DE102022129209A1 - Storage system for compact three-dimensional storage of containers and method for operating such a storage system - Google Patents

Abstract

The invention relates to a storage system (1) for the compact three-dimensional storage of containers (10), wherein a three-dimensional grid structure (2) of the storage system (1) is designed such that the containers (10) can be stored one above the other and next to one another in several container levels (11) along at least one horizontal coordinate axis (HK) and can be moved individually or in container packages (12) along the at least one horizontal coordinate axis (HK) and can be retrieved perpendicular to the at least one horizontal coordinate axis (HK) by means of a first handling device (100) of the storage system (1).
According to the invention, the three-dimensional grid structure is designed such that the containers (10) can be stored along the at least one horizontal coordinate axis (HK) by means of a second handling device (200) of the storage system (1) which is independent of the first handling device (100).
The invention further relates to a method for operating such a storage system (1).

Description

The invention relates to a storage system for the compact three-dimensional storage of containers according to claim 1 and a method for operating such a storage system according to claim 10.

In the area of logistics, i.e. the storage, retrieval and storage of articles or goods in warehouses, the warehouses should allow the best possible use of space with high dynamics or high throughput and low costs. Conventional warehouses usually do not meet all of these requirements to the desired extent.

From the EN 102 23 255 A1 A storage system and a method are known in which containers are moved along a coordinate axis in order to be able to remove a container perpendicular to the direction of movement from a row of containers behind these containers using an operating device. A container is delivered using the same storage and retrieval device, with containers being moved along the coordinate axis in order to reach the row of containers behind them that is intended for the container to be delivered.

From the WO 2016/172793 A1 , the US 2015/0127143 A1 , the WO 2020/011355 A1 , the WO 2019/238697 A1 and the WO 2019/238661 A1 Robotic vehicles are known that move horizontally on top of the three-dimensional grid structure and carry out a container exchange. However, the entire material flow runs over the top of the warehouse.

In contrast, the object of the present invention is to provide an alternative storage system for the compact three-dimensional storage of containers and a method for operating such a storage system, which has a high storage density and allows direct access to the goods with minimal time and energy expenditure.

This object is achieved by the storage system with the features of claim 1 and the method with the features of claim 10. Advantageous embodiments emerge from the subclaims and the description.

According to the invention, a storage system for the compact three-dimensional storage of containers is provided, wherein a three-dimensional grid structure of the storage system is designed such that the containers can be stored in several container levels one above the other and next to each other along at least one horizontal coordinate axis and can be moved along the at least one horizontal coordinate axis individually or in container packages and can be retrieved perpendicular to the at least one horizontal coordinate axis by means of a first handling device of the storage system, wherein the three-dimensional grid structure is designed such that the containers can be stored along the at least one horizontal coordinate axis by means of a second handling device of the storage system that is independent of the first handling device.

In other words, the storage system according to the invention is designed in such a way that the containers, also referred to as load carriers, are stored along a coordinate axis that runs transversely or perpendicularly to the coordinate axis along which the containers are retrieved. Independent handling devices are used for storage and retrieval.

The containers can therefore be removed from the three-dimensional grid structure on a first side, in particular the top side, of the three-dimensional grid structure, which is arranged parallel to the at least one horizontal coordinate axis, and can be stored in the three-dimensional grid structure on a second side, in particular the front side, of the three-dimensional grid structure, which is arranged perpendicular to the first side and to the at least one horizontal coordinate axis.

In order to enable the first handling device to access a container, also referred to as a desired container, intended for removal within the three-dimensional grid structure filled with containers, all containers arranged in the container levels above the desired container, together with any containers arranged in their rows on one side, are moved or shifted in one direction along the at least one horizontal coordinate axis in order to create a removal lane for the desired container or an article from the desired container.

The containers that would be in the way during removal, as well as the containers adjacent to them on one side, are moved, preferably by one container length or container width. Since the containers can be moved or shifted individually or in packages along at least one horizontal coordinate axis, the storage system can also be referred to as a sliding cube.

