US20200122923A1 - System for storing and transporting objects stored in racks of a warehouse - Google Patents

System for storing and transporting objects stored in racks of a warehouse Download PDF

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Publication number
US20200122923A1
US20200122923A1 US16/615,308 US201816615308A US2020122923A1 US 20200122923 A1 US20200122923 A1 US 20200122923A1 US 201816615308 A US201816615308 A US 201816615308A US 2020122923 A1 US2020122923 A1 US 2020122923A1
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US
United States
Prior art keywords
bin
support
storage
transport system
chassis
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
US16/615,308
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English (en)
Inventor
Romain Moulin
Renaud Heitz
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Exotec Solutions
Original Assignee
Exotec Solutions
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Exotec Solutions filed Critical Exotec Solutions
Assigned to EXOTEC SOLUTIONS reassignment EXOTEC SOLUTIONS ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: HEITZ, RENAUD, Moulin, Romain
Publication of US20200122923A1 publication Critical patent/US20200122923A1/en
Abandoned legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0435—Storage devices mechanical using stacker cranes with pulling or pushing means on either stacking crane or stacking area
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
    • B65G1/065—Storage devices mechanical with means for presenting articles for removal at predetermined position or level with self propelled cars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers
    • B65G2201/0258—Trays, totes or bins

