CN108945927A - 远程操作车辆、箱存储系统以及相关方法 - Google Patents

远程操作车辆、箱存储系统以及相关方法 Download PDF

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CN108945927A
CN108945927A CN201810772347.6A CN201810772347A CN108945927A CN 108945927 A CN108945927 A CN 108945927A CN 201810772347 A CN201810772347 A CN 201810772347A CN 108945927 A CN108945927 A CN 108945927A
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tourelle
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英瓦尔·霍纳兰德
伊瓦·菲欧德海姆
特龙·奥斯特海姆
伯格·贝肯
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Autostore Technology AS
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Abstract

本发明涉及一种远程操作车辆、箱存储系统以及相关方法。远程操作车辆包括：车辆本体，显示适于接收在存储系统内存储的存储箱的腔；车辆升降装置，至少间接地连接至车辆本体并适于将存储箱提升至腔内；位移装置，特别地包括位于腔上方的位移马达，构造成至少提供为了使第一组车辆滚动装置和第二组车辆滚动装置中的一者或两者在位移状态和非位移状态之间位移的必要动力，其中，在位移状态中，相关车辆滚动装置在使用期间远离下层的存储系统位移，在非位移状态中，相关车辆滚动装置在使用期间与下层的存储系统接触；以及驱动装置，耦接至位移装置。

Description

远程操作车辆、箱存储系统以及相关方法
本申请是申请日为2015年6月16日、申请号为201580033911.7、发明名称为“用于运输存储箱的机器人”的专利申请(对应的国际申请为PCT/EP2015/063415)的分案申请。
技术领域
本发明涉及一种箱存储系统和远程操作车辆，该远程操作车辆可在箱存储系统中使用，并且更具体地本发明涉及一种箱存储系统，其中，多个远程操作车辆用于同时拾取、承载并且运送箱存储系统中的箱。
背景技术
用于从箱存储系统中拾取存储箱的远程操作车辆在WO98/49075和挪威专利No.317366 B1中是已知的。这种现有技术的箱存储系统包括三维存储网格，包含堆叠在彼此顶部的多个存储箱。存储网格通常被构造为通过顶部轨道互相连接的铝柱，其中多个远程操作车辆或所谓的机器人被布置成在这些顶部轨道上横向移动。每个机器人配备有用于拾取、携带和放置存储在存储网格中的箱的升降机装置以及可充电电池组，以便向机器人包括的马达供应电力。每个机器人通常经由无线链路与控制系统通信，并且在需要时(通常是在夜间)在充电站充电。
图1中示出了现有技术的箱存储系统的实例。箱存储系统包括多个远程操作车辆或机器人，其被配置为在由支撑轨道限定的预定路径上移动并且接收来自箱存储网格内的存储柱的存储箱。现有技术的箱存储系统还可以包括专用箱升降装置，后者被布置成接收来自在存储系统的最顶层的远程操作车辆或机器人的存储箱，并在竖直方向上将存储箱向下运输至箱递送站或端口。
然而，利用该已知系统，每个车辆组件覆盖与两个存储柱对应的下层的存储系统的横截面，从而限制同时操作的车辆的最大数量。
因此，本发明的目的是提供一种远程操作车辆以及一种用于操作这种远程操作车辆的存储系统和方法，其允许在成功处理存储箱期间显著增加同时操作的车辆的数量。
发明内容
本发明在下文中进行阐述和表征，并描述了本发明的其他特征。
