Automated storage system comprising a shuttle for transporting storage aids

Abstract

The invention relates to an automated storage system (2) comprising at least one shuttle (1) and a rack having multiple rack supports (3), the shuttle (1) being designed to vertically climb the rack at two adjacent rack supports (3) by means of a frictional connection, the automated storage system having the following features: multiple floor contact wheels (4); at least one load receiving means (L); two motor-driven friction wheels (5) arranged at a friction wheel track width for vertical friction wheel climbing; and a first pair (6) of counter-pressure wheels (7), the counter-pressure wheels (7) being movable by a shuttle controller between a docking position and a climbing position, and the shuttle (2) being coupled to the two adjacent rack supports (3) in the climbing position, and the shuttle (2) being released from the two adjacent rack supports (3) in the docking position. In the climbing position, the counter-pressure wheel track width substantially corresponds to the friction wheel track width, and at least a portion of one rack support (3) is arranged between one of the friction wheels (5) and one of the counter-pressure wheels (7) in each case.

Description

[0001] Automated warehouse system with a shuttle for transporting storage equipment

[0002] The invention relates to an automated storage system having the features of the preamble of claim 1.

[0003] Automated warehouse systems are well-known in the field of warehouse logistics for automatically storing and retrieving goods from a warehouse. Such warehouse systems are used in modern logistics to enable rapid, fast, and customized fulfillment of orders. For this purpose, warehouse systems typically include goods picking equipment to handle orders that include a large number of different products. However, such warehouse systems are also used as warehouses, for example, in the automotive industry, where a large number of different components must be stored in a common warehouse and be available at short notice.

[0004] Storage systems designed in the form of high-bay warehouses are known in the prior art. In these, goods are stored in storage locations formed by the shelves. Such storage systems typically include so-called storage and retrieval machines or shuttles, which carry out the storage and retrieval of goods in and out of the storage locations.

[0005] During the storage and retrieval of goods from storage locations, the goods are transported vertically along the shelf supports. This can be done, for example, directly by shuttles, which climb the shelf supports. Traditionally, the respective shuttle is coupled to the respective shelf support and climbs it, for example, using a chain or gear drive that engages with the shelf support. A disadvantage of such systems is that the necessary adjustments or the special design of the shelf supports increase the manufacturing costs of the entire storage system. In addition, such systems are associated with high wear and tear, which increases operating costs.Furthermore, in such systems, a coupling area is provided in the area of ​​a substructure beneath the shelves, in which the shelf supports are specially shaped to enable the shuttles to be latched or coupled to the shelf supports.

[0006] US 10,730,696 B2 discloses a storage system with multiple racks and shuttles, wherein the shuttles are vertically movable on the rack supports. EP 3 960 658 A1 discloses a loading vehicle for a stacked storage arrangement, wherein the chassis of the loading vehicle has two wheel assemblies, wherein the loading vehicle is movable in a first direction with the aid of the first wheel assembly and in a second direction transversely or perpendicularly to the first direction with the aid of the second wheel assembly.

[0007] EP 3 992 115 A1 discloses a shuttle for horizontal and vertical travel in a shelving system, which has a vertical wing with a pivot axis for pivoting two rotatable wheel axes of the rotatable wheels of the shuttle about the pivot axis between two positions.

[0008] EP 3 943 417 A1 discloses a storage robot for storing and retrieving goods in and from a rack storage system, comprising a climbing component which is slidably connected to a lower frame of the robot.

[0009] EP 3 901 067 A1 discloses a transport device for picking articles on horizontal and vertical tracks in large racks in warehouses, which consists of a vehicle body, a driving mechanism and crawling assemblies.

[0010] WO 2022 / 109452 A2 discloses automated vehicles for use in a warehouse system for storing loads in vertically stacked levels in racks with shelf supports. Each automated vehicle has a pair of wheels rotatably mounted on the chassis, and a motor drives the pair of wheels.

[0011] US 2021 / 0047112 A1 discloses a vehicle which can be moved along a horizontal surface to a position next to a movable rail in a material handling system.

[0012] WO 2023 / 001449 A1 discloses a motorized vehicle intended to transport a load and comprising at least three wheels which can be pivoted by at least 90°.