Definitions

  • the field of the invention is that of warehouse logistics and in particular the handling and transport of parts or products.
  • the invention concerns a storage and transport system in a warehouse for at least one object intended to be stored in a rack of said warehouse.
  • the invention has an application in a warehouse for order picking in a supply chain.
  • robots were equipped with a telescopic fork that slides on a mast.
  • the fork moves along the mast until it reaches a high position just below the bottom level of the bin, then slides under the bin while unfolding.
  • the robot then lifts the bin from the shelf where it is placed and can move it.
  • this telescopic fork technique has the disadvantage that the bins are overhanging the fork during transport, which can destabilise the robot.
  • forks that do not bend under the load must be provided so that they do not come to rest on the bin below the one being picked, which makes the entire robot heavier.
  • a disadvantage of this known technique is that there must be a space between the bins to slide the arms, which reduces the number of bins that can be stored on a rack.
  • Another disadvantage of this known technique is that it is complex to implement because it requires an actuator for each finger.
  • An aspect of the present disclosure relates to a storage and transport system in a warehouse for at least one object intended to be stored in a rack of said warehouse, comprising:
  • said gripping and removal device comprises a support mounted so as to be movable relative to the chassis of said trolley between:
  • the invention proposes to take, or respectively, to deposit a product storage bin in a rack from below by at least partially engaging one or more fingers in fingerprints formed in the bottom of the bin, to be able to lift and pull the bin.
  • said support may comprise a tray, a frame, a bar or any other known structure on which said protruding finger or fingers may rest.
  • facing upward also means that the protruding finger is oriented in a substantially vertical direction and points in a direction opposite to that of the ground.
  • said support is mounted so that it can move relative to said chassis so that it can take a first extended position in which said support extends on one side of said chassis and a second extended position in which said support extends on the other side of said chassis.
  • said support comprises four fingers arranged in relation to each other in such a way as to form a rectangle.
  • said support may include two fingers, three fingers aligned or arranged in relation to each other so as to form a triangle.
  • said support is fixed to a slide guided on a rail, extending in a direction perpendicular to the direction of advance of said trolley.
  • said support is formed in one piece.
  • said powered trolley is an automated guided powered trolley.
  • said chassis has a vertical stop to prevent said bin from sliding in the direction of said stop, when said gripping and removal device is in said retracted position and supports said bin.
  • said bin is made of injection-moulded plastic.
  • the bottom of said bin has at least two indentations, each configured to accommodate at least a portion of said finger and symmetrically arranged with respect to an axis of symmetry of said bottom.
  • said climbing means comprise at least two powered gear wheels of axes substantially orthogonal to the axes of the running wheels of said trolley capable of engaging with the links of a substantially tensioned roller chain or the teeth of a rack extending along an amount of said rack.
  • FIG. 1 is a perspective view of an example of embodiment of a object storage and transport system according to the invention, in which the bin of the bin gripping and depositing device is deployed;
  • FIG. 2 is a bottom view of one of the bins of the object storage and transport system according to the invention presented in reference to FIG. 1 ;
  • FIGS. 3A to 3D illustrate the powered trolley of the object storage and transport system according to the invention presented in reference to FIG. 1 respectively on the ground, when approaching a bin, when its sliding bin is deployed under the bin and when its sliding bin is fixed to the bin.
  • FIG. 1 illustrates an example of embodiment of a storage and transport system for objects in a warehouse according to the invention.
  • This system 10 consists of a automated guided powered trolley 11 and a polypropylene bin 12 with a substantially rectangular parallelepipedic shape (schematically represented by dotted lines in FIG. 1 ) for storing products.
  • the trolley 11 is equipped with four running wheels (not shown in FIG. 1 ) to be able to move on the floor of a warehouse and four toothed wheels (hidden in FIG. 1 ) with axles perpendicular to the running wheels that can be deployed on the sides of the trolley to allow it to climb between two facing shelves along their uprights.
  • trolley 11 On its upper side, trolley 11 has a tray 13 , which supports bin 12 , mounted on two slides 14 on rails, shown in a position deployed on one side of trolley 11 in FIG. 1 .
  • the tray 13 As shown in FIG. 1 , the tray 13 extends completely out of alignment with said trolley chassis 11 on the left side edge of the trolley, when fully extended. Thanks to a motor to operate the slides 14 (not shown in FIG. 1 ), the tray 13 can also slide towards the chassis to a retracted position in which the tray 13 overhangs the chassis of the trolley 11 . It should be noted that in the retracted position the bin 12 can come to rest on the two vertical pins 16 projecting from the chassis of the trolley 11 , to prevent a fall.
  • the bottom of the bin 12 has four substantially cylindrical hollow indentations 21 1 to 21 4 forming the corners of a rectangle of identical shape to that formed by fingers 15 1 to 15 4 of the tray 13 .
  • bin 31 is stored in the third row in height of rack 32 and rests on its edges on two “L” angles 34 of rack 32 .
  • a first step illustrated in FIG. 3A , the trolley 11 moves forward to the ground and stops in front of the rack 32 containing the bin 31 , leaving the bin 31 on its left side.
  • the trolley 11 then extends transversely the four arms 35 carrying sprockets, so that they engage with the chains 36 stretched on the uprights of the rack 31 and the rack 32 facing the latter, and climbs along the shelves, controlling the rotation of the sprockets, to a position, shown in FIG. 3B , where the upper face of the tray 13 is located a few centimetres lower than the height of the bottom surface of the bin 12 .
  • the trolley 11 then operates the motor to cause the slides 14 to slide on the left side of its chassis, so that the tray 13 is deployed under the bin 12 from the retracted position shown in FIG. 3B to a full deployment position shown in FIG. 3C .
  • the trolley 11 rises again along the uprights by a few centimetres so that the upper part of fingers 15 1 to 15 4 penetrate the fingerprints 21 1 to 21 4 of the bottom of the bin and then rises again by two centimetres so that the bin is slightly raised above the corner pieces 34 .
  • trolley 11 It is then sufficient for trolley 11 to return the tray 13 to its retracted position, by causing the slides 14 to slide in the direction of arrow 37 , to be able to go down with bin 31 along the uprights of racks 32 , 33 .
  • An exemplary embodiment of the present disclosure remedies the shortcomings of the state of the art mentioned above.
  • an exemplary embodiment provides a technique for storing and transporting objects in a warehouse that is simple to implement.
  • An exemplary embodiment provides such a technique that can be implemented in a warehouse where the products are stored in containers that are closely spaced from each other in shelves.
  • An exemplary embodiment provides such a technique which is reliable.
  • An exemplary embodiment provides such a technique that is simple to install, and with reduced cost price.
  • An exemplary embodiment provides such a technique which is heavy-duty and reliable.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)
US16/615,308 2017-10-12 2018-07-30 System for storing and transporting objects stored in racks of a warehouse Abandoned US20200122923A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR1759567 2017-10-12
FR1759567A FR3072371A1 (fr) 2017-10-12 2017-10-12 Systeme de stockage et de transport d'objets entreposes dans des rayonnages d'un entrepot
PCT/EP2018/070551 WO2019072432A1 (fr) 2017-10-12 2018-07-30 Systeme de stockage et de transport d'objets entreposes dans des rayonnages d'un entrepot

