Storage and retrieval system for containers and associated containers
Patent Information
- Authority / Receiving Office
- DE · DE
- Patent Type
- Patents
- Current Assignee / Owner
- GEBRHARDT FORDERTECHN GMBH
- Filing Date
- 2020-09-30
- Publication Date
- 2026-07-23
AI Technical Summary
Existing storage and retrieval systems for containers, such as automated block storage, face issues with containers slipping, jamming, or tilting during stacking and transport, leading to unsafe gripping by robot grippers and inefficient use of space.
The system and container design incorporates specific edge configurations, including sloping and recessed features, to restrict translational and rotational movements, ensuring safe stacking and centering of containers, preventing slipping and jamming, and allowing for efficient space utilization.
The solution enables secure stacking and retrieval of containers, preventing uncontrolled slipping or jamming, allowing for safe gripping by robots and efficient space-saving storage, particularly in automated block storage systems.
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Abstract
Description
[0001] The invention relates to a storage and retrieval system for containers, comprising: a grid structure with a plurality of grid cells, wherein each grid cell defines a storage column of a container storage structure arranged below the grid structure, wherein the storage columns are configured to each receive a vertical stack of containers, and wherein the containers have a horizontal bottom, a wall extending upwards from the bottom to form a receiving space for transported goods, a lower rim substantially circumferential around the bottom, and an upper rim substantially circumferential formed at an upper end of the wall.
[0002] Furthermore, the present invention relates to a container for a storage and dispensing system, in particular for a storage and dispensing system according to one of claims 1 to 12, wherein the container has a horizontal bottom, a wall extending upwards from the bottom to form a receiving space for transported goods, a lower rim substantially circumferential around the bottom and an upper rim substantially circumferential formed at an upper end of the wall.
[0003] Furthermore, the present invention relates to a corresponding container as part of a storage and dispensing system.
[0004] Finally, the present invention relates to a method for positioning containers on a storage and retrieval system for containers, in particular on a storage and retrieval system according to one of claims 1 to 16, preferably with containers according to claim 17 or 18, wherein several containers are stacked on top of each other on the storage and retrieval system or on a grid structure of the storage and retrieval system, in particular for temporary storage when accessing another container.
[0005] Storage and retrieval systems for containers, as well as the containers themselves, are well-known in practice and exist in various designs. These systems are typically designed as specialized automated block storage systems. These specialized warehouses were developed to improve conventional warehouses, particularly with regard to achievable storage density. In conventional warehouses, the stored goods are usually contained in storage containers, which are placed on shelves arranged in rows. Each storage container holds a large number of products of a single type. Such a warehouse is accessed via the spaces between the rows of shelves, known as aisles, where a transport system, such as a storage and retrieval machine or a shuttle system, can access the individual storage locations.Since the aisles are not available for actual storage, the storage density of such warehouses is relatively low. In other words, the amount of space actually available for storing products is relatively small compared to the total space required for the warehouse.
[0006] In contrast, the aforementioned automated block storage systems – so-called gridstores – pursue an alternative approach. Instead of storing containers in conventional racks, they are stacked on top of each other in a self-supporting, modular aluminum grid that forms vertical shafts of defined sizes. The stacks are arranged in rows both longitudinally and transversely. Individual containers are accessed from above using suitable transport vehicles, which typically move along corresponding rails arranged in a 2D matrix on the racking structure. Consequently, no storage aisles are required between the rows, resulting in a significant improvement in storage density.Such automated block storage systems, which constitute one of the main application areas for transport vehicles according to embodiments of the present invention, are also partly known under the designation AutoStore®. WO 2017 / 153583 A1 shows such a storage and retrieval system together with a corresponding transport vehicle.
[0007] From WO 2019 / 081092 A1, a storage and dispensing system and a container of the type mentioned above are known. The containers shown in this document have a horizontal bottom, a wall extending upwards from the bottom to form a receiving space for transported goods, a lower rim substantially circumferential around the bottom, and an upper rim substantially circumferential formed at an upper end of the wall. As in Fig. As shown in Figure 8 (CC) of this document, such stacked containers stand with their lower edge directly on the upper edge of a container placed below them.
[0008] The existing storage and retrieval systems and containers are sometimes designed in such a way that it is advantageous for the containers not to leave the grid structure. Workstations are often located directly adjacent to the grid structure. However, particularly in industrial environments, it is necessary to use containers at distant workstations. Transport to these locations can be carried out in various ways, for example, using conveyor technology, hand trucks, forklifts, etc.
