Storage robot, and method for operating a storage robot

Abstract

The present application relates to a storage robot (1) comprising a loading surface (7) and a plurality of wheels (9, 10) for moving the storage robot (1) on a surface (11), wherein wheels (9) of a first group are orientated congruently in a first direction of travel and wheels (10) of a second group are orientated congruently in a second direction of travel (14) and can be moved between a retracted position, a first extended position, and a second extended position, wherein a distance (15, 16) between the axis of rotation (12) of each wheel (9) and the loading surface (7) is greater when in one of the extended positions than in the retracted position, wherein the storage robot (1) can be transferred from the first extended position to the second extended position between its loading position and its unloading position by moving wheels (9, 10), wherein the storage robot (1) can be operated in such a way that all wheels (9, 10) are simultaneously in their active state, meaning that the distance (15, 16) between the axes of rotation (12) of the wheels (9, 10) and the loading surface (7) is identical for all wheels (9, 10).

Description

Storage robot and method for operating a storage robot Description

[0001] The present application relates to a warehouse robot according to the preamble of claim 1. Furthermore, the present application relates to a method for operating a warehouse robot according to claim 12.

[0002] The warehouse robot is designed to autonomously supply containers to storage locations within a warehouse. This includes both placing containers at or in the storage locations and retrieving containers from them. State of the art

[0003] A warehouse robot of this type is already known in the prior art. Reference is first made to International Patent Application WO 2022 / 043507 A1. This primarily concerns a warehouse that has a track level and a storage level spaced vertically from it. The warehouse is modularly composed of a plurality of storage elements that serve both for the movement of warehouse robots and for the storage of containers. The warehouse robot has two groups of wheels that can be alternately transferred between an active state and a passive state. The wheels of the first group are fixedly mounted on a housing of the warehouse robot and cannot be moved vertically relative to the housing.This only applies to the wheels of the other group, which can then be brought into contact with the ground alternately with the wheels of the first group and thus alternately transitioned between an active and a passive state with the other wheels. Furthermore, the warehouse robot can be transferred between its loading and unloading positions using a lifting device. The lifting device allows the loading surface to be moved vertically, thus changing the effective height of the warehouse robot.

[0004] Further prior art is provided by US patent application 2014 / 0086714 A1. This also discloses a warehouse robot having two groups of wheels. The wheels of the first group are fixedly mounted on a housing such that they are not vertically movable relative to the housing. In contrast, the wheels of the second group are vertically movable relative to the housing, so that by moving the movable wheels, the wheels of the two groups can be alternately transferred between a passive state and an active state. Furthermore, the Storage robots have a lifting device by means of which the effective height of the storage robot can be changed so that it can be moved between a loading position and an unloading position.

[0005] With existing warehouse robots, it has proven disadvantageous that a large number of electric motors are required to perform the various movements of the wheels and the respective lifting device. Furthermore, with regard to the lifting device, the motors must be dimensioned to apply comparatively large lifting forces, so that even relatively heavy containers can be lifted. The large space requirements of such motors complicate the overall design of the warehouse robot, where the goal is to choose a compact and, above all, lightweight design.

[0006] Further warehouse robots are known from the documents DE 10 2015 001 410 A1 and CN 206088191 U. Task

[0007] The present application is therefore based on the object of providing a storage robot which is constructed more efficiently than the prior art. Solution

[0008] The underlying problem is solved by means of a storage robot having the features of claim 1. Advantageous embodiments emerge from the associated subclaims and the description.

[0009] The warehouse robot comprises a plurality of electric motors. These are provided, in particular, to drive the wheels of the warehouse robot in rotation, allowing the warehouse robot to be moved on a surface. Furthermore, at least some of the motors can be configured to effect a height adjustment of at least some of the wheels, with the respective wheels being movable in the vertical direction by means of the respective motors. This can be achieved, in particular, by means of a pivoting movement, as explained separately below and shown in the exemplary embodiment.

[0010] On the upper side of the storage robot, it comprises a horizontally oriented loading surface, which can accommodate at least one container. The loading surface is preferably flat, although it is conceivable for individual elements, such as form-locking elements, to protrude vertically upwards beyond the loading surface.

[0011] On the underside of the warehouse robot, it includes a plurality of motor-driven, rotary wheels for moving the warehouse robot across a surface. The rotational axes of the wheels are each oriented parallel to the loading surface. This allows the warehouse robot to move in a plane parallel to the loading surface. This prevents the loading surface from tilting during the warehouse robot's movement across a surface, ensuring that a container positioned on the loading surface is consistently supported on a horizontal loading surface.

[0012] The wheels of the warehouse robot are divided into at least two groups of wheels, typically into exactly two groups of wheels. The groups of wheels differ in the orientation of the wheels assigned to them. Thus, the wheels of a first group are consistently aligned in a first direction of travel, so that the warehouse robot can be moved in the first direction of travel by means of a motor drive of these wheels. Accordingly, the wheels of a second group are also consistently aligned in a direction of travel, whereby this second direction of travel differs from the first direction of travel. Typically, the second direction of travel is oriented perpendicular to the first direction of travel. The orientation of the wheels is defined by the orientation of the wheels' axes of rotation, whereby the respective direction of travel is oriented perpendicular to the axes of rotation of the respective wheels.Since the axes of rotation of the wheels are oriented parallel to the loading area, a warehouse robot configured in this way can be moved by means of the wheels of the two groups in two linearly independent compartment directions, preferably in directions of travel oriented perpendicular to one another, in a plane spanned by the axes of rotation of the wheels. The spanned plane is oriented parallel to the loading area. If the loading area has a rectangular shape, for example, the two compartment directions can be aligned in line with the two main axes of the rectangular loading area. Preferably, at least all wheels of one of the two groups, preferably all wheels of the warehouse robot, have the same wheel diameter. In other words, preferably all wheels of the warehouse robot are of identical construction.

