automated storage and retrieval system, in particular as described above, the vehicle stabilization system comprising a chassis and a lifting platform, and a plurality of arms, each comprising: - a first segment mounted pivoting on the chassis around a first pivot axis, - a second segment mounted pivoting on the first segment around a second pivot axis, - a linking element connecting the second segment to the chassis such that a pivoting of the first segment relative to the chassis around the first axis causes a pivoting of the second segment relative to the first around the second axis, - an actuator configured to pivot the first segment relative to the chassis in order to move the arm between: — a retracted position in which the first and second segments are folded, and — a deployed position in which the first segment and the second segment are unfolded and the arm is able to form at least one support on the ground at a distance from the chassis.

[0023] The connecting member can be mounted on the one hand pivoting on the chassis around a third pivot axis and on the other hand pivoting on the second segment around a fourth pivot axis.

[0024] At least one of the links between the connecting member and the chassis and the link between the connecting member and the second segment can be configured to allow free relative movement of the connecting member respectively with respect to the chassis or the second segment.

[0025] In the deployed position, the second segment can be abutted against the first segment to prevent the second segment from pivoting relative to the first segment beyond the deployed position. Brief description of the drawings

[0026] Other features, details and advantages will become apparent upon reading the detailed description below, and upon analysis of the accompanying drawings, on which:

[0027] [Fig-1] is a perspective view that represents an automated storage system and item recovery.

[0028] [Fig.2] is a schematic view which represents a maintenance vehicle in the automated storage and retrieval system of items of [Fig.1], of which a stabilization system is in a first configuration.

[0029] [Fig.3] is a schematic view which represents the maintenance vehicle in the automated storage and retrieval system of items of [Fig.1], whose stabilization system is in a second configuration.

[0030] [Fig.4] is a perspective view which represents the maintenance vehicle with the stabilization system in the second configuration.

[0031] [Fig.5] is a perspective view which represents the maintenance vehicle with the stabilization system in the first configuration.

[0032] [Fig.6] is a perspective view which represents an arm of the stabilization system of figures 4 and 5, during deployment.

[0033] [Fig.7] is a perspective view which represents an arm of the stabilization system of figures 4 and 5, in a deployed position.

[0034] [Fig.8] is a larger scale view of the dotted area in [Fig.7]. Description of the implementation methods

[0035] The use of a maintenance vehicle 30 in an automated article storage and retrieval system is now described with reference to Figures 1 to 8. Equivalently and without restriction, reference may be made to the use of the maintenance vehicle 30 in the automated article storage and retrieval system by means of a maintenance process using the maintenance vehicle 30 in the automated article storage and retrieval system, or alternatively, by a method of using the maintenance vehicle 30 in the automated system for storing and retrieving items.

[0036] As shown in Figures 1 to 3, the automated item storage and retrieval system comprises at least two storage racks 10 spaced apart to define an aisle 20 between them. The aisle may have a width (i.e., between the racks) of between 700 mm and 900 mm, and preferably less than or equal to 800 mm. The automated item storage and retrieval system may comprise a plurality of racks defining a plurality of aisles. As shown, it is possible for racks 10 to be arranged directly against each other. Each rack 10 comprises storage locations 14 distributed vertically on several levels. Each level may comprise one or more storage locations 14. Each storage location 14 may be adapted to receive a receptacle 200, such as a bin or tray.The item storage and retrieval system may include a fleet of 100 transport vehicles, for example automated guided vehicles (AGVs) to store or retrieve receptacles in racks.

[0037] A lower level 13 is further defined among the multiple levels. The lower level 13 is located at a distance from the ground. It is understood that since the lower level 13 of the rack 10 is located at a distance from the ground (i.e., at a certain height above the ground), the lower level 13 thus forms a free space below the rack 10. In other words, a free space is formed vertically between the ground and the lower level 13. The lower level 13 of each rack 10 can be located at a height greater than or equal to 650 mm.

[0038] Each rack 10 can extend along a first horizontal direction X. Said at least two storage racks 10 can be separated along a second horizontal direction Y, preferably perpendicular to the first horizontal direction X, so that the aisle 20 extends along the first horizontal direction X.

[0039] In the following description, when reference is made to absolute position qualifiers, such as the terms "front", "back", "top", "bottom", "left", "right", etc., or relative position qualifiers, such as the terms "above", "below", "superior", "lower", etc., or to orientation qualifiers, such as "horizontal", "vertical", etc., reference is made, unless otherwise specified, to the orientation of the figures or of the item storage and retrieval system.

