Automated multi-storey warehouse of the shuttle type

Abstract

An automated multi-storey warehouse of the shuttle type has a fixed structure (2) and a transfer system (1), which is provided with: a support structure (18), having a plurality of vertical tracks (19) connected along respective uprights (7) of the fixed structure (2); at least one bidirectional shuttle (5) designed to retrieve, transport and deposit loading units (4) in the warehouse; at least one lifter (17), which is movable along the vertical tracks (19); and a data transmission system (19b) configured to receive control signals relating to movements to be made by the lifter (17) along the vertical tracks (19); the lifter (17) has a support surface (26) to carry a loading unit (4) and / or the shuttle (5), at least one electric motor (21) controlled according to the received control signals, and a plurality of wheels (23) operated by the motor (21) and coupled to the vertical tracks (19) in a rolling manner so as to lift and lower the lifter (17).

Description

[0001] "AUTOMATED MULTI-STOREY WAREHOUSE OF THE SHUTTLE TYPE"

[0002] TECHNICAL FIELD

[0003] The invention relates to an automated multi-storey warehouse of the shuttle type .

[0004] PRIOR ART

[0005] As it is known, in high-density warehouses, the products are generally stored in loading units, for example pallets, in each of which the products themselves are grouped in such a way as to optimize volumes as a function of transport and guarantee the necessary stability during movements .

[0006] When dealing with automated warehouses of this type, a particular type entails that the individual loading units are stored in accumulation aisles, provided on each storey of the warehouse, and are moved, on each storey, by special transport vehicles, normally called shuttles, generally remotely controlled by a central control and command unit .

[0007] In particular, bidirectional shuttles are known, which can travel both in the accumulation aisles, for example below the stored loading units, and in service aisles, which are arranged transversely with respect to the accumulation aisles and are devoid of loading units .

[0008] In a different solution, each shuttle consists of the combination of a "mother" vehicle (or "mother" shuttle) and a satellite vehicle (or "daughter" shuttle) : the mother vehicle is configured to move along the service aisles while supporting the satellite vehicle; the latter, on the other hand, is configured to leave the mother vehicle and travel in the accumulation aisles so as to retrieve or deposit loading units .

[0009] The types of warehouses described above include one ormore lifts, each of which vertically extends along all the warehouse storage storeys, occupies several columns of the warehouse and has the function of transporting the shuttles among the various storeys .

[0010] More in detail, these lifts are electrically or hydraulically operated and generally require a system of ropes or belts, pulleys, counterweights, etc . . For electric lifts, generally speaking, a mechanical room is arranged above the lift compartment to house the motor and the aforementioned pulleys . On the other hand, hydraulic lifts require a hydraulic system to supply oil under pressure, with the consequent need for periodic maintenance and risks of oil leakage .

[0011] Despite being functionally valid, these lifts have drawbacks, which can be penalizing in the context of optimization of the warehouse spaces and flexibility of the warehouse design. In particular, lifts of this type have support structures that must be coupled to the warehouse structure and are relatively complex and bulky. More in detail, said support structures occupy, in plan view, a larger area than that of a loading unit .

[0012] These support structures potentially constitute a limitation to the overall space available for the loading units inside the warehouse itself .

[0013] In addition, known lifts are an integral part of the warehouse structure and are designed especially for the warehouse where they are to be installed. In other words, the support structures and other components of the lifts are not of a standard type . This implies that the installation of one or more lifts must necessarily be foreseen during the design phase and that it is not possible to choose thepositioning of the lift in a phase following the installation of the warehouse .

[0014] Moreover, the fact of having to create a mechanical room and / or a rope / belt system with counterweights and / or a hydraulic oil supply system is a determining limit that adds to those set by the warehouse structure and by the layout established for the accumulation and service aisles when defining the position of the columns for the lift and the position of the components of the lift itself .

[0015] In addition, these limits generally prevent another lift from being added after the warehouse has been installed.

[0016] For the same reasons, known lifts also suffer from the drawback of not being able to be disassembled and reinstalled in a different position, once they have been installed and therefore integrated into the warehouse structure .

[0017] This can lead to limited flexibility not only in the design of the warehouse, but also in the reorganization of the warehouse itself and in the management of the storage . For example, this reorganization is necessary in the event that there is an increase in the products stored, a limited availability of the space assigned to storage in one or more storeys of the warehouse and / or an increase in the demand for entry / exit performance of the loading units per time unit . In such cases, for example, the subsequent integration of an additional lift is not feasible due to the characteristics of the known solutions described above .

[0018] Furthermore, the belt or chain systems used for the vertical movement of these lifts prevent the maximum height reached by the lift from being changed once the lift has been installed.

[0019] This lack of flexibility is also perceived during theinstallation phase, as the latter is closely related to the construction of the warehouse structure, so that the operations and timing for this installation are linked to and dependent on the operations and timing for the construction of said structure .

