GR1010541B - Robot-equipped order system for automated warehouses - Google Patents

Abstract

The present invention discloses an automated order system including storage containers (207), racks (200), shelf guides (205) (206), climbing rails (500A) (500B) and an autonomous, self-guided robot (600) which is divided into two autonomous vehicles. The first vehicle (700) carries on it the second vehicle (800) and moves autonomously on the floor. The second vehicle (800) detaches to climb the racks (200) to pick up/store a container (207) via a storage/retrieval mechanism (840). While the second vehicle (800) is climbing, the first vehicle (700) charges a primary array of supercapacitors (785) via charging contacts (533) installed at the base of the rack (200). When the second vehicle (800) returns to the first (700), then, a secondary array of supercapacitors (893), which are located in the second vehicle (800), is charged by the primary supercapacitors (785) of the first vehicle (700).

Description

TITLE:

ORDER FULFILLMENT SYSTEM IN AUTOMATED WAREHOUSE WITH ROBOTS.

TECHNICAL FIELD

The scope of the invention is the automated storage systems with application in the supply chain. More specifically, it is related to robots that move autonomously in the three dimensions of a storage space, automating the storage and retrieval process.

STATE OF THE PRIOR ART

A significant number of storage and retrieval systems have been developed in the global market for the automatic movement of items to and from the shelves of a warehouse. One class of these systems, the most flexible in the applicant's opinion, uses robots that carry storage boxes and can move in three dimensions.

To increase the volume of goods stored in a warehouse three-dimensional grid-based storage/retrieval systems have been proposed, such as those disclosed in NO317366B1, WO201519055. In these systems, the products are stored in storage boxes stacked vertically and grouped in a storage area. Robotic vehicles circulate in an upper grid on top of the storage volume. Each vehicle is equipped with a lifting device that can lift the box from its position when the vehicle is parked.

When a robot needs to lift a crate that is not stored on the top level, the robot sequentially removes the crates above the desired crate one after the other. During this operation, the robot gradually deposits each unstacked box into an empty compartment on the surface of the storage volume, or in another proposal (US10858186), an equal number of robots with the number of boxes above the desired remove and hold temporarily the above boxes.

A disadvantage of this technique is that the robots always handle a large number of storage boxes to extract a single box, which slows down order preparation.

Another disadvantage is that although these proposals provide a space-efficient storage solution, since an accessible empty space at the top is necessary, they are completely unsuitable for low-height applications.

Various variations of grid storage have been disclosed such as CA2885984, which discloses a system in which two different 3D arrays are stacked on top of each other, with a corresponding fleet of robotic storage/retrieval vehicles traversing a corresponding grid over each storage array . In essence, the disadvantages presented are the same or even greater, regarding the application at low altitudes.

WO2016172793 discloses a storage system comprising a grid structure arranged in stacks of storage cells, each cell having four storage positions arranged around a void space to accommodate an array of storage boxes around a vertical axis, the bins being are within 90 degrees of each other. The grid structure has an upper and lower level, with the robotic vehicles moving horizontally on the upper and lower levels and vertically up and down, through the empty spaces in the grid structure to store or retrieve the storage boxes. With this structure, each box is directly accessible by the robotic vehicles, without the need to move other boxes other than the desired one.

A disadvantage of this technique is the need to place special corner notched rules, high manufacturing cost, at each corner of the voids.

However, the biggest disadvantage of this technique is that in the case of a problem with the robotic vehicle inside the empty vertical space, access is extremely difficult and the restoration certainly time-consuming and expensive.

In patents, US10822169, US11208264B2, US10472172B2 and US11305935B2 and application US2021/0229271A1, automated mobile robot order fulfillment systems are disclosed in storage arrangements, which follow the standard layout with racks arranged lengthwise and on either side (open of) corridors. In the racks there are vertically stacked storage spaces, which accommodate the storage boxes.

Particularly:

In patents: US10822169 , US11208264B2 the robots can "travel" at floor level to and from loading/receiving stations and climb the racks to pick up or place a storage box at the desired storage location. For the needs of climbing, a system is proposed that includes drive chains, placed vertically on the racks and chain gears on the robot. The robot disclosed in application US2021/0229271A1 in addition to the floor level, can also travel on levels parallel to it. For climbing, a technique is proposed with jagged rules placed vertically on the racks, gears on the robot.

A disadvantage of the proposal with the serrated rules is their use, due to their high cost.

The main disadvantage of these proposals is that when climbing on the vertical axis, that is, the one against which gravity moves, the entire volume of the robot is moved, including all the necessary mechanisms for its movement on the floor, climbing, but also feeding of energy, thus creating a significant weight as counterweight.

In patents US10472172B2 and US11305935B2, a storage facility is disclosed with an elevating robot and a ground robot cooperating to transport storage boxes within the facility. The lifting robots move independently of the ground robots, vertically and horizontally on the racks, accessing each storage location located to the right and left of the aisle, with a system that includes gears on the robot and racks arranged to the right - left and above each storage location . The robots carry the desired storage boxes to the ground robots or to intermediate locations, to be picked up by the ground robots. Ground robots move at floor level and transport storage boxes to and from loading/receiving stations and the storage facility. An advantage of the proposal is that the entire volume of a robotic vehicle does not move in the vertical axis that has gravity against it as in the previous two mentioned, but only what is necessary, with obvious results in energy consumption and speed.

A disadvantage of this proposal is the number, complexity and therefore cost of the toothed rules placed in the storage positions.

The major disadvantage of this proposal is that the lifting robots do not move from aisle to aisle, so their number in each aisle is static and does not change according to demand e.g. due to seasonality etc. Also minimum operation requires at least one lifting robot in each aisle, even if the products stored there are extremely slow moving.

Applicant has developed a new storage and retrieval system with a unique combination of features, not previously presented, which not only address the weaknesses of the prior art, but provide additional advantages and benefits.

BRIEF PRESENTATION OF THE INVENTION

The present invention relates. in an automated order fulfillment system, products stored in storage boxes (207) and consists. from:

storage boxes (207), racks (200) shelf guides (205)(206), climbing rails (500A)(500B), at least one loading/receiving station (105) and at least one autonomous self-guided robot vehicle (600).

The racks (200) are placed along and on either side of the aisles (700).

The shelf guides (205)(206) are placed vertically on the shelves (200) and form the positions (208) (shelves) where the boxes (207) are stored. The position of each product is determined by the aisle (560), the shelf (200), the height at which the shelf guides (205)(206) are placed and the storage box (207) is stored, and the position of the product in the box ( 207).

The robot (600) transports the boxes (207) from the racks (200) to the loading/receiving stations (105) and vice versa. Therefore the robot (600) must go to the aisle (560), to the shelf position (200), climb to the height where the box (207) is stored, load the box (207), descend to the level of the aisle , to go to the loading/receiving station (105) coc.

The present invention includes:

• At least one pair of racks (200) placed on either side of an aisle (700). The racks (200) follow the standard shape consisting of four vertical columns (201)(202)(203)(204), on which shelf guides (205)(206) are placed at various heights so that they can be stored on the guides them storage boxes (207) with different heights.

• "Climbing Rails" (500A) (500B) used in conjunction with a climbing mechanism (860A)(860B) , manufactured to be suitable for integration into racks (200).

• A robot (600) for transporting the boxes (207) which is divided into two autonomous vehicles.

The first vehicle (Autonomous Transport Vehicle hereafter A.O.M.) (700) carries on it, coupled, the second vehicle (800) and moves autonomously on the floor level.

The second vehicle (Climbing Vehicle hereinafter OA) (800) is detached, autonomous from the A.O.M. (700), when the former is in "rack position" (200) and using the "climbing rails" (500A)(500B) climbs up the rack (200). For the time that the OA (800) climbs, it is therefore detached from the A.O.M. (700), the A.O.M. (700) remains parked at the base of the shelf (200) and is connected to the charging contacts "[Charging Pads] (533) which are installed for this purpose at the bottom of the shelf (200), charging for the period of parking an array of super capacitors which we call main or primary (785), thus ensuring energy autonomy. When the OA (800) returns and lands on its base at the AOM (700), and while it is grounded, the two vehicles are connected electrically through a second pair of charging contacts [Charging Pads] (792), charging a second smaller (we call it secondary) array (893) of super capacitors installed in the OA (800) sourced from the super capacitors of the first vehicle (785), thus ensuring energy autonomy in the OA (800) for when it becomes autonomous.

Similarly, the procedure is applied where there is parking, e.g. loading/receiving stations (105).

the A.O.M. (600) consists of:

Drive Units (720A)(720B) which is the wheeled mechanism, with motors (721) to "travel" at floor level.

Parking spaces (740A) (740B) on which the O.A. (800) when the two vehicles are coupled.

Lifting mechanism (730A)(730B)(730C) which moves up, advancing the O.A. (800) to be connected to the "climbing rails" (500A)(500B) during take-off and remains capable of receiving O.A. (800) during descent and moves down, to drive the O.A. (800) in parking spaces (740A)(740B) upon landing.

Mechanisms with guides and motors (760A) (760B) for aligning the robot (600) on the runway (560) and aligning it with the climbing rails (500A)(500B).

Array of Super capacitors {main} (785) and power supplies.

Charging pins (776) and approach mechanism (770) of the charging contacts [charging pads] located on the racks

(200).

Charging Pads (792) for charging the O.A. (800) cooperating with the charging pins (892) located in the O.A. (800)

Computers, electronics, sensors, telecommunication equipment, cameras, etc.

the OA (800) consists of:

At least two Climbing Mechanisms (860A)(860B) incorporated in the O.A. (800) in various embodiments, for climbing the "climbing rails (500A)(500B). The Climbing Mechanisms (860A)(860B) cooperate with "Declination Absorption Mechanisms" (1010) to create a Climbing and Deviation Compensation device, capable of absorbs the small deviations in all directions observed in the distances between and within the racks (200) In parallel with a controller (fig. 60) (fig. 65-1) which will be shown, leveling of the Box Hosting Platform (820) is achieved automatically ).

Crate Hosting Platform (820) and Crate Storage/Retrieval Mechanism (840) (207)

Secondary Super capacitors (893) and power supplies.

The Charging Pins (892) for charging the secondary Super capacitors (893) which are coupled with the charging contacts [charging pads] (792) located A.O.M. (700).

Computers, electronics, sensors, telecommunication equipment, cameras, etc.

Advantages of the invention:

Application also in areas with low height.

Utilization of the entire height of the warehouse.

Dynamic exploitation of the robot fleet depending on where the needs are.

In the event of a robot failure, there is no "single point of failure".

Seamless operation in case of misalignment.

Immediate access and recovery in the event of a problem. Low cost lifting rails.

Dramatically lower (reduced) power consumption True 24/7 operation without interruptions for charging Higher climbing speed due to lower weight

Brief description of the plans.

Figure 1 shows an example of an automated warehouse.

Figure 2 shows the implementation of a shelf.

Figure 3 shows a pair of Shelf Guides.

Figures 4-1 and 4-2 show the Storage Box.

Figure 5 shows the climbing rail type A.

Figure 6 shows a detail of figure 5.

Figure 7 shows the B-type climbing rail.

Figure 8 shows a detail of Figure 7.

Figure 9 shows the top view of the Omega support.

Figure 10 shows the input guide of the Omega support.

Figure 11 shows the top view of the A-type climbing rail.

Figure 12 shows the top view of the B-type climbing rail.

Figure 13-1 shows the "side track guide" with infrastructure incorporating charging contacts.

Figure 13-2 shows the "side track guide" without infrastructure for charging contacts.

Figure 14 shows the "charging contacts".

Figure 15 shows a rack with type A climbing rails, with side guide and charging contacts.

In figure 16, a detail of the shelf in fig. 15 is presented in a three-dimensional illustration. Specifically, the lower part of the shelf with the side guide and the charging contacts.

Figure 17 shows the front view of the lower part of a type A rack.

Figure 18 shows the front view of the lower part of a type B shelf.

Figure 19 shows two racks in an aisle arrangement, with the robot in the aisle.

Figure 20 shows the top view of figure 19.

Figure 21 shows the arrangement of Figure 19, with the robot divided. The "autonomous transport vehicle" is at the base of the rack and the "climbing vehicle" is climbing.

Figure 22 shows the arrangement of Figure 19 in another perspective.

Figure 23 shows the robot with the orientation and scale of drawing 22.

Figures 24 and 25 show the robot in two perspectives.

Figure 26 shows the robot with the 'autonomous transport vehicle' parked in a rack position and the 'climbing vehicle' climbing, with only the parts of the racking involved in the climbing visible.

Figures 27 and 28 show an "autonomous transport vehicle" (A.O.M.) in two perspectives.

Figure 29 shows the top view of the drive unit of the A.O.M.

Figure 30 shows a section of the drive unit of the A.O.M.

Figures 31 and 32 show the drive unit of the A.O.M. in two different angles.

Figure 33-1 shows the top view of the A.O.M. with references to Alignment Mechanisms and Charging Contact Approach Mechanism.

Figure 33-2 shows a detail of figure 33-1 illustrating the Charging Contact Approach mechanism.

Figure 33-3 shows the top view of the A.O.M. with the mechanisms for aligning and approaching the loading contacts in extension.

Figures 34-1 and 34-2 show the "lifting mechanisms".

Figure 35-1 shows the "lifting end" of the "lifting mechanisms".

Figure 35-2 shows a cross-section of the "lifting edge".

Figure 36 shows the retaining ring.

Figure 37 shows in section a "lifting tip" inside a "retaining ring".

Figure 38-1 shows the type B "parking / landing position".

Figure 38-2 shows the type A "parking / landing position".

Figure 39 shows the "climbing vehicle" (OA).

Figures 40,41,42,43 show the climbing vehicle in various views.

Figures 44 and 45 show a "pair of climbing mechanisms" at two different angles.

Figures 46-1, 46-2, 46-3 show the type B climbing mechanism at different angles.

Figure 47 shows the type A climbing mechanism.

Figure 48 shows the frame of the type B climbing mechanism.

Figure 49-1 shows a menu assembly climbing gear implementation.

Figure 49-2 shows the "cylindrical support member" of the "climbing gear".

Figure 49-3 shows the chain of the presented implementation, in a loop.

Figures 49-4 and 49-5 show the "climbing gear" in section.

Figure 50-1 shows a top view of a Type A "climbing mechanism" on a column with Type A climbing rails.

Figure 50-2 shows a section of Figure 50-1.

Figure 51 shows a detail of Figure 50-2. In particular, the figure shows the application of the "climbing gear" to the toothed rule of the climbing rail.

Figure 52 shows an embodiment of a "deviation absorption mechanism".

Figures 53-1 and 53-2 show a ball joint.