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

[0014] According to the invention, this object is achieved by providing an automated storage system having the features of claim 1. The automated storage system according to the invention comprises a shuttle for transporting storage aids and at least one shelf set up on a base and having a plurality of shelf supports. The shuttle is designed to move along the base and to climb vertically on two adjacent shelf supports by means of a frictional connection. In addition, the shuttle comprises a plurality of ground contact wheels for moving the shuttle along the base and at least one load-carrying device for picking up the storage aid. Furthermore, the shuttle comprises two motor-driven friction wheels arranged in a friction wheel track width for vertical friction wheel climbing on vertical surfaces of the two adjacent shelf supports of the rack, and a first pair of counterpressure wheels.

[0015] The counterpressure wheels can be moved between a docking position and a climbing position by a shuttle control system. In the climbing position, the shuttle is coupled to the two adjacent shelf supports, and in the docking position, the shuttle is detached from the two adjacent shelf supports. In the climbing position, the counterpressure wheels are arranged in a counterpressure wheel track width that essentially corresponds to the friction wheel track width. In the climbing position, a shelf support is arranged at least partially between one of the friction wheels and one of the counterpressure wheels. In the docking position, the counterpressure wheels are also positioned out of engagement with the shelf supports.

[0016] By climbing the shelf on two adjacent shelf supports by means of a friction connection by the shuttle using the two motor-driven friction wheels arranged in the friction wheel track width for vertical friction wheel climbing on vertical surfaces of the two adjacent shelf supports of the shelf, the advantage is achieved that the shelf supports themselves do not need to include any perforations or additional mechanical devices such as racks or similar in order to enable the shuttle to be coupled or fastened to the shelf supports.The friction wheels and the first pair of counterpressure wheels, which are arranged in a counterpressure wheel track width in the climbing position, which essentially corresponds to the friction wheel track width in the climbing position, enable the shuttle to provide sufficient grip on the respective shelf support solely due to the static friction of the friction wheels and to perform a vertical ascent and a decelerated descent along the shelf supports. The relocatability of the counterpressure wheels between the docking position and the climbing position enables the shuttle to be coupled into or onto the respective shelf support after the shuttle has been positioned in front of the shelf supports.

[0017] Preferably, the counterpressure track width of the counterpressure wheels in the docking position is smaller than the friction wheel track width, allowing the shuttle's counterpressure wheels to be inserted between the adjacent shelf supports in the shelf. By inserting the counterpressure wheels in the docking position between the shelf supports and extending the counterpressure wheels into the climbing position, each shelf support is positioned at least partially between a friction wheel and at least one counterpressure wheel. This enables a mechanically particularly simple and robust coupling mechanism.

[0018] According to an alternative design variant, the counterpressure wheels are pivotally mounted, and the shuttle control is designed to pivot the counterpressure wheels from the docking position to the climbing position and from the climbing position to the docking position. This also achieves a simple and robust coupling mechanism.

[0019] Preferably, the two friction wheels are formed by two of the shuttle's multiple ground contact wheels. This provides the advantage that two of the ground contact wheels can be used simultaneously to climb the shelf supports. This eliminates the need for shuttle components, reducing the shuttle's weight, making the shuttle simpler to construct, and making it more cost-effective to produce.

[0020] According to a preferred embodiment of the storage system according to the invention, the friction wheels are adjustably mounted, and the shuttle control is designed to reduce the center distance between the friction wheels and the counterpressure wheels when the counterpressure wheels are adjusted to the climbing position, to press the friction wheels against the two adjacent shelf supports, and to clamp the two adjacent shelf supports, at least in sections, between one of the friction wheels and one of the counterpressure wheels. This achieves a secure connection and high static friction between the shelf supports and the friction wheels through the high normal force with which the friction wheels are pressed against the shelf supports.

[0021] Particularly preferably, the friction wheels are adjustably mounted, and the shuttle control is configured to lift the friction wheels from the shelf supports when the counterpressure wheels are adjusted to their docking position. This enables the shuttle or the friction wheels to be decoupled from the shelf supports.

[0022] According to an alternative embodiment of the storage system according to the invention, the counterpressure wheels are adjustably mounted, and the shuttle control is designed to reduce the center distance between the friction wheels and the counterpressure wheels when the counterpressure wheels are adjusted to their climbing position, and to press the counterpressure wheels against the two adjacent shelf supports, and to clamp the two adjacent shelf supports at least partially between one of the friction wheels and one of the counterpressure wheels. This also allows a high normal force acting on the friction wheels to be generated.

