Patent Publication Number: US-2023138196-A1

Title: Precision apparatus for placement into storage and/or removal from storage, precision system for placement into storage and/or removal from storage, and method

Description:
PRIOR ART 
     The invention concerns a precision apparatus for placement into storage and/or removal from storage according to the preamble of claim  1 , a precision system for placement into storage and/or removal from storage according to claim  13  and a method according to claim  21 . 
     It has already been proposed that tools and tool holders be stored in storage installations having several exchangeable storage levels, like for example Kardex lifts. However, positioning precision when providing the respective levels is often not sufficient to ensure automated loading which is precise, secure and reliable. 
     The objective of the invention is in particular to provide a generic apparatus having advantageous characteristics with regard to an automated loading of storage lifts. Preferably it is the objective of the invention to improve a precision with regard to providing storage levels of storage lifts. The objective is attained according to the invention by the features of patent claims  1 ,  13  and  21  while advantageous implementations and further developments of the invention may be gathered from the subclaims. 
     ADVANTAGES OF THE INVENTION 
     The invention is based on a precision apparatus for placement into storage and/or removal from storage, for an at least semiautomated placement into storage  and/or removal from storage of tools, in particular tool assemblies, and/or of tool chucks into and/or out of a storage lift, with at least one holding unit for tools, in particular tool assemblies, and/or tool chucks, which is loadable by a handling robot and forms a plurality of storage bins. 
     It is proposed that the holding unit comprises at least one form-fitting centering element, which is configured to interact with a centering bolt and/or a centering recess for a submillimeter-precise horizontal orientation of the holding unit. This advantageously allows attaining a high degree of precision, in particular of the positioning of the holding unit. Advantageously, in this way precise actuation of a storage lift is enabled. Advantageously safety, reliability and/or accuracy of an automated placement into storage and/or removal from storage of tools, in particular tool assemblies, and/or tool chucks can be improved. By a “storage lift” is in particular a tool storage lift to be understood, comprising at least holding units which can be provided in an exchangeable manner. Preferably the storage lift comprises drawers or drawer-like compartments, via which the holding units are supplied for loading. Preferentially a plurality of holding units are arranged in the storage lift. For a placement into storage and/or removal from storage of tools, in particular tool assemblies, and/or tool chucks, the holding units are taken into a transfer zone of the tool storage lift by means of the tool storage lift. Following the placement into storage and/or removal from storage, the holding units are moved by the tool storage lift into a storage position within the tool storage lift, which is usually not easily accessible from an outside. The storage lift may, for example, be implemented as a storage paternoster lift. The holding units in particular form something like a tool rake comprising a plurality of storage bins. The storage bins of the holding units are preferably arranged side by side (along a main extension direction of the holding units). The holding unit implements at least a portion of a level of the tool storage lift. The holding unit is configured for a placement into storage in a storage region of the storage lift. “Configured” is in particular to mean specifically programmed, designed and/or equipped. By an object being configured for a certain function is in particular to be understood that the object  fulfills and/or executes this certain function in at least one application state and/or operation state. 
     Tools may in particular be embodied as shaft tools, preferably as rotary shaft tools, for example as a drill, as a milling tool, as a profiling tool and/or as a reamer. By tool chucks are in particular components to be understood which are configured for receiving tools and for connecting the tools to machines. In particular, the tool chucks are implemented as tool-machine interfaces. For example, a tool chuck may be embodied as a shrink-clamp chuck, as a hydraulic-expansion chuck, as a compression-clamp chuck, as a collet chuck, or the like. In particular, the holding unit is configured at least for tool chucks in the sizes HSK 40 to HSK 100 and/or for tool chucks of other types, e. g. SK, Coromant Capto®, KM or the like. A “tool assembly” is in particular to mean a combination of a tool and a tool chuck. 
     A “handling robot” is in particular to mean an industrial robot, preferably an articulated-arm robot, in particular having at least three, preferentially at least four, preferably at least five and particularly preferably at least six robot joints which are movable independently from each other, and/or a handling device and/or a manipulator. The handling robot is in particular configured to manage a material flow from and/or to at least a portion of the storage lift, for example from and/or to the holding units. In particular, the handling robot comprises at least one gripper unit, which is at least configured for gripping a tool and/or a tool chuck. Preferably the handling robot comprises at least one robot-controlling unit. The robot-controlling unit in particular comprises a specifically programmed robot-controlling device which is configured to control, regulate and/or select activities and/or movements of the robot and/or of at least one sub-component of the handling robot. Preferably the robot-controlling unit comprises at least one user interface, in particular for the purpose of influencing a movement at least of a sub-component of the robot and/or of influencing the programming of the robot controlling device. 