[0020] In addition, due to this close integration with the warehouse structure and because of the relatively large number of components to be installed, the installation operations of known lifts generally require relatively long times and large spaces, especially when rope systems with counterweights are present .

[0021] CN108706266B and CN113581717A disclose solutions according to the preamble of claim 1, with lifts without belts and moving chains, but anyway not very flexible, as they are provided with dedicated support structures, with four columns coupled to the fixed structure of the warehouse in a predefined position along an outer side of the structure itself . Furthermore, the shuttles transported by the lift also are scarcely flexible, since they are configured so as to travel horizontally in one single direction, namely in one single aisle, once they leave the lift .

[0022] SUMMARY OF THE INVENTION

[0023] Therefore, the obj ect of the invention is to provide a warehouse, which can overcome the drawbacks discussed above in a simple and cost-effective fashion.

[0024] In particular, the invention is aimed at providing a transfer system that guarantees greater flexibility in the design of an automated warehouse and in the installation of the lifts, where the latter are substantially independent of the design of the warehouse structure and, in particular, can be installed and integrated after having built saidstructure .

[0025] More in particular, the invention is aimed at providing a transfer system with a lift that can be compatible with any type of column of a warehouse of the shuttle type and is relatively simple and quick to be installed and removed by one or more operators .

[0026] A further obj ect of the invention is to provide a warehouse with a lift that does not require mechanical rooms, counterweights and, preferably, power and / or signal transmission cables and makes it possible to fully exploit the spaces of the warehouse, thus reducing overall dimensions compared to known solutions .

[0027] AT least part of the aforesaid obj ects is reached by a warehouse as defined in claim 1.

[0028] The dependent claims define special embodiments of the invention .

[0029] BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The invention will now be described with reference to the accompanying drawings, which show a non-limiting embodiment thereof, wherein:

[0031] figure 1 is a schematic side view of a transfer system, in a preferred embodiment of the automated multi-storey warehouse of the shuttle type according to the invention;

[0032] figure 2 is a schematic plan view of the transfer system of figure 1 ;

[0033] figures 3 and 4 are perspective views of a shuttle that is part of the transfer system of figures 1 and 2 ; figure 5 is an enlargement of a detail of figure 2 ; figures 6A and 6B are schematic plan views of the transfer system of figure 1 installed in two differentcolumns of a warehouse; and

[0034] figure 7 is a schematic side view of a variant of the transfer system of figure 1.

[0035] DETAILED DESCRIPTION OF THE DRAWINGS

[0036] In figure 1, number 1 indicates, as a whole, a transfer system that is part of an automated warehouse (partially shown) comprising a fixed structure 2, which, as a whole, has the shape of a parallelepiped on the outside and defines a plurality of superimposed planes 3a, where loading units 4, for example pallets, are stored.

[0037] Each storey 3a of the warehouse 1 consists of a plurality of aisles, which extend along directions orthogonal to one another and, in use, are travelled by a fleet of shuttles 5, only one of them being shown herein. In particular, the term "shuttle" indicates a single vehicle on wheels, which is remotely controlled by a central control and command unit (not shown) or by means of a manual remote control (not shown) so as to travel in the aisles and, preferably, also in the areas surrounding the structure 2, in order to retrieve, transport and deposit the loading units 4 in an automated manner . According to an aspect of the invention, the shuttle 5 is bidirectional, namely it is provided with wheels configured so as to be able to travel along two directions that are orthogonal to one another .

[0038] With reference to figures 6A and 6B, for example, with regard to the aisles of the structure 2, they can be accumulation aisles CA, which extend along horizontal directions A and where the loading units 4 are stored in a known manner that is not shown herein; and service aisles CS, which are devoid of loading units 4, extend orthogonally to the accumulation aisles CA along horizontal directions Band are arranged at the ends of the accumulation aisles CA. With reference to figures 1 and 2, the structure 2 comprises a plurality of vertical uprights 7 and a plurality of horizontal cross members 8, which are fixed to the uprights 7, are arranged along the opposite sides of a respective aisle and, therefore, are transversely spaced apart from one another . In particular, the uprights 7 of the structure 2 are positioned according to a predetermined arrangement or pattern, so as to define the vertexes of a plurality of columns 3b (only one of them being is shown in figure 1 ) , which are horizontally adj acent to one another and vertically extend along the storeys 3a .

[0039] The structure 2 further comprises, for each accumulation aisle CA, a pair of tracks or rails 9a ( figures 6A and 6B) , which are fixed to the cross members 8 and / or to the uprights 7 in a known manner that is not shown herein, are parallel to the direction A and are transversely spaced apart from one another . In particular, the rails 9a extend along the entire length of the corresponding accumulation aisle CA, so as to support the shuttles 5 and allow them to be transferred along said aisle .

[0040] Similarly, for each service aisle CS, the structure 2 includes a pair of rails or tracks 9b ( figures 6A and 6B) , which are parallel to the direction B, are transversely spaced apart from one another and extend along the entire length of the corresponding service aisle CS, in order to allow the shuttle 5 to move along said aisle . In particular, the rails 9b are arranged at a lower height than the rails 9a .

