WO2024083835A1 - Storage container and automated article storage system - Google Patents

Storage container and automated article storage system Download PDF

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Publication number
WO2024083835A1
WO2024083835A1 PCT/EP2023/078846 EP2023078846W WO2024083835A1 WO 2024083835 A1 WO2024083835 A1 WO 2024083835A1 EP 2023078846 W EP2023078846 W EP 2023078846W WO 2024083835 A1 WO2024083835 A1 WO 2024083835A1
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WO
WIPO (PCT)
Prior art keywords
container
base
main container
storage system
side wall
Prior art date
Application number
PCT/EP2023/078846
Other languages
French (fr)
Inventor
Oussama Cherif Idrissi El Ganouni
Original Assignee
Fives Xcella
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Filing date
Publication date
Application filed by Fives Xcella filed Critical Fives Xcella
Publication of WO2024083835A1 publication Critical patent/WO2024083835A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D5/00—Rigid or semi-rigid containers of polygonal cross-section, e.g. boxes, cartons or trays, formed by folding or erecting one or more blanks made of paper
    • B65D5/42—Details of containers or of foldable or erectable container blanks
    • B65D5/56—Linings or internal coatings, e.g. pre-formed trays provided with a blow- or thermoformed layer
    • B65D5/566—Linings made of relatively rigid sheet material, e.g. carton
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D77/00—Packages formed by enclosing articles or materials in preformed containers, e.g. boxes, cartons, sacks or bags
    • B65D77/04—Articles or materials enclosed in two or more containers disposed one within another
    • B65D77/0413—Articles or materials enclosed in two or more containers disposed one within another the inner and outer containers being rigid or semi-rigid and the outer container being of polygonal cross-section formed by folding or erecting one or more blanks, e.g. carton
    • B65D77/042—Articles or materials enclosed in two or more containers disposed one within another the inner and outer containers being rigid or semi-rigid and the outer container being of polygonal cross-section formed by folding or erecting one or more blanks, e.g. carton the inner container being of polygonal cross-section formed by folding or erecting one or more blanks, e.g. carton
    • 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
    • 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

Definitions

  • the invention relates to the field of intralogistics and relates to a container and an automated article storage system using this container.
  • items are transported by autonomous mobile robots to specific storage positions to be deposited for a certain duration, then found by the system for transport outside, for example for delivery to a customer.
  • Storage can in particular be done in a container then placed by the autonomous mobile robot on a shelf.
  • the robot transporting the container uses a gripper equipped with telescopic arms, fitted with finger-shaped hooks, which are placed at the front or back of the container. This allows it to be pulled or pushed in order to move it by translation from the robot towards the shelf or in the other direction.
  • the objective of the invention is therefore to provide an inexpensive, lightweight, recyclable and wear-resistant storage container so as to reduce the frequency of its replacement and also having characteristics that always allow easy gripping by a gripper.
  • the invention relates to a container adapted for transporting articles in an automated storage system having a storage level comprising a shelf configured to receive said container and an aisle along said shelf in which a robot can circulate autonomous mobile device for placing said container on said shelf or taking it back from there, the container comprising:
  • main container adapted to receive articles, said main container comprising a side wall and having an external contour
  • a base comprising a lower wall and a side wall having an internal contour substantially identical to the external contour of the main container and fixed thereto, at least one exterior surface of said lower wall has a higher wear resistance than that of the main container.
  • the lower wall can have higher wear resistance than that of the main container.
  • the base can have higher wear resistance than that of the main container.
  • the base can be fixed to the main container by interlocking.
  • the interlocking can be reversible, so it will be possible to replace the main container or the base separately, further reducing costs.
  • the base can also be made separately from a more durable material.
  • the base is integral with the main container and forms with it a single body. This simplifies the manufacturing process.
  • the side wall of the base has a height less than half or a third or a quarter of the height of the main container. Such a height is sufficient and makes it possible to reduce the cost of the container. In fact, only the lower part most exposed to wear requires reinforcement. In addition, fixing is easier with a reduced height base, especially in the case of nesting.
  • the base comprises a protective coating. This strengthens the base and makes it more resistant to wear.
  • the base comprises a coating with a low coefficient of friction. The coating helps reduce friction and therefore wear.
  • the protective coating can also be low friction.
  • the main container and/or the base is made of cardboard.
  • Cardboard has, among other things, the advantage of being inexpensive and easy to transport and recycle. For example, it can be transported in the form of pre-cut cardboard sheets for assembly on site.
  • the base comprises a means allowing the detection of wear, for example on the underside.
  • the underside may include a colored band at a certain depth.
  • a detection means detects a change in color of the lower face
  • the base or part of it can be made of denser material than the main container.
