Shuttle and shelf system

Abstract

A shuttle (1) for a shelving system (100) is provided. The shuttle (1) includes a handling area (2) defining a handling surface (21) in a first direction (R1) and a second direction (R2) and designed to receive conveyed articles, a handling device (3) designed to bring articles to and remove them from the handling area (2), and at least one drive system (4) having a wheel system (41) rotatable about a wheel rotation axis (RD), the drive system (4) designed to move the shuttle (1) horizontally and vertically within the shelving system (100). A passive shelving system (100), particularly for a high-bay warehouse, is also provided.

Description

[Technical Field]

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

[0002] In the prior art, storage and retrieval units, such as shuttles, are known that can transport items in a storage and retrieval system. Here, the storage and retrieval units are often capable of independent movement only in the horizontal direction. To overcome differences in vertical height, the prior art often requires external elements, such as elevators, that can move the storage and retrieval units to different vertical levels. However, this poses the risk that a defect or malfunction of the elevator could impair the operation of the storage and retrieval system. Furthermore, controlling the elevator is difficult and prone to errors. Therefore, it is desirable to create storage and retrieval units and shelving systems that offer high reliability and simple control. Summary of the Invention [Problem to be solved by the invention]

[0003] The present invention solves this problem by using a shuttle with the features of claim 1 and by using a passive shelving system with the features of claim 29. Furthermore, the problem is solved by using a use with the features of claim 30. [Means for solving the problem]

[0004] According to one aspect of the present invention, a shuttle for a shelving system is provided. The shuttle can include a handling area defining a handling surface in a first direction and a second direction. The handling area can be designed to accept conveyed items. The shuttle can include a handling device designed to deliver and remove items from the handling area. The shuttle can include at least one drive system having a wheel system rotatable about a wheel axis of rotation. The at least one drive system can be designed to move the shuttle horizontally and vertically within the shelving system.

[0005] Compared with known prior art, a shuttle according to an embodiment of the present invention has the advantage that all functions necessary for the shuttle's vertical and horizontal movement in a shelving system are provided within the shuttle. In other words, the shuttle is suitable for operation in a passive shelving system, in which no device for overcoming vertical height differences needs to be provided. Instead, the shuttle can automatically (i.e., using its own drive) move to a desired vertical level and can also move horizontally at that level. This makes the entire system less susceptible to failures and easier to maintain, since all functions are integrated into the shuttle. In other words, the shelving system can be designed passively (i.e., without active control). Therefore, the maintenance and operation of such an entire system (including at least the shuttle and the shelving system) can be simplified. For example, repairing a shelving system is more complicated, whereas a shuttle as an individual unit can be more easily replaced or repaired.

[0006] The vertical direction can be the direction of gravity. The horizontal direction can be aligned perpendicular to the vertical direction. The shuttle can be a storage and retrieval unit set up in the shelving system to store and retrieve items. For this purpose, the shuttle can operate autonomously. The shuttle can move independently. The handling area can be a surface on which items can be placed. For example, the handling area can be surrounded on two sides by a technical area. The technical area can include electronic and / or mechanical components necessary to control the shuttle. This allows the handling area to be configured with a particularly deep depth, which facilitates the pick-up and drop-off of items. The handling device can be a device that can transport items onto the shuttle (i.e., within the handling area) and retrieve them again. For this purpose, the handling device can grip or move the items. The drive system can be designed to move on rails that can be provided in the shelving system. The shuttle can preferably move horizontally along the rails. Furthermore, the drive system can be designed to allow the shuttle to move vertically when interacting with the shelving system. The vertical movement can be exactly perpendicular to the horizontal direction. In other words, the shuttle can move strictly (i.e., exclusively) vertically. In other words, the shuttle can avoid diagonal movement having horizontal and vertical components. This saves space and makes the shelving system particularly efficient. Preferably, the shuttle has four drive systems. In top view, the shuttle can have an essentially rectangular shape. A drive system can be provided at each corner of the shuttle. A wheel system of the drive system can be a rotating part of the drive system when the shuttle moves horizontally or vertically. The loading area is designed so that items can be transported directly onto it. This means that, for example, there is no need to provide a transport container or the like in which the transported items must be placed.This can be achieved by designing the handling area as a flat surface on which items of any size or shape can be placed. The items can be mail-order items or items. The items can include a variety of items from different areas, such as clothing, electronics, DIY supplies, food, sporting goods, etc. Due to the different sizes and characteristics of the individual items, it is advantageous that each item can be directly picked up by the shuttle and stored and retrieved in the shelving system without the need for additional conveying equipment.

[0007] Preferably, the wheel system has a traction section for horizontal movement and an engagement section for vertical movement. The traction section can be designed to generate a traction force between the traction section and a moving surface, such as a rail on which the shuttle can move. Meanwhile, the engagement section can be a section that allows the shuttle to move vertically by mechanically engaging with a corresponding portion, such as a vertical rail section, that can be provided on a shelf. The engagement section mechanically engages the shuttle with the vertical rail section and holds it there. Then, by rotating the wheel system, the engagement state continuously changes, allowing the shuttle to move up and down vertically. This provides continuous, safe vertical movement of the shuttle. By providing the traction section and the engagement section on the wheel system, horizontal and vertical movement of the shuttle can be ensured with just one element. In other words, vertical and horizontal movement can be provided by at least one drive system.