[0041] At each intersection along the service aisles CS, the structure 2 further comprises a pair of tracks or rails 9c( figures 6A and 6B) , which are parallel to the direction A, are transversely spaced apart from one another and extend along the entire width of the service aisle CS . In particular, the rails 9c are coplanar to the rails 9b and allow the shuttles 5 to change direction of travel .

[0042] With particular reference to the example shown in figures 3 and 4, by way of non-limiting example, the shuttle 5 substantially has the shape of a parallelepiped and comprises a frame 10 and an upper loading surface 11, which is vertically movable with respect to the frame 10 due the action of an actuator device Ila (schematically shown in figure 3) between a lowered position ( figures 3 and 4 ) and a lifted position (not illustrated) so as to deposit and retrieve a loading unit 4 .

[0043] The shuttle 5 further comprises an electronic unit 11b (schematically shown in figure 3) , which receives the control signals emitted by the central control and command unit of the warehouse 1 in wireless mode and, based on said signals, controls, in turn, the actuator device Ila and / or a motor assembly 11c (schematically shown in figure 3) designed to move the shuttle 5 along the directions A and B, so as to reach the destinations in the warehouse established by the central control and command unit .

[0044] With reference to figures 3 and 4, again, the shuttle 5 comprises a plurality of moving wheels 12 : said wheels are supported by the frame 10 in a known manner that is not shown herein and are motorized by the motor assembly 11c so as to allow the shuttle 5 to travel along the direction A and along the direction B . In the particular embodiment shown herein, the plurality of moving wheels 12 consists of four wheels 13 and of four pairs of wheels 14 (two pairs per side) , all ofthe non-steering type, which can rotate about respective horizontal axes C and D, orthogonal to the directions B and A, so as to respectively roll along said directions .

[0045] The wheels 13 and 14 define respective support points, which become selectively active, depending on the direction to be travelled. In particular, the relative position in the vertical direction of the axes C and D can be adjusted by means of an adjustment lifting device lid, schematically shown in figure 3, which is controlled by the electronic unit 11b so as to lay the wheels 13 on the rails 9b or the wheels 14 on the rails 9c and then activate the movement along the direction B or along the direction A.

[0046] According to a variant which is not shown herein, there are only four wheels 14 (two per side) . According to a further variant which is not shown herein, the plurality of moving wheels 12 comprises steering wheels, so that the total number of these wheels can be reduced to four . In general, the way in which the shuttle 5 is caused to become bidirectional is not essential for the invention.

[0047] As shown in figure 4, preferably, the shuttle 5 further comprises a plurality of moving wheels 15, which is additional to the plurality of moving wheels 12, is also motorized and supported by the frame 10 and defines support points that are arranged at a higher level than the support points defined by the plurality of moving wheels 12, so as to move on the rails 9a in the accumulation aisles CA.

[0048] Preferably, when the shuttle 5 rests on the rails 9a through the plurality of moving wheels 15, the contact between the wheels 14 and the rails 9c ceases, and vice versa, in the entry / exit areas of the accumulation aisles CA. A shuttle of this type is disclosed, for example, ininternational patent application WO 2014 / 195867.

[0049] In this case, the plurality of moving wheels 15 preferably consists of four pairs of wheels 16 (two pairs per side) .

[0050] The wheels 16 rotate about horizontal axes E, which are parallel to the axes D (so that they travel / roll along the direction A) and arranged higher than the axes C and D.

[0051] With reference to figure 1, the warehouse comprises at least one lifter 17, described in detail below, for transferring the shuttle 5 and / or the loading unit 4 among the various storeys 3a of the warehouse . In particular, the assembly defined by the shuttle 5 and the lifter 17 is part of the transfer system 1.

[0052] The transfer system 1 further comprises a support structure 18, along which the lifter 17 is movable in a vertical direction F, preferably occupying the space defined by one single column 3b of the structure 2.

[0053] In particular, the support structure 18 comprises a plurality of vertical tracks 19 ( figures 1 and 2 ) , which vertically extend from a lower end (not shown) to an upper end (not shown) and are carried in fixed positions by respective uprights 7 of the structure 2. In a first option, the tracks 19 are fixed to the respective uprights 7 by means of connecting devices 19a, of the known type and not described in detail, comprising, for example, brackets or section bars having an L-shaped cross section ( figure 5) . In a second option, the tracks 19 are an integral part of the respective uprights 7 .

[0054] In the specific case shown in figure 2, there are four vertical tracks 19, which are transversely spaced apart from one another and, more in detail, are arranged at the vertexesof a virtual rectangle or square, where said vertexes correspond to respective uprights 7 .

[0055] According to a non-limiting embodiment of the invention, each of the vertical tracks 19 comprises a respective rack, defined by a succession, in the vertical direction, of parallel teeth; figure 1 schematically shows horizontal straight teeth, but their orientation could possibly be inclined.