[0009] If workstations are not connected to conveyor technology, it is usually necessary to stack the containers for transport. However, during this stacking process, and especially during subsequent transport, containers can shift relative to each other. Depending on the design of the upper and lower edges of the containers, they can also become jammed or misaligned during stacking, which can cause the resulting stack to become skewed. Robot grippers may then be unable to reliably grasp containers from such a skewed stack, or may even be unable to grasp them at all.
[0010] The present invention therefore aims to provide a storage and retrieval system and an associated container of the type mentioned above, which enables particularly secure stacking of several containers on top of each other using structurally simple means. Furthermore, the present invention aims to provide a method for effectively positioning containers on a storage and retrieval system for containers.
[0011] According to the invention, the foregoing problem is solved by a storage and retrieval system having the features of claim 1 and by containers having the features of claims 17 or 18. Furthermore, the foregoing problem relating to a method according to claim 19 is solved by a method for positioning containers on a storage and retrieval system for containers, in particular on a storage and retrieval system according to any one of claims 1 to 16, preferably with containers according to claim 17 or 18, wherein several containers are stacked on top of each other on the storage and retrieval system or on a grid structure of the storage and retrieval system, in particular for temporary storage when accessing another container.
[0012] The storage and removal system of the type mentioned at the outset according to claim 1 is then designed and further developed in a manner according to the invention such that the lower edge and / or the upper edge has or has a stacking aid for restricting a translational and / or rotational movement of a container arranged on another container and / or for centering a container arranged on another container.
[0013] Furthermore, the container of the type mentioned at the outset according to claim 17 or 18 is designed and further developed in a manner according to the invention such that the lower edge and / or the upper edge has or has a stacking aid for limiting a translational and / or rotational movement of a container arranged on another container and / or for centering a container arranged on another container.
[0014] As a result, the storage and retrieval system and the container according to the invention provide a storage and retrieval system and a container, whereby, due to the stacking aid provided according to the invention, a particularly safe stacking of several containers on top of each other is made possible with structurally simple means.
[0015] Due to the safe stacking of several containers on top of each other realized according to the invention, uncontrolled slipping or jamming of stacked containers can be largely prevented, and particularly safe gripping of containers from a generated container stack by robots is enabled, since a slanted container stack can also be largely prevented.
[0016] The inventive method enables space-saving intermediate storage of containers when accessing another container, in particular when “digging out” a container from an automated block storage system.
[0017] For particularly efficient storage of goods, the wall can extend in a substantially vertical direction. However, a wall design with a slight incline to the vertical is also possible, and this design facilitates the loading of goods into the container due to the slightly angled walls.
[0018] In a further specific embodiment, the lower rim can have a downwardly tapered outer section – in particular, an angled, rounded, or radiused section. Such a downwardly and inwardly tapered outer section facilitates stacking containers on top of one another, since such a container can interact particularly easily with a stacking aid on the upper rim of a container positioned below it. The outer section can be rounded or have a radius, in which case the outer section can have a concave or convex curved surface – in particular, one directed outwards.
[0019] A clever design of the upper edge of a container is particularly advantageous. In this case, the upper edge can serve as a stacking aid by having a recess that is open upwards and towards the receiving space, essentially circumferential or sectionally formed along the upper edge, with an upwardly widening, sloping or rounded – concave or convex – or radiused inner section for at least partially receiving the lower edge of another container to be stacked on top of it.The recess, which is essentially circumferential or segmented, is open upwards and towards the receiving area and may have an essentially circumferential or segmented inner section extending upwards along the upper edge, with a sloping, rounded, or radiused shape, to at least partially accommodate the lower edge of a further container to be stacked on top of it. The inner section allows the further container to slide inwards if it is not sufficiently centered relative to the lower container for secure stacking. Particularly advantageously, the outer and inner sections can interact with each other, enabling a centering process between the lower container and the upper container to be stacked on top of it during stacking.
[0020] With a substantially circumferential design of the recess, the centering process can take place in different horizontal directions, depending on in which horizontal direction the upper container is not sufficiently centered relative to the lower container. In the case of a rectangular container, a "substantially circumferential" design of both the upper and lower edges as well as the recess means a design along the four wall areas or side bottom areas of this rectangular container, whereby corresponding transition areas are implemented in the four corner areas formed by the four wall areas or side bottom areas, so that one can speak of a substantially circumferential design.
