Shuttle and racking system

Description

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

[0002] In the prior art, storage and retrieval machines (SRMs) such as shuttles are known for transporting goods in a racking system. Often, these SRMs can only move independently in a horizontal direction. To overcome a height difference in a vertical direction, an external element such as a lift or similar device is frequently required to move the SRM to different vertical levels. However, this creates the risk that a defect or malfunction of the lift could disrupt the operation of such a racking system. Furthermore, controlling a lift is complex and prone to errors. Therefore, it is desirable to develop an SRM and racking system that offer increased reliability and ease of control.

[0003] US 111390504 B2 shows a shuttle nach the preamble of claim 1.

[0004] WO 2022 / 038459 A1 shows an automated carrier with wheels for movement on a surface, as well as gears to overcome a vertical height difference in a racking system.

[0005] CN 211809085 U shows a transport device with a drive system with a climbing wheel and a carrier wheel.

[0006] US 2021 047 112 A1 shows a vehicle with a vertical drive and a horizontal drive system.

[0007] The present invention solves this problem with a shuttle having the features of claim 1 and with a passive shelving system having the features of claim 15.

[0008] According to one aspect of the present invention, a shuttle is provided for a racking system. The shuttle can include a loading area that defines a loading surface in a first direction and in a second direction. The loading area can be configured to receive goods to be transported. The shuttle can include a loading device configured to place goods onto and remove them from the loading area. The shuttle can include at least one drive system with a wheel system that is rotatable about a wheel axis. The at least one drive system can be configured to move the shuttle in a horizontal direction and in a vertical direction within the racking system.

[0009] Compared to the prior art, the shuttle according to one embodiment of the present invention offers the advantage that all functionalities necessary for moving the shuttle vertically and horizontally within a racking system can be integrated into the shuttle itself. In other words, the shuttle is suitable for operation in a passive racking system, which does not require a device for overcoming vertical height differences. Instead, the shuttle can move autonomously (i.e., by its own drive) to a desired level in the vertical direction and also move horizontally within that level. This allows the overall system to operate reliably and simplifies maintenance, as all functionalities are integrated into the shuttle. In other words, the racking system can be designed passively (i.e., without active control).This simplifies the maintenance and operation of such a complete system (comprising at least one shuttle and the racking system). For example, the shuttle, as a single unit, can be replaced or repaired much more easily, whereas repairing the racking system would be more complex.

[0010] The vertical direction can extend in the direction of gravity. The horizontal direction can be orthogonal to the vertical direction. The shuttle can be a storage and retrieval machine designed to store and retrieve goods in a racking system. The shuttle can operate autonomously and move independently. The loading area can be a surface on which goods can be arranged. For example, the loading area can be surrounded on two sides by a technical area. The technical area can contain the necessary electronic and / or mechanical components for controlling the shuttle. This allows the loading area to be positioned particularly low, making it easy to pick up and drop off goods. The loading device can be a device that can transfer goods onto the shuttle (i.e., into the loading area) and remove them from it.The loading device can grip or move the goods. The drive system can be designed to travel on rails that may be provided in the racking system. The shuttle preferably moves horizontally along these rails. Furthermore, the drive system can be designed to move the shuttle vertically when interacting with the racking system. This vertical movement can be exactly orthogonal to the horizontal direction. In other words, the shuttle can move strictly (i.e., exclusively) vertically. This avoids diagonal movement with both horizontal and vertical components. This saves space, allowing the racking system to be designed with particular efficiency. Preferably, the shuttle has four drive systems. In a top view, the shuttle can have a substantially rectangular shape.A drive system can be provided at each corner of the shuttle. The wheel system of the drive system can be the rotating part, whether the shuttle is moving horizontally or vertically. The loading area is designed so that goods can be transported directly on it. This eliminates the need for transport containers or similar items into which the goods would have to be placed. This can be achieved by designing the loading area as a flat surface onto which goods of any size or shape can be arranged. The goods can be items or objects that can be shipped. They can include a wide variety of items from diverse categories, such as clothing, electronics, DIY supplies, food, sporting goods, and so on.Due to the different sizes and properties of the individual items, it is advantageous that the respective item can be picked up directly by the shuttle without additional transport equipment and can be stored and retrieved in the racking system.

[0011] Preferably, the wheel system comprises a traction section for horizontal movement and an engagement section for vertical movement. The traction section can be designed such that traction is generated between the traction section and a running surface, such as a rail, on which the shuttle can move. The engagement section, on the other hand, can be a section that, through mechanical engagement between the engagement section and a corresponding section, such as a vertical rail section (which may be provided on a rack), allows the shuttle to move vertically. The engagement section allows the shuttle to mechanically engage with and be held in a vertical rail section.If the wheel system is then driven by rotation, the shuttle can be moved up or down in the vertical direction by a continuous alternation of engagement points. This ensures safe movement of the shuttle in the vertical direction. By providing a traction section and an engagement section on the wheel system, horizontal and vertical movement of the shuttle can be ensured by a single element. In other words, movement in both the vertical and horizontal directions can be provided by at least one drive system.

