IT201900007749A1 - Warehouse system and sorter robot for use in this warehouse system - Google Patents

Description

DESCRIPTION of the industrial invention entitled: "Warehouse system and sorter robot for use in this warehouse system"

Field of the invention

The present invention refers to the field of warehouse systems. The invention was developed with particular regard to a warehouse system including robots capable of picking up, transporting and delivering containers to and from different warehouse areas. The invention also concerns one of these robots.

For the purposes of this description, we define such a type of robot as a "sorting robot".

Technological background

Warehouse systems are known which comprise racks on which containers are stored which are moved by handling robots, shuttles, conveyors, and similar means. Warehouse systems are also known which comprise stacks of containers resting on the ground, which are moved by means of an overhead crane mounted on the ceiling of the warehouse.

The warehouse systems of the known art are very rigid in their implementation, being efficient only when precise handling rules and exact sizing of the containers used and the paths of the picking means are defined. From this point of view, it becomes practically impossible to modify an existing warehouse system in the event of changing needs, for example if you have to manage products other than those for which the warehouse system was originally designed, or following the increase in activity. and therefore the number of products and containers to be managed.

Furthermore, known warehouse systems are generally inaccessible to human operators, except in a completely exceptional way when maintenance is required, and even in this case, the stored products and containers are generally inaccessible or in any case locked in position until the restoration of the functionality. This means that in the event of a failure or interruption of the warehouse system, the management operations of the stored products cannot be carried out temporarily by human operators, but remain stationary until the system is restored.

These and other drawbacks, which the skilled technician can detect from his knowledge of the sector and known warehouse systems, entail the need to respond to the growing need for flexibility in delivering, storing and picking up products in an automated warehouse, which can respond to requirements. requirements of what is called “low risk automation”, ie warehouse automation that drastically reduces the risk of downtime. This need, common to all types of sectors and products managed in a warehouse system, is strongly felt in the large-scale distribution sector, especially for food products, and in particular for fresh products such as fruit, vegetables, dairy products and the like. for which storage and delivery times are generally very short.

Summary of the invention

The purpose of the present invention is to solve the problems of the known art, providing a warehouse system that is flexible and capable of responding to the requirements of Low Risk Automation. Another purpose of the invention is to create a warehouse system that is economically and easily expandable and modifiable according to the user's needs. Another purpose of the invention is to create a warehouse system that can be shared by both human operators and robots. Another purpose of the invention is to provide a sorting robot that is versatile, economical and easy to use, maintain and program.

According to a first aspect, a warehouse system is described comprising one or more sorting robots. Each sorting robot can comprise two pairs of arms with tools, for example gripping hands, suitable for carrying out movement functions of containers of various kinds and sizes. The manipulator robot can, for example, pick up and deposit containers of various types, store the containers on the ground or on mezzanine floors in variable and programmable positions, pick up the containers from stacks, both individually and as sub-stacks, transport the containers in various positions and with different trajectories, for example straight, curved or mixed, in a programmable and therefore variable way based on the parameters of a software, as well as working in collaboration with human operators.

According to a particular aspect, the sorting robot can move freely in a programmable space. For this purpose, the sorter robot can be equipped with a vision system, with relative safety sensors. According to another aspect, the sorting robot moves autonomously. It can be powered by accumulators, for example lithium batteries mounted on board, or alternatively or in addition by means of induction or capacitive technology.

According to a particular aspect, the sorting robot can comprise pairs of arms equipped at their ends with tools. The tools mounted at the end of the arms may be able to move the containers from one side to the other of the robot itself. The tools can be gripping hands and can be made in various ways, depending on the type of container and / or product to be transported or handled. According to another aspect, the sorter robot can include two pairs of arms that can lift and operate independently of each other, even simultaneously.

