WO2014118716A2

WO2014118716A2 - Satellite vehicle for automated warehouse

Info

Publication number: WO2014118716A2
Application number: PCT/IB2014/058642
Authority: WO
Inventors: Roberto Guidi; Franco Manzini
Original assignee: Elettric 80 SpA
Current assignee: Elettric 80 SpA
Priority date: 2013-01-29
Filing date: 2014-01-29
Publication date: 2014-08-07
Anticipated expiration: 2015-07-29
Also published as: EP2951109A2; ITVR20130023A1; EP2951109B1; WO2014118716A3; ES2613877T3

Abstract

A satellite vehicle for automated storage systems, of the type provided with tracks for the vehicle to move along, comprising a frame (2), a support surface (5) of a load foreseen on top of said frame (2), first wheels (6) and second wheels (7), supported by said frame (2) respectively along a first side portion (3) and a second side portion (4) and suitable for rolling on the tracks of the automatic storage system, and actuating means (8) of said first wheels (6) and second wheels (7) to move the vehicle (1) along the tracks. The first wheels (6) and the second wheels (7) are arranged according to at least two pairs in which the first wheel (6) and the second wheel (7) of at least one of said pairs respectively have a first axle (XI) and a second axle (X2) not coinciding with one another.

Description

Description of the Patent for the Industrial Invention having title:

"SATELLITE VEHICLE FOR AUTOMATED WAREHOUSES"

Designated Inventor: Roberto Guidi, Franco Manzini

TECHNICAL FIELD OF THE INVENTION

The present invention concerns the field of automated warehouses, i.e. warehouses comprising a network type structure that forms a plurality of cells that are arranged in many rows and on many levels, such cells facing aisles in which trolleys move for transporting and storing goods in the form of a pallet or containers in the cells themselves.

More in particular the present invention concerns the trolley that moves in such aisles that are adjacent to the cells and that is often called a satellite vehicle or even simply satellite.

STATE OF THE ART

Examples of such warehouses and of the relative satellites are described in US patents US-3 800 963 and US-5 967 728.

The satellites illustrated in these documents comprise a plurality of wheels designed to roll on special tracks foreseen in the warehouse.

Since, for a number of reasons, there can be discontinuities, or actual interruptions, between the end of one track and the start of the following track, or in the passages for entering a shelving unit, the satellites have more wheels than the four that would be strictly necessary, and moreover all the wheels, in this case eight wheels, four on each side, are driving wheels .

In such a way, when the wheels of an axle of the satellite are at the aforementioned interruptions, and thus they cannot support the satellite and cannot move it, the wheels of the immediately adjacent axle are still on the tracks, thereby making it possible to keep the satellite supported. Moreover, since also the wheels of the immediately adjacent axle are driving wheels, it is ensured that there is continuity of movement of the satellite.

However, the passage above the interruptions in the tracks in any case leads to a vertical movement of the satellite due to the missing support for a whole axle of wheels, thereby causing also a certain instability of the load transported by the satellite, and also an irregularity in the forward movement of the satellite due to the temporary absence of a driving axle.

Patent documents AT7749U1, DE20307005U1 and JPS5330676U teach respective vehicles according to the state of the art .

PURPOSES OF THE INVENTION

The technical task of the present invention is therefore that of improving the state of the art, by proposing a satellite vehicle for automated storage systems that makes it possible to eliminate the drawbacks mentioned above.

In such a technical task, one object of the present invention is to devise a satellite vehicle for automated warehouse that makes it possible to eliminate the problems due to the passage of the vehicle on discontinuities or interruptions to be found along the tracks of the warehouse.

A further object of the present invention is that of making a satellite vehicle for automated warehouse that makes it possible to eliminate the aforementioned problems with a simple and cost-effective construction solution .

Such a technical task and such an object are achieved by a satellite vehicle for automated warehouse according to the attached claim 1.

The vehicle, which is suitable for moving within an automatic warehouse of the type provided with tracks for the displacement of the vehicle, comprises a frame, a support surface for supporting a load provided above said frame, first and second wheels, which are supported by the frame respectively along a first and a second side and that are suitable for rolling on the tracks of the automatic warehouse, and actuating means for actuating the first and second wheels for advancing along the aforementioned tracks.

According to one aspect of the present invention, the first and second wheels are arranged according to at least two pairs in which the first and the second wheel of at least one of the aforementioned pairs respectively have a first and a second axle that do not coincide with one another.

The dependent claims refer to preferred and advantageous embodiments of the invention.

BRIEF DESCRIPTION OF THE DRAWINGS.