[0013] The wheels of both groups can each be set to a passive state and an active state. The passive state and the active state differ by a distance, measured perpendicular to the loading surface, between the rotational axes of the respective wheels and the loading surface. Therefore, a distance measured perpendicular to the loading surface between the rotational axes of wheels in their passive state and the loading surface is smaller than a similarly measured distance between the rotational axes of wheels in their active state and the loading surface. Accordingly, the wheels in their active state are in contact with the ground, while those in their passive state are not. The distinction between the passive state and the active state is therefore determined by the relative position of the wheels. Thus, the wheels further away from the loading area are active, while the other wheels positioned closer to the loading area are passive. Due to their design, the wheels in their passive state cannot be in contact with the ground. However, this does apply to the wheels in their active state. In other words, the wheels in their active state determine the direction in which the warehouse robot can travel on the ground.

[0014] Furthermore, it is intended that all wheels can be in their active state simultaneously, i.e., the described distance between the wheel rotation axes and the loading surface is identical for all wheels. In this state, all wheels are in contact with the ground simultaneously. This can be the case, for example, if all wheels of the warehouse robot are in the same extended position during a change in the robot's direction of travel or for lifting heavy containers, as explained separately below.

[0015] Furthermore, the warehouse robot is designed such that it can be alternately transferred between a retracted unloading position and an extended loading position. These two positions differ in that the effective height of the warehouse robot, measured perpendicular to the loading area, is greater when the warehouse robot is in its loading position than when it is in its unloading position. In the unloading position, in which the effective height of the warehouse robot is comparatively low, the warehouse robot is capable of traveling on a single level of the warehouse and moving underneath containers stored on a single level of the warehouse without colliding with the containers.The storage level is arranged vertically above the track level, whereby a vertically measured distance of the storage level from the track level is greater than the effective height of the storage robot when it is in its unloading position. In order to take over a container from a storage location in the warehouse, the storage robot can be positioned below a container and then transferred from its unloading position to its loading position, whereby the effective height of the storage robot is increased. As a result, the storage robot pushes against the container from below and lifts it out of its storage location as the effective height increases further. From now on, the. Container stored on the loading area of ​​the warehouse robot so that the warehouse robot can transport it away.

[0016] The warehouse robot is designed such that the wheels are each motor-driven and movable in a direction perpendicular to the loading surface between a retracted position and at least one extended position. The retracted position and the extended position differ in that the distance, measured perpendicular to the loading surface, between the rotational axis of a respective wheel and the loading surface is greater when that wheel is in an extended position than when it is in the retracted position.

[0017] According to the invention, it is further provided that the wheels of at least one of the groups, preferably all of the wheels, are motor-driven into at least two different extended positions, namely at least a first extended position and a second extended position, in which the distances of the axes of rotation of these wheels from the loading surface, measured perpendicular to the loading surface, differ from one another. The wheels, which are movable into at least two different extended positions, are therefore movable into a total of at least three different positions, namely the retracted position and two different extended positions. Preferably, the wheels are movable into exactly two different extended positions and can be operated as intended in these extended positions. The movement of the wheels is implemented in such a way that the wheels can remain in the various extended positions.Therefore, within the meaning of the application, not every position of a respective wheel which is “passed through” or “passed through” perpendicular to the loading area of ​​the storage robot during a movement of this wheel is is "passed through", an extended position within the meaning of the present application. Such a position only exists when the respective wheel remains or can remain in the respective position as intended and the warehouse robot can travel as intended in the track level of the warehouse when the wheels are in the respective extended position. As a rule, the wheels that are in one of the extended positions are in their active state. Wheels that are in their passive state are typically in their retracted position. Nevertheless, it is conceivable that the wheels of one of the groups are each in their second, further extended position and in their active state (contact with the ground) and the wheels of the other group are each in the first extended position, further retracted compared to the second extended position and consequently in their passive state (no contact with the ground).

[0018] The movement of the wheels, which can be moved into two different extension positions (in addition to the retracted position), means that the warehouse robot can Movement between its loading position and its unloading position. The warehouse robot can therefore be moved from the first extended position to the second extended position between its loading position and its unloading position by moving the wheels, wherein as the extended position changes, the effective height of the warehouse robot is increased from a first height level to a second height level. Accordingly, the distance between the axes of rotation of the wheels and the loading area is greater when the wheels are in the second extended position than when they are in the first extended position. Preferably, the axes of rotation of the wheels of the warehouse robot are consistently oriented horizontally, i.e. parallel to the loading area of ​​the warehouse robot, regardless of their position (retraction position, extension positions). The orientation of the axes of rotation of the wheels is therefore preferably not changed by a change in the position of the wheels relative to the loading area.

[0019] The warehouse robot according to the invention has many advantages. It is based on the idea that the transfer between the loading position and the unloading position, as well as the alternating movement of the wheels into their active state and their passive state, can be carried out using the same electric motors. Thus, the wheels of at least one group, preferably the wheels of all groups, can be moved by means of an electric motor from the retracted position to a first extended position, in which these wheels are in their active state. This can be particularly the case when the wheels of the other group(s) are in their retracted position. The first extended position is selected such that the effective height of the warehouse robot is less than a vertical distance between the storage level of the respective warehouse and the line level of the warehouse.The warehouse robot is accordingly in its unloading position, where its effective height is such that the warehouse robot can move within the warehouse at the line level without colliding with containers stored on the storage level above the line level. In other words, the warehouse robot can move underneath the containers in the unloading position.

[0020] By transferring the respective wheels from the first extension position to the second extension position, the distance of the loading area from the wheels' rotation axes increases. In other words, the wheels are extended further. Since the wheels are already in contact with the ground, this increase in the distance between the rotation axes and the loading area can only be achieved by raising the loading area. This transfers the warehouse robot to its loading position, whereby the effective height of the warehouse robot increases. For the operation of a particular warehouse, this can be used to increase the effective height of the warehouse robot to a To increase the distance between the storage level and the warehouse's track level, the robot lifts the container from its respective storage location. The warehouse robot is then loaded with the container stored on its loading area. The warehouse robot can then move along a route of the warehouse with the container stored on it. Due to the design principle, the warehouse robot is limited to a route along which no containers are stored.

