DE102017112658A1 - logistics vehicle - Google Patents

Abstract

A logistics vehicle for picking up and delivering at least one transport item comprises a chassis for moving the logistics vehicle between logistics locations, the chassis being provided with an on-board travel drive; a support frame, which is held by the chassis; and at least one attached to the support frame transfer robot having a gripping and lifting drive for receiving and discharging the at least one transported material, wherein the chassis and the support frame are releasably secured to each other and the traction drive and the chassis are designed so self-sufficient and separable that in a coupling state in which the landing gear carries the support frame, the logistics vehicle can be moved by the driven chassis and in a disconnected state in which the support frame is released from the chassis, the chassis can be moved independently by the drive without the support frame.

Description

The invention relates to a logistics vehicle for receiving and discharging at least one transport item. In particular, the invention relates to so-called material handling equipment, ie a means of transport, in particular on wheels for the horizontal transport of goods to be transported. A forklift, such as a forklift, is used to move on flat ground between logistic locations. They can also be referred to as unsteady conveyors.

A generic logistics vehicle has a chassis for moving the logistics vehicle on the ground, wherein the chassis is provided with an on-board drive. An example of such a logistics vehicle is a forklift in the conventional sense, which makes it possible to transport a cargo from a first transport position to another transport position, in particular on its own level, for example, from and to a shelving system. On the shelving system, after the arrival of the logistics vehicle, the goods to be transported are handed over or taken up. In this case, the cargo can be raised by means of the forks in vertical height, to enter the transported goods, the forks move into a free space and then by lowering the cargo above the clearance can be stored on a shelf. This is to be achieved with the logistics vehicle at a certain point picking, sequencing or the like for subsequent further manufacturing a production product or the timely provision of a specific cargo at a specific logistics point.

It is an object of the invention to overcome the disadvantages of the prior art, in particular to improve a logistics vehicle for receiving and delivering at least one transport item to the effect that with respect to horizontal transport and direct bypassing of the cargo in space flexible logistics concept is achieved, in particular as fast as possible efficiently processes a multiplicity of transport goods logistically with regard to subsequent production steps or with regard to a further logistics level, in particular sorted, repositioned, compiled, picked, sequenced and / or the like.

This object is solved by the features of claim 1.

Thereafter, a logistics vehicle for receiving and delivering at least one cargo is provided. The logistics vehicle according to the invention has a chassis for moving the logistics vehicle between logistics locations, wherein the chassis is provided with an on-board drive. In particular, the landing gear needs to be designed only to be moved on horizontal surfaces, in particular at ground level. The travel drive can be in particular an electric drive. Furthermore, the logistics vehicle according to the invention has a support frame, which is supported by the chassis. Preferably, the support frame is placed on a bottom chassis of the chassis, in particular without mechanical locking mechanism, so that the support frame is supported by means of particular simple frictional engagement (coupling state) of the chassis, which is preferably realized by lifting a wing and vertical take away. The cancellation of the frictional engagement (separation state) is preferably realized solely by lowering the carriage undercut the carriage and parking the landing gear on the ground.

In contrast to conventional forklift logistics vehicles, the logistics vehicle according to the invention has at least one transfer robot attached to the support frame, preferably a plurality of transfer robots formed, for example, at least by means of one or more gripper arms connected in series via a multi-link chain to receive a transport item at any position in the space and deliver, provided that the range of the transfer robot arm is sufficient. The at least one transfer robot has a girder own gripping and lifting drive for receiving and discharging the at least one transported material. According to the chassis and the support frame as respective units are releasably secured together and the chassis, in particular the traction drive, and the support frame are so self-sufficient and structurally separable from each other designed that they can assume a coupling state and a disconnected state to each other. In the coupling state in which the chassis carries the support frame firmly, the logistics vehicle can be moved by the driven chassis. The traction drive forces applied during this process are provided exclusively by the traction drive of the running gear, without having to be influenced by the lifting drive of the transfer robot. In the disconnected state in which the support frame is released from the chassis, the chassis according to the invention can be moved independently without the support frame by its own drive. According to the invention therefore separate operating units are provided for the drive of the chassis and the gripping and lifting drive of the transfer robot, so that the chassis, for example, by receiving a same or differently designed support frame, always remains independently movable, without a drive of the transfer robot or any other element of the support frame.

Spend the chassis in the coupling state with the support frame is achieved in particular only by the fact that the chassis, which should have in particular a small vertical height of less than 20 cm, 25 cm or 30 cm, in a formed on the support frame, threshold-free entry channel in particular contactless - And in particular completely underrun. The chassis is in particular designed such that the operative coupling state with the support frame is created exclusively by raising the top of the chassis by raising it in engagement with a bottom of the support frame in its retraction area and thereby the entire support frame is raised together with transfer robot, to be subsequently moved horizontally. In order to create the lifting of the support frame by a few centimeters, for example at most 10 cm or 20 cm, by the underdriven chassis, a support surface on the support frame is realized close to the edge to provide the largest possible lever arm to the center of the support frame. The chassis has for example a bar-shaped housing with a flat surface which can be raised and lowered vertically by a hoist of the landing gear. Preferably, two structurally separate, but control technology, for example, based on a wireless communication, in particular swarm communication jointly movable, provided to enter as a pairwise arrangement each in the threshold-free entry channels of the support frame and simultaneously perform the lifting movement. The entry channels are preferably open to the floor to realize the barrier-free, threshold-free entrance.

The separation state is achieved in that the support frame is turned off by lowering the hoist of the landing gear on the ground, which is why in particular the support frame should have at least three Abstellfüße that are removed in the raised state of the ground. The maximum lift amplitude of the hoist can be smaller than 10 cm or 5 cm.

All drives of the delivery robot mounted on the support frame are preferably completely separated from the drive (s) of the chassis, so that the transfer robotics can operate completely independently of the chassis and vice versa.

By separate operating units of chassis and supporting frame, in particular transfer robotics, can be understood in particular that each drive, so the driving and lifting drive and the gripping and lifting drive, which may consist of a collection of several sub-drives, each having its own electric motor, if necessary its own electrical energy source, its own control and / or regulating device, such as a microchip, which is connected to the corresponding electric motor, optionally its own wireless communication device, which functions for example on the basis of wireless technology, such as Bluetooth, and optionally with its own Gear can be equipped to implement the motor movement in a corresponding drive movement. However, it may also be provided for the drive units of the gripping and lifting drive at least partially common communication electronics, control electronics and / or energy source, for example, an energy source, such as an accumulator or a battery, for the transfer robot. It can all be also provided to provide an on-board power source, which also supplies the drives of the landing gear in particular in the coupling state with energy. Preferably, however, the drives of transfer robotics, so the gripping and lifting drive, and the drive of the chassis are fully self-sufficient, so that both operate independently of each other in the separated state.

It is also clear that in addition to an electric drive, other types of drive, such as a pneumatic or hydraulic drive for the transfer robot, can be used, for example, when the chassis has moved in the coupling state, the transfer robot with its gripping and lifting drive in a position in in particular automatically a pneumatic or hydraulic connection of the gripping and lifting drive of the transfer robotics is connected to a pneumatic or hydraulic power source. An associated with the respective drive on the support frame control and / or regulating device may have an electropneumatic or hydraulic converter, which is housed in a housing of the control and / or regulating device of the respective gripping and lifting drive on the support frame.

In the preferred embodiment of the invention, the traction drive has an electric motor, which is supplied in particular by a single logistic vehicle-specific or a drive-specific, electrical energy source. Preferably, the chassis has its own chassis-side energy storage to provide the electric motor of the traction drive with energy. In this case, this electrical energy source, for example, by a battery or a rechargeable battery, which is in particular electrically rechargeable, be provided, wherein preferably a source of energy is available exclusively for the supply of the electric motor of the traction drive. Furthermore, the drive has a particular connected to the electric motor own gear kinematics, which is completely independent of the transmission kinematics of the gripping and lifting drive of the transfer robot.

