WO2021136778A1

WO2021136778A1 - Automated storage system

Info

Publication number: WO2021136778A1
Application number: PCT/EP2020/087977
Authority: WO
Inventors: Oussama CHERIF; Pascal Perrot
Original assignee: Fives Syleps
Priority date: 2019-12-30
Filing date: 2020-12-29
Publication date: 2021-07-08
Also published as: FR3105784B1; EP4085016A1; FR3105784A1

Abstract

The invention relates to a facility for storing objects, comprising a plurality of adjacent storage assemblies, each comprising: - a plurality of superimposed storage levels (E1, E2, E3, E4), each comprising four storage units (2) arranged around a central recess (3), each storage unit (2) comprising two storage cells (21, 22) aligned in the respective storage direction, - a lifting device circulating in the central recess (3), the lifting device: - being capable of interacting with a means for transporting objects in order to transfer an object from one to the other, and - comprising a transfer means configured to transfer an object by translational movement, when the lifting device is positioned at a storage level (E1, E2, E3, E4), to one of the two storage cells (21, 22) aligned in each storage direction, or from the latter to the lifting device.

Description

AUTOMATED STORAGE SYSTEM Technical field of the invention

The invention relates to the field of intralogistics and relates to a storage system which can find applications in any system comprising a flow of reception, storage and shipment of products, such as a warehouse, factory or center. of distribution.

State of the art

In this field, systems are known in which products are stored in boxes superimposed on each other in a storage structure. A set of automatically guided vehicles (AGV) circulating on the roof of the structure hook up boxes to be moved from or towards the structure. An example of this system is described by document EP2962962B1.

The problem with such a system is that, on the one hand, it requires the use of a large number of AGVs which must be managed in order to ensure movement on the roof and to avoid accidents. In addition, the roof must be structured specifically to allow such movements. On the other hand, this type of storage is not optimal. Indeed, a product which is on a lower floor can only be recovered after evacuation of the boxes which are above, which therefore affects performance. Also known is the storage system described by document US 8628289 organized according to shelves separated by aisles in which circulate elevators able to move along the aisle to access a given column, then vertically to reach a cell. storage of this column. The problem with such a system lies in part in the fact that entire aisles are reserved for the movement of the elevators, which constitutes a loss in terms of storage space. On the other hand, this system loses in efficiency because the elevator moves horizontally along an aisle and vertically, along a column to reach a storage cell. Indeed, the path of the elevator is lengthened, which reduces the number of items transferred from or to the storage cells.

The objective of the present invention is to provide a storage system which makes it possible to remedy the shortcomings of the existing storage systems described above.

Summary of the invention

To this end, the invention provides an object storage facility, comprising a plurality of adjacent storage assemblies, in which each storage assembly comprises:

a plurality of superimposed storage levels, each storage level comprising four storage units arranged around a central recess and respectively defining four storage directions with respect to the central recess, each storage unit comprising two aligned storage cells according to the respective storage direction,

- an elevation device, such as an elevator, arranged in the central recess to circulate between a lowest storage level and a highest storage level, said elevation device:

- being able to interact with a means of transporting objects to transfer an object from one to another, and

- comprising a transfer means configured to transfer by translation an object, when the lifting device is positioned at a storage level, to one of the two cells storage aligned in or from each storage direction to the lifting device.

The installation according to the invention makes it possible to have a high storage density thanks to the particular arrangement of the storage cells. For example, the fact that a transfer means can load and unload objects to two successive cells in the same direction makes it possible to limit the number of transfer means and the number of lifting devices. As a result, the number of storage cells is increased.

In addition, the installation may include secondary transfer means that can access two successive cells in each direction, each of said cells also being accessible by another transfer means. This therefore increases the speed with which an object is transferred to and from a cell, since any available transfer medium can handle this task quickly. As a result, the transfer rate is increased.

In addition, in the event of a failure of a transfer medium, the secondary transfer medium can serve as a backup medium transfer.

The structure of the installation is, moreover, simple because it does not require managing AGVs circulating on the roof with the safety issues that this can cause.

Advantageously, the transfer means is a gripper which can be separated from the lifting device and can be transported by the transport means. Such a gripper can be integral with a means of transport, for example an AGV, when it is transported horizontally from one point of the installation to another. It can also be integral with the lifting device in order to be transported vertically, for example between the lowest storage level and the highest storage bivouac. The lifting device may for example comprise one or more cables which form an elevator with the gripper when the latter is secured to the cable (s). Advantageously, the transfer means comprises a means of rotation and / or a means of translation with respect to the lifting device.

