Shuttle and shelving system

Abstract

Shuttle (1) for a shelving system (100), comprising, a loading area (2) defining a loading surface (21) in a first direction (R1) and in a second direction (R2), the loading area (2) being designed to accommodate goods to be transported, a loading device (3) designed to bring goods onto and remove them from the loading area (2), at least one drive system (4) with a wheel system (41) which is rotatable about a wheel rotation axis (RD), wherein the at least one drive system (4) is designed to move the shuttle (1) in a horizontal direction (HR) and in a vertical direction (VR) in the shelving system (100), wherein the shuttle (1) has a steering system (5) which is designed to pivot the at least one drive system (4) about a drive system rotation axis (AD).

Description

[0001] The present invention relates to a shuttle for a passive shelving system and a passive shelving system, in particular for a high-bay warehouse.

[0002] Storage and retrieval machines such as shuttles are known in the prior art and can transport goods within a rack warehouse. In these cases, the rack warehouse machine can often only move independently in one horizontal direction. To overcome a height difference in a vertical direction, an external element such as a lift or the like is often necessary in the prior art, which can bring the rack warehouse machine to different vertical levels. However, this poses the risk that a defect or malfunction of the lift could impair the operation of such a rack warehouse. Furthermore, controlling a lift is difficult and prone to errors. Therefore, it is desirable to create a rack warehouse machine and a rack system that offer increased reliability and simple control.

[0003] US 2019 / 0233209 A1 shows a storage and retrieval machine that can be moved horizontally and vertically through a three-dimensional shelf structure.

[0004] US 2016 / 0221757 A1 shows a delivery vehicle that can transport items. The delivery vehicle follows a lane that guides the delivery vehicle to / from a destination area positioned along the lane.

[0005] JPS 53-27971 A shows a three-dimensional storage system with carrier vehicles that are separately equipped with drive wheels and lifting wheels.

[0006] US 7381022 B1 shows an automated warehouse in which electrically driven trolleys can be moved along a rail system in three dimensions.

[0007] DE 10 2010 015 530 A1 shows a system with a shelf and a control unit. The control unit can be pulled through the shelf area using cable winches.

[0008] US 2015 / 0 071 743 A1 shows a device for selecting and combining objects in an output container by using autonomous vehicles.

[0009] The present invention solves this problem with a shuttle having the features of claim 1 and with a passive shelving system having the features of claim 9.

[0010] According to one aspect of the present invention, a shuttle for a shelving system is provided. The shuttle may comprise a loading area defining a loading surface in a first direction and in a second direction. The loading area may be configured to receive goods to be transported. The shuttle may comprise a loading device configured to load goods onto and remove them from the loading area. The shuttle may comprise at least one drive system having a wheel system rotatable about a wheel rotation axis. The at least one drive system may be configured to move the shuttle in a horizontal direction and in a vertical direction in the shelving system.

[0011] Compared to the known prior art, the shuttle according to an embodiment of the present invention offers the advantage that all functionalities required for moving the shuttle in a vertical direction and in a horizontal direction in a shelving system can be provided in the shuttle. In other words, the shuttle is suitable for operation in a passive shelving system, which does not require a device to be provided that is responsible for overcoming a height difference in the vertical direction. Rather, the shuttle can move automatically (i.e. using its own drive) to a desired level in the vertical direction and can also move horizontally in this plane. This can make the entire system trouble-free and simplify maintenance because all functionalities are combined in the shuttle. In other words, the shelving system can be designed passively (i.e. without active control).This can simplify maintenance and operation of such an overall system (comprising at least one shuttle and the shelving system). For example, the shuttle can be replaced or repaired much more easily as a single unit, whereas repairs to the shelving system would be more complex.

[0012] The vertical direction can extend in the direction of gravity. The horizontal direction can be aligned orthogonal to the vertical direction. The shuttle can be a storage and retrieval machine that is designed to load and retrieve goods from a shelving system. The shuttle can be operated autonomously for this purpose. The shuttle can move independently. The loading area can be an area on which goods can be arranged. For example, the loading area can be surrounded on two sides by a technical area each. The technical area can include the necessary electronic and / or mechanical components to control the shuttle. This allows the loading area to be arranged particularly low, making it easy to pick up and put down goods again. The loading device can be a device that can transport goods onto the shuttle (i.e. into the loading area) and remove them from it again.For this purpose, the loading device can grip or move the goods. The drive system can be designed to travel on rails, which can be provided in the shelving system. The shuttle can move on the rails, preferably in the horizontal direction. Furthermore, the drive system can be designed such that, when interacting with the shelving system, it can move the shuttle in the vertical direction. The movement in the vertical direction can be exactly orthogonal to the horizontal direction. In other words, the shuttle can move strictly (i.e. exclusively) vertically. In other words, the shuttle can avoid a diagonal movement with horizontal and vertical components. This can save space, whereby the shelving system can be designed to be particularly efficient. The shuttle preferably has four drive systems. The shuttle can have a substantially rectangular shape in plan view.A drive system can be provided at each corner of the shuttle. The wheel system of the drive system can be the rotating part of the drive system when the shuttle moves horizontally or vertically. The loading area is designed so that the goods can be transported directly onto it. Thus, for example, there is no need for a transport container or the like into which the goods to be transported would have to be placed. This can be achieved by designing the loading area as a flat surface onto which goods of any size or shape can be placed. The goods can be items or objects that can be shipped. The goods can include a variety of items from a wide range of categories, such as clothing, electronics, DIY supplies, food, sporting goods, etc.Due to the different sizes and properties of the individual items, it is advantageous that the respective item can be picked up directly by the shuttle without any additional transport device and can be stored and retrieved from the shelving system.