The gripping and lifting drive of the transfer robotics can also have its own electrical energy store and, in particular, can optionally be connected to a common energy store of the logistics vehicle. In a single energy storage for the logistics vehicle, however, it should be provided that the drive of the chassis, that is to say the travel drive, is prioritized and, in particular in the disconnected state, only the landing gear is operated. In this case, the only energy storage can be accommodated in the region of the chassis and electrical connections can be provided, which allow in the coupling state electrical energy generation via the energy storage to the electric motors of the gripping and lifting drive of the transfer robotics.

Preferably, the gripping and lifting drive has a drive-own electrical energy storage, which serves to generate movement forces for the transmission kinematics of the gripping and lifting drive. The transmission kinematics of the gripping and lifting drive is designed independently of the transmission kinematics of the traction drive, so readily, especially without the use of special tools, a separation of support frame and chassis, ie the drive and gripping and lifting drive, may go along, as already described above ,

In a further development of the invention, the gripping and lifting drive of the transfer robot can be actuated in the disconnected state, without a structural connection between the chassis and the support frame on which the transfer robot is held, must exist. For this purpose, as shown above, the gripping and lifting drive both have their own electric motor and their own gear kinematics.

Preferably, the transmission kinematics of the traction drive on the one hand and the gripping and lifting drive on the other hand structurally separated from each other. Alternatively and additionally, the traction drive and the gripping and lifting drive each have their own electric motor for generating a driving force, which is operatively coupled to the respective transmission kinematics of the traction drive or the gripping and lifting drive, so that in particular a simple fastening device, such as a screw connection , a connector, a snap lock or the like, can be used to attach the support frame to the chassis. It is preferred that no additional fastening device is provided in order to establish the coupling state, in particular by adhesion friction, which results solely from the weight of the support frame, between the chassis and the support frame. The chassis is designed in particular with respect to the support frame such that simple lifting by a chassis-side self-sufficient lifting device forms the coupling state, whereby the raised support frame is moved on the chassis. It is clear that in the coupling state quite an additional locking device may be provided so that driving dynamic forces can be safely transmitted from the support frame in the chassis. A simple fastening device can be realized when no special tool for the separation of the chassis of the support frame is necessary. If the two racks, in particular the chassis and the support frame, are structurally separated from each other, the drives and gearboxes mounted there operate completely autonomously, the support frame remaining stationary as long as it is not combined with an appropriate running gear, namely lifted.

In a preferred embodiment of the invention, a plurality of suspensions are provided in a logistics system, wherein the suspensions are all capable of receiving a support frame or a plurality of support frames of similar construction and to relocate to another location. A main control, such as a control room, for example, can control a chassis located near the support frame and dock it to the support frame so that it can be lifted and moved to another logistics location. The girder own transfer robotics can perform regardless of the coupling state of the chassis manipulation of the cargo, such as sequencing or picking.

Due to the self-sufficient functioning of the chassis and the support frame, any combination of support frame and chassis can be considered, with a high flexibility in the formation of logistics vehicles.

In a preferred embodiment of the invention, the support frame comprises a frame-like, open-sided strut framework, which is formed in particular exclusively by vertical struts and horizontal struts, in particular to form a cuboid shape in general. Only the edge regions of the cuboid are covered with struts, so that vertical struts, cross struts and longitudinal struts are to be used to form a block network structure. At the corner areas in each case run together a vertical strut, a longitudinal strut and a cross strut. The struts are preferably made of metal or a similar solid material. The struts may be welded together and in particular formed of metal rods.

Furthermore, the support frame comprises an in particular pallet-like chassis-side base, with which in the coupling state, the chassis is fahrantriebskraftübertragungsgemäß engaged and in the separation state, the base is completely freed from the chassis. The base serves to ensure a secure footing of the support frame on a horizontal floor surface. Preferably, the base has at least three Abstellbeine which ensure a secure state on the ground in the disconnected state and are lifted in the coupling state due to the raised chassis from the ground to ensure a process of the support frame in the horizontal direction. In a preferred embodiment, the base is adapted to engage with a guide rail provided on the floor in such a way that a particular guided sliding of the base along the guide rail is possible. In principle, the base can have a pallet shape, for example by using a conventional pallet form. According to the invention, the base is preferably arranged completely below a support surface forming the upper side and extends beyond it in neither a longitudinal nor in a transverse direction of the support surface. The base also has side walls which extend from the support surface in particular with the formation of a right angle with respect to the support surface to the ground or in the direction of the bottom. The base structure may preferably consist exclusively of thin-walled side walls, which extend from the peripheral edges of the support surface in the direction of the bottom or preferably at least partially to the ground. Thin-walled here means that a longitudinal extent of the side walls is dimensioned significantly larger than a side wall thickness, wherein the longitudinal extent of the side wall is defined in a circumferential direction of the support surface edge. The side walls may be oriented at right angles to the support surface, although other angles are conceivable. Preferably, the at least two retraction channels open to the floor are provided in the base in such a way that they intersect below the support surface and in each case on two opposite side walls, i. on each of two short sides and two long sides, each one open to the ground entrance channel entrance. Open to the ground is to be understood in such a way that in the region of the entry channel or the Einfahrkanaleingänge the side walls have no contact with the ground, so that, for example, the landing gear can ride on the floor resting by the Einfahrkanaleingang and in the entry channel. The at least two retraction channels are arranged crossing each other in such a way that they form a common crossing area, which is common to the two retraction channels, wherein preferably the retraction channels extend at 90 ° to one another. As Einfahrkanaleingang so the area of the retraction channel is to be understood, which is visible from the outside on a respective side wall and which is formed, for example, as an open towards the bottom material recess in the side wall. Preferably, a Einfahrkanalhöhe extending from the bottom in the direction of the support surface is smaller, preferably at least 25% or 50% smaller than a side wall height formed.

In a preferred embodiment, the retraction channels preferably have a substantially rectangular, round, in particular semicircular, or trapezoidal cross section, wherein essentially rectangular is to be understood as meaning that certain manufacturing tolerances, which depend on the respective production variant when introducing the retraction channels into the side walls, to take into account. Preferably, at two opposite Einfahrkanalseitenflächen, which are oriented in particular at right angles to the support surface and parallel to each other, each one extending in Einfahrkanallängsrichtung projection and / or one extending in Einfahrkanallängsrichtung recess provided, whereby for example at least two or three longitudinal projections and / or longitudinal recesses are possible. In particular, the longitudinal recess and / or the longitudinal projection extends at least in sections, preferably substantially completely, along the longitudinal extension of the entry channel, it being understood that no longitudinal recess and no longitudinal projection are arranged in the region of a crossing region of two entry channels. The introduced in the Einfahrkanalseitenflächen longitudinal projections or longitudinal recesses serve to cooperate with particular shape-adapted projections or recesses, which may be mounted, for example on a chassis according to the invention, to provide a support function for the transport pallet. Thus, it is possible to transmit to the base acting tilting moments via a positive engagement between a cooperating projection-recess pair between the entry channel and chassis on the chassis, in particular to completely absorb the tilting moments. In this case, a cooperating projection-recess pair between the entry channel and support tines is adapted to receive both tilting moments acting around a base longitudinal axis and about the base transverse axis. The landing gear is thus preferably also used for tilting torque transmission or tilting torque absorption and is preferably dimensioned with respect to one of the at least two retraction channels in such a way that it can engage in a positive engagement with the retraction channel to absorb the transport pallet, in particular in transport pallet longitudinal and / or transport pallet transverse axis, acting tilting moments. The pallet-like, chassis-side, base-mounted strut framework can of course be formed integrally with the base, with a welding or attachment of the strut framework on the basis using solvable fastening means such as fittings, also beneficial. An attachment of the strut framework to the base may be configured such that motive forces generated by the transfer robot can be safely and steadily discharged into the ground or into the docked chassis via the support frame, in particular via the base.

