Storage system, robot, and operating method for the storage system

Abstract

The invention relates to a storage system (1) comprising: multiple storage areas (77) for storing articles (18); at least one robot (17) for the articles (18); at least one container (15) in which the articles (18) can be received, stored and from which they can be removed again, and which can be associated with the robot (17) and / or can be transported together with the received articles (18) by means of the robot (17); a support structure (3) for driving the robot (17); an energy source (93) by means of which the robots (17) can be supplied with electric energy; a main controller (123) for controlling the storage system (1); and a communications system (101) for communicating with the robot (17).

Description

Description Storage system, robots and operating procedures for the storage system field of technology

[0001] The invention relates to a storage system with a plurality of storage locations for storing articles, a robot of the storage system and a device-related method. 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 that is as lightweight as possible, with the highest possible storage density, preferably with the simplest possible design and the most secure and / or fast possible communication and control. Technical solution

[0008] The problem is solved in particular by a storage system for articles with a large number of storage locations for storing the articles in movable containers, wherein the storage system includes at least the following system components: - at least one robot, which is specifically designed for or during horizontal and vertical autonomous or at least semi-autonomous movement in the storage system and thus in particular for moving, including storing in and retrieving from storage locations, the at least one container, wherein the robot - at least one drive device for vertical and horizontal movement of the robot, and - at least one current collector device for receiving electrical energy and - in particular, an additional control system, which is either carried along or is an integral part of the robot, exhibits; - at least one container in which items can be picked up, stored, and removed again, wherein the at least one container can be assigned to the robot at least temporarily and / or transported by the robot together with picked-up items; and - a supporting structure with horizontal support elements for the horizontal movement of the robot and vertical supports for the vertical movement of the robot.

[0009] Furthermore, the storage system preferably also includes: - an energy source for providing the electrical energy by means of which the at least one robot can be supplied with electrical energy.

[0010] Furthermore, the storage system preferably includes: - a main controller for controlling the storage system, which is specifically designed, constructed, set up and / or programmed to interact with the robot's controller, and - a communication system for communication between the robot and / or the robot's controller and the main controller, through which the robots can be controlled, addressed and / or retrieved from the storage locations.

[0011] In a preferred embodiment, the bearing system is characterized by a support structure assembly that simultaneously fulfills the following functions: - transmitting electrical energy between the energy source and the robot, - transmitting a stabilizing force to statically stabilize the support structure, - transmitting information from the communication system between the main controller and the robot controller, and - localizing and / or positioning the robot within the support structure.

[0012] In a preferred embodiment, the bearing system is further characterized in that the assembly also performs the following function: - Transmitting a driving force between the support structure and the robot. In the context of the invention described herein, "driving force" is understood to mean a traction force and / or drive force and / or braking force and / or support force. Particularly in the case of vertical travel in the direction of gravity, these forces can coincide in one direction.

[0013] In a preferred embodiment, the bearing system is additionally characterized in particular by the fact that the assembly has electrically conductive horizontal support elements with a traction surface for transmitting the driving force (horizontal driving force) for horizontal driving, the information, the electrical energy and the stabilizing force.

[0014] In a preferred embodiment, the bearing system is further characterized in particular by the fact that the assembly includes vertical supports for transmitting the driving force (vertical driving force) for vertical driving, the information, the electrical energy and the stabilizing force.

[0015] In a preferred embodiment, the bearing system is further characterized in that the horizontal support elements can be alternately energized with different polarities, whereby the robot can always be continuously energized during horizontal movement by means of the current-carrying horizontal support elements and the robot's moving current collector device. According to the invention, a current collector device of the robot preferably has redundant current collectors on the robot, so that in the operating state at least two current collectors of the same polarity are always in electrical contact with the current-carrying support elements of the same polarity. The current collectors are preferably designed as sliding contacts that can be in contact with corresponding current-carrying conductor elements on the support elements.With two electrical poles on the current-carrying support elements, preferably at least four current collectors of the robot are simultaneously in electrical contact with the support elements, at least two of each corresponding electrical polarity. The two electrical poles of the power supply are connected, and the current-generating elements are polarized, such that both poles of the current-generating elements are always in electrical contact with the current-generating elements of the robot, thus closing the electrical circuit. Preferably, current collectors and / or sliding contacts of the current collector device are formed on all four outer edges / corners of the robot. According to the invention, this preferably achieves the robot operating entirely without additional energy storage elements such as accumulators or batteries. This saves overall operating weight and energy and also simplifies the technical implementation and design of the robot.