[0008] Preferably, the towing section and the engagement section are formed integrally. In other words, the towing section and the engagement section can be formed from one piece (i.e., integrally). This means that the towing section and the engagement section cannot be separated from each other in a non-destructive manner. This provides a particularly simple design in which the towing section and the engagement section do not need to be driven separately. In fact, a common drive can be used without the need to connect the two components to each other in separate work steps.

[0009] Preferably, the traction section and the engagement section can be driven by a common drive shaft. Preferably, the traction section is designed as an impeller for horizontal movement, and preferably, the engagement section is designed as a gear wheel for vertical movement. The traction section can be realized as a rubber wheel. More specifically, the traction wheel can include a rubber running surface. This allows the shuttle to be conveniently moved horizontally by driving the wheel system. The gear wheel can be designed to interact with a corresponding element on the shelf system to move the shuttle vertically. Due to the continuous engagement state that can be realized in this way, the shuttle can be securely held even when loaded with items during vertical movement. Furthermore, the exact vertical position of the shuttle can be determined by a defined rotation of the gear wheel. In other words, the use of the gear wheel prevents slippage between the wheel system and the shelf system during vertical movement, which means that the position of the shuttle can be determined with high precision. More precisely, the distance traveled by the shuttle can be determined by the number of rotations of the wheel system. This makes it particularly easy to control the shuttle and to advance it precisely to a vertically defined level.

[0010] Preferably, the impeller and the gear wheel are arranged coaxially on the drive system. In other words, the rotation axes of the impeller and the gear wheel can be coincident. As a result, the control of the shuttle can be designed in a similar way in the horizontal movement mode and in the vertical movement mode. The rotation axes of the impeller and the gear wheel can both pass through the centers of gravity of the impeller and the gear wheel. This simplifies the overall control of the shuttle. Furthermore, the manufacture of the wheel system can be simplified since the impeller and the gear wheel can rotate around the same rotation axis.

[0011] Preferably, the impeller and the gear wheel can be driven by a common drive source. In other words, only one drive shaft (i.e., dedicated) can be provided for the impeller and the gear wheel. This means that separate drive shafts are not provided for the impeller and the gear wheel. This allows for installation space to be saved, since only one drive shaft is provided. In a preferred embodiment, the drive system has a drive unit that is in direct contact with the wheel system. In other words, the wheel system can be directly connected to an electric motor or the like. On the one hand, this makes it easier to control the drive system, and on the other hand, power transmission devices such as drive shafts can be designed very simply, making the configuration of the drive system particularly easy. In a further preferred embodiment, the drive system is provided with an electric motor, so the drive system does not have a drive shaft or only has a very short drive shaft. In a further preferred embodiment, the drive system is provided with an electric motor, so the drive system does not have a drive shaft or only has a very short drive shaft. In other words, the drive system can include an electric motor. Therefore, there is no transmission loss due to transmission devices (couplings, gearboxes, shafts, etc.), so high drive efficiency of the shuttle can be achieved. Furthermore, the drive system can be realized as a compact drive unit.

[0012] Preferably, the shuttle includes a steering system designed to rotate at least one drive system about the drive system rotation axis. In other words, the drive system can be rotated about the drive system rotation axis. Preferably, the steering system is designed to rotate the drive system to a horizontal forward movement position and a vertical forward movement position. Preferably, the orientation of the drive system in the horizontal forward movement position is perpendicular to the orientation of the drive system in the vertical forward movement position. In other words, the steering system can be designed to rotate the drive system to exactly two positions. In other words, the drive system can be rotated 90°±1° about the drive system rotation axis. To prevent further rotation, the drive system and / or the shuttle can have a stop designed to prevent the drive system from rotating beyond this. This can ensure that the drive system has different orientations in the horizontal forward movement position and the vertical forward movement position. In other words, in the horizontal forward movement position, the traction section can interact with, for example, a rail section of a shelving system to move the shuttle horizontally. Furthermore, in the vertical forward movement position, the engagement section can interact with a corresponding element (e.g., a toothed rail) on the shelf system to advance the shuttle vertically. When the drive system is moved from the horizontal movement position to the vertical movement position, the drive system can be rotated about the drive system rotation axis as long as the drive system (e.g., the traction section) is in contact with the movement surface. The steering system can have two guide rails arranged parallel to each other. A threaded spindle (also known as a kinematic screw) can be provided between the two guide rails. Furthermore, the steering system can include a steering system drive device capable of generating rotational motion. The threaded spindle can be used to convert the rotational motion of the steering system drive device into translational motion along the guide rails.The threaded spindle can be formed from a threaded rod, i.e., a cylindrical rod, and in one embodiment, a trapezoidal or flat thread can be applied. It is also conceivable to provide a ball screw or roller screw. Furthermore, the steering system can include a sensor that measures the rotation of the threaded spindle and thereby determines the translational movement. This allows the position of the at least one drive system to be determined with high precision. Furthermore, the steering system can have a thrust element that can be set in translation by the threaded spindle. Furthermore, the thrust element can be mounted on two guide rails, thereby ensuring a defined translational movement of the thrust element. A steering rod connected to the drive system can be articulated on the thrust element. Preferably, the steering rod is arranged on the drive system such that the translational movement of the threaded element allows the drive system to rotate about the drive system rotation axis. In a preferred embodiment, the rotational movement of the steering system drive is transmitted to the two threaded spindles simultaneously or synchronously. Furthermore, the steering system can have two thrust elements that can be translated by the threaded spindle. Thus, one steering system can be assigned to two drive systems. In other words, by driving the steering system drive device, the two drive systems can be rotated synchronously with each other. This ensures that the two drive systems always have corresponding positions. In other words, it ensures that at least two drive systems are positioned either in a horizontal movement position or a vertical movement position. As a result, the control of the steering process of the shuttle (or drive systems) can be simplified.

