Recovery vehicle for a load-handling vehicle in an automated warehouse, vehicle recovery method

Abstract

A recovery vehicle (1) for recovering a load-handling vehicle (2) that is stranded or broken down in an automated warehouse (200) comprises a base frame (6) whereto locomotion devices (10') are connected that are suitable for allowing the translation of the recovery vehicle (1) along a storage aisle (11, 21, 31) of the automated warehouse (200). The recovery vehicle also comprises an actuator (3), for example an electric motor, supported by the base frame (6) and operatively connected to the locomotion devices (10') for performing the translation of the load-handling device (1). Furthermore, a power supply device (5) is suitable for supplying power to the actuator (3) and a coupling device (8), supported by the base frame (6), is suitable for allowing the automatic coupling of the recovery vehicle (1) to the load-handling vehicle (2) when the recovery vehicle is in close proximity to the load-handling vehicle, so as to allow for the towing of the load-handling vehicle (2) along the storage aisle (11, 21, 31) by the recovery vehicle.

Description

RECOVERY VEHICLE FOR A LOAD-HANDLING VEHICLE IN ANAUTOMATED WAREHOUSE , VEHICLE RECOVERY METHOD DESCRIPTIONField of application

[0001] The present invention falls within the field of the production of automated systems for the storage of items on pallets in an automated warehouse .

[0002] In particular, the present invention relates to a recovery vehicle that is suitable for recovering a loadhandling vehicle in an automated warehouse and to a method for recovering a load-handling vehicle in an automated warehouse . In particular, reference is made to the recovery of vehicles for the storage and handling of pallets containing articles , for automated warehouses .Prior art

[0003] Automated warehouses that are structured to allow the automatic storage of pallets are known in the art .

[0004] From a design point of view, these warehouses normally employ load-bearing structures comprising a structure with shoulders and uprights that defines a plurality of storage aisles of variable dimensions according to the foreseen loads . The pallets are arranged and picked up along / from such aisles by means of automated load-handling vehicles , called satellites or shuttles . In practice , these vehicles deposit , automatically and in series , a plurality ofpallets onto support guides arranged along the storage aisle . In more detail , this deposit normally takes place starting from one end of an aisle or in any case from the first free position identi fied within the aisle itsel f .

[0005] In order to perform the operations for which it is intended, the satellite normally comprises a frame provided with a plurality of wheels so as to al low the satellite to be moved along the storage ai sle .

[0006] These wheels are actuated by suitable handling means which generally consist of electric motors , which are operatively controlled by command and control means and which are powered by suitable power supply means , such as batteries .

[0007] The satellite further comprises two distinct sections suitable for providing a support surface for the pallet , as well as position detection means suitable for determining the position of the satellite in one or more points of the aisle , or means for detecting the position in a continuous manner, for example by means of laser position detection systems .

[0008] The satellite is powered by suitable on-board batteries or supercapacitors and the recharging thereof may take place during the period in which the satel lite is located in an additional shuttle , also known as parent transport vehicle . In some warehouses that are providedwith parent vehicles , the parent vehicle is moved along trans fer aisles , arranged transversely to the storage aisles and houses , or releases from time to time , satellites originating from the storage ais les for transporting pallets to and from the storage aisles . An example of such type of warehouse , parent vehicle , and satellite vehicle is described in document WO2012127419A1 .

[0009] One of the most important issues to be addressed with such systems is given by the need to ensure the rapid and safe recovery of any satellite or parent vehicle that has become immobili zed in an aisle due to an unexpected problem that does not allow the vehicle to be released remotely and that therefore requires the manual intervention of an operator .

[0010] The recovery o f a satellite vehicle that is immobili zed in an aisle takes place , for example , by means of a recovery bogie , on which an operator is positioned, who maneuvers the bogie along the ai sle until it reaches the position of the immobili zed satellite vehicle and proceeds with the release and recovery of the satellite vehicle manually, thereby loading it onto the recovery bogie .

