Tray, storage rack and method for automatically loading and unloading stored items

Abstract

The present invention relates to a tray (10) for a storage rack (100), the storage rack (10) having an automated transport device (110), an access opening (120), and a plurality of beam supports (130) positioned above one another for supporting the trays (10), forming a storage location (103), the trays (10) being transported by the automated transport device (110) to and from the access opening (120), and the trays (10) being able to be picked up within the storage location (103). The tray (10) features a robot (20) positioned above the tray (10) for handling stored items (50).

Description

[Technical Field]

[0001] The present invention relates to a tray for a storage rack for automatic storage and retrieval of stored items, a storage rack having such a tray, and a method for such a storage rack. [Background technology]

[0002] In an automated storage rack, trays for storing items are loaded and unloaded by an automated transport device through access openings and into storage locations provided in the storage rack. Such trays are also known as containers or storage carriers. The transport device is typically located between spaced storage towers of the storage rack and has an unloader for loading and unloading the storage item carriers. An operator can unload items onto the trays or place them onto the trays through the access openings. Such an automated storage rack is known, for example, from US Pat. No. 5,649,499.

[0003] The supportive use of robots to handle stored items during storage and retrieval is well known, see, for example, U.S. Patent No. 5,629,997 or U.S. Patent No. 5,629,997. The robot is statically connected to a vehicle or storage rack, which provides electricity to operate the robot and provides a secure fastening.

[0004] It is also known from Patent Document 4 that a robot can be placed on an automatic transport device to support storage and removal, the robot being supplied with electricity for its operation via the transport device.

[0005] From US Pat. No. 5,629,999 it is known to provide a robot in a conveying shaft, whereby the robot is arranged on the ceiling of a storage rack above the conveying device. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] European Patent Application Publication No. 1934120A1 [Patent Document 2] German Patent Application Publication No. 102015220091A1 [Patent Document 3] European Patent Application Publication No. 3263491A1 [Patent Document 4] European Patent Application Publication No. 3564165A1 [Patent Document 5] European Patent Application Publication No. 3957580A1 Summary of the Invention [Problem to be solved by the invention]

[0007] SUMMARY OF THE INVENTION An object of the present invention is to more efficiently store and retrieve items from storage racks, particularly from conveying devices.

[0008] This problem is solved by a tray having the features of claim 1, a storage rack for automatic loading and unloading of stored items according to claim 12, and a method according to claim 13.

[0009] Advantageous embodiments are the subject matter of the dependent claims.

[0010] A tray for a storage rack according to the present invention has a robot disposed on the tray for handling stored items.

[0011] The tray according to the invention has the advantage that the storage and retrieval process, the picking of the storage items, and / or the assembly of the individual parts can be supported by robots and even fully automated. For example, the storage and retrieval process can be carried out or at least prepared by a robot overnight while warehouse staff are not working. It is also conceivable that the robot takes over the assembly of the individual parts during handling. Handling therefore does not only mean picking up and placing the storage items, but also the assembly or picking up of the storage items. When assembling a storage item, for example, the storage item is brought in together with other storage items by a robot.

[0012] The arrangement of the robot on the tray means that support can be provided for loading and moving as needed. If such support is not required, the tray with the robot can be stored in a storage location provided in the storage rack. Furthermore, it is particularly advantageous that the tray with the robot can be placed in an access opening. Work processes can be carried out more efficiently with the help of the robot, thereby speeding up the work process.

[0013] This has a particularly advantageous effect when processing a number of different stored items to be removed, in particular stored in a number of trays, in the order in which they are to be collected, since in such a case, for example, a tray according to the invention can be placed in the access opening and another tray can be placed in front of the access opening on the stem.

[0014] The stored items to be retrieved are then simply moved on their respective trays by the automated transport device behind the access opening and adjacent to the tray where the robot is located within the access opening. The robot within the access opening can then pick up the stored items to be retrieved directly from the tray on the transport device and place or attach them onto a tray temporarily stored on a stem in front of the access opening. From there, the tray, along with the retrieved stored items in the order they are to be collected, can be returned to the tray or further transported by an operator or an autonomous industrial truck. This process of picking and preparing for retrieval can be carried out overnight.

[0015] Storage can be performed in the reverse order of retrieval, where the robot takes out an item from a tray that is open in front of the operation port and places it on a tray located in the transport shaft of the automatic transport device.