[0021] In contrast to the prior art, a separate lifting device for raising the loading area, which must be driven, for example, by separate electric motors, is therefore not required. Instead, the motors, which are required anyway for moving the wheels perpendicular to the loading area (between the retracted position and the extended positions) in order to alternately bring the wheels of the two groups into contact with the ground (i.e., to alternately transfer between their active and passive states) and thus to be able to move the warehouse robot in the respective directions of travel, are also used in a dual function to change the effective height of the warehouse robot and thus to switch between its unloading position and its loading position. Preferably, each wheel cooperates with its own motor, which is configured to implement the described vertical movement of the respective assigned wheel.

[0022] Preferably, all wheels of the warehouse robot can be movable into at least two different extension positions, preferably exactly two different extension positions, in addition to the retraction position. This has the particular advantage that the transfer of the warehouse robot from its unloading position to its loading position can be accomplished jointly by means of all wheels or the motors that interact with the wheels.If—which is preferred—a separate motor is provided for each wheel to move the wheels between the retracted and extended positions, the torques provided by the motors can be combined by combining all the wheels, so that the resulting lifting force that the warehouse robot can exert overall to lift a container from its storage location is greater in magnitude than if only the wheels of a group were used to transfer the warehouse robot to its loading position. This allows even containers with a comparatively large mass to be lifted, while the individual motors can be designed with comparatively low power—and thus with a comparatively small installation volume.

[0023] For the operation of the warehouse robot, this means that it is first positioned beneath a container. For this purpose, the wheels of one group are in their active state, while the wheels of the other group(s) are in their passive state. Since the warehouse robot is in its unloading position, where it can travel beneath the containers, the wheels in their active state are in their first extended position. The wheels of the other group, meanwhile, are in their retracted position. The aim is now to lift the container located above the warehouse robot out of its storage location. Since the container has a comparatively large mass, the motors that move the wheels between their retracted position and their two extended positions are to be combined in order to jointly lift the loading area – and ultimately the container.Accordingly, the wheels of the group that were previously in their retracted position are first moved to their first extended position. The wheels of all groups are then simultaneously in their first extended position and in contact with the ground, thus entering their active state.

[0024] The wheels of all groups are then moved together, i.e. synchronously, by their respective motors into their second extended position, so that the loading area is raised and the warehouse robot is moved into its loading position. The torques of all motors act in combination so that together they are able to lift the container. If, for example, the warehouse robot has a total of eight wheels divided into two groups, the container is lifted using the described operating method using a total of eight motors. In addition to the advantage of combining the torques of all motors, a further advantage is that the warehouse robot stands stable on the ground and does not move during the transfer from the unloading position to the loading position, i.e. when taking over a respective container.This is because the wheels of the various groups are in contact with the ground at the same time and therefore prevent each other from rotating. This effect can also be supported by the design of the track level of the warehouse. Preferably, the warehouse has guide elements in its track level that prevent lateral movement of the wheels, i.e. in the direction of the rotation axis of the respective wheel. When all wheels are in contact with the ground (active state) and are guided in the track level by means of such guide elements, the warehouse robot is effectively in a form-fit connection with the warehouse via its wheels, which prevents movement parallel to the track level (particularly in both directions of travel). To stabilize the position of the warehouse robot when taking over a container, no separate braking of at least some of the wheels is required.

[0025] After the container has been transferred to the loading area, only the wheels of one group remain in their active state and their second extended position, while all other wheels are "retracted" again, i.e., returned to their passive state. Transitioning the wheels to their passive state can involve either a movement back to the retracted position or to the first extended position. In any case, from then on, only the wheels of one group are in their active state and thus in contact with the ground, allowing the robot to move in one direction on the ground by rotating these wheels.

[0026] The design in which all wheels of the warehouse robot can be moved into at least two different extended positions, preferably exactly two different extended positions, further has the advantage that a change in the direction of travel of the warehouse robot is possible without changing the effective height of the warehouse robot. This will be explained separately below in connection with the method according to the invention.

[0027] Furthermore, it is particularly advantageous if the rotational axes of all wheels are arranged in a common entry plane when in their respective entry positions. This design allows the warehouse robot to be constructed particularly flat overall, with a minimal effective height of the warehouse robot being achieved when all wheels of all groups are in their entry position at the same time. In the event that the rotational axes of all wheels are arranged together in the entry plane, the warehouse robot is typically not mobile on the ground. This may be because the wheels are not in contact with the ground. If they are, it is because the differently aligned wheels are blocking each other.In order to make the warehouse robot ready to drive, the wheels of one of the groups must first be moved relative to the loading area into one of the extended positions, so that only the wheels of this group that are aligned in one direction of travel are in contact with the ground.

[0028] Arranging the wheels of all groups in such a way that they are arranged in a common entry plane when in their entry position also has the advantage that the warehouse robot as a whole can be formed from as many identical parts or assemblies as possible. In particular, each wheel can be connected to an associated motor to form an operating unit, as explained separately below.

[0029] Analogous to the above explanation, it can also be particularly advantageous if the axes of rotation of all wheels are arranged in a common first extension plane when the wheels are each in their first extension position. If all wheels can be moved into two different extension positions, it is further advantageous if the axes of rotation of all wheels are arranged in a common second extension plane when they are each in their second extension position. According to the above explanation, the distance between the first extension plane and the loading area is smaller than the distance between the second extension plane and the loading area.

[0030] In a preferred embodiment, at least one wheel, preferably at least one wheel per group, and more preferably all wheels of the warehouse robot, are each part of an operating unit. Such an operating unit comprises, in addition to the respective wheel, a lifting motor for moving the wheel between its retracted position and at least one extended position, and a drive motor for rotating the wheel about its rotational axis. This configuration has the particular advantage that the "propulsion" and "height adjustment" functions of the warehouse robot are implemented on the respective wheels by means of different motors, which can be specifically designed and dimensioned for the respective purpose.Thus, for the task of height adjustment, in particular the transfer of the warehouse robot between its loading position and its unloading position, it is necessary that a certain amount of lifting forces can be applied in order to be able to lift even heavier containers from their respective storage location. The lifting motor can be specifically designed for this task. However, different requirements must be met for the rotary drive of the wheels. The focus here is on being able to accelerate the robot quickly during operation and move it at a certain speed along a particular route. For this purpose, it is preferred if the drive motor works together with a gearbox, which can also be part of the operating unit. In this design, the drive motor can be specifically matched to the gearbox, so that optimal moving operation of the warehouse robot can be achieved.