[0013] The wheel system preferably has a traction section for movement in the horizontal direction and an engagement section for movement in the vertical direction. The traction section can be designed such that traction is created between the traction section and a travel surface, such as a rail, on which the shuttle can move. The engagement section, on the other hand, can be a section that can move the shuttle in the vertical direction through mechanical engagement between the engagement section and a corresponding section, such as a vertical rail section, which can be provided on a shelf. The engagement section allows the shuttle to mechanically engage in a vertical rail section and be held there.If the wheel system is then driven in rotation, the shuttle can be moved up or down in the vertical direction by continuously alternating engagement situations. This can ensure a safe movement sequence of the shuttle in the vertical direction. By providing a traction section and an engagement section on the wheel system, horizontal and vertical movement of the shuttle can be ensured by a single element. In other words, movement in the vertical direction and in the horizontal direction can be provided by the at least one drive system.

[0014] Preferably, the traction section and the engagement section are integrally formed. In other words, the traction section and the engagement section can be formed from a single component (i.e., in one piece). This can mean that the traction section and the engagement section cannot be separated from one another without causing damage. Thus, a particularly simple configuration can be provided, and the traction section and the engagement section do not need to be driven separately. Rather, a common drive can be used without the two components having to be connected to one another in a separate work step.

[0015] Preferably, the traction section and the engagement section are driven by a common drive shaft. Preferably, the traction section is designed as a running wheel for movement in the horizontal direction, and preferably, the engagement section is designed as a gear for movement in the vertical direction. The traction section can be implemented as a rubber wheel. More specifically, the running wheel can comprise a rubber tread. This allows the shuttle to advantageously be moved horizontally by driving the wheel system. The gear can be designed to interact with a corresponding element on the shelving system to move the shuttle in the vertical direction. Due to the continuous engagement state thus achievable, the shuttle can be securely held during movement in the vertical direction, even when it is loaded with goods.Furthermore, a precise rotation of the gearwheel allows the shuttle's position in the vertical direction to be determined. In other words, the use of a gearwheel during vertical movement prevents slippage between the wheel system and the shelving system, allowing the shuttle's position to be determined with high precision. More precisely, the distance traveled by the shuttle can be determined by the number of rotations of the wheel system. This makes it particularly easy to control the shuttle and direct it to defined levels in the vertical direction.

[0016] Preferably, the idler wheel and the gear are arranged coaxially on the drive system. In other words, the rotational axes of the idler wheel and the gear can be congruent. This allows the shuttle to be controlled identically in horizontal and vertical travel modes. The rotational axes of the idler wheel and the gear can both pass through the center of gravity of the idler wheel and the gear. This can simplify the overall control of the shuttle. Furthermore, manufacturing of the wheel system can be simplified because both the idler wheel and the gear can rotate about the same rotational axis.

[0017] Preferably, the impeller and the gear can be driven by a common drive source. In other words, only (i.e. exclusively) one drive shaft can be provided for each impeller and each gear. In other words, this means that no separate drive shafts are provided for the impeller and the gear. This makes it possible to save installation space because only one drive shaft is provided. In a preferred embodiment, the drive system has a drive unit which is in direct contact with the wheel system. In other words, the wheel system can be directly connected to an electric motor or the like. This makes the drive system easier to control and allows power transmission devices such as a drive shaft to be designed very simply, whereby the configuration of the drive system can be implemented particularly easily.In a further preferred embodiment, the drive system has no drive shaft or only an extremely short one, since the electric motor is provided in the drive system. In other words, the drive system can include the electric motor. Thus, high efficiency in driving the shuttle can be achieved, since there are no transmission losses due to transmission devices (such as a clutch, gear, shaft, or the like). Furthermore, the drive system can be implemented as a compact drive unit.

[0018] The shuttle has a steering system configured to pivot the at least one drive system about a drive system rotation axis. In other words, the drive system can be rotated about the drive system rotation axis.

