Vehicle for an automated system for storing and retrieving items

Abstract

Disclosed is a vehicle (100) for a system for storing and retrieving items (10), the vehicle (100) being configured to move in a vertical direction (Z) along a column (14) which comprises a plurality of cells (16) that are superposed in the vertical direction (Z) and are each adapted to receive at least one receptacle (R), the vehicle (100) comprising at least one first deflector configured to center the receptacle (R) in the at least one cell (16) in the first horizontal direction (X).

Description

Description Title: Vehicle for automated item storage and retrieval system Technical field

[0001] The present description relates to a vehicle for an item storage and retrieval system. The present description also relates to an item storage and retrieval system comprising such a vehicle and to a method of retrieving or unloading a receptacle into a cell implemented in such an item storage and retrieval system. Prior art

[0002] Automated storage and retrieval systems (ASRS) are commonly equipped with storage racks and a fleet of autonomous vehicles, or AGVs (Auto-Guided Vehicles).

[0003] Storage racks are vertical structures located in the warehouse. Storage racks typically include vertical uprights to which pairs of brackets are attached to support receptacles. The two brackets of the pair, arranged in cantilevered positions from the uprights, are oriented towards each other and configured to support one of the receptacles. The pairs of brackets thus define cells along the height of the rack, each cell being adapted to accommodate one of the receptacles containing one or more items to be stored within the warehouse.

[0004] Said receptacle generally consists of a bin or tray typically made of plastic, generally parallelepiped in shape with a rectangular base, and capable of storing the said article(s) in question. These receptacles are received in the cells by resting on the brackets of the storage racks.

[0005] Each autonomous vehicle can travel around the warehouse to collect receptacles housed in the cells of the storage racks. Autonomous vehicles are known to move on the ground and are adapted to climb vertically along the vertical uprights of the storage racks in order to collect receptacles housed in a cell at height.

[0006] However, it has been observed that the vertical movement of autonomous vehicles along the storage racks generates vibrations, causing the receptacles to move along the brackets. The receptacles can then protrude from the cells, to the point of falling or ending up in the path of the autonomous vehicles. In the latter scenario, the autonomous vehicle hits the receptacle during its vertical movement, often resulting in damage to the vehicle and / or the receptacle, which can completely block the autonomous vehicle in the racks. A movement of a few millimeters of the receptacle is enough to generate collisions. A receptacle falling or such damage requires maintenance that disrupts the operation of the ASRS to the extent that the system must be interrupted and production stopped. This therefore represents a net loss for the end user of the system.

[0007] You can choose to "stop the system", that is to say, to stop the movement of all vehicles at the warehouse level, in order to manually push back and re-center the poorly positioned receptacles (either an operator will climb into or onto the rack, or this operator will use a "rod" or a "pole" to gain access in both cases to the receptacle in question.

[0008] It was also proposed to have specific autonomous vehicles within the ASRS which are distinct from the fleet of autonomous vehicles, because their mission is not to collect receptacles, but simply to push back and precisely reposition the receptacles in the cells of the storage racks, when the latter protrude from said cells.

[0009] Such dedicated autonomous vehicles travel the same routes as the fleet of autonomous vehicles around the warehouse, thus contributing to warehouse congestion. Therefore, it may become necessary to reduce the number of autonomous vehicles circulating for receptacle collection. The efficiency of the ASRS may be significantly reduced.

[0010] Additionally, it is necessary to identify receptacles protruding from the racks to guide specific autonomous vehicles to those specific receptacles. In this case, the ASRS must include means to locate the displaced receptacles, as well as means to command specific vehicles to the displaced receptacles. The complexity and costs associated with implementing and using the ASRS are increased.

[0011] Furthermore, there is a delay between detecting a moved receptacle and the specific vehicle passing by to replace the receptacle. Correction is not immediate. As a result, autonomous vehicles cannot move along the rack with a moved receptacle, at the risk of hitting it. Here again, the efficiency of the ASRS is reduced.

[0012] Furthermore, document CN 108 706 265-A1 is known which describes a vehicle having a clamping mechanism configured to clamp an item on the vehicle. In this sense, it is described that the forks and the clamping mechanism deploy to lift an item by clamping it on either side. However, it is not described or even suggested that the clamping mechanism is configured to recenter a receptacle in a cell. Furthermore, it is not described or even suggested that the forks and the clamping mechanism can move into a deployed state during vertical movement of the vehicle. Rather, it is only described the deployment of the forks and the clamping mechanism when it is necessary to grip an item. Summary

[0013] A vehicle for an article storage and retrieval system is provided, the vehicle being configured to move in a vertical direction along a column which comprises a plurality of cells superimposed in the vertical direction and each adapted to receive at least one receptacle, each cell extending in its width in a first horizontal direction and in its depth in a second horizontal direction perpendicular to the first horizontal direction, the vehicle comprising at least one first deflector, the first deflector comprising at least one centering guide surface, preferably inclined in all directions. or part relative to the vertical direction, the centering guide surface of the first deflector being configured to center the receptacle in said at least one cell in the first horizontal direction.