In the three-dimensional lattice structure, a multitude of adjacent and superimposed arranged containers. In the context of the invention, the term "compact" is understood to mean that no handling device is arranged between the containers, as is the case, for example, in storage systems with storage racks arranged parallel to one another and storage and retrieval machines that can be moved in a rack aisle arranged between them. No free space is therefore kept in reserve for the direct removal of goods, but is only created when required. In this case, only the smallest possible free space is created for the removal of the container and/or article, which preferably corresponds to a single container width or container length.

The three-dimensional grid structure is preferably cuboid-shaped and has at least one side an escape area with free container spaces into which the containers can be moved or shifted. The escape area preferably extends over the entire height of the three-dimensional grid structure. Alternatively, it can be provided that the lowest container level or, if removal of several containers arranged one above the other (small stack) is intended, several lower container levels do not have such an escape area.

The at least one horizontal coordinate axis along which the containers can be moved or shifted is, for example, the X-axis. The at least one horizontal coordinate axis can also be the Y-axis arranged perpendicular to the X-axis. It can also be provided that the containers in the three-dimensional grid structure can be moved along both horizontal coordinate axes, i.e. the X-axis and the Y-axis. Both horizontal coordinate axes, i.e. both the X-axis and the Y-axis, are perpendicular to the earth's gravitational vector and to a vertical coordinate axis, also referred to as the Z-axis.

Perpendicular to at least one horizontal coordinate axis can therefore mean that the containers can be removed along another horizontal coordinate axis, for example along the Y-axis, or along the vertical coordinate axis. In other words, the removal lane can be formed along the vertical coordinate axis or along another horizontal coordinate axis.

The first handling device, also referred to as the removal module, is intended for the removal or retrieval of the containers from the three-dimensional grid structure. The first handling device comprises a gripping system with the gripper of which a single container or two or more containers can be gripped simultaneously as a small stack. It is also possible for the gripping system to additionally or alternatively allow articles to be removed from the container. In this case, an article gripper, for example in the form of a vacuum gripper or magnetic gripper, is provided on the gripping system in addition to or as an alternative to a container gripper.

The containers are preferably also moved along the at least one horizontal coordinate axis by means of the first handling device, for which purpose a displacement device is preferably provided on the gripping system. This minimizes the complexity of the storage system and the effort involved in removal. However, it is also possible to provide a separate displacement device in the storage system. Regardless of whether the displacement device is provided on the gripping system or separately from it, it can be designed, for example, in the form of a chain drive or a telescopic system. The dimensions of the displacement device preferably correspond to those of a container.

The second handling device is provided for storing the containers in the three-dimensional grid structure and preferably comprises at least one lifting module. The storage system preferably comprises several such lifting modules.

Using the lifting module, a container can be lifted and “pressed” into the three-dimensional grid structure for storage in the container plane provided for this purpose along the horizontal coordinate axis. The lifting module can also be designed to lift several containers arranged one above the other (small stacks) and “press” them into the three-dimensional grid structure for storage. The lifting module can be loaded using a stationary or mobile loading device on the lifting module. The lifting module can also be designed in such a way that it can accommodate one or more containers itself.

The storage system can comprise one or more robotic vehicles, in particular with so-called AGV or AMR properties, which can be moved on a storage floor. The at least one robotic vehicle is designed to transport one or more containers and can, for example, transport a container to the second handling device, in particular to the lifting module, and deliver it to it. It is also possible for a container to be transferred from the first handling device to the robotic vehicle and then transported to another device in the storage system, such as a picking station.

The storage system according to the invention has a high storage density and allows direct access to the goods with minimal time and energy expenditure.

It is particularly advantageous that the containers can be retrieved exclusively perpendicular to the at least one horizontal coordinate axis and/or stored exclusively along the at least one horizontal coordinate axis.

