Modular storage system and method for retrieving items stored in the system

Abstract

This disclosure relates to a modular storage system comprising a modular structure (200), a locker (300), and a discharge system (400). The discharge system (400) comprises a discharge module (220a) and an ejector module (230), the discharge module and the ejector module having a common side (410), the discharge module having a discharge surface (420) opposite the common side (410), the ejector module (230) comprising a pusher (430) positioned on the chassis (240) of the ejector module (230), the pusher comprising a rod (434) which pushes the items to be removed, which are placed on a locker located within the discharge module, and discharges the items to be removed from the modular structure through the discharge surface of the discharge module.

Description

Technical Field

[0005]

[0001] The present invention relates to an automated storage solution. More specifically, it relates to the retrieval of articles stored in a robotic modular storage structure, and for this purpose, a modular storage system and a method for retrieving articles stored in such a system are proposed.

Background Art

[0002] With the growth of industrial needs, precision logistics, and e-commerce, the development and utilization of automated solutions for storing and retrieving articles such as goods have proven to be extremely important for many stakeholders. Depending on the type of corresponding needs, various types of solutions have been proposed.

[0003] Technologies such as "stacker cranes", "carousel (rotary) conveyors", "robot groups", and further the introduction of autonomous mobile robots have made it possible to move stored articles from one location to another. These technologies have different characteristics and performances, and thus are not suitable for the same applications. Furthermore, they cannot adapt to all types of spaces, especially narrow spaces, and do not provide a highly efficient storage solution that limits the need for manual intervention while providing a user-friendly and compact storage solution.

[0004] A patent application (International Publication No. 2020 / 260639) filed by the applicant of the present application proposes a compact storage and transfer system that can adapt to many types of storage environments and enables a high throughput rate. This system includes, on the one hand, a modular structure consisting of a plurality of adjacent storage modules, and on the other hand, lockers capable of storing articles and moving within the modular structure from one module to another. However, there is a need to improve this system, such as the management of retrieving stored articles transported by the lockers from the system.

[0005] U.S. Patent Application Publication 2019 / 062058 proposes a more complex storage and retrieval system than those previously presented, which includes means for discharging a single item from a locker. However, this system requires the installation of an auxiliary robot outside the modular system to retrieve the item. In addition, the retrieval speed of this system is very slow due to the operation of the entire storage system and the complexity caused by the presence of the robot outside.

[0006] Therefore, it is necessary to improve the performance of existing modular systems. [Disclosure of the Invention] [Problems that the invention aims to solve]

[0007] One of the purposes of this disclosure is to resolve at least one of the aforementioned problems.

[0008] For this purpose, in one aspect of the present disclosure, a modular storage system is provided, which is: A modular structure comprising multiple adjacent modules, each of which comprises a rectangular chassis and having four sides, a top surface, and a bottom surface, The system comprises a locker that is movable within a modular structure from one module to an adjacent module and configured to transport stored items, one of which is an item to be removed from the system.

[0009] The modular structure further comprises a discharge system, the discharge system itself comprising a discharge module and an ejector module in a plurality of modules, the discharge module and the ejector module having a common side, the discharge module having a discharge surface on the opposite side of the common side, the ejector module having a pusher located on the chassis of the ejector module, the pusher having a rod, the rod being configured to move from a storage position contained within the ejector module to a discharge position where the rod passes perpendicularly through the common side and extends at least partially into the discharge module, the rod pushing the object to be removed placed on a locker located within the discharge module, and discharging the object to be removed from the modular structure through the discharge surface of the discharge module.

[0010] Such a system allows for the quick and easy retrieval of items stored in lockers within a modular structure. The retrieval system is implemented directly within the modular structure without complicating the movement of the lockers within the structure.

[0011] In addition, the ejection of items from the locker is achieved by a simple axial translational movement of the pusher rod, which reduces the number of movements required. Consequently, the system's compactness is improved.

[0012] Advantageously, however, the systems of this disclosure may, either alone or in any technically feasible combination, include at least one of the following features: The pusher further comprises a carriage that is translationally movable relative to the chassis along at least one direction belonging to a plane of a common surface of the ejector module, the rod being axially translationally movable on the carriage, and the carriage being configured to position the rod so as to align with the object to be ejected and the ejection surface. The pusher rod is equipped with a shoe fixed to the rod, and the shoe is articulated to the rod so that its orientation can be adjusted to contact the surface of the item to be removed. The shoe has a surface provided for contact with the item to be picked up, the contact surface has a first dimension and a second dimension that is larger than the first dimension, and the pusher has a motor drive unit configured to change the orientation of the shoe and its contact surface according to the item to be picked up. The shoe is equipped with a sensor configured to acquire information regarding the relative position between the shoe and the item to be picked up, and to transmit that information to a central controller that controls the movement of the rod. The system includes a central controller configured to synchronously manage the movement of rockers and pushers within a modular structure. The system includes a non-powered or powered conveying device, the conveying device having an inlet and an outlet, the inlet of the conveying device being adjacent to the discharge surface of the discharge module, the outlet of the conveying device being adjacent to the recovery point, and the conveying device being configured to transport the items to be removed discharged from the discharge module to the recovery point.