[0014] The centering guide surface may comprise at least a first centering guide section extending parallel to the second horizontal direction and inclined relative to a first plane YZ defined by the second horizontal direction and the vertical direction to center the receptacle in the first direction of the first direction X during an ascent of the vehicle along the column, and preferably at least a second centering guide section extending parallel to the second horizontal direction Y and inclined relative to the first plane YZ to center the receptacle in the first direction of the first direction X during a descent of the vehicle along the column.

[0015] The first centering guide section may be inclined at a first angle relative to the first plane YZ, and being between 15° and 30°, and if necessary, the second centering guide section may be inclined at a second angle relative to the first plane YZ, and being between 15° and 30°, the first centering guide section and the second centering guide section having opposite inclinations relative to the vertical direction Z.

[0016] The first centering guide section may have a dimension along the first horizontal direction X of between 3.5 mm and 6.5 mm, and where appropriate, the second centering guide section may have a dimension along the first horizontal direction X of between 3.5 mm and 6.5 mm.

[0017] The first deflector may comprise at least one insertion guide surface, preferably inclined in whole or in part relative to the vertical direction Z, the insertion guide surface being configured to push the receptacle in the second horizontal direction Y towards a bottom of said at least one cell during vertical movement of the vehicle along the column.

[0018] The insertion guide surface may comprise at least a first insertion guide section extending parallel to the first horizontal direction X and inclined relative to a second plane XZ defined by the first horizontal direction X and the vertical direction Z to push the receptacle in the second horizontal direction Y towards a bottom of said at least one cell during an ascent of the vehicle along the column, and preferably comprises at least a second insertion guide section extending parallel to the first horizontal direction X and inclined relative to the second plane XZ to push the receptacle in the second horizontal direction Y towards the bottom of said at least one cell during a descent of the vehicle along the column.

[0019] The first insertion guide section may be inclined at a first angle relative to the second XZ plane, and being between 5° and 15°, and if necessary, the second insertion guide section may be inclined at a second angle relative to the second XZ plane, and being between 5° and 15°, the first insertion guide section and the second guide section in insertion having opposite inclinations with respect to the vertical direction Z.

[0020] The first insertion guide section may have a dimension along the second horizontal direction Y of between 3.5 mm and 11.5 mm, and where appropriate, the second insertion guide section may have a dimension along the second horizontal direction Y of between 3.5 mm and 11.5 mm.

[0021] The first deflector may include a one-piece body that includes a first branch and a second branch, the first branch including the centering guide surface and the second branch including the insertion guide surface.

[0022] The vehicle may comprise a second deflector comprising at least one centering guide surface, preferably inclined in whole or in part relative to the vertical direction, the centering guide surface of the second deflector being configured to center the receptacle in said at least one cell in the first horizontal direction X, and in a direction opposite to the centering guide surface of the first deflector.

[0023] The vehicle may comprise a chassis and at least one first climbing means adapted to move the chassis vertically along a first upright of the column, said first deflector being integral with the first climbing means.

[0024] The vehicle may comprise a second climbing means adapted to move the chassis vertically along a second upright of the column, said second deflector being integral with the second climbing means.

[0025] According to another aspect, there is proposed a system for storing and retrieving articles comprising: - at least one column comprising a plurality of cells superimposed in the vertical direction and each adapted to receive at least one receptacle, each cell extending in its width between a first upright and a second upright of the column in a first horizontal direction and in its depth between a bottom and an opening in a second horizontal direction, - a plurality of receptacles, each receptacle being arranged in a corresponding cell among the plurality of cells, - at least one vehicle as described above.

[0026] According to another aspect, there is provided a method for retrieving or unloading a receptacle in a cell implemented in a system for storing and retrieving articles as described above, the method comprising moving the vehicle in the vertical direction until the vehicle is located vertically at the cell comprising the receptacle to be retrieved or unloaded, and in which, during the movement of the vehicle in the vertical direction, the receptacle of at least one cell is recentered in the cell in the first direction of the first horizontal direction by contact between the receptacle and the centering guide surface of the first deflector of the vehicle.

[0027] During movement of the vehicle in the vertical direction, the receptacle of at least one cell can be pushed towards the bottom of the cell by contact between the receptacle and the guide surface inserted into the first deflector of the vehicle.

[0028] In doing so, it is understood that the vehicle, equipped with the deflectors mentioned above, has not only the capacity to correct positioning errors of the receptacle in the respective X and Y directions, but also positioning errors where the vehicle would have rotated in the XY plane, possibly an error resulting from the combination of a rotation in the XY plane and a movement in at least one of the X or Y directions. Brief description of the drawings

[0029] Other features, details and advantages will become apparent upon reading the detailed description below, and upon analyzing the attached drawings, in which:

[0030] Figure 1A shows a vehicle for an item storage and retrieval system according to the present description, in a first configuration.

[0031] Figure 1B shows a vehicle for an item storage and retrieval system according to the present description, in a second configuration.

[0032] Figure 1C depicts a vehicle for an item storage and retrieval system according to the present disclosure, in a third configuration.

[0033] Figure 1D shows a vehicle for an item storage and retrieval system according to the present description, in a fourth configuration.

[0034] Figure 1 E shows a vehicle for an item storage and retrieval system according to the present description, in a fifth configuration.

[0035] Figure 2 is a perspective view of a deflector of the vehicle of Figure 1.

[0036] Figure 3 is a first side view of the deflector of Figure 2.

