Passive Shelving System

Abstract

A passive shelving system (1), particularly for use in a high-bay warehouse, is provided. The passive shelving system (1) includes a shelving area (2) having at least two shelves (3) at different vertical positions, at least two shelf rail sections (4) extending along the at least two shelves (3), each shelf rail section (4) configured to allow a shuttle (5) to move horizontally on the shelf rail section (4), and at least one passive riser area (6) connecting the shelf rail sections (4) and configured to allow the shuttle (5) to move from one shelf rail section (4) to another shelf rail section (4) through the riser area (6) in a vertical movement direction (V). A method of operating such a shelving system (1) is also provided.

Description

[Technical Field]

[0001] The present invention relates to a passive shelving system, particularly for high-bay warehouses. [Background technology]

[0002] It is well known that high-bay warehouses are provided in the prior art to either efficiently store large quantities of goods or to provide small quantities of goods close to recipients. A high-bay warehouse is a storage system with high space utilization efficiency. However, such high-bay warehouses require a high level of investment to set up. Such systems are usually managed fully electronically by a warehouse management system. Goods are transported within the warehouse by storage and retrieval equipment (e.g., shuttles). The increasing demand for goods and their rapid delivery, for example, as part of short-term deliveries, is becoming increasingly important. Additionally, the degree of automation in such warehouses is also increasing. This means that defects or failures of individual warehouse components or parts can lead to operational disruptions in the entire warehouse. This, in turn, can have a significant impact on the replenishment of goods. Summary of the Invention

[0003] It is therefore an object of the present invention to provide a shelving system which allows fully automatic management and has improved reliability. This problem is solved by a shelving system having the features of claim 1 and by a method for operating such a shelving system having the features of claim 25. Furthermore, this problem is solved by the use of a shelving system having the features of claim 26.

[0004] According to one aspect of the present invention, a passive shelving system is provided, particularly for use in high-bay warehouses. The shelving system can include a shelving area having at least two shelves at different vertical positions. Furthermore, the shelving system can include at least two shelf rail sections, each extending along at least two shelves, and the shelf rail sections can be designed to allow a shuttle to move horizontally on the shelf rail sections. Additionally, the shelving system can include at least one passive riser area connecting the shelf rail sections to each other, and the shuttle is designed to move from one shelf rail section to another shelf rail section through the riser area in a vertical movement direction.

[0005] Compared to the prior art, one aspect of the present invention provides the advantage that the shelving system can be completely passive. In other words, active control of the shelving system is not necessary to provide a fully automated shelving system. More specifically, the shelving system can be operated by an actively controlled shuttle, such that the shelving system does not need to perform actively controlled operations and / or movements. Rather, the shelving system can be passive, being controlled simply in response to specific interactions that can be affected by the shuttle. In other words, the shelving system can be passively or indirectly controlled. A passive design can mean that the shelving system does not have a switch or switches that can affect the direction of shuttle movement. This allows the shelving system to operate more reliably.

[0006] This means that a particularly robust and easy-to-control shelving system can be provided. Furthermore, since there is no need to actively or directly control the shelving system, control errors due to incorrect control can be prevented. This improves the reliability of the shelving system, and items can be stored and retrieved safely at all times.

[0007] A passive shelving system can be characterized by the fact that no actuators are provided on the shelving system. Furthermore, the shelving system can have no power or data connections, such that the shelving system must be connected to a control unit or power source. Passive in this context means that the shelving system does not actively interact, but only reacts to interactions from a third party. In other words, the shelving system can only be controlled indirectly (e.g., exclusively). This reaction can occur without electricity (e.g., purely mechanically). This can increase the stability of the shelving system.

[0008] The shelving area can be an area in which items or goods can be stored. Furthermore, the shelving area can have a transport section, such as a shelf rail section, designed to allow a shuttle to automatically transport items into and out of the shelving area. The shelves in the shelving area can be horizontal structures on which items can be placed. The shelves can be parallel to the horizontal. Furthermore, the shelves can be arranged one above the other (i.e., in the direction of gravity or vertically). In other words, the shelves can be provided at different vertical positions. Preferably, the shelving area includes multiple shelves, each arranged at a different vertical position. Each shelf can define a shelf level that defines a vertical position. This means that the shelving area can have multiple shelf levels above and below each other. The shelves can be supported by vertical supports. Preferably, the shelves are essentially flat so that items can be placed on them without any problems and remain in their placed positions. "Flat" here means that there are no structures or partitions on the shelves. In other words, the shelves are designed to hold items individually. This means that specific storage areas do not need to be defined in advance, and items can be placed completely individually on the shelves. The shelves can define a continuous and flat surface onto which items can be placed directly (i.e., without the use of containers, etc.). Preferably, the shelves are continuous and uniform. This allows items to be stored individually in close proximity to adjacent items, making the warehouse operate very efficiently. In other words, items can be stored individually, next to and / or behind each other on the shelves. This means that it is not necessary to determine in advance which items will be stored in pre-defined or limited storage areas of the shelving area. Furthermore, the shelving area can accommodate items without additional transportation equipment, such as shipping boxes. This further improves the efficiency of the storage system.

[0009] A shelf rail section can include one or more rails (e.g., two parallel rails) along which a shuttle can travel, similar to a rail car. The shelf rail section can extend along or parallel to the shelf. This means that a shuttle placed on the shelf rail section can load and unload items onto and from the shelf. Preferably, the shelf rail section extends horizontally. In other words, a shelf rail section can be considered horizontal if it does not deviate from horizontal by more than 5%. This means that a shuttle traveling on a shelf rail section cannot switch to another shelf rail section on another shelf level because the shelf rail section only extends horizontally. This means that the shuttle can only travel along the shelf rail section of one shelf level.

[0010] The shelving system has a passive riser area for overcoming height distances or height differences between shelves or shelf rail sections. Therefore, the riser area can be designed to vertically move a shuttle between different shelf rail sections provided at different vertical positions within the shelf area. A passive riser area is also designed as a passive element along which the shuttle can move. In other words, the riser area does not cause the shuttle to move vertically. The riser area can have four vertically extending columns. The columns can be reinforced with cross struts and can define a rectangular base area in plan view. In other words, the riser area is not an elevator or other device that actively moves the shuttle in the vertical direction. Rather, the riser area can move the shuttle in the vertical direction by actively operating the shuttle. Therefore, the riser area is not an elevator or other lifting device that requires active operation of a control area. In particular, the riser area is stationary relative to the shelf area. The riser area can have, for example, guide elements for the shuttle so that the shuttle can move safely in the vertical direction of movement. The vertical direction of movement does not have to be strictly vertical, but can have an angle between horizontal and the vertical, ranging between 0° and 90°. Passive riser areas cannot be erroneously controlled by actively controlled riser areas, ensuring simple and stable operation of the shelving system. Furthermore, multiple shuttles can move within the same riser area.

