Use of a maintenance vehicle in an automated system for storing and retrieving articles

Abstract

The invention relates to the use of a maintenance vehicle (30) in an automated system for storing and retrieving articles, comprising at least two storage racks (10) spaced from one another so as to define an aisle (20) therebetween, each rack (10) comprising a lower level (13) being located at a distance from the ground, the maintenance vehicle (30) comprising an elevating platform (32) intended to receive an operator, and a stabilization system which comprises a plurality of arms (40), wherein the stabilization system of the maintenance vehicle (30) is moved in an automated manner between a first configuration in which each arm (40) is retracted and a second configuration in which each arm (40) is deployed and forms a support on the ground at a distance from the chassis (31) below the lower level (13) of one of the storage racks (10).

Description

Description Title: Use of a maintenance vehicle in an automated storage and retrieval system for items technical field

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

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

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

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

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

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

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

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

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

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

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

[0012] Each arm can include a support foot configured to provide ground contact when the arm is extended. The support foot of each arm can be closer to the chassis in the first configuration than in the second configuration.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0027] [Fig. 1] is a perspective view that represents an automated system for storing and retrieving items.

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

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

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

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

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

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

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

[0035] [Fig. 9] is a perspective view of a maintenance vehicle according to another embodiment with the stabilization system in a first configuration.

[0036] [Fig. 10] is a partial and enlarged view of the lower part of the maintenance vehicle in Figure 9.

[0037] [Fig. 11] and [Fig. 12] are enlarged views of a maintenance vehicle indexing system, in a folded (Fig. 11) and unfolded (Fig. 12) position, respectively.

[0038] Description of the implementation methods

[0039] The use of a maintenance vehicle 30 in an automated storage and retrieval system is now described with reference to Figures 1 to 8. Equivalently and without restriction, reference may be made to the use of the maintenance vehicle 30 in the automated storage and retrieval system by a maintenance process using the maintenance vehicle 30 in the automated storage and retrieval system, or by a process of using the maintenance vehicle 30 in the automated storage and retrieval system.

[0040] As shown in Figures 1 to 3, the automated item storage and retrieval system comprises at least two storage racks 10 spaced apart to define an aisle 20 between them. The aisle width (i.e., between the racks) may be between 700 mm and 900 mm, and preferably less than or equal to 800 mm. The automated item storage and retrieval system may comprise a plurality of racks defining a plurality of aisles. As shown, it is possible for racks 10 to be arranged directly adjacent to one another. Each rack 10 comprises storage locations 14 arranged vertically on several levels. Each level may comprise one or more storage locations 14. Each storage location 14 may be adapted to receive a receptacle 200, such as a bin or tray.The item storage and retrieval system may include a fleet of 100 transport vehicles, for example automated guided vehicles (AGVs) to store or retrieve receptacles in racks.

[0041] A lower level 13 is further defined among the multiple levels. This lower level 13 is located at a distance from the floor. It is understood that since the lower level 13 of rack 10 is located at a distance from the floor (i.e., at a certain height above the floor), this lower level 13 forms a free space below the rack 10. In other words, a free space is formed vertically between the floor and the lower level 13. The lower level 13 of each rack 10 can be located at a height greater than or equal to 650 mm.

[0042] Each rack 10 can extend along a first horizontal direction X. Said at least two storage racks 10 can be separated along a second horizontal direction Y, preferably perpendicular to the first horizontal direction X, so that the aisle 20 extends along the first horizontal direction X.

[0043] In the description that follows, when referring to absolute positional qualifiers, such as "front", "back", "top", "bottom", "left", "right", etc., or relative positional qualifiers, such as "above", "below", "superior", "inferior", etc., or to orientational qualifiers, such as "horizontal", "vertical", etc., reference is made, unless otherwise specified, to the orientation of the figures or of the item storage and retrieval system.

[0044] Each rack 10 may comprise a plurality of uprights 11, preferably vertical, aligned, in particular along the first horizontal direction X. The spacing between two consecutive uprights 11 of each rack 10, in particular along the first direction, may be less than or equal to 500 mm.

