Device for vertically conveying a loading unit or vehicle in a storage system, storage system comprising such a device and method for operating such a device

Abstract

A device (1, 36, 39) for vertically conveying a loading unit (2) or a vehicle (35) in a storage system with a holding means (7) which is configured to allow either a substantially horizontal transfer of the loading unit (2) or a substantially horizontal transfer of the vehicle (35), wherein the holding means (7) further comprises a pivotable ramp (8).

Description

Technical area

[0001] The invention relates to a device for vertically conveying a loading unit or a vehicle in a storage system, a storage system comprising such a device and a method for operating such a device according to the independent claims. State of the art

[0002] Devices for vertical conveying are known and common.

[0003] DE 202 13 803 U1 shows a storage device for storing and retrieving containers into or from a shelf.

[0004] DE 102 54 647 A1 shows an operating device for container storage and an associated rail system.

[0005] WO 2008 / 015 114 A2 shows a method for storing and retrieving loads in or from a shelf location using a load handling device with a loading platform that can be moved transversely to a shelf aisle. Object of the invention

[0006] The object of the present invention is to overcome the disadvantages of the prior art. Solution to the task

[0007] The subject matter of the independent claims leads to the solution of the problem. Advantageous embodiments are described in the dependent claims.

[0008] One embodiment of the present invention relates to a device for vertically conveying a load unit or a vehicle in a storage system. The device comprises a holding means for holding the load unit or vehicle (hereinafter usually referred to as "holding means").

[0009] As explained in more detail below, this device preferably has at least two functions. On the one hand, it allows the vertical conveyance of the load unit or vehicle. On the other hand, it allows or accomplishes the transfer of the load unit or vehicle into or out of a shelf.

[0010] The holding means comprises a support surface for holding the load unit or the vehicle. The holding means is further configured to allow either a substantially horizontal transfer of the load unit between its support surface and a support surface of a shelf support, or to allow a substantially horizontal transfer of the vehicle between its support surface and a rail surface of a shelf support.

[0011] The holding means further comprises a pivotable ramp, wherein the ramp can be reversibly moved from a neutral position into a position supporting the transfer onto the support surface of the compartment support or onto the running rail surface of the running rail; and wherein the ramp can be moved into a position enabling the transfer onto the support surface of the holding means.

[0012] The holding means is further configured to use the ramp to bridge a height difference between the shelf support and the support surface of the holding means during transfer to the support surface of the shelf support, or to bridge a height difference between the support surface of the shelf support and the support surface of the holding means during transfer to the running rail surface of the running rail. In this case, the aforementioned height difference exists immediately before the start of the transfer to the support surface of the shelf support or to the running rail surface of the running rail.

[0013] The ramp is designed to provide a track or sliding surface for the load unit or vehicle during transfer onto either the support surface of the shelf support or onto the runway surface of the runway.

[0014] The device is further configured such that during the transfer to the support surface of its holding means, the ramp is moved from the loading unit or the vehicle into the position enabling the transfer to the support surface of the holding means.

[0015] The support surface of the holding means can be a substantially flat and continuous surface. However, the support surface of the holding means can also be formed from several surface sections that are not connected but are arranged substantially in the same plane. The support surface of the holding means can, for example, be a grid with recesses. In this case, it can always be considered to select the support surface of the holding means so that it is adapted, for example, to a contact surface of the loading unit, as described below. In general, any continuous structure or structure formed from surface sections that can hold a vehicle or a loading unit and allows or assists a transfer of this vehicle or this loading unit by the transfer means can be considered as the support surface of the holding means.For example, the support surface of the holding means can also be designed in the form of two parallel rails similar to the shelf supports or the rails in a shelf.

[0016] It can also be considered that a roller conveyor, a belt conveyor, or another horizontal conveyor forms the support surface on the holding means.

[0017] As described in more detail below, the device for vertically conveying the load unit or the vehicle (hereinafter "device for vertical conveying" or "device") can be in particular an automatic warehouse storage and retrieval machine (hereinafter "warehouse storage and retrieval machine"), an automated guided vehicle (hereinafter partly "AGV") with a lifting device, an automatic storage and retrieval machine (hereinafter partly "storage and retrieval machine") with a lifting device or a vertical conveyor.

[0018] In the context of the above invention, an automatic device preferably means a device that performs its intended work and process steps without the intervention of an operator. Such an automatic device is typically connected to a higher-level control or regulation device for this purpose.

[0019] The device can be a storage and retrieval machine. Storage and retrieval machines can, for example, operate on a grid structure located above a storage system. Alternatives are conceivable. For example, storage and retrieval machines can also be considered that operate along the front of at least one rack or within aisles that run between racks.

[0020] The grid structure can extend across the entire storage system or across part of it. It can also extend beyond the storage system.

[0021] Devices according to embodiments of the present invention always serve both for the transfer of the loading unit or the vehicle into the rack and for the opposite transfer of the loading unit or the vehicle onto the holding means of the device. With regard to the loading unit, devices according to embodiments of the present invention thus serve to move the loading unit during storage and retrieval. With regard to the vehicle, devices according to embodiments of the present invention thus serve both for driving the vehicle into the rack and for removing or removing the vehicle from the rack, whereby both can take place in particular during a level change in which the vehicle coming from one rack level is to drive into a higher or lower rack level of the rack.Such a level change of the vehicle can be achieved with the aid of the device according to the present invention, for example with the aid of the vertical conveyor described in more detail below. The device can be a vertical conveyor. The vertical conveyor can be stationary or, for example, movable along an aisle. The vertical conveyor can transfer vehicles, for example so-called multi-level shuttles, which transport load units on different shelf levels of a warehouse system, from one of these shelf levels to another.

[0022] The vertical conveyor can also transport load units. Such vertical conveyors typically include a transfer device for transferring the load unit in addition to the holding device.

[0023] The device can be an AGV or an automated storage and retrieval system with a lifting device. Both are typically used to store load units, with the load unit being transferred from a holding device of the AGV or the automated storage and retrieval system to a shelf support of the rack. AGVs and automated storage and retrieval systems can also typically retrieve load units, which are transferred during retrieval from, for example, a shelf support of the rack to the holding device of the AGV or the automated storage and retrieval system.

[0024] Transfer and holding devices, which were described in relation to the warehouse handling machine, can also be used in vertical conveyors as well as in AGVs and automatic storage and retrieval machines with lifting devices.

[0025] In the context of the present invention, a transfer can in particular be a transfer or a drive.

[0026] In the context of the present invention, transferring refers to the transfer of a loading unit, for example, by a transferring device. The loading unit cannot usually transfer itself, but is transferred by a dedicated device or device.

[0027] If a vehicle is transported vertically by the device, the transfer is usually not carried out in the form of a transfer, but rather by the vehicle itself driving the distance to be covered during the transfer.

[0028] Whether the transfer is carried out by moving or driving depends primarily on whether the part to be transferred can move itself.

[0029] The term "loading unit" includes, among other things, any cargo that is unpackaged or packaged. The term "loading unit" also includes a loading device such as a crate, box, or pallet in or on which a cargo may be located.

[0030] The shelf support of the rack can be formed by support rails or a shelf or the like. A variety of such shelf supports are known from the prior art and are familiar to those skilled in the art. Preferably, the rack is part of a rack storage system, which will be explained in more detail below with regard to preferred embodiments.

[0031] The ramp is preferably a substantially flat component.

[0032] The ramp can be pivotable, for example, by being able to rotate about a rotation axis. This rotation axis preferably runs orthogonally to the direction along which the transfer takes place.

[0033] Furthermore, the pivoting capability of the ramp can be provided, for example, via a coupling gear designed as a guide gear. Other alternatives are conceivable. The ramp can generally be connected to the holding means in a suitable, articulated manner.

[0034] In the neutral position, the ramp is preferably aligned substantially or at least approximately orthogonal to the support surface of the holding means.

[0035] In the position supporting the transfer to the support surface of the shelf support or to the surface of the guide rail, the ramp is preferably pivoted until it rests against or rests on a component of the rack, which will be explained in more detail below. In this case, the ramp can assume a position relative to the support surface of the holding means before the transfer, which is inclined between 30° and 90°, preferably between 45° and 90°, more preferably between 60° and 90° to align the ramp in the neutral position and thus preferably also to the vertical.

[0036] A substantially horizontal transfer preferably means that a direction along which the transfer takes place can deviate from the horizontal by up to 10°, for example. This direction preferably deviates from the horizontal by up to 8°, more preferably by up to 5°. The aforementioned direction is preferably measured by observing a point on the vehicle or loading unit before the start of the transfer and after the end of the transfer. The direction therefore preferably refers to a distance that is predetermined by the position of this point before the start of the transfer and after the end of the transfer.

[0037] Numerous preferred design variants of the warehouse control device are described below.

[0038] The ramp can be designed as a passive component. A passive ramp is not assigned a drive. It can also be considered that such a passive ramp does not include any sensors and does not have any sensors assigned to it.

[0039] The ramp may comprise a return element or may be assigned a return element configured to return it to the neutral position in the unloaded state. Preferably, the return element ensures that, starting from both the position supporting transfer to the support surface of the shelf support or to the rail surface and the position enabling transfer to the support surface of the holding means, the ramp and all components connected to it in a rotationally fixed manner return to the neutral position immediately after the removal of any load on the ramp, e.g., from the vehicle or the loading unit.

[0040] The return element can be a return spring or an element acting in the manner of a spring, such as a component made of an elastomer. Alternatively, the return element can be a counterweight attached to the ramp or operatively connected to it. Such a counterweight is preferably connected to the ramp in such a way that it ensures that the ramp, in the unloaded state, is moved to the neutral position solely by the force of gravity acting on the counterweight.