[0021] The recess in the upper edge of a container can provide a substantially horizontal and / or flat support surface for stacking another container on top. This allows for particularly secure stacking of multiple containers.
[0022] For particularly secure stacking, the upper and lower edges can be designed in such a way that containers can be stacked on top of each other in a form-fitting manner. This largely prevents the containers from unintentionally slipping when stacked.
[0023] In an advantageous design of the container(s), the bottom can be flat or level. This design is particularly important for the container's function in storage and retrieval systems or block storage, so that the load acting on stacked containers can flow directly into the ground via the container's wall. With some conventional containers that have a separate lower rim and where the upper container is embedded within a lower one, the force flow at the bottommost container in a stack is initially transmitted from the wall to the ground and only then to a substrate, such as a warehouse floor. This creates a weak point in the area of the lower rim of a container, reducing the stability of that individual container.In the inventive design of the container, however, the force flows directly from the wall into a substrate, for example into a hall floor.
[0024] In a specific design, the outer and inner sections can have the same angle of inclination relative to a vertical direction. This enables particularly flush, form-fitting, and stable stacking, as the outer and inner sections can have full-surface contact when the containers are stacked.
[0025] For particularly secure stacking of containers, the outer section can have a greater or lesser angle of inclination relative to a vertical direction than the inner section. This different inclination of the outer and inner sections means that, especially during the stacking process, there is no full-surface contact between them, but usually only line contact. This allows an upper container to slide smoothly into the recess of a lower container without any unwanted jamming or tilting. The outer section can slide along an upper edge of the inner section until the bottom of the upper container rests in the recess or on a horizontal area of the recess.In some applications, however, the inner section can alternatively have a greater angle of inclination than the outer section relative to a vertical direction. The specific choice of inclination for the sections depends on the particular application.
[0026] To ensure particularly easy and safe sliding of an upper container into the recess of a lower container, the outer section can extend higher vertically than the inner section. When the containers are stacked, the outer section projects vertically above the upper edge of the lower container.
[0027] In a simple design, the outer section can essentially extend along the thickness of the base. This provides a sufficiently large outer section for safe stacking without compromising the stability of the base and thus the entire container.
[0028] In a further simple design, the upper edge can serve as a stacking aid by having a recess that is open upwards and towards the receiving space, essentially circumferentially or sectionally along the upper edge, with a section extending essentially vertically upwards for at least partially receiving the lower edge of another container to be stacked on top. In this embodiment, the upwardly extending section has no inclination or slope to a vertical direction. This design also enables simple and safe stacking of containers.
[0029] In a further simple design, the upper rim can serve as a stacking aid by comprising at least one stacking and / or centering element formed or arranged on the upper rim in the form of a hemispherical, trapezoidal, or cuboid cam and / or in the form of a pin and / or stud, preferably for interaction with at least one corresponding, preferably complementary, stacking and / or centering element formed or arranged on the lower rim of a further container to be stacked on top of it. Such a stacking and / or centering element represents a particularly simple embodiment of a stacking aid. Such a cam can be elongated, for example, perpendicular to the wall, at the upper rim. In particular, a hemispherical or trapezoidal design of the cam ensures that containers are centered when one container is stacked on top of another.If the cam has a convex shape, for example, the stacking and / or centering element formed or arranged at the lower edge of another container to be stacked on top of it can have a concave shape, and vice versa. This enables the safe positioning of containers on top of each other.
[0030] With a view to ensuring particularly safe stacking of containers and particularly safe operation of a storage and retrieval system, the grid structure can be designed such that the horizontal clearance for the containers in a storage column is smaller than the maximum displacement of the containers when stacked. Preferably, the maximum displacement is defined by a definable tolerance in the design of the outer and inner sections. This clearance in the storage column is necessary for easy stacking of the containers in the grid structure. However, the clearance must not be too large, as this could lead to excessive relative displacement of the containers and thus potentially to a tilting of the stack.The design of the grid structure defines this upper limit, whereas the maximum displacement of the containers relative to each other is determined in particular by the design and inclination of the outer and inner sections in conjunction with the extent of the recess.