  • the base can be made from compact cardboard (also called wood cardboard).
  • the main container may have no bottom wall. This further reduces the cost of the container.
  • the invention also relates to a system and method for automated storage of articles using a container according to the invention.
  • the system further comprises an autonomous mobile robot provided with two telescopic arms configured to move the container by translation from the autonomous mobile robot (4) towards a shelf (21) and vice versa, in which the side wall (7B2) of the base has two first opposite sides whose thickness is greater than half the thickness of a telescopic arm (6) This always ensures space for the gripper arms of the autonomous mobile robot to pass through, even when the containers are stuck together.
  • the side wall of the base has two second sides orthogonal to the first sides and opposite each other, each second side having a thickness greater than half the thickness of a finger of said telescopic arm, configured to come into contact with one of said second sides.
  • the wall can for example have four sides, the latter can have the same thickness.
  • Figure 1 represents an example of a storage system according to the invention
  • Figure 2 is a top view of a storage level with containers according to the invention.
  • Figure 3 is a schematic side view showing the shape of the container according to the invention.
  • FIG. 1 schematically represents a simplified example of an automated storage system according to the invention.
  • the storage system in this example includes a stock formed by three-dimensional shelving 1 and a plurality of autonomous mobile robots 4.
  • the shelving 1 may include a plurality of storage levels 2, each storage level 2 may include locations for storing articles 21, for example in the form of a shelf.
  • Each storage level 2 may include an aisle 22 in which an autonomous mobile robot 4 can circulate to transport items to be stored or removed from stock.
  • a storage level 2 may include a plurality of aisles for the circulation of autonomous mobile robots 4.
  • An aisle 22 may also serve parallel shelves 21.
  • the shelving 1 may further comprise one or more columns 3 (in the form of wells) connecting the plurality of storage levels 2 and allowing the robots 4 to move from one level 2 to another, or between a storage level 2 and an input/output level.
  • the entry/exit level can be the lowest level (ground level), but it can also be the highest level (the roof).
  • the lowest level may be an input (or output) and the highest level an output (or input).
  • Figure 2 shows a top view of a storage level 2 comprising a location 21 for storing articles 5 and an aisle 22 in which an autonomous mobile robot 4 circulates.
  • robot 4 can travel on rails 220.
  • items 5 are stored in three containers 7A, 7B arranged side by side in location 21 along aisle 22.
  • the robot 4 includes telescopic arms 6A, 6A for moving a container 7 from storage replacement 21 to the robot and vice versa.
  • a container 7 comprises a main container 7A in which the articles 5 are placed.
  • the main container 7A comprises a lower wall 7A1 and a side wall 7A2.
  • the main container 7A may not include a bottom wall.
  • the container 7 also comprises a base 7B comprising a lower wall 7B1 and a side wall 7B2 having an internal contour substantially identical to the external contour of the main container 7A to which it is fixed.
  • the attachment can be permanent when the two are either bonded after manufacture or manufactured at the same time.
  • the base can also be fixed by reversible interlocking to the main container to be able to replace it alone or replace the main container alone.
  • the robot 4 comprises a gripper composed of two telescopic arms each comprising a first part 6A and a second part 6B arranged to extend the first part 6A.
  • a hook 6C also called finger
  • the finger 6C is configured to come into contact with the wall of the container when it comes to moving it from the storage location towards the robot.
  • Each telescopic arm can also include at least one second hook that can be used when it comes to moving the container 7A, 7B from the robot to the storage location 21.
  • FIG 3 schematically shows a side view showing a storage location 21 in the form of a shelf on which two containers 7 are placed side by side, each main container 7A carries stored items 5.
  • the bases 7B of the two containing 7 have thicknesses making it possible to keep a distance d greater than the thickness arms 6 of the robot gripper. This ensures that it is always possible for the robot to pass the gripper arms on both sides of a container 7A, 7B.
  • the base 7B is more resistant to wear than the main container, this is advantageous because this part is more subject to stress during the translation of the container between the robot 4 and the storage location 21.
  • a protective coating 8 can be added.
  • the coating 8 can also have a low coefficient of friction.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

The invention relates to a container (7) for transporting articles in an automated storage system comprising a shelving unit (21) capable of receiving the container and an aisle (22) along the shelving unit (21) in which an autonomous mobile robot (4) can circulate to deposit the container (7) on the shelving unit (21) or pick it up from same, the container comprising: - a main container (7A) suitable for receiving articles (5), the main container (7A) comprising a side wall (7A2) and having an outer contour; - a base (7B) comprising a bottom wall (7B1) and a side wall (7B2) having an inner contour substantially identical to the outer contour of the main container (7A) and attached to same, wherein at least one outer surface of the bottom wall has higher wear resistance than that of the main container (7A). The invention also relates to a system and a method using such a container.

