Automatic storage system comprising shuttle for transporting storage aids

Abstract

The invention relates to an automated storage system (2) comprising at least one shuttle (1) and a shelf having a plurality of shelf posts (3), said shuttle (1) being designed to climb vertically on two adjacent shelf posts (3) by frictional connection, said automated storage system having the following features: a plurality of floor contact wheels (4); at least one load receiving device (L); two motor-driven friction wheels (5) arranged at a friction wheel gauge for climbing perpendicular to the friction wheels; and a first pair (6) of counter-pressure wheels (7), which counter-pressure wheels (7) are movable by the shuttle vehicle controller between a docking position and a climbing position, in which the shuttle vehicle (2) is coupled to two adjacent shelf posts (3), and in which the shuttle vehicle (2) is disengaged from two adjacent shelf posts (3). In the climbing position, the counter-pressure wheel gauge substantially corresponds to the friction wheel gauge, and at least a part of one rack column (3) is arranged between one friction wheel (5) and one counter-pressure wheel (7).

Description

Technical Field

[0001] The present invention relates to an automated storage system having the features of the preamble of claim 1. Background Art

[0002] Automated storage systems are known in the field of warehouse logistics for automatically storing goods in a warehouse and retrieving goods therefrom. Such storage systems are used in modern logistics to allow for the agile, rapid, and individual fulfillment of purchase orders. To this end, the storage system typically includes means for picking goods in order to process purchase orders comprising a variety of different products. However, such storage systems are also used as warehouses, for example in the automotive industry, where, for example, a large number of different parts must be stored in a common warehouse and must be retrievable within a short time.

[0003] In the prior art, storage systems designed in the form of high racks are known. Among them, goods are stored in storage spaces formed by the racks. Such storage systems typically include so-called automated storage and retrieval cranes (stacker cranes) or shuttles for depositing goods into the storage spaces and retrieving goods therefrom.

[0004] As part of depositing goods into the storage spaces and retrieving goods therefrom, the goods are vertically transported along the rack uprights of the racks. For example, this can be done directly by the shuttle, for which the shuttle climbs up the rack uprights. In the process, the corresponding shuttle is typically coupled into the corresponding rack upright and is made to climb using, for example, a chain or a gear drive that engages with the rack upright. The disadvantage of such a system is that due to the adjustments required therefor or the special shape of the rack uprights, the manufacturing cost of the entire storage system increases. In addition, such a system is accompanied by high wear and tear, thus increasing the operating cost. Furthermore, in such a system, a coupling area is provided in the ground area below the racks, and the rack uprights have a special shape in the coupling area so that the shuttle can be locked or coupled to the rack uprights.

[0005] US10730696 B2 discloses a storage system comprising a plurality of racks and shuttles, wherein the shuttles can move vertically on the rack uprights.

[0006] EP 3960658 A1 discloses a charging vehicle for a stacking storage device, the chassis of the charging vehicle having two wheel assemblies, wherein the charging vehicle can move in a first direction by means of the first wheel assembly and can move in a second direction that is transverse or perpendicular to the first direction by means of the second wheel assembly.

[0007] EP 3992115 A1 discloses a shuttle vehicle for horizontal and vertical travel in a racking system, which has a vertical wing with a pivot axis so that two rotatable wheel axles of the rotatable wheels of the shuttle vehicle pivot about the pivot axis between two positions.

[0008] EP 3943417 A1 discloses a warehouse robot for storing and retrieving goods in a high-bay warehouse, which includes a climbing member slidably connected to a lower frame of the robot.

[0009] EP 3901067 A1 discloses a transport device for picking items on horizontal and vertical tracks in large racks inside a warehouse. The transport device consists of a vehicle body, a traveling mechanism, and a crawling assembly.

[0010] WO 2022 / 109452 A2 discloses an automated vehicle for a warehousing system, for storing loads in vertically arranged levels in a rack having rack uprights. On the automated vehicle, each pair of wheels is rotatably mounted on a chassis, and a motor is used to drive the pair of wheels.