本发明涉及一种适于从箱存储系统中拾取存储箱的远程操作车辆。远程操作车辆包括车辆本体，显示适于接收在箱存储系统内存储的存储箱的腔，车辆升降装置，至少间接地连接至车辆本体并适于将存储箱提升至腔内，位移装置，特别地包括位移马达，构造成至少提供为了使第一组车辆滚动装置和第二组车辆滚动装置中的一者或两者在位移状态和非位移状态之间位移的必要动力，其中，在位移状态中，相关车辆滚动装置在使用期间远离下层的箱存储系统位移，在非位移状态中，相关车辆滚动装置在使用期间与下层的箱存储系统接触，以及驱动装置，耦接至位移装置。驱动装置还包括第一组车辆滚动装置，连接至车辆本体，允许车辆在使用期间在箱存储系统内沿第一方向X的运动，以及第二组车辆滚动装置，连接至车辆本体，允许车辆在使用期间在箱存储系统中沿第二方向Y的运动，其中，第二方向Y垂直于第一方向X。提供必要动力以在X或Y方向上驱动远程操作车辆的马达可以是一个或多个专用马达和/或位移马达。在车辆组件中，位移马达位于腔上方的横向平面中，并进一步构造成产生其被位移装置的其他组件转化为作用在第一或第二组车辆滚动装置上的竖直定向压力的动力。在下文中，横向平面定义为布置成平行于根据第一X方向和第二Y方向建立的平面的任何平面。进一步地，竖直方向或Z方向定义为垂直于横向平面的方向。腔的边界可以由专用板和/或构成位移装置和驱动装置的周围组件设置。
在一种有利的实施方式中，通过至少一个杠杆臂执行从位移马达到相应的第一和/或第二车辆滚动装置的动力或力的传递，该至少一个杠杆臂构造成允许位移状态和非位移状态之间的机械交替。
在另一种有利的实施方式中，第一和/或第二车辆滚动装置中的至少一个包括布置在车辆本体的相对侧壁处的第一轮部件和第二轮部件，以及至少一个能竖直位移的杆，在腔上方刚性地互相连接第一轮部件和第二轮部件，或者至少在车辆本体的上半部处。至少一个能竖直位移的杆可以有利地布置成平行于前面提到的横向平面。
在另一种实施方式中，位移装置包括至少一个杠杆臂，构造成在位移马达的操作期间抵靠至少一个能竖直位移的杆。所述至少一个杠杆臂可布置为至少部分在能竖直位移的杆的下方在腔的侧面或上方。杠杆臂抵靠杆的区域优选地在杠杆臂的纵向中点处或附近。术语“至少部分地在下方”意味着使得抵靠点相对于任一下层的存储系统位于能竖直位移的杆下方的杠杆臂布置。该至少一个杠杆臂可有利地布置在车辆本体的上半部。另外，它们可以布置在腔的上方或沿腔的边布置，或者在腔的上方和沿腔的侧面布置。
在另一种实施方式中，每个杠杆臂的两端布置在杠杆臂的碰撞区域的每一侧边上，在位移马达的操作期间从侧边形成车辆滚动装置上的竖直定向压力，从而实现车辆滚动装置的可控位移。
在另一种实施方式中，每个杠杆臂的第一端连接至布置在车辆4的上部内的第一可旋转装置，例如，可旋转螺栓，从而限定杠杆臂支点，并且每个杠杆臂的第二端至少间接地连接至位移马达，允许杠杆臂在第一端处围绕其支点的旋转。该旋转导致车辆滚动装置的所需的竖直位移。
在另一种实施方式中，位移装置还包括至少一个锁定装置，例如，细长钩，其中每个锁定装置枢转地连接至其在第二端处或附近的相应的杠杆臂以及位于车辆本体的上半部的第二可旋转装置，其中，锁定装置和第二可旋转装置互相连接以允许由位移马达进行的预定角旋转之后的能释放的阻挡。
在另一种实施方式中，锁定装置中的至少一个连接至位移马达的转子，其实施所连接的锁定装置的旋转运动，从而导致第一组车辆滚动装置和第二组车辆滚动装置中的至少一个相对于任一下层的存储系统的所需的竖直位移。
在另一种实施方式中，远程操作车辆还包括位于腔上方的横向平面处的至少一个驱动马达，驱动马达被布置成沿任一下层的存储系统的根据第一X和第二Y方向建立的横向平面驱动第一组车辆滚动装置和第二组车辆滚动11中的至少一个。车辆组件的方向的改变优选地是不连续的，即，构成90度弯。
在另一种实施方式中，车辆滚动装置中的至少一个包括布置在车辆本体的相对侧壁处的第一轮部件和第二轮部件，以及至少一个能竖直位移的杆，在腔上方的横向平面处刚性地互相连接第一轮部件和第二轮部件，其中，第一和第二部件中的至少一个还包括上旋转单元和下旋转单元，上和下旋转单元通过绳索互相连接，使得单元能够同步旋转。上和下旋转单元中的至少一个可以是轮、带等。另外，绳索可包括任何允许实现同步旋转的细长物体。下旋转单元构造成在使用期间至少间接地接触下层的存储系统。下旋转单元可有利地包括两个横向间隔开的轮，该轮构造成在使用期间(即，当车辆组件被设置在非位移状态时)与下层的存储系统进行能释放地接触。
在一个实施方式中，互相连接的绳索围绕下和上旋转单元二者。