[0013] Preferably, the rotation axis of the drive system is perpendicular to the rotation axis of the wheels. For example, when the drive system is rotated about the drive system rotation axis, the rotation axes of the wheels, about which the traction section and the engagement section are rotatable, can be rotated simultaneously. In this way, by rotating the drive system about the drive system rotation axis, switching between a horizontal forward movement position and a vertical forward movement position can be realized.

[0014] Preferably, the steering system is designed to apply a preload force to at least one drive system. In other words, the drive system can be designed to apply a force to the drive system that counteracts the movement of the drive system around the drive system's rotation axis. In this way, the drive system can stabilize the shuttle when it moves in the horizontal direction of movement, preventing the drive system from fluttering. This allows the shuttle to reach particularly high speeds and ensures efficient operation of the shelving system. Furthermore, if the shelving system has a toothed rail with which the gear wheel of the drive system engages when the shuttle is in the vertical forward movement position, this can ensure that the initial engagement between the drive system (or wheel system) and the toothed rail of the shelving system functions smoothly. For example, the steering system can be designed to be elastic enough to ensure that the gear wheel and the toothed rail are gently clamped or slipped when the teeth of the toothed wheel and the teeth of the toothed rail come into contact. This can be achieved, for example, by a spring element arranged on the feed element or thrust element of the steering system. However, it is also conceivable to provide the steering system with any other element that allows elastic load absorption. For example, the drive device of the steering system can have an elastic element in the form of a spiral spring or the like. Furthermore, the connection between the threaded spindle and the feed or thrust element can be realized by means of a resilient element, such as an elastomeric element. In this embodiment, it is only important that the steering system can apply a preload force to the drive system.

[0015] Preferably, the steering system comprises at least one spring element designed to apply a preload force to the drive system, which spring element can function both as an elastic element allowing elastic load absorption and as a preload element capable of applying a preload force to the drive system, the dual function of the spring element making it possible to achieve a simple and compact design of the steering system.

[0016] Preferably, the steering system includes an actuator for generating a force and a linkage for transmitting the force of the actuator to at least one drive system. The actuator can be a drive device of the steering system. The linkage can include a guide rail and a threaded spindle. In this way, a translational force can be applied to the drive system or systems, and each drive system and its rotation axis can be rotated or pivoted.

[0017] Preferably, the shuttle includes two steering systems each connected to two drive systems, and each steering system is preferably designed to synchronously control the two drive systems. In other words, the shuttle may include a total of four drive systems (e.g., one at each corner of the shuttle). A steering system may be connected to the two drive systems and provided between each of the two drive systems. This means that the two drive systems of the shuttle can be synchronously rotated around the rotation axis of each drive system by the two steering systems. This simplifies the control of the shuttle.

[0018] Preferably, the drive system has at least one drive system guide roller rotatable about a first guide roller rotation axis. The drive system guide roller can be designed to support the vertical movement of the shuttle relative to a corresponding element on the shelving system. If the shuttle is provided with multiple drive systems, the drive system guide rollers can be designed so that at least two drive system guide rollers are supported on the shelving system so that the shuttle is supported within the shelving system. More precisely, this allows the shuttle's drive system to be reliably moved in the vertical direction and the shuttle to be securely held within the shelving system when moving in the vertical direction. More precisely, this prevents the gear wheel engaging with the corresponding toothed rail on the shelving system from falling out of this engagement. For this purpose, the drive system guide roller is provided on the drive system and can rotate around the drive system rotation axis together with the drive system. This allows the shuttle to be easily moved within the shelving system.

[0019] Preferably, the rotation axis of the first guide roller is arranged perpendicular to the rotation axis of the wheel. In other words, the drive system guide roller is arranged on the drive system so that the rotation axis of the first guide roller is perpendicular to the rotation axis of the wheel. This ensures that the shuttle movement is safely guided vertically. This means that the shuttle can only move in the desired vertical movement direction (as long as the drive system is arranged in the vertical movement position). This further improves the safety of the shuttle's operation in the shelving system.

