WO2008152245A2

WO2008152245A2 - Shuttle conveyor with tray for a storage and/or logistics preparation warehouse

Info

Publication number: WO2008152245A2
Application number: PCT/FR2008/000652
Authority: WO
Inventors: Renato Krizmanic; Joël FOULON; Stéphane PIETROWICZ; Jean-David Attal; Bernard Piette
Original assignee: Savoye
Priority date: 2007-05-11
Filing date: 2008-05-09
Publication date: 2008-12-18
Also published as: FR2915977B1; FR2915977A1; WO2008152245A3

Abstract

The invention relates to a shuttle conveyor for transporting objects, comprising: a zone (32) for receiving a tray (34) which is intended to receive at least one object (36) to be moved and which has at least two recesses (48) close to the lower part of each end of one of the edges thereof, perpendicular to the longitudinal axis of the shuttle conveyor (10); and a means for moving the tray (34) in or out of the shuttle conveyor (10), comprising at least one guide rail (42) and a drive means formed by at least one conveyor device (38) moving at least one gripper finger (44) which co-operates with the recesses (48) and allows the tray (34) to be transferred. The invention is characterised in that the gripper finger (44), which has a vertical longitudinal axis, is attached to the conveyor device (38) and consequently moves in a horizontal plane without requiring complementary guide means.

Description

SHUTTLE WITH TRAY FOR STORAGE WAREHOUSE AND / OR

LOGISTIC PREPARATION

The invention relates to a shuttle with a platform, in particular for a storage warehouse and / or logistics preparation, for example of unit order preparation, comprising at least one automated compact storage warehouse, and a tray for receiving objects. to store.

An automated storage warehouse includes a plurality of tiered storage levels in which autonomous shuttles move the products, for their placement within storage areas and for their removal from these areas, these shuttles can not only move horizontally at a given level, but also be brought from one level to another by elevators. The storage magazine includes storage assemblies, each storage unit being formed of two storage cabinets arranged on either side of an aisle, this aisle receiving, at each level of storage, lanes for the horizontal movement of the storage compartment. a shuttle and an elevator being disposed at at least one end of the aisle. A lane is generally formed of two parallel rails and the shuttle is equipped with wheels to move on these rails.

In the context of the present invention, a storage warehouse and / or logistics preparation, such as for example the preparation of orders to the unit, in which the shuttle with tray will evolve, comprises at least one storage magazine as previously described. The warehouse may also include lanes connecting one store to another or connecting different operational areas of the warehouse to a store or between them, the shuttle can run on these tracks. To ensure the autonomy of movement of a shuttle, it can circulate said shuttle on conductive rails connected to a source of electrical energy by putting its motor in electrical contact with said rails or we can equip the shuttle with a embedded power source, such as a battery.

The objects stored in the magazine are arranged on a tray and the shuttle comprises a receiving zone of this tray and means for transferring said tray to move it from a storage area of the magazine to the receiving means and vice versa.

In this field, there is already known a tray extraction device such as that described in patent FR 2,625,184. Said tanks are installed on shelves on both sides of a traffic lane and are provided with their two ends of a gripping slide. The extraction device comprises at least one endless chain provided with two crank pins of vertical axis engaging in the slides of the containers, the two cranks of the same chain being each engaged in a gripping slide of a container when this one is in the middle of the aisle, above the extraction device. This known device is complex and relatively expensive because each crankpin is mounted on a crankpin connected to the chain via two axes, one of which is mounted in an oblong hole to allow cornering. In addition, each crank pin also comprises two lateral guide bearings and a vertical guide pad which engage in a rectilinear slide for guiding the chain when drawing a tray and compensate for the risk of twisting of the chain, due in particular to the offset of the crank pins with respect to said chain.

The German utility model DE 201 12 328 describes another embodiment of a shuttle flowing in the aisles of a logistics preparation facility, which is capable of gripping, via a gripping system, bins installed on shelves on either side of the aisles and provided with transverse grooves on their underside. Said gripping system comprises two belts rotating about two horizontal axes and connected by two horizontal axis bars which cooperate with the grooves of said tray to move it to or from the shuttle. However, because of this bar connecting the two belts, this system requires a very precise positioning not only between the two belts but also the shuttle relative to the rack.