[0016] In a preferred embodiment, the assembly includes connecting elements for fixing the vertical beams and horizontal support elements to one another. Preferably, these connecting elements are electrically insulating to isolate the current-carrying elements of the beams and support elements with different electrical polarities from each other. In an alternative embodiment, the connecting elements are electrically conductive for targeted electrical connections between current-carrying elements of the beams and support elements with the same electrical polarity.

[0017] In a specific embodiment, a mechanical and electrical coupling of the robot with the supporting structure is provided at least via at least one element, which is both a drive, support or coupling element for transmitting the driving force and simultaneously a current collector element.

[0018] In a preferred embodiment, the storage system is further characterized in particular by the fact that the vertical supports are partially energizable or energized, wherein of the supports arranged in four corners of a storage space, two opposite supports have a different polarity and two further opposite supports are not energizable or energized.

[0019] In a further preferred embodiment, the bearing system is also characterized in that the pattern for arranging the horizontal support elements fulfills the following conditions: - four of the horizontal support elements are at the same potential of the same electrical polarity and extend horizontally from a common vertical support; - opposite horizontal support elements are at different potentials of the different electrical polarity.

[0020] In a further preferred embodiment, the bearing system is also characterized in that the horizontal support elements are arranged between two of the bearing positions and two of the vertical supports, which are preferably fixed there by means of the connecting elements, and are continuously energized, wherein both bearing positions on this horizontal support element are on the same (identical) electrical polarity or potential. Alternatively or additionally, these project into the bearing positions as a traction surface and electrically conductive current-carrying conductor surface.

[0021] Preferably, the energized horizontal support elements have a conductor-bound path via which a modulated or modulated signal can be transmitted between a main controller and a controller of the robot.

[0022] It is further preferably provided that the four horizontal support elements arranged in the pattern and transmitting the modulatable or modulated signal form a, preferably independent, communication cell of the communication system for four adjacent storage locations.

[0023] The invention advantageously allows robots to communicate exclusively via their current collectors. According to one aspect of the invention, robots encapsulate the areas into individual communication cells, each with only a few participants and therefore low bandwidth; a global communication space for the entire system can be avoided. The bandwidth required per communication cell can thus be kept low, and transmission reliability is increased.

[0024] In a particularly preferred embodiment, the bearing system is also characterized by the fact that the support structure has specific horizontal recesses that allow the robot to pass through them during horizontal travel in a first horizontal direction and in a second horizontal direction, as well as additionally vertical recesses that allow the robot to pass through them during vertical travel in the vertical direction. These recesses enable the robot to move spontaneously, selectively, or autonomously in all spatial directions within the support structure, without the need for additional movable elements on the support structure itself that would have to pivot, for example, when the robot changes from a horizontal to a vertical direction of travel.This increases the robot's spontaneous mobility within the supporting structure and allows for great flexibility in the robot's movement within the supporting structure in all spatial directions.

[0025] A further object of the invention is a robot for articles, which is specifically designed, constructed, set up and / or programmed to interact with the storage system according to the invention, and which has at least one drive device for horizontal and vertical movement in the support structure of the storage system, wherein the drive device or at least a part of the drive device is additionally specifically designed and / or constructed to perform at least the following functions: - transmitting electrical energy between the energy source and the robot; - transmitting information from a communication system between a main controller and a controller of the robot; and - localizing and / or positioning the robot within the support structure.

