Track-free navigation type compact shelving moving column

Abstract

The utility model discloses a trackless navigation type compact shelving moving column, which is characterized in that at least two laser distance measuring sensors or laser radars are arranged on the side surface of a chassis in the length direction of the compact shelving moving column or the outer side surface of a layer spacing plate in the same row; the compact shelving moving column chassis is provided with at least two driving motors, motor driving output shafts and compact shelving chassis rolling bearings or compact shelving chassis rollers, and the compact shelving chassis rolling bearings or compact shelving chassis rollers are respectively arranged on the output shafts of the driving motors; the flat outer rolling circumferential surface of the compact shelving chassis rolling bearing or the compact shelving chassis rolling wheel is used for directly rolling and moving the compact shelving moving column on the ground without laying the ground track, and the at least two laser distance measuring sensors are used for detecting the moving distance between the laser distance measuring sensors and the compact shelving fixed column or the adjacent front compact shelving moving column according to the detection; and the rotating speed of each driving motor is kept consistent through feedback regulation. Derailment can be avoided, the operation is more stable, the structure is simple, the ground is very convenient to clean, and the use is safe.

Description

Technical Field

[0001] This utility model relates to a mobile shelving unit, and more particularly to a trackless, trackless, navigation-type mobile shelving unit without ground tracks. Background Technology

[0002] Mobile shelving units are widely used in government agencies, enterprises, and other organizations for the intensive storage and management of books, archives, financial documents, samples, and other items due to their higher storage capacity and more efficient space-saving effect compared to traditional bookshelves, shelves, or filing cabinets. Existing electric mobile shelving units typically consist of several sets of steel rails placed on the ground, combining one or more fixed columns and several sets of movable columns into a single unit. Steel wheels at the bottom of the unit move the columns along the rails, opening the aisles between adjacent columns. Finally, the desired movable column is opened manually, allowing managers or users to enter the aisles to store or retrieve items – a high-density storage facility.

[0003] However, existing mobile shelving systems require the installation of ground tracks to allow the mobile shelving units to move only along the track length. Each shelving unit can be pushed or pulled along the track as needed to move within a pre-set position, thus bringing one or more units together or apart. The opening and closing of the mobile shelving units is highly dependent on the guidance and limiting of the ground tracks. However, the presence of ground tracks also poses a risk of derailment. Furthermore, the use of ground tracks can create safety hazards, such as obstruction, tripping, or injury to personnel. Additionally, the ground tracks affect the overall cleanliness of the storage area, making cleaning extremely inconvenient. Moreover, the track structure itself is complex, costly, and difficult to install, modify, or move, and may experience jamming or even bending and deformation of the guide rails, leading to malfunctions and other safety hazards. In addition, to increase their storage capacity, mobile shelving units are usually made to have relatively long moving columns and fixed columns. To improve the smoothness and stability of the longer moving columns during the opening and closing of the mobile shelving channels, more ground tracks are laid on the ground in the area where the moving columns are active. This makes it easier to cause the problems mentioned above caused by using ground tracks.

[0004] Patent No. ZL202122141545.2, published on April 1, 2022, discloses an integrated trackless mobile shelving unit, relating to the field of mobile shelving technology. This utility model includes a main frame body, with roller shafts on the lower surface of the main frame body. A crank handle is connected to the chain engagement of the roller shafts. Control buttons are located on the left and right sides of the main frame body. A top plate is located above the upper surface of the main frame body. A fixing plate is fixedly connected to the center of the upper surface of the top plate and is fixed to the wall above. A movable screw is located in the space between the main frame body and the top plate, with a movable collar sleeved at the center of the movable screw. A transverse movable shaft is fixedly connected to a groove on the lower surface of the top plate. The advantages of this utility model are that it eliminates the bottom track and designs a set of horizontal and vertical sliding rails in the air, making full use of the upper space and diversifying the movement of the main frame body. Although this scheme eliminates the ground track and solves some of the problems that ground tracks may have, it still has some inherent problems with the track structure itself, such as derailment, complex structure, high cost, and troublesome installation, modification and relocation. It also has problems such as high operating noise, insufficient operational stability and high installation difficulty. Moreover, because it uses an aerial track structure, the requirements for the stability of the aerial track structure and its load-bearing capacity are extremely high. Utility Model Content

[0005] This utility model addresses the problems of existing mobile shelving systems, such as the impact of ground-laid tracks on the overall cleanliness of the storage area, inconvenience in cleaning, and the inherent drawbacks of complex track structures, high costs, and difficulties in installation, modification, and relocation. Furthermore, it provides a trackless, navigation-free mobile shelving system that avoids derailment, offers more stable operation, has a simple structure, facilitates easy ground cleaning, and ensures safe use.