The object of the invention is to propose a shuttle comprising an alternative embodiment of the transfer means which is simple, effective and with low positioning tolerances.

More specifically, the subject of the invention is a shuttle for the transport of objects comprising a receiving zone of a plate which is intended to receive at least one object to be displaced and which has at least two recesses in the vicinity of the lower part. at each end of one of its edges perpendicular to the longitudinal axis of said shuttle, and means for transferring the tray to or from the shuttle comprising at least one guide rail and a drive means composed of at least a conveying device setting in motion at least one gripping finger, said gripping finger allowing, in cooperation with said recesses, the transfer of said plate to or from the receiving zone perpendicularly to the longitudinal axis of said shuttle of a next to the shuttle or the other. The shuttle is remarkable in that said gripping finger, which is oriented so that its axis longitudinal or vertical, moves in a horizontal plane without additional guide means being fixed on the conveying device so that in horizontal projection the distance between the longitudinal axis of said gripping finger and the axis of the conveying device is at most equal to twice the width of said conveying device. In order to balance the traction forces on the plate during its transfer and to avoid the jamming of the plate, the drive means preferably comprises two preferably parallel guide rails, two conveying devices. each having at least one gripping finger.

According to a preferred embodiment, each conveying device has a closed loop shape, and is a mechanism comprising a synchronous chain or toothed belt driven by toothed gears.

To allow a transfer of the tray along the two directions perpendicular to the path of movement of the shuttle with a simpler electronic and automatic management, the drive means advantageously comprises two gripping fingers per conveying loop.

The invention also relates to a tray for receiving an object for storage in an automated compact storage warehouse comprising a shuttle according to the invention, this plate being remarkable in that its underside comprises at least two recesses able to receive a finger grip.

Preferably, the tray is rectangular and comprises a recess in the vicinity of each corner.

The invention will be better understood on reading the following embodiments, given by way of illustration but without limitation, with reference to the appended drawings, in which: FIGS. 1 and 2 schematically represent respectively a top view and a section along axis II-II of FIG. 1 of an automated compact storage magazine, FIGS. 3 and 4 respectively show a view from above and a side view along the direction A of FIG. 3 of a shuttle according to the invention,

FIG. 5 represents a perspective view of the shuttle transfer means of FIGS. 3 and 4; FIG. 6 shows, on a larger scale, a platform adapted to the shuttle according to the invention, and

- Figures 7a., 7b, Ic and 7d illustrate the operation of the transfer means.

The storage magazine 1 shown in FIGS. 1 and 2 comprises four storage assemblies 2, each comprising an aisle 4, two storage cabinets 6 with several levels and, at each level, a track 8 comprising two parallel rails for the displacement of A shuttle 10. Each storage assembly is associated with at least one elevator 12, disposed at at least one end of the aisle 4, to carry a shuttle 10 from one level to another level.

A conveyor 14 is arranged to be able to receive objects from a shuttle 10 placed in a lift 12 and to transport them to a sampling station 16. One buffer zone 17 is interposed between an elevator 12 and the conveyor 14, to facilitate movement on the conveyor of objects from different elevators 12. This same conveyor 14 can also be used to bring objects to store to a shuttle 10 located in an elevator 12. Alternatively, the storage of objects could be achieved by a second set elevators arranged at the other end of the aisles. It will be noted that the number of shuttles 10 per aisle 4 can be freely chosen between 1 and n, where n is the number of stages of the storage cabinets of the aisle, depending on the application envisaged, and in particular parameters such as the speed of rotation of the stock, the maximum desired access time to an object, the cost of installation, etc.

It will be understood that, in general, a storage magazine 1 could comprise only one aisle and with which only one or two storage cabinets are associated.

As represented in FIG. 2, the storage magazine 1 comprises recharging zones of the energy source of the shuttle, corresponding to track sections 18 and 20, advantageously and respectively arranged at the end of the neighboring aisle. elevators 12 and on the elevator 12.

These charging zones thus correspond to waiting zones, either that the shuttle 10 is on a section 18, waiting for a new mission or the elevator 12, or that it is on the section 20 in vertical displacement .