[0019] Preferably, the steering system is designed such that the drive system can be pivoted into a horizontal movement position and into a vertical movement position. Preferably, the alignment of the drive system in the horizontal movement position is at a right angle to the drive system in the vertical movement position. In other words, the steering system can be designed such that it can pivot the drive system into exactly two positions. In other words, the drive system can be pivoted by 90° ± 1° about the drive system rotation axis. In order to prevent further pivoting, the drive system and / or the shuttle can have a stop which is designed to prevent any further pivoting of the drive system. This can ensure that the drive system has a different alignment in the horizontal movement position than in the vertical movement position.In other words, in the horizontal movement position, the traction section can interact with, for example, a rail section of the shelving system to move the shuttle in the horizontal direction. Furthermore, in the vertical movement position, the engagement section can interact with a corresponding element on the shelving system (for example, a rack rail) to move the shuttle in the vertical direction. When transferring the drive system from the horizontal movement position to the vertical movement position, the drive system can be rotated about the drive system rotation axis as long as the drive system (for example, the traction section) is in contact with the travel surface. The steering system can have two guide rails arranged parallel to each other. A threaded spindle (also referred to as a travel screw) can be provided between the two guide rails.Furthermore, the steering system can comprise a steering system drive that can generate a rotary movement. The threaded spindle can convert a rotary movement of the steering system drive into a translational movement along the guide rails. The threaded spindle can be formed from a threaded rod, i.e., a cylindrical round bar, to which, in one embodiment, a trapezoidal or flat thread is applied. Furthermore, it is also conceivable to provide a ball screw or a roller screw. Furthermore, the steering system can comprise a sensor that can measure the rotation of the threaded spindle and thus determine the translational movement. This allows the position of at least one drive system to be determined with high precision. Furthermore, the steering system can have a displacement element that can be set into a translational movement by the threaded spindle. Furthermore, the displacement element can be mounted on the two guide rails.This ensures a defined translational movement of the displacement element. A steering rod, which is connected to the drive system, can be articulated on the displacement element. The steering rod is preferably arranged on the drive system in such a way that the drive system can be rotated about the drive system's axis of rotation by a translational movement of the displacement element. In a preferred embodiment, the rotational movement of the steering system drive is transmitted to two threaded spindles simultaneously or synchronously. Furthermore, the steering system can have two displacement elements, each of which can be moved translationally by a threaded spindle. Accordingly, one steering system can be assigned to two drive systems. In other words, by driving one steering system drive, two drive systems can be pivoted synchronously with one another.This ensures that two drive systems always have a corresponding position to each other. In other words, it can be ensured that at least two drive systems are both positioned either in the horizontal movement position or in the vertical movement position. Consequently, the control of a steering process of the shuttle (or the drive systems) can be simplified.

[0020] Preferably, the drive system rotation axis is orthogonal to the wheel rotation axis. For example, when the drive system rotates about the drive system rotation axis, the wheel rotation axis, about which in particular the traction section and the engagement section are rotatable, can rotate simultaneously. Thus, the change between a horizontal travel position and a vertical travel position can be realized by rotating the drive system about the drive system rotation axis.

[0021] The steering system is preferably designed to apply a preload force to at least one drive system. In other words, the drive system can be designed to apply a force to the drive system that counteracts movement of the drive system about the drive system's axis of rotation. Thus, the drive system can be stabilized during horizontal movement of the shuttle, and fluttering of the drive system can be avoided. Thus, particularly high speeds can be achieved with the shuttle, ensuring efficient operation of a shelving system. Furthermore, if the shelving system has a toothed rail into which the gear of the drive system engages during vertical movement of the shuttle, it can be ensured that the initial toothing between the drive system (or wheel system) and the toothed rail of the shelving system functions smoothly.For example, when a tooth of the gear wheel and a tooth of the toothed rail meet, the steering system can be designed to be so elastic that a gentle clamping or sliding of the gear wheel and the toothed rail can be ensured. This can be achieved, for example, by a spring element arranged in the feed element of the steering system. However, it is also conceivable that any other element that enables elastic load absorption can be provided in the steering system. For example, the steering system drive can also have such an elastic element in the form of a spiral spring or the like. Furthermore, the connection between the threaded spindle and the feed element can be realized by an elastic element such as an elastomer element. In the present aspect, it is only important that a preload force can be applied to the drive system by the steering system.

[0022] The steering system preferably comprises at least one spring element designed to exert the preload force on the drive system. The spring element can serve as an elastic element, enabling elastic load absorption, and as a preload element, which can exert the preload force on the drive system. The dual function of the spring element allows for a simple and compact design of the steering system.

[0023] The steering system preferably comprises an actuator for generating a force and a linkage for transmitting the force of the actuator to the at least one drive system. The actuator can be the steering system drive. The linkage can comprise the guide rails and the threaded spindle. Thus, a translational force can be applied to the drive system or systems, and the respectively controlled drive system and the drive system's rotational axis can be rotated or pivoted.