[0011] Inconveniently, this solution presents multiple problems , both in terms of time and complexity . In particular, it is necessary to provide for long periods oftime and complicated movement processes in semi-automatic mode in order to maneuver the recovery bogie to the parent vehicle which has the satellite that is immobili zed in the pallet accumulation aisle . Furthermore , the walking surface of the recovery bogie does not allow the operator to easily and ergonomically remove a load that is laying on a pallet .

[0012] Moreover, inconveniently, on already installed and functioning systems , it is imperative to integrate a series of wiring and related safety units for connecting the recovery bogies to the parent vehicles .

[0013] All this is without considering that the construction of a recovery bogie is complex and has a relatively high cost for the use that is required .Disclosure of the invention

[0014] The present invention therefore aims to remedy the aforementioned drawbacks relating to the prior art .

[0015] In particular, one obj ect of the present invention is to implement a recovery vehicle that is simpler in construction and use , which therefore requires fewer resources for the construction thereof and which is more ergonomic and ef fective when the intervention thereof is required for the recovery of an immobili zed vehicle .

[0016] The aforementioned obj ect is achieved by a recovery vehicle and by a vehicle recovery method in accordancewith the accompanying independent claims . The dependent claims describe preferred embodiments .Description of the drawings

[0017] The features and advantages of the recovery vehicle and of the method for the recovery of a load-handling vehicle in an automated warehouse , according to the present invention, will be evident from the description below of some preferred exemplary embodiments , provided for illustrative and non-limiting purposes , with reference to the accompanying figures , in which :Figure 1 shows a perspective view of an automated warehouse for storing loads , for example pallets , according to one embodiment of the present invention;- Figure 2 is an axonometric view of a recovery vehicle according to one embodiment of the present invention;- Figure 3 shows a top plan view of the recovery vehicle of Figure 2 , in which the components inside the base frame , for example the actuator and the power supply device , are also visible in transparency;Figure 4 is a lateral planar elevation view of the recovery vehicle in Figure 2 ;- Figure 5 is an axonometric view of a recovery vehicle according to a further embodiment of the present invention;- Figure 6 shows a top plan view of the recovery vehicle of Figure 5 , in which the components inside the base frame ,for example the actuator and the power supply device , are also visible in transparency;Figure 7 is a lateral planar elevation view of the recovery vehicle in Figure 5 ;- Figure 8 shows a step of the recovery method in which an operator is arranging a recovery vehicle according to one embodiment of the present invention in a storage ai sle of an automated warehouse ;- Figure 9 shows a detail of a recovery vehicle according to one embodiment of the present invention in the vicinity of a load-handling vehicle , shortly before the step of coupling the recovery vehicle and the load-handling vehicle to one another, i . e . , in a step in which the coupling device is not yet coupled to the safety hook of the load-handling vehicle ;- Figure 10 shows a recovery vehicle according to one embodiment of the present invention coupled to a loadhandling vehicle , inside an aisle of the load warehouse , during a towing step of the recovery vehicle by means of a rope connected to a winch .Detailed description

[0018] While the present invention is described below with reference to preferred embodiments shown in the drawings , the present invention is not limited to the embodimentsdescribed below and shown in the drawings . On the contrary, the described and represented embodiments clari fy some aspects of the present invention .

[0019] Figure 1 schematically shows a warehouse 200 for storing loads 100 , typically pallets , comprising a loadhandling vehicle 2 that is immobili zed under a load 100 .

[0020] The warehouse 200 shown in the figures by way of example has a simple layout and preferably comprises storage aisles 11 , 21 , 31 . In large warehouses , such aisles are generally arranged laterally, to the right and to the left , with respect to a central trans fer aisle .

[0021] The warehouse 200 also preferably comprises a loading / unloading station 18 for the loads , or an area on which a load 100 which must be stored in a predetermined compartment of the warehouse 200 is placed, or an area on which a load taken from a compartment of the warehouse 200 is placed .

