Operating method and storage system having robots which can travel three-dimensionally in a framework structure

Abstract

The invention relates to a robot (17) in a storage system which has a framework structure (3), the robot having a drive system (27) with a horizontal drive system part (28) for horizontal travel on the framework structure (3) and a vertical drive system part (48) for vertical travel on the framework structure (3), wherein the drive system (27) can be optionally adjusted or pivoted, between a first operating state for horizontal travel, in which the horizontal drive system part (28) can be brought into bearing contact for transmitting a horizontal travelling force between the framework structure (3) and the horizontal drive system part (28), and a second operating state for vertical travel, in which the vertical drive system part (48) can be brought into bearing contact for transmitting a vertical travelling force between the framework structure (3) and the vertical drive system part (48).

Description

Description Operating procedures and storage systems with robots that can move three-dimensionally within a supporting structure (field of technology)

[0001] The invention relates to a robot for articles which interacts with a three-dimensional support structure (grid) and a container for or during horizontal and vertical autonomous or at least semi-autonomous driving, the support structure, the container, a storage system comprising these, and an operating method of the storage system. State of the art

[0002] Automated storage systems are well-known. In such systems, for example, storage containers can be stacked and stored in a three-dimensional, cubic structure, with robots being used to store, retrieve, and transport the containers to transfer stations.

[0003] US Patent 2018 / 0148259 A1 discloses an automated storage and retrieval system in which containers or other storage units, contained within a three-dimensional grid structure, are arranged in cells, each containing multiple storage units surrounding a central cavity or space on different sides. This cavity is slightly larger than each storage unit, allowing the unit to be mechanically pulled into the cavity and providing access to the containers on all sides of the cavity. The storage units are stacked within a three-dimensional grid structure, which can be built on or expanded from a predetermined footprint. The aligned cavities of the stacked cells create vertical shafts running between the upper and lower travel paths of the grid structure, allowing robotic retrieval vehicles to move horizontally to and from any shaft. These robotic retrieval vehicles can access each storage unit directly via the vertical shafts.

[0004] WO 2020 / 229973 A1 discloses an order processing system comprising an automated storage and retrieval system (ASRS), robotic vehicles, storage containers, and various service areas in a continuous arrangement positioned around an outer perimeter of the ASRS structure on one or more service levels of the ASRS structure. The robotic vehicles are navigable within the ASRS structure on the service levels, which are located above and / or below the storage levels of the ASRS structure. The robotic vehicles transport the storage containers within the ASRS structure during the transfer of the storage containers to and from storage locations within the ASRS structure. Each service area comprises one or more workstations of a single type configured for one or more tasks that differ from those of one or more workstations in another service area.Each service area receives a drop-off of storage containers and / or a passage of the storage containers through the respective service area using robotic vehicles.

[0005] US 11 235930 B2 relates to a robotic shuttle system comprising a racking system and one or more shuttles. The racking system includes a rack and a shuttle frame. The rack has storage locations for containers holding items. The shuttle frame has rails arranged along the rack. The shuttle includes a drive unit, a container transfer mechanism, and a robotic arm. The drive unit is designed to move the shuttle along the rack's rails and on a surface outside the racking system. The container transfer mechanism is designed to transfer the containers between the rack and the shuttle. The robotic arm extends from the shuttle to transfer the items between one of the containers on the shuttle and a container in a container holder on the shuttle.

[0006] From EP 3362379 B1, a picking system is known comprising two posts rigidly connected to two different racks, an automatically guided cart with at least two wheels designed to pick items of an order from at least one of the racks, and motorized climbing means capable of interacting with the posts in such a way that the cart is able to climb along the posts, wherein the climbing means comprise two and only two gears and / or two and only two toothed belts with approximately parallel axes, each designed to interact with one of the two posts, wherein the axes of the gears and / or the axes of the rollers driving the toothed belts are approximately orthogonal to the axes of the wheels, and wherein each of the posts has a plurality of notches extending approximately perpendicular to the longitudinal axis of the post, designed to receive the teeth of the gear or toothed belt.which interact with this post and are spaced apart by the pitch of the gear or toothed belt, each gear or toothed belt being mounted on a holder movable relative to the frame of the carriage between two positions: - a spaced-away position in which at least a portion of the gear or toothed belt mounted on the holder projects laterally from the plane of the frame; - a retracted position in which the gear or toothed belt mounted on the holder is flush with the frame; characterized in that the climbing means comprise means to prevent the carriage from tipping, comprising at least one counter gear designed to travel on one of the posts mounted on one of the holders, and that the holders are mounted approximately at two opposite ends of the frame of the carriage along a diagonal. Summary of the invention Technical task

[0007] The object of the invention is to achieve faster, more flexible and overall more efficient and energy-saving handling, in particular storage and retrieval, of articles in a storage system with the highest possible storage density. Technical solution

[0008] The task is solved by a robot that has a specific drive device for selectively controllable horizontal and vertical movement in a storage system for articles, wherein the robot is specifically designed, constructed, set up and / or programmed to interact with a three-dimensional support structure, the storage system and a container.It is specifically provided that the drive device comprises a horizontal partial drive device for horizontal travel on the supporting structure and a different vertical partial drive device for vertical travel on the supporting structure, wherein the drive device is optionally controllable between a first operating state for horizontal travel, in which the horizontal partial drive device can be brought into contact for transmitting a horizontal travel force between the supporting structure and the drive device and / or horizontal partial drive device, and a second operating state for vertical travel, in which the vertical partial drive device can be brought into contact for transmitting a vertical travel force between the supporting structure and the drive device and / or the vertical partial drive device.

[0009] The robot can thus move in three dimensions within the supporting structure, i.e. The robot can be selectively controlled in the horizontal plane of the storage system's support structure (forwards, backwards, left, right) and in the vertical direction of the support structure (up and down, perpendicular to the respective horizontal planes). This movement can preferably be autonomous or at least semi-autonomous. The robot is preferably designed to transport the container and, via this container, the items it holds. The freely controllable movement in all three dimensions of the storage system's support structure allows for flexible and denser utilization of the storage system with comparatively short access, storage, and / or retrieval times for the items. This enables more cost-effective and faster handling of the items, in particular sorting, buffering, storage, retrieval, and storage / retrieval.

[0010] In the context of the invention described herein, "driving force" refers to a traction force and / or propulsion force and / or braking force and / or resistance force. Particularly in the case of vertical travel in the direction of gravity, these forces can coincide in one direction.

[0011] In the context of the invention described herein, the term "robot" generally refers to a multi-axis vehicle, which is configured, in particular with several driven axes, to enable the robot to move in multiple directions within a frame or on a plane, preferably in two horizontal and one vertical spatial direction. More specifically, it refers to a functional system that, in addition to the elements of a drive device for movement and travel, preferably also includes further elements for processing, acquiring / measuring, and / or displaying data, as well as for executing reactions thereto, in particular for autonomous or at least semi-autonomous driving.

[0012] In a preferred embodiment, the robot, in the first operating state, actively modifies a horizontal contour of the robot, as seen in a horizontal direction of travel, compared to the second operating state. This modification, at least in some areas, involves retracting or pivoting elements of a drive device, thereby allowing the robot to adapt to horizontal recesses in the support structure that the robot can traverse. Furthermore, in the second operating state, the robot, as seen in a vertical direction of travel, is also modified, at least in some areas, and thus adapted to vertical recesses in the support structure that the robot can traverse. In other words, the robot's dimensions are variable.These can be adapted to the desired direction of travel and the space in front of the robot, defined by the support structure, depending on the operating state. This makes it possible to selectively transmit driving forces either horizontally or vertically. Elements of the robot's drive system that would impede vertical travel, for example, but are advantageous for horizontal travel—particularly elements for transmitting a vertical ground force—can be disengaged, preferably retracted or pivoted according to the invention. This enables vertical travel without requiring any modifications to the support structure itself, and independently. Conversely, for horizontal travel, drive components essential for vertical travel can be retracted, enabling horizontal travel, again without requiring any modifications to the support structure.

[0013] In a preferred embodiment, the horizontal partial drive device is adjustable between a first horizontal drive position for horizontally driving and moving the robot on the support structure in a first horizontal direction of travel, a second horizontal drive position for horizontally driving and moving the robot on the support structure in a second horizontal direction of travel, and a horizontal rest position in which, preferably, the vertical and horizontal contours are reduced, at least in certain areas. In the context of the invention, the term "contour" of the robot refers to an external dimension, e.g., in the sense of a maximum height, width, and / or length, and / or an outline visible in a top view (vertical contour), side view, and front view (horizontal contour).

[0014] Preferably, the vertical partial drive device is adjustable between a vertical drive position for vertical movement of the storage robot on the support structure in a vertical direction of travel and a vertical rest position, in which preferably the horizontal and / or at least the vertical contour is reduced at least in certain areas, wherein the horizontal directions of travel and the vertical direction of travel are each at an angle, preferably at an angle of approximately 90° to each other, and wherein in the first operating state the horizontal partial drive device is set in one of the horizontal drive positions and the vertical partial drive device is set in the vertical rest position, and in the second operating state the vertical partial drive device is set in the vertical drive position and the horizontal partial drive device is set in the horizontal rest position.Thus, particularly preferably in a predetermined supporting structure that is essentially unchanged during regular operation, movement movements in all spatial directions in the supporting structure are possible essentially directly through the constructive adaptability to the drive device of the robot.

[0015] For the operation of the robot according to the invention, the supporting structure preferably has vertical travel paths and horizontal travel paths extending in two directions, which can be traversed directly by the robot.

[0016] In a further preferred embodiment, the vertical and horizontal drive positions can be assumed simultaneously to securely mount the robot. This secures the robot against accidental displacement within the support structure via the widened horizontal and vertical contours and / or the respective contact points with the support structure.

[0017] In a preferred embodiment, the robot is specifically designed, constructed, configured, and / or programmed to handle the articles together with a container, in particular a container described in more detail below, wherein the articles can be placed in and removed from the container, and wherein the robot has a seat and / or the seat on a top surface in / on which the container can be stored or repeatedly placed from above and removed again without damage. This allows the robot to handle the articles, in particular transport and store them, without additional components such as grippers or similar devices, especially passively, i.e., as soon as the container is in / on the seat and the articles are in the container, without any further energy consumption and / or control processes being required.

[0018] Furthermore, in the case of a container for receiving, storing and transporting articles, which is specifically designed, constructed, set up and / or programmed to work together with or interact with a previously described robot, the task is solved by the container having a fixing device by means of which the container can be stored in the seat of the robot in a form-fitting, friction-fitting and / or force-fitting manner or can be repeatedly placed on the seat from above and removed again without damage.