[0040] Each rack 10 can comprise a plurality of uprights 11, preferably vertical, aligned, in particular along the first horizontal direction X. The spacing between two consecutive uprights 11 of each rack 10, in particular along the first direction, can be less than or equal to 500 mm.

[0041] Similarly, each rack 10 may comprise a plurality of columns 12, in particular aligned along the first direction. Each column 12 may be delimited by a pair of consecutive uprights 11. Each column 12 may comprise a vertical stacking of storage locations 14.

[0042] The maintenance vehicle 30, more particularly visible in figures 2 to 4, comprises a chassis 31 configured to move on the ground, a lifting platform 32 intended to receive an operator, a lifting system 33 interposed between the chassis 31 and the platform 32 and configured to move the platform 32 relative to the chassis 31 at least in a vertical direction Z, and a stabilization system which includes a plurality of arms 40.

[0043] The lifting system 33 can be implemented in various configurations to meet the specific needs of maintenance operations at height. A first configuration may include a hydraulic lifting system, where hydraulic cylinders are used to move the platform. This solution offers a high load capacity and precise movement. A second configuration may use an electromechanical lifting system 33, comprising electric motors and worm gears to raise the platform. This type of system is particularly suitable for precise and repetitive movements, with reduced maintenance. A third configuration may incorporate a rack and pinion lifting system, where racks fixed to a mast are engaged by motorized pinions to move the platform vertically. This configuration is robust and offers high stability.Finally, a fourth variant can use a cable and pulley lifting system, where steel cables are wound around motorized pulleys to raise and lower the platform. This solution is lightweight and allows for a significant lifting height. In addition, the lifting system can incorporate a compass structure, using scissor-like articulated arms to raise the platform. This compass design allows for stable and controlled vertical extension, while offering a compact form when retracted.

[0044] The platform 32 can be specially designed to accommodate an operator safely and comfortably. The platform can include guardrails on all sides to prevent falls and ensure the operator's safety when working at height. The platform surface can be non-slip, providing optimal grip even in wet or dusty conditions. Furthermore, the platform 32 can be configured to allow the operator to move freely. The platform 32 can be equipped with anchor points for an operator's safety harness, ensuring additional fall protection. Control levers can be integrated into the platform, allowing The operator is able to control the movements of the gondola, including elevation, descent and lateral movement, without leaving the platform.

[0045] Remarkably, when the maintenance vehicle 30 is positioned in aisle 20 during its use in the item storage and retrieval system, the stabilization system of the maintenance vehicle 30 is automatically moved between: - a first configuration in which each arm 40 is retracted so that the vehicle is adapted to travel in the aisle 20 (see [Fig.2]), and - a second configuration in which each arm 40 is deployed and forms a support on the ground at a distance from the chassis 31, the support on the ground formed by at least one of the arms 40 being below the lower level 13 of one of the storage racks 10 (see [Fig.3]).

[0046] The maintenance vehicle 30 is therefore capable of moving in narrow aisles 20 between storage racks 10 and stabilizing itself effectively by means of a ground grip to allow for maintenance operations at height. The stabilization system, with its automatically retractable and deployable arms 40, allows the vehicle to move easily in the aisles 20 when said stabilization system is in the retracted position and to ensure adequate stability when said system is in the deployed position. This improves the flexibility and safety of maintenance operations, while minimizing space requirements and optimizing space utilization in compact storage environments.

[0047] The automated stabilization system has the advantage of eliminating the need for an operator to manually deploy the stabilizing arms 40 under the storage racks 10. Indeed, thanks to the system's automated configuration, each arm 40 can be moved autonomously between a retracted and a deployed position. This not only saves time but also reduces the physical effort required from the operator, who no longer needs to move around the vehicle to position the stabilizers. Furthermore, this automation improves operational safety by minimizing the risks associated with manually handling the stabilizers in confined and potentially hazardous spaces such as under the storage racks 10. Consequently, the system offers a more ergonomic and safer solution for maintenance operations at height in dense and compact storage environments.

[0048] Preferably, as illustrated, each arm 40 can form a support on the ground below the lower level 13 of one of the storage racks 10.

[0049] Furthermore, said at least one arm 40 forming a support on the ground under the lower level 13 of one of the racks 10 in the second configuration, may extend between two uprights 11 of said rack 10. In this case, it may be two consecutive uprights 11.