在一种替换实施方式中，互相连接的绳索围绕上旋转单元，但布置在下旋转单元的外部。后一种构造可通过绳索围绕的附加轮实现。这时，绳索和附加轮的组件应当构造成在下旋转单元上产生稳定的压力，例如，通过使用与下旋转单元的每个轮相邻布置的两个较小的轮，并且其中，在较大的轮和附加轮之间引导绳索。该实施方式被认为是更有利的，因为其确保了在使用期间下旋转单元和下层的存储系统的更好接触。
在另一种实施方式中，车辆滚动装置中的至少一个包括：布置在车辆本体的相对侧壁处的第一轮部件和第二轮部件，其中，第一和第二轮部件分别刚性地连接至第一和第二位移板；以及至少一个能竖直位移的杆，在腔上方的横向平面处刚性地连接第一和第二位移板。
在另一种实施方式中，所有有助于车辆滚动装置的竖直位移和升降装置的操作的组件均布置在腔的上方，并且有助于车辆组件的横向运动的所有组件均布置在腔的上方或位于由车辆滚动装置在操作期间与下层的存储系统接触的部件的空间分布所限定的空间内或是这两者的组合。
本发明还涉及一种用于箱的存储的箱存储系统。箱存储系统包括根据上述构造中的任一种的远程操作车辆，车辆支撑件，包括多个交叉支撑轨道以及支撑车辆支撑件的箱存储结构。该结构包括多个存储柱，其中每个存储柱布置成容纳垂直堆叠的存储箱。
在一种有利的实施方式中，多个交叉支撑轨道的类型为双轨轨道，包括在第一方向X上的第一和第二X轨道以及在第二方向Y上的第三和第四Y轨道。
在另一种实施方式中，远程操作车辆的横向截面区域至多占据箱存储结构内的存储柱的横向截面区域，其中，存储柱的横向截面区域对应于由在每个方向上从一个支撑轨道到最近的平行支撑轨道的距离所限定的横向区域，该距离从每个轨道的中心线测量。
本发明还涉及一种用于当在箱存储系统上操作时改变远程操作车辆的方向的方法。远程操作车辆包括车辆本体，显示用于接收箱存储系统内的存储箱的腔，车辆升降装置，至少间接地连接至车辆本体，适于将存储箱提升至腔内，位移装置，包括位移马达以及驱动装置，包括第一组车辆滚动装置，连接至车辆本体，允许车辆在使用期间在存储系统内沿第一方向X的运动，以及第二组车辆滚动装置，连接至车辆本体，允许车辆在使用期间在存储系统内沿第二方向Y的运动，第二方向Y垂直于第一方向X。该方法包括下述步骤：
-通过操作位移马达旋转至少一个杠杆臂，其中，位移马达位于腔的上横向平面附近或腔的上方，以及
-借助于杠杆臂的旋转，通过在竖直方向上在车辆滚动装置上施加压力以使第一组车辆滚动装置和第二组车辆滚动装置中的一个远离任一下层的存储系统而竖直位移。
在一种实施方式中，远程操作车辆组件为根据上述构造中的任一种的车辆。
在下面的描述中，引入了许多具体细节以提供对所要求保护的远程操作车辆、系统和方法的实施方式的透彻理解。然而，相关领域的技术人员将认识到，这些实施方式可以在没有一个或多个具体细节的情况下或者与其他组件、系统等一起实施。在其他情况下，未示出或未详细描述公知的结构或操作，以避免模糊所公开的实施方式的方面。
附图说明
图1是现有技术的存储系统的立体图；
图2是根据本发明的第一实施方式的远程操作车辆的立体图；
图3是从不同角度观察的图2的远程操作车辆的立体图；
图4是根据本发明的第一实施方式的存储系统的一部分的立体图，包括箱存储网格、车辆支撑件和远程操作车辆；
图5(a)和(b)是根据本发明的第二实施方式的远程操作车辆从两个不同角度观察的立体图；
图6(a)和(b)是从两个不同角度观察的图5的远程操作车辆的立体图，其中外侧壁和顶盖已经被移除；
图7(a)和(b)是根据图5至图6的远程操作车辆的立体图，其中一组轮中的一个轮分别处于其操作(较低)位置和其非操作(升高)位置；
图8(a)和(b)是根据图5至图7的远程操作车辆的截面透视图，其中一组轮中的一个轮分别处于其操作位置和其非操作位置；
图9(a)和(b)分别是根据图5至图8的远程操作车辆从下面和上面看的视图；
图10(a)至(d)是根据图5至图9的远程操作车辆的侧视图，其中图10(a)示出了沿x方向看到的带有壳体的车辆，图10(b)示出了沿图10(a)的截面A-A的车辆的横截面，图10(c)示出了车辆沿y方向的部分透视侧视图，以及图10(d)示出了车辆沿图10(c)的截面B-B的截面；
图11(a)和(b)是根据图5至图10的远程操作车辆的立体图，分别以分解图和未分解图示出车辆；
图12(a)至(d)是根据图5至图11的布置在存储系统顶部的远程操作车辆的视图，其中图12(a)和(b)分别是示出在存储柱上方五个相邻位置的车辆的立体图和俯视图，以及图12(c)和(d)是图12(a)和(b)的相应侧视图；