[0019] Furthermore, in the case of a support structure specifically designed, constructed, configured, and / or programmed to interact with a robot, in particular a robot as previously described, on which the robot can move horizontally and vertically autonomously or at least semi-autonomously, the task is solved by horizontal support elements of the support structure for the robot's horizontal movement, vertical supports of the support structure for the robot's vertical movement, horizontal recesses for the robot to pass through during horizontal movement, vertical recesses for the robot to pass through during vertical movement, and connecting elements arranged between the horizontal support elements and the vertical supports to fix the supports and support elements to one another. The support structure is advantageously designed and adapted to the robot in such a way that the robot can move freely in both horizontal and vertical directions.It features openings in the form of recesses for passage and supports / support elements for stabilization, and to transfer the corresponding driving forces to the robot. It can serve simultaneously as a storage and traffic area. In a particularly preferred configuration, the supporting structure can be flexibly used by the robot as a traffic area for loading or unloading, as a storage area, and / or as a communication space.

[0020] A preferred embodiment of the support structure is characterized in that the horizontal recess and the vertical recess are each arranged between four of the connecting elements. The connecting elements ensure the structural integrity and stability of the support structure, while their arrangement outside the respective recesses allows free passage for the robot.

[0021] A preferred embodiment of the support structure is characterized in that a plurality or four of the horizontal support elements are arranged in a rectangular or square configuration relative to each other, wherein the vertical recess remains radially within the rectangular or square arrangement of the horizontal support elements and / or the vertical recess has clearances extending radially inwards from at least two opposite corners or all corners of the rectangular or square arrangement, wherein the robot and parts of the vertical partial drive device can be moved through the vertical recess during vertical movement and / or the parts of the vertical partial drive device of the robot can be moved through the clearances of the vertical recess and the rest of the robot can be moved through the rest of the vertical recess.This allows the supporting structure to have a regular structure that is easy and energy-efficient to control and / or operate for driving and storage purposes with minimal control effort, and also enables easy assembly and, if necessary, disassembly and scaling.

[0022] Another preferred embodiment of the support structure is characterized by the fact that two adjacent horizontal support elements, arranged one above the other, and two adjacent vertical supports are arranged in a rectangular or square configuration relative to each other, with the horizontal recess remaining radially within the rectangular or square arrangement of the vertical supports and horizontal support elements, and the robot being able to pass through the horizontal recess when moving horizontally. A travel path for the robot can be formed through the recess.

[0023] Finally, one design of the support structure is characterized by the fact that the horizontal support elements each have a traction surface for the horizontal partial drive device, in particular for transmitting a horizontal traction force, of the robot, and the vertical supports each have a rail or toothed rail for the vertical partial drive device, in particular for transmitting a vertical traction force. The robot can move independently, either vertically or horizontally, through the support structure.

[0024] The problem is also solved in a storage system with a large number of storage locations for storing items by providing at least one robot described herein, at least one previously described container, and a previously described support structure, wherein the storage locations, or at least some of the storage locations, are at least temporarily in one of the following states during regular operation of the storage system or storage arrangement: (a) occupied by the robot without a container, (b) occupied by the robot with a container, (c) occupied by the robot with a container and an item in the container. The storage system can achieve fast access times by selectively using these states, since the loading of a load carrier onto the robot can be omitted in each case. It can also be used to store the robots themselves when they are not in use.

[0025] The problem is further solved by a storage system described herein, which has a plurality of storage locations for storing articles, with at least one robot, at least one container, and a support structure described herein, wherein all storage locations of the storage system, or alternatively preferably at least some of the storage locations, are in one of the following states during regular operation of the storage system: (i) empty, (ii) occupied by the robot, (iii) occupied by the robot and the container, (iv) occupied by the robot, the container, and the article contained therein. If, according to this teaching of the invention, only these states are assumed, the operation of the storage system can be controlled with comparatively simple means.Furthermore, this eliminates the need for additional processes that are otherwise known for removing and filling the storage locations with the items and / or containers, as this can preferably be carried out simultaneously with the robot. According to this theory, the robot simply needs to move into and out of one of the freely addressable storage locations, either on request or fully automatically. Therefore, only one storage location is required for each storage or retrieval operation. Furthermore, the robot can have a relatively simple design, and no additional means for moving the items and / or the container are necessary.

[0026] A preferred embodiment of the bearing system is characterized by at least one of the following components or features: - a packing station for packing the items into shipping units and / or collection containers, - that the supporting structure of the parcel station is upstream and / or can be upstream and / or - that the robots and / or containers and / or articles can be removed from a level, in particular a second level, of the supporting structure and fed to the packing station in a predetermined or predetermined sequence, - that the storage system has a charging station for loading the robots with the items and / or for assigning the containers to the respective robot.

[0027] The robots and the support structure can be integrated into the storage system, enabling a complete material flow including singulation, storage, buffering, sorting, picking, staging, and / or packaging of the items. In a particularly preferred embodiment, vertically continuous travel path elements and storage locations of the support structure, especially of a storage system incorporating the support structure, are identical or essentially identical in construction, with allocation being carried out by the control system, particularly by a main control unit of the storage system. This allows for a particularly simple design of the support structure. Assembly and, if necessary, disassembly efforts can be minimized. Likewise, the support structure can be used with exceptional flexibility.In particular, any remaining fundamental conflict of objectives between short playing times and potentially even higher storage density can be reassessed repeatedly in order to best meet fluctuating demands on the storage system.

[0028] The problem is ultimately solved by a method for operating a storage system, in particular the storage system described herein, with a described supporting structure, for the autonomous or at least semi-autonomous transport of containers, in particular a previously described container, and articles contained in the containers by means of described robots, which has travel paths that can be traversed autonomously or at least semi-autonomously by the robots and storage locations arranged in storage levels, with the following method components: - preferably non-destructive and reversible assembly of the containers with the robots, - Assigning one of the containers to exactly one of the robots, - Picking up and then dropping items from the container and / or from or into the container assigned to the robot before or after assignment, - preferably autonomous or semi-autonomous transport of the assigned container by means of the robot along a preferably predetermined or predefinable route on the travel paths of the supporting structure of the storage system. In particular, the following is further provided: - Providing an arrangement of several interconnected adjacent storage locations in the supporting structure in the form of a 9-module, preferably structured in three rows of three, wherein each 9-module can be occupied by up to eight robots, and preferably the central storage location can remain free for traversing. - preferably forming several of the 9-modules within the supporting structure one above the other in a vertical direction, - centrally providing and / or keeping clear at least one travel path element for the robot vertically continuous in the 9-module, wherein the 9-module has eight of the bearing positions that surround the travel path element in a rectangular or square arrangement, preferably rotationally symmetrical arrangement and are each arranged adjacent to the travel path element and / or - Forming and / or congruently arranging at least two of the 9-modules per at least two adjacent, superimposed storage levels or all of the storage levels to form a continuous vertical travel path through the at least two or all of the storage levels using the travel path elements of the respective 9-modules and / or - Maintaining the assignment between the robot and the container during an approach to one of the storage locations, storage within one of the storage locations, and during a departure from one of the storage locations, and establishing the assignment before these operations and de-assigning the assignment afterward, preferably for the independent feeding of the containers and / or items to the support structure, particularly in a loading station, and / or - further processing of the containers and / or items, for example in a packing station for packing a large number of items into a shipping unit, and / or - vertical conveying of the robot or the robot in the assigned state with the container by means of a vertical conveyor from the charging station to the support structure and / or from the support structure to the charging station.

[0029] The preferred configuration includes a continuous robot track element spanning all storage levels and a storage tower formed from the 9-module units. This logistical unit offers a particularly high packing density of up to eight storage locations per track element. Overall, this enables highly efficient item provision and handling.

[0030] A preferred embodiment of the method is characterized by: - Moving the robot across a corner or from a storage location in a corner of the 9-module to the centrally provided vertically continuous travel path element and / or - Clearing a path for storage into the supporting structure or removal from the supporting structure by moving the robot in the first horizontal direction of travel to another storage location adjacent to the storage location, - Moving the robot in the second horizontal direction of travel from the adjacent storage location into the vertically continuous travel path element and / or - prior to this, another of the robots moves horizontally from an adjacent storage location into the travel path element in a horizontal direction and - vertical movement of the robot in the vertical direction of travel in the vertical travel path element to vertically relocate the robot in the vertical direction of travel into an adjacent storage plane within the supporting structure, and after removing or storing the robot, back again.

[0031] These processes can preferably take place within the 9-unit module. In a particularly preferred embodiment, the relocations can also occur independently of any specifications, especially those of the 9-unit module. Preferably, a storage space in an adjacent 9-unit module can also be temporarily occupied. Despite the high storage density, storage and retrieval operations can be carried out easily and quickly.

[0032] In a specific configuration, the 9-module units can be arranged flush or staggered. Furthermore, depending on the preferred design and use of the supporting structure within the storage system, any pattern for storage location occupancy and allocation within the supporting structure is conceivable. In particular, the supporting structure can be divided into areas with 9 modules solely by control-technical allocation, i.e., without structural features, and / or into at least two areas with the 9 modules, without modules and / or, preferably, other modules that can be arranged in a pattern; preferably cross-shaped with Ser modules or rectangular 12 modules.

[0033] Furthermore, a preferred embodiment of the method is characterized by: - ​​Clearing the adjacent storage space before moving the robot from the storage space located in the corner of the 9-module to the centrally provided vertically continuous travel path element by: - ​​Moving at least one or more additional robots in a ring-shaped pattern within the 9-module, or - Relocating at least one or more additional robots independently of the 9-unit module and in at least two directions (horizontal, vertical) to free up the adjacent storage space. Even when the 9-unit module is fully occupied, it is possible to easily retrieve items from any of the storage spaces within the 9-unit module.

[0034] In the context of the described invention, "ring-shaped" means that adjacent storage locations, including the track element, are accessed at least partially sequentially. This can be achieved, for example, in a rectangular configuration with four, six, or eight locations, or in an L-shape with eight locations. Preferably, storage is carried out using eight outer locations of the 9-unit module without using the track element, in a state where a maximum of seven of the eight storage locations are occupied. For the state where all eight storage locations are occupied, storage or retrieval can be carried out using four adjacent locations, one of which is the track element, with the track element being used for a brief passage.

[0035] Further specific embodiments of the invention are listed below: One embodiment is a storage system and / or storage arrangement and / or cube storage system, which is characterized by a supporting structure that has travel paths and storage locations, containers for picking up and dropping off articles, autonomously moving robots by means of which the containers can be transported on a travel route through the supporting structure.

[0036] A special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that exactly one robot is assigned to each container (1 to 1 relationship).

[0037] Another special design is a storage system, storage arrangement and / or cube storage system, characterized in that the storage arrangement has a storage area which has the storage places, wherein exactly one robot is provided per container within the storage area.

[0038] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized in that storage locations during regular operation of the storage arrangement only have one of the following states: empty, occupied by the robot, occupied by the robot plus container, occupied by the robot plus container plus the item or items contained therein.