The features of the invention shall become clearer to a man skilled in the art from the following description and from the attached drawing tables, given as a non- limiting example, in which:

figure 1 is an axonometric view of the satellite vehicle according to the present invention;

figure 2 is an axonometric view of the satellite vehicle with some external parts that have been removed;

figure 3 is a plan view of the satellite vehicle with some external parts that have been removed;

figure 4 is a section view of the satellite vehicle made according to the plane IV-IV of figure 3; figure 5 is a section view of the satellite vehicle made according to the plane V-V of figure 3, with the lifting means in the lower position;

figure 6 is a section view of the satellite vehicle made according to the plane V-V of figure 3, with the lifting means in the upper position;

figure 7 is an axonometric view of the detail of one end of the vehicle, with some external parts that have been removed;

figure 8 is a plan view of a detail of one end of the vehicle, with some external parts that have been removed;

figure 9 is a schematic view from below of another embodiment of the vehicle according to the invention; figure 10 is a schematic view from below of yet another embodiment of the vehicle according to the invention;

figures 11 and 12 are schematic plan views of respective embodiments of satellite vehicles according to the present invention.

EMBODIMENTS OF THE INVENTION

With reference to the attached figure 1, reference numeral 1 wholly indicates a satellite vehicle for automated warehouse according to the present invention. The vehicle 1 is suitable for being used in warehouses comprising a network type structure that forms a plurality of cells that are arranged on a plurality of rows and on a plurality of levels, and facing aisles. In particular, the vehicle 1 according to the present invention is suitable for moving along such aisles, for transporting and storing in the cells themselves goods in the form of a pallet or containers.

In any case,, the vehicle 1 according to the present invention can also be used in warehouses of a different kind, as long as they are provided with tracks that are suitable for the movement of the vehicle itself.

The vehicle 1 comprises a frame 2.

The frame 2 comprises a first side 3 and a second side 4, which are opposite to one another.

Moreover, the vehicle 1 comprises a support surface 5 for supporting a load, which is provided on top of the frame 2.

The load is not represented in the figures, and could for example comprise a normal pallet used for storing goods in these types of warehouses.

The vehicle 1 is provided with first wheels 6 and with second wheels 7, which are suitable for rolling on the tracks of the automatic warehouse.

The first wheels 6 and the second wheels 7 are supported by the frame 2 respectively along the first side 3 and the second side .

Moreover, the vehicle 1 comprises actuating means 8 for actuating the first wheels 6 and the second wheels 7 so as to move along the tracks of the warehouse.

According to one aspect of the present invention, the first wheels 6 and the second wheels 7 of the vehicle 1 are arranged according to at least two pairs, in which the first wheel 6 and the second wheel 7 of at least one of such pairs have a first rotation axle XI and a second rotation axle X2, respectively, which do not coincide with one another.

Each pair of wheels comprises a first 6 and a second 7 wheel and is longitudinally offset with respect to the other pairs of wheels, i. e. both the wheels of each pair lie within or at a transversal area or band of the vehicle that is longitudinally offset with respect to the other pairs, this meaning that each pair of wheels is at a predetermined distance from the ends 9a, 9b of the vehicle which is different with respect to the other pairs.

Moreover, with reference to the wheels of the pair(s) of wheels with rotation axles XI and X2 which do not coincide with one another, the rotation axle XI of the respective first wheel and of the respective second wheel is offset or not aligned with respect to the rotation axle of all the other wheels of the vehicle or of the wheels of all the other pairs of wheels of the vehicle.

Preferably, all the pairs of wheels of the vehicle have a first and a second wheel with rotation axles XI and X2 that do not coincide with one another and each one having its rotation axle offset or not aligned with respect to the rotation axle of all the other wheels of the vehicle.

As shall become clearer in the following, this solution makes it possible to always keep at least one between the first wheels 6 and the second wheels 7 resting on the tracks of the warehouse, even when the vehicle 1 is passing at interruptions or discontinuities occurring along the tracks themselves.

More in detail, as shown in figure 3, the first axle XI and the second axle X2 are arranged parallel to one another on a plane that is parallel to the rolling plane of the first wheels 6 and of the second wheels 7. Between the first axle XI and the second axle X2 it is foreseen for there to be a set distance D. Preferably, the distance D is greater than 0 and lower than the diameter of the wheels 6, 7. The aforementioned set distance D can be for example the same for all the pairs of wheels 6, 7 foreseen in the vehicle 1.

However, according to some embodiments, and in relation to specific usage requirements, each pair of wheels 6, 7 can have a set distance D different from the other pairs of wheels.

The frame 2 advantageously comprises the already mentioned first side 3 and second side 4, and two opposed ends 9a, 9b each projecting from one side 3 to the other 4.

The frame 2 of the vehicle 1 can be made up of a substantially rectangular frame structure, which comprises the already mentioned first side 3 and second side 4, and the two opposed ends 9a, 9b at the remaining two sides of the frame structure.