The strut framework, in its cuboid shape, has four open vertical sides, which are bounded by a respective closed, circumferential side frame, through which access to the interior of the support frame is easily possible. For this purpose, vertical struts and horizontal struts of the strut framework are as slim as possible, in particular of a few centimeters wide, form. Preferably, the strut framework (in particular measured from the base) has a height of over 1 m, 1.30 m, 1.50 m and less than 3 m, preferably 2.50 m or 2 m.

Preferably, the support frame also has a arranged in the interior of the support frame rotating frame, which is rotatably mounted on the support frame, in particular the strut framework and the base. The rotary frame amplitude, which defines in particular vertical rods of the rotary frame, preferably always within the cuboid support frame. The axis of rotation is preferably arranged in its center, wherein in particular the extension of the rotary frame remains in each rotational position within the cuboid strut framework. The axis of rotation of the revolving frame, particularly in a rectangular base, may pass through a center of the rectangular base. The same applies to the substantially rectangular complementary shape, upper strut section of the strut framework. In order to ensure a central mounting of the rotating frame also on the upper strut portion of the strut framework, a horizontal, inwardly projecting projection may be provided on the strut framework, which is mounted in particular on a horizontal strut of the upper strut portion of the strut framework. The axis of rotation of the rotary frame preferably extends vertically.

The revolving frame can be considered as part of the transfer robot because the revolving frame allows a transfer possibility in all lateral directions in all 360 ° positions in the vertical axis of rotation. It is clear that due to the mounting of the rotating frame, in particular on the strut framework, the rotating frame can also be understood as part of the support frame. In particular, at least one robot arm, in particular a pair of robot arms, is attached to the revolving frame.

In a preferred embodiment of the invention, an elevator kinematics is provided on the rotating frame, in particular on its two vertical struts, in order, in particular, to longitudinally raise or lower a fastening section of the at least one robot arm on the rotating frame in the vertical direction. In this way, different cargo at different heights can be easily grasped by the at least one robot arm. The rotating frame and the elevator kinematics attached thereto already provide free movement in the circumferential direction (about the vertical axis of rotation) and in the height direction.

In a further development of the invention, a rotary bearing of the rotary frame on the strut framework, in particular on the upper strut portion, and formed on the base such that the rotating frame, in particular the transfer robot, at least with a rotation amplitude of at least 90 °, 180 °, 360 ° or Moreover, it can rotate about the rotation axis of the revolving frame. Preferably, a revolving frame motor is provided for operating the rotational movement of the revolving frame. The rotary frame motor can be arranged in particular on the base. The arrangement of the rotary frame motor in the base is particularly advantageous if the base has a pallet-like outer shape and forms a cavity structure in which the rotary frame motor can be accommodated protected. The revolving frame motor can operate the turning of the revolving frame, even if the landing gear together with the traction drive is not in engagement with the base and the base is simply placed on the ground. In this respect, the rotary frame motor structurally, control technology and / or concerning the power supply and / or the communication with a main control device can be formed independently of the drive of the chassis. Preferably, the rotary frame motor is electrically operated. In the base, in addition to the engine technology, a transmission, and an electrical power supply, such as an accumulator or a battery may be arranged.

The base is suitable for accommodating a control-related microprocessor, which on the one hand can wirelessly receive control and regulation commands with a distal main controller, and on the other hand can control and / or regulate the respective drives of the transfer robot, in particular by means of cable-free communication.

In a further development of the invention, the transfer robot is formed by at least one robot arm, in particular a pair of robot arms, which, as indicated above, can be fastened in particular to the rotary frame. It has been found that a preferred fixed position of the at least one robot arm lies in the region of the lower half of the support frame. In this case, a vertical distance from the top of the base of less than 1 m may be considered. The at least one robotic arm may be attached to the support frame via a pivot or hinge. Preferably, the robot arm is attached to the respective outer side of the respective vertical strut of the rectangular rotary frame or vertically liftable and lowerable via a vertical lift.

Preferably, the at least one robotic arm consists of at least two or three arm sections, which are coupled to one another with a pivoting or swivel joint, in order in particular to be able to access anywhere within the achievable arm amplitude, which is formed by the length of the arm sections. For the at least one robot arm, a multi-joint chain of at least two or three joints is provided in each case. At an actuating end of the robot arm, a gripping hand is preferably provided for holding at least one finger gripping element. The finger gripping member is also connected to the proximal arm portion via a pivot joint. Additionally or alternatively, the gripping hand may be connected to the proximal arm portion via a pivot or swivel joint, whereby a modular connection end may be provided on the gripping hand, are mounted on the different gripping elements in particular interchangeable.

In a development of the invention, a set of modular gripper elements, in particular on the support frame, in particular on an upper strut section of the strut framework, is provided. The gripper hand can be constructed in such a modular manner that each gripper element of the module set is exchangeable attachable to the gripping hand. For example, an exchange and a holding of the respective gripping element can be realized magnetically, in particular permanent magnetically or electromagnetically, whereby an electrically operated locking device can be provided at the modular connection end in order to achieve the fastening of the finger gripping element and the release thereof.

Each of the movable components of the transfer robot, in particular of the at least one robot arm, can be provided with its own electric drive in order to be controlled independently of the other drives. For example, the drive motor may be provided in the region of the respective swiveling or swivel joint and / or on the modular connection end, so that the transfer robot has complete freedom of movement in order to realize a picking up and delivery of a transport item.

The respective robot drives are as well as the rotary frame motor formed independently of the drive of the chassis, so even in the disconnected state, when the base of the support frame is placed on the ground, a completely self-sufficient operation of the transfer robot is allowed into the area of the finger gripping elements.

In a preferred embodiment of the invention, in addition to the at least one robotic arm and the rotating frame, the transfer robot comprises a platform elevator which, in particular, functions completely independently of the other logistics operating elements, such as the robot arm and the rotating frame. The platform lift is used in particular to realize in particular exclusively a vertical up and down movement of a platform, such as a storage shelf. The platform is preferably rotatable about a vertical axis, in particular the axis of rotation, by at least 90 °. In this case, the platform can be designed either as a simple shelf with a flat surface or with a preferred occupation and discharge direction.

For example, the platform may have a channel structure or longitudinal channel structure with at least two longitudinal channels or channels extending in a longitudinal direction, in particular in parallel. The channels extend oblong, in particular continuously from a first, preferably front, edge side to an opposite second, preferably rear edge side of the platform in particular open. The at least two channels are preferably bounded in a transverse direction relative to the longitudinal direction of webs. The webs define above the channels a footprint for carrying stored goods. Preferably, such a platform defines a channel bottom surface in which the bottoms of the channels are arranged, and a placement plane in which the placement surface is defined by the top edge of the web, wherein preferably the placement plane and the platform are arranged parallel to one another. If the platform is rotatable about a vertical axis, the orientation of the channels of the platform can be aligned as needed.