[0024] The shuttle preferably comprises two steering systems, each connected to two drive systems, wherein each steering system is preferably configured to synchronously control two drive systems. In other words, the shuttle can comprise a total of four drive systems (for example, one at each corner of the shuttle). A steering system can be provided between each of the two drive systems, which can be connected to the two drive systems. Thus, two drive systems of the shuttle can be pivoted synchronously about the respective drive system rotation axis by two steering systems. This can simplify control of the shuttle.

[0025] The drive system preferably has at least one drive system guide roller, which is rotatable about a first guide roller rotation axis. The drive system guide roller can be designed to support the shuttle in a vertical movement direction relative to a corresponding element on the shelving system. In the case where multiple drive systems are provided on the shuttle, the drive system guide rollers can be designed such that at least two drive system guide rollers are supported on the shelving system in such a way that the shuttle is braced in the shelving system. More precisely, the shuttle can thus be reliably held in the shelving system during a movement in the vertical movement direction, so that the drive system of the shuttle can move reliably in the vertical movement direction.More specifically, this ensures that a gear engaged with a corresponding rack rail on a shelving system cannot fall out of this engagement state. For this purpose, the drive system guide roller can be provided on the drive system and pivotable together with the drive system about the drive system's rotation axis. This ensures trouble-free operation of the shuttle in the shelving system.

[0026] Preferably, the first guide roller rotation axis is arranged orthogonally to the wheel rotation axis. In other words, the drive system guide roller is arranged on the drive system such that the first guide roller rotation axis is orthogonal to the wheel rotation axis. This ensures that the shuttle can be safely guided in the vertical direction of movement. Thus, the shuttle can only be moved in the desired vertical direction of movement (as long as the drive systems are positioned in the vertical movement position). This can further increase the operational reliability of the shuttle in a shelving system.

[0027] The shuttle preferably has at least one lifting system designed to lift the shuttle from a travel surface. The travel surface can, for example, be a rail section or its travel surface provided in the shelving system. Thus, the lifting system can preferably be provided such that the shuttle can be lifted on a rail section that is narrow relative to the shuttle. The lifting system can preferably be designed to lift the shuttle in the vertical movement direction so that the wheel system loses contact with the ground. In other words, the lifting system can be designed to transfer the shuttle between a horizontal movement position and a pivoting position in which the drive system no longer contacts the travel surface.More specifically, the lifting system can lift the traction section, which can interact with a rail section, from the rail section. This allows the drive system to be advantageously pivoted around the drive system's rotation axis, since the traction section is no longer in contact with the rail section of the racking system. This can further increase the efficiency of the shuttle's operation.

[0028] The lifting system preferably comprises an actuator for generating a force, a linkage, and at least one lifting unit. The lifting unit is preferably held so as to be movable in a third direction, which is orthogonal to the first and / or the second direction. The lifting unit can be movably mounted. The linkage is preferably designed to transmit the force of the actuator to the at least one lifting unit in order to move the lifting unit in the third direction. The actuator can be a lifting system drive which generates a rotational force. In particular, the rotational movement can be transmitted to a lifting system linkage (i.e., the linkage) via a gear. Thus, the rotational movement of the lifting system drive can be transmitted to at least one lifting unit. The lifting unit can be designed to convert the rotational movement transmitted via the lifting system linkage into a translational movement in the third direction.Thus, by detecting the rotation of the lifting system rods and / or the lifting system drive, the precise position of the lifting unit can be determined. This allows the raising or lowering of the shuttle in the third direction to be precisely controlled.

[0029] Preferably, the at least one lifting unit has a control cam element in which the rod is guided by means of a cam. In other words, a cam can be provided at one end of the lifting system rod, which cam is not rotationally symmetrical about the axis of rotation of the lifting system rod. The cam can be guided in a control cam element, so that the lifting element can have a specific position in the third direction depending on the angular position of the lifting system rod. By knowing the control curve of the control cam element and precisely detecting the revolutions of the lifting unit, precise raising or lowering of the shuttle can be achieved. The lifting unit can be guided in such a way that it can only move in the third direction. In other words, all other degrees of freedom can be blocked by the guidance of the lifting unit.

[0030] Preferably, the at least one lifting unit has a lifting system guide roller which is rotatable about a second guide roller rotation axis. The lifting system guide roller can be designed to bring the shuttle into a desired position on the rail section of the shelving system. For example, at a transition between two adjacent rail sections (for example, a rail section of a shelving area and a rail section of a riser area), the lifting system guide roller can optimally position the shuttle on the rail section through contact with an element (e.g., a guide element) of the shelving system. This ensures trouble-free operation of the shuttle in a shelving system, even in a case where different rail sections do not fit together optimally.

[0031] Preferably, the second guide roller rotation axis is parallel to the drive system rotation axis. This ensures that contact between the lifting system guide roller and an element of the shelving system does not result in a braking effect during the horizontal movement of the shuttle, since the roller is rotatable about the second guide roller rotation axis.