[0037] Figure 4 includes: - figure 4A is a first side view of the vehicle of figure 1 in which the deflector of figure 2 is visible according to the first side view of figure 3 and which represents the passage of the vehicle in front of a cell of the article storage and retrieval system in which a receptacle is arranged in a nominal position, and - figure 4B is a first side view of the vehicle of figure 1 in which the deflector of figure 2 is visible according to the first side view of figure 3 and which represents the passage of the vehicle in front of the cell of the article storage and retrieval system in which a receptacle is arranged off-center in a first direction relative to a nominal position.

[0038] Figure 5 is a second side view of the deflector of Figure 2.

[0039] Figure 6 includes: - Figure 6A is a second side view of the vehicle of Figure 1 showing the deflector of figure 2 according to the second side view of figure 3 and which represents the passage of the vehicle in front of a cell of the article storage and retrieval system in which a receptacle is arranged according to a nominal position, and - figure 4B is a second side view of the vehicle of figure 1 in which the deflector of figure 2 is visible according to the second side view of figure 3 and which represents the passage of the vehicle in front of the cell of the article storage and retrieval system in which a receptacle is arranged off-center in a second direction relative to a nominal position.

[0040] Figure 7 is a schematic view of an item storage and retrieval system including the vehicle of Figure 1. Description of the embodiments

[0041] A vehicle 100 for an item storage and retrieval system 10 is now described with reference to FIGS. 1-7.

[0042] The vehicle 100 is configured to move in a vertical direction Z along a column 14 which comprises a plurality of cells 16 superimposed in the vertical direction Z and each adapted to receive at least one receptacle R. Such a column is more particularly visible in FIG. 7 which will be described in more detail below.

[0043] As visible in figure 1, each cell 16 extends in its width in a first horizontal direction X and in its depth 17 in a second horizontal direction Y perpendicular to the first horizontal direction X. Each cell 16 can extend in the second horizontal direction Y between a bottom 17 and an opening.

[0044] Remarkably, with reference to Figures 3 and 4, the vehicle 100 comprises at least one first deflector 200a, the first deflector 200a comprising at least one centering guide surface 211, preferably inclined in whole or in part with respect to the vertical direction Z. Also, the centering guide surface 211 of the first deflector 200a is configured to center the receptacle R in said at least one cell 16 in the first horizontal direction X. More particularly, the centering guide surface 211 of the first deflector 200a may be configured to push the receptacle R of at least one cell 16 among the plurality of cells 16 in a first direction S1 of the first horizontal direction X during a vertical movement of the vehicle 100 along the column 14 in order to center the receptacle R in said at least one cell 16 in the first horizontal direction X. horizontal direction X.It is understood that the receptacle R of said at least one cell 16 among the plurality of cells 16 is moved in the first horizontal direction X by a ramp effect along the centering guide surface 211.

[0045] The first deflector 200a is advantageously an integral part of the vehicle 100. The article storage and retrieval system 10 can thus be without vehicles 100 dedicated to the repositioning of poorly positioned receptacles R, which makes it possible to reduce costs, but also to streamline the traffic of vehicles 100 dedicated to the retrieval of receptacle R, thereby increasing the rates. The centering guide surface 211 makes it possible to recenter the receptacle R of said at least one cell 16 among the plurality of cells 16, as represented by the arrow C1, in the case where this receptacle R would be offset in a non-centered manner in its cell 16 in a second direction of the first horizontal direction X.

[0046] When the vehicle 100 passes in front of the cells 16 to recover or unload a receptacle R, the first deflector 200a can automatically recenter the receptacles R moved abnormally in a second direction S2 of the first horizontal direction X opposite to the first direction S1, without stopping or any particular action on the part of the vehicle 100. In addition to the fact that the vehicle 100 does not need to know the positioning of the moved receptacles R or to avoid them, the choice of particular characteristics for the first deflector 200a allows immediate and extremely precise repositioning of the receptacles R moved until then.

[0047] Generally, the first deflector 200a is advantageously configured to ensure the centering of the receptacles R in the cells 16, during the vertical movement of the vehicle 100, by the work of the centering guide surface of the first deflector 200a which is then fixed relative to the vehicle 100. Advantageously, such operation will not in itself require a movement of the first deflector 200a relative to a chassis 102 of the vehicle 100 during this work, and therefore the use of an actuator for such a movement.

[0048] The centering guide surface 211 comprises at least a first centering guide section 212 extending parallel to the second horizontal direction Y and inclined relative to a first plane YZ defined by the second horizontal direction Y and the vertical direction Z to center the receptacle R in the first direction S1 of the first direction X during an ascent of the vehicle 100 along the column 14. In addition, the centering guide surface 211 may comprise at least a second centering guide section 213 extending parallel to the second horizontal direction Y and inclined relative to the first plane YZ to center the receptacle R in the first direction S1 of the first direction X during a descent of the vehicle 100 along the column 14.

[0049] In other words, the first centering guide section 212 is configured to push the receptacle R of at least one cell 16 among the plurality of cells 16 in the first direction S1 of the first vertical direction Z during an ascent M of the vehicle 100 along the column 14. Similarly, the second centering guide section 213 is configured to push the receptacle R of at least one cell 16 among the plurality of cells 16 in the first direction S1 of the first vertical direction Z during a descent of the vehicle 100 along the column 14 in the vertical direction Z.