[0011] The shuttle can be, for example, a wheel-supported storage and retrieval device designed to pick up items and store and retrieve them within a shelf area. For example, such a shuttle can have four wheels that can be guided on rails. It is also conceivable that the shuttle can be guided in other ways (for example, by monorail, electromagnetic force, etc.). According to one aspect of the present invention, the focus is on passive shelving systems that do not require any active control, thereby functionally eliminating erroneous control due to erroneous active control. Thus, passive shelving systems can be operated in a particularly advantageous manner, since, on the one hand, active control (using sensors and actuators required for this purpose) is not required, and, on the other hand, erroneous operation can be prevented even if the active control of the passive shelving system fails.

[0012] Preferably, the riser area is designed so that the shuttle can move exclusively vertically within the riser area within the vertical movement direction. In other words, the vertical movement direction can extend essentially at an angle of 90° relative to the horizontal. Essentially here means that the vertical extension of the vertical movement direction can also include angles of 88° to 92° relative to the horizontal (i.e., with a tolerance of ±2°). This prevents the shuttle from moving at an angle from one shelf rail section toward a shelf rail section spaced apart in the vertical direction. As a result, it is not necessary to provide a diagonal movement path for the shuttle, thereby saving installation space for the shelving system.

[0013] Preferably, the riser area is designed to allow the shuttle to move in both directions in the vertical movement direction. In other words, the shuttle can move both upward (upward in the vertical movement direction) and downward (downward in the vertical movement direction) within one and the same riser area. The vertical movement direction can correspond to the direction of gravity. This means, for example, that a shelving system can be designed with only one riser area, thereby allowing more space to be used for storage areas. Alternatively, the shelving system can provide two riser areas, each located at one end of a shelf rail section. In this case, one riser area can handle the upward movement of the shuttle in the vertical movement direction, and the other riser area can handle the downward movement of the shuttle in the vertical movement direction. In this way, efficient circular movement of the shuttle can be provided within the shelving system. Additionally, all riser areas can be designed identically, thereby reducing manufacturing costs. Nevertheless, multiple shuttles can also move in the vertical movement direction within a riser area. In this case, the movement directions of the individual shuttles do not need to be the same. In other words, one shuttle can move in an upward direction within a riser area while another shuttle can move in a downward direction within the same riser area. This is useful, for example, when multiple shuttles have different starting points and different destination points (i.e., different destination levels within a storage area). In this way, efficient operation of the shuttles within the shelving system can be provided and unnecessary movement of the shuttles can be avoided.

[0014] Preferably, the shelf rail section extends along a first longitudinal side of the shelf, and preferably, a longitudinally extending wall section is arranged on a second longitudinal side of the shelf opposite the first longitudinal side. The shelf can have a plate-like structure with its maximum extension in a main direction of extension. The longitudinal sides of the shelf can also extend in this main direction of extension. The shelf and shelf rail section can be arranged relative to each other so that the shuttle passes over the longitudinal side of the shelf as it passes. The wall section can be arranged on the other longitudinal side of the shelf, i.e., the longitudinal side facing away from the shelf rail section. The wall section can protrude from the shelf. Preferably, the wall section can form a substantially L-shaped element together with the shelf. The wall section can be provided continuously or intermittently. The wall section can serve as a measuring point for a measuring device of the shuttle. In this way, the shuttle can use the detection unit to determine whether items are on a shelf and / or the location of those items as they pass the shelf. If the shelf is empty, the shuttle's detection unit can measure the wall section. Because the evaluation unit (e.g., the control unit) knows where the wall section is located (i.e., how deep the shelf is), it can unambiguously determine which measurement result of the detection unit is appropriate for the wall section and therefore determine that the shelf is empty. For example, if the wall section is absent, the detection unit will take an invalid measurement, and the result may vary depending on the immediate environment of the shelf. This can make determining whether the shelf is empty more difficult and less reliable. Thus, the wall section can serve as a measurement point and also prevent items from being pushed off the shelf.

[0015] Preferably, the shelf rail section is directly connected to the shelf. In this case, the shelf rail section can be a flange-like element protruding from the shelf. The shelf rail section can have a moving surface along which the shuttle can move. The moving surface can have a vertical position different from that of the shelf surface, and in particular, the moving surface can be positioned lower than the shelf surface. This prevents an edge from forming between the shelf and the shuttle, allowing the shuttle to easily pick up items from the shelf. For example, the shelf rail section can be formed integrally with the shelf. This ensures particularly easy assembly of the shelving system, since no complicated adjustments or calibrations are required for the position of the shelf rail section relative to the shelf. Furthermore, assembly errors are avoided and stability is improved, thereby ensuring safe operation of the shelving system.

[0016] Preferably, the riser area has vertical rail sections designed to allow the shuttle to move vertically thereon. Moving thereon can mean that the shuttle comes into contact with the vertical rail sections during movement in the vertical movement direction. Furthermore, the shuttle can be in frictional and / or positive contact with the vertical rail sections, or can be brought into contact with them. Thus, the vertical rail sections can be designed to absorb forces from the shuttle so that the shuttle can move upward or downward in the vertical movement direction. The vertical rail sections can be formed integrally with the riser area. This ensures that their position in the riser area is accurate and avoids assembly errors. The vertical rail sections can be attached to or positioned on the supports of the riser area. Preferably, the riser area includes four supports and four vertical rail sections.