[0031] With a view to particularly safe and easy stacking of multiple containers and particularly safe operation of a storage and retrieval system, the containers can be designed such that stacked containers can be moved relative to each other with a clearance of approximately 1 mm in any possible horizontal direction. This has proven to be a particularly useful dimensioning during development.
[0032] Furthermore, with a view to particularly safe and simple stacking of multiple containers and particularly safe operation of a storage and retrieval system, the grid structure can be designed such that the grid elements forming the support columns, preferably uprights, limit the maximum total or maximum cumulative displacement of stacked containers relative to each other in at least one and preferably in every possible horizontal direction to a maximum of 3 mm. A total or maximum cumulative displacement of several stacked containers can be significant if, for example, all stacked containers are displaced in the same direction. This can then lead to a stack of containers toppling over if, for example, it is unsupported. This dimensioning has also proven to be particularly appropriate and effective during development.
[0033] Furthermore, the containers can be designed such that a play of up to 4 mm in any possible horizontal direction is tolerable during a stacking process. A container can also be placed on top of a container that rests against the edge of a shaft or a support column of the grid structure, as long as a gripper for the container is no more than 1 mm off-center or displaced in the opposite direction. If a gripper is no more than 1 mm off-center or displaced in the opposite direction, the upper container, in a non-inventive configuration, would sit displaced by 2 mm on the stacking edge and tilt, whereas, due to the inclined sections on the container according to the invention, it slides into a correct, stable position with its base resting in the recess due to the effect of gravity.
[0034] With regard to the dimensions cited above as examples, it should be noted that other dimensions are also possible.
[0035] The container according to the invention is a stackable container with optimized force flow from the walls directly to the base, and is particularly suitable for storage and retrieval systems in the form of automatic or automated block storage. With the container according to the invention, tilting of a stack of containers created from containers according to the invention can be largely avoided. Jamming and jamming in a storage column or in a shaft of a storage and retrieval system can also be largely eliminated.
[0036] The container according to the invention can be stacked particularly advantageously on a storage and retrieval system, for example, on the grid structure of an automatic or automated block storage system. Due to the stackability of the container according to the invention, containers can be temporarily stored in a space-saving and safe manner on such a grid structure when access to other containers is being accessed by digging in storage columns or shafts of the block storage system. This prevents a large number of storage columns or shafts from being blocked during such an operation, as is the case with prior art when containers are temporarily stored side by side.
[0037] Significant aspects of embodiments of the invention have included a sloping stacking edge on the container, a force flow through the container walls into the base, and a free space formed in a bearing column or shaft of a storage and removal system, which is smaller than the maximum displacement of the containers within the tolerance of the slope of the sloping inner and outer sections or the slope on the container base.
[0038] The disadvantages of the prior art are overcome by an advantageous combination of the design of the stacking edge or the stacking aid, for example the sloping inner and outer sections, and the selected distances of containers arranged in a storage column or shaft to the storage column or grid elements of the storage column or shaft.
[0039] There are now various ways to advantageously develop and further refine the teaching of the present invention. For this purpose, reference should be made, on the one hand, to the dependent claims and, on the other hand, to the following explanation of preferred embodiments of the storage and dispensing system and the container according to the invention with reference to the drawing. In conjunction with the explanation of the preferred embodiments with reference to the drawing, generally preferred embodiments and further developments of the teaching are also explained. The drawing shows Fig. 1 in a schematic side view, cut and partially, an embodiment of a storage and retrieval system according to the invention, Fig. 2 in a schematic side view, cut, partially and enlarged, a further embodiment of a storage and retrieval system according to the invention, Fig. 3 in a schematic side view, cut, partially and further enlarged, the embodiment from Fig. 2, Fig. 4 in a schematic side view, cut and partially, a further embodiment with two containers according to the invention in a stacked state, Fig. 5 in a schematic side view, cut and partially, a further embodiment with two containers according to the invention during a stacking process, Fig. Figure 6 shows an embodiment of a container according to the invention in a perspective view. Fig. 7 in a schematic side view, cut and partially, a further embodiment of a storage and removal system according to the invention, wherein a gripper holds an upper container in a slightly raised state, Fig. 8 in a schematic representation, perspective and partial, the basic structure of a storage and retrieval system in the form of an automated block storage system, Fig. 9 to Fig. 11 in perspective views further embodiments of a container according to the invention with a vertical section formed at the upper edge and Fig. 12 in a perspective view another embodiment of a container according to the invention with cams formed at the upper edge.