[0050] The first centering guide section 212 may be inclined at a first angle p1 relative to the first plane YZ, which is between 15° and 30°. Optionally, the second centering guide section 213 may be inclined at a second angle p2 relative to the first plane YZ, which is between 15° and 30°. The first centering guide section 212 and the second centering guide section 213 may have opposite inclinations relative to the vertical direction Z. The first angle p1 of the first centering guide section centering 212 and the second angle p2 of the second centering guide section 213 may be equal to or different from each other.

[0051] The first centering guide section 212 may have a dimension along the first horizontal direction X of between 3.5 mm and 6.5 mm. Where appropriate, the second centering guide section 213 may have a dimension along the first horizontal direction X of between 3.5 mm and 6.5 mm.

[0052] The centering guide surface 211 may extend in the vertical direction Z between an upper end and a lower end. The first centering guide section 212 may be arranged at the upper end of the centering guide surface 211. Optionally, the second centering guide section 213 may be arranged at the lower end of the centering guide surface 211.

[0053] The centering guide surface 211 may comprise an intermediate section 214 disposed vertically between the first centering guide section 212 and the second centering guide section 213. The intermediate section 214 may extend parallel to the second horizontal direction Y. The intermediate section 214 may be parallel to or in the first plane YZ.

[0054] Furthermore, with reference to Figures 5 and 6, the first deflector 200a may comprise at least one insertion guide surface 221, preferably inclined in whole or in part with respect to the vertical direction Z. The insertion guide surface 221 may be configured to push the receptacle R in the second horizontal direction Y towards a bottom 17 of said at least one cell 16, as represented by the arrow P1, during a vertical movement of the vehicle 100 along the column 14. More particularly, the insertion guide surface 221 may be configured to push the receptacle R of at least one cell 16 among the plurality of cells 16 in the second horizontal direction Y towards a bottom 17 of said at least one cell 16 during a vertical movement of the vehicle 100 along the column 14.It is understood that the receptacle R of said at least one cell 16 among the plurality of cells 16 is moved in the second horizontal direction Y by a ramp effect along the insertion guide surface 211. To do this, the insertion guide surface 221 of the first deflector 200a can be adapted to face the openings of the cells 16 of the column 14.

[0055] The insertion guide surface 221 makes it possible to correctly reposition the receptacle R in said at least one cell 16 among the plurality of cells 16 in the event that this receptacle R comes out of its cell 16.

[0056] When the vehicle 100 passes in front of the cells 16 to recover a receptacle R, the first deflector 200a can also automatically push back the moved receptacles R, without stopping or any particular action on the part of the vehicle 100. In addition to the fact that the vehicle 100 does not need to know the positioning of the moved receptacles R or to avoid them, the choice of particular characteristics for the first deflector 200a allows immediate and extremely precise repositioning of the receptacles R moved until then.

[0057] Generally, the first deflector 200a is advantageously configured to ensure the movement of the receptacles R towards the bottom 17 of the cells 16, during the vertical movement of the vehicle 100, by the work of the guide surface in insertion of the first deflector 200a which is then fixed relative to the chassis 102 of the vehicle 100. Advantageously, such operation will not in itself require a movement of the first deflector 200a relative to the chassis 102 during this work, and therefore the use of an actuator for such a movement.

[0058] The insertion guide surface 221 may comprise at least one first insertion guide section 222 extending parallel to the first horizontal direction X and inclined relative to a second plane XZ defined by the first horizontal direction X and the vertical direction Z to push the receptacle R in the second horizontal direction Y towards the bottom 17 of said at least one cell 16 during an ascent M of the vehicle 100 along the column 14. In addition, the insertion guide surface 221 may comprise at least one second insertion guide section 223 extending parallel to the first horizontal direction X and inclined relative to the second plane XZ to push the receptacle R in the horizontal direction Y towards the bottom 17 of said at least one cell 16 during a descent of the vehicle 100 along the column 14.

[0059] In other words, the first insertion guide section 222 is configured to push the receptacle R of at least one cell 16 among the plurality of cells 16 in the second horizontal direction Y towards a bottom 17 of said at least one cell 16 during an ascent M of the vehicle 100 along the column 14. Similarly, the second insertion guide section 223 is configured to push the receptacle R of at least one cell 16 among the plurality of cells 16 in the second horizontal direction Y towards a bottom 17 of said at least one cell 16 during a vertical descent of the vehicle 100 along the column 14.

[0060] The first insertion guide section 222 may be inclined at a first angle a1 relative to the second, which is between 5° and 15°. Optionally, the second insertion guide section 223 may be inclined at a second angle a2 relative to the second plane XZ, which is between 5° and 15°. The first insertion guide section 222 and the second insertion guide section 223 may have opposite inclinations relative to the vertical direction Z. The first angle a1 of the first insertion guide section 222 and the second angle a2 of the second insertion guide section 223 may be equal to or different from each other.

[0061] The first insertion guide section 222 may have a dimension along the second horizontal direction Y of between 3.5 mm and 11.5 mm, preferably between 3.52 mm and 11.5 mm. Where appropriate, the second insertion guide section 223 may have a dimension along the second horizontal direction Y of between 3.5 mm and 11.5 mm, preferably between 3.52 mm and 11.5 mm.