图13(a)和(b)是根据本发明的第三实施方式的远程操作车辆的两个不同角度的立体图；
图14(a)至(d)是根据图13的远程操作车辆的侧视图，其中图14(a)示出了沿x方向看到的具有壳体的车辆，图14(b)示出了车辆沿图14(a)的截面A-A的截面；图14(c)示出了车辆沿y方向看到的侧视图，以及图14(d)示出了车辆沿图14(c)的截面B-B的截面；
图15(a)和(b)是根据图13和图14的远程操作车辆的立体图，分别以分解图和未分解图示出车辆，
图16(a)至(e)示出了根据图13至图15的布置在存储系统顶部的远程操作车辆的视图，其中图16(a)和(b)分别是沿y方向和x方向看到的侧视图，图16(c)是示出位于储存柱正上方的车辆的俯视图，以及图16(d)和(e)更详细地示出双轨构造，以及
图17示出了根据实施方式中的任意一个的远程操作车辆的一个侧壁处的轮构造的主要示意图。
具体实施方式
在下文中，将使用上述现有技术的存储系统作为参考系统来解释用于描述本发明的机器人的所有相关术语，例如上、下、横向、竖直、X方向、Y方向、Z方向等。还要注意，在本文中机器人被认为是特定类型的远程操作车辆。
图2和图3给出了根据本发明的第一实施方式的远程操作车辆1的两个不同角度的立体图，其包括显示布置在其中心的腔7的矩形车辆本体或框架4、覆盖本体4的顶部的顶盖72、安装在腔7内部的第一组四个轮10以及安装在本体4的外壁处的第二组四个轮11。第一组四个轮10和第二组四个轮11彼此垂直定向。为了清楚起见，示出了笛卡尔坐标系，其X、Y和Z轴沿矩形车辆本体4的主方向对齐。腔7的尺寸适于至少包含旨在由远程操作车辆1(并且优选地还由车辆升降装置9(图4))拾取的最大存储箱2。横向区域(即沿X和Y方向)相对于现有技术的存储系统可以具有任何尺寸，例如小于下层的存储柱8a的横向区域，正好匹配下层的存储柱的横向区域(参见下面的其他实施方式)，并且仅在一个方向(图4中的Y方向)上或在两个方向上延伸超出下层的存储柱8a的横向区域。
图4示出了存储系统3的一部分，其中远程操作车辆1在车辆支撑件14上的提升位置，在支撑箱存储结构15内的存储柱8、8a的正上方。车辆升降装置9被下降一段距离至存储柱8、8a内，以便钩住并提起存储柱8内的任何存储箱2。参考标号8a和8b是指位于远程操作车辆1正下方的中央存储柱8a以及与中央储存柱8a相邻的相邻存储柱8b。
图5和图6(a)和(b)示出了根据本发明的第二实施方式的本发明的远程操作车辆1。在图6中，侧壁和顶盖72已经被移除，以便更好地示出所有相关部件，特别是与轮位移装置22、23、26、28和驱动装置10、11相关的部件。为了清楚起见，已经添加了笛卡尔坐标系(X、Y、Z)。如在图2和图3中所示的第一实施方式中，驱动装置10、11包括构造成分别沿存储系统3的顶部在X和Y方向上移动远程操作车辆1的第一组车辆滚动装置10和第二组车辆滚动装置11。第一组车辆滚动装置10和第二组车辆滚动装置11中的每组由沿框架4的相对侧壁布置的两个轮部件10a、10b组成，其第一组车辆滚动装置10和第二组车辆滚动装置11中的至少一组可以竖直位移。
如在图6中所见，轮部件10a、10b还包括布置在框架4的上部4u的主动轮30和从动轮31，从动轮包括布置在框架4的下边缘的两个拐角中的每一个处或附近的两个从动轮31a、31b。从动轮31a、31b构成在使用期间直接或间接地接触下层的存储系统3的常规驱动轮。每四个轮部件中的三个轮30、31a、31b通过至少部分环绕的带或绳索32互相连接，确保当主动轮30由一个或多个驱动单元20、21设置在操作中时每个从动轮31a、31b的同时旋转。
为了在远程操作车辆1的方向改变期间将主动轮30和从动轮31、31a、31b从箱存储系统3提升，在腔7上方安装一个或多个能竖直位移的杆22，该杆将沿框架4的相对侧壁(即，沿y方向)定位的第一和第二位移板34a、34b互相连接。每个位移板34a、34b在x-z平面中刚性地连接主动轮30、从动轮31和带32，其中主动轮30、从动轮31和带构成车辆滚动装置10a的第一部分。因此，利用该特定构造，能竖直位移的杆22的任何位移导致所连接的驱动装置10的刚性位移。图6示出了其中只有第一组车辆滚动装置10可由杆22位移的构造。然而，对于本领域技术人员清楚的是，替代的构造是可能的，其中，可以位移第二组车辆滚动装置11而不是第一组车辆滚动装置10，或除了第一组车辆滚动装置之外，还可以位移第二组车辆滚动装置，而不偏离本发明的主要目的。