[0011] US2021 / 0047112 A1 discloses a vehicle that can move along a horizontal surface to a position beside a movable track in a material handling system.

[0012] WO 2023 / 001449 A1 discloses a motor vehicle for transporting a load, which includes at least three wheels that can pivot by at least 90°. Summary of the Invention

[0013] The object of the present invention is to provide an automated warehousing system that avoids the disadvantages of the prior art.

[0014] According to the present invention, this object is achieved by providing an automated warehousing system having the features of claim 1.

[0015] The automated warehousing system according to the present invention includes a shuttle vehicle for transporting warehousing auxiliary tools and at least one rack located on the ground and including a plurality of rack uprights. The shuttle vehicle is designed to be movable on the ground and vertically climb the rack by frictionally connecting to two adjacent rack uprights. In addition, the shuttle vehicle includes a plurality of ground contact wheels for moving the shuttle vehicle on the ground and at least one load handling device for receiving warehousing auxiliary tools. Furthermore, the shuttle vehicle also includes: two motor-driven friction wheels arranged at a certain friction wheel gauge for vertical friction wheel crawling on the vertical surfaces of two adjacent rack uprights of the rack; and a first pair of back pressure wheels.

[0016] The counter-pressure wheels can be displaced between a docking position and a climbing position by means of the shuttle controller of the shuttle, wherein in the climbing position the shuttle is coupled to two adjacent rack uprights, and in the docking position the shuttle is disengaged from the two adjacent rack uprights. In the climbing position, the counter-pressure wheels are arranged at a counter-pressure wheel gauge that substantially corresponds to the friction wheel gauge. In the climbing position, each rack upright is at least partially arranged between a friction wheel and a counter-pressure wheel. In the docking position, the counter-pressure wheels are further disengaged from the rack uprights.

[0017] Since the shuttle climbs the rack by means of two motor-driven friction wheels that are frictionally connected to two adjacent rack uprights, and these two friction wheels are arranged at a friction wheel gauge for vertical frictional wheel climbing on the vertical surfaces of two adjacent rack uprights of the rack, the advantage obtained is that the rack uprights themselves do not have to include perforations or additional mechanical devices, such as gear racks, etc., to enable the shuttle to be coupled or attached to the rack uprights. Due to the friction wheels and the first pair of counter-pressure wheels, wherein in the climbing position the first pair of counter-pressure wheels are arranged at a counter-pressure wheel gauge that substantially corresponds to the friction wheel gauge in the climbing position, the shuttle can provide sufficient gripping force on the corresponding rack uprights only due to the static friction of the friction wheels and can perform vertical ascent and decelerated descent along the rack uprights. The displaceability of the counter-pressure wheels between the docking position and the climbing position enables the shuttle to be coupled into or onto the corresponding rack uprights after the shuttle is positioned in front of the rack uprights.

[0018] Preferably, in the docking position, the counter-pressure wheel gauge of the counter-pressure wheels is smaller than the friction wheel gauge to allow the counter-pressure wheels of the shuttle to be inserted between adjacent rack uprights in the rack. By inserting the counter-pressure wheels between the rack uprights in the docking position and moving the counter-pressure wheels to the climbing position, each rack upright is at least partially respectively arranged between a friction wheel and at least one counter-pressure wheel. This makes the coupling mechanism particularly simple and robust in terms of mechanical structure.

[0019] According to another embodiment variant, the counter-pressure wheels are pivotally mounted, and the shuttle controller is designed to pivot the counter-pressure wheels from the docking position to the climbing position and from the climbing position to the docking position. Thus, a simple and robust coupling mechanism is also achieved.

[0020] The two friction wheels are preferably formed by two of a plurality of ground contact wheels of the shuttle. The advantage obtained is that the two ground contact wheels can be used simultaneously for climbing the rack uprights. Therefore, components of the shuttle can be omitted, thereby reducing the weight of the shuttle, making the shuttle have a simpler design and lower production costs.