[0062] The insertion guide surface 221 may extend along the vertical direction Z between an upper end and a lower end. The first insertion guide section 222 may be arranged at the upper end of the insertion guide surface 221. The optionally, the second insertion guide section 223 may be arranged at the lower end of the insertion guide surface 221.

[0063] The insertion guide surface 221 may comprise an intermediate section 224 disposed vertically between the first insertion guide section 222 and the second insertion guide section 223. The intermediate section 224 may extend parallel to the first horizontal direction X. The intermediate section 224 may be parallel to or in the second plane XZ.

[0064] As seen in Figure 2, the first deflector 200a may comprise a one-piece body which comprises a first branch 210 and a second branch 220, the first branch 210 comprising the centering guide surface 211 and the second branch 220 comprising the insertion guide surface 221. The first branch 210 may extend in the second horizontal direction Y. The second branch 220 may extend in the first horizontal direction X. The first branch 210 and the second branch 220 may be perpendicular to each other. The body of the deflector may have a right-angle or L-shape.

[0065] The vehicle 100 may comprise a second deflector 200b comprising at least one centering guide surface 211, preferably inclined in whole or in part with respect to the vertical direction Z. The centering guide surface 211 of the second deflector 200b may be configured to center the receptacle R in said at least one cell 16 in the first horizontal direction X, and in a direction opposite to the centering guide surface 211 of the first deflector 200a. A first deflector 200a and a second deflector 200b are visible on the vehicle 100 shown in FIGS. 1 A to 1 E.

[0066] When the vehicle 100 passes in front of the cells 16 to recover a receptacle R, the first deflector 200a can automatically recenter the receptacles R moved abnormally in the second direction S2 of the first horizontal direction X, without stopping or any particular action on the part of the vehicle 100.

[0067] The cumulative actions of the first deflector 200a and the second deflector 200b advantageously make it possible to ensure centering of each of the receptacles R in the cells 16 of the column 14 in both directions of the first horizontal direction X. A receptacle R is centered in the corresponding cell 16 when a median plane of the receptacle R in the first horizontal direction X coincides with the median plane of the corresponding cell 16 in the first horizontal direction X.

[0068] Unless otherwise specified, the second deflector 200b may be identical to the first deflector 200a. In particular, the centering guide surface 211 of the second deflector 200b may be identical to the centering guide surface 211 of the first deflector 200a. Furthermore, the second deflector 200b may comprise an insertion guide surface 221 identical to the insertion guide surface 221 of the first deflector 200a.

[0069] More particularly, the centering guide surface 211 of the second deflector 200b being configured to push the receptacle R of at least one cell 16 among the plurality of cells 16 in a second direction S2 of the first horizontal direction X, opposite to the first direction S1, during a vertical movement of the vehicle 100 along the column 14 in order to center the receptacle R in said at least one cell 16 in the first horizontal direction X.

[0070] The first deflector 200a and the second deflector 200b may be structurally independent of each other.

[0071] The first deflector 200a and the second deflector 200b can be spaced apart from each other in the first horizontal direction X. The first guide surface of the first deflector 200a and the second guide surface of the second deflector 200b can be arranged opposite each other in the first horizontal direction X. The first deflector 200a and the first deflector 200a can be symmetrical with respect to each other with respect to a plane of symmetry which comprises the vertical direction Z and the second horizontal direction Y.

[0072] The vehicle 100 may comprise a chassis 102 and at least one first climbing means 104a adapted to move the chassis 102 vertically along a first upright 18a of the column 14, said first deflector 200a being integral with the first climbing means 104a. The first climbing means 104a may comprise a support. The first climbing means 104a may comprise a wheel mounted on the support intended to cooperate with a complementary climbing member arranged along the first upright 18a. The wheel may be toothed, i.e. comprise a plurality of teeth distributed along its periphery, and the complementary climbing member may be a rack or a chain. The first climbing means 104a may comprise an arm connecting the support to the chassis 102 of the vehicle 100. The first deflector 200a may be securely connected to the support of the first climbing means 104a.

[0073] Furthermore, the vehicle 100 may comprise a second climbing means 104b adapted to move the chassis 102 vertically along a second upright 18b of the column 14, said second deflector 200b being integral with the second climbing means 104b. The second climbing means 104b may comprise a support. The second climbing means 104b may comprise a wheel mounted on the support intended to cooperate with a complementary climbing member arranged along the second upright 18b. The wheel may be toothed, i.e. comprise a plurality of teeth distributed along its periphery, and the complementary climbing member may be a rack or a chain. The second climbing means 104b may comprise an arm connecting the support to the chassis 102 of the vehicle 100. The second deflector 200b may be integrally connected to the support of the first climbing means 104a.

[0074] A rotational movement of the wheel of each climbing means can therefore be transformed into a translational movement of the vehicle 100 along the uprights 18a; 18b of the column 14, uphill or downhill depending on the direction of rotation of the wheel.

[0075] Each climbing means can be movable between a retracted position in which the climbing means is housed in whole or in part in the chassis 102 of the vehicle 100 and a deployed position in which the climbing means is able to cooperate with the corresponding upright of the column 14. Each climbing means can be deployed in a direction comprising a component along the second horizontal direction Y and / or along the first horizontal direction X. In the retracted position, each climbing means is decoupled, that is to say at a distance, from the corresponding amount of column 14.