[0045] Similarly, each rack 10 can comprise a plurality of columns 12, notably aligned along the first direction. Each column 12 can be delimited by a pair of consecutive uprights 11. Each column 12 can comprise a vertical stacking of storage locations 14.

[0046] The maintenance vehicle 30, more particularly visible in figures 2 to 4, comprises a chassis 31 configured to move on the ground, a lifting platform 32 intended to receive an operator, a lifting system 33 interposed between the chassis 31 and the platform 32 and configured to move the platform 32 relative to the chassis 31 at least in a vertical direction Z, and a stabilization system which includes a plurality of arms 40.

[0047] The 33 lifting system can be implemented in various configurations to meet the specific needs of maintenance operations at height. One option is a hydraulic lifting system, where hydraulic cylinders are used to move the platform. This solution offers high load capacity and precise movement. A second option uses an electromechanical lifting system, incorporating electric motors and worm gears to raise the platform. This type of system is particularly well-suited for precise and repetitive movements, with reduced maintenance. A third option incorporates a rack and pinion lifting system, where racks mounted on a mast are engaged by motorized pinions to move the platform vertically. This configuration is robust and offers high stability. Finally, a fourth One alternative can utilize a cable and pulley lifting system, where steel cables are wound around motorized pulleys to raise and lower the platform. This solution is lightweight and allows for a significant lifting height. Additionally, the lifting system can incorporate a scissor-like structure, employing articulated scissor arms to raise the platform. This scissor design enables stable and controlled vertical extension while offering a compact form when retracted.

[0048] The Platform 32 can be specially designed to accommodate an operator safely and comfortably. The platform can include guardrails on all sides to prevent falls and ensure operator safety when working at height. The platform surface can be non-slip, providing optimal grip even in wet or dusty conditions. Furthermore, the Platform 32 can be configured to allow the operator freedom of movement. The Platform 32 can be equipped with anchor points for an operator safety harness, providing additional fall protection. Control levers can be integrated into the platform, allowing the operator to control the platform's movements, including raising, lowering, and lateral movement, without leaving the platform.

[0049] Remarkably, when the maintenance vehicle 30 is positioned in aisle 20 during its use in the item storage and retrieval system, the stabilization system of the maintenance vehicle 30 is automatically moved between: - a first configuration in which each arm 40 is retracted so that the vehicle is adapted to travel in the aisle 20 (see figure 2), and - a second configuration in which each arm 40 is deployed and forms a support on the ground at a distance from the chassis 31, the support on the ground formed by at least one of the arms 40 being below the lower level 13 of one of the storage racks 10 (see figure 3).

[0050] The maintenance vehicle 30 is therefore capable of moving in narrow aisles 20 between storage racks 10 and stabilizing itself effectively with a ground grip to allow for maintenance operations at height. The stabilization system, with its automatically retractable and deployable arms 40, allows the vehicle to move easily in the aisles 20 when the stabilization system is retracted and ensures adequate stability when it is deployed. This improves the flexibility and safety of maintenance operations, while minimizing space requirements and optimizing space utilization in compact storage environments.

[0051] The automated stabilization system has the advantage of eliminating the need for an operator to manually deploy the 40 stabilizing arms under the 10 storage racks. Thanks to the system's automated configuration, each arm 40 can be moved autonomously between a retracted and a deployed position. This not only saves time but also reduces the physical effort required from the operator, who no longer needs to move around the vehicle to position the stabilizers. Furthermore, this automation improves operational safety by minimizing the risks associated with... Manual manipulation of the stabilizers in confined and potentially hazardous spaces such as under 10-rack storage units. Consequently, the system offers a more ergonomic and safer solution for maintenance operations at height in dense and compact storage environments.

[0052] Preferably, as illustrated, each arm 40 can form a support on the ground below the lower level 13 of one of the storage racks 10.

[0053] Furthermore, said at least one arm 40 forming a support on the ground under the lower level 13 of one of the racks 10 in the second configuration, may extend between two uprights 11 of said rack 10. In this case, it may be two consecutive uprights 11.