Description

DESCRIPTION DESCRIPTION
TITRE : CONTENANT DE STOCKAGE ET SYSTEME DE STOCKAGE AUTOMATISE D’ARTICLES TITLE: STORAGE CONTAINER AND AUTOMATED ITEM STORAGE SYSTEM
Domaine technique de l’invention Technical field of the invention
L’invention concerne le domaine de l’intralogistique et porte sur un contenant et un système de stockage automatisé d’articles utilisant ce contenant. The invention relates to the field of intralogistics and relates to a container and an automated article storage system using this container.
Etat de la technique State of the art
Dans un tel système, des articles sont transportés par des robots mobiles autonomes vers des positions de stockage déterminées pour être déposés pour une certaine durée, puis retrouvés par le système en vue de leur transport à l’extérieur, par exemple pour une livraison à un client. In such a system, items are transported by autonomous mobile robots to specific storage positions to be deposited for a certain duration, then found by the system for transport outside, for example for delivery to a customer.
Le stockage peut en particulier être fait dans un contenant puis déposé par le robot mobile autonome sur une étagère. Pour faire cela, le robot transportant le contenant utilise un préhenseur pourvu de bras télescopiques, munis de crochets en forme de doigts, qui viennent se placer à l’avant ou à l’arrière du contenant. Ceci permet de le tirer ou le pousser en vue de le déplacer par translation du robot vers l’étagère ou dans l’autre sens. Storage can in particular be done in a container then placed by the autonomous mobile robot on a shelf. To do this, the robot transporting the container uses a gripper equipped with telescopic arms, fitted with finger-shaped hooks, which are placed at the front or back of the container. This allows it to be pulled or pushed in order to move it by translation from the robot towards the shelf or in the other direction.
Lors de ce transfert, le contenant subit des frottements avec l’étagère pouvant accélérer son usure, et donc la fréquence à laquelle ce contenant doit être changé. Ceci est notamment vrai lorsque le matériau du contenant est fragile, par exemple du carton, dont l’intérêt économique et écologique peuvent justifier son utilisation. Cependant, l’usure du contenant peut provoquer sa rupture avec comme conséquence la dispersion des articles du contenant. Le remplacement fréquent d’un nombre important de contenants d’un système de stockage automatisé peut s’avérer cher, il est donc nécessaire de trouver une solution permettant de réduire l’usure du contenant tout en gardant le contenant peu cher à la fabrication. During this transfer, the container experiences friction with the shelf which can accelerate its wear, and therefore the frequency with which this container must be changed. This is particularly true when the material of the container is fragile, for example cardboard, the economic and ecological interest of which can justify its use. However, wear and tear on the container can cause it to break, resulting in the items in the container being scattered. Frequent replacement of a large number of containers in a storage system automated can be expensive, it is therefore necessary to find a solution to reduce wear on the container while keeping the container inexpensive to manufacture.
En outre, pour réaliser le transfert lors de la présence de plusieurs contenants sur l’étagère, il est nécessaire d’aménager un espace suffisant entre les contenants afin de pouvoir glisser dans cet espace les bras du préhenseur. Si ultérieurement à la dépose du contenant, une intervention provoquait la réduction excessive de cet espace, la récupération du contenant peux devenir impossible. Il est donc nécessaire d’anticiper ce type de problème. In addition, to carry out the transfer when there are several containers on the shelf, it is necessary to provide sufficient space between the containers in order to be able to slide the arms of the gripper into this space. If, after removing the container, an intervention causes the excessive reduction of this space, recovery of the container may become impossible. It is therefore necessary to anticipate this type of problem.
L’objectif de l’invention est donc de proposer un contenant de stockage peu cher, léger, recyclable et résistant à l’usure de manière à réduire la fréquence de son remplacement et aussi ayant des caractéristiques permettant toujours une prise facile par un préhenseur. The objective of the invention is therefore to provide an inexpensive, lightweight, recyclable and wear-resistant storage container so as to reduce the frequency of its replacement and also having characteristics that always allow easy gripping by a gripper.