According to one embodiment, the at least two channels or longitudinal channels each have a preferably continuous bottom, opposing side walls and a vertically above the bottom arranged and extending over the entire channel length Opening through which a load-carrying vehicle can access stored goods above the longitudinal channels. The opposite side walls of the channel or longitudinal channel are in particular realized by the webs. In particular at the upper end of a side wall or at the respective upper end of both side walls, at least one or at least one projection for increasing the footprint may be provided. It should be understood that the upper end of the sidewall is opposite the bottom from which the sidewall extends vertically upward. The projection can be realized for example by an L-shaped or T-shaped web cross-section. The use of projections above the longitudinal and / or transverse channels makes it possible to design the channel bottom surface on which a load pick-up vehicle, regardless of the size of the footprint, which is particularly advantageous when using multiple parallel longitudinal channels, because a footprint are provided can, which is not perforated according to the clear widths of the channels, but is able to provide much more storage area for stored material so that it can be safely absorbed and also smaller storage goods can be included, which could otherwise fall into the channels.

According to one embodiment, there are further provided two load-receiving vehicles accommodated in longitudinal channels, each load-receiving vehicle having a traction drive technology for translating the load-carrying vehicle along the channel direction, an elongated supporting surface for receiving stored goods and a lifting device for lowering and lifting the elongated supporting surface, in particular over the level of Channels for lifting and / or depositing stored goods lying on the floor space. The traction drive technology preferably comprises a motor and a plurality of support and / or drive means such as rollers, wheels, skids, chains or the like, and a drive motor for driving the drive means and optionally a transmission, for example for a torque conversion between the drive motor and a drive means. The lifting drive may be, for example, a pneumatic or hydraulic compressor for a pneumatic or hydraulic lever, an electric motor, for example with spindle gear, or the like. Preferably, the lifting device raises or lowers the entire elongated support surface. It is conceivable that a lifting device can lower and / or raise only part of the wing. It is clear that load-carrying vehicle and longitudinal channel hollow profile rail are to be matched to one another such that the load receiving vehicle can realize a lifting or lowering of stored goods relative to the hollow profile rail. For this purpose, it may be preferred that the side walls of the hollow rail extending from the footprint of the support and / or drive means of the load-carrying vehicle in the vertical direction upwards than the vertical extent of the load-carrying vehicle in its stored state and less far than the load-carrying vehicle vertical extent in its lifting condition.

In particular, the support surface may be formed with or as a conveying device, such as a conveyor belt or a conveyor chain. In particular, the length of the load receiving vehicle is at least as large as its width and / or the length of the load receiving vehicle is less than or equal to the extension of a channel or longitudinal channel or transverse channel of a shelf. Optionally, the transverse extension width of the load receiving vehicle may be less than or equal to the width of a channel, that is, for example, smaller than the transverse width of a longitudinal channel, a shelf. The load-carrying vehicle may include a conveyor for moving stored goods relative to its traction drive technology, in particular along the hollow profile rail direction (longitudinal direction of the longitudinal channel). The conveyor preferably has its own conveyor drive, which differs from the lifting device and / or the drive motor of the drive technology. The conveyor is preferably different from the drive and / or suspension means of the drive technology. Conveyor and propulsion technology can move in particular independently of each other, the stored material relative to the hollow profile rail in the same direction or in different directions. According to one embodiment, the conveyor is formed such that the support surface consists of the conveyor. Preferably, the conveyor is arranged in the transverse direction between the support and / or drive means of the drive technology and / or extends therebetween. The conveyor is preferably designed for translational process of the stored goods, in particular along the preferably linear hollow profile rail direction.

In combination with the logistics vehicle according to the invention, a particularly modular storage rack system can be provided which in particular comprises a plurality of modular rack units. Each shelf unit of the plurality, in particular of modular shelf units, has a plurality of shelf legs as well as a plurality of shelves arranged offset from each other in the height direction and supported by the respective shelf legs of the shelf unit. The shelves each have a first channel structure or longitudinal channel structure with at least two in the longitudinal direction, in particular parallel, extending longitudinal channels or channels, which extend continuously from a first, preferably front, shelf bottom edge to an opposite second, preferably rear, shelf bottom side open. Preferably, the channel structure of a shelf is compatible, in particular form-complementary, formed to the channel structure of the platform. A shelf longitudinal channel forms a hollow profile rail, in particular in combination with a platform longitudinal channel. The at least two channels are preferably bounded in the transverse direction by webs. In particular, webs above the channels define a footprint for carrying stored goods on a shelf. Preferably, a single shelf defines each a channel bottom surface in which the bottoms of the channels are arranged, and a set plane in which the shelf is defined by the upper edge of the web, preferably set plane and bottom plane of each shelf are arranged parallel to each other and in particular parallel and / or in alignment with the platform.

At least one rack unit may have at least two channels or hollow profiled rails which extend in the longitudinal direction over at least one, preferably at least two, in particular at least ten, longitudinal extension widths of the load-bearing vehicle or rail vehicle. Alternatively or additionally, at least one modular shelf units, preferably at least two modular shelving units and / or the platform may be arranged adjacent to each other in the longitudinal direction, that the one or more shelves and the platform are at least temporarily arranged in pairs at the same height and their channel structure in particular without interruption merge into each other to permit overriding of a load-bearing vehicle accommodated in one of the channels between shelves and / or platform arranged at the same height. In such a modular system, at least two, three, five, ten or more rack units may be disposed immediately adjacent to one another in a first direction or longitudinal direction, which is preferably parallel to the longitudinal direction of the longitudinal channels. Further, each of several shelves per shelf unit are optionally also arranged in pairs in parallel at the same height. In this way, shelf units arranged next to one another can form common shelves and possibly a common channel system. With a preferably modular storage rack system arranged shelf shelves can be avoided and thus achieve a very high utilization of a given storage area by transport channels are housed in the individual shelves modular storage rack units.

According to one embodiment, at least one shelf has a second channel structure or transverse channel structure with at least two transversely extending, in particular parallel, transverse channels extending continuously from a third, for example, left, bottom edge side to the opposite fourth, for example right shelf bottom side open. A transverse channel forms a hollow profile rail. Cross channels and longitudinal channels can realize intersecting hollow profile rails. A storage rack may have one or more rack units whose shelves are partially or all equipped with a transverse channel structure. The use of shelves with a transverse channel structure in addition to a longitudinal channel structure opens up the possibility of accessing individual shelves with increased speed from four different directions. The use of longitudinal and transverse channel structures or hollow profile rails makes it possible to access individual shelves optionally from the front, rear, right or left. It should be understood that the terms "front," "rear," "left," and "right" as used herein for simplicity are essentially defined from a freely selectable reference point, such as a (front) end of the storage system, and only the serve a simpler and more easily traceable reference to a first, second, third or fourth direction. It is clear that an arrangement is provided transversely to the longitudinal direction, wherein, for example, transverse direction and longitudinal direction can intersect at an angle other than 90 °, about 60 ° or 45 °.

In a further development of the invention, the platform between two vertical struts of the above-explained rotary frame may be guided in the vertical direction, so that a combination of stepless or step-free, in particular continuously displaceable platform vertical elevator and rotating frame provides a transfer robotics on the logistics vehicle, with the transported goods at each vertical height to all four sides of the cuboid support framework can be submitted and recorded. In this case, a help, for example, the optional robot arms is not necessary. Preferably, a platform vertical guidance is realized by the two vertical struts of the rotating frame, for example by providing a guide by means of a platform engagement in a longitudinal groove of the respective vertical strut. Alternatively and additionally, a particularly self-sufficient elevator drive is provided for the platform lift, which moves the platform up and down. In particular, the elevator drive is accommodated in the area of the revolving frame and / or the base of the supporting frame. Preferably, the vertical struts of the rotary frame are designed so hollow that a movable tension member, such as a conveyor belt or a conveyor chain, for transferring the lifting forces of the elevator drive to the platform is housed therein predominantly completely. Preferably, an elevator drive motor is designed structurally, control-technically and / or with regard to the power supply independently of the travel drive of the chassis.

