Tray, storage shelf and method for automatically loading and removing storage goods

Abstract

The invention relates to a tray (10) for a storage shelf (100), wherein the storage shelf (10) has an automatic transport device (110), a service opening (120) and a plurality of supports (130), which are arranged one above the other, for supporting the tray (10), and which form storage locations (103), wherein the tray (10) can be conveyed to and from the service opening (120) by means of the automatic transport device (110), and wherein the tray (10) can be received in the storage locations (103). The tray (10) is characterised by a robot (20), arranged on the tray (10), for handling storage goods (50).

Description

[0001] Hänel GmbH & Co. KG Munich, 27 September 2023

[0002] Our reference: 0132 0245 P-WO

[0003] Tray, storage rack and process for automatic loading and unloading of stored goods

[0004] The invention relates to a tray for a storage rack for the automatic loading and unloading of stored goods, a storage rack with such a tray and a method for such a storage rack.

[0005] In automated storage racks, trays for storing stored goods are loaded and unloaded via an access opening using an automatic transport device and delivered to or removed from the storage locations provided in the storage rack. Such trays are also referred to as containers or storage goods carriers. The transport device is usually arranged between the spaced-apart storage towers of the storage rack and has an extractor for feeding and removing the storage goods carriers. Storage goods stored on the tray can be removed or placed on it by an operator via the access opening. Such an automatic storage rack is known, for example, from EP 1 934 120 A1.

[0006] The supportive use of robots for handling stored goods during storage and retrieval is known. See, for example, DE 10 2015220 091 A1 or EP 3 263 491 A1. The robots are stationary and connected to a vehicle or the storage rack, which provides electrical power for the robot's operation and provides secure mounting.

[0007] Furthermore, it is known from EP 3 564 165 A1 that a robot can be positioned on an automatic transport device to support loading and unloading. The robot is supplied with power for operation via the transport device.

[0008] EP 3 957 580 A1 discloses providing a robot in a transport shaft, wherein the robot is arranged on a ceiling of the storage rack above a transport device. The object of the invention is to carry out the storage and retrieval of stored goods from the storage rack, in particular from the transport device, more efficiently.

[0009] This object is achieved by a tray having the features of claim 1, a storage rack for the automatic loading and unloading of stored goods according to claim 12 and a method according to claim 13.

[0010] Advantageous embodiments are the subject of the dependent claims.

[0011] The tray according to the invention for a storage rack has a robot arranged on the tray for handling stored goods.

[0012] The tray according to the invention has the advantage that storage and retrieval processes, order picking of stored goods and / or assembly of separate parts can be supported by the robot and even fully automated. For example, the storage and retrieval process can be carried out or at least prepared by the robot even at night, when no warehouse worker is at work. Furthermore, it is also conceivable for the robot to additionally handle the assembly of individual parts. Handling therefore includes not only the picking and placing of stored goods, but also the assembly or order picking of stored goods. During the assembly of stored goods, for example, one stored item is brought together with another by the robot.

[0013] The robot's positioning on the tray allows for support during loading and unloading as needed. When this support isn't needed, the tray can be stored in the designated storage locations in the storage rack with the robot. Another particularly advantageous feature is that the tray can be positioned in the access opening with the robot. With the help of the robot, workflows can be carried out more efficiently and accelerated.

[0014] This is particularly advantageous when processing a collective order that includes a large number of different goods to be retrieved, which are stored in particular on multiple trays. In such a case, for example, the tray according to the invention can be positioned in the access opening and another tray can be positioned in front of the access opening on a projection.

[0015] The goods to be retrieved are then simply moved on the respective tray by the automatic transport device behind the access opening and adjacent to the tray with the robot in the access opening. The robot in the access opening can then directly pick up the goods to be retrieved from the tray on the transport device and place or assemble them on the tray temporarily stored on the front section in front of the access opening. From there, this tray can be re-stored on a tray with the picked goods from the collective order or transported further by an operator or an autonomous industrial truck. This picking process and preparation for retrieval can be carried out at night.

[0016] Storage can be performed in reverse order to retrieval. The robot removes a stored item from the tray stored in front of the access opening and places it on the tray located in the transport chute on the automatic transport device.

[0017] The access opening also offers protection from the robot through the side walls.

[0018] A storage rack is understood to mean, in particular, a storage lift with a closed housing and an automatic transport device with an extractor.

[0019] A robot is understood, in particular, to be a robot designed to handle stored goods on an adjacent tray. For handling purposes, the robot may have a handling device. This handling device extends at least beyond the tray containing the robot.