Résumé de l’invention Summary of the invention
A cet effet, l’invention concerne un contenant adapté pour le transport d’articles dans un système de stockage automatisé présentant un niveau de stockage comprenant une étagère configurée pour recevoir ledit contenant et une allée le long de ladite étagère dans laquelle peut circuler un robot mobile autonome pour déposer ledit contenant sur ladite étagère ou le reprendre de celle-ci, le contenant comprenant : To this end, the invention relates to a container adapted for transporting articles in an automated storage system having a storage level comprising a shelf configured to receive said container and an aisle along said shelf in which a robot can circulate autonomous mobile device for placing said container on said shelf or taking it back from there, the container comprising:
- un contenant principal adapté pour recevoir des articles, ledit contenant principal comprenant une paroi latérale et présentant un contour externe, - a main container adapted to receive articles, said main container comprising a side wall and having an external contour,
- une base comprenant une paroi inférieure et une paroi latérale présentant un contour interne sensiblement identique au contour externe du contenant principal et fixée à celui-ci, au moins une surface extérieure de ladite paroi inférieure présente une résistance à l’usure plus élevée que celle du contenant principal. Avantageusement, la paroi inférieure peut présenter une résistance à l’usure plus élevée que celle du contenant principal. - a base comprising a lower wall and a side wall having an internal contour substantially identical to the external contour of the main container and fixed thereto, at least one exterior surface of said lower wall has a higher wear resistance than that of the main container. Advantageously, the lower wall can have higher wear resistance than that of the main container.
Avantageusement, la base peut présenter une résistance à l’usure plus élevée que celle du contenant principal. Advantageously, the base can have higher wear resistance than that of the main container.
En utilisant une base plus résistante à l’usure (ou la paroi inférieure, ou au moins la face inférieure de celle-ci) on augmente la durée d’utilisation du contenant et on réduit en conséquence la fréquence à laquelle il est nécessaire de le changer. En outre, en renforçant seulement la base le contenant reste globalement peu cher. By using a more wear-resistant base (or the bottom wall, or at least the underside thereof) we increase the duration of use of the container and consequently reduce the frequency with which it is necessary to clean it. to change. In addition, by only reinforcing the base, the container remains inexpensive overall.
Selon des exemples de réalisation, la base peut être fixée au contenant principal par emboîtement. According to exemplary embodiments, the base can be fixed to the main container by interlocking.
L’emboitement peut être réversible, ainsi, il sera possible de remplacer séparément le contenant principal ou la base, réduisant davantage les coûts. On peut également fabriquer séparément la base à partir d’un matériau plus résistant. The interlocking can be reversible, so it will be possible to replace the main container or the base separately, further reducing costs. The base can also be made separately from a more durable material.
Selon des exemples de réalisation, la base est solidaire du contenant principal et forme avec lui un corps unique. Ceci simplifie le processus de fabrication. According to exemplary embodiments, the base is integral with the main container and forms with it a single body. This simplifies the manufacturing process.
Selon des exemples de réalisation la paroi latérale de la base présente une hauteur inférieure à la moitié ou au tier ou au quart de la hauteur du contenant principal. Une telle hauteur est suffisante et permet de réduire le cout du contenant. En effet, seule la partie inférieure la plus exposée à l’usure nécessite d’être renforcée. En outre, la fixation est plus facile avec une base à hauteur réduite, notamment en cas d’emboitement.According to exemplary embodiments, the side wall of the base has a height less than half or a third or a quarter of the height of the main container. Such a height is sufficient and makes it possible to reduce the cost of the container. In fact, only the lower part most exposed to wear requires reinforcement. In addition, fixing is easier with a reduced height base, especially in the case of nesting.
Selon des exemples de réalisation, la base comprend un revêtement protecteur. Ceci permet de renforcer la base et la rendre davantage résistante à l’usure. Selon des exemples de réalisation, la base comprend un revêtement à faible coefficient de frottement. Le revêtement permet de réduire les frottements et donc l’usure. According to exemplary embodiments, the base comprises a protective coating. This strengthens the base and makes it more resistant to wear. According to exemplary embodiments, the base comprises a coating with a low coefficient of friction. The coating helps reduce friction and therefore wear.
Le revêtement protecteur peut être également à faible frottements. The protective coating can also be low friction.
Selon des exemples de réalisation, le contenant principal et/ou la base est en carton. According to exemplary embodiments, the main container and/or the base is made of cardboard.
Le carton présente entre autres l’avantage d’être peu cher et facile à transporter et à recycler. Par exemple, il peut être transporté sous forme de plaques de carton prédécoupées en vue d’être assemblées sur site.Cardboard has, among other things, the advantage of being inexpensive and easy to transport and recycle. For example, it can be transported in the form of pre-cut cardboard sheets for assembly on site.