In other words, the containers can only be removed from the three-dimensional grid structure on the first side, in particular the top side, and can only be stored in the three-dimensional grid structure on the second side, in particular the front side. In particular, storage using the first handling device is then not possible due to structural measures on the three-dimensional grid structure or its design.

For example, as described below, guide rails used for storing the containers can, after being folded away, in particular when a container arranged underneath them is removed from the three-dimensional grid structure, fold back independently into their position intended for storing the containers, so that storage from above into a container level of the three-dimensional grid structure located underneath the guide rails is prevented by the latter.

It is advantageously provided that the first handling device is designed as a gantry crane system with at least one crane bridge and at least one trolley or as a robot system with at least one robot vehicle that can be moved freely or in a guided or partially guided manner on the lattice structure.

If the first handling device is designed as a gantry crane system, this can comprise one or more crane bridges, with the at least one crane bridge then being arranged above the three-dimensional lattice structure. The trolley can be moved along a crossbeam and/or a longitudinal beam of the at least one crane bridge. The crane bridge can have several crossbeams and/or longitudinal beams used for moving the trolley. One or more trolleys can be provided per crane bridge or per crossbeam or longitudinal beam. Portal supports are used in particular to arrange the crane bridge above the three-dimensional lattice structure. It can be provided that such a portal support is used to support structural elements arranged in the avoidance area, such as the guide rail described below.

If the first handling device is designed as a robot system, this can include several robot vehicles that can be moved either freely or in a guided or partially guided manner along the three-dimensional grid structure. Partially guided is understood to mean in particular that the robot vehicle is guided in some areas of the three-dimensional grid structure and can otherwise be moved freely. It is also possible for the robot vehicle to be guided along one of the coordinate axes, for example the X-axis, and to be moved freely along another coordinate axis, for example the Y-axis.

The at least one robot vehicle is preferably arranged on top of the three-dimensional grid structure and can be moved along both horizontal coordinate axes. However, it can also be provided that the robot vehicle is arranged laterally on the three-dimensional grid structure and can be moved along a horizontal coordinate axis and a vertical coordinate axis. The robot vehicle then has so-called climbing capabilities.

The gripping system is attached to the trolley or the robot vehicle and, in addition to the container gripper and/or article gripper, comprises in particular a lifting rope, a rope drum and a lifting motor with which the container gripper and/or article gripper can be raised and lowered.

It is particularly advantageous that the three-dimensional grid structure has a plurality of upright supports and a plurality of guide rails running transversely thereto along the at least one horizontal coordinate axis, wherein the containers can be stored and moved on the guide rails.

The upright supports extend along the vertical coordinate axis (Z-axis) and serve as structural elements of the three-dimensional lattice structure. The containers stored in the three-dimensional lattice structure are supported by the supports.

In addition to the supports and guide rails, the three-dimensional lattice structure can also comprise cross beams, in particular for its stiffening, which extend in particular transversely or perpendicularly to the supports and guide rails.

The guide rails are attached to the supports and extend along a single horizontal coordinate axis (X-axis or Y-axis). However, guide rails can also be provided along both coordinate axes (X-axis and Y-axis), with the guide rails along one coordinate axis and the guide rails along the other coordinate axis then crossing.

Each guide rail can be divided along its longitudinal extension or along the horizontal coordinate axis into several guide rail sections, in particular sections that are spaced apart from one another. This is particularly necessary for intersecting guide rails. In the case of intersecting guide rails, the upright supports must also be arranged in such a way that the containers can be moved past them along both coordinate axes.

In the bypass area with free container spaces, the guide rails can be attached to a portal support of a gantry crane system, in particular at a free end facing away from the three-dimensional grid structure.

In a particularly advantageous manner, the three-dimensional grid structure consists of modules, each module comprising four upright supports and at least two guide rail sections and being able to accommodate at least one container.