[0032] The loading device preferably has an upper table extending in the first direction and a product contact element extending in the second direction. The product contact element is preferably movably attached to the upper table. In other words, the product contact element can protrude into the loading area. In contrast, the upper table can delimit the loading area. The product contact element can be moved in the first direction along the upper table. For this purpose, the product contact element can have a product contact element drive which can convert a rotational movement into a translational movement of the product contact element in the first direction. Thus, a product can be pushed out of the loading area. Furthermore, a product can be pushed onto the loading area.

[0033] Preferably, the upper table is designed so that the product contact element is movable in the first direction. For this purpose, the upper table can have a guide rail along which the product contact element can be moved. Furthermore, a toothed rail can be provided in or on the guide rail, into which a rotatably driven gear of the product contact element engages. Thus, the product contact element can be moved along the rail.

[0034] Preferably, the upper table is movable relative to the loading area in the first direction. In other words, the upper table can extend over the entire length of the goods area in the first direction. Due to this movable nature, the upper table can be moved beyond the loading area. Together with the upper table, the goods contact element can also be moved out of the loading area. Thus, for example, an item of goods lying in a shelf area can be picked up by the upper table together with the goods contact element. Furthermore, an item of goods located in the loading area of ​​the shuttle can be contacted by the goods contact element and then moved from the loading area to a shelf area by a movement of the upper table.

[0035] The loading device preferably comprises a central table that is movable relative to the loading area and to which the upper table is movably secured. In other words, the loading device can provide a telescopic extension option for the upper table and the central table. This allows goods to be stored (i.e., moved) even further in the first direction into a shelf area. Furthermore, the shuttle can be designed more compactly, since twice the length of the loading area in the first direction is theoretically available as the possible range of the shuttle or loading device.

[0036] The upper table preferably has a gripper finger on at least one end in the first direction, which gripper finger is movable between a gripping position and a storage position. The gripper finger can therefore be movable back and forth between two positions. In the gripping position, the finger can be designed such that it can clamp an item of goods together with the goods contact element, so that the item is clamped between the gripper finger and the goods contact element. This allows goods to be reliably gripped and moved back and forth in the first direction. In the storage position, on the other hand, the gripper finger can be arranged such that it is aligned with the upper table in the first direction. This allows the upper table to be moved past an item of goods without the gripper finger unintentionally displacing the goods. If the upper table is then located next to the goods to be moved, the gripper finger can be moved into the gripping position in order to grip behind the goods.The upper table can then be retracted again, thus transporting the goods to the loading area. According to one aspect of the present invention, the goods contact element can previously be moved along the upper table in the first direction such that the goods are clamped between the gripper finger and the goods contact element. This allows for particularly safe transport of the goods through the loading device.

[0037] Preferably, the gripper finger is pivotably mounted on the upper table, allowing the gripper finger to pivot. Accordingly, it is conceivable for the gripper finger to be movable back and forth between the gripping position and the storage position by a drive unit located on the upper table. This allows for a particularly simple design of the gripper finger, for example, as a metal plate pivotably mounted on the upper table.

[0038] Preferably, a gripper finger is provided at each end of the upper table in the first direction. Both gripper fingers can be designed identically. In other words, the goods contact element can be movable back and forth between two gripper fingers on the upper table. This allows goods to be easily stored or retrieved from a shelf area on both sides of the shuttle. In other words, it doesn't matter which side of the shuttle is adjacent to a shelf area, since the conveyor device can store and / or retrieve goods on both sides in the first direction.

[0039] According to a further aspect of the present invention, a passive shelving system is provided, in particular for a high-bay warehouse, the shelving system comprising: a shuttle according to one of the above embodiments, a shelving area with at least two shelves at different vertical positions, at least two shelf rail sections, each running along the at least two shelves, the shelf rail sections being designed such that the shuttle can move horizontally on the shelf rail sections, at least one passive riser area which connects the shelf rail sections to one another and is designed such that the shuttle can move through the riser area from one shelf rail section to another shelf rail section in the vertical movement direction.

[0040] By using the shuttle, the shelving system can be designed to be completely passive. In other words, no active control of the shelving system is necessary to provide a fully automated shelving system. More precisely, the shelving system can be operated by the actively controlled shuttle in such a way that the shelving system does not need to perform any actively controlled movements or the like. Instead, the shelving system can be passive and only controlled in response to certain interactions caused by the shuttle. This makes it possible to provide a particularly robust and easy-to-control shelving system. Furthermore, incorrect operation due to incorrect control of the shelving system can be avoided because the shelving system does not need to be controlled. This increases the reliability of the shelving system, enabling safe storage and retrieval of goods at all times.

[0041] Individual aspects or embodiments can be combined with other features or embodiments to form new embodiments. The configurations and effects mentioned in connection with the features or embodiments also apply analogously to the new embodiments.