[0020] Preferably, the shuttle has at least one lift system designed to lift the shuttle from a moving surface. The moving surface can be, for example, a rail section provided in the shelving system or the moving surface thereof. Therefore, the lift system can be designed to lift the shuttle on a rail section that is narrow relative to the shuttle. Preferably, the lift system can be designed to lift the shuttle in a vertical movement so that the wheel system loses contact with the ground. In other words, the lift system can be designed to move the shuttle between a horizontal movement position and a pivoted position in which the drive system no longer contacts the moving surface. More specifically, the lift system can lift the traction section, which can interact with the rail section, from the rail section. This allows the drive system to advantageously pivot about its rotation axis since the traction section no longer contacts the rail section of the shelving system. This can further improve the efficiency of the shuttle's operation.

[0021] Preferably, the lift system includes an actuator for generating a force, a linkage, and at least one lift unit. Preferably, the lift unit is held movably in a third direction perpendicular to the first and / or second direction. The lift unit can be movably mounted. Preferably, the linkage is designed to transmit the force of the actuator to the at least one lift unit to move the lift unit in the third direction. The actuator can be a lift system drive system that generates a rotational force. In particular, the rotational motion can be transmitted to the lift system linkage (i.e., the linkage) via a gearbox. In this way, the rotational motion of the lift system drive can be transmitted to the at least one lift unit. The lift unit can be designed to convert the rotational motion transmitted via the lift system linkage into a translational motion in the third direction. This means that the exact position of the lift unit can be determined by detecting the rotation of the lift system linkage and / or the lift system drive. This allows for precise control of the lifting or lowering of the shuttle in the third direction.

[0022] Preferably, at least one lift unit has a control curve element, the linkage of which is guided by a cam. In other words, a cam can be provided at one end of the lift system linkage that is not rotationally symmetrical with respect to the rotation axis of the lift system linkage. The cam can guide the control curve element so that the lift element can have a specific position in a third direction depending on the angular position of the lift system linkage. By knowing the control curve of the control curve element and accurately detecting the rotation of the lift unit, it is possible to accurately raise or lower the shuttle. The lift unit can be guided to move only in the third direction. In other words, all other degrees of freedom can be blocked by the guide of the lift unit.

[0023] Preferably, at least one lift unit has a lift system guide roller rotatable about a second guide roller rotation axis. The lift system guide roller can be designed to move the shuttle on the rail section of the shelving system to a desired position. For example, at the transition between two adjacent rail sections (e.g., a rail section in a shelf area and a rail section in a riser area), the lift system guide roller can optimally position the shuttle on the rail section by contacting an element (e.g., a guide element) of the shelving system. This ensures trouble-free operation of the shuttle within the shelving system even when different rail sections do not perfectly fit together.

[0024] Preferably, the axis of rotation of the second guide roller is parallel to the axis of rotation of the drive system, thereby ensuring that contact between the guide roller of the lift system and the element of the shelf system does not cause a braking effect during horizontal movement of the shuttle, as the rollers can rotate about the axis of rotation of the second guide roller.

[0025] Preferably, the handling device has an upper table extending in a first direction and an article contact element extending in a second direction. Preferably, the article contact element is movably attached to the upper table. In other words, the article contact element can protrude into the handling area. In contrast, the upper table can limit the handling area. The article contact element can move along the upper table in the first direction. For this purpose, the article contact element can have an article contact element drive device that can convert a rotational movement into a translational movement of the article contact element in the first direction. This allows articles to be pushed out of the handling area. Furthermore, articles can also be pushed onto the handling area.

[0026] Preferably, the upper table is designed so that the article contact elements are movable in the first direction. For this purpose, the upper table can have a guide rail along which the article contact elements are movable. Furthermore, a toothed rail, in which a rotatably drivable gear wheel of the article contact elements engages, can be provided in or on the guide rail. This allows the article contact elements to be moved along the rail.

[0027] Preferably, the upper table is movable relative to the handling area in a first direction. In other words, the upper table can be extended in the first direction over the entire length of the item area. This mobility allows the upper table to be moved beyond the handling area. Accordingly, the item contact elements can be moved out of the handling area together with the upper table. This means, for example, that an item placed in the shelf area can be picked up by the upper table together with the item contact elements. Furthermore, an item placed in the handling area of the shuttle can be contacted by the item contact elements and then moved from the handling area to the shelf area by moving the upper table.

[0028] Preferably, the loading device is movable relative to the loading area and includes a center table to which the upper table is movably attached. In other words, the loading device can provide the option of telescopically extending the upper table and the center table. This allows items to be stored (i.e., moved) further back in the shelf area in a first direction. Furthermore, because twice the length of the loading area in the first direction is theoretically available as the reach of the shuttle or loading device, the shuttle can be designed more compactly.

[0029] Preferably, the upper table has gripping fingers at at least one end in the first direction that are movable between a gripping position and a storage position. This means that the gripping fingers can move forward and backward between the two positions. In the gripping position, the fingers can be designed in such a way that an article is gripped together with the article contact element so that it is gripped between the gripping fingers and the article contact element. In this way, the article can be securely gripped and can be moved backward and forward in the first direction. On the other hand, in the storage position, the gripping fingers can be arranged to be aligned with the upper table in the first direction. This means that the gripping fingers can easily move the upper table next to the article without unintentionally shifting the position of the article. Then, when the upper table is positioned next to the article to be moved, the gripping fingers can be moved to the gripping position to grip the rear of the article. Then, the upper table can be retracted again, and the article can be transported to the loading area. According to one aspect of the invention, the article contact element can be initially moved in a first direction along the upper table so that the article is gripped between the gripping finger and the article contact element, thus allowing for particularly safe transport of the article by the load handling device.