[0056] According to an alternative which is not shown herein, instead of having a rack, each vertical track 19 could comprise a respective chain, which extends vertically.

[0057] According to a further alternative which is not shown herein, each vertical track 19 comprises a plate or section bar having a plurality of holes, which are equally spaced apart from and vertically aligned with one another .

[0058] Generally speaking, these examples reveal that the vertical tracks 19 have an outer surface with any structure and shape that allow respective motorized wheels 23 of the lifter 17 to roll on said outer surface and, by rolling, to cling to the vertical tracks 19 so as to have the lifter 17 go up and down, preferably without substantial slips along the vertical direction F. In other words, the vertical tracks 19 are configured so as to allow the lifter 17 to "climb" on the tracks 19.

[0059] In the specific example shown herein, the wheels 23 are defined by toothed wheels; however, the wheels 23 can be of a different type, established in a way related to the structure and shape of the outer surface of the vertical tracks 19, so that they can engage the tracks and tow the lifter 17 by vertically translating it .

[0060] The transfer system 1 further comprises a data receivingsystem 19b (schematically shown) , which is configured to receive, from the central control and command unit, commands relating to the movements that the lifter 17 must perform along the vertical tracks 19 inside the warehouse .

[0061] Preferably, the data receiving system 19b comprises an antenna, which receives the commands in the form of signals in wireless mode and is carried by the lifter 17 , so as to travel together with the latter along the vertical direction F.

[0062] According to variants which are not shown herein, the data receiving system 19b could comprise a cable for transmitting electrical signals, which connects the lifter 17 to the central control and command unit, for example by means of a wired network, and is progressively wound / unwound along the support structure 18 as the lifter 17 goes down and up; or it could comprise electrical contacts installed on the lifter 17 and sliding on conductive rails, which are vertically arranged in fixed positions on the side of the lifter 17 and transmit electrical signals emitted by the central control and command unit .

[0063] With reference to what is schematically shown in figure 2, the lifter 17 comprises : an electronic control unit 20a, which receives commands from the system 19b and, preferably, is able to transmit data to the outside through the system 19b itself, for example for monitoring and diagnostics purposes; preferably, at least one rechargeable power source 20b; and at least one electric motor 20c . The latter is preferably powered by the power source 20b, is coupled to the wheels 23, for example by means of a mechanical transmission 21 defining a reduction in the gear ratio and an increase in torque, and is controlled by the unit 20a asa function of the commands received by the receiving system to operate the wheels 23.

[0064] In the preferred example shown in figure 2, the lifter 17 comprises one single motor 20c, connected to all wheels 23 .

[0065] In particular, the power source 20b is defined by a rechargeable battery or by a supercapacitor .

[0066] Furthermore, the transfer system 1 preferably comprises at least one charging device 22 carried by the support structure 18 to charge the power source 20, in a charging station provided along the support structure 18. In the specific case shown in figure 2, the charging device 22 is carried by a cross member 8.

[0067] According to a preferred embodiment of the invention, the charging device 22 is an electromagnetic induction charging device and remotely cooperates with a corresponding device 22a, which is mounted on the lifter 17 and is electrically connected to the power source 20b, so as to transfer electrical energy when the device 22a is arranged at the same height as the charging device 22 and in a position facing the latter .

[0068] For example, the charging station defined by the device 22 is arranged in a dedicated area, distinct from the storeys 3a, at the upper or lower end of the vertical tracks 19.

[0069] According to possible variants, the transfer system 1 may comprise several charging stations arranged along the support structure 18, for example in the area of respective storeys 3a of the warehouse .

[0070] According to a possible variant, when the lifter 17 is positioned at the height that corresponds to a charging station, the electrical network of the lifter 17 comes intocontact with the charging device 22 through an electrical connector, instead of receiving energy through electromagnetic induction; for this purpose, a moving system could be provided to engage / disengage the electrical connector .

[0071] According to a further possible variant of the invention, the lifter 17 is devoid of the power source 20b and the motor 20c receives electrical energy by means of skids or brushes, arranged on board the lifter 17 and sliding along busbars vertically arranged on the side of the lifter 17. In turn, the busbars are powered by rechargeable batteries arranged in a fixed position on the structure 2, or on the ground, or they are powered by the same electrical network as the warehouse . Alternatively, the motor 20c could receive electrical energy through a cable that is progressively wound / unwound as the lifter 17 goes down and up .

[0072] With reference to what is schematically shown in figures 2 and 5, the wheels 23 are coupled to a frame 17a (schematically shown) of the lifter 17 in a rotary manner so as to rotate about respective horizontal axes G and, as mentioned above, are coupled to the vertical tracks 19 in a rolling manner, so as to lower and raise the lifter 17, by towing it along the vertical direction F. According to a preferred embodiment of the invention, the wheels 23 are toothed wheels, or sprockets, whose teeth mesh with the respective racks of the vertical tracks 19.