[0031] Furthermore, the combination of a wheel with the lifting motor and the drive motor is particularly advantageous with regard to rapid maintenance. Should a mechanical defect occur during operation of a warehouse robot, it is essential to be able to rectify such an effect quickly in order to minimize the downtime of the respective warehouse robot. In practice, the operating unit that is suspected of being defective can then be quickly and easily replaced as a whole, so that the warehouse robot can return to operation after a short downtime. The drive unit can then can be checked separately and repaired if necessary without the warehouse robot having to be shut down.

[0032] Furthermore, a design of the warehouse robot can be advantageous in which the wheels of at least one group, preferably the wheels of all groups, are each mounted on a pivot arm. The pivot arm is mounted directly or indirectly on a housing of the warehouse robot, forming a pivot axis. For example, the connection of the pivot arm to the housing is formed at a first end of the pivot arm, forming the pivot axis, while the respective wheel is mounted on an opposite end of the pivot arm. The pivot arm can, for example, interact with a motor, in particular with a dedicated lifting motor, by means of which the pivot arm can be pivoted about the pivot axis relative to the housing, such that the wheel mounted on the pivot arm moves on a circular path around the pivot axis.The orientation of the swivel arm is designed such that the pivoting of the swivel arm about the pivot axis results in a movement of the wheel at least partially in a direction perpendicular to the loading area of ​​the warehouse robot. In this way, the wheel can be moved perpendicular to the loading area by pivoting the swivel arm and can be transitioned from its active state to its passive state, or moved between its retracted position and at least one extended position, preferably several extended positions. The swivel arm can, for example, be straight or curved.

[0033] If the driving robot is equipped with the described swivel arms, it may further be advantageous if a component axis of the swivel arm assigned to a respective wheel is parallel to the loading area when the wheel is in its retracted position and / or at an angle between 20° and 70°, preferably at an angle between 50° and 70°, more preferably at an angle of 60°, to the loading area when the wheel is in its first extended position and / or at an angle between 80° and 100°, preferably at an angle of more than 90° and 100°, to the loading area when the wheel is in its second extended position. oriented. For a straight swivel arm, the component axis is synonymous with the longitudinal axis of the swivel arm. For a curved or offset swivel arm, the component axis runs straight from the swivel axis of the swivel arm to the rotation axis of the wheel mounted on the swivel arm.

[0034] The orientation of the swivel arm parallel to the loading area when the corresponding wheel is in its retracted position has the advantage that the effective height of the warehouse robot can be reduced to a minimum. Conversely, the effective height of the warehouse robot is maximum when the swivel arm is deflected downwards by at least substantially 90° starting from a horizontal position, i.e. oriented parallel to the loading area, whereby the component axis of the swivel arm can be oriented perpendicular to the loading area. For the operation of the warehouse robot when the wheels of a group are in the second extended position, it is not necessarily advantageous to orient the swivel arm in such a position, i.e. perpendicular to the loading area, since this is an unstable position in which the swivel arm can swivel in both directions under the influence of a load.To ensure the force acting on the swivel arm is clearly defined, it is preferable if the angle between the component axis of the swivel arm and the loading surface is greater than 90° or less than 90° when the associated wheel is in its second extended position. To achieve the greatest possible effective height of the warehouse robot in the second extended position, the aforementioned range between 80° and 100° is advantageous for the angle.

[0035] Preferably, the angle between the component axis of a respective pivot arm and the loading area is greater than 90°, with the pivot arm abutting against a stop. This has the advantage that the pivot arms are inherently stable against the stop when the respective wheels are in their second extended position. The position of the pivot arms can therefore remain stable even without power to the associated lifting motors. The angle between the component axis and the loading area when abutting against a respective stop can be, for example, between 91° and 95°, preferably 93°.

[0036] If the warehouse robot is equipped with a swivel arm on each of the wheels, it may also be advantageous if a lifting motor associated with the respective swivel arm is mounted directly or indirectly on the housing, so that the swivel arm can be pivoted about the swivel axis relative to the housing by means of the lifting motor. In this embodiment, the drive motor is preferably mounted on the swivel arm, so that when the wheel is transferred between its In other words, the drive motor is assigned to the wheel, which is also mounted on the swivel arm and is movable in the manner described on a circular path around the swivel axis. With this configuration, the operating units described above can be formed particularly simply, each comprising a lifting motor, a swivel arm, a drive motor, optionally a gear interacting with the drive motor, and a wheel.

[0037] From a process engineering perspective, the underlying object is achieved according to the invention by means of a method having the features of claim 12. Advantageous embodiments of the method emerge from the associated subclaims.

[0038] The method is characterized by the following process steps: First, the warehouse robot travels over a surface using a motor-driven rotary drive of the wheels of one of the groups and stops at a storage location below the container loaded with a container. The warehouse robot is in its unloading position, in which its effective height is less than a vertical distance between the container and the surface (or between a storage level and a line level of the respective warehouse). This allows the warehouse robot to travel underneath the container without colliding with it. The rotary-driven wheels are in their active state and are therefore in contact with the surface. The wheels of the other group are in their passive state.

[0039] The wheels of at least one of the groups are then moved by motor into an extended position in which the effective height of the storage robot exceeds the distance between the container and the ground described above. This means that the storage robot is transferred from its unloading position to its loading position, whereby the container is lifted from its storage location as a result of the lifting of the loading area. Consequently, the container is henceforth stored on the loading area of ​​the storage robot. The wheels of the respective group can be transferred, in particular, starting from a first extended position to a second extended position, whereby the storage robot is in its unloading position when the wheels are in the first extended position and in its loading position when the wheels are in their second extended position.

[0040] After the container has been transferred onto the loading area, the storage robot moves across the ground together with the container stored on the loading area using a motorized rotary drive of the wheels of one of the groups.