[0026] In a preferred embodiment, the robot is characterized in that communication with the robot and the supply of power to the robot can be carried out via vertical supports, horizontal support elements, and / or via the support wheels of the drive device. In a specific embodiment, the support wheels are provided with a conductor that can be brought into electrically conductive contact with the horizontal support elements and / or have twin tires.

[0027] Finally, another object of the invention is a method for operating a storage system and / or a robot according to the invention, comprising the following method components: - Transfer of electrical energy between the energy source and the Robot; - Transmission of information from the communication system between a main controller and the robot's controller; - Transmitting a stabilizing force to statically stabilize the supporting structure; - Transmitting a driving force between the supporting structure and the robot, essentially only by means of vertical beams, horizontal support elements and support wheels of a drive device of the robot.

[0028] 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.

[0029] 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).

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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 an article, is provided for at least in exceptional cases.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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,

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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 speeds of the drive roller.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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 beams.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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. Possibly only brakeable, which enables vertical control and downward movement while eliminating the need for a climbing drive.

[0072] Another special design is a bearing system, bearing arrangement and / or cube storage system, characterized in that the wheel, in particular gear, is mounted on the actuating arm in a brakeable and / or driveable manner.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] 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 places, and vice versa, and on the other side form a part of the continuous floor of the storage place adjacent to the travel path, and also serve there as a traction surface for the drive movement.

[0092] 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.

[0093] 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.

[0094] 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 part.

[0095] 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.

[0096] 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.

[0097] 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.

[0098] 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.

[0099] 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.

[0100] 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.

[0101] 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" here 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 journey along a corresponding route, have finished. This applies, for example, to situations where 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.

[0102] 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.

[0103] 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.

[0104] 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.

[0105] 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 electrically conductive contact with the vertical supports.

[0106] 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.

[0107] 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.

[0108] 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.

[0109] 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.

[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 can be energized with a pattern alternating with the different polarity.

[0111] 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.

[0112] Another special embodiment is a storage system, storage arrangement and / or cube storage system, 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.

[0113] 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.

[0114] 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.

[0115] 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.

[0116] 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.

[0117] 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.

[0118] Another special design is a storage system, storage arrangement and / or cube storage system, characterized by powering the robot via the four support wheels.

[0119] 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.

[0120] 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.

[0121] 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.

[0122] 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.

[0123] 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 driving position for a journey between the travel path elements / storage places.

[0124] 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.

[0125] 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.

[0126] 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.

[0127] 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.

[0128] 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.

[0129] 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.

[0130] Another special embodiment is a bearing system, bearing arrangement and / or cube storage system, characterized by the fact 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. In the case of a square robot, the support wheels have and / or form a cantilever perpendicular to each of the main directions of travel, stabilizing the driving dynamics.

[0131] 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.

[0132] 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.

[0133] Another special embodiment is a storage system, storage arrangement and / or cube storage system, which is characterized by the fact that the power supply is preferably by alternating current.

[0134] 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, which enables interference-free communication.

[0135] 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.

[0136] 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.

[0137] 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.

[0138] 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.

[0139] 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.

[0140] 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. Brief description of the drawings

[0141] Fig. 1 shows a schematic representation of a storage system for providing articles;

[0142] 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;

[0143] Fig. 3 shows the track element depicted in Fig. 2 with the robot, but moving horizontally;

[0144] Fig. 4 shows a three-dimensional oblique side view from above of a storage location 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;

[0145] Fig. 5 shows the robot depicted in Figure 4 with the bottom of the container shown partially transparently;

[0146] 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 Oer modules are shown arranged one above the other in several bearing planes;

[0147] 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;

[0148] 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;

[0149] 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;

[0150] Fig. 10 shows a schematic top view of a bearing plane of the supporting structure to illustrate one aspect of a power supply as well as a special design with communication cells;

[0151] Fig. 11 shows a further schematic top view of part of the bearing plane shown in Fig. 10 to illustrate a design with a vertical powered movement of the robots;

[0152] Fig. 12 shows a further schematic top view of part of the bearing plane shown in Figs. 10 and 11 to illustrate a design with a vertical powered movement of the robots;

[0153] Fig. 13 shows a flowchart of an operating procedure of the storage system. Description of the embodiments

[0154] 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.