In a preferred embodiment of the invention, the transfer robot is attached to the platform vertical elevator so that the attack point of the transfer robot can be moved up and down in the height direction together with the platform vertical elevator. Preferably, at least two robot arms are arranged on the respective lateral engagement regions of the platform elevator, which are guided laterally by the vertical struts of the rotary frame.

In a further development of the invention, the transfer robot may have its own elevator device which is formed by the fact that the attachment engagement points in the vertical direction, in particular along the vertical struts of the rotating frame can be moved up and down independently of the platform elevator. For this purpose, a separate elevator device is provided by means of attachment points of the respective robot arm.

In this respect, each robotic arm of the pair of robot arms of the transfer robotics can be individually moved up and down.

Furthermore, the invention relates to a logistics vehicle according to claim 6. It is clear that the logistics vehicle can be combined with the logistics vehicle described above.

The logistics vehicle according to the invention comprises at least one transfer robot for gripping, transporting and / or delivering the transported goods, for example to a storage rack system. The transfer robot has a gripping and lifting drive. The gripping and lifting drive can be formed by all drive elements except the traction drive of the chassis, which are described above. Furthermore, the logistics vehicle has a support frame to which the at least one transfer robot is attached.

In addition, the logistics vehicle comprises a stationary on the support frame arranged storage intermediate storage for receiving a plurality of transport goods, which is associated with transfer robotics and / or has such a large storage that a gripped by the transfer robot cargo from the transfer robot to the storage buffer can be safely delivered and the Transfer robot can take another item to be transported, so that a picking, sequencing or the like of a variety of transport goods can be done at the storage buffer. The storage intermediate storage device has at least one horizontal, flat deposit, which should be adapted to the transported goods to be processed at least in terms of dimensions, so that the cargo can be safely stored there and even with dynamic driving forces that can act on the cargo through the drive of the landing gear , can stay there. The tray may, for example, be flat or have support rails to receive a box, such as a box. Preferably, the storage buffer is formed by a tier-like arrangement of a plurality of storage compartments, which are arranged vertically one above the other. The storage buffer has the ability to adjust the vertical spacing of adjacent storage surfaces stepwise or continuously to adjust a flexible pre-assembly of the storage compartment for the respective cargo. Preferably, each storage compartment is designed such that a plurality of transport goods can be accommodated there to realize a picking for a particular article of manufacture in a storage compartment.

The measure according to the invention of providing a filing intermediate storage device has the advantage that a plurality of transportable goods that can be picked up by the logistics vehicle could already be "manipulated" during the corridor procedure from one logistics location to another, that is to say when the undercarriage moves the supporting frame. to occasionally carry out a picking or sequencing of the transported goods. In the conventional logistics systems, the cargo can hardly be further prepared during the transport time to another logistics location, whereby the effectiveness of the logistics concept according to the invention can be significantly increased.

In a preferred embodiment of the invention, the storage intermediate storage is formed by a shelf structure, which in particular on the outside of the support frame, preferably releasably mounted. The shelf structure may have vertical struts, in particular four vertical struts, which act like columns, for holding at least two shelves. Preferably, a plurality of shelves is provided to increase the number of clipboard compartments of the logistics vehicle. The storage intermediate storage device has at least two shelves which are staggered in the vertical direction in order to deposit a transport item gripped by the transfer robot in order to grasp a further transport item.

The shelf structure of the storage intermediate storage device is preferably detachably attached to one side, in particular the short side, of the cuboid support structure of the logistics vehicle. Shelf structures can also be dimensioned so that they are attached to the long side of the cuboid support frame. According to the invention, it is advantageous for the rack structure to be detachably fastened to the support frame so that flexible loading of the logistics vehicle with one, two, three or four rack structures on the respective vertical side of the cuboid support frame is possible.

In a further development of the invention, a releasable fastening device for holding the filing intermediate storage is formed in particular exclusively by positive locking. It should not be necessary according to the invention, additional fasteners that need to be operated to use. For example, a screw connection, a riveting, a quick-release lock or the like may optionally be used to attach the shelf structure to the support frame. According to the invention, the releasable fastening device can be formed by a hooked positive connection by means of vertically complementary, form-complementary gripping hooks. In this case, both the rack structure and the support frame may be provided with gripping hooks, which are adapted to each other to hook each other without play. In this case, the gripping hook may be formed by a paragraph or step shape, which is directed upwards or downwards to achieve the respective form fit. Preferably, a gripping hook can extend horizontally along the entire transverse extent of the support frame or at least over half of the transverse extent of the support frame. The gripping hook of the shelf structure or the support frame can also be shaped so that they can interact directly hooked with a transverse strut of the rack structure and the support frame.

A development of the invention relates to the chassis and its travel drive, which is formed in particular by a bar-shaped wagon, in particular by a pair of independently structurally independent, bar-shaped wagons. The bar-shaped wagon consists of a bar-like dimension, which extends uniformly in the longitudinal direction and should have a height of less than 30 cm or 40 cm and a width of less than 50 cm, 40 cm or 30 cm. In particular, the lowered height is less than 20 cm and / or greater than 5 cm. Preferably, the height in the lowered state is about 10 cm. In particular, the width is less than 25 cm and / or greater than 10 cm. Preferably, the width is about 15 cm. The bar-shaped wagon may be formed as a movable tines of a forklift, which is provided with its own chassis, a private drive and a lift to achieve the raising and lowering of the support frame, in particular its base, with which the wagon is to engage , Preferably, a pair of independent wagons are provided which can wirelessly communicate with each other to communicate mutual position and conveyance situations to a controller. Preferably, the two wagons control technology are bound together to move one and the same support frame.

In the embodiment of the invention, the at least one bar-shaped wagon is designed with a maximum height of less than 40 cm, 30 cm, 25 cm, 20 cm, depending on how high the base of the support frame is. It is clear that the maximum vertical extent of the wagon is determined in the lowered state. In particular, the vertical extension of the bar-shaped wagon should be so small that it can enter into a threshold-free entry channel below the top of the base of the support frame and at a distance to the bottom and can come into engagement and retractable state with a bottom of the base to a To initiate lifting movement by a corresponding hoist of the traction drive to realize the coupling state.

Preferably, the at least one bar-shaped wagon has a wheel drive for horizontal transport along a flat Fuhrförderwegs and independent of the wheel drive linear actuator with attached hoist for lifting a flat receiving top of the bar-shaped wagon. The planar top surface serves to releasably engage an underside of the support frame, in particular the base of the support frame, for lifting the support frame.

The releasable engagement of the support frame means only a coupling due to the weight of the support frame, which rests in the case of lifting of the support frame by the chassis on top of the beam-shaped chassis. Preferably, the chassis for Kippmomentübertragung or tipping moment recording is set up and dimensioned with respect to one of the retraction that it can engage with the entry channel in a positive engagement to take on the base, in particular in base longitudinal and / or in the base transverse direction, acting tilting moments. The chassis preferably has a longitudinal recess provided in particular on a chassis side surface, preferably an outer surface, and / or a preferably protruding and retractable longitudinal projection provided in particular on a chassis side surface, preferably an outer surface. The longitudinal projection may for example be permanently provided on the chassis side surfaces, wherein it is also conceivable that the longitudinal projection is preferably mechanically retractable and extendable. Preferably, one longitudinal projection and / or one longitudinal recess is respectively attached to two opposing chassis side surfaces and extends at least in sections along, preferably substantially along the complete, longitudinal extension of the chassis. It is also conceivable that the chassis is formed rounded at least one of the longitudinal ends, which open into the end faces of the chassis to the retraction in the entry channel because the possibility of jamming is reduced.

Further preferred embodiments are specified in the subclaims.