[0006] The specific technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows: a trackless navigation mobile shelving unit, comprising a mobile shelving unit, characterized in that: at least two laser ranging sensors or lidar are provided on the side of the chassis along the length direction of the mobile shelving unit or on the outer side of the partition plate of the same row; the chassis of the mobile shelving unit is provided with at least two drive motors, motor drive output shafts, and mobile shelving unit chassis rolling bearings or mobile shelving unit chassis rollers; each drive motor's corresponding motor drive output shaft is respectively connected to a mobile shelving unit chassis rolling bearing or mobile shelving unit chassis roller; the mobile shelving unit chassis roller has a flat outer rolling circumferential surface; the central axis of each drive motor's motor drive output shaft is on the same central axis; at least two laser ranging sensors are used to detect the movement distance of the mobile shelving unit relative to the fixed column or the adjacent preceding column, and to provide feedback and control to keep the speed of each drive motor consistent. The solution eliminates the need for ground-mounted tracks for the mobile shelving units. Instead, laser sensors detect and monitor the movement distance of the mobile shelving unit, feeding back this distance to maintain consistent rotation speeds for multiple drive motors. Each laser rangefinder corresponds to a drive motor, which, along with its output shaft and corresponding chassis bearings or rollers, effectively controls the mobile shelving unit to maintain a stable movement speed. This enables the trackless movement of the mobile shelving unit to open or close the shelving unit's passageways. Consequently, it effectively avoids the derailment problems associated with ground-mounted tracks, resulting in more stable operation, a simpler structure, and significantly easier cleaning of the floor beneath the shelving unit. The mobile shelving units are safe and efficient to use.

[0007] Preferably, the chassis rollers are made of steel and have radial rolling elements perpendicular to the central axis of the motor drive output shaft. These radial rolling elements are either cylindrical with a single flat outer rolling surface or cylindrical with two flat outer rolling surfaces. The cylindrical rolling elements can be straight cylindrical, have a downwardly sloping narrowing side, or have an outwardly arc-shaped convex side. This improves the smoothness and effectiveness of the chassis rollers during the unguided movement of the mobile shelving unit as it opens or closes in the aisle.

[0008] Preferably, the laser ranging sensor is a laser ranging sensor with an RS232 interface, RS485 interface, or TTL interface. This improves the effectiveness of network transmission of detection and control data from the laser ranging sensor, enhances the effectiveness of network transmission control when the mobile shelving unit moves to open or close the shelving unit's passageway, and improves the effectiveness of IoT interconnection control when the mobile shelving unit moves to open or close the shelving unit's passageway without track navigation.

[0009] Preferably, a side-top laser rangefinder is installed on the top of the short side of the mobile shelving unit, on the same side as the short side of the unit. This sensor detects the lateral distance between the short side of the mobile shelving unit and the wall or reference baffle it faces, and provides feedback to adjust and control the system to maintain this distance. This improves the smoothness and effectiveness of the mobile shelving unit's movement along its length when opening or closing the aisle without track navigation.

[0010] Preferably, the mobile shelving unit's chassis is equipped with a side drive motor and a side motor drive output shaft, with side chassis rollers mounted on the side motor drive output shaft. A side-top laser rangefinder is connected to the side drive motor for detection, feedback, and control. The drive motor control circuit adjusts the side drive motor's speed and working direction in real time based on the side distance feedback data. This improves the smoothness and effectiveness of the mobile shelving unit's movement along its length when opening or closing the shelving unit's passageway without track navigation.

[0011] Preferably, the shape of the flat outer rolling surface includes one or more flat outer rolling surfaces. This improves the stability, flexibility, reliability, and effectiveness of the rolling surface of the mobile shelving chassis rollers when used with trackless mobile shelving units.