A cross-section of the module spanned by the four supports is preferably rectangular and corresponds to the container width and container length. One of the two at least provided guide rail sections is arranged between two supports and fastened to them in such a way that the two guide rail sections extend parallel to each other. Analogously, further guide rail sections can be arranged and fastened in pairs above or below such a pair of guide rail sections.

The three-dimensional grid structure comprises in particular a plurality of modules arranged next to one another along both horizontal coordinate axes. It can be provided that a support is assigned to two or more, in particular four, modules.

A height of the module preferably corresponds to a container height, whereby the support is divided into support sections for this purpose. In this case, the three-dimensional grid structure is also composed of several modules along the vertical coordinate axis.

Advantageously, rollers or balls can be provided on the guide rails, which are arranged in such a way that the containers can be stored and moved on them and/or guided with them.

This allows the containers to be moved or shifted with as little friction as possible. As a result, the energy required to shift the containers and thus in particular the energy required by the first handling device can be minimized.

The rollers or balls for lateral guidance of the containers can be arranged on the guide rail alternatively or in addition to the rollers or balls provided for storage and movement of the containers.

The rollers or balls for guiding the containers are preferably arranged at a 90° angle to the container plane. This can prevent the containers from jamming along the guide rails.

As an alternative to guide rails with rollers or balls, the guide rails can also be designed as sliding rails or linear rails. It is also conceivable that rollers or balls are provided on the containers for storage and movement and/or guidance.

It can be particularly advantageous that the guide rails can be folded away passively or actively, wherein a passive folding away takes place during a retrieval process by the first handling device and an active folding away takes place by means of a separate device.

The folding away of the guide rails, also known as folding up, serves in particular to enable a container to be removed from the three-dimensional grid structure parallel to the upright supports and along the vertical coordinate axis.

In a passive embodiment, the guide rails are pushed up along the vertical coordinate axis by the container when it is removed and are thereby folded away from a first position intended for storing the containers into a second, folded-away position.

The separate device provided for active folding comprises in particular several electric motors, preferably stepper motors, which fold the guide rails from the first into the second position.

Regardless of whether the folding is done actively or passively, the guide rails can be folded back into the first position passively or actively. A passive folding back means that the guide rail, after the container has completely passed through it, folds back into the first position automatically. Then, as indicated above, it is not possible for a container to be stored to enter the three-dimensional lattice structure via this route.

In an advantageous and structurally simple manner, the guide rails are arranged at an angle other than 90 degrees to the supports, so that movement of the containers in at least one container movement direction is supported by gravity.

In other words, the guide rails are inclined downwards in one of the displacement directions running along the horizontal coordinate axis. This can reduce the energy requirement of the displacement device for displacing the containers in this displacement direction. Alternatively, it can be provided that the containers move independently back to an initial position due to the inclination after being displaced by the displacement device.

In the case of intersecting guide rails of a lattice structure that allows the containers to be moved along two coordinate axes, the guide rails can be inclined along one of the coordinate axes and not inclined along the other coordinate axis.

Also in an advantageous and structurally simple manner, an active or passive inhibiting device for inhibiting movement of the containers is provided on the three-dimensional grid structure, in particular on the guide rails.

This can prevent containers from moving along the guide rail without an intentional movement, particularly one carried out by the movement device. This can counteract so-called “dancing totes”.

Alternatively or additionally, such a locking device can be used to regulate the independent movement of the containers enabled by an inclined guide rail.

The invention further relates to a method for operating a storage system according to one of the preceding claims, wherein containers stored one above the other and/or next to one another in the three-dimensional grid structure of the storage system are temporarily moved individually or in container packages along the at least one horizontal coordinate axis, preferably exactly by one container width or container length, in one direction and then a container is removed from storage perpendicular to the at least one horizontal coordinate axis by means of the first handling device of the storage system, preferably exclusively, wherein the containers are stored using a second handling device of the storage system that is independent of the first handling device, preferably exclusively, along the at least one horizontal coordinate axis.