[0020] In an advantageous embodiment, the robot is designed as a collaborative robot. This allows the robot to perform loading and unloading operations while an operator also performs storage or retrieval of stored goods in parallel. A collaborative robot, also known as a cobot, is an industrial robot that can work alongside humans and is not separated from humans, such as operators, by protective devices. The robot can be designed to incorporate sensors that control the robot in such a way that no injuries to humans occur during its operation.

[0021] Advantageously, the robot comprises at least a first member, a second member, and a handling device. Joints are preferably arranged between the members and the handling device.

[0022] For example, the robot can pick up stored goods from the adjacent tray in the transport shaft using the at least two joints and the handling device and place them on the other adjacent tray in front of the service opening.

[0023] Advantageously, the shelf has a base and a protruding edge that surrounds the base. This protruding edge provides the shelf with high stability. Furthermore, the edge prevents the stored goods from colliding with the support supports of the storage rack.

[0024] The robot is advantageously positioned centrally on the tray. This central position provides additional stability, as the tray acts as an extended foot, thus increasing tipping protection. Consequently, heavier or more distant items can be lifted or placed. The radius of the work area is increased.

[0025] In a further advantageous embodiment, the tray has at least one counterweight arranged on a base of the tray, preferably in an edge region of the tray. This also increases the tipping stability.

[0026] Furthermore, the shelf can be secured by the storage rack. For this purpose, the shelf has an anti-tip element in the edge area adjacent to the side wall of the access opening, which can be engaged with a corresponding anti-tip device in the side wall of the access opening. The anti-tip element can, for example, be merely a portion of the shelf or a protruding bolt or driver. The anti-tip device of the access opening can be an undercut or a recess, or a portion in the access opening that partially protrudes beyond the shelf, thereby securing the shelf vertically so that it cannot tip over.

[0027] In a further advantageous embodiment, the shelf can also have such an anti-tilt element on one end face, which can be brought into engagement with a projecting anti-tilt device arranged on the front side of the operating opening.

[0028] Furthermore, it is conceivable that the extractor of the transport device could serve as an anti-tip device. The extractor typically has at least one telescopically extendable arm, which serves to push the tray into or pull it out of the access opening or storage location using a carrier chain. As an anti-tip device, the extractor can be engaged with the tray in the access opening during handling using the carrier chain, thus also limiting the tray and the robot in the vertical direction.

[0029] The tray advantageously has a power supply device for the robot, which comprises a contact unit which can be connected to a power grid via a mating contact unit arranged in the service opening for transmitting electrical current. This allows the robot to be supplied with power directly. The tray accordingly only needs to have a smaller energy storage unit or even no energy storage unit at all and is correspondingly lighter. Furthermore, longer operation can be ensured via the direct power supply. Since the robot only carries out tasks in the service opening, this design ensures safe operation of the robot. Furthermore, the robot can be supplied with a higher voltage, so that it can carry higher loads. During a phase in which the robot only draws a low voltage, the energy storage unit can be recharged.In an advantageous development, the power supply device has an induction coil for inductive power supply. Especially in logistics, dust or other environmental influences often occur during the handling of stored goods. Since the induction coil is preferably an integrated component of the tray, these environmental influences do not occur during power transmission. This creates a simpler and more maintenance-free device. It is preferred to integrate the induction coil into a base surface of the tray. However, it is alternatively possible to provide the induction coil in a contact unit arranged on the tray and to provide the counter-contact unit on the storage rack.

[0030] The tray advantageously has an energy storage unit, in particular an accumulator. The energy storage unit can supply the robot with power independently of a power grid. Furthermore, the energy storage unit can also function as a counterweight. This enables the robot to be operated in isolated mode for at least a short period of time. For example, the robot can thus be brought into a position for storing or retrieving stored goods via a power supply device shortly before being connected to the power supply. For example, the robot can be brought from a rest state to a standby state during transport by means of the transport device from a storage location to the service opening.

[0031] It is also conceivable for the robot to grasp a tray already located in the service opening while it is being pushed into the service opening and to push it parallel to the extension in front of the service opening. This eliminates the need for an additional extractor for moving the tray from the service opening to the extension. In a further advantageous development, the tray with the robot has a deployable safety device that replaces the safety light curtain in front of the extension. The deployable safety device serves in particular to ensure that the safety requirements for personal protection are met without a safety light curtain having to be permanently installed on the storage rack. The safety device ensures that an operator does not, for example, trap his fingers between the tray and the storage rack while moving the trays.