[0012] Preferably, at least two positioning switches are provided on the side of the mobile shelving unit's chassis, on the side facing either the fixed mobile shelving unit or the preceding mobile shelving unit. These positioning switches detect the closing signal of the mobile shelving unit and feed it back to the drive motor control circuit. This improves the effectiveness of the mobile shelving unit's smooth translation of the opening or closing of the mobile shelving unit without track navigation, and avoids the potential for impact during closing.

[0013] Preferably, each drive motor is equipped with a reducer or gearbox; or, based on the reducer or gearbox, a synchronous transmission sprocket is configured to transmit power to the rolling bearings or rollers of the mobile shelving chassis. This improves the stability and effectiveness of the drive and rolling control of the rolling bearings or rollers of the mobile shelving chassis.

[0014] Preferably, when using two drive motors, the two drive motors are respectively located at both ends of the mobile shelving unit along its length. This improves the translational stability of the mobile shelving unit when it moves without track guidance.

[0015] Preferably, when using two or more drive motors, in addition to installing two drive motors at the two ends of the mobile shelving unit along its length, the remaining drive motors are evenly distributed in the area between the two drive motors. This improves the translational stability of the mobile shelving unit when it moves without track guidance.

[0016] The beneficial effects of this utility model are: it eliminates the need for a ground-mounted track for the mobile shelving unit, and instead uses laser sensors to detect and monitor the movement distance of the mobile shelving unit. This movement distance is then fed back to control the rotation speed of multiple drive motors to remain consistent. Combined with the motor drive output shafts and their corresponding chassis rolling bearings or chassis rollers, this effectively controls the mobile shelving unit to maintain a stable movement speed, enabling trackless navigation for opening or closing the mobile shelving unit's passageways. Therefore, it effectively avoids the derailment problem associated with ground-mounted tracks, resulting in more stable operation, a simpler structure, and significantly improved ease of cleaning the floor beneath the trackless mobile shelving unit. The mobile shelving unit is safe and effective to use. Attached Figure Description

[0017] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0018] Figure 1 This is a schematic diagram of the structure of the trackless navigation mobile shelving unit of this utility model.

[0019] Figure 2 This is a schematic diagram of the structure of the trackless navigation mobile shelving unit of this utility model, showing how the drive motor drives the chassis rolling bearings or chassis rollers.

[0020] Figure 3 This is a schematic diagram of the chassis rollers in the trackless navigation mobile shelving unit of this utility model.

[0021] Figure 4 This is a schematic diagram of the application site structure of the trackless navigation mobile shelving unit of this utility model. Detailed Implementation

[0022] Example 1:

[0023] Figure 1 , Figure 2 , Figure 3 , Figure 4 In the illustrated embodiment, a trackless mobile shelving unit includes a mobile shelving unit 10. At least two laser rangefinders or lidar 20 are installed on the side 11 of the chassis along the length of the mobile shelving unit 10 or on the outer side of the partition plate of the same row. The chassis of the mobile shelving unit is equipped with at least two drive motors 30, motor drive output shafts 31, and rolling bearings or rollers 32 (see [link to documentation]). Figure 2 A) Each drive motor 30 has a corresponding motor drive output shaft 31 connected to a mobile shelving chassis rolling bearing or a mobile shelving chassis roller 32. The mobile shelving chassis roller 32 has a flat outer rolling circumferential surface 32E. The central axis of the motor drive output shaft 31 of each drive motor 30 is on the same central axis. At least two laser rangefinders 20 are used to detect the moving distance A of the fixed column of mobile shelving or the adjacent preceding column of mobile shelving, and provide feedback to adjust and control the speed of each drive motor to keep it consistent. This allows the mobile shelving to move stably to open or close the mobile shelving channel. Because the track-laying scheme is effectively eliminated, the ground under the trackless navigation mobile shelving chassis maintains overall consistency with the ground surface 60 of the site (see...). Figure 4 This design avoids derailment, ensures more stable operation, and features a simple structure, making it extremely convenient to clean the floor beneath the mobile shelving unit (60 units) and its trackless navigation chassis, and enhancing safety. The laser rangefinder 20 uses a laser rangefinder with an RS232, RS485, or TTL interface.