[0017] Preferably, the vertical rail section is designed as a toothed rail and / or a friction rail. The toothed rail can have a series of protrusions, or teeth, with which a gear can mesh. More specifically, the shuttle can have at least one gear that can be brought into contact with a toothed rack or toothed rail. The geometry of the toothed rail can correspond to the unfolded geometry of the shuttle gear with involute, cycloidal, or conchoidal teeth. The distance from one tooth to the next can be designated as the pitch of the toothed rail. Dividing the pitch by π gives the module of the toothed rack. The module, or diametral pitch, is a measured dimension of the size of the gear. Its value is usually based on a length unit in millimeters and is the result of dividing the pitch diameter by the number of teeth. Preferably, the module ranges from 1 to 8, preferably 4 to 6. The toothed rail can be a linear machine element with a series of protrusions with which a shuttle gear can mesh. The travel distance can be determined according to the average circumference of the tooth rim of the drive gear, the so-called pitch diameter D, and its number of revolutions N, as the product π × D × N. Alternatively or additionally, the friction rail can be provided as a vertical rail section, which can provide a surface that can come into contact with a complementary element of the shuttle (e.g., a rubber tire, etc.). The contact force between the shuttle and the vertical rail section can provide sufficient friction between the shuttle's wheel and the friction rail to move the shuttle in the vertical direction (i.e., the vertical movement direction) when the wheel is driven along the friction rail. Thus, a simply designed riser area can be provided that allows the shuttle to move in the vertical movement direction within the riser area. Preferably, the toothed rail is provided linearly in the vertical movement direction. This makes the installation of the toothed rail particularly easy. Preferably, since only the shuttle is responsible for controlling its movement, there is no need to modify the guide (e.g., switches, bends, etc.) through the toothed rail.

[0018] Preferably, the riser area has at least one guide section with which the shuttle can engage during movement in the vertical movement direction. In other words, the riser area can have a guide section designed to guide and / or secure the shuttle. For this purpose, the guide section can be a groove or recess in which the shuttle can engage a corresponding element. The guide section can have a guiding function between two shelf levels. At each shelf level, the guide section can release the shuttle so that it can be easily extended or retracted from the riser area. For example, the guide section can be a T-shaped recess in which a safety element of the shuttle can engage. In an area corresponding to the height of the shelf level, the T-shaped recess can be open so that the shuttle can easily enter and exit the guide section. This ensures that the shuttle is secured by the guide section when moving between the two shelf levels. For example, the shuttle can be prevented from falling even in the event of a malfunction of one shuttle's drive unit or a mechanical failure of the vertical rail section. Furthermore, the position of the shuttle in the riser area can be determined by the guide section. This ensures a high level of operational safety.

[0019] Preferably, the riser area has at least one horizontal rail section designed to allow the shuttle to enter and exit the riser area horizontally. The horizontal rail section can have a movement surface on which the shuttle can be placed and move, corresponding to the movement surface of the shelf rail section. This means that the shuttle can move in the horizontal movement direction on the shelf rail section and easily enter the riser area (i.e., on the horizontal rail section). Similarly, the shuttle can move out of the riser area on the horizontal rail section. Advantageously, the length of the horizontal rail section essentially corresponds to the length of the shuttle. In other words, the riser area can have an extension in the direction of horizontal movement essentially corresponding to the length of the shuttle. In this way, unnecessarily long riser areas can be avoided and the available space can be optimally utilized. Alternatively or additionally, the riser area can be designed to allow passage. In other words, the riser area can be arranged between two shelf areas and allow the shuttle to pass through horizontally without moving vertically.

[0020] Preferably, the horizontal rail section is movable from a horizontal movement position, in which the shuttle can move horizontally in the riser area, to a vertical movement position, in which the shuttle can move vertically in the riser area. In other words, when the horizontal rail section is in the horizontal movement position, the shuttle can move horizontally (i.e., in the horizontal movement direction) in the riser area. Similarly, when the horizontal rail section is in the vertical movement position, the shuttle can move only vertically (i.e., in the vertical movement direction) in the riser area. As a result, the common space in the riser area can be used for both horizontal and vertical movement of the shuttle, ensuring highly efficient use of available space. In other words, the riser area can have compact dimensions, making more space available for the shelf area. This can increase the efficiency of the shelving system. The horizontal movement position can represent the unfolded position of the horizontal rail section. The vertical movement position can represent the folded position of the horizontal rail section. The riser area preferably has two horizontal rail sections per shelf level. Therefore, the riser area is suitable for a shuttle having two axles and four wheels. This ensures safe operation of the shuttle within the shelving system.

[0021] Preferably, the horizontal rail section is moved from the horizontal transfer position to the vertical transfer position without active control of the shelving system. In fact, the riser area can be designed so that the horizontal rail section is moved from the horizontal transfer position to the vertical transfer position, or vice versa, by a shuttle. More precisely, the appropriate position of the horizontal rail section can be automatically provided depending on the direction of movement of the shuttle. For example, a shuttle moving upward in the vertical transfer direction can move against the rail section above it and move it from the horizontal transfer position to the vertical transfer position. The shuttle can then pass through the horizontal rail section in the vertical transfer direction. This means that complex shelving system control is not required to move the horizontal rail section to the desired position. Instead, this can be done automatically depending on the direction of movement of the shuttle. To provide automatic control of the riser area by the shuttle, the riser area can have, for example, an actuator that moves the shuttle to the appropriate position of the horizontal rail section. The actuator can preferably be mechanical. More precisely, the actuators can be stop points or contact points that are approached by the shuttle, and depending on the direction in which they are approached by the shuttle, the actuators can mechanically send control commands that move the horizontal rail sections to the desired position (i.e., horizontal or vertical movement position), thereby providing a particularly simple control of the shelving system without the need for external active control by a controller or the like.

[0022] Preferably, the horizontal rail section is attached to the riser area in such a way that it returns from the vertically displaced position to the horizontally displaced position without any external actuation. In other words, the position of the horizontal rail section in the vertically displaced position can be such that the horizontal rail section is in an unstable position. This can mean that the horizontal rail section moves away from the vertically displaced position, i.e., towards the horizontally displaced position, without any external actuation. This can be achieved, in particular, without additional elements such as springs. For example, a shuttle can move the horizontal rail section to the vertically displaced position to allow the horizontal rail section to pass. The horizontal rail section can then return to the horizontally displaced position by itself. Thus, a particularly simple design of the riser area can be provided. This can be achieved by attaching the horizontal rail section in such a way that the horizontal rail section can rotate around a pivot point by means of a connecting element, so that the horizontal rail section cannot assume a stable position in the vertically displaced position. This can be achieved, for example, by one or more stops.