[0022] The handling of a load 100 inside the warehouse 200 is typically performed by a properly functioning loadhandling vehicle 2 or by several load-handling vehicles 2 together ; this occurs , for example , when a parent vehicle and a satellite vehicle transported by the parent vehicle operate simultaneously; an arrangement known to a person skilled in the art .

[0023] The load-handling vehicle 2 preferably allows for thehandling of loads of large dimensions and weights , such as pallets , but other types of articles are not excluded .

[0024] The load-handling vehicle 2 is therefore in particular suitable for handling pallets containing articles for the automatic storage of the load 100 in a warehouse 200 .

[0025] According to the invention and the accompanying figures , a recovery vehicle 1 for recovering a loadhandling vehicle 2 that is stranded or broken down in an automated warehouse 200 comprises a base frame 6 whereto locomotion devices 10 ' , e . g . , sliding wheels 10A, 10B, 10C, 10D or tracks , are connected, that are suitable for allowing the parent vehicle 1 to translate along a storage aisle 11 , 21 , 31 of the automated warehouse 200 .

[0026] According to one embodiment , the locomotion devices 10 ' comprise sliding wheels 10A, 10B, 10C , 10D, in which each wheel is rotatably connected to the base frame 6 in order to rotate about a rotation axis K .

[0027] The recovery vehicle 1 also compri ses an actuator 3 , for example an electric motor, supported by the base frame 6 . The actuator 3 is operatively connected to the locomotion devices 10 ' for performing the translation of the load-handling device 1 along the storage aisle 11 , 21 , 31 .

[0028] The recovery vehicle 1 also compri ses a power supplydevice 5 , preferably an electrical power supply device .

[0029] According to one embodiment , the power supply device 5 comprises a connector suitable for receiving power from an external power source , for example suitable for receiving electrical power from an electrical power source or suitable for receiving mechanical or pneumatic or hydraulic power from a mechanical or pneumatic or hydraulic power source .

[0030] According to a preferred embodiment , the power supply device 5 comprises an energy accumulator installed on the base frame 6 , preferably an electric charge accumulator, for example one or more supercapacitors and / or batteries . This avoids the use of a cable , such as an electric cable , that is constantly connected to the recovery vehicle and makes it more easily transportable .

[0031] Preferably, the energy storage device may be recharged by charging means , for example by means of an external power supply which may be connected to a connector mounted on the recovery vehicle and suitably connected to the energy storage device .

[0032] The recovery vehicle 1 also comprises a coupling device 8 , supported by the base frame 6 that is suitable for allowing the automatic coupling of the recovery vehicle 1 to the load-handling vehicle 2 when the recovery vehicle is in close proximity to the load-handling vehicle . Thisallows the load-handling vehicle 2 to be towed by the recovery vehicle along the storage ai sle 11 , 21 , 31 .

[0033] It is clear that in this description the term "automatic coupling" means that the coupling between the recovery vehicle and the load-handling vehicle occurs autonomously without manual intervention on the part of the operator concerning the coupling device 8 .

[0034] In particular, the coupling device 8 is configured to switch from a first configuration, in which it is not coupled to the load-handling vehicle 2 , to a second configuration, in which it is stably coupled to the loadhandling vehicle 2 in order to allow the towing thereo f . The transition from the first configuration (uncoupled) to the second configuration ( coupled) is automatic, i . e . , it does not require the intervention of an operator in proximity to the coupling device for the activation thereof .

[0035] According to a preferred variant , the passage from the first configuration (uncoupled) to the second configuration ( coupled) occurs automatically and without a further activation command of the coupling device 8 . In particular, the passage from the first configuration (uncoupled) to the second configuration ( coupled) , occurs automatically and without a further electrical command .

[0036] According to one embodiment , the recovery vehicle 1comprises a tow coupling 4 , for example an eyelet , connected to the base frame 6 and suitable for being connected to a towing device of the recovery vehicle 1 , such as a tow rope .

[0037] The tow coupling 4 is for example suitable for being connected to a tow rope . In this case , for example , the recovery vehicle is moved by the tow rope which is connected on one side to the tow coupling 4 and on the other side to a rope recovery device 41 , such as a winch . The operator may then tow the recovery vehicle 1 by means of the rope recovery device 41 , which in turn tows the load-handling vehicle 2 along the storage aisle 11 , 21 , 31 until it reaches the operator .