[0024] Each drive motor 30 is equipped with a reducer or gearbox (the reducer or gearbox is not shown in the figure, but you can refer to or borrow the installation configuration scheme of the reducer or gearbox and drive motor in the prior art). Based on the reducer or gearbox, a synchronous transmission sprocket is configured. The synchronous transmission sprocket transmits the connecting mobile shelving chassis rolling bearings or mobile shelving chassis rollers 32. Each drive motor 30 synchronously drives two connecting mobile shelving chassis rolling bearings or mobile shelving chassis rollers 32 (see...). Figure 2 A, Figure 2 B), or three synchronously driven links are used for the rolling bearings of the mobile shelving chassis or the rollers of the mobile shelving chassis 32 (see B). Figure 2 C Figure 2 D); Each drive motor 30's synchronous transmission sprocket includes two synchronous transmission chains 33 and two synchronous transmission output shafts 34. Two drive output shaft drive sprockets are mounted and connected to the motor drive output shaft 31. Each of the two drive output shaft drive sprockets is connected to a drive output driven sprocket via its corresponding synchronous transmission chain 33. The drive output driven sprocket is mounted and connected to the synchronous transmission output shaft 34. The synchronous transmission output shaft 34 is equipped with a mobile shelving chassis rolling bearing or a mobile shelving chassis roller 32. When each drive motor 30 synchronously drives two mobile shelving chassis rolling bearings or mobile shelving chassis rollers 32, the spatial distribution of these two mobile shelving chassis rolling bearings or mobile shelving chassis rollers 32 can be achieved using the following two schemes: the radial center planes of the two mobile shelving chassis rolling bearings or mobile shelving chassis rollers 32 are on the same vertical center plane (see...). Figure 2A, that is, at the same position along the length of the mobile shelving unit; or the radial center surfaces of the two mobile shelving unit chassis rolling bearings or mobile shelving unit chassis rollers 32 are offset from each other along the length of the mobile shelving unit and have a certain degree of spatial separation (see...). Figure 2 (B) This can better meet the requirements of improving the stability of the mobile shelving chassis support and the translational stability of the mobile shelving unit when it is not guided by tracks.

[0025] When each drive motor 30 synchronously drives three mobile shelving chassis rolling bearings or mobile shelving chassis rollers 32, the spatial distribution of these three mobile shelving chassis rolling bearings or mobile shelving chassis rollers 32 can be achieved using the following two schemes: Two of the mobile shelving chassis rolling bearings or mobile shelving chassis rollers 32 are respectively installed and connected to two synchronous transmission output shafts 34 via two synchronous transmission chains 33 and two synchronous transmission output shafts 34; the third mobile shelving chassis rolling bearing or mobile shelving chassis roller 32 is installed and connected to the motor drive output shaft 31, and the radial center planes of these two mobile shelving chassis rolling bearings or mobile shelving chassis rollers 32 are on the same vertical center plane (see...). Figure 2 C, that is, at the same position along the length of the mobile shelving unit's moving column), the third mobile shelving unit's chassis rolling bearing or mobile shelving unit's chassis roller 32 and the radial center planes of the above two mobile shelving unit's chassis rolling bearings or mobile shelving unit's chassis roller 32 are offset from each other along the length of the mobile shelving unit's moving column and have a certain degree of spatial separation (see Figure 2 C), forming a structure in which three mobile shelving chassis rolling bearings or mobile shelving chassis rollers 32 are distributed in an isosceles triangle along the length of the mobile shelving moving column (see...). Figure 2 C); or two of the mobile shelving chassis rolling bearings or mobile shelving chassis rollers 32 are respectively installed and connected to two synchronous conveyor output shafts 34 via two synchronous conveyor chains 33 and two synchronous conveyor output shafts 34, and the radial center surfaces of the two mobile shelving chassis rolling bearings or mobile shelving chassis rollers 32 are offset from each other along the length of the mobile shelving moving column and have a certain degree of spatial separation (see Figure 2 D), and the third mobile shelving chassis rolling bearing or mobile shelving chassis roller 32 is installed and connected to the motor drive output shaft 31. The radial center planes of the third mobile shelving chassis rolling bearing or mobile shelving chassis roller 32 and the above two mobile shelving chassis rolling bearings or mobile shelving chassis rollers 32 are all staggered from each other along the length of the mobile shelving moving column and have a certain degree of spatial separation (see Figure 2 D), forming a triangular distribution structure of three mobile shelving chassis rolling bearings or mobile shelving chassis rollers 32 along the length of the mobile shelving moving column (see...). Figure 2D); This better satisfies the need to improve the stability of the mobile shelving chassis support and the translational stability of the mobile shelving unit when it is not tracked. The three rolling bearings or rollers 32 of the mobile shelving chassis driven by each drive motor better distribute the supporting balance force in the length direction of the mobile shelving unit. This is also more suitable for applications that require longer mobile shelving units to improve the stability of the mobile shelving chassis support and the translational stability of the mobile shelving unit when it is not tracked.

