Patent Description:
Racking systems comprising horizontal tracks and vertical tracks are known in the art. Such racking systems may be automated small parts shuttle racking systems. They allow storage of a multitude of goods in racks at different levels in the racks. Shuttles to collect and/or store the goods may automatically move horizontally in the aisles between the racks as well as up and down in the racks. Such shuttles use horizontal tracks to propel in a horizontal direction in the aisles. The shuttles may use vertical or inclined tracks to reach different levels in the racking system.

Examples of such a storage system using shuttles are given in <CIT>.

Shuttles moving in such automated small parts shuttle racking system require high precision of the racking elements to guarantee proper and precise functioning of the system and satisfactory and accurate movement of the shuttle inside the system. Elements of the racks not adequately positioned may cause damage to both the racks and the shuttles. So there is a need for shuttles which can cope with such less accurate tolerances of the racking elements, while being able to propel accurately in horizontal and vertical direction in the aisles of the racking system, making use of horizontal and vertical tracks in the racking system. The shuttles need to be able to propel swiftly and without causing too much vibration to the racking system. The shuttles have a need for coupling systems to couple to the vertical tracks in a prudent way with little or no risk for damage to the coupling system and the vertical tracks when coupling.

It is an object of the present invention to provide shuttles adapted for propelling horizontally and vertically in a racking system comprising horizontal tracks and vertical tracks, which provide a solution to some or all these needs.

According to a first aspect of the invention, a shuttle for propelling horizontally and vertically in a racking system, such as an automated small parts shuttle racking systems, comprising horizontal tracks and vertical tracks is provided. The shuttle comprises a horizontal propelling system for propelling on horizontal tracks and a vertical propelling system for propelling in vertical tracks. The horizontal propelling system comprises at least <NUM> propelling wheels, which wheels each are retractable and extendable to and from one of the left and right side of the shuttle. The vertical propelling system comprises at least a first climbing system comprising a vertical wing retractable and extendable to and from the left or right side of the shuttle. This at least first vertical wing comprises at least two rotatable wheels, each rotatable around a wheel axis, the at least two rotatable wheels being.

This at least first vertical wing further comprises a pivoting means adapted to pivot the two rotatable wheel axes of the two rotatable wheels around a pivot axis between a first position, wherein the climbing and press wheel are free of contacting the first and second vertical surface, and a second position, wherein the climbing and press wheel contact the first respectively the second vertical surface.

Preferably the pivot axis and the two rotatable wheel axes are parallel.

A vertical wing is to be understood as a wing being an extendable vertical propelling unit.

The counter-pressure is the pressure needed to compensate the pressure exercised by the climbing wheel on the first vertical surface during vertical propelling.

The pivoting means hence can bring the axes of the rotatable wheels, and by consequence the two rotatable wheels themselves, from a first to a second position, and back from the second position to the first position. Preferably, the two rotatable wheel axes are positioned substantially one above the other when these axes are in the first position. After extending the wing inside the profile comprising the first and second vertical surface of the vertical track, the pivoting means, by pivoting the rotatable wheel axes to the second position, may bring the two rotatable wheels in contact with the respective vertical surfaces of the vertical track. By driving the climbing wheel, the shuttle may propel up- or downwards along the vertical track. During the propelling, the shuttle may hang cantilevered in the vertical track. During vertical propelling, the at least <NUM> propelling wheels from the horizontal propelling system may be retracted to the shuttle, such they pass next to the horizontal tracks during vertical propelling up- or downwards. Preferably at least two of the at least four propelling wheels are positioned at the left side of the shuttle, at least two of the at least four propelling wheels are positioned at the right side of the shuttle. Preferably at least two of the at least four propelling wheels are positioned at the front side of the shuttle, at least two of the at least four propelling wheels are positioned at the backside of the shuttle. Once the shuttle is brought at height, the propelling wheels of the horizontal propelling system are extended so they can make contact with horizontal tracks, thereby supporting the shuttle on these horizontal tracks.