[0012] Preferably, the traction section and the engagement section are integrally formed. In other words, the traction section and the engagement section can be formed from a single component (i.e., as a single piece). This can mean that the traction section and the engagement section cannot be separated non-destructively. Thus, a particularly simple configuration can be provided, as the traction section and the engagement section do not need to be driven separately. Rather, a common drive can be used without having to join both components together in a separate operation.

[0013] Preferably, the traction section and the engagement section are driven by a common drive shaft. Preferably, the traction section is designed as a wheel for horizontal movement, and preferably, the engagement section is designed as a gear for vertical movement. The traction section can be implemented as a rubber wheel. More precisely, the wheel can have a rubber running surface. This allows the shuttle to be advantageously moved horizontally by driving the wheel system. The gear can be designed to interact with a corresponding element on the racking system to move the shuttle vertically. The resulting continuous engagement ensures that the shuttle remains securely held during vertical movement, even when loaded with goods.Furthermore, a defined rotation of the gear allows for precise determination of the shuttle's position in the vertical direction. In other words, using a gear for vertical movement prevents slippage between the wheel system and the racking system, thus enabling highly accurate positioning of the shuttle. 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 guide it precisely to defined levels in the vertical direction.

[0014] Preferably, the impeller and the gear are arranged coaxially on the drive system. In other words, the axes of rotation of the impeller and the gear can be identical. This allows the shuttle control to be configured identically for both horizontal and vertical movement. The axes of rotation of the impeller and the gear can both pass through their respective centers of gravity. This simplifies the overall control of the shuttle. Furthermore, the manufacturing of the wheel system can be simplified, since both the impeller and the gear rotate about the same axis.

[0015] Preferably, the impeller and the gear can be driven by a common drive source. In other words, only one drive shaft is required for each impeller and gear. This means that no separate drive shafts are provided for the impeller and the gear. This saves installation space, as only one drive shaft is needed. In a preferred embodiment, the drive system has a drive unit that is in direct contact with the impeller system. In other words, the impeller system can be directly connected to an electric motor or the like. This makes the drive system easier to control and allows for a very simple design of power transmission devices such as a drive shaft, thus simplifying the configuration of the drive system.In another preferred embodiment, the drive system has no drive shaft or only an extremely short one, since the electric motor is integrated within the drive system. In other words, the drive system can encompass the electric motor. This allows for high efficiency in driving the shuttle, as there are no transmission losses due to transmission devices (such as a clutch, gearbox, shaft, or the like). Furthermore, the drive system can be implemented as a compact drive unit.

[0016] Preferably, the shuttle has a steering system configured to pivot at least one drive system about a drive system axis of rotation. In other words, the drive system can be rotated about the drive system axis of rotation. Preferably, the steering system is configured such that the drive system can be pivoted into a horizontal travel position and a vertical travel position. Preferably, the orientation of the drive system in the horizontal travel position is at a right angle to the orientation of the drive system in the vertical travel position. In other words, the steering system can be configured to pivot the drive system into exactly these two positions. In other words, the drive system can be pivoted about the drive system axis of rotation by 90° ± 1°.To prevent further pivoting, the drive system and / or the shuttle can have a stop designed to prevent any further pivoting of the drive system. This ensures that the drive system has a different orientation in the horizontal movement position than in the vertical movement position. In other words, in the horizontal movement position, the traction section can interact with, for example, a rail section of the racking system to move the shuttle horizontally. Furthermore, in the vertical movement position, the engagement section can interact with a corresponding element on the racking system (for example, a toothed rail) to move the shuttle vertically.When transitioning the drive system from the horizontal to the vertical position, it can be rotated around its axis of rotation as long as the drive system (e.g., the traction section) remains in contact with the driving surface. The steering system can have two guide rails arranged parallel to each other. A threaded spindle (also called a drive screw) can be provided between the two guide rails. Furthermore, the steering system can include a steering drive capable of generating a rotary motion. The threaded spindle allows the rotary motion of the steering drive to be converted into a translational motion along the guide rails. The threaded spindle can be formed from a threaded rod, i.e., a cylindrical rod, onto which, in one embodiment, a trapezoidal or flat thread is applied.Furthermore, it is also conceivable to provide a ball screw or a roller screw. The steering system can also include a sensor that can measure the rotation of the screw and thus determine the translational movement. This allows the position of at least one drive system to be determined with high accuracy. The steering system can also have a sliding element that can be set into translational motion by the screw. The sliding element can be mounted on the two guide rails. This ensures a defined translational movement of the sliding element. A steering rod can be pivotally mounted on the sliding element and connected to the drive system. Preferably, the steering rod is arranged on the drive system such that the drive system can be rotated about the drive system's axis of rotation by a translational movement of the sliding element.In a preferred embodiment, the rotary motion of the steering system drive is transmitted simultaneously or synchronously to two threaded spindles. Furthermore, the steering system can have two displacement elements, each of which can be moved translationally by a threaded spindle. Accordingly, one steering system can be associated with two drive systems. In other words, by driving one steering system drive, two drive systems can be pivoted synchronously relative to 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 both positioned either in the horizontal or vertical movement position. Consequently, the control of a steering process for the shuttle (or the drive systems) can be simplified.