[0026] The rollers 32 of the mobile shelving chassis are made of steel. The flat outer rolling surface of the rollers 32 includes one or more flat outer rolling surfaces. When there are multiple flat outer rolling surfaces, there is a certain distance between each surface. The steel structure ensures both the strength and reliability of the rollers and their cleanliness. The mobile shelving chassis rollers have radial rolling elements perpendicular to the central axis of the motor drive output shaft. These radial rolling elements are cylindrical rolling elements with flat outer rolling surfaces 32E (see...). Figure 3 A). Or a cylindrical rolling element with double flat outer rolling surfaces (see...). Figure 3 D); the cylindrical rolling element is a flat cylindrical rolling element with a flat side surface 32A (see Figure 3 A) A cylindrical rolling element with a downwardly sloping, narrowed side surface 32B (see...) Figure 3 B) or a cylindrical rolling element with an outer arc-shaped convex side 32C (see Figure 3 C), wherein the cylindrical rolling element has a double flat outer rolling circumference (see Figure 3 The columnar side surface of D) can adopt the shape structure of a flat side surface 32A, a downwardly sloping and narrowed side surface 32B, or an outwardly curved and convex side surface 32C.

[0027] At least two positioning switches are provided on the side of the mobile shelving unit chassis of the mobile shelving unit facing the fixed mobile shelving unit or the mobile shelving unit in front of it. The positioning switches are used to detect the closing positioning signal of the mobile shelving unit and feed back the detected positioning signal to the drive motor control circuit.

[0028] When using two drive motors (see) Figure 1 A), the two drive motors are respectively installed at both ends of the moving column of the mobile shelving unit along its length (although... Figure 1 As shown in A, the chassis rolling bearing or chassis roller 32 is positioned at the end of the mobile shelving unit's moving column relative to the drive motor 30, but it can also be used at... Figure 1The installation method shown in B is the opposite direction, that is, the drive motor 30 is installed at the end of the mobile shelving unit relative to the chassis rolling bearing or chassis roller 32. When using two or more drive motors, in addition to distributing the two drive motors at the two ends of the mobile shelving unit along its length, the remaining drive motors are evenly distributed in the area between the two drive motors.

[0029] Example 2:

[0030] Figure 1 , Figure 2 , Figure 3 , Figure 4 In the illustrated embodiment, a side-top laser ranging sensor 12 is provided on the top of the short side side 21 of the densely moving column in the same lateral direction. The side-top laser ranging sensor is used to detect the short side side of the densely moving column and the wall or reference baffle 50 that the frame side of 21 faces (see...). Figure 4 The side distance B of the mobile shelving unit is monitored and adjusted to ensure that the side distance B between the short side of the mobile shelving unit and the wall, reference baffle, or reference barrier remains constant. The mobile shelving unit chassis is equipped with a side drive motor and a side motor drive output shaft, with side chassis rollers mounted on the side motor drive output shaft. A side-top laser rangefinder is connected to the side drive motor detection feedback control, and the drive motor control circuit adjusts the speed and direction of the side drive motor in real time based on the side distance feedback data. Of course, if the side distance detected by the side-top laser rangefinder remains constant, the side drive motor will not start; only the drive motor 20 performs its task according to the mobile shelving unit's requirements.

[0031] This utility model is not limited to the specific embodiments described above, and may also have other structural embodiments, such as: setting at least two laser rangefinders or lidars on the side of the chassis along the length of the dense moving column and on the outer side of the partition plates of different rows, all of which are within the protection scope of this utility model.