     By a “form-fitting centering element” is in particular an element to be understood which is configured to realize an orientation of the component comprising the form-fitting  centering element by creating a form-fit connection with a corresponding element, for example a corresponding element of the handling robot or of a further automated unit that has a centering device and is allocated to a robot module. The centering element may herein be embodied as a, for example bolt-like/bolt-shaped, (form-fitting) projection or as a, for example sheath-shaped, (form-fitting) recess. The centering bolt and/or the centering recess interacting with the form-fitting centering element are arranged separately from the holding unit, preferably separately from the storage lift. “Configured” is in particular to mean specifically programmed, designed and/or equipped. By an object being configured for a certain function is in particular to be understood that the object fulfills and/or executes this certain function in at least one application state and/or operation state. The term “submillimeter-precise” is in particular to mean with an accuracy deviation of less than 1 mm, preferably of less than 0.5 mm, preferentially of less than 0.2 mm and particularly preferentially of maximally 0.05 mm. 
     It is further proposed that the holding unit comprises at least one further form-fitting centering element, which is configured to interact with a further centering bolt and/or with a further centering recess for a submillimeter-precise horizontal orientation of the holding unit. This advantageously allows further increasing accuracy. It is advantageously possible to avoid an inclined position of the holding unit. Moreover, in the orientation process a force effect on the centering bolt/centering recess is advantageously reducible. In particular, the further form-fitting centering element is arranged and implemented separately from the form-fitting centering element. In particular, the further form-fitting centering element is implemented approximately identically to the form-fitting centering element. Alternatively it is however also conceivable that the further form-fitting centering element is implemented differently from or complementarily to the form-fitting centering element. In particular, in the positioning process a horizontal position of the centering bolt and/or of the centering recess remains at least substantially unchanged. “Substantially unchanged” is in particular to mean a change of the  horizontal position of the centering bolt and/or of the centering recess by less than 0.05 mm, preferably less than 0.01 mm. 
     It is moreover proposed that the form-fitting centering element and the further form-fitting centering element are arranged in end regions of the holding unit, which in particular point away from each other and which, in particular viewed along a main extension direction of the holding unit, are situated opposite each other. In this way advantageously accurate horizontal positioning of the holding unit is enabled. By a “main extension direction” of an object is herein in particular a direction to be understood which runs parallel to a longest edge of a smallest rectangular cuboid just still completely enclosing the object. 
     It is also proposed that at least a portion of the holding unit which forms the storage bins, is embodied as a lasered and/or riveted bent sheet metal part. This advantageously allows achieving a particularly high degree of precision of the holding unit, in particular of the storage bins of the holding unit. Advantageously a low total weight of the holding unit is achievable. In particular, the holding unit is realized as a compact and/or tension-free component. The tension-free state is advantageously attainable if welding of metal sheets is dispensed with and the production of the holding unit is realized completely by lasering (high laser accuracy) and riveting. In particular, in the holding unit the connection openings for the rivets are also lasered. In this way it is advantageously possible to permanently obtain a precision that is higher in comparison to welded constructions. In addition, it is thus advantageously possible to reduce costs, in particular compared to welded, annealed and burnished variants. In particular, a sheet metal distribution of the holding unit is selected in such a way that there are as few individual parts as possible. 
     Beyond this it is proposed that at least a portion of the holding unit which comprises the form-fitting centering element, is implemented as a, preferably solid, metal element, which is in particular different from sheet metal. This advantageously allows obtaining a high positioning accuracy, in particular as a  deformability of the portion of the holding unit comprising the form-fitting centering element is kept as low as possible. Preferably the metal element is embodied as a solid aluminum block/as a solid aluminum flat material. Of course, alternative materials for the metal element, like for example steel, are also conceivable. The metal element could moreover be substituted by a hard plastic part, for example a hard-plastic block. 
     If the holding unit forms at least two different kinds of storage bins, high storage flexibility and/or high storage density are/is advantageously achievable. In particular, the different kinds of storage bins are shaped differently. In particular, the different kinds of storage bins are configured for different tool chucks, in particular for different tool assemblies. For example, a first kind of storage bin may be implemented for tool assemblies with short thick tools (e. g. cutter heads) while a second kind of storage bin is configured for tool assemblies with long thin tools (e. g. drills or shaft milling tools). Of course, three or more different kinds of storage pins in one single holding unit are also conceivable. 