[0030] Preferably, the gripping fingers are articulated on the upper table in such a way that they can pivot. It is therefore envisaged that the gripping fingers can be moved forward and backward between the gripping position and the retracted position by a drive unit arranged on the upper table. This allows for a particularly simple design of the gripping fingers, for example as metal plates hinged to the upper table.

[0031] Preferably, one gripping finger is provided at each end of the upper table in the first direction. Both gripping fingers can be identically designed. In other words, the article contact element can move forward and backward between the two gripping fingers on the upper table. This can facilitate the storage and / or retrieval of articles from shelf areas on both sides of the shuttle. In other words, the conveyor device can store and / or retrieve articles on both sides in the first direction, regardless of which side of the shuttle the shelf area is adjacent to.

[0032] According to a further aspect of the present invention, a passive shelving system, particularly for use in a high-bay warehouse, is provided, including a shuttle according to one of the above embodiments; a shelving area having at least two shelves at different vertical positions; at least two shelf rail sections extending along the at least two shelves, the shelf rail sections configured to allow the shuttle to move horizontally on the shelf rail sections; and at least one passive riser area connecting the shelf rail sections and designed to allow the shuttle to move vertically from one shelf rail section to another via the riser area. The shelving system can be an area in which goods or items can be stored. Furthermore, the shelving system can have transport sections, such as shelf rail sections, designed to allow the shuttle to automatically transport goods into and out of the shelving area. The shelves of the shelving system can be horizontal structures on which goods 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 system includes a plurality of 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 system can have multiple shelf levels that overlap each other. The shelves can be held in place by vertical supports. Preferably, the shelves are essentially flat so that items can be placed thereon without any problems and remain in that position. "Flat" in this context means that no structures or partitions are provided 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 predefined, and items are placed on the shelves completely individually. The shelves can define a continuous, flat surface on which items can be placed directly (i.e., without the use of containers, etc.). Preferably, the shelves are continuous. This allows the warehouse to operate very efficiently, as items can be stored adjacent to adjacent items individually.In other words, items can be stored individually, side by side, and / or back to back on the shelf. This means that it is not necessary to determine in advance which items will be stored in pre-formed or limited storage areas of the shelf area. Furthermore, the shelving system can store items without using additional transport equipment such as shipping boxes. This can further increase the efficiency of the shelving system.

[0033] By using a shuttle, the shelving system can be completely passive. In other words, a fully automated shelving system can be provided without the need for active control of the 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 movements, etc. Rather, the shelving system can be controlled simply in response to specific interactions caused by the shuttle and be passive. This means that a particularly robust and easy-to-control shelving system can be provided. Furthermore, because there is no need to control the shelving system, operational errors due to incorrect control of the shelving system cannot occur. This improves the reliability of the shelving system, ensuring that items can always be safely stored and retrieved.

[0034] Individual features or embodiments may be combined with other features or embodiments to form new embodiments, and the embodiments and advantages described in connection with the features or embodiments apply to the new embodiments as well.

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

[0036] [Figure 1] 1 is a schematic and perspective view of a shuttle according to one embodiment of the present invention; [Figure 2] 1 is a schematic and perspective view of a drive system according to one embodiment of the present invention; [Figure 3] 1 is a schematic and perspective view of a steering system according to an embodiment of the present invention; [Figure 4] 1 is a schematic and perspective view of a lift system according to one embodiment of the present invention; FIG. [Figure 5] 1 is a schematic diagram of the operation of a lift system according to one embodiment of the present invention; [Figure 6] FIG. 2 is a schematic top view of a shuttle loading area in accordance with one embodiment of the present invention. [Figure 7] 1 is a schematic and perspective view of a load handling device according to an embodiment of the present invention; [Figure 8] 1 is a schematic top view of a load handling device according to one embodiment of the present invention; [Figure 9] 1 is a schematic and perspective view of a load handling device according to an embodiment of the present invention; [Figure 10] 1 is a schematic and perspective view of a shelving system according to one embodiment of the present invention; DETAILED DESCRIPTION OF THE INVENTION

[0037] FIG. 1 is a schematic and perspective view of a shuttle 1 according to one embodiment of the present invention. In this embodiment, the shuttle 1, or storage and retrieval unit, is an autonomously controlled system capable of storing and / or retrieving items in a shelving system 100 (not shown in FIG. 1 ). In this embodiment, the shuttle 1 has an essentially rectangular shape in top view. The shuttle 1 further includes a handling area 2 having a handling surface 21 for receiving items or goods. The handling area 21 is surrounded on two sides by respective handling devices 3. The handling area 21 is open on the other two sides for storing or retrieving items on the handling area 21. The handling devices 3 are designed to transport items into and out of the handling area 2. The shuttle further includes at least one drive system 4 having a wheel system 41 rotatable about a wheel rotation axis RD. The drive system 4 is designed to move the shuttle 1 in a horizontal direction HR and a vertical direction VR within the shelving system 100. In this embodiment, the shuttle 1 has four identical wheel systems 4, one at each corner of the shuttle. Furthermore, the drive systems 4 are rotatable about a drive system rotation axis AD. More precisely, the drive systems 4 are rotatable from a horizontal forward movement position to a vertical forward movement position. In FIG. 1, the drive systems shown on the right side of the figure (only one drive system is visible) are arranged in the horizontal forward movement position. In contrast, in the embodiment shown in FIG. 1, the two drive systems 4 on the left side are arranged in the vertical forward movement position. This means that the drive systems can be rotated essentially 90° to rotate from the horizontal forward movement position to the vertical forward movement position or vice versa.