Figure 54-1 shows the "difference absorption mechanism" shown in Figure 52 in a horizontal installation.

Figure 54-2 shows with a simplified symbol the installation of the mechanism shown in figure 54-1.

Figure 55-1 shows in a transverse installation the "difference absorption mechanism" of figure 52.

Figure 55-2 shows with a simplified symbol the installation of the mechanism shown in figure 55-1.

Figure 56-1 shows a top view of the "difference absorption mechanism" of Figure 52.

Figure 56-2 shows with a simplified symbol the installation of the mechanism shown in figure 56-1.

Figure 57 shows in a simplified symbolic form the four columns of the corridor, as shown in figures 19 and 20.

Figure 58-1 shows the model of the climbing and offset compensation arrangement with two climbing mechanisms, without installation offsets.

Figure 58-2 shows the model of the climbing and offset compensation arrangement with two climbing mechanisms, with deviations in the installation.

Figure 59 shows the model of the climbing and deviation compensating device with two climbing mechanisms, with deviations in height.

Figure 60 shows the device's automatic leveling controller with its two climbing mechanisms.

Figure 61-1 shows a linear guide.

Figure 61-2 shows the linear guide of Figure 61-1 with a simplified symbol.

A rotary joint with one degree of freedom is shown in Figure 62-1.

Figure 62-2 shows a simplified symbol of the rotary joint of Figure 62-1.

A rotary joint with two degrees of freedom is shown in Figure 63-1.

Figure 63-2 shows a simplified symbol for the rotary joint of Figure 63-1.

Figure 64-1 shows a spherical joint with three degrees of freedom.

Figure 65-1 shows the model of the climbing and offset compensator with four climbing mechanisms, without installation offsets.

Figure 65-2 shows the model of the climbing and offset compensation arrangement with four climbing mechanisms, with deviations in the installation.

Figure 66 shows an embodiment of a climbing and deviation compensation arrangement with four climbing mechanisms.

Figures 67-1, 67-2, 67-3 show the arrangement of figure 66 in various views.

Figure 68 shows the auto-leveling controller with four climbing mechanisms.

Figure 69-1 shows a top view of a part of the robot lined up with a rack column at the end of the approach phase.

Figure 69-2 shows a section of Figure 69-1.

Figure 70-1 shows a top view of a part of the robot aligned with the column of a rack at the end of the approach phase.

Figure 70-2 shows a section of Figure 70-1.

Figure 70.3 shows a section of Figure 70-2 at an angle so that some parts are visible.

Figure 71-1 shows a top view of a part of the robot aligned with the column of a rack, in the take-off / landing phase.

Figure 71-2 shows a section of Figure 71-1.

Figure 72-1 shows a top view of a part of the robot aligned with the column of a rack, in the take-off / landing phase.

Figure 72-2 shows a section of Figure 72-1.

Figures 73-1,73-2,74-1,74-2,75-1,75-2 show the function of the "side guides" of the parking spaces and the "entry guides" of the toothed rule.

Figure 76 shows the front view of the climbing mechanism and associated "rack column" in the Takeoff-Landing phase when there are deviations in the installation.

Figures 77-1 show the side view of the "climbing mechanism" and the associated "rack column" in the Take-off-landing phase, when there are deviations in the installation.

Figure 77-2 shows a section of 77-1.

Figure 78-1 shows a side view of the climbing mechanism and associated "rack column" at the start of the climbing phase.

Figure 78-2 shows a section of 78-1.

Figure 79-1 shows the "storage/retrieval mechanism" in three dimensions.

Figures 79-2 and 79-3 show two parts of the mechanism in detail.

Figure 80 shows the "storage/retrieval mechanism" installed on the "box hosting platform" in front view.

Figure 81 shows the movable part of the "storage/retrieval mechanism".

Figures 82-1 and 82-2 show the frames of the "storage/retrieval mechanism".

Figure 83 shows the two-sided gripper of the "storage/retrieval mechanism".

Figures 84-1, 84-2, 84-3, 84-4 show the steps in the process of retrieving a box from a type A rack.

Figures 85-1, 85-2, 85-3 show the positions of the "storage/retrieval mechanism" and the style of "box hosting platform" with respect to time for the cases of storage and retrieval in Type A racking and type B rack.

Description of the invention

Glossary

For purposes of description and understanding, when the Climbing Vehicle (AVR) (800) is parked on the Autonomous Vehicle (ARV) (700) we call the assembly Robot (600). Otherwise, when the O.A. (800) is detached, we refer to the two vehicles separately as A.O.M. (700) and O.A. (800).

When reference is made to "Rack Position" or "Rack base" it refers to the position where the robot must park, in order to be able to climb the OA. (800) and the charging of A.O.M. (700).

Phases

The robot's behavior includes 8 distinct phases.

Phase 1, journey:

In this phase the robot (600) knows where it needs to go, from the relevant communication it has with the control center and travels to that location.

Phase 2, Outreach:

If the destination is a rack (200), a loading/receiving station (105) equipped with charging contacts (optional), or a charging point (optional), then this phase exists, in which the robot (600) accurately approaches the desired location , using, when and where necessary, alignment mechanisms (760A) (760B). It is then connected to the charging contacts (533) located at fixed points on the racks (200). We note that when external charging points are installed or there are charging points installed at loading/receiving stations, then an infrastructure similar to the bottom of the rack is installed there.

Phase 3, Takeoff:

The robot (600) from phase 2 has accurately parked at the desired rack (200) location at floor level (Rack Position). Here the Lifting Mechanisms (730A) (730B) (730C) take over to detach the O.A. (800) and advance it to the climbing rails (500A-1) (500B-2) or (500A-2) (500B- 1). At the end of this phase the OA (800) has been detached from the AOM (700) and has been "connected" to the climbing rails (500A-1) (500B-2) or (500A-2 ) (500B-1).

Phase 4, Climbing:

At this stage, A.O.M. (600) remains parked at the base of the rack (200) and charges. The O.A. (800) climbs to the height the transport box (207) is stored. Phase 5, Save/Retrieve:

The Storage / Retrieval Mechanism (840) deposits or picks up the Transport Box (207) from the Shelf Guides (205) (206) installed in the rack (200) (shelves) (208) and transports it to the Hospitality Platform (820). of O.A. (800) It is noted that the Storage / Retrieval Mechanism (840) has access to the racks (200) located to the left and right of the O.A. (800) (ie of runway (700)). The O.A. (800) knows, apart from the height, the shelf (200) (i.e. on which of the two, the left or the right) where the Box (207) is stored.

In the case where a save is made in this phase, then with a command from the control center it is possible to pass to phase 4, so that it climbs to a position (208) where it will make a recovery and so on.

Phase 6, Downhill:

The O.A. (800) when he completes phase 5 he takes the path of descent and returns to A.O.M. (700)

Phase 7, Landing:

At this stage, the O.A. (800) leaves the climbing rails (500A-1) (500B-2) or (500A-2) (500B-1) and lands on the lifting mechanisms (730A)(730B)(730C) of the A.O.M. . (700). They pick it up and drive it to the Parking spaces (740A) (740B) located in the A.O.M. (700) The robot (600) is now ready to enter the Travel phase. Phase 7, Waiting:

This is the phase where the robot (600) having no work to perform, is waiting and charging. This phase follows in any case phase 2 so that the robot is in a position where it can charge.

The following tables show the phases, the status of each vehicle for each phase, the participating units per vehicle and phase, and the related actions.

An implementation with reference to the plans is presented below.

STORAGE STRUCTURE

Figure 1 shows an example of a warehouse (101) with two storage structures (102-1), (102-2), eight robots, six moving on the floor (600) and two in the process of storing/picking with A.O. .M. (700) parked and the O.A. (800) mounted on racks (800), and two loading/receiving stations (105).

The storage structure consists of racks (200) having installed climbing rails (500A)(500B). Depending on the type of climbing rail (A or B) that the rack has, then it is type A (550A) or type B (550B).

The racks (200) per type (A or B) are arranged in the same orientation in the row {in the Z axis}, thus creating rows of type A (552A) and rows of type B (552B). In this example, each row consists of 10 racks (200).

The rows are arranged parallel to each other in pairs of types B-A with a certain empty space between them, which constitutes the corridor (560). These pairs are repeated on the X axis, creating in the presented example six corridors.

In the racks (200), in the storage positions (208), the storage boxes (207) are stored vertically. Access to them is possible from the corridors (560).

Robots (600) move through the space carrying boxes (207) to and from loading/receiving stations (S.F.P.) (105) and storage locations (208). To store/retrieve the boxes (207) the robots (600) enter the aisles (560), move along them approaching the rack (200). In the position of the desired shelf (200) the robot (600) is parked. There the O.A. (800) detaches from the robot (600) and climbs to the storage location (208), collects (or stores) the box (207) and returns to the robot (600). The A.O.M. (700) as long as O.A. (800) is detached, remaining in the base where it charges opportunistically. In the example shown there are two identical storage structures (102-1,102-2) repeated in the Z-axis, with a gap between them (561), which exists for the movement of the robot (600) outside the storage structures.

RACKS and CLIMBING RAILS

Figure 2 shows a typical form of shelving (200) consisting of four columns (201), (202), (203), (204), crossbars (210), (211), (212), (213) for the structural connection of the columns, shelf guides (205), (206) placed on the racks (200) that make up the storage positions (208) and storage boxes (207).

Figure 3 shows a pair of shelf guides (shelf) the one on the left side (205) and the one on the right (206).

Figures 4-1 and 4-2 show an exemplary embodiment with a storage box (207). Symmetrically on the long sides of the storage box, at a specified height, four "pickup rollers" (207-1) protrude which are used to pick up and hold the box by the robot.

The boxes (207) are placed and retrieved from the side between the columns (201) and (202). Thus we define as the left side that which is located looking to the left from the storage/retrieval position, i.e. the columns (201,204) and the shelf guides (205) and the right side, the columns (202,203) and the shelf guides (206).

Figures 5,6,10,11 show a climbing rail type A (500A). The rail includes a "toothed rule" (510A) and an "Omega bracket" (501). The top view of the Omega support (501) is shown in figure 9. The toothed rule (510A) (510B) is screwed to the upper part (502) of the Omega support, while its feet (503) are screwed to the shelf column (201)(202) )(203)(204) so that the climbing rail (500A) (500B) is incorporated therein. At the bottom of the rail (500A) (500B), where the "climbing mechanism" (860A) (860B) of the O.A. (800), the "Omega Support Inlet Guide (Z)" (505) and the "Inlet Guides" of the toothed rule A inward (512), outward (511) are provided. Their detailed operation will be described below.

Similarly, figures 7,8,12 show a B-type climbing rail (500B) with the toothed rule (510B) and the "toothed rule B entry guides inside (515), outside (514)

Figures 15,16,17 show a rack (200) with climbing rails type A (500A-1), (500A-2) called rack type A (550A). On Type A racks the "teeth" of the toothed rule (513) are on the left side of the rule as it is mounted on the rack. At the bottom of the type A rack is placed the "side track guide" (531) in figure 13-1, with the "loading contacts" (533) in figure 14.

Figure 18 shows a rack (200) with B-type climbing rails (500B-1), (500B-2) called B-type rack (550B). On Type B racks the "teeth" of the toothed rule (516) are on the right side of the rule as it is mounted on the rack. At the bottom of the type B rack is placed the "side aisle guide" (534)

The "side aisle guides" (531), (534) are also used to align the robot (600) on the aisle (560), as will be described below.

Figures 19 and 20 show two racks, one type A (550A) and one type B (550B), placed on either side of an aisle (560). A robot is parked between the racks (600)

THE ROBOT

Figure 21 shows the robot divided into A.O.M. and O.A., in the Storage / Recovery phase. The A.O.M. (700) is parked on the base and the climbing vehicle (800) (self-contained), in the storage position (208) of the 6th storage box.

Figure 22 shows the content of figure 19 in another angle and figure 23 shows the robot with the same orientation and the scale of figure 22.

Figures 24 and 25 show the robot loaded with a storage box at different angles,

Figure 26 shows a robot embodiment (600) with A.O.M. (700) and O.A. (800) two Climbing Mechanisms (860A) (860B), in Climbing phase. Only the parts of the rack that participate in climbing (500B-1) and (500A-2) and loading (531) are shown in the figure.

AUTONOMOUS TRANSPORT VEHICLE [A.O.M.]

Figures 27 and 28 show the A.O.M. of figure 19. In this embodiment the vehicle is equipped with 4 omnidirectional mecanum wheels so that it can travel on the floor in any direction. Each wheel is connected to an independent motor (721). The drive system is divided into two drive units (720A) and (720B) and each unit includes two wheels (725) and the corresponding motors (721). (720B) is firmly attached to the frame of the A.O.M. (710). The second drive unit (720A) is connected by a shaft (729) through a bearing block (711) to the frame of the A.O.M. (710), allowing a small angular movement between the two drive units, thus ensuring that all four wheels will tread on the floor, even when there are small irregularities in it.

In the context of A.O.M. (710) are installed two electrically extending mechanisms that move synchronously and oppositely, for aligning (centering) the robot (600) on the runway (560), one on each side (760A), (760B).

On top of (760A) is the "charge contacts approach mechanism" (770) located on shelf (533) in Figure 15 and moving with (760A).

In the context of A.O.M. (710) are also installed two auxiliary mechanisms (750A, 750B) electrically extending, which move synchronously and opposite to them as well.

For the parking lot of O.A. (800) at A.O.M. (700) are two "Parking Spaces" (740A), (740B). These positions also in the lifting phase to facilitate the entry of the OA (800) into the climbing rails (500A)(500B). Accordingly, they are also used in the landing phase.

For the take-off and landing of the OA (800) there are three "lifting mechanisms" (730A), (730B), (730C). Who during the lifting phase receive the O.A. (800) from the "parking spaces" (740A)(740B) and lead it to the climbing rails (500A)(500B) . Accordingly, they receive the O.A. (800) during the landing phase and deposit it in the "parking positions" (500A)(500B).

For charging the O.A. (800) they are permanently placed on the A.O.M. (700) the "charge contacts" (792), which make electrical contact with the charging pins of the O.A. (892) , when this is grounded.

In A.O.M. (700) also houses the electronics box (790), the antenna (791) and the main Super Capacitors (785).

A.O.M. Drive Units

Figures 29, 30, 31, 32 show an embodiment of the drive units (720A) and (720B). In section A-A of figure 30, the motor (721), the toothed pulleys [pulleys] (722), (724) and the toothed belt, which transmit the movement through the shafts (726), to the wheels (725), are shown. The wheel axles are supported by two bearings (727).

Figure 32 shows the shaft (729) of the drive unit (720A).