[0041] The device can comprise the holding means and a transfer means for transferring the load unit. According to such an embodiment, the device typically comprises a separate holding means, for example a platform or the like, which provides the support surface. This holding means primarily provides the support surface for holding the load unit or the vehicle, i.e., for temporarily storing it before the transfer takes place. In addition, the device described above can comprise a transfer means, preferably designed separately from the holding means. The transfer means preferably serves exclusively for transferring the load unit, since the vehicle typically completes the transfer traveling on its own wheels.

[0042] The transfer device described above is preferably used when load units are conveyed vertically and transferred horizontally. If a vehicle is conveyed vertically, transfer devices are usually not necessary because the vehicle can usually handle the horizontal transfer itself with its own drive.

[0043] If the transfer takes place in the form of transfer, a transfer means can be considered in all embodiments of the device.

[0044] Various transfer means can be considered. The transfer means can be, for example, a gripper. This can grip the load unit by force or form fit, or mechanically or pneumatically. The transfer means can generally be a means designed to push or pull the load unit or to convey it in another way. The transfer means can be designed, for example, as a horizontal conveyor, such as a conveyor belt or roller conveyor. The transfer means can also be, for example, a satellite vehicle of the warehouse storage and retrieval device.

[0045] Particularly when roller conveyors or the like are used as transfer means, it can be considered that the holding means comprise a further transfer means in addition to the roller conveyor or the like. For example, an additional gripper and / or pusher could be provided.

[0046] In general, it can be envisaged that one, two or more similar or different transfer means are arranged on a holding means.

[0047] The device can be configured such that during the transfer, either the loading unit or the vehicle brings the ramp into the position supporting the transfer onto the support surface of the shelf support or onto the running rail surface of the running rail.

[0048] In the position supporting the transfer to the support surface of the shelf support or to the surface of the guide rail, the ramp can rest on or against a component of the shelf. Such a component can be, for example, a part of the shelf support or a shelf upright or the like.

[0049] The device can be designed in the form of an automatic storage and retrieval device for storing and retrieving the load unit, wherein this storage and retrieval device comprises the transferring means and the holding means. The loading unit is preferably stored in the shelf support, and it is preferably retrieved onto the support surface of the holding means of the storage and retrieval device.

[0050] Instead of the gripper already described, a transfer device can be, for example, a horizontal conveyor such as a roller or belt conveyor that can transfer the load unit. Alternatively, a satellite vehicle assigned to the storage and retrieval device can also be considered as the transfer device. In such an embodiment, the storage and retrieval device is designed as a system comprising the components already described and the satellite vehicle.

[0051] Storing the load unit in the shelf support usually involves placing the load unit on the support surface of the shelf support.

[0052] In this case, storage preferably includes at least the transfer described above. Storage typically also includes transporting the load unit, for example, within the aisle to the shelf support to which the transfer is to take place.

[0053] The transfer means of the storage and retrieval machine can be configured to transfer the load unit essentially horizontally from the support surface of the shelf support to the support surface of the storage and retrieval machine. The storage and retrieval machine can be configured such that, during the transfer of the load unit to the support surface of the storage and retrieval machine, the ramp is moved from the load unit into a position that enables transfer to the support surface of the storage and retrieval machine. If another device with a holding means is used instead of the storage and retrieval machine, the above considerations apply analogously.

[0054] The storage and retrieval device can comprise a movement unit and a load handling and transfer unit, which is connected to the movement unit via belts, ropes, straps, chains, preferably via belts or ropes, or via other traction means.

[0055] The device can be designed in the form of a vertical conveyor configured to allow the substantially horizontal transfer of the vehicle or the loading unit onto the support surface of the compartment support or onto the surface of the running rail, wherein the vertical conveyor comprises the holding means. If the vertical conveyor serves to vertically convey a vehicle, transferring can usually be dispensed with, so that such a vertical conveyor typically comprises a holding means but no transferring means. If, however, the vertical conveyor serves to transport the loading unit, a transferring means is preferably provided.

[0056] The device can be designed as a driverless transport vehicle or as an automatic storage and retrieval system. A device designed in this way preferably comprises a lifting device, with the holding means for holding the load unit or the vehicle being associated with the lifting device. With the aid of this lifting device, the holding means can preferably be moved and positioned vertically.

[0057] The present invention also includes a storage system comprising an embodiment of one of the devices described above and a shelf, preferably a plurality of shelves, with a plurality of shelf supports and / or a plurality of travel rails.

[0058] Shelf supports and / or rails arranged one above the other can form shelving levels.

[0059] The storage system may comprise a rack storage facility, which in turn comprises a plurality of racks and a storage and retrieval device that is not permanently connected to a component of the rack storage facility, for example to a grid structure.

[0060] The present invention also encompasses a method for operating a variant of a device described above. This involves transferring the load unit or vehicle from the support surface of the holding means to the support surface of the compartment support or to the surface of the running rail, wherein this transfer comprises the following steps: - vertical positioning of the holding device so that its support surface is either below the support surface of the shelf support or below the running rail surface of the running rail - Transfer of the load unit or the vehicle onto the support surface of the compartment support or onto the running rail surface of the running rail, whereby during the transfer either the transfer means or the load unit or the vehicle brings the ramp into the position supporting the transfer onto the support surface of the compartment support or onto the running rail surface of the running rail.

[0061] A vertical position of the holding device can be selected such that, after positioning, the holding device is located below the support surface of the shelf support or below the surface of the guide rail, even after adding a vertical tolerance. The vertical tolerance can be determined in advance, for example in preliminary tests. For example, it can be considered that a shelf level is first selected or specified at which height the holding device is to be positioned. A higher-level control or regulation device can be stored to position the holding device in such a way that, even after adding the tolerance, its support surface is in a vertical position that is either below the support surface of the shelf support or below the surface of the guide rail.

[0062] An advantage of the variants of the method described above is that neither complex "training" of the device nor complex, costly, and potentially error-prone sensor technology are required to enable the most trouble-free transfer possible. This advantage is achieved because any height differences between the support surface of the holding device and either the support surface of the shelf support or the surface of the rail are compensated for by the passive ramp. Thanks to the ramp, the support surface of the holding device does not have to be positioned exactly flush or at exactly the same height as the support surface of the shelf support or the surface of the rail.

[0063] However, variants can also be considered in which the use of sensors is advantageous. The ramp is preferably still passive, i.e., not controlled by a motor or the like. Instead, even in the variants described below, the ramp moves during the transfer due to the force exerted on it by the loading unit or vehicle.

[0064] The vertical positioning of the holding device can be achieved in several ways. On the one hand, positioning can be achieved using a rotary encoder associated with a lifting shaft, which in turn ensures the vertical movement of the holding device.

[0065] Additionally or alternatively, a distance sensor, for example a distance laser, can be arranged on a part of the device which does not change its position during vertical positioning and which determines the distance between this part of the device and the holding means.

[0066] Additionally or alternatively, the holding means may comprise a sensor or reader that responds to identifiers on the shelf, the guide rails, or the shelf supports. Such identifiers may be structures such as recesses or the like. Alternatively, machine-readable codes such as RFID codes or barcodes may also be considered.

[0067] Additionally or alternatively, a distance sensor on the holding means can be considered, which determines a distance between the holding means and, for example, a travel rail or a shelf support.

[0068] Additionally or alternatively, a distance sensor can be provided on the holding means, which measures a distance between the holding means and a surface, for example a hall floor of a warehouse.

[0069] Alternative transmitters, readers, sensors, and the like are conceivable.

[0070] All of the aforementioned readers or sensors can be used individually. Alternatively, the readers or sensors can be used in combination with the aforementioned rotary encoder to correct the often less accurate position determination of the rotary encoder if necessary.

[0071] After the holding device has been positioned vertically and before the load unit or vehicle is transferred, the positioning can be checked and, if necessary, corrected using suitable sensors. A suitable sensor that can detect the angle of rotation of the ramp can be considered here. If the vehicle drives against the ramp at the beginning of the transfer process or if the load unit is pushed against the ramp at the beginning of the transfer process and then reaches the rack, the ramp rotates from the neutral position towards the rack. As soon as the ramp touches or rests on a component of the rack, the ramp stops rotating. With the help of the aforementioned sensor for detecting the angle of rotation of the ramp, it can be determined whether the angle to the vertical reached when the ramp touches or rests on a component of the rack is sufficiently large to ensure a trouble-free transfer.If this angle between the ramp and the vertical falls below a predetermined limit, the transfer that has already begun can be stopped and the positioning of the holding device can be corrected. Specifically, the vehicle can stop, or the transfer device can stop the load unit's movement toward the rack, whereupon the holding device is moved vertically upwards by a predetermined distance. The previously stopped transfer can then be resumed. The aforementioned limit can be, for example, 60°, 45°, 30°, or 15°.

[0072] Such a sensor, which detects the angle of rotation of the ramp, can be used alternatively or additionally to check the ramp's functionality. If, for example, the ramp fails to return to its neutral position when unloaded, this sensor can detect this and subsequently correct the problem, for example, by repairing the ramp, its return element, or the entire holding device.