[0023] Additionally, according to an alternative embodiment, the counterpressure wheels can be adjustably mounted, and the shuttle control can be configured to lift the counterpressure wheels from the shelf supports when the counterpressure wheels are adjusted to their docking position. This also enables the shuttle to be uncoupled from the shelf supports.

[0024] Each of the friction wheels preferably has a floor contact surface and a shelf support contact surface, with the friction wheel having a larger rolling circumference in the area of ​​the floor contact surface than in the area of ​​the shelf support contact surface. This provides the advantage that the respective friction wheel can be moved along a surface using the floor contact surface and can be moved along the vertical surface of the shelf support using the shelf support contact surface. This prevents the shelf support contact surface from becoming contaminated when the shuttle travels on the potentially contaminated floor or the surface beneath the shelf.

[0025] According to the preferred embodiment of the storage system according to the invention, the shuttle comprises a second pair of counterpressure wheels, which are arranged at a distance from the first pair of counterpressure wheels. This achieves a more even load distribution on the shelf supports.

[0026] Preferably, in the climbing position, the friction wheels and the first pair of counterpressure wheels are arranged essentially in a horizontal plane. This allows a particularly high clamping force to be achieved while simultaneously preventing excessive bending moments acting on the shelf supports.

[0027] According to the preferred embodiment of the storage system according to the invention, the shuttle comprises a counterpressure wheel swing arm with a swing pivot point at a fixed end of the counterpressure wheel swing arm, and a free end arranged opposite the swing pivot point. The free end of the counterpressure wheel swing arm is preferably connected to a spring bearing of the counterpressure wheel swing arm, and the first pair of counterpressure wheels is arranged in the region of the free end of the counterpressure wheel swing arm. This has the advantage that the spring bearing provides a uniform clamping force Fk of the counterpressure wheels. Furthermore, unevenness along the shelf supports can be compensated for. Preferably, the second pair of counterpressure wheels is also arranged in the region of the fixed end of the counterpressure wheel swing arm. Preferably, the cross-section of the shelf supports corresponds essentially to a T-shape, at least in sections.This provides the advantage that the shelf supports can be manufactured easily and cost-effectively, while simultaneously offering high load-bearing capacity and torsional rigidity. Furthermore, it provides a good clamping opportunity for the friction wheels and counterpressure wheels in the climbing position.

[0028] The storage system preferably comprises at least two shuttles, wherein the shuttles are configured to simultaneously accommodate the same shelf support, at least in sections, between at least one friction wheel and at least one counterpressure wheel when in the climbing position on a shelf support, opposite one another. The shuttles are movable past each other along the shelf support. This provides the advantage that shuttles moving vertically next to each other on the shelf do not block each other. This leads to an increase in the storage and retrieval speed of the storage system according to the invention.

[0029] The automated storage system according to the invention, as well as preferred and alternative embodiments thereof, are explained in more detail below with reference to the figures.

[0030] Figure 1a shows a shuttle of the storage system according to the invention in a preferred embodiment in a perspective view, with counterpressure wheels arranged in a docking position.

[0031] Figure 1b shows the shuttle according to Figure la in a side view

[0032] Figure 1c shows the shuttle according to Figure 1a in a top view.

[0033] Figure 2a shows the shuttle of the storage system according to the invention in a perspective view, with counterpressure wheels arranged in a climbing position.

[0034] Figure 2b shows the shuttle according to Figure 2a in a top view.

[0035] Figure 3a shows the shuttle of the storage system according to the invention in a perspective view, with counterpressure wheels arranged in a climbing position, with the center distance between the friction wheels of the shuttle and the counterpressure wheels additionally reduced. Figure 3b shows the shuttle according to Figure 3a in a side view. Figure 3c shows the shuttle according to Figure 3a in a top view.

[0036] Figure 4 shows a detailed view of a counterpressure wheel swing arm of the shuttle.