An embodiment of a shuttle according to the invention is shown in FIGS. 3 to 5.

The shuttle, which is oriented so that its longitudinal axis is parallel to the rails of the track 8 on which it moves, comprises a frame 24 on which wheels 2β are mounted for movement on a track 8 of the storage magazine 1.

It also comprises a drive means provided with an electric motor 28 coupled to the wheels 26. This motor has a power supply means advantageously comprising an electrical energy storage means 30 of the electrostatic type. Preferably, this electrical energy storage means 30 comprises a battery of super capacitors. In its central part, the shuttle 10 comprises a receiving zone 32 for receiving a plate 34, intended to receive at least one object 36, such as for example a cardboard or a tray, which contains products, and a transfer means for move the tray 34 of a storage cabinet 6 of the storage magazine 1 to the shuttle 10 or vice versa, in a direction perpendicular to the longitudinal axis of said shuttle 10 and thus to the track 8. In order to facilitate the gripping of the tray 34 by the means of transfer of the shuttle 10, the storage cabinets are such that the plate 34, in the storage position, protrudes from said cabinet on the side of the aisle 4. In addition, for the same reason as above, the plan in which the tray 34 is placed in the storage cabinet 6 is situated at the same level as the reception area 32 of the shuttle 10.

In the embodiment shown, the transfer means of the shuttle 10 comprises two conveying devices 38 in the form of a closed loop, which can be rotated by a motor 40, and two guide rails 42. These two guide rails 42 each have a vertical planar surface. Said surfaces, which are parallel to each other and arranged in a direction perpendicular to that of the track 8, allow the guide plate 34. Each conveying device 38 is preferably a synchronous mechanism comprising a chain or a toothed belt, driven by toothed sprockets, or an endlessly flexible link driven by sprockets by friction. Each conveying device 38 comprises and moves in a horizontal plane two gripping fingers 44, generally cylindrical and oriented so that their longitudinal axis is vertical, which cooperate with the lower profile of the plate 34 to the translation drive, between the guide rails 42 in a direction perpendicular to that of the channel 8. These gripping fingers 44 are positioned on the conveying device 38 at a distance from one another corresponding substantially at the spacing of the recesses of the lower profile of the plate 34.

The gripping fingers 44 are positioned through the use of an encoder (not shown) located on the motor. For obvious reasons of weight reduction and noise, we prefer the toothed belts synthetic material.

In addition, to avoid setting up a guide of the belt of each conveyor device 38, the gripping fingers 44 are placed closer to the outer face of the conveying device 38 in order to limit as much as possible the carrier overhang. For this, each gripping finger 44 is fixed on the conveying device 38 so that in horizontal projection the distance between the longitudinal axis of said gripping finger 44 and the axis of the conveying device 38 is at most equal to two. times the width of said conveying device 38.

The axis of the conveying device 38 denotes the neutral fiber of the chain, the belt or the flexible link, and the width of the conveying device 38 the dimension of the chain, the belt or the flexible link perpendicular to the direction horizontal movement of the gripping finger 44: here, the thickness of the chain or belt. It is understood that the conveying devices 38 may be substituted by any other actuating means providing similar effects, such as for example single or double effect cylinders. In this case, the axis and the width of the conveying device 38 are then respectively the axis and the diameter of the rod of said cylinders.

This configuration has the advantage, on the one hand, of balancing the tensile forces on the plate 34 during its transfer and thus of avoiding the bracing of the plate 34 between the two guide rails 42, and on the other hand to simplify the electronic management and automatic transfer tray 34. Indeed, with two gripping fingers 44 on each conveying device 38 in the embodiment shown, the transfer of the plate 34 to a storage cabinet 6 or to the opposite cupboard requires only a horizontal reciprocating movement of said gripping fingers 44. On the other hand with conveying devices 38 having only one gripping finger 44, the gripping finger 44 will have to make the complete turn of the loop to change the transfer side of the board.

It goes without saying that this preferred embodiment of a conveying device 38 may be replaced by a mechanism comprising a non-synchronous toothed belt driven by toothed gears. In this case, the positioning of the gripping fingers 44 is ensured by a series of position sensors.