[0021] According to a preferred embodiment variant of the storage system according to the invention, the friction wheels are mounted in an adjustable manner, and the shuttle controller is designed to: reduce the axial spacing between the friction wheels and the counter-pressure wheels when the counter-pressure wheels are adjusted to the climbing position; press the friction wheels against two adjacent rack uprights; and clamp at least parts of the two adjacent rack uprights between a friction wheel and a counter-pressure wheel respectively. As a result, due to the high normal force with which the friction wheels press against the rack uprights, a firm connection and a high static friction are achieved between the rack uprights and the friction wheels.

[0022] Particularly preferably, the friction wheels are mounted in an adjustable manner, and the shuttle controller is designed to lift the friction wheels from the rack uprights when the counter-pressure wheels are adjusted to their docking position. Thus, detachment of the shuttle or the friction wheels from the rack uprights can be achieved.

[0023] According to another embodiment of the storage system according to the invention, the counter-pressure wheels are mounted in an adjustable manner, and the shuttle controller is designed to reduce the axial spacing between the friction wheels and the counter-pressure wheels when the counter-pressure wheels are adjusted to their climbing position, press the counter-pressure wheels against two adjacent rack uprights, and clamp at least parts of the two adjacent rack uprights between a friction wheel and a counter-pressure wheel respectively. As a result, a high normal force acting on the friction wheels can also be generated.

[0024] Furthermore, according to an alternative embodiment variant, the counter-pressure wheels can be mounted in an adjustable manner, and the shuttle controller can be designed to lift the counter-pressure wheels from the rack uprights when the counter-pressure wheels are adjusted to their docking position. As a result, detachment of the shuttle from the rack uprights can also be achieved.

[0025] Each friction wheel preferably has a ground contact surface and a rack upright contact surface, and the rolling circumference of the friction wheel in the region of the ground contact surface is greater than the rolling circumference in the region of the rack upright contact surface. The advantage obtained thereby is that the corresponding friction wheel can move on the ground using the ground contact surface and can move on the vertical surface of the rack upright using the rack upright contact surface. In this way, the rack upright contact surface is not soiled by the travel of the shuttle on the ground that may be contaminated or on the ground under the rack.

[0026] According to a preferred embodiment variant of the storage system according to the invention, the shuttle includes a second pair of counter-pressure wheels, which are arranged at a distance from the first pair of counter-pressure wheels. Thereby, a more uniform load distribution on the rack uprights is achieved.

[0027] Preferably, in the climbing position, the friction wheels and the first pair of counter-pressure wheels are substantially arranged in a horizontal plane. As a result, a particularly high clamping force can be achieved while preventing excessive bending moments acting on the rack uprights.

[0028] According to a preferred embodiment variant of the storage system according to the present invention, the shuttle includes a backpressure wheel rocker. The rocker pivot point of the backpressure wheel rocker is located at the fixed end of the backpressure wheel rocker, and its free end is arranged opposite to the rocker pivot point. The free end of the backpressure wheel rocker is preferably connected to the spring bearing of the backpressure wheel rocker, and a first pair of backpressure wheels are arranged in the region of the free end of the backpressure wheel rocker. The advantage obtained thereby is that a uniform clamping force F of the backpressure wheel is provided by the spring bearing. k . In addition, the irregularities along the rack upright can be balanced thereby. In addition, a second pair of backpressure wheels is preferably arranged in the region of the fixed end of the backpressure wheel rocker.

[0029] Preferably, the cross-section of the rack upright at least partially substantially corresponds to a T-shape. The advantage obtained thereby is that the rack upright can be easily manufactured at low cost while exhibiting high load-bearing capacity and torsional stiffness. In addition, this creates a good opportunity for the friction wheels and the backpressure wheels to clampingly engage the rack upright in the climbing position.

[0030] Preferably, the storage system includes at least two shuttles, wherein these shuttles are designed to at least partially respectively accommodate the same rack upright between at least one friction wheel and at least one backpressure wheel arranged opposite to each other on the rack upright in the climbing position, and these shuttles can move past each other along the rack upright. The advantage obtained thereby is that the shuttles moving vertically side by side on the rack do not block each other. This results in an increase in the inbound and outbound speeds of the storage system according to the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The automatic storage system according to the present invention and its preferred and alternative embodiment variants will be explained in more detail below with reference to the accompanying drawings.