[0073] Details and details described with regard to the storage system or method also apply to the device and vice versa. Character description

[0074] Further advantages, features and details of the invention will become apparent from the following description of preferred embodiments and from the drawings, which show: Fig. 1 a section of a rack storage 12 in perspective view, Fig. 2, Fig. 3 and Fig. 30 an automatic storage and retrieval device 1, Fig. 4 an enlarged section of a shelf storage 12 in perspective view, Fig. 5 the section of the rack storage 12 according to Fig. 1 in side view, Fig. 6a to 6h and 7 and 8 details concerning the transfer of a loading unit 2 into a compartment support 3.1, Fig. 9a to 9f a transfer of the loading unit 2 onto a support surface 20 of a first holding means 7.1, Fig. 10 to 12 and 27 and 29 show details of various embodiments of a passive pivoting ramp 8 (hereinafter referred to as “ramp 8”) in conjunction with various return elements 9, 21, 25, 26, Fig. 13 to 16 a second and a third holding means 7.2, 7.3, Fig. 17 to 20 Details concerning the transfer of either a vehicle 35.2 or the loading unit 2 from a vertical conveyor 36.1 to the rack 11.2, Fig. 21 and Fig. 22 two alternative vertical conveyors 36.2, 36.3 with different transfer devices 6.5, 6.6, Fig. 23 and Fig. 24 two different driverless transport vehicles 39.1, 39.2 with different transfer devices 6.7, 6.8, as well as in Fig. 25 and Fig. 26 a variant of the holding means 7.1 with telescopic arm 31 on the transfer means 6.1. Fig. 28 shows the holding means 7.1 according to Fig. 4 in perspective view.

[0075] All figures are schematic. In particular, the figures are not to scale.

[0076] For the sake of clarity, not all features are provided with reference numbers in all figures. Examples of implementation

[0077] Fig. Figure 1 shows a section of a rack storage system 12, on the top of which is a grid structure 16, also called a "grid." An automatic storage and retrieval device 1 (hereinafter referred to as "storage and retrieval device 1") is located on this grid structure 16. Two shelves 11.1 with an aisle 13 located between them are indicated. A coordinate system shows the x-, z-, and y-directions with respect to the rack storage system 12. The storage and retrieval device 1 comprises a movement unit 27, which rests on the grid structure 16.

[0078] The Fig. 2, Fig. 3 and Fig. 30 show the storage and retrieval device 1. The storage and retrieval device 1 comprises the movement unit 27 and a load handling and transfer unit 28.1. The latter comprises a means 7.1 for holding the load unit 2 (hereinafter "holding means 7.1"), which is attached to the movement unit 27 via cables 29, which are part of a cable pull 30. A transfer means 6.1 in the form of a gripper 14 is assigned to the holding means 7.1. The holding means 7.1 comprises a support surface 20 for the load unit 2.

[0079] In Fig. 4 shows further details of the rack storage system 12. A first load unit 2.1 is located on the holding means 7.1. A second load unit 2.2 is located on a second shelf support 3.2. Furthermore, shelf supports 18, support surfaces 5 of some shelf supports 3, the two pivoting ramps 8, and a return element 9 are visible.

[0080] In Fig. 5 shows the storage and retrieval machine 1, two shelves 11.1 with numerous shelf supports 3, the aisle 13 located between the shelves 11.1 and the holding means 7.1 of the storage and retrieval machine 1 lowered into this aisle 13 with the loading unit 2.1 located thereon.

[0081] In the Fig. 6a to 6h show a sequence of steps that are carried out when transferring the loading unit 2.1 from the holding device 7.1 to the shelf support 3.1. Fig. 6a a side view of the Fig. 4 shown situation immediately before the implementation begins. Fig. 6b to 6h show the following steps. In Fig. 6a, two shelf levels 42.1, 42.2 are also marked with reference numbers.

[0082] The Fig. 7 and Fig. 8 show details of the same detail 17.1 in Fig. 6a, where different details are highlighted by reference numerals. Among other things, a rotation axis 19 running along the y-direction, the ramp 8, and a height difference 10.1 between the support surface 5 of the compartment support 3.1 and a contact surface 4 of the loading unit 2.1 are highlighted. The aforementioned height difference 10.1 corresponds, as in Fig. 8, essentially the height difference between the support surface 5 of the compartment support 3.1 and a support surface 20 of the storage and retrieval device 1, wherein the contact surface 4 of the loading unit 2.1, here its underside or its bottom, rests directly on this support surface 20.

[0083] The Fig. 9a to 9f show a sequence of steps which are carried out when transferring the loading unit 2.1 from the shelf support 3.1 to the support surface 20 of the storage and retrieval device 1.

[0084] The Fig. 10 to 12 show different return elements 9. View (a) of the three aforementioned figures shows a neutral position of the ramp 8. In view (b) a situation is shown in which the loading unit 2 coming from the right presses against the ramp 8. This view (b) therefore corresponds to a situation which is essentially between the constellations according to the Fig. 6c and Fig. 6d. In view (c) a situation is shown in which the loading unit 2 coming from the left presses against the ramp 8. This view (c) therefore corresponds to a situation which lies between the constellations according to the Fig. 9b and Fig. 9c lies.

[0085] In the neutral position according to view (a), the ramp 8 and all elements connected to it are in a rest position: The coil spring 26 according to Fig. 10 is neither compressed nor stretched in view (a). The force applied to the counterweight 21 according to Fig. 11 does not result in a torque acting on the lever arm 22, because the lever arm 22 and the direction of gravity are parallel to the y-direction. The torsion spring 25 transmits in view (a) to Fig. 12 exerts no force on the ramp 8, so that there is no torque with respect to the rotation axis 19. The term "lever arm 22" refers to the lower ramp part, which is non-rotatably connected to the actual ramp 8 and is arranged beyond the rotation axis 19.

[0086] In view (b) after Fig. 10, the coil spring 26 is compressed and exerts a force on the lever arm 22, which results in a torque about the rotation axis 19. Without load from the loading unit 2, this torque would cause the ramp 8 to rotate about the rotation axis 19 according to the arrow 23b. In view (b) according to Fig. 11, the force of gravity acting on the counterweight 21 in the negative y-direction also exerts a force on the lever arm 22, which results in a torque about the rotation axis 19. In view (b) according to Fig. 12, the torsion spring 25 exerts a torque on the ramp 8 with respect to the rotation axis 19, which, without load from the loading unit 2, would result in a rotation of the ramp 8 according to the arrow 23b.

[0087] In view (c) after Fig. 10, the coil spring 26 is stretched and exerts a force on the lever arm 22, which results in a torque about the rotation axis 19. Without load from the loading unit 2, this torque would cause the ramp 8 to rotate about the rotation axis 19 according to the arrow 23c. In view (c) according to Fig. 11, the force of gravity acting on the counterweight 21 in the negative y-direction also exerts a force on the lever arm 22, which results in a torque about the rotation axis 19. In view (c) according to Fig. 12, the torsion spring 25 exerts a torque on the ramp 8 with respect to the rotation axis 19, which without load from the loading unit 2 would result in a rotation of the ramp 8 according to the arrow 23c.

[0088] Based on the situations according to views (b) and (c) of the Fig. 10 to 12, the return elements 9 would each provide a force and / or a torque which would cause the ramp 8 to return to the neutral position according to view (a) following the arrow 23b starting from views (b) and following the arrow 23c starting from view (c).

[0089] In view (b) of the Fig. 11 an angle 43 between the ramp 8 and the vertical is indicated. In views (a) and (b) of the Fig. 11, it is further indicated that the ramp 8 consists of two sections 44.1, 44.2, which are arranged at an angle 43.2 to each other.

[0090] Fig. Figure 27 shows in views (a) and (b) two opposite Fig. 11 slightly modified versions of the ramp 8, each of which rests against a shelf support 3. Furthermore, a step 45 to be overcome during the transfer is shown.

[0091] The Fig. 13 to 16 show two different holding devices 7.2, 7.3. The Fig. 13 and Fig. 15 comprises a holding means 7.2 with a transfer means 6.2 in the form of a roller conveyor 34. The Fig. 14 and Fig. The embodiment shown in Figure 16 comprises a holding means 7.3 with a transfer means 6.3 in the form of a satellite vehicle 35.1, which is assigned to the holding means 7.3. The support surface 20 of the holding means 7.3 holds the satellite vehicle 35.1 and thus indirectly also the Fig. 16 loading unit 2 located on the satellite vehicle 35.1.

[0092] A surface of the roller conveyor 34 forms in the variant according to the Fig. 13 and Fig. 15 the support surface 20 for the loading unit 2.

[0093] For the sake of clarity, only some rollers of the roller conveyor 34 are sometimes marked with the reference number 34.

[0094] The Fig. 17 to 20 show a rack 11.2 with shelf supports 3 and rails 37 for vehicles 35, as well as a vertical conveyor 36.1 with a holding means 7.4 for conveying vehicles 35.2 in the vertical direction, i.e., along the y-direction. The rails 37 each comprise a rail surface 38. The shelf supports 3 in the rack 11.2 are each arranged above the rails 37. In Fig. 18, two shelf levels 42.1, 42.2 are also marked with reference numbers. View (b) of the Fig. 18 shows the shelf 11.2 according to view (a) after a rotation of 90° around the y-axis.

[0095] Fig. 20 shows the detail section 17.2 according to Fig. 19. There, a height difference 10.2 between the support surface 20 of the holding means 7.4 and the running rail surface 38 is shown.

[0096] The Fig. Figure 21 shows an alternative vertical conveyor 36.2 with a transfer means 6.5 in the form of a gripper 14 and the rack 11.1. One surface of the holding means 7.5 forms the support surface 20 for the load unit 2.

[0097] The Fig. Figure 22 shows an alternative vertical conveyor 36.3 with a transfer means 6.6 in the form of a roller conveyor 34, as well as the rack 11.1. The roller conveyor 34 forms the support surface 20 for the load unit 2.

[0098] The Fig. 23 shows an automated guided vehicle 39.1 (hereinafter usually "FTF 39.1") with a lifting device 40, to which a holding means 7.7 is attached, as well as the shelf 11. This holding means 7.7 comprises a transfer means 6.7 in the form of a gripper 14.

[0099] The Fig. 24 shows an alternative AGV 39.2 with a lifting device 40 to which a holding means 7.8 is attached, as well as the shelf 11. This holding means 7.8 comprises a transfer means 6.8 in the form of a roller conveyor 34.