[0017] Preferably, the drive system's axis of rotation is orthogonal to the wheel's axis of rotation. For example, when the drive system rotates about its axis of rotation, the wheel's axis of rotation, about which the traction section and the engagement section are rotatable, can rotate simultaneously. Thus, the change between a horizontal and a vertical propulsion position can be achieved by rotating the drive system about its axis of rotation.

[0018] 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 its movement around its axis of rotation. This stabilizes the drive system during horizontal movement of the shuttle and prevents drive system flutter. As a result, the shuttle can achieve particularly high speeds, ensuring efficient operation of the racking system. Furthermore, if the racking system has a toothed track into which the drive system's gear engages during vertical movement of the shuttle, the system ensures reliable initial engagement between the drive system (or gear system) and the racking system's toothed track.For example, when a tooth of the gear and a tooth of the toothed rail meet, the steering system can be designed to be elastic enough to ensure smooth clamping or sliding of the gear and toothed rail. This can be achieved, for instance, by a spring element located in the drive element of the steering system. However, it is also conceivable that any other element capable of elastic load absorption could be incorporated into the steering system. For example, the steering system drive could also include such an elastic element in the form of a coil spring or similar component. Furthermore, the connection between the threaded spindle and the drive element could be implemented using an elastic element such as an elastomer. The only important aspect here is that the steering system can apply a preload force to the drive system.

[0019] Preferably, the steering system comprises at least one spring element designed to exert the preload force on the drive system. This spring element can function both as an elastic element, enabling elastic load absorption, and as a preload element, exerting the preload force on the drive system. The dual function of the spring element allows for a simple and compact design of the steering system.

[0020] Preferably, the steering system comprises an actuator for generating a force and a linkage for transmitting the force from the actuator to the at least one drive system. The actuator can be the steering system drive. The linkage can include the guide rails and the threaded spindle. Thus, a translational force can be applied to the drive system or drive systems, and the respective controlled drive system and the drive system's axis of rotation can be rotated or pivoted.

[0021] Preferably, the shuttle comprises two steering systems, each connected to two drive systems, with each steering system preferably configured to synchronously control two drive systems. In other words, the shuttle can comprise a total of four drive systems (for example, one at each corner of the shuttle). A steering system can be provided between each pair of drive systems and can be connected to both drive systems. Thus, two drive systems of the shuttle can be pivoted synchronously around their respective drive system axis of rotation by two steering systems. This simplifies the control of the shuttle.

[0022] Preferably, the drive system comprises at least one drive system guide roller, which is rotatable about a first guide roller axis of rotation. The drive system guide roller can be configured to support the shuttle in a vertical direction of movement relative to a corresponding element on the racking system. In the case where several drive systems are provided on the shuttle, the drive system guide rollers can be configured such that at least two drive system guide rollers support each other on the racking system, thus clamping the shuttle within the racking system. More precisely, this allows the shuttle to be reliably held in the racking system during movement in the vertical direction, enabling the shuttle's drive system to move reliably in the vertical direction.More precisely, this ensures that a gear engaging with a corresponding toothed rail on a racking system cannot fall out of engagement. For this purpose, the drive system guide roller can be integrated into the drive system and pivoted around its axis of rotation. This ensures the smooth operation of the shuttle within the racking system.

[0023] Preferably, the first guide roller axis of rotation is arranged orthogonally to the wheel axis of rotation. In other words, the drive system guide roller is arranged on the drive system such that the first guide roller axis of rotation is orthogonal to the wheel axis of rotation. This ensures that the shuttle's movement in the vertical direction is reliably guided. Thus, the shuttle can only move in the desired vertical direction (as long as the drive systems are positioned vertically). This further increases the operational reliability of the shuttle in a racking system.

[0024] Preferably, the shuttle has at least one lifting system designed to raise the shuttle from a running surface. The running surface can, for example, be a section of track or its running surface, which is provided in the racking system. Thus, the lifting system can preferably be designed such that the shuttle can be lifted on a track section that is relatively narrow compared to the shuttle. Preferably, the lifting system can be designed to lift the shuttle in the vertical direction of movement so that the wheel system loses contact with the ground. In other words, the lifting system can be designed to move the shuttle between a horizontal position and a pivoting position in which the drive system no longer makes contact with a running surface.More precisely, the lifting system can raise the traction section, which interacts with a rail section, away from the rail section. This allows the drive system to be advantageously pivoted around its axis of rotation, as the traction section is no longer in contact with the rail section of the racking system. This further increases the efficiency of the shuttle's operation.