According to a preferred embodiment, the motor 40, intended for the conveying device 38, has the same power supply and electrical energy storage means 30 as the motor 28 for the propulsion of the shuttle 10. Preferably this means for storing electrical energy 30 is carried on the shuttle 10. The shuttle 10 further comprises current collectors 46 (FIG 3) for recharging the electrical energy storage means 30, when the shuttle is in a charging zone located on one of the track sections 18 or 20. This configuration makes the shuttle compact and autonomous. For more details on this last point, it will be advantageous to refer to a patent application filed concomitantly in the name of the applicant.

In addition, it goes without saying that the motor 40 may have its own power supply means, rechargeable or not.

FIG. 6 shows a plate 34 adapted to the shuttle 10. This plate 34 is rectangular and comprises, in the vicinity of each corner, a recess 48, adapted to receive a finger 44. These recesses 48 are located on the underside of the plate 34 and are generally U-coated, oriented parallel to the channel 8, having a gradually opening inlet opening outwardly of said plate 34. Figures 7a. at 7d schematically show the transfer of a tray 34 of a storage cabinet 6 from the storage magazine 1 to the shuttle 10.

In FIG. 7a, the plate 34 is stored in a storage cabinet 6 (not shown) of the storage magazine 1 and the shuttle 10 is brought along the track 8, in the direction B towards the plate 34, the two first gripping fingers 44 of the shuttle 10 being placed outside the field of the plate 34.

According to Figure 7a. and to facilitate the gripping of the plate 34 by the transfer means of the shuttle 10, the storage cabinets are such that the plate 34, in the storage position, protrudes from said cabinet on the side of the track 8. In addition, for the same reason as above, the laying plane of the tray 34 in the storage cabinet 6 is located at the same level as the receiving area 32 of the shuttle 10, while the running surface of the shuttle 10 is located lower .

According to FIG. 7b, thanks to sensors, the shuttle 10 is positioned in front of the plate 34. conveying devices 38 are then moved in the direction C so that the first and second gripping fingers 44 engage in the first two recesses 48 arranged on each side of the plate 34.

The first and second gripping fingers 44 then lead, perpendicularly to the track 8, the plate 34 towards the receiving zone 32 of the shuttle 10, resting on the guide rails 42, in accordance with FIG. 7c.

When the plate 34 is entirely on the reception zone 32 (position defined by sensors), the third and fourth gripping fingers 44 engage in the last two recesses 48 arranged on each side of the plate 34, in accordance with FIG. then the conveyor drive motor 40 stops. The tray is then perfectly maintained at each of its corners on the shuttle 10, and is ready to be conveyed, in one direction or the other, by said shuttle 10.

In a sequence not shown, the shuttle 10 moves and stops in front of the new position of the plate 34. The conveying devices 38 are then set in motion, in the direction C (Figure 7b), so that the third and fourth gripping fingers 44 drive, cooperating with the last two recesses 48, the plate 34 in the same direction C. Due to the design of the transfer means, the third and fourth gripping fingers 44 emerge from the last two recesses 48 that when the plate 34 is completely out of the reception zone 32, thus releasing the plate 34 from any constraint.

It goes without saying that the transfer of the plate 34 out of the reception zone 32 can be realized according to the opposite direction to C. In this case, it is the first and second gripping fingers 44 which drive the plate 34, moving in the direction opposite to C and cooperating with the first two recesses 48. Similarly, and taking into account that there are storage cabinets β on either side of the channel 8, it is obvious that the conveying device 38 also allows the transfer of the plate 34 from a storage cabinet β, located on the opposite side to that shown in Figures 7a. at 7d, to the reception area 32.

All the mechanisms, such as motors or sensors, are controlled by the central management system of the storage magazine 1.

According to another embodiment not shown, the shuttle 10 has only one conveying device 38, on which two vertical gripping fingers 44 are positioned, at a distance from one another corresponding to the spacing of the recesses 48 of the lower profile of the plate 34. The plate 34 then has only two recesses 48 located near each end of one of its edges perpendicular to the channel 8.

