DE202018106624U1 - Transport system - Google Patents

Abstract

Transport vehicles comprising at least one motor-driven tractor (4) and at least one trailer (2) which can be coupled thereto
- A coupling mechanism (1) comprising
- at least one coupling element (1.4) on each tractor (4), which can be moved at least partially under control,
- At least one counter element (1.2) that can be coupled to it on each trailer (2),
- a lifting device (5) on the tractor (4) for lifting the coupled trailer (2) at least on its coupling side (2a),
- An on-board control (9) in the tractor (4), which controls at least all moving parts of the tractor (4), characterized in that the coupling mechanism (1) is designed such that, when coupled, the trailer (2) rigidly connected to the tractor (4). (Principle)

Description

field of use

The invention relates to transport vehicles comprising at least one tractor and at least one trailer that can be coupled and transported. The invention relates in particular to a transport and storage system in which such transport vehicles travel on a driving surface and are also parked and thus stored.

Technical background

• Eine Variante sind autonom fahrende Flurförderfahrzeuge, die auf einem glatten, ebenen Untergrund verfahren, und geführt werden anhand von elektrischen oder magnetischen Leitungen, die im Boden verlegt sind und als unsichtbare Schienen wirken. Sollen diese Fahrzeuge einen anderen Weg fahren können als durch die unsichtbaren Schienen vorgegeben, so muss auf aufwendige Art und Weise diese unsichtbaren Schienen im Boden neu oder zusätzlich verlegt werden.

Self-driving, unmanned tractors are widely known in the industry:

• One variant are autonomous industrial trucks that travel on a smooth, level surface and are guided using electrical or magnetic cables that are installed in the ground and act as invisible rails. If these vehicles are to be able to travel a different route than specified by the invisible rails, then these invisible rails have to be relocated in the floor in a complex manner.

Such autonomous vehicles saddle the load, for example by having lifting tines like a forklift, or they can automatically couple and uncouple trailers and pull them behind or push them in front of them.

Furthermore, autonomously driving transport vehicles are known which do not need any - visible or invisible - rails in the ground, and only by means of contactless sensors - based on radar, infrared, ultrasound or other wavelengths of electromagnetic radiation - on the one hand recognize obstacles and on the other hand by measuring the distance These obstacles as well as other elements in the environment, the position of which is known to the control system, can determine their location, their rotational position and thus the necessary direction of travel and can thus navigate and drive autonomously to a predetermined destination.

It is obvious that the control effort is less, the better the environment of the control is already known, for example in the form of fixed, always present obstacles and their positions, and the fewer unexpected or even moving obstacles can appear.

Such transport systems with autonomously driving, unmanned tractors are also used within a storage system, so-called area warehouses, in which on driving and parking spaces that should be interrupted by as few obstacles as possible, the autonomously driving tractors automatically put the trailers parked on certain storage areas in or on which at least one product is stored as goods to be stored or retrieved between the storage position and a processing position.

The processing position is, for example, a picking position on the edge of the warehouse, at which - manually or by means of a robot - a desired product is removed from a trailer and added to a picking container. To refill the warehouse, products delivered from the outside are placed in the trailer in the opposite way.

Both the storage positions of the individual trailers change constantly, and if several products, in particular different products, are accommodated in one of several compartments within a trailer, the content within each compartment of the trailer also changes constantly, so that it is a double issue chaotic warehouse.

The driving and parking space usually extends over a large number of floors, whereby the tractors can switch between the floors alone or as a team with a trailer attached either via appropriate sloping ramps or with the help of one or more elevators within the multi-day storage facility that they have Request yourself automatically to get from one floor to the other.

In order to distinguish them from the compartments in the form of levels of the storage rack, the individual compartments within a trailer, in particular in the supervision, are referred to as compartments in the present case.

The individual tractors can navigate in the warehouse using sensors that can detect obstacles and determine their position and distance. However, a particularly cost-effective variant consists in making instead or in addition markings, for example on the driving and storage surface or on the ceiling above, i.e. the shelf of the next floor, and these markings with a counter to the markings, e.g. to scan the ground-facing ground camera of the tractor, which allows much less control effort and simpler, more cost-effective sensors.

The efficiency of such an area storage system is that such tractors can be manufactured very inexpensively compared to, for example the storage and retrieval unit of a conventional high-bay warehouse, and the construction of the storage rack itself is much cheaper.

In particular, such a storage area with autonomously storing and retrieving tractors is suitable for storing products that in one dimension do not exceed a maximum dimension of 1 m, better 0.5 m, better 0.3 m, better 0.2 m, because this means that the distances between the floors can be kept very small, so that only unmanned tractors can be used for storage and retrieval. This can drastically increase the storage density of such small products.

Further advantages are the very simple expansion options of a storage area by increasing the storage rack and / or increasing the number of tractors.

Since the saving possibilities for the storage rack itself are mostly limited by compliance with stability criteria, further savings can only be made by simplifying the tractors and trailers in order to keep the storage costs low overall.

Presentation of the invention

Technical task

It is therefore the task according to the invention to provide tractors and trailers that are simple and inexpensive, yet offer the required navigation and positioning accuracy, work with a very low error rate and have a long service life.

Solution of the task

This object is solved by the features of claim 1. Advantageous embodiments result from the subclaims.

As a rule, the tractors have an on-board control with which they can communicate with each other as well as with the central control.

The on-board control not only controls the electric drive motors of the generally omnidirectionally movable, individually and independently drivable wheels, but also the clutch mechanism, and is connected to the existing sensors, including cameras, for this purpose, on the one hand in the Navigate the warehouse and determine the route between individual milestones, but also automatically connect and disconnect trailers and thus park them at a specified storage position, i.e. on a specified storage area.

One component that plays a major role in terms of cost, reliability, durability and functional reliability is the clutch mechanism.

Since the number of trailers in a warehouse is significantly larger than that of the tractors - at least by a factor of 50 or even 100 - only the coupling element on the tractor is designed to be movable, while the at least one counter element on the trailer is designed as an immovable, as simple a component as possible to be able to manufacture the trailers overall very inexpensively.

Nevertheless, after coupling, especially after fully coupling, the trailer must be rigidly connected to the tractor.

This should mean that no significant relative movement between the tractor and trailer should be possible in the mostly horizontal plane that runs parallel to the driving surface on which both stand and drive.

In particular, it should not be possible to twist about an upright, in particular vertical, vertical axis that goes beyond 2 °, better than 1 °, better than 0.5 °.

In particular, no linear movement in the longitudinal direction and / or in the transverse direction between the tractor and trailer should be possible by more than 2 mm, better not more than 1 mm, better not more than 0.5 mm.

In contrast, tilting of the tractor relative to the trailer about a horizontal, transverse to the longitudinal direction, in particular in the transverse direction, tilt axis should be possible, in particular up to a tilt angle of 5 °, better 10 °, better 15 °, better 20 °, better 30 °, in particular without this disengaging the coupling mechanism. This is necessary in the event that the team drives from a horizontal driving surface onto an inclined ramp or drives over a step in the driving surface.

This is achieved in that the existing coupling elements in their entirety, that is to say in total, can be rigidly coupled to the counter elements considered in their entirety, that is to say the sum thereof, since coupling elements and counter elements on the tractor on the one hand and on the trailer on the other hand are stationary, in particular are arranged and fixed at a defined position.

This is preferably achieved in that when the trailer is coupled on Tractor is coupled to two spaced-apart contact points, which are spaced apart, in particular in the transverse direction, preferably the horizontal transverse direction, from the longitudinal direction, the straight-ahead direction of travel, preferably by at least 30%, better by at least 50%, better by at least 60% the width of the trailer on the coupling side.