Such a transfer means allows easy storage in the four storage directions.

According to one embodiment, the storage cells are of cubic or cuboid shape. A cubic cell allows rotations of the gripper. The cuboid cell is suitable for a larger number of packages, especially those whose width is different from their length. However, other forms of cells are possible.

Advantageously, the storage installation further comprises a conveying level comprising at least part of the means of transport.

According to one embodiment, the conveying level may be the lowest level of the installation.

Advantageously, a means of transporting objects can be an automatically guided vehicle (AGV). An AGV has the advantage of allowing flexibility and reduces the footprint of the installation by eliminating conveyors.

In one embodiment, the automatically guided vehicle can be configured to cooperate directly with at least one transfer means of an elevating device to allow transfer of objects from one to another. This simplifies the storage installation. For example to allow this transfer of objects (for example parcels), the elevator can go down to the level of the AGV and conversely the AGV can have a telescopic platform.

According to another embodiment, the automatically guided vehicle can be configured to cooperate with a conveyor to allow a transfer of objects from one to another, and in which the conveyor is arranged to allow a transfer of objects to. a lifting device or from it.

Advantageously, the installation is controlled by a computer control system. Brief description of the figures

Other features and advantages of the invention will become apparent in the description which will follow in relation to the appended drawings, given by way of nonlimiting examples, in which: FIG. 1 is a schematic view of a set of storage according to the invention;

- Figure 2 is a schematic view of an arrangement of storage assemblies according to the invention;

- Figure 3 is a schematic view of a vertical section of a storage facility according to the invention;

- Figure 4 partially shows variants of the installation of Figure 3;

- Figure 5 is a schematic view of another storage facility according to the invention; - Figure 6 is a schematic view of the installation of Figure 5 in which the gripper is in a different position;

- Figure 7 is a schematic view of an AGV carrying a gripper according to the invention. Detailed description of the invention

In Figure 1 is schematically shown a storage assembly 10 which comprises: a plurality of superimposed storage levels E1, E2, E3, E4, each storage level comprising four storage units 2 arranged around a central recess 3. The storage units 2 respectively define four storage directions relative to the central recess 3, each storage unit 2 comprising two storage cells 21, 22 aligned along one of the four storage directions. a lifting device (not shown in FIG. 1) arranged in the central recess 3 to circulate between the lowest storage level E1 and the highest storage level E4.

The lifting device is, for example, an elevator.

FIG. 2 partially shows, in top view, a storage installation 1 according to an exemplary arrangement of storage assemblies 10 conforming to the storage assembly of FIG. 1. The storage assemblies 10 are adjacent to each other. . Each assembly comprises an elevation device and a means for transferring packages which are mobile in its central recess 3. For example, in FIG. 2, an elevating device provided with its transfer means and circulating in the recess 3 makes it possible to transfer objects in (and from) each of the storage cells 21, 22 arranged around the recess 3 in four directions. Likewise, a lifting device provided with its transfer means and circulating in one of the neighboring recesses 3 'or 3 ", makes it possible to transfer objects into (and from) each of the storage cells 21', 22 'or 21 ", 22" arranged around the recess 3 'or 3 "in four directions.

The recesses 31, 31 ', 31 "may comprise additional elevation devices each provided with a load transfer means which may be identical to those described above. Said elevation devices and their transfer means may provide a transfer of objects to and from two successive cells already accessible by other means for transferring the neighboring recesses 3 and 3 '. For example, the means for transferring the recess 31 "makes it possible to reach the cells 22', 21 in a first direction and the cells 22, 21 "in a second direction.

FIG. 3 is a partial view of an automated storage installation according to the invention in a vertical section at the level of a central recess 3. The installation comprises storage levels E1 to E11 and may also include levels of lower storage E-1, E-2 (eg buried). The objects 4 to be stored are transported to the storage installation 1 by a first conveyor 5 and from the installation by a second conveyor 6. When an object 4 arrives at the level of the recess 3, it is transferred to a gripper. 7 which can be part of an elevator or which can cooperate with an elevator (not shown in FIG. 3) so as to move the object 4 to one of the storage levels, then to the storage cell 21, 22 . To move an object 4 of a storage cell 21, 22, the object 4 is moved towards the gripper 7 then the gripper is moved from the storage level to the level of the second conveyor (exit conveyor) 6 and the transfer to the latter which will then transport it outside the installation.