[0025] Preferably, the lifting system comprises an actuator for generating a force, a linkage, and at least one lifting unit. Preferably, the lifting unit is movably mounted in a third direction, which is orthogonal to the first and / or second direction. The lifting unit can be movably mounted. Preferably, the linkage is configured to transmit the force of the actuator to the at least one lifting unit in order to move the lifting unit in the third direction. The actuator can be a lifting system drive that generates a rotary force. In particular, the rotary motion can be transmitted to a lifting system linkage (i.e., the linkage) via a gearbox. Thus, the rotary motion of the lifting system drive can be transmitted to at least one lifting unit. The lifting unit can be configured to convert the rotary motion transmitted via the lifting system linkage into a translational motion in the third direction.Thus, by detecting the rotation of the lifting system linkage and / or the lifting system drive, the exact position of the lifting unit can be determined. This allows for precise control of raising or lowering the shuttle in the third direction.

[0026] Preferably, the at least one lifting unit has a control cam element in which the linkage is guided by a cam. In other words, a cam can be provided at one end of the lifting system linkage that is not rotationally symmetrical about the axis of rotation of the lifting system linkage. The cam can be guided in a control cam element so that the lifting unit can have a specific position in the third direction depending on the angular position of the lifting system linkage. By knowing the control cam of the control cam element and precisely measuring the rotations of the lifting unit, precise raising and lowering of the shuttle can thus be achieved. The lifting unit can be guided in such a way that it can only move in the third direction. In other words, all other degrees of freedom can be blocked by the guidance of the lifting unit.

[0027] Preferably, at least one lifting unit has a lifting system guide roller which is rotatable about a second guide roller pivot axis. The lifting system guide roller can be designed to move the shuttle into a desired position on the rail section of the racking system. For example, at a transition between two adjacent rail sections (e.g., a rail section of a racking area and a rail section of a platform), the lifting system guide roller can optimally position the shuttle on the rail section by contacting an element (e.g., a guide element) of the racking system. This ensures trouble-free operation of the shuttle in a racking system, even in cases where different rail sections do not align perfectly.

[0028] Preferably, the second guide roller axis of rotation is parallel to the drive system axis of rotation. This ensures that contact between the lifting system guide roller and an element of the racking system does not result in a braking effect during the horizontal movement of the shuttle, since the roller can rotate about the second guide roller axis of rotation.

[0029] Preferably, the loading device comprises an upper table extending in the first direction and a goods contact element extending in the second direction. Preferably, the goods contact element is movably fixed to the upper table. In other words, the goods contact element can project into the loading area. Conversely, the upper table can define the boundaries of the loading area. The goods contact element can be moved along the upper table in the first direction. For this purpose, the goods contact element can have a goods contact element drive that can convert a rotary movement into a translational movement of the goods contact element in the first direction. Thus, goods can be pushed out of the loading area. Furthermore, goods can be pushed onto the loading area.

[0030] Preferably, the upper table is designed such that the product contact element is movable in the first direction. For this purpose, the upper table can have a guide rail along which the product contact element can move. Furthermore, a toothed rail can be provided in or on the guide rail, into which a rotatably driven gear of the product contact element engages. Thus, the product contact element can be moved along the rail.

[0031] Preferably, the upper table is movable relative to the loading area in the first direction. In other words, the upper table can extend over the entire length of the goods area in the first direction. This movable capability allows the upper table to be moved beyond the loading area. Consequently, the goods contact element can also be moved out of the loading area along with the upper table. Thus, for example, goods located in a shelf area can be picked up by the upper table together with the goods contact element. Furthermore, goods located in the shuttle's loading area can be contacted by the goods contact element and then moved from the loading area to a shelf area by a movement of the upper table.

[0032] Preferably, the loading device comprises a central table that is movable relative to the loading area and to which the upper table is movably fixed. In other words, the loading device can provide a telescopic extension mechanism for the upper table and the central table. This allows goods to be stored (i.e., moved) even further in the first direction within a racking area. Furthermore, the shuttle can be designed more compactly, since twice the length of the loading area is theoretically available as the possible reach of the shuttle or the loading device in the first direction.