In the case of an inevitable, unavoidable play between the coupling element and the counter element, which in absolute terms always remains, the greater the distance between the two contact points, the less the relative rotation of the trailer and tractor about a vertical axis decreases.

Even in absolute values, the distance between the contact points should therefore be at least 10 cm, better at least 15 cm, better at least 20 cm.

In addition, when the trailer is automatically coupled, the trailer should also be raised, at least on the coupling side, which makes it possible to equip the trailer with two wheels or castors with which it attaches only at the rear end facing away from the coupling side, in particular the rear half rolls on the ground, while on the coupling side simple feet are sufficient with which the trailer sits on the ground when uncoupled. This also prevents the trailer from rolling away unintentionally, which is why these adjustable feet should have the highest possible coefficient of friction against the ground.

For cost reasons, each trailer preferably only has a counter element for coupling on one of its sides viewed from the top, the coupling side, which makes this configuration possible with only two wheels or castors and one or two additional feet. Otherwise, the wheels or castors would have to be omnidirectional wheels or castors and feet would also have to be provided on each coupling side.

The lifting device should also include a form-fitting safeguard against unintentional lowering of the trailer, in particular by the trailer resting on a lifting surface of the lifting device, but being able to be lifted up from it.

The coupling element and counter element are preferably designed such that they not only interlock positively during the coupling process, but are increasingly centered against one another as the coupling movement progresses, both in the longitudinal direction and in the horizontal transverse direction.

This does not have to be achieved by a pair of coupling element and counter element alone, but is sufficient if this is achieved by the simultaneous or sequential coupling of the two pairs of coupling element and counter element spaced in the transverse direction.

For this purpose, the coupling element and counter element consists of one of the two comprising a coupling contour that can be coupled in a form-fitting manner and a counter contour that can be coupled in a form-fitting manner, preferably only one of which is designed to be movable.

One design is that one is a coupling recess with two flanks approaching one another in the coupling direction, while the other of the two is a, preferably movable, coupling pin that fits into the coupling recess and rests on both flanks when moving further in the coupling direction and is therefore free of play is held in between and is thus secured in a form-fitting manner transversely to the center line between the two flanks.

The reverse design is also possible if, for example, the, in particular movable, coupling pin is fork-shaped with two prongs and, when moving in the coupling direction, increasingly approaches flanks which are distant from one another in the coupling direction and finally bears against them.

If, in the case of two pairs of coupling element and counter element, the two flanks in the two coupling recesses approach each other in opposite directions, positive locking in the transverse direction is also achieved if both coupling pins are in their recesses on the two flanks and therefore without play in the recess issue.

For this purpose, the coupling direction can be directed outwards or inwards, either horizontally or obliquely to the horizontal, in particular the flank plane defined by the direction of the two opposing flanks thereby also increasing horizontally or obliquely to the horizontal, in particular at a point Angle, runs.

In a preferred, very simple and inexpensive design, the coupling contour, in particular the coupling recess, is formed on or in a coupling plate, in particular designed as an opening in a coupling plate, and in particular the opening is closed circumferentially.

The coupling recess is preferably of central symmetry in the coupling direction, preferably in the transverse direction, and in particular forms an equilateral triangle whose sides of equal length form the flanks of the coupling recess. In the coupling plate, two such coupling recesses are spaced apart in the transverse direction with points pointing towards or away from one another - the point of the smallest distance between the two flanks, which merge into one another, in particular at the tip - which are present in the coupling engaging in each coupling recess - Represent the two contact points on the coupling.

The coupling plate is preferably one of the two free-ended legs of a sheet metal part that is bent in opposite directions, preferably at right angles, and thus Z-shaped, which has the advantage that the other free-ended leg is fastened, in particular screwed, under the bottom of the trailer can and the connecting leg of the Z-profile can rest on the front face of the trailer, which facilitates the assembly of the Z-profile.

When the Z-profile is screwed onto the underside of the trailer, one adjustable foot can preferably be attached to or in each of the two screw connections, in particular in that the adjustable foot is a cup-shaped element with a downward opening in which the screw head of the fastening screw can be accommodated .

Alternatively, the thickness of the free-hanging leg of the Z-profile screwed under the base plate can be dimensioned such that it acts as the only, wide adjustable foot.

Thus, in the simplest case, a trailer can be produced from a base plate, in which two rollers or wheels are attached in the underside, simply by attaching a coupling plate with two punched or lasered openings, preferably a Z-profile, preferably consisting of metal.

The tractor, on the other hand, has at least one, preferably two, transversely spaced, movable and controllable coupling elements, in particular coupling pins, which are intended to engage in one of the coupling recesses and are linearly displaceable or pivotable relative to the tractor, preferably around a pin axis is pivotable, which preferably extends in the longitudinal direction of the tractor.

If the coupling pin is below or above the recess when the trailer and tractor are at the correct distance from one another and are aligned with respect to their longitudinal directions and longitudinal centers, he dips from this starting position with increasing pivoting around the coupling axis, in particular from below into the wider one Part of the recess and moves in the direction of the decreasing distance between the two flanks, for example outwards, until it abuts them.

If the two coupling pins at the two contact points are swiveled up in this way in opposite directions, in particular counter-synchronously, a rigid coupling can be achieved.

The lifting device, which is also formed on the tractor, is preferably integrated into the coupling mechanism, for example in that the coupling pin protrudes radially outward from a peripheral surface, in particular the coupling axis which is designed as a pivotable shaft, the peripheral surface projecting at least over one Extends part of the circumference around the coupling axis and assumes a circumferentially changing, in particular continuously changing, radius to the coupling axis.

If the minimum radius between the coupling axis and the circumferential surface is less than the distance, in particular height distance, between the coupling axis and the coupling recess, in particular the underside of the coupling plate, the fully upward-pointing maximum radius, on the other hand, when the coupling pin is fully engaged larger, the coupling plate is additionally lifted through the surface during the coupling process, i.e. the trailer on the coupling side is lifted from the ground.

By means of a correspondingly small increase in the radius, it can be achieved that this lifting device is self-locking, that is to say when the coupling pin is fully engaged, the radius decrease in one direction is so small that the weight of the trailer acting on the peripheral surface acting as the lifting surface does not cause any undesirable rotation of the lifting surface and thus also the coupling pin is effected.

When viewed from above, the tractor preferably has a straight rear coupling side and / or the front of the tractor has strongly rounded front corners, which, when viewed from above, results in a convex, in particular semicircular, front of the tractor, so that it can also slide along obstacles to be able to without getting caught.

The tractor is preferably constructed essentially symmetrically to the longitudinal center, at least as far as elements that are simply in the tractor are concerned.

On the coupling side, which is preferably viewed from the top, the rear side, a centering element is arranged centrally, that is to say on the upstanding longitudinal center plane, preferably a centering extension projecting beyond the rear coupling surface with flanks tapering towards one another, which flanks is at a height so that it can be immersed in a corresponding center-recess, which is open towards the front, in the coupling plate, in particular in the upper free-end leg of the Z-profile, in which the coupling recesses are located.

At least one distance sensor is arranged in or on the rear coupling side, be it a contactlessly operating sensor or a button, preferably two such distance sensors being provided on opposite sides with respect to the longitudinal center and in particular symmetrically thereto.

Instead of one or two such distance sensors, there can be at least one distance camera as a special solution, which either has a variable focal length and / or a correspondingly large depth of field despite a fixed focal length of at least 3 cm, better 5 cm, better 10 cm, which then - even with a more central one Arrangement - not only can constantly determine the distance to the trailer while approaching the trailer, but also the difference in distance from one side with respect to the longitudinal center to the other, in order to align the tractor and trailer with respect to their longitudinal direction and at least roughly so in the transverse direction Align far to each other so that the coarse centering elements can dip into each other.