[0040] Fig. Figure 1 shows a schematic, cutaway, and partial side view of an embodiment of a storage and retrieval system for containers 1 according to the invention. In this embodiment, the storage and retrieval system is designed as an automated block storage system. The block storage system has a grid structure 2 with a plurality of grid cells, each grid cell defining a storage column 3 of a container storage structure arranged below the grid structure 2. The storage columns 3 are configured to each receive a vertical stack of containers 1, with only two stacked containers 1 shown here as an example.
[0041] The containers 1 have a horizontal base 4 and a wall 5 extending vertically upwards from the base 4 to form a receiving space 6 for transported goods. A lower rim 7 runs essentially around the base 4, and an essentially circumferential upper rim 8 is formed at an upper end of the wall 5. The lower rim 7 has an outer section 9 that tapers downwards and inwards.
[0042] With a view to particularly safe and easy stacking of containers 1, the upper edge 8 has a substantially circumferential recess 10 that is open upwards and towards the receiving space 6, wherein the recess 10 has a substantially circumferential and upwardly and outwards widening inclined inner section 11. The recess 10 serves to at least partially receive a lower edge 7 of another container 1 to be stacked on top of it. The recess has a substantially horizontal and / or flat support surface 12 for another container 1 to be stacked on top of it.
[0043] In Fig. In this configuration, the lower container 1 is shifted horizontally to the left as far as possible, up to the support column 3. In contrast, the upper container 1 is shifted horizontally to the right as far as possible, up to the support column 3. Nevertheless, safe stacking of the containers 1 is ensured because the clearance provided by the support column 3 and its associated grid elements for the maximum horizontal displacement of the containers 1 is limited in accordance with the design of the lower edge 7 and the upper frame 8, or the outer section 9 and the inner section 11, such that even in this configuration, the upper container 1 rests securely on the support surface 12 of the lower container 1.
[0044] Fig. Figure 2 shows a schematic, cutaway, partial and enlarged side view of a further embodiment, which is fundamentally the same as the embodiment shown in Figure 2. Fig. This corresponds to 1. However, here the free space in the bearing column 3 is larger and the lower container 1 is not shifted maximally to the left. The lower container 1 has free space to the bearing column 3 both to the left and to the right. Here, the lower edge 7 of the upper container 1 and the upper edge 8 of the lower container 1 are shown in particular. In this Fig. Figure 2 shows that the upper container 1 is about to rest on the support surface 12. The upper container 1 is not sufficiently centered on the lower container 1 and is in the process of sliding onto this support surface 12. The outer section 9 and the inner section 11 of the containers 1 serve this purpose. The relative movement or displacement of the containers 1 relative to each other is limited by the grid structure 2 or the bearing column 3. This grid structure 2 or the bearing column 3 forms, so to speak, the outer frame for the relative displacement or displacement of all stacked containers 1 relative to each other. Fig. Figure 2 clearly shows that the lower container 1 could also shift horizontally both to the right and to the left. The upper container 1 is shifted to the right as far as possible.
[0045] Fig. 3 shows the situation Fig. 2. For clarity, shown again in a further enlarged view, showing only the right-hand side of the Fig. 2 is shown.
[0046] Fig. Figure 4 shows a situation of two stacked containers 1 in their final position and without a surrounding grid structure 2. The lower edge 7 of the upper container 1 rests on the support surface 12 of the lower container 1.
[0047] Fig. Figure 5 shows a schematic, cutaway, and partial side view of a further embodiment with two containers 1 according to the invention during a stacking process. In this situation, where the two containers 1 are stacked highly off-center relative to each other, safe stacking of the containers 1 is still possible, since the upper container 1, due to its inclined outer section 9, and the inclined inner section 11 of the lower container 1, will slide onto the support surface 12 due to the force of gravity, for example, to reach a final position such as that shown in Figure 5. Fig. 4 is shown.
[0048] Fig. Figure 6 shows a perspective view of an embodiment of a container 1 according to the invention. The design of the upper rim 8 is particularly evident. The contact surface 12 of the upper rim 8 has engagement recesses 13 for grippers.
[0049] Fig. Figure 7 shows in a schematic side view, cut and partially, a further embodiment of a storage and removal system according to the invention, wherein a gripper 14 holds an upper container 1 in a slightly raised state.
