SHUTTLE SYSTEM AND METHOD FOR OPERATING A SHUTTLE SYSTEM

Description

Technical field

[0001] The present invention relates to a shuttle system and a method for operating such a shuttle system according to the independent claims. State of the art

[0002] Shuttle systems and methods for operating them are known from the prior art. CN 114 435 833 A discloses the preamble of independent claims 1 and 10. Object of the invention

[0003] The object of the present invention is to overcome the disadvantages of the prior art. Solution to the task

[0004] The solution to the problem lies in the subject matter of the independent claims. Advantageous embodiments are described in the dependent claims.

[0005] A shuttle system according to the present invention comprises a racking structure with multiple racking levels, wherein the racking levels include travel paths for shuttles. The shuttle system can be a pallet storage system, for example a pallet channel storage system.

[0006] The shuttle system can include at least one shuttle, preferably several shuttles, which can move along the travel paths within the shelf levels.

[0007] The travel paths can, for example, be rails consisting of a horizontally arranged grid of orthogonally aligned and intersecting rails. The shuttles can be configured as four-way shuttles, allowing them to move horizontally within the racking levels, particularly along the rails. The shuttles can also be designed as pallet shuttles.

[0008] The shuttle system includes at least one vertical conveyor designed to transport a shuttle or a load from one racking level to another. The load could be, for example, a pallet.

[0009] The shuttle system further comprises at least one recovery cart with which an operator can enter a racking level. Preferably, the recovery cart is permanently located in a cabin of a vertical conveyor, as described below, when in normal operating mode, i.e., when no incident of any kind has occurred and the recovery cart is not needed.

[0010] Such a recovery vehicle allows an operator to access the racking levels, which are normally only accessible by shuttles. The operator can then, for example, rectify a malfunction.

[0011] Since the use of a recovery cart may be necessary on any shelf level of the racking system, arranging the recovery cart in the cabin eliminates the need for a separate cart on each shelf level. Depending on the size of the racking system and, for example, the number of shelf levels and / or storage locations and / or the throughput of the shuttle system, one or two recovery carts may suffice for the entire shuttle system.

[0012] The vertical conveyor comprises a vertically extending frame and a cabin that moves vertically along this frame. The frame is preferably stationary and can also be designed as an enclosed elevator shaft, or alternatively in the form of a mast, several masts, or the like. Within the scope of the present invention, a frame is defined as any structure, preferably stationary, along which the cabin can move vertically. Therefore, the vertical conveyor is preferably a stationary vertical conveyor whose frame does not change its position relative to the racking system.

[0013] The cabin need not be enclosed. Within the scope of the present invention, the term "cabin" encompasses all devices that can accommodate a load or a shuttle and a recovery vehicle and move vertically along the scaffold.

[0014] The cabin comprises a first receiving section for a shuttle or cargo and a second receiving section for a recovery trolley. The first receiving section can accommodate exactly one shuttle or cargo. The second receiving section can accommodate exactly one recovery trolley. The receiving sections can be designed as platforms. The receiving sections can be designed primarily or exclusively as guide rails, which, in a transfer position described in more detail below, can serve as a continuation of any guide rails present in the racking levels. In particular, if the first receiving section is intended to accommodate cargo rather than shuttles, it can also include or be formed from a horizontal conveyor, such as telescopic forks, belt conveyors, roller conveyors, chain conveyors, and the like.The aforementioned elements can collectively be referred to as "active load-bearing devices". Such active load-bearing devices are one of several possible configurations of a lifting section.

[0015] The cabin can assume a transfer position with respect to at least two shelf levels of the racking system, in which the first and / or the second receiving section is essentially at the level of an adjacent shelf level, so that a shuttle and / or a recovery vehicle can enter the adjacent shelf level from the cabin or a load can be transferred in this direction, or a shuttle or recovery vehicle can enter the cabin from the adjacent shelf level or a load can be transferred in this direction.

[0016] If a shuttle and a recovery vehicle are to be able to enter the same adjacent level simultaneously, the first and second intake sections are expediently arranged next to each other.

[0017] While theoretically conceivable, it would be impractical in most embodiments not to arrange the first and second recording sections in the same cabin, but rather to design them in some form as separate components that can be moved independently of each other within the frame.

[0018] The transfer of a load can be carried out using a suitable, in particular active, load handling device, such as a telescopic fork. For example, if a load located on the first receiving section of the vertical conveyor is to be transferred to a shuttle waiting on the adjacent rack level, this can be achieved by designing the first receiving section as a telescopic fork.