According to another aspect, the warehouse system is managed by software that can perform the various required functions, which can include the management of the warehouse area and the related products stored therein, the management of the working methods of the sorting robots and guidance on the various paths defined in the warehouse system, the management of the picking, transport and storage functions of the stored containers, and / or the management of the interface and interaction with external systems, such as a management or accounting system corporate.

The warehouse system according to the present invention has important advantages, including high flexibility of use, with simple and easily programmable areas and introduction phases. It also allows installation in a very short time in order to considerably reduce the "time to market". The flexibility of the warehouse system implies an extremely reduced financial depreciation, as well as the total transferability of the system to another site and for other intended use. Another advantage is the very high reliability, since in the event of an anomaly the system can also operate manually. Furthermore, in the event of a malfunction of one or more sorting robots, the remaining sorting robots can continue to work, performing the same functions. Another advantage is given by the extremely reduced maintenance, which can in any case be performed on single sorting robots outside the production cycle, without stopping the warehouse system. Another advantage is the simple and total integration with other systems or with higher level software. Advantageously, the warehouse system of the present invention can work in collaboration with human operators.

According to another aspect, a sorting robot is described which can move freely and programmable until it reaches one or more predefined product loading / unloading points. The product can be stored on the ground or on any support for further handling, such as a roller conveyor, a conveyor belt and the like. The product can be single or multiple on stacks, on shelves or on any support at a variable height from zero (ground) up to a maximum height defined in the design of the sorting robot.

According to a particular aspect, for the loading and unloading functions, the sorting robot can activate stabilizers with ground stop, in order to prevent problems of imbalance, inclination and bending of the structure. The stabilizers preferably have a minimum size and allow, in case of special needs, to obtain very precise mechanical positions.

It is emphasized that the pick-up and deposit positions can be of any kind, for example on the ground, or on external supports such as shelves or tables, as well as on handling devices, conveyors, roller conveyors, conveyor belts, and so on. The quantity of containers that can be picked up and deposited varies from one to a maximum limit imposed by the design of the warehouse system and the sorting robot, and can be calculated and managed by the handling software program.

Basically, the characteristics of the warehouse system of the present invention is able to create storage areas of variable shape, with straight, curved or mixed paths, both predetermined and immediate, calculated or identified by the sorting robots or by the software program following the arrangement assumed by the containers and the stacks of containers. It is also possible to create variable deposit heights based on the type of product and its physical characteristics. It is also possible to create storage areas in different environmental conditions such as: temperature, oxygen, absence of external light, etc. It is also possible to create storage areas in environments with physical limitations and obstacles such as columns, existing machinery, or in environments where virtual areas must be delimited to be left free, such as pedestrian passages, escape spaces, work lanes and vehicle movement, etc. It is also possible to simultaneously transfer multiple containers with the same destination or different destinations to the same sorting robot. It is also possible to unstack or stack products and containers, before and after handling.

The warehouse system of the present invention can be managed by software which is able to supervise the flow of the sorting robots, managing their paths and avoiding interference with each other, so as to optimize the operating sequences of work. The software can take into account the physical constraints of the sorting robots, such as the overall dimensions, weight, speed and maximum acceleration, and consequently coordinate their work in relation to these constraints.

In particular, the software can control container deposition missions on board the sorting robots, in order to manage single or multiple loads and unloads. The software can combine missions in order to manage the handling of sorting robots in different positions both during loading and unloading. The software can manage loading and unloading with local stacking and un-stacking functions. The software can combine missions in order to manage sequences of containers during picking and depositing. The software can avoid work missions for which the pick-up height is higher than that of storage on board. The software can avoid missions in which the pile to be removed is greater than what a particular sorting robot can contain or carry. The software can determine the routes for the sorting robots, for example avoiding complex routes in the event that it is necessary to privilege the transfer times over the optimization of the transport volumes, and vice versa. The software can coordinate container transfers to optimize stock in the warehouse. The software can manage warehouse inventory constantly.