[0032] Figure 1a The shuttle of the storage system according to the present invention in a preferred embodiment variant is shown in a three-dimensional view, wherein the backpressure wheels are arranged in the docking position.

[0033] Figure 1b Shown in a side view Figure 1a the shuttle in.

[0034] Figure 1c Shown in a top view Figure 1a the shuttle in.

[0035] Figure 2a The shuttle of the storage system according to the present invention is shown in a three-dimensional view, wherein the backpressure wheels are arranged in the climbing position.

[0036] Figure 2b Shown in a top view Figure 2a the shuttle in.

[0037] Figure 3aThe shuttle vehicle of the storage system according to the present invention is shown in a perspective view, wherein the counter-pressure wheels are arranged in the climbing position, and the axial distance between the friction wheels and the counter-pressure wheels of the shuttle vehicle has been additionally reduced.

[0038] Figure 3b Shown in a side view Figure 3a the shuttle vehicle in.

[0039] Figure 3c Shown in a top view Figure 3a the shuttle vehicle in.

[0040] Figure 4 A detailed view showing the counter-pressure wheel rocker of the shuttle vehicle is shown.

[0041] Figure 5 Two shuttle vehicles arranged adjacent to each other adjacent to the same rack column are shown.

[0042] Figure 6 The rack column of the storage system according to the present invention is shown in a perspective view. Detailed implementation

[0043] Figure 1a The shuttle vehicle 1 of the storage system 2 according to a variant of the preferred embodiment of the present invention is shown. For a comprehensive illustration of the structural details of the shuttle vehicle 1, Figure 1b is also shown in a side view Figure 1a the shuttle vehicle in, Figure 1c shown in a plan view Figure 1a the shuttle vehicle 1 in. The storage system 2 according to the present invention includes at least one shuttle vehicle 1 for transporting storage auxiliary tools (not shown in the figure) and at least one rack placed on the ground and including a plurality of rack columns 3. Figure 1a The shuttle vehicle 1 is shown in a position on the ground not separately shown in the figure. The shuttle vehicle 1 is designed to move on the ground and vertically climb the rack by friction connection on two adjacent rack columns 3. For this purpose, the shuttle vehicle 1 includes a plurality of ground contact wheels 4 for moving the shuttle vehicle 1 on the ground, and Figure 1c two motor-driven friction wheels 5 arranged at the friction wheel gauge RS visible in, for vertical friction wheel climbing on the vertical surfaces of two adjacent rack columns 3 of the rack. In addition, the shuttle vehicle 1 includes at least one load handling device not separately shown in the figure for receiving a storage auxiliary device also not shown. In addition, the shuttle vehicle 1 further includes a first pair of counter-pressure wheels 7. The counter-pressure wheels 7 can be controlled by the shuttle vehicle controller of the shuttle vehicle 1 in Figures 1a to 1c the docking position shown in and Figures 2a to 3cmove between the visible climbing positions. At the climbing positions, the shuttle 1 is coupled to two adjacent rack columns 3, and at the docking position, the shuttle 1 is separated from the two adjacent rack columns 3. At the climbing positions, the counter-pressure wheels 7 are also arranged with a counter-pressure wheel gauge GS that substantially corresponds to the friction wheel gauge RS, wherein, at the climbing positions, each rack column 3 is at least partially arranged between a friction wheel 5 and a counter-pressure wheel 7. This can be seen in Figure 2b and Figure 3c . At the docking position, the counter-pressure wheels 7 are in a position disengaged from the rack columns 3, as shown in Figure 1c . At the climbing positions, when a torque generated, for example, by the motor of the shuttle 1 is applied to the friction wheels 5, due to the inclination of the route of the shuttle 1 relative to the rack columns 3, the self-weight G of the shuttle 1 causes the counter-pressure wheels 7 and the friction wheels 8 to bear against the vertical surfaces of the rack columns 3. As a result, normal forces N are generated on these vertical surfaces, thereby increasing the friction of the friction wheels 5 on the rack columns 3 and enabling the shuttle 1 to climb up and down along the rack columns 3 in a controlled manner. The self-weight G and the normal forces N are visible in Figure 4 .