The shape of the frame 2 of the vehicle is in any case per se generally known in the field and shall not be described any further.

The frame 2 is closed by an upper cover 10 and by a lower support plate 11; in particular, the upper cover 10 can be opened so as to allow the inner components of the vehicle 1 to be reached.

As illustrated in figure 1, the support surface 5 for the loads that the vehicle 1 has to transport comprises two strips 12, 13, that are arranged laterally with respect to the upper cover 10, i.e. close to the sides 3,4.

Of course the shape, the size and the position of the support surface 5 could be any, and are not in any case part of the subject-matter of the present invention. The actuating means 8 of the first wheels 6 and of the second wheels 7 comprise, more in detail, a first motor 14, which is supported by the frame 2 of the vehicle 1, and is coupled with at least one of the first wheels 6. The actuating means 8 also comprise a second motor 15, which is supported by the frame 2 of the vehicle 1, and is coupled with at least one of the second wheels 7. More in detail, the first motor 14 and the second motor 15 are mounted on the lower plate 11.

According to the embodiment of the vehicle 1 shown in figures 1-8 there are totally eight wheels 6, 7, i. e. four first wheels 6 and four second wheels 7.

The wheels 6, 7 are arranged in four pairs, wherein each pair thus comprises a first wheel 6 and a second wheel 7 which face with one another, with the respective first and second axles XI, X2 that are suitably spaced apart from one another in the manner that has already been described.

The first motor 14 is mechanically coupled with all the first wheels 6 of the vehicle 1.

In other words, all the first wheels 6 of the vehicle 1 are drive wheels.

Moreover, in the same way, the second motor 15 is mechanically coupled with all the second wheels 7 of the vehicle 1.

In other words, all the second wheels 7 too of the vehicle 1 are drive wheels.

Moreover, the arrangement of the first and second wheels 6, 7 is such that they are perfectly symmetrical with respect to an ideal plane of symmetry that is transversal with respect to the vehicle 1. For such a purpose, more in particular, one or more (two according to the embodiment in the figures) first wheels are provided, i. e. on a first side of the vehicle, wheels that are advanced or proximal to the first end 9a of the vehicle relatively to the respective second wheels on the other side of the vehicle, and one or more (two according to the embodiment in the figures) first wheels that are further back or proximal to the second end 9b of the vehicle relatively to the respective second wheels on the other side of the vehicle. With particular reference to the embodiment illustrated in figures 1 to 8, two first wheels 6 (in figure 3 the first and second first wheel starting from the top or from the end 9a) that are adjacent and subsequent to one another and that are proximal to a first end 9a are further forward by the distance D or proximal to such an end relatively to the respective second wheels of the same pair, whereas the other two first wheels (in figure 3 the third and fourth first wheel from above or from the end 9a) are further back by the. distance D or near to the end 9b relatively to the respective second wheels of the same pair.

As illustrated in figure 3, the first motor 14 and the second motor 15 are mounted on the lower plate 11 at the ends 9a, 9b of the frame 2: in such a way a perfectly balanced solution is obtained in terms of weight distribution, and that is optimised in terms of the available spaces.

The actuating means 8 further comprise a first driving crown 16, which is directly coupled to the first motor 14 and to one of the first wheels 6: in particular, the first motor 14 is directly coupled with one of the first wheels 6 placed at one end 9a, 9b of the vehicle 1.

The actuating means 8 further comprise first driven pinions 17, which are respectively coupled with the remaining first wheels 6 through respective first shafts 18 that are rotatably supported by means of bearings in the first side 3 of the frame 2.

Moreover, the actuating means 8 comprise a first drive chain 19, which is wound on the first driving crown 16 and on the first driven pinions 17, as illustrated in figure 4.

It is moreover foreseen for there to be first idler pinions 20 for ensuring the correct winding of the first chain 19.

In a completely symmetrical manner with respect to what is foreseen for the first wheels 6, the actuating means 8 further comprise a second driving crown 21, which is directly coupled with the second motor 15 and with one of the second wheels 7: in particular, the second motor 15 is coupled directly with the second wheel 7 arranged at the end 9b of the vehicle 1 opposed to that where the first motor 14 is mounted.

Therefore, the first wheel 6 and the second wheel 7 that are coupled directly with the first motor 14 and with the second motor 15 are located at angles that are diagonally opposite with respect to the frame 2.

The actuating means 8 further comprise second driven pinions 22, which are respectively coupled with the remaining second wheels 7 through respective second shafts 23 that are rotatably supported with bearings in the second side 4 of the frame 2. The actuating means 8 moreover comprise a second drive chain 24, which is wound on the second driving crown 21 and on the second driven pinions 22.

Moreover, second idler pinions 25 are provided too designed to ensure the correct winding of the second chain 24.