[0041] The method according to the invention can be carried out particularly easily using the storage robot according to the invention. The resulting advantages have already been described above. In particular, the lifting of a respective container can be carried out using the same motors by means of which the wheels of the various groups can be transferred between their retracted position and at least one extended position. The provision of a separate lifting device for raising the loading area, as is known in the prior art, can be omitted. In this case, it is preferred if the wheels of all groups or all wheels of the storage robot can be transferred into at least two different extended positions, preferably exactly two different extended positions, in addition to the retracted position.

[0042] According to the invention, to change the direction of travel of the warehouse robot, the wheels of the group whose wheels were previously in their passive state are motor-driven into an extended position in which the wheels of this group are in contact with the ground simultaneously, in line with the wheels of one of the groups whose wheels were previously in their active state. For example, the warehouse robot comprises two groups of wheels, one group for travel in a first direction of travel and a second group for travel in a second direction of travel different from the first direction of travel, wherein, for example, the second direction of travel can be oriented perpendicular to the first direction of travel. If the warehouse robot comprises only two different groups of wheels, which is preferable, all of the wheels of the warehouse robot are now in contact with the ground simultaneously.In other words, the distances of the rotation axes of all wheels from the loading surface, measured perpendicular to the loading surface, are identical in this state. Consequently, in this state all wheels of the warehouse robot are in their active state. The wheels of the group(s) that were previously in their active state are then moved towards their retracted position, preferably into their retracted position, and thus transferred to their passive state. From now on, only those wheels that were previously moved to their respective extended position are in their active state. Since these wheels belong to a common group and are therefore aligned in a common direction of travel, the driving robot can then travel on the surface by means of the rotation drive of these wheels. This direction of travel differs from the direction of travel in which the. warehouse robot was movable or was moved when the wheels of the other group were in their active state and are now in their passive state.

[0043] The particular advantage of this type of change of direction is that the warehouse robot cannot move during the process, and thus its position is precisely known at all times. This is due to the fact that when changing from one direction of travel to the other, the wheels of different groups, preferably all of the warehouse robot's wheels, are in contact with the ground together, i.e., they are in their active state. As a result, the wheels block each other when changing direction, possibly in conjunction with guide elements of the warehouse, as already explained above in connection with the lifting of containers. Furthermore, it is particularly advantageous that the loading area, including any container stored on it, remains at the same height during the change of direction and is therefore not moved vertically.In this way, the performance of mechanical work when changing the direction of travel is avoided, which promotes the energy efficiency of the warehouse robot.

[0044] If the change of direction of travel is carried out in the manner described above, it can also be particularly advantageous if the change of direction of travel is carried out in the same way, as required, both when the warehouse robot is in its unloading position and when it is in its loading position. The only difference here is the extension positions. In particular, during the change of direction of travel, the wheels can be in the first extension position (unloading position of the warehouse robot) or in the second extension position, which is further extended (loading position of the warehouse robot). The former is generally selected when the warehouse robot is unloaded when the direction of travel is changed, and the latter is generally selected when the warehouse robot is loaded when the direction of travel is changed.

[0045] In a particularly advantageous embodiment of the method, the wheels of all groups are first brought into a common (first) extension position for the purpose of transferring the storage robot from its unloading position to its loading position. All wheels are then moved synchronously into a further (second) extension position, which is further extended than the first extension position, whereby the storage robot is transferred from its unloading position to its loading position. Since all wheels are in contact with the ground, this mode of operation results in a respective container being moved, as explained above, by means of the common torques of all motors, by means of which the wheels of all groups are moved between their retracted position and their extended positions, is lifted from its respective storage location. The torques of the motors are combined so that each individual motor is subjected to a comparatively low load and can therefore be dimensioned small. Despite this dimensioning, the total lifting force generated is sufficient to lift even a container of considerable mass from its storage location. After a container has been picked up from its storage location, the wheels of the groups that are not intended for propulsion by the storage robot immediately after the container has been picked up are retracted again (transfer to the passive state). In other words, only those wheels that are aligned in the direction in which the storage robot is to travel immediately after the container has been picked up are left in their second extended position - and therefore their active state and in contact with the ground. Examples of implementation

[0046] The invention is explained in more detail below using an exemplary embodiment illustrated in the figures. It shows: Fig. 1 : A side view of a storage robot according to the invention, which in its loading position is present, Fig. 2: An isometric view of the storage robot according to Figure 1, which is in its loading position, Fig. 3: A schematic side view of the storage robot according to Figure 1, which is in its loading position, Fig. 4: The side view according to Figure 3, with the storage robot in its unloading position is present, Fig. 5: An isometric view of the storage robot according to Figure 1 , which is in its unloading position is present, Fig. 6: The isometric view of the warehouse robot according to Figure 5, which is in its loading position is present, Fig. 7: A view of an underside of the storage robot according to Figure 1, Fig. 8: A detail of two operating units of the warehouse robot according to Figure 1 , Fig. 9: An operating unit of the warehouse robot according to Figure 1.

[0047] An embodiment shown in Figures 1 to 9 comprises a storage robot 1 according to the invention, which is suitable for storing and handling goods in a position not shown in the figures. to travel through the warehouse shown and to alternately pick up containers 3 from the respective storage locations 2 of the warehouse or to deposit them at the storage locations 2. In the example shown, the warehouse robot 1 comprises a total of eight wheels 9, 10, by means of which the warehouse robot 1 can be moved on a surface 11. To move the wheels 9, 10, the warehouse robot 1 comprises a plurality of motors 4, 5, which in the example shown are formed by electric motors. The wheels 9, 10 are each arranged on an underside 8 of a housing 26 of the warehouse robot 1. Conversely, a loading surface 7 is formed on an upper side 6 of the housing 26 of the warehouse robot 1. The loading surface 7 is planar, so that a container 3 stored on the loading surface 7 is oriented horizontally.

[0048] The wheels 9, 10 each have a rotational axis 12 about which they can be driven in rotation by at least some of the motors 4, 5. In the example shown, the wheels 9, 10 are arranged such that, when the wheels 9, 10 are in their retracted position, the rotational axes 12 lie in a common retraction plane 18, which is oriented parallel to the loading area 7.