Preferably, a single container is removed, for which purpose the gripping system of the first handling device has a container gripper. However, it is also possible for two or more containers to be removed simultaneously as a small stack. It can also be provided that an article is removed from the desired container using an article gripper.

During storage, the containers are preferably pushed or pressed into the three-dimensional grid structure at one end. The lifting module described above is used in particular for this purpose. It can be provided that several containers are stored at the same time. A container is preferably stored in the container level and container row of the three-dimensional grid structure from which a container was previously removed and thus in which there is a free space or gap.

The storage system according to the invention has a controller which is designed and configured to carry out the method according to the invention.

• 1 eine schematische perspektivische Ansicht eines Lagersystems zur kompakten dreidimensionalen Lagerung von Behältern,
• 2 eine schematische perspektivische Ansicht einer dreidimensionalen Gitterstruktur des Lagersystems in 1,
• 3 eine schematische perspektivische und vergrößerte Detailansicht der dreidimensionalen Gitterstruktur in 2,
• 4a, 4b jeweils eine perspektivische und vergrößerte Detailansicht einer Laufschiene mit Rollen und
• 5a-5g schematische perspektivische und vergrößerte Detailansichten der Behälterbewegungen bei einer Behälterentnahme durch die erste Handhabungseinrichtung zeigen.

Further details of the invention emerge from the following description of embodiments with reference to the drawing, in which

• 1 a schematic perspective view of a storage system for compact three-dimensional storage of containers,
• 2 a schematic perspective view of a three-dimensional grid structure of the storage system in 1 ,
• 3 a schematic perspective and enlarged detail view of the three-dimensional lattice structure in 2 ,
• 4a , 4b a perspective and enlarged detailed view of a guide rail with rollers and
• 5a-5g show schematic perspective and enlarged detailed views of the container movements during container removal by the first handling device.

The 1 shows a schematic perspective view of a storage system 1 for the compact three-dimensional storage of containers 10.

The storage system 1 comprises a three-dimensional grid structure 2 for storing containers 10 as well as a first handling device 100 and a second handling device 200 (not shown). The first handling device is designed as a gantry crane system 100'.

The gantry crane system 100' has a crane bridge 101, which comprises several cross beams 101a, several longitudinal beams 101b and several gantry supports 101c. The cross beams 101a and the longitudinal beams 101b form a rectangular frame in which further longitudinal beams 101b are arranged, running parallel to the outer longitudinal beams 101b.

A trolley 102 is arranged on each of the longitudinal beams 101b arranged in the frame and can be moved along the longitudinal beam 101b. A gripping system 103 is attached to the trolley 102. The gripping system 103 comprises a container gripper 103a for gripping a container 10 and a hoist cable 103b which can be extended and retracted by means of a cable drum and a motor in order to raise and lower the container gripper 103a hanging on the hoist cable 103b and the container 10 possibly gripped thereby.

The frame is arranged at its corner points, where the outer longitudinal beams 101b abut the cross beams 101a, via the portal supports 101c at such a height above the three-dimensional grid structure 2 that a collision-free movement of the trolleys 102, possibly with a container 10 hanging thereon, is possible and nevertheless a path to reach an uppermost container level 11 in the three-dimensional grid structure 2 with the gripping system 103 is as small as possible.

The three-dimensional lattice structure 2 has a plurality of upright supports 3 along a vertical coordinate axis VK, also referred to as the Z axis. In addition, the three-dimensional lattice structure 2 comprises a plurality of guide rails 4, which run along a first horizontal coordinate axis HK1, also referred to as the X axis. Even if the exemplary embodiment shown does not provide for guide rails 4 to be arranged along a second horizontal coordinate axis HK2, this can be provided alternatively or additionally.

Containers 10 are mounted on the guide rails 4, whereby the containers 10 are arranged so as to be movable along the guide rails 4 and thus along the first horizontal coordinate axis HK1. The containers 10 can be moved or displaced individually or in container packages 12. Each container 10 is surrounded by four supports 3. The containers 10 are arranged one above the other in several container levels 11. A distance between two adjacent guide rails 4 arranged one above the other corresponds to the height of an individual container 10.