According to some embodiments, the pivoting means may comprise.

The pivoting means may, alternatively or additionally, comprise a pneumatic system and/or an electromagnetic system to pivot the two wheel axes of the two rotatable wheels around a pivot axis from a first position to a second position and back from the second position to the first position. The pivoting means may, alternatively or additionally, comprise a wedge system to pivot the two wheel axes of the two rotatable wheels around a pivot axis from a first position to a second position and back from the second position to the first position. The pivoting means may, alternatively or additionally, comprise any mechanical system converting a linear to a rotational movement, to pivot the two wheel axes of the two rotatable wheels around a pivot axis from a first position to a second position and back from the second position to the first position.

The pivoting axis may be coinciding with one of the two rotating wheel axes or is positioned below, above or crossing with an imaginary line connecting the two rotating wheel axes.

According to some embodiments, the wing may comprise a cam system to conduct the pivoting means, the cam-system comprising a lever, the cam system being one of.

The cam system hence comprises a cam which can be.

a lever being a cam follower and rotating round a lever axis due to the movement of the cam.

Preferably the two rotatable wheels are coupled to the lever, most preferably one of the wheels at each outer end of the lever. Preferably the pivot axis is the rotation axis of the lever, also referred to as lever axis. When the pivoting means pivots from the first position to the second of vice versa, the lever is rotated round the lever axis. This lever axis is preferably parallel to the two rotatable wheel axes.

The climbing wheel may be driven by a driving means, which can be on board of the shuttle. By means of a driving shaft and optionally a transmission system, the driving means may provide a rotational movement to the climbing wheel. Possibly, the lever axis is coinciding with the axis of the driving shaft. The rotational movement of the driving shaft may be transferred to the climbing wheel by means of an appropriate transmission means, e.g. a driving wheel being in contact with the climbing wheel. This driving wheel may e.g. be a gearwheel when the climbing wheel is a gearwheel itself. The transmission means may make use of chains, belts or a similar transmission mechanism.

According to some embodiments, the width of the extended wing may be less than <NUM> enabling to pass the horizontal tracks while vertically propelling.

To propel from one level in the racking to another level, the shuttle climbs up or down by its vertical propelling system which is in contact with a vertical track. At the position where the wing, while being extended towards the vertical track, passes a horizontal track, the horizontal track needs to be interrupted in order to allow the wing passing the horizontal path that the shuttles may follow along this horizontal track. in order to limit the vibrations caused by the shuttles propelling in the racking, the interruption or 'gap' of the horizontal tracks at the position where they cross the vertical tracks, needs to be as small as possible. Consequently, at the position where the wing which needs to pass through this interruption, the wing must be as thin as possible. Therefore, to be able to pass the horizontal tracks while vertically propelling, the width of the wing in extended condition and in this position, is to be limited, and preferably to be less than <NUM>. The gap or interruption of the horizontal track is preferably less than <NUM>. The interruption of the horizontal track needs to be wider than the width of the wing in extended condition and at the position in direction of extension along the extended wing where the wing crosses the horizontal track. The width at a given position along the wing in the direction of extension is the distance in horizontal direction between the point of the wing closest to the front end of the shuttle at this given position along the wing in the direction of extension and the point of the wing closest to the backend of the shuttle at this given position along the wing in the direction of extension.

In order to keep the width of the wing as thin as possible, the elements bridging the outmost point of the extended wing in direction of extension and the side or chassis of the shuttle itself, are preferably positioned in a vertical plane. Such elements may be a driving shaft and extendable support bars and alike.

According to some embodiments, the climbing wheel is one of.