[0050] Fig. Figure 8 shows a schematic, perspective, and partial representation of the basic structure of a storage and retrieval system in the form of an automated block storage system. The block storage system comprises grid cells 15 and a transport vehicle 16.
[0051] The Fig. 9 to Fig. Figure 11 shows further embodiments of a container 1 according to the invention in perspective views, with a vertical section 17 formed at the upper edge 8. In the embodiment shown, the upper edge 8 has Fig. 9. A circumferential recess 10, open upwards and towards the receiving space 6 of the container 1, is provided. The vertical section 17 is also circumferential and essentially extends the wall 5. The recess 10 forms a support surface 12 for a container 1 to be stacked on it. The embodiment according to Fig. 10 essentially corresponds to the one in Fig. In the embodiment shown in Figure 9, section 17 is not continuous but rather formed in four individual sections essentially in the middle of the four sides of the container 1. In the embodiment shown in Figure 9, the section 17 is not continuous but rather formed in four individual sections essentially in the middle of the four sides of the container 1. Fig. 11 embodiment shown, which also corresponds to the embodiment shown in Fig. Unlike the embodiment shown in Figure 9, section 17 is also not formed around the perimeter, but rather in the four corner regions of the container 1. The four sections 17 formed in the corner regions each form a structure with contact surfaces arranged at right angles to each other for a container 1 to be stacked on top of it.
[0052] Fig.Figure 12 shows a further embodiment of a container 1 according to the invention in a perspective view, with stacking and / or centering elements in the form of cams 18 formed at the upper edge 8. The cams 18 shown here are essentially trapezoidal and elongated, being perpendicular to the sides of the rectangular container 1. A container 1 to be stacked on top of this container 1 may have complementary stacking and / or centering elements, which may be correspondingly shaped and formed recesses in a lower edge 7 of a container.
[0053] Regarding further advantageous embodiments of the storage and removal system and the container according to the invention, reference is made to the general part of the description and to the attached claims to avoid repetition.
[0054] Finally, it should be expressly noted that the exemplary embodiments described above serve only to illustrate the claimed teaching, but do not limit it to these exemplary embodiments. Reference symbol list 1 container 2 Lattice structure 3 bearing column 4 floors 5 Wall 6 Recording room 7 bottom edge 8 top edge 9 outer section 10 Exclusion 11 inner section 12 contact surfaces 13 Interventional recess 14 grippers 15 grid cells 16 transport vehicles Section 17 18 cams QUOTES INCLUDED IN THE DESCRIPTION
[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature
[0000] WO 2017 / 153583 A1
[0006] WO 2019 / 081092 A1
[0007]
Claims
[1] Storage and retrieval system for containers (1), comprising: a grid structure (2) with a plurality of grid cells (15), wherein each grid cell (15) defines a support column (3) of a container support structure arranged below the grid structure (2), wherein the support columns (3) are configured to each accommodate a vertical stack of containers (1), and wherein the containers (1) have a horizontal bottom (4), a wall (5) extending upwards from the bottom (4) to form a receiving space (6) for transported goods, a lower rim (7) substantially circumferentially around the bottom (4) and an upper rim (8) formed substantially circumferentially at an upper end of the wall (5), characterized bythat the lower rim (7) and / or the upper rim (8) has or has a stacking aid for restricting translational and / or rotational movement of a container arranged on another container and / or for centering a container arranged on another container. [2] Storage and retrieval system according to claim 1, characterized by , that the wall (5) extends in a substantially vertical direction. [3] Storage and retrieval system according to claim 1 or 2, characterized by , that the lower edge (7) has an outer section (9) that tapers downwards - in particular is sloping or rounded or has a radius. [4] Storage and retrieval system according to any one of claims 1 to 3, characterized by , that the outer section (9) has a concave or convex curved surface. [5] Storage and retrieval system according to any one of claims 1 to 4, characterized by, that the upper rim (8) as a stacking aid has a substantially circumferential or sectionally formed recess (10) open upwards and towards the receiving space (6) along the upper rim (8) with a substantially circumferential or sectionally formed and upwardly widening inclined or rounded - concave or convex curved - or having a radius - concave or convex - inner section (11) for at least partially receiving a lower rim (7) of a further container (1) to be stacked on it. [6] Storage and retrieval system according to claim 5, characterized by that the recess (10) has a substantially horizontal and / or flat support surface (12) for a further container (1) to be stacked on it. [7] Storage and retrieval system according to any one of claims 1 to 6, characterized by, that