Alignment A.O.M

Figures 33-1, 33-2, 33-3 show details of the alignment mechanisms (760A), (760B) of the auxiliary mechanisms (750A), (750B).

The two alignment mechanisms (760A), (760B) are mirrors. In the following description, to avoid repetition, we will describe the mechanism by replacing A and B with the letter

n.

The mechanisms consist of two wheels (769n-1), (769n-2) fixed on a metal frame (766n). The metal frame (766n) is screwed to the linear bearings of the linear guides (767n-1) and (767n-2), and the rails of the linear guides are fixed on the frame of the A.O.M. (710), so that the casters can move in and out of the frame (710).

The motor (761) is the one that drives the alignment mechanisms (766A), (766B). The conversion of the rotary motion of the motor (761) into two synchronous opposite linear motions is achieved by the use of a bidirectional leadscrew (764). The bilateral cochlea is essentially split in two, with two threads. On one side the thread is clockwise (764A) and on the other side the thread is counter-clockwise (764B). A nut is screwed into each thread, connected to one end of an arm (765A), (765B). The other end of the arm (764) is connected to the metal frame (766A), (766B). Thus, when the double-sided screw is rotated, the frame with wheels (769n-1) and (769n-2) moves in - out, depending on the direction of rotation.

The screw is mounted on two bearings (763-1), (763-2), which are firmly screwed to the frame.

The connection of the motor (761) to the double-sided trapezoidal screw (764) includes a toothed pulley (762-1) attached to the motor shaft, a second toothed pulley (762-3) attached to one end of the screw, and a toothed belt ( 762-2) that connects the two pulleys.

The auxiliary mechanisms (750A), (750B) are also driven by the same method. These mechanisms move in and out of the framework of the A.O.M. (710) one wheel on each side (759A) and (759B). The mechanisms consist of the wheels (759A) and (759B), the metal frames (756A) and (756B) and the linear guides (757A), (757B).

Mechanism drive includes: motor (751), toothed pulleys (752-1), (752-3), toothed belt (752-2), double-sided trapezoidal screw (754), screw bearings (753 -1), (753-2) and the nuts with the connected arms (755A), (755B).

When the robot is in the travel phase and moves on a corridor (560), the alignment mechanisms (760A), (760B) are at such an extent that their wheels (769A-1), (769A-2) and (769B-1 ), (769B-2) is in a position that limits the robot's movement, ensuring that its parts will not collide with the racks and climbing rails. When the robot is in the approach phase, then the mechanisms (760A), (760B) extend to contact the "side track guides" (531), (534) and center the robot (600) with respect to the corridor (560).

A.O.M. Charging Contact Approach Mechanism

Figure 33-2 shows details of the "charging contact approach mechanism" (770). To connect to the charging contacts located on the racks, a small outward movement is required and to disconnect it, the reverse movement. This movement is achieved with the linear motor (771). In this type of motor its shaft is permanently connected to a trapezoidal screw (772), which rotates with the shaft. A nut (773) is screwed onto the trapezoidal screw, connected to a metal platform (774). On the metal platform (774) are fixed the loading pins (776) and the linear bearings of the two linear guides (775-1), (775-2). The motor and linear guide rails are firmly bolted to the metal frame (766A) of the alignment mechanism (760A). Therefore the rotational movement of the motor results in the movement of the charging pins in - out, relative to the alignment mechanism (760A).

Figure 33-3 shows the mechanisms (750A), (750B), (760A) and (760B) in two positions, the first with the mechanisms and their wheels inside the frame of the A.O.M. (710) and the second with their mechanisms and wheels in extension.

A.O.M. Lifting Mechanisms

Figures 34-1, 34-2 show one way of constructing the lifting mechanisms (730A), (730B) and (730C). The three mechanisms are independent and constructed in the same way. (730A) and (730C) are exactly the same, while (730B) differs in motor orientation.

The frame (733) of the mechanism is screwed to the frame of the A.O.M. (710) in figure 28. The linear guides (738-1), (738-2) and the motor (731) are supported on the mechanism frame (733). The drive from the motor (731) is transmitted by the toothed pulley (732-1), the toothed belt (732-2) and the pulley (732-3), to the trapezoidal screw (735). The trapezoidal screw rests on two bearings (734-1), (734-2), which are fixed in the frame of the mechanism. To the screw is screwed the nut, which is part of a block (736) and includes the linear bearings of the linear guides (738-1) and (738-2) and a bracket, to which the "lifting end" (737) is screwed ), which is the spherical lifting point of the [Ball Roller] mechanism. Thus the rotational movement of the motor causes the "lifting tip" to move up and down.

Figures 35-1 and 35-2 show the "lifting edge". In particular, Figure 35-2 shows how this is constructed. The ball which formed the end of (737-3) rests on small ball bearings (737-2), inside the body (737-1). The consequence of this is that there is a small coefficient of friction in the rotation of the ball. The small coefficient of friction allows any solid body to slide against the ball with minimal force. Also, the smooth rotation of the sphere allows the direction of the sphere to be changed, in any direction.

A "retaining ring" (825) is shown in Figure 36. The ring is made of material with a low coefficient of friction, e.g. Teflon. Each ring cooperates with a lifting end. At the four corners of the ring there are holes for its support. In its center there is a cylindrical recess (825-1), in which the lifting end nests. Figure 37 shows a sectional view of a retaining ring (825) installed on a component of the O.A. (820) and a lifting end (737) installed in the lifting mechanism (736) of the A.O.M. (700). The lifting end appears to be nested in the bushing. The diameter of the lifting end (737-4) is smaller than the diameter of the cylindrical recess of the ring, enabling the O.A. (800) to move laterally, as much as the difference of the two diameters in total, or else, as much as half the difference of the diameters circumferentially from the center. At the same time, O.A. was held. (800), not allowing it to detach laterally. The existence of more than one pair of "lifting tip" - "ring

restraint", prohibits the rotation of the O.A. (800) in relation to A.O.M. (700) beyond the permitted tolerances, resulting from the difference in the diameters and the positions of the rings.

Three rings are installed in the O.A. (800) that cooperate with the three lifting mechanisms of the A.O.M. (700) , in places that facilitate the lifting of the O.A. (800)

Figure 38-1 shows the parking position (740B). The longitudinal guide of (746), the sides of the parking area of the driver (746-1). The sides of the preparation area (746-3), the transition guides (746-2) and the entrance - exit guides of the position (746-4). The side guide ( 747 ), the inner side guide ( 748 ) and the outer side guide ( 749 ) are also distinguished.

Accordingly, Figure 38-2 shows parking space 740A. The longitudinal guide of (742), the sides of the parking area of the driver (742-1).

The sides of the preparation area (742-3), the transition guides (742-2) and the entrance - exit guides of the position (742-4). Side guide (743), inner side guide (744) and outer side guide (745) are also distinguished.

CLIMBING VEHICLE [O.A.]

Figures 39, 40, 41, 42 and 43 show the O.A. (800). In particular, figure 39 shows the "climbing mechanisms" (860A), (860B) (two in this embodiment, below we will present an embodiment with four climbing mechanisms), the "frame" of the O.A. (800) integrated with the "box hosting platform" (820), the "Storage/Retrieval" mechanism (840), the "Charging Pins" (892), the secondary Super Capacitors arrays (893), the electronics of O .A. (890) and the antenna of O.A. (891).

Figure 40 also shows two of the three "deviation absorption mechanisms" (1010A), (1010B-2), the "climbing gear" (875B) which is part of the climbing mechanism (860B), as well as the inclinometer sensor (826), which is positioned at the bottom of the "accommodation platform" (820) and is used in conjunction with the "climbing mechanisms" (860A) (860B), to level the platform (820). Figure 42 also shows the "retaining rings" (825A), (825B) and (825C) in which the "lifting ends" of the climbing mechanisms of the A.O.M. "nest". (737A), (737B), (737C) in figures 27, 28, 34-1, 34-2, 35-1 and keep "secured" the O.A. in A.O.M.

Climbing Mechanism (M.A.)

Figures 44 and 45 show at different angles the pair of "climbing mechanisms" (860A), (860B) of the described embodiment and the "displacement absorption mechanisms" (1010A), (1010B-1), (1010B-2), installed in climbing mechanisms.

Figures 46-1, 46-2, 46-3 show the "climbing mechanism type B" (860B) in detail, at various angles, so that all the parts of interest are visible. Figure 47 shows the "type A climbing mechanism". The two mechanisms are a mirror - to each other - implementation, i.e. one is a "mirror" of the other.

In the frame of the climbing mechanism (880) the MA arm is connected. (861A) or (861B), which is an extension of the mechanism and to which the Box Hosting Platform (820) is connected

Engine - Transmission

We point out that when we refer to motors in the text, then this also includes optical encoders, to control their position.

The engine of M.A. (862) is screwed (fastened) to the frame of the MA. (880A) (880B). In the framework of the M.A. (880) the bearings (864-1) and (864-2) are also screwed. The bearing centers are concentric with the motor shaft (862-1). The motor shaft is extended through a coupler (863-1) to the MA drive shaft (spindle). (863), which is fixed to the bearings (864-1) and (864-2). The coupler (863-1), in addition to the connection it makes, is also used to absorb the deviations between the two axles. At the other end of the shaft is connected the climbing gear (875), which through the shaft, rotates controlled by the motor (862).

Also attached to the shaft (863) is the hub of a conventional electromagnetic brake (865), which rotates with the shaft, the brake body being bolted to the frame of the mechanism (880A) (880B) so that, on demand, malfunction, lack of voltage, etc. the brake to block the rotation of the shaft, preventing the uncontrolled descent (fall) from the climbing rails.

The climbing gear (875) consists of a cylindrical support member (8760) and a conventional drive chain, preferably self-lubricated or oilless, fitted and integrally connected thereto (8770). By using the conventional chain, it is possible to create a component (gear) with high reliability, tested durability and simple assembly, at a particularly low cost. The wide range of chain types available, as well as the multitude of chain manufacturers, provides the flexibility of custom-tailored gear design, with the critical ('problem') part tested, given specifications and tests.

The "climbing rail" - "climbing gear" pair is in a sense an inverted conventional drive system, with a "drive chain" and a "chain gear" [sprocket].

The profile of the teeth of the climbing rail (513) fig. 6 and (516) fig.

8 follows the geometry of "chain gears", an "unfolded" straight ie circular chain gear.

The "climbing gear" is created by a chain in a loop, forming a polygon. The chain is - via at least one connecting pin - integrally connected to a "cylindrical support member". The inner sides of the polygon formed by the chain describe (from the outlined polygon) the inner cylinder of the component (inscribed circle), which is connected to a shaft rotated by a motor.

Figure 49-1 shows one embodiment of an assembled climbing gear.

Figure 49-2 shows the “support cylinder” (8760). The part consists of a cylinder (8760-3) located between two flanges (8760-1) and (8760-2). The diameter of the cylinder is smaller than the diameter of the flanges and equal to the diameter of the inscribed circle (8760-6D), obtained from the inner sides of the polygon (8773), when the inner side of the chain is practically exactly in contact with the cylinder. The flanges have through holes, the same number as the chain pins. We number in the figure only the first and the last (8761-2) and (8761-n). Hole locations are at a radius from the center (8762D) and with an angle between them determined by the chain. Also visible is a pin (8780-1)

Figure 49-3 shows the chain of the presented implementation (8770), in a loop. The figure shows the chain cylinders ((we number only the first (8771-1) and the last (8771-n)), as well as the chain pins, respectively (8772-1) and (8772-n). also the inscribed circle (8760-6D) and pin (8780-1), in the position of figure 49-2.An embodiment of the integral connection of the cylinder and chain, is achieved by replacing the chain pin, located in the position (8772-1) with (8780-1), which is at least as long as the style (8760-1) fig. 49-4 of the cylindrical fitting. In this case the pin is fixed to the upper and lower flanges, penetrating the chain, closing in it the loop and thus connecting cylinder and chain inseparably.Similarly, another embodiment of an inseparable connection is achieved by replacing more than one pin, even all of them.

The figures also show the hub (8760-4) of the cylindrical support part (8760-3), in which the "MA drive shaft" nests. (863) and the keyway (8760-5) in which the shaft is secured with a keyway.

Figures 49-4 and 49-5 show the above in section, for the sake of understanding.

Movement of O.A. on the Climbing Lines

M.A. (860A) (860B) to move accurately and repeatably on the climbing rails (500A)(500B) (Y axis), it must touch and slide parallel to them. Specifically, with the Omega support on the longitudinal axis of the rail [longitudinal] (Y) and with the toothed rule on its lateral axis [lateral] (Z). Also, the whole construction must exclude the rotation of the OA, facilitate the entry and exit of the MAs. to and from the rails and to guarantee the safe connection of the M.A. and the rails, as long as they are (as long as the OA is) on the rails.

In the section shown in figure 50-2, the Omega bracket (501) is shown with the longitudinal alignment wheels (882-2), (882-4), (882-6) (outside) and (882-1), (882-3), (882-5) (inside), to touch the sides (504-1), (504-2) (in figure 9) of the support Ω (501). Alignment with the Omega bracket requires 3 wheels, 2 on one side and one in the middle of the two on the other. The remaining 3 are used for auxiliary purposes. The wheels of one side are spaced internally from the wheels of the other side (882-W) fig. 46-2, as much as the distance of the two sides of the support Ω (504-W) in fig. 9, plus a small tolerance. In the same figure, the outer lateral wheels (881-1) and (881-3) located on the visible side and with a dotted line can be distinguished, the inner lateral wheels (881-2) and (881-4) located on the other side (back ) side - not visible - of the serrated rule (510 A). Also in figure 50-1 in which the section was drawn, (881-1) and (881-2) can be seen on either side of the serrated rule (510A). The distance between them (881-W) is the thickness of the toothed rule, plus a small tolerance.

The longitudinal wheels keep the MA bound. on the support Ω and ensure a constant distance between the "climbing gear" and the "toothed rule" (consequently between the rollers of the gear and the rule), so that throughout the entire length of the movement and regardless of the weight of the load, the correct between their application. They also hold the mechanism perpendicular to the support Ω and given the vertical placement of the climbing rail in the X-Z floor plane, parallel to the Z-axis. In Figure 50-1 and the detail in Figure 50-2, the application of the gear can be seen with its chain rollers on the canon. To make the participating sections visible, a rectangular section (8774) has been removed from the MA frame. (880A) and the gear flange.

Side castors keep MA bound. on the toothed rule, ensuring that the rule is parallel to the gear and fits in its center. They also keep M.A. parallel to the X-axis. So overall, longitudinal and lateral castors allow movement of the mechanism along the entire length of the rail and keep the mechanism parallel to the floor (X-Z plane).