The climbing wheel is preferably a wheel with a profiled circumference. The profile may be provided in radial direction around the wheel. In case of a gearwheel or a sprocket, this radial profile is a toothed profile. The profile engages with a corresponding profile on the first vertical surface of the vertical track. This first vertical surface may be at the inner side of a profile, comprising at least the first and second flange of the profile of the vertical track, and a web. The first and second vertical surface may be mutually opposed in the vertical track. They may be e.g. the flanges of a profile, like a U, C, C+, sigma, sigma+ or omega profile. The climbing wheel during propelling vertically (being climbing upwards or downwards) will transfer the rotational movement of the climbing wheel into a vertical displacement of the shuttle along the first vertical surface.

The pivoting means will bring the climbing wheel from a first position, where it is not in contact, hence is free of contact, with the first vertical surface, to a second position, where the climbing wheel will make contact with the first vertical surface. In a similar way, the press wheel will be brought from a first position, where it is not contacting, hence is free of contact, with the second vertical surface, to a second position where it makes contact with this second vertical surface. Preferably, when the two rotatable wheels, being the climbing wheel and the press wheel, are in first position, the axes of these two rotatable wheels, which are preferably parallel, define a substantially vertical plane. As such, the width of the wing at the position of the rotatable wheels, can be kept minimal, such as being the maximum diameter of the largest rotatable wheel. Because this part of the wing is preferably inserted in a vertical track recess, the opening of the vertical track, e.g. when being a profile, can be kept minimal as well.

According to some embodiments, the climbing wheel is a gearwheel, a sprocket or a profiled wheel, a distance wheel is provided adjacent to and on the same axis as said climbing wheel, the distance wheel limits the penetration depth of the climbing wheel in respectively the toothed bar, the chain or the profile present on the first vertical surface of the vertical track.

In order to prevent the profiled climbing wheel, such as toothed climbing wheel, from excessive forces, the depth of penetration of the profile into the corresponding profile on the first vertical surface is preferably kept within allowable ranges. A distance wheel adjacent and coaxial with the climbing wheel, which distance wheel contacts a surface adjacent the profiled part of the first surface of the vertical track, and limiting the depth of penetration, may prevent to some extend too early wear out of the climbing wheel and/or the profiled first surface of the vertical track. The climbing wheel and the distance wheel may be coupled to each other, and are coaxial. The distance wheel may be a cylindrical flange which is provided to the climbing wheel. In the alternative, distance wheels non coaxial with the climbing wheel may be used.

The distance wheel may have a flat surface, or may be provided with an axial profile, such as a protrusion, e.g. a rib or rill, or a recess around the whole circumference of the distance wheel. When axially profiled, the distance wheel may engage with a corresponding elongate profile on the surface with which the distance wheel makes contact. Such axial profiled distance wheel may prevent drifting of the shuttle in a direction in a horizontal direction perpendicular to the horizontal propelling direction. As such, the distance wheel functions also as a guiding wheel.

The press wheel may have a flat surface, or may be provided with an axial profile, such as a protrusion, e.g. a rib or rill, or a recess around the whole circumference of the press wheel. When axially profiled, the press wheel may engage with a corresponding elongate profile on the second vertical. Such axial profiled press wheel may prevent drifting of the shuttle in a horizontal direction perpendicular to the horizontal propelling direction. As such, the press wheel may function as a guiding wheel.

According to some embodiments, when the pivot means is in the second position, the distance between the gravity point and the first vertical surface of the vertical track may be less than the distance between the gravity point and the second vertical surface of the vertical track.

In particular, when the shuttle is in unloaded condition, the distance between the gravity point and the first vertical surface of the vertical track may be less than the distance between the gravity point and the second vertical surface of the vertical track. Positioning the gravity point as such, may cause a guaranteed engaging between the climbing wheel and the first vertical surface of the vertical track when the shuttle is cantilevered in the vertical track or tracks.

More preferred, the distance between the gravity point and the first vertical surface of the vertical track, such as in unloaded condition, is kept small, such as less than or equal to <NUM>. A small distance between the gravity point and the first vertical surface of the vertical track may limit the horizontal pressure between the climbing wheel and the first vertical surface of the vertical track, and between the press wheel and the second vertical surface of the vertical track. This may allow lighter constructions to be used and may reduce the couple needed to drive the climbing wheel.