Avantageusement, la base comprend un moyen permettant la détection de l’usure, par exemple sur la face inférieure. Par exemple, la face inférieure peut comprendre une bande colorée à une certain profondeur. Par exemple, lorsqu’un moyen de détection détecte un changement de couleur de la face inférieure, Advantageously, the base comprises a means allowing the detection of wear, for example on the underside. For example, the underside may include a colored band at a certain depth. For example, when a detection means detects a change in color of the lower face,
Avantageusement, la base ou une partie de celle-ci, peut être en matériau plus dense que le contenant principal. Par exemple, la base peut être fabriquée à partir d’un carton compact (appelé aussi carton- bois). Advantageously, the base or part of it can be made of denser material than the main container. For example, the base can be made from compact cardboard (also called wood cardboard).
Selon des exemples de réalisation, le contenant principal peut être dépourvu de paroi inférieure. Ceci permet de réduire d’avantage le coût du contenant. According to exemplary embodiments, the main container may have no bottom wall. This further reduces the cost of the container.
L’invention concerne également un système et un procédé de stockage automatisé d’articles utilisant un contenant selon l’invention. The invention also relates to a system and method for automated storage of articles using a container according to the invention.
Avantageusement, le système comprend en outre un robot mobile autonome muni de deux bras télescopiques configurés pour déplacer le contenant par translation depuis le robot mobile autonome (4) vers une étagère (21 ) et inversement, dans lequel la paroi latérale (7B2) de la base présente deux premiers côtés opposés dont l’épaisseur est supérieure à la moitié de l’épaisseur d’un bras télescopique (6) Ceci permet d’assurer toujours un espace pour passer les bras du préhenseur du robot mobile autonome, même quand les contenants sont collés les uns aux autres. Advantageously, the system further comprises an autonomous mobile robot provided with two telescopic arms configured to move the container by translation from the autonomous mobile robot (4) towards a shelf (21) and vice versa, in which the side wall (7B2) of the base has two first opposite sides whose thickness is greater than half the thickness of a telescopic arm (6) This always ensures space for the gripper arms of the autonomous mobile robot to pass through, even when the containers are stuck together.
Avantageusement, la paroi latérale de la base présente deux deuxièmes côtés orthogonaux aux premiers côtés et opposés l’un à l‘autre, chaque deuxième coté présentant une épaisseur supérieure à la moitié de l’épaisseur d’un doigt dudit bras télescopique, configuré pour se mettre au contact avec l’un desdits deuxièmes côtés. Advantageously, the side wall of the base has two second sides orthogonal to the first sides and opposite each other, each second side having a thickness greater than half the thickness of a finger of said telescopic arm, configured to come into contact with one of said second sides.
Ceci assure un espace pour passer le doigt du préhenseur, en particulier lorsque deux contenants sont disposés l’un après l’autre dans une direction perpendiculaire à l’allée de déplacement du robot. This ensures space to pass the finger of the gripper, especially when two containers are arranged one after the other in a direction perpendicular to the robot's moving aisle.
La paroi peut par exemple avoir quatre côtés, ces derniers peuvent avoir la même épaisseur. The wall can for example have four sides, the latter can have the same thickness.
Brève description des figures Brief description of the figures
D'autres particularités et avantages de l'invention apparaîtront dans la description ci-après en relation avec les dessins annexés, donnés à titre d'exemples non limitatifs, dans lesquelles : Other features and advantages of the invention will appear in the description below in relation to the appended drawings, given by way of non-limiting examples, in which:
[Fig.1 ] la figure 1 représente un exemple de système de stockage selon l’invention ; [Fig.1] Figure 1 represents an example of a storage system according to the invention;
[Fig.2] la figure 2 est une vue de dessus d’un niveau de stockage avec des contenants selon l’invention ; [Fig.2] Figure 2 is a top view of a storage level with containers according to the invention;
[Fig.3] la figure 3 est une vue schématique de côté montrant la forme de contenant selon l’invention. [Fig.3] Figure 3 is a schematic side view showing the shape of the container according to the invention.
Dans la suite de la description, des éléments présentant une structure identique ou des fonctions analogues seront désignés par les mêmes références. In the remainder of the description, elements having an identical structure or similar functions will be designated by the same references.
Description détaillée La figure 1 représente schématiquement un exemple simplifié d’un système de stockage automatisé selon l’invention. Le système de stockage dans cet exemple comprend un stock formé par un rayonnage 1 tridimensionnel et une pluralité de robots 4 mobiles autonomes. Le rayonnage 1 peut comprendre une pluralité de niveaux de stockage 2, chaque niveau de stockage 2 peut comprendre des emplacements pour stocker des articles 21 , par exemple sous forme d’étagère. Chaque niveau de stockage 2 peut comprendre une allée 22 dans laquelle peut circuler un robot mobile autonome 4 pour transporter des articles à stocker ou à sortir du stock. detailed description Figure 1 schematically represents a simplified example of an automated storage system according to the invention. The storage system in this example includes a stock formed by three-dimensional shelving 1 and a plurality of autonomous mobile robots 4. The shelving 1 may include a plurality of storage levels 2, each storage level 2 may include locations for storing articles 21, for example in the form of a shelf. Each storage level 2 may include an aisle 22 in which an autonomous mobile robot 4 can circulate to transport items to be stored or removed from stock.