Absorption of Deviations

To climb the described implementation with two M.A. the two opposite climbing rails, located on either side of the runway (500A-2), (500B-1) or (500A-1), (500B-2), in figure 19, participate.

For the successful and smooth operation of the climb, it is necessary: i) The distance between the racks on either side of the runway is exactly the prescribed (X-axis distance) ii) The sides of the supports Ω of the pair of climbing rails, which are opposite and on either side of the runway, to be in the same straight line (axis Z)

iii) The rails should be parallel to each other (Y axis).

iv) The rails should be vertical to the floor (X-Y plane).

n) The rails must be exactly the same style (Y).

Deviation in (i) and (ii) means that the OA(800) will fail to climb, or if the deviation is relatively small, it will perform marginally. That is, sometimes it will succeed and sometimes not, sometimes it will have blockages and in general it will show an unstable behavior. Deviation in (iii) or (iv) means that the O.A. (800) will "block" at some height. Deviation in (n) means that the "box hosting platform" will not be parallel to the X-axis, and thus to the shelves.

At the sizes of possible implementations it is practically impossible to maintain such accuracies in manufacturing and installation, without the cost being extremely high and the installation time being extremely long. For this reason, a Deviation Compensation provision has been provided.

Figures 52 to 57 show the structural elements of the shock absorption mechanisms, together with the equivalent simplified symbols of these elements, which are used below to explain the operation of the device.

Figure 52 shows the "Discrepancy Absorption Mechanism" (1010). The mechanism consists of the rails of the linear guides (1011), which are the fixed part of the mechanism and its mobile part, which includes the bearings of the linear guides (carriage) (1012), the metal plate (1013) that connects the two carriage between them and a ball joint (1015) connected to the metal plate.

The two linear guides are parallel. The carriages have the freedom to move along with the ball joint, on the guide rails. The point where the carriages are in the center of the guides is called the zero point of the mechanism. The ball joint has three rotational degrees of freedom, between two connected components (3rDoF). The two components are free to rotate relative to each other in all three axes. Figure 53-1 and 53-2 show how the joint is constructed. One part is attached with a screw to the thread (1016) of the joint, the second part is attached to the head of the joint (1017). The two parts are connected to each other by a ball (1018), which allows rotation between them in all 3 axes.

Figure 54-1 shows the Mechanism in side view, installed so that the movement of the carriages is on the horizontal axis. Figure 54-2 shows the simplified symbol for 54-1.

Figure 55-1 shows the Mechanism in front view, installed so that the movement of the carriages is transverse to the horizontal axis. Figure 55-2 shows the simplified symbol for 55-1.

Figure 56-1 shows the Mechanism in top view. Figure 56-2 shows the simplified symbol for 56-1.

Figure 57 shows in a simplified symbolic form the four columns, two on the right (540A-2), (540A-1) and two on the left (540B-1), (540B-2) of the corridor, as shown in figures 19 and 20.

The figure shows the symbols for columns (201), (202) of the climbing rails (500A-1), (500A-2), (500B-1), (500B-2) and the teeth of the toothed rules.

Figure 58-1 shows the four columns in the simplified symbolic form of Figure 57, also M.A. (860B) on side B, M.A. (860A) on side A. We also distinguish in symbolic form the motors of the mechanisms (862), their gears (875) and their arms (861A) and (861B). In the Arm (861A) the deviation absorption mechanism (1010A) is installed and in the arm (861B) the deviation absorption mechanisms (1010B-1) and (1010B-2). As shown in the figure, the mobile part of (1010B-1) and (1010B-2) can move right-left from the line (X0), which is the zero point of the mechanisms. Accordingly, the movable part of (1010A) can be moved up and down the line (Z0), which is the zero point of this mechanism. We also distinguish the box hosting platform (820), to which the joint heads of the mechanisms (1017) of fig. 53-1 are connected. Therefore, if we move mechanism (860A) away from mechanism (860B) on the X axis, then there will be a corresponding displacement of the movable part of (1010B-1) and (1010B-2). If we move the mechanism (860A) in the Z axis, there will be a corresponding displacement ((with opposite sign from the zero point, because the fixed part of the guide moves) in the movable part (1010A).

We also distinguish the straight lines (XB) and (XA), which are the intended installation positions of the climbing rails, so that the prescribed distance is respected. In the case shown in figure 58-1 there are no deviations, so no correction is made. On the contrary, in the case presented in figure 58-2 there are deviations in both axes. In particular, as shown in the figure, the pillar (540A-2) on the X axis is installed at the position (XRA), which is to the right of the intended straight line, at a distance greater than the intended, by (eX). To compensate for this difference, there is a displacement of the mobile part of the deviation absorption mechanisms (1010B-1) and (1010B-2) by (dX) equal to (eX).

With the presented technique, the deviations are compensated dynamically, throughout the range of motion of the OA. on the climbing rails. The cases where the climbing rails are not parallel to each other, not perpendicular to the floor, etc. are also treated in this way, with the only condition that the maximum deviation resulting from the construction of the deviation absorption mechanisms is not exceeded.

Figure 59 shows the case of height difference of the two climbing rails (540B-1), (540A-2). We note that if the ball joints did not exist, the height difference would result in severe strain on the box hosting platform and the OA. in general, even reaching the destruction of parts of the OA, if the difference was large. Even with small deviations, however, there is a serious burden on the climbing mechanisms, due to the forces caused by the distortion, with visible results in accuracy and speed.

As shown in figure 59, a difference in height (eY1) will result in the box hosting platform forming an angle (φ1) with respect to the X axis. In the right triangle (AOB) (O = 90°) the side (AB ) is equal to the projected X-axis distance between mechanisms. But due to the height difference, the distance between the mechanisms on the X axis is equal to the vertical side (OB) (certainly less than the predicted one, because the predicted one is the hypotenuse of the triangle), causing a displacement of the movable part of the deviation absorption mechanisms (1010B -1) and (1010B-2) by (e2X) from the zero point of the mechanisms. Therefore in the presented case, the ball joints of the mechanisms allow the hosting platform to be at an angle, in relation to the MAs, without distorting parts of the OA. and the part of the linear guides of the absorption mechanisms dynamically compensates for the resulting (trigonometric) differences due to the height difference.

Figure 59 also shows an angle measuring sensor (inclinometer) (826), the output of which is proportional to the angle (φ1). By using the inclinometer (826) and the controller shown in figure 60, we achieve climbing in the desired style and parallelism of the box hosting platform with the level of the floor (levelling), even in the case of height deviations.

In figure 60 (h) is the desired climb height and is the input to the controller. Input (h) is fed to two control circuits, one for each climbing mechanism. For the controller to function, one of the two sides must be considered to have the correct height (reference height). Thus we consider the height of side B as correct. A standard PID (PID B1) drives the MA. (860B), causing it to climb to height (hB1). The "outlet" (860B) ends at the ball joint heads (1017B-1) and (1017B-2), which are connected to the box hosting platform (820).

The h input is also driven to a second PID (PID A2), which drives the MA. (860A), causing it to shift to height (hA2). The base of the ball joint (1017A) is attached to the M.A. (860A) and its head connected to the box hosting platform (820). An inclinometer (826) continuously measures (at short regular time intervals in the discrete time) the angle of the platform (820), which is computationally converted to the height difference (eY1) and added algebraically with the desired h at the input of (PID A2), causing the relevant correction and so on. The result of the controller is that the platform is permanently leveled, regardless of the possible difference in height.

A Deviation Compensation arrangement is then presented for a climbing implementation, with four M.A. For climbing with four M.A. the four opposite climbing rails, located on either side of the runway (500A-2), (500B-1) and (500A-1), (500B-2) participate in figure 19. As in the implementation with two MA. presented, for the successful and smooth operation of climbing, there are the following requirements:

(i) the distance between the notched rules on either side of the runway, be exactly as prescribed (X-axis distance)'

(ii) the distance between the rails along the runway (Z-axis) is exactly as prescribed

(iii) The sides of the Ω supports, per pair of opposite climbing rails, located on either side of the runway must be in the same straight line (Z-axis).

(iv) The climbing rules, per side (Z-axis) to be in a straight line.

(v) The climbing rails must be parallel to each other (Y axis).

(vi) The climbing rails must be perpendicular to the floor (X-Y plane) and vii) exactly in the same style (Y).

Figures 61 to 64 show the structural components of the shock absorption mechanisms used in the implementation with the four MAs, together with the equivalent simplified symbols of these components, which are used later to explain the operation of the device.

Figure 61-1 shows the linear guide of the implementation (1DoF), which consists of the G.O. rail. (linear guide) (1501) and the carriage (linear bearing) (1502), which moves along the entire length of the G.O. rail. The point where the carriage is in the center of the guide is called the zero point of the linear guide. Figure 62-2 shows the simplified symbol for 62-1.

Figure 62-1 shows a single-degree-of-freedom, 1DoF (1503) rotary joint connecting two components together. One part attaches to the base of the joint (1504-1) and the other part to the head of the joint (1504-3). The base and head are connected together by a pin (1504-2), which allows them to rotate on an axis. Figure 62-2 shows the simplified symbol for the revolute joint.

Figure 63-1 shows a 2rDoF , two-degree-of-freedom (1505) rotary joint connecting two components together. One part attaches to the base of the joint (1506-1) and the other part to its head (1506-2). The base and the head are connected to each other by two pins (1507-1) and (1507-2) and an intermediate part (1507-3), which allow rotation between them in two axes. Figure 63-2 shows the simplified symbol for the 2rDoF rotary joint.

Figure 64-1 shows a ball joint similar to this embodiment, with two M.A. The ball joint has three rotational degrees of freedom between two connected components (3rDoF). The two parts are free to rotate between each other and in all three axes. One part attaches to the base of the joint (1508-1), the second part attaches to the head of the joint (1508-3). The two parts are connected to each other with a ball (1508-2) which allows them to rotate between them in all 3 axes. Figure 64-2 shows the simplified symbol for the rotary joint.

Figures 65-1 show with simplified symbols the implementation with four MAs, where the climbing rails are installed in the intended positions, without any deviations. Figure 65-2 shows the implementation, with the addition of deviations in the intended installation positions of the climbing rails. Figure 66 shows in three-dimensional form, the implementation with deviations in height.

As can be seen in the figures, M.A. 860B-1 has on it a deviation absorption mechanism, consisting of a linear guide (1500 B1), with its rail connected to the MA. and positioned so that its carriage is free to move in the X-axis. The carriage of the linear guide is attached to the base of a 2rDoF rotary joint (1505_B1), installed to allow rotation of its head, with a center of rotation the X and Z axes. The carriage carries the joint on it and moves it with it. The swivel head is connected to the box hosting platform (820).

M.A. 860B-2 has on it a mechanism for absorbing deviations, consisting of a linear guide (1500 B2) with its rail connected to the MA, positioned so that its carriage is free to move in the Z axis. carriage of the linear guide is connected to the base of a 3rDoF ball joint (1508_B2), which joint it carries on itself and moves with it. The ball joint head is connected to the box hosting platform (820).

As shown in figure 66, we use an intermediate platform (821) between the climbing rails (500A-2) & (500A-1). The intermediate platform is visible in both Figures 65-1 and 65-2 and is denoted by a double dashed line (821). The two climbing mechanisms of the side (860A-1) and (860A-2) which climb respectively on the climbing rails (500A-1) and (500A-2), carry absorption mechanisms on top, which connect them to the intermediate platform.

(860A-1) has on it a deflection absorbing mechanism consisting of a linear guide (1500 A1), with its rail connected to the MA, positioned so that its carriage is free to move on the axis G. The carriage of the linear guide is connected to the base of a ball joint (1508 A1), which joint it carries and moves with it. The ball joint head is attached to the first of the two ends of the intermediate platform (821).

(860A-2) has on it a deviation absorption mechanism consisting of a linear guide (1500 A2), with its rail connected to the MA. positioned so that its carriage is free to move in the X-axis. The carriage of the linear guide is attached to the base of a 1rDoF rotary joint (1503 A1), installed to allow rotation of its head centered on X axis. The carriage carries the joint on it and moves it with it. The swivel head is attached to the second of the two ends of the intermediate platform (821).

The intermediate platform (821) is connected to the M.A. (860A-1) and (860A-2), as mentioned. At the top of the intermediate platform, a deflection absorption mechanism is installed as follows:

The rail of a linear guide (1500 CZ) is attached to the upper part of the intermediate platform and is positioned so that its carriage is free to move in the Z-axis. The carriage of the linear guide (1500 CZ) is attached to the rail of a second linear guide (1500_CX) which is positioned so that its carriage is free to move in the X-axis.

The carriage of the linear guide (1500 CX) is connected to the base of a ball joint (1508_C), the head of which is connected to the box hosting platform.

Figure 65-2 shows an installation case with the climbing rails in offset positions around the intended installation locations.

Considering as equal to the intended position (500B-1) and with the condition that all the climbing rails are at the same height, the following apply:

The intended positions of the climbing rails (figures 65-1 and 65-2) are:

(500B-1): (XRB1) = (XB) and (ZRB1) = (Z0)

(500B-2): (XRB2) = (XB) and (ZRB2) = (Z1)

(500A-2): (XRA2) = (XA) and (ZRA2) = (Z0)

(500A-1): (XRA1) = (XA) and (ZRA1) = (Z1)

OL actual installation positions of climbing rails (figure 65-2) are:

(500B-1): (XRB1) = (XB) and (ZRB1) = (Z0)

(500B-2): (XRB2) = (XB) ( eX_B2) and ( ZRB2) = Z1) (eZ_B2)

or error (eX_B2) = (XRB2) - (XB) and ( eZ_B2) = (ZRB2) - (Zi) (500A-2): (XRA2) = (XA) (eX_A2) and (ZRA2) = (Z0) ( eZ_A2)

or error (eX_A2) = (XRA2) - (XA) and (eZ_A2) = (ZRA2) -( Z0) (500A-1): (XRA1) = (XA) (eX_A1) and (ZRA1) = (Z1) ( eZ_A1)

On the X axis apply:

The error (eX_B2) causes displacement:

(dB1_X) = (eX_B2)

[dCX) = (eX_B2)

The error (eX A1) causes displacement:

[dCX) = (- eX A1)

(dL0A2_X) = (eX A1)

the error (eX_A2) causes displacement:

(dL0A2_X) = - (eX_A2)

So, deviations in the X-axis cause the following algebraic displacements, from the zero point of the linear guides of the deviation absorption mechanisms. (X axis compensation) :

(d B1_X) = (eX_B2)

(dCX) = (eX_B2) - (eX_A1)

(dL0A2_X) = (eX_A1) - (eX_A2)

On the Z axis:

The error (eZ_B2) causes displacement:

(dB2_Z) = - (eZ_B2)

The eZ A1 error causes displacement:

(dLoA1_Z) = - ( eZ A1)

The error (eZ_A2) causes displacement:

(dLoA1_Z) = (eZ_A2)

(dLoCZ) = - (eZ_A2)

So deviations in the Z axis cause the following algebraic displacements, from the zero point of the linear guides of the deviation absorption mechanisms. (Z axis compensation):

(dB2_Z) = - (eZ_B2)

(dL0A1_Z) = (eZ_A2) - (eZ_A1)

(dL0CZ) = - (eZ_A2)

Figure 67-1 shows the front view of what is shown in Figure 66, Figure 67-2 shows the right side of Figure 66, and Figure 67-3 shows the left side of Figure 66.