The vertical propelling system may comprise a first and a second climbing system, one climbing system at each of the left and right side of the shuttle. According to some embodiments, the vertical propelling system may comprise a first and a second climbing system, one climbing system at each of the left and right side of the shuttle, the shuttle comprises a first and a second motor, the first motor driving the first climbing system, the second motor driving the second climbing system.

The two climbing systems may comprise the same elements and may function in an identical or similar way. Preferably they are both present at the same position of the shuttle in the direction parallel to the horizontal propelling direction. Most preferably they are both present at the front or backend of the shuttle. The two climbing systems may be mirrored images one from the other.

Driving the climbing systems each with a motor provide that the two climbing systems are decoupled and function independently one from the other. As such, during extension of the wings and bringing the climbing wheel and first vertical surface aligned, one of the climbing systems may tune the position of the climbing wheel independently from the other climbing system to enable the climbing wheel and the first vertical surface of this one climbing system to match snuggly.

In the alternative, the two climbing systems may be driven by one motor, where the driving system may include a friction element or a differential to decouple to some extent the two climbing systems actions.

According to some embodiments, the horizontal propelling system comprising at least four propelling wheels, two being positioned at the left side of the shuttle, two being positioned at the right side of the shuttle, at least one of the propelling wheels at the left side may be driven by the first motor, at least one of the propelling wheels at the right side may be driven by the second motor.

When this first motor is also coupled to a first climbing system and the second motor is also coupled to the second climbing system, according to some embodiments, each motor may be provided with a coupling means to couple the motor to either at least one of the propelling wheels or to the climbing system.

Possibly the horizontal propelling system comprises at least four pairs of propelling wheels, two pairs being positioned at the left side of the shuttle, two pairs being positioned at the right side of the shuttle, at least one pair of the propelling wheels at the left side may be driven by the first motor, at least one pair of the propelling wheels at the right side may be driven by the second motor.

In alternative embodiments, the shuttle may comprise only one motor, i.e. the central motor, to drive the horizontal propelling system and the climbing systems. Appropriate coupling means are provided to couple this central motor to the horizontal propelling system and/or the climbing systems.

The shuttle may further comprise electrical components to control and steer the shuttle actions. The shuttle may also comprise a battery to store the electrical energy needed to feed the motors and electrical components.

The motors used are preferably electromotors. The used motors may be DC motors, such as brushless DC motors. The motors preferably are individually steered thereby allowing to compensate deviation between the propelling distances on the propelling tracks followed.

Additional motors (also possibly DC motors, such as brushless DC motors) may be used to rotate a cam, rotate a lever, rotate the pivot means, extend or retract the wings and/or the propelling wheels and alike.

According to some embodiments, the wing may comprise a guiding means to prevent the shuttle to move sideways in direction of the axis of the climbing wheel beyond a maximum distance.

Such guiding means may e.g. be a roller ball mount in e.g. a swivel frame. The roller ball may be mount spring-loaded. The guiding means may compensate to small deviations on the vertical track in which the shuttle propels.

According to some embodiments, the shuttle further may comprise a pivot wheel at one of the front- or backside of the shuttle. The plane defined by the lowest point of the pivot wheel and the lowest points of two propelling wheels at the left and right side of the shuttle, which two propelling wheels are closest to the other of the front and backside of the shuttle, may be downwards inclined in view of the plane defined by the lowest points of the propelling wheels at the left and right side of the shuttle. The pivot wheel may hence extend lower than the lowest extending propelling wheel. For the two propelling wheels at the left and right side of the shuttle, one of these propelling wheels is at the left side of the shuttle, the other propelling wheel is at the right side of the shuttle.