[0100] The Fig. 25 and Fig. 26 show, among other things, a holding means 7.1 with a transfer means 6.1 in the form of a gripper 14 with a telescopic arm 31.

[0101] Fig. 28 shows the holding means 7.1 according to Fig. 4 in perspective view. A surface of the ramp 8, which provides a roadway or sliding surface 15, is also visible, as is the support surface 20 of the holding means 7.1. Due to the Fig. 28, only one roadway or sliding surface 15 of the two ramps 8 can be seen. The contact surface 4, i.e. the underside or the floor of the Fig. 28 not shown loading unit 2.1, as for example in Fig. 8, before being transferred to the shelf 11.1 on the support surface 20 of the holding device 7.1.

[0102] Referring to the Fig. 1 to 29, the functioning of the device according to the invention is explained as follows: First, a rack warehouse 12 with an embodiment of a storage and retrieval device 1 according to the Fig. 1 to 9 or 13 to 16 explained.

[0103] The shelving system 12 consists of a plurality of shelves 11.1 extending in the x-direction with shelf supports 3 arranged one above the other. The shelf supports 3 are located at different heights and thus on different shelf levels 42. Between the shelves 11.1, aisles 13 running in the x-direction are arranged. A grid structure 16 is arranged above the uppermost shelf level 42 of the shelving system 12.

[0104] The rack storage 12 is operated by a storage and retrieval device 1. This device has a movement unit 27, which rests on the grid structure 16 and can move parallel to the x- and z-directions along a grid formed by the grid structure 16. For this purpose, the movement unit 27 can comprise wheels or rollers (not shown) that rest on the grid structure 16.

[0105] The storage and retrieval machine 1 further comprises a holding device 7.1, which is connected to the movement unit 27 via the cables 29 in the manner of a lift. The holding device 7.1 and all elements connected to this holding device 7.1 are collectively referred to as the load handling and transfer unit 28.1. The movement unit 27 and the load handling and transfer unit 28.1 are connected to each other via the cables 29.

[0106] As an alternative to the cables 29, bands or the like (not shown) may also be used. Steel bands are particularly suitable.

[0107] The storage and retrieval of load units 2 always involves moving these load units 2 parallel to the z-direction. Retrieval involves moving them from the compartment support 3 to the holding means 7.1, while storage involves moving them from the holding means 7.1 to the compartment support 3. As explained in more detail below, moving "to the compartment support 3" typically means placing the load unit on a support surface 5 of the compartment support 3. Moving "to the holding means 7.1" typically means placing the load unit 2 on a support surface 20 of the holding means 7.1.

[0108] In order to store a loading unit 2.1 that was previously picked up elsewhere, the storage and retrieval device 1 moves with the ropes 29 fully retracted (cf. Fig. 30) and thus also with the holding means 7.1 completely accommodated in the movement unit 27 as well as the load unit 2.1 located thereon along the grid structure 16 to the aisle 13 in which the shelf support 3.1 is located in which the load unit 2.1 is to be stored. Once there, the storage and retrieval machine 1 lowers the cables 29 or the cable pull 30 until the holding means 7.1 is approximately at the level of this shelf support 3.1. Starting from the (not shown) state in which the holding means 7.1 is completely accommodated in the movement unit 27, the storage and retrieval machine 1, when lowering the cables 29, passes through the Fig. 30, Fig. 3 and Fig. 2 constellations shown in the order mentioned.

[0109] Immediately before the loading unit 2.1 is moved, the storage and retrieval device 1 and the loading unit 2.1 are in the situation described in the Fig. 4, Fig. 5, Fig. 6a, Fig. 7 and Fig. 8. The load unit 2.1 rests with its contact surface 4 on the support surface 20 of the holding means 7.1. From there, the load unit 2.1 is to be transferred to the support surface 5 of the shelf support 3.1. The ramp 8 is in the neutral position. The contact surface 4 of the load unit 2.1, i.e. its underside, as well as the support surface 20 of the storage and retrieval device 1, on which the load unit 2.1 rests, are located below the support surface 5 of the shelf support 3.1 in relation to the y-direction. Between the two lies a Fig. 8 shows the difference in height 10.1.

[0110] The transfer means 6.1 of the holding means 7.1 is according to the Fig. 6 is designed as a gripper 14. This gripper 6.1, 14 initially moves from the Fig. 6a shown constellation according to Fig. 6b a little way along the z-direction to the right, so that the loading unit 2.1 can be pushed as far as possible parallel to the z-direction into the shelf support 3.1 of the rack 11.1 without re-gripping. For this purpose, the transfer means 6.1, 14 grips the loading unit 2.1 on its right side (with respect to the Fig. 6b ff.) and moves it to the left, which is in the Fig. 6c to 6g. After the loading unit 2.1 touches the ramp 8, which is Fig. 6c, the loading unit 2.1 pushes down the ramp 8, while the loading unit 2.1 itself is moved further to the left by the transfer means 6.1 or the gripper 14. A comparison of the Fig. 6c and Fig. Figure 6d clearly shows that the ramp 8 is pushed down by the load unit 2.1 moving to the left. The ramp 8 pivots around the rotation axis 19. The ramp 8 folds down further until it rests on the compartment support 3.1. The height difference 10.1 is bridged, and the gripper 6.1, 14 can push the load unit 2.1 into the compartment support 3.1.

[0111] During the steps described in the Fig. 6d to 6g, the ramp 8 is in a position rotated to the left (ie counterclockwise) about the rotation axis 19. The assumption of this position is shown in the Fig. 10 to 12 are each shown in view (b). Starting from the neutral position shown in view (a), which the ramp 8 assumes in the unloaded state, the position shown in the respective view (b) is reached or passed through by overcoming the force transmitted to the ramp 8 by the respective return element 9.

[0112] The return element 9 transmits the force directly or indirectly via a lever arm 22 to the ramp 8, which in the Fig. 10 to 12. The aforementioned overcoming of the force occurs by moving the loading unit 2 to the left following a direction of movement 24. As a result, the loading unit 2 exerts a force on the ramp 8, causing it to rotate counterclockwise about the rotation axis 19, which is shown in view (b) of the Fig. 10 to 12 can be seen.

[0113] As soon as the loading unit 2 is no longer in contact with the ramp 8, i.e. the latter is again unloaded, the ramp 8 rotates along an arrow 23b around the axis of rotation 19 back into the neutral position, which is Fig. 10 to 12 is shown in view (a) respectively. This movement back to the neutral position takes place after the Fig. 6g has been passed through. The result of this movement back to the neutral position is shown in Fig. 6h shown.

[0114] This movement back to the neutral position is provided by the force of the respective return element 9, i.e., either by a helical spring 26 or by a counterweight 21 following gravity or by a torsion spring 25. The helical spring 26 and the counterweight 21 each act on a lever arm 22 that is non-rotatably connected to the ramp 8. According to the laws of the lever, a force transmitted to the lever arm 22 also acts on the ramp 8 and vice versa.

[0115] The lever arms 22 of the Fig. 10 and Fig. 11 are connected to the ramp 8 in a rotationally fixed manner. If, for example, the ramp 8 assumes the neutral position, the same applies to the parts connected to it in a rotationally fixed manner, in particular to the lever arm 22.

[0116] Starting from Fig. 6g takes the ramp 8 in the following Fig. 6h returns to the neutral position. This transition to the neutral position is effected by the return element 9 and was shown in the figures for a comparison of views (b) and (a). Fig. 10 to 12 above. The corresponding Fig. 6a, Fig. 6b, Fig. 6c and Fig. 6h with view (a), while the Fig. 6d to 6g correspond to view (b).

[0117] The Fig. The transfer of the loading unit 2.1 from the compartment support 3.1 to the holding means 7.1 or its support surface 20 shown in Figures 9a to 9f proceeds essentially in the opposite way, but according to the same principles, as in the Fig. 6a to 6h shown transfer of the loading unit 2.1 onto the shelf support 3.1. This in the Fig. The transfer shown in Figures 9a to 9f represents a partial step of outsourcing, whereas the transfer according to Fig. 6a to 6h represents a partial step of storage.

[0118] The transfer means 6.1 designed as a gripper 14 initially moves in the opposite z-direction (with respect to the Fig. 9a) to the left and grasps the loading unit 2.1 located in the compartment support 3.1. This is shown in the Fig. 9a and Fig. 9b. Subsequently, the transfer means 6.1, 14 pulls the loading unit 2.1 onto the holding means 7.1, which Fig. 9c to 9f. As shown in Fig. As can be seen in Figure 9f, the ramp 8 returns to the neutral position after the load from the loading unit 2.1 is removed. Between the situations described in the Fig. 9b and Fig. 9c, the respective one shown in view (c) of the Fig. 10 to 12, in which the loading unit 2, following the direction of movement 24, coming from the left and moving to the right, presses onto the ramp 8 and causes a clockwise rotation of the ramp 8 about the rotation axis 19. An arrow 23c in the views (c) indicates a counterclockwise rotation, which the ramp 8 performs after the load from the loading unit 2 is removed in order to return to the neutral position. The ramp 8 performs this rotation after the loading unit 2.1, starting from Fig. 9e was moved a little further to the right. In Fig. Figure 9f shows the result of this rotation after returning to the neutral position. This rotation along arrow 23c is also caused by the return elements 9.