For the particularly exact approximation, instead of or in addition to the at least one distance sensor, there can be at least one line laser on or in the rear, the coupling side, of the tractor on one side of the longitudinal center, which illuminates a light line on the coupling side of the trailer , and in addition to this, in particular on the other side of the longitudinal center, on the tractor an evaluation camera which is aimed at the projected at least one light line and which has a corresponding evaluation device in order, on the one hand, to determine the distance between the light lines, in particular using the light section triangulation method to the camera and on the other hand to determine their orientation to the camera and thus also an angular offset between the longitudinal directions of the trailer and tractor.

As the drive wheels, the tractor preferably does not have four or even more, but only three, of which all three are preferably driven and are designed as omnidirectional wheels, as a result of which the tractor can not only make very tight curves, but can also turn on the spot and therefore requires very little maneuvering space.

An omnidirectional wheel is understood to mean that it can roll on the ground in the same way as a normal wheel in a direction transverse to the wheel axis, but also in the direction of the wheel axis and thus by superposition in all directions on the ground on which it is rests, can roll.

Each of the driven wheels, together with the wheel motor driving them, is preferably combined in a separate housing to form a wheel unit which can be inserted very easily from the outside into the base frame of the tractor and can therefore also be easily replaced.

If the tractor is navigated by means of markings on the transport and storage area, the tractor has a ground camera directed towards the ground, which is, however, preferably only available in the tractor and not centrally, but can also be arranged off the longitudinal center and in particular can also be inserted from the side into the base frame of the tractor as an assembly.

There is an upright light shield around the ground camera, since the camera must have a sufficiently large height distance from the underside of the tractor to ensure a desired, sufficiently large scanning area on the ground. In order to minimize external light coming in from the side over this large height distance, this height distance is completely shielded by the opaque shielding.

An electrical accumulator is preferably present in the tractor as an energy supply, since the wheel motors are generally electric motors. Preferably, the outside of the tractor, in particular the straight coupling side, has electrical contacts via which the battery can be charged, for example by the tractor automatically starting a charging station with a correspondingly low charge level and bringing its two electrical contacts into contact with corresponding fixed charging contacts for recharging the battery.

Contactless recharging at a charging station using induction is also possible

A transport and storage system consists of at least one transport and storage area, on which the tractors or teams of tractors and trailers move and the trailers are parked alone - in a loaded or unloaded state - for the purpose of storage.

The transport vehicles, that is to say tractors and trailers, are designed in particular as described above.

The transport and storage area can consist of several such areas, which can in particular be arranged one above the other on a level, in which case there must be a possibility of changing the level for the tractors and teams, be it via inclined ramps or an elevator.

There should be as few fixed obstacles as possible on the storage areas themselves, such as the supports of a multi-storey storage rack. Fixed obstacles are preferably known and programmed to the central control system and also to the on-board control systems of the individual tractors, and changing obstacles, such as parked trailers, too, since the central control system itself generally stores positions for the trailers to be parked - and also parked because Tractors not currently in use - determine and know.

Embodiments

• 1: den Zentralbereich eines leeren Lagerregals in perspektivische Ansicht,
• 2a: eine Aussicht auf eine Etagen-Fahrfläche eines Lagerregals mit darauf befindlichen Traktoren und Anhängern,
• 2b: eine Seitenansicht eines Lagerregals,
• 2c: eine andere Seitenansicht des Lagerregals,
• 3a: einen Traktor und einen Anhänger in der Seitenansicht nebeneinander,
• 3b: ein Gespann aus einem Traktor mit angekuppeltem Anhänger in der Seitenansicht,
• 3c: ein Gespann aus einem Traktor mit angekuppeltem Anhänger bei der Auffahrt auf eine Rampe
• 4a: ein Gespann aus einem Traktor mit angekuppeltem Anhänger in der Aufsicht,
• 4a1: eine Vergrößerung aus 4a,
• 4b: in der Aufsicht ein Traktor und ein Anhänger hintereinander,
• 5a: eine Ansicht auf die Kupplungsseite eines Anhängers,
• 5b: eine Ansicht auf die Kupplungsseite eines Traktors,
• 6a: einen Querschnitt durch eine andere Bauform des Kupplungsmechanismus mit horizontaler Kupplungsrichtung,
• 6b: auf einen Teil des Kopplungsmechanismus,
• 7a, b: eine Aufsicht und eine Schrägansicht einer Bauform des Kupplungsmechanismus mit vertikaler Kupplungsrichtung.

Embodiments according to the invention are described in more detail below by way of example. Show it:

• 1 : the central area of an empty storage rack in a perspective view,
• 2a : a view of a floor of a storage rack with tractors and trailers on it,
• 2 B : a side view of a storage rack,
• 2c : another side view of the storage rack,
• 3a : a tractor and a trailer side by side,
• 3b : a team from a tractor with a coupled trailer in side view,
• 3c : a team from a tractor with a coupled trailer when entering a ramp
• 4a : a team from a tractor with a coupled trailer under supervision,
• 4a1 : an enlargement 4a ,
• 4b : in supervision a tractor and a trailer in a row,
• 5a : a view of the coupling side of a trailer,
• 5b : a view of the coupling side of a tractor,
• 6a : a cross section through another design of the coupling mechanism with a horizontal coupling direction,
• 6b : on part of the coupling mechanism,
• 7a, b : A top view and an oblique view of a design of the coupling mechanism with a vertical coupling direction.

• Das Tragwerk 60 besteht aus horizontal verlaufenden Längstraversen 52 und Quertraversen 53, auf denen die einzelnen Regalböden 55 mit ihren in der Aufsicht betrachtet äußeren Kanten 55a bis d - da die Regalböden 55 in aller Regel rechteckig sind - jeweils aufliegen. Die horizontal verlaufenden Längstraversen 52 und Quertraversen 53 ihrerseits sind mit ihren Enden an vertikal stehenden Tragsäulen 51 befestigt, beispielsweise nur eingehängt, die in der Aufsicht betrachtet in einem regelmäßigen Raster in Säulenreihen, die in Längsrichtung 101 und Querrichtung 102 des Lagerregals 50 verlaufen, angeordnet sind.

1 shows an empty storage rack in perspective view 50 with floor driving surfaces 50 "a , 50 " b etc. on a variety of floors 50a , b on top of each other. The individual floors are formed by the adjacent shelves 55 , more precisely their tops, which abut each other without gaps and each by a supporting structure 60 to be worn:

• The structure 60 consists of horizontal longitudinal beams 52 and crossbars 53 on which the individual shelves 55 with their outer edges when viewed from above 55a to d - because the shelves 55 are generally rectangular - rest on each. The horizontal trusses 52 and crossbars 53 in turn, their ends are on vertically standing support columns 51 fastened, for example, only hung, viewed from above in a regular grid in rows of columns, in the longitudinal direction 101 and cross direction 102 of the storage rack 50 run, are arranged.

Four adjacent support columns viewed from above 51 form a square, which is not necessarily a square, but usually forms a rectangle.

Such a square, viewed from above, can be viewed from a single shelf 55 be filled in or from several adjacent shelves 55 .

In the area of the support columns 51 show the shelves 55 at least corner cutouts 67 on so that in the case of four adjacent shelves 55 the vertical support column 51 can be accommodated and thus the shelves in the area between the support columns 55 with their edges 55a to d abut as seamlessly as possible.

There are preferably two adjacent, each rectangular, shelf shelves within a square 55 that - except for the corner recesses made in it 67 - Are preferably identical.

As is known, such an overall cubic support frame is stiffened, for example, between the adjacent support columns 51 , be it the two outermost columns 51 of the camp 50 or only two adjacent supporting columns, a diagonal bracing is carried out, both in the longitudinal direction and in the transverse direction of the bearing 50 . In addition and / or instead, transverse tensions between support columns that are spaced apart from one another in the top view can occur in a horizontal plane 51 to be available.