[0038] According to one embodiment , the recovery vehicle 1 also comprises guide wheels 11A, 11B, 11C, 11D, which are rotatably connected to the base frame 6 in order to rotate about a guide wheel rotation axis R that is incident, preferably perpendicular, to the rotation axis K of the sliding wheels , so as to provide lateral guidance to the recovery vehicle during translation along the aisle .

[0039] Preferably, the guide wheels 11A, 11B, 11C, 11D are idler wheels .

[0040] According to one advantageous embodiment , the recovery vehicle 1 comprises a deactivation device 9 that is configured, when the coupling device 8 is coupled tothe load-handling vehicle 2 , to send a deactivation signal of the actuator 3 . In this way, when the coupling device8 is firmly coupled to the load-handling vehicle 2 , the locomotion devices 10 ' are deactivated and do not push the recovery vehicle 1 any further against the load-handling vehicle 2 . Furthermore , with the actuator 3 being deactivated, thi s preferably allows the recovery vehicle 1 to be towed, for example by means o f a rope .

[0041] The deactivation device 9 is pre ferably operatively connected to the actuator 3 for automatically reactivating the actuator 3 when the coupling device 8 has disengaged from the load-handling vehicle 2 . This allows the recovery vehicle 1 to once again be moved towards the load-handling vehicle 2 and consequently, i f inadvertently uncoupled, to automatically re-couple the recovery vehicle 1 to the loadhandling vehicle 2 .

[0042] According to one embodiment , the deactivation device9 is a lever switch 91 , for example a lever microswitch with wheels , that is suitable for being activated when the lever 91 changes the position thereof due to the interaction with the load-handling vehicle 2 , for example when it enters into abutment with the load-handling vehicle 2 . Such lever switch 91 , therefore , is electrically connected to the actuator 3 in order to enable , or to not enable , the energy supply to such actuator .

[0043] According to one embodiment , the coupling device 8 comprises a magnet or an electromagnet that is suitable for automatically coupling a respective magnetic or ferromagnetic portion of the load-handling vehicle 2 when the recovery vehicle 1 approaches the load-handling vehicle 2 .

[0044] According to one embodiment , the coupling device 8 is a hook that is shaped to automatically engage a safety hook 21 ' of the load-handling vehicle 2 when the recovery vehicle 1 approaches the load-handling vehicle 2 .

[0045] According to one embodiment , the coupling device 8 is suitable for coupling the load-handling vehicle 2 by means of a snap-on coupling .

[0046] According to one embodiment , the coupling device 8 comprises an inclined surface 81 that is suitable for allowing the coupling device to slide onto the safety hook 21 ' of the load-handling vehicle 2 when the recovery vehicle 1 moves towards the load-handling vehicle . In this way, the safety hook 21 ' is guided to engage in a stable coupling seat 82 of the coupling device 8 .

[0047] The coupling device 8 comprises a stable coupling seat 82 that is suitable for accommodating the safety hook 21 ' of the load-handling vehicle 2 , preferably by means of a snap-on coupling .

[0048] According to one advantageous embodiment , therecovery vehicle 1 comprises a single actuator 3 and a single electrical power supply device 5. This allows a light, compact, simple-to-manuf acture and easily transportable device to be obtained. According to this embodiment, and as is moreover clear and unambiguous from the accompanying figures, the recovery vehicle 1 is preferably devoid of further actuators or electric motors. For example, the recovery vehicle 1 lacks actuators that are configured for lifting or moving further portions of the recovery vehicle 1 or that are configured to lift or move any loads. This is because the objective is to keep the recovery vehicle 1 as light, compact, simple-to- manuf acture and easily transportable as possible.

[0049] The recovery vehicle 1 preferably comprises a handle 7 that is connected to the frame for the manual transport of the recovery vehicle 1 by an operator.