[0013] In another embodiment, a method is proposed for removing an item from the system, which includes the following steps: The process involves moving a locker containing the items to be removed toward the discharge module, and the locker can enter the discharge module via its common side and sides other than the discharge surface, or via its underside or topside, and the movement is monitored to position the items to be removed in front of the pusher. The pusher rod is moved from the storage position to the discharge position, and this movement is the process of pushing the item to be removed out of the locker.

[0014] In another embodiment, a method is proposed for removing an item from a system, which includes the following steps: A locker containing the items to be removed is moved within the discharge module, and the locker can enter the discharge module via its sides other than the common side and the discharge surface, or via its underside or topside, and the movement is monitored to position the items to be removed in front of the pusher. The step of moving the carriage of the pusher relative to the chassis of the ejector module so that the object to be retrieved and the pusher are arranged facing each other, The step of moving the rod of the pusher from the storage position to the discharge position, and this movement pushes the object to be retrieved out of the locker.

[0015] In another aspect, a computer program product is proposed that includes coded data configured to control the execution by a central controller of the steps of a method for retrieving an object to be retrieved.

Brief Description of the Drawings

[0016] Other features, objectives, and advantages will become apparent from the following description. This description is purely illustrative and non-limiting and should be read in conjunction with the accompanying drawings.

[0017] [Figure 1] Figure 1 is a perspective view of a modular system according to an embodiment of the present invention. [Figure 2] Figure 2 is a perspective view of a modular structure including a discharge system according to an embodiment of the present invention. [Figure 3] Figure 3 is a perspective view of a pusher of a discharge system according to an embodiment of the present invention. [Figure 4A] Figure 4A is a view showing the shoe of a pusher rod according to an embodiment of the present invention. [Figure 4B] Figure 4B is a view showing the shoe of a pusher rod according to an embodiment of the present invention. [Figure 4C] Figure 4C is a view showing the shoe of a pusher rod according to an embodiment of the present invention. [Figure 5A] Figure 5A is a view showing the orientation of the shoe of the rod of a pusher according to an embodiment of the present invention. [Figure 5B] Figure 5B is a view showing the orientation of the shoe of the rod of a pusher according to an embodiment of the present invention. [Figure 6] Figure 6 is a perspective view of a locker according to an embodiment of the present invention. [Figure 7] Figure 7 is a cross-sectional view of the locker partition of the discharge system according to an embodiment of the present invention. [Figure 8] Figure 8 is a diagram showing several positions of the locker with respect to the sensor of the module according to an embodiment of the present invention. [Figure 9] Figure 9 is a perspective view of a modular system including a conveying device according to an embodiment of the present invention. [Figure 10] Figure 10 is a diagram showing the process of moving the locker and the pusher in the method of taking out an article from a modular system according to a specific embodiment of the present invention. [Figure 11] Figure 十四 is a diagram showing the process of moving the push arm of the pusher in the method of taking out an article from a modular system according to a specific embodiment of the present invention. [Figure 12] Figure 12 is a diagram showing the discharging process in the method of taking out an article from a modular system according to a specific embodiment of the present invention.

[0018] In all the figures, similar elements are denoted by the same reference numerals.

Mode for Carrying Out the Invention

[0019] General Information of the Modular Storage System

[0020] The modular system 100 shown in FIG. 1 is a storage system that enables a robot to move the stored article 600. As shown in FIG. 2, the stored article 600 may be of any type, such as a parcel, a small package, a bag, a box, or any other individual article. This system 100 typically includes a modular structure 200 placed on the floor of the storage room and one or more lockers 300 intended to move inside the structure 200.

[0021] It should be noted that in the translation of "Figure 十四", it seems there is an error in the original text which might be "Figure 14". This translation is based on the provided text.The modular structure 200 is defined by a plurality of adjacent modules 210, which are either mobile modules 220 or ejector modules 230.