The 2a and 2 B show a top view and a side view 100 which besides the storage rack 50 , as in 1 shown in perspective, a series of storage vehicles in the form of autonomous and unmanned tractors 4th and not self-driving trailers 2nd , however, by the tractors 4th can be automatically coupled, moved and uncoupled and switched off again.

• Die einzelnen Etagen-Fahrflächen 50"a, 50"b sind - meist übereinstimmend über alle Etagen 50a, b... im Zentralbereich 50* in einerseits Verkehrsflächen 57 und Lagergassen 58, auf denen Traktoren 4 oder Gespanne 4 + 2 verfahren und andererseits Abstellbereiche 56, in denen Anhänger 2, teilweise auch Traktoren 4, abgestellt werden können, unterteilt.

The storage rack points 50 a central area 50 * on, in - like in 1 - The floor driving surfaces 50 "a , 50 "b all are the same size, i.e. all floors are designed the same way, to the central area 50 * however, expansion areas can be connected laterally, as explained later:

• The individual floor driving areas 50 "a , 50 "b are - mostly consistent across all floors 50a , b ... in the central area 50 * in traffic areas on the one hand 57 and storage aisles 58 on which tractors 4th or move teams 4 + 2 and on the other hand parking areas 56 in which followers 2nd , sometimes also tractors 4th , can be parked.

In the example of 2a extends longitudinally along both sides 101 as well as in the middle in the longitudinal direction 101 the floor area 50 "a one storage area each 56 , between which also in the longitudinal direction 101 of the camp 50 running storage aisles 58 free on which the tractors 4th or move team 4 + 2.

At the front, here left and right, ends of the storage alleys 58 these are through in the transverse direction 102 running traffic areas 57 connected with each other.

In the storage areas 56 are defined storage areas 56a , b virtually predefined, each with a trailer on it 2a , b , c can be parked, the corresponding storage area 56a , b , c viewed from the top, it is somewhat larger than the corresponding trailer 2a , 2 B in order to park and unpark by means of the tractor 4th to have the appropriate patch room available.

As can be seen, in this example there are three different sizes of trailers when viewed from above 2a , b , c , and accordingly three different sizes of storage space 56a , b , c to accommodate the appropriate size of the slightly smaller trailer 2nd are trained.

How 2a shows, these are storage areas 56a , b , c longitudinal 101 of the storage rack 50 arranged side by side, the bearing surfaces 56a , b , c and thus also the trailers when parked on them 2a , b , c with its largest extension considered in the direction of view in the transverse direction 102 of the storage rack 50 extend.

As in 2a middle storage area 56 and lower storage area 56 to recognize, these storage areas include in the transverse direction 102 several storage areas 56a , b , c one after the other, the one row of bearings 59 form.

It goes without saying that a storage area 56a , b , c that are not the outer edge of such a storage area 56 forms, is only accessible if the in this row 59 upstream, for example outermost, storage area 56 is empty. If this is not the case, a must on this outer storage area 56 standing trailer 2nd initially from a tractor 4th are removed by coupling to its narrow side and from the tractor 4th be removed to the in this storage row 59 behind the trailer 2nd to be able to couple.

A tractor is used for storage 4th one trailer each 2nd on one of the storage areas 56a , b , c in a storage area 56 parked - mostly by reversing parking, which is mostly done by the central control 9 * the tractor is specified 4th however automatically by means of its on-board control 9 starts while the central control 9 * at most milestones, usually only the final destination, of the respective trip.

A tractor picks up for outsourcing 4th due to a travel order from the central control 9 * a parked trailer, at least partially filled with products 2nd from a given storage area 56 and takes it to a picking area 68 at which a human operator 20th or a robot, not shown, the desired product P from the trailer 2nd removed and added to a picking container.

In the present case, this is done by a human operator 20th carried out, which is why the picking area 68 at the working height of an operator standing on the ground 20th is located, for example on the - how better in 2 B visible - second or third floor 50e , 50d from underneath. In this case the picking area is located 68 viewed from above, also outside the central area 50 * of the storage rack 50 by putting on the appropriate floor, for example 50e , the floor area over the central area 50 * was also expanded and as an expanded traffic area 57 serves on the team up to the specified picking area 68 drives and stops there, which are part of this expanded traffic area 57 is.

To the operator 20th To facilitate the work there is above the picking area 68 for example a signaling device 69 present, a light marking from above 69 * to that position in the trailer 2nd , for example on a certain subject 31 in the trailer 2nd , aligns from which a product P should be taken for picking a delivery.

Conversely, this picking area 68 also serve a partially empty trailer 2nd with products delivered from the outside P to load, i.e. the right product in a given compartment 31 insert and thus the bearing 100 refill.

So that the tractors 4th and teams 4 + 2 can get from one floor to the other is a height transfer device 61 necessary.

In a simple case - as in the side view of the 2 B shown - there is the height transfer device 61 from a simple ramp 62 instead of part of a floor area on which a tractor 4th or a team 4 + 2 can get to the next higher or lower floor.

Instead of such a ramp 62 is also an elevator, not shown here, as a height transfer device 61 possible, in particular from the tractors 4th can be requested yourself.

• Obwohl die in 2b dargestellten Größenverhältnisse erkennen lassen, dass ein Bediener 20 nicht in der Lage ist, in die einzelnen Etagen hinein zu kriechen oder gar zu gehen, kann es dennoch notwendig sein, dass ein solcher Bediener 20 entweder auf die oberste Etage 50a gelangt - über der in der Regel mehr Freiraum vorhanden ist - und dort Inspektionen oder Wartungsarbeiten vornimmt, oder auch im mittleren Höhenbereich von der Seite her Einblick in eine bestimmte Etage nimmt, wozu er auf die entsprechende Höhe gelangen muss, da die Höhe eines solchen etagenartig ausgebildeten Flächenlagers ein Vielfaches der Größe eines Menschen betragen kann.

In 2a is also on the left edge a second extension of the central area 50 * represented in the form of a staircase 65 :

• Although the in 2 B shown proportions that an operator 20th is not able to crawl into the individual floors or even walk, it may still be necessary for such an operator 20th either to the top floor 50a reaches - above which there is usually more free space - and carries out inspections or maintenance work there, or also takes a look at a certain floor from the side in the middle height range, for which he has to reach the corresponding height, since the height of such a floor trained area warehouse can be a multiple of the size of a person.

In order to avoid the need for conventional conductors or more complex constructions, the floor areas of the individual floors are 56a , b about the in 2a left edge of the central area 50 * expanded by an area that - as best seen in the side view of the 2c to recognize - a staircase 65 form by the front edge 63a each of these steps extending the central floor area 63 viewed from above in the direction of the stairs 64 by a flight of stairs TA offset from each other and also in height to each other by such a height distance HA are offset so that it can be mastered by a person, preferably the height of a floor 56 .

An operator 20th can therefore use this staircase 65 to the top floor 50a go up and in between at any height you can see each floor 50a , b , c to take. The stair surfaces 63 can during the operation of the warehouse 100 as traffic areas 57 be used and therefore do not represent a lost area.

To in such a camp 100 through the warehouse vehicles 4th , 2nd To keep the cost factor low, especially the trailers used in large numbers 2nd be designed very simply and inexpensively, and also the tractors 4th without affecting their functional reliability, as in the 3a to 6b shown.

This means that the trailers are automatically parked and parked 2nd by means of the tractors 4th on a storage area 56 between two adjacent trailers 2nd is as easy as possible to form a team 4 + 2 a trailer 2nd rigid on a tractor 4th coupled.