[0155] 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.

[0156] 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.

[0157] 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.

[0158] 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.

[0159] 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.

[0160] 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.

[0161] 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.

[0162] 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.

[0163] Furthermore, also controlled by means of the main control 123, the individual articles 18 are optionally stored individually or in possibly pre-sorted subsets in the containers 15 assigned to the robots 17.

[0164] 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 robots 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.

[0165] 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.

[0166] 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 supporting structure 3 along a horizontal travel direction 30.

[0167] 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.

[0168] 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.

[0169] The main controller 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 to leave the storage area 75 autonomously or at least semi-autonomously along the travel paths in horizontal directions 30 and vertical directions 50. Exiting the storage area 75 preferably occurs via a second level 113, which is preferably configured as the lowest level of the storage area 75, but according to an alternative embodiment, can also be arranged in a different position. Preferably, the plurality of storage levels 79 is arranged between the first level 111, configured as the uppermost level, and the second level 113, configured as the lowest level. This enables a flow of goods of the articles 18 from top to bottom through the supporting structure 3.The second level 113 is located upstream of a packing station 125, so that the addressed and retrieved robots 17 move into the packing station 125. 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. The shipping units 129 leave the storage system 1 through a goods issue point 89, indicated by an arrow. Transport routes can be arranged between the storage area 75 of the support structure 3 and the packing station 125 and / or the loading station 127, on which the robots are transported mechanized or alternatively traverse the transport route autonomously.

[0170] In addition to the communication system 101, the storage system includes a power supply system 91 for supplying the robots 17 with electrical energy, which is powered by a power source 93. As can be seen in Figure 1, the assignment of the containers 15 to the respective robot 17 is reversed at the packing station 125.

[0171] Alternatively, 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.

[0172] 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.

[0173] Particularly preferably, the return path of the storage system 1 has a current supply, shown as a dashed line in the figure, so that the robots 17 can return autonomously and self-driving to the charging station 127.

[0174] 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.

[0175] 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.

[0176] 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.

[0177] 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.

[0178] 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.

[0179] The horizontal partial drive device 28 has a drive roller 45 which is pivotable about a drive roller pivot axis 47, as indicated in Figure 2 by a curved double arrow. This allows the horizontal partial drive device 28 to assume a rest position (shown with dashed lines in Figure 2), a first horizontal drive position (shown in Figure 3) for travel in a first horizontal direction 30, and a second horizontal drive position (not shown) for travel in a second horizontal direction 30, or to be adjusted between these positions.

[0180] 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.

[0181] The vertical partial drive mechanism 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.

[0182] 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. Similarly, a vertical contour 49 of the robot 17 is at least partially reduced in the horizontal rest position of the horizontal partial drive device 28 shown in Figure 2. This allows the robot 17 to move through the support structure 3 without collisions in the vertical directions 50.

[0183] Figure 4 shows a three-dimensional, obliquely lateral 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 the robot 17. Figure 5 shows the robot 17 depicted in Figure 4 with the bottom of the container 15 shown partially transparently. For illustrative purposes only, the robot 17 is shown in a third operating state with the drive device 27, which corresponds simultaneously to the first operating state for horizontal movement and the second operating state for vertical movement.

[0184] 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 fit through either the horizontal recess 14 or the vertical recess 10.

[0185] 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.

[0186] As shown 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 shown in Figure 4, as storage location 77, thus forms, with only one structural configuration, both one of the storage locations 77 and one of the vertical travel path elements 121.

[0187] 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.

[0188] 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.

[0189] Figures 4 and 5 also show the power supply device 91 and the associated energy source 93.