During propelling on a level in the racking system, the shuttle is vertically supported by the propelling wheels on the horizontal tracks. On ground level or if present, in mezzanines in the racking system, the provision of a pivot wheel which extends lower than the lowest propelling wheel, cause the shuttle to be vertically supported by the pivot wheel and some of the propelling wheels, usually the two propelling wheels which are most remote from the pivot wheel, one at the left side of the shuttle, the other at the right side of the shuttle. This because preferably each propelling wheel has a lowest point being coplanar with the lowest points of the other propelling wheels. When supported on the pivot wheel and two of the propelling wheels, the latter being driven, this may allow the shuttle to freely move and follow curved paths on the ground level or, if present, in mezzanines present in the racking system.

According to some embodiments, the horizontal propelling system further may comprise horizontal guiding wheels, which are retractable and extendable together with the retraction and extension of the propelling wheels.

These wheels, being an example of horizontal guiding means, which may be provided to the shuttle, will guide the shuttle during its propelling on the horizontal tracks within the aisles of the racking system. Alternatively, it may be roller balls mount in e.g. a swivel frame. The horizontal guiding means, e.g. wheels or roller balls, may be mount spring-loaded. The horizontal guiding means may compensate to small deviations on the horizontal track on which the shuttle propels. Preferably at least four horizontal guiding means are provided, one near each corner of the shuttle.

According to some embodiments, at each side of the shuttle, the propelling wheels are paired, the interaxial distance between the propelling wheels of each of the pairs of propelling wheels may be adapted to span the gap between adjacent horizontal tracks.

Possibly the horizontal propelling system comprises at least four pairs of propelling wheels, two pairs being positioned at the left side of the shuttle, two pairs being positioned at the right side of the shuttle, at least one pair of the propelling wheels at the left side may be driven by the first motor, at least one pair of the propelling wheels at the right side may be driven by the second motor. The use of pairs of propelling wheels is preferred, as this may reduce the vibration caused in the racking system when propelling the shuttle over the interruptions or "gaps" of the horizontal tracks. The interaxial distance of the propelling wheels in the pairs of propelling wheels is preferably larger than the width of the interruption of the horizontal tracks, e.g. larger than <NUM> such as larger than <NUM>. As such, possibly always one of the pair of propelling wheels is in contact with a horizontal track, avoiding to a large extent bumping actions of the shuttle passing the interruptions.

The shuttle may further comprise other elements, such as a chassis on which all elements of the shuttle are built and supported. The shuttle also comprises a platform to support and carry goods during propelling of the shuttle.

According to a second non-claimed aspect of the invention, a method to propel a shuttle in a racking system, such as an automated small parts shuttle racking system, is provided. The method comprises the steps:.

Features of one aspect of the invention may be combined with features of the other aspects as appropriate. The above and other characteristics, features and advantages of the present invention will become apparent from the following detailed description, taken in conjunction with the accompanying drawings The reference figures quoted below refer to the attached drawings.

The same reference signs refer to the same, similar or analogous elements in the different figures.

The present invention will be described with respect to particular embodiments. It is thus to be interpreted as specifying the presence of the stated features, steps or components as referred to, but does not preclude the presence or addition of one or more other features, steps or components, or groups thereof.

A shuttle <NUM> for propelling horizontally and vertically in a racking system <NUM> comprising horizontal tracks <NUM> and vertical tracks <NUM> is shown in <FIG>. The vertical track <NUM> is positioned between two uprights <NUM> of the racking system. The shuttle <NUM> comprises a horizontal propelling system <NUM> for propelling on horizontal tracks and a vertical propelling system <NUM> for propelling in vertical tracks. The horizontal propelling system <NUM> comprises <NUM> propelling wheels <NUM> and <NUM>, <NUM> pairs at each side of the shuttle <NUM>. One of the pairs of wheels <NUM> are driven wheels. The other pairs of wheels <NUM> are not driven. The wheels each are retractable and extendable to and from one of the left and right side of the shuttle <NUM>. During horizontal propelling, the wheels <NUM> and <NUM> turn on a horizontal surface <NUM> of the horizontal tracks <NUM>. The wheels <NUM> and the wing <NUM> on one side of the shuttle are driven by a first motor, while the wheels <NUM> and the wing <NUM> on the other side of the shuttle are driven by a second motor.