[0022] These modules 210 are arranged side by side, stacked, and connected to each other, as shown in Figure 2, to form a modular structure 200. The modular structure 200 comprises an outer casing 250 formed by the lateral modules 210 of the modular structure 200, where at least one of the faces of these lateral modules is not adjacent to another module. For simplicity, the modular structure 200 will hereafter be referred to as structure 200. For clarity, the modular structure 200 shown in Figure 1 is rectangular, but it may have other shapes, such as forming an uneven volume with multiple sides.

[0023] The modular design of the structure 200 allows it to adapt to any environment. Furthermore, it facilitates and streamlines the flow of stored goods 600 between delivery and collection points.

[0024] The modular storage system 100 further includes a plurality of horizontal and vertical actuators 500 and a plurality of control devices 201. The horizontal and vertical actuators 500 are configured to drive rockers 300 in some of the plurality of modules 210. Advantageously, the vertical and horizontal actuators 500 can be operated by a plurality of motors (not shown). The control devices 201 are configured, among other things, to operate the motors of the actuators 500, thereby managing the movement of the rockers 300 within the structure 200 present in the system 100. In one embodiment, each module 210 includes a control device 201 configured to control the movement of the rockers 300 present in this same module 210.

[0025] The modular storage system 100 may further include a central controller 800 configured to issue commands to control the movement of various lockers 300 and transmit them to a control device 201, thereby executing a method of automatically moving the lockers 300.

[0026] The control device 201 may include a processing unit (not shown) such as a processor or a computing unit, as well as one or more preactuators (not shown) that can distribute energy to the actuator 500 according to commands received from the central controller 800.

[0027] The central controller 800 includes a processing or computing unit such as a processor, and one or more memories containing code data that issue operation instructions configured to perform a method of moving the rocker 300 within the system 100 when executed by the processing unit.

[0028] Advantageously, the control device 201 is fixed to module 210, and these modules are interconnected in mechanical, electrical, and electronic operation.

[0029] Module 210 can be fixed to adjacent modules 210 by mechanical interconnection.

[0030] The electrical interconnection of module 210 propagates power, thereby supplying power to various electromechanical systems such as actuators 500 and control devices 201. This allows the entire system 100 to be powered with a limited number of power sources, particularly reducing the need to install heavy and bulky energy storage devices.

[0031] In one preferred embodiment, each module 210 has its own control unit 201 interconnected to the control unit 201 of an adjacent module 210 via a wired electronic link, forming a global network within the system 100 and enabling the exchange and transmission of commands to any module 210 in the system 100.

[0032] This allows for limiting electromagnetic interference and restricting the wiring of system 100.

[0033] module

[0034] The structure 200 is formed by a plurality of vertical supports 241 and horizontal bars 242 that are assembled when the structure 200 is installed, and these can be easily disassembled or modified.

[0035] Therefore, the columns and bars 241 and 242 define a chassis 240 of the same shape, typically a rectangular parallelepiped, for each module 210, which defines a suitable storage volume for housing the locker 300.

[0036] Advantageously, four support columns 241 extend along the vertical direction Y, which relates to the direction in which the system 100 is positioned under normal operating conditions. The vertical support columns 241 define the four sides 243 of the module. Then, four horizontal bars 242 extend along two horizontal directions X, which relate to the direction in which the system 100 is positioned under normal operating conditions. The four horizontal bars define the lower surface 245 of the module 210 and the upper surface 246 of the module 210 adjacent to the lower surface of the module 210. The term "lower" is defined along the vertical direction Y.

[0037] Advantageously, module 210 has the same structure as the rocker 300 to reduce manufacturing costs through economies of scale and to facilitate maintenance of system 100.

[0038] Each module 210 is equipped with an information connector and a power connector (not shown) fixed to the chassis 240. This allows for limiting the power consumption and battery usage of the system 100, and particularly mitigates constraints related to charging.

[0039] The information connector allows the control devices 201 of two adjacent modules 210 to transmit information to each other. The power connector allows power to be transmitted from module 210 to module 210.

[0040] The central controller 800 is configured to detect the connection, position, and orientation of new modules 210 within the system 100, and to virtually model the modules 210 that make up the system 100. When a new module 210 is connected, the central controller 800 updates the virtual model of the system 100. Thus, the central controller 800 can at any time know the state of the system 100, its shape, and the distribution of full and empty modules 210 within the system 100.

[0041] Advantageously, module 210 of structure 200 comprises a mobile module 220 and at least one ejector module 230. Each locker 300 can be located within each mobile module 220.

[0042] The mobile module 220 includes at least one discharge module 220a, the function of which is described in detail below.