[0044] According to a preferred embodiment variant of the storage system 2 according to the invention, as shown in Figure 1c , at the docking position of the counter-pressure wheels 7, the counter-pressure wheel gauge GS is smaller than the friction wheel gauge RS, thereby allowing the counter-pressure wheels 7 of the shuttle 1 to be inserted into the rack between two adjacent rack columns 3. According to this embodiment variant shown in FIG. 1, at the docking position, the counter-pressure wheel gauge GS is smaller than the friction wheel gauge RS, and at the climbing positions shown in Figure 2b and Figure 3b when viewed from above, the counter-pressure wheel gauge GS substantially corresponds to the friction wheel gauge RS. Thus, according to this embodiment variant, the counter-pressure wheel gauge GS is variable. As a result, the shuttle 1 with the counter-pressure wheels 7 in the docking position can be positioned between two adjacent rack columns 3. Preferably, the friction wheel gauge RS also substantially corresponds to the distance between two adjacent rack columns 3, such that during the friction wheel climbing process, the friction wheels 5 bear against the vertical surfaces of the two adjacent rack columns 3 of the rack. According to an alternative embodiment variant of the storage system 2 according to the invention (which is not shown in the figures), the counter-pressure wheels 7 are pivotally mounted, and the shuttle controller is designed to move the counter-pressure wheels 7 from the docking position to the climbing position and from the climbing position to the docking position. As a result, it is also achieved that each rack column 3 is at least partially arranged between a friction wheel 5 and a counter-pressure wheel 7.

[0045] The two friction wheels 5 are preferably formed by two of the several ground contact wheels 4 of the shuttle. As a result, these two ground contact wheels 4 achieve the dual functions of being ground contact wheels 4 and friction wheels 5, thereby reducing the number of components required for the shuttle 1.

[0046] As shown inFigures 3a to 3c As shown, the friction wheel 5 is preferably mounted in an adjustable manner, and the shuttle controller is designed to: reduce the axial spacing A between the friction wheel 5 and the counter-pressure wheel 7 when the counter-pressure wheel 7 is adjusted to its climbing position; press the friction wheel 5 against two adjacent rack columns 3; and clamp each of the two adjacent rack columns 3 at least partially between a friction wheel 5 and a counter-pressure wheel 7. This state is clearly visible in Figure 3c where, in this case, a part of the rack column 3 is clamped by the counter-pressure wheel 7 and the friction wheel 5. The adjustability of the friction wheel 5 is preferably ensured by an eccentric mechanism 11, and the corresponding friction wheel is attached to the eccentric mechanism 11. The adjustability of the friction wheel 5 provides the advantage that a high clamping force F acting on the rack column 3 k , as Figure 4 shown, can be achieved by the friction wheel 5 and the first pair of 6 counter-pressure wheels 7, so that even heavy loads can be transported by the shuttle 1.

[0047] In a variant of an embodiment of the storage system 2 according to the invention, which is not visible in the figure, the counter-pressure wheel 7 is mounted in an adjustable manner, and the shuttle controller is designed to: reduce the axial spacing A between the friction wheel 5 and the counter-pressure wheel 7 when the counter-pressure wheel 7 is adjusted to its climbing position; and press the counter-pressure wheel 7 against two adjacent rack columns 3; and clamp each of the two adjacent rack columns 3 at least partially between a friction wheel 5 and a counter-pressure wheel 7. By this clamping method, a simple and robust clamping system is provided, which uses conventional rack columns 3 constructed in a simple manner and at low cost, for example made of sheet metal, thus reducing the manufacturing and operating costs of the storage system 2 according to the invention.