Dans des exemples de réalisation non illustrés, un niveau de stockage 2 peut comprendre une pluralité d’allées pour la circulation des robots mobiles autonomes 4. Une allée 22 peut également desservir des étagères 21 parallèles. In embodiment examples not illustrated, a storage level 2 may include a plurality of aisles for the circulation of autonomous mobile robots 4. An aisle 22 may also serve parallel shelves 21.
Le rayonnage 1 peut en outre comprendre une ou plusieurs colonnes 3 (sous forme de puits) reliant la pluralité de niveaux de stockage 2 et permettant le déplacement des robots 4 d’un niveau 2 à l’autre, ou entre un niveau de stockage 2 et un niveau d’entrée/sortie. Par exemple, dans la figure 1 le niveau d’entrée/sortie peut être le niveau le plus bas (au niveau du sol), mais il peut aussi être le niveau le plus haut (le toit). Dans des exemples non illustrés, le niveau le plus bas peut être une entrée (ou sortie) et le niveau le plus haut une sortie (ou entrée). The shelving 1 may further comprise one or more columns 3 (in the form of wells) connecting the plurality of storage levels 2 and allowing the robots 4 to move from one level 2 to another, or between a storage level 2 and an input/output level. For example, in Figure 1 the entry/exit level can be the lowest level (ground level), but it can also be the highest level (the roof). In examples not illustrated, the lowest level may be an input (or output) and the highest level an output (or input).
La figure 2 montre une vue de dessus d’un niveau de stockage 2 comprenant un emplacement 21 pour stocker des articles 5 et une allée 22 dans laquelle circule un robot 4 mobile autonome. Par exemple, le robot 4 peut circuler sur des rails 220. Figure 2 shows a top view of a storage level 2 comprising a location 21 for storing articles 5 and an aisle 22 in which an autonomous mobile robot 4 circulates. For example, robot 4 can travel on rails 220.
Dans l’exemple, des articles 5 sont stockés dans trois contenant 7A, 7B disposés côte à côte dans l’emplacement 21 le long de l’allée 22. Le robot 4 comprend des bras télescopique 6A, 6A pour déplacer un contenant 7 depuis remplacement 21 de stockage vers le robot et inversement. In the example, items 5 are stored in three containers 7A, 7B arranged side by side in location 21 along aisle 22. The robot 4 includes telescopic arms 6A, 6A for moving a container 7 from storage replacement 21 to the robot and vice versa.
Un contenant 7 comprend un contenant principal 7A dans lequel sont posés les articles 5. Le contenant principal 7A comprend une paroi inférieure 7A1 et une paroi latérale 7A2. A container 7 comprises a main container 7A in which the articles 5 are placed. The main container 7A comprises a lower wall 7A1 and a side wall 7A2.
Dans des exemples non illustrés, le contenant principal 7A peut ne pas comprendre de paroi inférieure. In examples not illustrated, the main container 7A may not include a bottom wall.
Le contenant 7 comprend aussi une base 7B comprenant une paroi inférieure 7B1 et une paroi latérale 7B2 présentant un contour interne sensiblement identique au contour externe du contenant principal 7A auquel elle est fixée. La fixation peut être permanente lorsque les deux sont soit collés après fabrication ou fabriqués en même temps. La base peut être aussi fixée par emboîtement réversible au contenant principale pour pouvoir la remplacer seule ou remplacer le contenant principal seul.The container 7 also comprises a base 7B comprising a lower wall 7B1 and a side wall 7B2 having an internal contour substantially identical to the external contour of the main container 7A to which it is fixed. The attachment can be permanent when the two are either bonded after manufacture or manufactured at the same time. The base can also be fixed by reversible interlocking to the main container to be able to replace it alone or replace the main container alone.