[0038] FIG. 2 is a schematic and perspective view of a drive system 4 according to an embodiment of the present invention. In FIG. 2, a wheel system 41 of the drive system 4 is shown to include an impeller-like traction section 42 with a rubber running surface and a gear wheel-like engagement section 43. The traction section 42 can be formed by a rubber impeller or the like. Furthermore, the drive system 4 has a motor housing 45 in which a drive unit for driving the wheel system 41 about the wheel rotation axis RD is accommodated. The motor housing 45 is integrated with a mounting for the wheel system 41. This allows for easy rotation about the drive system rotation axis AD, resulting in a particularly compact drive system 4. For this purpose, the drive system 4 can be coupled or can be coupled to the shuttle 1 by means of a pivot so that it can be rotated about the drive system rotation axis AD. Furthermore, the drive system 4 has a drive system guide roller 44 designed in the shape of a wheel ring. Drive system guide rollers 44 are designed to interact with elements of shelving system 100 (e.g., rails or shelf posts) to support shuttle 1 during vertical movement. Drive system guide rollers 44 are rotatable about first guide roller axis of rotation EFD.

[0039] FIG. 3 is a schematic diagram of a steering system 5 designed to rotate the two drive systems 4 of the shuttle 1 around a drive system rotation axis AD. In this embodiment, the shuttle 1 has two steering systems 5, each capable of operating one of the two drive systems 4. The steering system 5 has a steering system drive 51 capable of generating a rotational motion. The rotational motion is applied to a threaded spindle 53 by a gearbox. The threaded spindle 53 translates a thrust element 54. In other words, the rotational motion of the steering system drive 51 is converted into a translational motion of the thrust element 54. The thrust elements 54 are attached to two guide rails 52 running parallel to each other. A steering rod 55 is attached to each of the thrust elements 54 and is in contact with the drive system 4. The steering rod is articulated between the thrust elements 54 and the drive system 4. This allows a rotational motion to be applied to the drive system 4 to rotate it around the drive system rotation axis RD. Preferably, the steering system 5 is designed symmetrically so that one steering system drive 51 can rotate or pivot the two drive systems 4. This ensures synchronized rotation of the two drive systems.

[0040] FIG. 4 is a schematic diagram of a lift system 6 according to an embodiment of the present invention. The lift system 6 is designed to lift the shuttle 1 from a moving surface (e.g., a rail section). In the embodiment shown in FIG. 1, the shuttle 1 has two lift systems 6. The lift systems 6 are arranged close to the drive system 4. This allows the shuttle 1 to be lifted so that the drive system 4 can easily rotate about the drive system rotation axis AD. The lift system 6 has a lift system drive 61 capable of generating a rotational motion. This rotational motion is transmitted to a lift system linkage 62 by a gearbox. The lift system linkage 62 rotationally drives a cam 63. The cam 63 is guided by a control curve element 64 of the lift unit 65. Furthermore, the cam 63 is not connected to the lift system linkage 62 at its center point (i.e., center of gravity). Therefore, by rotating the cam 63 in cooperation with the control curve element 64, the lift unit 65 can be moved in a third direction R3. Thus, for example, a predetermined stroke of the lift unit 65 can be achieved when the lift system linkage 62 is rotated 180°. This means that a defined drive of the lift system drive device 61 can lift the shuttle 1 a certain distance from the moving surface. A more detailed description of the control curve will be given later in connection with the description of FIG. 5. Furthermore, the lift system 6 has lift system guide rollers 66 designed to guide the shuttle 1 to an optimal position on the moving surface, in particular in the first direction R1. In this way, the lift system guide rollers 66 can ensure that the shuttle 1 always moves centered on the moving surface (e.g., a rail system).

[0041] FIG. 5 is a schematic diagram of a cam 63 and a lift unit 65, which are guided in cooperation with a control curve element 64. In the first view shown in FIG. 5 (the view on the left in FIG. 5), the lift unit 65 is arranged on the movement surface so that the shuttle stands with the lift unit 65, not with the drive system 4. In this example, the shuttle is raised 4 mm above the movement surface. This is sufficient to rotate the drive system 4 about the drive system rotation axis RD to move from the horizontal movement position to the vertical movement position. To reach this position, the angular position of the lift system linkage 62 can be 180°. In the second view following FIG. 5, the height of the lift unit 65 exactly matches the height of the drive system 4. This means that the shuttle 1 stands on both the lift unit 65 and the drive system 4. In this case, the shuttle 1 can move without any articles on it. The angular position can be 135°. In the next view shown in FIG. 5 (third view from the left), the lift unit 65 is in the same position as described above, except that the angular position of the lift system linkage 62 is 108°. Finally, in the view shown on the right side of FIG. 5, the lift unit 65 is raised from the moving surface so that the shuttle 1 can also move an article loaded thereon. In this case, the angular position of the lift system linkage 62 can be 0°. Therefore, by rotating the lift system linkage 62, the position of the lift unit 65 can be varied.

