WO2024112309A1

WO2024112309A1 - A storage system

Info

Publication number: WO2024112309A1
Application number: PCT/TR2023/051383
Authority: WO
Inventors: Mahmut TUTAM; Turgay DUMAN; Mehmet Akif CEVIZ
Original assignee: Erzurum Teknik Universitesi
Current assignee: Erzurum Teknik Universitesi
Priority date: 2022-11-25
Filing date: 2023-11-23
Publication date: 2024-05-30
Anticipated expiration: 2025-05-25
Also published as: TR2022017908A1

Abstract

The invention relates to a system comprising multiple storage mechanisms having at least two main rotation elements, a transport transmission element associated with said main rotation element and moved by the rotational movement of said main rotation element and multiple carrier plates connected to said transport transmission element and positioned so as to be accessible to said volume and through said openings, a transport vehicle having at least one body, at least one movement element for moving said body in the movement area, at least one second motor for driving said movement elements, and a gripping mechanism for placing or retrieving objects on the carrier plates extending through the opening, an intermediate transmission element connected to one of the main rotation elements to drive said main rotation element to rotate on its axis, a rotation drive element connected to the body of the transport vehicle, which drives the intermediate transmission element of one of the aforementioned main rotation elements and regulates the position of the carrier plates and the first motor driving the rotation drive element.

Description

A STORAGE SYSTEM

Technical Field of the Invention

The present invention relates to a storage system using programmable transport means for reaching stacked objects in storage and retrieval areas.

State of the art regarding the invention

In traditional rack-based warehouses, products are generally stacked side by side and on top of each other in compartments. In order to store/retrieve products from these shelves, there must be an aisle structure where storage/retrieval vehicles can operate. In addition, as the number of overlapping compartments increases, access to the compartments at the top becomes more difficult. Thus, the surface utilization rate in conventional rack storage systems remains limited. On the other hand, with the increase in the number and variety of products, the process of collecting products takes more time and causes delays in the process of delivering products to customers.

Various systems using automated and autonomous vehicles have been developed to make more effective use of storage surface area as well as easy and practical order picking operations. These systems include automated storage/retrieval systems, autonomous vehiclebased storage/retrieval systems, mini-load storage/retrieval systems, shuttle-based storage/retrieval systems, etc. In addition to these systems, robotic compact storage/retrieval systems have been frequently used in warehouses in recent years.

Robotic compact storage/retrieval systems consist of six main elements: cage structure, bins, workstations, robots, controller and warehouse management system. In this system, the robots can move on rails on the cage structure, thus maximizing the surface utilization rate as no aisle structure is required. Within the warehouse area, a central controller directs the robots to pick up the box containing the desired order. In order for the box that is targeted to be brought to the workstation to be picked up by robots from the location where it is stored, all the boxes on it must be removed. As the removed boxes are left on the stacks in the side rows, the robots' routes are restricted. After the removal of the targeted box and before it is taken to the workstation, the other boxes are placed in the same stack to eliminate the route constraint. The box brought to the workstation is then placed on top of the stack from which it is removed upon completion of the order picking operation. Therefore, the principle of last retrieved first stored is applied for stacks other than the targeted box, and since the targeted box is left on top, all boxes above the targeted box in each operation are placed in a lower storage location.

Different products can be found in stacked boxes or blocks, or different products can be found in the same box. The boxes can be sized in different dimensions according to the structure of the robots. The system, which can be installed at the appropriate height according to the structure of the warehouse, creates a statically robust structure due to its cage structure. In addition, this system, which has no corridor structure, can be installed in desired structures and dimensions and its performance can be maximized by changing the number of robots on the basis of need.

Another system that is more preferred in warehouses with limited surface area is the vertical storage system. Vertical storage systems work on the principle of lifting and lowering the platform carrying the sliding or non- sliding shelves in order to provide more storage in the vertical space by utilizing the height. A platform may contain the same products, different products or products of different sizes. The shelves on the platform can be dimensioned in different sizes according to the structure of the platform and can be easily adapted to the system for storing different products. Furthermore, the working station in the system can be adjusted (raised or lowered) according to the personal preference of the workers. In this system, the platforms are rotated in the vertical direction and the order picking operation is realized by stopping when the desired box arrives at the workstation. The platforms are rotated by a motor in each system. Vertical storage systems can be built at the desired height and thus more storage space can be used in the vertical direction, ensuring maximum surface utilization.