[0050] According to one embodiment, in order to ensure further compactness, lightness, simplicity of construction and transportability, as may be clearly and unambiguously inferred from the accompanying figures, the recovery vehicle 1 only consists of: the base frame 6, the locomotion devices 10' , the actuator 3, the power supply device 5, the coupling device 8, the deactivation device 9, the tow coupling 4, optionally the handle 7, and optionally the guide wheels 11A, 11B, 11C, 11D connectedto the base frame 6 in order to provide a lateral guide to the recovery vehicle during translation along the aisle .

[0051] Also covered by the present invention is a method for recovering a load-handling vehicle 2 that is stranded or broken down in an automated warehouse 200 comprising storage aisles 11 , 21 , 31 for the load 100 , which are parallel to one another and arranged on several levels .

[0052] This method comprises the following operating steps :

[0053] a ) arranging a recovery vehicle 1 according to any of the embodiments described in this description in a storage aisle 11 , 21 , 31 of the load 100 , in which there is a stranded or broken-down load-handling vehicle 2 ( for example as shown in Figure 8 ) ;

[0054] b ) activating the actuator 3 of the recovery vehicle 1 in order to translate it independently along the storage aisle towards the load-handling vehicle 2 ;

[0055] c ) as a result of the automatic and stable coupling of the coupling device 8 to the load-handling vehicle 2 , deactivating the actuator 3 ;

[0056] d) following step c ) , moving the recovery vehicle 1 in such a way as to consequently tow the load-handling vehicle 2 for the recovery thereof .

[0057] According to one embodiment , the method envisages that in step d) , the recovery vehicle is moved by a rope connected on one side to a tow coupling 4 of the recoveryvehicle and on the other side to a rope recovery device41 , for example a winch as shown in Figure 10 . In thi s way, an operator positioned at the beginning of the aisle may operate the winch and safely recover the recovery vehicle 1 together with the load-handling vehicle 2 .

[0058] Preferably, in step b ) , the actuator 3 of the recovery vehicle 1 is activated in order to translate it along the storage aisle towards the load-handling vehicle 2 by means of a manual switch 15 , activated by an operator fol lowing step a ) . Such manual switch 15 therefore enables the delivery of electrical power to the actuator 3 .

[0059] A person skilled in the art will understand that the further technical features of the recovery vehicle 1 , which are not speci fically described in this discussion, are clearly inferred by a person skilled in the art from the accompanying figures .

[0060] It is clear that a further obj ect of the present invention is a load-handling vehicle 2 , such as a satellite vehicle or a parent vehicle , comprising a safety hook 21 ' that is suitable for being automatically coupled from a recovery vehicle 1 , according to any of the embodiments described in the present invention .

[0061] In particular, the safety hook 21 ' is installed on a vertical face of the base frame of the load-handling vehicle 2 , in which said vertical face extends mainly ona plane that is incident , preferably perpendicular, to the direction of translation of the load-handling vehicle 2 along the storage aisle 11 , 21 , 31 of the automated warehouse 200 .

[0062] Innovatively, the present invention makes it possible to success fully overcome the drawbacks cited in reference to the prior art .

[0063] In particular, the recovery vehicle according to the present invention is portable , l ightweight , and easy to handle . A single operator may use it in total autonomy to recover load-handling vehicles , such as a satellite or a parent vehicle , which is stranded in an aisle or broken down .

[0064] Advantageously, the operator does not have to approach the broken-down vehicle because the recovery vehicle automatically engages with the stationary loadhandling vehicle .

[0065] Furthermore , advantageously, in the embodiment with the energy storage device , such as a supercapacitor, the recovery vehicle is extremely manageable and cable impediment is avoided .

[0066] Furthermore , in an advantageous way, by virtue of the presence of the deactivation device which automatically reactivates the actuator in the event of accidental uncoupling, a more reliable coupling between the recoveryvehicle and the load-handling vehicle is ensured .