     If then a first kind of storage bin is implemented for a placement into storage and/or removal from storage of tools, in particular tool assemblies, and/or tool chucks from an at least partially vertical placement and/or removal direction, advantageously easy placement/removal of the thick short tools is enabled. If then a second kind of storage bin is implemented for a placement into storage and/or removal from storage of tools, in particular tool assemblies, and/or tool chucks from an (exclusively or almost exclusively) horizontal placement and/or removal direction, advantageously easy placement/removal of the long thin tools is enabled. 
     In addition, it is proposed that at least one of the storage bins comprises a (rotational) position-fixing element for tool chucks. This advantageously allows achieving a high level of precision of the placement for storage. The (rotational) position-fixing element may be realized, for example, as a projection or as a  recess, which is configured to interact/mutually engage with a recess or a projection of the tool chuck. 
     It is further proposed that the precision apparatus for placement into storage and/or removal from storage comprises a planar base plate carrying the holding unit such that it is horizontally displaceable. This advantageously allows simplifying a positioning process. In particular, at least a portion of the holding unit lies (directly) upon a surface of the base plate. In particular, a friction coefficient between the base plate and the holding unit is selected such that a force generated/generatable by the centering device is sufficient for a displacement of the holding unit (also in a filled state) with respect to the surface of the base plate. In particular, the metal elements with the form-fitting centering elements also lie upon the base plate. 
     If the holding unit is supported on the base plate in a floating manner, advantageous storage characteristics are achievable, in particular with regard to the horizontal displaceability of the holding unit on the base plate. It is moreover possible to keep costs and production input low. In particular, the metal elements with the form-fitting centering elements are also supported on the base plate in a floating manner. 
     If the base plate is made of a plastic, in particular of a polyvinyl chloride (PVC), favorable sliding characteristics between the holding unit and the base plate are advantageously achievable. This advantageously allows slightly displacing the holding unit during the centering process. In particular, metal slides better on PVC than on metal. 
     Furthermore, a precision system for placement into storage and/or removal from storage is proposed, with the storage lift comprising a plurality of precision apparatuses for placement into storage and/or removal from storage which in each case have a holding unit, with the handling robot for loading the storage lift with tools, in particular tool assemblies, and/or with tool chucks, and with at least one centering device comprising an automatedly movable centering bolt and/or an  automatedly movable centering recess for a submillimeter-precise horizontal orientation of holding units by generating a form-fit connection of the centering bolt and/or of the centering recess with at least one form-fitting centering element of the holding units. This advantageously allows attaining a high level of precision, in particular when positioning the holding unit. Advantageously, in this way a precise automated actuation of the storage lift for the placement into storage and/or removal from storage of tools, in particular tool assemblies, and/or tool chucks is enabled. 
     If the centering bolt of the centering device has a conical outer shape and/or the centering recess of the centering device has a conical inner shape, clearance-free centering is advantageously achievable. Advantageously, particularly high positioning precision of the holding unit relative to the handling robot is attainable. In particular, an outer diameter of the conical outer shape of the centering bolt tapers in a direction that points towards the form-fitting centering element. In particular, an inner diameter of the conical inner shape of the centering recess tapers in a direction that points away from the form-fitting centering element. Alternatively, it is also conceivable that the form-fitting centering element has a conical inner or outer shape. In particular, the conical inner shape/the conical outer shape is configured for generating a clearance-free self-centering of the holding unit. 
     It is also proposed that the centering bolt of the centering device and/or the centering recess of the centering device is automatedly movable along a vertical direction, in particular viewed relative to the surface of the base plate which the holding unit lies upon. This advantageously enables precise (automated) centering of the holding unit relative to the handling robot. In particular, during the centering process the centering bolt of the centering device and/or the centering recess of the centering device are/is moved automatedly, exclusively along the vertical direction.  
     Moreover, it is proposed that the precision system for placement into storage and/or removal from storage comprises a further centering device with a further centering bolt and/or with a further centering recess, which is configured for a form-fitting interaction with the further form-fitting centering element of the same holding unit (for example for an insertion of a centering bolt into the form-fitting centering element or for putting a centering recess over the form-fitting centering element), said form-fitting interaction being synchronized with the centering bolt of the centering device and/or with the centering recess of the centering device. This advantageously allows achieving a particularly high level of precision of the holding unit, in particular of the entire holding unit. In particular, the centering device is implemented at least substantially identically to the further centering device. 