• 1 eine perspektivische Ansicht eines erfindungsgemäßen Logistikfahrzeugs in einer bevorzugten Ausführung, wobei zwei Ablagezwischenspeicher an Kurzseiten eines quaderförmigen Traggestells des Logistikfahrzeugs angebracht sind;
• 2 eine perspektivische Ansicht des Logistikfahrzeugs nach 1 in einem anderen Betriebszustand, nämlich einem standfesten Betriebszustand;
• 3 eine perspektivische Ansicht des Logistikfahrzeugs gemäß 1 in einem weiteren standfesten Betriebszustand, in dem Transportgüter beladen und manipuliert werden können;
• 4 eine perspektivische Ansicht des Logistikfahrzeugs gemäß 3, wobei ein Übergaberoboter ein Transportgut ergriffen hat;
• 5 eine perspektivische Ansicht des Logistikfahrzeugs nach 3 und 4, wobei drei Transportgüter übereinander zu stapeln sind;
• 6 eine perspektivische Ansicht des Logistikfahrzeugs gemäß 3 bis 5, wobei eine Vielzahl von Transportgütern übereinander gestapelt sind;
• 7 eine perspektivische Ansicht des Logistikfahrzeugs in einem weiteren Kopplungszustand, bei dem das angehobene Traggestell sowie die daran angebrachten Ablagezwischenspeicher durch das eingefahrene Fahrwerk verfahren werden kann, wobei gleichzeitig die Übergaberobotik die Transportgüter zwischen den Regalfächern kommissionieren kann;
• 8 eine perspektivische Ansicht des Logistikfahrzeugs nach 6, wobei ein abgesenkter Roboterarm ein Transportgut auf dem Boden ablegt oder von dem Boden aufnimmt; und
• 9 eine perspektivische Ansicht eines Satzes modularer Greifelemente, wobei ein Beispiel von sechs Greifelementen unterschiedlicher oder ähnlicher Bauart dargestellt ist, um unterschiedliche Greifprinzipien dem Logistikfahrzeug zu bieten.

Further features, advantages and features of the invention will become apparent from the following description of preferred embodiments of the invention with reference to the accompanying drawings, in which:

• 1 a perspective view of a logistics vehicle according to the invention in a preferred embodiment, wherein two storage buffers are mounted on short sides of a cuboid support frame of the logistics vehicle;
• 2 a perspective view of the logistics vehicle after 1 in another operating condition, namely a stable operating condition;
• 3 a perspective view of the logistics vehicle according to 1 in another stable operating condition in which transported goods can be loaded and manipulated;
• 4 a perspective view of the logistics vehicle according to 3 wherein a transfer robot has grabbed a cargo;
• 5 a perspective view of the logistics vehicle after 3 and 4 where three goods to be stacked on top of each other;
• 6 a perspective view of the logistics vehicle according to 3 to 5 wherein a plurality of goods to be transported are stacked one above the other;
• 7 a perspective view of the logistics vehicle in a further coupling state, in which the raised support frame and the attached storage buffers can be moved by the retracted chassis, at the same time the transfer robot can pick the transported goods between the shelves;
• 8th a perspective view of the logistics vehicle after 6 wherein a lowered robot arm deposits a cargo on the ground or receives from the ground; and
• 9 a perspective view of a set of modular gripping elements, wherein an example of six gripping elements of different or similar design is shown to provide different gripping principles to the logistics vehicle.

In 1 is the logistics vehicle according to the invention generally with the reference numeral 1 provided, which is designed as a ground vehicle on a flat surface to move horizontally and independently transported 3 can record and submit. For the procedure in horizontal distances the logistics vehicle comprises 1 a suspension 5 on wheels, over which the logistics vehicle 1 can roll. The wheels are driven by a motor, these are not shown in detail. The chassis 5 has its own drive, its own communication device, which is especially wireless and can communicate with a control room, its own control device and its own electrical power source, which serves exclusively to the chassis 5 to operate.

As in 1 and also the subsequent figures can be seen, there is the chassis 5 from two structurally separated independent mobile beams 11 . 13 , which is controlled by a control room, not shown, to move to the desired position. The two moving beams 11 . 13 have their own drive (not shown) that drives wheels to the moving beam 11 . 13 to spend in the desired position. For example, the wheels may rotate about a vertical axis to horizontally move the moving beam in each direction.

The mobile beam has a maximum height extension in the lowered state of 30 cm or 10 cm and a maximum width of 30 cm or 15 cm.

In 1 are the moving beams 11 . 13 moved into a coupling position and are located below a base 15 a support frame 7 , the entry channels 17 . 19 . 21 . 23 which extend linearly from one side to the other side. The base 15 has a cuboid shape and is rectangular in horizontal cross-section with a short side 25 and a long side 27 Mistake. Each on the short side 25 and at the long side 27 is a pair of barrier-free entry channels 17 . 19 respectively. 21 . 23 intended. In 1 are the moving beams 11 . 13 completely retracted in the entry channels of the short side. The entry channels extend through the entire base 15 straight through. As in 1 it can be seen, the moving beam has a longitudinal extent, which is significantly greater than the long side 27 the base 15 so that the moving beams 11 . 13 on both short sides 25 clearly project.

In the retracted coupling position, as in 1 it can be seen, a not shown in detail hoist the moving beam 11 . 13 be activated in particular by the control room and a top 31 the mobile beam 11 . 13 Lift and engage with a base of the base 15 in the area of the entry channels 21 . 23 , The hoist of the moving beams 11 . 13 is designed so strong that it can easily raise the base and the components constructed thereon. When lifted, the landing gear can 15 in the form of the moving beams 11 . 13 Move horizontally by the two moving beams are controlled simultaneously from the control room.

At the top of the base 15 is a support strut framework for the continuation of the cuboid support frame 35 put on and with the base 15 firmly connected. The strut framework 35 and the base 15 form the support frame 37 of the logistics vehicle 1 ,

The strut framework 35 has at the top 33 the base 15 facing side two short struts 41 . 43 of which there are four vertical struts 45 extend. On a top 47 of the shoring 35 are cross struts 51 . 53 as well as long struts 55 . 57 formed, with all struts are firmly connected to each other, to a stable strut framework 35 to build. The strut framework is at the top 33 the base 15 rigidly fixed, in particular welded.

In the center of the cuboid strut framework is a vertical axis of rotation R to the a rotating frame 61 can rotate what's through the arrows P is indicated. The rotating frame 61 includes a rectangular structure and two vertical frame bars 63 passing through a horizontal short rod 65 coupled together to form a rigid frame. The base 15 has a centrally located pivot bearing 67 to the revolving frame 61 to store. At the top 47 of the supporting frame 5 is an inner collar 71 provided on the the rotating frame 61 is also supported by a pivot bearing, so that a safe rotation of the rotating frame 61 around the axis of rotation R is guaranteed.

On the rotating frame 61 are in particular at its vertical bars 63 one robot arm each 73 . 75 fastened, with the attachment via a hinge joint 77 realized is that on the vertical rod 63 is held. To move the attachment point (at 77) in the vertical direction, the rotating frame 61 in particular at the vertical struts a vertical elevator (not shown in detail) to the robot arms 73 . 75 regardless of the arm position in the height direction to move up and down.

Every robotic arm 73 . 75 consists of two arm sections 81a . 81b that has a hinge joint 83 connected to each other.

At the operating end of the gripper arm is a gripping hand 85 provided, which can receive gripping elements such as finger elements. The gripping hand 85 has a modular connection, via which a plurality of gripping elements can be received, which, for example, as a sentence in 9 are shown. Schematically is a gripping element set recording 91 at the upper end of the revolving frame in the area of the inner collar 71 intended. The sentence 91 Gripping elements can at any time by the respective robot arm 73 . 75 be taken and replaced to obtain the desired gripping function.

