Tray storage system and method for storing and retrieving trays in such a system

Abstract

A tray storage system includes, among other things, uprights (1), storage shafts (5) comprising several stacked tray receptacles, a service vehicle (3) which travels on a track grid (2), and a gripper (7) which can insert trays (4) into the storage shafts (5), wherein the gripper (7) comprises at least one guide section (8) and at least one gripping section (9), wherein the guide section (8) is configured to be guided along the uprights (1) of the storage shaft (5) during an up-and-down movement of the gripper (7), and wherein the gripping section (9) is configured to grasp a tray (4) and place it in the tray receptacle, wherein the gripping section (9) is rotatable relative to the guide section (8).

Description

Technical field

[0001] The invention relates to a tray storage system and a method according to the independent claims. State of the art

[0002] Tray storage systems are well known. Object of the invention

[0003] The object of the present invention is to overcome the disadvantages of the prior art. Solution to the task

[0004] The solution to the problem lies in the subject matter of the independent claims. Advantageous embodiments are described in the dependent claims.

[0005] A shelf storage system according to a preferred embodiment of the present invention comprises a plurality of shelf uprights, a track grid for service vehicles arranged above the shelf uprights, at least one service vehicle traveling on the track grid, and furthermore a plurality of shelves. Preferably, these are a plurality of identical shelves.

[0006] Preferably, the tray storage system comprises multiple service vehicles. Where the singular term "service vehicle" is used in the following descriptions, these descriptions always apply to tray storage systems with multiple service vehicles.

[0007] One advantage of such a tray storage system is that the goods to be stored are not placed on pallets or other loading aids, but directly on the trays – which essentially function as or replace shelves. Furthermore, the trays are typically very shallow, which contributes to space-saving storage. It is also possible to store both tall and short goods on such trays. The tray storage system thus enables efficient vertical space utilization.

[0008] Rail grids as described above are generally known from the prior art and are sometimes also referred to as "grid".

[0009] Four uprights form a storage shaft. The shelf storage system thus comprises a multitude of such storage shafts, preferably arranged in a grid pattern and corresponding to the track grid. Intersections of the track grid, which preferably consists of parallel and orthogonal tracks or track sections, coincide with the uprights in a plan view. Four track sections forming a rectangle, with the uprights located at its corners, thus define each storage shaft in a plan view.

[0010] It is possible to connect the shelf uprights exclusively via the rail grid. In this configuration, the rail grid provides the necessary stability and sturdiness to the shelf uprights. Alternatively or additionally, bracing between the shelf uprights can be considered to provide or increase the stability of the shelf storage system.

[0011] Preferably, all shelf uprights of the shelf storage system are identically designed.

[0012] The service vehicle is preferably configured to travel along the rails. The service vehicle can preferably change direction as needed, in order to perform a 90° change of direction from a previously selected direction of travel.

[0013] The operating vehicle includes a gripper that can be lowered into the storage shaft. The gripper preferably comprises at least two, and more preferably exactly two, gripping jaws. The operating vehicle preferably travels on the guide rail grid. The gripper can be suspended or attached in any desired manner, for example, by chains, push chains, belts, tapes, ropes, etc. Preferably, the gripper is suspended or attached to a support arm of the operating vehicle, or alternatively, to another point on the operating vehicle. By using, in particular, several push chains, vibrations can be suppressed or prevented according to one embodiment.

[0014] The four uprights of a storage shaft each include a plurality of recesses. Preferably, all uprights include the same number of recesses. Preferably, the distances between the recesses are identical on all uprights.

[0015] Four recesses arranged at the same height in each of the four uprights of the storage shaft together form a shelf receptacle for receiving a shelf. The shelf to be received is, as will be explained in detail below, preferably a shelf lowered into the storage shaft by means of a gripper. Preferably, each storage shaft thus comprises a plurality of shelf receptacles arranged one above the other.

[0016] The gripper can comprise at least one guide section and at least one gripping section. The aforementioned sections, which are optional but preferably present, are explained in more detail below.

[0017] The guide section is designed to be guided along the uprights of the storage aisle during the gripper's up-and-down movement. The gripper section can include guide rollers to roll along the uprights. This guidance can be achieved in any manner, provided that unwanted translational and rotational movements of the gripper are avoided.

[0018] Instead of guide rollers, alternative sliding or rolling elements can be considered.

[0019] The gripping section is designed to grasp a tray and place it in the tray holder.

[0020] The gripping section can be formed by or encompass the gripping jaws already mentioned.

[0021] The gripping section can be rotated relative to the guide section.

[0022] Preferably, the gripping section can perform a rotation within the horizontal plane, while the guide section can only perform a translation in the sense of a vertical movement. In particular, the gripping section preferably cannot perform any translational movement in the horizontal plane relative to the guide section.

[0023] The trays can preferably comprise four locking sections on their underside, each locking section preferably being complementary to at least one section of a recess. "Complementary" here means, in particular, that the locking sections are designed such that, after the tray is placed in the tray holder, there is a positive fit between the locking section and the recess. This positive fit prevents a tray from falling out of its tray holder in the event of vibrations and the like, which can occur during operation or even during an earthquake.

[0024] The gripper is preferably designed to insert the tray into the tray receptacle by rotating the gripping section relative to the guide section and then to place it there.

[0025] It is possible that the shelves do not contain any moving parts. For example, the shelves could be manufactured as single pieces using injection molding. Shelves manufactured in this way are inexpensive to produce and can be used in conjunction with the shelf storage system described above to realize its advantages.

[0026] The gripper can include at least one sensor for determining its distance from the floor, from a shelf or goods located below the gripper in the same storage shaft, and / or from the operating vehicle. Any method of distance measurement is possible.

[0027] Alternatively or additionally, the operating vehicle can be equipped with a sensor that measures the length of the dispensed rope, strap, chain, or similar material. As mentioned previously, the gripper is suspended by a rope, strap, chain, or similar material, preferably from a support arm of an operating vehicle traveling on the track grid above the rack uprights. A sensor, such as a cable tension sensor, that measures the length of the rope, strap, or chain as the gripper is lowered into a storage shaft allows the vertical position of the gripper to be determined.

[0028] In total, a variety of direct or indirect methods for measuring length and distance can be considered, suitable for directly determining the vertical position of the gripper or for indirectly determining this vertical position via the gripper's path traveled. Furthermore, a variety of distance measurement methods can also be considered to infer the gripper's vertical position.

[0029] The gripper can, as an alternative or in addition to the aforementioned sensors, include at least one sensor for detecting at least one recess.