[0050] To prevent interference or collision between each arm 40 and the rack uprights, an indexing system for the maintenance vehicle relative to one or more rack uprights may be provided. The indexing system may be configured to ensure precise and repeatable positioning of the maintenance vehicle relative to the rack uprights and to prevent collision between each arm and the rack uprights during their deployment. The indexing system may be configured to correctly position the vehicle and its stabilizing arms relative to the storage racks before the stabilizers are deployed. The indexing system may include elements such as pads and / or guides, preferably foldable, configured to abut against a rack upright in the desired position of the maintenance vehicle.Alternatively, or in addition, the indexing system may include one or more positioning sensors and / or one or more visual markers.

[0051] Each arm 40 may include a support foot 42 configured to provide ground support when the arm 40 is deployed. The support foot 42 may have an underside configured to provide stable and secure ground support. This underside may be flat and sufficiently wide to distribute loads evenly, thus minimizing pressure on the ground and reducing the risk of slippage or tipping. The support foot 42 of each arm 40 may be closer to the frame 31 in the first configuration than in the second configuration. In the second configuration, the support foot 42 of at least one of the arms 40 may be located below the lower level 13 of one of the storage racks 10. More specifically, the support foot 42 of each arm 40 may be located below the lower level 13 of one of the storage racks 10.

[0052] The support foot 42 of each arm 40 can be moved along a respective deployment direction that includes at least one component along the first horizontal direction X and / or one component along the second horizontal direction Y when deployed in the second configuration of the corresponding arm 40. This deployment allows the ground supports to be formed at a distance from the chassis 31 by passing below the lower level 13 of the rack 10 and, in particular, by passing between the uprights 11 of the rack 10. This allows the ground supports to reach optimal positions to provide stable and secure support, thus minimizing the risk of tipping or imbalance of the maintenance vehicle 30.In the illustrated example, the support foot of each arm can be deployed along a deployment direction that includes a component along the first horizontal direction X and a component along the second horizontal direction Y, and preferably a component along the vertical direction Z.

[0053] The support foot 42 of each arm 40 can be moved according to a translational movement (of any kind, for example along a straight line, and / or circular, and / or curved trajectory, etc.) and / or according to a rotational movement.

[0054] The support foot 42 of each arm 40 can be kept at a height lower than that of the bottom level 13 of the storage racks 10 when the corresponding arm 40 is deployed. More specifically, when an arm 40 is deployed, its support foot 42 can remain close to the ground, for example at a height lower than that of the bottom level 13 of the racks 10, for example at a height of less than 650 mm from the ground. Thus, the support foot 42 can pass below the bottom level 13 of the racks 10. This configuration allows the arm 40 to extend under the racks 10 and provide stable and secure support, even in confined spaces.

[0055] The maintenance vehicle 30 may have a length L along the first horizontal direction X and a width 1 along the second horizontal direction Y when arranged in the aisle 20. The length L of the maintenance vehicle 30 may be greater in the second configuration than in the first configuration. The width 1 of the maintenance vehicle 30 may be greater in the second configuration than in the first configuration.

[0056] A longitudinal direction DL and a transverse direction DT of the maintenance vehicle 30 can be defined. In standard use of the maintenance vehicle 30, the longitudinal direction DL and / or the transverse direction DT can each be horizontal or close to horizontal. Thus, the longitudinal direction DL and / or the transverse direction DT can be perpendicular to a vertical direction Z. The transverse direction DT can be perpendicular to the longitudinal direction DL. The longitudinal direction DL and the transverse direction DT can coincide with the first horizontal direction X and the second horizontal direction Y when the maintenance vehicle 30 is arranged in the aisle 20. The length L and the width 1 of the vehicle can be considered respectively with respect to the longitudinal direction DL and the transverse direction DT.

[0057] The maintenance vehicle 30 can have a footprint E at least twice as large in the second configuration as in the first configuration. This significant increase in the footprint E allows for a more even distribution of loads and reduces the risk of the vehicle tipping or overturning, especially when the lifting platform 32 is raised to significant heights.

[0058] The maintenance vehicle 30 may, in the first configuration, have a footprint of less than 1500 mm in length and / or less than 750 mm in width. The footprint in the first configuration may correspond to the footprint of the chassis 31, or be delimited by the ground support of the running gear 34.