[0019] Alternatively, the transfer of cargo can be accomplished, for example, by the shuttle entering the cabin of the vertical conveyor. As mentioned previously, suitable guide rails may be provided there, and the cabin may also contain suitable support rails or similar features on which the shuttle can place the cargo, such as a pallet. After placing the cargo, the shuttle can leave the vertical conveyor, whereupon the conveyor transports the cargo to the desired shelf level.

[0020] If the vertical conveyor transports shuttles vertically to allow them to change levels, the shuttle system is an unbound system. However, if the vertical conveyor transports loads vertically, it is a level-bound system. In level-bound systems, the shuttles do not change "their" levels.

[0021] Vertical conveyor-mediated level changes of shuttles in an unbound system are sometimes also referred to as roaming. One advantage of such roaming can be that fewer shuttles are required compared to level-bound systems, and that the flexibility of the unbound system is greater.

[0022] The shuttle system can include at least two vertical conveyors and at least two recovery cars. It can also include exactly two vertical conveyors and exactly two recovery cars. The number of vertical conveyors can depend on a parameter, such as the number of storage locations in the shuttle system.

[0023] Preferably, each cabin houses exactly one recovery car. If at least two vertical conveyors and at least two recovery cars are present, there is advantageous redundancy with respect to both components: If one vertical conveyor fails or a recovery car is defective, a second vertical conveyor and a second recovery car are available.

[0024] The second recording section can be positioned above the first recording section. Alternatively, the second recording section can be positioned next to the first recording section, behind the first recording section, or below the first recording section.

[0025] If the two recording sections are arranged one above the other, their vertical distance can be minimized so that the cargo or the shuttle and the recovery vehicle have sufficient vertical space available, but no unused free space remains in the vertical direction.

[0026] Alternatively, the spacing can be chosen so that, in a transfer position, the receiving section located at the top of the cabin allows a transfer with an adjacent rack level, for example, the exit of the recovery cart, and the receiving section located at the bottom of the cabin allows a transfer with the adjacent rack level below, for example, the exit of the shuttle. While such a cabin design usually results in unused space above the shuttle or above the load and / or above the vertical conveyor, meaning the cabin's vertical extension (i.e., its height) is greater than strictly necessary, this design can simplify the control of the vertical conveyor and the operation of corresponding sensors, etc.For example, only one of the recording sections needs to be correctly positioned with respect to an adjacent shelf level, as the other recording section is automatically correctly positioned with respect to the shelf level above or below.

[0027] The recording sections can also be vertically offset, either side by side or one behind the other. If the recording sections are arranged one behind the other, the second recording section for the recovery vehicle can be positioned facing away from the rack in the cabin, as it is used less frequently than the first recording section.

[0028] The shuttle system can include at least one rack-side barrier which can assume an open and a closed position, wherein in the open position the barrier allows a shuttle to enter from a rack level into the first receiving section of the vertical conveyor when the vertical conveyor is in the transfer position, and wherein in the closed position the barrier prevents the shuttle from entering.

[0029] Such a rack-side barrier can prevent a shuttle or recovery cart from accidentally or due to malfunction entering the scaffolding, for example, the elevator shaft, and falling from a rack level. At the same time, the rack-side barrier ensures that a shuttle or recovery cart in the transfer position can only enter the adjacent rack level in a controlled manner, because the rack-side barrier must be moved to the open position before entry.

[0030] A rack-side barrier can be installed at each passage between a rack level and the adjacent frame, where a shuttle or similar device can enter the cabin in a transfer position. Preferably, all passages of the shuttle system between the vertical conveyor and one of the rack levels are equipped with such a rack-side barrier.

[0031] Such a shelf-side barrier can be attached to a shelf structure in any way.

[0032] The rack-side locking mechanism can be designed as a passive lock, which does not include an actuator and cannot be actively controlled. Alternatively, the rack-side locking mechanism can be actively controlled, for example, by including an actuator that can cause movement from the open to the closed position and back.

[0033] The vertical conveyor may include an actuating device that can move the rack-side lock from the closed position to the open position and from the open position to the closed position.

[0034] An actuating device located within the vertical conveyor, for example in the cabin, can result in a simple design and robust, reliable operation, since the rack-side locks in this configuration do not require actuators and do not need to be individually controlled. Instead of actuators at each passage to the vertical conveyor, and thus on each rack level, a single actuating device in the cabin or in the vertical conveyor itself can suffice.

[0035] The actuating device can open the shelf-side lock purely mechanically. Other mechanisms are also conceivable.

[0036] Alternatively, a control-technical solution as indicated above, with appropriate actuators or the like at each rack-side barrier, could be considered.