[0030] On the one hand, such a sensor allows for fine-tuning: If the gripper has been positioned using a length or displacement sensor, as described above, the position determined by the sensor may be incorrect, depending on the weight of the load on the shelf, age-related stretching of the cable, or similar factors. To place the shelf in the shelf holder, the vertical position of the shelf in the storage aisle must then be corrected. A sensor on the gripper that detects the shelf holders can enable this correction. For example, a contactless distance sensor can be used, horizontally oriented, to determine whether it is next to a recess or another part of the shelf upright.With the help of such a sensor, it is therefore possible to determine whether a vertical position of the shelf has been reached that allows the shelf to be inserted into the shelf holder by rotating the shelf as already described.

[0031] On the other hand, the gripper can also be positioned using only such a sensor, i.e., without the additional use of a length or displacement sensor. For example, the aforementioned sensor can "count" the recesses as the gripper is lowered into the storage chute. In this way, the vertical position of the gripper can be determined without any other additional sensors.

[0032] The guide section can include several, preferably exactly four, guide rollers that roll along the shelf uprights when the gripper is lowered into a storage chute.

[0033] Preferably, the recesses within the shelf uprights are positioned such that a continuous, vertical rolling surface remains for the guide rollers. This rolling surface can be designed as a guide edge. Preferably, the rolling surfaces and the guide rollers are designed to be complementary to each other. Thus, the guide rollers can preferably roll vertically along the rolling surface present on the shelf uprights, with this rolling surface not being interrupted, or at least not completely interrupted, by the recesses. The rolling surface can be defined as a vertically extending surface section of the shelf uprights, which, when the gripper moves vertically, forms a contact surface with the guide rollers. The size and dimensions of the rolling surface are therefore preferably determined by both the design of the shelf uprights and the design of the guide rollers, in particular by the running surface of the guide rollers.In this case, a running surface of the guide rollers is preferably that surface section of the guide rollers which, when rolling vertically within the storage shaft, comes into contact with the shelf uprights, i.e. with the rolling surface on the shelf uprights.

[0034] A rolling surface that is at least not completely interrupted by recesses preferably comprises a vertically extending continuous surface section between a lowest recess used in operation and a highest recess used in operation of the relevant shelf upright.

[0035] In other words, the guide rollers preferably roll vertically on a continuous rolling surface. Alternatively, it is conceivable that a section of the running surface of at least one guide roller rolls over a recess during vertical rolling. However, it is preferably ensured that the entire running surface of one of the guide rollers does not lose contact with the rack upright and thus with the rolling surface, even temporarily, while the guide rollers are within the storage aisle.

[0036] The trays can be configured to be gripped laterally or from below by the gripping section. The tray can include a gripping recess that can be grasped, for example, by the gripping jaw of the gripping section. The gripping recess can include protrusions that can be engaged in corresponding depressions of the gripping jaw, or vice versa. In this way, the tray can be gripped so securely by the gripping section that even in the event of vibrations or similar conditions, there is no risk of the tray slipping off the gripping jaws. The tray can include exactly two gripping recesses, which can be grasped by exactly two gripping jaws of the gripper.

[0037] The form-fitting arrangements and designs described above preferably secure the tray against falling out, for example in the event of vibrations or the like, both during transport by the operating vehicle on the rail grid and within the tray holder.

[0038] The present invention also includes the method described below. Details, features, and specifics described in relation to the method also apply to the tray storage system described above, and vice versa.

[0039] A method according to a preferred embodiment of the present invention serves for the storage and retrieval of trays in a tray storage system.

[0040] The aforementioned tray storage system comprises a plurality of uprights, a track grid for service vehicles arranged above the uprights, at least one service vehicle traveling on the track grid, and a plurality of trays. Several, preferably exactly four, uprights together form storage shafts, with tray holders arranged in the storage shafts. The service vehicle includes a gripper that can be lowered into the storage shaft. At least one section of the gripper is guided along the uprights within the storage shaft during an up-and-down movement.

[0041] The process involves storing a tray with the following steps: The gripper of the service vehicle holds the tray to be stored securely. The gripper of the service vehicle can also grasp the tray to be stored beforehand, for example, when it is being fed into the tray storage system for the purpose of storing the goods located on the tray.

[0042] The service vehicle positions itself so that the tray to be stored can be lowered into the selected storage shaft. This positioning is preferably achieved by the service vehicle driving to the desired position on the rail grid.

[0043] The operating vehicle lowers the grabber vertically into the selected storage shaft.

[0044] As the gripper continues to move vertically downwards within the storage shaft, according to a preferred embodiment, at least part of the gripper rotates with the tray, the tray being inserted into the tray holder by this rotation. Preferably, this is a superimposed rotational and translational movement: The guide section of the gripper preferably rolls along the uprights and is guided in this way, and the gripping section of the gripper rotates relative to the guide section to insert the tray into the tray holder. This preferably involves a rotation of the gripper, or preferably only the gripping section of the gripper, by 2° to 5°, more preferably by 3° to 4°, and even more preferably by about 3.5°.

[0045] The positive locking mechanism between the tray and the gripper is then released.

[0046] Preferably, after the tray is rotated into the tray holder, the gripper continues to move vertically downwards. This downward movement of the gripper preferably secures the tray in the recesses forming the tray holder, and simultaneously releases the positive locking mechanism between the tray and the gripper. In other words, the downward movement of the gripper alone, after the tray is rotated into place, replaces the positive locking connection between the gripper and the tray with a positive locking connection between the tray and the four recesses, without requiring any further steps beyond the downward movement.

[0047] The service vehicle then removes the grabber from the storage shaft.

[0048] The procedure also includes relocating a tray with the following steps: The service vehicle positions itself so that the grabber can be lowered into the selected storage shaft.

[0049] The operating vehicle lowers the grabber vertically into the selected storage shaft.

[0050] The gripper of the service vehicle grasps the tray to be removed in a form-fitting manner.

[0051] According to a preferred embodiment, the gripper moves vertically upwards within the storage shaft together with the previously gripped tray, with at least part of the gripper rotating with the tray during this vertical movement in order to remove the tray from the tray receptacle.

[0052] Preferably, the tray to be removed is first lifted a short distance within the tray holder before being rotated. Then, by rotating the gripper or gripping section relative to the guide section, it is rotated out of the tray holder so that it can subsequently be conveyed upwards within the storage shaft. The lifting described above is preferably carried out to release the positive locking connection between the tray and the tray holder, i.e., between the locking sections of the tray and the four recesses that form the tray holder. The rotational and translational movements described above preferably occur simultaneously.

[0053] The gripper moves vertically upwards with the tray until the gripper and tray are above the track grid.