[0119] The Fig. 9b and Fig. 9c only hinted at, the gripping of the loading unit 2.1 by the gripper 6.1, 14 can be carried out simply by moving the gripper 6.1, 14 to the left (relative to the Fig. 9b and Fig. 9c) so that it can grasp the load unit 2.1 located in the shelf 11.1. Alternatively, the gripper 6.1, 14 can comprise, for example, a telescopic arm 31, the operation of which is described in the Fig. 25 and Fig. 26. This corresponds to Fig. 25 with Fig. 9b, whereby the gripper 6.1, 14 in Fig. 25 not so far to the left (relative to the Fig. 25 i.e. in the negative z-direction) so that it can grasp the loading unit 2.1. This grasping is carried out according to the Fig. 25 and Fig. 26 is instead accomplished by the telescopic arm 31 of the gripper 6.1, 14. This telescopic arm 31 moves in the negative z-direction, with respect to the Fig. 25 and Fig. 26, i.e. to the left, to grasp the loading unit 2.1. The telescopic arm 31 is then retracted, moving the loading unit in the z-direction, with respect to the Fig. 25 and Fig. 26, i.e., to the right. A comparison of the Fig. 25 and Fig. 26 shows the retraction of the telescopic arm 31. After the (in the Fig. 25 and Fig. 26 not shown) complete retraction of the telescopic arm 31, the gripper 6.1, 14 holds and moves the loading unit 2.1, as already described with regard to the Fig. 9a ff. It is understood that such a telescopic arm 31 can also accomplish a complete transfer of the loading unit 2.1 onto the support surface 5 of the shelf support 3.1 if the gripper 6.1, 14 cannot move far enough into the shelf 11.1 in the negative z-direction.

[0120] If the arms 47 of the gripper 14, which is T-shaped here, running parallel to the z-direction are long enough along the z-direction to be able to “reach into” the shelves 11.1, telescopic arms 31 or the like can be dispensed with.

[0121] The same applies if the grippers 14 can be moved so far parallel to the z-direction within a guide (not shown) on the holding means 7.1 that their arms 47 "reach" far enough into the shelves 11.1 and can either grasp or place the loading means 2.1 there at a corresponding depth.

[0122] The Fig. 13 to 16 show alternative load handling and transfer units 28.2, 28.3. The storage and retrieval device 1 can be used instead of the load handling and transfer unit 28.1 according to the Fig. 2 and Fig. 3 also those in the Fig. 13 to 16 shown load handling and transfer units 28.2, 28.3. The Fig. 13 and Fig. 15 comprises a transfer means 6.2 in the form of a roller conveyor 34. The Fig. 14 and Fig. The load handling and transfer unit 28.3 shown in Figure 16 comprises a transfer means 6.3 in the form of a vehicle 35.1 associated with the holding means 7.3. The vehicle 35.1 can be associated with the holding means 7.3 in a similar manner as a satellite vehicle, as is known for lane-bound vehicles, which comprise (so to speak "piggyback") a satellite vehicle movable parallel to the longitudinal direction of the lane for storing and retrieving load units in channels adjacent to the lane.

[0123] The holding means 7.2, 7.3 can be assigned to the storage and retrieval device 1, as previously described with regard to the Fig. 1 to 9 has already been described for the holding means 7.1. The holding means 7.2, 7.3 can be lowered, in particular, via ropes 29 in order to transport the loading unit 2 or the vehicle 35.1 to the desired height along the y-direction. In this case, the vehicle 35.1 can be either unloaded ( Fig. 14) or loaded with a loading unit 2 ( Fig. 16) are conveyed vertically on the holding means 7.3.

[0124] A transfer of the loading unit 2, ie a transfer of this loading unit 2 from the holding means 7.2 according to the Fig. 13 and Fig. 15 into a shelf support (not shown in the above figures) of a rack, in that the roller conveyor 6.2, 34 transfers the load unit essentially horizontally into the shelf support of the rack. Contrary to the merely schematic Fig. 13 and Fig. 15, the rollers of the roller conveyor 34 can be distributed in the z-direction along the holding means 7.2 in such a way that the loading unit 2 is transferred or stored as completely as possible into the shelf 11 or into the compartment support 3.

[0125] The roller conveyor 6.2, 34 according to the Fig. 13 and Fig. 15 can thus be an alternative to the gripper 6.1, 14 according to the Fig. Represent 1 to 9.

[0126] A transfer of the vehicle 6.3, 35.1 according to the Fig. 14 and Fig. 16 is preferably carried out by driving this vehicle 35.1 with the aid of its wheels 41 along the z-direction onto a (in the Fig. 13 to 16 not shown) travel rail 37 of the rack 11.2. This occurs in the same way as described in detail below for the vehicle 35.2 and the rack 11.2 according to the Fig. 17 to 20 described.

[0127] The vehicle 35.1 according to the Fig. 14 and Fig. 16 is, similar to the roller conveyor 6.2, 34 according to the Fig. 13 and Fig. 15, is to be regarded as a component - not fixed and not permanently connected - of the holding device 7.3 and thus of the load-bearing and transfer unit 28.3.

[0128] In the variant according to the Fig. 13 and Fig. 15, the roller conveyor 34 forms the support surface 20 for the loading unit 2. Its contact surface 4 thus rests on the rollers of the roller conveyor 34.

[0129] In the variant according to the Fig. 14 and Fig. 16, the holding means 7.3 forms a support surface 20 for the vehicle 35.1. If the vehicle 35.1 is transported, as in Fig. 16, a loading unit 2, the holding means 7.3 holds this loading unit 2 indirectly by holding the vehicle 35.1. The direct holding of the loading unit 2, as well as the transfer, is accomplished by the vehicle 35.1.

[0130] Below, holding devices 7.4, 7.5, 7.6, 7.7, 7.8 of vertical conveyors 36.1, 36.2, 36.3 and automated guided vehicles 39.1, 39.2 are described in accordance with Fig. 17 to 24 explained.

[0131] The vertical conveyor 36.1 of the Fig. 17 to 20 can transport both unloaded vehicles 35.2 and vehicles 35.2 carrying a load unit 2. The vertical conveyor 36.1 comprises a holding means 7.4 that can be moved vertically, ie in the y-direction.

[0132] The vehicles 35.2 can, for example, be shuttles, also called channel vehicles, of a channel warehouse. The racks 11.2 can accordingly be racks of a channel warehouse. The vertical conveyor 36.1 can transport the vehicles 35.2 along the y-direction to the desired height and enables the transfer of these vehicles 35.2 into and out of the rack 11.2. Thanks to the vertical conveyor 36.1, the vehicles 35.2 can thus function as non-level-bound, so-called "multi-level" vehicles of a channel warehouse or similar.

[0133] Based on the Fig. 19 and Fig. 20, the vehicle 35.2 is transferred from the support surface 20 of the holding means 7.4 of the vertical conveyor 36.1 to the running rail surface 38 of the running rails 37 mounted in the rack 11.2, essentially analogous to the transfer of the loading unit 2.1, which is carried out in the Fig. 6a to 6h was shown.

[0134] In contrast to implementation according to the Fig. 6a to 6h, however, the transfer takes place in a variant according to the Fig. 17 to 20 without gripper 14 or other transfer means 6, because the vehicle 35.2 on its wheels 41 can accomplish this essentially horizontal transfer itself. While the ramp 8 in the variant according to the Fig. 6a ff. forms a sliding surface for the loading unit 2 to be moved by means of grippers 6.1, 14, the ramp 8 represents the Fig. 17 to 20 provide a roadway or a section of such for vehicle 35.2.

[0135] In contrast to the Fig. The situation shown in Figure 8 is in relation to the Fig. 17 to 20, a height difference 10.2 between the support surface 20 of the holding means 7.4 and the running rail surface 38 of the running rails 37 must be overcome with the aid of the ramp 8. Otherwise, all statements concerning the transfer apply, which are made with regard to the Fig. 6a to 6h were taken, analogously for the Fig. 17 to 20.

[0136] From the above figures it can also be seen that the ramp 8 in the variant according to the Fig. 6a to 6h is folded down by the loading unit 2, while in the variant according to the Fig. 17 to 20 the vehicle 35.2 folds down the ramp 8 as soon as it hits the ramp 8 while traveling parallel to the z-direction.

[0137] The Fig. The variant of the vertical conveyor 36.2 shown in Figure 21 comprises a holding means 7.5, to which a transfer means 6.5 in the form of a gripper 14 is assigned. This gripper 6.5, 14 operates in the same way as the gripper 6.1, 14 already described with regard to the Fig. 6a ff. and 9a ff.

[0138] The Fig. The variant of the vertical conveyor 36.3 shown in Figure 22 comprises a transfer means 6.6 in the form of a roller conveyor 34. This roller conveyor 6.6, 34 operates in the same way as already described for the roller conveyor 6.2, 34 with regard to the Fig. 13 and Fig. 15 was explained.

[0139] Both aforementioned variants of the vertical conveyor 36.2, 36.3 each comprise a holding means 7.5, 7.6, which is movable vertically, ie along the y-direction.

[0140] In Fig. 23 shows an AGV 39.1 with a holding means 7.7, wherein a transfer means 6.7 in the form of a gripper 14 is assigned to the holding means 7.7.

[0141] This gripper 6.6, 14 works in the same way as the gripper 6.1, 14 already described with regard to the Fig. 6a ff. and 9a ff.

[0142] In Fig. 24 shows an AGV 39.1 with a holding means 7.8, wherein the holding means 7.8 is associated with a transfer means 6.8 in the form of a roller conveyor 34. This roller conveyor 6.8, 34 operates in the same way as already described for the roller conveyor 6.2, 34 with regard to the Fig. 13 and Fig. 15 was explained.

[0143] Both aforementioned variants of the AGV 39.1, 39.2 comprise a lifting device 40 which is designed to move the holding means 7.7, 7.8 vertically, ie along the y-direction.

[0144] With reference to all figures, the advantages of the ramp 8 with regard to the transfer of a vehicle 35 or a loading unit 2 into the rack 11.1, 11.2 are explained again below.