[0048] Preferably, the friction wheel 5 is mounted in an adjustable manner, and the shuttle controller is also designed to lift the friction wheel 5 from the rack column 3 when the counter-pressure wheel 7 is adjusted to its docking position. According to an alternative variant of an embodiment not shown in the figure, the counter-pressure wheel 7 is mounted in an adjustable manner, and the shuttle controller is designed to lift the counter-pressure wheel 7 from the rack column 3 when the counter-pressure wheel 7 is adjusted to its docking position. Thereby, a simple and rapid decoupling mechanism is provided.

[0049] According to a preferred embodiment variant of the storage system 2 according to the invention, each friction wheel 5 has a ground contact surface and a rack column contact surface, and the friction wheel 5 has a larger rolling circumference in the region of the ground contact surface than in the region of the rack column contact surface. This is not visible in the figure. As a result, the shuttle 1 can travel on the ground on the ground contact surface of the friction wheel 5, while during the climbing of the friction wheel along the rack column 3, the rack column contact surface abuts against the corresponding vertical surfaces of two adjacent rack columns 3 of the rack. As a result, contamination of the rack column contact surface is avoided, so that a consistently high static friction between the rack column 3 and the friction wheel 5 can be reliably achieved.

[0050] As shown in the figure, in a preferred embodiment variant of the storage system 2 according to the invention, the shuttle 1 has a second pair 8 of counter-pressure wheels 7, which are arranged at a certain distance from the first pair 6 of counter-pressure wheels 7. This provides additional support for the shuttle 1 on the rack column 3. As shown in the figure, in the climbing position, the friction wheel 5 and the first pair 6 of counter-pressure wheels 7 are substantially arranged in a plane. In this way, it is ensured that the rack column 3 does not deform under a high clamping force.

[0051] The shuttle 1 preferably includes a counter-pressure wheel rocker 9, the rocker pivot point of which is located at the fixed end 12 of the counter-pressure wheel rocker 9, and its free end 13 is arranged opposite to the rocker pivot point. Figure 4 The counter-pressure wheel rocker 9 is depicted in detail. The free end 13 of the counter-pressure wheel rocker 9 is connected to the spring bearing 14 of the counter-pressure wheel rocker 9, and the first pair 6 of counter-pressure wheels 7 is arranged in the region of the free end 13 of the counter-pressure wheel rocker 9. This provides a uniform clamping force between the first pair 6 of counter-pressure wheels 7 and the friction wheel 5. As Figure 4 shown, the second pair 8 of counter-pressure wheels 7 is preferably arranged in the region of the fixed end 12 of the counter-pressure wheel rocker 9. Due to the weight of the shuttle 1, a lever action is generated, which presses the second pair 8 of counter-pressure wheels 7 against the rack column 3.

[0052] As Figure 4 shown, the second pair 8 of counter-pressure wheels 7 is preferably located at a distance y above the first pair 6. Thus, according to the lever principle, the center of gravity S of the shuttle 1 (which extends a distance x and the gravity G acts at this position) increases the normal force N of the friction wheel 5 on the rack column 3 by the lever force Fh:

[0053] Fh = G * x / y

[0054] N = Fk + Fh

[0055] Preferably, the cross-section of the rack column 3 has a substantially corresponding T-shaped part. For example, this can be in Figure 1a , Figure 1c , Figure 3a and Figure 3cas seen in. As a result, the advantage is obtained that the rack upright 3 can be easily manufactured at low cost while exhibiting high load-bearing capacity and torsional stiffness. In addition, this creates good opportunities for the friction wheel 5 and the counter-pressure wheel 7 to engage the rack upright 3 tightly in the climbing position. The T-shaped part of the cross-section of the rack upright 3 is preferably realized by a multi-part structure of the rack upright. For example, in Figure 6 In the preferred embodiment variant shown, the rack upright 3 of the storage system 2 according to the invention comprises a base profile 31, to which two C-shaped profiles 32 arranged adjacent to each other on their longitudinal sides are attached in such a way that, as shown in the cross-section of the C-shaped profile 32, the base side of the C-shaped profile 32 abuts against the base profile 31. Thus, a part of the C-shaped profile 32 arranged opposite the base profile 31 forms the T-shaped part of the cross-section of the rack upright 3.