[0054] According to one embodiment, during storage and / or retrieval, it is also possible to forgo a simultaneous and thus superimposed rotational and translational movement. In this case, for example, during storage, the gripper can stop at a height within the storage shaft after a vertical downward movement. This height is selected such that the gripper or gripping section can then rotate as described above to insert the tray into the tray holder. The same applies to retrieval. Preferably, however, the rotational and translational movements are superimposed and thus simultaneous, as described above.

[0055] Preferably, the process steps are carried out in the order described above.

[0056] It may be possible to carry out the procedure using a tray storage system described in detail above.

[0057] For the procedure described above, a higher-level warehouse control system known from intralogistics, a warehouse management system or the like may be suitable.

[0058] According to one implementation variant of the procedure, the rail grid can be used as a temporary storage area for trays. As described below, at least one tray can be temporarily placed on the rail grid during unloading.

[0059] For example, if a tray located far down in the storage shaft needs to be removed, and there is at least one other tray above it, the service vehicle can remove the latter tray from the storage shaft in the manner already described and place it on the track grid at a location near the storage shaft. For this purpose, the tray can be rotated by up to 90° by rotating the gripping section accordingly relative to the guide section before the tray is placed on the track grid. Alternatively, a rotation of only about 3.5° may also be sufficient to place the tray on the track grid.This can be the case if the track grid has similar structures to the recesses in the shelf uprights, on which the shelf can be placed after a rotation of just a few degrees, especially with the formation of the positive locking already described with regard to the recesses.

[0060] In general, it can be considered to position a shelf temporarily placed on the track grid by aligning this shelf, preferably by appropriate rotation, so that it can be placed on the track grid without falling into a storage chute.

[0061] The aforementioned temporary placement of a tray facilitates the removal of trays located further down in the storage shaft, because the tray that only needs to be removed temporarily, which was previously stored further up in the same storage shaft, does not have to be temporarily stored in a storage shaft that may be far away. Character description

[0062] Further advantages, features and details of the invention will become apparent from the following description of preferred embodiments and from the drawings; these show: in Fig. 1 a section of a tray storage system comprising an operator vehicle 3 according to an embodiment of the present invention; in Fig. 2 a section of a sectional view along BB according to Fig. 1; in the Fig. 3a and Fig. 3b a section view along CC according to Fig. 1, where the Fig. 3b an enlarged view of the Fig. 3a shows; in Fig. 3c a sectional view analogous to the Fig. 3a and Fig. 3b through a plurality of storage shafts 5 of the tray storage system; in Fig. 4 a sectional view along DD according to Fig. 1; in the Fig. 5a and Fig. 5b Enlarged views of the service vehicle 3 ( Fig. 5a) and part of the same ( Fig. 5b) according to Fig. 1; in the Fig. 6a, Fig. 6b and Fig. 6c three sectional views similar to those shown in Fig. 2, wherein the Fig. 6b and Fig. 6c enlarged views of Fig. 6a show; in the Fig. 7a and Fig. 7b two sectional views similar to those according to the Fig. 6a and Fig. 6b; in the Fig. 8a, Fig. 8b and Fig. 8c three views of a tray 4, wherein the Fig. 8b and Fig. 8c enlarged views of Fig. 8a show; in the Fig. Figures 9 to 17 show a sequence in which the lowering of a tray 4 and the subsequent movement of a gripper 7 by the operating vehicle 3 are depicted, wherein in the Fig. 9a, Fig. 10a, etc. each a view similar to that according to Fig. 1 is shown, and where in the Fig. 9b, Fig. 10b, etc. each a view similar to that according to the Fig. 2, Fig. 6 and Fig. 7 is shown. In the Fig. Pages 18 ff. show further details and variations.

[0063] For the sake of clarity, not all identical features and details present in all figures are provided with reference numbers. Example of implementation

[0064] The Fig. Figure 1 shows a section of a shelf storage system according to an embodiment of the present invention. Shelf uprights 1, a track grid 2 above these shelf uprights 1, and a service vehicle 3 traveling on this track grid 2 are visible. The track grid 2 is attached to the top of the shelf uprights 1.

[0065] Four uprights 1 together form a storage shaft 5. The shelf storage system comprises a plurality of such storage shafts 5, arranged in a grid pattern and corresponding to the rail grid 2. Intersections of the rail grid 2, which preferably consists of parallel and orthogonal rails or rail sections, coincide with the uprights 1 in a top view (not shown in the figures). Four sections of the rails of the rail grid 2, forming a rectangle in whose corners the uprights 1 are arranged, define each storage shaft in a top view (not shown). The Fig. 3a, Fig. 3b and Fig. 3c The guide rails of the guide rail grid 2, which are not visible due to the selected section plane, each run through the shelf uprights 1, with the shelf uprights 1 coinciding with the intersections of the guide rails in a top view.

[0066] From the Fig. 9b, Fig. 10b, Fig. 11b, etc., shows in each case how the rectangles formed by the track grid 2 coincide with the storage shafts 5.

[0067] The operating vehicle 3 comprises a gripper 7 suspended and supported on belts 14, which is shown in the illustration according to Fig. 1 was lowered into storage shaft 5. The grabber 7 is suspended via the belts 14 on a support arm 19 of the operating vehicle 3.

[0068] The shelf uprights 1 include recesses 6, wherein in Fig. 1 (as well as, for example, in Fig. 9a) only a few of these recesses were provided with reference numbers. Four recesses 6 of four shelf uprights 1, arranged at the same height, i.e. in the same vertical position, which together define a storage shaft 5, together form a shelf recess for receiving a shelf 4.

[0069] The sectional view along BB is shown in Figure 2; a similar sectional view is shown in Fig. 6 shown. Fig. Figure 2 is an enlarged view showing only a section, while in Fig. Figure 6a shows a complete sectional view. In addition to the tray 4, gripping jaws 13 are visible in the aforementioned figures, which are Fig. 2 closed and in Fig. 6 are open. Especially in Fig. 6c, two depressions 16 in the gripping jaw 13 and two protrusions 17 in a gripping recess 15 are also visible, with only one depression 17 and one protrusion 16 being marked with reference numbers.

[0070] In the Fig. 3a, Fig. 3b and Fig. 4 are the sectional views along CC and DD through the shelf uprights 1 according to Fig. 1 shown. Here, in Fig. 3a only in relation to one of the shelf uprights 1, the four recesses 6 are marked with reference numbers. Fig. 3b, for each shelf upright 1, there is only one recess 6 marked with the corresponding reference number. Furthermore, in Fig. 3b only one of the four guide edges shown per shelf upright 1 is provided with a reference number.