“Rigid” means that the trailer is in the coupled state 2nd to the tractor 4th only an extremely small angular amount - viewed in supervision - of usually less than 1 degree can be pivoted, which is achieved by, for example, the trailer 2nd towards the tractor 4th at two in the transverse direction 11 to the longitudinal direction 10th , the straight-ahead direction of the team 4 + 2, spaced contact points 3a , b is coupled as free of play as possible, as best in 4a and 3b evident. The contact distance KA the contact points 3a , b should be as wide as possible relative to the width of the trailer 2nd and also the width of the tractor 4th be

Also the clutch mechanism used 1 is very simple and reliable, with all moving parts on the tractor 4th and not on the trailer 2nd are located.

Here is both the trailer 2nd on its coupling side 2a as well as the tractor 4th overall, especially on its coupling side 4a , largely center symmetrical to the longitudinal center 10 ' - The spatially considered an upright and in the longitudinal direction 10th longitudinal median plane is formed - so that the two contact points 3a , b on opposite sides of this longitudinal center 10 ' and are preferably arranged symmetrically thereto.

At every contact point 3a , b is in a horizontal clutch plate 16 a coupling recess 6 present, which - as in the 4b shown - is approximately triangular in design, at least two flanks viewed from the top towards each other 6a , b have that are in a tip 6c , which is rounded, and meet one, preferably common, flank plane 8th define. In the present case, the tip points 6c each with respect to the longitudinal center 10 ' to the outside, but it can also be the other way around.

A running in the activated state from top to bottom and into this recess 6 insertable coupling pin 7 can head towards the top 6c , i.e. towards the flanks 6a , b , be shifted until it lies against them without play, which is why the rounding of the tip 6c has a radius of curvature that is less than half the diameter of the coupling pin 7 is, which preferably also has a round cross section.

The coupling pin 7 is in the recess 6 introduced and moved to the side outward by a pin axis 7` is pivotable in the longitudinal direction 10th runs, and in this case below the clutch plate 16 located.

If the coupling pin 7 lying approximately horizontally and from the coupling axis 7` towards the longitudinal center 10 ' positioned pointing, it is located below the coupling plate 16 , as in 5b indicated by dashed lines. From this position it will move around the pin axis 7` turned up, it dips into the coupling recess from below 6 and moves in its swivel motion towards the tip 6c the recess 6 in which he ended up as a contact point 3a , b backlash-free if it is approximately perpendicular to the pin axis 7` protrudes upwards.

Since this is at both contact points 3a , b happens, the clutch plate 16 form-fitting in both horizontal directions, i.e. longitudinal direction 10th and cross direction 11 , firmly opposite the two coupling pins 7 tense and thus the trailer 2nd towards the tractor 4th braced in both horizontal directions, i.e. rigidly coupled.

• Diese besteht darin, dass der Kupplungszapfen 7 radial aus einer die Zapfenachse 7` wenigstens teilweise umgebenden, aber mit sich in Umfangsrichtung änderndem Abstand zu dieser in Umfangsrichtung verlaufenden und drehfest mit der Zapfenachse 7` verbundenen Hubfläche 5" vorsteht, die bei einer Drehlage, in der sich der Kupplungszapfen 7 deaktiviert nicht in die Kupplungs-Ausnehmung 6 hineinragt, einen solchen Abstand zur Zapfenachse 7` aufweist, dass sie noch keinen Kontakt zur Unterseite der Kupplungsplatte 16 besitzt. In einer solchen Drehlage um die Zapfenachse 7', in der sich der Kupplungszapfen 7 kontaktierend zwischen den Flanken 6a, b befindet, kontaktiert die Hubfläche 5" mit zunehmender Drehung die Unterseite der Kupplungsplatte 16 und hebt diese an, noch bevor der Kupplungszapfen 7 an den beiden Flanken 6a, b anliegt, sodass die Stellfüße 33 vom Untergrund abgehoben werden.

Because here the trailer 2nd that is near its coupling side 2a when parked on adjustable feet 33 rests, should also be raised so that the adjustable feet 33 lose contact with the ground and the trailer 2nd when coupled, only on the two sides of the longitudinal center in its rear area 10th existing rollers or wheels 29 as well as on the tractor 4th is a lifting device 5 for lifting the coupling side 2a of the trailer 2nd available:

• This consists of the coupling pin 7 radially from a the pin axis 7` at least partially surrounding, but with a changing distance in the circumferential direction to this circumferentially extending and rotationally fixed with the pin axis 7` associated lifting area 5 " protrudes at a rotational position in which the coupling pin 7 does not deactivate in the coupling recess 6 protrudes such a distance from the pin axis 7` has no contact with the underside of the clutch plate 16 owns. In such a rotational position about the pin axis 7 ' , in which the coupling pin 7 contacting between the flanks 6a , b contacts the stroke area 5 " with increasing rotation the underside of the clutch plate 16 and lifts it up before the coupling pin 7 on the two flanks 6a , b rests so that the adjustable feet 33 be lifted off the ground.

For this purpose, the radial distance of the lifting surface changes 5 " from the cone 7` in the circumferential direction, the smallest radial distance Rmin is less than the distance between the pin axis 7 ' to the bottom of the clutch plate 16 of a trailer parked on the ground, the greatest radial distance Rmax on the other hand, it is larger, preferably at the circumferential point of the coupling pin 7 located.

At the same time, this clutch is designed - for example, by the clutch plate 16 is very thin or the flanks 6a , b viewed in their direction of inclination to the flank plane 8th stand, but diagonally in opposite directions - that even when the tractor is coupled 4th towards the trailer 2nd by one in the transverse direction 11 running tilt axis 11 can be awarded, for example, for driving on a ramp 62 is required, such as in the side view of the 3c shown '

The rotation of the coupling pin 7 and lifting area 5 " around the respective pin axis 7 ' is carried out synchronously in opposite directions by a clutch motor, not shown, controlled by the on-board control 9 of the tractor 4th .

This solution enables a very simple design of the counter element 1.2 to the coupling element 1.4 , which is made of coupling pins 7 and pin axis 7` consists of the counter element 1.2 only the corresponding recesses 6 in a clutch plate 16 must have.

A follower 2nd is in a simple design with a clutch plate 16 can be equipped by using as a coupling plate 16 a double counter-cranked, Z-shaped sheet profile 30th , for example made of aluminum, is used in its one free-standing leg 30a the two coupling recesses 6 are present, and its other freely ending leg 30c on the underside of a base plate 2.1 of the trailer 2nd can be screwed while the connecting leg 3b preferably on the coupling-side edge or narrow side of the base plate 31 is created.

In addition, must be on the bottom plate 2.1 only the two rollers or wheels in the rear area 29 can be fixed on the surface for rolling.

The adjustable feet 33 are preferably part of the screw connection of the lower leg 30c , by inserting the screws inserted from below into the recess of a pot-shaped adjustable foot that is open at the bottom 33 Find space.

Whether and which structure on such a floor slab 2.1 fixed depends on the type of products to be stored P from. In the present example, this is a structure as in 4a evident with a variety of compartments 31 , each of which is open at the top so that products can be inserted and removed from above.

The structure 2.2 usually does not protrude above the surface of the base plate viewed from above 2.1 but uses it as much as possible.

• Damit ein Ankuppeln durch Eingriff des Kuppelelementes 1.4 in das Gegenelement 1.2 stattfinden kann, müssen Traktor und Anhänger in der richtigen Relativposition zueinanderstehen, also mit ihren Längsmitte 10' jeweils fluchtend zueinander und im richtigen Abstand in Längsrichtung 10.

The tractor 4th includes other elements:

• So that coupling by engagement of the coupling element 1.4 in the counter element 1.2 can take place, tractor and trailer must be in the correct relative position to each other, i.e. with their longitudinal center 10 ' in each case in alignment with each other and at the correct distance in the longitudinal direction 10th .