the upper rim (8) and the lower rim (7) are designed in such a way that containers (1) can be stacked on top of each other in a form-fitting manner. [8] Storage and retrieval system according to any one of claims 1 to 7, characterized by , that the ground (4) is flat or level. [9] Storage and retrieval system according to any one of claims 5 to 8, characterized by , that the outer section (9) and the inner section (11) have the same angle of inclination relative to a vertical direction. [10] Storage and retrieval system according to any one of claims 5 to 8, characterized by , that the outer section (9) has a larger or smaller angle of inclination than the inner section (11) relative to a vertical direction. [11] Storage and retrieval system according to any one of claims 5 to 10, characterized by , that the outer section (9) extends higher in a vertical direction than the inner section (11). [12] Storage and retrieval system according to any one of claims 3 to 11, characterized by , that the outer section (9) extends essentially along a thickness of the soil (4). [13] Storage and retrieval system according to any one of claims 1 to 12, characterized by , that the upper edge (8) as a stacking aid has a substantially circumferential or sectionally formed recess (10) open upwards and towards the receiving space (6) along the upper edge (8) with a section (17) extending substantially vertically upwards and forming substantially circumferentially or sectionally along the upper edge (8) for at least partially receiving a lower edge (7) of a further container (1) to be stacked on it. [14] Storage and retrieval system according to any one of claims 1 to 13, characterized by, that the upper rim (8) as a stacking aid has at least one stacking and / or centering element formed or arranged on the upper rim (8) in the form of a hemispherical, trapezoidal or cuboid cam (18) and / or in the form of a mandrel and / or pin, preferably for interaction with at least one corresponding, preferably complementary, stacking and / or centering element formed or arranged on the lower rim (7) of a further container (1) to be stacked thereon. [15] Storage and retrieval system according to any one of claims 1 to 14, characterized by, that the lattice structure (2) is designed such that a clearance realized in a horizontal direction for the containers (1) in a bearing column (3) is smaller than a maximum displacement possibility of the containers (1) in the stacked state, wherein preferably the maximum displacement possibility is specified by a definable tolerance in the realization of the outer (9) and inner sections (11). [16] Storage and retrieval system according to any one of claims 1 to 15, characterized by , that the containers (1) are designed such that stacked containers (1) can be displaced relative to each other in any possible horizontal direction with a clearance of approximately 1 mm, and / or that the grid structure (2) is designed such that the grid elements forming the bearing columns (3), preferably uprights, limit a maximum total or maximum cumulative displacement of stacked containers (1) relative to each other in at least one and preferably in every possible horizontal direction to a maximum of 3 mm, and / or that the containers (1) are designed such that a clearance of up to 4 mm in any possible horizontal direction is tolerable during a stacking process. [17] Container (1) for a storage and dispensing system, in particular for a storage and dispensing system according to any one of claims 1 to 16, wherein the container (1) has a horizontal bottom (4), a wall (5) extending upwards from the bottom (4) to form a receiving space (6) for transported goods, a lower rim (7) substantially circumferentially around the bottom (4) and an upper rim (8) substantially circumferentially formed at an upper end of the wall (5), characterized by that the lower rim (7) and / or the upper rim (8) has or has a stacking aid for restricting translational and / or rotational movement of a container arranged on another container and / or for centering a container arranged on another container. [18] Container (1) as part of a storage and retrieval system, in particular a storage and retrieval system according to any one of claims 1 to 16, wherein the container (1) has a horizontal bottom (4), a wall (5) extending upwards from the bottom (4) to form a receiving space (6) for transported goods, a lower rim (7) substantially circumferentially around the bottom (4) and an upper rim (8) substantially circumferentially formed at an upper end of the wall (5), characterized by that the lower rim (7) and / or the upper rim (8) has or has a stacking aid for restricting translational and / or rotational movement of a container arranged on another container and / or for centering a container arranged on another container. [19] Method for positioning containers (1) on a storage and retrieval system for containers (1), in particular on a storage and retrieval system according to one of claims 1 to 16, preferably with containers (1) according to claim 17 or 18, wherein several containers (1) are stacked on top of each other on the storage and retrieval system or on a grid structure (2) of the storage and retrieval system, in particular for temporary storage when accessing another container (1).