[0037] The shuttle system may additionally or alternatively include a vertical conveyor-side barrier that can assume an open and a closed position. In the open position, this barrier allows a shuttle and / or a recovery cart to enter a rack level from a receiving section of the vertical conveyor when the vertical conveyor is in the transfer position. In the closed position, the barrier prevents the shuttle and / or recovery cart from entering. The vertical conveyor-side barrier can either reversibly lock both receiving sections, or two such barriers can be provided, with each receiving section having at least one barrier. It is also possible for only one of the two receiving sections to have such a vertical conveyor-side barrier.

[0038] Similar to the rack-side lock, the vertical conveyor-side lock also prevents accidental or faulty transfers, i.e., the movement of a shuttle or recovery vehicle inside the cabin towards the racking system when the cabin is not in the transfer position. Without this vertical conveyor-side lock, damage to the shuttle and recovery vehicle, as well as personal injury, could occur.

[0039] Both the rack-side and vertical conveyor-side locks can also be operated manually. This means that the locks can be operated by an actuator or otherwise actively controlled, but can also be manually operated if necessary. This ensures that an operator can manually open the relevant lock when needed, as most locks are closed during normal operation. In normal operation, the existing locks are preferably only opened when and for the duration of a transfer, such as a shuttle entering the receiving section within the cabin from the adjacent rack level.

[0040] In particular, the vertical conveyor-side lock that prevents the recovery car from unintentionally exiting can also be operated manually, i.e., by muscle power. This avoids control-related malfunctions, as the recovery car can only exit if the operator manually opens the aforementioned lock. The vertical conveyor-side lock that prevents the shuttle from unintentionally exiting, on the other hand, is preferably opened and closed by an actuator.

[0041] If at least one barrier is present on the vertical conveyor side, it is preferably attached to the cabin. In this way, only one or two such barriers are needed for each vertical conveyor.

[0042] The shuttle system can include both vertical conveyor-side and rack-side locks. However, according to embodiments of the present invention, it may suffice to assign a rack-side lock to each passage and to omit vertical conveyor-side locks.

[0043] Within the scope of the present invention, barriers located near the passage and optionally even within the frame of the vertical conveyor are also referred to as rack-side barriers. In particular, such a rack-side barrier is located in the area of ​​each passage at the level of each rack level. These rack-side barriers can be attached to or between the guide rails, which can also project a short distance from the rack level into the frame. In contrast, within the scope of the present invention, barriers attached to the cabin are preferably considered to be vertical conveyor-side barriers.

[0044] The shuttle system may include a vertical conveyor-side bridging device that bridges a gap present in the transfer position between the receiving section and the adjacent shelf level to allow the transfer of the shuttle and / or the recovery cart.

[0045] The bridging device can be located on the cabin.

[0046] The bridging device could, for example, be a device that shifts the relevant recording section towards the shelf level in order to bridge the gap. It could therefore be a shifting device.

[0047] Alternatively, the cabin can include telescopic or otherwise extendable or retractable elements that bridge the gap. These could be, for example, extendable, foldable, or swiveling guide rails that connect guide rails serving as a receiving section with the guide rails of the adjacent shelf level.

[0048] Alternatively, the bridging device can be positioned at the rack. However, this would again require a bridging device at each passage between the rack level and the vertical conveyor.

[0049] Furthermore, consideration can be given to integrating the bridging device into the rack-side barrier or the vertical conveyor-side barrier. The respective barrier could, for example, encompass a small section of the guide rails and thus be designed similarly to a hinged railway bridge. In the closed position, such a barrier prevents a shuttle and a recovery car from being transferred due to a fault. In the open position, such a barrier bridges the gap between the rack structure and the vertical conveyor.

[0050] In all embodiments of the aforementioned locks, a reset mechanism, such as a spring or other energy storage element, may be included. The reset mechanism, particularly by applying a correspondingly directed reset force to the lock, can cause the lock to be preferably in the closed position. This reset force can be overcome when the lock is actuated by an actuator or operating device, or manually. However, as soon as a reset mechanism, an operating device, or an operator ceases to apply a force opposing the reset force to move the lock into the open position or to hold it there, the lock closes automatically thanks to the preferably present reset mechanism.

[0051] All of the aforementioned options allow for the safe transfer of the shuttle and / or the recovery vehicle. A transfer, in this context, refers to the movement of the shuttle and / or the recovery vehicle from the receiving area within the cabin to the adjacent racking level or vice versa.

[0052] If the gaps are very narrow, examples of shuttle systems without a bridging device can be considered. Similarly, if the shuttles and / or recovery vehicles have, for example, a large number of wheels arranged in a row or other features or characteristics that enable safe crossing of the gap, the bridging device can be omitted.

[0053] Recovery vehicles and / or shuttles with, for example, eight wheels may be able to overcome a gap without a bridging device if the dimensions and nature of the wheels and the width of the gap allow it.