The actuating means 8 of the wheels 6, 7, in particular concerning the mechanical connection between the wheels 6, 7 themselves, can also be of another equivalent type, without any limitation to the object of the present invention.

For example, instead of crowns 16, 21, pinions 17, 22 and chains 19, 24 pulleys and belts can be used, for example of the poly-V type or other types.

The support surface 5 for the loads to be transported by the vehicle 1 is associated with lifting means 26, in order to be brought from a lower inactive position to an upper transportation position of a load, according to operation modes known for these type of vehicles.

Such lower and upper positions are illustrated in figures 5 and 6, respectively.

The lifting means 26 comprise, more in detail, a third motor 27.

The third motor 27 is supported by the frame 2 and, in particular, it is mounted on the lower plate 11.

The third motor 27 is coupled with a cam mechanism that is wholly indicated with reference numeral 28, which is in turn associated with the support surface 5.

The lifting means 26 of the support surface 5 comprise, more in detail, a third driving crown 29 which is coupled with the outlet shaft 30 of the third motor 27. The third driving crown 29 transmits the movement generated by the third motor 27 to third shafts 31, which are rotatably supported in the frame 2 with axles orthogonal to the movement direction of the vehicle 1. In particular, two third driven pinions 32 are keyed on the third shafts 31.

The movement transmission between the third driving crown 29 and the third driven pinions 32 is obtained through a third chain 33.

Moreover, third idler pinions 34 are provided for the correct winding of the third chain 33.

At each end of the third shafts 31 eccentric ball bearings 35 are fixed, which act as elements for moving the cam mechanism 28 for lifting the support surface 5. Each of the strips 12, 13 forming the support surface 5 comprises two respective lower appendages 36, which act as yielding elements of the cam mechanism 28, each provided with a respective slot 37 inside which a respective eccentric bearing 35 of each of the third shafts 31 engages.

As clearly illustrated in figures 5 and 6, the rotation of the third motor 27 transmitted to the third shafts 31 determines, owing to the eccentric rotation of the bearings 35, the translation of the strips 12, 13 of the support surface 5 from a lower inactive position - figure 5 - to an upper transportation position of a load, illustrated in figure 6, and vice versa.

It is worth underlining that the lifting means 26 for lifting the support surface 5 - in particular of the strips 12, 13 - could also be of another equivalent type.

The first motor 14 and the second motor 15 comprise respective encoders 38, which are keyed on respective axles, which are suitable for detecting the stopping of the vehicle 1 when a load is present on the tracks, or other obstacles, as shall become clearer in the rest of the description of the operation of the vehicle 1.

According to some embodiments, only one among the first motor 14 and the second motor 15 could be provided with an encoder 38, in relation to specific usage requirements.

According to another aspect of the present invention, the vehicle 1 comprises first sensor means 39 for detecting the presence of a load from a set distance, as shall become clearer in the following.

The first sensor means 39 are located at both of the two ends 9a, 9b of the frame 2, as illustrated in figures 7, 8.

Such first sensor means 39 comprise, for each of the ends 9a, 9b of the frame 2, a photocell suitable for emitting a respective beam in the forward movement direction of the vehicle 1.

In particular, the beam emitted by the photocell 39 is inclined with respect to the vertical by a certain angle, for reasons which shall become clearer in the following .

According to yet another aspect of the present invention, the vehicle 1 comprises second sensor means 40 for detecting the end of a load positioned along the tracks of the warehouse.

The aforementioned second sensor means 40 comprise, for each of the ends 9a, 9b of the frame 2, a sonar suitable for emitting upwards a respective signal, in a substantially vertical direction, obtaining the effects that shall become clearer in the following, as illustrated in figures 7, 8.

The sonar 40 is associated with a reflecting surface 40a which provided for directing the beam in the vertical direction.

According to a further aspect of the present invention, the vehicle 1 comprises at least one bar code reading means 41, which is foreseen on at least one between the first side 3 and the second side 4 of the frame 2 of the vehicle 1, or preferably on both the sides 3, 4, which are suitable for reading the bar codes foreseen along the tracks, and which identify a certain track inside the warehouse.

In particular, the bar code reader 41 makes it possible to rephase the vehicle 1 each time it passes a position where the bar code itself is located.

The vehicle 1 according to the present invention further comprises a control unit, to which the motors 14, 15, 27, the sensor means 39, 40, the bar code reading means 41, and any other possible device installed on the vehicle 1 are slaved.

The control unit can be for example made up of an electronic control station, the various components being operatively connected thereto.

Moreover, the vehicle 1 can comprise a further emergency stop sensor 42, which is positioned at at least one of the ends 9a, 9b of the frame 2 of the vehicle 1.

Moreover, the vehicle can be provided with a manual stop button 43.