[0037] Figure 5 shows two shuttles arranged next to one another adjacent to the same shelf support. Figure 6 shows a shelf support of the storage system according to the invention in a perspective view. Figure 1a shows a shuttle 1 of a storage system 2 according to the invention in a preferred embodiment. To comprehensively illustrate the structural details of the shuttle 1, Figure 1b also shows the shuttle according to Figure 1a in a side view and Figure 1c shows the shuttle 1 according to Figure 1a in a plan view. The storage system 2 according to the invention comprises at least one shuttle 1 for transporting storage aids not shown in the figures and at least one shelf set up on a base with a plurality of shelf supports 3. Figure 1a shows the shuttle 1 in a position on the base not separately shown in the figures.The shuttle 1 is designed to move on the ground and to climb vertically onto the shelf on two adjacent shelf supports 3 by means of a frictional connection. For this purpose, the shuttle 1 has a plurality of ground contact wheels 4 for moving the shuttle 1 on the ground and two motor-driven friction wheels 5 arranged in a friction wheel track width RS, shown in Figure 1c, for vertical friction wheel climbing on vertical surfaces of the two adjacent shelf supports 3 of the shelf. Furthermore, the shuttle 1 comprises at least one load-handling device (not separately shown in the figures) for receiving the storage aid (also not shown). In addition, the shuttle 1 comprises a first pair 6 of counterpressure wheels 7. The counterpressure wheels 7 can be displaced by a shuttle control of the shuttle 1 between a docking position shown in Figures 1a to 1c and a climbing position shown in Figures 2a to 3c.In this climbing position, the shuttle 2 is coupled to the two adjacent shelf supports 3, and in the docking position, the shuttle 1 is detached from the two adjacent shelf supports 3. In the climbing position, the counterpressure wheels 7 are also arranged in a counterpressure wheel track width GS, which essentially corresponds to the friction wheel track width RS, wherein in the climbing position, a shelf support 3 is arranged at least partially between one of the friction wheels 5 and one of the counterpressure wheels 7. This is shown in Figures 2b and 3c. In the docking position, the counterpressure wheels 7 are positioned out of engagement with the shelf supports 3, as shown in Figure 1c.In the climbing position, the dead weight G of the shuttle 1 enables the counterpressure wheels 7 and the friction wheels 8 to rest on the vertical surfaces of the shelf supports 3 when a torque is applied to the friction wheels 5, which is generated, for example, by a motor of the shuttle 1. This tilts the shuttle 1 relative to the course of the shelf supports 3, causing a normal force N to act on these vertical surfaces, increasing the friction of the friction wheels 5 on the shelf supports 3 and enabling the shuttle 1 to climb upwards and descend in a controlled manner along the shelf supports 3. The dead weight G and the normal force N can be seen in Figure 4.

[0038] According to a preferred embodiment of the storage system 2 according to the invention, the counterpressure track width GS, as shown in Figure 1c, in the docking position of the counterpressure wheels 7 is smaller than the friction wheel track width RS, thereby enabling the counterpressure wheels 7 of the shuttle 1 to be inserted between the adjacent shelf supports 3 into the shelf. In the docking position, according to this embodiment shown in Figure 1, the counterpressure track width GS is smaller than the friction wheel track width RS, and in the climbing position shown in Figures 2b and 3b in a view from above, the counterpressure wheel track width GS essentially corresponds to the friction wheel track width RS. The counterpressure wheel track width GS is thus variable according to this embodiment. This allows the shuttle 1, with the counterpressure wheels 7 in the docking position, to be positioned between the two adjacent shelf supports 3.The friction wheel track width RS also preferably substantially corresponds to the distance between the two adjacent shelf supports 3, so that the friction wheels 5 rest against the vertical surfaces of the two adjacent shelf supports 3 of the shelf during friction wheel climbing. According to an alternative embodiment of the storage system 2 according to the invention (not shown in the figures), the counterpressure wheels 7 are pivotally mounted, and the shuttle control is designed to move the counterpressure wheels 7 from the docking position to the climbing position and from the climbing position to the docking position. This also ensures that each shelf support 3 is arranged at least partially between one of the friction wheels 5 and one of the counterpressure wheels 7.

[0039] Preferably, the two friction wheels 5 are formed by two of the shuttle's multiple ground contact wheels 4. This gives the two ground contact wheels 4 a dual function as ground contact wheels 4 and friction wheels 5, thereby reducing the number of necessary components of the shuttle 1.