[0190] It can be seen that in a preferred embodiment, the vertical supports 5 of the supporting structure 3 are energized in a double alternating manner, or can be energized by means of the power supply device 91. Specifically, viewed in one of the horizontal directions of travel 30, the energization alternates according to the pattern: negative, not energized, negative, not energized,... and, parallel to this, offset: not energized, positive, not energized, positive,...

[0191] In a 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.

[0192] This current supply makes it possible, in one embodiment, for at least two of the supports to be energized with different polarities per storage location 77 or vertical track element 121. Particularly preferred is the energization, or the ability to energize, of at least two of the vertical supports 5 arranged diagonally opposite each other with different polarities, as shown in Figure 4.

[0193] 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.

[0194] 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.

[0195] 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 each case plus, minus, plus, minus,... And in a longitudinal direction of the support elements, each longitudinal row has identical 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.

[0196] 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.

[0197] Figures 4 and 5 show the first horizontal drive position. The drive roller 45 and the support wheels 33 are adjustable for this purpose. 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.

[0198] 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.

[0199] 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.

[0200] The free spaces 13 are preferably part of the vertical recess 10 and / or extend radially outwards to the respective vertical support 5.

[0201] 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.

[0202] 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.

[0203] In the following, 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 is described. - 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.

[0204] 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.

[0205] 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.

[0206] 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.

[0207] 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 via the remaining pair of support wheels 33 is possible through the horizontal support elements 11 arranged longitudinally to the direction of travel 30.

[0208] 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 current supply during a horizontal or vertical transient state between the functional elements, storage locations 77 and / or travel path elements 121 is selectively provided via the redundant horizontal and / or vertical current collectors of the current collector device 23 of the robot 17.

[0209] 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.

[0210] 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.

[0211] Figure 8 shows a further three-dimensional detail view from a slanted top-down side view of a part of the support structure 3 shown in Figures 5 and 6, looking towards 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, showing how the drive roller 45 or its ends can be adjusted / pivoted. 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. marked.

[0212] The 9-module 117 has eight storage positions 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.

[0213] 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.

[0214] In another preferred embodiment, no continuous floors 81 are provided, which is indicated in Figure 7.

[0215] Regardless, all functional elements of the 9-module can be traversed in any of the horizontal directions of travel 30.

[0216] 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;

[0217] 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,...

[0218] 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.

[0219] Fig. 10 shows a schematic top view of a bearing plane 79 of the supporting structure 3, to illustrate one aspect of the power supply and a special configuration with communication cells 109. The supporting structure 3 is designed analogously to the one described above. Therefore, reference is made to the preceding figures in the following, and only differences and / or additional configurations are explained in more detail.

[0220] A large number of functional elements 103 of the supporting structure 3 can be seen. In the special embodiment shown in Figure 10, the functional elements 103 of the structure 3 can only be used by the robots 17 as storage locations 77 and / or as vertical travel path elements 121 by means of a software-based assignment.

[0221] In the illustrated embodiment, a 9-module 109 is formed in the storage level 79 shown, indicated by a dashed square. To form this module, the 8 outer functional elements 103 are assigned as storage locations 77 and the centrally arranged element as vertical travel path elements 121. This assignment can be carried out selectively, preferably by means of a control action of the main controller 123 and / or preferably by the respective accompanying controllers 21 of the respective robots 17, which preferably carry a corresponding card for using the support structure 3 and / or storage system 1.

[0222] A further dashed square indicates a communication cell 109 of the support structure 3. In a preferred embodiment, such a communication cell 109 is formed by supplying current to at least one, preferably two, and particularly preferably four of the support elements 11, wherein a signal is modulated to transmit information. The current flow in the conductor-bound path 105 thus formed serves simultaneously to transmit energy to the robots 17 and to transmit a signal, in particular a modulated signal 107, within the storage system 1.