[0054] To prevent interference or collision between each arm 40 and the rack uprights, an indexing system for the maintenance vehicle relative to one or more rack uprights can be provided. The indexing system can be configured to ensure precise and repeatable positioning of the maintenance vehicle relative to the rack uprights and prevent collisions between each arm and the rack uprights during deployment. The indexing system can be configured to correctly position the vehicle and its stabilizing arms relative to the storage racks before the stabilizers are deployed. The indexing system may include elements such as pads and / or guides, preferably foldable, configured to butt against a rack upright in the desired position of the maintenance vehicle.Alternatively or additionally, the indexing system may include one or more positioning sensors and / or one or more visual markers.

[0055] Figures 11 and 12 show an example of an indexing system 35 for the maintenance vehicle 30 in the folded-down position (Figure 11) and in the raised position (Figure 12), respectively. Figure 10 shows a possible arrangement of the indexing system 35 relative to the chassis 31 of the maintenance vehicle 30.

[0056] More specifically, the indexing system 35 includes, among other things, a hinged part 351 mounted on the chassis 31 of the maintenance vehicle 30 by means of a pivot. The hinged part 351 comprises two pins 352, spaced a distance d1 apart corresponding to the width of a rack upright 11. When the indexing system 35 is in the folded position (Figure 11), the pins 352 are folded against the chassis 31 of the maintenance vehicle, with the pins 352 oriented parallel to the chassis 31. To move the indexing system 35 to the raised position, the hinged part 351 is pivoted so that the pins 352 extend horizontally on either side of a rack upright 11 (Figure 12), thus framing the upright 11.This position allows the maintenance vehicle 30 to be positioned precisely in the aisle, so that the stabilizing arms 40 can be deployed without risk of interference or collision with the rack uprights 11.

[0057] Each arm 40 may include a support foot 42 configured to provide ground support when the arm 40 is deployed. The support foot 42 may have a lower face configured to provide stable and secure ground support. This face may be flat and sufficiently wide to to distribute the loads evenly, thus minimizing the pressure exerted on the floor and reducing the risk of slippage or tipping. The support foot 42 of each arm 40 can be closer to the frame 31 in the first configuration than in the second configuration. In the second configuration, the support foot 42 of at least one of the arms 40 can be positioned below the lower level 13 of one of the storage racks 10. More specifically, the support foot 42 of each arm 40 can be positioned below the lower level 13 of one of the storage racks 10.

[0058] The support foot 42 of each arm 40 can be moved along a respective deployment direction that includes at least one component along the first horizontal direction X and / or one component along the second horizontal direction Y when deployed in the second configuration of the corresponding arm 40. This deployment allows for the formation of ground supports at a distance from the chassis 31 by passing below the lower level 13 of the rack 10 and, in particular, between the uprights 11 of the rack 10. This enables the ground supports to reach optimal positions to provide stable and secure support, thus minimizing the risk of tipping or imbalance of the maintenance vehicle 30.In the illustrated example, the support foot of each arm can be deployed along a deployment direction that includes a component along the first horizontal direction X and a component along the second horizontal direction Y, and preferably a component along the vertical direction Z.

[0059] The support foot 42 of each arm 40 can be moved according to a translational movement (of any kind, for example along a straight line, and / or circular, and / or curved trajectory, etc.) and / or according to a rotational movement.

[0060] The support foot 42 of each arm 40 can be kept at a height lower than the bottom level 13 of the storage racks 10 when the corresponding arm 40 is deployed. More specifically, when an arm 40 is deployed, its support foot 42 can remain close to the ground, for example, at a height lower than the bottom level 13 of the racks 10, for example, less than 650 mm from the ground. Thus, the support foot 42 can pass below the bottom level 13 of the racks 10. This configuration allows the arm 40 to extend under the racks 10 and provide stable and secure support, even in confined spaces.