[0049] In the example shown, the wheels 9, 10 are divided into two different groups, wherein the wheels 9 of a first group are jointly aligned such that the warehouse robot 1 can be moved in a first direction of travel 13 on the surface 11 by means of a rotary drive of these wheels 9. Conversely, the wheels 10 of the second group are jointly aligned such that the warehouse robot 1 can be moved in a second direction of travel 14 on the surface 11 by means of a rotary drive of these wheels 10. In the example shown, the warehouse robot 1 has a rectangular shape overall, with the loading area 7 in particular being rectangular. In the example shown, the two groups of wheels 9, 10 are aligned such that the first direction of travel 13 is oriented parallel to a first main axis of the warehouse robot 1 and the second direction of travel 14 is oriented perpendicular to the first direction of travel 13 and parallel to a second main axis of the warehouse robot 1.The two compartments 13, 14 together span a plane oriented parallel to the loading surface 7. The orientation of the first main axis of the storage robot 1 corresponds to a long side of the rectangular loading surface 7, while the second main axis of the storage robot 1, oriented perpendicular to the first main axis, is oriented parallel to a narrow side of the rectangular loading surface 7. This is particularly evident in Figure 2.

[0050] During normal operation of the warehouse robot 1, the wheels 9, 10 are alternately in an active state or in a passive state. Which wheels 9, 10 are in which state depends on the relative position of the wheels 9, 10 to each other. Thus, the wheels 10 of one group whose rotation axes 12 are arranged at a distance 15 from the loading surface 7, measured perpendicularly to the loading surface 7, then they are in their passive state when the wheels 9 of the other group are arranged at a distance 16 from the loading surface 7, measured equally perpendicularly to the loading surface 7, and the distance 16 of the wheels 9 is greater than the distance 15 of the wheels 10. The wheels 9 of one group are accordingly in their active state. This is equivalent to the wheels 9 being in direct contact with the ground 11, so that the warehouse robot 1 can be moved on the ground 11 by means of a rotary drive of these wheels 9. The wheels 10 in their passive state, on the other hand, have no contact with the ground 11. This is particularly evident in Figures 3 and 4.

[0051] From the figures mentioned, it is further apparent that the wheels 9, 10 can be in different positions relative to a housing 26 of the storage robot 1, in their active state or their passive state. In the example shown, the wheels 9, 10 of both groups can each be transferred between their retracted position and two different extended positions. As already explained, the rotational axes 12 of all wheels 9, 10, when in their respective retracted positions, are located in a common retraction plane 8. In the same way, the first extended positions of the wheels 9, 10 are similar, so that - if all wheels 9, 10 were each in their first extended position - the rotational axes 12 of all wheels 9, 10 would be arranged in a common first extension plane 19. Furthermore, the rotational axes 12 of the wheels 9, 10 - if they were each in their second extended position - would be arranged in a common second extension plane 20.When the wheels 10 of one group are in their retracted position, the wheels 9 of the other group are always in their active state when they assume one of the two extended positions. The retracted plane 8, the first extended plane 19, and the second extended plane 20 are oriented parallel to each other and parallel to the loading area 7.

[0052] The two extended positions differ for all wheels 9, 10 in that the distance 16 of the rotational axis 12 of a respective wheel 9, 10 from the loading surface 7 is smaller when the wheel 9, 10 is in its first extended position than when it is in its second extended position. This is particularly clear from a comparison of Figures 3 and 4, wherein in the situation shown in Figure 3, the wheels 9 of one group are in their second extended position and in the situation shown in Figure 4, they are in their first extended position. The wheels 10 of the other group are in their retracted position in both states shown.

[0053] In the example shown, the transfer of the wheels 9, 10 from their first extended position to their second extended position is, by design, accompanied by a transfer of the storage robot 1 from its unloading position to its loading position. Thus, it can also be seen from Figures 3 and 4 that the effective height 17 of the storage robot 1, measured from the lowest point of a respective wheel 9, 10 or the ground 11 perpendicular to the loading surface 7 to the loading surface 7, is greater the further the wheels 9, 10 are extended in their active state. Since the wheels 9, 10 are extended further in their second extended position than in the first extended position, the effective height 17 of the storage robot 1 increases as the wheels 9, 10 are transferred from the first extended position to the second extended position.The extension positions are selected such that the difference between the effective heights 17, depending on the extension position of the wheels 9, 10, results in the distance between the ground 11 and the underside of a container 3 stored at a storage location 2 of the warehouse being overcome during the transfer of the wheels 9, 10 from the first extension position to the second extension position. In other words, the loading area 7 is raised so far that the storage robot 1 initially strikes the underside of the container 3 and, upon further movement of the wheels 9, 10, lifts it out of its storage location. The container 3 is then stored on the loading area 7, so that the storage robot 1 is in its loading position. The difference between the two extension positions of the wheels 9 of one group can be seen particularly clearly in Figures 5 and 6.

[0054] Accordingly, the storage robot 1 is designed such that the motors 4, by means of which the wheels 9, 10 can be moved between their retracted position and the two extended positions, are also responsible for removing a respective container 3 from its storage location. The motors 4 accordingly perform a dual function, namely both determining the direction of travel of the storage robot 1 (switching the wheels 9, 10 between their active and passive states) and moving the storage robot 1 between its unloading and loading positions.

[0055] For lifting a container 3, it is particularly advantageous if all wheels 9, 10 of the storage robot 1 are moved in such a way that they are synchronously transferred to their respective second extension positions. For this purpose, the storage robot 1 is first positioned beneath a container 3, whereupon the wheels 10 of one group are brought into contact with the ground 11 in accordance with the wheels 9 of the other group. Since the storage robot 1 is still in its unloading position, the wheels 9, 10 of both groups are respectively in their first extension positions, in the rotation axes 12 of all wheels 9, 10 are arranged in a common extension plane 19. The lifting of the container 3 now takes place by means of a synchronous transfer of all wheels 9, 10 into their second extension position, whereby the torques of all motors 4, each of which is responsible for moving one of the wheels 9, 10, interact in a combined manner. Accordingly, the wheels 9, 10 are transferred synchronously into their second extension position and with them the storage robot 1 into its loading position. A total lifting force applied by the storage robot 1, by means of which the container 3 is lifted from its storage location, is therefore provided in combination by all motors 4. After the container 3 has been taken over, the wheels 9, 10 of the group that is not required for the immediate onward travel of the storage robot 1 are moved back to their retracted position.