[0076] According to a variant not shown, one or more, or even each, of the deflectors 200a; 200b can be connected directly to the chassis 102 of the vehicle 100.

[0077] As mentioned above, the vehicle 100 can move up and down along the column 14 to grasp or deposit the receptacle R housed in one of the plurality of cells 16. To do this, the vehicle 100 can comprise a gripping device configured to grasp or deposit the receptacle R housed in one of the plurality of cells 16. The gripping device can comprise a support that is movable relative to the chassis 102 and that is configured to be movable between a retracted position for loading a receptacle R onto the chassis 102 of the vehicle 100 and in which the movable support is housed on the chassis 102, and a deployed unloading position in which the movable support extends cantilevered from the chassis 102, preferably in the second horizontal direction, to unload or deposit the receptacle R.

[0078] Furthermore, the vehicle 100 may comprise ground rolling means, preferably motorized. The rolling means may be advantageously configured to allow the vehicle 100 to move in at least one direction, preferably in at least two directions, in particular perpendicular to each other. The rolling means may be advantageously configured to allow the vehicle 100 to move on the ground in an open field, that is to say in the absence of rails or any other guidance means which requires structural cooperation with the vehicle 100. Alternatively, the rolling means may be configured to cooperate with guidance means provided on the ground. The vehicle 100 may be automatically guided, that is to say of the “automated guided vehicle” or AGV type. For this purpose, the vehicle 100 may comprise on-board guidance means adapted to the automatic guidance of the vehicle 100.

[0079] An article storage and retrieval system 10 is now described with reference to FIG. 7. The article storage and retrieval system 10 may comprise at least one column 14 comprising a plurality of cells 16 superimposed in the vertical direction Z and each adapted to receive at least one receptacle R, each cell 16 extending in its width between a first upright 18a and a second upright 18b of the column 14 in a first horizontal direction X and in its depth 17 between a bottom 17 and an opening in a second horizontal direction Y. The article storage and retrieval system 10 may comprise at least one rack 12 which comprises a plurality of columns 14 arranged in a longitudinal direction L, the first horizontal direction X of each cell 16 of each column 14 coinciding with the longitudinal direction L.The first upright 18a of a first column 14 among the plurality of columns 14 may coincide with the second upright 18b of a second column 14 among the plurality of columns 14 that is directly adjacent to the first column 14 along the longitudinal direction L. The article storage and retrieval system 10 may include at least a first rack 12 and a second rack 12. The first rack 12 and the second. rack 12 may be spaced from each other in a transverse direction T, perpendicular to the longitudinal direction L. The second horizontal direction Y of each cell 16 of each column 14 may coincide with the transverse direction T. An aisle A may extend in the longitudinal direction L between the first rack 12 and the second rack 12, that is to say at the level of the space in the transverse direction T between the first rack 12 and the second rack 12.

[0080] The article storage and retrieval system 10 comprises a plurality of receptacles R, each receptacle R being arranged in a corresponding cell 16 among the plurality of cells 16. It is understood that certain cells of the article storage and retrieval system 10 may be empty. Each receptacle R is adapted to receive at least one article, the receptacle R and the at least one article having a mass of between 1.5 kg and 30 kg.

[0081] Finally, the article storage and retrieval system 10 comprises at least one vehicle 100 as described above. Said at least one vehicle 100 is configured to rise and fall along the columns 14 in order to pick up or deposit receptacles R. Also, during the rise and / or descent of the vehicle 100 along one of the columns 14, the vehicle 100 is configured to reposition the receptacles R housed in the cells of the column 14 which would be incorrectly positioned, by means of the first deflector 200a, or even by means of the second deflector 200b, as described above.

[0082] Reference is made to Figures 1A to 1E. In a nominal position of the receptacle R in the corresponding cell 16, a first distance N1 between the first upright 18a of the column 14 and a first lateral end of the receptacle R facing the first upright 18a of the column 14 may be between 8 and 12 mm. The vehicle 100 may be configured to recenter the receptacle R in the nominal position in the first direction S1 of the first horizontal direction X from a first displacement D1 of 8 to 12 mm of the receptacle R from the nominal position in a second direction S2 of the first horizontal direction X opposite to the first direction S1 (Figure 1C).

[0083] In a nominal position of the receptacle R in the corresponding cell 16, a second distance N2 between the first upright 18a of the column 14 and a first lateral end of the receptacle R facing the first upright 18a of the column 14 may be between 8 and 12 mm. The vehicle 100 may be configured to recenter the receptacle R in the nominal position in the second direction S2 of the first horizontal direction X from a second displacement D2 of 8 to 12 mm of the receptacle R from the nominal position in the first direction S1 of the first horizontal direction X (Figures 1C, 1D and 1E).

[0084] In a nominal position of the receptacle R in the corresponding cell 16, a third distance N3 between a rear end of the receptacle R and the bottom 17 of the corresponding cell 16 may be between 8 and 12 mm. The vehicle 100 may be configured to replace the receptacle R in the nominal position from a third displacement D3 of 30 mm of the receptacle R from the nominal position in the second longitudinal direction L (figures 1 B, 1C and 1 E).