[0054] The actuating device mentioned above and the bridging device mentioned above can be components of the same assembly. Alternatively, the bridging device can function as an actuating device or include it. Both of these possibilities apply particularly when the bridging device is located on the vertical conveyor side.

[0055] Such a combination of bridging and actuating device can result in a simple and cost-effective design, as two functions are implemented in one component.

[0056] A shuttle system with a rack-side lock, an actuating device, and a vertical conveyor-side lock as described above can be configured such that, in the transfer position, the actuating device can move both the vertical conveyor-side lock and the adjacent rack-side lock from the closed to the open position and from the open to the closed position. The actuating device can be any suitable actuator. It can also be a component, for example, a section of the bridging device, or the bridging device itself.

[0057] If only rack-side locks are present, the shuttle system can be set up so that the actuating device in the transfer position can move the rack-side lock from the closed to the open position and from the open to the closed position.

[0058] If locks are present on both the racking and vertical conveyor sides, they are preferably arranged at essentially the same height in the transfer position. Since both locks must be opened simultaneously for the purpose of transfer, for example, when a shuttle wants to move from the cabin to the adjacent racking level, it is advantageous if the actuating device operates both locks, preferably simultaneously or substantially simultaneously. Any costs associated with multiple devices for opening the individual locks are avoided by using a single actuating device responsible for both locks.

[0059] Depending on the arrangement of the receiving sections, the clearance above them, and the location of the lowest shelf level, it may be necessary to provide a pit into which the vertical conveyor cabin can enter. If the dimensions require such a design, this can allow a shuttle and / or recovery cart inside the cabin to access the lowest shelf level.

[0060] In addition to the shuttle system described above, the present invention also includes the system described below. Procedure. Features and details described above in relation to the system also apply to the procedure described below, and vice versa.

[0061] A method for operating a shuttle system described above comprises a normal operating mode and a recovery mode. In normal operating mode, automatic operation preferably prevails, controlled, for example, by a controller such as a warehouse control system. Optionally, the shuttles can also operate partially or largely autonomously by, for example, communicating with vertical conveyors, other shuttles, or other components of the shuttle system and / or by moving partially or largely autonomously with the aid of onboard technology such as sensors.

[0062] In normal operating mode, the shuttles move automatically horizontally within the racking levels and can optionally change racking levels using the vertical conveyor. Alternatively, in normal operating mode, the shuttles can automatically use the vertical conveyors to transfer goods to or from them.

[0063] In recovery cart mode, the vertical conveyor transports the recovery cart to a transfer position to allow the recovery cart to be used in the adjacent shelf level.

[0064] A transition to the recovery cart mode preferably interrupts the normal operating mode within the entire racking system or within at least a section of the racking system. Preferably, the normal operating mode is interrupted in any case in the vertical conveyor(s) that are to transport the recovery cart(s) to the racking level where the fault to be rectified is located.

[0065] The recovery vehicle mode can be activated automatically or on demand, i.e., by any input from an operator. For example, a sensor can detect a fault within the shuttle system, such as a malfunctioning shuttle or dropped cargo. Furthermore, the warehouse control system may report an error if a disruption within the shuttle system is detected. Preferably, however, switching to recovery vehicle mode requires at least some operator intervention. This could be an input such as pressing a button or the like, or opening a door that is closed in normal operating mode, which is equivalent to an implicit request. Alternative operator actions that cause or contribute to the switch to recovery vehicle mode are conceivable. It is also possible that recovery vehicle mode could be activated exclusively by an action, such as a request from an operator.An action could be, for example, the activation of a control element, such as a switch or the like. Alternatively, the vertical conveyor could be assigned at least one monitored door, the opening of which by an operator constitutes the aforementioned action.

[0066] In general, it is conceivable to assign a maintenance platform to the vertical conveyor, which could be accessible via a ladder. Furthermore, maintenance platforms could be arranged at different heights along the vertical conveyor, allowing an operator to access them, for example, via stairs, and from there into the recovery cart located in the cabin. In this context, it is advisable to install a monitored door either before the ladder or stairs leading to the platform, or between each maintenance platform and the vertical conveyor.

[0067] The recovery cart mode does not necessarily have to affect the entire shuttle system. For example, if a malfunction occurs on a specific racking level, only that level, or a section of it containing the fallen load, can be switched to recovery cart mode. Preferably, a vertical conveyor located close to the fallen load is also switched to recovery cart mode, while other vertical conveyors, particularly those located further away, can remain essentially in normal operating mode. Similarly, the remaining racking levels without malfunctions can remain essentially in normal operating mode.