[0039] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the storage arrangement has an input area in which the items can be fed into the storage arrangement and an output area in which the items can be removed from the storage arrangement.

[0040] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that in the entrance area and / or exit area the containers and the robots can be reversibly separated and reassembled.

[0041] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the storage locations of the storage area have exactly two states of the following group: "empty" and ready to receive an item and / or robot and "filled" with a robot that is joined to a container.

[0042] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that states of the following group are not provided: filled with an item without a container and without a robot, filled with a container together with an item.

[0043] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that, at least in exceptional cases, the state filled with a robot without a container and without items is also provided for.

[0044] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the additional state filled with a robot without a container, but with articles, is provided for at least in exceptional cases.

[0045] Another special design is a storage system, storage arrangement and / or cube storage system, characterized in that the robot and the container are designed as a single structural unit, in particular as an inseparable unit for transporting the article.

[0046] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the travel paths have vertical sections (seen in the direction of a gravitational field of the earth, also referred to here as the Z-direction).

[0047] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the robots can move autonomously using electric drive energy.

[0048] Another special embodiment is a storage system, storage arrangement and / or cube storage system, characterized in that the storage arrangement has a power supply device, in particular by means of a power storage device such as a battery, capacitor and / or accumulator, for supplying the robots with electrical drive energy.

[0049] Another special embodiment is a storage system, storage arrangement and / or cube storage system, characterized in that the power supply device comprises at least one element from the following group: a power source, conductor tracks for transporting the drive energy, sliding contacts for transmitting the drive energy to the robots, induction elements for transmitting the electrical drive energy to the robots, normally closed contacts, in particular plug connections for transmitting the electrical drive energy to the robots, energy storage devices for insertion into and removal from the robots,

[0050] Another special embodiment is a storage system, storage arrangement and / or cube storage system, characterized in that the robots have a current collector device that interacts with the power supply device for transferring the drive energy from the power supply device to the robots, and / or vice versa, particularly in a recuperation mode of the robots.

[0051] Another special embodiment is a storage system, storage arrangement and / or cube storage system, characterized in that the current collector device has at least one element of the following group: a current storage device, a slot for the current storage device, a sliding contact.

[0052] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the storage device has a first level for feeding the items and a second level for removing the items.

[0053] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the storage locations and / or the storage area containing the storage locations are arranged between the levels.

[0054] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the storage area between the levels is designed to be free of inflow and outflow.

[0055] Another special design is a storage system, storage arrangement, and / or cube storage system, characterized by the fact that the storage area between the levels is designed to be free of inflows and outflows in the horizontal direction. Free of inflows and outflows means that no travel path for the robots, in particular no horizontal travel path, is provided into or out of the storage area or its intermediate levels.

[0056] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the storage area has exclusively vertical or at least at an angle to a horizontal direction (seen in an orientation of the Earth's gravitational field) travel routes.

[0057] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the storage area has horizontally running route sections which are designed as dead ends and / or have storage locations and / or form the storage locations.

[0058] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the horizontally running travel route sections merge into the vertical travel routes.

[0059] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the vertical travel routes of the storage area run continuously between the first and second levels.

[0060] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that intermediate levels can be provided between the levels, with a partial storage area arranged between each of the two levels.

[0061] Another special design is a storage system, storage arrangement and / or cube storage system, characterized by the fact that the robot has a recess in which the container can be picked up by positive locking, friction locking and / or force locking.

[0062] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the recess in the Z-direction is open at the top and / or is designed in a box and / or trough shape.

[0063] Another special embodiment is a storage system, storage arrangement and / or cube storage system, characterized in that the recess forms a seat in which the container can be stored, in particular being insertable from above in the Z direction.

[0064] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the supporting structure has vertical beams.

[0065] Another special embodiment is a storage system, storage arrangement and / or cube storage system, characterized in that the supporting structure has horizontal support elements coupled, in particular connected and / or mounted, with the vertical supports, in particular drivable support elements, preferably drivable by means of robots.

[0066] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the robot has a drive device that interacts with the supporting structure.

[0067] Another special embodiment is a storage system, storage arrangement and / or cube storage system, characterized in that the storage arrangement has a drive device acting on and / or cooperating with the robots, in particular a towing device, preferably around running towing means, in particular transmission belts and / or drag chains, by which the robots can be carried and / or driven by coupling and external forces and / or movements.

[0068] Another special embodiment is a storage system, storage arrangement and / or cube storage system, characterized in that the drive device has a horizontal partial drive device that interacts with the horizontal support elements.

[0069] Another special embodiment is a bearing system, bearing arrangement and / or cube storage system, characterized in that the horizontal partial drive device has a first roller arrangement that rolls horizontally on the support elements.

[0070] Another special embodiment is a bearing system, bearing arrangement and / or cube storage system, characterized in that the first roller arrangement has support wheels, in particular four support wheels, and a drive roller.

[0071] Another special design is a bearing system, bearing arrangement and / or cube storage system, which is characterized by the fact that the drive roller is mounted so as to be rotatable or at least pivotable about a drive roller pivot axis extending in the Z direction.

[0072] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the robot's direction of travel in the horizontal direction can be controlled by pivoting the drive roller.

[0073] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the direction of travel of the robot in the horizontal direction can be controlled by different driving of the drive roller.

[0074] Another special design is a bearing system, bearing arrangement, and / or cube storage system, characterized by the fact that the drive roller can be pivoted by at least 90 degrees. This pivoting and different drive settings allow for any choice of travel direction in any horizontal direction, which can be controlled and / or selected.

[0075] Another special design is a bearing system, bearing arrangement and / or cube storage system, which is characterized by the fact that the support wheels of the roller arrangement are each rotatable or at least pivotable about a support wheel pivot axis extending in the Z direction.

[0076] Another special design is a bearing system, bearing arrangement and / or cube storage system, which is characterized by the fact that the rolling directions of the support wheels and the drive roller are equivalent.

[0077] Another special embodiment is a storage system, storage arrangement and / or cube storage system, characterized by the fact that slots and / or free spaces are arranged between the horizontal support elements, wherein the support wheels are mounted to move back and forth between at least two functional positions (a driving position and a release position): passable between the free spaces in the Z direction and rolling on the support elements.

[0078] Another special embodiment is a bearing system, bearing arrangement and / or cube storage system, characterized in that the support wheels have a spring and / or damping acting in the Z direction, in particular to reduce accelerations when the support wheels come into contact with the vertical support.

[0079] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the travel paths in the Z-direction, viewed in the direction of gravity, can be traversed by the robots in a gravity-driven and / or gravity-driven manner with braking.

[0080] Another special design is a storage system, storage arrangement and / or cube storage system, characterized by stopping in a plane by rotating the support wheels (from a driving position in which they can be guided through the slots / free spaces to a release position in which they can be brought into engagement with the horizontal support elements and / or placed on them) and braking the robots by placing them on the horizontal support elements.

[0081] Another special design is a bearing system, bearing arrangement and / or cube storage system, which is characterized by the fact that, in order to adjust the support wheels between the functional positions, they can each be pivoted by 45 degrees around the support wheel pivot axis.

[0082] Another special embodiment is a storage system, storage arrangement and / or cube storage system, characterized in that the drive device has a vertical partial drive device that interacts with the vertical supports.

[0083] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the vertical supports are each arranged adjacent to one of the free spaces.

[0084] Another special embodiment is a bearing system, bearing arrangement and / or cube storage system, characterized in that the vertical partial drive device has a vertical roller arrangement that interacts with the vertical supports.

[0085] Another special embodiment is a storage system, storage arrangement and / or cube storage system, which is characterized in that the vertical roller arrangement is adjustable between a functional position in which it engages with the vertical supports and a rest position in which the roller arrangement is spaced away from the vertical supports.

[0086] Another special embodiment is a bearing system, bearing arrangement and / or cube storage system, characterized in that the vertical roller arrangement has gears which can each be brought into meshing engagement with a toothed rail of the vertical supports and / or can be brought into meshing engagement in the functional position.

[0087] Another special embodiment is a bearing system, bearing arrangement, and / or cube storage system, characterized in that the vertical roller arrangement, in particular the gears and a mechanism rotatable between the operating position and the rest position, can be moved through the clearances in the Z-direction, especially in the operating position. This offers the advantage that the vertical roller arrangement can optionally fulfill its function of controlling the vertical movement, in particular braking, and does not interfere with movements in the plane, i.e., in the rest position, thus allowing the robot to move collision-free in the respective plane with the aid of the remaining drive device, in particular the horizontal partial drive device.

[0088] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the free spaces are U-shaped, with the toothed rails arranged at one base of the free spaces.

[0089] Another special design is a bearing system, bearing arrangement and / or cube storage system, which is characterized by the fact that the mechanism for each wheel, in particular gear, has a multi-joint design.

[0090] Another special embodiment is a bearing system, bearing arrangement and / or cube storage system, characterized in that the multi-joint has a swivel arm articulated to a base body of the robot, wherein the respective wheel is rotatably mounted at a distal end of the swivel arm.

[0091] Another special embodiment is a bearing system, bearing arrangement and / or cube storage system, characterized in that an actuating arm is provided for each first pivot arm, which is articulated at the distal end of the first pivot arm by means of an elongated hole in the pivot arm and is translationally displaceable between the rest position and the functional position.

[0092] Another special embodiment is a bearing system, bearing arrangement and / or cube storage system, which is characterized in that the wheel, in particular gear, is mounted on the actuating arm.

[0093] Another special embodiment is a bearing system, bearing arrangement and / or cube storage system, characterized in that the wheel, in particular the gear, is mounted on the actuating arm in a brakeable manner, in particular exclusively / only brakeable. [Optionally only brakeable, which enables vertical control and downward movement while saving on a climbing drive.]

[0094] Another special design is a bearing system, bearing arrangement and / or cube storage system, which is characterized in that the wheel, in particular gear, is mounted on the actuating arm in a brakeable and / or driveable manner.

[0095] Another special embodiment is a bearing system, bearing arrangement and / or cube storage system, characterized in that instead of a wheel, a braking device, in particular only one braking device, is provided, in particular a friction and / or induction brake and / or hydrodynamic brake and / or aerodynamic brake, in particular by a parachute principle, tunnel resistance, piston effect, tunnel piston effect.

[0096] Another special embodiment is a bearing system, bearing arrangement and / or cube storage system, which is characterized by the fact that the braking device is provided as an alternative or additional measure to the vertical partial drive device.

[0097] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the robots each have a control device that is carried along or is an integral part of the robots.

[0098] Another special embodiment is a storage system, storage arrangement and / or cube storage system, characterized in that the control devices cooperate with a main control for controlling the storage system and / or at least the storage arrangement and / or at least the storage area and / or are addressable, programmable and / or controllable by it.

[0099] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the storage arrangement or storage system has a packing station for packing the items into shipping units and / or collection containers, or is upstream of and / or can be upstream of such a packing station.