[0059] In the second configuration, the maintenance vehicle 30 may have a footprint E greater than 2000 mm in length and / or less than 2000 mm in width. In the second configuration, the footprint E of the maintenance vehicle 30 may correspond to a ground area delimited by the ground support points formed by the arms 40.

[0060] The ground footprint E of the vehicle in the second configuration can be configured to reduce the risk of tipping or overturning of the platform; and / or allow the machine to support loads during lifting safely, and / or ensure the safety of operators and people nearby by keeping the platform stable even when at a significant height.

[0061] The ground footprint E of the maintenance vehicle 30 in the second configuration can correspond to the minimum stabilization surface of the maintenance vehicle 30. The stabilization surface refers to the ground surface which is used to distribute the weight of the vehicle and ensure its stability when in operation, and to stabilize the vehicle against the tipping moments generated by the platform 32 at height.

[0062] This surface includes the areas where the arms 40 and the support feet 42 are deployed to provide a solid anchor, ensuring that the platform 32 does not tip or overturn during use. The stabilizing surface therefore includes areas below the lower level 13 of at least one of the racks 10.

[0063] Each arm 40 can have a minimal horizontal footprint when retracted. Each arm 40 can have a maximum horizontal footprint when retracted. This minimizes the overall footprint and facilitates vehicle movement in confined spaces when retracted, while allowing for increased reach when deployed to ensure more stable support. Conversely, each arm 40 can have a minimal vertical footprint when deployed. Similarly, each arm 40 can have a maximum vertical footprint when retracted.

[0064] Advantageously, the maintenance vehicle 30 can have a mass of 600 kg or less. Using a maintenance vehicle 30 with a mass of 600 kg or less prevents damage to the floor slab supporting the automated storage and retrieval system. A reduced mass minimizes the pressure exerted on the floor, thus reducing the risk of cracking or surface damage. This is particularly important in storage environments where the slab must withstand significant dynamic and static loads and be suitable for vehicle traffic for transferring items. By keeping the mass of the maintenance vehicle 30 below 600 kg, better preservation of the structural integrity of the floor is ensured. the warehouse. This is also an advantage when used on sensitive or pressure-limited floors, as well as on soft ground. This weight also allows the maintenance vehicle 30 to be transported on a standard truck, typically a 7.5-tonne truck.

[0065] The plurality of arms 40 may include a pair of front arms 40 and a pair of rear arms 40 along the longitudinal direction L. The pairs of front and rear arms 40 may be connected to the chassis 31 respectively in the vicinity of a front end and a rear end of the chassis 31, opposite each other along the longitudinal direction L. The arms 40 of each pair of arms 40 may be arranged on each side of the chassis 31 along the transverse direction DT, symmetrically with respect to a median longitudinal plane of the maintenance vehicle 30. The arms 40 of each pair of arms 40 may each form a support on the ground below the lower level 13 of a respective rack 10 among the two racks 10 delimiting the aisle 20.

[0066] A balanced stabilizing base is thus formed on each arm 40. In other words, this arrangement allows the loads to be distributed evenly and minimizes the risk of tipping.

[0067] The stabilizing arms 40 of the maintenance vehicle 30 can be located at the four corners of the chassis 31, so as to provide optimal stability. The arms 40 can be arranged in a star pattern when deployed, which ensures greater stability by distributing the support points evenly around the chassis 31.

[0068] Each arm 40 of the maintenance vehicle 30 can include a single actuator 41 for its deployment. The use of a single actuator 41 per arm 40 allows for individual control of each stabilizing arm 40, ensuring increased precision and efficiency during stabilization operations. This configuration also reduces the mechanical complexity and costs associated with installing multiple actuators 41 for arms 40. By automating the deployment and retraction of the stabilizing arms 40, the single actuator 41 improves the safety and speed of maintenance operations, while minimizing physical effort for the operator.

[0069] The maintenance vehicle 30 may include wheeled means 34 for moving on the ground, particularly in the aisle 20. These wheeled means 34, such as wheels or tracks, allow the vehicle to move easily and efficiently in the confined spaces between the storage racks 10. The wheeled means 34 may be motorized, thus offering additional flexibility depending on the specific application requirements. Thanks to these wheeled means 34, the maintenance vehicle 30 can be positioned precisely where maintenance or repair work is required, thus ensuring high flexibility and optimal mobility within the storage environment.