In addition to the functions described above, the software can also implement all the functions for the on-line control of the sorting robots, including the relative anomalies. In particular, the software can

- report anomalies for each single sorting robot, with description and technical details;

- view the status of all on-board sensors and all handling equipment;

- view the status of the power supplies and electronic logic; - view the status of all ground equipment, accessories and the overall system;

- view the status of the communication system, with the measurement details; - display an interface that reports the analysis of anomalies and inconsistencies;

- manage maintenance interventions and the relative historical registration. the warehouse system of the present invention can find useful application in various fields and sectors, including, by way of mere example: - the storage and picking of vegetable crates in large-scale distribution;

- the storage and picking of containers in the fresh products of large-scale distribution; - the storage and removal of containers in consolidation areas for e-Commerce;

- the storage and handling of goods in cold rooms or at controlled temperatures (e.g. 4 ° C);

- storage and handling of goods at 3PL users (Third Party Logistics)

Brief description of the drawings

Further characteristics and advantages will emerge from the following detailed description of a preferred embodiment, with reference to the annexed drawings, given by way of non-limiting example, in which:

Figure 1 is a perspective view of a warehouse which uses a container handling system according to the present invention;

Figure 2 is a perspective view of a sorting robot to be used in the container handling system of Figure 1;

Figures 3 - 10 are perspective views of the sorting robot of Figure 2 illustrated in a sequence of operating steps in which a container is picked up from a stack of containers for its transport to its destination;

- Figures 11 - 12 are perspective views of the sorting robot of Figure 2 illustrated in a sequence of operating steps in which a container on board the robot is deposited on a roller conveyor of the warehouse of Figure 1; and - figure 13 is a perspective view of a variant of the sorting robot to be used in the container handling system of figure 1.

Detailed description

With reference now to Figure 1, an example of a warehouse comprising containers 10 is illustrated in perspective. The containers 10 can be of various kinds and types, and can be arranged one on top of the other so as to form stacks 12. The stacks 12 they can be of variable height, according to the number and type of containers 10 that compose them. Figure 1 shows, for example, stacks 12 formed by three containers (stack 12a), four containers (stack 12b), five containers (stack 12c), six containers (stack 12d) and seven containers (stack 12e) all equal to each other in size. However, the containers 10 could be different from each other, and for example they could have the same dimensions in plan, but different height, for example multiple heights of a unitary module. For the sake of simplicity of illustration, containers 10 in the form of rectangular boxes, of equal size and without lid, have been illustrated by way of non-limiting example. The containers 10 can be interlocked on each other thanks to couplings with complementary geometry obtained on the upper and lower edges of the containers 10.

For the purposes of the present description, a stack 12 can also be formed by a single container 10, and similarly a single container 10 can be treated as a stack, as indicated by the reference 12f in Figure 1. Where it is not otherwise evident to a skilled technician, the following description and the principles of the invention should be understood as applicable to both single containers and piles of containers, including portions of piles, which we define "sub-piles", regardless of the specific term used (container, pile, -stack).

The warehouse comprises areas set up for the typical operations of storage and sorting of products of various kinds, which are placed in the containers 10, for example in correspondence with the loading areas 11a and picked up from the containers 10, for example in "picking" areas. , 11b. In the product loading and picking areas, traditional container handling systems can be arranged, such as the roller conveyors 13 illustrated in Figure 1. Naturally, the containers 10 can be delivered to the warehouse already full of products, as is the case for example. in the case of fresh products warehouses in the large-scale distribution sector (GDO). Similarly, the containers 10 can leave the warehouse full of products. The warehouse can also comprise shelves, supporting tables and other typical structures known in the field.