The block stacking method for boxes has been known for many years, but patent numbered EP1037828B1 relates to a storage system consisting of boxes stacked on top of each other in a grid structure. Specifically, it is related to robots moving on rails on a grid structure to pick up the targeted box. This patent is the first example of a known robotic compact storage/retrival system. The document numbered EP2847105B 1 can be cited as an example of the state of the art in the literature research. This patent is generally related to a robotic compact storage/ retrival system. Specifically, it relates to the retrival of boxes in warehouses with a grid structure consisting of stacked boxes. In this storage system, the first robot type picks up multiple boxes at once, allowing the second robot type to reach the targeted box. Thus, since the first type of robot can lift multiple boxes at the same time, it can work together with the second type of robot to pick up the target box quickly and efficiently. Since two types of robots are used in the above-mentioned patent, the total number of robots will be high and robots may restrict each other's routes. On the other hand, the height of the storage system will also be restricted as the number of boxes that the first type of robot in the carrier state can carry is limited by the ceiling height of the warehouse.

Document numbered W02017081281A1 can be shown as another example to the state of the art. This patent is generally related to order picking systems and methods. Specifically, it relates to the use of a robotic picking system to retrieve products from a storage system consisting of boxes stacked in a grid structure. The orders in the boxes are collected by means of a robotic arm moving on the system without the need for workstations. When determining the number of boxes to be stacked, the height of the robot arm performing the order picking process used on the grid structure and the ceiling height of the warehouse should be taken into account. Depending on the height of the robot arm, there is a loss of storage space and, moreover, a loss of time when removing the boxes.

Document numbered US 11072494 can be shown as another example to the state of the art. This patent is generally related to storage systems in logistics. Specifically, it relates to a storage system that, in addition to the known robotic compact storage/retrival system, includes storage tiers stacked on top of each other up to a certain height. In the storage system in the patent, robots move on the grid structure on each floor and perform the operations of lifting, carrying and placing the boxes. There is also a lifting device that carries out the transportation process between the floors connected to each other by aluminum columns. In this system, a crane system is needed between the floors and density will occur as all boxes use this crane system. Warehouse space utilization will be reduced due to the space required for the robots to move between both floors. Document numbered EP3402728B1 can be shown as another example to the state of the art. This patent is generally related to storage systems in logistics. Specifically, it relates to picking orders from warehouses with chilled or frozen products. The boxes in the storage cells of the present invention are arranged to have insulated lids. As in the well-known robotic compact storage/ retrival system, robots remove the stacked boxes from their locations and transport them to the workstations. In this system, the order picking time will be longer as the top boxes need to be removed to reach the bottom boxes.

Vertical storage systems are also available, where instead of stacking boxes on top of each other; the boxes are rotated on a vertical axis to bring the targeted box to the workstation. Document numbered US8939296B2 can be shown as another example to the state of the art. In general, said patent relates to a vertical storage system that combines shelves that can be raised and lowered and extended back and forth, and a height-adjustable work surface in a single system to provide an ergonomic workspace. The proposed system is specifically concerned with increasing storage space in the vertical direction. In the proposed system, a separate electric motor is used to rotate each system. In addition, there is one workstation for each storage system and most operations are performed manually.

The patent document with publication number US2019009984A1 describes a storage system. There are both robots connected to the automation at the top of the body and a discharge outlet on the side. The boxes are transported in a vertical direction by means of a chain connected to two gears and carriers connected to these chains. It is not explained how these chains are driven. In addition, control systems that detect the position of the robot and the chain, determine the relative position of the two elements with respect to each other and accordingly control these two elements to ensure a smooth operation are also described in this document.