[0040] As shown in Figures 3a to 3c, the friction wheels 5 are preferably adjustably mounted, and the shuttle control is designed to reduce an axial distance A between the friction wheels 5 and the counterpressure wheels 7 when the counterpressure wheels 7 are adjusted to their climbing position, to press the friction wheels 5 against the two adjacent shelf supports 3, and to clamp the two adjacent shelf supports 3 at least partially between one of the friction wheels 5 and one of the counterpressure wheels 7. This state is clearly visible in Figure 3c, wherein a section of the shelf supports 3 is clamped by the counterpressure wheels 7 and the friction wheels 5. The adjustability of the friction wheels 5 is preferably ensured by means of an eccentric mechanism 11 to which the respective friction wheel is attached.The adjustability of the friction wheels 5 provides the advantage that a high clamping force Fk acting on the shelf supports 3, as shown in Figure 4, can be achieved by means of the friction wheels 5 and the first pair 6 of counterpressure wheels 7, whereby even high loads can be transported by the shuttle 1.

[0041] According to an embodiment of the storage system 2 according to the invention (not shown in the figures), the counterpressure wheels 7 are adjustably mounted, and the shuttle control is designed to reduce an axial distance A between the friction wheels 5 and the counterpressure wheels 7 when the counterpressure wheels 7 are adjusted to their climbing position, and to press the counterpressure wheels 7 against the two adjacent shelf supports 3, and to clamp the two adjacent shelf supports 3, at least in sections, between one of the friction wheels 5 and one of the counterpressure wheels 7. These clamping methods provide a simple and robust clamping system that works with conventional, simple and cost-effective shelf supports 3, for example, constructed from sheet metal, thereby reducing the manufacturing and operating costs of the storage system 2 according to the invention.

[0042] Preferably, the friction wheels 5 are adjustably mounted, and the shuttle control is also configured to lift the friction wheels 5 from the shelf supports 3 when the counterpressure wheels 7 are adjusted to their docking position. According to an alternative embodiment not shown in the figures, the counterpressure wheels 7 are adjustably mounted, and the shuttle control is configured to lift the counterpressure wheels 7 from the shelf supports 3 when the counterpressure wheels 7 are adjusted to their docking position. This provides simple and rapid decoupling mechanisms.

[0043] According to the preferred embodiment of the storage system 2 according to the invention, each of the friction wheels 5 has a ground contact surface and a shelf support contact surface, wherein the friction wheel 5 has a larger rolling circumference in the area of ​​the ground contact surface than in the area of ​​the shelf support contact surface. This is not visible in the figures. This allows the shuttle 1 to travel on the ground contact surface of the friction wheels 5, while the shelf support contact surface rests against the respective vertical surface of the two adjacent shelf supports 3 of the shelf as the friction wheel climbs along the shelf supports 3. This prevents contamination of the shelf support contact surface, whereby a consistently high static friction can be reliably achieved between the shelf support 3 and the friction wheel 5.

[0044] As can be seen in the figures, in the preferred embodiment of the storage system 2 according to the invention, the shuttle 1 has a second pair 8 of counterpressure wheels 7, which is arranged at a distance from the first pair 6 of counterpressure wheels 7. This provides additional support for the shuttle 1 on the shelf supports 3. As can be seen in the figures, in the climbing position, the friction wheels 5 and the first pair of counterpressure wheels 7 are arranged essentially in one plane. This prevents deformation of the shelf supports 3 from occurring under high clamping forces.

[0045] The shuttle 1 preferably comprises a counterpressure wheel swing arm 9 with a swing pivot point at a fixed end 12 of the counterpressure wheel swing arm 9, and a free end 13 arranged opposite the swing pivot point. The counterpressure wheel swing arm 9 is shown in detail in Figure 4. The free end 13 of the counterpressure wheel swing arm 9 is connected to a spring bearing 14 of the counterpressure wheel swing arm 9, and the first pair 6 of counterpressure wheels 7 is arranged in the region of the free end 13 of the counterpressure wheel swing arm 9. This provides a uniform clamping force between the first pair 6 of counterpressure wheels 7 and the friction wheels 5. As can be seen in Figure 4, the second pair 8 of counterpressure wheels 7 is preferably arranged in the region of the fixed end 12 of the counterpressure wheel swing arm 9. This creates a leverage effect through the weight of the shuttle 1, which presses the second pair 8 of counterpressure wheels 7 against the shelf supports 3.