The gripping elements may include mechanical finger elements, magnetic actuators, and other actuating functions to manipulate a cargo.

The rotating frame 61 Has a rotary actuator, which is located in a cavity of the base 15 (not shown in detail) is arranged to rotational drive forces on the rotating frame 61 exercise.

Furthermore, it has the two robot arms 73 . 75 transfer robotics represented several drives to allow movement of the robot arms by means of the hinge joints. Every robot arm can do this 73 . 75 and the gripping hand be provided with one or more own drives to ensure an independent space movement.

The Übergaberobotik, which for example by the support frame 61 , the two robot arms 73 . 75 can be formed, can be assigned to its own energy source, such as a battery or an accumulator, so that a self-sufficient operation of the transfer robot over the chassis 5 consists. Both the suspension 5 as well as the support frame 7 have their own control and regulating device, their own energy source, their own communication interface to be operated independently, ie independently of each other. In the disconnected state, the chassis can be moved without the support frame, while the support frame without chassis can perform all manipulation operations by transfer robotics.

In this way, a flexible logistics system is provided in which suspension and transfer robotics are separated and in which trolleys of similar construction can be combined with different support frames of similar construction.

At the short side 25 each are two storage buffers in the form of side shelves 95 . 97 hooked, which is also lifted off the ground when the landing gear 5 the base 15 of the supporting frame 37 has raised, as in 1 is apparent.

The hooking of the shelf is by a step projection 99 realized, either with a correspondingly dimensioned crossbar 51 cooperates or with a form complementary complementary step hook, such as the shelf structure 97 with the reference number 101 is apparent. In this way, several shelf units can be arranged one behind the other, which simultaneously with the support frame 7 can be moved.

The shelf structures 95 . 97 may have bottom compartments on which the cargo 3 can be stored. At a free bottom compartment, the transfer robot can deposit a cargo to receive another. In this way it is possible to manipulate and arrange transport goods within the overall system with the storage buffer.

Instead of a flat shelf, the shelf structure 97 Also have special shelves with channels in which specific rolling stock are housed to realize a self-sufficient removal from the rack structure. The shelf structure may be formed as a modular storage shelving system composed of a longitudinal row in the longitudinal direction of shelf units arranged directly adjacent to one another and fastened to one another. The shelf units each have a rectangular base and four arranged at the corners of this base legs. The legs are rigidly connected together at the upper end in the vertical direction by a base plate. In the lower region of the shelf unit, a base-side base plate is provided near the footprint on which the shelf units are anchoring-free. Each shelf unit participates in the 1 illustrated execution copies in height direction offset shelves.

Below its footprint, a shelf includes a plurality (here, for example, six) in the transverse direction adjacent to each other, in the longitudinal direction parallel to each other extending channels. Each channel forms a hollow profile rail in which a rail vehicle or load-carrying vehicle can be accommodated. Hollow profile rails are shown in the illustrated preferred embodiments by way of example as longitudinal channels with a rectangular cross-section. Other hollow profile rail forms are conceivable.

In 2 the structure of the logistics vehicle is almost identical to that in 1 , As in 2 it can be seen has the shelf structure 95 no shelves, but shelf rails by a prefabricated cargo in the form of a transport box can be used and durable.

In the in 2 Operating situation shown is the hoist of the mobile beam 11 . 13 lowered, leaving the base 15 as well as the shelf structures 95 . 97 safely parked on the floor.

To tilt around the long side 27 and short side 25 to avoid are four moving beams ( 11 . 15 ) are partially extended and on each side of the entry channel ( 17 to 23 ).

Due to a shape-complementary, in particular Nuteingriffs the driving beam in a side wall of the entry channel is a tilting the base 15 in base longitudinal and / or in base transverse direction, even with heavy goods to be transported 3 as it is in 2 is shown avoided, even if high torques due to protruding, ie over a width or longitudinal extent of the base protruding robotic arms exist. The entry channels 17 . 19 . 21 . 23 have a substantially rectangular cross-section and each have a groove-shaped longitudinal recess on two opposite Einfahrkanalseitenflächen 24 on. The chassis 5 is dimensioned such that it with the entry channel 17 . 19 . 21 . 23 can enter into a positive engagement to accommodate acting on the transport pallet tilting moments. Here is the suspension 5 adapted to receive tilting moments acting in transport pallet longitudinal axis and / or in transport pallet transverse axis. The chassis 5 has a longitudinal projection on two opposite chassis side surfaces 6 on. The longitudinal projection 6 can be permanently shaped. In a preferred embodiment, the longitudinal projection 6 retractable and retractable, ie retractable into the chassis interior and extendable from this. The longitudinal projection 6 advantageously extends along the full longitudinal extent of the chassis 5 so that the uptake of tilting moments over substantially the entire longitudinal extension of the chassis 5 is possible. According to the invention, the chassis longitudinal projection 5 so with respect to the Einfahrkanallängsaussparung 24 form-fitting that with the recess 24 can engage in order to transmit the tilting moments, but also such that a game of one or a few millimeters, such as 3 mm, is formed therebetween, so that in a relative movement between the chassis 5 and entry channel 17 . 19 . 21 . 23 these preferably can pass each other completely smoothly. In 3 is another operating position of the logistics vehicle after 1 shown, with two moving beams 11 . 13 on the long side 27 by at least 40% or 50% are extended to a tilting of the base 15 and the support frame 5 towards the cargo 3 to avoid being lifted by the handover robotics.

In 4 is the lifting of the cargo 3 through the Übergaberobotik especially the transfer arms 73 . 75 shown, wherein, as in 3 it can be seen, the vertical lift on the support frame 1 has gone down to the lowest possible Gripping position for the transfer robotics to ensure.

Not just the robot arms 73 . 75 can along the rotating frame 61 be moved by the vertical elevator in the vertical direction, but also a central shelf 59 between the vertical bars 63 of the rotating frame 61 is arranged. In the transition area between shelf rack or central shelf 59 and the rotating frame 61 An elevator is provided to the central shelf 59 also to shift in height direction. The orientation of the central shelf 59 to change trained driving channels achieved the rotation of the rotating frame 61 ,

In 6 are the two robot arms 73 . 75 in its highest position has been moved by the mounting hinges 77 spent in the highest position according to the vertical elevator.

In this way, a stacking of a plurality of transport crates are possible, as exemplified in 6 is shown.

In 7 is clarified that the drives of one robotic arm 75 completely self-sufficient to the other robot arm 73 can be moved. The chassis 5 is in the hang-up mode and can now move the support frame including the attached shelf structures. With the appropriate gripping element, the robot arm of the modular set 91 can receive even the smallest transport goods, such as the cube 121 , and take it to a specific clipboard position of the shelf structures 95 . 97 lay down. In this way, the logistics vehicle can be controlled via the control room 1 based on the chassis 5 which is in the coupling position in 7 is shown, including the shelf structures 95 . 97 to move from one logistics location to another. During this conveying movement, the robot arms can 73 . 75 Carry out the picking processes and sequencing processes of the transport goods in the clipboard completely autonomously so that this time can be well utilized to achieve the desired combination of goods to be transported to the further logistics location.

In 8th is the basis for stabilizing the supporting frame 15 parked on the ground and the moving beams 11 . 13 extended to a tilting of the base 15 to avoid to the front. The robot arms 73 . 75 can easily act without affecting the operating condition of the landing gear 5 arrives. In 8th is the one robot arm 75 representing the cargo, the cube 121 , gives up.