杆22的位移可以通过杠杆臂23实现，杠杆臂构造成施加由位移马达(displacement motor)25、25a激活的向上的压力，从而竖直地推动杆22。为了确保在位移期间的高可预测性，可以在合适的狭槽33内布置和引导杆22，狭槽的宽度略大于杆22的直径，并且长度等于或略长于总位移长度(Δz)(图7)。杠杆臂23的端部安装在位于杆22的一个横向侧的可旋转螺栓26上，从而限定支点26。支点26和杆22之间的横向距离可以例如为杠杆臂23的长度的一半。
杠杆臂23的旋转机构可以相对于支点26位于杆22的相对横向侧。该特定实施方式在图5至图8中示出。参考图6和图7，旋转机构包括具有转子25a的位移马达25(例如，DC马达)、附接至转子25a的杠杆臂轮28、锁定臂27，锁定臂的一端可附接至杠杆臂轮28并且另一端附接至杠杆臂23的与支点26相对的端部。锁定臂27构造成当杠杆臂23旋转至其上部位置(即，其中杆22已被推到其最高位置的位置)时至少部分地包围杠杆臂轮28；从而阻止不是由位移马达25的可控操作引起的杠杆臂23的任何竖直运动。图7(b)和图8(b)示出了其中锁定臂27在其上部位置中的情况。
可替代地，杠杆臂23的旋转可以由布置在其支点26处的位移马达操作。
在另一替代构造中，杠杆臂23的旋转可通过在其支点26处和在杠杆臂23的相对端处或附近布置合适的位移马达来操作。
图7、图8(a)以及图7、图8(b)分别示出了其主动轮30和从动轮31在其非位移和位移状态的远程操作车辆1。在图中，Δz表示成功的轮位移之后驱动装置10的位移长度。虚线被添加以便更好地指示实际轮位置，其中图7中的上部线对示出了主动轮30的位置变化，并且图7中的两个下部线对示出了两个从动轮31的相应位置变化。
图9(a)和(b)分别示出从下方和上方看的无附件的远程操作车辆1。前述具有其转子25a的位移马达25在左下侧示出。在左上侧和右下侧分别示出了用于在X和Y方向上驱动机器人的驱动马达20、21，并且在右上侧示出了车辆升降装置马达9a。马达9a、20、21中的至少一个优选地是DC马达。每个驱动马达20、21操作驱动轴35、36，该驱动轴的端部又连接至相对的主动轮30，从而经由带32向从动轮31传递旋转力。
图10至图11示出了根据第二实施方式的车辆的其他示图。
在图10(a)和(b)中示出分别沿x方向和y方向观察的具有顶盖72(不可移除或可移除)和覆盖X、Y方向上的所有侧面的车辆本体4的车辆。
在图10(c)中的部分透明示图中，可以看到存储箱2完全布置在腔7内。图10(b)和(d)示出了沿图10(a)的截面A-A和图10(c)的截面B-B的横截面视图，展现了车辆1的内部组件。参考图10(b)，第二位移板34b被示出为从包括主动轮30的车辆本体/框架4的上部4u延伸并延伸至包括从动轮31、31a、31b的车辆1的下边缘(图11)。
车辆升降装置9包括车辆升降装置马达9a、位于升降装置板下方的用于抓取下层的箱2的升降夹具9b、用于在拾取箱2期间在正确的横向位置调整升降装置9的引导销9c、建立从框架4的上部4u到升降装置9的横向延伸板的悬挂连接的多个第一升降装置杆9d(图15(b))、与车辆升降装置马达旋转连接的一个或多个第二升降装置杆9e(图15(b))、附接至每个第一升降装置杆9d的一端或两端的升降装置滑车轮9f(图15(a))以及使得第一和第二升降装置杆9d、9e之间能够旋转连接的升降装置带9g(图15(b))。
图10(b)进一步示出了驱动连接至驱动马达20(用于一个或两个主动轮30在X方向上的旋转)和驱动马达21(用于一个或两个主动轮30在Y方向上的旋转)的驱动轴35、36。如前所述，主动轮30的旋转引起相应从动轮10、31、11的相应旋转。杠杆臂23被示出处于降低位置，即，其中第一组车辆滚动装置10接触下层的轨道13。图10(d)示出了驱动马达20、21的横向位置，具有转子25a的位移马达25使杠杆臂23围绕其支点26旋转，并且车辆升降装置马达9a提供用于提升/降低车辆装置9的必要动力。
除了图10中公开的组件之外，图11(a)和图11(b)中分别示出的分解图和非分解图示出了主动轮30、从动轮31和封闭带32在X方向和Y方向上的位置。