[0043] The mobile module 220 is configured to allow the locker 300 to move within the structure 200. The mobile module 220 is configured to accommodate the locker 300 or a portion of the locker 300 in its accommodating space. The locker 300 can enter the mobile module 220 without distinction via its side 243, bottom 245, or top 246. Such a module simplifies the movement of the locker 300 within the structure 200 and the installation of the structure 200 itself.

[0044] Each mobile module 220 is equipped with vertical and horizontal actuators 500 fixed to the chassis 240. This avoids, in particular, the placement of the actuators 500 on the rocker 300, thus limiting the weight of the rocker 300, and consequently increasing the weight of the stored items 600, in other words, the load capacity, for the same output. This also limits the power consumption of the system 100, facilitates the power supply to the actuators 500, and makes it possible to limit the use of batteries and battery-related constraints, especially those related to charging.

[0045] Advantageously, each mobile module 220 may be equipped with a detection device configured to detect the presence or exact location of a locker 300 within the mobile module 220. The detection device may comprise, for example, an optical sensor or an inductive proximity detector, or any sensor capable of detecting the presence of a locker 300 within the mobile module 220.

[0046] Emission system

[0047] The ejector module 230 is a module of the modular structure 200, and within it the rocker 300 cannot move. Advantageously, the structure 200 comprises one or more ejector modules 230.

[0048] The ejector module 230 is adjacent to the side 243 of the lateral movement module 220 of the structure 200. That is, the ejector module 230 has a side 410 that is common with the movement module 220, and the side 243 opposite to this side 410 is called the discharge side 420 and is not adjacent to any module 210. A movement module 220 that has a side common with the ejector module 230 and whose opposite side is the discharge side 420 is called a discharge module 220a.

[0049] The ejector module 230 and the discharge module 220a form a discharge system 400.

[0050] The ejector module 230 comprises one or more pushers 430. The pushers 430 have the function of supplying force to push out one or more articles 610 to be removed from the locker 300 located in the ejection module 220a. In practice, some of the articles 600 stored in the locker 300 of the system 100 are identified as articles to be removed from the system 100, and are therefore referred to as articles to be removed 610. By installing multiple pushers 430 on the chassis 240 of the ejector module 230, it becomes possible to eject multiple articles to be removed 610 simultaneously, or to eject the same article to be removed 610 in cases where the size or weight of the article to be removed requires a greater force than that of a single pusher 430.

[0051] As shown in Figure 3, the pusher 430 comprises a first carriage 431 and a push arm 432. The carriage 431 is mounted on the chassis 240 of the ejector module 230, and the push arm 432 is translationally movable relative to the carriage 431.

[0052] In one embodiment, the carriage 431 is fixed to the chassis 240. In this case, the pusher 430 is configured to push out the item to be removed 610 which is positioned in alignment with the pusher 430.

[0053] In another embodiment, the carriage 431 is mounted so as to be translationally movable relative to the chassis 240. In this case, the carriage 431 is configured to position the push arm 432 so as to align with the item to be retrieved 610.

[0054] Advantageously, the carriage 431 can translate in a plane parallel to the common plane 410. Furthermore, the carriage 431 can in various cases - It can only move in a direction that is parallel to the common plane 410 and is contained within a plane parallel to the common plane 410. - It can only move in a direction that is parallel to the lower surface 245 and is contained within a plane that is also parallel to the common surface 410. - It can move along two directions, one parallel to the common surface 410 and the other parallel to the bottom surface 245, which are contained within a plane parallel to the common surface 410.

[0055] The push arm 432 comprises a second carriage 433, a rod 434 connected to the second carriage 433, and a shoe 435 fixed to one end of the rod 434. The push arm 432 extends from the ejector module 230 toward the discharge module 220a and is configured to discharge the item to be removed 610, which is placed on a rocker 300 located within the discharge module 220a, via the discharge surface 420. The push arm 432 extends between two end positions 432a and 432b. The push arm 432 has a stowed position 432a that does not obstruct the movement of the rocker 300 within the discharge module 220a, and the push arm 432 is mainly housed within the ejector module 230 and does not pass through the common surface 410. In other words, the push arm 432 is located on the ejector module 230 side of the common surface 410. The push arm 432 also has a discharge position 432b that completely pushes the item 610 to be removed from the rocker 300, and the push arm 432 passes through the common surface 410 and extends into the discharge module 220a.

[0056] The second carriage 433 slides along the first carriage 431 and in a direction perpendicular to the common plane 410. The second carriage 433 thus translates the rod 434 relative to the first carriage 431. The first carriage 431 of the pusher 430 may include a guide rail 436 to which the second carriage 433 of the push arm 432 is mounted so as to be translatably movable.