In 9 the set of modular engaging elements is shown, which is realized, for example, by a ( 131 ) or several finger pairs ( 133 ) are provided to the cargo 3 . 21 to grab. Also magnetic gripping devices 127 or for example pneumatic suction devices 125 can be used to realize the gripping element.

Preferably, these gripping elements, as in 9 For example, on a modular set 91 attached to the top 47 of the strut framework 35 is positioned.

The features disclosed in the foregoing description, the figures and the claims may be of importance both individually and in any combination for the realization of the invention in the various embodiments.

LIST OF REFERENCE NUMBERS

1

logistics vehicle

3

cargo

5

landing gear

6

longitudinal projection

7

supporting frame

11, 13

mobile beam

15

Base

17, 19, 21, 23

Einfahrkanäle

24

longitudinal recess

25

short side

27

long side

31

Chassis top

33

Base top

35

Support struts framework

37

supporting frame

41, 43

short stays

45

vertical struts

47

top

51, 53

crossbars

55, 57

long pursuit

59

height-adjustable shelf

61

rotating frame

63

frame bars

65

horizontal short rod

67

pivot bearing

71

inner collar

73, 75

robot arm

77

hinge

81a, 81b

two arm sections

83

hinge

85

gripping hand

91

Gripping element set recording

95, 97

page shelves

99

step projection

101

Gegeneinhakung

121

cube

125

suckers

127

magnetic gripping device

131

pair of fingers

133

two pairs of fingers

R

vertical axis of rotation

P

arrows

Claims (9)

Logistics vehicle (1) for receiving and discharging at least one transport item (3), comprising: a chassis (5) for moving the logistics vehicle (1) between logistics locations, wherein the chassis (5) is provided with an on-board drive; a support frame, which is held by the chassis (5); at least one attached to the support frame transfer robot having a gripping and lifting drive for receiving and delivering the at least one transported material (3), wherein the chassis (5) and the support frame are releasably secured together and the traction drive and the chassis (5) so are designed to be self-sufficient and separable, that in a coupling state in which the chassis (5) carries the support frame firmly, the logistics vehicle (1) by the driven chassis (5) can be moved and in a disconnected state in which the support frame of the Chassis (5) is released, the chassis (5) can be moved independently without the support frame by the drive. Logistics vehicle (1) to Claim 1 in which in the disconnected state of the gripping and lifting drive of the transfer robot can be operated, in particular a transmission kinematics of the traction drive on the one hand and the gripping and lifting drive on the other hand structurally separated and / or in particular the traction drive and the gripping and lifting drive each one own electric motor for generating a driving force, which is operatively coupled to the respective transmission kinematics of the traction drive or the gripping and lifting drive, so that in particular a releasable fastening device, in particular a screw, a plug connection, a snap lock or the like, is used to the support frame to hold on the chassis (5). Logistics vehicle (1) to Claim 1 or 2 in which the support frame is a frame-like, open-sided strut framework, in particular laterally closed peripheral side frame, a particular pallet-like chassis-side base (15), with the drive in the coupling state, the chassis (5) fahrantriebskraftübertragungsgemäß engaged, and / or one on the support frame, in particular the strut framework, rotatably mounted rotary frame (61), which is preferably arranged in particular within the cuboid frame in its center and whose axis of rotation (R) extends vertically, wherein in particular the rotary frame (61) forms part of the transfer robot and / or on the Supporting frame at least one robot arm (73, 75), in particular a pair of robot arms, is attached and / or wherein a pivot bearing (67) of the rotary frame on the strut framework, in particular at its upper strut portion, and on the base (15) is formed such that the rotating frame (61), in particular the transfer robot it can rotate, at least with a rotation amplitude of at least 90 °, 180 ° or 360 ° or beyond about the rotation axis (R) of the rotating frame, and in particular a rotary frame motor for operating the rotational movement of the rotating frame, in particular on the base (15) is arranged wherein preferably the rotary frame motor is formed structurally, control-technically and / or concerning the energy supply independently of the travel drive of the chassis. Logistics vehicle (1) according to one of the preceding claims, in which the transfer robot has at least one robot arm (73, 75), in particular a pair of robot arms, wherein the at least one robot arm (73, 75) in particular on a lower half of the support frame, on which Supporting frame is attached and / or the at least one robot arm (73, 75) consists of at least two arm portions (81a, 81b) which are coupled to each other with a pivot or pivot, so that for the at least one robot arm (73, 75) each have a Multi-jointed chain is formed by at least two joints, wherein in particular at one operating end of the robot arm is provided a gripping hand for holding a finger engaging element, which is in particular connected to a proximal arm portion via a pivot or swivel joint and / or comprises a modular terminal end to which a finger gripping element is arranged interchangeably, in particular in particular a set of modular finger gripping elements on the support frame, in particular on an upper strut portion of the strut framework, is provided, wherein preferably the gripping hand of the robot arm is constructed so modular that each finger gripping element of the set is replaceable attachable to the gripping hand. Logistics vehicle (1) according to one of the preceding claims, in which the transfer robot comprises, in particular in addition to the at least one robot arm (73, 75) and the rotating frame (61), a platform lift, with which a particular exclusive vertical up and down movement of a platform, such as a shelf, is realized, in particular, the platform is guided between two vertical struts of the rotating frame in the vertical direction and / or a particular self-sufficient elevator drive is provided which moves the platform up and down, in particular the elevator drive in the region of the rotating frame and / or the Base (15) of the support frame is housed, wherein in particular the vertical struts of the rotary frame are designed so hollow that a movable tension member, such as a conveyor belt or a conveyor chain, is accommodated for transmitting the lifting forces of the elevator drive to the platform therein, preferably an elevator drive motor structurally , tax is formed non-technical and / or energy supply regardless of the drive of the chassis. Logistics vehicle (1), in particular according to one of the preceding claims, for receiving and discharging at least one transport item (3), comprising: at least one transfer robot for gripping, transporting and / or delivering the transport good (3), for example to a storage system having a gripping and lifting drive; a support frame to which the at least one transfer robot is attached; and an arranged on the support frame storage buffer for receiving a plurality of transport goods, which is assigned to the transfer robot, that one of the Übergaberobotik gripped cargo (3) can be delivered from the transfer robotics to the storage buffer and the transfer robot can grab another cargo (3), so Picking, sequencing or the like can take place in the area of the storage intermediate storage. Logistics vehicle (1) according to one of the preceding claims, wherein the storage intermediate storage is formed by a shelf structure, which is preferably detachably attached to the outside of the support frame and / or vertical struts for holding at least two shelves, in particular the storage buffer at least two in Has height direction mutually offset shelves to store a gripped by the transfer robot transport (3) there to grab another cargo (3). Logistics vehicle (1) according to any one of the preceding claims, wherein a releasable fastening means for holding the storage buffer is formed exclusively exclusively by form-fit, in particular without additional fasteners to be operated, such as screw, use, wherein in particular the releasable fastening means offset by at least two in the height direction to each other , Complementary gripping hook is formed, in particular, a supporting frame side, paragraph-shaped gripping hooks of the storage intermediate storage is designed such that it encompasses a horizontal cross member of the strut framework of the support frame, in particular without allowing a movement play in Verhakungszustand. Logistics vehicle (1) according to one of the preceding claims, wherein the chassis (5) by a bar-shaped wagon, in particular by a pair of independently structurally formed, bar-shaped wagons, formed, in particular with a vertical extension of in particular less than 40 cm or 30 cm is provided such that the wagon can in particular below an upper surface of a base of the support frame and extend, and / or comprises a conveyor drive for horizontal transport along a flat floor conveyor travel and independent from the conveyor drive lifting drive for lifting a flat receiving top of the wagon which for lifting with a bottom of the support frame, in particular the base (15) of the support frame, releasably engageable.

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