[0016] The side walls of the access opening provide additional protection from robots.

[0017] A storage rack is to be understood in particular as a storage lift having a closed housing and an automatic transport device having an extractor.

[0018] A robot is to be understood in particular as a robot configured to handle storage items on adjacent trays, and the robot may have a handling device for handling, which protrudes beyond the tray at least together with the robot.

[0019] In an advantageous embodiment, the robot is configured as a collaborative robot, which is capable of removing a loading container while an operator deposits or retrieves stored items in parallel.

[0020] A collaborative robot, also known as a cobot, is an industrial robot that can work alongside humans and is not separated from them by protective devices. The robot can be configured with sensors that control the robot so that humans are not injured by the robot's actions.

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

[0022] For example, the robot may use at least two joints and handling devices to pick up stored items from adjacent trays in the conveying shaft and place them on other adjacent trays in front of the operating opening.

[0023] Advantageously, the tray has a base and an edge region surrounding the base that protrudes from the base, providing the tray with a high level of stability and preventing collisions between stored items and the support of the storage tray.

[0024] The robot is advantageously positioned in the center of the tray. The central location gives the robot more stability as the tray acts as an extended foot, thus increasing protection against tipping. As a result, heavier or farther storage items can be lifted or deposited. The radius of the working area is increased.

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

[0026] Furthermore, the tray can be secured in place by a storage rack. For this purpose, the tray has a tip protection element in the edge region adjacent to the side wall of the access opening, which can engage with a corresponding tip protection device in the side wall of the access opening. The tip protection element can be, for example, a region of the tray only, or a protruding pin or driver. The tip protection device of the access opening can be an undercut or recess or region in the access opening that protrudes above the tray in some regions, thereby securing the tray vertically so that it cannot tilt.

[0027] In a further advantageous embodiment, the tray may have on one end face a leading edge protection element which can engage with a protruding leading edge protection device located in front of the access opening.

[0028] It is also conceivable that the extractor of the transport device functions as a tip protection device. The extractor typically has at least one telescopically extendable arm that is used to push the tray into the handling opening, pull it out of the handling opening, or pull it into a storage location by means of a driver chain. To prevent tipping, the extractor can engage the tray in the handling opening during handling by means of the driver chain, and thus can also vertically limit the tray together with the robot.

[0029] Advantageously, the tray has a power supply for the robot, which comprises a contact unit that can be connected to a mating contact unit arranged in the access opening for the transmission of electricity to the power supply system. This allows electricity to be supplied directly to the robot. The tray therefore only needs to have a smaller power storage unit, or no power storage unit at all, and is correspondingly lighter. Furthermore, direct power supply ensures longer operation. In this embodiment, the safe operation of the robot is guaranteed, since the robot only processes the load in the access opening. Furthermore, a higher voltage can be supplied so that the robot can carry a higher load. The power storage unit can be recharged during phases when the robot only draws low voltage.

[0030] In an advantageous further development, the power supply device includes an induction coil for an induction power supply. Particularly in logistics, dust and other environmental influences often occur when handling stored items. Since the induction coil is preferably an integral part of the tray, these environmental influences do not occur during the electrical transmission. This creates a simpler, maintenance-free device. Preferably, the induction coil is integrated into the base surface of the tray. However, it is also possible to alternatively provide the induction coil in a contact unit arranged on the tray and provide a mating contact unit on the storage rack.

[0031] Advantageously, the tray includes a power storage unit, in particular an accumulator. The power storage unit can supply power to the robot independently of the power grid. Furthermore, the power storage unit can also function as a counterweight. This allows the robot to operate in stand-alone mode, at least for a short time. For example, the robot can be moved to a position for storing or retrieving stored items immediately before connecting to a power source via the power supply arrangement. For example, the robot can be moved from an idle state to a standby state during transportation by a transport device from a storage location to an access opening.

[0032] It is also conceivable that the robot grasps the tray already in the access opening during insertion into the access opening and pushes it parallel onto the stem in front of the access opening. This means that no additional extractor is needed to move the tray from the access opening onto the stem. 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 stem. The deployable safety device in particular serves to meet safety requirements for personal protection without the need to permanently attach a safety light curtain to the storage rack. The safety device ensures, for example, that an operator does not pinch their fingers between the tray and the storage rack when moving the tray.