In the presented embodiment, the hinges of the mechanisms allow the hosting platform to be at an angle, relative to the MA, without distorting parts of the OA, with the part of the linear guides of the absorption mechanisms dynamically compensating for the (trigonometric ) differences that arise, due to the difference in height, as analyzed before in the description of the implementation with two MAs. .

In figures 66, 67-1, 67-2, 67-3 two inclinometers can also be seen. (826-1) which is installed at the bottom of the box hosting platform (820) and has the ability to measure two angles. Of angle (φ1) with axis of rotation Z axis and angle (θ1) with axis of rotation X axis. And (826-2) which is installed at the bottom of the intermediate platform (821) and has the ability to measure the angle (θ2), with axis of rotation the X axis. Height difference between the M.A. (860B-1) and (860B-2), causes a change in the angle (θ1). Altitude difference between M.A. (860A-1) and (860A-2), causes a change in the angle (θ2). Altitude difference between the intermediate platform (821) and the box hosting platform (820), causes a change in the angle (φ1).

When on the one hand the climbing rails: (a) have no deviations in their height, (b) are parallel to each other, (c) are perpendicular to the floor and on the other hand the two platforms (820) and (821) (a) are parallel between them, (b) the angle (θ2) figure 67-2 is equal to zero, then the altitude distance of MA. of side A (860A-1) and (860A-2) and of M.A. of side B (860B-1) and (860B-2), equals (CdYAB).

Figure 68 shows a controller with which we achieve climbing to the desired height and parallelism of the box hosting platform with the level of the floor (levelling), even in the case of height deviations, by controlling the four MA. of the described implementation.

In Figure 68 (h) is the desired climb height and is the input to the controller. We consider the height of (B1) as reference height (without deviations). The desired height (h) is sent to the controller (PID B1), which drives the MA. (860B-1), causing the ascent of M.A. in height (hB1). In M.A. (860B-1) is fixed the base of the joint (1505_B1) whose head is connected to the box hosting platform, causing this relative displacement as well. (h) is also driven to the input of the controller (PID B2) which drives the MA. (860B-2), causing it to climb to height (hB2), with the joint head (1505_B1) being connected to the box hosting platform, causing this relative displacement as well. The angle (θ1) from the output of the inclinometer (826-1) is converted into a height difference (eY1) and added algebraically to the desired height (h) at the input of (PID B2), causing the relative correction. The result of this loop is the parallelism (leveling) of the Z-axis of the box hosting platform, with the level of the floor.

The desired style (h) is also driven to the inputs of the controllers (PID A2) and (PID A1) having previously removed the distance (CdYAB).

0 controller (PID A2) drives the MA. (860A-2) causing it to climb to the height (hA2), with the joint head (1503 A2) being connected to the intermediate platform (821), causing this relative displacement as well. The controller (PID A1) drives the MA. (860A-1) causing it to climb to the height (hA1), with the joint head (1508_A1) being connected to the intermediate platform (821), causing this relative displacement as well.

At the bottom of the intermediate platform (821) is installed the inclinometer (826-2) whose output is proportional to the angle (θ2). The angle (θ2) is converted into a height difference (eY2) of (860A-1) from (860A-2) and algebraically added to the input (PID A1). The result of this second loop is the leveling of the intermediate platform (821) with the floor.

The second output of the inclinometer (826-1), which is proportional to the angle (φ1) of the box hosting platform, is converted to the distance (eYAB) and algebraically added to the inputs of (PID A2) and (PID A1), causing the leveling of X-axis of the box hosting platform with the floor, completing the leveling of the platform level with the floor level.

As in the implementation with two M.A. with the presented technique, deviations are compensated dynamically throughout the range of motion of the OA. on the climbing rails. Cases where the climbing rails are not parallel to each other, are not perpendicular to the floor, etc. are also treated in this way, with the only condition that. the maximum deviation resulting from the construction of the deviation absorption mechanisms will not be exceeded. Also, the level of the box accommodation platform remains parallel throughout the movement of the OA, regardless of the height differences that exist on the climbing rails.

Entrance / Exit M.A. on the climbing rails

Figure 69-1 and 70-1 show the top view of part of the robot lined up with the column (550A-2) of a shelf. In Figures 69-2 and 70-2, section AX1-AX1 (XZ plane) and AZ1-AZ1 section (XY plane) are shown. Figure 70.3 shows the section AZ1-AZ1 at an angle so that some parts are visible. It is clarified that the mentioned also applies to the other side, that is the column (550B) and the B side of the Robot.

At the time of displaying the figure, the robot is immediately after the completion of the approach phase, parked in a rack position. In this phase the OA (800 ) is parked in the parking positions (740A) (740B) in the A.O.M. (700), with the longitudinal alignment guide (742) of the position, aligned with the support Ω ( 501) of the climbing rail and the side guide of the parking position (743), aligned with the toothed rule of the climbing rail (510A).

The robot is also in the same position upon completion of the landing phase.

In the section of figure 69-2, the floor (999), the parking space of O.A. in A.O.M. (740A), the longitudinal alignment guide (742) of the position. Also visible are the outer and inner wheels of the longitudinal alignment (882-2), (882-4), (882-6) and (882-1), (882-3), (882-5). The four lower castors (882-3), (882-4) and (882-5), (882-6) abut the two sides of the driver's parking area (742-1), "locking" the O. A. in A.O.M. on the Z axis.

The figure also shows the outer side wheels (881-1) and (881-3) and, drawn with a broken line, the inner side wheels (881-2) and (881-4), located behind the side guide of the position ( 743) and are not visible from this perspective.

In the cross-section of figure 70-2 we can see the inner side wheels (881-2) and (881-4) touching one side of the side guide of the position (743) and the outer side wheels (881-1) drawn with a dotted line and (881-3) , to touch the other side of the lateral guide of the position, thus "securing" the O.A. in A.O.M. on the X axis.

During the take-off phase the lifting mechanisms of the A.O.M. rise in parallel, raising the O.A. until it connects to the climbing rails. The ends of the lifting mechanisms (737A), (737B), (737C) figures 27,28 are nested in the retaining rings (figure 42) (825A), (825B) and (825C) installed in the OA, lifting and holding the O.A. "insured". The tolerance resulting from the difference in the diameters and the positions of the retaining rings, allows the lateral movement of the O.A. (X-Z plane) around the home position.

This tolerance, combined with the guides of the "parking spaces" and the "deviation absorption mechanisms", allows the entry of the O.A. on the lifting rails, when there are deviations in the installation positions of the climbing rails.

In figure 71-1 and its section in figure 71-2, as well as in figure 72-1 and its section in figure 72-2, the robot is shown at a moment in time shortly after that of figures 69,70, where the O.A. (800) has been seconded by A.O.M. (700) and his MA(860) have just entered the climbing rails (500). In figure 71-2 we can see the lower wheels of the longitudinal alignment (882-6), (882-5) touching the two sides of the driver's parking area (742-1) and the two upper wheels of the lateral alignment inside (881- 2), outside (881-1) have left the "parking position" and entered the climbing rail, at the height of the entrance guides inside (512), outside (511) of the toothed rule.

The side guides of the "parking positions" (ie: Inner (744) and Outer (745) for side A, Inner (748) and Outer (749) for side B ) and the corresponding tooth input guides of rules (ie: Inner (512) and Outer (511) for toothed rule A, Inner (515) and Outer (514) for toothed rule B) play an important role in the take-off and landing phases. In particular, their role is important during the entrance of M.A. (860) of O.A. (800) on the notched rules (510A) (510B) of the climbing rails at the take-off and at the entrance of the M.A. (860A)(860B) in the "parking spaces" (740A)(740B) of the A.O.M. (700) during landing, when there are deviations in the installation positions of the climbing rails.

Figures 73, 74 and 75 show the operation of the side guides. For ease of understanding, the inner and outer guides are shown separately. Also shown is the path followed by the lateral alignment wheels. Upward arrows indicate the course in the take-off phase and downward arrows indicate the course in the landing phase. The predicted installation position of the column is denoted by (XA) while the actual installation position by (XRA). Also shown in the figures are the floor plane (999), the rafter column (202) having an Ω-bracket (501) thereon, and the toothed climbing rule (510A).

Figure 73-1 shows: The "inner side guide" of the "parking position" of the O.A. (744) and the "inner "entry guide" of the notched rule (512), in the theoretical case where there are no deviations in the installation of the pillars. The arrows show the path followed by the inner lateral alignment wheels (881-2) and (881-4) during takeoff and landing. Figure 73-2 shows: The "outside guide" of the O.A. (745) and the "outer entry guide" of the toothed rule (511), with the posts in the same installation position as in Figure 73-1. The arrows show the path followed by the outer lateral alignment wheels (881-1) and (881-3) during takeoff and landing.

Figure 74-1 shows: The "inner side guide" (744) of the "parking position" of the O.A. and the "internal entry guide" of the toothed rule (512), which is installed in position

(XRA) which is against ( eoX ) before the intended installation position ( eoX ) negative. The arrows show the path followed by the inner lateral alignment wheels (881-2) and (881-4) during take off and landing. During the take-off phase, the inner-upper side wheel (881-2) first encounters the "inner entry guide" (512) of the rack, which causes it to deviate from its course. (881-2) abuts the driver and drags the corresponding out-up side wheel (881-1) in figure 74-2, effectively forcing the MA. to follow the side profile of the serrated rule (510A). The wheel that first meets a driver who forces it to change its course, we call it "pilot" [Pilot] and the wheel that is dragged by the pilot, we call it "follower" [Follower]. In this case the "pilot" for take-off with ( eoX ) negative, is the wheel (881-2).

Figure 74-2 shows: The "outside guide" of the OA. (745) and the "outer entrance guide" of the serrated rule (511) at the positions of figure 74-1 ( eoX ) negative. Also shown in the figure is the upper-outer side wheel (881-1) (follower on take-off) when the opposite inner (881-2) (pilot on take-off) is forced to change course and drags it along.

Following the landing [Landing] path, in figure 74-2, the lower - outer side wheel (881-3) first meets the "outer side guide" (745) of the "parking position" of the O.A. in A.O.M (700), he is forced to follow him (pilot) and drags the opposite lower - inner side wheel (881-4) in figure 74-1, forcing M.A. to follow the profile of the side guide (743).

Figure 75-2 shows: The "outside guide" (745) of the "parking position" of the O.A. and the "outer input guide" (511) of the toothed rule, which is installed at the position (XRA) , which is by ( eoX ) after the intended installation position ( e0X ) positive. During the take-off phase, the outer-upper side wheel (881-1) (pilot) first encounters the "outer entry guide" (511) of the rack, which causes it to deviate from its course. (881-1) abuts the guide and drags the corresponding inner-upper side wheel (881-2) in figure 75-1, forcing the MA. to follow the side profile of the toothed rule (510A)

Following the course of the landing [Landing], in figure 75-1, the lower - outer side wheel (881-4) first meets the "inner side guide" (744) of the "parking position" of the O.A. in A.O.M. and is forced to follow him (pilot) and drags the opposite lower-out side wheel (881-3) in figure 75-2, forcing M.A. to follow the profile of the side guide (743).

Figure 76 shows the case illustrated in Figures 74-1 and 74-2 ( eoX ) negative in the take-off phase. In particular, the point is marked where the inner-upper side wheel (881-2), which is a pilot in the case under consideration, has reached the top of the "inner inlet guide" (512), the toothed rule.

At this point the corner of M.A. relative to the vertical axis (φ0), is the maximum. The figure also shows the deviation absorption mechanism 1010A, whose spherical joint (1015) dynamically compensates for the power that arises at this point and, in combination with the other deviation absorption mechanisms, compensates (apart from the other deviations mentioned) and the difference that occurs in the distance between the mechanisms. Also visible in the design is a proximity sensor (866), which recognizes when M.A. enters the climbing rule, sending this information to the Robot controller.

For the take-off-landing phases (figures 71-1,71-2,72-1,72-2) in the cases with deviations in the longitudinal axis, what has been described immediately before, when describing the take-off and landing, in the cases of lateral deviations. In this case, the following are involved: the inner longitudinal alignment wheels (882-1), (882-3), (882-5) of MA, the longitudinal alignment outer wheels (882-2), (882-4), (882-6) of MA , the longitudinal alignment guide (742) of the "parking position" of the O.A. in A.O.M. and the toothed rule input guide (505).

Figure 77-2 shows a situation in which there is a deviation in the installation, in the longitudinal axis. In particular, the column is installed at the position (ZRA) which is at a distance (e0Z) after the intended position (Zo) (e0Z) positive. As can be seen in the figure, during take-off the inner - upper longitudinal alignment wheel (882-1) (pilot during take-off) first encounters the input guide of the Omega support (505), causing it to deviate from its course. (882-1) abuts the guide (505) and drags the corresponding outer-upper longitudinal alignment wheel (882-2), forcing the MA. to follow the support Ω (501). During the landing phase the outer - lower longitudinal alignment wheel (882-6) (pilot during landing) first meets the longitudinal alignment guide (742) of the "parking position" of the OA. in A.O.M. and drags the corresponding inner - lower wheel of longitudinal alignment (882-5), forcing M.A. to follow the longitudinal alignment guide (742) and so on.

In figure 78-1 and the section of figure 78-2 and the detail depicted in the figure, M.A. is presented. (860A) at the beginning of the climb phase. At this point in time, the climbing mechanism gear (875) has "snapped" into the toothed climbing rule (510A). The figure detail shows the climbing gear (875) with the chain rollers (8771) contacting the teeth (513) of the climbing gear (513).

Storage / Retrieval Mechanism (S/R)

Figures 79-1, 79-2, 79-3, 80, 81 show the "storage/retrieval mechanism"

The mechanism consists of two distinct parts. One part is fixedly installed on the "box hosting platform" (820) and on it moves the second (mobile) part (840) of the mechanism.

The fixed part of the mechanism includes:

Two linear guide rails (1850R), (1850L) installed on the right and left of the platform (820), extending along its entire length.