• Das Weit-Zentrierelement 17 ist ein kontaktlos wirkendes Zentrierelement.

To achieve this, are except dome 1.4 and counter element 1.2 the same time as a near-centering element 19th and near counter element 19` act - because of the opposing flanks 6a , 6b - Also a centering element acting at medium distance 18th and a wide centering element that acts at a greater distance 17th in place to provide a targeted approach to the tractor 4th to the trailer 2nd to enable:

• The wide centering element 17th is a contactless centering element.

In the simplest case, it can be a proximity camera 26 be in the clutch surface 4a of the tractor 4th is arranged and directed outwards, and thus the approach of each object, such as a trailer 2nd , relative to the tractor 4th can recognize, and depending on the design of such a proximity camera 26 not only the distance, but also the relative position of the approaching trailer 2nd can recognize, so the on-board control 9 the tractor 9 accordingly with regard to the direction of approach and orientation of the tractor 4th to the trailer 2nd can control what the tractor rotates for 4th with a small radius, even around its central vertical axis.

As a far counter element 17` can thus the contour of the coupling side 2a of the trailer 2nd serve, or an optical marking provided there at a defined position and arrangement, such as a barcode 35 , as in this case in the transverse direction 11 in the middle on the forward side of the middle leg 30b of the Z profile 30th is arranged.

In addition to the rear-facing proximity camera 26 can such a proximity camera 26` also on the front 4b be arranged to detect obstacles when driving forward.

• Bekanntermaßen umfasst dieser einen Linien-Laser 21a, b, der einen fächerförmiger Laserstrahl 21" abgibt und auf eine Oberfläche, hier die Kupplungsseite 2a des Anhängers 2, aufstrahlt. Die dort entstehende Lichtlinie 23a, b wird von einer Triangulationskamera 22 aufgenommen, wobei zwischen der Aufstrahlrichtung 21' des Lichtfächers 21" und der Blickrichtung 22' der Triangulationskamera 22 ein Triangulationswinkel vorliegen muss, der am besten zwischen 20° und 70°, besser zwischen 30° und 60°, liegen sollte.

However, there are cameras 26 that do this, relatively complex and expensive, even if they have an angular misalignment between the tractor 4th and followers 2nd should recognize exactly why in the present case as a wide centering element 17th a light section triangulation sensor 21 + 22 is used on the tractor 4th , preferably the coupling side 4a , is arranged:

• As is known, this comprises a line laser 21a , b which is a fan-shaped laser beam 21 " releases and onto a surface, here the coupling side 2a of the trailer 2nd , shines. The line of light created there 23a , b is from a triangulation camera 22 recorded, between the direction of irradiation 21 ' of the fan of light 21 " and the line of sight 22 ' the triangulation camera 22 there must be a triangulation angle that is best between 20 ° and 70 °, better between 30 ° and 60 °.

The light line runs 23a , b across an unevenness, as shown by the image of the light line on the two-dimensional sensor surface of the triangulation camera 22 a bulge, because of the known arrangement and alignment of the line laser 21a , b on the one hand and the triangulation camera 22 on the other hand, the exact contour and position of the bulge can be determined, and in addition also the distance of the light section triangulation sensor 21 + 22 and thus of the entire tractor 4th can be calculated from this bulge, and thus also the distance between the tractor 4th and followers 2nd .

The light line runs 23a , b it does not write about one together along the light line, but only over a flat surface, but in which there are strong differences in the reflection behavior of the surface, for example one or more in the direction of the light line 23a occurring light-dark differences, as you can see by black, spaced lines on a light background - such as a barcode 35 - across the line of light 23 the image on the triangulation camera 22 a straight line, however, which has gaps corresponding to the non-reflecting or hardly reflecting parts of the surface. The differently strong reflection behavior is therefore only shown in the drawings as a black or white surface, in practice it can also be glossy surfaces on the one hand and matt surfaces on the other hand, even of the same color.

If the position of these gaps or light-dark differences on the object is known, the triangulation camera can be used 22 and the associated evaluation unit, the position and the distance of the triangulation sensor 21 + 22 from this light-dark pattern can be determined therefrom.

In addition, using the specific design of the light-dark pattern - like a barcode 35 usual - specific information is transmitted using an appropriately configured evaluation camera 22 can be read out, for example information regarding the identity or dimensions of the trailer 2nd .

As a bulge - as described above - can in the present case - with a horizontal line of light 23 at the level of the connecting leg 30b of the Z profile 30th - the lateral ends of the middle leg 30b serve, which also results from - with defined positioning of the Z-profile 30th on the trailer 2nd - Have the position and distance to the triangulation sensor 21 + 22 determined.

The same applies if, for example, a barcode instead of the described light-dark pattern 35 , in particular the alternating light and dark stripes transverse to the light line, bulges or channels, for example milled grooves or bores, would be present.

One of the line lasers shines from the two line lasers available here 21a an upright, preferably vertical, line of light 23a to the front, the coupling side 2a from the tractor 4th removed, parked trailer 2nd , on.

So on the one hand - because this line of light 23a over the horizontal profile 30th or the front 2a extends - the contour of which is determined, but this is not done since this is known anyway.

However, this makes the distance between the light section triangulation sensor 21 + 22, consisting of line laser 21a and triangulation camera 22 , in total the tractor 4th , to the line of light 23a and thus to the trailer 2nd determined.

In addition, to determine whether followers 2nd and tractor 4th in terms of their longitudinal directions 10.2 and 10.4 aligned with each other or at an angle to each other - preferably by an adjustable mirror in the beam path of the line laser 21a - several light lines in a row 23a in the transverse direction 11 offset on the front 2a blasted and their respective distance from the tractor 4th determined.

If the distances do not match, the angular misalignment between the longitudinal directions can occur 10.2 and 10.4 be determined, especially with straight coupling sides that are flat in the supervision 2a and 4a their intermediate angles.

However, this cannot offset the trailer 2nd and tractor 4th in the transverse direction 11 be determined.

For this purpose, a second line laser shines 21b a horizontal line of light 23b approximately at the level of the base plate 2.1 on the clutch side 2a of the trailer 2nd on, or in the height range of the middle leg 30b of the profile 30th , in which the coupling recesses 6 are located.

This line of light 23b is preferably with the same triangulation camera 22 recorded and from this the transverse offset of the trailer 2nd to the tractor 4th Determined by either the lateral ends of the middle leg as described above 30b and / or one on the middle leg 30b applied light-dark pattern across the light line 23b and / or across the beam of light 23b in the front of the middle leg 30b applied depressions such as grooves or other depressions or bulges with regard to their position in the transverse direction 11 to the longitudinal direction 10.4 of the tractor 4th be determined.

From the resulting image of the light line 23b on the two-dimensional sensor surface of the triangulation camera 22 the evaluation unit can also be the center of the front surface 2a in the transverse direction 11 determine so that there is an offset to the longitudinal center of the tractor 4th this offset as the tractor approaches further 4th to the trailer 2nd can still be corrected.

The barcode 35 and / or the irradiated part of the profile 30th thus serves as a wide counter element 17` for the wide coupling element 17th in the form of the light section triangulation sensor 21 + 22.

Such a barcode 35 or any other light-dark pattern or correspondingly arranged bulges or depressions can of course also contain information encoded in its specific configuration, which the triangulation camera 22 then reads with, for example the identity of the respective trailer 2nd , which are usually numbered within a warehouse, and / or the type of trailer 2nd if, for example, trailers within a warehouse 2nd are available with different sizes and / or types.

As a centering element 18th serves one in the supervision of 4a , 4b recognizable truncated cone-shaped, narrowing towards the free end, extension 18th from the clutch surface 4a of the tractor 4th from this to the rear in its longitudinal direction 10.4 strives, and with a central counter element 18 ' in the form of a similarly shaped, somewhat narrower recess in the upper free-ending leg 30a of the Z profile 30th fits in.