[0033] Advantageously, the tray comprises an interface for transmitting control and / or safety commands to the robot, which is connected to the control system of the storage rack, in particular to the storage system that coordinates the work process, so that storage and retrieval can be performed autonomously.

[0034] For each storage item, the area on the tray where the storage item is located is stored in the storage rack's control system. The robot moves the handling device in the direction of the area. The storage item can then be accurately handled using a search unit connected to the robot, such as a camera located next to the handling device. Such a device is particularly advantageous for grasping individual parts, such as screws, from a container, since only the container's area is stored in the storage rack's control system.

[0035] The robot can be placed on a tray so that it can be moved, which makes it easy to adapt to the size of the items being stored, and also allows the robot's working area to be adjusted.

[0036] In an advantageous embodiment of the tray, the tray has a linear displacement device. The linear displacement device can move on a rail trail and includes a carriage on which the robot is placed. The rail preferably extends parallel to the end face of the tray. Furthermore, in a further preferred embodiment, the rail and the carriage are configured to transmit electricity for the robot.

[0037] Additional linear displacement of the robot's position allows the radius of the working area to be increased evenly along the width of the storage item carrier. The end face of the tray faces the operator in a position positioned within the access opening. Therefore, the rails extend along the horizontal X direction. In this preferred embodiment, the rails are adjacently connected to two opposite sides of the tray's edge region. The opposite sides of the edge region connected to the rails are arranged to extend along the Y direction. In a further preferred embodiment, the rails are centered along the tray's Y-direction extension. The centered positioning of the rails provides additional stability to the robot, as the tray acts as an extended foot, thus increasing protection against tipping. As a result, heavier or farther storage items can be lifted or deposited.

[0038] All embodiments of the tray according to the invention are characterized by the fact that a tray equipped with a robot can be stored in the same way as a tray without a robot. The height of the tray equipped with a robot is determined by a height measuring device of the storage rack. The tray can be transported to or removed from a suitable storage location in the storage rack by a transport device. The storage location can also be configured to charge the power storage unit of the tray.

[0039] A further aspect of the invention relates to a storage rack featuring the trays described above. The storage rack can have trays with a robot and trays without a robot.

[0040] A further aspect of the present invention includes a method for the storage rack described above, the method including the steps of: a) transporting a first tray with a robot into an access opening as described above; b) moving a second tray adjacent to the first tray; and c) handling stored items by the robot on the second tray.

[0041] The method allows for automated handling of stored items by the storage rack using the tray with the robot. In an advantageous further development of the method, a third tray is transported in front of the operating opening before step a). In this case, the tray set down by the operator does not need to be stacked. This allows, for example, the entire retrieval process to be carried out autonomously. Advantageously, the stored items are removed from or placed in the third tray by the robot. [Brief explanation of the drawings]

[0042] The invention will be explained in more detail below with reference to various embodiments which are illustrated diagrammatically in the drawings, which show:

[0043] [Figure 1] FIG. 1 is a perspective view showing a tray according to the present invention stored in a storage rack. [Figure 2] FIG. 2 is a cross-sectional view of the storage rack shown in FIG. [Figure 3] FIG. 3 is an enlarged detail view of area A in FIG. [Figure 4] FIG. 4 shows a tray according to the invention equipped with a robot. [Figure 5] FIG. 5 shows the tray of the present invention shown in FIG. 4 with items temporarily stored therein. [Figure 6] FIG. 6 shows an advantageous embodiment of a tray with a mobile robot. DETAILED DESCRIPTION OF THE INVENTION

[0044] 1 and 2 show a schematic structure of a storage rack 100 having a first rack tower 101, a second rack tower 102, and a transport shaft 115 for an automated transport device 110 disposed between the two rack towers 101, 102.

[0045] Each rack tower 101, 102 has a plurality of storage locations 103 arranged relative to one another to accommodate trays 10. Storage items 50 can be stored on the trays 10. To accommodate the trays 10 in the individual storage locations 103, the rack towers 101, 102 have side walls 104 with pairs of opposing support pads 105 that form a housing 107 that surrounds the storage rack 100. The side walls 104 are made of steel plate and are welded to respective upright posts 106, preferably using projection welding techniques. The support pads 105 are integrated into each side wall 104 and pressed into a serpentine shape. This ensures that the side walls 104 are relatively rigid.