[0073] In the particular embodiment shown herein, each vertical track 19 is engaged by one single wheel 23.

[0074] Preferably, the support structure 18 further comprises a plurality of vertical guide rails 24, each carried in afixed position by a respective upright 7, similarly to the tracks 19. Each rail 24 can be an element fixed to the corresponding upright 7 and / or to the corresponding track 19, or it can be an integral part of the upright 7. At the same time, the lifter 17 comprises a plurality of slides or carts 25 coupled to said vertical guide rails 24, so as to keep an upper support plane 27 of the lifter 17 horizontal and guide the latter while it is moving along the vertical direction F.

[0075] In particular, there are four vertical guide rails 24, which are transversely spaced apart from one another and, more in detail, are arranged at the vertexes of a virtual rectangle or square, where said vertexes correspond to respective uprights 7 .

[0076] Preferably, with reference to figure 5, each vertical guide rail 24 is connected to a respective vertical track 19 in a fixed position. More preferably, each vertical guide rail 24 and the respective vertical track 19 are parts of one single piece .

[0077] Advantageously, the cross-sectional shape of the vertical guide rails 24 defines a holding system for holding the wheels 23 in a lateral direction, parallel to the axes G, in order to avoid or limit any slipping along said lateral direction. In the specific example shown herein, the cross-sectional shape of the vertical guide rails 24 includes at least one proj ection 24a, which engages a corresponding seat 25a defined by the slides or carts 25 and, therefore, keeps the latter centred. In a dual way, as a variant, the vertical guide rails 24 could define, in a cross section, a seat engaged by the slides or carts 25.

[0078] According to variants which are not shown herein, thisholding system could be defined by the structure and / or by the shape of the vertical tracks 19 (and / or of the wheels 23) .

[0079] According to a non-limiting embodiment of the invention shown in figure 1 , the lifter 17 comprises, for each vertical guide rail 24, a respective pair of slides or carts 25, arranged higher and lower, respectively, than the wheel 23 that engages said vertical guide rail 24.

[0080] As shown in figure 1, the support plane or floor 27, mentioned above, constitutes part of an upper surface 26, facing upwards for supporting the shuttle 5 and / or the loading unit 4. For example, the plane 27 supports the plurality of moving wheels 12 of the shuttle 5; preferably, the support plane 27 is provided with two horizontal guide rails 29, for the wheels 14. In addition to the plane 27, the support surface 26 comprises support brackets 28, arranged at a higher height and at the lateral ends of the surface 26, to support a loading unit 4.

[0081] In this case, the shuttle 5 can extract / exit on the lifter 17 only along the direction A. According to variants which are not shown herein, the lifter 17 is configured so as to permit an entry / exit along the direction B, alternatively or in combination with the entry / exit along the direction A; in this case, the support plane 27 can be provided with two horizontal guide rails for the wheels 13.

[0082] However, the lifter 17 could be devoid of guide rails, possibly replaced by a different centring or reference system for correctly positioning the shuttle 5 on the support plane 27 .

[0083] In the specific case shown herein, the support plane 27 has a rectangular perimeter, considered in the plan view offigure 2 .

[0084] The support brackets 28 are defined by respective support elements 30, which proj ect upwards with respect to the support plane 27.

[0085] In particular, the upper surface 26 can comprise further support planes 32a, 32b for the wheels 16. The support planes 32a, 32b are arranged higher than the support plane 27 (namely, at the same height as the rails 9a) , whereby they form respective steps 31 on the opposite sides of the support plane 27, in a more internal horizontal position than the support elements 30. In particular, the wheels 16 and 14 simultaneously rest on the support planes 32a, 32b and 27, respectively .

[0086] With respect to the support plane 27, the height position of the support brackets 28 is intermediate between the lowered position and the lifted position of the surface 11 of the shuttle 5. In the preferred solution shown herein, during the horizontal translation to get onto the lifter 17, the loading unit 4 must be lifted with respect to the frame 10 of the shuttle 5, through the surface 11, in order to avoid colliding with the support elements 30. Once the shuttle 5 has gets on the lifter 17, as shown in figure 1, the lateral ends of the loading unit 4 rest on the support brackets 28, bringing the surface 11 back to its lowered position; at this point, the loading unit 4 is uncoupled from the shuttle 5, which can therefore be caused to exit the lifter 17, without the loading unit 4.

[0087] According to a preferred embodiment of the invention, the transfer system 1 comprises a plurality of lifters 17 coupled to the same vertical tracks 19, in the way described above, and in different height positions . The lifters 17 arecoupled to the vertical tracks 19 and to the guide rails 24 separately from one another, so that they are movable along the vertical direction F independently of one another . Appropriate constraints will be necessary in the control strategy in order to prevent the lifts 17 from impacting against one another during the upward / downward movement along the vertical tracks 19.

[0088] In the specific case shown in figure 1, the transfer system 1 comprises two lifters 17.