[0033] Preferably, the upper table has a gripping finger at at least one end in the first direction, which is movable between a gripping position and a storage position. Thus, the gripping finger can move back and forth between these two positions. In the gripping position, the finger can be designed to clamp a product together with the product contact element, so that the product is held between the gripping finger and the product contact element. This allows the product to be reliably gripped and moved back and forth in the first direction. In the storage position, on the other hand, the gripping finger can be arranged so that it is aligned with the upper table in the first direction. This allows the upper table to be moved past a product without the gripping finger unintentionally displacing the product. When the upper table is next to the product to be moved, the gripping finger can be moved into the gripping position to grasp the product from behind.The upper table can then be retracted, thus transferring the goods to the loading area. According to one aspect of the present invention, the goods contact element can first be moved along the upper table in the first direction such that the goods are clamped between the gripper finger and the goods contact element. This ensures particularly safe transport of the goods by the loading device.

[0034] Preferably, the gripper finger is pivotally mounted on the upper table, allowing it to swivel. Accordingly, it is conceivable that the gripper finger can be moved back and forth between the gripping position and the storage position by a drive unit located on the upper table. This enables a particularly simple design of the gripper finger, for example, as a metal plate pivotally mounted on the upper table.

[0035] Preferably, a gripper finger is provided at each end of the upper table in the first direction. Both gripper fingers can be identical. In other words, the goods contact element between the two gripper fingers on the upper table can be movable back and forth. This allows for the easy storage and retrieval of goods from a racking area on either side of the shuttle. In other words, it doesn't matter which side of the shuttle a racking area borders, as the conveying device can store and / or retrieve goods from either side in the first direction.

[0036] According to a further aspect of the present invention, a passive racking system, particularly for a high-bay warehouse, is provided, wherein the racking system comprises: a shuttle according to one of the above embodiments, a racking area with at least two shelves at different vertical positions, at least two rack rail sections, each extending along the at least two shelves, wherein the rack rail sections are configured such that the shuttle can move horizontally on the rack rail sections, and at least one passive access section connecting the rack rail sections and configured such that the shuttle can move through the access section from one rack rail section to another in the direction of vertical movement. The racking system can be an area in which goods or articles can be stored.Furthermore, the racking system can include transport sections, such as rack rail sections, designed to allow the shuttle to automatically load and unload goods into and out of the racking area. The shelves of the racking 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 positioned at different vertical locations. Preferably, the racking system has a plurality of shelves, each arranged at different vertical locations. Each shelf can define a shelf level, which defines a vertical position. Thus, the racking system can have a plurality of shelf levels stacked on top of each other. The shelves can be supported by vertical uprights.Preferably, the shelves are essentially flat, allowing goods to be placed on them easily and remaining in their position. "Flat" here means that the shelves have no structures or divisions. In other words, the shelves are designed to accommodate goods individually. Therefore, no prior definition of specific storage areas is necessary, and goods can be placed on the shelves completely flexibly. The shelves can define a continuous, flat surface onto which goods can be placed directly (i.e., without containers or similar). Preferably, the shelves are continuous and uninterrupted. This allows for highly efficient warehouse operation, as goods can be stored individually adjacent to neighboring goods. In other words, goods can be stored individually next to and / or one behind the other on the shelves.Therefore, it is not necessary to determine in advance which goods are to be stored in any pre-defined or limited storage areas of the shelving system. Furthermore, the shelving system can accommodate goods without additional transport equipment, such as crates or the like. This can further increase the efficiency of the shelving system.

[0037] By using the shuttle, the racking system can be completely passive. In other words, no active control of the racking system is necessary to provide fully automated operation. More precisely, the racking system can be operated by the actively controlled shuttle in such a way that it does not have to perform any actively controlled movements or the like. Rather, the racking system can be passive and is only controlled by specific interactions triggered by the shuttle. This results in a particularly robust and easy-to-control racking system. Furthermore, operating errors due to incorrect control of the racking system are eliminated, as the racking system does not require any control. This increases the reliability of the racking system, ensuring the safe storage and retrieval of goods at all times.

[0038] Individual aspects or embodiments can be combined with other features or embodiments to form new embodiments. The design features and effects mentioned in connection with the features or embodiments also apply analogously to the new embodiments.

[0039] The following describes a preferred embodiment of the present invention with reference to the accompanying figures. Fig. 1 is a schematic and perspective view of a shuttle according to an embodiment of the present invention. Fig. 2 is a schematic and perspective view of a drive system according to an embodiment of the present invention. Fig. 3 is a schematic and perspective view of a steering system according to an embodiment of the present invention. Fig. 4 is a schematic and perspective view of a lifting system according to an embodiment of the present invention. Fig. 5 is a schematic view of the operation of a lifting system according to an embodiment of the present invention. Fig. 6 is a schematic top view of a loading area of ​​a shuttle according to an embodiment of the present invention. Fig. 7 is a schematic and perspective view of a charging device according to an embodiment of the present invention. Fig. 8 is a schematic top view of a loading device according to an embodiment of the present invention. Fig. 9 is a schematic and perspective view of a charging device according to an embodiment of the present invention. Fig. 10 is a schematic and perspective view of a shelving system according to an embodiment of the present invention.