[0042] 6 is a schematic top view of the handling area 2 of the shuttle 1 according to one embodiment of the present invention. The handling area 2 is delimited in the second direction R2 by respective handling devices 3. The handling devices 3 have an upper table 31 extending in the first direction R1 and an item contact element 32 extending in the second direction R2. The item contact element 32 is movably attached to the upper table 31 and is movable in the first direction R1. Furthermore, the handling devices 3 have gripping fingers 33 that are immovable in the first direction. Rather, the gripping fingers 33 are rotatable to either a position in which they project into the handling area 3 or a position in which they are aligned with the upper table 31 in the first direction (i.e., a position in which they do not project into the handling area 3). In this embodiment, the upper table 31 has such gripping fingers 33 on both sides. As a result, the article being transported is clamped between the article contact element 32 and the gripping fingers 33, thereby allowing it to be moved on the loading area 2, or transported from the loading area 2, or transported onto the loading area 2.

[0043] FIG. 7 is a schematic and perspective view of a single handling device 3 installed on the embodiment of the shuttle 1 shown in FIG. 1. More precisely, two of the handling devices shown in FIG. 7 serve as boundaries of the storage area 2 on the shuttle 1. In FIG. 7, it is shown that the article contact element 32 is movable along a toothed rail in a first direction R1 along the upper table 31 by an article contact element drive unit 321. The upper table 31 is also movable relative to the center table 34. The center table 34 is movably mounted on a base table 35. Thus, the conveyor unit 3 is telescopic in the first direction R1. In other words, the upper table and the center table 34 are telescopic in the first direction as desired or variably.

[0044] 8 is a schematic top view of the conveyor unit 3 in a state in which the upper table 31 and the center table 34 are telescopically extended in a first direction. The center table 34 is moved relative to a base table 35. The base table may have a base table drive device 351 that may be designed to move the center table 34 and / or the upper table 31 in the first direction R1.

[0045] 9 is a schematic partial view of the load handling device 3 in the extended state. Here, the upper table 31 is shown displaced relative to the center table 34. Furthermore, the center table 34 is displaced relative to the base table 35. The displacement takes place in a first direction R1. The gripping fingers 33 are pivotally mounted on the upper table 31. The gripping fingers 33 are moved from the gripping position to the retracted position by a gripping finger drive unit 331. In a preferred embodiment, both gripping fingers 33 of the upper table 31 are moved synchronously with each other by the same gripping finger drive unit 331.

[0046] FIG. 10 is a schematic and perspective view of a passive shelving system 100 according to one embodiment of the present invention. The shelving system 100 includes a riser area 101 and a shelf area 102. The shelf area 102 includes multiple shelves at different vertical positions. Adjacent to each shelf is a shelf rail section along which the shuttle 1 can move. To reach the different levels between the shelves, the shelving system includes the riser area 101. In the riser area 101, the shuttle 1 can move automatically vertically. An infeed section 103 is located in front of the riser area 101, through which the shuttle 1 passes to reach the shelving system 100. In this embodiment, the shelf area 102 is bounded on both ends by the riser area 101. In this way, a kind of traffic circle can be realized in which multiple shuttles 1 can move without interfering with each other. The riser area 101 includes four toothed rails with which a drive system (or, more precisely, drive system gear wheels) can engage. By driving the drive system about the wheel rotation axis, the shuttle 1 can move vertically. When the shuttle 1 reaches the desired level, the drive system 4 can be rotated about the drive system rotation axis so that the shuttle can leave the riser area horizontally in the towing section. [Explanation of symbols]

[0047] 1. Shuttle 2 Loading area 3 Loading device 4. Drive system 5. Steering system 6. Lifting system 21 Loading surface 31 Upper table 32 Goods contact element 321 Drive unit 33 Gripper fingers 331 Gripper finger drive 34 Center table 35 Base table 351 Base table drive 41 Wheel system 42 Traction section 43 Engagement section 44 Drive system guide roller 45 Motor housing 51 Steering system drive 52 Guide rails 53 Threaded spindle 54 Screw element 55 Steering rod 61 Lifting system drive 62 Lifting system linkage 63 Cams 64 Control curve element 65 Lifting unit 66 Lifting system guide roller 100 Shelving system 101 Riser area 102 Shelf area 103 Infeed section R1 first direction R2 second direction R3 third direction AD Drive system rotation axis RD Wheel rotation axis EFD First guide roller rotation axis

Claims

1. A shuttle (1) for a shelving system (100), comprising: a handling area (2) defining a handling surface (21) in a first direction (R1) and a second direction (R2), the handling area (2) being designed to receive the items to be conveyed; a handling device (3) designed to bring and remove items from said handling area (2); At least one drive system (4) having a wheel system (41) rotatable about a wheel rotation axis (RD), the at least one drive system (4) being designed to move the shuttle (1) horizontally and vertically within the shelf system (100). A shuttle (1).