[0100] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the robots and / or containers and / or articles can be removed from the second level and fed to the packing station in a predetermined or predetermined sequence.

[0101] Another special embodiment is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that a communication system is provided for communication between the robots and / or the robot controllers and the main controller, through which the robots can be controlled, addressed and / or retrieved from the storage locations.

[0102] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the communication system has wired links and / or radio links can be used.

[0103] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the travel paths can be traversed autonomously by the robots.

[0104] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the travel paths between the first and second levels are designed as vertical shafts.

[0105] Another special embodiment is a storage system, storage arrangement and / or cube storage system, characterized in that each of the shafts is assigned four, preferably at least one, in particular three, of the toothed rails and / or has these and / or is bounded at corners, preferably at least three corners, in particular four corners.

[0106] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the shafts are polygonal with the supports in the corners.

[0107] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the shafts are rectangular, in particular square.

[0108] Another special embodiment is a storage system, storage arrangement and / or cube storage system, characterized in that the storage locations have a continuous floor, in particular at least substantially a continuous floor, wherein in particular the horizontal partial drive device can be rolled on the floor, in particular a traction drive can be formed between the floor of the storage location and the robot by means of the horizontal partial drive device.

[0109] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the continuous floor partially has four of the horizontal support elements.

[0110] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the horizontal support elements are firmly mounted to the vertical beams.

[0111] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the vertical travel paths each have a plurality of four horizontal support elements arranged on one plane.

[0112] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the horizontal support elements are symmetrically constructed and are mounted or mountable between two of the vertical beams.

[0113] Another special embodiment is a storage system, storage arrangement and / or cube storage system, characterized in that the horizontal support elements serve on one side as a traction surface for a drive movement from the vertical travel path towards one of the storage locations, and vice versa, and on the other side form a part of the continuous floor of the storage location adjacent to the travel path, and also serve there as a traction surface for the drive movement.

[0114] Another special design is a storage system, storage arrangement and / or cube storage system, characterized by the fact that the continuous floor has an insert that has a cross-section adapted to four of the horizontal support elements of the respective storage location.

[0115] Another special embodiment is a storage system, storage arrangement and / or cube storage system, characterized in that the insert has four retaining arms that are arranged between the horizontal support elements, in particular in the gaps / free spaces remaining between the horizontal support elements.

[0116] Another special embodiment is a storage system, storage arrangement and / or cube storage system, characterized in that each of the retaining arms is assigned to one of the vertical supports and / or extends towards it and / or is fixed there, in particular is mountable and / or can be fixed there by positive / friction and / or force locking and / or can be inserted there, in particular positive locking in the toothed rail, and / or can be hooked into the respective vertical support by means of preferably locking means and / or can be mounted with it.

[0117] Another special embodiment is a storage system, storage arrangement and / or cube storage system, characterized in that the vertical supports defining a storage space each have a holding device, in particular a projection, for placing the insert.

[0118] Another special embodiment is a storage system, storage arrangement and / or cube storage system, characterized in that the storage device and / or the storage system has a vertical conveyor or is connected downstream thereof, wherein the robots, the containers, the articles and / or the unit of robot and container, in particular with the article received, can be conveyed to and released into the first level by means of the vertical conveyor.

[0119] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the vertical conveyor has a transport route from the second level to the first level.

[0120] Another special embodiment is a storage system, storage arrangement and / or cube storage system, characterized in that the storage device has basic elements, each of which has 9 vertical sub-elements.

[0121] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that a multitude of storage levels are arranged between the first level and the second level.

[0122] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that each module per storage level has four storage locations and five vertically continuous travel path elements for the robots of the respective vertical travel path.

[0123] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the storage locations and the travel path elements are arranged alternately, in particular in a checkerboard pattern, relative to each other.

[0124] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that any number of modules can be combined.

[0125] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the modules can be assembled offset or flush, [in an offset arrangement, a space can be created across the entire storage area.

[0126] Another special embodiment is a storage system, storage arrangement, and / or cube storage system, characterized by the fact that robot movements, in particular travel to and from one of the storage locations, can be carried out along one of the travel routes without interference from other robots. "Without interference from other robots" in this context means that, for the robot to travel along one of the travel routes to and from one of the storage locations, for example, to store or retrieve the transported item, other robots do not need to be moved, for instance, because they would otherwise block the chosen travel route. Each possible travel route has no storage locations, as these are designed as dead ends, each preferably accommodating only one robot.However, it can also be understood to mean that one must wait until other robots, which are completing an earlier or higher-priority route along the same route, have finished. This applies, for example, when overlapping routes are assigned to two or more robots. In principle, driving can therefore be carried out without external movement and simultaneously without interruption, as long as no other robot is traveling on the assigned route. In such cases, a journey may be free of external movement, but potentially interrupted by simply waiting.

[0127] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that movements of the robots can only be carried out and / or are carried out starting in the first level in a vertical direction downwards along the vertical travel paths downwards in the direction of the second level.

[0128] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the vertical partial drive device of the robots is designed, programmed and / or constructed only for vertical travel through the vertical travel paths starting in front of the first level downwards in the direction of the second level.

[0129] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that, alternatively or additionally, the vertical partial drive device of the robots is designed to climb from the second level towards the first level.

[0130] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the drive device for horizontal movement and / or driving of the robots on the first and / or second level is designed, programmed and / or constructed.

[0131] Another special embodiment is a storage system, storage arrangement and / or cube storage system, characterized by the fact that the drive device is designed, programmed and / or constructed for horizontal movement and / or driving of the robots on the first level and for transitioning from the first level into one of the vertical travel paths.

[0132] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the support wheels have a conductor that can be brought into an electrically conductive contact with the vertical supports.

[0133] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that a running surface of the support wheels has the respective ladder and / or a sensor.

[0134] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the robot can be powered via the support wheels.

[0135] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the horizontal support elements can be electrified.

[0136] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the horizontal support elements can be energized with different polarities.

[0137] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the horizontal support elements can be energized with a pattern alternating with the different polarity.

[0138] Another special embodiment is a storage system, storage arrangement and / or cube storage system, characterized by the fact that the design fulfills the following conditions: the horizontal support elements are continuously energized and project into two adjacent travel path elements and / or storage locations and / or are always arranged between one of the storage locations and one of the travel path elements and project into them as a traction surface and current collector surface; for each storage location, two of the horizontal support elements are at the same potential of the different polarity; horizontal support elements that are at the same potential of the different polarity are arranged adjacent to each other on one of the vertical supports.

[0139] Another special embodiment is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the pattern fulfills the following conditions: four of the horizontal support elements of the same potential lie on the same potential of the different polarity and extend (horizontally) from a common vertical support; opposing horizontal support elements lie on different potentials of the different polarity.

[0140] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the common vertical supports alternately exhibit the different potentials of the different polarities.

[0141] Another special embodiment is a storage system, storage arrangement and / or cube storage system, characterized in that the vertical supports are arranged in diagonal rows, with adjacent rows of the vertical supports being alternately de-energized and energized.

[0142] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized in that each energized diagonal row alternately has the different potentials of the different polarity and / or from these, the four horizontal support elements extend in a cross shape and each at the same potential.

[0143] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the energized vertical supports are electrically connected to the four horizontal support elements.

[0144] Another special design is a storage system, storage arrangement and / or cube storage system, characterized in that the energized vertical supports have electrically insulated conductors that are electrically connected to the four horizontal support elements.

[0145] Another special design is a storage system, storage arrangement and / or cube storage system, characterized by powering the robot via the four support wheels.

[0146] Another special design is a storage system, storage arrangement and / or cube storage system, characterized by powering the robot via the four support wheels through opposing horizontal support elements that are at different potentials and polarities.

[0147] Another special design is a bearing system, bearing arrangement and / or cube storage system, which is characterized by the fact that opposite support wheels are at different potentials of different polarity, or are not energized in a transient state.

[0148] Another special embodiment is a storage system, storage arrangement and / or cube storage system, characterized by moving the robot from one of the travel path elements to one of the travel path elements, or vice versa, and energizing it with four of the support wheels as long as the robot is in the storage location or the travel path element and energizing it via at least two opposing support wheels if the robot is in a transient state between the storage location and the travel path element.

[0149] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the gaps or free spaces are larger than the track width of the support wheels.

[0150] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the gaps or free spaces are larger than the track width of the support wheels, even if these are pivoted from the release position to the travel position for a journey between the travel path elements / storage places.

[0151] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the gaps or free spaces between the horizontal support elements can be traversed by the support wheels without short circuits, even if these are at different potentials of different polarities.

[0152] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the support wheels have twin tires.

[0153] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the four support wheels of the robot are arranged in corners of the robot.

[0154] Another special design is a bearing system, bearing arrangement and / or cube storage system, which is characterized by the fact that the support wheel pivot axis is arranged asymmetrically to the support wheels.

[0155] Another special embodiment is a bearing system, bearing arrangement and / or cube storage system, which is characterized in that the support wheels are elongated, in particular cylindrical, in the direction of a support wheel rotation axis about which the support wheels are freely rotatable.

[0156] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the support wheel pivot axis is located in the corners of the robot.

[0157] Another special embodiment is a bearing system, bearing arrangement and / or cube storage system, characterized in that the support wheels extend away from the robot from the support wheel pivot axis, [this allows the robot's direction of travel to be adjusted omnidirectionally, in particular by 90 degrees at a time, wherein, in the case of a square robot, the support wheels have and / or form a cantilever that stabilizes the driving dynamics and is perpendicular to each of the main directions of travel.]

[0158] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that a signal can be modulated onto the power supply to the robots.

[0159] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that communication between the main control and the control of the robots is possible through the modulatable signal.

[0160] Another special embodiment is a storage system, storage arrangement and / or cube storage system, characterized by the fact that the power supply is preferably provided by alternating current.

[0161] Another special design is a storage system, storage arrangement and / or cube storage system, characterized by the fact that the frequency of the alternating current deviates significantly, in particular by orders of magnitude, from the frequency of the modulated signal, thus enabling interference-free communication.

[0162] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the energized supports and / or the energized horizontal support elements have a conductor-bound path over which the modulatable signal can be transmitted.

[0163] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that communication is divided into communication cells.

[0164] Another special embodiment is a storage system, storage arrangement and / or cube storage system, characterized in that each of the communication cells has at least one of the energized vertical carriers, in particular two adjacent carriers lying at different potentials of different polarity.

[0165] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the communication cells have different, in particular clearly distinguishable, frequency bands, especially crosstalk-free or at least low-crosstalk bands.

[0166] Another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that communication with and power supply to the robots can be carried out via the vertical supports, the horizontal support elements and the support wheels.