[0046] The storage rack 100 has an access opening 120 that allows trays 10 to be loaded into and removed from the storage rack 100. Additionally, the access opening 120 allows for the removal or feeding of storage items 50 onto or from the trays 10. The access opening 120 is defined laterally by two spaced apart side walls 124 of the storage rack 100.

[0047] To achieve optimal use of the storage space, a height measuring device 121 is provided in the rear area of ​​the operating opening 120 to measure the height of the stored items 50. The height measuring device 121 has a number of light blocking plates spaced apart at distances corresponding to the distance between the support pads 105, and can determine the number of height units required to store the stored items 50.

[0048] A safety light curtain 122 is arranged in front of the operating opening 120. The safety light curtain 122 serves to recognize whether or not an operator has reached the operating opening 120. As soon as this is recognized, for example, the transport of the tray 10 from the transport device 110 to the operating opening 120 is stopped, so that the operator 120 is not caught.

[0049] In front of the access opening 120 is a stem 140, which illustratively comprises two spaced rails with rollers. The tray 10 is pushed onto the rails by a drawing device up to an abutment in front of the access opening 120, where it can be temporarily stored. A further safety light curtain 142 is arranged at the outer end of the stem 140. As soon as the tray 10 is moved onto the stem, the safety light curtain 122 is replaced by the safety light curtain 142.

[0050] To feed or remove the trays 10 into or from the access opening 120 or storage location 103, the transport device 110 has an extractor. The extractor has two telescopically extendable arms with a drive chain. The extractor can engage with the trays 10. This allows the extractor to feed or remove the trays 10 from the storage location 103.

[0051] To remove the tray 10 stored in the storage location 103, the conveying device 110 grasps the tray 10 by the extractor and pulls it onto the conveying device 110. Then, the conveying device 110 moves vertically and longitudinally to the operating opening 120, and the conveying device 110 feeds the tray 10.

[0052] The controllable transport device 110 is set up so that the trays 10 can be moved perpendicularly in a first spatial direction Z and horizontally by the extractor in a second spatial direction Y. In a further possible embodiment of the storage rack 100 in which several rack towers 101, 102 are arranged adjacent to each other, the transport device 110 is configured so that it can also move the trays 10 in an additional horizontal spatial direction X. In this example embodiment, the three spatial directions X, Y, Z are perpendicular to each other.

[0053] The tray 10 has a robot 20 configured as a collaborative robot (cobot).

[0054] The tray 10 has a base 12 and an edge region 14 surrounding the base 12 and protruding from the base 12. The edge region 14 is provided with a leading edge protection element 15 on a side 42 facing a side wall 124 of the access opening 120. As shown in FIG. 4, the leading edge protection element 15 is an integral part of the edge region 14. It may also be disposed on the end surface 40 of the tray 20. Furthermore, the interaction of the leading edge protection element 15 with a leading edge protection device 126 of the side wall 124 is shown in FIG. 3. For this purpose, an area B of the side wall 124 is shown cut away in FIG. 3.

[0055] To further enhance the stability of the tray 10, the edge region 14 has counterweights 16 at the end surface 40 of the tray 12 and also at the edge region 14 opposite the end surface 40.

[0056] The base 12 may also have a stiffener, which is an additional metal plate connected to the base 12 to provide stiffening.

[0057] 2 and 4, the tray 10 is provided with a power supply 26 for the robot 20. The power supply 26 has a contact unit 27 that can be connected to a corresponding mating contact unit 127 located in the access opening 120 to transfer electricity from a power supply system. The power connection can be configured to be conductive by contact or inductive by an induction coil.

[0058] The power supply 26 for the robot 20 may also comprise a power storage unit 28, in particular an accumulator.

[0059] The tray 10 also has an interface 30 for transmitting control commands for the robot 20. The interface 30 for transmitting control commands to the robot 20 is configured to communicate, for example via wireless communication, with a control system of the storage rack 100 for transmitting control and / or safety commands. A control unit 29 is assigned to the interface 30 for controlling the robot 20 mounted on the base 12 of the tray 10.

[0060] Additionally, the tray 10 equipped with the robot 20 has an intermediate buffer surface 34. The intermediate buffer surface 34 can also serve as a mounting plate. As shown in FIG. 5, the stored items 50 can be deposited on the intermediate buffer surface 34. The power storage unit 28 can also be located in the same area of ​​the intermediate buffer surface 34.