[0068] Alternatively, it might be possible to put more than just the affected shelf level into recovery mode, not the entire shuttle system. For example, one or two adjacent shelf levels located above and / or below the affected shelf level could be fully or partially put into recovery mode. Which and how many adjacent shelf levels are put into recovery mode may depend on the shelf design, such as the vertical distance between the shelf levels. Specifically, it might be considered to put, in addition to the affected shelf level, the shelf level immediately above and the two immediately below it into recovery mode, at least partially.

[0069] If the shuttle system includes at least two recovery trolleys and at least two vertical conveyors, then, upon request for a recovery trolley for a racking level, two vertical conveyors can transport two recovery trolleys to the level of the requested racking level. For example, if a first operator enters a racking level with the first recovery trolley, perhaps to clear a malfunction, and this first operator is involved in an accident, experiences a medical emergency (heart attack, stroke, etc.), or a second operator is needed on the racking level for any other reason, the second recovery trolley is already available. A second operator can then enter the racking level immediately after the occurrence of the medical emergency, without any loss of time, to assist or rescue the first operator.

[0070] Shelf levels or sections of shelf levels that are in recovery vehicle mode are preferably no longer accessed by shuttles, and any shuttles already located there are preferably stopped or, for example, directed to a charging station outside the area in recovery vehicle mode or to another location.

[0071] To switch the affected areas from recovery cart mode back to normal operating mode, operator input may be required. Furthermore, it may be advisable, and especially in addition, to only return to normal operating mode if appropriate sensors or similar devices have detected that the recovery cart previously located in the racking system has returned to the vertical conveyor's cabin.

[0072] In normal operating mode, the shuttle system can be largely automated by a warehouse control system. After switching to retrieval cart mode, the warehouse control system can optionally initiate the processing of all or at least some remaining level changes by the vertical conveyors. This allows for a seamless restart after retrieval cart mode ends and normal operating mode resumes, without any stopped or paused orders waiting to be processed and potentially causing disruptions. Any areas of the racking system or shuttle system that have not been switched to retrieval cart mode can remain in normal operating mode during this time.

[0073] After transitioning to recovery vehicle mode, shuttles whose energy reserves fall below a certain minimum and which require a level change for themselves or their cargo can either move to a charging station located on the relevant shelf level, switch to an energy-saving mode, or execute a different task that does not require a level change. To execute a different task, it may be necessary to return previously picked-up cargo to its point of origin or temporarily store it at a suitable location. The aforementioned measures can prevent a shuttle's energy reserves from falling below a critical threshold or even being completely depleted.

[0074] Suitable energy storage devices for the shuttles include, for example, familiar batteries or capacitors.

[0075] Consideration may be given to recharging the energy storage of a shuttle and / or a recovery vehicle within the vertical conveyor. For this purpose, the vertical conveyor could, for example, include a suitable charging point, particularly within the cabin. While the recovery vehicle is preferably operated manually and does not require an energy storage system for its own propulsion, it is often used to at least partially recharge shuttles with depleted energy storage. This step, along with the charging point, ensures, for example, that in the event of prolonged malfunctions in the vertical conveyor, a shuttle that has entered the cabin does not become stranded due to a depleted battery or generally exhausted energy storage.

[0076] The shuttles and vertical conveyors can include communication devices. For example, shuttles can request the vertical conveyor cabin when they are near or immediately before a passage between a shelf level and the vertical conveyor, and require transport to another shelf level for the load they are carrying or for themselves.

[0077] The shuttle system can include a known central warehouse control system, which, for example, assigns orders to the shuttles and monitors the shuttle system for errors.

[0078] The vertical conveyor may include a gallows for lowering an injured operator.

[0079] The vertical conveyor may include a discharge opening. This is preferably located at ground level, so that an operator can remove the shuttle or recovery vehicle from the cabin. Character description

[0080] Further advantages, features and details of the invention will become apparent from the following description of preferred embodiments and from the drawings; these show in: The Figures 1 and 2 a front and a rear view of a vertical conveyor 1 according to an embodiment of the present invention, as well as in the Figures 3 and 4 a cabin 6 of a vertical conveyor 1 according to the present invention in loaded and unloaded states, the Figures 5 and 6 a front and a rear view of a vertical conveyor 1 according to a further embodiment of the present invention, which Figure 7 one view according to Figure 2 with a partially depicted adjacent shelf structure 17, which Figure 8 one view according to Figure 6 with a partially depicted adjacent shelf structure 17, and the Figure 9 a section of a scaffold 4 with a shelf-side barrier 9. Example of implementation

[0081] The Figures 1 and 2 The figures show a vertical conveyor 1 with a frame 4 and a cabin 6. A ladder with fall protection 11 and an operator 5 at the top of the vertical conveyor 1 are also visible, as is a monitored door 10. A passage 16, which leads from the frame 4 of the vertical conveyor 1 into the adjacent (in Figure 1 The shelf level of shelf construction 17 (not shown) is indicated.