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2018/070551 A-371-Of-International WO2019072432A1 (fr) 2017-10-12 2018-07-30 Systeme de stockage et de transport d'objets entreposes dans des rayonnages d'un entrepot

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US16/780,211 Continuation US11208264B2 (en) 2017-10-12 2020-02-03 System for storing and transporting objects stored in racks of a warehouse

Publications (1)

Publication Number Publication Date
US20200122923A1 true US20200122923A1 (en) 2020-04-23

Family

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Family Applications (2)

Application Number Title Priority Date Filing Date
US16/615,308 Abandoned US20200122923A1 (en) 2017-10-12 2018-07-30 System for storing and transporting objects stored in racks of a warehouse
US16/780,211 Active US11208264B2 (en) 2017-10-12 2020-02-03 System for storing and transporting objects stored in racks of a warehouse

Family Applications After (1)

Application Number Title Priority Date Filing Date
US16/780,211 Active US11208264B2 (en) 2017-10-12 2020-02-03 System for storing and transporting objects stored in racks of a warehouse

Country Status (8)

Country Link
US (2) US20200122923A1 (ko)
EP (1) EP3638607B1 (ko)
JP (1) JP7133571B2 (ko)
KR (1) KR102636055B1 (ko)
CN (1) CN110869294B (ko)
ES (1) ES2831011T3 (ko)
FR (1) FR3072371A1 (ko)
WO (1) WO2019072432A1 (ko)

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CN111361914A (zh) * 2020-05-07 2020-07-03 江苏省天策工业工程设计研究院有限公司 攀爬机器人立体仓库
CN112061709A (zh) * 2020-09-29 2020-12-11 南京苏星智能装备有限公司 一种可爬高agv小车
WO2022038459A1 (en) * 2020-08-21 2022-02-24 Ono Exponential Farming S.R.L. A logistic system for managing and displacing materials in vertical modular shelves and vertical modular farms
US11365050B2 (en) * 2018-09-12 2022-06-21 Beijing Geekplus Technology Co., Ltd. Robot control system and method, computing device, and storage medium
US20220258208A1 (en) * 2021-02-18 2022-08-18 Opex Corporation Material Handling Apparatus with Vehicle Track for Reducing Vehicle Damage
US20230002155A1 (en) * 2019-11-26 2023-01-05 Exotec Method for securing a climbing route
FR3148017A1 (fr) * 2023-04-24 2024-10-25 Exotec Système télescopique et chariot motorisé comprenant un tel système

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CN111731728A (zh) * 2019-04-30 2020-10-02 北京京东乾石科技有限公司 物品运送系统
US11554917B2 (en) * 2019-08-14 2023-01-17 Opex Corporation Systems and methods for dynamically managing the location of inventory items in an inventory management facility
FR3105784B1 (fr) * 2019-12-30 2022-01-07 Fives Syleps Systeme de stockage automatise
DE102020111008A1 (de) 2020-04-22 2021-10-28 Dematic Gmbh Anordnung aus zwei Führungs- und Abstützungsrahmen und einem Liftfahrzeug
CN112009926B (zh) * 2020-07-23 2022-07-26 上海宇航系统工程研究所 一种3d拣选物流机器人
JP7444014B2 (ja) 2020-10-02 2024-03-06 トヨタ自動車株式会社 運搬システム、及び運搬方法
CN112660675A (zh) * 2020-12-10 2021-04-16 福建大威科技有限公司 一种智能货架
CN112357499B (zh) * 2021-01-13 2021-03-30 迈赫机器人自动化股份有限公司 一种工业车间用物流搬运机器人
JP7563219B2 (ja) * 2021-02-15 2024-10-08 トヨタ自動車株式会社 運搬システム
EP4163229A1 (en) * 2021-10-06 2023-04-12 Martistel LTD Alignment system for storage means
CN113859840B (zh) * 2021-10-28 2023-03-10 上海仙工智能科技有限公司 一种立体仓储系统及其货运仓储方法
CN114313445B (zh) * 2022-02-17 2023-08-15 颐中(青岛)烟草机械有限公司 一种条烟装封箱箱坯供给装置
FR3139560A1 (fr) 2022-09-14 2024-03-15 Exotec Interface de centrage et de soutien, et rack de stockage comprenant une telle interface.
FR3140876B1 (fr) 2022-10-13 2024-09-06 Exotec Organe longiligne présentant au moins une crémaillère, rack de stockage comprenant un tel organe longiligne, et système de transport et de stockage comprenant un tel rack de stockage
FR3143014A1 (fr) 2022-12-09 2024-06-14 Exotec Véhicule autonome pour système de stockage et de récupération d’articles comportant un déflecteur
FR3144983A1 (fr) 2023-01-18 2024-07-19 Exotec Réceptacle pour système de stockage et de transport d’un entrepôt, et système comportant un tel réceptacle
FR3146266A1 (fr) 2023-03-03 2024-09-06 Exotec Montant pour rack de stockage
FR3147799A1 (fr) 2023-04-11 2024-10-18 Exotec Systeme de maintenance pour installation de transport et de stockage
CN116534573B (zh) * 2023-04-25 2023-11-07 海安上海交通大学智能装备研究院 一种直接缝铁心离线叠装料仓装置