[0046] As can be seen in Figure 4, the second pair 8 of counterpressure wheels 7 is preferably positioned by a distance y above the first pair 6, whereby the center of gravity S of the shuttle 1, which projects by a distance x and in which the weight force G acts, increases the normal force N of the friction wheels 5 on the shelf supports 3 by the lever force Fh according to the lever law:

[0047] Fh = G * x / y N = Fk + Fh

[0048] Preferably, the cross-section of the shelf supports 3 has a section that essentially corresponds to a T-shape. This can be seen, for example, in Figures 1a, 1c, 3a, and 3c. This achieves the advantage that the shelf supports 3 can be manufactured simply and cost-effectively, while simultaneously having a high load-bearing capacity and torsional rigidity. Furthermore, this offers the friction wheels 5 and the counterpressure wheels 7 a good opportunity to clamp into the shelf supports 3 in the climbing position. The T-shaped section of the cross-section of the shelf supports 3 is preferably realized by a multi-part construction of the shelf supports 3.For example, in the preferred embodiment shown in Figure 6, the shelf supports 3 of the storage system 2 according to the invention comprise a base profile 31 to which two C-profiles 32 are fastened, arranged so as to abut one another on their longitudinal side as seen in cross-section, such that a base side of the C-profiles 32, as seen in cross-section of the C-profiles 32, rests against the base profile 31. The T-shaped section of the cross-section of the shelf supports 3 is thus formed by a section of the C-profiles 32 arranged opposite the base profile 31.

[0049] As can be seen in Figure 5, the storage system 2 according to the invention preferably comprises at least two shuttles 1, wherein the shuttles 1 are designed to simultaneously accommodate the same shelf support 3, at least in sections, between at least one friction wheel 5 and at least one counter-pressure wheel 7 in the climbing position on a shelf support 3, wherein the shuttles 1 can be moved past one another along the shelf support 3. This has the advantage that shuttles 1 moving vertically next to one another on the shelf do not block one another. This leads to an increase in the storage and retrieval speed of the storage system 2 according to the invention. For example, as can be seen in Figure 5, the shuttles 1 can each clamp a section of the shared shelf support 3 between one of their friction wheels 5 and one of their counter-pressure wheels 7 and can be moved past one another in a climbing manner.This section is preferably T-shaped when viewed in the cross-section of the shelf support.

[0050] In the storage system 1 according to the invention, as well as in storage systems according to the prior art, the storage speed can be increased by a method for storing and / or retrieving goods into or from a storage location of a storage system 2, wherein the storage system 2 comprises a shelf mounted on a base with a plurality of shelf supports 3 and at least two shuttles 1. The method can be described as follows, for example.

[0051] Method for storing and / or retrieving goods in or from a storage location of a storage system 2, wherein the storage system 2 comprises a shelf set up on a base with a plurality of shelf supports 3, and at least two shuttles 1, wherein each of the shuttles 1 is vertically movable on vertical surfaces of two adjacent shelf supports 3 of the shelf, comprising the steps:

[0052] Vertical friction wheel climbing of the respective shuttle 1 along the two adjacent shelf supports 3 of the shelf, and

[0053] Moving past each other of two shuttles 1 arranged opposite one another on a shelf support 3 during the vertical friction wheel climbing of the shuttles 1.

[0054] This method provides the advantage that the shuttles 1 can use any adjacent rack supports 3 to climb the rack, without having to consider whether another shuttle 1 adjacent to these rack supports 3 is also climbing the rack or descending along it. This significantly increases the storage and retrieval speed compared to prior art methods.

Claims

Patent claims:

1. Automated storage system (2) with at least one shuttle (1) for transporting storage aids and at least one shelf set up on a base with a plurality of shelf supports (3), wherein the shuttle (1) is designed to move on the base and to climb vertically onto the shelf on two adjacent shelf supports (3) by means of a frictional connection, and has the following features: Several ground contact wheels (4) for moving the shuttle (1) on the ground; At least one load-carrying device (L) for receiving the storage aid; Two motor-driven friction wheels (5) arranged in a friction wheel track width for vertical friction wheel climbing on vertical surfaces of the two adjacent shelf supports (3) of the shelf;and a first pair (6) of counterpressure wheels (7), characterized in that the counterpressure wheels (7) can be displaced by a shuttle control of the shuttle (1) between a docking position and a climbing position, and in the climbing position the shuttle (1) is coupled to the two adjacent shelf supports (3), and in the docking position the shuttle (1) is detached from the two adjacent shelf supports (3), wherein in the climbing position the counterpressure wheels (7) are arranged in a counterpressure wheel track width which substantially corresponds to the friction wheel track width, and in each case one shelf support (3) is arranged at least in sections between one of the friction wheels (5) and one of the counterpressure wheels (7), and wherein in the docking position the counterpressure wheels (7) are positioned out of engagement with the shelf supports (3).