[0071] Fig. Figure 3b shows an enlarged view of the Fig. 3a. In Fig. In 3b, four shelf uprights 1 are visible, forming the corners of a storage shaft 5. The rail grid 2 is shown here due to the chosen section, cf. Fig. 1, not visible. From Fig. Figure 3b clearly shows that an inner edge of the shelf uprights 1, designated here as a guide edge 18, serves as a rolling surface for guide rollers 11 of a guide section 8. These guide rollers 11 are, among other things, located in the Fig. 2, Fig. 6, Fig. 7b and Fig. 11b is recognizable. The four leadership roles 11 are complementary to the four leadership edges 18.

[0072] The recesses 6 are thus positioned within the uprights 1 such that a continuous vertical rolling surface remains for the guide rollers 11. In other words, the vertical rolling surface, specifically the guide edge 18, is free of recesses, allowing the guide rollers 11 to move vertically along the uprights 1 without interruption and with continuous guidance. When the gripper 7 is lowered into the storage shaft 5, the guide edges 18 and the guide rollers 11 come into contact with each other in such a way that, apart from the vertical up-and-down movement of the gripper 7, any other movement of the guide section 8 is prevented by the positive engagement between the guide rollers 11 and the guide edges 18.

[0073] Out of Fig. 3c also states that each shelf upright 1 can form a total of four storage aisles 5 with three other shelf uprights 1. In the sectional view, each shelf upright 1 comprises according to Fig. 3a / 3b four recesses 6 and four guide edges 18, of which, for the sake of clarity, only one recess 6 and only one guide edge 18 were marked with reference numbers.

[0074] Out of Fig. 3a / 3b shows that four shelf uprights 1 together form a storage shaft 5. From Fig. 3c further shows that each shelf upright 1 is directly adjacent to a total of eight other shelf uprights 1, and that each shelf upright 1 forms a storage compartment 5 with three of the eight aforementioned shelf uprights 1. In total, therefore, each shelf upright 1 not located at the edge of the shelf storage system forms four storage compartments 5 with a total of eight adjacent shelf uprights 1.

[0075] The Fig. 5a and Fig. 5b shows the service vehicle 3 according to Fig. 1, wherein the gripper 7 is in the uppermost position, and consequently not in a (in Fig. The grab 7 is lowered into storage shaft 5 (not shown). As already mentioned in part, the grab comprises a guide section 8 and a gripping section 9. The guide section 8 comprises four guide rollers 11. The gripping section 9 comprises two gripping jaws 13.

[0076] As explained in more detail below, the guide section 8 is designed to be guided along the shelf uprights 1 during an up-and-down movement of the gripper 7. The gripping section 9 is designed to grasp a shelf 4 and place it in the shelf holder.

[0077] The gripping section 9 is rotatable relative to the guide section 8, which in relation to the Fig. 6 and Fig. 7 is explained in more detail below.

[0078] In Fig. The wheels 12 of the operating vehicle 3 are visible, which allow the operating vehicle 3 to move on the track grid 2.

[0079] The guide rollers 11 of the guide section 8 enable it to roll vertically along the uprights 1, more precisely along the guide edges 18. The guide section 8 is thus guided vertically along the uprights 1. The guide section 8 therefore comprises four guide rollers 11, which roll along the four uprights 1 forming a storage compartment 5 when the gripper 7 is lowered into this compartment.

[0080] In Fig. 8 Four grid sections 10 are visible on the underside of the tray 4. The Fig. 8b and Fig. Figure 8c shows enlarged views of the Fig. 8a. Here, it shows Fig. 8b the upper left corner of the in Fig. 8a shown tray 4, and Fig. 8c the upper right corner of this shelf 4.

[0081] Regarding also the Fig. 6 and Fig. 7 is explained in more detail below, stating that each grid section 10 is complementary to each recess 6. The grid sections 10 can each form a positive fit with a section of a recess 6. The tray 4 according to Fig. 8 includes no moving parts.

[0082] Generally speaking, "complementary" in the context described above means that the locking sections 10 are designed such that, after the shelf 4 is placed in the shelf holder, there is a positive fit between the four locking sections 10 and the four recesses 6. This positive fit prevents the shelf 4 from detaching from the shelf holder and falling inside the shelf shaft 5 in the event of vibrations or similar events that occur during operation or even during an earthquake.

[0083] Fig. Figure 8a shows a view of the underside of the tray 4, on which two opposing gripping recesses 15, each with two projections 17, are arranged. The (in Fig. The upper surface of the tray 4 (not shown) thus, unlike the trays of other known tray storage systems, does not include any bores or recesses. In prior art systems, for example, clamping devices for lifting the tray engage in such bores or recesses. According to an embodiment of the present invention, the tray 4 shown in the figures is gripped from below by the gripping jaws 13. The entire upper surface of the tray 4 is therefore available for placing the goods to be stored. Furthermore, the risk of accidentally covering recesses, slots, or bores, which are often arranged on the surface of known trays for gripping, is not a concern with the tray 4 according to an embodiment of the present invention. Another advantage of a tray 4 according to Fig. 8, in which the aforementioned recesses or the like are omitted, lies in the fact that the gripping recess 15 located on the underside – and generally gripping the tray 4 from below – allows for greater gripping tolerances compared to gripping by insertion into bores or the like. In other words, gripping the tray 4 from below requires greater tolerances than gripping by insertion into bores or the like. Fig. 8 of the trays shown do not involve "threading" any clamping devices which, in the prior art, engage in bores of the tray and then grip it by spreading or twisting.

[0084] As will be explained in more detail below, tray 4 is according to Fig. 8a is also set up to be gripped from below by the gripping section 9, more precisely by the gripping jaws 13.

[0085] Regarding the sequence of Fig. It is further explained below in sections 9 to 17 that the gripper 7 is set up to insert the tray 4 into the tray receptacle by rotating the gripping section 9 relative to the guide section 8 and then to place it there.

[0086] In Fig. Figure 18 shows honeycomb-shaped recesses 21 with a hexagonal cross-section, which can optionally represent at least part of the surface of the tray 4 on which goods to be stored or transported are placed. Short locking pins 20.1 and long locking pins 20.2 are also shown. The locking pins 20.1 and 20.2 each have two radially projecting lugs 22 on their underside and two locking springs 23 above them. The locking pins 20.1 and 20.2 also each have a tool receptacle 26 at their upper end. Each honeycomb-shaped recess 21 includes a through-hole 24 with two indentations 25 that correspond to the lugs 22.