[0089] As to the position in which to install the support structure 18, one of the possible options is shown in figure 6A. The support structure 18 occupies only one of the columns 3b, adj acent to the service aisle CS, so that the lifter 17 is directly accessible from the service aisle CS .

[0090] Alternatively, as shown in figure 6B, the support structure 18 is installed in a column 3b through the accumulation aisles CA. The storage cells adj acent to the support structure 18 in these accumulation aisles CA can be used as a buffer (shown with broken lines) : the shuttles 5 can reach these cells / buf f ers by entering the accumulation aisles CA from opposite directions or by arriving from the lifter 17 .

[0091] Similarly, according to a possible variant which is not shown herein, the support structure 18 can be installed so as to cross the service aisles CS .

[0092] As to the transfer of a shuttle 5 and / or a loading unit 4 among the storeys 3a, an operating sequence of operations will now be described by mere way of example, in which a shuttle 5 carrying a loading unit 4 must be transferred between two different storeys 3a by means of a lifter 17 : the lifter 17 is moved so as to stop in the area of astorey 3a (so that its support plane 27 is at the same height as the rails 9c, in the example of figure 6A) ; the loading unit 4 is lifted with respect to the frame 10 of the shuttle 5 (in the specific case shown herein, in which the lifter 17 is provided with the support elements 30 ) ;

[0093] the shuttle 5 is translated along the direction A: in particular, the wheels 14 begin to roll on the rails 29 and / or the wheels 16 begin to roll on the support planes 32a, 32b, until the shuttle 5 is completely supported by the lifter 17 ;

[0094] the lifter 17, with the shuttle 5, is lifted or lowered so as to stop in the area of the new storey 3a (with the rails 9c and 29 substantially at the same height, in the example of figure 6A) ;

[0095] the shuttle 5 is then moved away from the lifter 17 : the wheels 14 disengage from the rails 29 (and move onto the rails 9c, in the example of figure 6A) and / or the wheels 16 disengage from the support planes 32a, 32b (and move onto the rails 9a, in the example of figure 6B) . The shuttle 5 can lower the loading unit 4 and then continue the transport . In the event that the power source 20b has a residual charge below a given threshold, the lifter 17 is transferred along the vertical tracks 19 to the charging station so as to stop in a position in which it is horizontally next to the charging device 22, namely substantially at the same height .

[0096] When the power source 20b is recharged, for example above a further threshold, the lifter 17 can resume its movements along the vertical direction F.

[0097] According to a further variant of the invention, whichis schematically shown in figure 7, the transfer system 1 comprises a transfer device 33 carried by the lifter 17 for retrieving, transferring in the horizontal direction and depositing the loading units 4, from and to loading and unloading areas that are arranged in positions adj acent to the support structure 18, without the need to use a shuttle for such operations .

[0098] In particular, in the example in figure 7, the transfer device 33 is defined by a retractable fork device, installed on the lifter 17 and comprising at least one arm 35, which extends along a horizontal direction T and is operated by an actuator, not shown, so as to move with respect to the support surface 26 along the horizontal direction T between a retracted configuration and an extended configuration, so as to transfer the loading unit 4 from / to a loading and unloading area, defining for example a buffer area .

[0099] In detail, the arm 35 is of the telescopic type, namely it consists of at least two portions 35a and 35b coupled in a sliding manner along the horizontal direction T, with respect to one another and with respect to the support surface 26, so as to assume the aforementioned retracted and extended configurations .

[0100] In the retracted configuration (not shown) , the arm 35 is arranged above the support surface 26, whereas, in the extended configuration, the arm 35 protrudes out of the support surface 26 and the support structure 18, in order to deposit / retrieve the loading unit 4 from / to the aforementioned loading and unloading area .

[0101] The actuator of the device 33 is controlled by the unit 20a in response to signals received by the data receiving system 19b .Preferably, the device 33 comprises two arms 35, which are parallel to one another .

[0102] According to this variant, the support surface 26 of the lifter 17 can be shaped differently from what is shown in the example of figure 1.

[0103] According to a variant which is not shown herein, the device 33 of the lifter 17 is configured so as to be able to transfer a shuttle and / or the assembly consisting of a shuttle and a loading unit 4 between the aforementioned loading / unloading area and the support surface 26.

[0104] The device 33 could be different from the one with forks described above, for example it could comprise suction cups, mechanical hooks, such as clamps, etc . . If anything, the device 33 could be defined by an additional dedicated shuttle, configured so as to retrieve and deposit the loading units and / or accommodate the shuttles of the warehouse .

[0105] The operations to retrieve / deposit the loading unit 4 (and / or the shuttle) in the aforementioned loading and unloading area are known to a person skilled in the art and, therefore, are not described.

[0106] According to a further variant which is not shown herein, the device 33 could be installed on the loading / unloading area, in a position adj acent to the support structure 18, instead of being installed on the lifter 17.

[0107] The features of the warehouse according to the invention lead to evident advantages that can be obtained using it .