[0023] Preferably, the horizontal rail section is aligned with at least one shelf rail section in the horizontal movement direction, allowing the shuttle to move from the horizontal rail section in the riser area to the shelf rail section in the shelf area and from the shelf rail section to the horizontal rail section. In other words, the horizontal rail section in the riser area can always be positioned in the same position relative to the shelf rail section at the same shelf level in the horizontal movement position. This provides the advantage that the shuttle can always enter and exit the riser area without any problems. For example, in prior art active elevator systems, it is often difficult to position the transport platform on which the shuttle is positioned relative to the shelf so that the shuttle can enter and exit without any problems. This problem does not occur in this embodiment, because the horizontal rail section is always positioned in the same position in the horizontal movement position. Furthermore, the horizontal rail section automatically returns to the horizontal movement position, ensuring that the shuttle can always enter the riser area without any problems. This improves operational reliability and reduces the shelving system's vulnerability to errors.

[0024] Preferably, the horizontal rail section in the vertical movement position is folded to form a vertical movement space for the shuttle in the riser area. For example, the horizontal rail section can be folded essentially 90°, and in this position, the horizontal rail section occupies the smallest space in the vertical movement direction. As a result, space utilization is further enhanced to improve the storage efficiency of the shelving system.

[0025] Preferably, the horizontal rail section is pivotally attached to the riser area by at least a first arm around a first pivot point. The first arm can be, for example, a cantilever-like element to which the outer end of the horizontal rail section is attached. The horizontal rail section can be rigidly connected to the first arm. Furthermore, the first arm can have a bent portion such that the horizontal rail section is positioned above the first pivot point at a horizontal movement position in the vertical movement direction. This allows the horizontal rail section to be spaced apart from the first pivot point in a direction perpendicular to the vertical movement direction at the vertical movement position (i.e., the folded position of the horizontal rail section), so that a particularly large space is created for the vertical movement of the shuttle. In other words, folding the first arm can fold the horizontal rail section to a position far removed from the movement space of the riser area, so that the shuttle has sufficient space to move in the vertical movement direction. This further improves the space efficiency of the riser area. Furthermore, the first arm can be designed to have a first arm section connecting the first pivot point with the horizontal rail section and a second arm section connecting the pivot point with the opposite outer end of the first arm. The second arm section can be at least half as long as the first arm section. This ensures that the horizontal rail section is in a folded position (i.e., a vertical transfer position) in a mechanically unstable position and automatically folds back to the horizontal transfer position after the shuttle has passed. This ensures safe operation of the shelving system.

[0026] Preferably, a third arm is provided in the riser area, having a first contact element at its outer end, and preferably the third arm is arranged below the horizontal rail section in the horizontal movement direction. Therefore, the third arm can support the horizontal rail section in addition to the first arm. In this case, preferably, the third arm is not rigidly connected to the horizontal rail section. Therefore, when the horizontal rail section is moved from the horizontal movement position to the vertical movement position, the third arm can be displaced relative to the horizontal rail section. In particular, the third arm can contact the horizontal rail section with the first contact element. In this case, the first contact element can protrude downward from the horizontal rail section in the vertical movement direction. During operation of the shelving system, when a shuttle approaches the horizontal rail section from below in the vertical movement direction, the shuttle can first contact the first contact element. Then, when the shuttle moves further upward in the vertical movement direction (i.e., against the horizontal rail section), the shuttle can push away the horizontal rail section. In other words, the shuttle can move the horizontal rail section from a horizontal movement position to a vertical movement position. Here, the first contact element can be designed to initially and directly contact the shuttle. For example, the first contact element is a rotatably mounted roller so that friction between the shuttle and the third arm is reduced. In other words, the contact element can contact the shuttle on the one hand and the vertical rail section on the other hand so that the shuttle cannot directly contact the horizontal rail section. This can reduce maintenance efforts and wear.

[0027] Preferably, the third arm is attached to be rotatable around a second pivot point spaced apart from the first pivot point. Preferably, the first pivot point and the second pivot point are arranged on a straight line perpendicular to the horizontal direction or parallel to the vertical movement direction. This allows the horizontal rail section to be rotated by a parallelogram-like link mechanism including the first arm and the third arm. Also, the vertical movement position can be defined as an unstable position. This ensures that the horizontal rail section automatically returns from the vertical movement position to the horizontal movement position. This increases the safety of operation.

[0028] Preferably, the second arm is provided within the riser area so as to be rotatable about a second pivot point, with the second arm preferably having a second contact element at its outer end, and the second arm is positioned so that the second contact element is positioned below the horizontal rail section in the horizontal movement position, and the second arm is preferably attached so as to automatically return to the horizontal movement position. The second arm can be moved to the vertical movement position together with the horizontal rail section, and the second arm can automatically return from the vertical movement position to the horizontal movement position. For example, the second arm can be moved to the vertical movement position (i.e., the deflected position) by a shuttle simultaneously with the horizontal rail section. Thus, the second arm can be tilted to return from the vertical movement position to another position (i.e., the horizontal movement position). This can be achieved, for example, by the second arm having a stopper that allows the angle of movement between the horizontal movement position and the vertical movement position to be less than 90°. In other words, the stopper can prevent the second arm from moving through a larger angle. This ensures that the second arm can return to the horizontal movement position at any time. The second arm can be designed to return from the vertical movement position to the horizontal movement position before the horizontal rail section returns from the vertical movement position to the horizontal movement position. In other words, the horizontal rail section can remain in the folded position and be held there, for example, by the shuttle, while the second arm has already returned to the horizontal movement position. This has the advantage that an actuator can be provided by the second arm that recognizes when the shuttle is to perform a specific operation. Therefore, the second arm can be designed to move an adjacent horizontal rail section (i.e., not the horizontal rail section on which the second arm is located) from the horizontal movement position to the vertical movement position when such a movement direction is initiated by the shuttle.For example, the second arm can be designed so that when the shuttle moves from top to bottom in the vertical movement direction and contacts the second arm, a connection mechanism (described in detail below) moves the horizontal rail section below it from a horizontal movement position to a vertical movement position. This ensures that the shuttle can easily pass through the riser area from top to bottom in the vertical movement direction. Alternatively, when the shuttle moves from bottom to top in the vertical movement direction relative to the second arm, the connection mechanism can move the horizontal rail section below from a vertical movement position to a horizontal movement position. In this way, the shuttle can move the horizontal rail section within the riser area in a targeted manner (i.e., from a horizontal movement position to a vertical movement position, or vice versa) to access a specific shelf level. This allows for a completely passive riser area without requiring external control of the riser area.