A transport vehicle/robot for use in vertical storage systems is disclosed in the document with publication number WO2021175940A1. Here a robot is shown moving on body rails by means of wheels. This robot also comprises a lifting element (chain, belt, etc.) and this lifting element comprises a gripper to catch the boxes. The box grabbed by the gripping element is pulled into the cavity inside the robot. It is noted here that for the movement of the lifting element, the robot may also comprise a drive element. The increase in the number of stacked bins in the robotic compact storage/retrival system, which provides a significant improvement in surface area, significantly reduces the efficiency of the system. In other words, the biggest disadvantage of the robotic compact storage/ retrival system is that since the storage bins are stacked on top of each other, when the bins on the bottom need to be retrieved, all the bins on the top need to be removed and put aside. Moreover, depending on the determined operation strategy, once a targeted bin is removed, the other bins are placed in a lower storage location and the targeted bin is placed on top of all bins. Thus, as a result of each operation, the storage locations of the box or boxes change and it is necessary to continuously monitor and record the box locations.

In each of the examples of vertical storage systems mentioned, the storage mechanisms that provide transportation between floors comprise rotating elements that are associated with transmission elements such as ropes or belts. Here, at least one of the relevant rotation elements must be driven to move the stored box/object to a new position. This drive requires a separate motor for each storage mechanism, which negatively affects the efficient use of space.

As a result, all abovementioned problems have made it necessary to make an improvement in the relevant technical field.

Objects and Brief Description of the Invention

The main object of the present invention is to maximize space utilization in storage systems.

Another aim of the present invention is to eliminate the need for aisle structures such as existing vertical storage systems.

The present invention relates to a storage system for providing purposes of the aforementioned requirements. Accordingly, the present invention comprises the following; a storage body having an empty volume, a movement area and multiple openings providing access from said movement area to the volume, multiple storage mechanisms having at least two main rotation elements, a transport transmission element associated with said main rotation element and moved by the rotational movement of said main rotation element and multiple carrier plates connected to said transport transmission element and positioned so as to be accessible to said volume and through said openings, a transport vehicle having at least one body, at least one moving element for moving said body in the movement area, at least one second motor for driving said movement elements, and a gripping mechanism for storing or retrieving objects on the carrier plates extending through the opening, an intermediate transmission element connected to one of the main rotation elements to drive said main rotation element to rotate on its axis, a rotation drive element connected to the body of the transport vehicle, which drives the intermediate transmission element of one of the aforementioned main rotation elements and regulates the position of the carrier plates and the first motor driving the rotation drive element.

Thus, each of these storage mechanisms will be driven by a motor provided in the transport vehicle only when the transport vehicle is in the appropriate position. The fact that this is the only situation in which the rotating elements of the respective storage mechanism need to be driven is not a disadvantage, on the contrary, it eliminates the need for separate motors for each of the storage mechanisms.

A preferred embodiment of the invention comprises a third motor so as to move said rotation drive element towards said main rotation element. Thus, the main rotation element can be provided within the storage body and, accordingly, the total size of the rotation element and the storage body is reduced.

A preferred embodiment of the invention comprises a lock for preventing rotation of said main rotation element and a lock control element connected to said transport device for opening said lock.

This ensures that the storage mechanism remains stationary when it is not driven by the first motor of the transport vehicle. Here, the fact that the main rotation element is not driven by the first motor and is not associated with any drive element causes the transmission element to rotate according to the weight balance of the objects on the plates. The lock and lock control element prevent this uncontrolled rotation. The lock is only opened by the lock control element when the transport vehicle is in the correct position.

Definitions of the Figures Describing the Invention

The figures and related explanations used so as to better explain the device developed with the present invention are given below.

Figure 1. Schematic side view of the system subject to the invention Figure la. Schematic side view of the transport vehicle positioned on the storage mechanism while the gripping mechanism is empty

Figure lb. Schematic side view of the transport vehicle positioned on the storage mechanism while the gripping mechanism grabs the object

Figure 1c. Schematic side view of the transport vehicle positioned on the storage mechanism when the gripping mechanism takes the object into the corresponding cavity

Figure 2. Isometric view of the system subject to the invention

Figure 2a. View of Figure 2 without the outer body

Figure 2b. Isometric view of an embodiment of the storage mechanism

Figure 2c. Isometric view of another embodiment of the storage mechanism

Figure 2d. Isometric view of an embodiment of the transport vehicle

Figure 3. Flow diagram of the inventive storage and retrival methods

Definitions of Elements/Sections/Parts that Constitute the Invention

The parts and sections in the figures are enumerated and the corresponding of each number is given below in order to better explain the device developed with this invention:

10. Storage body

11. Storage mechanism

111. Main rotating element

112. Transport transmission element

113. Intermediate transmission element

114. Carrier plate

115. Lock mechanism

116. Second rotating element

117. Second intermediate transmission element

118. Second transport transmission element

12. Movement area

13. Column

20. Transport vehicle

21. Transport body

22. Movement element 23. Gripping mechanism

231. Gripping rope

232. Gripping plate

233. Gripping element

24. Rotation drive element

30. Outer body

El. First motor

E2. Second motor

E3. Third motor

E4. Fourth motor

H. Communication unit

KB. Control unit

M. Memory unit

P. Processing unit

V. Volume

O. Object

A. Opening

100. System

Detailed Description of the Invention

The present invention relates to a storage system using programmable transport means for reaching stacked objects in storage and retrival areas.

Referring to Figure 1, the system subject to the invention (100) is configured on a storage body (10). Said storage body comprises at least one movement area (12). The movement area (12) refers to the area in which the transport vehicle (20) moves to pick up, move and/or place objects, which will be explained later.

Said movement area (12) comprises multiple openings (A) through the surface. Preferably multiple openings (A) are arranged on said movement area. Said movement area (12) may be a planar area, preferably arranged in the form of rails formed from multiple frames shown in Figures 2 and 2a. The storage body (10) comprises an empty volume (V). Said empty volume (V) is the region where the storage mechanisms (11) will be placed, which will be explained later. The movement area (12) is preferably provided above said volume (V) and said openings (A) provide access from the movement area (12) to the volume (V).

Preferably, said volume (V) comprises the multiple columns (13) shown in Figures 2 and 2a. Columns (13) placed vertically carry the movement area (12) provided in the form of multiple frames. The storage mechanisms (11) are positioned between said columns (13).

In said system, preferably the region defining the volume (V) is surrounded by an outer body (30).

With reference to Figures 1, 2b and 2c, said storage mechanisms (11) comprise at least two main rotating elements (111) connected with their central axes parallel to each other. The main rotating elements (111) are connected to each other by means of a transport transmission element (112), such as a belt, rope, belt or chain, so that they rotate together. When one of the main rotation elements (111) is rotated on its axis, the transport transmission element (112) moves and the other main rotation element (111) rotates.

Multiple carrier plates (114) are coupled to said transport transmission element (112). Said carrier plates (114) refer to the elements where the objects (O) are positioned during storage. The term "plate" also includes the base of the casing-type carriers.

When one of said main rotation elements (111) start to rotate in any way, said transport transmission element (112) also moves and accordingly the position of the carrier plate (114) and the object (O) on the carrier plate (114) changes. The object (O) can then be moved through the volume (V) towards the base or opening (A).

At least one transport vehicle is placed in said movement area (12). The transport vehicle (20) is configured on a transport body (21). Said transport body (21) is preferably configured in the form of a shell comprising a cavity, and said object (O) may be received in said cavity by a gripping mechanism (23) while being transported by the transport vehicle (20). At least one, preferably multiple, movement elements (22) are coupled to the transport body (21). Said movement elements (22) enable the transport vehicle (20) to move on the movement area (12). The movement element (22) can be provided in the form of a wheel. In the case where the movement area (12) is provided in the form of multiple frames, these frames act as rails and said wheels are formatted accordingly. Wheels rotating on the same axis are preferably arranged here for the opposite edges of the frames. For example, at least two wheels are positioned on opposite sides of the rectangular prism-shaped transport body (21).

Said movement elements (22) are driven by at least one second motor (E2) and can move over the movement area (12) accordingly. Here, a second motor (22) can be used for each movement element (22), a second motor (22) can be used for opposite movement elements

(22) or a single second motor (E2) can be used for all movement elements (22). In the case of a single second motor (E2), said second motor (E2) may require additional elements to change the direction of the drive during movement transmission.

As can be seen in Figure 1, the transport vehicle (20) also comprises a gripping mechanism

(23). The gripping mechanism (23) is configured to grab an object (O) at the point where the object (O) in the storage mechanism (11) is transported into the opening (A), or the transport means (20) is configured to transport an object (O) and connect the same to the carrier plate (114) through the opening (A).