[0087] The Fig. 18a and Fig. Figures 18 and 19 each show two side views, which Fig. 18b and Fig. Figure 18e shows two perspective views each, which Fig. 18c and Fig. 18g each show a top view and a bottom view and the Fig. Figure 18d shows a sectional view (along AA in Fig. 18i) of the respective locking bolt 20.1, 20.2. The Fig. Figure 18i shows a top view of some honeycomb-shaped recesses 21 with locking bolts 20.1 located therein, which Fig. 18h shows a related cropped view. Fig. 18j shows the arrangement according to Fig. 18i from below.

[0088] In Fig. Figure 19 shows that the gripping jaw 13.1, 13.2 can be chamfered (only recognizable in gripping jaw 13.1).

[0089] In Fig. Details of linear motors are shown in Figure 20. Referring to the aforementioned figures, the functioning of the system according to the invention and the method according to the invention are explained as follows:

[0090] The shelf storage system preferably comprises a plurality of the shelf uprights 1 shown in the figures, which in turn form a plurality of storage compartments 5. This is shown in outline in Fig. 3c shows nine storage shafts 5 formed by the sixteen shelf uprights 1. In Fig. Figure 3c also shows that all shelf uprights 1 of the shelf storage system are identically designed. This simplifies the manufacture and assembly of the shelf storage system because only one variant of shelf upright 1 is required.

[0091] Storing a tray 4 in the left in the Fig. 1 and Fig. The storage shaft 5 shown in 9 ff. is operated as follows: The service vehicle 3, which previously grasped the tray 4, moves on the track grid 2 into the Fig. Position shown in Figures 1 and 9 ff. The operating vehicle 3 moves and positions itself with its wheels 12 on the track grid 2.

[0092] For clarity, the aforementioned figures do not show any stored goods on the tray 4. The gripping jaws 13 of the gripper 7 hold the tray 4 securely by engaging the raised sections 17 of the gripping recess 15 in the complementary recesses 16 of the gripping jaws 13. This prevents the tray 4 from dislodging from the gripping jaws 13 and falling due to vibrations, shocks, or similar events. The tray 4 to be stored is thus held securely by the gripping jaws 13 of the gripper 7.

[0093] The operating vehicle 3 is in a position immediately before the gripper 7 is lowered, which is in Fig. 9a is shown. Fig. Figure 9b shows a view of shelf 4 from below. Fig. 10b, Fig. Figures 11b, etc. show analogous views from below.

[0094] The operating vehicle 3 lowers the gripper 7 vertically into the selected storage shaft 5 (left in) on the conveyor belts 14. Fig. 10a) down, which in Fig. 10 and also in Fig. 7 can be seen.

[0095] While the gripper 7 continues to move vertically downwards within the storage shaft 5, the gripping section 9 rotates (cf. Fig. 5b) relative to the leadership section 8 (see also Fig. 5b) by approximately 3.5°. The aforementioned rotation by approximately 3.5° takes place as soon as the tray 4 to be stored is at a height such that its locking sections 10 can move into the recesses 6 which form the tray receptacle.

[0096] The guide section 8 continues to perform the vertical downward translational movement, resulting in a superimposed rotational and translational movement. During this movement, the guide rollers 11 continue to roll along the guide edges 18 of the shelf uprights 1. This rotation of the gripping section 9 during the lowering process is described in Fig. 11 shown. The four grid sections 10 (see Fig. 8a, Fig. 8b and Fig. 8c) at the corners of shelf 4 are, in the illustration according to Fig. 11 already in the four recesses 6 located at the same height, which together form the tray holder. (These recesses 6 are in Fig. 11a not visible due to the chosen perspective, because they point towards the center of storage shaft 5; cf. the Fig. 3a, Fig. 3b and Fig. 3c).

[0097] The aforementioned rotational movement of the gripping section by approximately 3.5° during the lowering of the gripper 7, i.e., the translational movement taking place vertically downwards within the storage shaft 5, must be initiated at the correct moment so that the four locking sections 10 of the tray 4 can engage in the tray recess, in the form of the four recesses 6 arranged at the same height, during the subsequent superimposed rotational and translational movement. If the rotation is initiated too early, four corners of the tray 4, where the locking sections 10 are located, will collide with a closed part of the shelf uprights 1 above the aforementioned recesses 6. If the rotation is initiated too late, the four corners of the tray 4 will collide with a closed part of the shelf uprights 1 below the aforementioned recesses 6.To initiate the rotational movement at the right time, at least one suitable sensor (not shown in the figures) can be arranged in the gripper 7 and / or in another section of the operating vehicle 3.

[0098] For example, the gripper 7 can include a sensor that measures a distance between the gripper 7 and a floor below the gripper 7 in the storage shaft 5 or between the gripper 7 and a tray 4 already stored in the storage shaft 5.

[0099] Additionally or alternatively, at least one sensor can be considered, which is designed, for example, as a non-contact distance sensor, and which can detect during the translational movement whether a recess 6 is located on a section of the shelf upright 1 detected by this sensor. Such a sensor can be essentially horizontally oriented and is suitable for "counting" the recesses 6 during the downward translational movement.

[0100] Furthermore, a sensor can additionally or alternatively be provided in the operating vehicle 3, which measures the length of the dispensed belt 14. This could be a sensor in the form of a cable-operated sensor or the like, which measures the length of the dispensed belt 14 while the gripper 7 is lowered into the storage shaft 5.

[0101] The timing for initiating the rotational movement to properly engage the tray 4 in the selected tray holder can be determined by measuring the distance, counting the recesses 6, determining the length of the dispensed belt 14 during the lowering of the gripper 7, or combining at least two of these methods. If at least two of the measurement methods described above are combined, it is possible, for example, to roughly determine the height (i.e., the vertical position) of the gripper 7 within the storage shaft 5 by measuring the length of the dispensed belt 14, and then to fine-tune this position by measuring the recesses 6.

[0102] The aforementioned "fine-tuning" may be particularly useful if the goods to be stored on the trays 4, and thus moved by the belts 14, differ significantly in weight. This can ultimately lead to uneven elongation of the belts, which in turn affects the vertical position of the gripper 7 – and therefore also of the tray 4. Alternatively or additionally, it may be possible to determine the weight of the tray 4 to be stored, which depends in particular on the weight of the goods being stored, using a suitable sensor. The weight determined in this way can be used as a correction factor when calculating the vertical position based on the length of the discharged belt 14.If, for example, the extent of the elongation of the bands 14 as a function of the weight on the tray 4 is known, this weight-dependent correction of the vertical position, which was determined by means of a cable pull sensor or the like, can be carried out.

[0103] For the procedure described above, a higher-level warehouse control system known from intralogistics, a warehouse management system or the like may be suitable.