[0032] Advantageously, the tray includes an interface for transmitting control commands and / or safety commands to the robot. The interface is connected to the control system of the storage rack and, in particular, to a storage system that coordinates the workflows. This allows for storage and retrieval operations to be carried out autonomously.

[0033] The storage rack's control system stores the area on the shelf where each item is located. The robot moves the handling device toward that area. The item can then be precisely handled using a search unit connected to the robot, such as a camera positioned next to the handling device. This type of device is particularly advantageous for picking individual parts, such as screws, from a container, since for this purpose, usually only the container's area is stored in the storage rack's control system.

[0034] The robot can be mounted on the tray in a movable manner. This allows for easy adjustment to the size of the stored goods. Furthermore, the robot's working area can be adjusted.

[0035] In an advantageous embodiment of the tray, it has a linear displacement device. The linear displacement device comprises a rail and a carriage movable along the rail, on which the robot is arranged. The rail preferably runs parallel to one end of the tray. Furthermore, in a further preferred embodiment, the rail and the carriage are designed to transmit power for the robot.

[0036] Due to the additional linear displacement of the robot's position, the radius of the working area can be increased evenly across the width of the storage carrier. The front of the tray faces the operator in a position arranged in the access opening. The rail therefore runs along a horizontal X-direction. In a preferred embodiment, the rail is adjacently connected to two opposite sides of the edge region of the tray. The opposite sides of the edge region connected to the rail are arranged along a Y-direction. In a further preferred embodiment, the rail is arranged centrally along the extension of the tray in the Y-direction. The central arrangement of the rail gives the robot additional stability because the tray acts as an extended foot, thus increasing the anti-tip protection.Consequently, heavier or more distant stored goods can be lifted or placed.

[0037] All embodiments of the tray according to the invention are characterized by the fact that the tray with the robot can be stored just like a tray without the robot. The height of the tray with the robot is determined by the height measuring device of the storage rack. The tray can be delivered to or removed from a suitable storage location in the storage rack using the transport device. The storage location can also be designed to charge the tray's energy storage unit.

[0038] Another aspect of the invention relates to a storage rack characterized by a shelf as described above. The storage rack can have shelves with and without robots.

[0039] A further aspect of the invention comprises a method for a storage rack as described above. The method comprises the following steps: Step a) Conveying a first tray into the access opening using a robot as described above. Step b) Moving a second tray adjacent to the first tray. Step c) Handling a stored item on the second tray using the robot.

[0040] The method enables the automated handling of stored goods using the previously described storage rack with the previously described tray comprising a robot. In an advantageous development of the method, a third tray is conveyed to the access opening before step a). In this case, no tray placed by an operator needs to be deposited. Consequently, for example, the entire retrieval process can be carried out autonomously. The stored goods are advantageously picked up or deposited from the third tray by the robot.

[0041] The invention will be explained in more detail below using various exemplary embodiments, which are schematically illustrated in the figures. Herein:

[0042] Fig. 1 is a perspective view of the tray according to the invention in a storage rack,

[0043] Fig. 2 a cross-section through the storage rack according to Fig. 1 ,

[0044] Fig. 3 is an enlarged detailed view of area A in Fig. 1 ,

[0045] Fig. 4 the tray according to the invention with a robot,

[0046] Fig. 5 the tray according to the invention according to Fig. 4 with intermediately stored

[0047] Storage goods and

[0048] Fig. 6 an advantageous embodiment of the tray with a movable robot.

[0049] Fig. 1 and 2 show the schematic structure of a storage rack 100 with a first rack tower 101, a second rack tower 102 and a transport shaft 115 for an automatic transport device 110 arranged between the two rack towers 101, 102.

[0050] Each rack tower 101, 102 contains a plurality of stacked storage locations 103 for accommodating trays 10. Storage goods 50 can be stored on the trays 10. For storing the trays 10 in the individual storage locations 103, the rack towers 101, 102 have side walls 104 with opposing support supports 105 arranged in pairs, which form a housing 107 enclosing the storage rack 100. The side walls 104, made of sheet steel, are each welded to uprights 106, preferably using projection welding. The support supports 105 are integrated into the respective side wall 104 and pressed into it in a meandering shape. This ensures a comparatively rigid design of the side walls 104. The storage rack 100 has an access opening 120 which makes it possible to load the storage rack 100 with trays 10 or to remove the trays 10 from the storage rack 100.Furthermore, the operating opening 120 enables the removal or supply of stored goods 50 from or onto the tray 10. The operating opening 120 is laterally delimited by two spaced-apart side walls 124 of the storage rack 100.