[0061] The robot 20 includes a first member 21, a second member 22, and a handling device 24. The members 21 and 22 and the handling device 24 are connected via joints, allowing the robot 20 to move with multiple degrees of freedom.

[0062] The handling device 24 is configured to handle various stored items 50. Depending on the stored items 50, the handling device 24 can have different embodiments. One possible embodiment is, for example, a gripping device. In a preferred embodiment, the robot 20 can be configured to be able to change the handling device 24. Also, a camera is arranged in the area of ​​the handling device 24.

[0063] 3, the sidewall 124 of the access opening 120 has an edge protector 126. The edge protector 126 comprises a protruding region of the sidewall 124 and a recess. The upper side of the recess protrudes beyond the edge region 14 of the tray 10. The edge protector 126 serves to limit vertical movement of the tray 10.

[0064] 6 shows a further advantageous embodiment of the tray 10. The advantageous embodiment of the tray 10 is characterized by a linear displacement device 150 for the robot 20. The linear displacement device 150 consists of a rail 152 and a carriage 154 movable on the rail 152, on which the robot 20 is arranged. The displaceable arrangement of the robot 20 on the tray 10 allows for easy adaptation to the size of the stored items. The working area can also be adjusted.

[0065] The rail 152 extends parallel to the end surface 40 of the tray 10. The end surface 40 of the tray 10 faces the operator when the tray 10 is positioned within the operation opening 120. Therefore, the rail 152 extends along the horizontal X direction parallel to the surface of the storage tray 100 that has the operation opening 120.

[0066] The rails 152 are connected to two opposing side surfaces 42 of the edge region 14 of the tray 10. The opposing side surfaces 42 of the edge region 14 connected to the rails 152 are arranged to extend along the Y direction.

[0067] Furthermore, the rail 152 is centrally located along the Y-direction extension of the tray 10, thereby connecting to central regions of the opposing sides 42 of the edge regions 14 extending along the Y-direction.

[0068] The robot 20 is fixed to a carriage 154 and is movable in the X direction. The carriage 154 can be driven by an electric motor controlled by a control device.

[0069] 2, the method according to the invention will be described below by way of example using a possible removal process of the storage items 50. However, also included are combinations of the individual steps or corresponding methods for storing the storage items 50. In FIG. 2, the robot 20 is shown in two possible positions.

[0070] In the first step of the method, a third tray 10.3 without stored items 50 is transported onto the stem 140 of the storage rack 100 so that the stored items 50 can be removed. The tray is then positioned over the first tray 10.1 in the access opening 120 together with the robot 20. The first tray 10.1 is pushed into the access opening 120. The leading edge protection element 15 of the tray is pushed into the leading edge protection device 126. In the access opening 120, the contact unit 27 is connected to a mating contact unit 127 that transmits electricity to the robot 20. Subsequently, the second tray 10.2 with stored items 50 is placed 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.

[0071] The robot 20 then grasps the stored items 50 to be removed from the second tray 10.2 and lifts them onto the third tray 10.3, which is positioned on the stem 140 in front of the access opening 120. Due to the tip protection element 25 and the corresponding tip protection device 126, the tray 10.1 with the robot 20 cannot tip over when handling the stored items 50 on the adjacent trays 10.2, 10.3. The transport device 110 then returns the second tray 10.2 to the storage location 103, and this process is repeated with additional second trays 10.2 with additional stored items 50 to be removed. This can be repeated as many times as necessary, for example, until the entire order is processed. Once the order is processed, the first tray 10.1 is returned by the robot 20 to the designated storage location 103 and stored there.

[0072] The operator can then pick up the third tray 10.3 and transport the stored items 50 further. Alternatively, the third tray 10.3 can be stored and retrieved again as needed. This is particularly suitable for processing a collective order overnight and not retrieving it until the next business day.

[0073] In a further embodiment, the robot 20 can also perform assembly steps. One example of a possible assembly process is the mounting of electrical components on the top hat rail. Another example is the mounting and wiring of electrical components on the top hat rail, preferably with snap-fit ​​terminals. This can be done on the third tray 10.3 or on the mounting area 32.