[0057] Advantageously, the carriage 431 may include a second guide member 443 positioned at the end of the guide rail 436 to ensure alignment between the push arm 432 and the guide rail 436 when the push arm 432 is in the discharge position 432b.

[0058] The rod 434 can take on several shapes, with one end fixed to the second carriage 433 of the push arm 432 and the other end to the shoe 435. To reduce the overall bulk of the pusher 430 while maintaining its travel distance, the rod 434 can be a telescopic arm.

[0059] The shoe 435 is fixed to one end of the rod 434, and in the storage position 432a, it is the end closest to the common surface 410, and in the discharge position 432b, it is the end closest to the discharge surface 420. The shoe 435 can be articulated and fixed to the rod 434 so that its orientation can be aligned to contact the surface 611 of the item to be removed 610. Thus, as shown in Figures 4A, 4B, and 4C, the shoe 435 can rotate freely about an axis perpendicular to the direction of the rod 434.

[0060] The shoe 435 includes a contact surface 437 provided for contact with the item to be retrieved 610. The contact surface 437 has a first dimension 437a and a second dimension 437b which is larger than the first dimension 437a. Thus, the shoe 435 can have a larger dimension in one direction and a smaller dimension in another direction. Furthermore, in one possible embodiment shown in Figures 5A and 5B, a rod 434 can be rotationally driven to change the orientation of the shoe 435 fixed to its end. Thus, the shoe 435 is configured to push the item to be retrieved 610 out of the rocker 300 by changing the orientation of its contact surface 437 according to the dimensions of the item to be retrieved 610 as a result of the rotation of the rod 434. The shoe 435 then aligns the direction of its largest dimension with the largest dimension of the item to be retrieved 610 in order to optimize the distribution of force acting on the item to be retrieved 610. The pusher 430 may include a motor drive unit (not shown) configured to change the orientation of the shoe 435 and its contact surface 437 according to the item 610 to be removed.

[0061] The shoe 435 preferably includes a proximity sensor 438. Advantageously, the sensor 438 is positioned at the end of the push arm 432 to detect the presence of the item to be retrieved 610. This detection allows, on the one hand, to temporarily reduce the translational speed of the push arm 432 to limit the impact when the shoe 435 comes into contact with the item to be retrieved 610, and on the other hand, to verify the presence of the latter. Integrating the sensor 438 into the pusher 430 optimizes its movement to allow rapid translation of the push arm 432 over most of its movement while limiting the impact when it comes into contact with the item to be retrieved 610.

[0062] Various technologies can be envisioned for the sensor 438. In one embodiment, it may be an optical, inductive, capacitive, or ultrasonic proximity sensor, and in another embodiment, it may be a mechanical contact sensor.

[0063] The pusher 430 further includes a device for driving the first carriage 431 along its translational direction and a device for driving the second carriage 433 of the push arm 432 in its extension direction.

[0064] The pusher 430 may include a motor 439, for example an electric motor, which drives the carriage 433 along the rail 436, for example by a pulley / belt assembly 440.

[0065] In practice, a drive pulley 441, rotatably mounted to carriage 431, is driven by motor 439. A second pulley, called a free pulley 442, is also rotatably mounted to carriage 431. A belt 444 is arranged around these two pulleys, favorably converting the rotational motion of motor 439 into translational motion that drives the second carriage 433. Thus, the second carriage 433 is connected to belt 444.

[0066] Therefore, the discharge system 400 enables the easy, rapid, and selective removal of items 610 to be removed from system 100. In fact, the discharge system 400 enables the rapid discharge of multiple items 610 to be removed that are located on the same locker, or the selective discharge of some or just one of them.

[0067] In addition, the aforementioned discharge system 400 can be easily mounted on the structure 200 because the chassis 240 of the ejector module 230 and discharge module 220a are the same as the chassis of the mobile module 220.

[0068] Furthermore, by positioning the discharge system 400 inside the structure 200, the removal speed can be improved. This facilitates the movement of the locker 300 into and within the discharge system 400.

[0069] Finally, the configuration of the discharge system 400 simplifies the discharge command and operation by changing the relative positional relationship between the object to be discharged and the pusher 430 to a simple two-dimensional positioning, and then moving the pusher's extrusion arm 432 in a single direction.

[0070] locker

[0071] The lockers 300 are placed within the structure 200. Each locker 300 is configured to store and move the stored items 600, some of which are the items to be retrieved 610.

[0072] The dimensions and shape of the locker 300 (in this case, a rectangular parallelepiped) are such that they can be housed in the mobile module 220. As shown in Figure 6, they each include, for example, a chassis 310 and a floor 320, and together they form a housing 330 suitable for housing and transporting the items to be stored 600 and / or the items to be retrieved 610.