The warehouse illustrated in Figure 1 comprises a storage area 11c where the containers 10 are temporarily stored, organized in the piles 12. Access paths P are defined around the piles 12, which can be traveled by human operators and / or by one or more sorting robots 14. In Figure 1 the storage area 11c has a regular arrangement, with regular rows of stacks 12 which define straight access paths P. However, the system of the present invention makes it possible to manage a warehouse in which the stacks 12 of containers 10 can be distributed in a different way, even along curved or mixed access paths, without the need to prepare a rigid scheme in the arrangement of the stacks 12 of containers. in the storage area 11c.

Each sorting robot 14 can move between the stacks 12 of containers 10 by moving along the access paths P. Each sorting robot 14 is preferably of the self-driving type and is able to move freely in a programmable space by means of a vision system and relative safety sensors that allow it to move safely between the stacks 12 of containers, following a programmable automation logic. The power supply of each sorting robot 14 can be achieved through accumulators mounted on board. In addition or alternatively, the sorting robots 14 can be powered in a known way by other technologies, for example with induction or capacitive systems. The sorting robots 14 are wirelessly connected, for example via radio, with one or more remote processing and data transmission nodes, which can include single servers, computer networks, cloud servers, portable devices such as tablets and smartphones, and any combination thereof. known in the industry.

The warehouse can also be built on several floors, for example by arranging prefabricated or metal multi-storey structures, preferably of the anti-seismic type. On the basis of the flows and operational requirements, the transfer of the containers 10 between the floors of the multi-storey structure can be carried out by means of elevators for containers of the known type, or also with the direct movement of the sorting robots 14 which move autonomously from one floor to the other. other by means of elevators predisposed for the purpose.

As better visible in Figure 2, the sorting robot 14 comprises a base 16. The base 16 is mobile, for example on wheels. The base 16 houses stabilizers 18, preferably comprising a pair of arms housed inside the base 16 and removable on command to stabilize the sorting robot 14 during the cantilever handling operations of one or more containers 10. The stabilizers 18 are removable. from two opposite sides 16a, 16b of the base 16, so that the sorting robot 14 can move the containers at choice on two opposite sides thereof.

The sorting robot 14 includes two uprights 20 fixed to the base 16. The uprights 20 can be connected to each other by a crossbar 22, to create a portal structure as a whole. Internal sliding guides 23 are obtained on the uprights 20, facing each other inside the portal structure, and external sliding guides 24, facing the outside of the portal structure. On the internal sliding guides 23 there is mounted a pair of internal arms 25 movable vertically in synchronism, each on a respective upright 20. On the external sliding guides 24 is mounted a pair of external arms 26, also movable vertically in synchronism, each on a respective upright 20. The internal arms 25 and the external arms 26 are telescopic, and can thus extend transversely with respect to the uprights 20 to protrude from the side 16a of the base 16, or from the side 16b opposite it. A gripping hand is mounted at the distal end of each internal arm 25 and external 26. The gripping hand is adapted to grip a container 10, preferably on its side. Each pair of internal arms 25 or external 26 can therefore grasp or release, by means of the gripping hands, a container 10. The pairs of internal arms 25 and external 26 can operate independently of each other, even simultaneously, as it will be better described in the following.

Between the uprights 20, a loading area 28 is defined on the base 16, in which one or more stacked containers 10 can be loaded for their sorting from one area to another of the warehouse. Protruding guides 30 can be formed in the loading area 28 which engage the bottom of a container 10 to retain it during transport. The sorting robot 14 comprises accumulators, motors and electronic control and command systems preferably located inside cabinets 32 located on the sides of the uprights 20, outside the loading area 28. The assembly of accumulators, motors and control and command systems electronic is designed to control, also via wireless connection with a remote node, the autonomous movement of the base 16, the selective extraction of the stabilizers 18, the vertical movement of the internal 25 and external 26 arms along the respective guides on the uprights 20, selective telescopic extension of the internal 25 and external 26 arms, the movement of the gripping hands to selectively grasp a container 10.