[0145] Such a transfer can occur, for example, when storing a loading unit 2.1 or when changing levels of the vehicle 35 in order to drive into a shelf level 42.

[0146] The holding means 7.1 - 7.8 of the illustrated devices 1, 36, 39 are vertically movable, i.e., along the y-direction. They can assume a height along the y-direction to allow transfer of the loading unit 2 or the vehicle 35. Such a transfer can be accomplished by means of a transfer means 6 or by the vehicle 35 itself, which accomplishes the transfer while moving using its wheels 41.

[0147] Before the transfer, a vertical positioning preferably takes place, ie a positioning along the y-direction, so that the support surface 20 of the holding means 7.1 - 7.8 is located either below the support surface 5 of the compartment support 3 or below the guide rail surface 38 of the guide rail 37.

[0148] The transfer is then carried out by the vehicle 35 driving onto the rail surface 38, or by the load unit 2 being transferred onto the support surface 5 of the compartment support 3. During this transfer, either the load unit 2 or the vehicle 35 brings the ramp 8 into the position supporting the transfer, which, with regard to views (b), is shown in the Fig. 10 to 12 were explained.

[0149] A transfer during the removal of a loading unit 2.1 or during a level change of the vehicle 35 for the purpose of driving out of a shelf level 42 can be carried out as shown below.

[0150] The holding means 7.1 - 7.8 is positioned along the y-direction such that the support surface 20 of the holding means 7.1 - 7.8 is located either below the support surface 5 of the compartment support 3 or below the running rail surface 38 of the running rail 37. "Below" here means "just below", which is particularly evident due to the height difference 10 in the Fig. 8 and Fig. 20 is shown.

[0151] The transfer then takes place when the vehicle 35 leaves the rack 11 along the rails 37 and drives onto the holding means 7.1 - 7.8, or when the transfer means 6 moves the load unit 2 out of the shelf support 3 and places it on the holding means 7.1 - 7.8.

[0152] Regarding the Fig. 6a ff., a further advantage of the present invention is explained below. For transferring the load unit 2 or the vehicle 35 into the rack 11.1, 11.2, the ramp 8 allows vertical positioning of the support surface 20 of the holding means 7.1 - 7.8 just below the support surface 5 of the shelf support 3 or the rail surface 38, without the need for a complex "teaching" of all vertical positions or a potentially failure-prone, complex, and costly sensor system. The aforementioned omission of the "teaching" process and the sensor system can in itself represent a significant advantage.

[0153] In all design variants, i.e. even if, for example, such a "teaching" takes place and / or such a sensor system is used, a further advantage can be that a vertical clearance 33 between the support surfaces 3, 3.1, 3.2 when storing the load unit 2 only needs to be insignificantly larger than a height of the load unit 2. If the support surface 20 of the holding means 7.1 - 7.8 is positioned just below the support surface 5 of the compartment support 3, the ramp 8 allows a less error-prone and thus robust transfer of the load unit 2 into the compartment support 3, whereby this transfer process does not require any further preparation or sensors or the like. In particular, it is not necessary for the support surface of the holding means 7.1 - 7.8 to be at exactly the same height along the y-direction as the support surface 5 of the compartment support 3, because the ramp 8 bridges a remaining height difference 10.1.The design of the ramp 8 also allows for a certain tolerance in the vertical positioning of the holding means 7.1 - 7.8. Without this ramp 8, either the vertical positioning tolerance would have to be kept as small as possible, or the clearance 33 would have to be selected to be larger than the height of the loading unit 2. The present invention, however, allows for both the use of a clearance 33 that is only minimally larger than the height of the loading unit 2 and, at the same time, a tolerance in the vertical positioning of the holding means 7.1 - 7.8.

[0154] The vertical clearance 33 can, for example, be only 10% or only 5% or only 2% or only 1% larger than the height of the loading unit measured in the y-direction.

[0155] If the support surface 20 of the holding means 7.1 - 7.8 is also located in a vertical position below the support surface 5 of the compartment support 3 or below the travel rail surface 38 for retrieving a load unit 2 or when driving a vehicle 35 out of the rack 11, the clearance 33 is less critical with regard to retrieving or driving out.

[0156] During storage, a clearance 33 that is only slightly larger than the height of the load unit 2 poses the risk of the load unit 2.1 hitting the shelf support 3.2 if the holding device 7.1 stops too high, so that its support surface 20 is located above the support surface 5 of the shelf support 3.1. See Fig. 6a ff. On the other hand, such a clearance 33 without the ramp 8 would entail the risk of the loading unit 2.1 hitting the compartment support 3.1 if the support surface 20 of the holding means 7.1 is positioned below the support surface 5 of the compartment support 3.1.

[0157] Preferably, the holding means 7.1 - 7.8 in all embodiment variants comprises a larger, preferably a significantly larger, free dimension than the shelf 11 or the shelf levels 42 or the compartment supports 3. In the embodiments shown, such a free dimension of the holding means 7.1 - 7.8 is practically non-existent, since above the holding means 7.1 - 7.8 there is no shelf compartment, no ceiling or the like against which the load unit 2 could strike during transfer to the holding means 7.1 - 7.8.

[0158] Particularly preferably, the holding means 7.1 - 7.8 is designed in such a way that it is not possible for an upper section of the loading unit 2 to collide with the load during transfer to the holding means 7.1 - 7.8, since the holding means 7.1 - 7.8 does not have any structures similar to the compartment support 3.2 against which an upper section of the loading unit 2.1 could collide. During transfer to the holding means 7.1 - 7.8, it is therefore preferably sufficient if the ramp 8 "does not get in the way." This can advantageously be achieved by the position enabling the transfer to the support surface 20 of the holding means 7.1 - 7.8, see also views (c) in the Fig. 10 to 12.

[0159] The vertical positioning of the holding device 7.1 - 7.8 can be achieved in various ways. If the holding device 7.1 - 7.8 is moved vertically using a lifting shaft (not shown), a rotary encoder can be assigned to this lifting shaft, which in turn provides information about the vertical position of the holding device 7.1 - 7.8. This information can be used by a control or regulating device to position the holding device 7.1 - 7.8 vertically.

[0160] Additionally or alternatively, a distance sensor, such as a distance laser, can be arranged on a part of the device 1, 36, 39 that does not change its position during vertical positioning. This distance sensor determines the distance between this part of the device and the holding means 7.1 - 7.8. Such a distance laser could be arranged, for example, on the movement unit 27 of the warehouse storage and retrieval device 1 or on a (not shown) base plate or the like on which a vertical conveyor 36.1, 36.2, 36.3 stands, or on a chassis (not provided with reference numbers) of an AGV 39.

[0161] Additionally or alternatively, the holding means 7.1 - 7.8 can comprise a sensor or reader (not shown) that responds to identifiers on the rack 11.1, 11.2 or on the guide rails 37 or on the shelf supports 3. Such identifiers (not shown) can be structures such as recesses or the like. Alternatively, machine-readable codes such as RFID codes or barcodes or the like can also be considered.

[0162] Additionally or alternatively, a distance sensor (not shown) on the holding means 7.1 - 7.8 can be considered, which determines a distance between the holding means 7.1 - 7.8 and, for example, a travel rail 37 or a shelf support 3.

[0163] Additionally or alternatively, a distance sensor (not shown) on the holding means 7.1 - 7.8 can be considered, which measures a distance between the holding means 7.1 - 7.8 and a substrate, for example a hall floor (not shown) of a warehouse.

[0164] Alternative transmitters, readers, sensors, and the like are conceivable.

[0165] All of the aforementioned readers or sensors can be used individually. Alternatively, the readers or sensors can be used in combination with the aforementioned rotary encoder to correct the often less accurate position determination of the rotary encoder if necessary.

[0166] From the Fig. 6a ff. and 9a ff. it can be seen that the rotation axis 19 is orthogonal to the direction, here the z-direction, along which the transfer takes place.

[0167] Although only a few preferred embodiments of the invention have been described and illustrated, it is obvious that those skilled in the art can add numerous modifications without departing from the spirit and scope of the invention. In particular, the modifications illustrated below may be considered.

[0168] In the Fig. 10 to 12, the ramp 8 in views (b) each assumes an angle of approximately 45° to the neutral position according to view (a). Usually, during the transfer of the load unit 2 into the shelf support 3, a front section 44.2 of the ramp 8, i.e., section remote from the rotation axis 19, either rests on a component of the rack 11 or against such a component. For example, a front section 44.2 of the ramp 8 can rest on or against the shelf support 3 or at least a rack upright 18. The angle 43 of the ramp 8 to the vertical that is actually present during the transfer of the load unit 2 into the shelf support 3, which for the sake of simplicity is only shown in view (b) Fig. 11 and in Fig. 27 is indicated, is thus determined, among other things, by a design of the ramp 8 as well as the height difference 10 immediately before the start of the transfer and a distance in the z-direction between the compartment support 3 and the rotation axis 19 immediately before the start of the transfer.

[0169] Ramp 8 can, as in the Fig. 10 to 12 and in views (a) and (b) of the Fig. 11 with corresponding reference numerals, consist of two sections 44.1, 44.2 arranged at an angle 43.2 to each other. This angle 43.2 between the two sections 44.1, 44.2 can be advantageous, which can be seen from a comparison of views (a) and (b) of the Fig. 11 corresponding Fig. 27. With an identical - small - angle 43.1 between the lever arm 22 and the section 44.1 of the ramp 8 located directly on the rotation axis 19, the following results in view (a) according to Fig. 27 a high step 45.1, while in view (b) at the same angle 43.1 a significantly lower step 45.2 results. This advantageously small step 45.2 according to view (b) in Fig. 27 is achieved by the (only in view (b) of the Fig. 11) between the sections 44.1, 44.2 of the ramp 8 is chosen to be sufficiently large. This angle 43.2 can, for example, be between 0 and 60°. In view (b) of the Fig. For the 27 mm diameter, this angle is 0°, which is why the 45.1 level is correspondingly high. The specific choice of angle 43.2 can be made depending on the specific requirements. Angles 43.2 between 20° and 50° or angles 43.2 between 30° and 40° may be appropriate. However, alternatives are conceivable.