The vertical propelling system <NUM> comprises two climbing systems <NUM>, one at each side of the shuttle <NUM>. Each climbing system <NUM> comprises a vertical wing <NUM> which is retractable and extendable to and from the left or right side of the shuttle. Each wing <NUM> comprises one climbing wheel <NUM>, in this embodiment being a gearwheel, adapted to exercise a rotating movement for vertical propelling over a first vertical surface, being a profiled surface <NUM> of a toothed bar <NUM> being part of a vertical track <NUM>. Coaxially with this climbing wheel <NUM> is a guiding wheel <NUM> which is slightly larger in diameter as compared to the climbing wheel. The guiding wheel <NUM> contacts a flat surface <NUM> being part of the toothed bar <NUM> and being adjacent the profiled surface <NUM>. The wing <NUM> of the climbing system <NUM> further comprises a press wheel <NUM> which is adapted to provide vertical guidance of the shuttle and to provide counter-pressure during vertical propelling to a second surface <NUM> of the vertical track. The wing is retractable and extendable to and from the left or right side of the shuttle by means of two support bars <NUM>. The climbing system is driven by means of a central drive axis <NUM>. This drive axis <NUM> drives a second gearwheel <NUM>, which is in contact with and transfers its rotation to the climbing wheel <NUM>.

An exploded view of the wing <NUM> is shown in <FIG>. The vertical wing <NUM> comprises a pivoting means <NUM> adapted to pivot the axes <NUM> and <NUM> of the climbing wheel <NUM> and the press wheel <NUM> around a pivot axis <NUM> between a first position, wherein the climbing and press wheel are free of contacting the first and second vertical surface, and a second position, wherein the climbing and press wheel contact the respective vertical surfaces. In the embodiment shown, the pivoting means <NUM> comprises a wheel <NUM> provided with a slot <NUM> in which a pin <NUM>, being coupled to a lever <NUM>, is slidably positioned. Rotating of the wheel <NUM> will cause the axes <NUM> and <NUM> of the climbing wheel <NUM> and the press wheel <NUM> to pivot around pivot axis <NUM> between a first position and a second position. The pivot axis <NUM> is coinciding with the axis of the second gearwheel <NUM> transferring the driving power to the climbing wheel.

The contacts between the vertical track <NUM> and the elements of the vertical wing <NUM> are illustrated in <FIG>, in which figures a part of the web of the vertical track is removed from the view. The pivoting means <NUM> is in its second position where the climbing and press wheel is contacting the first and second surface of the vertical track <NUM>. As shown in <FIG>, the press wheel <NUM> presses against the second surface <NUM> of the vertical track <NUM>. As shown in <FIG>, the climbing wheel <NUM> is in contact with the toothed bar <NUM>, more particularly with the profiled surface <NUM> of the vertical track <NUM>. As shown in <FIG>, the guiding wheel <NUM> is in contact with the flat surface <NUM> of the vertical track <NUM>.

In <FIG> and <FIG>, the vertical wing <NUM> being inserted in the recess <NUM> of the vertical track <NUM> is shown in its first and second position. In <FIG>, the vertical wing <NUM> is in its first position where there is no contact between the climbing wheel <NUM> and the press wheel <NUM> and the respective surfaces <NUM> and <NUM> of the vertical track <NUM>. During extension and retraction of the wing <NUM>, the wing <NUM> can slide nicely into the recess <NUM> by passing the wing <NUM> through the opening <NUM> at the front side of the vertical track <NUM>. When the axes <NUM> and <NUM> of the climbing wheel <NUM> and the press wheel <NUM> are pivoted around a pivot axis <NUM> to the second position, as shown in <FIG>, the climbing wheel <NUM> and press wheel <NUM> contact the profiled surface <NUM> and the flat surface <NUM>. The guiding wheel <NUM> will contact flat surface <NUM>. The surfaces <NUM> and <NUM> are provided by a toothed bar <NUM>, which can be positioned and adjusted in the profile of the vertical track <NUM>.