Figure 4 shows variants of the installation 1 of Figure 3 where only the first storage levels are shown. The storage facility is similar to that of Figure 3, but differs in the means used for the entry and exit of objects 4 to be stored.

In variant A, an AGV 8 comprising a telescopic plate 81 moves the objects 4 to and from the gripper 7. The tray may also include a transport belt or motorized rollers for transferring the objects 4 from or to the tray 81.

In variant B, an AGV 8 comprising a telescopic plate 81 moves the objects 4 to an input conveyor 50, which then moves them to a gripper 7. At the output, the gripper 7 transfers the objects 4 to a conveyor. exit 60, then conveyor 60 transfers them to an AGV 8.

In variant C, an AGV 8 'moves the objects 4 to an input conveyor 51 comprising an inclined part to receive the objects. The conveyor 51 then moves the objects 4 to a gripper 7. At the output, the gripper 7 transfers the objects 4 to an output conveyor 61 which also comprises an inclined part for transferring the objects 4 to an AGV 8 '. Figures 5 and 6 illustrate another embodiment of an installation 10 according to the invention. The installation 10 comprises in particular a recess 3 in which is arranged a lifting device comprising lifting cables 91 and a base 90 intended to cooperate with a gripper 70 carried by an AGV 80 and carrying an object 4 to be stored, as shown in Figure 5. To move the object 4 carried by the AGV 80 and the gripper 70, the base 90 of the lifting device cooperates with the gripper 70 so that when the base 90 rises, it drives with it the gripper 70 and the object 4 to be stored at a storage level (determined by a computer control system (FIG. 6). The gripper moves the object 4 into the chosen cell.

To move an object 4 stored in the installation to the outside, the gripper retrieves the object, then the lifting device lowers the gripper and places it on an AGV 80, the base and the gripper separate. The AGV then moves the object out of storage facility 10.

Figure 7 illustrates an example of an AGV 80 carrying a gripper 70 which conforms to the AGV 80 assembly and gripper 70 described above. The gripper 70 may for example include transfer means 71 for moving objects 4 from and / or to the gripper 70.

Claims

1. Object storage facility (1; 1 ’), comprising a plurality of adjacent storage assemblies (10), in which each storage assembly (10) comprises:

- a plurality of superimposed storage levels (E1, E2, E3, E4), each storage level comprising four storage units (2) arranged around a central recess (3) and respectively defining four storage directions with respect to the central recess, each storage unit (2) comprising two storage cells (21, 22) aligned in the respective storage direction,

- a lifting device arranged in the central recess (3) to circulate between a lowest storage level (E1) and a highest storage level (E4), said lifting device:

- being able to interact with an object transport means to transfer an object from one to the other, and - comprising a transfer means configured to translate an object, when the lifting device is positioned at a storage level (E1, E2, E3, E4), towards one of the two storage cells (21, 22) aligned in each storage direction, or from the latter towards the lifting device.

2. Storage installation according to claim 1 wherein the transfer means is a gripper (70) separable from the lifting device and is transportable by the transport means (80).

3. Storage installation according to one of claims 1 or 2 wherein the transfer means comprises a rotation means and / or a translation means relative to the lifting device.

4. Storage installation according to one of claims 1 or 3 wherein the storage cells are cubic (21, 22) or cuboid (21 ’, 22’).

5. Storage installation according to claim 4, further comprising a conveying level comprising at least part of the transport means (8; 8 "; 5, 650, 60; 51, 61).

6. Storage installation according to claim 5, wherein the conveying level is the lowest level of the installation.

7. Storage facility according to one of the preceding claims wherein a means of transporting objects is an automatically guided vehicle (8, 8 ’) (AGV). 8. Storage facility according to claim 7 wherein the vehicle (8,

8 ') automatically guided (AGV) is configured to cooperate directly with at least one transfer means of an elevation device to allow transfer of objects (4) from one to another.

9. Storage installation according to claim 8 wherein the vehicle (8, 8 ') automatically guided (AGV) is configured to cooperate with a conveyor to allow transfer of objects from one to another, and wherein the conveyor is arranged to allow transfer of objects to or from a lifting device.