The vehicle 1 further comprises a battery 44 for supplying power to the different components, which is fixed on the lower plate 11.

The battery 44 can be, for example, of the rechargeable type, or even of another kind known in the field.

The operation of the vehicle 1 according to the present invention is as follows.

When the vehicle 1 is empty, i.e. when there is no load to be transported on its support surface 5, the vehicle 1 can move freely along tracks of the warehouse, in particular along a path made below the loads stored in the cells of the warehouse itself.

In this situation, the support surface 5 of the vehicle 1 is obviously in the lower inactive position.

In such a way the vehicle 1, by running along the tracks, can reach the predetermined position, for example to take a load.

Once the aforementioned predetermined position has been reached, the vehicle is positioned below the load to be taken, and then provides for translating the support surface 5 - i.e. the two strips 12, 13 - in the upper lifting position to lift the load, according to modes that are per se known for this type of vehicles.

This step of positioning the vehicle 1 is particularly delicate, since it must be carried out very precisely so as not to lift the load in an unbalanced or in any case incorrect manner.

Such precision in positioning the vehicle 1 below the load can be obtained through the detections carried out by the second sensor means 40, which as mentioned are suitable for detecting the ends of the load itself.

The second sensor means 40 comprises, as mentioned, sonars emitting respective signals upwards, in a substantially vertical direction.

Therefore, for example, when on the support surface 5 of the vehicle 1 there is no load, the signals upwards emitted by the sonar 40 are not reflected: the control unit, therefore, controls the motors 14, 15 to make the vehicle 1 advance along the tracks, so as to find the correct position.

When, on the other hand, the signal emitted by the sonar 40 which is in a position that is at the front with respect to the forward movement direction of the vehicle 1 is reflected, this means that the vehicle 1 itself has reached, with its front portion, the area beneath the load.

Then, the vehicle 1 is controlled to advance further, possibly for a certain predetermined and known distance based upon the size of the load, up to a stopping position that is determined according to the count carried out by the encoders 38.

The other sonar 40, i. e. that positioned at the opposed end 9a or 9b, can be used to carry out a further control of the correct position with respect to the load.

This last condition means that the vehicle 1 is correctly positioned below the load, i.e. substantially centred with respect to it, and thus it can be completely stopped: the lifting means 26 too of the support surface 5 can thus be actuated so as to lift and take the load.

Once the load has been taken, the vehicle 1 can proceed advancing along the tracks of the warehouse to transport the load itself to another destination, optionally also reaching a shuttle that moves along other transportation paths that are foreseen in the warehouse, in a manner that is known per se and in any case not object of the present invention.

Upon reaching the destination at which the load is to be deposited, the movement control of the vehicle 1 must necessarily take into account the presence of the loads already deposited along the same track, so as to prevent impacts or incorrect positioning.

Therefore, when the vehicle 1, with the relative transported load, moves close to another load that has already been deposited along the track, the first photocell sensor means 39 detect the presence of the load itself when they are still at certain distance, in particular owing to the angle of inclination of the beam emitted by the photocell, which beam can obviously be adjusted in relation to the specific application requirements .

Following the load detection at a certain distance carried out by the first sensor means 39, the control unit gives instructions to the motors 14, 15 to progressively slow down the forward movement of the vehicle 1.

In particular, in this slowing down step, one of the two motors 14, 15 is stopped without actuating the brake, and the vehicle 1 advances at low speed, due to the other motor 14, 15 only.

For example, the first motor 14 could be stopped, and the movement forward could be carried out through the second motor 15 only.

In this situation, the first wheels 6 controlled by the first motor 14 thus become idle.

Once the predetermined destination has been reached - at which the transported load arrives close to the other already present load - the second motor 15 could unintentionally continue to actuate the second wheels 7, which could thus slip on the tracks, optionally causing operating difficulties.

The actual stopping of the vehicle 1 is then advantageously detected by the encoder 38 associated with the first motor 14, which indeed detects the stopping of the first idle wheels 6.

Therefore, this, in turn, determines a stopping signal for the second motor 15 too.

At this stage the support surface 5 can be lowered, and the vehicle 1 can be actuated so as to reach another working destination.

Thanks to the particular arrangement of the first and second axles XI, X2 of the first and second wheels 6, 7, the vehicle 1, when moving continues to be stably rested on the tracks even if interruptions or discontinuities along the tracks themselves occur. This, in a vehicle according to the present invention is obtained due to the fact that the wheels of one or more pairs of wheels have rotation axles XI and X2 of the respective wheels that do not coincide with one another, and, therefore if a first wheel of a pair is at an interruption or discontinuity, the other one or second wheel of the pair, which is offset with respect to the first one, stably rests on a not interrupted section of a respective track.