[0040] Fig. 1 Figure 1 is a schematic and perspective view of a shuttle 1 according to an embodiment of the present invention. In the present embodiment, the shuttle 1, or storage and retrieval machine, is an autonomously controllable system that places goods into a storage system 100 (in Fig. 1 (not shown) can be stored and / or retrieved. In the present embodiment, the shuttle 1 has a substantially rectangular shape in a top view. Furthermore, the shuttle 1 has a loading area 2 with a loading surface 21 for receiving the goods or articles. The loading surface 21 is bounded on two sides by a loading device 3 each. On the other two sides, the loading surface 21 is open to allow goods to be stored on and retrieved from the loading surface 21. The loading device 3 is designed to place goods onto and remove them from the loading area 2. Furthermore, the shuttle has at least one drive system 4 with a wheel system 41, which is rotatable about a wheel axis RD. The drive system 4 is designed to move the shuttle 1 in a horizontal direction HR and in a vertical direction VR within the racking system 100.In the present embodiment, the shuttle 1 has four identical wheel systems 4, each located at one corner of the shuttle. Furthermore, the drive systems 4 are pivotable about a drive system rotation axis AD. More precisely, the drive systems 4 can be pivoted from a horizontal movement position to a vertical movement position. Fig. 1 The drive systems shown on the right side of the figure (only one drive system is visible) are arranged in the horizontal propulsion position. In contrast, in the Fig. 1 In the illustrated embodiment, the two left drive systems 4 are arranged in the vertical movement position. Thus, the drive systems can be pivoted by essentially 90° to switch from the horizontal movement position to the vertical movement position or vice versa.

[0041] Fig. 2 Figure 1 is a schematic and perspective view of a drive system 4 according to an embodiment of the present invention. Fig. 2 It can be seen that the wheel system 41 of the drive system 4 comprises a traction section 42 in the form of a wheel with a rubberized running surface and a meshing section 43 in the form of a gear. The traction section 42 can be formed by a rubberized wheel 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 axis of rotation RD is housed. The motor housing 45 is integrally formed with a mount for the wheel system 41. This allows for a particularly compact drive system 4, which can be easily rotated about a drive system axis of rotation AD. For this purpose, the drive system 4 can be connected or connectable to the shuttle 1 by a pin, so that the rotation of the drive system 4 about the drive system axis of rotation AD can be realized.Furthermore, the drive system 4 has a drive system guide roller 44, which is designed in the form of a wheel ring. The drive system guide roller 44 is designed to interact with an element (for example, a rail or a shelf upright) of the racking system 100 in order to support the shuttle 1 during a vertical movement. The drive system guide roller 44 is rotatable about a first guide roller axis of rotation EFD.

[0042] Fig. 3 Figure 5 is a schematic representation of a steering system 5, which is designed to rotate two drive systems 4 of the shuttle 1 about the drive system axis of rotation AD. In the present embodiment, the shuttle 1 has two steering systems 5, each of which can actuate two drive systems 4. The steering system 5 has a steering system drive 51, which can generate a rotary motion. The rotary motion is applied to a threaded spindle 53 by means of a gearbox. A sliding element 54 is moved translationally by the threaded spindle 53. In other words, the rotary motion of the steering system drive 51 is converted into a translational motion of the sliding element 54. The sliding element 54 is mounted on two parallel guide rails 52. A steering rod 55 is attached to the sliding element 54, which is in contact with each of the drive systems 4.The steering rod is pivotally mounted on the sliding element 54 and on the drive system 4. This allows a rotational movement to be applied to the drive system 4, rotating it about the drive system's axis of rotation RD. Preferably, the steering system 5 is symmetrically designed so that two drive systems 4 can be rotated or pivoted by only one steering system drive 51. This ensures synchronous pivoting of two drive systems.

[0043] Fig. 4 Figure 1 is a schematic view of a lifting system 6 according to an embodiment of the present invention. The lifting system 6 is designed to lift the shuttle 1 from a travel surface (for example, from a section of track). In the Fig. 1 In the illustrated embodiment, the shuttle 1 has two lifting systems 6. The lifting systems 6 are arranged in close proximity to the drive systems 4. This allows the shuttle 1 to be raised so that the drive systems 4 can be easily rotated around a drive system axis of rotation AD. The lifting system 6 has a lifting system drive 61, which can generate a rotary motion. This rotary motion is transmitted to a lifting system linkage 62 via a gearbox. This lifting system linkage 62 drives a cam 63 in a rotating direction. The cam 63 is guided by a control cam element 64 of a lifting unit 65. Furthermore, the cam 63 is not connected to the lifting system linkage 62 at its center point (i.e., its center of gravity). Thus, by rotating the cam 63 in conjunction with the control cam element 64, the lifting unit 65 can be moved in the third direction R3.Thus, for example, a predetermined stroke of the lifting unit 65 can be achieved by rotating the lifting system linkage 62 by 180°. Therefore, the shuttle 1 can be raised a specific distance from the driving surface by a defined actuation of the lifting system drive 61. More precise details regarding the control curve will follow in the description of the [missing information]. Fig. 5 Furthermore, the lifting system 6 has a lifting system guide roller 66, which is designed to bring the shuttle 1 into an optimal position on the travel surface, particularly in the first direction R1. In this way, the lifting system guide roller 66 ensures that the shuttle 1 always travels centrally on a travel surface (for example, a rail system).