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US4750633A (en) * 1986-09-30 1988-06-14 Fritz Schafer Gesellschaft Mit Beschrankter Haftung Storage and transportation case for shelf system
US6390756B1 (en) * 1997-10-29 2002-05-21 Siemens Dematic Postal Automation, L.P. Transfer of cartridges containing flat articles
US6234550B1 (en) * 1998-04-17 2001-05-22 Mannesmann Ag Pick-up apparatus for retrieving and depositing a load
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Publication number Priority date Publication date Assignee Title
US11365050B2 (en) * 2018-09-12 2022-06-21 Beijing Geekplus Technology Co., Ltd. Robot control system and method, computing device, and storage medium
US20220289480A1 (en) * 2018-09-12 2022-09-15 Beijing Geekplus Technology Co. Ltd. Robot control system and method, computing device, and storage medium
US11987444B2 (en) * 2018-09-12 2024-05-21 Beijing Geekplus Technology Co. Ltd. Robot control system and method, computing device, and storage medium
US20230002155A1 (en) * 2019-11-26 2023-01-05 Exotec Method for securing a climbing route
US11999564B2 (en) * 2019-11-26 2024-06-04 Exotec Method for securing a climbing route
CN111361914A (zh) * 2020-05-07 2020-07-03 江苏省天策工业工程设计研究院有限公司 攀爬机器人立体仓库
WO2022038459A1 (en) * 2020-08-21 2022-02-24 Ono Exponential Farming S.R.L. A logistic system for managing and displacing materials in vertical modular shelves and vertical modular farms
CN112061709A (zh) * 2020-09-29 2020-12-11 南京苏星智能装备有限公司 一种可爬高agv小车
US11453553B2 (en) * 2021-02-18 2022-09-27 Opex Corporation Material handling apparatus with vehicle track for reducing vehicle damage
US11807456B2 (en) * 2021-02-18 2023-11-07 Opex Corporation Material handling apparatus with vehicle track for reducing vehicle damage
US20220348407A1 (en) * 2021-02-18 2022-11-03 Opex Corporation Material Handling Apparatus with Vehicle Track for Reducing Vehicle Damage
US20220258208A1 (en) * 2021-02-18 2022-08-18 Opex Corporation Material Handling Apparatus with Vehicle Track for Reducing Vehicle Damage
FR3148017A1 (fr) * 2023-04-24 2024-10-25 Exotec Système télescopique et chariot motorisé comprenant un tel système

Also Published As

Publication number Publication date
CN110869294A (zh) 2020-03-06
WO2019072432A1 (fr) 2019-04-18
US20200172332A1 (en) 2020-06-04
JP7133571B2 (ja) 2022-09-08
ES2831011T3 (es) 2021-06-07
US11208264B2 (en) 2021-12-28
JP2020536818A (ja) 2020-12-17
KR20200087691A (ko) 2020-07-21
EP3638607A1 (fr) 2020-04-22
CN110869294B (zh) 2022-05-24
KR102636055B1 (ko) 2024-02-08
FR3072371A1 (fr) 2019-04-19
EP3638607B1 (fr) 2020-10-14

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