In particular, the predetermined distances D between the first and second axles XI, X2 can be suitably sized in relation to the types of discontinuity to be found on the tracks, thus obtaining a regular and controlled movement of the vehicle 1.

According to the embodiment shown in figures 1-8, as above mentioned, the arrangement of the first and second wheels 6, 7 is such that they are perfectly symmetrical with respect to an ideal plane of symmetry that is transverse with respect to the vehicle 1: this ensures the perfect symmetry in the behaviour of the vehicle when advancing in both directions.

Thus, it has been seen that the invention achieves the proposed objects.

Another embodiment of the vehicle according to the present invention is schematically illustrated in figure 9.

The vehicle according to the present embodiment differs from that of the previous embodiment mainly for the number of pairs of wheels 6, 7 that are present and for the manner in which they are actuated.

All the other elements and components of the vehicle 1 are identical to those described according to the previous embodiment, and shall not be described again. More in particular, according to the present embodiment there are totally six wheels 6, 7 that are arranged in three pairs, i.e. three first wheels 6 that are arranged along the first side 3 of the vehicle 1 and three second wheels 7 that are arranged along the second side 4.

According to this embodiment, the first motor 14 is coupled with two first adjacent wheels 6.

The first motor 14 can be directly coupled with one of the first wheels 6.

It is also foreseen for there to be transmission means 45 for the other of the first wheels 6, which can be of the crown - pinion - chain type as that described in the previous embodiment.

The second motor 15 is coupled with two second wheels 7, which are adjacent and do not correspond to the first wheels 6 to which the first motor 14 is coupled. In such a way, also in this case the motors 14, 15 are positioned at the two ends 9a, 9b of the vehicle 1, thereby balancing the weights.

The second motor 15 can be directly coupled with one of the second wheels 7.

It is furthermore foreseen for there to be second transmission means 46 for the other of the second wheels 7, which can be of the crown - pinion - chain type like that described in the previous embodiment. The predetermined distances D between the first and second axles XI, X2 of the three pairs of first and second wheels 6, 7 can be the same, but they can also be different from one another.

This embodiment of the vehicle 1 has a simplified structure and is more cost-effective with respect to the previous one, thanks to the lower number of wheels 6, 7 and to the transmission means 45, 46 comprising a lower number of components.

The stability of the vehicle 1 when crossing discontinuities or interruptions along the tracks is in any case fully ensured, thanks to the provision according to which the wheels of one or more pairs of wheels have rotation axles XI and X2 that do not coincide with one another.

Another further embodiment of the vehicle 1 according to the present invention is schematically illustrated in figure 10.

In this case too, the vehicle 1 according to the present embodiment differs from that of the previous embodiments mainly for the number of pairs of wheels 6,7 present and for their operation modes.

All the other elements and components of the vehicle 1 are identical to those described in the previous embodiments, and shall not be described any further. More in particular, according to the present embodiment there are totally four wheels 6, 7 that are arranged in two pairs, i.e. two first wheels 6 that are arranged along the first side 3 of the vehicle 1 and two second wheels 7 arranged along the second side 4.

Moreover, a first wheel is provided, that is to say on a first side of the vehicle, advanced or proximal to the first end 9a of the vehicle relatively to the respective second wheel on the other side of the vehicle, and a first wheel further back or proximal to the second end 9b of the vehicle relatively to the respective second wheel on the other side portion of the vehicle.

The first motor 14 is directly coupled with one of the first wheels 6.

The other of the first wheels 6 is on the other hand completely idle.

The second motor 15 is directly coupled with one of the second wheels 7, and in particular with the second wheel 7 that does not correspond - i.e. does not face - the first wheel 6 to which the first motor 14 is coupled .

The other second wheel 7 is indeed completely idle.

Therefore, the first wheel 6 and the second wheel 7 to which the first motor 14 and the second motor 15 are coupled, are arranged at two angles that are diagonally opposite with respect to the frame 2 of the vehicle 1. Also in this case the motors 14, 15 are thus positioned at the two ends 9a, 9b of the vehicle 1, so as to balance the weights.

Also this embodiment of the vehicle 1 thus has a simplified structure and is more cost-effective with respect to the previous one, thanks to the even lower number of wheels 6, 7 and to the absence of transmission means.

The stability of the vehicle 1 when crossing discontinuities or interruptions along the tracks is also 'in this case completely ensured thanks to the already mentioned arrangement of the axles XI, X2 of the wheels.