[0056] To change the direction of travel of the warehouse robot 1, the wheels 9, 10 of both groups can also be moved together into the first or second extended position (depending on whether the warehouse robot 1 has loaded a container 3 or not). Initially, the wheels 9, 10 of a first group are in their active state, while the wheels 9, 10 of the second group are in their passive state. The wheels 9, 10 of the second group are then moved to the same extended position in which the wheels of the first (still active) group are already located. All wheels 9, 10 are then in contact with the ground 11 and are therefore all in their active state. The wheels 9, 10 of the first group are then retracted, preferably to their retracted position, so that they are in their passive state. Only the wheels 9, 10 of the second group are then in their active state. The change of direction is thus completed.It is particularly advantageous that the effective height 17 of the storage robot 1 does not change during the aforementioned process, i.e. the loading area 7 remains at its respective height level throughout.

[0057] In a particularly preferred manner, each of the wheels 9, 10 of the illustrated warehouse robot 1 is part of an operating unit 21. The operating units 21 are particularly clearly shown in Figures 7 to 9. Each operating unit 21 comprises a respective wheel 9, 10, a lifting motor 22 formed by a motor 4, a traction motor 23 formed by a motor 5, a gear 28 associated with the traction motor 23, and a pivot arm 24. The lifting motor 22 is mounted in a rotationally fixed manner on the housing 26 of the warehouse robot 1 by means of bearings 27. It interacts in a torque-transmitting manner with the pivot arm 24, which can be pivoted about a pivot axis 25 relative to the housing 26 by means of operation of the lifting motor 22. The traction motor 23 is mounted together with the downstream gear 28 on a The drive motor 23 and the transmission 28 are arranged at the end of the pivot arm 24 facing away from the housing 26, so that when the pivot arm 24 is pivoted about the pivot axis 25, the drive motor 23 and the transmission 28 are moved on a circular path about the pivot axis 24. Likewise, the respective wheel 9, 10 is arranged at the end of the pivot arm 24 facing away from the housing 26.

[0058] The movement of the pivot arm 24 about the pivot axis 25 is necessarily accompanied by a proportional movement of the wheel 9, 10 arranged on the pivot arm 24 in a direction perpendicular to the loading area 7. This is particularly clearly shown in Figures 3 and 4, with the pivot arm 24 schematically illustrated therein, which can be pivoted about the pivot axis 25 relative to the housing 26. Consequently, the operating unit 21 is suitable, on the one hand, for moving the respective wheel 9, 10 in the direction perpendicular to the loading area 7 (by means of the lifting motor 22) and, on the other hand, for driving the wheel 9, 10 in rotation about its axis of rotation 12 (by means of the drive motor 23). The operating unit 21 is designed such that the pivot axis 25 of the pivot arm 24 is oriented parallel to the axis of rotation 12 of the respective wheel 9, 10. In this way, the operating unit 21 can be constructed particularly compactly, thus saving installation space. List of reference symbols 1 warehouse robot 2 storage location 3 containers 4 Engine 5 Engine 6 Top 7 Loading area 8 Bottom 9 wheels 10 wheels 11 Underground 12 axis of rotation 13 Direction of travel 14 Direction of travel 15 distance 16 Distance 17 height 18 Entry level 19 Exit level 20 Exit level 21 operating unit 22 lifting motor 23 Traction motor 24 swivel arm 25 swivel axis 26 housings 27 camps 28 gearboxes

Claims

Claims 1. A storage robot (1) for the autonomous supply of storage locations (2) of a warehouse with containers (3), comprising a plurality of electric motors (4, 5), a horizontally oriented loading surface (7) assigned to an upper side (6) of the storage robot (1) for receiving a container (3), a plurality of motor-driven, rotationally driven wheels (9, 10) assigned to an underside (8) of the storage robot (1) for moving the storage robot (1) on a base (11), wherein axes of rotation (12) of the wheels (9, 10) are each oriented parallel to the loading surface (7), wherein wheels (9) of a first group of wheels (9, 10) are aligned in a first direction of travel (13), so that the storage robot (1) can be moved in the first direction of travel (13) on the base (11) by means of motor drive of these wheels (9), wherein wheels (10) of a second group of wheels (9,10) are aligned in a second direction of travel (14) different from the first direction of travel (13), so that the storage robot (1) can be moved in the second direction of travel (14) on the ground (7) by means of a motor drive of these wheels (10), wherein the wheels (9, 10) of both groups can be set into a passive state and an active state, wherein a distance (15) measured perpendicular to the loading surface (7) between the axes of rotation (12) of wheels (9, 10) in their passive state and the loading surface (7) is smaller than a similarly measured distance (16) between the axes of rotation (12) of wheels (9, 10) in their active state and the loading surface (7), wherein the storage robot (1) can be transferred alternately between a retracted unloading position and an extended loading position,wherein an effective height (17) of the storage robot (1) measured perpendicular to the loading surface (7) is greater when in its loading position than when in its unloading position, wherein the wheels (9, 10) are each motor-driven in a direction perpendicular to the loading surface (7) between a retracted position and at least one extended position, wherein a distance (15, 16) measured perpendicular to the loading surface (7) between the axis of rotation (12) of a respective wheel (9, 10) and the loading surface (7) is greater in an extended position when this wheel (9, 10) is present than in the retracted position, characterized in that the wheels (9, 10) of at least one of the groups are motor-driven into at least two different extended positions, in which the distances (15, 16) of the axes of rotation (12) of these wheels (9, 10) from the loading surface (7), measured perpendicular to the loading surface (7), differ from one another, wherein the storage robot (1) is transferable from a first extended position to the second extended position between its loading position and its unloading position by means of movement of these wheels (9, 10), wherein the storage robot (1) can be operated in such a way,that all wheels (9, 10) are in their active state at the same time, so that the distance (15, 16) between the axes of rotation (12) of the wheels (9, 10) and the loading area (7) is identical for all wheels (9, 10).