In <FIG>, it is shown that the horizontal tracks <NUM> are interrupted at each crossing with a vertical track <NUM>. Two horizontal tracks <NUM> are coplanar, while between the two ends of the horizontal tracks <NUM>, a gap <NUM> is provided. This allows the support bars <NUM> and the drive axis <NUM> to pass through the gap <NUM> when the shuttle <NUM> propels vertically between two levels of the racking system. Also shown in <FIG> and <FIG>, a guiding means <NUM> to prevent the shuttle to move sideways in direction of the axis of the climbing wheel beyond a maximum distance is provided. This guiding means <NUM> contacts the inner surface <NUM> of the web of the profiled vertical track <NUM>. The guiding means <NUM> can be a roller ball being spring loaded.

<FIG> show various embodiments of possible pivoting means which are adapted to pivoted around a pivot axis <NUM> from a first position I where no contact with the vertical surfaces 211and <NUM> is made by the climbing wheel <NUM> and the press wheel <NUM>, to a second position II where the climbing wheel <NUM> and the press wheel <NUM> contact the vertical surfaces <NUM> and <NUM>. In <FIG>, the first position is indicated with "I", the second position is indicated "II". In the embodiments shown in <FIG>, the pivot axis <NUM> is central in view of the lever <NUM> coupling the climbing wheel <NUM> and the press wheel <NUM>. From the first position I, the rotation around the pivot axis <NUM> to the second position II (and back) is torque driven in the embodiment of <FIG>. In <FIG>, the rotation of a cam <NUM> generates the rotation of the pivot axis <NUM> from the first position I to the second position II and back. In <FIG>, a lever <NUM> is rotated, generating the rotation around the pivot axis <NUM> from the first position I to the second position II (and back).

In the embodiments shown in <FIG>, the pivot axis <NUM> coincides with the wheel axis of the climbing wheel <NUM>. From the first position I, the rotation around the pivot axis <NUM> to the second position II (and back) is torque driven in the embodiment of <FIG>. In <FIG>, the rotation of a cam <NUM> generates the rotation of the pivot axis <NUM> from the first position I to the second position II and back. In <FIG>, a lever <NUM> is rotated, generating the rotation around the pivot axis <NUM> from the first position I to the second position II (and back).

In the embodiments shown in <FIG>, the wheel axis of the press wheel <NUM> coincides with the pivot axis <NUM>. From the first position I, the rotation around the pivot axis <NUM> to the second position II (and back) is torque driven in the embodiment of <FIG>. In <FIG>, the rotation of a cam <NUM> generates the rotation of the pivot axis <NUM> from the first position I to the second position II and back. In <FIG>, a lever <NUM> is rotated, generating the rotation around the pivot axis <NUM> from the first position I to the second position II (and back).

In the embodiments shown in <FIG>, the rotation around the pivot axis <NUM> is caused by a forward movement of the shuttle, while the wing is inserted in the vertical track. A contact wheel <NUM> being coupled to the lever <NUM>, meets one of the vertical surfaces, in these embodiments surface <NUM>, before the press wheel <NUM> contacts this surface. The forward movement of the shuttle, and the rigid coupling of the contact wheel <NUM> and the lever <NUM>, cause the lever <NUM>, and hence the climbing wheel <NUM> and press wheel <NUM> to pivot around a pivot axis <NUM>. This pivot axis <NUM> may be located coinciding with the axis of the press wheel <NUM> (<FIG>) or with the axis of the climbing wheel <NUM> (<FIG>). in another embodiment in <FIG>, the pivot axis <NUM> may be centrally between the climbing wheel <NUM> and the press wheel <NUM>.