[0223] Furthermore, it can be seen that the communication cells 109 are preferably designed independently of the 9-module units 117, i.e., they overlap with them. Preferably, one of the communication cells 109 can also be designed in such a way that it encompasses or covers an entire 9-module unit 117.

[0224] In this embodiment, the conductor-bound section 105 comprises a central vertical support 5 and four horizontal support elements 11 extending from it. These elements are all at an electrical potential, marked with "+" in the figure, and can transmit signals originating from the support 5. Smaller or larger communication cells 109, preferably with their respective conductor-bound sections 105, are preferred.

[0225] Furthermore, Figure 10 shows the preferred embodiment of the double alternating current supply to the vertical supports 5, diagonally alternating with diagonally un-energized, and the alternating current supply to the horizontal support elements 11 when viewed transversely to the directions of travel 30 and the same in the longitudinal direction. These configurations are indicated by a "+" and without a symbol. Additionally, in Figure 10, a dotted hatching is used for the potential "+" for the horizontal support elements 11, and no hatching is used for the potential "". For the supports 5, only the symbol is used, with the un-energized supports shown in white.

[0226] Fig. 11 shows a further schematic top view of a portion of the bearing plane 79 shown in Fig. 10 to illustrate an embodiment with vertical energized travel of the robots 17. For vertical travel, the current collector device 23 of each robot has vertical current collectors at all four corners, which are indicated only by lines and dots. In the embodiment shown, the vertical current collectors are redundant and, depending on the energization of the vertical supports 5 of the respective functional element 103 being traversed, can be selectively energized via one of two possible diagonally opposite vertical current collectors. Both possibilities are shown as examples in Fig. 11.

[0227] In a further embodiment, there is at least one functional element 103, or, on the entire bearing level 79, four of the energized carriers 5. In this case, current pickup is redundant, in pairs with two of the four vertical current collectors. If one of the pairs briefly loses contact, the other can take over, and vice versa.

[0228] Fig. 12 shows another schematic top view of a part of the components shown in Fig. The storage level 79 shown in figures 10 and 11 illustrates a design with a horizontally powered movement of the robots 17.

[0229] A total of four robots 17 are shown in different driving and energizing states. It can be seen that the current collector device 23 of the robots 17, viewed laterally in the respective horizontal direction of travel 30, has two pairs of current collectors, preferably at the corners, each of which can be brought into current-conducting contact with the horizontal support elements 11 on both sides.

[0230] In the sequence and orientation shown in Figure 12, from top to bottom and left to right, a first robot is entering a functional element 103. The rear horizontal current collector pair of the current collector device 23 of the robot 17, viewed in the horizontal direction of travel 30, is short-circuited on one of the horizontal support elements 11, which is energized, and therefore does not transmit any current to the robot. Instead, the front horizontal current collector pair, viewed in the direction of travel of the robot 17, is connected to the potential '+' on the left and to the potential '+' on the right. This allows the robot 17 to be supplied with signals and electrical energy without interruption, even during entry.

[0231] The second robot shown, 17, is located precisely between two of the functional elements 103 and is powered by both. Both pairs of current collectors are energized, viewed in the direction of travel, the left one marked '+' and the right one marked '+'.

[0232] The third robot 17 is positioned within one of the functional elements 103 and is ready to travel in the orientation shown in the figure, either upwards or downwards. Compared to the two preceding robots, this one travels in a different horizontal direction. To enable universal pickup of electrical energy and signals in both directions 30, the current collector 23 is, in a preferred embodiment, adjustable, preferably between two positions for current pickup, and particularly preferably also into a rest position for travel in the vertical direction 50. This ensures that the current collector can always be brought into contact with the adjacent and parallel horizontal support elements 11, viewed laterally to the selected direction 30. In this configuration and embodiment, these elements are at different potentials or have different polarities.