     Beyond this it is proposed that the storage lift is configured to optionally provide respectively one of the several precision apparatuses for placement into storage and/or removal from storage/holding units, which are comprised in the storage lift, for an access of the handling robot. In this way advantageously high storage capacity is achievable. In particular, the precision system for placement into storage and/or removal from storage comprises a transfer zone, into which optionally each of the several holding units can be brought by a holding unit supply device of the storage lift, in particular in an automated manner, for a placement into storage and/or removal from storage of tool assemblies or tool chucks. 
     If the storage lift comprises at least one transfer surface and/or a drawer, which—at least during a placement into storage and/or removal from storage of tools, in particular tool assemblies, and/or of tool chucks into and/or out of the storage lift—carries the holding unit of one of the several precision apparatuses for placement into storage and/or removal from storage comprised in the storage lift, it is advantageously possible to ensure an easy access to the tool assemblies or tool chucks by commercially available handling robots.  
     If moreover at least the storage lift and the centering device, and preferably the handling robot, are—at least in the transfer zone of the precision system for placement into storage and/or removal from storage—firmly fixed on a common base and/or on a ground (for example tightly screwed, glued, fixedly cemented, welded, etc.), this advantageously enables a particularly high level of precision. In particular, the transfer zone comprises at least the transfer surface and/or the drawer in a (deployed) operation state that is intended for the placement into storage and/or removal from storage. 
     Furthermore, it is proposed that the precision system for placement into storage and/or removal from storage comprises a holding unit identifying device, which is in particular allocated to the centering device, and which is configured for an identification of individual holding units of the storage lift. This advantageously allows achieving good storage management. In particular, the holding unit identifying device is implemented at least partially integrally with the centering device/mounted to the centering device. This advantageously allows a reduction of complexity. By two units being implemented “partially integrally” is in particular to be understood that the units comprise at least one, in particular at least two, advantageously at least three common elements which are part, in particular a functionally relevant component, of both units. In particular, the holding unit identifying device is embodied as an RFID reading device. However, alternative implementations of the holding unit identifying device, like for example as a barcode reading device, as a 2D barcode reading device, as an NFC reading device, etc., are also conceivable. In particular, each of the holding units of the storage lift comprises a bijective identificatory element, for example an RFID chip, a 2D barcode, a barcode, etc., which is readable by the holding unit identifying device. 
     Beyond this, a method is proposed for an at least semiautomated precision placement into storage and/or removal from storage of tools, in particular tool assemblies, and/or of tool chucks into and/or out of the storage lift, in particular by means of the precision system for placement into storage and/or removal from  storage, with a horizontal detail-positioning step, in which a submillimeter-precise orientation of a holding unit, which was in particular moved out of the storage lift beforehand, relative to a handling robot of the precision system for placement into storage and/or removal from+storage is brought about by generating a form-fit connection of a centering bolt, preferably at least two centering bolts, and/or a centering recess, preferably at least two centering recesses, with a form-fitting centering element, preferably with respectively one form-fitting centering element, of the holding unit that is supported in a horizontally movable manner. This advantageously allows attaining high precision, in particular with regard to the positioning of the holding unit. Advantageously, this enables a precise actuation of a storage lift. 
     If in the method moreover an unambiguous automated identification of the respective holding unit is made before, during and/or after the positioning step, particularly high-quality, safe and/or failure-proof (automated) storage management is achievable. 
     The precision apparatus for placement into storage and/or removal from storage according to the invention, the precision system for placement into storage and/or removal from storage according to the invention and the method according to the invention shall herein not be limited to the application and implementation described above. In particular, in order to fulfill a functionality that is described here, the precision apparatus for placement into storage and/or removal from storage according to the invention, the precision system for placement into storage and/or removal from storage according to the invention and the method according to the invention may comprise a number of individual elements, components and units that differs from a number given here. 
    
    
     
       DRAWINGS 
       Further advantages will become apparent from the following description of the drawings. In the drawings an exemplary embodiment of the invention is shown.  
       The drawings, the description and the claims contain a plurality of features in combination. Someone skilled in the art will purposefully also consider the features separately and will find further expedient combinations. 