[0061] The maintenance vehicle 30 can have a length L along the first horizontal direction X and a width I along the second horizontal direction Y when positioned in aisle 20. The length L of the maintenance vehicle 30 can be greater in the second configuration than in the first configuration. The width I of the maintenance vehicle 30 can be greater in the second configuration than in the first configuration.

[0062] A longitudinal direction DL and a transverse direction DT can be defined for the maintenance vehicle 30. In standard use of the maintenance vehicle 30, the longitudinal direction DL and / or the transverse direction DT can each be horizontal or close to horizontal. Thus, the longitudinal direction DL and / or the transverse direction DT can be perpendicular to a vertical direction Z. The transverse direction DT can be perpendicular to the longitudinal direction DL. The longitudinal direction DL and the transverse direction DT can coincide with the first horizontal direction X and the second horizontal direction Y when the Maintenance vehicle 30 is arranged in aisle 20. The length L and width I of the vehicle can be considered respectively in the longitudinal direction DL and the transverse direction DT.

[0063] The maintenance vehicle 30 can have a footprint E at least twice as large in the second configuration as in the first configuration. This significant increase in the footprint E allows for a more even distribution of loads and reduces the risk of the vehicle tipping or overturning, especially when the lifting platform 32 is raised to significant heights.

[0064] The maintenance vehicle 30 may, in its initial configuration, have a footprint of less than 1500 mm in length and / or less than 750 mm in width. The footprint in this initial configuration may correspond to the footprint of the chassis 31, or be defined by the ground support of the running gear 34.

[0065] In the second configuration, the maintenance vehicle 30 may have a footprint E greater than 2000 mm in length and / or less than 2000 mm in width. In this second configuration, the footprint E of the maintenance vehicle 30 may correspond to a ground area delimited by the ground support points formed by the arms 40.

[0066] The vehicle's footprint E in the second configuration can be configured to reduce the risk of tipping or overturning of the platform; and / or allow the machine to safely support loads during lifting, and / or ensure the safety of operators and people nearby by keeping the platform stable even when at a significant height.

[0067] The ground footprint E of the maintenance vehicle 30 in the second configuration can correspond to the minimum stabilization surface of the maintenance vehicle 30. The stabilization surface designates the ground surface which is used to distribute the weight of the vehicle and ensure its stability when in operation, and to stabilize the vehicle against the tipping moments generated by the platform 32 at height.

[0068] This surface includes the areas where the arms 40 and support feet 42 are deployed to provide a solid anchor, ensuring that the platform 32 does not tip or overturn during use. The stabilization surface therefore includes areas below the lower level 13 of at least one of the racks 10.

[0069] Each arm 40 can have a minimal horizontal footprint when retracted. Each arm 40 can have a maximum horizontal footprint when retracted. This minimizes the overall footprint and facilitates vehicle movement in confined spaces when retracted, while allowing for a greater reach when deployed to ensure more stable support. Conversely, each arm 40 can have a minimal vertical footprint when deployed. Similarly, each arm 40 can have a maximum vertical footprint when retracted.

[0070] Advantageously, the maintenance vehicle 30 can have a mass of 600 kg or less. Using a maintenance vehicle 30 with a mass of 600 kg or less prevents damage to the floor slab supporting the automated storage and retrieval system. A reduced mass minimizes the pressure exerted on the floor, thus reducing the risk of cracking or surface damage. This is particularly important in storage environments where the slab must withstand significant dynamic and static loads and be suitable for vehicle traffic for transferring items. By keeping the mass of the maintenance vehicle 30 below 600 kg, better preservation of the structural integrity of the warehouse floor is ensured. This is also an advantage when used on sensitive or pressure-limited floors, as well as on soft ground.This mass also allows the maintenance vehicle 30 to be transported on a standard truck, typically 7.5 tonnes.