[0051] To achieve optimal use of storage space, a height measuring device 121 for measuring the height of the stored goods 50 is provided in the rear area of ​​the access opening 120. The height measuring device 121 is equipped with several light barriers spaced apart from each other at a distance corresponding to the distance between the superimposed support supports 105, so that the number of height units required for storing the stored goods 50 can be determined.

[0052] A safety light curtain 122 is arranged on a front side of the service opening 120. The safety light curtain 122 serves to detect whether an operator is reaching into the service opening 120. As soon as this is detected, the conveyance of the tray 10 from the transport device 110 into the service opening 120 is stopped, for example, so that the operator 120 cannot become trapped.

[0053] In front of the access opening 120 is a front section 140, which, in the illustration shown, comprises two spaced-apart rails with rollers. The tray 10 can be pushed along the rails by means of an extractor up to a stop in front of the access opening 120 and temporarily stored there. Another safety light curtain 142 is arranged at the outer end of the front section 140. As soon as a tray 10 is moved onto the front section, the safety light curtain 122 is replaced by the safety light curtain 142.

[0054] For moving or removing the tray 10 into or from the access opening 120 or a storage location 103, the transport device 110 has an extractor. The extractor comprises two telescopically extendable arms equipped with a carrier chain. The extractor can be engaged with the tray 10. This allows the extractor to move the tray 10 into or remove it from the storage locations 103.

[0055] To retrieve a tray 10 stored in a storage location 103, the transport device 110 grips the tray 10 by means of the extractor and pulls it onto the transport device 110. The transport device 110 then moves along the vertical and longitudinal directions to the service opening 120, into which the transport device 110 delivers the tray 10.

[0056] The controllable transport device 110 is configured such that the tray 10 can be moved vertically in a first spatial direction Z and horizontally by means of the extractor in a second spatial direction Y. In a further possible embodiment of the storage rack 100 with several adjacently arranged rack towers 101, 102, the transport device 110 is configured such that it can additionally move the tray 10 in a further horizontal spatial direction X. In the present embodiment, the three spatial directions X, Y, Z are perpendicular to one another.

[0057] The tray 10 has a robot 20 which is designed as a collaborative robot (cobot).

[0058] The tray 10 has a base 12 and an edge region 14 that frames the base 12 and protrudes from the base 12. The edge region 14 comprises an anti-tip element 15 on a side 42 facing the side wall 124 of the service opening 120. As shown in Fig. 4, the anti-tip element 15 is an integral component of the edge region 14. This can also be arranged on an end face 40 of the tray 20. Furthermore, the interaction of the anti-tip element 15 with the anti-tip device 126 of the side wall 124 is shown in Fig. 3. For this purpose, region B of the side wall 124 is shown cut away in Fig. 3.

[0059] To further increase the stability of the shelf 10, the edge region 14 has a counterweight 16 on the end face 40 of the shelf 12 and on the side opposite the end face 40, also in the edge region 14. The base 12 can further have a reinforcement plate. The reinforcement plate is an additional metal plate that is connected to the base 12 and reinforces it.

[0060] As shown in Fig. 2 and Fig. 4, a power supply device 26 for the robot 20 is provided on the tray 10. The power supply device 26 has a contact unit 27, which can be connected to a corresponding counter-contact unit 127 arranged in the access opening 120 for transmitting power from a power grid. The power connection can be implemented conductively via contacts or inductively via an induction coil.

[0061] The power supply device 26 for the robot 20 may further comprise an energy storage unit 28, in particular an accumulator.

[0062] The shelf 10 further has an interface 30 for transmitting control commands for the robot 20. The interface 30 for transmitting control commands to the robot 20 is designed, for example, to communicate wirelessly with the control system of the storage rack 100 for transmitting control commands and / or safety commands. A control unit 29 for controlling the robot 20 is assigned to the interface 30 and is mounted on the base 12 of the shelf 10.

[0063] Furthermore, the tray 10 with the robot 20 has an intermediate buffer area 34. The intermediate buffer area 34 can also serve as a mounting plate. As shown in Fig. 5, storage goods 50 can be placed on the intermediate buffer area 34. The energy storage unit 28 can also be arranged in the same area of ​​the intermediate buffer area 34.