According to a third embodiment not shown, the shuttle 10 has two conveying devices 38, on which a vertical gripping finger 44 is positioned, so that, when the plate is on the receiving zone 32, said fingers are symmetrical relative to the median axis of the shuttle 10, and that they are then located from one another at a projected distance corresponding to the spacing of the recesses of the lower profile of the plate 34. The plate 34 then has two recesses 48 located at each end of the diagonal corresponding to the position of the gripping fingers.

According to a fourth embodiment not shown, the shuttle 10 has only one motor 28, which is therefore used alternately to move the shuttle 10 on the track 8 or to rotate the conveying devices 38. It is thus clear that disengageable coupling means are associated to the motor 28 for the motor to act either on the wheels 26 or on the conveying devices 38. These coupling means are of course controlled by the central management system of the storage magazine 1. According to a last embodiment, the tray 34 may comprise on its periphery raised edges to form a specific tray whose bottom is adapted to cooperate with the vertical gripping fingers 44. In this case, the products, as delivered by their manufacturer or distributor, may be deposited in bulk or arranged in said bin.

Finally, it goes without saying that the present invention is not limited to the embodiments described, but that it can be modified or adapted according to the needs or special requirements, without departing from the scope of the invention. .

Furthermore, it is understood that if the shuttle with tray according to the invention is particularly suitable for use in a storage warehouse and logistics preparation, including an automated compact storage warehouse, it is only a question of a particular non-limiting application of the scope of the invention, the tray shuttle being usable in any context of transfer of objects or materials with a displacement on tracks.

Claims

1 - Shuttle (10) for the transport of objects comprising a receiving zone (32) of a plate (34) which is intended to receive at least one object (36) to be displaced and which has at least two recesses (48). ) in the vicinity of the lower part of each end of one of its edges perpendicular to the longitudinal axis of said shuttle (10), and a tray transfer means (34) to or from the shuttle (10) comprising at least one at least one guide rail (42) and a drive means composed of at least one conveying device (38) moving at least one gripping finger (44), said gripping finger (44) allowing, in cooperation with said recesses (48), transferring said tray (34) to or from the receiving zone (32) perpendicularly to the longitudinal axis of said shuttle (10) on one side of the shuttle (10) or the other characterized in that said gripping finger (44) is oriented so that its longitudinal axis inal is vertical, moves in a horizontal plane without complementary guide means being fixed on the conveying device (38) so that in horizontal projection the distance between the longitudinal axis of said finger (44) and the the axis of the conveying device (38) is at most equal to twice the width of said conveying device (38).

2 - Shuttle (10) according to claim 1, characterized in that the drive means comprises two conveying devices (38) each having a gripping finger (44).

3 - shuttle (10) according to any one of the preceding claims, characterized in that each conveying device (38) comprises two fingers of gripper (44), positioned at a distance from each other, corresponding substantially to the spacing of the recesses (48).

4 - Shuttle (10) according to any one of the preceding claims, characterized in that each conveying device (38) forms a closed loop.

5 - Shuttle (10) according to any one of the preceding claims, characterized in that each conveying device (38) is a synchronous mechanism comprising a chain or a toothed belt or an endless flexible link, driven by sprockets.

β - Shuttle (10) according to any one of the preceding claims, characterized in that it comprises a single power supply means, common to the motor (28) for propulsion of the shuttle (10) and the motor (40) the conveying device (38), advantageously comprising an electrostatic type electrical energy storage means (30).

7 - Shuttle (10) according to any one of claims 1 to 5, characterized in that it comprises a single motor (28) used alternately to move the shuttle (10) on the track (8) or to drive in rotating the conveying devices (38).

8 - Tray (34) for receiving an object (36) for storing this object in an automated compact storage magazine (1) comprising a shuttle (10) according to any one of claims 1 to 7, characterized in that that the underside of the tray (34) has at least two generally shaped recesses (48) lying down, oriented parallel to the track (8), having a gradually opening inlet opening outwardly of said plate (34) and adapted to receive a gripping finger (44).

9 - Tray (34) according to the preceding claim, characterized in that it is rectangular and comprises, in the vicinity of each corner, at least one recess (48).

10 - Tray (34) according to any one of claims 8 or 9, characterized in that it comprises on its periphery raised edges to form a specific tray whose bottom is adapted to cooperate with the vertical gripping fingers (44).