[0067] Furthermore , advantageously, the deactivation device present in the recovery vehicle of fers signi ficant operational and structural advantages . In particular, it allows the actuator to be activated or deactivated automatically when the recovery vehicle is coupled to , or uncoupled from, a broken-down load-handling vehicle . This feature makes it possible to create a simpler and more manageable recovery vehicle , which may be towed by means of a rope , eliminating the need for a complete vehicle equipped with large and heavy actuators with suf ficient power to autonomously tow the vehicle to be recovered . As a result , the complexity and cost of the system is reduced, since it is not necessary to equip the recovery vehicle with a high-power power supply and actuation system thereby making the entire recovery process more eff icient and less expensive in terms of energy resources . Furthermore , the operator may manage the recovery in a more secure and controlled manner, without having to manually intervene in order to activate or deactivate the actuator thereby improving the reliability and safety of recovery operations .

[0068] Furthermore , the integration of a lever switch 91 into the recovery vehicle of fers an automatic deactivation mechanism having a physical arrangement which allows thepower to the actuator to be interrupted without the manual intervention of the operator , thereby improving operational safety and reducing the risk of mechanical damage due to further pushing o f the recovery vehicle against the load-handling vehicle .

[0069] Advantageously, the adoption of an inclined surface 81 in the coupling device 8 facilitates the sliding of the coupling device onto the safety hook 21 ' of the loadhandling vehicle 2 during the approach . This geometric configuration allows for a more fluid and safe coupling, guiding the safety hook 21 ' towards a stable coupling seat . Such arrangement not only simpli fies the coupling process , but also further reduces the time required for recovery thereby minimi zing any manual intervention and improving the overall reliability of the recovery system .

[0070] Furthermore , the recovery method that provides for the use of a rope recovery device for towing the recovery vehicle of fers signi ficant operational and structural advantages . In particular, the adoption of a rope recovery device , such as a winch, allows a small , manageable and lightweight recovery vehicle to be designed, thereby eliminating the need to equip it with powerful actuators for the autonomous towing of the load-handling vehicle . As a result of this , the complexity and cost of the system isreduced insofar as a high-power power supply and actuation system is not required . Furthermore , an operator may manage the recovery in a safer and more controlled manner . This innovative solution not only simpli fies the recovery process , but also reduces the time required for said recovery, as well as increasing safety .

[0071] It is clear that a person skilled in the art may make changes to the invention in order to meet contingent needs , said changes all falling within the scope of protection as defined in the following claims .

Claims

CLAIMS1. A recovery vehicle (1) for recovering a stranded or broken-down load-handling vehicle (2) in an automated warehouse (200) comprising storage aisles (11, 21, 31) for the load (100) , parallel to one another and arranged on multiple levels, said recovery vehicle (1) comprising:- a base frame (6) to which locomotion devices (10' ) , for example sliding wheels (10A, 10B, 10C, 10D) or belts, suitable for allowing the translation of the recovery vehicle (1) along a storage aisle (11, 21, 31) of the automated warehouse (200) , are connected;- an actuator (3) , for example an electric motor, supported by the base frame (6) and operatively connected to the locomotion devices (10' ) to perform the translation of the load-handling device (1) ; a power supply device (5) , for example a connector suitable for receiving electrical power from an external electrical power source or an energy accumulator installed on the base frame (6) , suitable for supplying power to the actuator ( 3 ) ;- a coupling device (8) , supported by the base frame (6) , suitable for allowing the automatic coupling of the recovery vehicle (1) to the load-handling vehicle (2) when the recovery vehicle is close to the load-handling vehicleso as to allow the load-handling vehicle (2) to be towed along the storage aisle (11, 21, 31) by the recovery vehicle .

2. Recovery vehicle (1) according to claim 1, wherein the locomotion devices (10' ) comprise sliding wheels (10A, 10B, 10C, 10D) , each wheel being rotatably connected to the base frame (6) to rotate about a rotation axis (K) , and wherein the recovery vehicle (1) also comprises guide wheels (11A, 11B, 11C, 11D) , rotatably connected to the base frame (6) to rotate about a guide wheel rotation axis (R) incident, preferably perpendicular, to the rotation axis (K) of the sliding wheels, so as to provide lateral guidance to the recovery vehicle as it translates along the aisle.