Referring to Figures la-lc, the gripping mechanism (23) is used to ensure the movement of the desired object (O) in the vertical direction by lowering the gripping plate (232) by the gripping rope (231) connected to the gripping mechanism (23) when the desired object (O) is brought to the top point by the storage mechanism (11) and by connecting the gripping elements (233) with the connection points on the objects (O). Gripping mechanisms (23) can be provided in many types and the types are well known in the art. For example, robotic arms or vacuum grippers can also be used as gripping mechanisms (23). The transport vehicle (20) further comprises a fourth motor (E4) for driving said gripping element (233), i.e. for gripping or releasing the object (O).

With reference to FIGS. 1 and 2d, one of said main rotation elements (111) is coupled to an intermediate transmission element (113), preferably coupled to the one close to the opening (A). Said intermediate transmission element (113) and the main rotation element (111) are coaxially and rigidly connected to each other and when one of them rotates, the other rotates. Here, the intermediate transmission element (113) and the main rotation element (111) may also be provided integrally. Said intermediate transmission element (113) is preferably provided as a gear. The transport vehicle (20) comprises a first motor (El) for driving said intermediate transmission element (113) and thus the main rotation element (111), and a rotation drive element (24) driven by said first motor (El). When said rotation drive element (24) contacts said intermediate transmission element (113), the first motor (El) is started and starts to rotate the main rotation element (111). In order to provide this drive, the transport vehicle (20) must be positioned to pick up or place the object (O) in the opening. This eliminates the need for at least one motor for each storage mechanism (11).

Said rotation drive element (24) can be selected as a gear. When the geared rotation drive element (24) and the intermediate transmission element (113) are in contact with each other, the necessary connection is made for the drive transmission from the first motor (El) to the main rotation element (111). As can be seen more clearly in Figure 2d, the rotation drive element (24) can also be selected as a pinion gear.

In a preferred embodiment of the invention, there is a third motor (E3) which drives at least the rotation drive element (24), preferably the first motor (El) together with the rotation drive element (24). As can be seen in Figure 2d, here the third motor (E3) moves the rotation drive element (24) towards and against the intermediate transmission element (113).

Under normal conditions, as the transport vehicle (20) moves towards the storage mechanism (11) to be processed and passes through other openings (A), the rotation drive element (24) may rotate the main rotation element (111) by contacting an intermediate transmission element (113) which should not be processed. At this point, the rotation drive element (24) can either avoid this contact by being moved by the third motor (E3) or the rotation drive element (24) is normally positioned so that it does not contact the intermediate transmission element (113) and is only brought into contact by the third motor (E3) when it reaches the appropriate opening (A).

Said third motor (E3) is preferably a motor that provides linear motion or comprises an element that converts rotational motion into linear motion. Here, the rotation drive element (24) can be guided by a slide-guide system to the third motor (E3).

With reference to Figure 2d, the storage mechanism (11) comprises a second rotation element (116). Here, the second rotation element (116) is connected to the intermediate transmission element (113) of the main rotation element (111) by means of a second transport transmission element (112), such as a belt, rope, belt or chain, so as to rotate together. When one of the main rotation element (111) or the second rotation element (116) is rotated on its axis, the other rotates. Here, the second rotation element (116) is connected to a second intermediate transmission element (117) in such a way that they are concentric and rotate together. Here, the second rotation element (116) and the second intermediate transmission element (117) can also be provided in a monolithic form.

The second intermediate transmission element (117) is located closer to the opening than the intermediate transmission element (113). Here, the rotation drive element (24) drives the second intermediate transmission element (117), which in turn drives the intermediate transmission element (113), the main rotation element (111), the transport transmission element (112) and the carrier plates (114). At this point, the second intermediate transmission element (117) forms a connection point closer to the opening for the drive connection.