[0042] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Fig. 1 is a schematic and perspective view of a shuttle according to an embodiment of the present invention. Fig. 2 is a schematic and perspective view of a drive system according to an embodiment of the present invention. Fig. 3 is a schematic and perspective view of a steering system according to an embodiment of the present invention. Fig. 4 is a schematic and perspective view of a lifting system according to an embodiment of the present invention. Fig. 5 is a schematic view of the operation of a lifting system according to an embodiment of the present invention. Fig. 6 is a schematic plan view of a loading area of ​​a shuttle according to an embodiment of the present invention. Fig. 7 is a schematic and perspective view of a charging device according to an embodiment of the present invention. Fig. 8 is a schematic plan view of a charging device according to an embodiment of the present invention. Fig. 9 is a schematic and perspective view of a charging device according to an embodiment of the present invention. Fig. 10 is a schematic and perspective view of a shelving system according to an embodiment of the present invention.

[0043] Fig. Figure 1 is a schematic and perspective view of a shuttle 1 according to an embodiment of the present invention. The shuttle 1 or storage and retrieval device in the present embodiment is an autonomously controllable system that loads goods into a shelving system 100 (in Fig. 1 not shown) can be stored and / or retrieved. In the present embodiment, the shuttle 1 has a substantially rectangular shape in a plan view. Furthermore, the shuttle 1 has a loading area 2 with a loading surface 21 for receiving the goods or articles. The loading surface 21 is bounded on two sides by a loading device 3 each. The loading surface 21 is open on the other two sides in order to store and retrieve goods onto the loading surface 21. The loading device 3 is designed to bring goods onto the loading area 2 and to remove them from it. Furthermore, the shuttle has at least one drive system 4 with a wheel system 41 which is rotatable about a wheel rotation axis RD. The drive system 4 is designed to move the shuttle 1 in a horizontal direction HR and in a vertical direction VR in the shelving system 100.In the present embodiment, the shuttle 1 has four identical wheel systems 4, each located at a corner of the shuttle. Furthermore, the drive systems 4 are pivotable about a drive system rotation axis AD. More specifically, the drive systems 4 can be pivoted from a horizontal travel position to a vertical travel position. In . Fig. 1, the drive systems shown on the right side of the figure (only one drive system is visible) are arranged in the horizontal travel position. In contrast, in the Fig. In the embodiment shown in Figure 1, the two left-hand drive systems 4 are arranged in the vertical movement position. Thus, the drive systems can be pivoted through substantially 90° to pivot from the horizontal movement position to the vertical movement position or vice versa.

[0044] Fig. 2 is a schematic and perspective view of a drive system 4 according to an embodiment of the present invention. In Fig. 2 that the wheel system 41 of the drive system 4 comprises a traction section 42 in the form of a running wheel with a rubberized tread and an engagement section 43 in the form of a gear. The traction section 42 can be formed by a rubberized running wheel or the like. The drive system 4 further has a motor housing 45, in which a drive unit for driving the wheel system 41 about the wheel rotation axis RD is accommodated. The motor housing 45 is formed integrally with a holder for the wheel system 41. This makes it possible to realize a particularly compact drive system 4 which can be easily rotated about a drive system rotation axis AD. For this purpose, the drive system 4 can be connected or connectable to the shuttle 1 with a pin, so that the rotation of the drive system 4 about the drive system rotation axis AD can be realized.Furthermore, the drive system 4 has a drive system guide roller 44, which is designed in the form of a wheel ring. The drive system guide roller 44 is configured to interact with an element (e.g., a rail or a shelf post) of the shelving system 100 to support the shuttle 1 during a vertical movement. The drive system guide roller 44 is rotatable about a first guide roller rotation axis EFD.

[0045] Fig. 3 is a schematic representation of a steering system 5, which is designed to rotate two drive systems 4 of the shuttle 1 about the drive system rotation axis AD. In the present embodiment, the shuttle 1 has two steering systems 5, each of which can actuate two drive systems 4. The steering system 5 has a steering system drive 51, which can generate a rotational movement. The rotational movement is applied to a threaded spindle 53 by means of a gear. A displacement element 54 is moved translationally by the threaded spindle 53. In other words, the rotational movement of the steering system drive 51 is converted into a translational movement of the displacement element 54. The displacement element 54 is mounted on two guide rails 52 running parallel to one another. A steering rod 55 is attached to the displacement element 54, which is in contact with a respective drive system 4.The steering rod is pivotally mounted on the displacement element 54 and on the drive system 4. Thus, a rotational movement can be exerted on the drive system 4 to rotate it about the drive system rotation axis AD. Preferably, the steering system 5 is designed symmetrically so that two drive systems 4 can be rotated or pivoted by a single steering system drive 51. This ensures synchronous pivoting of two drive systems.