2. 2. The shuttle (1) of claim 1, wherein the wheel system (41) comprises a traction section (42) for the horizontal movement and an engagement section (43) for the vertical movement.

3. 3. The shuttle (1) of claim 2, wherein the traction section (42) and the engagement section (43) are integrally formed.

4. 4. The shuttle (1) according to claim 2 or 3, wherein the traction section (42) and the engagement section (43) are drivable by a common drive shaft.

5. 5. The shuttle (1) according to any one of claims 2 to 4, wherein the traction section (42) is formed as an impeller for the horizontal movement and the engagement section (43) is formed as a gear wheel for the vertical movement.

6. 6. The shuttle (1) according to claim 5, wherein the impeller and the gear wheel are arranged coaxially on the drive system (4).

7. 7. The shuttle (1) according to claim 5 or 6, wherein the impeller and the gear wheel can be driven by a common drive source.

8. 8. The shuttle (1) according to any one of claims 1 to 7, wherein the shuttle (1) comprises a steering system (5) designed to rotate the at least one drive system (4) around a drive system rotation axis (AD).

9. 9. Shuttle (1) according to claim 8, wherein the steering system (5) comprises a thrust element (54) which can be set in translational motion by means of a threaded spindle (53).

10. Shuttle (1) according to claim 8 or 9, wherein the drive system rotation axis (AD) is perpendicular to the wheel rotation axis (RD).

11. Shuttle (1) according to any one of claims 8 to 10, wherein the steering system (5) is designed to apply a preload force to at least one drive system (4).

12. Shuttle (1) according to claim 11, wherein the steering system (5) comprises at least one spring element designed to exert the preload force on the drive system (4).

13. 13. The shuttle (1) according to any one of claims 8 to 12, wherein the steering system (5) comprises an actuator for generating a force and a linkage for transmitting the force of the actuator to the at least one drive system (4).

14. Shuttle (1) according to any one of claims 1 to 13, wherein the drive system (4) comprises at least one drive system guide roller (44) rotatable about a first guide roller rotation axis (EFD).

15. Shuttle (1) according to claim 11, wherein the first guide roller rotation axis (EFD) is arranged perpendicular to the wheel rotation axis (RD).

16. Shuttle (1) according to any one of claims 1 to 13, wherein the shuttle (1) comprises at least one lift system (6) designed to lift the shuttle (1) from a moving surface.

17. Shuttle (1) according to claim 16, wherein the lift system (6) comprises an actuator for generating a force, a linkage and at least one lift unit (65).

18. Shuttle (1) according to claim 17, wherein the lift unit (65) is held movable in a third direction perpendicular to the first direction and / or the second direction.

19. Shuttle (1) according to claim 17 or 18, wherein said at least one lift unit (65) comprises a control curve element (64) along which said linkage is guided by a cam (63).

20. 20. The shuttle (1) according to any one of claims 17 to 19, wherein the at least one lift unit (65) comprises a lift system guide roller (66) rotatable about a second guide roller rotation axis.

21. Shuttle (1) according to claim 20, wherein the second guide roller rotation axis is parallel to the drive system rotation axis (RD).

22. The loading device (3) has an upper table (31) extending in the first direction (R1) and an article contact element (32) extending in the second direction (R2), The article contact element (32) is movably attached to the upper table (31). Shuttle (1) according to any one of claims 1 to 21.

23. 23. The shuttle (1) according to claim 22, wherein the upper table (31) is configured such that the article contact element (32) is movable in the first direction (R1).

24. 23. The shuttle (1) according to claim 21 or 22, wherein the upper table (31) is movable in the first direction (R1) relative to the loading area (2).

25. 25. A shuttle (1) according to any one of claims 21 to 24, wherein the loading device (3) is movable relative to the loading area (2) and includes a center table (34) to which the upper table (31) is movably attached.

26. 26. A shuttle (1) according to any one of claims 21 to 25, wherein the upper table (31) includes, at at least one end in the first direction (R1), gripping fingers (33) movable between a gripping position and a storage position.

27. 27. The shuttle (1) according to claim 26, wherein the gripping fingers (33) are hingedly attached to the upper table (31) such that the gripping fingers (33) are pivotable.

28. Shuttle (1) according to claim 26 or 27, wherein a gripping finger (33) is provided at each end of the upper table (31) in the first direction.

29. A passive shelving system (100), particularly for high-bay warehouses, comprising: A shuttle (1) according to any one of claims 1 to 28, a shelving area (102) having at least two shelves at different vertical positions; at least two shelf rail sections each extending along the at least two shelves, the shelf rail sections being designed so that the shuttle (1) can move horizontally on the shelf rail sections; at least one passive riser area (101) connecting the shelf rail sections to one another and designed to allow the shuttle (1) to move vertically from one shelf rail section to another shelf rail section via the riser area (101); A passive shelving system (100) comprising:

30. Use of a shuttle (1) according to any one of claims 1 to 28 in a passive shelving system (100).

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