[0104] The gripper 7 is positioned starting from the in Fig. In the position shown in Figure 11, the section is lowered a further short distance until the four locking sections 10 each engage with a section of the four recesses 6. This is, for example, in the Fig. 6 and Fig. 12 shown.

[0105] The positive locking mechanism between the tray 4 and the gripping jaws 13 of the gripper 7 is released when the gripper 7 moves a little further downwards after the tray 4 has been placed in the four recesses 6 that form the tray holder. Since the four locking sections 10 already rest positively on the corresponding sections of the four recesses 6, the positive locking mechanism between the gripping recess 15 and the gripping jaws 13, more precisely between the recesses 16 and the protrusions 17, is released. This is in Fig. 13 recognizable. While in Fig. 12a if the tray 4 is still visible below the gripper jaws 13, then the gripper 7 is in Fig. 13a moved a little further vertically downwards, so that the gripping jaws 13 are located further down in the storage shaft 5 than the tray 4.

[0106] The gripper jaws 13 are then opened by a horizontal movement. This allows the gripper 7 to be removed from the storage shaft 5 by a vertical upward movement. Starting from the in Fig. The arrangement shown in section 13 illustrates the Fig. 14 the situation after the opening of the gripping jaws as described above 13. In comparison of the Fig. 13b and Fig. 14b clearly shows that the gripping jaws 13 are arranged according to Fig. 14b were opened horizontally on the side, so that the gripping recess 15 becomes visible.

[0107] The gripping jaws 13 then remain in the open position, and the gripper 7 moves vertically upwards. This is in Fig. 15 recognizable.

[0108] The gripping section 9 is then rotated by approximately 3.5°, with the direction of rotation being opposite to the direction of rotation of the in Fig. The rotation shown in section 12 is selected. This is in Fig. 16 is recognizable. Here, a superimposed rotational and translational movement takes place once again; the aforementioned rotation of the gripping section 9 occurs while the entire gripper 7, guided by the guide section 8, moves upwards along the guide edges 18 of the four shelf uprights 1. In comparison of the Fig. 15b and Fig. 16b shows the rotation of the gripper jaws 13 - and thus of the entire gripper 7 - clearly visible.

[0109] After completion of the aforementioned rotational movement, the translational movement continues. The gripper 7 is moved completely out of the storage shaft 5 by the belts 14. Fig. Figure 17 shows the situation after the step described above.

[0110] During the sequence described above, and generally during an up-and-down movement of the gripper 7, and regardless of whether the gripping section 9 has been rotated relative to the guide section 8, the gripper 7 is always guided vertically along the shelf uprights 1 by the guide edges 18. Specifically, the guide rollers 11 roll along the guide edges 18 of the shelf uprights 1.

[0111] This guide prevents any unwanted translational or rotational movement of the guide section 8 and thus of the entire gripper 7. In particular, only the vertical up-and-down movement of the gripper 7 is permitted, while any horizontal movement of the gripper 7 as well as any rotation of the entire gripper 7 (apart from the desired rotation of the gripping section 9 relative to the guide section 8) is prevented.

[0112] In short, the sequence shows the Fig. 9 to 17: - the situation before the lowering of gripper 7 ( Fig. 9) - a lowering of the gripper 7, initially in the form of a purely translational movement ( Fig. 10), - subsequently the initiation of the rotational movement of the gripping section 9 relative to the guide section 8 and thus a superimposed translational and rotational movement ( Fig. 11) - then another pure translational movement (further lowering of the gripper 7 downwards) after completion of the rotation by approximately 3.5° ( Fig. 12), wherein the raster sections 10 are fitted into the recesses 6 in a form-fitting manner, - whereby this translational movement is continued to release the positive locking between the gripping jaws 13 and the gripping recess 15 ( Fig. 13) - and whereby the translation movement is stopped and the gripping jaws 13 are opened in order to be able to remove the gripper 7 upwards from the storage shaft 5 after successful placement and thus storage of the tray 4 in the recesses 6 with the help of the belts 14, as described in the following steps, - wherein the gripper 7 is pulled vertically upwards with the help of the belts 14 ( Fig. 15) - wherein the gripping section 9 is angled approximately 3.5° opposite to that in Fig. 12 shows the direction of rotation ( Fig. 16), and - wherein the gripper 7 is subsequently removed vertically from the storage shaft 5 by means of a purely translational movement ( Fig. 17).

[0113] Outsourcing can be achieved by modifying the sequence according to the Fig. 9 to 17 in reverse order, i.e., traversing in the sequence 17, 16, ..., 9: First, the gripper 7 is lowered into the storage shaft 5, whereby a superimposed rotational and translational movement preferably takes place within the storage shaft 5, i.e., the rotation of the gripping section 9 relative to the guide section 8 during lowering. After passing through the Fig. 17 and Fig. In the situations shown in 16, the gripping jaws 13 are opened and the gripper 7 is lowered by means of a pure translational movement so that the gripping jaws 13 can grasp the tray 4 from below.

[0114] The positive locking between the gripping jaws 13 and the gripping recess 15 is achieved by closing the gripping jaws 13 and then slightly lifting the gripper 7. This corresponds to the steps according to the Fig. 14, Fig. 13 and Fig. 12. The situation after the closing of the gripping jaws 13 is based on Fig. 14b in Fig. 13b is recognizable.

[0115] The superimposed rotational and translational movement then takes place according to Fig. 11, to turn the shelf 4 out of the shelf holder, in order to then proceed according to Fig. 10 to be able to remove from storage shaft 5 by means of a purely translational movement.

[0116] The situation is then assessed according to Fig. 9 is reached, so that the tray 4 (usually together with the stored goods on it - not shown) can be moved by the operating vehicle 3 on the track grid 2 to its destination.

[0117] One advantage of the illustrated tray storage system is that goods of different heights can be stored using the vertical space available in the storage shafts 5 efficiently, since the large number of recesses 6 and thus the stacked tray holders make it possible to store the next higher tray 4 in such a way that there is as little distance as possible to the top edge of the stored goods on the tray 4 below.

[0118] Through the interaction of the complementary guide rollers 11 and guide edges 18, as described above, vibrations are suppressed or prevented. The four guide rollers 11 rest against the guide edges 18 in such a way that a positive fit is created, thus preventing any unwanted horizontal movement of the gripper 7 within the bearing shaft 5. Besides the desired downward and upward movement, the only permissible movement is relative movement in the form of rotation of the gripping section 9 relative to the guide section 8. The latter is held in position by the guide rollers 11, as described above, by a positive fit.

[0119] Since the tray storage system shown does not require aisles for storage and retrieval, a very high storage density can be achieved.