[0082] In Figure 3 An operator 5 is visible on a recovery vehicle 3. The operator 5 is arranged according to Figure 3 Ready to drive into shelving unit 17 with recovery vehicle 3. A shuttle 2 is visible below recovery vehicle 3.

[0083] In Figure 4 A first recording section 7 with two rails 12 and a second recording section 8 with two rails 12 located above it are recognizable.

[0084] The Figures 5 and 6 show an alternative to the vertical conveyor 1 according to the Figures 1 and 2in front and rear view. Instead of ladder 11, the one in the Figures 5 and 6 The vertical conveyor 1 shown includes maintenance platforms 18. The maintenance platforms 18 can be permanently installed steel structures directly adjacent to the vertical conveyor 1. The higher maintenance platforms 18 can be accessed via a staircase (not shown). The maintenance platforms 18 according to the Figures 5 and 6 similar to maintenance platform 15 according to the Figures 1 and 2 be trained. At the level of each maintenance platform 18 there is a monitored door 10. Furthermore, in Figure 5 Two of the existing passages 16 are indicated.

[0085] For the sake of clarity, not all features in the figures are labeled with reference numbers, especially in cases where multiple features occur. For example, only some of the runs 16 in the Figure 1 and 5with reference numbers. The same applies to the rack-side locks 9 and the guide rails 19 located in the rack structure 17.

[0086] For the sake of clarity, the rack structure 17, to which the vertical conveyor 1 adjoins, is shown in the embodiments of the Figures 1 and 2 as well as 5 and 6 not shown. In the Figures 7 and 8 A small part of the racking structure 17 is shown in each figure. On the one hand, it is visible how the racking structure 17 also surrounds the vertical conveyor 1 laterally to utilize the available space. Furthermore, at least in comparison with the Figures 1, 2 , 5 and 6 It can be seen that the shelf structure 17 connects to the vertical conveyor 1 via the passages 16.

[0087] In the Figures 7 and 8 Some of the track sections 19 of the shelving unit 17 are indicated.

[0088] A location of the in Figure 1 The transitions shown in outline 16 are in the Figures 7 and 8For the sake of clarity, it is not explicitly shown. A gap located in the border area between racking structure 17 and vertical conveyor 1 in transfer position, between one of the receiving sections 7, 8 and the guide rails 19, is also shown for clarity in the diagram. Figures 7 and 8 not shown separately.

[0089] In Figure 9 is an enlarged representation of a section according to the Figure 1 and 5 The vertical conveyors 1 according to the Figure 1 and 5 are identically constructed on the side where passages 16 are located. Figure 9 A shelf-side locking mechanism 9 with a return spring 20 is visible. Furthermore, sections of the guide rails 19 projecting into the adjacent (not shown) shelf level are visible.

[0090] In Figure 9It is also evident that the rack-side barrier 9, which is directly adjacent to the guide rails 19 running in the rack structure 17, is indeed located spatially within the framework 4 of the vertical conveyor 1, but is nevertheless correctly referred to as "rack-side".

[0091] Referring to the Figures 1 to 8 The functioning of the shuttle system according to the invention can be explained as follows: In normal operating mode, the vertical conveyor 1 transports shuttles 2, which are to change shelf levels, from a first shelf level to a second, i.e., to a different shelf level. In the embodiments of the Figure 1 and 5 Each shelf level is assigned a shelf-side barrier 9 and a passage 16. To allow the transfer of shuttle 2 from the shelf level to the first receiving section 7 or vice versa, the barriers in the Figure 1 and 5The only indicated guide rails 19 of the adjacent shelf level and the rails 12 of the first receiving section 7 must be flush or at least aligned. Such a position of the cabin 6, which enables a transfer, is referred to as the transfer position.

[0092] It is conceivable that a sensor (not shown) on board the shuttle 2 detects the rack-side barrier 9 and stops the shuttle 2. Therefore, the shuttle 2 can only enter the rack level via the guide rails 19 once this barrier 9 has been opened, for example by means of an actuator (not shown). Figure 9 so it was folded down by turning. Either each shelf-side lock 9 can be assigned an actuator, or the cabin 6 can be assigned such an actuator. The return spring 20 ensures that the lock 9 is in the closed position, which is in Figure 9is shown as if no actuator is acting upon it.

[0093] During the vertical journeys of cabin 6 in normal operating mode, the recovery car 3 is always on the rails 12 of the second pickup section 8. The operator 5 only boards the recovery car 3 if at least one section of the shuttle system has switched to recovery car mode, and the operator 5 has to complete a journey within the racking structure 17 with the recovery car 3.