[0085] By the first deflector 200a, the vehicle 100 can be configured to return the receptacle R to the nominal position from the first movement D1 and / or the third movement D3. By the first deflector 200b, the vehicle 100 can be configured to return the receptacle R to the nominal position from the second movement D2 and / or the third movement D3.

[0086] More generally, the vehicle 100 can be configured, in particular by means of the first deflector 200a and the second deflector 200b, to replace the receptacle R in the nominal position from any combination of the first displacement D1, the second displacement D2, the third displacement D3, and even a rotation in an XY plane.

[0087] As seen in Figure 1C, the vehicle 100 can be configured to return the receptacle R to the nominal position from a rotation in the XY plane. The rotation in the XY plane can result in a combination of a first displacement D1, a second displacement D2 and a third displacement D3 varying according to the point considered on the receptacle R.

[0088] The first deflector 200a, and where appropriate the second deflector 200b, may be arranged in the second horizontal direction Y between the chassis 102 of the vehicle 100 and the openings of the cells 16. This does not exclude the possibility that the first deflector 200a, and where appropriate the second deflector 200b, may be wholly or partly offset in the first horizontal direction X relative to the chassis 102 of the vehicle 100.In other words, a configuration in which the first deflector 200a, and where appropriate the second deflector 200b, are not physically between the chassis 102 of the vehicle 100 and the openings of the cells 16 or a configuration in which the first deflector 200a, and where appropriate the second deflector 200b, are only partly between the chassis 102 of the vehicle 100 and the openings of the cells 16 is not excluded, even though the first deflector 200a, and where appropriate the second deflector 200b, are arranged in the second horizontal direction Y between the chassis 102 of the vehicle 100 and the openings of the cells 16.

[0089] A method for retrieving or unloading a receptacle R in a cell 16 is now described, implemented in an article storage and retrieval system 10 as described above. The method comprises moving the vehicle 100 in the vertical direction Z until the vehicle 100 is located vertically at the cell 16 comprising the receptacle R to be retrieved or unloaded. During the movement of the vehicle 100 in the vertical direction Z, the receptacle R of at least one cell 16 is recentered in the cell 16 in the first direction S1 of the first horizontal direction X by contact between the receptacle R and the centering guide surface 211 of the first deflector 200a of the vehicle 100.

[0090] Furthermore, during the movement of the vehicle 100 in the vertical direction Z, the receptacle R of at least one cell 16 can be pushed towards the bottom 17 of the cell 16 by contact between the receptacle R and the insertion guide surface 211 of the first deflector 200a of the vehicle 100.

[0091] If necessary, the receptacle R of at least one cell 16 can be pushed towards the bottom 17 of the cell 16 by contact between the receptacle R and the second deflector 200b of the vehicle 100.

[0092] Finally, during the movement of the vehicle 100 in the vertical direction Z, the receptacle R of at least one cell 16 can also be recentered in the cell 16 in the second direction S2 of the first horizontal direction X by contact between the receptacle R and the centering guide surface 211 of the second deflector 200b of the vehicle 100.

[0093] The method may comprise associating said at least one vehicle 100 with a cell 16 of the column 14.

[0094] The method may comprise moving on the ground in at least two directions until the vehicle 100 is positioned at the foot of the column 14. The vehicle 100 may move on the ground in an aisle A and / or under a rack 12. The vehicle 100 may be moved on the ground to align the first climbing means 104a and the second climbing means 104b respectively with the first upright 18a and the second upright 18b of the column 14 in the first horizontal direction X.

[0095] The method may include coupling the vehicle 100 with the first upright 18a and the second upright 18b of the column 14 to move the vehicle 100 vertically along the column 14. The method may include coupling the first climbing means 104a and the second climbing means 104b with the respective complementary climbing member of the first upright 18a and the second upright 18b.

Claims

Claims

1. Vehicle (100) for a system for storing and retrieving articles (10), the vehicle (100) being configured to move in a vertical direction (Z) along a column (14) which comprises a plurality of cells (16) superimposed in the vertical direction (Z) and each adapted to receive at least one receptacle (R), each cell (16) extending in its width in a first horizontal direction (X) and in its depth (17) in a second horizontal direction (Y) perpendicular to the first horizontal direction (X), the vehicle (100) comprising at least one first deflector (200a), the first deflector (200a) comprising at least one centering guide surface (21 1 ), preferably inclined in whole or in part with respect to the vertical direction (Z),the centering guide surface (211) of the first deflector (200a) being configured to center the receptacle (R) in said at least one cell (16) in the first horizontal direction (X) during a vertical movement of the vehicle (100) along the column (14).,

2. Vehicle (100) according to the preceding claim, wherein the centering guide surface (211) comprises at least a first centering guide section (212) extending parallel to the second horizontal direction (Y) and inclined relative to a first plane (YZ) defined by the second horizontal direction (Y) and the vertical direction (Z) to center the receptacle (R) in the first direction (S1) of the first direction (X) during an ascent of the vehicle (100) along the column (14), and preferably at least a second centering guide section (213) extending parallel to the second horizontal direction (Y) and inclined relative to the first plane (YZ) to center the receptacle (R) in the first direction (S1) of the first direction (X) during a descent of the vehicle (100) along the column (14).