[0064] The robot 20 comprises a first member 21, a second member 22, and a handling device 24. The members 21, 22 and the handling device 24 are each connected to one another via joints, whereby the robot 20 can move in a variety of degrees of freedom. The handling device 24 is designed to handle various stored goods 50. Depending on the stored goods 50 to be picked up, the handling device 24 can have different designs. One possible design, for example, is a gripping device. In a preferred embodiment, the robot 20 can be designed such that it can change the handling device 24. Furthermore, a camera is arranged in the region of the handling device 24.

[0065] As shown in Fig. 3, the side wall 124 of the access opening 120 has an anti-tip device 126. The anti-tip device 126 comprises a protruding portion of the side wall 124 and a recess. The upper side of the recess protrudes beyond the edge region 14 of the tray 10. The anti-tip device 126 serves to limit the movement of the tray 10 in the vertical direction.

[0066] Fig. 6 shows a further advantageous embodiment of the tray 10. This advantageous embodiment of the tray 10 is characterized by a linear displacement device 150 for the robot 20. The linear displacement device 150 comprises a rail 152 and a carriage 154 movable along the rail 152, on which the robot 20 is arranged. The movable arrangement of the robot 20 on the tray 10 allows for easy adaptation to the size of the stored goods. Furthermore, the working area can be adjusted.

[0067] The rail 152 runs parallel to an end face 40 of the tray 10. The end face 40 of the tray 10 faces an operator in a position arranged in the service opening 120. The rail 152 therefore runs along a horizontal X-direction, which runs parallel to the side of the storage rack 100 with the service opening 120.

[0068] The rail 152 is connected to the two opposite sides 42 of the edge region 14 of the tray 10. The opposite sides 42 of the edge region 40 connected to the rail 152 are arranged to extend along a Y-direction. Furthermore, the rail 152 is arranged centrally along the extension of the tray 10 in the Y-direction and is connected to a central region of the opposite sides 42 of the edge region 14 extending along the Y-direction.

[0069] The robot 20 is fixed to the carriage 154 and can be moved in the X direction. The carriage 154 can be driven by an electric motor controlled by a control unit.

[0070] With reference to Fig. 2, the method according to the invention is described below using a possible retrieval process for a storage item 50 as an example. However, a combination of the individual steps or a corresponding method for storing the storage item 50 is also encompassed. In Fig. 2, the robot 20 is shown in two possible positions.

[0071] In a first step of the method, a third tray 10.3 without stored goods 50 can be conveyed onto the front section 140 of the storage rack 100 for retrieving stored goods 50. The tray is then positioned with the robot 20 on a first tray 10.1 in the access opening 120. The first tray 10.1 is pushed into the access opening 120. In the process, the anti-tip element 15 of the tray is pushed into the anti-tip device 126. In the access opening 120, the contact unit 27 is connected to the counter-contact unit 127 for transmitting power to the robot 20. Subsequently, a second tray 10.2 containing the stored goods 50 to be retrieved is brought adjacent to the first tray 10.1 in the access opening 120 via the transport device 110. For this purpose, the transport device 110 moves to the height of the access opening 120.

[0072] The robot 20 then picks up the stored item 50 to be retrieved from the second tray 10.2 and lifts it onto the third tray 10.3, which is positioned on the front structure 140 in front of the access opening 120. Due to the anti-tip element 25 and the corresponding anti-tip device 126, the tray 10.1 carrying the robot 20 cannot tip over when handling stored item 50 on an adjacent tray 10.2, 10.3. The transport device 110 then moves the second tray 10.2 back to the storage position 103 and repeats this step with another second tray 10.2 containing another stored item 50 to be retrieved. This can be repeated as often as required, for example, until a collective order has been processed. After the collective order has been processed, the first tray 10.1 is transported and stored again by the robot 20 in the designated storage location 103.

[0073] An operator can then pick up the third tray 10.3 and continue transporting the stored goods 50. Alternatively, the third tray 10.3 can be stored again and retrieved as needed. This is particularly suitable for processing a collective order overnight and retrieving it the next business day.

[0074] In a further embodiment, the robot 20 can also perform assembly steps. One example of a possible assembly is attaching electrical components to a top-hat rail. Another example is the assembly and wiring of electrical components, preferably on a top-hat rail using snap-in terminals. This can be done on the third tray 10.3 or on the assembly area 32.