[0071] The plurality of arms 40 may include a pair of front arms 40 and a pair of rear arms 40 along the longitudinal direction L. The pairs of front and rear arms 40 may be connected to the chassis 31 respectively in the vicinity of a front end and a rear end of the chassis 31, opposite each other along the longitudinal direction L. The arms 40 of each pair of arms 40 may be arranged on each side of the chassis 31 along the transverse direction DT, symmetrically with respect to a median longitudinal plane of the maintenance vehicle 30. The arms 40 of each pair of arms 40 may each form a support on the ground below the lower level 13 of a respective rack 10 among the two racks 10 delimiting the aisle 20.

[0072] This creates a balanced stabilizing base on each arm 40. Put another way, this arrangement allows the loads to be distributed evenly and minimizes the risk of tipping.

[0073] The stabilizing arms 40 of the maintenance vehicle 30 can be positioned at the four corners of the chassis 31 to provide optimal stability. When deployed, the arms 40 can be arranged in a star pattern, further enhancing stability by distributing the support points evenly around the chassis 31.

[0074] Each arm 40 of the maintenance vehicle 30 can include a single actuator 41 for its deployment. Using a single actuator 41 per arm 40 allows for individual control of each stabilizing arm 40, ensuring increased precision and efficiency during stabilization operations. This configuration also reduces the mechanical complexity and costs associated with installing multiple actuators 41 for arms 40. By automating the deployment and retraction of the stabilizing arms 40, the single actuator 41 improves the safety and speed of maintenance operations, while minimizing physical strain on the operator.

[0075] The maintenance vehicle 30 may include wheeled means 34 for moving on the ground, particularly in the aisle 20. These wheeled means 34, such as wheels or tracks, allow the vehicle to move easily and efficiently in the confined spaces between the storage racks 10. The wheeled means 34 may be motorized, thus offering flexibility additional depending on the specific needs of the application. Thanks to these rolling means 34, the maintenance vehicle 30 can be positioned precisely where maintenance or repair work is required, thus ensuring great flexibility and optimal mobility in the storage environment.

[0076] The maintenance vehicle 30 may include guidance means to facilitate, in particular, its insertion and movement within the aisles 20. In one embodiment, the guidance means include one or more guide wheels 36, visible in Figures 5 to 7, 9, and 10. One guide wheel 36 is mounted on each stabilizing arm 40. When the maintenance vehicle is inserted into the aisle 20, these guide wheels 36 roll along the rack uprights, thus centering the maintenance vehicle in the aisle and reducing the risk of collision. Alternatively or additionally, the guidance means may include a guide bar 37 (Figures 9 and 10) mounted on the chassis 31 of the maintenance vehicle, preferably on its lower part. This guide bar 37 helps maintain the alignment of the vehicle during its longitudinal movement within the aisle.

[0077] The stabilization system can be actuated to lift the chassis 31 of the maintenance vehicle 30 so that the maintenance vehicle 30 rests only on the plurality of arms 40 (shown in Figure 7). Lifting the chassis 31 can be achieved by applying lifting pressure to each arm 40 in contact with the ground, notably via their respective actuators 41. By raising the maintenance vehicle 30, the total weight of the vehicle is distributed evenly across the arms 40, rather than resting solely on the chassis 31 or the running gear. This allows for better distribution of the load on the ground, thus reducing the pressure exerted at any single point. The arms 40 can be adjusted independently, allowing the vehicle to adapt to surfaces of varying heights (it is common in logistics warehouses for the floor to have irregularities or differences in level, either inherent to their construction or due to impacts).The chassis 31 can thus be placed in a horizontal position to prevent any imbalance or tipping. Activation of the stabilization system may include a first phase of deploying the arms until they make contact with the ground to form the support, and a second phase of lifting the chassis by pressure exerted by the arms.

[0078] When the stabilization system is in the second configuration, and preferably when the vehicle is resting only on the arms 40, the lifting platform 32 can be raised by means of the lifting system 33, preferably to a height greater than or equal to 12 m, preferably to a height greater than or equal to 14 m. The safe lifting of the work platform 32 to these heights by means of the lifting system 33 of the maintenance vehicle 30 and when the stabilization arms 40 of the vehicle are in the second configuration, i.e. deployed and in stable support on the ground, makes it possible to carry out maintenance operations at height in vertical storage environments such as automated storage and retrieval systems.