[0120] The function of the recesses 21 and the staking bolts 20 is explained by the Fig. 18 as follows: At least one section or part of the essentially horizontal surface of the tray 4 on which goods are stored is formed in the form of the adjacent honeycomb-shaped recesses 21, as shown in the Fig. 6 p.m. Fig. 18d, Fig. 18i and Fig. Figure 18j shows that, with the aid of the staking bolts 20.1 and 20.2, a precisely fitting boundary can be created to support and secure goods to be stored on shelf 4. Longer staking bolts 20.2 and shorter staking bolts 20.1 are available for this purpose.

[0121] To create a precise boundary, the locating pins 20 are arranged accordingly. For this purpose, the locating pins 20 are each inserted into the selected recess 21 and, for example, using a tool inserted into the tool holder 26, turned clockwise (with respect to the Fig. 18h and Fig. 18i). Here, the locking bolt 20.1 is rotated after being inserted into the recess 21 (lower left in the Fig. 18h and Fig. 18i) turned (middle of the Fig. 18h and Fig. 18i), until the locking springs 23 positively secure the locking bolt 20.1 against rotation within the recess 21 (see top right in the Fig. 18h and Fig. 18i). The positive locking mechanism against rotation is achieved by the ends of the detent springs 23 springing into the edges of the recesses 21, i.e., coming to rest under tension, so that a turning back (counterclockwise in the aforementioned figures) is only possible with force, and thus does not occur due to vibrations and the like during normal operation.

[0122] Simultaneously, the lower sections of the staking bolts 20.1 with the lugs 22 are inserted through the through-holes 24 such that, after clockwise rotation, the staking bolts are positively secured against being pulled out (along their imaginary central longitudinal axes) from the recesses 21. The insertion of the lower sections of the staking bolts 20.1, and in particular the lugs 22, is shown in the upper left. Fig. 18j shown, with the arrangement in the upper left in Fig. 18j with the arrangement bottom left in Fig. 18i and Fig. 18h corresponds. Through the subsequent twisting (cf. Fig. 18j middle) the locking bolt 20.1 reaches its final position ( Fig. 18j bottom right), which in the Fig. 18h and Fig. 18i is shown in the upper right. Here, the lugs 22 secure the locking bolt 20.1 against being pulled out.

[0123] All the above considerations apply equally to the long staking bolts 20.2 and the short staking bolts 20.1.

[0124] Overall, the design of the staking bolts 20 and the recesses 21 thus enables a positive locking of the staking bolts 20 against rotation within the recesses 21 and against pulling out along the central longitudinal axes of the staking bolts 20 by simply inserting and then turning them.

[0125] Due to the beveled design of the angled piece forming the gripping jaw 13.1, the gripping jaws 13.1 and 13.2 can advantageously be moved up and down in the storage shaft 5 without colliding with any trays 4, containers, or the like in the storage shaft 5. (The gripping jaw 13.2 is designed analogously, but this is due to the in Fig. 19 chosen perspective is not apparent).

[0126] In Fig. Figure 20 shows a linear motor 27.1, which can rotate the gripping section 9 relative to the guide section 8. The linear motor 27.1, mounted on the guide section 8, is connected to a ball joint 28, which in turn, via a slot 29 and a (not shown) gearbox, ensures that the linear movement of the linear motor 27.1 is translated into the rotation of the gripping section 9 relative to the guide section 8.

[0127] A second linear motor 27.2 can be used to open and close the gripping jaws 13.

[0128] In Fig. 20b the linear motor 27.1 is retracted, the ball joint 28 is located on the left in the Fig. 20a ff. shown stop of the elongated hole 29 (i.e. on the left at an edge section of the elongated hole 29 not marked with reference numbers).

[0129] In Fig. Figure 20c shows how the gripping section 9 is pivoted relative to the guide section 8, which is done by extending the linear motor 27.1, whereby this translational movement is translated via the already mentioned ball joint 28 through the elongated hole 29, and ultimately via a (not shown in its entirety) gear unit into the rotation of the gripping section 9.

[0130] The ball joint 28 then strikes the right side during further extension of the linear motor 27.1. Fig. The linear motor 27.1 extends further even after the ball joint 28 has struck the stop of the elongated hole 29 shown on the right, until it actuates a limit switch 30. This pre-tensions a spring 31. Thus, instead of a device and control system in which the gripping section 9 is simply rotated by a certain angle, a pre-tension is built up in the (in Fig. (20d shown) end position. This causes the gripping section 9 - and also any tray 4 held by it - to be rotated into the tray receptacle and, if the tray 4 hits the tray receptacle 4 at the end of the rotation, held in this position with preload.

[0131] By providing the spring 31, larger tolerances of the recesses 6 and thus of the shelf mounts can also be compensated for, while at the same time ensuring that the shelf 4 is properly inserted into the shelf mount or into the four recesses 6.

[0132] Although only some preferred embodiments of the invention have been described and illustrated, it is obvious that the person skilled in the art can add numerous modifications without departing from the essence and scope of the invention. In particular, the following modifications may be considered: The gripper 7 can have a sensor below the gripper 7 to determine its distance from the ground or from a tray 4 located in the same storage shaft 5 or from stored goods located on this tray 4. Alternatively or additionally, the gripper 7 can have a sensor that measures the distance to the operating vehicle 3.

[0133] The gripper 7 can include a sensor for detecting at least one recess 6.

[0134] Alternatives, particularly regarding the shape of the depicted recesses 6, may be considered. Preferably, however, these alternatives are always designed as an opening, recess, notch, or the like in the shelf upright 1, and not as a projection extending from the surface of the shelf upright 1 into the storage shaft 5. Otherwise, the gripper 7 or the shelf 4 could collide with such a projection when the gripper 7 moves up and down.

[0135] The angle by which the gripping section 9 rotates relative to the guide section 8 can also deviate from approximately or exactly 3.5°.

[0136] Instead of the bands 14, chains, push chains, belts, ropes, etc. can also be considered.

[0137] As an alternative to gripping the tray 4 from below as described in detail, it is also possible for the tray 4 to have lateral recesses into which the gripping jaws 13 can engage. In general, it is therefore possible for the trays 4 to be gripped not from below, but laterally by the gripping section 9, for example, by the gripping jaws 13. Such a process can be similar to gripping a pallet with the forks of a forklift. In particular, the lateral recesses on the tray 4 can be designed in such a way that the entire top surface of the tray 4 remains available for loading with stored goods.

[0138] Alternatives to the guide edge 18 may be considered. Any surface on the shelf upright 1 could be suitable, allowing the guide section 8 to roll or slide along it. This section preferably includes guide rollers 11. However, other sliding elements, roller elements, or the like may also be used.