[0170] Further alternative designs are also conceivable. For example, the ramp 8 can also be designed such that, in a cross-sectional view, it Fig. 10 to 12 and 27 is not depicted as two adjacent sections, but rather forms a curve. In general, it can be assumed that the surface of the ramp 8 forming the roadway or sliding surface 15 is convex.

[0171] Regarding the design of the ramp 8, its length is also important. In general, a radius 46 of a point on the ramp 8 furthest from the rotation axis 19 is important. As in Fig. 29, this point of the ramp 8 which is furthest away from the axis of rotation 19 describes a circle 32 when rotating about the axis of rotation 19. Both with regard to the construction of the ramp 8 and the holding means 7 to which it is fastened, as well as with regard to the entire rack storage 12 and the method for operating the device 1, 36, 39, it should preferably be noted that the loading units 2 are placed so deep in the rack 11 or in the shelf support 3 during storage that during operation a horizontal, ie with respect to Fig. 29 the distance measured in the z-direction between the rotation axis 19 and the loading unit 2 is at any time greater than the radius 46.

[0172] The actual angle 43.1 to the vertical that ramp 8 assumes during transfer into or out of rack 11.1, 11.2 depends on the nature of ramp 8 and the vertical position of the holding device 7.1 - 7.8. For example, during transfer into rack 11.1, 11.2, angle 43.1 can be greater than 45°, greater than 60°, or even as high as 90°. However, this angle 43.1 depends on the design of ramp 8 and a point or surface of rack 11.1, 11.2 to which ramp 8 rests.

[0173] In the Fig. In Figures 10 to 12 and 27, the movement of the ramp 8, i.e., its rotation about the rotation axis 19, is shown only with regard to the transfer of a loading unit 2 moving along the direction of movement 24. The aforementioned figures and the associated explanations apply analogously if the vehicle 35 is transferred instead of the loading unit 2.

[0174] The Fig. 1, Fig. 4 and Fig. 5 each show only a small section of the rack storage system 12. The present invention encompasses significantly larger rack storage systems 12, which may, for example, comprise a plurality of racks 11 and aisles 13. Accordingly, a plurality of storage and retrieval devices 1 can be deployed on the grid structure 16.

[0175] Each of the Fig. The ramps 8 shown in Figures 10 to 12 and 27, with each of the return elements 9 shown there, can be used with all of the holding means 7.1 - 7.8. Alternative designs of ramps and holding elements are also conceivable.

[0176] Alternative return elements 9 may be considered. The return elements 9 that can be used with the ramps 8 are not limited to the variants according to the Fig. 10 to 12. Normally, reset elements 9 are used, which ensure that in the neutral position (see view (a) in the Fig. 10 to 12) in the unloaded state, no force acts on the lever arm 22 or the ramp 8 which causes the ramp 8 to rotate out of the neutral position.

[0177] With regard to views (b) and (c) of the Fig. 10 to 12 it should be mentioned that these only represent a snapshot during the movement of the respective ramp 8.

[0178] Regarding the Fig. 10 to 12, it should be mentioned that each holding means 7 included in the present invention can comprise a pivotable ramp 8, which on the one hand can be reversibly moved from a neutral position into a position supporting the transfer onto the support surface 5 of the compartment support 3 or onto the guide rail surface 38 of the guide rail 37, and on the other hand can be moved into a position enabling the transfer onto the support surface 20 of the holding means 7. In this case, the specifically used ramps 8 can be different from the embodiments according to the Fig. 10 to 12. A position supporting the transfer to the support surface 5 of the shelf support 3 or to the running rail surface 38 of the running rail 37 is shown in the Fig. 6d to 6g. A position enabling transfer to the support surface 20 of the holding means 7 is shown in the Fig. 9c to 9e shown.

[0179] From the above Fig. 6 and Fig. 9 shows that the position enabling the transfer is usually necessary for a smooth transfer of the loading unit 2.1 into the compartment support 3.1, because the ramp 8 acts as a sliding surface 15 (cf. Fig. 28) for the loading unit 2.1 to compensate the height difference 10.1 according to Fig. 8 to overcome.

[0180] In contrast, the ramp 8 is in a position enabling the transfer either, as for example in the Fig. 9c and Fig. 9d, essentially, or, for example, as shown in Fig. 9e, is completely recessed into a recess of the holding means 7.1, not provided with a reference number. This recessing of the ramp 8 ensures that it does not "get in the way" of the transfer to the support surface 20. However, the ramp 8 is usually not required for the transfer to the support surface 20.

[0181] The ones with the Fig. 9c to 9e corresponding views (c) of the Fig. 10 to 12 can be described as a retracted position or parking position with respect to ramp 8.

[0182] All transfer means 6 shown in the figures can be used in combination with all holding means 7.

[0183] Although the transfer only applies to the links in the Fig.6a ff. and 9a ff., a transfer can be carried out in the same way via the ramp 8 shown on the right in the aforementioned figures into the shelf 11 behind it and out of this shelf 11.

[0184] Each holding means 7.1 - 7.8 preferably has two ramps 8 arranged opposite each other. Alternatives are conceivable.

[0185] The ramp 8 does not necessarily have to be attached to the holding means 7.1 - 7.8 via the rotational axis 19. Instead, a coupling mechanism of any design can be used. Such a coupling mechanism can also be assigned a return element 9 to always bring the ramp 8 into a substantially vertical neutral position in the unloaded state.

[0186] The pivot axis 19 can be part of a hinge. Alternatives are conceivable.

[0187] Instead of the storage and retrieval machine 1, the AGV 39, and the vertical conveyor 36, other devices equipped with a holding device 7 with a ramp 8 can be considered. For example, the device can be designed as a storage and retrieval machine. Other alternatives are conceivable.

[0188] The compartment supports 3 are preferably designed in the form of support rails, which can be Fig. 4 is immediately apparent. Alternative specialist requirements are possible.

[0189] Deviating from the figures, holding means 7.1 - 7.8 with only one ramp 8 can also be considered.

[0190] Shelving units 11.1 and 11.2 can be single- or multi-deep. Instead of a shelving unit 11.1 with shelf supports 3 and without guide rails 37, a shelving unit 11.2 with shelf supports 3 and guide rails 37 can always be considered, and vice versa.

[0191] For example, if a vertical conveyor 36.1 is used, which allows vehicles 35 to change levels, the rack storage 12 can be used as an alternative to the one in the Fig. The rack storage 12 with aisles 13 shown in Figures 1 ff. can be designed, for example, as a channel storage system without aisles 13. Other alternative designs of the rack storage system are conceivable.

[0192] The device, designed, for example, as an AGV 39 or a storage and retrieval machine (not shown) or a vertical conveyor 36, can be used, for example, at the front end of a rack warehouse. It is not absolutely necessary for the device according to an embodiment of the present invention to be used in an aisle.

[0193] The illustrated holding means 7.1, 7.2, 7.5, 7.6, 7.7, 7.8 can each, as shown in the figures, comprise only a single type of transfer means 6. In particular, when holding means 7.2, 7.6, 7.8 are used with roller conveyors 34 as the transfer means 6, it can alternatively be envisaged that the holding means 7.2, 7.6, 7.8 comprise a further transfer means (not shown) in addition to the roller conveyor 34. For example, an additional gripper and / or pusher could be provided. A pusher can, for example, push the load unit 2 completely onto the compartment support 3, which the roller conveyor 34 may not be able to handle. Accordingly, a gripper can grasp a load unit 2 located on the shelf support 3 and pull it a short distance toward the holding means 7.2, 7.6, 7.8, which the roller conveyor 34 alone may not be able to accomplish. The same applies if a belt conveyor or the like is used instead of the roller conveyor 34.

[0194] With regard to all embodiments of holding means 7.1 - 7.8, it may be considered to provide one, two or more similar or different transfer means 6. With regard to Fig. 28, it should be noted that each of the legs of the grippers 14, which usually occur in pairs, has also been referred to individually as “gripper” 14 in the context of the present invention. Fig. 28 recesses 48 can be seen, which are preferred but not mandatory. In the position enabling transfer to the support surface 20 of the holding means 7.1, the ramps 8 can come to rest in these recesses 48 such that they are at or below a level in which the support surface 20 lies. Thus, the ramps 8 do not hinder the transfer to the support surface 20 if they have been pivoted such that they come to rest in the recesses 48. Alternatives are conceivable.

[0195] In all embodiments with gripper 14, it is conceivable that the gripper 14 can accomplish a re-gripping action. The gripper 14 can, for example, initially grip the loading unit 2 essentially in the center and push it in the desired direction, and then release it from the loading unit 2, move a short distance in the opposite direction to the aforementioned direction, and grip the loading unit 2 again. In this way, the gripper 14 can push the loading unit 2 completely into the desired position according to embodiments of the present invention. It is also conceivable that the gripper 14 functions as a pusher after re-gripping and pushes the loading unit 2 a short distance further without gripping it.

[0196] The vehicles 35.1 in the figures are typically assigned to the respective holding device 7, while the vehicles 35.2 are typically independent vehicles, for which the holding device 7 only allows a change of level. Alternatives are conceivable.

[0197] Instead of the telescopic arm 31, the gripper 6.1, 14 can be used according to the Fig. 25 and Fig. 26 may also include, for example, small conveyor belts or the like (not shown) on its inside, which may partially take over the function of the telescopic gripper.