[0044] Fig. 5 Figure 6 is a schematic view of the cam 63 and the stroke unit 65, in which the cam 63 is guided in conjunction with the control cam element 64. In the first view, Fig. 5 depicted view (view on the left side of the Fig. 5 The lifting unit 65 is positioned such that the shuttle is not resting on the driving surface with the drive system 4, but rather with the lifting unit 65. In this example, the shuttle is raised four mm from the driving surface. This is sufficient to rotate the drive systems 4 around the drive system rotation axis RD to move from the horizontal to the vertical position. To achieve this position, the lifting system linkage 62 can be rotated to an angular position of 180°. This is shown in the second following figure. Fig. 5 The height of the lifting unit 65 corresponds exactly to the height of the drive system 4. This means that the shuttle 1 rests on both the lifting unit 65 and the drive system 4. In this configuration, the shuttle 1 can move without any goods on it. The angular position can be 135°. In the next section... Fig. 5 In the illustration shown (third figure from the left), the lifting unit 65 is in the same position as in the previously described position, with the difference that the angular position of the lifting system linkage 62 is 108°. Finally, in the illustration shown on the right, Fig. 5 The lifting unit 65 is raised from the driving surface to enable the shuttle 1 to move with goods on it. The angular position of the lifting system linkage 62 can be 0°. Thus, the position of the lifting unit 65 can be variably adjusted by rotating the lifting system linkage 62.

[0045] Fig. 6 Figure 1 is a schematic top view of a loading area 2 of a shuttle 1 according to an embodiment of the present invention. The loading area 2 is bounded in the second direction R2 by a loading device 3 on each side. The loading device has an upper table 31 extending in the first direction R1 and a goods contact element 32 extending in the second direction R2. The goods contact element 32 is movably fixed to the upper table 31 and can be moved in the first direction R1. Furthermore, the loading device 3 has a gripping finger 33 which is not movable in the first direction. Rather, the gripping finger 33 is pivotable such that it is either in a position where it projects into the loading area 3 or in a position where it is flush with the upper table 31 in the first direction (i.e., does not project into the loading area 3).In the present embodiment, the upper table 31 has such a gripping finger 33 on each side. This allows goods to be clamped between the goods contact element 32 and the gripping finger 33 and thus moved on the loading area 2 or transported from or onto the loading area 2.

[0046] Fig. 7 is a schematic and perspective view of a single charging device 3, as used in the Fig. 1 The embodiment of Shuttle 1 is installed as shown. More precisely, two of the components shown in Fig. 7 The illustrated loading devices are provided as a boundary for storage area 2 on the shuttle 1. Fig. 7 It can be seen that the product contact element 32 is movable along a toothed rail in the first direction R1 along the upper table 31 by means of a product contact element drive unit 321. The upper table 31 is also movable relative to a middle table 34. The middle table 34 is movably mounted on a base table 35. Thus, the conveyor unit 3 can be extended telescopically in the first direction R1. In other words, the upper table and the middle table 34 can be extended arbitrarily or variably in the first direction.

[0047] Fig. 8 Figure 1 is a schematic top view of the conveyor unit 3 in a state where the upper table 31 and the middle table 34 are telescopically extended in the first direction. The middle table 34 is moved relative to the base table 35.

[0048] The base table can have a base table drive 351, which can be designed to move the middle table 34 and / or the upper table 31 in the first direction R1.

[0049] Fig. 9 Figure 1 is a schematic partial view of the loading device 3 in an extended state. It can be seen that the upper table 31 is displaced relative to the intermediate table 34. Furthermore, the intermediate table 34 is displaced relative to the base table 35. This displacement occurs in the first direction R1. The gripper finger 33 is pivotally mounted on the upper table 31. The gripper finger 33 is moved from the gripping position to the retracted position by a gripper finger drive 331. In a preferred embodiment, both gripper fingers 33 of an upper table 31 are moved synchronously with each other by the same gripper finger drive unit 331.