[0139] It has been described that the guide edge 18 is free of recesses, so that the guide rollers 11 can move vertically along the guide rollers 11 of the shelf uprights 1 without interruption and under continuous guidance. Alternatively, it can be conceived that the guide edges 18 – or differently shaped rolling surfaces – are at least not completely interrupted by recesses 6. It can therefore be conceived that a section of a (not marked with reference numerals) running surface of a guide roller 11 – or of an alternative sliding or rolling element – ​​rolls over a recess 6 during vertical rolling.However, it is preferably excluded that the entire (not marked with reference numerals) running surface of one of the guide rollers 11 loses contact with the shelf upright 1 and thus with the guide edge 18 (or generally with the rolling surface) even temporarily, while the guide rollers 11 are located inside the storage shaft 5.

[0140] In relation to Fig. 19 It should be mentioned that all components of the gripper 7 can be designed and constructed in such a way that, regardless of any rotation (when the gripping section 9 is rotated relative to the guide section 8) and regardless of whether the gripping jaws 13 are retracted or extended, the gripper 7 can always be moved up and down in the storage shaft 5 without bumping into anything.

[0141] The spring 31 can also be omitted if, for example, the limit switch 30 is sufficient. Reference symbol list 1 shelf upright 2 track grid 3 Service vehicles 4 shelves 5 storage shaft 6 Exclusion 7 grippers 8 Leadership Section 9 Gripping section 10 Raster section 11 Leadership Roles 12 wheels 13 gripping jaws Volume 14 15 Gripping recess 16 In-depth study 17 Survey 18 Leading edge 19 support arm 20 staking bolts 21 honeycomb-shaped recess 22 Nose 23 Rast spring 24 through holes 25 notches 26 Tool holder 27 Linear motor 28 Joint head 29 elongated holes 30 limit switches 31 Spring 32 33

Claims

[1] Tray storage system comprising a large number of shelf supports (1), a rail grid (2) arranged above the shelf uprights (1) for service vehicles (3), as well as at least one service vehicle (3) operating on the track grid (2), as well as a large number of shelves (4), wherein four shelf uprights (1) form a storage shaft (5), wherein the operating vehicle (3) includes a grabber (7) which can be lowered into the storage shaft (5), wherein the four shelf uprights (1) of a storage shaft (5) each comprise a plurality of recesses (6), wherein four recesses (6) arranged at the same height in the four shelf uprights (1) of the storage shaft (5) together form a shelf receptacle for receiving a shelf (4). [2] Tray storage system according to claim 1, characterized by, that the gripper (7) comprises at least one guide section (8) and at least one gripping section (9), wherein the guide section (8) is configured to be guided along the uprights (1) of the storage shaft (5) during an up and down movement of the gripper (7), and wherein the gripping section (9) is configured to grasp a tray (4) and place it in the tray receptacle, wherein the gripping section (9) is rotatable relative to the guide section (8). [3] Tray storage system according to claim 1 or 2, characterized by , that the trays (4) comprise four locking sections (10), each locking section (10) being complementary to at least one section of each recess (6), the gripper (7) being configured to insert the tray (4) into the tray receptacle by rotating the gripping section (9) relative to the guide section (8) and then to place it there. [4] Tray storage system according to any of the preceding claims, characterized by , that the trays (4) do not include any moving parts. [5] Tray storage system according to any of the preceding claims, characterized by that the gripper (7) includes at least one sensor for determining its distance from the ground or from a tray (4) located below the gripper (7) in the same storage shaft (5) or from stored goods located thereon and / or from the operating vehicle (3). [6] Tray storage system according to at least one of the preceding claims, characterized by , that the gripper (7) includes at least one sensor for detecting at least one recess (6). [7] Tray storage system according to at least one of the preceding claims, characterized by , that the guide section (8) includes several guide rollers which roll along the shelf uprights (1) when the gripper (7) is lowered into a storage shaft (5). [8] Tray storage system according to at least one of the preceding claims, characterized by that the trays (4) are arranged to be gripped laterally or from below by the gripping section (9). [9] Method for storing and retrieving trays (4) in a tray storage system, wherein the tray storage system comprises a plurality of shelf uprights (1), a track grid (2) arranged above the shelf uprights (1) for service vehicles (3), as well as at least one service vehicle (3) traveling on the track grid (2) and a plurality of trays (4), wherein several shelf uprights (1) together form storage shafts (5), wherein shelf receptacles are arranged in the storage shafts (5), wherein the operating vehicle (3) includes a grabber (7) which can be lowered into the storage shaft (5), and wherein at least one section of the gripper (7) is guided along the rack uprights (1) during an up-and-down movement within the storage shaft (5), the procedure comprises the storage of a tray (4) with the following steps: The gripper (7) of the operating vehicle (3) holds the tray (4) to be stored in a form-fitting manner, The service vehicle (3) positions itself so that the tray (4) to be stored can be lowered into the selected storage shaft (5), The operating vehicle (3) lowers the grabber (7) vertically into the selected storage shaft (5), The positive locking mechanism between the tray (4) and the gripper (7) is released. the operating vehicle (3) removes the grabber (7) from the storage shaft (5); the procedure further comprises the removal of a tray (4) in the following steps: The operating vehicle (3) positions itself so that the grabber (7) can be lowered into the selected storage shaft (5), The operating vehicle (3) lowers the grabber (7) vertically into the selected storage shaft (5), the gripper (7) of the operating vehicle (3) grasps the tray (4) to be removed in a form-fitting manner, The gripper (7) moves vertically upwards with the tray (4) until the gripper (7) and tray (4) are above the guide rail grid (2). [10] Method according to claim 9, characterized by , that while the gripper (7) continues to move vertically downwards within the storage shaft (5) during the insertion of a tray (4), at least part of the gripper (7) rotates with the tray (4), whereby the tray (4) is inserted into the tray receptacle by this rotation before the positive locking between tray (4) and gripper (7) is released characterized by, that after the form-fitting gripping of the tray (4) to be removed, the gripper (7) moves vertically upwards together with the previously gripped tray (4) within the storage shaft (5), whereby at least a part of the gripper (7) rotates with the tray (4) during this vertical movement in order to remove the tray (4) from the tray receptacle. [11] Method according to claim 9 or 10 using a tray storage system according to any one of claims 1 to 8. [12] Method according to at least one of claims 9 to 11, characterized by , that the track grid (2) is used as a temporary storage space for trays (4) in order to temporarily place at least one tray (4) on the track grid (2) when retrieving goods.

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