       It is shown in: 
         FIG.  1    a schematic perspective illustration of a precision system for placement into storage and/or removal from storage for tool assemblies, with a precision apparatus for placement into storage and/or removal from storage comprising a holding unit for the tool assemblies, with a storage lift and with a handling robot, 
         FIG.  2    a schematic perspective illustration of the holding unit, 
         FIG.  3    a schematic perspective illustration of a detail of the holding unit, 
         FIG.  4    a schematic perspective illustration of a transfer zone of the precision system for placement into storage and/or removal from storage with the precision apparatus for placement into storage and/or removal from storage on a deployed transfer surface of the storage lift, 
         FIG.  5    a schematic perspective illustration of the transfer zone of the precision system for placement into storage and/or removal from storage with a retracted transfer surface of the storage lift, and 
         FIG.  6    a schematic flow chart of a method for an at last semiautomated placement into storage and/or removal from storage of tool assemblies. 
     
    
    
     DESCRIPTION OF THE EXEMPLARY EMBODIMENT 
       FIG.  1    shows a precision system for placement into storage and/or removal from storage  52 . The precision system for placement into storage and/or removal from storage  52  comprises a storage lift  16 . The storage lift  16  is realized as a tool-assembly storage lift. The storage lift  16  is configured for the storage of tools  10 , tool assemblies  12  and/or tool chucks  14 . The precision system for placement into  storage and/or removal from storage  52  comprises a handling robot  18 . The handling robot  18  is configured for a loading of the storage lift  16  with tools  10 , tool assemblies  12  and/or tool chucks  14 . The precision system for placement into storage and/or removal from storage  52  comprises a storage module  74 . The storage lift  16  is allocated to the storage module  74  of the precision system for placement into storage and/or removal from storage  52 . The precision system for placement into storage and/or removal from storage  52  comprises a robot module  76 . The handling robot  18  is allocated to the robot module  76 . The storage module  74  and the robot module  76  form sub-units of the precision system for placement into storage and/or removal from storage  52 , which are completely separate and/or separable from each other. 
     The precision system for placement into storage and/or removal from storage  52  comprises a plurality of precision apparatuses for placement into storage and/or removal from storage  54 . The storage lift  16  comprises a plurality of (e. g. ten or more) holding units  24 . The precision apparatuses for placement into storage and/or removal from storage  54  are configured for a placement into storage and/or removal from storage of tools  10 , tool assemblies  12  and/or tool chucks  14  into and/or out of the storage lift  16 . Each precision apparatus for placement into storage and/or removal from storage  54  comprises a holding unit  24 . The holding unit  24  is configured for holding and/or receiving the tools  10 , tool assemblies  12  and/or tool chucks  14 . The holding unit  24  forms a tool rake for receiving and holding the tools  10 , tool assemblies  12  and/or tool chucks  14 . The holding unit  24  comprises a plurality of storage bins  20 ,  22  (cf. also  FIG.  2   ). The storage bins  20 ,  22  can be loaded by the handling robot  18 . A part  40  of the holding unit  24  that forms the storage bins  20 ,  22  is embodied as a lasered and/or riveted bent sheet-metal part. The part  40  of the holding unit  24  that forms the storage bins  20 ,  22 , preferably the entire holding unit  24 , is produced free of weldings (welding seams) or the like. 
     The holding units  24  in each case form two different kinds of storage bins  20 ,  22 . A first kind of storage bin  20  of the holding unit  24  is implemented for a placement  into storage and/or removal from storage of tool assemblies  12  from an at least partially vertical placement and/or removal direction  44 . The storage bins  20  of this type have a continuous receiving opening  84  extending over a portion of a front side  80  of the holding unit  24  and at the same time over a portion of an upper side  82  of the holding unit  24 . On the upper side  82  the receiving opening  84  is larger than a maximal diameter of the tool chuck  14  of the tool assembly  12  for which the storage bin  20  is provided. This advantageously allows introducing a tool assembly  12  into the holding unit  24 , whose tool  10  has a larger maximal diameter than the tool chuck  14  of the tool assembly  12 . A second kind of storage bin  22  of the holding unit  24  is implemented fora placement into storage and/or removal from storage from an approximately purely horizontal placement and/or removal direction  46 . The storage bins  22  of this type have a receiving opening  88  which is arranged entirely on the front side  80  of the holding unit  24 . The holding unit  24  moreover has further recesses which are not configured for a placement into storage and/or removal from storage of tools  10 , tool assemblies  12  and/or tool chucks  14  but are intended to serve for a reduction of the total weight of the holding unit  24 . Each storage bin  20 ,  22  further comprises a (rotational) position-fixing element  48  for tool chucks  14  (cf.  FIG.  3   ). In the case illustrated in  FIG.  3   , the one (rotational) position-fixing element  48  is realized as a projection that is configured to mutually engage with a complementary element (not shown) of the tool chuck  14 , thus defining/fixing a rotational position of the tool chuck  14  in the storage bin  20 ,  22 . An opening shape and/or opening size of the receiving openings  84 ,  88 , in particular in a region of the front side  80  of the holding unit  24 , is adapted to tool chucks  14  of tool assemblies  12 , which are to be placed into storage respectively. In the case illustrated in the figures, the receiving openings  84 ,  88  are implemented for receiving tool assemblies  12  with HSK-100 tool chucks  14 . The holding unit  24  that is shown by way of an example in  FIG.  2    has two levels. In a lower level only storage bins  22  of the second kind are comprised whereas an upper level comprises storage bins  20  of the first kind and storage bins  22  of the second kind.  