[0029] Preferably, the riser area includes at least one connection mechanism connecting the first arm of a first horizontal rail section to the second arm of an adjacent second horizontal rail section so that the first horizontal rail section can be moved from a horizontal movement position to a vertical movement position when the second arm of the second horizontal rail section is deflected. In other words, the adjacent horizontal rail section can be controlled by the second arm. The second horizontal rail section can be positioned above the first horizontal rail section in the vertical movement direction. For example, when a shuttle wants to descend within the riser area, the shuttle can travel on a horizontal rail section (e.g., the first horizontal rail section) and move into the riser area. The shuttle can then move vertically upward until it moves the horizontal rail section above it (e.g., the second horizontal rail section) from the horizontal movement position to the vertical movement position. When passing through the second horizontal rail section, the second arm of the second horizontal rail section moves back to the horizontal movement position, and the second horizontal rail section with the guide rail is still in the vertical movement position. The shuttle can then change direction of movement in the vertical movement direction and change to downward movement. In doing so, the shuttle can collide with the second arm and / or the second contact element and deflect the second arm downward. The connection mechanism allows the second arm to move the first horizontal rail section from the horizontal movement position to the vertical movement position. By deflecting the second arm (by the shuttle), the first horizontal rail section is held in the vertical movement position until the shuttle reaches an area of the first horizontal rail section and holds itself in the vertical movement position (e.g., by contacting the first contact element of the first horizontal rail section). The second arm of the second horizontal rail section can automatically return to the horizontal movement position when it is no longer deflected by the shuttle.As the shuttle clears the first horizontal rail section, it can contact a second arm of the first horizontal rail section to move the next underlying horizontal rail section to a vertical transfer position in the same manner, thereby allowing the shuttle to descend through the riser area.

[0030] Preferably, the first and third arms are articulated to one another at one of their outer ends. This allows for a parallelogram-like movement of the horizontal rail section during the folding movement from the horizontal movement position to the vertical movement position, ensuring particularly good guidance of the horizontal movement section. This also prevents tilting or unintentional play of the system. As a result, the stability of the riser area is ensured even during multiple movements.

[0031] Preferably, the shelving system has at least one infeed section and at least one outfeed section for the shuttle, and the infeed section and the outfeed section are preferably directly connected to at least one riser area. The infeed section and the outfeed section can be arranged on the same level, in particular on only one level. In other words, the riser area can form the entrance gate and / or the exit gate of the shelving system. Preferably, the shelving system can have two riser areas, one at the entrance and one at the exit of the shelving area. This can effectively reduce the travel distance and ensure that the shuttle does not have to travel unnecessary distances.

[0032] Preferably, the shelving system includes a shuttle designed to move vertically in the riser area by a vertical drive and to move horizontally in the shelf area by a horizontal drive. The vertical drive can be, for example, at least one rubber wheel and / or gear that can interact with a vertical rail section to allow the shuttle to move vertically in the riser area. The shuttle can be designed to place and transport the transported items in the item storage area. In other words, the shuttle can only transport items in a manner that places them on it. In particular, the shuttle cannot transport items suspended below the shuttle.

[0033] According to a further aspect of the present invention, there is provided a method of operating any of the above-described shelving systems. The method may include providing any of the above-described shelving systems. The method may further include operating a shuttle in the riser area to move in the vertical movement direction. Preferably, the shuttle mechanically controls the riser area. In particular, mechanical control of the riser area can be performed exclusively by the shuttle. This means that no other mechanical control commands need to be sent to the riser area or the shelving system to store or retrieve items. This means that a completely passive shelving system can be operated. Only the shuttle can be an active part of the shelving system. The shelving system itself can be controlled only by operating the shuttle. According to a further aspect of the present invention, there is provided a method of using a shelving system according to one of the above-described embodiments to store and / or pick items.

[0034] Features of individual embodiments can be combined with features of other embodiments or with features of other embodiments to form new embodiments. New embodiments have the advantages and properties mentioned in connection with the features. Embodiments and advantages mentioned in connection with the method also apply to the apparatus, and vice versa.

[0035] Preferred embodiments will now be described in detail with reference to the accompanying drawings. [Brief explanation of the drawings]

[0036] [Figure 1] FIG. 1 shows a schematic perspective view of a passive shelving system according to one embodiment of the present invention. [Figure 2] 1 shows a schematic perspective view of a shelving area of a shelving system according to one embodiment of the present invention; [Figure 3] 1 shows a schematic cross-sectional view through a shelf area according to one embodiment of the present invention. [Figure 4] 1 shows a schematic perspective cross-sectional view through a shelf area according to one embodiment of the present invention; [Figure 5] 10A-10C are schematic diagrams illustrating a passive riser area with a shuttle disposed therein, according to one embodiment of the present invention; [Figure 6] FIG. 10 is a detailed schematic perspective view of a riser area according to one embodiment of the present invention. [Figure 7] FIG. 10 is a detailed schematic perspective view of a riser area according to one embodiment of the present invention. [Figure 8] 1 is a schematic perspective cross-sectional view of components of a riser area according to an embodiment of the present invention; FIG. [Figure 9] FIG. 10 is a schematic side view of a portion of a riser area according to one embodiment of the present invention. [Figure 10] FIG. 2 is a schematic perspective view of a riser area according to one embodiment of the present invention. [Figure 11A] 1A-1C are schematic perspective views of the riser area in different operating positions. [Figure 11B] 1A-1C are schematic perspective views of the riser area in different operating positions. [Figure 12A] 1A-1C are schematic perspective views of a portion of the riser area in different operating positions. [Figure 12B] 1A-1C are schematic perspective views of a portion of the riser area in different operating positions. DETAILED DESCRIPTION OF THE INVENTION

[0037] In the following description of the figures, identical elements are given the same reference numerals, even when the same elements are used in different embodiments.