[0108] In particular, the vertical tracks 19 and, more in general, the support structure 18 are connected to or integrated in the fixed structure 2 of the warehouse, without the need to design and add a dedicated structure . In particular, the support structure 18 is installed in anycolumn 3b in a relatively easy and quick manner . Therefore, the installation of the transfer system 1 is independent of the design of the structure 2 : for example, it is sufficient to have one single column 3b available for the installation of the support structure 18 and of the lifter 17.

[0109] This allows the warehouse to be designed with high flexibility and the transfer system 1 to be installed in a phase following the construction of the structure 2, without having to integrate or correlate the design of the transfer system 1 with that of the warehouse .

[0110] Furthermore, it is possible to assemble the transfer system 1 in a specific column 3b, disassemble it and reinstall it in a different column 3b . This is advantageous in the context of the reorganization of the warehouse and of the storage of the products .

[0111] At the same time, the bidirectional character of the shuttle 5 helps make the warehouse flexible : indeed, whatever column 3b is chosen to install the support structure 18 and have the lifter 17 travel in a vertical direction, the shuttle 18 is still able to freely move in any aisle, on each storey 3a .

[0112] Furthermore, the transfer system 1 is compact, ready for assembly and entails a relatively small number of components . In particular, the transfer system 1 does not involve counterweights and / or rope systems to move the lifter 17 and / or mechanical rooms to be provided on the sides of the support structure 18, thanks to the fact that the lifter 17 is equipped with wheels 23 and is towed by them along the vertical tracks 19.

[0113] Furthermore, if the power source 20b is provided on board the lifter 17, the transfer system 1 is devoid of powercables : indeed, the lifter 17 is completely autonomous from the point of view of power supply and motorization. Moreover, the transfer system 1 lacks signal transmission cables when the lifter 17 is also provided with an antenna .

[0114] Thanks to the features described above, it is then possible to make optimal use of the spaces available in structure 2 .

[0115] Furthermore, the support brackets 28 define support points for a loading unit 4, independent of the support planes 27, 32a and 32b, thus allowing the lifter 17 to be able to transport a loading unit 4 among the various storeys 3a without the use of any shuttle .

[0116] At the same time, if the transfer system 1 entails the device 33, the operations to be carried out for retrieving and depositing a loading unit 4 could advantageously be performed without the use of a shuttle, as well .

[0117] Finally, the presence of one or more charging devices 22, for example of the electromagnetic induction type, arranged along the support structure 18 to recharge the power source 20b allows the lifter 17 to always remain operational, with limited pauses . In particular, the recharging cycles can be coordinated with the transfers assigned to the lifter 17 by the central control unit of the warehouse . The electromagnetic induction charging technology, in addition, is particularly simple and avoids the use of sliding contacts and the use of mechanical connection systems to electrically connect the power source 20b to the electrical network of the warehouse . In other words, charging the power source 20b is relatively simple, safe, fast and wear-free .

[0118] Further advantages are evident for a person skilled in the art based on the features disclosed above .Finally, it is clear that the warehouse disclosed herein can be subj ected to changes and variations, without for this reason going beyond the scope of protection of the invention defined in the appended claims .

[0119] For example, the number of shuttles and / or of vertical guide rails 24 and / or of vertical tracks 19 and / or of wheels 13, 14, 16, 23 could possibly be different from the ones mentioned above by way of example .

[0120] Furthermore, the structure of the lifter 17 and the shape of the surface 26 could be different from the ones described herein, for example for the purpose of transporting bidirectional shuttles of a different type from the one shown in figures 3 and 4.

[0121] Moreover, the shuttle could be provided with a transfer system for retrieving and depositing the loading units in a horizontal direction, instead of having the vertically movable surface 11.

[0122] In addition, the lifter 17 could be provided with a dedicated shuttle of its own, instead of transporting the same shuttles that travel along the storeys of the warehouse .