With reference now to figures 11 and 12, in order to best illustrate the distinctive characteristics of the invention subject-matter of the present patent application with respect to the teachings of the prior art, respective embodiments of vehicles according to the present invention are schematically illustrated. Firstly with reference to figure 11, a vehicle is illustrated provided with two pairs of wheels, a first and a second pair of wheels each of which comprises a first 6 and a second wheel 7 that are offset as above mentioned, although, it should be clear that, as also mentioned previously, they could comprise a single pair of wheels (the first or the second) with offset wheels, the other pair of wheels thus having, in such a case, wheels with a rotation axle that is substantially parallel and coinciding.

In such a figure, in addition to encircling the two pairs of wheels of the vehicle with a respective ideal ellipse, the longitudinal axis x-x of the vehicle has been indicated, as well as the central transversal axis or centreline y-y of the vehicle, which corresponds to the axis that is substantially perpendicular to the longitudinal development of the vehicle that ideally divides the vehicle 1 into two halves or parts, a front la and a rear lb part, respectively.

Each pair of wheels thus comprises a first 6 and a second 7 wheel that are both longitudinally offset along the longitudinal axis x-x with respect to the other pairs of wheels, that is to say that both the wheels of each pair lie inside or at a transversal area or band of the vehicle that is longitudinally offset, along the axis x-x with respect to the other pairs, this meaning that each pair of wheels is at a predetermined distance from the central transversal axis y-y of the vehicle that is different with respect to the other pairs.

So, the two wheels 6 and 7 of the first pair or of the second pair are one closer or proximal to the axis y-y with respect to the other one. More in particular, with reference to the specific embodiment illustrated in fig. 11, the first wheel 6 of the first pair of wheels or better the respective rotation axle is closer or proximal to the axis y-y with respect to the second wheel 7, whereas the first wheel 6 of the second pair of wheels or better the respective rotation axle is closer or proximal to the axis y-y with respect to the second wheel 7.

With reference now to figure 12, a variant of the vehicle according to the present invention has been illustrated, provided with two pairs of wheels according to the present invention similar to the pairs of wheels of the vehicle of figure 11 and each encircled by a respective ideal ellipse. Such a vehicle also has other two auxiliary wheels 6a and 7a, each mounted for rotation externally with respect to a respective side 3 and 4 and having a rotation axle coinciding with a respective wheel 7 and 6 that is mounted for rotation externally with respect to the other side or opposed side of the vehicle 4 and 3. Such a vehicle, basically, has two wheels more than the vehicle illustrated in figure 11, but in such a vehicle too, the wheels of one or of each pair, first and/or second pair, are offset with respect to one another and are offset with respect to the wheels of the other pairs of wheels. It will be indeed noted that the wheels 6 and 7 of the first pair of wheels are offset with respect to one another and are offset with respect to the wheels 6 and 7 of the second pair of wheels, as well as, of course with respect to the wheel 7a, whereas the wheels 6 and 7 of the second pair of wheels are offset with respect to one another and are offset with respect to the wheels 6 and 7 of the first pair of wheels as well as, of course, with respect to the wheel 6a .

The present invention has been described according to preferred embodiments, but equivalent variants can be conceived without departing from the scope of protection provided by the following claims.

Claims

Satellite vehicle for automated warehouse, of the type provided with tracks for the vehicle displacement, comprising a frame (2) , a support surface (5) for supporting a load provided above said frame (2), first wheels (6) and second wheels

(7) supported by said frame (2) along a first side

(3) and a second side (4), respectively, and suitable for rolling on the tracks of the automatic warehouse, and actuating means (8) for actuating said first wheels (6) and second wheels

(7) for advancing the vehicle (1) along the tracks, characterised in that said first wheels

(6) and second wheels (7) are arranged according to at least two pairs in which the first wheel (6) and the second wheel (7) of at least one of said pairs respectively have a first rotation axle (XI) and a second rotation axle (X2) not coinciding with one another and offset or not aligned with respect to the rotation axle of the wheels of all the other pairs of wheels of said vehicle.

Satellite vehicle according to claim 1, wherein said first axle (XI) and second axle (X2) are arranged parallel to one another on a plane parallel to the rolling plane of said first and second wheels (6, 7), and between them a set distance (D) is provided.

Satellite vehicle according to claim 2, wherein said set distance (D) is greater than 0 and lower than the diameter of said wheels (6, 7) .

Vehicle according to any one of the previous claims, wherein the rotation axle (XI) of each of said first wheels (6) is offset or not aligned with respect to the rotation axle (X2) of each of said second wheels.

Satellite vehicle according to any one of the previous claims, wherein said actuating means (8) comprise a first motor (14) supported by said frame (2) , coupled with at least one of said first wheels (6), and a second motor (15) supported by said frame (2), and coupled with at least one of said second wheels (7).

Satellite vehicle according to any one of the previous claims, wherein said first and second wheels (6,7) are four and are arranged in two pairs .