[0032] In the description of the positional relationship in this utility model, terms such as "inner", "outer", "upper", "lower", "left", and "right" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0033] The above content and structure describe the basic principles, main features, and advantages of this utility model, which should be understood by those skilled in the art. The examples and descriptions above are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A trackless navigated mobile shelving array comprising a mobile shelving array, characterized in that: At least two laser ranging sensors or lidar are provided on the side of the chassis along the length of the mobile shelving unit or on the outer side of the partition plate of the same row. The chassis of the mobile shelving unit is equipped with at least two drive motors, motor drive output shafts, and mobile shelving unit chassis rolling bearings or mobile shelving unit chassis rollers. Each drive motor has a corresponding motor drive output shaft connected to a mobile shelving unit chassis rolling bearing or mobile shelving unit chassis roller. The mobile shelving unit chassis roller has a flat outer rolling circumference. The flat outer rolling circumference of the mobile shelving unit chassis rolling bearing or mobile shelving unit chassis roller is used to directly roll the mobile shelving unit on the ground without a ground track. At least two laser ranging sensors are used to detect the movement distance of the mobile shelving unit relative to the fixed mobile shelving unit or the adjacent preceding mobile shelving unit, and to provide feedback to adjust and control the speed of each drive motor to keep the speed consistent.

2. A trackless navigated mobile shelving array according to claim 1, wherein: The rollers of the mobile shelving chassis are made of steel and have radial rolling elements perpendicular to the central axis of the motor drive output shaft. The radial rolling elements are either cylindrical rolling elements with a single flat outer rolling surface or cylindrical rolling elements with double flat outer rolling surfaces. The cylindrical rolling elements are either straight cylindrical rolling elements, cylindrical rolling elements with downwardly sloping and narrowed sides, or cylindrical rolling elements with outwardly arc-shaped convex sides.

3. A trackless navigated mobile shelving array according to claim 1, wherein: The laser ranging sensor mentioned above uses a laser ranging sensor with an RS232 interface, an RS485 interface, or a TTL interface.

4. A trackless navigated mobile shelving array according to claim 1, wherein: The shape of the flat outer rolling surface includes one flat outer rolling surface or one or more flat outer rolling surfaces.

5. A trackless navigated mobile shelving array according to claim 1, wherein: A side-top laser ranging sensor is installed on the top of the short side of the dense mobile shelving unit, in the same lateral direction. This sensor detects the lateral distance between the short side of the mobile shelving unit and the wall, reference baffle, or reference barrier it faces, and provides feedback control to keep this distance constant. The mobile shelving unit chassis is equipped with a side drive motor and a side motor drive output shaft, with side chassis rollers mounted on the output shaft. The side-top laser ranging sensor is connected to the side drive motor detection feedback control, and the drive motor control circuit adjusts the speed and direction of the side drive motor in real time based on the lateral distance feedback data.

6. A trackless navigated mobile shelving array according to claim 1, wherein: At least two positioning switches are provided on the side of the mobile shelving unit chassis of the mobile shelving unit facing the fixed mobile shelving unit or the mobile shelving unit in front of it. The positioning switches are used to detect the closing positioning signal of the mobile shelving unit and feed back the detected positioning signal to the drive motor control circuit.

7. A trackless navigated mobile shelving array according to claim 1 or 5 or 6, characterized in that: Each drive motor is equipped with a reducer or a gearbox; or, based on the reducer or gearbox, a synchronous transmission sprocket is configured, which transmits the transmission to the rolling bearings or rollers of the mobile shelving chassis.

8. The trackless navigation mobile shelving unit according to claim 1, characterized in that: When two drive motors are used, the two drive motors are respectively located at the two ends of the moving column of the mobile shelving unit along the length of the column.

9. A trackless navigated mobile shelving array according to claim 1, wherein: When using two or more drive motors, in addition to distributing and installing the two drive motors at the two ends of the moving column of the mobile shelving unit, the remaining drive motors are evenly distributed in the area between the two drive motors.

10. A trackless navigated mobile shelving array according to claim 1, wherein: The central axis of the motor drive output shaft of each drive motor is on the same central axis.

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