The sorting robot 14 is capable of carrying out movement functions both for containers 10 of various kinds and sizes, as well as for stacks 12 of such containers. In particular, the sorting robot 14 can pick up containers 10 or entire stacks 12 to deposit them in a different place. It can store containers 10 or piles 12 on the ground or on shelves raised from the ground, in variable and programmable positions. The transport of the containers 10 or of entire stacks 12 can take place following various trajectories, with both straight and curvilinear sections, in a programmable way. The characteristics of the sorting robot 14 enable it to work also in collaboration with human operators. In particular, the sorting robot 14 is able to move freely in a programmable space, using a vision system and related safety sensors mounted on board.

The power supply of the sorting robot 14 can make use of electric accumulators mounted on board. Alternatively or in addition, the powering of the sorter robot 14 can be achieved through known systems of the inductive or capacitive type.

Figures 3 - 10 illustrate a typical operating sequence in which a container 10 is picked up from a stack 12 of containers and is loaded onto the sorting robot 14 to be transported elsewhere. The illustrated sequence is given by way of example to show one of the innumerable possibilities of sorting containers and stacks of containers that can be realized by means of the sorting robot 14.

Figure 3 shows the sorting robot 14 positioned in front of a stack 12 of containers 10, from which the lower container 10a is to be removed. The sorting robot 14 is initially activated to extract the stabilizers 18 from the inside of the base 16 and extend them from the side facing the stack 12, according to the direction of the arrow E.

Subsequently, as shown in Figure 4, the pair of internal arms 25 is positioned along the uprights 20 at the height of the container 10a to be picked up. The inner arms 25 are telescopically extended in such a way that the gripping hands grip the sides of the container 10a to be picked up. In the illustrated sequence, the container 10a is the lowest in the stack 12, but of course the sorting robot 14 can be commanded to pick up any desired container 10, at whatever height it is, within the limits imposed by the height of the uprights 20. The robot sorter 14 is also not limited to picking up a single container 10, but can also pick up several stacked containers, so as to extract a sub-stack from a given stack. The sorting robot 14 is also able to pick up an entire stack of containers.

Subsequently, as illustrated in Figure 5, the internal arms 25 are raised according to the arrow U, in such a way as to lift the desired container 10a, and with it the stack 12 of containers 10 above. This operation allows the container 10a to be brought to the level of the loading area 28 of the base 16. If the desired container is not the lowest one in the stack of containers, the lifting of the internal arms 25 would allow it to be released from the underlying containers.

Subsequently, as shown in Figure 6, the pair of external arms 26 is positioned along the uprights 20 at the height of a container 10b placed above the container 10a to be picked up. The outer arms 26 are telescopically extended so that the gripping hands grip the sides of the container 10b. In the illustrated sequence the container 10b is the one immediately above the single container 10a to be picked up, but of course the sorting robot 14 can be commanded to extract any number of desired containers from a stack 12, stacked together in a sub-stack. In this case, the container 10b gripped by the outer arms 26 will be the one immediately above the upper container of the desired sub-row.

Subsequently, as shown in figure 7, the external arms 26 are raised according to the arrow U ', in such a way as to lift the container 10b above the desired container 10a, and with it the stack 12' of containers 10 above the desired container 10a. This operation allows you to release the container 10a from the container 10b above, which becomes the lower container of the stack 12 'remaining after the withdrawal of the desired container 10a (or sub-stack).

Subsequently, as illustrated in Figure 8, while the external arms 26 keep the residual stack 12 'raised, the internal arms 25 are retracted to bring the desired container 10a (or the sub-stack) onto the base 16 of the sorting robot 14. The bottom of the container 10a can engage in the protruding guides 30 positioned in the loading area 28 of the base 16. The gripping hands of the internal arms 25 can release the container 10a.

Subsequently, as shown in Figure 9, the external arms 26 are lowered in the direction of the arrow D to rest the residual pile 12 'on the ground. At this point it is also possible to retract the external arms 26, after having released their gripping hands from the lower container 10b of the residual pile 12 '. After the stabilizers 18 have also been retracted inside the base 16, as shown in Figure 10, the sorting robot 14 is free to move away from the residual pile 12 ', for example according to the arrow M.