[0046] Fig. Figure 4 is a schematic view of a lifting system 6 according to an embodiment of the present invention. The lifting system 6 is designed to lift the shuttle 1 from a travel surface (e.g., from a rail section). Fig. 1, the shuttle 1 has two lifting systems 6. The lifting systems 6 are arranged in close proximity to the drive systems 4. This allows the shuttle 1 to be lifted such that the drive systems 4 can be easily rotated about a drive system rotation axis AD. The lifting system 6 has a lifting system drive 61 which can generate a rotary movement. This rotary movement is transmitted to a lifting system rod 62 by means of a gear. This lifting system rod 62 drives a cam 63 in rotation. The cam 63 is guided by a control cam element 64 of a lifting unit 65. Furthermore, the cam 63 is not connected to the lifting system rod 62 at its midpoint (i.e., its center of gravity). Thus, by rotatingly driving the cam 63 in cooperation with the control cam element 64, the lifting unit 65 can be moved in the third direction R3.Thus, for example, a predetermined stroke of the lifting unit 65 can be achieved upon rotation of the lifting system linkage 62 by 180°. Thus, the shuttle 1 can be raised a specific distance from the travel surface by a defined drive of the lifting system drive 61. More precise details on the control curve will follow in connection with the description of the . Fig. 5. Furthermore, the lifting system 6 has a lifting system guide roller 66, which is designed to bring the shuttle 1 into an optimal position on the travel surface, particularly in the first direction R1. Thus, the lifting system guide roller 66 can ensure that the shuttle 1 always travels centrally on a travel surface (e.g., a rail system).

[0047] Fig. 5 is a schematic view of the cam 63 and the lifting unit 65, in which the cam 63 is guided in cooperation with the control cam element 64. In the first Fig. 5 shown view (view on the left side of the Fig. 5) The lifting unit 65 is positioned so that the shuttle does not stand with the drive system 4 on the driving surface, but with the lifting unit 65. In the present example, the shuttle is raised by four mm from the driving surface. This is sufficient to rotate the drive systems 4 about the drive system rotation axis RD in order to move from the horizontal movement position to the vertical movement position. To achieve this position, an angular position of 180° of the lifting system linkage 62 can be present. In the second following image in Fig. 5, the height of the lifting unit 65 corresponds exactly to the height of the drive system 4. This means that the shuttle 1 stands on both the lifting unit 65 and the drive system 4. In this case, the shuttle 1 can move without any goods on it. The angular position can be 135°. In the next Fig. 5 (third figure from the left side), the lifting unit 65 is in the same position as in the previously described position, with the difference that the angular position of the lifting system rod 62 is at 108°. Finally, in the illustration shown on the right side, Fig. 5, the lifting unit 65 is raised from the travel surface to enable the shuttle 1 to move forward with goods on it. The angular position of the lifting system linkage 62 can be 0°. Thus, the position of the lifting unit 65 can be varied by rotating the lifting system linkage 62.

[0048] Fig. 6 is a schematic plan view of a loading area 2 of a shuttle 1 according to an embodiment of the present invention. The loading area 2 is delimited in the second direction R2 by a respective loading device 3. The loading device has an upper table 31 extending in the first direction R1 and a goods contact element 32 extending in the second direction R2. The goods contact element 32 is movably attached to the upper table 31 and can be moved in the first direction R1. Furthermore, the loading device 3 has a gripper finger 33 that is not movable in the first direction. Rather, the gripper finger 33 is pivotable such that it is either in a position in which it projects into the loading area 3 or in a position in which it is aligned with the upper table 31 in the first direction (i.e., does not project into the loading area 3).In the present embodiment, the upper table 31 has such a gripper finger 33 on each side. This allows goods to be transported to be clamped between the goods contact element 32 and the gripper finger 33 and thus moved on the loading area 2 or transported away from the loading area 2 or onto it.

[0049] Fig. Figure 7 is a schematic and perspective view of a single loading device 3 as used in the Fig. 1 shown embodiment of the shuttle 1. More precisely, two of the Fig. 7 are provided as a boundary of the storage area 2 on the shuttle 1. In Fig. 7 shows that the product contact element 32 is movable along a toothed rail in the first direction R1 along the upper table 31 by a product contact element drive unit 321. The upper table 31 is also movable relative to a center table 34. The center table 34 is movably mounted on a base table 35. Thus, the conveyor unit 3 can be extended telescopically in the first direction R1. In other words, the upper table and the center table 34 can be extended arbitrarily or variably in the first direction.

[0050] Fig. 8 is a schematic plan view of the conveyor unit 3 in a state in which the upper table 31 and the middle table 34 are telescopically extended in the first direction. The middle table 34 is moved relative to the base table 35. The base table may have a base table drive 351, which may be configured to move the center table 34 and / or the upper table 31 in the first direction R1.