[0050] Fig. 10 Figure 1 is a schematic and perspective view of a passive racking system 100 according to an embodiment of the present invention. The racking system 100 has a platform section 101 and a shelf section 102. The shelf section 102 has a plurality of shelves at different vertical positions. Adjacent to the shelves are shelf rail sections on which the shuttle 1 can travel. To reach the different levels between the shelves, the racking system has a platform section 101. Within the platform section 101, the shuttle 1 can move automatically in the vertical direction. An approach track 103 is arranged in front of the platform section 101, via which the shuttle 1 reaches the racking system 100. In the present embodiment, the shelf section 102 is bounded at each end by a platform section 101.This allows for a kind of circular route in which a large number of Shuttles 1 can travel without obstructing each other. The lifting area 101 has four toothed rails with which the drive system (more precisely, the drive system's gear) can engage. By driving the drive system around the wheel's axis of rotation, Shuttle 1 can move vertically. Once Shuttle 1 has reached the desired level, it can rotate the drive systems 4 around the drive system's axis of rotation, enabling the shuttle to leave the lifting area horizontally on the traction section. Bezugszeichenliste:

[0051] 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 Gripping finger 331 Gripping finger drive 34 Middle 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 Shifting element 55 Steering rod 61 Lifting system drive 62 Lifting system linkage 63 Cam 64 Control cam element 65 Lifting unit 66 Lifting system guide roller 100 Rack system 101 Lifting area 102 Rack area 103 Infeed section R1 First direction R2 Second direction R3 Third direction AD Drive system pivot axis RD Wheel pivot axis EF First guide roller pivot axis

Claims

1. Shuttle (1) for a shelving system (100), comprising, a loading area (2) which defines a loading surface (21) in a first direction (R1) and in a second direction (R2), wherein the loading area (2) is designed to receive goods to be transported, a loading device (3) which is designed to bring goods to the loading area (2) and remove them from it, at least one drive system (4) with a wheel system (41) which is rotatable about a wheel rotation axis (RD), wherein the at least one drive system (4) is designed to move the shuttle (1) in a horizontal direction and in a vertical direction in the shelving system (100), wherein the wheel system (41) has a traction section (42) for traveling in the horizontal direction and an engagement section (43) for traveling in the vertical direction, and characterized in that the shuttle (1) has a steering system (5) which is designed to pivot the at least one drive system (4) about a drive system rotation axis (AD).

2. Shuttle (1) according to claim 1, wherein the traction section (42) and the engagement section (43) are drivable by a common drive shaft3. Shuttle (1) according to any one of claims 1 to 2, wherein the traction section (42) is designed as an impeller for locomotion in the horizontal direction, and wherein the engagement section (43) is designed as a gear wheel for locomotion in the vertical direction.

4. Shuttle (1) according to any one of the proceeding claims, wherein the steering system (5) has a thrust element (54) which can be set into a translatory movement by a threaded spindle (53).

5. Shuttle (1) according to any one of the proceeding claims, wherein the steering system (5) comprises at least one spring element which is designed to exert the preload force on the drive system (4).

6. Shuttle (1) according to any one of the preceding claims, wherein the drive system (4) has at least one drive system guide roller (44) which is rotatable about a first guide roller rotation axis (EFD).

7. Shuttle (1) according to any one of the preceding claims, wherein the shuttle (1) has at least one lifting system (6) designed to lift the shuttle (1) from a driving surface.

8. Shuttle (1) according to any one of the preceding claims, wherein the loading device (3) has an upper table (31) extending in the first direction (R1) and a goods contact element (32) extending in the second direction (R2), and wherein the goods contact element (32) is movably fixed to the upper table (31).

9. Shuttle (1) according to claim 8, wherein the upper table (31) is designed such that the goods contact element (32) is movable in the first direction (R1).

10. Shuttle (1) according to claim 8 or 9, wherein the upper table (31) is movable relative to the loading area (2) in the first direction (R1).

11. Shuttle (1) according to any one of claims 8 to 10, wherein the loading device (3) comprises a center table (34) which is movable relative to the loading area (2) and to which the upper table (31) is movably fixed.

12. Shuttle (1) according to any one of claims 8 to 11, wherein the upper table (31) has a gripping finger (33) at at least one end in the first direction (R1), which is movable between a gripping position and a stowed position.

13. Shuttle (1) according to claim 12, wherein the gripper finger (33) is hingedly mounted on the upper table (31) so that the gripper finger (33) is pivotable.

14. Shuttle (1) according to claim 12 or 13, wherein a gripper finger (33) is provided at each end in the first direction of the upper table (31).

15. Passive shelving system (100), in particular for a high-bay warehouse, comprising: a shuttle (1) according to any one of the preceding claims, a shelf area (102) with at least two shelves at different vertical positions, at least two shelf rail sections, which each run along the at least two shelves, wherein the shelf rail sections are designed in such a way that the shuttle (1) can move horizontally on the shelf rail sections, at least one passive riser area (101), which connects the shelf rail sections to one another and is designed in such a way that the shuttle (1) can move through the riser area (101) from one shelf rail section to another shelf rail section in a vertical direction.