[0038] FIG. 1 is a schematic perspective view of a passive shelving system 1 according to one embodiment of the present invention. The shelving system 1 includes a shelf area 2 and a riser area 6. In this embodiment, the shelf area 2 is directly connected to the riser area 6. Also shown is an infeed section 7 along which a shuttle 5 can move. The shelf area 2 is only indirectly connected to the infeed section 7. In other words, the shelf area 2 is connected to the infeed section 7 only via the riser area 6. Therefore, the shuttle 5 must pass through the riser area 6 to reach the shelf area 2. The shelving area 2 includes multiple shelves 3. The shelves 3 are arranged horizontally, stacked one on top of the other. In other words, each shelf 3 has a different vertical position. Each shelf 3 is assigned a shelf rail section 4 (not shown in FIG. 1 ) that allows the shuttle 5 to move along the shelf 3. The shuttle 5 is designed to store and retrieve various items 10 from the shelves 3. In this embodiment, the storage and retrieval equipment stores and / or retrieves items 10 on shelves 3. In order for the shuttle 5 to reach various shelves 3 provided at different vertical positions, the shuttle 5 can change its vertical position in the vertical movement direction V by means of the riser area 6. For this purpose, the shuttle itself can be driven to move vertically through the riser area 6. The shuttle 5 can move on the corresponding shelf rail section 4 of the shelf area 2 to reach the desired shelf 3 at the desired vertical position. In this embodiment, the shuttle 5 moves strictly (i.e., exclusively) vertically through the riser area. The shuttle moves strictly (i.e., exclusively) horizontally on the horizontal rail section 4 in the shelf area 2.

[0039] FIG. 2 is a schematic perspective view of a shelving area 2 of a passive shelving system 1 according to one embodiment of the present invention. In the shelving area 2 shown in FIG. 2, shelf rail sections 4 are assigned to shelves 3. The shelves 3 are arranged adjacent to each other at the shelf level. Each shelf 3 is assigned a shelf rail section 4 such that two shelves 3 facing each other form a single accessible shelf rail section 4. Furthermore, FIG. 2 shows wall sections 8 provided for each shelf 3. The wall sections 8 are provided on the longitudinal sides of the shelves opposite the shelf rail sections 4. This provides defined measurement points for the sensor system of the shuttle 5. In this way, as the shuttle 5 passes, the sensor system can easily detect whether items are placed on the shelves, where those items are located, and / or whether the shelves 3 are empty.

[0040] FIG. 3 is a schematic cross-sectional view through a shelving area 2 of one embodiment of the present invention. In FIG. 3, three shelves 3 are shown arranged at different vertical positions, one above the other, with shelf rail sections 4 assigned to each of the three shelves 3. In this embodiment, the shelving area 2 also includes multiple intermediate shelves 31. The intermediate shelves 31 are arranged at different vertical positions between two shelves 3. Unlike the shelves 3, these intermediate shelves 31 do not have shelf rail sections 4 assigned to them. Rather, these intermediate shelves 31 can be driven by a shuttle 5, which actively feeds items stored thereon to the intermediate shelves 31. This can be achieved, for example, by a lever mechanism or a gripper mechanism arranged on the shuttle 5. The intermediate shelves 31 are particularly suitable for storing lightweight or small items, for example. It would not be economical to assign an extra shelf rail section 4 to each intermediate shelf 31 for this purpose. FIG. 3 also schematically illustrates one level of the infeed section 7. According to one embodiment, the clearance between two adjacent shelves 3 (ie, the width between two shelves 3 each having a shelf rail section 4) is about 653 mm.

[0041] 4 is a schematic perspective cross-sectional view of a shelf section 2 according to one embodiment of the present invention. In this embodiment, the shelf rail section 4 is formed integrally with the shelf 3. As a result, the position of the moving surface 41 formed on the shelf rail section 4 can always be constant relative to the shelf 3, regardless of who or how the shelf area 2 is attached. The shuttle 5 can move on the moving surface 41 of the shelf rail section 4 using wheels.

[0042] FIG. 5 is a schematic diagram of a section of the riser area 6 in which the shuttle 5 is arranged. The riser area 6 has several horizontal rail sections 11, two of which are assigned to each shelf level (i.e., each shelf level). The shelf rail sections 11 are movably mounted within the riser area 6. As a result, the horizontal rail sections 11 can be folded. More precisely, the horizontal rail sections 11 can be positioned in a horizontal or vertical movement position. Furthermore, the riser area 6 has vertical rail sections 12, which allow the shuttle 5 to move in a vertical movement direction V. Thus, the shuttle 5 can move horizontally on the horizontal rail sections 11 and vertically on the vertical rail sections 12. In this embodiment, the vertical rail sections 12 are designed as toothed rails. A drive system 51 of the shuttle 5 can be engaged therewith. For example, the drive system 51 of the shuttle 5 may comprise a gear that can mesh with the toothed rail (ie, vertical rail section) 12 .

[0043] Figure 6 is a detailed perspective view of a portion of the riser area 6 in which the shuttle 5 is disposed. Furthermore, in the state shown in Figure 6, the drive system 51 of the shuttle 5 is engaged with the toothed rail 12. In this position, the shuttle 5 can be moved in a vertical movement direction by driving the drive device 51 of the shuttle 5. For example, the drive system of the shuttle 5 can be rotated so that the drive system can move from a first position in which the shuttle 5 can move on the horizontal rail section 11 to a second position in which the shuttle 5 can move on the vertical rail section 12. In the position shown in Figure 6, the shuttle is in the second position.

[0044] FIG. 7 is a detailed perspective view of the riser area 6 in which the shuttle 5 is arranged. Compared to the configuration shown in FIG. 6, in the configuration shown in FIG. 7, the drive system 51 of the shuttle 5 is rotated so that the gears of the drive system 51 are not meshed with the toothed rail 12. The drive system 51 shown in FIG. 7 is in a first position. In fact, the drive system 51 of the shuttle 5 is in contact with the horizontal rail section 11 as a traction drive for allowing the shuttle 5 to move horizontally into or out of the riser area 6. Furthermore, FIG. 7 shows that the horizontal rail section 11 extends into a movement section of the shuttle 5 extending in the vertical movement direction V. Therefore, according to an advantageous embodiment, it is provided that the horizontal rail section 11 is movably mounted so that it can be folded in the vertical movement direction V to free up space for the shuttle 5 when it moves vertically. As a result, a particularly compact riser area 6 can be realized.