[0094] In recovery trolley mode, the cabin 6 is moved into a vertical position along the frame 4, in which the rails 12 of the second receiving section 8 are arranged essentially flush with the guide rails 19 of the rack level into which the operator 5 intends to drive the recovery trolley 3. This flush alignment is achieved at the passageways 16 and is shown in the Figures 7 and 8 not discernible due to the chosen perspective.

[0095] Entry into the racking level then occurs after manually opening the rack-side lock 9 in the direction of arrow 21, i.e., backwards from the operator's perspective (5). The recovery trolley 3 is moved manually, for example, via a handwheel (not shown), which drives the wheels of the recovery trolley 3 (not shown). These wheels (not shown) ensure movement on the rails 12 and, in particular, on the guide rails 19 in the racking level.

[0096] Opening the monitored door 10, alone or additionally with other signals, for example a corresponding request by an operator 5 by pressing a button or lever (not shown), can trigger a transition to the recovery vehicle mode. In the embodiment according to the Figures 1, 2 and 7An operator 5 can open the only door 10 assigned to the vertical conveyor 1 and then access the maintenance platform 15 via the ladder 11. In the embodiment according to the Figures 5, 6 and 8 An operator 5 can access the maintenance platforms 18 via a staircase (not shown). Each maintenance platform 18 is associated with a monitored door 10, through the opening of which the operator 5 can initiate a transition to the recovery cart mode. Using the ladder 11 or the staircase (not shown), the operator 5 can reach the required height to complete a journey with the recovery cart 3 within the racking structure 17.

[0097] Shuttles 2 and, if necessary, recovery vehicles 3 can be removed from cabin 6 via a low-level removal opening 13.

[0098] A maintenance platform 15 allows an operator 5 to be present in the upper area of ​​the vertical conveyor 1, if necessary. A gallows 14 located there allows an injured operator 5 to be lowered, if required. In the embodiment according to the Figures 5 and 6 The maintenance platforms 18 allow comfortable access and a place to stay at different heights along the scaffold 4.

[0099] Although only two preferred embodiments of the invention have been described and illustrated, it is obvious that the person skilled in the art can identify numerous Modifications The following modifications can be added without departing from the scope of the invention. In particular, the following modifications can be considered: The vertical conveyor 1, especially the cabin 6, can include a bridging device (not shown) to bridge a gap (not shown) to the adjacent shelf levels (not shown).

[0100] Cabin 6 may include a (not shown) charging device for recharging an energy storage unit of Shuttle 2 or Recovery Vehicle 3.

[0101] Alternatively or in addition to the rack-side locks 9, there may be (not shown) vertical conveyor-side locks assigned to cabin 6. It is also possible to omit any such locks 9 entirely.

[0102] The second recording section 8 is, as in Figure 4 to be seen, preferably arranged above the first recording section 7. Alternatively, the second recording section 8 can also be arranged below the first recording section 7. As also described in Figure 4As can be seen, a second loading section 7 requires a very low clearance if it is only used for transporting unloaded shuttles 2. In contrast, the recovery car 3, which must allow the operator 5 to board the cabin 6, requires a significantly greater clearance. To enable a shuttle 2 transported by cabin 6, which is located on a first loading section 7 above the second loading section 8, to enter a lowest control level, it may be necessary to provide a pit into which cabin 6 can enter.

[0103] Opening door 10 does not necessarily have to result in a transition to the recovery vehicle mode. Door 10 can be part of an access control device, for example, a fence, which prevents unauthorized persons from approaching the vertical conveyor 1 too closely. Such a fence or the like can protect a discharge opening 13 from unauthorized access and thus protect unauthorized persons from injury. This applies to all embodiments shown.

[0104] If, instead of the ladder with fall protection 11 according to the Figures 1 and 2 If a ladder is positioned outside an area secured by the monitored door 10, doors, possibly monitored doors 10, can be present on several levels. This is the case in the embodiment according to the Figures 5 and 6 shown. This ensures that access from one (into the Figures 5 and 6(not shown) stairs to the vertical conveyor 1 and thus into cabin 6 and possibly into the racking structure 17 cannot be easily accessed, or is noticed by monitoring the doors 10.