The sorting robot 14 can transport the container 10a to a programmed destination, or it can go to another stack 12 to repeat the operations described above and pick up one or more other containers to be placed on top of the container 10a already on board, to create a stack formed by containers taken from different stacks. The sorting robot 14 is also capable of picking up several containers positioned at different heights in the same stack. In the latter case, after having extracted the stabilizers 18, the sorting robot 14 can repeat the operations illustrated in Figures 4 - 9 for the number of times necessary to extract all the desired containers from the stack 12, before retracting the stabilizers 18 and set off towards the programmed destination carrying on board the desired containers stacked one on top of the other.

Figures 11 - 12 illustrate the sorting robot 14 in a sequence of operating phases in which the container 10a on board the robot is unloaded in a destination area, for example deposited on the roller conveyor 13. As can be seen in figure 11, the sorting robot 14 it approaches the roller conveyor 13, for example according to the direction of the arrow M, with one of its operating sides, for example the side 16a. When the sorting robot 14 has reached the predetermined position, the stabilizers 18 facing the operating side 16a facing the destination area are extracted. Subsequently, the container 10a is gripped by the internal arms 25. The container 10a is raised to the desired height by moving the internal arms 25 along the uprights 20, as indicated by the arrow U in figure 11. Preferably, the height reached by the internal arms 25 is such that the bottom of the container 10a is at a height slightly higher than the target support surface, in this case the roller conveyor 13.

Subsequently, the telescopic extension of the internal arms 25 is commanded in the direction of the destination zone, according to the direction indicated by the arrow S in figure 12. The telescopic extension of the arms 25 allows positioning the container 10a just above the destination zone on the roller conveyor 13. The internal arms 25 are then lowered just enough to rest the container 10a on the target support surface, in particular on the roller conveyor 13. At this point, the internal arms 25 can detach from the container 10a and retract telescopically onto the robot sorter 14. After retracting the stabilizers 18, the sorter robot 14 is free to move to perform the next programmed operation.

The operations described above by way of example for handling the containers to be loaded or unloaded by the sorting robot are not limited to the use of the internal 25 and external 26 arms in the manner and in the sequence described. For example, the container 10a to be loaded on board the sorting robot 14 could be gripped by the external arms 26 equipped with gripping hands configured for the purpose, while the stack 12 of overlying containers could be supported by the internal arms 25.

Figure 13 illustrates in perspective a variant of sorting robot 14 'to be used in a warehouse system of the type illustrated in figure 1. It is clear that in such a warehouse system, sorting robots of both types can also be used simultaneously. In figure 13 the same reference numbers have been used to indicate details equal to those of the sorting robot 14 previously described and illustrated in figure 2. The sorting robot 14 'also comprises two uprights 20. The uprights 20 can move vertically. inner arms 25 and outer arms 26. Also in this case the inner arms 25 and the outer arms 26 are telescopic and can protrude from both sides 16a, 16b of the sorting robot 14 'to pick up or deliver containers 10 on both sides.

The sorting robot 14 'comprises a base 16' wider than the base 16 of the sorting robot 14 described above. In particular, the base 16 'has a sufficient width to house at least two containers 10 or stacks 12 of containers side by side in a loading area 28'. Since the base 16 'is at least double that of the sorting robot 14 described above, it may not be necessary to use stabilizers. However, the possibility of equipping the sorting robot 14 'with stabilizers similar or functionally analogous to the stabilizers 18 described in relation to the variant of the stabilizing robot of Figure 2 is not excluded.