[0079] With particular reference to Figures 6 to 8, a more detailed embodiment of the stabilization system, specifically designed for use with the vehicle, is now described. Maintenance 30 in the automated storage and retrieval system as described above. In this sense, it can refer to the use of the maintenance vehicle 30 in the automated storage and retrieval system in which the maintenance vehicle includes the stabilization system as described below.

[0080] Each arm 40 may comprise a first segment 43 pivotally mounted on the frame 31 about a first pivot axis A1, a second segment 44 pivotally mounted on the first segment 43 about a second pivot axis A2, and a connecting member 45 linking the second segment 44 to the frame 31 such that pivoting the first segment 43 relative to the frame 31 about the first axis causes the second segment 43 to pivot about the second axis relative to the first segment 43. The pivot axes may be parallel to each other. Each pivot axis may be perpendicular to the deployment direction of the corresponding arm 40. Each pivot axis may be formed by a shaft 46 extending along the corresponding pivot axis. This applies to the first and second pivot axes A2, and / or optionally to the pivot axes described below.

[0081] The first segment 43 can be pivotally mounted at one end on the frame 31. The second segment 44 can be pivotally mounted at one end on the first segment 43, and at a second end. The support foot 42 of each arm 40 can be fixedly or articulatedly connected to a second end of the second segment 44 of the corresponding arm 40.

[0082] The actuator 41 of each arm 40 can be configured to pivot the first segment 43 relative to the chassis 31 in order to move the arm 40 between a retracted position in which the first segment 43 and the second segment 44 are folded, and a deployed position in which the first segment 43 and the second segment 44 are unfolded and the arm 40 is able to form at least one support on the ground at a distance from the chassis 31.

[0083] A stabilization system is thus provided for a maintenance vehicle 30, enabling the efficient and compact deployment and retraction of the stabilizing arms 40. The linkage 45 and the actuator 41, configured to pivot the first segment 43, ensure automated deployment and retraction of the arms 40 between a retracted position, where the segments are folded to allow the vehicle to move easily, and a deployed position, where the segments are unfolded to ensure the stability of the maintenance vehicle 30. This improves the flexibility and safety of maintenance operations, while minimizing bulk and optimizing space utilization, particularly in space-constrained environments such as automated storage and retrieval systems.

[0084] A multi-segment stabilizing arm 40 offers several advantages over a single-piece arm 40. First, the multi-segment design allows for greater compactness when the arm 40 is retracted, facilitating the movement of the maintenance vehicle 30 in confined spaces and optimizing space utilization. This is because the segments can fold onto one another, thus reducing the overall size of the arm 40. Furthermore, a multi-segment arm 40 offers increased flexibility during deployment, allowing to achieve support positions adapted to the specific conditions of the ground and the working environment. This flexibility improves vehicle stability by optimally distributing the support points.

[0085] A multi-segment stabilizing arm 40 also has the advantage of facilitating deployment by passing under the lower level 13 of the rack 10. By unfolding segment by segment, the multi-segment arm 40 can reach a stable support position on the floor, even when the lower level 13 of the rack 10 is located at a reduced height.

[0086] The term "extended" refers to the state in which the segments of a stabilizing arm 40 are extended to form a substantially elongated structure. In this position, the segments are aligned to maximize the length of the arm 40, thus providing stable support on the ground at a distance from the chassis 31 of the maintenance vehicle 30. The term "retracted" refers to the state in which the segments of a stabilizing arm 40 are retracted or folded back on one another. In this position, the segments are compacted to minimize the arm 40's overall size, allowing the maintenance vehicle 30 to maneuver easily in confined spaces.

[0087] The first segment 43 may have a first length 11 and the second segment 44 may have a second length 12. The maximum vertical dimension of each arm 40 in the retracted position may be less than or equal to the first length 11. The maximum horizontal dimension of each arm 40 in the deployed position may be less than or equal to the sum of the first length 11 and the second length 12.