Pour déplacer l’ensemble contenant 7A, 7B, le robot 4 comprend un préhenseur composé de deux bras télescopiques comprenant chacun une première partie 6A et une deuxième partie 6B agencée pour prolonger la première partie 6A. En outre, un crocher 6C (appelé aussi doigt) est agencé à l’extrémité de la deuxième partie 6B. Le doigt 6C est configuré pour aller au contact de la paroi du contenant lorsqu’il s’agit de le déplacer depuis l’emplacement de stockage vers le robot. Chaque bras télescopique peut également comprendre au moins un deuxième crochet pouvant être utiliser lorsqu’il s’agit de déplacer le contenant 7A, 7B depuis le robot vers l’emplacement de stockage 21 . To move the assembly containing 7A, 7B, the robot 4 comprises a gripper composed of two telescopic arms each comprising a first part 6A and a second part 6B arranged to extend the first part 6A. In addition, a hook 6C (also called finger) is arranged at the end of the second part 6B. The finger 6C is configured to come into contact with the wall of the container when it comes to moving it from the storage location towards the robot. Each telescopic arm can also include at least one second hook that can be used when it comes to moving the container 7A, 7B from the robot to the storage location 21.
La figure 3 montre schématiquement une vue de côté montrant un emplacement de stockage 21 sous forme d’une étagère sur laquelle sont posés deux contenant 7 côte à côte, chaque contenant principal 7A porte des articles 5 stockés. Les bases 7B des deux contenant 7 ont des épaisseurs permettant de garder une distance d supérieure à l’épaisseur des bras 6 du préhenseur du robot. Ceci garantit qu’il est toujours possible au robot de passer les bras du préhenseur des deux côtés d’un contenant 7A, 7B. Figure 3 schematically shows a side view showing a storage location 21 in the form of a shelf on which two containers 7 are placed side by side, each main container 7A carries stored items 5. The bases 7B of the two containing 7 have thicknesses making it possible to keep a distance d greater than the thickness arms 6 of the robot gripper. This ensures that it is always possible for the robot to pass the gripper arms on both sides of a container 7A, 7B.
La base 7B est plus résistante à l’usure que le contenant principal, ceci est avantageux car cette partie est plus soumise à des contraintes lors de la translation du contenant entre le robot 4 et l’emplacement de stockage 21 . The base 7B is more resistant to wear than the main container, this is advantageous because this part is more subject to stress during the translation of the container between the robot 4 and the storage location 21.
Avantageusement, un revêtement protecteur 8 peut être ajouté. Le revêtement 8 peut également avoir un faible coefficient de frottement. Advantageously, a protective coating 8 can be added. The coating 8 can also have a low coefficient of friction.

Claims

REVENDICATIONS Contenant (7) adapté pour le transport d’articles dans un système (1 ) de stockage automatisé présentant un niveau de stockage (2) comprenant une étagère (21 ) apte à recevoir ledit contenant et une allée (22) le long de ladite étagère (21 ) dans laquelle peut circuler un robot mobile autonome (4) pour déposer ledit contenant (7) sur ladite étagère (21 ) ou le reprendre de celle-ci, le contenant est caractérisé en ce qu’il comprend : CLAIMS Container (7) adapted for the transport of articles in an automated storage system (1) having a storage level (2) comprising a shelf (21) capable of receiving said container and an aisle (22) along said shelf (21) in which an autonomous mobile robot (4) can circulate to place said container (7) on said shelf (21) or take it back from it, the container is characterized in that it comprises:
- un contenant principal (7A) adapté pour recevoir des articles (5), ledit contenant principal (7A) comprenant une paroi latérale (7A2) et présentant un contour externe, - a main container (7A) adapted to receive articles (5), said main container (7A) comprising a side wall (7A2) and having an external contour,
- une base (7B) comprenant une paroi inférieure (7B1 ) et une paroi latérale (7B2) présentant un contour interne sensiblement identique au contour externe du contenant principal (7A) et est fixée à celui-ci, au moins une surface extérieure de ladite paroi inférieure présente une résistance à l’usure plus élevée que celle du contenant principal (7A). Contenant (7) selon la revendication précédente dans lequel la base (7B) est fixée au contenant principal (7A) par emboîtement. Contenant (7) selon la revendication 1 dans lequel la base (7B) est solidaire du contenant principal (7A) et forme avec lui un corps unique. Contenant selon l’une des revendications précédentes dans lequel la paroi latérale (7B2) de la base présente une hauteur inférieure à la moitié ou au tier ou au quart de la hauteur du contenant principal. Contenant (7) selon l’une des revendications précédentes dans lequel la surface extérieure de la paroi inférieure de la base (7B) comprend un revêtement protecteur (8). Contenant (7) selon la revendication précédente dans lequel le revêtement (8) a un faible coefficient de frottement. Contenant (7) selon l’une des revendications précédentes dans lequel le contenant principal (7A) et la base (7B) sont en