[0056] As Figure 5 shown, the storage system 2 according to the invention preferably comprises at least two shuttle cars 1, which are designed to simultaneously accommodate at least part of the same rack upright 3 between at least one friction wheel 5 and at least one counter-pressure wheel 7 arranged opposite each other on the rack upright 3 in the climbing position, and these shuttle cars 1 can move past each other along the rack upright 3. The advantage obtained thereby is that the shuttle cars 1 moving vertically side by side on the rack do not block each other. This results in an increased access speed of the storage system 2 according to the invention. For example, as Figure 5 shown, the shuttle cars 1 can each clamp a part of a shared rack upright 3 between one of their friction wheels 5 and one counter-pressure wheel 7 and are able to move past each other in a climbing manner. When viewed from the cross-section of the rack upright, this part preferably has a T-shaped design.

[0057] In the storage system 1 according to the invention and in storage systems according to the prior art, the storage speed can be increased by a method of depositing and / or retrieving goods in the storage space of the storage system 2, where the storage system 2 comprises a rack which is placed on the ground and comprises a plurality of rack uprights 3 and at least two shuttle cars 1. For example, the method can be described as follows.

[0058] A method of depositing and / or retrieving goods in the storage space of a storage system 2, where the storage system 2 comprises a rack which is placed on the ground and comprises a plurality of rack uprights 3 and at least two shuttle cars 1, each of which can move vertically on the vertical surfaces of two adjacent rack uprights 3 of the rack, the method comprising the following steps:

[0059] Each shuttle car 1 performs vertical friction-wheel climbing along two adjacent rack uprights 3 of the rack, and

[0060] During the process of the shuttle vehicle 1 climbing by means of vertical friction wheels, two shuttle vehicles 1 arranged opposite to each other on the rack upright 3 move past each other.

[0061] Due to this method, the following advantages are obtained: The shuttle vehicle 1 can use any adjacent rack upright 3 to climb onto the rack without having to consider whether another shuttle vehicle 1 adjacent to these rack uprights 3 has also climbed onto or down from the rack. Therefore, compared with the method according to the prior art, the storage and retrieval speeds are significantly increased.

Claims

1. An automated storage system (2), having at least one shuttle (1) for transporting storage aids and at least one rack disposed on the ground and including a plurality of rack uprights (3), the shuttle (1) being designed to move on the ground and vertically climb the rack by frictional connection to two adjacent rack uprights (3), and having the following features: A plurality of ground contact wheels (4) for moving the shuttle (1) on the ground; At least one load handling device (L) for receiving storage aids; Two motor-driven friction wheels (5), arranged in a friction wheel gauge, for vertical friction wheel climbing on the vertical surfaces of the two adjacent rack uprights (3) of the rack; And A first pair (6) of back pressure wheels (7), Characterized in that The back pressure wheels (7) are movable between a docking position and a climbing position by a shuttle controller of the shuttle (1), and in the climbing position the shuttle (1) is coupled to the two adjacent rack uprights (3) and in the docking position the shuttle (1) is disengaged from the two adjacent rack uprights (3), Wherein, in the climbing position, the back pressure wheels (7) are arranged in a back pressure wheel gauge that substantially corresponds to the friction wheel gauge, and each rack upright (3) is at least partially arranged between one of the friction wheels (5) and one of the back pressure wheels (7), and Wherein, in the docking position, the back pressure wheels (7) are positioned so as not to engage with the rack uprights (3).

2. The automatic storage system (2) according to claim 1, characterized in that, In the docking position, the back pressure wheel gauge of the back pressure wheels (7) is smaller than the friction wheel gauge, thereby allowing the back pressure wheels (7) of the shuttle (1) to be inserted into the rack between adjacent rack uprights (3).

3. The automatic storage system (2) according to claim 1, wherein The back pressure wheels (7) are pivotally mounted, and the shuttle controller is designed to pivot the back pressure wheels (7) from the docking position to the climbing position and from the climbing position to the docking position.