[0070] The stabilization system can be actuated to lift the chassis 31 of the maintenance vehicle 30 so that the maintenance vehicle 30 rests only on the plurality of arms 40 (shown in [Fig. 7]). Lifting the chassis 31 can be achieved by applying lifting pressure to each arm 40 in contact with the ground, in particular via their respective actuators 41. By raising the maintenance vehicle 30, the total weight of the vehicle is distributed evenly across the arms 40, rather than resting solely on the chassis 31 or the running gear. This allows for better distribution of the load on the ground, thus reducing the pressure exerted at any single point. The arms 40 can be adjusted independently, allowing the vehicle to adapt to surfaces of varying heights (it is common in logistics warehouses for the floor to have irregularities or differences in level, either inherent to their construction or due to impacts).The chassis 31 can thus be placed in a horizontal position to prevent any imbalance or tipping. Activation of the stabilization system may include a first phase of deploying the arms until they make contact with the ground to form the support, and a second phase of lifting the chassis by pressure exerted by the arms.

[0071] When the stabilization system is in the second configuration, and preferably when the vehicle is resting only on the arms 40, the lifting platform 32 can be raised by means of the lifting system 33, preferably to a height greater than or equal to 12 m, preferably to a height greater than or equal to 14 m. The safe elevation of the work platform 32 to these heights by means of the lifting system 33 of the maintenance vehicle 30 and when the stabilization arms 40 of the vehicle are in the second configuration, i.e. deployed and in stable support on the ground, makes it possible to carry out maintenance operations at height in vertical storage environments such as automated storage and retrieval systems.

[0072] With particular reference to Figures 6 to 8, an embodiment of the stabilization system, specifically designed for use with the maintenance vehicle 30 in the automated storage and retrieval system described above, is now described in more detail. In this sense, it may be referred to as the use of the maintenance vehicle 30 in the automated storage and retrieval system in which the maintenance vehicle includes the stabilization system as described below.

[0073] Each arm 40 may comprise a first segment 43 pivotally mounted on the frame 31 about a first pivot axis A1, a second segment 44 pivotally mounted on the first segment 43 about a second pivot axis A2, and a connecting member 45 linking the second segment 44 to the frame 31 such that a pivoting of the first segment 43 relative to the frame 31 about the first axis This results in a pivoting of the second segment 43 relative to the first segment 43 around the second axis. The pivot axes may be parallel to each other. Each pivot axis may be perpendicular to the deployment direction of the corresponding arm 40. Each pivot axis may be formed by a shaft 46 extending along the corresponding pivot axis. This applies to the first and second pivot axes A2, and / or possibly to the pivot axes described below.

[0074] The first segment 43 can be pivotally mounted at one end on the frame 31. The second segment 44 can be pivotally mounted at one end on the first segment 43, at a second end. The support foot 42 of each arm 40 can be fixedly or articulatedly connected at a second end of the second segment 44 of the corresponding arm 40.

[0075] The actuator 41 of each arm 40 can be configured to pivot the first segment 43 relative to the chassis 31 in order to move the arm 40 between a retracted position in which the first segment 43 and the second segment 44 are folded, and a deployed position in which the first segment 43 and the second segment 44 are unfolded and the arm 40 is able to form at least one support on the ground at a distance from the chassis 31.

[0076] A stabilization system is thus provided for a maintenance vehicle 30 that allows the stabilizing arms 40 to be deployed and retracted efficiently and compactly. The linkage member 45 and the actuator 41, configured to pivot the first segment 43, ensure automated deployment and retraction of the arms 40 between a retracted position, where the segments are folded to allow the vehicle to move easily, and a deployed position, where the segments are unfolded to ensure the stability of the maintenance vehicle 30. This improves the flexibility and safety of maintenance operations, while minimizing bulk and optimizing space utilization, particularly in space-constrained environments such as automated storage and retrieval systems.

[0077] A multi-segment stabilizing arm 40 offers several advantages over a single-piece arm 40. First, the multi-segment design allows for greater compactness when the arm 40 is retracted, which facilitates the movement of the maintenance vehicle 30 in confined spaces and optimizes space utilization. This is because the segments can fold onto one another, thus reducing the overall size of the arm 40. Furthermore, a multi-segment arm 40 offers increased flexibility during deployment, allowing it to achieve support positions adapted to the specific ground conditions and working environment. This flexibility improves vehicle stability by optimally distributing the support points.