Two toothed rules (1849R), (1849L) installed on the right and left of the platform (820), above the linear guides. Serrated rules run the length of the platform.

Two guides (825R), (825L) mirrored to each other, defining the area, right - left (distance between the straight sections (826-3) of the guides (825R) and (825L) that the box moves on the platform, with the their ends (826-1), (826-2) made to facilitate the entry of the box.The guides extend the entire length of the platform and are made of material with a low coefficient of friction, eg Teflon.

The "Cable Chain Support Base" (1855).

The movable part of the mechanism (840) includes:

The support frame of the engine and the right side of the transmission shaft (1840R). The engine (1841) is fixed to the frame. A toothed pulley (1842) is attached to the motor shaft, which is connected to a second toothed pulley (1844) through a toothed belt (1843). The pulley 1844 is fixed to the transmission shaft (1845) of the mechanism, to which it transmits the movement. Also attached to the frame (1841) is the carriage (1851R) which moves on the rail (1850R). On the frame are fixed two bearings (1846R), (1847R) on which one side of the mechanism shaft (1845) fits, passing through their center, with the end of the shaft projecting out of the frame. A gear (1848R) is attached to this end of the shaft. Between the two bearings is fixed the toothed pulley (1844).

The other side of the shaft respectively fits two bearings (1846L), (1847L) which are fixed to the frame (1840L). The shaft passes through the centers of the bearings and its end protrudes from the frame, having a gear (1848L) fixed to it.

On the frame (1840L) is fixed the carriage (1851L), which moves on the rail (1850L).

The vertical distance (Y-axis) between the carriages and the axle is such that the gear is consistently off the norm as long as it is intended for them to work together smoothly.

The connection of the two frames (1840R), (1840L) with the shaft (1845) and the bearings (1846R) and (1846L) and (1847R) and (1847L) results in the two carriages being parallel. The rotational movement of the motor causes the two gears (1848R), (1848L) to rotate synchronously. The two gears cooperate with the two toothed rules (1849R),(1849L). Therefore the rotational movement of the motor results in the movable part of the mechanism (840) moving along the entire length of the toothed rule (Z-axis). Figure 79-3 shows in detail the right side of the mechanism with the shaft (1845), the shaft center (1845-C), the gear (1848R) and the rack (1849R). Figure 79-2 shows the left side of the mechanism in detail.

In each frame (1840R), (1840L), in a specified style, a double-sided grab (1860) is installed from the outside. The distance between the grippers (1860R) and (1860L) is the width of the storage box (Z-axis dimension), plus a tolerance.

The length of movement of the movable part of the mechanism (840) is such that the frames (1840R) and (1840L) do not protrude from the box accommodation platform.

Figure 83 shows the "bilateral gripper" (1860) of the mechanism. The grip is a mirror image of the vertical axis of symmetry (1860-C). The figure shows the "receiver recesses" (1860-1), (1860-2) and the "push edges". The "pickup recesses" are on the X-axis somewhat larger than the diameter of the "pickup rollers" (207-1), (207-2), (207-3), (207-4) in figure 4-1 and with their depth in the Y axis greater than said diameter. The "push ends" are used for the A/A mechanism to push the storage box deeper into the rack, pushing with them the front pick-up rollers of the boxes, when the box is on the shelf guides. Their shape, a slight curve, facilitates their contact with the rollers.

The grab is fixed to the frames ( 1840R), ( 1840L ) with the vertical axis of symmetry (1860-C) being perpendicular to the floor plane and co-linear with the center (1845-C) of the axis (1845). The sides of the grab (1860) protrude equally from both sides of the frames.

When the mechanism is moved to the end of one side, to the right of the X-axis, then the "receipt recesses" (1860R-1) and (1860L-1) will be outside the platform and inside the type A rack (550A), as minimum clearance is required to reliably pick up the storage box from the A-type rack (550A) via the aisle-close (560) box "pickup rollers" (207-1), (207-2) or (207 -3), (207-4), depending on the orientation of the box. Accordingly, when the mechanism is moved to the end of the other side, to the left of the X-axis, then the "receipt recesses" (1860R-2) and (1860L-2) will be inside the B-type rack, at least the distance required to receive the storage box from the type B rack, through the close-to-aisle (560) box rollers.

One side of a cable chain (1857) rests on the "cable chain support base" (1855) and the other side on the frame (1840R). The cables required for the operation of the mobile part pass through the cable chain.

Figures 82-1 and 82-2 show the frames of the A/A mechanism isolated from the rest of the mechanism.

Figures (84-1), (84-2), (84-3), (84-4) show the positions of the A/A mechanism at the various stages in the process of retrieving a box from the type A rack. In the figures, in the center of the corridor is depicted the vertical axis Y (height), on which two heights are also marked: (pΥn) which is the height of the shelf n (where n =1 1,2,3 ....) and (p820 ) which is the height where the box hosting platform (820) is located. On the horizontal axis (X) we distinguish the positive side (right) (X+) and the negative (left) (X-). On the positive side of the X-axis the points: (pX-lN_R) and (pX-PRE_R) and (pX-LOADED L) have been marked on the X-axis. On the negative side of the X-axis the points: (pX-lN_L) and (pX-PRE L) and (pX-LOADED_R) are marked.

The points (pX-PRE R) and (pX-PRE L) are the points on the X-axis where the vertical axis of symmetry (1860-C) of the grab is located, when it is in the closest position to the desired shelf, without the its ends protruding from the box hosting platform. (pX-PRE R) is the point when the gripper is near shelf A and (pX-PRE L) when it is near shelf B.

The points (pX-IN R) and (pX-lN_L) are the points on the X-axis where the vertical axis of symmetry (1860-C) of the gripper is located, when the "pickup recesses" associated with the desired rack are inside the rack , in a position where they can pick up or drop off a box. (pX-lN_R) is the point when the gripper is inside rack A and (pX-lNL) is the point when the gripper is inside rack B.

Figure 84-1 shows a side view of the "box hosting platform" (820) free, without a box on it. The O.A. has climbed to a height where the platform level (p820) is a distance equal to (Pre) lower than the shelf height (pΥn). At this height, when the gripper is moved, the part of the gripper that will be inside the rack will pass under the front "pickup rollers" (207-1) of the storage box (207) to be picked up, without colliding with any part of the box or shelf.

In figure 84-2 the "box hosting platform" is at the height of figure 84-1, with the A/A mechanism at the position where the vertical axis of symmetry (1860-C) of the grabber is at the point (pX-lN_R) of axis X. At this point it can be seen that the "receiving recess" (1860R-1) is inside the rack (540A), just below the "receiving cylinder" (207-1) of the box to be received (207), which is stored on the shelf guides (206).

Figure 84-3 shows the A/A mechanism with the gripper (1860R) in the position of the X axis of Figure 84-2 (pX-lN_R), with the O.A. be climbed to such a height that the level of the platform (p820) is at a distance equal to (BS), slightly lower than the height of the shelf (pΥn). In this position the "take-up roller" is inside the "take-up recess" (1860R-1).

Figure 84-3 shows the A/A mechanism with the gripper (1860R) in the position of the X axis of Figure 84-2 (pX-lN_R), with the O.A. to have climbed to a height where the level of the platform (p820) is a distance equal to (BS) slightly lower than the height of the shelf (pΥn). In this position the "take-up roller" is inside the "take-up recess" (1860R-1)

Figure 84-4 shows the A/A mechanism with the plane of the platform at the height of 84-3 and with the A/A mechanism in the position where the vertical axis of symmetry (1860-C) of the gripper is at the point (pX-LOADED L) of the X-axis. The storage box (207) has now been moved to the "box hosting platform" (820), no parts of the A/A mechanism or the box protrude from the platform and the OA, and the box is "secured" the (207) inside the recess (1860R-1) ready to travel.

In the diagrams of figures 85-1,85-2,85-3 are depicted: the height of the level of the "box hosting platform" (p820) (Y-axis) and the position of the vertical axis of symmetry of the grab (p1860) (X-axis) , for the cases of retrieving/storing boxes with respect to time (t). The time axis (t) is common to all three diagrams and is repeated in each diagram for clarity. With (trk) (k=0, 1,2,3...) the time points involved in the retrieval of the box are formalized and with (tsk) (k=0, 1,2,3...) they are also formalized time points participating in the storage of the box.

A solid line shows in the diagrams the case of box recovery and a dashed line the case of box storage.

The diagrams should be observed in pairs as follows:

For the case of storage/retrieval in type A rack, the pair figure 85-1 for the height (p820) of the platform and figure 85-2 for the "position of the vertical axis of symmetry of the gripper (p1860).

For the case of storage/retrieval in a type B rack the pair figure 85-1 for the height (p820) of the platform and figure 85-3 for the "position of the vertical axis of symmetry of the gripper (p1860).

Retrieving a box in a type A rack

Examining the case described in the presentation of figures 84-1,84-2,84-3,84-4 and concerns the case of retrieving a box from shelf n, which is located in style (pΙΠ) on a type A rack, in figures 85 -1 and 85-2 the following are distinguished:

At the time point (tr0) the O.A. is at floor level and starts climbing (on the Y-axis), its (p1860) position at this point in time is (pX-PRE R) (closest position to the desired shelf). At the time point (tr1) the O.A. has climbed to a height lower than the height of the shelf (pΥn) by (Pre), (p820) = (pYn)- (Pre), so that the upper height of the grab is lower than the "pickup rollers" of the storage box.

In the time interval from time point (tr1) to time point (tr2), the platform remains at the same height and the axis (p1860-C) of the gripper reaches the point (pX-lN_R) of the X axis at time point (tr2 ). At this point the "receipt recess" (1860-1) is inside the type A rack, just below the "receipt roller" of the box to be received.

From time point (tr2) to time point (tr3) the O.A. climbs in height, until the platform level (p820) is at a height of (BS) lower than the shelf height (p820) = (pYn) -(BS). At point (tr3) the 'pickup roller' is 'locked' into the 'pickup recess'. We park the O.A. in a position somewhat lower than the shelf (BS) to ensure that under no circumstances will the storage box encounter an obstacle when entering the platform, in case of serious deviations.

From time point (tr3) to time point (tr4), the style of the platform (p820) remains the same and the axis (p1860-C) of the gripper moves to the X axis, carrying the storage box onto the platform. At time point (tr4) the gripper axis (p1860-C) reaches the point (pX-LOADED R) of the X axis. The storage box is now inside the box hosting platform "secured", ready to travel.

In the interval from the time point (tr4) to the point (tr5), the gripper axis (p1860-C) remains at the point (pX-LOADED R) of the X axis and the O.A. descends to A.O.M.

Box storage in type A rack

Figures 85-1 and 85-2 show the case of storing a box on shelf n, located at a height (pΥn) in a type A rack.

In this case, at time point (ts0), the box to be stored is on the hosting platform "secured", with the "pickup rollers" (207-1) and (207-2) inside the "pickup recesses" of the gripper ( 1860R-1) and (1860L-1) and with the gripper axis (p1860-C) in position (pX-LOADED R) of the X axis (the box is to the right of the gripper). The O.A. is at ground level and begins climbing.

At the time point (ts1) the O.A. has been climbed on the Y-axis so that the level of the hosting platform (p820) is in a style (by what) higher than the height of the shelf (pΙn), by (AS) (p820) = (pΙ n) (AS).

In the time interval from time point (ts1) to time point (ts2), the platform remains at the same height. The axis (p1860-C) of the gripper moves and reaches the point (pX-lN_R) of the X axis, at the time point (ts2). At this point the box is inside the rack, on top of the "rack guides", with the box "pickup rollers" inside the "pickup recesses" of the gripper.

From time point (ts2) to time point (ts3) the O.A. descends in height until the platform level (p820) is at (tr3) at a height by (Pre) lower than the shelf height (p820) = (pYn) - (Pre). At this height, as in the case of retrieval, the upper point of the grab is lower than the "pickup rollers" of the storage box.

From time point (ts3) to time point (ts4) the O.A. remains at the same height and the gripper axis p1860 moves to position (pX-PRE R), in which the entire gripper is inside the box hosting platform.

From time point (ts4) to time point (ts5) the gripper axis (p1860-C) remains at the same point and the O.A. with his platform clear, he descends to the A.O.M.

Retrieving a box in a type B rack

Considering the case of retrieving a box from the shelf n, located at a height (pΥn) in a type B rack, the following can be distinguished in figures 85-1 and 85-3:

At the time point (tr0) the O.A. is at floor level and starts climbing (on the Y-axis), the position of (p1860) at this point in time is at position (pX-PRE L) (closest position to the desired shelf which is on the left). At the time point (tr1) the O.A. has been climbed in a style lower than the height of the shelf (pΥn) by (Pre) i.e. (p820) = (pYn)- (Pre), so that the upper height of the grab is lower than the "pickup rollers" of the storage box.

In the time interval from time point (tr1) to time point (tr2) the platform remains at the same height and the axis (p1860-C) of the gripper reaches the point (pX-lN L) of the X axis, at the time point ( tr2). At this point the "receipt recess" (1860-2) is inside the type B rack, directly below the "reception roller" of the box to be received.

From time point (tr2) to time point (tr3) the O.A. climbs in height, until the platform level (p820) is at a height of (BS) lower than the shelf height (p820) = (pYn) - (BS). At point (tr3) the 'pickup roller' is 'locked' into the 'pickup recess'. We park the O.A. in a position somewhat lower than the shelf (BS) to ensure that under no circumstances will the storage box encounter an obstacle when entering the platform in case of serious deviations.

From time point (tr3) to time point (tr4) the height of the platform (p820) remains the same and the axis (p1860-C) of the gripper moves to the X axis, carrying the storage box onto the platform. At time point (tr4) the axis (p1860-C) of the gripper reaches the point (pX-LOADED L) of the X axis. The storage box is now inside the box hosting platform "secured", ready to travel.

In the interval from the time point (tr4) to the point (tr5) the gripper axis (p1860-C) remains at the point (pX-LOADED L) of the X axis and the O.A. descends to A.O.M.

Box storage in type B rack

Figures 85-1 and 85-3 show the case of storing a box on shelf n, located at a height (pΥn) in a type B rack.

In this case, at time point (ts0), the box to be stored is on the receiving platform with the box "locked", with the "pickup rollers" (207-1) and (207-2) inside the "pickup recesses" of the gripper (1860R-2) and (1860L-2) and with the shaft (p1860-C) of the gripper in the position (pX-LOADED L) of the X axis (the box is to the left of the gripper). The O.A. is at floor level and begins climbing.

At the time point (ts1) the O.A. has climbed up the Y-axis so that the level of the hosting platform p820 is at a height (by what) higher than the height of the shelf (pΥn) by (AS) (p820) = (pΥn) (AS).