     The storage lift  16  comprises a storage space  78 . The storage space  78  is configured at least for receiving holding units  24 . The holding unit  24  can be brought into the storage space  78  by the storage lift  16 . The storage space  78  of the storage lift  16  comprises several levels (not shown), which are in each case configured for receiving a holding unit  24  or several holding units  24 . 
     The storage lift  16  is configured to optionally provide respectively one of the several precision apparatuses for placement into storage and/or removal from storage  54 /holding units  24 , which are comprised in the storage lift  16 , for an access by the handling robot  18 . The precision system for placement into storage and/or removal from storage  52  forms a transfer zone  66 . The storage lift  16  comprises at least one transfer surface  64  and/or a drawer. The transfer surface  64  is arranged in the transfer zone  66  of the precision system for placement into storage and/or removal from storage  52 . In the case of an implementation as a drawer, the drawer can be brought into the transfer zone  66  of the precision system for placement into storage and/or removal from storage  52  by deployment. The transfer surface  64  or the drawer carries one of the holding units  24  comprised in the storage lift  16 , at least during a placement into storage and/or removal from storage of tools  10 , tool assemblies  12  and/or tool chucks  14  into and/or out of the storage lift  16 . The storage lift  16  comprises a rail system  92 , along which the transfer surface  64  can be deployed and retracted like a drawer. 
     The precision system for placement into storage and/or removal from storage  52  comprises a centering device  56  (cf. also  FIG.  4   ). The centering device  56  is configured for a submillimeter-precise horizontal orientation of the holding units  24  relative to the handling robot  18 . The centering device  56  is allocated to the robot module  76 . The centering device  56  comprises a centering bolt  28 . Alternatively, the centering device  56  could have a centering recess (not shown). The centering bolt  28  is automatedly movable. The centering bolt  28  is automatedly movable along a vertical direction  60 . The centering device  56  comprises a drive unit  86 , which is configured for a hydraulic or pneumatic generation of the movement of the centering bolt  28  along the vertical direction  60 . The centering device  56  is  mounted to a frame unit  90  of the robot module  76 . The frame unit  90  surrounds the handling robot  18  at least partially. The centering bolt  28  of the centering device  56  has a conical outer shape  58 . Alternatively, in the case of an implementation as a centering recess, a conical inner shape is conceivable. The centering device  56  is realized separately from the handling robot  18 . The centering device  56  is realized separately from the storage lift  16 . The holding units  24  each have a form-fitting centering element  26 . The form-fitting centering element  26  is implemented complementarily to the centering element (centering bolt  28 /centering recess) of the centering device  56 . The form-fitting centering element  26  has a conical inner shape (in the case of a sheath-like implementation) or a conical outer shape  58  (in the case of a bolt-shaped implementation). By its conical shape (adapted to the shape of the centering bolt  28  or of the centering recess) the form-fitting centering element  26  enables tolerance-free self-centering of the holding unit  24  relative to the robot module  76 . The centering bolt  28  is configured to bring about the submillimeter-precise horizontal orientation of the holding unit  24  by generating a form-fit connection with the form-fitting centering element  26 . As a result of the vertical introduction of the centering bolt  28  into the form-fitting centering element  26  that is realized as a recess, the holding unit  24  having the form-fitting centering element  26  is displaced horizontally until the centering bolt  28  fits accurately into the form-fitting centering element  26 . Herein the centering bolt  28  remains unmoved horizontally. A portion  42  of the holding unit  24  that comprises the form-fitting centering element  26  is implemented as a solid metal element that is different from a sheet metal. The portion  42  of the holding unit  24  that comprises the form-fitting centering element  26  is thus not part of the lasered and riveted bent sheet metal part. The portion  42  of the holding unit  24  that comprises the form-fitting centering element  26  is connected with the bent sheet metal part. The portion  42  of the holding unit  24  that comprises the form-fitting centering element  26  is mounted in an opening of the bent sheet metal part and is fixed therein. The portion  42  of the holding unit  24  that comprises the form-fitting centering element  26  protrudes on the front side  80  beyond the portion  40  of the holding unit  24  that is realized as a bent sheet metal part. The portion  42  of the  holding unit  24  that comprises the form-fitting centering element  26  protrudes beyond the portion  40  of the holding unit  24  that is realized as a bent sheet metal part, toward the robot module  76  and/or the centering device  56 . 