[0078] A multi-segment stabilizing arm 40 also has the advantage of facilitating deployment by passing under the lower level 13 of the rack 10. By unfolding segment by segment, the multi-segment arm 40 can reach a stable support position on the ground, even when the lower level 13 of the rack 10 is located at a reduced height.

[0079] The term "extended" refers to the state in which the segments of a stabilizing arm 40 are extended to form a substantially elongated structure. In this position, the segments are aligned to maximize the length of the arm 40, thus providing stable support on the ground at a distance from the chassis 31 of the maintenance vehicle 30. The term "retracted" refers to the state in which the segments of a stabilizing arm 40 are retracted or folded back on one another. In this position, the segments are compacted to minimize the overall size of the arm 40, thus allowing the maintenance vehicle 30 to maneuver easily in confined spaces.

[0080] The first segment 43 may have a first length 11 and the second segment 44 may have a second length 12. The maximum vertical dimension of each arm 40 in the retracted position may be less than or equal to the first length 11. The maximum horizontal dimension of each arm 40 in the deployed position may be less than or equal to the sum of the first length 11 and the second length 12.

[0081] The connecting member 45 can be mounted pivoting on the frame 31 about a third pivot axis A3 and pivoting on the second segment 44 about a fourth pivot axis A4. The connecting member 45 can include a connecting rod, a chain system, and / or a pulley system. In the illustrated example, the connecting member includes a connecting rod mounted, preferably at one end, pivoting on the frame about the third pivot axis A3 and mounted, preferably at a second end, pivoting on the second segment about the fourth pivot axis A4.

[0082] The link between the connecting member 45 and the chassis 31 can be configured to allow free relative movement of the connecting member 45 with respect to the chassis 31. Alternatively or additionally, the link between the connecting member 45 and the second segment 44 can be configured to allow free relative movement of the connecting member 45 with respect to the second segment 44.

[0083] This avoids the transmission of stabilizing forces via the connecting rod. It also prevents the system from becoming over-static. This improves the durability and reliability of the stabilization system.

[0084] The free relative displacement of the connecting member 45 respectively with respect to the chassis 31 or the second segment 44 can be limited, i.e. on the order of a few mm, for example 10 mm.

[0085] The free relative displacement of the connecting member 45 with respect to the chassis 31 can be obtained by a clearance between the third pivot axis A3 and the connecting member 45. Similarly, the free relative displacement of the connecting member 45 with respect to the second segment 44 can be obtained by a clearance between the fourth pivot axis A4 and the connecting member 45. Such a clearance can be formed by an oval or oblong hole in the connecting member 45, said hole receiving the shaft 46 extending along the corresponding pivot axis (shown for the pivot axis A3 in [Fig.8]).

[0086] The actuator 41 can be motorized. The actuator 41 can include at least one of the following means: hydraulic cylinders, pneumatic cylinders, electric actuators, electromechanical actuators, linear actuators, rotary actuators, worm gear actuators, rack and pinion actuators, chain actuators, and belt actuators. In the example shown, the actuator 41 is of the linear type, notably comprising a cylinder. The actuator 41 can thus be mounted pivoting relative to the frame 31 about a fifth pivot axis A5 and pivoting relative to the first segment 43 about a sixth pivot axis A6. The actuator 41 is thus configured to pivot the first segment 43 in a first direction about the first pivot axis A1 when it extends and in a second direction opposite to the first direction when it shortens.

[0087] In the deployed position, the second segment 44 can be abutted against the first segment 43 to prevent the second segment 44 from pivoting relative to the first segment 43 beyond the deployed position. The abutted contact of the second segment 44 with the first segment 43 in the deployed position forms a rigid assembly suitable for transmitting the stabilizing forces from the second segment 44 to the first segment 43, ensuring optimal stability.

Claims

1.

2. Demands Use of a maintenance vehicle (30) in an automated system for storing and retrieving items comprising: - at least two storage racks (10) spaced apart to define an aisle (20) between them, each rack (10) comprising storage locations (14) distributed vertically over several levels, a lower level (13) being located at a distance from the ground, the maintenance vehicle (30) comprising: - a chassis (31) configured to move on the ground, - a lifting platform (32) intended to receive a operator, - a lifting system (33) interposed between the chassis (31) and the platform (32) and configured to move the platform (32) relative to the chassis (31) at least in one vertical direction (Z), - a stabilization system comprising a plurality of arms (40), in which, when the maintenance vehicle (30) is positioned in the aisle (20), the stabilization system of the maintenance vehicle (30) is moved automatically between: - a first configuration in which each arm (40) is retracted so that the vehicle is adapted to travel in the aisle (20), and - a second configuration in which each arm (40) is deployed and forms a support on the ground at a distance from the chassis (31), the support on the ground formed by at least one of the arms (40) being below the lower level (13) of one of the storage racks (10). Use of the maintenance vehicle (30) in the automated storage and retrieval system for items according to the preceding claim, each rack (10) comprising a plurality of aligned uprights (11), in which said at least one arm (40) forms a support on the ground under the lower level (13) of one of the racks (10) in the second configuration, extends between two uprights (11) of said rack (10).