If the approach is roughly aligned, the extension appears 18th into the recess 18 ' and causes centering in the transverse direction 11 of tractor and trailer in this middle distance range and usually also an alignment of the longitudinal direction 10.4 of the tractor 4th and the longitudinal direction 10.2 of the trailer 2nd to each other.

Also on both sides of the longitudinal center 4` is located on the coupling side 4a of the tractor 4th one distance sensor each 13 , either a non-contact distance sensor 13 or as shown here a button 13 which then triggers when it detects the clutch side 2a of the trailer 2nd contacted, whereupon the drive of the tractor 4th Towards the trailer 2nd is stopped because then the coupling pin 7 under the recesses 6 are located.

Should be one of the two distance sensors 13 already striking, the other not yet, so initially only that of the two wheels running parallel to each other 14 stopped, on the side of which the longitudinal center 10 ' the distance sensor 13 was activated while the other of the two parallel wheels 14 the distance sensor also moves forward 13 triggers on this page.

The subsequent coupling, i.e. turning the coupling pins 7 , then forms the near centering, and thus uses the coupling pin 7 as a near centering element 19th and the recess 6 with the two flanks 6a , b as a close counter element 19 ' .

Like the supervisors of the 4a, b show owns a tractor 4th three wheels 14 , each driven separately by a separately controllable wheel motor 25th , where wheel 14 and associated wheel motor 25th one wheel unit each 24th form and can be handled together, in particular insertable into the base frame 40 of the tractor 4th .

The two are on the coupling side 4a nearest wheels 14 with their wheel axles 14 ' aligned with each other and transverse to the longitudinal direction 10.4 arranged while the third wheel 14 at the front 4b of the tractor 4th with its wheel axle 14 ' on the longitudinal center 10.4 is arranged.

• Bei einer durch den Radmotor 25 bewirkten Drehung eines Rades 14 um dessen Radachse 14' rollt dieses in seiner Fahrtrichtung ab, wie jedes normale Rad. Wenn also die beiden parallel zueinander ausgerichteten Hinterräder 14 synchron angetrieben werden, fährt der Traktor 4 in Längsrichtung 10.4, bei unterschiedlichen Drehzahlen der beiden parallel ausgerichteten Hinterräder 14 vollzieht er eine Kurvenfahrt.

Such an arrangement is possible because it is the wheels 14 omnidirectional wheels:

• With one by the wheel motor 25th caused rotation of a wheel 14 around its wheel axis 14 ' this rolls in its direction of travel, like any normal wheel. So if the two rear wheels aligned parallel to each other 14 are driven synchronously, the tractor drives 4th longitudinal 10.4 , at different speeds of the two parallel rear wheels 14 he is cornering.

The third wheel, which is transverse to this direction of travel 14 stands still, but rolls on the ground without grinding, since each of the wheels consists of several wheel rollers that are mounted in a cage and protrude outwards over them 14a , b consists of the circumference of the cage and thus the wheel 14 are distributed and in the direction of the wheel axis 14 ' in at least two levels in a row. The wheel-roller axles 14'a , 14'b run tangential to the wheel axis 14 '

Because of the barrel shape of these wheel rollers 14a , b results - viewed in the direction of the wheel axis 14 ' - a round wheel circumference, which enables normal driving of the wheel on the ground, but due to the rotatably mounted wheel roll 14a , b also rolling the wheel in the axial direction 14 ' .

Also a rotation of the tractor 4th is on the spot by appropriate control of the three wheel motors 25th possible.

Otherwise is in the tractor 4th an electric accumulator 32 arranged to supply, among other things, the on-board control 9 and the motors like the wheel motors 25th and the at least one clutch motor, not shown, which the pivot 7 pivoted counter-synchronously.

As a rule, the base frame comprises 40 two horizontal support plates, so that different elements can be arranged on the top and bottom, for example.

• Denn häufig navigieren solche Traktoren 4 auf dem Untergrund mithilfe von Markierungen, die auf dem Untergrund angeordnet sind und von dieser Boden-Kamera 27 abgetastet werden.

The heavy elements like wheel motors 25th and accumulator 32 rather on the lower level, while on the upper one the board for on-board control 9 and the floor camera, which is usually also arranged on a circuit board 27 are located:

• Such tractors often navigate 4th on the surface using markings that are arranged on the surface and by this floor camera 27 be scanned.

Around a large field of view of the floor camera 27 ensure that it is located relatively high up in the tractor housing 4th , i.e. on the upper support plate, and looks down through appropriate openings in the support plates down to the ground.

It is - as best in 5b shown - from the ground camera 27 to the corresponding opening in the lower support plate - a cylindrical light shield in this case 28 in the form of a standing cylinder, open at the top and bottom, to prevent outside light from entering the floor camera 27 to minimize that would worsen the scan result.

There is also a tractor 4th also via at least one with the on-board control 9 coupled antenna 34 with which he works with both the other tractors 4th as well as with the central control 9 * makes contact via the Internet or WLAN or via radio and can carry out the necessary data exchange.

The 6a shows - viewed in the longitudinal direction 10th - Another design of the clutch mechanism 1 , in turn on two in the transverse direction 11 spaced contact points 3a , b one coupling pin each 7 in a coupling recess 6 with two outward in a flank plane 8th flanks approaching each other 6a , b - how 6b in the supervision of the flank plane 8th shows - intervenes until he rests between them without play, so also with one in the transverse direction 11 horizontal coupling direction 1' .

Each of the coupling pins 7 is not pivoted, however, but linearly in the transverse direction 11 Move from inside to outside to engage.

The recesses 6 are located in one of the longitudinal center 10 " towards the sloping clutch plate 16 with a flank plane that also falls from the center to the outside 8th , where in the uncoupled starting position ( 6a right) the coupling pin 7 under the clutch plate 16 located.

Each coupling pin 7 protrudes from a peg base 32 upwards.

The cone bases 32 both coupling pins 7 can be used as a spindle nut on one or a common threaded spindle 34 that sit in the horizontal cross direction 11 runs and preferably from a common clutch motor 36 is driven so that the two peg bases 32 thereby counter-synchronously in the transverse direction 11 be moved linearly, for which purpose, if necessary, on the threaded spindle 34 Sections with different direction of pitch of the thread are available.

• • bei einer Lage in Querrichtung 11, bei der sich der Kupplungszapfen 7 noch nicht in der Kupplung-Ausnehmung 6 befindet, noch kein Kontakt zwischen der Oberseite der Zapfenbasis und der Unterseite der Kupplungsplatte 16 vorhanden ist (6a rechte Seite),
• • mit zunehmendem nach Außen fahren jedoch ein solcher Kontakt erfolgt und die Kupplungsplatte 16 und damit die Kupplungsseite 2a des Anhängers 2 beim weiteren nach Außen fahren hochgedrückt und vom Boden abgehoben wird. Noch bevor der Kupplungszapfen 7 spielfrei zwischen den beiden Flanken 6a, b anliegt. Bei dem nach Außen fahren fährt auch der Kupplungszapfen 7/während zur Flanken-Ebene 8 in die Kupplung-Ausnehmung 6 ein, bis er spielfrei zwischen den beiden Flanken 6a, b anliegt, wobei die Kupplung Seite 2a des Anhängers 2 bereits vom Untergrund abgehoben ist (6a linke Seite).