     The holding unit  24  comprises a further form-fitting centering element  30 . The further form-fitting centering element  30  is also configured for a horizontal orientation of the holding unit  24  via an interaction with a further centering bolt  32  (alternatively: centering recess). The submillimeter-precise orientation of the entire holding unit  24  is in particular achievable by the combination of the two form-fitting centering elements  26 ,  30 . The form-fitting centering element  26  and the further form-fitting centering element  30  are arranged in end regions  36 ,  38  of the holding unit  24  which, viewed along a main extension direction  34  of the holding unit, are situated opposite each other, pointing away from each other. The further form-fitting centering element  30  is arranged in a further solid metal element that is different from the bent sheet metal part. The precision system for placement into storage and/or removal from storage  52  comprises a further centering device  62  with the further centering bolt ( 32  (alternatively: with a further centering recess). The further centering bolt  32  of the further centering device  62  is configured for a form-fitting interaction with the further form-fitting centering element  30  of the same holding unit  24 , the form-fitting interaction being synchronized with the centering bolt  28  of the centering device  56 . 
     The precision apparatus for placement into storage and/or removal from storage  54  comprises a planar base plate  50 . The base plate  50  carries the holding unit  24 , which is respectively provided by the storage lift  16  for a placement into storage and/or removal from storage, such that the holding unit  24  is horizontally displaceable. The holding units  24  are supported on a surface of the base plate  50  so as to be horizontally displaceable. The base plate  50  is arranged in the transfer zone  66 . The base plate  50  is laid upon the transfer surface  64  or the drawer, and is preferably fixed on the transfer surface  64  or the drawer. It is conceivable that the base plate  50  is divided into several individual sub-plates  94 ,  96 , which respectively form a contact surface for portions of the holding unit  24  to lie  thereon. The holding unit  24  is supported in a floating manner on the base plate  50  or on the several sub-plates  94 ,  96  which together form the base plate  50 . The base plate  50  is made of a plastic. The base plate  50  is made of a polyvinyl chloride. In the case shown exemplarily in  FIG.  4   , the holding unit  24  lies upon a first sub-plate  94  of the base plate  50 , whereas the metal elements of the holding unit  24  lie upon a second sub-plate  96  of the base plate  50 , which is realized separately from the first sub-plate  94  of the base plate  50 . 
       FIG.  5    shows a schematic perspective view of the transfer zone  66  of the precision system for placement into storage and/or removal from storage  52 , with the transfer surface  64 , which is embodied as a drawer, being presently retracted into the storage space  78  of the storage lift  16 . The storage lift  16  and the centering device(s)  56 ,  62  is/are—at least in the transfer zone  66 , at least indirectly — fixed firmly to the ground  68 . The storage lift  16  and the handling robot  18  are fixed firmly to the ground  68 , at least in the transfer zone  66 . The storage module  74  and the robot module  76  are fixed firmly to the ground  68 , at least in the transfer zone  66 . The storage module  74  and the robot module  76  are firmly screwed with the ground  68  via ground anchorings  106 , at least in the transfer zone  66 . In the case illustrated in  FIG.  5   , the storage module  74  and the robot module  76  are tightly screwed to the ground  68 . Alternatively, a fixing of storage lift  16 , centering device(s)  56 ,  62  and handling robot  18  and/or of storage module  74  and robot module  76  to a common, preferably comparably heavy, basis element, like for example a concrete block or a thick steel plate, is also conceivable. 