On one end of the three-dimensional grid structure 2, an escape area 6 with free container spaces for the displaced containers 10 is provided. Between the end of the three-dimensional grid structure 2 and the portal supports 101c arranged on this side, guide rails that are required for the "overhanging" container(s) 10 are arranged and fastened to the portal supports 101c.

To remove a desired container 10' from the three-dimensional grid structure 2 (see 5a to 5g) the containers 10 arranged above are moved individually or in container packages 12. In particular, one of the containers ends up in the alternative area 6, unless there is a container gap between the desired container 10' and the alternative area 6.

In the storage system 1 shown, several robot vehicles 300 are provided. Each robot vehicle 300 can transport a container 10. Containers 10 that have been removed from the three-dimensional grid structure 2 by the first handling device 100 or the gripping system 103 of the gantry crane system can thus be delivered to a robot vehicle 300 and transported by it to another device of the storage system 1, for example a picking station. Containers 10 transported by the robot vehicle 300 can also be delivered to the second handling device 200 or received by it. However, storage systems 1 without such robot vehicles 300 are also conceivable. Containers 10 can be transported to or from the three-dimensional grid structure 2, for example by means of a conveyor.

The 2 shows a schematic perspective view of a three-dimensional grid structure 2 of the storage system 1 in 1 .

The three-dimensional lattice structure 2 is compared to the 1 shown rotated by 90 degrees.

The compact arrangement of the containers 10 in the three-dimensional grid structure 2 can be clearly seen. The containers 10 are arranged in several container levels 11 one above the other and along the second hori zontal coordinate axis HK2 in several container rows 13 arranged next to each other.

The upright supports 3 extend along the vertical coordinate axis VK and serve as structural elements of the three-dimensional lattice structure 2 and support the containers 10.

The three-dimensional lattice structure 2 comprises a large number of modules (see 3 ).

The containers 10 are arranged so as to be movable or displaceable along the first horizontal coordinate axis HK1. The containers 10 can be moved in a first displacement direction VR1 and in a second displacement direction VR2 directed opposite to the first displacement direction VR1.

A displacement of an individual container 10 or a container package 12 in the first displacement direction VR1 serves in particular to be able to remove a desired container 10` from the three-dimensional grid structure 2 (see also 5a to 5g) . A displacement of the individual container 10 or container package 12 in the second displacement direction VR2 serves in particular to close the removal lane EG thus created or the gap created by the removal of the desired container 10'.

When closing the gap, a container 10 to be stored can be pushed over the front side 2b into the three-dimensional grid structure 2.

The 3 shows a schematic perspective and partial view of the three-dimensional lattice structure 2 in 2 .

The guide rails 4 are attached to the supports 3 and extend along the first horizontal coordinate axis HK1. Each guide rail 4 is divided along its longitudinal extension or along the first horizontal coordinate axis HK1 into several guide rail sections 4a, which are spaced apart from one another.

In a rear section of the illustration, the guide rail sections 4a are shown in a first position intended for storing the containers 10. In addition to storage, this position is also intended for pushing containers 10 along the first horizontal coordinate axis HK1 into the three-dimensional grid structure 2.

In a front section of the illustration, however, the guide rail sections 4a are shown in a second, folded-away position. In this position, a container 10 can be removed upwards by means of the first handling device 100 without the at least two guide rail sections 4a arranged in the container levels 11 above this container 10 getting in the way.

In this view, it can be clearly seen that the three-dimensional grid structure 2 comprises a plurality of modules that are arranged next to one another along both horizontal coordinate axes HK1, HK2 and one above the other along the vertical coordinate axis VK. Each module comprises four upright supports 3 and two guide rail sections 4a. Each module is also designed such that it can accommodate a container 10. A height of the module corresponds to a container height, with the support 3 being divided into support sections 3a for this purpose.