4. The automated storage system (2) according to any one of claims 1 to 3, characterized in that, The two friction wheels (5) are formed by two of the plurality of ground contact wheels (4) of the shuttle (1).

5. The automatic storage system (2) according to any one of claims 1 to 4, characterized in that The friction wheels (5) are adjustably mounted, and the shuttle controller is designed to: when the back pressure wheels (7) are adjusted to the climbing position, reduce the axial spacing (A) between the friction wheels (5) and the back pressure wheels (7); press the friction wheels (5) against the two adjacent rack uprights (3); and clamp at least part of the two adjacent rack uprights between one of the friction wheels (5) and one of the back pressure wheels (7).

6. The automated storage system (2) according to any one of claims 1 to 5, characterized in that The friction wheels (5) are adjustably mounted, and the shuttle controller is designed to lift the friction wheels (5) from the rack uprights (3) when the back pressure wheels (7) are adjusted to their docking position.

7. The automated storage system (2) according to any one of claims 1 to 4, characterized in that The counter-pressure wheel (7) is mounted in an adjustable manner, and the shuttle controller is designed such that when the counter-pressure wheel (7) is adjusted to its climbing position, the axial spacing (A) between the friction wheel (5) and the counter-pressure wheel (7) is reduced; the counter-force wheel (7) is pressed against the two adjacent rack uprights (3); and at least part of the two adjacent rack uprights (3) are respectively clamped between one friction wheel (5) and one counter-pressure wheel (7).

8. The automatic storage system (2) according to any one of claims 1 to 4 or claim 7, characterized in that, The counter-pressure wheel (7) is mounted in an adjustable manner, and the shuttle controller is designed such that when the counter-pressure wheel (7) is adjusted to its docking position, the counter-pressure wheel (7) is lifted from the rack upright (3).

9. The automated storage system (2) according to any one of claims 1 to 8, characterized in that, Each friction wheel (5) has a ground contact surface and a rack upright contact surface, and the rolling circumference of the friction wheel (5) in the region of the ground contact surface is greater than the rolling circumference in the region of the rack upright contact surface.

10. The automatic storage system (2) according to any one of claims 1 to 9, characterized in that, The shuttle (1) includes a second pair (8) of counter-pressure wheels (7), and the second pair (8) of counter-pressure wheels (7) are arranged at a distance from the first pair (6) of counter-pressure wheels (7).

11. The automatic storage system (1) according to any one of claims 1 to 10, characterized in that, In the climbing position, the friction wheel (5) and the first pair (6) of counter-pressure wheels (7) are substantially arranged in a horizontal plane.

12. The automatic storage system (2) according to any one of claims 1 to 11, characterized in that, The shuttle (1) includes a counter-pressure wheel rocker (9), the rocker pivot point of the counter-pressure wheel rocker (9) is located at the fixed end (12) of the counter-pressure wheel rocker (9), and its free end (13) is arranged opposite to the rocker pivot point. The free end (13) of the counter-pressure wheel rocker (9) is connected to the spring bearing (14) of the counter-pressure wheel rocker (9), and the first pair (6) of counter-pressure wheels (7) are arranged in the region of the free end (13) of the counter-pressure wheel rocker (9).

13. The automated storage system (2) according to claim 10 or 12, characterized in that, The second pair (8) of counter-pressure wheels (7) are arranged in the region of the fixed end of the counter-pressure wheel rocker (9).

14. The automated storage system (2) according to any one of claims 1 to 13, characterized in that, The cross-section of the rack upright (3) at least partially corresponds to a T-shape.

15. The automated storage system (2) according to any one of claims 1 to 13, characterized in that, The storage system (2) includes at least two shuttles (1), wherein the shuttles (1) are designed such that in the climbing position, at least part of the same rack upright (3) is respectively received between at least one friction wheel (5) and at least one counter-pressure wheel (7) that are opposite to each other on the rack upright (3), and these shuttles (2) can move past each other along the rack upright (3).

Images