[0167] Another particular embodiment is a storage system, storage arrangement, and / or cube storage system, characterized in that an Oer module, consisting of nine interconnected fields of the storage arrangement in a square, preferably in a horizontal plane, is provided, wherein storage locations are provided for each module per storage level and vertically continuous travel elements are provided for the robots. A particular embodiment of this is a storage system, storage arrangement, and / or cube storage system, which is alternatively or additionally characterized in that the 9-module has multiple levels. A further particular embodiment of this is a storage system, storage arrangement, and / or cube storage system, which is alternatively or additionally characterized in that the Ger module is designed such that at least one vertically continuous travel element for the robots is provided centrally for each module.Another special version of this is a storage system, storage arrangement and / or cube storage system, which is alternatively or additionally characterized by the fact that up to eight fields of a soclen 9 module in each level can be occupied by a robot.

[0168] Finally, another special design is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that four storage locations and five vertically continuous travel path elements for the robots are provided.

[0169] Another embodiment of the invention is a method for operating a storage system and / or storage arrangement and / or cube storage system, comprising at least one of the following steps: • Goods are stored in the system by placing the items into our containers at the loading stations, and each container is then paired with a robot; alternatively, the container is already attached to the robot, or the box is automatically loaded into the robot. • The robot moves horizontally in level 0 to a vertical conveyor for vertical upward movement to the top horizontal level of the storage rack (storage level) or another level, e.g. from another part of the building. • Once the robot reaches the top level of the storage rack, it searches for the correct storage shaft transmitted by the system = vertical shaft in the storage rack, formed by clearings in the respective horizontal levels of the storage rack. • Robot drops down into the storage shaft • Once the robot has reached the correct floor (horizontal plane), it moves to its designated storage position (X, Y, Z coordinate) in the storage rack. • Preferred algorithm: Refilling generally occurs from the bottom up, but in two stages: First, all storage bays are filled from the bottom up; once all storage bays are full, the input bays are also filled from the bottom up.

[0170] A preferred embodiment thereof is a method for operating a storage system and / or storage arrangement and / or cube storage system, comprising at least one of the following steps for retrieval: • Stored robot is requested and assigned an unloading station as its destination. • Preferred algorithm: The robot to be outsourced moves into the outsourcing chute located in the center of a 9-module; this chute always remains free and is used exclusively for outsourcing. • The requested robot travels vertically downwards in a storage shaft to level 0. • On level 0, the robots drive out of the cube along the shortest route on one-way streets (linear movement on steel structure). • Once the robot is out of the cube, it travels across the hall floor to its target unloading station. To do this, the robots circle the system in a predetermined direction so that their paths do not cross. In large systems, there will likely be open paths (clearings through the cube) to allow the robots to travel shorter distances. • Before the unloading stations, there are buffer zones for fine sorting; there, the robots arrange themselves in the correct sequence and then drive into the unloading station in the correct order. • Either each unloading station has its own buffer zone, or one buffer zone serves several unloading stations After the ordered items have been removed from the container, the robot either: directly to a vertical conveyor to be restocked without being filled with new items, or to the loading station where new / additional items are placed in the container. • The final sorting of the subsets takes place in the buffer zones before the unloading stations. Brief description of the drawings

[0171] Fig. 1 shows a schematic representation of a storage system for providing articles;

[0172] Fig. 2 shows a top view of a vertically continuous track element of a support structure of the storage system shown in Fig. 1 with a vertically moving robot;

[0173] Fig. 3 shows the track element depicted in Fig. 2 with the robot, but moving horizontally;

[0174] Fig. 4 shows a three-dimensional oblique side view from above of a storage area of ​​the supporting structure analogous to Figures 1 and 2 with the robot and a container that can be transported by means of the robot;

[0175] Fig. 5 shows the robot depicted in Figure 4 with the bottom of the container shown partially transparently;

[0176] Fig. 6 shows a three-dimensional oblique side view from above of a partially depicted supporting structure analogous to the supporting structure shown in the preceding figures, in which Ger modules are arranged one above the other in several bearing planes;

[0177] Fig. 7 shows a detailed view of part of the supporting structure shown in Figure 6 and a robot located on it to illustrate different operating states of the robot;

[0178] Fig. 8 shows a further detailed view of part of the supporting structure shown in Figures 5 and 6 on a complete 9-module of a bearing plane;

[0179] Fig. 9 shows a top view of the 9-module shown in Figure 8 to illustrate an alternating current supply to horizontal load-bearing elements of the supporting structure;

[0180] Fig. 10 schematic representations of the Ger module shown in Figures 6 to 9 in variants A to E to illustrate a preferred aspect of an operating method of the storage system for driving the robot over a corner of the 9 module;

[0181] Fig. 11 shows a flowchart of the operating procedure of the storage system. Description of the embodiments

[0182] Before the invention is described in detail, it should be noted that the invention is not limited to the embodiments, components, arrangements, materials, parameters, value ranges, and process steps and their sequence shown below, as these components and processes may vary. The terms used below serve solely to describe specific examples and are not to be understood as limiting the scope of the patent claim.

[0183] Where the singular or an indefinite article (“a”, “an”) is used in the description or in the claims, this also includes the plural, unless the overall context clearly indicates otherwise. The same applies to the use of definite articles and to terms such as “comprise”, “contain”, “exhibit”, or “include”, which are to be understood as non-exclusive and open to interpretation.

[0184] Features, configurations, options and process steps described in connection with one embodiment can – insofar as technically sensible and legally permissible – be transferred individually or in any combination to other embodiments. In particular, individual features from different embodiments can be combined to form further embodiments, which are expressly considered to be covered by the disclosure, even if these combinations are not explicitly described or illustrated in every single instance. Likewise, partial combinations (subcombinations) of features are expressly included.

[0185] Unless expressly stated otherwise, if value ranges, numerical data, or parameters are specified in this application, intermediate values, sub-ranges, and combinations of sub-ranges within these ranges are also included in the disclosure. The same applies to alternative materials, dimensions, tolerances, interfaces, control strategies, and equivalent technical means, provided they achieve the same technical effect as defined in the invention.

[0186] The reference numerals used in the drawing serve for clarity and are not to be interpreted as limiting the claims. Likewise, the representation of a feature in a particular figure or in a particular embodiment does not constitute a limitation to precisely that representation; functionally equivalent modifications remain included insofar as they are supported by the disclosure.

[0187] Finally, it should be noted that individual embodiments, combinations of features, partial combinations, and process aspects may be the subject of claims and / or one or more divisional applications. The disclosure is to be understood as expressly supporting a division into multiple applications and sets of claims, including individual aspects, sub-combinations, or uses.

[0188] Figure 1 shows a schematic diagram of a storage system 1 for providing articles 18. The storage system 1 has a goods receiving area 87 for supplying articles 18. The goods receiving area 87 is indicated in Fig. 1 only by an arrow. The articles 18 can be delivered to the goods receiving area 87, in particular in containers, in load carriers 90.

[0189] Downstream of goods receiving 87, storage system 1 has a loading station 127 where the containers of articles 18 are removed from the load carriers 90 and separated. Loading station 127 thus serves to separate the articles 18.

[0190] In addition to the articles 18, robots 17 and containers 15 are fed to the charging station 127, where they can be assigned to each other, as indicated by a dotted line in Fig. 1. The assignment is physical and can optionally also be carried out electronically by means of a main controller 123, which controls the storage system. Preferably, the robots and the containers have an identification number that can be addressed by the main controller 123. The containers are placed on a top surface 68 of the respective robot 17, in particular into a seat 67 for receiving the container 15. The seat 67 is designed for positive locking, friction locking, and / or force locking. Alternatively or additionally, the containers 15 can have a fixing device 16 that interacts with the respective seat 67 of the respective robot 17 for coupling the container 15 to the robot 17.

[0191] Furthermore, also controlled by the main control unit 123, the individual articles 18 are optionally stored individually or in possibly pre-sorted subsets in the containers 15 assigned to the robots 17.

[0192] The units consisting of article(s) 18, container 15, and robot 17 are fed into a storage area 75 of storage system 1. Storage area 75 is part of a supporting structure 3 and has a large number of storage locations 77 that can be accessed and occupied by the units or the robot 17. The articles 18, along with the container 15 and the robot 17, can therefore be moved to and from the storage locations 77 and stored there.

[0193] In principle, it is preferable to feed the robots 17 directly to any of the storage levels 79 of the storage area 75. Preferably, however, they are fed to a first level 111 of the storage area 75 by means of a vertical conveyor 131. The vertical conveyor 131 leads from the charging station 127 to the first level 111 of the storage area 75.

[0194] In the first level 111, the robots 17 begin an autonomous or at least semi-autonomous journey along horizontal travel paths 69 formed or trainable within the storage area 75 of the support structure 3 along a horizontal travel direction 30.

[0195] Between the storage levels 79 of the storage area 75, 3 vertical travel paths 119 are formed in the supporting structure, which can also be traveled in a vertical direction 50 by the robots 17.

[0196] The storage locations 77 of the storage area 75 of the supporting structure 3, in regular operation of the storage system 1, assume only or at least temporarily one of the following states: empty, occupied by a robot 17, occupied by a robot 17 with container 15, occupied by a robot 17 with container 15 and item(s) 18 contained therein, as can be seen in Fig. 1. This means that each of the storage locations 77 contains the robot 17 with container 15 and, if applicable, item(s) 18 contained therein, at least briefly for the purpose of storage and retrieval.

[0197] The main control unit 123 preferably generates and specifies a sequence and / or a combination for the articles 18. According to this specification, the robots 17 are addressed and called upon via a communication system 101 of the storage system 1 in order to leave the storage area 75 autonomously or at least semi-autonomously on the travel paths in horizontal directions 30 and the vertical direction 50.

[0198] The exit from the storage area 75 preferably takes place via a second level 113, wherein the second level 113 is preferably designed as the lowest level of the storage area 75, but according to an alternative embodiment it can also be arranged in a different position.

[0199] Preferably, the multiple storage levels 79 are arranged between the first level 111, which is designed as the uppermost level, and the second level 113, which is designed as the lowermost level. This allows a flow of goods 18 from top to bottom through the supporting structure 3.

[0200] The second level 113 is upstream of a packing station 125, so that the addressed and retrieved robots 17 drive into the packing station 125.

[0201] Once there, the items 15 are removed from the containers manually or mechanized, in particular by a pick and place device not shown in detail, and fed as batches into shipping units 129 and / or collection containers.

[0202] The shipping units 129 leave the storage system 1 through a goods issue point 89, indicated by an arrow.

[0203] Between storage area 75 of support structure 3 and packing station 125 and / or charging station 127, transport routes can be arranged on which the robots are transported mechanized or alternatively overcome the transport route autonomously.

[0204] In addition to the communication system 101, the storage system has a power supply system 91 for supplying the robots 17 with electrical energy, which is powered by an energy source 93.

[0205] As can be seen in Figure 1, it is intended that the assignment of the containers 15 to the respective robot 17 in the packing station 125 will be cancelled again.