Satellite vehicle according to claim 5 or according to claim 6 when depending upon claim 5, wherein said first motor (14) is directly coupled with a first wheel (6), and in which said second motor (15) is directly coupled with a second wheel (7) not corresponding to the first wheel (6) to which said first motor (14) is coupled.

Satellite vehicle according to one of claims 1-5 or 7, wherein said first and second wheels (6, 7) are six and they are arranged in three pairs.

Satellite vehicle according to claims 5 and 8, wherein said first motor (14) is coupled with two adjacent first wheels (6), and wherein said second motor (15) is coupled with two second wheels (7) adjacent and not corresponding to the first wheels

(6) to which said first motor (14) is coupled.

Satellite vehicle according to one of claims 1-5, wherein said first and second wheels (6,7) are eight and are arranged in four pairs.

Satellite vehicle according to claims 5 and 10, wherein said first motor (14) is coupled with all said first wheels (6), and wherein said second motor (15) is coupled with all said second wheels

(7) .

Satellite vehicle according to one of claims from 5-11 when depending upon claim 5, wherein said actuating means (8) comprise a first driving crown (16) directly coupled with said first motor (14) and with one of said first wheels (6), at least one first driven pinion (17) coupled with at least one of the remaining first wheels (6), and a first drive chain (19) wound on said first driving crown (16) and on said first driven pinion (17) .

Satellite vehicle according to the preceding claim, wherein said actuating means (8) comprise a second driving crown (21) directly coupled with said second motor (15) and with one of said second wheels (7), at least one second driven pinion (22) coupled with at least one of the remaining second wheels (7) , and a second drive chain (24) wound on said second driving crown (21) and on said second driven pinion (22) .

Satellite vehicle according to any one of the previous claims, wherein said support surface (5) is associated with lifting means (26) to be brought from a lower inactive position to an upper transportation position for transporting a load. Satellite vehicle according to the previous claim, wherein said lifting means (26) comprise a third motor (27), supported by said frame (2), coupled with a cam mechanism (28) in turn associated with said support surface (5) .

Satellite vehicle according to one of claims 5-15 when depending upon claim 5, wherein said first motor (14) and/or said second motor (15) comprises an encoder (38) suitable for detecting the stopping of the vehicle (1) at a load or other obstacles present along the tracks.

Satellite vehicle according to one of the previous claims, comprising first sensor means (39) located at the two ends (9a, 9b) of said frame (2) and suitable for detecting the presence of a load at a set distance.

Satellite vehicle according to the previous claim, wherein said first sensor means (39) comprise, for each of the ends (9a, 9b) of said frame (2), a photocell suitable for emitting a respective beam in the forward direction movement of the vehicle and inclined with respect to the vertical.

Satellite vehicle according to one of the previous claims, comprising second sensor means (40) for detecting the end of a load deposited along the tracks of the warehouse.

Satellite vehicle according to the previous claim, wherein said second sensor means (40) comprise, for each of the ends (9a, 9b) of said frame (2), a sonar suitable for emitting upwards, in a substantially vertical direction, a respective signal . Satellite vehicle according to one of the previous claims, comprising at least one bar code reading means (41), foreseen on one of said first and/or second sides (3,4) suitable for reading bar codes foreseen along the tracks, and suitable for resetting the vehicle every time it passes a position in which there is a bar code.

Vehicle according to any one of the previous claims, characterised in that said frame (2) comprises two opposed ends (9a, 9b) each projecting from one side (3) to the other (4), and in that it comprises at least one first wheel further forward or proximal to a first end (9a) of the vehicle relatively to the respective second wheel, and at least one first wheel further behind or proximal to the second end (9b) of the vehicle relatively to the respective second wheel.

Vehicle according to any one of the previous claims, characterised in that each pair of wheels comprises a first and a second wheel, both longitudinally offset with respect to the wheels of the other pairs of wheels along the longitudinal axis x-x of the vehicle, meaning that both the wheels of each pair lie inside or at a transversal area or band of the vehicle longitudinally offset with respect to the other pairs of wheels.

24. Vehicle according to any one of the previous claims, characterised in that it comprises at least one auxiliary wheel (6a, 7a) mounted for rotation externally with respect to a respective side (3, 4) and having a rotation axle coinciding with a wheel (7, 6) of said pair of offset wheels, said wheel (7, 6) of said pair of offset wheels being mounted for rotation externally with respect to a side (4, 3) of said vehicle that is opposed to said auxiliary wheel (6a, 7a).

25. Vehicle according to any one of claims 1 to 23, characterised in that said first wheels (6) and second wheels (7) are arranged according to at least two pairs in which the first wheel (6) and the second wheel (7) of at least one of said pairs respectively have a first rotation axle (XI) and a second rotation axle (X2) not coinciding with one another and offset with respect to or not aligned with the rotation axle of all the other wheels of said vehicle.