[0075] If the tray 10 with the robot 20 has an energy storage unit 28, steps can already be performed with the robot 20 before it has been connected to the counter contact unit 127. For example, the robot 20 can grasp the third tray 10.3 while being inserted into the service opening 120 and push it parallel onto the front section 140. For this purpose, the first tray 10.1 with the robot 20 could additionally have a fold-out safety device, which the robot 20 also extends, thereby also replacing the safety light curtain 142.

[0076] The storage rack 100 with the inventive tray 10, which has a robot 20, can, in particular, handle collective orders autonomously and quickly. The storage and retrieval of stored goods 50 is significantly increased with the help of the robot 20. Since the robot 20 is not stationary but mobile on the tray 10, it can be deployed as needed.

[0077] If the tray 10 with the robot 20 is not needed, the tray 10 can be stored in a storage location 103 of the storage rack 100 like a tray 10 without the robot 20. The height measuring device 121 measures the height of the tray 10 with the robot 120. The transport device guides the tray 10 with the robot 20 to a suitable storage location 103. The spaced-apart support supports 105 support the tray 10 with the robot 20.

[0078] List of reference symbols

[0079] Tray floor edge area anti-tip element counterweight robot first link second link

[0080] Handling device Power supply device Contact unit

[0081] Energy storage unit control unit

[0082] Interface assembly area intermediate buffer area front side

[0083] Pages

[0084] Storage goods Storage rack First rack tower Second rack tower Storage locations Side walls Support supports Stand Housing

[0085] T ransport device Transport shaft Operating opening Height measuring device

[0086] Safety light curtain side wall

[0087] Anti-tip device

[0088] Counter contact unit

[0089] Supports

[0090] stem

[0091] Safety light curtain

[0092] Linear displacement device

[0093] rail

[0094] Dare

Claims

Patent claims 1. A tray (10) for a storage rack (100), the storage rack (10) comprising an automatic transport device (110), an operating opening (120), and a plurality of support columns (130) arranged one above the other for supporting the tray (10), which support columns form storage locations (103), the tray (10) being conveyable from and to the operating opening (120) and the storage locations (103) by means of the automatic transport device (110), and the tray (10) being receivable in the storage locations (103), characterized in that a robot (20) for handling stored goods (50) is arranged on the tray (10).

2. Tray (10) according to claim 1, characterized in that the robot (20) is a collaborative robot.

3. Tray (10) according to claim 1 or 2, characterized in that the robot (20) has at least a first member (21), a second member (22) and a handling device (24).

4. Tray (10) according to one of claims 1 to 3, characterized in that the robot (20) is arranged, in particular connected, centrally on the tray (10).

5. Tray (10) according to one of the preceding claims, characterized in that the tray (10) has at least one counterweight (16) which is arranged on a base (12) of the tray (10), preferably in an edge region (14) of the tray (10).

6. Tray (10) according to one of the preceding claims, characterized by an electrical power supply device (26) for the robot (20), wherein preferably the power supply device (26) has a contact unit (27) which can be connected to a counter-contact unit (127) arranged in the operating opening (120) for transmitting electrical current.

7. Tray (10) according to claim 6, characterized in that the power supply device (26) has an induction coil.

8. Tray (10) according to one of the preceding claims, characterized by an energy storage unit (28), in particular an accumulator, which is suitable for providing power for the robot (20).

9. Tray (10) according to one of the preceding claims, characterized by an interface (30) for transmitting control commands for the robot (20).

10. Tray (10) according to one of the preceding claims, characterized in that the robot (20) is arranged displaceably on the tray (10).

11. Tray (10) according to one of the preceding claims, characterized by a linear displacement device (150) which comprises a rail (152) and a carriage (154) movable on the rail (152), wherein the robot (20) is arranged on the carriage (154).

12. Storage rack (100) with an automatic transport device (110), an operating opening (120) and a plurality of support supports (130) arranged one above the other for supporting trays (10) which can be conveyed from and to the operating opening (120) by means of the automatic transport device (110), characterized in that the tray (10) has the features according to one of claims 1 to 11.

13. Method for a storage rack (100) according to claim 12 for the automatic handling of stored goods (50), the method comprising the following steps: a) conveying a first tray (10.1) with a robot (20) according to one of claims 1 to 11 into the service opening (120), b) moving a second tray (10.2) adjacent to the first tray (10.1), and c) handling a stored item (50) by means of the robot (20) on the second tray (10.2).

14. Method according to claim 13, characterized by conveying a third tray (10.3) before step a) in front of the service opening (120).

15. Method according to claim 14, characterized by handling the stored goods (50) by means of the robot (20) on the third tray (10.3).

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