A cross-section of each module spanned by the four supports 3 is preferably rectangular and corresponds to the container width and container length. One of the two guide rail sections 4a is arranged between two supports 3 and fastened to them in such a way that the two guide rail sections 4a extend parallel to one another.

The supports 3 or support sections 3a are designed as C-profiles in the present case, but can also have a different shape. It can also be provided that a support 3 or a support section 3a is assigned to two or more modules arranged next to one another and/or one above the other.

The 4a and 4b each show a perspective and enlarged detailed view of a guide rail 4 with rollers 5.

In the 4a In the embodiment shown, two rollers 5 are arranged next to each other in the longitudinal direction of the guide rail 4. In the 4b In the embodiment shown, however, a single wide roller 5 is provided.

The rollers 5 can be used to support and move the containers 10 along the at least one horizontal coordinate axis HK1, HK2 or to guide the containers 10. If the rollers 5 are used to guide the containers 10, the guide rails 4 have a surface or further rollers 5 in a further plane, in particular 90 degrees to it. The guide rails 4 then have an L-shape in particular. Balls can also be used as an alternative to the rollers 5.

The 5a to 5g show schematic perspective and enlarged detail views of the Container movements during container removal by the first handling device 100.

In these figures, only one container row 13 of the three-dimensional grid structure 2 is shown. In this container row 13, the containers 10 are arranged one above the other in a total of eight container levels 11.

As in 5a As can be seen, the gripping system 103 of the first handling device 100, which comprises a container gripper 103a, initially approaches the three-dimensional grid structure 2 along the vertical coordinate axis VK. For this purpose, the container gripper 103a hanging on a hoist cable 103b is lowered.

The first handling device 100 can be a gantry crane system 100' or a robot system.

Then, as in 5b As shown, the containers 10 of the uppermost container level 11, which are arranged above a desired container 10' and on one side thereof, are moved in the displacement direction VR. The gripping system 103 of the first handling device 100 can be used for the displacement.

The container gripper 103a can be lowered into the gap thus created, as shown in 5c is shown. Alternatively, it is possible to wait until a removal lane EG has been completely created up to the desired container 10'.

Subsequently, all containers arranged below the topmost container level 11, which are arranged above the desired container 10` and next to it, are also moved in the shifting direction (see 5d ). The container package 12 moved in this way comprises five container levels 11, each with nine containers 10 arranged next to one another or one behind the other in the container row 13 shown, so that a total of forty-five containers are moved for the removal of the desired container 10'.

In a further step, as he 5e As shown, the desired container 10` is gripped or picked up by means of the container gripper 103a and lifted in the lifting direction HR in order to remove the desired container 10` from the three-dimensional grid structure 2 through the removal lane EG thus formed.

Subsequently, the first handling device 100 is moved laterally in the first displacement direction VR1 in order to move the desired container 10` away from the three-dimensional grid structure 2.

In the 5e to 5g It is clearly visible that in the top five container levels 11 the containers 10 are shifted by one container length or container width.

In a next step (not shown), the containers 10 or the entire container package 12 are pushed back into their starting position.

The gap in this container level 11 created by the removal of the desired container 10' can be closed by pushing or pressing a container 10 to be stored into the front side 2a of the three-dimensional grid structure 2 in this container level or in the corresponding container row 13.

List of reference symbols

1

Storage system

2

three-dimensional lattice structure

2a

Top (three-dimensional lattice structure)

2 B

Front side (three-dimensional lattice structure)

3

support

3a

Column section

4

Track

4a

Track section

5

role

6

Alternative area

10

container

10'

Desired container

11

Container level

12

Container package

13

Container row

100

first handling device

100'

Gantry crane system

101

Crane bridge

101a

Cross member

101b

Longitudinal beam

101c

Portal supports

102

Trolley

103

Gripping system

103a

Container gripper

103b

Hoist rope

200

second handling device

300

Robotic vehicle (AGV, AMR)

EC

Extraction lane

HK1

first horizontal coordinate axis (X-axis)

HK2

second horizontal coordinate axis (Y-axis)

MR

Lifting direction (gripping system)

UK

vertical coordinate axis (Z-axis)

VR1

first shift direction

VR2

second shift direction

QUOTES INCLUDED IN THE DESCRIPTION

This list of documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions.