Claims

CLAIMS1 . - An automated multi-storey warehouse of the shuttle type , comprising :a ) a fixed structure ( 2 ) defining a plurality of superimposed storeys ( 3a ) , configured so as to store a plurality of loading units ( 4 ) ; said fixed structure comprising a plurality of vertical uprights ( 7 ) arranged so as to define the vertexes of a plurality of columns ( 3b ) , which are hori zontally adj acent to one another and vertically extend along said storeys ( 3a ) ;b ) a trans fer system ( 1 ) comprising :- a support structure ( 18 ) ;at least one shuttle ( 5 ) designed to retrieve , transport and deposit the loading units ( 4 ) in said warehouse ;- at least one li fter ( 17 ) , which is movable in a vertical direction ( F) along said support structure ( 18 ) so as to trans fer said loading unit ( 4 ) and / or said shuttle ( 5 ) among the various storeys ( 3a ) of said warehouse , said li fter ( 17 ) comprising a support surface ( 26 ) to carry said loading unit ( 4 ) and / or said shuttle ( 5 ) ;- a data transmitting / receiving system ( 19b ) configured to transmit / receive control signals relating to movements to be made by said li fter ( 17 ) along said support structure ( 18 ) ;wherein said support structure ( 18 ) comprises a plurality of vertical tracks ( 19 ) ;and wherein said li fter ( 17 ) comprises :- at least one electric motor ( 20c ) controlled based on said control signals ;- a plurality of wheels ( 23 ) operated by said electricmotor ( 20c ) ; each wheel being coupled, in a rolling manner, to a respective vertical track ( 19 ) so as to allow said li fter ( 17 ) to go up and down; characteri zed in that said vertical tracks ( 19 ) are arranged in fixed positions along respective said uprights ( 7 ) and said shuttle ( 5 ) is bidirectional .2 . - The warehouse according to claim 1 , wherein said vertical tracks ( 19 ) are arranged at the vertexes of a rectangle or a square , considering a plan view, so that said support structure ( 18 ) occupies the space defined by one single column ( 3b ) of the fixed structure ( 2 ) .3 . - The warehouse according to any one of the preceding claims , wherein said data transmitting / receiving system ( 19b ) comprises an antenna to receive said control signals in wireless mode .4 . - The warehouse according to claim 3 , wherein said antenna is carried on board said li fter ( 17 ) .5 . - The warehouse according to any one of the preceding claims , wherein said li fter ( 17 ) comprises electrical contacts designed to slide along at least one electrical conductor, vertically arranged on a side of said li fter ( 17 ) .6 . - The warehouse according to any one of the preceding claims , wherein said li fter ( 17 ) comprises at least one rechargeable power source ( 20b ) to power said electric motor ( 20c ) .7 . - The warehouse according to claim 6 , wherein said trans fer system ( 1 ) further comprises a charging device ( 22 ) carried by said support structure ( 18 ) to charge said power source ( 20b ) in a charging station which is provided along said support structure ( 18 ) .8 . - The warehouse according to claim 7 , wherein saidcharging device ( 22 ) is an electromagnetic induction charging device .9 . - The warehouse according to any one of the preceding claims , wherein said wheels ( 23 ) are toothed wheels .10 . - The warehouse according to any one of the preceding claims , wherein said support structure ( 18 ) comprises a plurality of vertical guide rails ( 24 ) , each arranged in a fixed position along a respective upright ( 7 ) , and wherein said li fter ( 17 ) comprises a plurality of slides or carts ( 25 ) coupled to said vertical guide rails ( 24 ) to guide said li fter ( 17 ) along said vertical direction ( F) .11 . - The warehouse according to claim 10 , wherein said li fter ( 17 ) comprises , for each vertical guide rail ( 24 ) , a respective pair of slides / carts ( 25 ) ; and wherein each one of said wheels ( 23 ) is arranged on said li fter ( 17 ) at an intermediate height between two corresponding slides / carts ( 25 ) .12 . - The warehouse according to any one of the preceding claims , wherein the shuttle ( 5 ) comprises :- a frame ( 10 ) substantially having the shape of a parallelepiped, with four sides ,- an actuator device ( I la ) ,- a motor assembly ( 11c ) ,- an upper loading surface ( 11 ) , which is vertically movable with respect to the frame ( 10 ) due the action of said actuator device ( I la ) between a lowered position and a l i fted position so as to deposit and retrieve a loading unit ( 4 ) , and- a plurality of moving wheels supported by the frame ( 10 ) and motori zed by said motor assembly ( 11c ) to allow the shuttle ( 5 ) to travel along two directions(A, B ) orthogonal to one another,wherein the plurality of moving wheels comprises at least two wheels for each side of the frame ( 10 ) , of the nonsteering type and capable of rotating about respective hori zontal axes ( C, D) , orthogonal to said directions (B, A) , so as to respectively roll along said directions (B, A) .13 . - The warehouse according to any one of the preceding claims , wherein said trans fer system ( 1 ) comprises at least two li fters ( 17 ) coupled to said vertical tracks ( 19 ) at di f ferent heights from one another and movable along said vertical direction ( F) independently of one another .14 . - The warehouse according to any one of the preceding claims , wherein said support surface ( 26 ) comprises :- at least one support plate ( 27 ) to support moving wheels ( 13 , 14 ) of said shuttle ( 5 ) , andsupport brackets ( 28 ) arranged higher than said support plane ( 27 ) and arranged at opposite side ends of said support plane ( 27 ) to support a loading unit ( 4 ) .15 . - The warehouse according to any one of the preceding claims , wherein said shuttle ( 5 ) comprises a first plurality of moving wheels ( 12 ) defining support points arranged at a first level and a second plurality of moving wheels ( 15 ) defining support points arranged at a second level , which is higher than said first level ; and wherein said support surface ( 26 ) comprises :- a first support plane ( 27 ) to support said first plurality of moving wheels ( 12 ) , and- a second support plane ( 32a, 32b ) arranged higher than said first support plane ( 27 ) to support said second plurality of moving wheels ( 15 ) .

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