3. Recovery vehicle (1) according to any one of the preceding claims, comprising a deactivation device (9) configured to send a deactivation signal of the actuator (3) , when the coupling device (8) is coupled to the loadhandling vehicle (2) .

4. Recovery vehicle (1) according to claim 3, wherein the deactivation device (9) is operatively connected to the actuator (3) to automatically reactivate the actuator (3) when the coupling device (8) is uncoupled from the loadhandling vehicle (2) .

5. Recovery vehicle (1) according to claim 3, wherein thedeactivation device (9) is a lever switch (91) , suitable for being activated when the lever (91) changes its position due to the interaction with the load-handling vehicle (2) , for example it abuts against the load-handling vehicle ( 2 ) .

6. Recovery vehicle (1) according to any one of the preceding claims, wherein the coupling device (8) is a hook shaped to be automatically coupled to a safety hook (21' ) of the load-handling vehicle (2) when the recovery vehicle (1) approaches the load-handling vehicle (2) .

7. Recovery vehicle (1) according to claim 5, wherein the coupling device (8) comprises an inclined surface (81) suitable for allowing the coupling device to slide on the safety hook (21' ) of the load-handling vehicle (2) when the recovery vehicle (1) moves towards the load-handling vehicle so as to guide the safety hook (21' ) to be engaged in a stable coupling seat (82) of the coupling device (8) .

8. Recovery vehicle (1) according to any one of the preceding claims, comprising only one actuator (3) and only one electrical power supply device (5) .

9. Recovery vehicle (1) according to claim 8, wherein said recovery vehicle (1) is devoid of further actuators or electric motors.

10. Recovery vehicle (1) according to any one of the preceding claims, comprising a handle (7) connected to thebase frame (6) for manually transporting the recovery vehicle (1) by an operator.

11. Re covery vehicle (1) according to any one of the preceding claims, comprising a tow coupling (4) , connected to the base frame (6) , suitable for being connected to a towing device of the recovery vehicle (1) , for example suitable for being connected to a tow rope.

12. Recovery vehicle (1) according to claims 1, 3, 8, 9, 11, being comprised of only: the base frame (6) , the locomotion devices (10' ) , the actuator (3) , the power supply device (5) , the coupling device (8) , the deactivation device (9) , the tow coupling (4) , optionally a handle (7) connected to the base frame (6) , and optionally the guide wheels (11A, 11B, 11C, 11D) , connected to the base frame (6) for providing a lateral guide to the recovery vehicle during translation along the aisle.

13. A method for recovering a stranded or broken-down loadhandling vehicle (2) in an automated warehouse (200) comprising storage aisles (11, 21, 31) for the load (100) , parallel to one another and arranged on several levels, said method comprising the following operating steps: a) arranging a recovery vehicle (1) according to any one of the preceding claims in a storage aisle (11, 21, 31) for the load (100) , in which a stranded or broken-down load-handling vehicle (2) is present;b) activating the actuator (3) of the recovery vehicle(1) in order to translate it autonomously along the storage aisle towards the load-handling vehicle (2) ; c) in response to the automatic and stable coupling of the coupling device (8) to the load-handling vehicle (2) , deactivating the actuator (3) ; d) after step c) , moving the recovery vehicle (1) so as to consequently tow the load-handling vehicle (2) for the recovery thereof.

14. Method according to claim 11, wherein in step d) , the recovery vehicle is moved by a rope connected on one side to a tow coupling (4) of the recovery vehicle and on the other side to a rope recovery device (41) , for example a winch .

15. A 1 oad-handling vehicle (2) for an automated warehouse (200) , for example a satellite vehicle or a parent vehicle, comprising a safety hook (21' ) installed on a vertical face of the base frame of the load-handling vehicle (2) and suitable for being automatically coupled by a recovery vehicle (1) according to any one of claims 1 to 12.

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