[0045] Figure 8 is a schematic perspective view of a portion of the riser area 6 according to one embodiment of the present invention. More specifically, Figure 8 shows the horizontal rail section 11 in detail from two different perspectives. To simplify the illustration, other components of the riser area 6 have been omitted. The view shown on the left side of Figure 8 shows the horizontal rail section 11 together with the attachment 13 from an oblique front view, and the view shown on the right side of Figure 8 shows the horizontal rail section 11 from an oblique rear view.

[0046] The horizontal rail section 11 is fixedly (i.e., immovably) connected to a first arm 21, which is fixed to the frame 13 of the riser area 6 so as to be rotatable about a first pivot point 31. The first arm 21 is mounted so as to be rotatable about the first pivot point 31. Furthermore, the riser area 6 has a third arm 23 pivotally mounted on the riser area 6. More precisely, the third arm 23 is mounted so as to be rotatable about a second pivot point 32. In the horizontal movement position, the third arm 23 is disposed substantially parallel to the first arm 21. The third arm 23 has a first contact element 24 at one outer end thereof. In this embodiment, the first contact element 24 is rotatably mounted on the third arm 23. In one embodiment, the first contact element 24 is a roller. While the shuttle 5 moves upward in the vertical movement direction V, it first contacts the first contact element 24 and can thereby push the horizontal rail section 11 upward. The third arm 23 has an arm connection element 25 at its second end that connects the first arm 21 to the third arm 23. Thus, by deflecting the third arm 23, the first arm 21 can be articulated to move the horizontal rail section into the vertical movement position (i.e., the deflected position). In FIG. 8, both views show a portion of the riser area 6 including two horizontal rail sections 11 arranged one above the other in the vertical movement direction V. The upper horizontal rail section 11 is only partially shown to illustrate the elements of the present invention. Furthermore, the riser area 6 has a second arm 22 articulated to the frame 13 of the riser area 6. The second arm 22 has a second contact element 30 at its outer end. The second contact element 30 is designed identically to the first contact element 24. The second arm 22 is arranged to rotate about a second pivot point 32.Furthermore, the second arm 22 has a stopper 26 that limits the rotation of the second arm 22 so that it automatically returns from the vertical movement position to the horizontal movement position when the external force acting on the second arm 22 is removed. This ensures that the second arm 22 always extends within the movement range of the shuttle 5 in the vertical movement direction V. The above-described structures (i.e., horizontal rail sections 11 and associated linkages) are stacked one on top of the other in the riser area 6. This is shown diagrammatically in FIG. 8 , in which a portion of the joint of a further horizontal rail section 11 is shown above one horizontal rail section 11, along with its joint. Hereinafter, the horizontal rail sections 11 will be referred to as the first horizontal rail section 11 and the second horizontal rail section 11, and both horizontal rail sections 11 are identical. For ease of illustration, in the arrangement shown in FIG. 8 , the first horizontal rail section (the lower one) is shown in its entirety, while the second horizontal rail section (the upper one) is only shown in part. The second arm 22 of the second horizontal rail section is clearly visible, as this second arm 22 is also present in the first horizontal rail section 11 at the bottom of Figure 8 but is hidden by other components.

[0047] FIG. 9 is a schematic side view of the first horizontal rail section 11 and the second horizontal rail section 11. Here, a connection mechanism 27 that connects the first horizontal rail section 11 and the second horizontal rail section 11 to each other is shown. Therefore, when multiple horizontal rail sections 11 are arranged one on top of the other in the riser area 6, all of the horizontal rail sections 11 are connected to each other. The connection mechanism 27 includes a first connection arm 28 and a second connection arm 29, which can be connected to each other so that they can move relative to each other. More specifically, the first connection arm 28 has an elongated hole formed therein with which the second connection arm 29 engages. Furthermore, the first connection arm 28 is connected to the second arm 22 of the second horizontal rail section 11. The second connection arm 29 is connected to the first arm 21 of the first horizontal rail section 11. Therefore, a mechanical connection can be achieved between the second arm 22 of the second horizontal rail section 11 and the first arm 21 of the first horizontal rail section 11. Therefore, the second arm 22 of the second horizontal rail section 11 can be deflected by the shuttle 5 moving downward in the vertical movement direction V in the riser area 6. By deflecting the second arm 22 of the second horizontal rail section 11, the first arm 21 of the first horizontal rail section 11 can be actuated via the connection mechanism 27 to move the first horizontal rail section 11 from the horizontal movement position to the vertical movement position. Therefore, the shuttle 5 can realize the passage of the first horizontal rail section 11 in the vertical movement direction V.

[0048] Figure 10 is a perspective view of a portion of the riser area 6 with the shelf area 3 in the background. In Figure 10, the first contact element 24 and the second contact element 30 are shown positioned side by side below the horizontal movement section 11 in the horizontal movement position. Furthermore, in Figure 10, the first arm 22 and the third arm 23 are shown to be located substantially in the same plane and both are positioned below the horizontal rail section 11 (in the horizontal movement position).

[0049] 11A and 11B each show a portion of the riser area. The difference between FIG. 11A and FIG. 11B is the position of the riser area. In FIG. 11A, the horizontal rail section 11 is shown in a horizontal movement position. In other words, in the arrangement shown in FIG. 11A, the shuttle 5 can move horizontally to enter and exit the riser area 6. On the other hand, in FIG. 11B, the riser area 6 is shown in a vertical movement position, in which the shuttle 5 can move in the vertical movement direction V. It should be noted that the position of the horizontal rail section 11 shown in FIG. 11B is an unstable equilibrium state, and the horizontal rail section 11 will not remain in this position by itself but will descend back to the horizontal movement position. Furthermore, FIG. 11B shows that the second arm 22 extends into the movement section of the shuttle 5 so that the shuttle 5 moving within the movement section comes into contact with the second arm 22.