2. Automated storage system (2) according to claim 1, characterized in that the counterpressure track width of the counterpressure wheels (7) in the docking position is smaller than the friction wheel track width, and enables the counterpressure wheels (7) of the shuttle (1) to be pushed into the shelf between the adjacent shelf supports (3).

3. Automated storage system (2) according to claim 1, characterized in that the counterpressure wheels (7) are pivotally mounted, and the shuttle control is designed to pivot the counterpressure wheels (7) from the docking position into the climbing position and from the climbing position into the docking position.

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

5. Automated storage system (2) according to one of claims 1 to 4, characterized in that the friction wheels (5) are adjustably mounted, and in that the shuttle control is designed to reduce an axial distance (A) between the friction wheels (5) and the counterpressure wheels (7) when the counterpressure wheels (7) are adjusted to the climbing position, to press the friction wheels (5) against the two adjacent shelf supports (3), and to clamp the two adjacent shelf supports (3) at least in sections between one of the friction wheels (5) and one of the counterpressure wheels (7).

6. Automated storage system (2) according to one of claims 1 to 5, characterized in that the friction wheels (5) are adjustably mounted, and in that the shuttle control is designed to lift the friction wheels (5) from the shelf supports (3) when the counterpressure wheels (7) are adjusted to their docking position.

7. Automated storage system (2) according to one of claims 1 to 4, characterized in that the counter-pressure wheels (7) are adjustably mounted, and in that the shuttle control is designed to reduce an axial distance (A) between the friction wheels (5) and the counter-pressure wheels (7) when the counter-pressure wheels (7) are adjusted to their climbing position, and to press the counter-pressure wheels (7) against the two adjacent shelf supports (3), and to clamp the two adjacent shelf supports (3) at least partially between one of the friction wheels (5) and one of the counter-pressure wheels (7).

8. Automated storage system (2) according to one of claims 1 to 4 or 7, characterized in that the counterpressure wheels (7) are adjustably mounted, and in that the shuttle control is designed to lift the counterpressure wheels (7) from the shelf supports (3) when the counterpressure wheels (7) are adjusted to their docking position.

9. Automated storage system (2) according to one of claims 1 to 8, characterized in that each of the friction wheels (5) has a floor contact surface and a shelf support contact surface, wherein the friction wheel (5) has a larger rolling circumference in the area of ​​the floor contact surface than in the area of ​​the Shelf support contact surface.

10. Automated storage system (2) according to one of claims 1 to 9, characterized in that the shuttle (1) comprises a second pair (8) of counterpressure wheels (7) which is arranged at a distance from the first pair (6) of counterpressure wheels (7).

11. Automated storage system (1) according to one of claims 1 to 10, characterized in that in the climbing position the friction wheels (5) and the first pair (6) of counterpressure wheels (7) are arranged substantially in a horizontal plane.

12. Automated storage system (2) according to one of claims 1 to 11, characterized in that the shuttle (1) comprises a counterpressure wheel swing arm (9) with a swing pivot point at a fixed end (12) of the counterpressure wheel swing arm (9), and a free end (13) arranged opposite the swing pivot point, wherein the free end (13) of the counterpressure wheel swing arm (9) is connected to a spring bearing (14) of the counterpressure wheel swing arm (9), and the first pair (6) of the counterpressure wheels (7) is arranged in the region of the free end (13) of the counterpressure wheel swing arm (9).

13. Automated storage system (2) according to claims 10 and 12, characterized in that the second pair (8) of counterpressure wheels (7) is arranged in the region of the fixed end of the counterpressure wheel swing arm (9).

14. Automated storage system (2) according to one of claims 1 to 13, characterized in that a cross section of the shelf supports (3) corresponds at least in sections to a T-shape.

15. Automated storage system (2) according to one of claims 1 to 13, characterized in that the storage system (2) has at least two shuttles (1), wherein the shuttles (1) are designed to receive the same shelf support (3) at least in sections between at least one friction wheel (5) and at least one counterpressure wheel (7) in the climbing position on a shelf support (3) opposite one another, wherein the shuttles (2) are movable past one another along the shelf support (3).

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