[0073] In the illustrated embodiment, the housing has open sides 331, which improves user accessibility. However, in another embodiment, as shown in Figure 7, some of the sides 331 may be closed.

[0074] The enclosure 330 can be divided horizontally and / or vertically into several spaces 333 by several partitions 332. These partitions 332 can be made in various ways. In one embodiment, the partitions may be rigid frames with canvas stretched through the center, or in another embodiment, sheet metal. The functions of the partitions 332 are as follows: - To facilitate the insertion of the items to be stored 600 into the locker 300. - The locker 300 can maintain the position of the stored items 600 as it moves within the modular structure 200. - The pusher 430 controls the process when the item 610 to be removed is pushed out of the locker 300.

[0075] The number and position of these partitions 332 may differ from one locker 300 to accommodate the number and type of items to be stored 600. In one embodiment, the partitions 332 are placed in different predetermined positions within the locker 300. They are managed by openings 321 that exist along the floor 320, into which the bottom of the partition 332 is introduced. They are also managed by notches 311 that exist along racks fixed to the chassis 310, into which the top of the partition 332 is introduced. To ensure that the partitions 332 are kept vertical, the openings 321 and notches 311 must be vertically aligned with each other.

[0076] Anti-return mechanisms 340, 341 may be placed at the opening of the locker 300 to ensure that the stored items 600 do not protrude from the locker. It is important to note that at least one of these anti-return mechanisms 340, 341 must not obstruct the movement of the stored items 600 when they are discharged from the locker 300 by the pusher 430.

[0077] As shown in Figure 7, the anti-return mechanism 340 may be obtained on one side of the locker 300 by a step between one of the chassis 310 members and the floor 320. On the other side of the locker 300, and in the same embodiment, by the action of gravity, the anti-return mechanism can be implemented by an incline (between 1° and 15°) of the floor 320 to hold the stored items 600 in a stable position.

[0078] In one embodiment, the rocker 300 is positioned partially or completely within the discharge module 220a using a horizontal actuator 500 so that the item to be removed 610 faces the pusher 430, to which its carriage 431 remains fixed. In another embodiment, the rocker 300 is positioned partially or completely within the discharge module 220a using a vertical actuator 500 so that the item to be removed 610 is positioned at the height of the plane to which the pusher 430 translates. The pusher 430 then translates to face the item to be removed 610. The vertical Y and horizontal X directions relate to the positioning of the system 100 under normal operating conditions.

[0079] The rocker 300 is translated by an actuator 500 located in the discharge module 220a so that its position within the discharge module 220a can be controlled and thus the item to be removed 610 can be positioned in front of the pusher 430 located in the ejector module 230. Advantageously, the rocker 300 is equipped with an encoder 350 located on its chassis 310. The rocker 300 can be positioned as required for the discharge of the item to be removed 610. Information on the encoder 350 is read by one or more sensors 360 located in the discharge module 220a.

[0080] In one embodiment, and as shown in Figure 8, the encoder 350 may be a cutout having different light reflection properties than the chassis 310. The encoder 350 is fixed to the latter, which covers part of it and has openings that allow the chassis 310 to be seen at regular intervals. Because the light reflections of these two parts are not the same, the sensor 360 identifies the openings and thus accurately tracks the movement of the rocker 300 within the discharge module 220a with an accuracy determined by the size of the distance between the two openings of the encoder 350.

[0081] The chassis 310 of the rocker 300 preferably includes notches 312. Some notches 312 of the rocker 300 are configured to work in cooperation with actuators 500, which are transported by the horizontal bars 242 of the mobile module 220, to ensure movement along the vertical direction from one mobile module 220 to an adjacent mobile module 220. Other notches 312 of the rocker 300 may be configured to work in cooperation with actuators 500, which are transported by the vertical columns 241 of the mobile module 220, to ensure movement along the vertical direction. The vertical translation devices and actuators 500 are connected by wired cables extending along the bars to a central controller 800 (not shown) that manages the movement of the rocker 300 and operates these devices accordingly.

[0082] Conveying device

[0083] The modular system 100 may include a non-powered or powered conveying device 700, as shown in Figure 9. The conveying device 700 includes an inlet 710 and an outlet 720. The inlet 710 of the conveying device 700 is configured to receive the items 610 to be removed from the system 100, and the outlet 720 of the conveying device 700 is adjacent to the retrieval point 730 of the system 100. The conveying device 700 is configured to transport the items 610 to the retrieval point 730, thereby removing the items 610 from the system 100. The presence of this conveying mechanism 700 is important because it collects the items 610 at a single receiving point 730.