In the embodiment shown in <FIG>, the pivot axis <NUM> is located offset the lever <NUM> coupling the climbing wheel <NUM> and the press wheel <NUM>. The pivot axis <NUM> is coupled to the climbing wheel <NUM> and the press wheel <NUM> with two coupling means <NUM> and <NUM>. Using e.g. a torque driven rotation of the coupling means in opposite direction, or by an upwards movement of the pivot axis <NUM>, the climbing wheel <NUM> and press wheel <NUM> are rotated to the surfaces to contact. The opposite movement from position II to position I is made by the reverse action.

A further alternative embodiment is shown in <FIG>. The pivot axis <NUM> is central of the lever <NUM> coupling the climbing wheel <NUM> and the press wheel <NUM>. A second climbing wheel <NUM> and a second the press wheel <NUM> are provided, being coupled with a lever <NUM>. The two levers <NUM> and <NUM> cross centrally at pivot axis <NUM>. The two pairs of wheels are both rotatable around the same pivot axis <NUM>. These rotations are torque driven, but the rotations are in an opposite direction. By rotating around the pivot axis from position I to position II, the two climbing wheels <NUM> and <NUM> are brought in to contact with the first surface <NUM>, while the two press wheels <NUM> and <NUM> are contacting the second surface <NUM>. By the opposite rotations, the wheels are disconnected from the surfaces and brought from position II to position I.

<FIG> shows an alternative embodiment of the vertical track <NUM>. <FIG> shows vertical track <NUM> being a C-profile <NUM>, which additionally has a non-flat surface <NUM>. The surface <NUM> is provided with a rib, a bulge or a protrusion <NUM> directed inwards the recess <NUM> of the profile. This protrusion will guide a profiled press wheel <NUM>. The profiled press wheel <NUM> will contact the non-flat surface <NUM> having a protrusion <NUM>. The profiled press wheel has a profile like a groove or recess <NUM> around its circumference. The protrusion <NUM> and recess <NUM> match and as such, during vertical propelling, of the shuttle the recess will run over the protrusion, thereby avoiding horizontal drifting of the shuttle while vertically propelling in the vertical track <NUM>.

Claim 1:
A shuttle (<NUM>) for propelling horizontally and vertically in a racking system (<NUM>) comprising horizontal tracks (<NUM>) and vertical tracks (<NUM>), the shuttle comprising a horizontal propelling system (<NUM>) for propelling on horizontal tracks and a vertical propelling system (<NUM>) for propelling in vertical tracks,
• the horizontal propelling system comprises at least <NUM> propelling wheels (<NUM>, <NUM>), which wheels each are retractable and extendable to and from one of the left and right side of the shuttle;
characterised in that
• the vertical propelling system comprises at least a first climbing system comprising a vertical wing (<NUM>) retractable and extendable to and from the left or right side of the shuttle;
said at least first vertical wing comprising at least two rotatable wheels (<NUM>, <NUM>, <NUM>), each rotatable around a wheel axis the at least two rotatable wheels being
• one climbing wheel (<NUM>) adapted to exercise a rotating movement for vertical propelling over a first vertical surface of a vertical track;
• one press wheel (<NUM>, <NUM>) adapted to provide vertical guidance of the shuttle and to provide counter-pressure during vertical propelling to a second surface of the vertical track;
said at least first vertical wing comprising a pivoting means (<NUM>) adapted to pivot the two rotatable wheel axes (<NUM>, <NUM>) of the two rotatable wheels around a pivot axis (<NUM>) between a first position, wherein the climbing and press wheel are free of contacting the first and second vertical surface, and a second position, wherein the climbing and press wheel contact the first respectively the second vertical surface.