Referring to Figure 1, when the main rotation elements (111) are not driven by the first motor (El), they are not associated with any drive element, which causes the transport transmission element (112) to rotate according to the weight balance of the objects (O) on the plates. To ensure that the storage mechanism (11) remains stationary when not driven by the first motor (El) of the transport vehicle (20), it comprises a locking mechanism (115) which locks the main rotation element (11) or the intermediate transmission element (113). This lock mechanism can be mechanical, electrical or electromechanical. For example, said lock mechanism (115) may comprise a gear passing between the gears of the geared intermediate transmission element (113). The transport vehicle (20) may comprise a lock control element for controlling this lock mechanism (115). When there is no drive transmission between the intermediate drive element (113) and the rotation drive element (24), the lock mechanism (115) holds the assembly in the locked position. When the transport vehicle (20) is in the appropriate position, the lock mechanism (115) releases the assembly from the lock position and the main rotation elements (111) become rotatable again.

Said lock mechanism (115) can also be realized using electromagnets or electromagnetic clutches. When the transport vehicle (20) is in the appropriate position, the electromagnet or electromagnetic clutch is energized and these elements release the lock mechanism (115) from the lock position. With reference to Figure 1, said system (100) further comprises a control unit (KB) for performing said storage and unloading operations. Said control unit (KB) may be a remote control, in particular a remote control, by means of which the simple user controls the transport vehicle (20), more precisely the motors of the transport vehicle (20). The motors controlled here are at least one of the first motor (El), the second motor (E2), the third motor (E3) and the fourth motor (E4), preferably all of them. In addition, the control unit can also control the gripping mechanism (23).

In addition, the system (100) may also work automatically. The system starts to work in line with the repositioning command of the object (O) according to a data entered instantly by the user. Here, the new position may be taken for removing an object (O), the first position of which is the carrier plates (114), out of the storage mechanism (11) or for placing an object (O) not in the storage mechanism (11) into the storage mechanism (11).

A processing unit (P), communication units (H) and memory unit (M) are used to perform these operations. Preferably, the processing unit (P), communication unit (H) and memory unit (M) are integrated into the control unit (KB). In order for the control unit (KB) and the transport vehicle (20) to communicate, a communication unit (H) is also integrated into the transport vehicle (20). Communication units (H) are preferably suitable for wireless communication.

Referring to Figures 1 and 3, when a new position request for an object (O) is received, the instant position of the object (O) and the transport vehicle (20) is taken. These positions can be determined instantly or can be retrieved from a memory unit (M) in which the last positions of the relevant elements are stored.

Here, the processing unit (P) in the control unit is connected to the secondary motor (E2) of the transport vehicle (20), if retrival is to be performed, the transport vehicle (20) is connected to the opening (A) of the storage mechanism (11) where the object (O) is located, if storage is to be performed, it generates a signal to generate a command to move the object (O) to its position outside the storage body (10) by means of the movement elements (22). Preferably before retrival, the processing unit (P) generates the necessary signal to open the lock mechanism (115). If retrival is to be performed, when the transport device (20) reaches the appropriate position, the signal required to move the rotation drive motor (24) to the appropriate position in relation to the intermediate transmission element (113) is generated by the processing unit (P) to the third motor (E3) and then the signal required for the first motor (El) to drive the rotation drive motor (24) is generated by the processing unit (P).

Here, the rotation drive motor (24) drives the intermediate transmission element (113) in such an amount that the carrier plate (114) with the object (O) is moved to the nearest opening (A). Here, when the carrier plate (114) reaches the appropriate position, it is grabbed by the gripping mechanism (23) and transported to the discharge zone. Preferably after retrival, the processing unit (P) generates the signal necessary for locking the lock mechanism (115).

If the storage operation is to be performed, when the transport vehicle (20) reaches the appropriate position, the object (O) is picked up by the gripping mechanism (23) and an appropriate signal is sent by the processing unit (P) to the second motor (E2) so as to move the transport vehicle (20) to the opening (A) of the storage mechanism (11) where the object (O) is to be placed. Preferably before storage, the processing unit (P) generates the necessary signal to open the lock mechanism (115). Preferably, a signal is transmitted to the third motor (E3) of the transport vehicle (20) arriving at the opening (A) to move the rotation drive element (23) into the appropriate position. Here, the rotation drive element (23) drives the intermediate drive element (113) according to the signal generated by the processing unit (P) in order to move the desired carrier plate (114) to the appropriate position with the appropriate signal. The desired position can be the first empty carrier plate (114) or a specific predetermined carrier plate (114).