[0051] Fig. 9 is a schematic partial view of the loading device 3 in an extended state. It can be seen that the upper table 31 is displaced relative to the center table 34. Furthermore, the center table 34 is displaced relative to the base table 35. The displacement takes place in the first direction R1. The gripper finger 33 is pivotally mounted on the upper table 31. The gripper finger 33 is moved from the gripping position to the retracted position by a gripper finger drive 331. In a preferred embodiment, both gripper fingers 33 of an upper table 31 are moved synchronously with one another by the same gripper finger drive unit 331.

[0052] Fig.10 is a schematic and perspective view of a passive shelving system 100 according to an embodiment of the present invention. The shelving system 100 has a riser area 101 and a shelf area 102. The shelf area 102 has a plurality of shelves at different vertical positions. Adjacent to the shelves are shelf rail sections on which the shuttle 1 can travel. In order to reach the various levels between the shelves, the shelving system has a riser area 101. In the riser area 101, the shuttle 1 can move independently in the vertical direction. An inlet section 103 is arranged in front of the riser area 101, via which the shuttle 1 reaches the shelving system 100. In the present embodiment, the shelf area 102 is delimited at each end by a riser area 101.This creates a kind of roundabout in which a plurality of shuttles 1 can travel without interfering with one another. The ramp area 101 has four toothed rails with which the drive system (more precisely, the gear of the drive system) can engage. By driving the drive system around the wheel rotation axis, the shuttle 1 can move in the vertical direction. Once the shuttle 1 has reached the desired level, it can rotate the drive systems 4 around the drive system rotation axis, allowing the shuttle to leave the ramp area in a horizontal direction on the traction section. List of reference symbols: 1 shuttle 2 loading area 3 Loading device / conveyor unit 4 Drive system / wheel system 5 Steering system 6 Lifting system 21 Loading area 31 upper table 32 Product contact element 321 drive unit 33 gripping fingers 331 Gripper finger drive 34 center table 35 Base table 351 Base table drive 41 Wheel system 42 traction section 43 intervention section 44 Drive system guide roller 45 Engine housing 51 Steering system drive 52 guide rails 53 threaded spindle 54 Sliding element 55 Handlebar 61 Lifting system drive 62 lifting system rods 63 cams 64 control cam element 65 lifting unit 66 Lifting system guide roller 100 shelving system 101 Riser area 102 shelf area 103 Inlet section R1 first direction R2 second direction R3 third direction AD drive system rotary axis RD wheel rotation axis HR horizontal direction VR vertical direction EFD guide roller rotation axis

Claims

[1] Shuttle (1) for a shelving system (100), comprising, a loading area (2) defining a loading surface (21) in a first direction (R1) and in a second direction (R2), the loading area (2) being designed to accommodate goods to be transported, a loading device (3) designed to bring goods onto and remove them from the loading area (2), at least one drive system (4) with a wheel system (41) which is rotatable about a wheel rotation axis (RD), wherein the at least one drive system (4) is designed to move the shuttle (1) in a horizontal direction (HR) and in a vertical direction (VR) in the shelving system (100), wherein the shuttle (1) has a steering system (5) which is designed to pivot the at least one drive system (4) about a drive system rotation axis (AD). [2] Shuttle (1) according to claim 1, wherein the wheel system (4) has a traction section (42) for movement in the horizontal direction (HR) and an engagement section (43) for movement in the vertical direction (VR). [3] Shuttle (1) according to claim 2, wherein the traction section (42) and the engagement section (43) are drivable by a common drive shaft. [4] Shuttle (1) according to one of the preceding claims, wherein the drive system rotation axis (AD) is orthogonal to the wheel rotation axis (RD). [5] Shuttle (1) according to one of the preceding claims, wherein the shuttle (1) comprises at least one lifting system (6) designed to lift the shuttle (1) from a driving surface. [6] Shuttle (1) according to one of the preceding claims, wherein the loading device (3) has an upper table (31) extending in the first direction (R1) and a goods contact element (32) extending in the second direction (R2), and wherein the product contact element (32) is movably fixed to the upper table (31). [7] Shuttle (1) according to claim 6, wherein the upper table (31) is designed such that the goods contact element (32) is movable in the first direction (R1). [8] Shuttle (1) according to claim 6 or 7, wherein the upper table (31) has at least one end in the first direction (R1) a gripping finger (33) which is movable between a gripping position and a storage position. [9] Passive shelving system (100), comprising: a shuttle (1) according to one of the preceding claims, a shelf area (102) with at least two shelves at different vertical positions, at least two shelf rail sections, each of which runs along the at least two shelves, wherein the shelf rail sections are designed such that the shuttle (1) can move horizontally on the shelf rail sections, at least one passive riser area (101) which connects the shelf rail sections to one another and is designed such that the shuttle (1) can move through the riser area (101) from one shelf rail section to another shelf rail section in a vertical direction (VR).

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