[0206] However, according to an alternative, it is also possible to leave the assignment as is and return the robots 17, along with container 15, to charging station 127 via a return route.

[0207] According to a further alternative shown in Fig. 1, the containers 15 and the robots can be returned on separate return routes and / or temporarily stored in intermediate storage areas, particularly for maintenance purposes and / or to adapt to fluctuating demands.

[0208] The return path of the storage system 1 preferably has a current supply shown as a dashed line, so that the robots 17 can return autonomously and self-driving to the charging station 127.

[0209] Fig. 2 shows a top view of one of the vertically continuous travel path elements 121 of one of the vertical travel paths 119 of the support structure 3 of the storage system 1 shown in Fig. 1 with a vertically moving robot 17.

[0210] Fig. 3 shows the travel path element 121 shown in Fig. 2 with the robot 17, but traveling horizontally on one of the horizontal travel paths 69 of the support structure 3.

[0211] Figures 2 and 3 illustrate different operating states of a drive device 27 for adapting the robot 17 to the vertical travel indicated in Figure 2 and the horizontal travel indicated in Figure 3.

[0212] In a first operating state for horizontal driving shown in Figure 3, the horizontal partial drive device 28 is in contact for transmitting a horizontal driving force, in particular traction force / drive force / braking force and / or support force, between a traction surface 12 of a horizontal support element 11 of the support structure 3 and a horizontal partial drive device 28 of the drive device 27.

[0213] In a second operating state for vertical travel shown in Figure 2, a vertical partial drive device 48 of the drive device 27 is in contact with a vertical support 5 of the supporting structure 3 for transmitting a vertical driving force.

[0214] The horizontal partial drive device 28 has a drive roller 45 which can be pivoted about a drive roller pivot axis 47, which is indicated in Figure 2 by means of a curved double arrow.

[0215] This allows the horizontal partial drive device 28 to assume a rest position shown in dashed lines in Figure 2 and a first horizontal drive position for driving in a first horizontal direction of travel 30 shown in Figure 3, as well as a second horizontal drive position (not shown) for driving in a second horizontal direction of travel 30, or to be adjusted between these.

[0216] In the horizontal drive positions, the horizontal drive device 28 is in contact with two opposing horizontal support elements 11 in the system contact that transmits the horizontal driving force.

[0217] The vertical partial drive device 48 for driving the robot in the vertical direction of travel 50 is adjustable between a vertical drive position, which is shown in Figure 2, and a vertical rest position, which is shown in Figure 3.

[0218] As indicated by dimensions in Figures 2 and 3, a horizontal contour 29 of the robot 17 is at least partially reduced in the vertical rest position of the vertical partial drive device 48 shown in Figure 3. This allows the robot 17 to move through the support structure 3 without collisions in the horizontal directions 30.

[0219] Accordingly, the vertical contour 49 of the robot 17 is at least partially reduced in the horizontal rest position of the horizontal partial drive mechanism 28 shown in Figure 2. This allows the robot 17 to move through the support structure 3 in the vertical direction 50 without collisions.

[0220] Figure 4 shows a three-dimensional oblique side view from above of a storage location 77 of the supporting structure 3 analogous to Figures 1 and 2 with the robot 17 and a container 15 that can be transported by means of the robot 17. Figure 5 shows the robot 17 depicted in Figure 4 with the bottom of the container 15 shown in a partially transparent manner.

[0221] For illustrative purposes only, the robot 17 is shown in a third operating state of the drive device 27, which corresponds simultaneously to the first operating state for horizontal travel and the second operating state for vertical travel.

[0222] This third operating state is unsuitable for horizontal and vertical movement because the vertical contour 49 and the horizontal contour 29 of the robot 17 are widened, at least in some areas. In this state, both the horizontal partial drive mechanism 28 is in contact with two of the horizontal support elements 11, and the vertical partial drive mechanism 48 is in contact with, or engaged with, two of the vertical supports 5 of the support structure 3. Therefore, in this third operating state of the drive device 27, the robot 17 would not be able to pass through either the horizontal recess 14 or the vertical recess 10.

[0223] The third operating state can be advantageously adopted for storing the robot 17 at storage location 77. This allows the robot to be doubly secured against accidental displacement by means of the drive device 27, in particular by horizontal and vertical braking forces and additionally also mechanically by the respective widened vertical 49 and horizontal 29 contours of the robot 17.

[0224] As can be seen in Figure 4, the robot 17 can, in principle, leave the storage location 77 either in the vertical direction 50 or the horizontal direction 30. The functional element of the support structure 3 storage location 77 shown in Figure 4 thus forms, with only one structural configuration, both one of the storage locations 77 and one of the vertical travel path elements 121.

[0225] The functional element is therefore preferably part of one of the vertical travel paths 119 or one of the horizontal travel paths 69 that the robot 17 may traverse. The actual use as a storage location 77, vertical travel path 119, or horizontal travel path 69 is only realized, or enabled and made possible, by an assignment or control instruction via the main controller 123 and / or a moving controller 21 of the robot 17 itself during an actual movement of the robot 17.

[0226] In order to provide such a functional element of the supporting structure 3 shown in Figure 4 as a pure storage area 77 in an alternative embodiment, the functional element has a base plate within the four horizontal supporting elements 11 and thus a substantially continuous floor 81, which is shown by way of example in Figures 6 and 8.

[0227] Figures 4 and 5 also show the power supply device 91 and the associated energy source 93.

[0228] It can be seen that in a preferred embodiment, the vertical supports 5 of the supporting structure 3 are alternately energized or can be energized by means of the power supply device 91. Specifically, viewed in one of the horizontal directions of travel 30, they alternate according to the pattern: negative, not energized, negative, not energized... and, parallel to this, not energized, positive, not energized, positive...

[0229] In the diagonal direction, this results in alternating rows of vertical supports 5 that are not energized, alternating with rows that are alternately energized plus, minus, plus,... or can be energized.

[0230] This current supply makes it possible, in one embodiment, for at least two of the supports with different polarities to be supplied with current per storage location 77 or vertical track element 121. Particularly preferred is the supply of at least two diagonally opposite vertical supports 5 with different polarities, as shown in Figure 4.

[0231] Thus, it is possible for each functional element of the support structure 3 to provide power for the vertical movement of the robot 17. If all vertical supports 5 of the support structure 3 are powered, the robot 17 can be supplied with electrical energy redundantly. In another alternative configuration, all rows of the carriers can be alternately energized or energized with plus, minus, plus, minus.

[0232] To receive the electrical energy from the supports 3, the vertical partial drive device 48 of the drive device 27 has a current collector device 23. Preferably, the current collector device 23 and / or wheels / gears of the partial drive device 48 have sliding contacts (not shown in detail) which can be brought into contact with the power supply device on the correspondingly energized vertical supports 5.

[0233] For travel in the horizontal directions 30, the horizontal support elements 11 are energized or can be energized. According to a preferred embodiment, they are also arranged alternately in a sequence in one of the horizontal directions of travel and running transversely to the support elements 11, in the order plus, minus, plus, minus... And in a longitudinal direction of the support elements, each longitudinal row has the same polarity, alternating within each row. Thus, the robot can be supplied with electrical energy by means of the horizontal support elements 11 arranged opposite each other in the functional element of the support structure, as can be seen in Figure 4.

[0234] The following describes a preferred embodiment for selectively adjusting the horizontal partial drive device 28 between • the first horizontal drive position for horizontally driving and moving the robot 17 on the support structure 3 in the first horizontal direction of travel 30, • the second horizontal drive position for horizontally driving and moving the robot 17 on the support structure 3 in the second horizontal direction of travel 30, and • the horizontal resting position in which the vertical contour 49 is reduced at least in some areas is explained in more detail.

[0235] Figures 4 and 5 show the first horizontal drive position.

[0236] For adjustment purposes, the drive roller 45 and the support wheels 33 are adjustable. The drive roller 45 can be pivoted about a drive roller pivot axis 47, preferably by an angle of at least 90°. In the end positions, where the drive roller 45 is transverse or at an angle of 90° to the respective horizontal direction of travel 30, the robot 17 can be driven horizontally. In a diagonal intermediate position of the drive roller 45, indicated by dashed lines in Figure 2, it is not engaged with the corresponding horizontal support elements 11. In the end positions, one of which is shown in Figures 3, 4, and 5, the drive roller 45 rests partially on opposite ends to transmit the horizontal driving force to two of the horizontal support elements 11. Figure 7 shows, by way of example, the rest position and one of the end positions simultaneously.

[0237] The support wheels of the horizontal partial drive device 28 can each be pivoted about a support wheel pivot axis 39. They can also be pivoted at least 90° between two end positions, one of which is shown in Figures 4 and 5. All four support wheels 33 are adjusted synchronously and in the same direction, so that the respective support wheel pivot axes 37 and a pivot axis of the drive roller 45 are arranged / aligned parallel to each other and point transversely to the respective horizontal direction of travel 30 that can be generated thereby.

[0238] In the rest position, however, the support wheel pivot axes 37 are directed radially outwards and are adapted to a slot-shaped free space 13 remaining between two horizontal support elements 11 arranged over a corner of the functional element storage space 77 and / or travel path element 121 of the support structure 3, so that they can be guided through these during a vertical journey.

[0239] The free spaces 13 are preferably part of the vertical recess 10 and / or extend radially outwards to the respective vertical support 5.

[0240] In summary, • in the first horizontal drive position for horizontally driving and moving the robot 17 on the support structure 3 in the first horizontal direction of travel 30, the drive roller 45 and the support wheel pivot axes 39 of the four support wheels 33 are aligned parallel and perpendicular to the first horizontal direction of travel 30, • In the second horizontal drive position for horizontally driving and moving the robot 17 on the support structure 3 in the second horizontal direction of travel 30, the drive roller 45 and the support wheel pivot axes 39 of the four support wheels 33 are aligned parallel and perpendicular to the second horizontal direction of travel 30, and • in the horizontal rest position, in which the vertical contour 49 of the robot is at least partially reduced and / or adapted to the vertical recess 14, each is arranged at an angle to one of the directions of travel 30, preferably approximately 45°, preferably the support wheel rotation axes 37 are adapted to the free spaces 13 or aligned with them radially outwards.

[0241] This allows the robot 17 to move vertically through the vertical recess 14, with the vertical partial drive device 48 being in contact with and / or engagement with the four vertical supports 5.

[0242] The following describes a preferred embodiment for selectively adjusting the vertical partial drive device 48 between - a vertical drive position for vertical movement of the robot 17 on the support structure 3 in a vertical direction of travel 50 and a vertical resting position in which the horizontal contour 29 and / or the vertical contour 49 are reduced at least in some areas explained in more detail.