3. Vehicle (100) according to claim 2, wherein the first centering guide section (212) is inclined at a first angle (p1) relative to the first plane (YZ), and being between 15° and 30°, and where appropriate, wherein the second centering guide section (213) is inclined at a second angle (p2) relative to the first plane (YZ), and being between 15° and 30°, the first centering guide section (212) and the second centering guide section (213) having opposite inclinations relative to the vertical direction (Z).

4. Vehicle (100) according to claim 2 or 3, wherein the first centering guide section (212) has a dimension in the first horizontal direction (X) of between 3.5 mm and 6.5 mm, and where appropriate, wherein the second centering guide section (213) has a dimension in the first horizontal direction (X) of between 3.5 mm and 6.5 mm.

5. Vehicle (100) according to any one of the preceding claims, wherein the first deflector (200a) comprises at least one insertion guide surface (221), preferably inclined in whole or in part with respect to the vertical direction (Z), the insertion guide surface (221) being configured to push the receptacle (R) in the second direction. horizontal (Y) towards a bottom (17) of said at least one cell (16) during a vertical movement of the vehicle (100) along the column (14).

6. Vehicle (100) according to the preceding claim, wherein the insertion guide surface (221) comprises at least one first insertion guide section (222) extending parallel to the first horizontal direction (X) and inclined relative to a second plane (XZ) defined by the first horizontal direction (X) and the vertical direction (Z) to push the receptacle (R) in the second horizontal direction (Y) towards a bottom (17) of said at least one cell (16) during an ascent of the vehicle (100) along the column (14), and preferably comprises at least one second insertion guide section (223) extending parallel to the first horizontal direction (X) and inclined relative to the second plane (XZ) to push the receptacle (R) in the horizontal direction (Y) towards the bottom (17) of said at least one cell (16) during a descent of the vehicle (100) along column (14).

7. Vehicle (100) according to the preceding claim, wherein the first insertion guide section (222) is inclined at a first angle (a1) relative to the second plane (XZ), and being between 5° and 15°, and where appropriate, wherein the second insertion guide section (223) is inclined at a second angle (a2) relative to the second plane (XZ), and being between 5° and 15°, the first insertion guide section (222) and the second insertion guide section (223) having opposite inclinations relative to the vertical direction (Z).

8. Vehicle (100) according to claim 6 or 7, wherein the first insertion guide section (222) has a dimension in the second horizontal direction (Y) of between 3.5 mm and 11.5 mm, and where appropriate, wherein the second insertion guide section (223) has a dimension in the second horizontal direction (Y) of between 3.5 mm and 11.5 mm.

9. A vehicle (100) according to any one of claims 5 to 8, wherein the first deflector (200a) comprises a single-piece body which comprises a first branch (210) and a second branch (220), the first branch (210) comprising the centering guide surface (211) and the second branch (220) comprising the insertion guide surface (221).

10. Vehicle (100) according to any one of the preceding claims, which comprises a second deflector (200b) comprising at least one centering guide surface (211), preferably inclined in whole or in part with respect to the vertical direction (Z), the centering guide surface (211) of the second deflector (200b) being configured to center the receptacle (R) in said at least one cell (16) according to the first horizontal direction (X), and in a direction opposite to the centering guide surface (211) of the first deflector (200a).

11. Vehicle (100) according to any one of the preceding claims, which comprises a chassis (102) and at least one first climbing means (104a) adapted to move the chassis (102) vertically along a first upright (18a) of the column (14), said first deflector (200a) being integral with the first climbing means (104a).

12. Vehicle (100) according to the preceding claim, claim 10 applying, which comprises a second climbing means (104b) adapted to move the chassis (102) vertically along a second upright (18b) of the column (14), said second deflector (200b) being integral with the second climbing means (104b).

13. An item storage and retrieval system (10) comprising: - at least one column (14) comprising a plurality of cells (16) superimposed in the vertical direction (Z) and each adapted to receive at least one receptacle (R), each cell (16) extending in its width between a first upright (18a) and a second upright (18b) of the column (14) in a first horizontal direction (X) and in its depth (17) between a bottom (17) and an opening in a second horizontal direction (Y), - a plurality of receptacles (R), each receptacle (R) being arranged in a corresponding cell (16) among the plurality of cells (16), - at least one vehicle (100) according to any one of the preceding claims.

14. A method of retrieving or unloading a receptacle (R) into a cell (16) implemented in an article storage and retrieval system (10) according to claim 13, the method comprising moving the vehicle (100) in the vertical direction (Z) until the vehicle (100) is located vertically at the cell (16) comprising the receptacle (R) to be retrieved or unloaded, and wherein, during the movement of the vehicle (100) in the vertical direction (Z), the receptacle (R) of at least one cell (16) is recentered in the cell (16) in the first direction (S1) of the first horizontal direction (X) by contact between the receptacle (R) and the centering guide surface (211) of the first deflector (200a) of the vehicle (100).

15. Method according to the preceding claim, claim 6 applying, wherein during the movement of the vehicle (100) in the vertical direction (Z), the receptacle (R) of at least one cell (16) is pushed towards the bottom (17) of the cell (16) by contact between the receptacle (R) and the insertion guide surface (211) of the first deflector (200a) of the vehicle (100).

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