In the time interval from time point (ts1) to time point (ts2), the platform remains at the same height and the gripper axis (p1860-C) moves reaching the point (pX-lN_L) of the X axis at time point ( ts2). At this point the box is inside the rack, on top of the 'rack guides', with the box 'pickup rollers' in the (1860R-2) and (1860L-2) gripper 'pickup recesses'.

From time point (ts2) to time point (ts3), O.A. descends in height, until the platform level (p820) is at a height by (Pre) lower than the shelf height, i.e. (p820) = (pYn) - (Pre). At this height, as at the corresponding point of retrieval, the upper point of the grab is lower than the "pickup rollers" of the storage box.

From time point (ts3) to time point (ts4) the O.A. remains at the same height. The shaft (p1860-C) of the grabber is moved to the position (pX-PRE L), with the result that part of the grabber is inside the box hosting platform.

From time point (ts4) to time point (ts5) the gripper axis (p1860-C) remains at the same point and the O.A. with his platform permission goes down to A.O.M.

With the technique described, the functions of storage and retrieval are achieved in racks type A (right of the aisle) and in racks type B (left of the aisle), using a single engine, in addition to the climbing motors.

Claims (9)

1. An automated warehouse order fulfillment system with robots comprising: An autonomous, self-guided robot (600) that moves within a storage area (101) where products are stored in storage boxes (207). Said boxes (207) are stored in storage positions located in racks (200). The racks (200) follow the typical rack form, with four vertical columns. (208). Said racks (200) are installed on either side of an aisle (560) with a certain distance. Toothed rules (510A) (510B) are installed along the vertical columns (201) (202) of the racks (200), which are located to the sides of the aisle. The robot (600) travels to the storage area and stores or retrieves the storage boxes (207) from the storage positions (208) of the racks (200), and transports them to and from the loading-receiving stations (105) , commanded by a control center, characterized in that: Said robot (600) is divided into two autonomous vehicles. The Autonomous Transport Vehicle (A.O.M.) (700) and the Climbing Vehicle ( OA)(800). OA(800) is stationed on A.O.M. (700) and moves by riding on it, at floor level, in the free space and corridors (560). The O.A. (800) is detached. from A.O.M. (700) and becomes autonomous. only to climb the racks (200). For climbing the racks (200), on the rack columns (201)(202)(203)(204) facing the corridor, serrated rules (510A) (510B) are installed. and supports Omega (501). The whole serrated rule (510A) support Omega (501) constitutes the climbing rails (500A)(500B). At the lower end of the climbing rails (500A) (500B) have been provided, to facilitate entry - exit of O.A. (800), entry guides of the toothed rules (511) (512) for the rule (510A) and (514)(515) for the rule (510B) and entry guides on the Omega bracket (505). For parking the Ω. A.(800) at A.O.M. (700) there are at least two parking spaces (740A) (740B), placed in the A.O.M. (700). For the electrical coupling of the O.A. (800) with the A.O.M. (700) there are charging contacts (792) on the A.O.M. (700) and charging pins (892) on the O.A. (800). The communication between A.O.M. (700) and O.A. (800) is reached via a wireless network. The A.O.M. (700) to move to the floor level has two drive units (720A) (720B). The drive unit (720B) consists of two wheels (725) connected to two motors (721) and is firmly connected to the frame of A. O.M. (710). The drive unit (720A) has a shaft (729) which, through a bearing block (711), is connected to the frame of the A.O.M. (710) allowing a small angular movement between the two drive units, thus ensuring that all four wheels will tread on the floor, even when there are small irregularities in it. For as long as the two vehicles A.O.M. (700) and O.A. (800) are coupled together to form a robot (600). The robot (600) travels at floor level, enters the aisle (560) where the desired rack (200) is located and parks, at floor level, precisely in a specific position at the base of the desired shelf (200), in which the desired storage position (208) (shelf) is located in a specific style, created by shelf guides (205) (206). At the bottom (base) of the shelf ( 200), on the side of the racks (200) towards the aisle (560), the side aisle guide (531) (532) is installed. On the side aisle guide (531) located on the racks (200), the charging contacts are installed ( 533), with the plane of the contact points (533-1) slightly behind the vertical plane created by the side of the lateral runway guide (531) facing the runway. The charging contacts (533) are connected to power supplies. A.O.M. two aligning mechanisms (760A),(760B), electrically extendable, moving synchronously and oppositely are installed and used to align (center) the robot (600) on the runway (560), one on each side (760A),(760B ).The alignment mechanism of one side (760A) consists of two wheels (769A-1), (769A-2) fixed on a metal frame (766A). The alignment mechanism of the other side (760B) consists of by two wheels (769B-1), (769B-2) fixed to a metal frame (766B). When the robot (600) moves on a corridor (560), the alignment mechanisms (760A), (760B) are in such an extent , where their wheels (769A-1), (769A-2) and (769B-1), (769B-2) are in a position that limits the movement of the robot (600), ensuring that its parts will not collide with the shelves (200) and the climbing rails (500A-1) (500A-2) (500B-1) (500B-2). When the robot (600) parks, at the base of the desired shelf (200), then the mechanisms (760A),(760B) extend so that all four of their wheels (769A-1)(769A-2) (769B-1)(769BA-2) come into contact with the lateral runway guides (531), (534 ) , to be precise with the vertical plane created by the side of the lateral guide walkway (531) (534) located towards the walkway (560), and to center the robot (600) with respect to the walkway. On one at least alignment mechanism (760A) a load contact approach mechanism (770) is installed and moves with it. The load contact approach mechanism (770) includes a metal platform (774) with load pins (776) fixed thereon. A linear motor ( 771) causes a movement of the charging pins (776) outwards and vice versa. is towards the corridor, contacting the charging pins (776) of the A.O.M. with the charging contacts (533) located on the racks (200). Reverse movement of the linear motor (771) moves the charging pins (776) away from the charging contacts (533) during disconnection. Three lifting mechanisms (730A) (730B ) (730C) installed in A.O.M. (600) extract O.A.(800) from A.O.M. (700) receiving the O.A. (800) from the parking spaces (740A) (740B) of A.O.M. (600), lifting it to the climbing rails (500A) (500B) for the OA to climb (800), and returning it to the parking positions (740A) (740B), picking it up from the climbing rails (500A) (500B) when the O.A. (800) returns to the A.O.M. (600). Each Lifting mechanism (730A)(730B)(730C) consists of a motor (731) which by means of a trapezoidal screw (735) displaces with the rotation of the motor ( 731) a lifting end (737) up-down. The lifting end (737) consists of a ball (737-2) supported by ball bearings (737-2) and can be rotated with minimal force (low friction coefficient). The ball (737-2) of each lifting mechanism (730A) (730B) (730C) nests in a corresponding retaining ring (825) installed in the O.A. (800), a tolerance resulting from the difference in the diameters of the ball (737-2) and the retaining ring (825), allows the displacement of the O.A. (800) around its original position when it moves away from the parking positions (740A)(740B). The three lifting mechanisms (730A) (730B) (730C) move synchronously and in parallel. When the A.O.M. (700) is parked in the desired rack (200) the O.A. (800) climbs the racks (200) on command from a control center to: a) pick up from the rack (200) a storage box (207) stored in a specific storage location (208) and then return with the storage box (207) in A.O.M. (700) and coupled to it or b) to store a storage box (207) which it carries on it to a specific storage location (208) and then returns to the A.O.M. (700) and to be coupled with him. The O.A. (800) in order to be able to climb, it has at least two climbing mechanisms (860A)(860B), which are connected to two opposite climbing rails, located on either side of the runway, at (500A-2) (500B-1) or at ( 500A-1) (500B-2). The climbing mechanisms (860A) (860B) include a motor (862) which rotates a type of gear (875). The gear (875) is such that it cooperates with the gear rule (510A)(510B) installed longitudinally on the climbing rails (500A-2) (500B-1) or (500A-1) (500B-2). When the climbing mechanism (860A)(860B) is connected to the toothed rule (510A) (510B) the rotational movement of said toothed wheel (875), moves the climbing mechanism (860A) (860B), depending on the direction of rotation of the motor (862), up or down in rack (200). Each climbing mechanism (860A) or (860B) can be moved independently. A box hosting platform (820) installed in O.A. (800) is used to accommodate the transfer box (207) in the O.A. (800) and travel secured therein. A shock absorbing device is interposed between the box hosting platform (820) and the climbing mechanisms (860A) (860B) connecting the climbing mechanisms (860A) (860B) to the box hosting platform (820 ). The deviation absorption device has the ability to absorb the usual differences observed in all directions, between projected distances and actual ones, between and within the racks (200) of the storage area and participates in the correction of the deviations observed in the height of the racks (200 ).In the implementation with two climbing mechanisms (860A) (860B), three deviation absorption mechanisms (1010B-1)(1010-B2) participate on one side of the OA. (800) and the (1010-A) on the other side of the OA (200). ) with three degrees of freedom. The mechanisms (1010B-1)(1010-B2) are installed with the linear guides (1011) (1012) to allow movement perpendicular to the track (560) to absorb the difference in distance ( eX) (in figure 58-2) between opposite racks. The mechanism (1010A) is installed with the linear guide (1011) (1012) allowing movement parallel to the track (560) to absorb the longitudinal difference (eZ) (in figure 58-2) between opposite racks (200). By using an inclinometer (826) (in figure 59) installed on the box accommodation platform (820) and a controller (figure 60) (controller for climbing with two climbing mechanisms), climbing to the desired height and parallelism of the box accommodation platform (820) with the level of the floor (leveling) is achieved, even in the case of height deviations. The desired climbing height (h) (figure 60) is controller input (figure 60). The input (h) (figure 60) is fed to two control circuits (PID B1)(PID A1) (figure 60), one for each climbing mechanism (860B) (860A). reference the height of one side (hB1) (figure 60). A PID (PID B1) drives the Climbing Mechanism (860B), causing it to climb to the height (hB1). The "output" (860B) ends at the ball joints ( 1017B-1) and (1017B-2), which are connected to the box hosting platform (820). The desired height (h) (figure 60) is also driven to a second PID (PID A2), which drives the Climbing Mechanism ( 860A), causing it to shift in height (hA2). The base of the ball joint (1017A) is fixed to the Climbing Mechanism (860A) and its head is connected to the box hosting platform (820). The inclinometer (826) continuously measures the angle of the platform (820), which is converted computationally into the height difference (eY1) and added algebraically with the desired height (h) at the input of (PID A2), causing the relative correction and so on.A Storage Mechanism / Recovery is integrated in the box hosting platform (820) and consists of two parts, one fixed and one mobile (840). The fixed part of the mechanism is installed in the box hosting platform (820) and includes two linear guide rails (1850R) (1850L) installed on the right and left of the platform, extending along its entire length. Two toothed rules ( 1849R),( 1849L) extending along the entire length of the platform, installed on the right and left of the platform (820), above the linear guides ( 1850R) (1850L).Two guides (825R), (825L) mirrored to each other, defining the area the box moves on the platform, with their ends (826-1), (826-2) made to facilitate the entrance of the storage box (207). The guides extend the entire length of the platform (820) and are made of material with a low coefficient of friction. The movable part of the mechanism (840) moves up the entire length of the fixed part of the mechanism and includes: Mounted on a frame (1840R) a motor (1841) on the shaft of which is fixed a toothed pulley (1842) which by means of a toothed belt (1843) is connected to a second toothed pulley (1844). The pulley (1844) is fixed to the transmission shaft (1845) of the mechanism, to which it transmits the movement. On the frame (184L) (184R) is also fixed the carriage (1851R) which moves on the rail (1850R). On the frame are fixed two bearings ( 1846R), (1847R) on which one side of the mechanism shaft (1845) fits, passing through their center, with the end of the shaft projecting out of the frame. To this end of the shaft is fixed a gear ( 1848R). Between the two bearings is fixed the toothed pulley (1844). The other side of the shaft fits respectively into two bearings (1846L), (1847L) which are fixed to the frame (1840L). The shaft passes through the centers of the bearings and its end comes out of the frame, having fixed on it a gear (1848L). On the frame (1840L) is fixed the carriage (1851L), which moves on the rail (1850L). The connection of the two frames (1840R ) (1840L) with the shaft (1845) and the bearings (1846R) and (1846L) and (1847R) and (1847L), results in the two carriages being parallel. The rotational movement of the motor results in the two gears (1848R)(1848L) to rotate synchronously. The two gears cooperate with the two toothed rules (1849R)(1849L). The rotary motion of the motor results in the movable part of the mechanism (840) moving throughout length of the toothed rule (1849R) (1849L). On each frame (1840R) (1840L), in a specified style, a bilateral gripper (1860) is installed from the outside. The distance between the grippers (1860R) and (1860L ) is as much as the width of the storage box (207), plus a tolerance. The length of movement of the movable part of the mechanism (840) is such that the frames (1840R) and ( 1840L).The double-sided gripper (1860) is a mirror image of the vertical axis of symmetry (1860-C).Receiving indentations (1860-1)(1860-2) and pushing ends (1860-4) (1860-3) are used for picking up and putting down the storage boxes (207). 2), (207-3), (207-4) having the storage boxes (207) for this purpose. Pushing ends (1860-3) (1860-4) are used to push the movable part of the storage/retrieval mechanism the storage box (207) deeper into the storage position (208) (shelf), pushing with them the front pick-up rollers of the boxes (207-1), (207-2), when the box is on the shelf guides. A slight curve in shape of the push ends (18060-3) (1860-4) facilitates their contact with the pickup rollers (207-1), (207-2), (207-3), (207-4). The gripper sides (1860R) (1860L) protrude the same from both sides of the frames (1840R) (1840L). When the mechanism is moved to the end of one side then the receiving recesses (1860R-1) and (1860L-1) are outside the box hosting platform (820) and inside the A-type rack (550A), so that they can reliably pick up the storage box from the A-type rack (550A), through the box pick-up rollers (207-1) close to the aisle, (207-2) or (207-3), (207-4). When the mechanism is moved to the end of the other side then the receiving recesses (1860R-2) and (1860L-2) will be inside the type B rack ( 550B), to pick up the storage box, through the box rollers (207-1), (207-2) or (207-3), (207-4) close to the aisle. The A.O.M. (700) has a primary energy store (785). As long as the O.A. (800) is on the notched rules of the racks (510A) (510B), the A.O.M. (700) remains parked at the base of the rack (200) and occasionally charges the primary energy store (785) it has, from the charging contacts (533) which are installed for this reason at the base of the rack (200). The O. A. (800) has a secondary energy store (893) that covers its needs while it is detached from the A.O.M (700). When the A.O.M. (800) climbs, consumes energy from the secondary energy store (893). The A.O.M. (700) has charging contacts (792), which are supplied by the primary energy store (785). The O.A. (800) has charging pins (892) which are used to charge the secondary energy store (893). For as long as the O.A. (800) is coupled with the A.O.M. (700), then the charging pins of the O.A. (892) are connected to the charging contacts of the A.O.M. (792) and thus the secondary energy store (893) located in O.A. (800) is charged occasionally, from the primary energy store (785) of the A.O.M. 2. Automated warehouse order fulfillment system with robots according to claim 1 characterized in that: The primary energy warehouse (785) installed in the A.O.M. (600) is implemented by an array of supercapacitors, characterized by very fast charging. 