[0243] The vertical partial drive device 48 has four pivot arms 61 articulated to a multi-joint 59, each of which can be extended in the drive position to bring wheels, in particular gears, into contact / engagement with the vertical supports 5, in particular toothed rails of the supports 5. In the rest position, these are retracted and in the vertical drive position extended. This reduces at least the horizontal contour 29, and preferably also the vertical contour 49, which, due to the arrangement of the pivot arms 61 in vertical overlap with the clearances 13, has no additional technical effect on vertical movement in this embodiment.

[0244] The following section describes in more detail a special design for supplying power to the robot 17 during horizontal travel in one of the horizontal directions 30.

[0245] The support wheels 33 each have an electrical conductor 35, which serves to conduct electrical energy from the horizontal support elements 11 to the robot 17 and can be brought into an electrically conductive contact with them. Additionally, the support wheels serve to transmit a ground force and to provide rolling support for the robot 17 on the horizontal support elements 11. Furthermore, the support wheels have twin tires to enable a smoother and less vibration-prone passage over the slots 13. As can be seen in Figure 4, the electrical conductors 35 of each of the support wheels 33 on either side of the robot 17 are positioned transversely to the horizontal direction of travel 30 and are redundantly connected to the electrical system contact with the horizontal support elements 11 of the support structure 5. When the robot 17 begins a horizontal movement out of the storage area, a transient state occurs in which not two consecutive support wheels 33, but rather pairs arranged side by side in the direction of travel, are at the same potential as a horizontal support element 11 arranged transversely to the direction of travel 30 and which is about to be crossed; i.e., they are short-circuited. Nevertheless, an uninterrupted current supply to the robot 17 is possible via the remaining pair of support wheels 33 through the horizontal support elements 11 arranged longitudinally to the direction of travel 30.To achieve this effect, at least two horizontal current collector devices arranged in pairs one behind the other in the direction of travel 30 can be provided, preferably each in the corners of the robot 17. Likewise, at least two or preferably four vertical current collector devices can be provided in the four corners. In this configuration, the uninterrupted power supply in a horizontal or vertical transient state between the functional elements, storage locations 77 and / or travel path elements 121 is optionally provided via the redundant horizontal and / or vertical current collectors of the current collector device 23 of the robot 17.

[0246] Figure 6 shows a three-dimensional oblique side view from above of a partially depicted support structure 3 analogous to the support structure 3 shown in the preceding figures, in which 9 modules 117 arranged one above the other in several bearing planes are shown.

[0247] Figure 7 shows a detailed view of part of the support structure 3 shown in Figure 6 and a robot 17 located on it to illustrate different operating states of the robot 17. Figure 7 simultaneously shows one of the horizontal drive positions and the rest position of the drive roller 45.

[0248] Figure 8 shows a further three-dimensional detail view from a slanting angle above, looking laterally at a part of the support structure 3 shown in Figures 5 and 6, onto a complete 9-module of one of the bearing levels 79 of the bearing area 75 of the support structure 3. The radii of the horizontal partial drive device 28, which are only partially shown, are schematically illustrated, within which the drive roller 45 or its ends are adjustable / pivotable. The ends of the drive roller 45, which transmit the driving force of the horizontal partial drive device 28, are schematically shown on three of the functional elements of the support structure 3.

[0249] The 9-module 117 has 8 storage locations 77, which surround one of the vertically continuous track elements 121. Figure 6 shows that several of the 9-modules can be arranged on top of each other to form a tower and / or can be created by assignment. Therefore, the tower has the continuous vertical track 119 in the center.

[0250] Furthermore, Figures 6, 8 and 9 show an embodiment in which the functional elements alternately have one of the continuous bases 81 in a checkerboard-like arrangement. Thus, in this embodiment, every second functional element can be assigned the function as a vertical track element 121 in addition to its function as a bearing element 77.

[0251] In another preferred embodiment, no continuous floors 81 are provided, which is indicated in Figure 7.

[0252] Regardless, all functional elements of the 9-module can be traversed in any of the horizontal directions of travel 30.

[0253] An alternative configuration for supplying power to the robot 17 is shown in Figure 9. Figure 9 shows a top view of the 9-module depicted in Figure 8 to illustrate the alternating power supply to horizontal support elements 11 of the support structure 3;

[0254] It can be seen that the horizontal support elements 11 are energized or can be energized in the longitudinal direction according to both horizontal directions of travel 30 alternately plus, minus, plus, minus,...

[0255] In this case, the transient state during the crossing of one of the horizontal support elements 11 can also occur without interruption, the only difference being that the lateral polarity of adjacent functional elements of the support structure 3 changes, which is compensated for by the control 21 in this configuration.

[0256] Fig. 10 shows a schematic representation of the 9-module 117 shown in Figures 6 to 9 in variants A to E to illustrate a preferred aspect of an operating method of the storage system 1 for moving the robot 17 over a corner, in particular a corner of the 9-module 117. In the exemplary embodiment of the operating method shown in Figure 10, the robots 17 can be moved in a ring-shaped pattern with four of the storage locations 77 or functional elements of the support structure 3 or eight of the storage locations for retrieval or storage, in order to create a retrieval path from a storage location 77 marked with the letter "A" to the vertical travel element 121, which is marked with the letter in Figure 11. The robot is marked “V” and is ultimately moved out of storage area 75. Further robots 17, which are also stored in the 9-unit module 117 and may clear the retrieval path, are marked “X1” to “X6” and “X”. The first horizontal direction of travel 30 is shown by way of example to the right in Figure 11, and the second horizontal direction of travel 30 is shown downwards.

[0257] In configuration A, robot A is located in the upper right corner, with robots X1 and X2 adjacent to it. To move the robot, robot X2 is moved in the second direction. This clears the removal path, allowing robot A to move in the second direction and then backward in the first direction onto platform V.

[0258] In configuration B, robot A is located in the upper right corner, with robots X1 and X2 adjacent to it. Unlike A, X2 leaves the storage area and thus also the 9-unit module in the first direction of travel, thereby clearing the retrieval path, which is symbolized in A and B by an angled arrow.

[0259] In embodiment C, robot A is located in the upper right corner, with robots X1 and X2 adjacent to it. Unlike A and B, X2 leaves its storage position by reversing in the first direction of travel, passing over V to an opposite storage position of the 9-module. This also clears the removal path. In a modified embodiment of C, X2 reverses in the first direction to V, then moves vertically upwards within V to a functional element, and after removing A, moves downwards over V and back again in the opposite directions.

[0260] In configuration D, robot A is located in the upper right corner, with robots X1 and X2 adjacent to it. In contrast, all other storage locations of the 9-unit module are occupied by robots X. In this case, X2 first moves backwards against the second direction of travel to V, then A moves one storage location further in the second direction, then X1 moves one storage location further in the first direction, then X2 moves backwards against the second direction to X1's original storage location, then A moves backwards against the first direction to V, in order to then move vertically downwards.

[0261] In one embodiment E, robot A is located in the upper right corner, and robots X1 to X6 are located elsewhere. In the extreme case, only the storage location diagonally opposite A is free. It can be seen that X1 initially moves backwards against the first direction of travel to a storage location, thus clearing a storage location for X2. X2 then moves forward to clear a storage location for X3, which X3 then enters in the second direction of travel, finally clearing the retrieval path for A.

[0262] Configurations A to E can be varied, particularly in any arrangement of movements, and analogously, starting from all corners of the Oer module and also transferred to larger or smaller modules. It can be seen that in all configurations, at least one robot performs a movement across at least three storage locations arranged diagonally in an I-shape, changing its direction of travel by 90° at least once.

[0263] Furthermore, the described configurations can each be used in reverse order for storage processes.

[0264] Fig. 11 shows a flowchart to illustrate an operating procedure of the storage system 1 shown in the preceding figures. Reference is made to any process components already described there.

[0265] In a first step 135, one of the containers 15 is assigned to exactly one of the robots 17, in particular a non-destructive and reversible joining of the containers 15 with the robots 17,

[0266] In a second step 137, the articles 18 are taken into and then released from the container 15, either before or after allocation.

[0267] In a third step 139, the assigned container 15 is transported, in particular autonomously or at least semi-autonomously, by means of the robot 17 along a predetermined or predeterminable route on the travel paths 69,119 of the supporting structure 3 of the storage system 1 ,

[0268] In a fourth step 141, a 9-module 117 is provided, preferably with 9 storage locations 77 arranged in rows of three, which can be occupied by the robot 17 or several of the robots 17, in particular up to eight of the robots 17,

[0269] In a fifth step 143, in particular the 9 modules are formed within the supporting structure 3 in a vertical direction one above the other,

[0270] In a sixth step 145, at least the vertically continuous travel path element 121 for the robot 17 is provided centrally in the 9-module 117, wherein the 9-module 117 has eight of the storage places 77, which surround the travel path element 121 in a rectangular or square arrangement and are each arranged adjacent to the travel path element 21, in particular rotationally symmetrical.

[0271] In a seventh step 147, at least two of the 9-modules 117 are formed and / or arranged congruently for at least two adjacent storage levels 79 or all storage levels 79 to form a continuous vertical travel path 119 through the at least two storage levels 79 or all storage levels 79 by means of the travel path elements 121 of the respective 9-modules 117, in particular to form a tower made of the 9-modules.

[0272] In an eighth step 149, alternatively or additionally, the assignment between the robot 17 and the container 15 is maintained during an approach to one of the storage locations 77, during storage within one of the storage locations 77, and during a departure from one of the storage locations 77. The assignment is established before these operations and the assignment is removed afterward, preferably for the independent feeding of the containers 15 and / or articles 18 to the support structure 3, in particular in a loading station 127, and / or further processing of the containers 17 and / or articles 18, for example in a packing station 125 for packing a plurality of the articles 18 into a shipping unit, and / or vertical conveying of the robot 17 or the robot 17 in the assigned state with the container 15 by means of a vertical conveyor 131 from the loading station 127 to the support structure 3 and / or from the support structure 3 to the loading station 127. List of reference numerals

[0273] I Storage system 3 Supporting structure (storage frame) 4 connecting elements 5 vertical beams 10 vertical recesses II horizontal load-bearing elements 12 traction surfaces 13 slots / spaces (between the supporting elements) 14 horizontal recess 15 containers 16 Fixing device 17 robots 18 articles 21 Control 23 Current collector device 27 Drive device 28 horizontal partial drive device 29 horizontal contour 30 horizontal direction of travel 33 training wheels 35 ladders 37 Support wheel pivot axle 39 Support wheel swivel axle 45 Drive roller 47 Drive roller pivot axis 48 vertical partial drive device 49 vertical contour 50 vertical direction of travel 59 Multi-joint 61 Swivel arm 67 Seat top horizontal track Storage area Storage space, storage spaces Storage level, storage levels continuous floor Goods received Goods out Charge carrier, power supply device, energy source Communication system with: first level (top) second level (below) module vertical travel path Path elements (continuous for robots) Main control Packstation charging station Shipping units and / or collection containers, vertical conveyors up to 149 steps of the storage process

Claims

Claims

1. Robot (17), wherein a drive device (27) of the robot (17) a - horizontal partial drive device (28) for horizontal travel on the support structure (3) and a - vertical partial drive device (48) for vertical travel on the support structure (3) having, wherein the drive device (27) is optionally adjustable between - a first operating state for horizontal travel, in which the horizontal partial drive device (28) can be brought into contact for transmitting a horizontal travel force between the support structure (3) and the drive device (27) and / or horizontal partial drive device (28), and - a second operating state for vertical travel, in which the vertical partial drive device (48) can be brought into a contact for transmitting a vertical travel force between the support structure (3) and the drive device (27) and / or the vertical partial drive device (48).