2. Storage robot (1) according to claim 1, characterized in that the wheels (9, 10) of all groups of wheels (9, 10) are movable into at least two different extension positions, preferably exactly two different extension positions.

3. Storage robot (1) according to one of the preceding claims, characterized in that the axes of rotation (12) of all wheels (9, 10) are arranged in a common entry plane (18) when in their entry position.

4. Storage robot (1) according to one of the preceding claims, characterized in that the axes of rotation (12) of all wheels (9, 10) are arranged in a common first extension plane (19) when in their first extension position.

5. Storage robot (1) according to one of the preceding claims, characterized in that the axes of rotation (12) of all wheels (9, 10) when present in their second extension position are arranged in a common second extension plane (20). Storage robot (1) according to one of the preceding claims, characterized in that when the wheels (9, 10) of a group are in their first extension position, these wheels (9, 10) are in their active state and the storage robot (1) is in its unloading position. Storage robot (1) according to one of the preceding claims, characterized in that when the wheels (9, 10) of a group are in their second extension position, these wheels (9, 10) are in their active state and the storage robot (1) is in its loading position. Storage robot (1) according to one of the preceding claims, characterized in that at least one wheel (9, 10), preferably at least one wheel (9, 10) per group, more preferably all of the wheels (9, 10), is or are each part of an operating unit (21).wherein a respective operating unit (21), in addition to the respective wheel (9, 10), comprises a lifting motor (22) for moving the wheel (9, 10) between a retracted position and at least one extended position, and a drive motor (23) for rotating the wheel (9, 10) about its axis of rotation (12). Storage robot (1) according to one of the preceding claims, characterized in that the wheels (9, 10) of at least one group, preferably the wheels (9, 10) of both groups, are each mounted on a pivot arm (24), wherein the pivot arms (24) are each mounted directly or indirectly on a housing (26) of the storage robot (1), forming a pivot axis (25).Storage robot (1) according to claim 9, characterized in that a component axis (28) of the swivel arm (24) of a respective wheel (9, 10) when in its retracted position is parallel to the loading surface (7) and / or when the associated wheel (9, 10) is in its first extended position at an angle between 20° and 70° to the loading surface (7) and / or. when the associated wheel (9, 10) is present in its second extended position, it is oriented at an angle between 80° and 100° to the loading surface (7).

11. Storage robot (1) according to claim 8 in combination with one of claims 9 or 10, characterized in that a lifting motor (22) is mounted directly or indirectly on the housing (26), wherein by means of the lifting motor (22) the pivot arm (24) is pivotable by motor about the pivot axis (25) relative to the housing (26), wherein the drive motor (23) is mounted on the pivot arm (24) so ​​that it can be moved on a circular path about the pivot axis (25) when the wheel (9, 10) is transferred between its retracted position and at least one extended position.

12. Method for operating a storage robot (1), the storage robot (1) comprising a plurality of electric motors (4, 5), a horizontally oriented loading surface (7) assigned to an upper side (6) of the storage robot (1) for receiving a container (3), a plurality of motor-driven, rotationally driven wheels (9, 10) assigned to an underside (8) of the storage robot (1) for moving the storage robot (1) on a base (11), wherein axes of rotation (12) of the wheels (9, 10) are each oriented parallel to the loading surface (7), wherein wheels (9) of a first group of wheels (9, 10) are aligned concurrently in a first direction of travel (13), so that the storage robot (1) can be moved on the base (11) in the first direction of travel (13) by means of motor drive of these wheels (9), wherein wheels (10) of a second group of wheels (9, 10) are aligned concurrently in a direction different from the first direction of travel (13) different second direction of travel (14) are aligned,so that the storage robot (1) can be moved in the second direction of travel (14) on the base (7) by means of a motor drive of these wheels (10), wherein the wheels (9, 10) of both groups can be set into a passive state and an active state, wherein a distance (15) measured perpendicular to the loading surface (7) between the axes of rotation (12) of wheels (9, 10) which are in their passive state and the loading surface (7) is smaller than a similarly measured distance (16) between the axes of rotation (12) of wheels (9, 10) which are in their active state and the loading surface (7), wherein the storage robot (1) can alternately be moved between a retracted unloading position and an extended, loading position, wherein an effective height (17) of the storage robot (1), measured perpendicular to the loading surface (7), is greater when in its loading position than when in its unloading position, the method comprising the following method steps: a) The storage robot (1), in the unloading position, travels over a surface (11) by means of motor drive of the wheels (9, 10) of one of the groups and stops at a storage location (2) loaded with a container (3) below the container (3); b) After the storage robot (1) has stopped below the container (3), at least the wheels (9, 10) of one group are moved by motor into an extended position in such a way that the storage robot (1) is transferred from its unloading position to its loading position and in doing so takes over the container (3) from the storage location (2) in such a way that the container (3) is henceforth stored on the loading surface (7) of the storage robot (1);c) After taking over the container (3), the storage robot (1) travels over the ground (11) by means of a motor drive of the wheels (9, 10) of one of the groups together with the container (3) stored on the loading area (7); d) To change the direction of travel (13, 14), the wheels (9, 10) of the group whose wheels (9, 10) have previously been in their passive state are moved by a motor into an extended position in which the wheels (9, 10) of both groups are simultaneously in contact with the ground (11), wherein the wheels (9, 10) of the other group whose wheels (9, 10) have previously been in their active state are then moved towards their retracted position and are thus transferred to their passive state. Method according to claim 12, characterized in that, in order to change the direction of travel (13, 14), the wheels (9, 10) of the group whose wheels (9, 10) have so far been in their active state are moved into their retracted position and thus transferred into their passive state. Method according to claim 13, characterized in that the change of the direction of travel (13, 14) is carried out both when the storage robot (1) is in its The method is carried out both in the unloading position and in its loading position. Method according to one of claims 12 to 14, characterized in that the wheels (9, 10) of both groups are simultaneously extended into a common position for transferring the storage robot (1) into its loading position, with all wheels (9, 10) being in contact with the ground (11) simultaneously.

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