[0233] The fourth robot shown in Figure 12, analogous to the third robot 17, has begun to move out of its functional element 103, with the front horizontal current collector pair not energized and short-circuited on the horizontal support element 11. It can be seen that each time the robot passes over one of the horizontal support elements 11, both horizontal current collector pairs are briefly short-circuited, with the remaining pair providing the power supply on its own during this time.

[0234] The horizontal directions of travel 30 of the robots 17 described in each case are symbolized in Figure 12 by means of different arrows.

[0235] Figure 13 shows a flowchart of an operating procedure for a storage system and / or robot analogous to the previously described storage system 1 and robot 17. Reference is made to the preceding figures. In a first step 135, electrical energy is transferred between the power source (93) and the robot (17). In a second step 137, information from the communication system (101) is transferred between the main controller (123) and the controller (21) of the robot (17). In a third step 139, a stabilizing force is transferred to statically stabilize the support structure 3. In a fourth step 141, a driving force, preferably a traction force and / or drive force and / or braking force and / or support force, is transferred between the support structure 3 and the robot 17.

[0236] The steps are performed for random horizontal and vertical movement of the robot by means of vertical supports 5, horizontal support elements 11 of the support structure 3 of the storage system 1, and a drive device 27 of the robot 17. Depending on the configuration, further components of the storage system 1 are preferably also involved, in particular the communication system 101, the power supply device 91, the main control 123 of the storage system 1, and correspondingly the control 21 and / or the current collector device 23 of the robot 17. List of reference numerals [02371 1 storage system 3 Supporting structure (storage frame) 4 connecting elements 5 vertical beams 10 vertical recesses 11 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: Functional element Line, conductor-bound communication cell 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 141 steps of the storage process

Claims

Claims

1. Storage system (1) with a large number of storage locations (77) for storing articles (18), with - at least one robot (17) for the articles (18) which, for or during horizontal and vertical autonomous or at least semi-autonomous driving in the storage system (1), has a drive device (27) for vertical and horizontal driving of the robot (17), a current collector device (23) for receiving electrical energy and a control system (21) which is carried along or is an integral part of the robot (17), - at least one container (15) into which the articles (18) can be received, stored and removed, and which can be assigned to the robot (17) and / or transported by means of the robot (17) together with the received articles (18), - a supporting structure (3) with horizontal support elements (11) for the horizontal movement of the robot (17) and vertical supports (5) for the vertical movement of the robot (17), - an energy source (93) by means of which the robots (17) can be supplied with electrical energy, - a main controller (123) for controlling the storage system (1), which is specifically designed, constructed, set up and / or programmed to interact with the controller (21) of the robot (17), - a communication system (101) for communicating between the robot (17) and / or the controller (17) of the robot (17) and the main controller (123), through which the robots (17) can be controlled, addressed and / or retrieved from the storage locations (77).

2. Bearing system according to claim 1 , characterized by an assembly of the supporting structure (3) which simultaneously fulfills the following functions: - Transferring electrical energy between the energy source (93) and the robot (17), - Transferring a stabilizing force to statically stabilize the supporting structure (3), - Transmitting information from the communication system (101) between the main controller (123) and the controller (21) of the robot (17), - Localizing and / or positioning the robot (17) within the supporting structure (3).

3. Storage system according to claim 2, characterized in that the assembly additionally also fulfills the following function: - Transfer of a driving force between the support structure (3) and the robot (17).

4. Bearing system according to claim 2, characterized by electrically conductive horizontal support elements (11) with a traction surface (12) for transmitting the driving force for horizontal travel, wherein the support elements (11) are specifically designed, configured and / or constructed in an integral component to additionally transmit the information for controlling, positioning and / or localizing the robot (17), the electrical energy for supplying the robot (17) and the stabilizing force for the static formation of the support structure.

5. Bearing system according to one of claims 2 to 4, characterized in that the assembly comprises vertical supports (5) for transmitting the driving force for vertical driving, the information, the electrical energy and the stabilizing force.

6. Bearing system according to one of claims 4 or 5, characterized in that the assembly has connecting elements (4) for fixing the vertical supports (5) and horizontal support elements (11) to each other.