[0198] Usually, as in the Fig. As shown in Figures 2, 3, 4, 6a, 9a, 13-17, 19, 21-24, and 28, the holding means 7.1-7.8 comprise exactly one ramp 8 at each of the end faces over which the transfer takes place. Alternatives are possible. For example, two split ramps can be provided at each of the aforementioned end faces. Holding means 7.1-7.8 can also be provided that allow loading and unloading via only one of their (end) faces. Such holding means 7.1-7.8 can have only a single ramp 8.

[0199] In particular, in view (b) of the Fig. 18, two running rails 37 running at the same height can be seen on each rack level 42, each with two shelf supports 3 located above them, also running at the same height. Both with regard to racks 11.2 with running rails 37 and with regard to racks 11.1 without running rails 37, it is conceivable to use, for example, flat storage surfaces as shelf supports instead of the shelf supports 3 designed as storage rails. Other alternatives are conceivable. The same applies to the running rails 37, which can be replaced, for example, by flat trackways.

[0200] Even if the running rails 37 of the Fig. 18 are replaced, it is always considered that a vehicle 35 can drive into the rack 11.2 in the z-direction, as is the case with the rack 11.2 according to Fig. 18 is the case.

[0201] The length of ramp 8 can be adapted to local conditions. A clearance in the z-direction between the holding device 7.1 - 7.8 and the rack 11.1, 11.2 or between the holding device 7.1 - 7.8 and the shelf support 3 can be taken into account. The length of ramp 8 can be selected to be greater than the aforementioned clearance. This ensures that ramp 8 bridges any gap in the z-direction between the shelf support 3 and the holding device 7.1 - 7.8. The aforementioned clearance can therefore specify a lower limit for the length of ramp 8.

[0202] At the same time, the length of the ramp 8 can be chosen so that the circle 32 is always on the right (relative to, for example, the Fig.6a to 6h and 29) from the load unit 2 located on the compartment support 3. The position of the load unit 2 placed on the compartment support 3 relative to the compartment support 3 is relevant in that the load unit 2 slides along the sliding and driving surface 15 of the ramp 8 during storage and transfer to the compartment support 3 and should be set so deep into the shelf 11 that the load unit 2 has left the ramp 8 again when it has reached its target position in the shelf 11 or along the compartment support 3. The ramp 8 can then return to the neutral position. An upper limit for the length of the ramp 8 can therefore depend on how deep the load units 2 are placed in the shelf 11 or in the compartment support 3. List of reference symbols 1 Automatic warehouse control device 2 loading units 3 specialist editions 4 Contact surface of the charging unit 5 Support surface of the shelf support 6 Means for moving the loading unit (moving means) 7 Means for holding the loading unit or vehicle (holding means) 8 pivoting ramp 9 Reset element 10 elevation difference 11 shelves 12 rack storage 13 Alley 14 grippers 15 Roadway or sliding surface 16 Lattice structure 17 Detail section 18 shelf supports 19 axis of rotation 20 Support surface of the storage and retrieval device 21 Counterweight 22 lever arm 23 Arrow 24 Direction of movement 25 torsion spring 26 coil spring 27 locomotion unit 28 Load handling and transfer unit 29 rope 30 cable pull 31 Telescopic arm 32 Circle 33 vertical clearance 34 roller conveyors 35 vehicles 36 vertical conveyors 37 Running rail 38 Rail surface 39 Automated Guided Vehicle (AGV) 40 Lifting device 41 wheels 42 shelf levels 43 angles Section 44 45th level 46 radius 47 Gripper arm 48 Deepening

Claims

[1] Device (1, 36, 39) for vertically conveying a loading unit (2) or a vehicle (35) in a storage system, wherein the device (1, 36, 39) comprises a holding means (7) for holding the loading unit (2) or the vehicle (35), wherein the holding means (7) comprises a support surface (20) for holding the loading unit (2) or the vehicle (35), wherein the holding means (7) is arranged either to allow a substantially horizontal transfer of the loading unit (2) between its support surface (20) and a support surface (5) of a shelf support (3) of a rack (11), or to allow a substantially horizontal transfer of the vehicle (35) between its support surface (20) and a running rail surface (38) of a running rail (37) of a rack (11), wherein the holding means (7) further comprises a pivotable ramp (8), wherein the ramp (8) can be moved reversibly from a neutral position into a position supporting the transfer onto the support surface (5) of the compartment support (3) or onto the running rail surface (38) of the running rail (37), and wherein the ramp (8) can be moved into a position enabling the transfer onto the support surface (20) of the holding means (7), wherein the holding means (7) is further arranged to be able to use the ramp (8) either to bridge a height difference (10) between the support surface (5) of the compartment support (3) and the support surface (20) of the holding means (7) during the transfer to the support surface (5), or during the transfer to the running rail surface (38) of the running rail (37) to bridge a height difference (10) between this and the support surface (20) of the holding means (7), wherein the height difference (10) exists immediately before the start of the transfer to the support surface (5) of the compartment support (3) or to the guide rail surface (38) of the guide rail (37), wherein the ramp (8) is arranged to provide a track or sliding surface (15) for the loading unit (2) or the vehicle (35) during the transfer to either the support surface (5) of the compartment support (3) or to the running rail surface (38) of the running rail (37), wherein the device (1, 36, 39) is arranged such that during the transfer onto the support surface (20) of its holding means (7), the ramp (8) is moved by the loading unit (2) or the vehicle (35) into the position enabling the transfer onto the support surface (20) of the holding means (7). [2] Device (1, 36, 39) according to claim 1, characterized by that the ramp (8) is designed as a passive component. [3] Device (1, 36, 39) according to at least one of the preceding claims, characterized by that the ramp (8) comprises a return element (9) or is assigned a return element (9) which is designed to bring the ramp (8) into the neutral position in the unloaded state. [4] Device (1, 36, 39) according to at least one of the preceding claims, characterized by the holding means (7) and a transfer means (6) for transferring the loading unit (2). [5] Device (1, 36, 39) according to at least one of the preceding claims, characterized by that the device (1, 36, 39) is arranged so that during the transfer either the loading unit (2) or the vehicle (35) brings the ramp (8) into the position supporting the transfer onto the support surface (5) of the compartment support (3) or onto the running rail surface (38) of the running rail (37). [6] Device (1, 36, 39) according to at least one of the preceding claims, characterized by that the ramp (8) rests on a component of the shelf (11) or abuts a component of the shelf (11) in the position supporting the transfer onto the support surface (5) of the shelf support (3) or onto the guide rail surface (38) of the guide rail (37). [7] Device (1) in the form of an automatic storage and retrieval device (1) according to at least one of the preceding claims for storing the loading unit (2) in the compartment support (3) of the rack (11), wherein the storage and retrieval device (1) comprises the transfer means (6) and the holding means (7). [8] Device (1) in the form of an automatic storage and retrieval device according to claim 7 for storing and retrieving the loading unit (2), characterized bythat the transfer means (6) is further configured to transfer the loading unit (2) substantially horizontally from the support surface (5) of the compartment support (3) to the support surface (20) of the storage and retrieval device (1), wherein the storage and retrieval device (1) is configured such that, during the transfer of the loading unit (2) onto the support surface (20) of the storage and retrieval device (1), the loading unit (2) is moved into a position enabling the transfer onto the support surface (20) of the storage and retrieval device (1). [9] Device (1) in the form of an automatic storage and retrieval device according to one of claims 7 or 8, characterized by a movement unit (27) and a load-carrying and transfer unit (28, 28.2, 28.3) which is connected to the movement unit (27) via bands, ropes (29), belts, chains or other traction means. [10] Device (36) in the form of a vertical conveyor (36) according to at least one of claims 1 to 7, which is designed to allow the substantially horizontal transfer of the vehicle (35) or the loading unit (2) onto the support surface (5) of the compartment support (3) or onto the running rail surface (38) of the running rail (37), wherein the vertical conveyor comprises the holding means (7). [11] Device (1, 39) in the form of a driverless transport vehicle (39) according to at least one of claims 1 to 6 or in the form of an automatic storage and retrieval device (1) according to at least one of claims 1 to 9, the device (1, 39) comprising a lifting device (40), wherein the holding means (7) is assigned to the lifting device. [12] Storage system comprising a device (1, 36, 39) according to at least one of the preceding claims and a shelf (11) with a plurality of shelf supports (3) and / or a plurality of rails (37). [13] Storage system according to claim 12, characterized by a shelf warehouse (12) comprising a plurality of shelves (11) and a storage and retrieval device (1) not permanently connected to a component of the shelf warehouse (12), for example to a grid structure (16). [14] Method for operating a device (1, 36, 39) according to at least one of claims 1 to 9, wherein a transfer of the loading unit (2) or the vehicle (35) from the support surface (20) of the holding means (7) to the support surface (5) of the compartment support (3) or to the running rail surface (38) of the running rail (37) takes place, the transfer comprising the following steps: - vertical positioning of the holding means (7) so that its support surface (20) is located either below the support surface (5) of the compartment support (3) or below the running rail surface (38) of the running rail (37) - Transfer of the loading unit (2) or the vehicle (35) onto the support surface (5) of the compartment support (3) or onto the running rail surface (38) of the running rail (37), wherein during the transfer either the loading unit (2) or the vehicle (35) brings the ramp (8) into the position supporting the transfer onto the support surface (5) of the compartment support (3) or onto the running rail surface (38) of the running rail (37). [15] Method according to claim 14, characterized by that a vertical position of the holding means (7) is selected such that the holding means (7) after positioning is located below the support surface (5) of the compartment support (3) or below the guide rail surface (38) of the guide rail (37), even with the addition of a vertical tolerance.

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