[0050] 12A and 12B also show the position of the riser area 6, respectively. In FIG. 12A, the riser area is shown in a vertically displaced position, and in FIG. 12B, the riser area is shown in a horizontally displaced position. In contrast to FIGS. 11A and 11B, FIGS. 12A and 12B show the riser area 6 from a rear view. The connection between the first horizontal rail section 11 and the second horizontal rail section 11 by the connection mechanism 27 is shown. [Explanation of symbols]

[0051] 1. Passive shelving system 2 Shelf area 3 Shelf 4 Shelf rail sections 5 Shuttle 6 Passive riser area 7. Infeed section 8 Wall section 10 Goods 11 Horizontal rail section 12 Vertical rail section 13 Frame 21 First arm 22 Second arm 23 Third arm 24 First contact element 25 Arm connecting element 26 Stopper 27 Connecting mechanism 28 First connecting arm 29 Second connecting arm 30 Second contact element 31 First pivot point 32 Second pivot point V Vertical movement direction

Claims

1. A passive shelving system (1), in particular for high-bay warehouses, comprising: a shelf area (2) having at least two shelves (3) at different vertical positions; At least two shelf rail sections (4), each extending along at least two shelves (3), and designed so that a shuttle (5) can move horizontally on said shelf rail sections (4); at least one passive riser area (6) connecting the shelf rail sections (4) to one another and designed to allow the shuttle (5) to move through the riser area (6) in a vertical movement direction (V) from one shelf rail section (4) to another shelf rail section (4); A passive shelving system (1) comprising:

2. 2. The shelving system (1) of claim 1, wherein the riser area (6) is designed so that the shuttle (5) can move only vertically in the riser area (6), in the vertical movement direction (V).

3. 3. The shelving system (1) according to claim 1 or 2, wherein the riser area (6) is designed to allow the shuttle (5) to move bidirectionally in the vertical movement direction (V).

4. 4. The shelving system (1) of claim 1, wherein the shelf rail section (4) extends on a first longitudinal side of the shelf (3), and the longitudinally extending wall section (8) is positioned on a second longitudinal side of the shelf (3) opposite the first longitudinal side.

5. 5. The shelving system (1) of any one of claims 1 to 4, wherein the shelf rail section (4) is directly connected to the shelf (3).

6. 6. The shelving system (1) of any one of claims 1 to 5, wherein the riser area (6) includes a vertical rail section (12) designed to allow the shuttle (5) to move vertically thereon.

7. 7. The shelving system (1) according to claim 6, wherein the vertical rail section (12) is designed as a toothed rail and / or a friction rail.

8. 8. The shelving system (1) of any one of claims 1 to 7, wherein the riser area (6) includes at least one guide section with which the shuttle (5) can engage during movement in the vertical movement direction (V).

9. 9. A shelving system (1) as claimed in any one of claims 1 to 8, wherein the riser area (6) includes at least one horizontal rail section (11) designed to allow the shuttle (5) to enter and exit the riser area (6) horizontally.

10. 10. The shelving system (1) of claim 9, wherein the horizontal rail section (11) is movable from a horizontal movement position in which the shuttle (5) is movable horizontally within the riser area (6) to a vertical movement position in which the shuttle (5) is movable vertically within the riser area (6).

11. 11. The shelving system (1) of claim 10, wherein movement of the horizontal rail section (11) from a horizontal movement position to a vertical movement position occurs without active control of the shelving system (1).

12. 12. The shelving system (1) of claim 10 or 11, wherein the horizontal rail section (11) is supported on a riser area (6) so as to return from a vertically moving position to a horizontally moving position without external actuation.

13. 13. The shelving system (1) of any one of claims 9 to 12, wherein the horizontal rail section (11) is aligned with at least one shelf rail section (4) in the horizontal movement direction so that the shuttle (5) can move from the horizontal rail section (11) of the riser area (6) to the shelf rail section (4) of the shelf area (2) and from the shelf rail section (4) to the horizontal rail section (11).

14. 14. A shelving system (1) as claimed in any one of claims 9 to 13, wherein the horizontal rail section (11) is folded in the vertical movement position to form a vertical movement space for the shuttle (5) in the riser area (6).

15. 15. The shelving system (1) of any one of claims 9 to 14, wherein the horizontal rail section (11) is attached to the riser area (6) by at least a first arm (21) so as to be rotatable about a first pivot point (31).

16. 16. A shelving system (1) as claimed in any one of claims 9 to 15, wherein the riser area (6) is provided with a third arm (23) having a first contact element (24) at its outer end, and preferably the third arm (23) is positioned below the horizontal rail section (11) in the horizontal movement direction.

17. 17. The shelving system (1) of claim 16, wherein the third arm (23) is pivotally mounted about a second pivot point (32) spaced from the first pivot point (31).

18. 18. The shelving system (1) of claim 17, wherein the first pivot point (31) and the second pivot point (32) are on a straight line perpendicular to the horizontal or parallel to the vertical direction of movement (V).

19. A second arm (22) is provided in the riser area (6) so as to be rotatable about a second pivot point (32); the second arm (22) has a second contact element (30) at its outer end, and in the horizontal movement position, the second contact element (30) is arranged below the horizontal rail section (11); 19. The shelving system (1) of any one of claims 9 to 18, wherein the second arm (22) is mounted so as to automatically return to the horizontally displaced position.

20. 20. The shelving system (1) of claim 19, wherein the riser area (6) includes at least one connection mechanism (27) connecting a first arm (21) of a first horizontal rail section (11) to a second arm (22) of an adjacent second horizontal rail section (11) so that the first horizontal rail section (11) can move from the horizontal movement position to the vertical movement position when the second arm (22) of the second horizontal rail section (11) is deflected.

21. 21. The shelving system (1) of any one of claims 16 to 20, wherein the first arm (21) and the third arm (23) are flexibly connected to each other at one of their outer ends.

22. 22. The shelving system (1) according to any one of claims 1 to 21, comprising at least one infeed section (7) and at least one outfeed section for a shuttle (5), the infeed section (7) and the outfeed section preferably being directly connected to at least one riser area (6).

23. 23. The shelving system (1) of any one of claims 1 to 22, comprising a shuttle (5) designed to move vertically in the riser area (6) by a vertical drive device and to move horizontally in the shelving area (2) by a horizontal drive device.

24. 24. The shelving system (1) of any one of claims 1 to 23, wherein the shelves (3) are designed to carry individual items (10) thereon.

25. A method of operating a shelving system (1) according to any one of claims 1 to 24, comprising: Providing a shelving system (1) according to any one of claims 1 to 24, driving the shuttle (5) in a riser area (6) to move in a vertical direction of movement (V); Including, the riser area (6) is controlled, in particular mechanically, by the shuttle (5); A method comprising:

26. Use of a shelving system (1) according to any one of claims 1 to 24 for storing and / or picking items (10).

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