carton. Système de stockage automatisé d’articles comprenant un contenant (7) selon l’une des revendications précédentes. Système de stockage automatisé d’articles selon la revendication précédente comprenant en outre un robot mobile autonome (4) muni de deux bras télescopiques configurés pour déplacer le contenant (7) par translation depuis le robot mobile autonome (4) vers une étagère (21 ) et inversement, dans lequel la paroi latérale (7B2) de la base présente deux premiers côtés opposés dont l’épaisseur est supérieure à la moitié de l’épaisseur d’un bras télescopique (6) Système de stockage automatisé d’articles selon la revendication précédente dans lequel la paroi latérale (7B2) de la base présente deux deuxièmes côtés orthogonaux aux premiers côtés et opposés l’un à l‘autre, chaque deuxième coté présentant une épaisseur supérieure à la moitié de l’épaisseur d’un doigt (6C) dudit bras télescopique, configuré pour se mettre au contact avec l’un desdits deuxièmes côtés. Procédé de stockage automatisé d’articles utilisant un système de stockage automatisé selon l’une des revendications 8 à 10. - a base (7B) comprising a lower wall (7B1) and a side wall (7B2) having an internal contour substantially identical to the external contour of the main container (7A) and is fixed thereto, at least one exterior surface of said lower wall has higher wear resistance than that of the main container (7A). Container (7) according to the preceding claim in which the base (7B) is fixed to the main container (7A) by interlocking. Container (7) according to claim 1 in which the base (7B) is integral with the main container (7A) and forms with it a single body. Container according to one of the preceding claims in which the side wall (7B2) of the base has a height less than half or a third or a quarter of the height of the main container. Container (7) according to one of the preceding claims in which the exterior surface of the lower wall of the base (7B) comprises a protective coating (8). Container (7) according to the preceding claim in which the coating (8) has a low coefficient of friction. Container (7) according to one of the preceding claims in which the main container (7A) and the base (7B) are made of cardboard. Automated article storage system comprising a container (7) according to one of the preceding claims. Automated article storage system according to the preceding claim further comprising an autonomous mobile robot (4) provided with two telescopic arms configured to move the container (7) by translation from the autonomous mobile robot (4) towards a shelf (21) and vice versa, in which the side wall (7B2) of the base has two first opposite sides whose thickness is greater than half the thickness of a telescopic arm (6). Automated article storage system according to claim previous in which the side wall (7B2) of the base has two second sides orthogonal to the first sides and opposite each other, each second side having a thickness greater than half the thickness of a finger (6C ) of said telescopic arm, configured to come into contact with one of said second sides. Method for automated storage of articles using an automated storage system according to one of claims 8 to 10.
PCT/EP2023/078846 2022-10-18 2023-10-17 Storage container and automated article storage system WO2024083835A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FRFR2210755 2022-10-18
FR2210755A FR3140869A1 (en) 2022-10-18 2022-10-18 STORAGE CONTAINER AND AUTOMATED ITEM STORAGE SYSTEM

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WO2024083835A1 true WO2024083835A1 (en) 2024-04-25

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Citations (7)

* Cited by examiner, † Cited by third party
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US2746668A (en) * 1952-06-06 1956-05-22 Caesar H D Antonio Merchandise case having a detachable moisture proof bottom tray
US2927712A (en) * 1958-06-23 1960-03-08 Sr Albert Armato Cooler unit
GB2310198A (en) * 1996-02-15 1997-08-20 Assidomon Packaging Uk Ltd Composite packaging containers
US20190077576A1 (en) * 2017-09-11 2019-03-14 Drayton G. Miller One-piece insulating container and template for making the same
EP3705413A1 (en) * 2019-03-08 2020-09-09 progress packaging GmbH Insulating package
FR3115774A1 (en) * 2020-11-05 2022-05-06 Fives Syleps SIMPLIFIED AUTOMATED STORAGE SYSTEM
EP3995416A1 (en) * 2019-11-29 2022-05-11 Beijing Geekplus Technology Co., Ltd. Container storage system, warehousing system, and robot

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2746668A (en) * 1952-06-06 1956-05-22 Caesar H D Antonio Merchandise case having a detachable moisture proof bottom tray
US2927712A (en) * 1958-06-23 1960-03-08 Sr Albert Armato Cooler unit
GB2310198A (en) * 1996-02-15 1997-08-20 Assidomon Packaging Uk Ltd Composite packaging containers
US20190077576A1 (en) * 2017-09-11 2019-03-14 Drayton G. Miller One-piece insulating container and template for making the same
EP3705413A1 (en) * 2019-03-08 2020-09-09 progress packaging GmbH Insulating package
EP3995416A1 (en) * 2019-11-29 2022-05-11 Beijing Geekplus Technology Co., Ltd. Container storage system, warehousing system, and robot
FR3115774A1 (en) * 2020-11-05 2022-05-06 Fives Syleps SIMPLIFIED AUTOMATED STORAGE SYSTEM

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