[0074] If the tray 10 with the robot 20 has a power storage unit 28, steps can already be performed with the robot 20 before it is connected to the mating contact unit 127. For example, the robot 20 can grip the third tray 10.3 during insertion into the operating opening 120 and push it parallel onto the stem 140. For this purpose, the first tray 10.1 with the robot 20 can further have a folding safety device, which also extends over the robot 20 and thereby replaces the safety light curtain 142.

[0075] The storage rack 100 with the trays 10 according to the invention and the robot 20 is particularly capable of autonomously and quickly fulfilling collective orders. The storage and retrieval of the storage items 50 is significantly increased with the help of the robot 20. The robot 20 is not stationary, but is movable on the trays 10 and can be used as needed.

[0076] If the tray 10 with the robot 20 is not required, the tray 10 can be stored in the storage location 103 of the storage rack 100 in the same manner as a tray 10 without the robot 20. A height measurement device 121 measures the height of the tray 10 using the robot 120. A transport device guides the tray 10 with the robot 20 to the appropriate storage location 103. Spaced support pads 105 support the tray 10 with the robot 20. [Explanation of symbols]

[0077] 1. Ammonia production facility 10 trays 12 base 14 Edge Area 15 Tip Protection Element 16 Counterweight 20. Robot 21 First member 22 Second member 24 Handling equipment 26 Power supply equipment 27 Contact Unit 28 Energy storage unit 29 Control Unit 30 Interface 32 Assembly Area 34 Intermediate buffer surface 40 End face 42 Side 50 Storage items 100 Storage Rack 101 First Rack Tower 102 Second Rack Tower 103 Storage space 104 Side wall 105 Support Pad 106 Upright column 107 Housing 110 Conveyor 115 Transport Shaft 120 Operation opening 121 Height measuring device 122 Safety Light Curtain 124 Side wall 126 Tip protection device 127 Mating Contact Unit 130 Beam support 140 stem 142 Safety Light Curtain 150 Linear Displacement Device 152 Rail 154 Carriage

Claims

1. A tray (10) for a storage rack (100), the tray (10) having an automatic transport device (110), an operation opening (120), and a plurality of beam supports (130) arranged above and below to support the tray (10), forming a storage location (103), The tray (10) can be transported between the operation opening (120) and the storage location (103) by the automatic transport device (110) and can be picked up within the storage location (103); A robot (20) for handling stored items (50) is arranged on the tray (10). Tray (10).

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

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

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

5. 5. The tray (10) according to any one of claims 1 to 4, characterized in that the tray (10) has at least one counterweight (16) arranged on the base (12) of the tray (10), preferably in an edge region (14) of the tray (10).

6. A tray (10) according to any one of claims 1 to 5, characterized by a power supply device (26) for the robot (20), preferably having a contact unit (27) that can be connected to a mating contact unit (127) arranged in the operating opening (120) for the transmission of electricity.

7. 7. The tray (10) according to any one of claims 1 to 6, wherein the power supply (26) comprises an induction coil.

8. 8. A tray (10) according to any one of claims 1 to 7, characterized by an electricity storage unit (28), in particular a battery, suitable for supplying the robot (20) with electricity.

9. Tray (10) according to any one of claims 1 to 8, characterized by an interface (30) for transmitting control commands for said robot (20).

10. 10. The tray (10) according to any one of claims 1 to 9, characterized in that the robot (20) is movably arranged on the tray (10).

11. A rail (152) and a carriage (154) movable on the rail (152), The robot (20) is characterized by a linear displacement device (150) arranged on the carriage (154), A tray (10) according to any one of claims 1 to 10.

12. A storage rack (100) having an automatic transport device (110), an operation opening (120), and a plurality of beam supports (130) arranged one above the other to support trays (10), A storage rack (100) in which the trays (10) transportable between the operating opening (120) by the automatic transport device (110) have the features described in any one of claims 1 to 11.

13. 13. A method for automatically handling storage items (50) in a storage rack (100) according to claim 12, comprising: a) transporting a first tray (10.1) equipped with a robot (20) according to any one of claims 1 to 11 into the operating opening (120); b) moving a second tray (10.2) adjacent to said first tray (10.1); c) handling storage items (50) by said robot (20) on said second tray (10.2); A method comprising:

14. 14. A method according to claim 13, characterized in that prior to step a) a third tray (10.3) is conveyed in front of the access opening (120).

15. 15. A method according to claim 14, characterized in that the stored items (50) are handled by the robot (20) on the third tray (10.3).

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