Cited patent literature

• DE 10223255 A1 [0003]
• WO 2016172793 A1 [0004]
• US 20150127143 A1 [0004]
• WO 2020011355 A1 [0004]
• WO 2019238697 A1 [0004]
• WO 2019238661 A1 [0004]

Claims (10)

Storage system (1) for the compact three-dimensional storage of containers (10), wherein a three-dimensional grid structure (2) of the storage system (1) is designed such that the containers (10) can be stored one above the other and next to one another in several container levels (11) along at least one horizontal coordinate axis (HK) and can be moved individually or in container packages (12) along the at least one horizontal coordinate axis (HK) and can be retrieved perpendicular to the at least one horizontal coordinate axis (HK) by means of a first handling device (100) of the storage system (1), characterized in that the three-dimensional grid structure is designed such that the containers (10) can be stored along the at least one horizontal coordinate axis (HK) by means of a second handling device (200) of the storage system (1) which is independent of the first handling device (100). Storage system (1) according to Claim 1 , characterized in that the containers (10) can be retrieved exclusively perpendicular to the at least one horizontal coordinate axis (HK) and/or can be stored exclusively along the at least one horizontal coordinate axis (HK). Storage system (1) according to Claim 1 or 2 , characterized in that the first handling device (100) is designed as a gantry crane system (100') with at least one crane bridge (101) and at least one trolley (102) or as a robot system with at least one robot vehicle that can be moved freely or in a guided or partially guided manner on the lattice structure. Storage system (1) according to one of the Claims 1 until 3 , characterized in that the three-dimensional lattice structure (2) has a plurality of upright supports (3) and a plurality of guide rails (4) running transversely thereto along the at least one horizontal coordinate axis (HK), wherein the containers (10) can be stored and moved on the guide rails (4). Storage system (1) according to Claim 4 , characterized in that the three-dimensional lattice structure (2) consists of modules, each module comprising four upright supports (3) and at least two guide rail sections (4a) and can accommodate at least one container (10). Storage system (1) according to Claim 4 or 5 , characterized in that rollers (4a) or balls are provided on the guide rails (4), which are arranged such that the containers (10) can be stored and moved on them and/or guided with them. Storage system (1) according to one of the Claims 4 until 6 , characterized in that the guide rails (4) can be folded away passively or actively, wherein a passive folding away takes place during a retrieval process by the first handling device (100) and an active folding away by means of a separate device. Storage system (1) according to one of the Claims 4 until 7 , characterized in that the guide rails (4) are arranged at an angle other than 90 degrees to the supports (3), so that movement of the containers (10) in at least one container movement direction is carried out with the aid of gravity. Storage system (1) according to one of the Claims 4 until 8th , characterized in that an active or passive inhibiting device for inhibiting a movement of the containers (10) is provided on the three-dimensional grid structure (2), in particular on the guide rails (4). Method for operating a storage system (1) according to one of the preceding claims, wherein containers (10) stored one above the other and/or next to one another in the three-dimensional grid structure (2) of the storage system (1) are temporarily moved individually or in container packages (12) along the at least one horizontal coordinate axis (HK), preferably exactly by one container width or container length, in one direction and then one container is retrieved perpendicular to the at least one horizontal coordinate axis (HK) by means of the first handling device (100) of the storage system (1), preferably exclusively, characterized in that the containers (10) are stored using a second handling device (200) of the storage system (1) which is independent of the first handling device (100), preferably exclusively, along the at least one horizontal coordinate axis (HK).