[0088] The connecting member 45 can be mounted pivoting on the frame 31 about a third pivot axis A3 and pivoting on the second segment 44 about a fourth pivot axis A4. The connecting member 45 can include a connecting rod, a chain system, and / or a pulley system. In the illustrated example, the connecting member includes a connecting rod mounted, preferably at one end, pivoting on the frame about the third pivot axis A3 and mounted, preferably at a second end, pivoting on the second segment about the fourth pivot axis A4.

[0089] The connection between the connecting member 45 and the chassis 31 can be configured to allow free relative movement of the connecting member 45 with respect to the chassis 31. Alternatively or additionally, the connection between the connecting member 45 and the second segment 44 can be configured to allow free relative movement of the connecting member 45 with respect to the second segment 44.

[0090] This avoids the transmission of stabilizing forces via the connecting rod. It also prevents the system from becoming over-constrained. This improves the durability and reliability of the stabilization system.

[0091] The free relative displacement of the connecting member 45 respectively with respect to the chassis 31 or the second segment 44 can be limited, i.e. on the order of a few mm, for example 10 mm.

[0092] The free relative displacement of the connecting member 45 with respect to the frame 31 can be obtained by a clearance between the third pivot axis A3 and the connecting member 45. Similarly, the free relative displacement of the connecting member 45 with respect to the second segment 44 can be obtained by a clearance between the fourth pivot axis A4 and the connecting member 45. Such a clearance can be formed by an oval or oblong hole in the connecting member 45, said hole receiving the shaft 46 extending along the corresponding pivot axis (shown for the pivot axis A3 in Figure 8).

[0093] The actuator 41 can be motorized. The actuator 41 can include at least one of the following means: hydraulic cylinders, pneumatic cylinders, electric actuators, electromechanical actuators, linear actuators, rotary actuators, worm gear actuators, rack and pinion actuators, chain actuators, and belt actuators. In the example shown, the actuator 41 is of the linear type, including a cylinder. The actuator 41 can thus be mounted pivoting relative to the frame 31 about a fifth pivot axis A5 and pivoting relative to the first segment 43 about a sixth pivot axis A6. The actuator 41 is thus configured to pivot the first segment 43 in a first direction about the first pivot axis A1 when it extends and in a second direction opposite to the first direction when it shortens.

[0094] In the deployed position, the second segment 44 can be abutted against the first segment 43 to prevent the second segment 44 from pivoting relative to the first segment 43 beyond the deployed position. The abutted contact of the second segment 44 with the first segment 43 in the deployed position forms a rigid assembly suitable for transmitting the stabilizing forces from the second segment 44 to the first segment 43, ensuring optimal stability.