本发明的远程操作车辆1在图12(a)至(d)中示出为布置在构成上述车辆支撑件14的一部分的双轨轨道13上。在图12(a)、(c)和(d)中，车辆1被示出位于五个不同的柱8a、8b的正上方。用点画线示出的车辆1表示在与初始柱8a相邻的柱8b上方的可能的车辆位置。如在图12中清晰可见，本发明的车辆1的横向截面区域正好占据一个下层的柱8、8a、8b的横向截面区域，即在X和Y方向上的双轨轨道13的中间部分之内。当然，车辆1的横向截面区域可以小于或大于柱8的横向截面区域。然而，结合双轨轨道13、13a-d(参见图16(d))的使用，具有覆盖存储系统3中的单个电池的截面区域的车辆1具有允许车辆1在所有四个侧边处通过/交叉而同时保持高度稳定性的优点。
图13至图16中示出根据本发明的第三实施方式，其中图13(a)和(b)示出了本发明的车辆1，其包括顶盖72(不可移除或可移除)、覆盖X、Y方向上的所有侧面的车辆本体/框架4、第一组车辆滚动装置10、10a、31a、31b以及第二组车辆滚动装置11。图13(b)还示出了腔7的一部分和具有其升降夹具9b和引导销9c的升降装置9的一部分。
图14(a)和(c)分别示出沿图13中所示的第三实施方式的车辆的x方向和y方向观察的侧视图。图14(b)和(d)中分别示出沿图14(a)的截面A-A和图14(c)的截面B-B的截面图，展现了车辆1的内部组件。对于图10(b)中所示的第二实施方式，第二位移板34b从车辆本体4的上部4u延伸至包括从动轮31、31a、31b(图15)的车辆1的下边缘。除了具有其车辆升降装置马达9a、升降夹具9b以及引导销9c的升降装置9，图14(b)还示出了用于提升和降低升降装置9的升降装置滑车轮9f和升降装置带9g。对于第二实施方式，并且分别在图15(a)和(b)中的分解和非分解图中看得最清楚，多个第一升降装置杆9d连接至升降装置滑车轮9f中的每一个，并且这些杆9d沿y方向连接车辆1上部4u的两个侧边。此外，如在图15(a)中所见，升降装置带9g将滑车轮9b和杆9d连接至一个或多个第二升降装置杆9e，第二升降装置杆又与车辆升降装置马达9a旋转连接。因此，第二升降装置杆9e的旋转经由升降装置带9g引起第一升降装置杆9d和滑车轮9f的旋转，导致升降装置9、9b、9c的期望提升/降低。未示出连接第一升降装置杆9d与降低/提升部件(part，部分)的带。
构造成为了改变方向而降低到轨道13/从轨道13提升的第一组轮10一起安装在共同的框架上。在图15(a)和(b)中，该框架对应于第一和第二位移板34a、34b。在第二和第三实施方式中，该公共框架刚性地固定至能竖直位移的杆22，从而通过枢转如前所述的杠杆臂23能够实现竖直位移。公共框架可以有利地包括位于其下边缘处的引导装置/轮，以便于竖直位移。然而，与第二实施方式相反，第三实施方式没有必要使用任何主动轮30来在第一和/或第二组轮10、11上施加旋转力。驱动装置10、11可以通过利用集成在驱动装置内的一个或多个马达获得它们在横向(X、Y)方向上的驱动力，例如通过在每个轮10、11内安装转子磁体，或通过安装从位于框架4的上部4u中的驱动马达延伸至驱动装置10、11的单独的带/链，或其组合。
根据第三实施方式的车辆1在图16(a)至(e)中被示出为布置在构成车辆支撑件14的至少一部分的双轨轨道13上。在图16(a)、(b)和(c)中，车辆1被示出为定位在中心柱8a的正上方。如在第二实施方式中，车辆1的横向截面区域正好或几乎正好占据下层的柱8、8a、8b的横向截面区域。当然，横向截面区域可以小于或大于柱8的横向截面区域。然而，结合双轨轨道16(c)至(e)的使用，具有覆盖存储系统中的单个电池的截面区域的车辆1具有允许车辆1在所有四个侧边处通过/交叉而同时保持优化的稳定性的优点。图16(d)和(e)进一步详细地示出双轨轨道13，其中，图16(d)示出了这种双轨轨道13的交叉的俯视图，该双轨轨道包括沿X方向定向的第一和第二X轨道13a、13b以及沿Y方向定向的第三和第四Y轨道，而图16(e)示出了沿Y方向定向的双轨轨道13的一部分的立体侧视图。