2. Robot according to claim 1, characterized in that in the - in the first operating state compared to the second operating state, a horizontal contour (29) of the robot (17) seen in a horizontal direction of travel (30) of horizontal travel is changed, at least partially reduced, and is thereby adaptable for interaction with the support structure (3) to horizontal recesses (14) of the support structure (3) that can be traversed by the robot (17), and that in the - second operating state compared to the first operating state, a vertical contour (49) of the robot (17) seen in a vertical direction of travel of vertical travel is changed, at least partially reduced, and is thereby adaptable for interaction with the support structure (3) to vertical recesses (10) of the support structure (3) that can be traversed by the robot (17).

3. Robot according to one of claims 1 or 2, characterized in that the horizontal partial drive device (28) is located between - a first horizontal drive position for horizontally driving and moving the robot (17) on the support structure (3) in a first horizontal direction of travel (30), - a second horizontal drive position for horizontally driving and moving the robot (17) on the support structure (3) in a second horizontal direction of travel (30), and is adjustable to a horizontal rest position and the vertical partial drive device (48) is between - a vertical drive position for vertical movement of the robot (17) on the support structure (3) in a vertical direction of travel and adjustable to a vertical resting position wherein the horizontal directions of travel (30) and the vertical direction of travel (50) are each at an angle or at an angle of 90° to each other, and wherein - in the first operating state, the horizontal partial drive device (28) is set in one of the horizontal drive positions and the vertical partial drive device (48) is set in the vertical rest position, and - in the second operating state, the vertical partial drive device (48) is set in the vertical drive position and the horizontal partial drive device (28) is set in the horizontal rest position and / or - wherein the vertical and horizontal drive positions can be assumed simultaneously to securely position the robot (17).

4. Robot according to one of claims 1 to 3, characterized in that the robot (17) is specifically designed, constructed, set up and / or programmed for handling the articles (18) together with a container, in particular a container (15) according to claim 5, wherein the articles (18) can be placed in and removed from the container (15), and wherein the robot (17) has a seat (67) and / or the seat (67) on a top surface (68) in / on which the container (15) can be stored or repeatedly placed from above and removed without damage.

5. Container (15) for receiving, storing and transporting articles (18), which is specifically designed, constructed, set up and / or programmed to interact with or cooperate with a robot (17) according to any one of claims 1 to 4, characterized in that the container (15) has a fixing device (16) by means of which the container (15) can be stored in the seat (67) of the robot (17) in a form-fitting, friction-fitting and / or force-fitting manner or can be repeatedly placed on the seat (67) from above and removed again without damage.

6. Supporting structure (3) which is specifically designed, constructed, set up and / or programmed to interact with a robot (17) according to any one of claims 1 to 4, on which the robot (17) can move horizontally and vertically autonomously or at least semi-autonomously, characterized by - horizontal support elements (11 ) of the support structure (3) for the horizontal movement of the robot (17), - vertical supports (5) of the supporting structure (3) for the vertical movement of the robot (17), - horizontal recesses (14) for the robot (17) to pass through during horizontal travel, - vertical recesses (10) for the robot (17) to pass through during vertical movement, - Connecting elements (4) arranged between the horizontal support elements (11) and the vertical beams (5) for fixing the beams (5) and support elements (11) to each other.

7. Supporting structure according to claim 6, characterized in that the horizontal recess (14) and the vertical recess (10) are each arranged between four of the connecting elements (4).

8. Supporting structure according to one of claims 6 or 7, characterized in that a plurality or four of the horizontal support elements (11) are arranged in a rectangular or square shape relative to each other, wherein the vertical recess (10) remains radially within the rectangular or square arrangement of the horizontal support elements (11) and / or the vertical recess (10) has free spaces (13) extending radially inwards from at least two opposite corners or all corners of the rectangular or square arrangement, wherein the robot (17) and parts of the vertical partial drive device (48) can be moved through the vertical recess (10) during vertical movement and / or the parts of the vertical partial drive device (48) of the robot (17) can pass through the clearances (13) of the vertical recess (10) and the rest of the robot (17) can pass through the rest of the vertical recess (10).

9. Supporting structure according to one of claims 6 to 8, characterized in that two adjacent horizontal support elements (11) and two adjacent vertical supports (5) are arranged in a rectangular or square arrangement relative to each other, wherein the horizontal recess (14) remains radially within the rectangular or square arrangement of the vertical supports (5) and horizontal support elements (11), wherein the robot (17) can be moved through the horizontal recess (14) when moving horizontally.

10. Support structure according to one of claims 6 to 9, characterized in that the horizontal support elements (11) each have a traction surface (12) for the horizontal partial drive device (28) of the robot (17) and the vertical supports (5) each have a rail or toothed rail (7) for the vertical partial drive device (48).

11. Storage system (1) with a plurality of storage locations (77) for storing articles (18), characterized by - at least one robot (17) according to one of claims 1 to 4, - at least one container (15) according to claim 5, - a supporting structure (3) according to one of claims 6 to 10, wherein the storage locations (77) or at least some of the storage locations (77) exhibit at least temporarily one of the following states during regular operation of the storage system (1) or storage arrangement: occupied by the robot (17), occupied by the robot (17) plus the container (15), occupied by the robot (17) plus the container (15) plus the article (18) or articles (18) contained therein.

12. Storage system, in particular according to claim 11, with a plurality of storage locations (77) for storing articles (18), characterized by - at least one robot (17) according to one of claims 1 to 4, - at least one container (15) according to claim 5, - a supporting structure (3) according to one of claims 6 to 10, wherein the storage locations (77) or at least some of the storage locations (77) exhibit only one of the following states during regular operation of the storage system (1) or storage arrangement - empty, - occupied by the robot (17), - occupied by the robot (17) plus the container (15), - occupied by the robot (17) plus the container (15) plus the article (18) or articles (18) contained therein.

13. Storage system according to one of claims 11 or 12, characterized in that the storage system (1) has at least one of the following components or features - a packing station (125) for packing the items (18) into shipping units (129) and / or collection containers, - that the support structure (3) of the packing station (125) is upstream and / or can be upstream and / or that the robots (17) and / or containers (15) and / or articles (18) can be removed from a level (113) of the support structure (3) and fed to the packing station (125) in a predetermined or predetermined sequence, - that the storage system (1) has a charging station (127) for loading the robots (17) with the articles (18) and / or for assigning the containers (15) to the respective robot (17), - identical or substantially identical storage locations (77) and vertically continuous travel path elements (121) of the supporting structure (3), which can only be formed by means of a control-technical assignment, in particular by means of a main control (123) of the storage system and / or the robots (17) themselves.

14. Method for operating a storage system (1), in particular a storage system according to any one of claims 11 to 13, with a support structure (3), in particular a support structure according to any one of claims 6 to 10, for autonomously or at least semi-autonomously transporting containers (15), in particular a container according to claim 5, and articles (18) contained in the containers (15) by means of robots (17), in particular a robot according to any one of claims 1 to 4, which has travel paths (69, 119) that can be traversed autonomously or at least semi-autonomously by the robots (17) and storage locations (77) arranged in storage levels (79), comprising the following method components: Assigning one of the containers (15) to exactly one of the robots (17), picking up and dropping the articles (18) from the container, autonomous or at least semi-autonomous transport of the assigned container (15) by means of the robot (17) along a route on travel paths (69, 119) of the supporting structure (3) of the storage system (1), - Provision of a 9-module (117) that can be assigned to the robot (17) or several of the robots (17), - central provision of at least one vertically continuous travel path element (121) for the robot (17) in the 9-module (117), wherein the 9-module has eight of the storage locations (77) that surround the travel path element (121) in a rectangular or square arrangement and are each arranged adjacent to the travel path element (21) [rotationally symmetric arrangement] and / or - Forming and / or congruently arranging at least two of the 9-modules (117) per at least two adjacent storage levels (79) or all storage levels (79) to form a continuous vertical travel path (119) through the at least two of the storage levels (79) or all storage levels (79) by means of the travel path elements (121) of the respective 9-modules (117) [resulting in a total 9-module or tower] and / or - Maintaining the assignment between the robot (17) and the container (15) during an approach to one of the storage locations (77), storage within one of the storage locations (77), and during a departure from one of the storage locations (77), and establishing the assignment before these operations and de-assigning the assignment afterward, preferably for the independent feeding of the containers (15) and / or articles (18) to the support structure (3), in particular in a loading station (127), and / or further processing of the containers and / or articles, for example in a packing station (125) for packing a plurality of the articles (18) into a shipping unit, and / or vertical conveying of the robot (17) or of the robot (17) in the assigned state with the container (15) by means of a vertical conveyor (131) from the charging station (127) to the support structure (3) and / or from the support structure (3) to the charging station (127).

15. Method according to claim 14, comprising the following method components: - Moving the robot (17) over a corner or from a storage location (77) located in a corner of the 9-module (117) into the centrally provided vertically continuous travel path element (121) and / or clearing a travel path (69, 119) for storage into the support structure (3) or storage out of the support structure (3), by - Moving the robot (17) in the first horizontal direction of travel (30) to another storage location (77) arranged adjacent to the storage location (77), - Moving the robot (17) in the second horizontal direction of travel (30) from the adjacent additional storage location (77) into the vertically continuous travel path element (121) and / or - prior to this, horizontal movement of another of the robots (17) from an adjacent storage location (77) in a horizontal direction of travel (30) into the travel path element (121) and vertical movement of the other of the robots (17) in a vertical direction of travel (50) in the vertical travel path element (121) to vertically relocate the robot (17) in a vertical direction of travel (50) into an adjacent storage level (77) within the support structure (3), and after a removal or storage of the robot (17) back again.

16. Method according to claim 15, comprising the following method components: - Clearing the adjacent storage space (77) before moving the robot (17) from the storage space (77) located in the corner of the 9-module (117) to the centrally provided vertically continuous travel path element (121) by - Moving at least one or more of the robots (17) in a ring-like fashion within the 9-module, [4-ring or 8-ring] or by moving the at least one or more of the robots independently of the 9-module (117) and in at least two of the directions of travel (30, 50) to clear the adjacent storage space.

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