To increase the flexibility of use of the sorting robot 14 ', a device can be provided to transfer containers or stacks of containers from one side to the other of the 28' loading area. For example, it is possible to integrate in the base 16 'a conveyor belt 34 or other such mobile member, which allows the handling of containers or stacks of containers resting on the base 16' in the loading area 28 '. Alternatively, it is possible to arrange a thrust member that moves the containers from one side to the other: in this case it is preferable that the loading area 28 'is configured with friction reduction members, such as balls or rollers. In the latter case, the thrust required to move the containers or stacks of containers from one side of the loading area to the other can also be exerted by the same external arms 26 or, more preferably, internal arms 25, and possibly also by a arm only, external 26 or internal 25.

Naturally, without prejudice to the principle of the invention, the embodiments and construction details may vary widely with respect to what is described and illustrated, without thereby departing from the scope of the present invention.

Claims (12)

CLAIMS 1. Sorting robot for use in a warehouse system comprising at least one area for storing objects (10) stackable in stacks (12) each comprising one or more objects (10) superimposed on each other, the sorting robot (14, 14 ') being movable along access paths (P) for access near each pile (12) and comprising: - a loading platform (28, 28') for loading one or more objects ( 10a) also stacked together, - two lifting members (25, 26) movable independently of each other in the vertical direction, to lift one or more objects (10a) even stacked together and separate them from another object or more objects (10b) above or below , also stacked together, in which the lifting members (25, 26) are extendable and retractable transversely to load on and unload from the loading platform (28, 28 ') the one or more objects (10a) also stacked together . Sorting robot according to claim 1, wherein the lifting members each comprise a pair of arms (25, 26) with gripping tools at the respective ends for selectively grasping by each pair of arms a respective object (10a, 10b) of a same pile (12) of objects. 3. Sorting robot according to claim 1 or claim 2, comprising a base (16, 16 ') on which are fixed two uprights (20) on which the lifting members (25, 26) of objects ( 10a, 10b). 4. Sorting robot according to claim 3, in which the base (16, 16 ') defines a loading area (28, 28') of objects (10a) which can also be stacked together, between the two uprights (20). 5. Sorting robot according to claim 4, in which the loading area (28 ') is large enough to house at least two objects side by side. a transport device being mounted on the sorting robot (14 ') to transport an object from one side of the loading area to the other (28'). 6. Sorting robot according to any one of the preceding claims, in which the lifting members (25, 26) comprise telescopic arms. 7. Sorting robot according to any one of the preceding claims, comprising a vision system for autonomous driving along the access paths (P). Sorting robot according to any one of the preceding claims, comprising selectively removable stabilizers (18) to laterally stabilize the sorting robot (14) when the lifting members (25, 26) are in the extracted position for handling an object (10a, 10b , 12). 9. Warehouse system comprising at least one area for storing objects (10) stackable in stacks (12) each comprising one or more objects (10) superimposed on each other, in the storage area access paths being defined (P ) for access near each stack (12) by one or more conveyor means comprising at least one sorting robot according to any one of the preceding claims. Warehouse system according to claim 9, wherein the stackable objects (10) comprise devices for mutual engagement with each other, separable by moving an object (10a) away in the vertical direction from another object (10b) above or below. Warehouse system according to claim 9 or 10, in which the objects (10) are configured in such a way as to be selectively graspable individually (10a. 10b) by the lifting members (25, 26). Method for loading onto a sorting robot (14) according to any one of claims 1 to 6 of one or more stacked objects taken from a stack of objects, comprising the steps of: - engaging a first lifting member (25) on a specific object (10a); - raise the determined object (10a) to a sufficient extent to separate it from an underlying object (10b); - if necessary, separate the determined object (10a) from an overlying object (10b) by engaging a second lifting organ (26) on the overlying object (10b) and lifting it to such an extent as to separate it from the underlying object (10a); - load the determined object (10a) on board the sorting robot (14) by retracting the first lifting member (25); - place the object above (10b) on an underlying object, or in its absence, on the support surface, lowering the second lifting device (26).