[0084] The inlet 710 of the conveying device 700 is adjacent to each discharge system 400, and more specifically, adjacent to the discharge surface 420 of each discharge system 400. However, since the discharge systems 400 can be located anywhere within the structure 200, they can be located at different heights and separated from each other. For this type of application, it is conceivable to use a roller conveying device 700 attached to the structure 200. This roller conveying device 700 receives the items to be removed 610 after they have been discharged from the lockers 300 in which they were contained, and then, by the action of appropriate incline and gravity, is transported to the collection point 730. In one embodiment, the discharge systems 400 can be located vertically on one of the surfaces of the structure 200. In this embodiment, a spiral conveying device 700 having the same number of inlets as the discharge systems 400 provided in system 100 may be preferred.

[0085] How to move within a modular structure of a locker

[0086] The locker 300 is advantageously moved in the structure 200 of the system 100 from a first moving module 220 to a second moving module 220, such as an discharge module 220a, and this movement is carried out in accordance with the process described in International Publication No. 2020 / 260639, and includes the following general steps: - The process of creating commands using the central controller 800. - The process of operating the motor of the mobile module 220, -In the case of vertical movement of the rocker, the actuators 500 of the first movement module 220 and the second movement module 220 are extended and retracted, and the rocker 300 is translated between these two movement modules 220. -In the case of movement along the horizontal direction, the process involves driving the actuator 500 which is transported by the horizontal bar 242 of the movement module 220.

[0087] Method for removing items from a modular system.

[0088] One or more items 610 to be retrieved may be taken out of the locker 300 of the structure 200 of the system 100 from among the items 600 stored in the locker 300. The retrieval method shown in Figures 10-12 requires first moving the locker 300 within the structure 200.

[0089] When the locker 300 moves within the structure 200 until it is positioned in the moving module 220 adjacent to the discharge module 220a, containing the items 610 to be retrieved, the positioning step shown in Figure 10 is performed. This positioning includes movement E11 of the locker 300 and / or movement E12 of the pusher 430. Interestingly, the locker 300 can enter the discharge module 220a via the sides 243 other than the common surface 410 and the discharge surface 420, as well as via the bottom surface 245 and the top surface 244. Furthermore, this method performs a similar procedure even when there are multiple items 610 to be retrieved from the same locker 300.

[0090] Furthermore, the same process is followed even in embodiments in which the ejector module 230 comprises multiple pushers 430. Such embodiments simply improve the ejection speed and enable the simultaneous ejection of multiple items to be removed 610 from the same locker 300.

[0091] The rocker 300 and pusher 430 move within the discharge module 220a and ejector module 230, respectively (processes E11 and E12), and are positioned so that the item to be removed 610 and the pusher 430 face each other in the direction of extension of the push arm 432.

[0092] In one embodiment, the locker 300 positions the item to be removed 610 toward the pusher 430, thereby eliminating the need for translation of the pusher 430.

[0093] In another embodiment, the locker 300 positions the item to be removed 610 horizontally at the height or level of the pusher 430, and the pusher 430 is positioned to face the item to be removed 610 as it translates horizontally or vertically within the discharge module 220a, respectively.

[0094] In another embodiment, the rocker 300 remains stationary after being fully positioned within the ejection module 220a, and the pusher 430 is positioned to face the item 610 to be ejected by translating perpendicularly and horizontally with respect to the chassis 240 of the ejector module 230.

[0095] As the item to be removed 610 and the pusher 430 face each other and move in the direction of extension of the push arm 432 and the discharge surface 420, the push arm 432 moves as shown in Figure 11 (step E20). The push arm 432 extends from the storage position 432a to the discharge position 432b under the action of the second carriage 433 of the push arm 432, and as a result, the shoe 435 comes into contact with the item to be removed 610, as shown in Figure 12, and discharges the item from the locker 300. This step, called the discharge step, may include the following steps: - The push arm 432 begins a rapid translational movement from its storage position 432a. This movement continues until it reaches the vicinity of the item to be retrieved 610. - The sensor 438 of the shoe 435 detects the presence of the item to be removed 610. -Then the speed of the push arm 432 decreases, and the push arm 432 extends until the shoe 435 contacts the item to be picked up 610. - After contact, the speed of the push arm 432 is increased again until it reaches the discharge position 432b. -As shown in Figure 12, the item to be removed 610 is ejected from the locker 300, and then the sensor 438 detects that the item is no longer in contact. -Therefore, the push arm 432 returns to the storage position 432a by rapid translational movement.