[0105] The shelf-side lock 9 can also be implemented as an active lock to which an actuator is assigned. Preferably, however, even when implemented as an active lock, lock 9 can also be opened manually if necessary. Reference symbol list

[0106] 1 Vertical conveyor 2 Shuttle 3 Recovery vehicle 4 scaffolding 5 operator 6 cabin 7 First recording section 8 Second recording session 9 shelf-side lock 10 Monitored door 11 Ladder with fall protection 12 rail 13 extraction opening 14 gallows 15 Maintenance platform 16 passage 17 Shelf construction 18 Maintenance platform 19 Track 20 Return spring 21 Arrow 22 23 24 25 26 27 28 29 30 31 32 33

Claims

1. Shuttle system comprising a rack structure with multiple rack levels, wherein the rack levels comprise travel paths for shuttles (2), wherein the shuttle system further comprises at least one shuttle (2) which is movable within the rack levels along the travel paths, wherein the shuttle system further comprises at least one vertical conveyor (1) configured to transport a shuttle (2) or a load from a first rack level to a second rack level, wherein the shuttle system further comprises at least one recovery vehicle (3) by means of which an operator (5) can enter a rack level, wherein the vertical conveyor (1) comprises a vertically extending frame (4) and a cabin (6) which is vertically movable along said frame (4), characterized in that the cabin (6) comprises a first receiving section (7) for receiving a shuttle (2) or a load and a second receiving section (8) for receiving a recovery vehicle (3), and the cabin (6) is configured to assume, with respect to at least two rack levels, a transfer position in which the first and / or the second receiving section (7, 8) is substantially at the height of an adjacent rack level, such that a shuttle (2) and / or a recovery vehicle (3) can move from the cabin (6) into the adjacent rack level or a load can be transferred in that direction, or a shuttle (2) or recovery vehicle (3) can move from the adjacent rack level into the cabin (6) or a load can be transferred in that direction.

2. Shuttle system according to claim 1, characterized by at least two vertical conveyors (1) and at least two recovery vehicles (3).

3. Shuttle system according to any one of the preceding claims, characterized in that the second receiving section (8) is arranged above the first receiving section (7).

4. Shuttle system according to at least one of the preceding claims, characterized by at least one rack-side lock (9) which can assume an open and a closed position, wherein in the open position the lock (9) allows a shuttle (2) or a recovery vehicle (3) to enter from a rack level into the first receiving section (7) of the vertical conveyor (1) when the vertical conveyor (1) is in the transfer position, and wherein in the closed position the lock (9) blocks such entry of the shuttle (2) or the recovery vehicle (3).

5. Shuttle system according to claim 4, characterized in that the vertical conveyor (1) comprises an actuating device which is capable of moving the lock (9) from the closed position to the open position and from the open position to the closed position.

6. Shuttle system according to at least one of the preceding claims, characterized by a vertical-conveyor-side lock which can assume an open and a closed position, wherein in the open position the lock (9) allows a shuttle (2) and / or a recovery vehicle (3) to enter from a receiving section (7, 8) of the vertical conveyor (1) into a rack level when the vertical conveyor (1) is in the transfer position, and wherein in the closed position the vertical-conveyor-side lock blocks such entry of the shuttle (2) and / or the recovery vehicle (3).

7. Shuttle system according to at least one of the preceding claims, characterized by a vertical-conveyor-side bridging device which bridges a gap present in the transfer position between the receiving section (7, 8) and the adjacent rack level in order to enable transfer of the shuttle (2) and / or the recovery vehicle (3).

8. Shuttle system according to at least claims 5 and 7, characterized in that the actuating device and the bridging device form part of the same device, or that the bridging device acts as or comprises the actuating device.

9. Shuttle system according to at least claims 4 to 6, characterized in that in the transfer position the actuating device is capable of moving the rack-side lock (9) and, if present, the vertical-conveyor-side lock from the closed position to the open position and from the open position to the closed position.

10. Method for operating a shuttle system according to any one of claims 1 to 9, characterized in that the shuttles (2) move autonomously in a normal operating mode horizontally within the rack levels and optionally change rack levels by means of the vertical conveyor (1), and wherein the vertical conveyor (1) transports the recovery vehicle (3) in a recovery-vehicle mode to a transfer position to allow deployment of the recovery vehicle (3) in the adjacent rack level.

11. Method according to claim 10 for operating a shuttle system according to any one of claims 2 to 9, characterized in that, upon request of a recovery vehicle (3) for a rack level, at least two vertical conveyors (1) transport at least two recovery vehicles (3) to the level corresponding to the request.

12. Method according to any one of claims 10 or 11, characterized in that in the normal operating mode the control of the shuttle system is performed essentially automatically by a warehouse control system, and that after switching to the recovery-vehicle mode the warehouse control system optionally initiates completion of all or at least some remaining level changes by the vertical conveyors (1).

13. Method according to at least one of claims 10 to 12, characterized in that after switching to the recovery-vehicle mode such shuttles (2) whose energy storage device falls below a certain lower limit and which require a level change, or which have taken up a load requiring a level change, either move to a charging station located in the respective level, or switch to an energy-saving mode, or execute another task which does not require a level change.

14. Method according to at least one of claims 10 to 13, characterized in that an energy storage device of a shuttle (2) and / or of a recovery vehicle (3) can be charged in the vertical conveyor (1).