3. Order fulfillment system in an automated warehouse with a robot according to claim 1 characterized in that: The secondary energy store (893) located cm O. A. (800) is implemented by a supercapacitor array, characterized by the very fast charging. 4. Order fulfillment system in an automated warehouse with a robot according to claim 1 characterized in that: For climbing the O.A. (800) on the racks (200), climbing rails (500A) (500B) are installed on the racks (200) and at least two climbing mechanisms (860A) (860B) on the O.A. (800). The Climbing Rail (500A) (500B) consists of a toothed rule (510A) (510B) installed along the vertical columns of the racks (201) (202) (203) (204) and an Omega bracket (501). The climbing mechanism (500A) (500B) includes a gear-gear type (875) that “locks” (snaps) to the climbing rail (510A) (510B) toothed rule with alignment wheels (882-1) ( 8822)( 882-3) (882-4) (882-5) (882-6) (881-1) (881-2) (881-3) (881-4) and a motor (862) which rotates the gear - gear (875) and moves the climbing mechanism (860A) (860B) up and down on the climbing rails (500A) (500B). The toothed rule of the climbing rail (510A) (510B) is made of sheet metal. This is a blade where on one side the teeth of the rule (516) have been formed along it. The teeth of the toothed rule (516) follow the profile and geometry of an unfolded chain sprocket. A "clear" area between the deepest point of the teeth and the opposite side of the blade extends along the length of the blade, parallel to the teeth, and is used to support the toothed rule (510A) (510B) in the Omega support (501) and to align the climbing mechanism (860A) (860B) with the toothed rule (510A) (510B). The toothed rule (510A) (510B) is connected to the upper part of the Omega support (502) so that the two sides of the Omega support (504-1) (504-2) are perpendicular to the toothed rule (501 ) and in the center of its "clean" area. The two legs of the Omega support (503) are attached to the shelf column (201) (202) (203) (204). At least three alignment wheels (882-1) (882-4) (882-5) are used to longitudinally align the climbing mechanism (860A) (860B). Two wheels (882-1) (882-5) (figure 50.2 ) contact one side of the Omega support (503) and one wheel (882-4) contacts the other side of the Omega support (503) at the midpoint of the two opposite (882-1) (882-5). The longitudinal alignment wheels (882-1) (882-5) (882-4) “lock” the climbing mechanism (860A) (860B) to the Omega bracket (503) of the climbing rail (500A) (500B) and force the mechanism to move parallel to the sides (504-1) (504-2) of the Omega support (503) and ensure that the distance between the gear - toothed wheel (875) and the toothed rule of the climbing rail (510A) (510B ), is the predicted. Four alignment wheels (881-1)(881-2)(881-3)(881-4) are used for lateral alignment of the climbing mechanism (860A)(860B). Two outer side wheels (881-1) and (881-3) abut one side of the clear area of the toothed rule extending beyond one side of the Omega support (503), with the wheels on the blade side of the toothed rule ( 510A) (510B) connected to the Omega bracket (503). Two inner side rollers (881-2) and (881-4) abut the other side of the clear area of the toothed rule (510A) (510B) extending from the other side of the Omega support (503), with the rollers on the side blade of the serrated rule located opposite the side where the rule connects to the Omega support (503) . The side alignment wheels (881-1)(881-2)(881-3)(882-4) connect - "lock" the climbing mechanism (860A)(860B) to the rack (510A)(510B) and force the mechanism to move parallel to the rack (510A) (510B) and ensure that the rack (510A)(510B) of the climbing rail will be in the center of the gear (875) of the climbing mechanism (860A)(860B) . The sprocket (875) of the climbing mechanism is made of a chain in a loop (8770), integrally connected to a 'roller support' (8760). Chain pitch is as long as sprocket pitch (510A) (510B). The center of the cylindrical part (8760) is connected to a motor (862), which rotates the gear (875). 5. Order fulfillment system in an automated robot warehouse according to claims 1 and 4 characterized by: Entry guides to the Omega support (505) of the climbing rails (500A)(500B) and Longitudinal alignment guides of the parking spaces (740A) (740B) (the longitudinal alignment guide (742) for the parking position (740A) and the longitudinal alignment guide (746) for the parking position (740B)) in combination with the longitudinal alignment wheels (882-1) (882-5 )(882-4) and the auxiliary longitudinal alignment wheels (882-2) (882-3) (882-6) of the climbing mechanisms (860A) (860B) enable the exit of the climbing mechanisms (860A) (860B) from the parking positions (740A) (740B) and their entrance to the climbing rails (500A) (500B) and vice versa, even when there are deviations in the longitudinal axis. When the climbing rail is in a position (ZRA) (in Figure 77-2) that is (e0Z) (in Figure 77-2) (after) the intended position (Z0) (in Figure 77-2) then at climb gear input (860A)(860B) the inner - upper longitudinal alignment wheel (882-1) (pilot during takeoff) meets the Omega prop input guide (505) first, causing it to deviate from its course. The inner - upper longitudinal alignment wheel (882-1) contacts the guide (505) and drags the corresponding outer longitudinal alignment wheel (882-2), causing the Climbing Mechanism (860) to follow the Omega Bracket (501). During the return of the climbing mechanism (860) the outer - lower longitudinal alignment wheel (882-6) (pilot during landing) first meets the longitudinal alignment guide (742) (746) of the OA parking position (800). at the A.O.M. (700) and drags the corresponding inner - lower longitudinal alignment wheel (882-5), forcing the climbing mechanism (860) to follow the longitudinal alignment guide (742) (746) of the parking position (740A )(740B) etc. 6. Order fulfillment system in an automated robot warehouse according to claims 1, 4 and 5 characterized in that: Side guides on the toothed rules, (the inner one (512) and one outside (511) on the toothed rule (510A)) and (the inner (515) and outer (514) on the toothed rule (510B)) and side guides in the parking positions, (the inner (744) and outer (745) for the parking position (740A)) and (the inner (748) and outer (749) for the parking position (740B)) in combination with the side wheels (881-1)(881-2)(881-3)(881-4) of the climbing mechanisms (860A) (860B) make it possible for the climbing mechanisms (860A)(860B) to exit the parking positions (740A)(740B) and enter the climbing rails (500A)(500B) and vice versa, even when there are deviations in the lateral axis . When the toothed rule (510A)(510B) is closer to the runway (560) offset by ( eoX ) (in Figure 74-1) then upon entering the climbing mechanism (860A)(860B) the inner-upper side wheel (881-2) first encounters the inner input guide (512) of the toothed rule (510A)(510B), causing it to deviate from its course. (881-2) (pilot) abuts the guide and drags the corresponding out-up side wheel (881-1) causing the climbing mechanism (860A)(860B) to follow the side profile of the rack (510A)(510B) . Accordingly, during the exit of the climbing mechanism (860A)(860B) from the toothed rules (740A)(740B) and its entry into the parking positions (740A)(740B) the lower - outer side wheel (881-3) first meets the outer side guide (745) of the parking position, is forced to follow it (pilot) and drags the opposite lower - inner side wheel (881-4) forcing the climbing mechanism (860A)(860B) to follow the profile of the side guide ( 743). 7. Order fulfillment system in an automated robot warehouse according to claims 1, 4, 5 and 6 characterized by: A deviation absorption and leveling device applied to a vehicle with four climbing mechanisms (860B-1)(860B-2)( 860A-1)(860A2)(in figure 65-1) . The climbing mechanisms (860B-1)(860B-2)(860А-1)(860А-2) are connected to the climbing rails (500Б-1)(500Б-2)(500А-1)(500А-2)(drawing 66), two opposite and on either side of the racking corridor. The two climbing mechanisms (860B-1)(860B-2) located on the left side of the climbing vehicle are connected by the interposition of two absorbing mechanisms on the left side of the box hosting platform (820). The climbing mechanism (860B-1) is connected to the absorption mechanism consisting of the linear guide (1500 B1) oriented perpendicular to the runway (560) and a 2-degree-of-freedom rotary joint (1505_B1) with its axes of rotation perpendicular and parallel to the corridor (560) and parallel to the floor (999). The climbing mechanism (860B-2) is connected to the absorption mechanism consisting of the linear guide (1500 B2) oriented parallel to the runway (560) and the 3 degrees of freedom rotary joint (1508_B2). The two climbing mechanisms located on the right side of the vehicle (860A-1)(860A-2) are connected by the interposition of two absorption mechanisms, with an intermediate platform (821). The intermediate platform (821) is used to connect the right side climbing mechanisms (860A-1) (860A-2), with the box accommodation platform (820). The climbing mechanism (860A-1) is connected to one end of the intermediate platform (821) with the absorption mechanism consisting of the linear guide (1500 A1) oriented parallel to the runway (560) and the 3 degrees of freedom rotary joint (1508 -A'1). The climbing mechanism (860A-2) is connected to the other end of the intermediate platform (821) by the absorption mechanism consisting of the linear guide (1500 A2) oriented perpendicular to the runway (560) and a rotational contact of one degree of freedom (1503 -A2) with its axis of rotation perpendicular to the corridor (560), parallel to the floor. The upper part of the intermediate platform is connected to the center of the right side of the box hosting platform (820) by the interposition of a deflection absorbing mechanism, consisting of the linear guide (1500 CZ) oriented parallel to the corridor (560), which has on of a linear guide (1500_CX) oriented perpendicular to the runway (560) and the 3 degrees of freedom rotary joint (1508_C). 8. Order fulfillment system in an automated robot warehouse according to claims 1, 4, 5, 6 and 7 characterized by: A leveling controller (figure 68) applied to a vehicle with four climbing mechanisms (860B-1)(860B- 2)(860A-1)(860A-2) and cooperates with a deviation absorption device. The motor (500B-1) (500B-2) (500A-1) (500A-2) of each climbing mechanism is driven by a separate control circuit (860B-1)(860B-2)(860A-1)(860A-2) ). The desired height (h) (figure 68} is fed to the input of the controller and from there directly to the control circuits (PID B1) (PI D B2 (figure 68}). The input to the control circuit (PID B1) causes the rear left mechanism to climb (860B-1) driven to the height (hB1) (figure 68) which we consider as the correct height (reference height). An inclinometer (826-1) installed on the box hosting platform (820), returns to the controller the angle pitch (θ1) (Figure 67-3) of the box hosting platform (820). The angle (θ) (Figure 67-3) is computationally converted to the pitch difference (eΥ1) (Figure 68), which is added algebraically to desired height (h) (figure 68) and is fed to the input of the second control circuit (PID B2), which drives the front left climb mechanism (860B-2), causing the relative correction, etc. The desired climb height of of the right side climbing mechanisms (860A-2) (860A-1) is obtained from the desired height of the entrance (h) (figure 68) reduced by (CdYAB) (figure 68) (which is the result of adding the height of the intermediate platform (820) and the intermediate deflection absorber (1500_CZ) (1500 CX) (1508 C)) which drives the control circuits (PID A1)(PID A2) causing the right side climb mechanisms, (860A-2) to climb height (hA2) (figure 68) and of (860A-1) to (hA1) (figure 68). A second output of the inclinometer (826-1) returns the alignment angle [Roll] (φ1) (fig. 67-1) of the box hosting platform (820). The angle (φ1) (diagram 67-1) is computationally converted to the height difference (eYAB) (diagram 68), which is algebraically added to the desired height (h) (diagram 68) and therefore to the input of the control circuits (PID A2)( PID A1), which drives the right side climbing mechanisms (860A-2)(860A-1). We set that the rear right climbing mechanism (860A-2) is at the correct height (hA2) (fig. 68). An inclinometer (826-2) attached to the intermediate platform (821) returns the pitch angle (θ2) (Figure 68) of the intermediate platform (821). The angle (θ2) (figure 68) is computationally converted to the height difference (eY2) (figure 68), which is algebraically added to the desired pitch (h2) (figure 68) at the input of the control circuit, (PID A1) which drives the front right climbing mechanism (860 A1), causing the relative correction and so on. Automated warehouse order fulfillment system with robot according to claims 1 to 8 characterized in that: The behavior of the robot (600) comprises 8 distinct phases. Phase 1, Travel: In this phase the robot (600) knows where it needs to go from the communication it has with the control center and travels to that location. Phase 2, Approach: the robot (600) accurately approaches the desired location, using, when and where necessary, the alignment mechanisms (760A)(760B). It is then connected to the charging contacts (533) located at fixed points on the racks (200). Phase 3, Take-off: The robot (600) from phase 2, has precisely parked at the desired shelf position (200) at floor level. Lifting Mechanisms (730A)(730B)(730C) detach the O.A. (800) from A.O.M. (700) and advance it to the climbing rails (500A) (500B). At the end of the phase the OA (800) has been detached from the A.O.M. (700) and is mechanically "connected" to climbing rails (500A-1) (500B-2) or (500A-2) (500B-1). Phase 4, Climbing: The A.O.M. (600) remains parked in the rack base (200) and charges. The O.A. (800) is climbed to the height where the desired transport box (207) is stored. Phase 5, Storage/Retrieval: The Storage/Retrieval Mechanism deposits or retrieves the Transport Box (207) from the storage locations (208) and transports it to the Hosting Platform (820) of the O.A. (800). The Storage/Retrieval Mechanism has access to the racks located to the left and right of the OA(800) (ie the aisle). The O.A. (800) knows, apart from the height, the shelf (200) (i.e. on which of the two, the left or the right) where the Box (207) is stored. If in this phase storage is done, as long as there is a next recovery command on the same shelf (200), then with a command from the control center it returns to phase 4. Phase 6, Down: The O.A. (800) takes the path of descent to return to A.O.M. (700). Phase 7, Landing: The O.A. (800) exits the climbing rails (500A-1) (500B-2) or (500A-2) (500B-1) and lands on the lifting mechanisms (730A)(730B)(730C) of the A.O.M. . (700). They pick it up and drive it to the Parking spaces (740A)(740B) located in the A.O.M. (700) The robot (600) is now ready to enter the Travel phase. Phase 7, Waiting: The robot (600) having no work to perform, is waiting and charging. This phase follows in any case phase 2 so that the robot is in a position where it can charge.