Claims

1. A modular structure (200) comprising a plurality of adjacent modules (210), each module (210) comprising a rectangular parallelepiped chassis (240) and having four sides (243), a top surface (244), and a bottom surface (245), A modular storage system (100) comprising a locker (300) within the modular structure (200) that is movable from one module (210) to an adjacent module (210) and configured to transport stored articles (600), wherein one of the stored articles (600) is an article (610) to be retrieved from the system (100), The modular structure (200) comprises a discharge system (400), the discharge system (400) itself comprising a discharge module (220a) and an ejector module (230) among the plurality of modules (210), the discharge module (220a) and the ejector module (230) include a common side (410), the discharge module (220a) has a discharge surface (420) on the opposite side of the common side (410), the ejector module (230) comprises a pusher (430) disposed on the chassis (240) of the ejector module (230), the pusher (430) comprises a rod (434) The modular storage system (100) is configured such that the rod (434) moves from a storage position (432a) contained within the ejector module (230) to a discharge position (432b) which extends at least partially into the discharge module (220a) by passing perpendicularly through the common side surface (410), and the rod (434) pushes the item to be removed (610) placed on the locker (300) located within the discharge module (220a), and discharges the item to be removed (610) from the modular structure (200) via the discharge surface (420) of the discharge module (220a).

2. The system (100) according to claim 1, wherein the pusher (430) further comprises a carriage (431) that is translatably movable relative to the chassis (240) along at least one direction belonging to the plane of the common side surface (410) of the ejector module (230), the rod (434) is axially translatably movable on the carriage (431), and the carriage (431) is configured to position the rod (434) so ​​as to align with the object to be ejected (610) and the discharge surface (420).

3. The system (100) according to claim 1 or 2, wherein the rod (434) of the pusher (430) comprises a shoe (435) fixed to the rod (434), and the shoe (435) is articulated to the rod (434) so ​​as to be oriented to contact the surface (611) of the item to be picked up (610).

4. The system (100) according to claim 3, wherein the shoe (435) has a contact surface provided for contact with the item to be removed (610), the contact surface (437) has a first dimension (437a) and a second dimension (437b) that is larger than the first dimension (437a), and the pusher (430) has a motor drive unit configured to change the orientation of the shoe (435) and the contact surface (437) according to the item to be removed (610).

5. The system (100) according to claim 3 or 4, wherein the shoe (435) includes a sensor (438) configured to acquire information regarding the relative position between the shoe (435) and the item to be removed (610) and to transmit the information to a central controller (800) that controls the movement of the rod (434).

6. The system (100) according to any one of claims 1 to 5, comprising a central controller (800) configured to synchronously manage the movement of the rocker (300) and the pusher (430) within the modular structure (200).

7. A system (100) according to any one of claims 1 to 6, comprising a non-powered or powered conveying device (700), the conveying device (700) comprising an inlet (710) and an outlet (720), the inlet (710) of the conveying device (700) being adjacent to the discharge surface (420) of the discharge module (220a), the outlet (720) of the conveying device (700) being adjacent to a recovery point (730), and the conveying device (700) being configured to convey the items to be removed (610) discharged from the discharge module (220a) to the recovery point (730).

8. A method for removing an item to be removed (610) from a system (100) according to any one of claims 1 to 7, The locker (300) containing the item to be removed (610) is moved toward the discharge module (220a) (E11), and the locker (300) can enter the discharge module (220a) via the side (243) of the locker (300) other than the common side (410) and the discharge surface (420), or via the bottom surface (245) or the top surface (244) of the locker (300), and the movement is monitored to position the item to be removed (610) in front of the pusher (430), A method comprising the step of moving the rod (434) of the pusher (430) from the storage position (432a) to the discharge position (432b) (E20), wherein this movement (E20) pushes the item to be removed (610) out of the locker (300).

9. A method for removing an item to be removed (610) from a system (100) according to any one of claims 1 to 7, The locker (300) containing the item to be removed (610) is moved within the discharge module (220a) (E11), and the locker (300) can enter the discharge module (220a) via the side (243) of the locker (300) other than the common side (410) and the discharge surface (420), or via the bottom surface (245) or the top surface (244) of the locker (300), and the movement is monitored to position the item to be removed (610) in front of the pusher (430), The step of moving the carriage of the pusher (430) relative to the chassis (240) of the ejector module (230) so that the item to be removed (610) and the pusher (430) are positioned facing each other (E12), A method comprising the step of moving (E20) the rod (434) of the pusher (430) from the storage position (432a) to the discharge position (432b), wherein the movement (E20) pushes the item to be removed (610) out of the locker (300).

10. A computer program product comprising code data configured to control the execution of the step of the method for removing the item to be removed (610) according to claim 8 or 9 by a central controller (800).

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