3. Use of the maintenance vehicle (30) in the automated storage and retrieval system of items according to any one of the preceding claims, wherein each rack (10) extends along a first horizontal direction (X), said at least two storage racks (10) being spaced apart along a second horizontal direction (Y), preferably perpendicular to the first horizontal direction (X), so that the aisle (20) extends along the first horizontal direction (X).

4. Use of the maintenance vehicle (30) in the automated storage and retrieval system of items according to any one of the preceding claims, each arm (40) comprising a support foot (42) configured to form the ground support when the arm (40) is deployed, and wherein the support foot (42) of each arm (40) is closer to the chassis (31) in the first configuration than in the second configuration.

5. Use of the maintenance vehicle (30) in the automated storage and retrieval system of items according to the preceding claim, claim 3 applying, wherein the support foot (42) of each arm (40) is moved along a respective deployment direction which includes at least one component along the first horizontal direction (X) and / or one component along the second horizontal direction (Y) when deploying the corresponding arm (40) in the second configuration.

6. Use of the maintenance vehicle (30) in the automated storage and retrieval system of items according to any one of the preceding claims, claim 3 applying, the maintenance vehicle (30) having a length along the first horizontal direction (X) and a width along the second horizontal direction (Y) when arranged in the aisle (20), and wherein: - the length is greater in the second configuration than in the first configuration, and / or - the width is greater in the second configuration than in the first configuration.

7. Use of the maintenance vehicle (30) in the automated storage and retrieval system of items according to any one of the preceding claims, wherein the maintenance vehicle (30) has a footprint at least twice as large in the second configuration as in the first configuration.

8. Use of the maintenance vehicle (30) in the automated storage and retrieval system of items according to any one of the preceding claims, wherein the lifting platform (32) is raised by means of the lifting system (33) when the stabilization system is in the second configuration, preferably to a height greater than or equal to 12 m, more preferably to a height greater than or equal to 14 m.

9. Use of the maintenance vehicle (30) in the automated storage and retrieval system for items according to any one of the preceding claims, wherein the maintenance vehicle (30) has a mass less than or equal to 600 kg.

10. Stabilization system for a maintenance vehicle (30) specially designed for use in an automated storage and retrieval system and comprising a chassis (31) and a lifting platform (32), the stabilization system comprising a plurality of arms (40) each comprising: - a first segment (43) pivotally mounted on the chassis (31) about a first pivot axis (A1), - a second segment (44) pivotally mounted on the first segment (43) about a second pivot axis (A2), - a linking member (45) connecting the second segment (44) to the chassis (31) such that a pivoting of the first segment (43) relative to the chassis (31) about the first axis causes a pivoting of the second segment (43) relative to the first segment (43) about the second axis, - an actuator (41) configured to pivot the first segment (43) relative to the chassis (31) in order to move the arm (40) between: • a retracted position in which the first segment (43) and the second segment (44) are folded, and • a deployed position in which the first segment (43) and the second segment (44) are unfolded and the arm (40) is able to form at least one support on the ground at a distance from the chassis (31).

11. Stabilization system according to the preceding claim 10, in which the connecting member (45) is mounted on the one hand pivoting on the chassis (31) around a third pivot axis (A3) and on the other hand pivoting on the second segment (44) around a fourth pivot axis (A4).

12. Stabilization system according to any one of claims 10 or 11, wherein at least one of the connection between the connecting member (45) and the chassis (31) and the connection between the connecting member (45) and the second segment (44) is configured to allow free relative movement of the connecting member (45) respectively with respect to the chassis (31) or the second segment (44).

13. Stabilization system according to any one of claims 10 to 12, wherein, in the deployed position, the second segment (44) is abutted against the first segment (43) to prevent pivoting of the second segment (44) relative to the first segment (43) beyond the deployed position.

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