在图5至图12中，互相连接主动轮30和从动轮31的带32被示出为完全包围所有轮30、31。这种构造易于实施并且成本有效。然而，由于带32位于从动轮31a、31b的旋转点和下层的存储系统3之间，向下指向的力可能通过动态力减弱，例如，在车辆1的加速/减速期间。为了至少减轻该潜在弱化，提出了替代的驱动装置构造，其中一个或多个较小的辅助轮37(例如，两个辅助轮)被布置为与从动轮31a、31b中的至少一些(优选地，全部)相邻，并且其中带32在从动轮31a、31b及其辅助轮37之间被引导。图17中示出的该替代构造确保了在操作期间向下作用的压力弱化的风险的期望减小，并且因此在从动轮31a、31b和下层的存储系统3之间具有更可预测的接触力。
车辆/远程操作车辆1的所有操作由无线通信装置和远程控制单元控制。这包括车辆运动的控制、车辆1的方向改变、车辆升降装置9以及车辆位置的任何登记。
在前面的描述中，已经参考说明性实施方式描述了根据本发明的组件的各个方面。为了说明的目的，阐述了具体的数字、系统和构造，以便提供对装置及其工作原理的透彻理解。然而，该描述不旨在以限制性的意义来理解。对于所公开的主题所属领域的技术人员显而易见的说明性实施方式的各种修改和变化以及装置的其他实施方式被认为落在本发明的范围内。
参考标号/字母列表：
1 远程操作车辆组件/机器人
2 存储箱
3 存储系统
4 车辆本体/框架
4u 车辆本体的上半部
7 腔
8 存储柱
9 车辆升降装置
9a 车辆升降装置马达
9b 升降夹具
9c 引导销
9d 第一升降装置杆
9e 第二升降装置杆
9f 升降装置滑车轮
9g 升降装置带
10 第一组车辆滚动装置/驱动装置
10a 车辆滚动装置的第一部件
10b 车辆滚动装置的第二部件
11 第二组车辆滚动装置/驱动装置
13 支撑轨道
13a 第一X轨道
13b 第二X轨道
13c 第一Y轨道
13d 第二Y轨道
14 车辆支撑件
15 箱存储结构/箱存储网格
19 电路板/管理系统/电池管理系统
20 用于在X方向上驱动车辆的驱动马达
21 用于在Y方向上驱动车辆的驱动马达
22 能位移的杆
23 杠杆臂
25 位移马达
25a 位移马达的转子
26 第一可旋转装置/可旋转螺栓/支点
27 锁定装置/锁定臂
28 第二可旋转装置/杠杆臂轮
30 上旋转单元/主动轮
31 下旋转单元/从动轮
31a 横向间隔开的轮/第一从动轮
31b 横向间隔开的轮/第二从动轮
32 绳索/缆绳/带
33 狭槽
34a 第一位移板
34b 第二位移板
35 驱动轴，X方向
36 驱动轴，Y方向
37 辅助轮
50 箱升降装置
60 递送站/端口
72 顶盖
73 封闭盖
75 无线通信装置/控制板
Δz 位移长度

Claims (15)

1.一种用于从存储系统(3)拾取存储箱(2)的远程操作车辆(1)，所述远程操作车辆包括：
-车辆本体(4)，具有用于接收所述存储系统(3)内的所述存储箱(2)的腔(7)，
-车辆升降装置(9、9a)，连接至所述车辆本体(4)，用于将所述存储箱(2)提升至所述腔(7)内，
-驱动装置，包括：
第一组车辆滚动装置(10)，允许所述远程操作车辆(1)在使用期间在所述存储系统(3)内沿第一方向(X)运动，以及
第二组车辆滚动装置(11)，允许所述远程操作车辆(1)在使用期间在所述存储系统(3)中沿第二方向(Y)运动，所述第一方向(X)和所述第二方向(Y)布置成彼此垂直，
所述第一组车辆滚动装置(10)和所述第二组车辆滚动装置(11)中的一个连接至位移板(34a、34b)，
所述位移板(34a、34b)还连接至能竖直位移的杆(22)，其中，位移装置构造成使所述能竖直位移的杆(22)位移。
2.根据权利要求1所述的远程操作车辆(1)，其特征在于，所述位移装置包括：杠杆臂(23)；位移马达(25)，所述位移马达位于所述腔(7)上方的横向平面中；以及第一可旋转装置(26)和第二可旋转装置(28)。
3.根据权利要求1所述的远程操作车辆(1)，其特征在于，
所述第一组车辆滚动装置(10)和所述第二组车辆滚动装置(11)中的至少一个包括：
布置在所述车辆本体(4)的相对侧壁处的第一轮部件(10a)和第二轮部件(10b)。
4.根据权利要求2所述的远程操作车辆(1)，其特征在于，所述杠杆臂(23)构造成在所述位移马达(25)的操作期间抵靠所述能竖直位移的杆(22)。
5.根据权利要求4所述的远程操作车辆(1)，其特征在于，所述杠杆臂(23)布置为至少部分地位于至少一个所述能竖直位移的杆(22)的下方。
6.根据权利要求2所述的远程操作车辆(1)，其特征在于，
所述杠杆臂(23)的第一端连接至布置在所述车辆本体(4)的上半部(4u)内的所述第一可旋转装置(26)，以及