7. Bearing system according to one of claims 4 to 6, characterized in that the horizontal support elements (11) can be alternately energized with different polarities, wherein the robot (17) can be continuously energized during horizontal travel by means of the horizontal support elements (11) and by means of the traveling current collector device (23) and / or wherein the current collector device (23) has redundant current collectors on the robot, preferably current collectors and / or sliding contacts (25) of the current collector device (23) on all four outer edges / corners of the robot (17).

8. Storage system according to one of claims 4 to 7, characterized in that the vertical supports (5) can be alternately energized with different polarities, wherein the robot (17) can be energized during a vertical journey by means of the vertical supports (5) and by means of the traveling current collector device (23).

9. Storage system according to one of claims 4 to 8, characterized in that the vertical supports (5) are partially energizable or energized, wherein of the supports (5) arranged in four corners of a storage space (77) two opposite supports (5) with a different polarity and two further opposite supports (5) are not energizable or energized.

10. Bearing system according to one of claims 1 to 9, characterized in that the pattern for arranging the horizontal support elements (11) fulfills the following conditions: - four of the horizontal support elements (11) are on the same potential of the different polarity and extend horizontally from a common vertical support (5); - Opposite horizontal support elements (11) are at different potentials of different polarity.

11. Storage system according to any one of claims 1 to 10, characterized in that the horizontal support elements (10) are arranged between two of the storage positions (77) and two of the vertical supports (5) and are continuously energized and / or project into the two of the storage positions (77) as the traction surface (12) and a current collector surface, wherein the energized horizontal support elements (11) have a conductor-bound section (105) via which a modulated or modulated signal can be transmitted between the main controller (123) and the controller (21) of the robot (17).

12. Storage system according to claim 11, characterized in that the four horizontal support elements (11) arranged in the pattern and transmitting the modulated or modulated signal (107) form a communication cell (109) of the communication system (101) for four adjacent storage positions (77).

13. Bearing system according to any one of the preceding claims 1 to 12, characterized in that the support structure (3) has horizontal recesses (14) for the robot (17) to pass through during horizontal travel in a first horizontal direction of travel (30) and a second horizontal direction of travel (30) and vertical recesses (10) for the robot (17) to pass through during vertical travel in the vertical direction of travel (50).

14. Robot (17) for article (18) which is specifically designed, constructed, set up and / or programmed to interact with a storage system (1), in particular a storage system according to any one of claims 1 to 13, and has a drive device (27) for horizontal and vertical movement in the support structure (3) of the storage system (1), wherein the drive device (27) or at least a part of the drive device (27) of the robot (17) is additionally specifically designed and / or constructed to - Transfer of electrical energy between the energy source (93) and the robot (17) and / or - Transmission of information from the communication system (101) between the main controller (123) and the controller (21) of the robot (17) and / or - Localization and / or positioning of the robot within the supporting structure.

15. Robot according to claim 14, characterized in that communication with the robot (17) and the supply of power to the robot (17) can be carried out via support wheels (33) of the drive device (27).

16. Robot according to claim 14 or 15, characterized in that the support wheels (33) have a conductor (35) which can be brought into electrically conductive contact with the horizontal support elements (11) and / or have twin tires.

17. Method for operating a storage system, in particular a storage system (1) according to any one of the preceding claims 1 to 14, and / or a robot, in particular a robot (17) according to any one of claims 14 to 16, comprising the method components - Transfer of electrical energy between the energy source (93) and the robot (17), - Transmitting information from the communication system (101) between the main controller (123) and the controller (21) of the robot (17), - Transmitting a stabilizing force to statically stabilize the supporting structure (3), - Transfer of a driving force between the support structure (3) and the robot (17) for optional horizontal and vertical movement of the robot, by means of vertical supports (5), horizontal support elements (11) of a support structure (3) of the bearing system (1) and a drive device (27) of the robot (17).

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