Claims

Demands [Claim 1] Use of a maintenance vehicle (30) in an automated item storage and retrieval system comprising: at least two storage racks (10) separated from each other to define an aisle (20) between them, each rack (10) comprising storage locations (14) distributed vertically over several levels, a lower level (13) being located at a distance from the ground, the maintenance vehicle (30) comprising: a chassis (31) configured to move on the ground, a lifting platform (32) for receiving an operator, a lifting system (33) interposed between the chassis (31) and the platform (32) and configured to move the platform (32) relative to the chassis (31) in at least one vertical direction (Z), a stabilization system comprising a plurality of arms (40), wherein, when the maintenance vehicle (30) is arranged in the aisle (20),The stabilization system of the maintenance vehicle (30) is moved automatically between: a first configuration in which each arm (40) is retracted so that the vehicle is adapted to travel in the aisle (20), and a second configuration in which each arm (40) is deployed and forms a support on the ground at a distance from the chassis (31), the support on the ground formed by at least one of the arms (40) being below the lower level (13) of one of the storage racks (10). [Claim 2] Use of the maintenance vehicle (30) in the automated storage and retrieval system of items according to the preceding claim, each rack (10) comprising a plurality of aligned uprights (11), in which said at least one arm (40) forming a ground support under the lower level (13) of one of the racks (10) in the second configuration, extends between two uprights (11) of said rack (10). [Claim 3] Use of the maintenance vehicle (30) in the automated storage and retrieval system of items according to any one of the preceding claims, wherein each rack (10) extends along a first horizontal direction (X), said at least two storage racks (10) being spaced apart along a second horizontal direction (Y), preferably perpendicular to the first horizontal direction (X), so that the aisle (20) extends along the first horizontal direction (X). [Claim 4] Use of the maintenance vehicle (30) in the automated storage and retrieval system for items according to any one of the preceding claims, each arm (40) comprising a support foot (42) configured to form the ground support when the arm (40) is deployed, and wherein the support foot (42) of each arm (40) is closer to the chassis (31) in the first configuration than in the second configuration. [Claim 5] Use of the maintenance vehicle (30) in the automated storage and retrieval system of items according to the preceding claim, claim 3 applying, wherein the support foot (42) of each arm (40) is moved along a respective deployment direction which includes at least one component along the first horizontal direction (X) and / or one component along the second horizontal direction (Y) when deploying the corresponding arm (40) in the second configuration. [Claim 6] Use of the maintenance vehicle (30) in the automated storage and retrieval system of items according to any one of the preceding claims, claim 3 applying, the maintenance vehicle (30) having a length along the first horizontal direction (X) and a width along the second horizontal direction (Y) when arranged in the aisle (20), and wherein: the length is greater in the second configuration than in the first configuration, and / or the width is greater in the second configuration than in the first configuration. [Claim 7] Use of the maintenance vehicle (30) in the automated storage and retrieval system of items according to any one of the preceding claims, wherein the maintenance vehicle (30) has a footprint at least twice as large in the second configuration as in the first configuration. [Claim 8] Use of the maintenance vehicle (30) in the automated storage and retrieval system of items according to any one of the preceding claims, wherein the lifting platform (32) is raised by means of the lifting system (33) when the stabilization system is in the second configuration, preferably to a height greater than or equal to 12 m, more preferably to a height greater than or equal to 14 m. [Claim 9] Use of the maintenance vehicle (30) in the automated storage and retrieval system for items according to any one of the preceding claims, wherein the maintenance vehicle (30) has a mass less than or equal to 600 kg. [Claim 10] Use of the maintenance vehicle (30) in the automated storage and retrieval system for items according to any one of the preceding claims, wherein each of the arms (40) of the stabilization system comprises: a first segment (43) pivotally mounted on the chassis (31) about a first pivot axis (A1), a second segment (44) pivotally mounted on the first segment (43) about a second pivot axis (A2), a linking member (45) connecting the second segment (44) to the chassis (31) such that a pivoting of the first segment (43) relative to the chassis (31) about the first axis causes a pivoting of the second segment (43) relative to the first segment (43) about the second axis, an actuator (41) configured to pivot the first segment (43) relative to the chassis (31) in order to move the arm (40) between: • a retracted position in which the first segment (43) and the second segment (44) are folded, and • a deployed position in which the first segment (43) and the second segment (44) are unfolded and the arm (40) is able to form at least one support on the ground at a distance from the chassis (31). [Claim 11] Use of the maintenance vehicle (30) in the automated storage and retrieval system of items according to the preceding claim, wherein the linking member (45) is mounted on the one hand pivoting on the chassis (31) around a third pivot axis (A3) and on the other hand pivoting on the second segment (44) around a fourth pivot axis (A4). [Claim 12] Use of the maintenance vehicle (30) in the automated storage and retrieval system of items according to any one of claims 10 or 11, wherein at least one of the link between the connecting member (45) and the chassis (31) and the link between the connecting member (45) and the second segment (44) is configured to permit free relative movement of the connecting member (45) respectively with respect to the chassis (31) or the second segment (44). [Claim 13] Use of the maintenance vehicle (30) in the automated storage and retrieval system of items according to any one of claims 10 to 12, wherein, in the deployed position, the second segment (44) is abutted against the first segment (43) to prevent pivoting of the second segment (44) relative to the first segment (43) beyond the deployed position.

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