     The precision system for placement into storage and/or removal from storage  52  comprises a holding unit identifying device  70 . The holding unit identifying device  70  is allocated to one of the centering devices  56 ,  62 . The precision system for placement into storage and/or removal from storage  52  comprises identificatory elements (not shown), which are in each case allocated to one of the holding units  24 . The identificatory elements are respectively fastened on or in the holding units  24 . The holding unit identifying device  70  is configured for an identification of the individual holding units  24  of the storage lift  16 . The holding unit identifying device   70  is configured for an identification of the individual holding units  24  of the storage lift  16  during the placement into storage and/or during the removal from storage. 
       FIG.  6    shows a schematic flow chart of a method for at least semiautomated placement into storage and/or removal from storage of tools  10 , tool assemblies  12  and/or tool chucks  14  into and/or out of the storage lift  16  using the precision system for placement into storage and/or removal from storage  52 . In at least one first method step  98 , a holding unit  24  is brought into the transfer zone  66  by the storage lift  16 . Herein the holding unit  24  is positioned on the base plate  50  that lies on the transfer surface  64  and is deployed by a drawer-like function out of the storage space  78  of the storage lift  16 . In at least one directly following horizontal detail-positioning step  72 , a submillimeter-precise orientation of the holding unit  24 , which was moved out of the storage lift  16  beforehand, is realized relative to the handling robot  18  of the precision system for placement into storage and/or removal from storage  52 . For this purpose, in the detail-positioning step  72  a horizontal displacement of the holding unit  24  relative to the handling robot  18  is brought about by generating a form-fit connection of the centering bolt  28 , of the two centering bolts  28 ,  32  (or alternatively: one or several centering recess/es) with the form-fitting centering element  26 , preferably with a respective one of the form-fitting centering elements  26 ,  30 . By an insertion of the conically shaped centering bolts  28 ,  32  into the form-fitting centering elements  26 ,  30  from above, the holding unit  24  is automatically pulled/pushed into the desired position. The relative position(s) of the handling robot  18  and the centering device(s)  56 ,  62 , in particular the centering bolts  28 ,  32 , are/is fix and are/is preferably known to a robot control of the handling robot  18 . In a further method step  100  taking place before, during and/or after the detail-positioning step  72 , an unambiguous automated identification of the respective holding unit  24  is carried out by the holding unit identifying device  70 . As a result, the storage position of the presently stored tool assembly  12  in the storage lift  16  or the positions, numbers, etc. of free spaces in the storage lift  16  can be registered in a computer system, e. g. a  computer system of the storage lift  16 , of the robot module  76  or of another part of an industrial installation. In at least one further method step  102  a tool assembly  12  is placed into storage in one of the storage bins  20 ,  22  of the available holding unit  24  or is removed from storage out of one of the storage bins  20 ,  22  of the available holding unit  24  by the handling robot  18 . In at least one further method step  104  the holding unit  24  is returned into the storage space  78  and, if applicable, a further holding unit (not shown) is brought into the transfer zone  66 .  
     REFERENCE NUMERALS 
     
         
           10  tool 
           12  tool assembly 
           14  tool chuck 
           16  storage lift 
           18  handling robot 
           20  storage bin 
           22  storage bin 
           24  holding unit 
           26  form-fitting centering element 
           28  centering bolt 
           30  further form-fitting centering element 
           32  further centering bolt 
           34  main extension direction 
           36  end region 
           38  end region 
           40  portion 
           42  portion 
           44  vertical placement and/or removal direction 
           46  horizontal placement and/or removal direction 
           48  (rotational) position-fixing element 
           50  base plate 
           52  precision system for placement into storage and/or removal from storage 
           54  precision apparatus for placement into storage and/or removal from storage 
           56  centering device 
           58  conical outer shape 
           60  vertical direction 
           62  further centering device 
           64  transfer surface  
           66  transfer zone 
           68  ground 
           70  holding unit identifying device 
           72  detail-positioning step 
           74  storage module 
           76  robot module 
           78  storage space 
           80  front side 
           82  upper side 
           84  receiving opening 
           86  drive unit 
           88  receiving opening 
           90  frame unit 
           92  rail system 
           94  sub-plate 
           96  sub-plate 
           98  method step 
           100  method step 
           102  method step 
           104  method step 
           106  ground anchoring