所述杠杆臂(23)的第二端连接至所述位移马达(25)，允许该杠杆臂(23)在其第一端处围绕该杠杆臂的支点旋转，从而引起所述位移板(34a、34b)的竖直位移。
7.根据权利要求6所述的远程操作车辆(1)，其特征在于，所述杠杆臂(23)的所述第一端和所述第二端布置在所述杠杆臂(23)的碰撞区域(24)的每一侧边上，在所述位移马达(25)的操作期间从所述侧边形成所述第一组车辆滚动装置(10)和所述第二组车辆滚动装置(11)上的竖直定向的压力。
8.根据权利要求6所述的远程操作车辆(1)，其特征在于，所述位移装置(23、25、26、28)还包括：
锁定装置(27)，
其中，所述锁定装置(27)
-在所述杠杆臂(23)的所述第二端处或附近枢转地连接至所述杠杆臂，并且
-枢转地连接至位于所述车辆本体(4)的所述上半部(4u)的所述第二可旋转装置(28)，
其中，所述锁定装置(27)和所述第二可旋转装置(28)互相连接以允许在预定角度的旋转之后实现能释放的阻挡。
9.根据权利要求8所述的远程操作车辆(1)，其特征在于，所述锁定装置(28)中的至少一个连接至所述位移马达(25)的转子(25a)。
10.根据前述权利要求中任一项所述的远程操作车辆(1)，其特征在于，所述远程操作车辆(1)还包括位于所述腔(7)上方的横向平面处的至少一个驱动马达(20、21)，所述驱动马达(20、21)被布置成沿下层的存储系统(3)的横向平面驱动所述第一组车辆滚动装置(10)和所述第二组车辆滚动装置(11)中的至少一个。
11.根据权利要求1所述的远程操作车辆(1)，其特征在于，所述能竖直位移的杆(22)在狭槽(33)内布置和引导，所述狭槽设置在所车辆本体(4)的相对侧壁处。
12.一种用于箱(2)的存储的箱存储系统(3)，其特征在于，包括：
-根据权利要求1至11中任一项所述的远程操作车辆(1)，
-车辆支撑件(14)，包括相互垂直定向的多个交叉支撑轨道(13)，
-箱存储结构(15)，支撑所述车辆支撑件(14)，所述箱存储结构(15)包括多个存储柱(8、8a、8b)，其中，
每个所述存储柱(8、8a、8b)布置成容纳竖直堆叠的存储箱(2)。
13.根据权利要求12所述的箱存储系统(3)，其特征在于，所述多个交叉支撑轨道(13)为双轨轨道(13a-d)的类型，所述双轨轨道包括在第一方向(X)上的第一和第二X轨道(13a、13b)以及在第二方向(Y)上的第三和第四Y轨道(13c、13d)。
14.根据权利要求12或13所述的箱存储系统(3)，其特征在于，所述远程操作车辆(1)的横向截面区域至多占据所述箱存储结构(15)内的所述存储柱(8)的横向截面区域，其中，所述存储柱(8)的横向截面区域与由在每个方向上从一个支撑轨道(13)到最近的平行支撑轨道(13)的距离所限定的横向区域相对应，所述距离从每个轨道(13)的中心线测量。
15.一种用于当在箱存储系统(3)上操作时改变远程操作车辆(1)的方向的方法，所述远程操作车辆(1)包括：
车辆本体(4)，具有用于接收所述存储系统(3)内的存储箱(2)的腔(7)，
车辆升降装置(9、9a)，连接至所述车辆本体(4)，用于将所述存储箱(2)提升至所述腔(7)内，
驱动装置，包括：
第一组车辆滚动装置(10)，允许所述远程操作车辆(1)在使用期间在所述存储系统(3)内沿第一方向(X)运动，以及
第二组车辆滚动装置(11)，允许所述远程操作车辆(1)在使用期间在所述存储系统(3)内沿第二方向(Y)运动，所述第一方向(X)和所述第二方向(Y)布置成彼此垂直，
所述第一组车辆滚动装置(10)和所述第二组车辆滚动装置(11)中的一个连接至位移板(34a、34b)，
所述位移板(34a、34b)还连接至能竖直位移的杆(22)，其中，位移装置构造成使所述能竖直位移的杆(22)位移，
其特征在于，所述方法包括下述步骤：
-通过操作位移马达(25)使杠杆臂(23)旋转，其中，所述位移马达(25)位于所述腔(7)的上横向平面附近或位于所述腔(7)的上方，以及
-经由所述杠杆臂(23)和所述位移装置，通过在竖直方向上在所述位移板(34a、34b)上施加压力以使所述位移板(34a、34b)竖直位移以远离任一下层的存储系统(3)。
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