When the carrier plate (114) is in the appropriate position, the gripping mechanism (23) holds the object (O) so that it is carried by the carrier plate (114). The carrier plate (114) is moved to its new position, preferably by a signal to be transmitted to the first motor (El). Preferably after storage, the processing unit (P) generates the signal necessary for locking the lock mechanism (115).

Claims

1. A storage system (100), characterized in that, it comprises the following;

- A storage body (10) having an empty volume (V), a movement area (12) and multiple openings (A) providing access from said movement area (12) to the volume (V),

- Multiple storage mechanisms (11) having at least two main rotation elements (111), a transport transmission element (112) associated with said main rotation element (111) and moved by rotational movement of said main rotation elements (111), and multiple carrier plates (114) associated with said transport transmission element (112), and positioned such that said volume (V) and said openings (A) are accessible,

- A transport vehicle (20) comprising at least one body (21), at least one movement element (22) for moving said body (21) in a movement area (12), at least one second motor (E2) for driving said movement elements (22), and a gripping mechanism (23) for placing or retrieving objects (O) on the carrier plates (114) extending through the opening (A),

- An intermediate transmission element (113) coupled to one of the main rotation elements (111) for driving said main rotation element (111) to rotate about its axis,

- A rotation drive element (24) connected to the body (21) of the transport vehicle (20) and which drives the intermediate transmission element (113) of one of said main rotation elements (111) and regulates the position of the carrier plates (114), and a first motor (El) driving the rotation drive element (24).

2. A storage system (100) according to claim 1, characterized in that; it comprises a third motor (E3) for moving said rotation drive element (24) towards said intermediate transmission element (113).

3. A storage system (100) according to any one of the preceding claims, characterized in that; it comprises a control unit (KB) for controlling said motors.

4. A storage system (100) according to claim 3, characterized in that; said control unit (KB) is a user control. A storage system (100) according to claim 1, characterized in that, it comprises the following;

- A memory unit (M) for storing a record of the transported objects (O) on the carrier plates (114) and the last position of the transport vehicle (20),

- A processing unit (P) that calculates the amount of drive to be provided by the motors according to the new position of the user-specified object (O) and generates a response accordingly,

- A communication unit (H) that transmits this response to the motors. A storage system (100) according to claim 1, characterized in that; it comprises a second intermediate transmission element (117) associated with said intermediate transmission element (113) in such a way that the drive is transmitted via a second transport transmission element (118) and positioned closer to the opening (A) than the intermediate transmission element (113). A storage system (100) according to claim 1, characterized in that; it comprises a lock mechanism (115) for preventing rotation of said main rotation element (111) and a lock control element connected to said transport vehicle (20) for opening said lock mechanism (115). A storage system (100) according to claim 7, characterized in that; the lock mechanism (115) comprises an electromagnetic clutch. A storage system (100) according to claim 1, characterized in that; the intermediate transmission element (113) is a gear. A storage system (100) according to claim 9, characterized in that; the rotation drive element (24) is a gear. A storage system (100) according to claim 9, characterized in that; the rotation drive element (24) is a pinion gear.

12. A storage system (100) according to claim 1, characterized in that; said movement area

(12) is provided as multiple frames and said volume (V) is provided between columns

(13) connected to multiple frames.

13. A storage system (100) according to claim 1, characterized in that; said transport body (21) comprises a cavity in which the object (O) can be placed.

14. A storage system (100) according to claim 13, characterized in that; the gripping mechanism (23) is configured to pull the object (O) into said cavity.

15. A computer-implemented storage method for a storage system (100) according to claim 1, characterized by the following;

- Receiving object (O) new position entry,

- Receiving the instant positioning of the object (O) and the transport vehicle (20),

- Generation by the processing unit (P) and transmission to the second motor (E2) of a response signal for proper operation of the second motor (E2) to cause the transport vehicle (20) to move to the opening (A) accessible to the storage mechanism (11) in which the object (O) is located,

- Generation and transmission of a response signal to the first motor (El) by the processing unit (P) for the proper operation of the first motor (El) in order to move the object (O) to the closest location of the opening (A) once the rotation drive element (24) and the intermediate transmission element (113) come in contact.

- Generation by the processing unit (P) and transmission to the second motor (E2) of a response signal for proper operation of the second motor (E2) to move the object (O) by the transport vehicle (20) to the desired new position.