The top 32a the cone base 32 is at such a height that

• • with a position in the transverse direction 11 , in which the coupling pin 7 not yet in the coupling recess 6 there is still no contact between the top of the pin base and the bottom of the coupling plate 16 is available ( 6a right side),
• • With increasing outward movement, however, such a contact occurs and the clutch plate 16 and thus the coupling side 2a of the trailer 2nd when driving further out, is pushed up and lifted off the ground. Even before the coupling pin 7 free of play between the two flanks 6a , b is present. When driving outwards, the coupling pin 7 / while also moves to the flank level 8th in the coupling recess 6 until it is free of play between the two flanks 6a , b is applied, the clutch side 2a of the trailer 2nd is already lifted off the surface ( 6a left side).

The top 32a the cone base 32 , over which the coupling protrudes upwards preferably rounded or beveled, in the latter case analogous to the underside of the coupling plate 16 .

• In den 7a, b ist der Kupplungszapfen 7 schwenkbar um eine Zapfenachse 7` und auf diese Art und Weise einschwenkbar zwischen die beiden sich an einander annähernden Flanken 6a, b einer Kupplungs-Ausnehmung 6 analog der 3a bis 4b.

The 7a, b on the other hand show designs of clutch mechanisms 1 with a vertical coupling direction 1" :

• In the 7a, b is the coupling pin 7 pivotable about a pin axis 7` and in this way pivotable between the two flanks approaching each other 6a , b a coupling recess 6 analogous to the 3a to 4b .

However, in this case the coupling recess 6 in an upright, preferably vertical, flank plane 8th and thus clutch plate 16 arranged, the flanks 6a , 6b approach each other from bottom to top, like the supervision of 7b on the clutch plate 16 shows.

By swiveling the coupling pin up 7 from an initial position with the free end facing downwards, it dips into the coupling recess 6 one until it is free of play between the flanks 6a , b is present. By turning further upwards, for example, into an end position in which the free end points obliquely upwards, the two coupling pins are raised 7 thereby the clutch plates 16 on and thus the coupling side 2a of the trailer 2nd off the ground.

• Dies erfolgt dadurch, dass die Kupplungsplatte 16 in der Aufsicht betrachtet - zumindest über einen Teil ihrer Länge - schräg steht mit geringer werdendem Abstand zur Längsmitte 10" hin in Richtung des hinteren Endes des Anhängers 2, und die Umfangsfläche 5", aus welcher der Kupplungszapfen 7 vorsteht, in der Seitenansicht betrachtet - zumindest über einen Teil ihrer Länge - eine vorzugsweise analoge Schrägstellung aufweist, wobei die Umfangsfläche 5" um die Zapfen-Achse 7' herum verläuft und deshalb vorzugsweise kegelstumpfförmig gestaltet ist.

The centering between the coupling pin 7 as a coupling element 1.4 and the clutch plate 16 as a counter element 1.2 can by immersing the extension 18th as a centering element 18th in that as a recess 18 ' designed counter element 18 ' take place, or through the clutch plate 16 itself, as in 7a shown:

• This is done by having the clutch plate 16 when viewed from above - at least over part of its length - it is at an angle with a decreasing distance from the longitudinal center 10 " towards the rear end of the trailer 2nd , and the peripheral surface 5 " from which the coupling pin 7 protrudes, viewed in the side view - at least over part of its length - preferably has a similar oblique position, the peripheral surface 5 " around the journal axis 7 ' runs around and is therefore preferably frustoconical.

By approaching lengthways 10th are the two circumferential surfaces by this inclination 5 " with their coupling pins 7 when contacting the clutch plates 16 centered between this.

In the illustrated embodiments, the peripheral surface 5 " only the frustoconical section, and the coupling pin 7 protrudes outwards from this frustoconical section, preferably perpendicular to the lateral surface thereof.

Connects to the frustoconical section, a cylindrical section, and analogously to the inclined section of the coupling plate 16 one lengthways 10th extending section, in which there is then the coupling recess 6 could be the coupling pin 7 also in the cylindrical portion of the peripheral surface 5 " be trained.

Reference list

1

Coupling mechanism

1`

Coupling direction

1.4

Coupling element

1.2

Counter element

2nd

pendant

2.1

Base plate

2.2

construction

2a

Clutch side

3a, b

Contact point

4th

tractor

4a

Clutch side

4b

Front

4 + 2

Team

5

Lifting device

5 "

Lifting area

6

Coupling recess

6a, b

Flank

6c

top

7

Coupling pin

7 '

Pin axis

8th

Flank level

9 *

Central control

9

On-board control

10, 10.4, 10.2

Longitudinal direction, straight-ahead driving direction

10 '

Longitudinal center

11

horizontal cross direction

12th

Vertical, vertical axis

13

Distance sensor

14

wheel

14 '

Wheel axle

14a, b

Wheel roll

15

Lifting cylinder

16

Clutch plate

17th

Wide centering element

17 '

Far counter element

18th

Middle centering element

18`

Middle counter element

19th

Near centering element

19`

Near counter element

20th

operator

21a, b

Line laser

21 '

Beam direction

21 "

Fan of light

21 + 22

Triangulation sensor

22

Triangulation camera

22`

Line of sight

23

Light line

24th

Wheel unit

25th

Wheel motor

26

Approach camera

27

Floor camera

28

Light shielding

29

Wheel, roller

30th

Sheet metal, profile

30a, c

End leg

30b

middle thigh

31

Compartment, compartment

32

Cone base

33

Adjustable foot

34

Threaded spindle

35

Barcode

36

Clutch motor

40

Base frame

A

distance

B

width

R

radius

Rmin

minimal radius

Rmax

maximum radius

50

Storage rack

50 *

Central area

50a, b

floor

50 "a, b

Floor driving surface

51

Support column

52

Longitudinal beam

53

Crossbar

54

Crossbeam

55

Shelf

55a-d

Edge

56

Storage area

56a, b

storage area

57

traffic area

58

Lagergasse

59

Bearing series

60

Structure

61

Height transfer device

62

ramp

63

Stairway

63a

Front edge

64

Stair direction

65

stairway

66

Navigation markers

67

Corner recess

68

Picking area

69

Signal device

69 *

Light marker

70

Elevator

100

camp

101

Longitudinal direction

102

Cross direction

KA

Contact distance

HA

Height distance

SA1, SA2

Column spacing

TA

Distance from stairs

Claims (22)

Transport vehicles comprising at least one motor-driven tractor (4) and at least one trailer (2) that can be coupled to it - comprising - a coupling mechanism (1) - at least one coupling element (1.4) on each tractor (4), which can be moved at least partially in a controlled manner, - at least one counter element (1.2) that can be coupled to it on each trailer (2), - a lifting device (5) on the tractor (4) for lifting the coupled trailer (2) at least on its coupling side (2a), - an on-board control (9) in the tractor (4), which controls at least all moving parts of the tractor (4), characterized in that the coupling mechanism (1) is designed so that the trailer (2) is rigidly connected to the tractor (4) when coupled. (Principle) Transport vehicle after Claim 1 , characterized in that the coupling mechanism (1) is designed such that in the coupled state it has two spaced-apart contact points (3a, b) which are objected in particular in the transverse direction (11) to the longitudinal direction (10). Transport vehicle according to one of the preceding claims, characterized in that - the contact points (3a, b) have a contact distance (KA), in particular in the transverse direction (11), which is at least 30%, better at least 50%, better at least 60% of the Width B of the trailer (2) on its coupling side is, and / or - the contact distance (KA) is at least 10 cm, better at least 15 cm. Transport vehicle according to one of the preceding claims, characterized in that - the coupling mechanism (1) is designed to act positively in the horizontal and / or - the lifting device (5) is designed to act positively in the downward direction of the trailer (2) and / or - the coupling mechanism (1) and / or the lifting device (5) are non-positively secured in the activated position. Transport vehicle according to one of the preceding claims, characterized in that at the contact points (3a, b) coupling element (1.4) and counter element (1.2) are designed such that they are positively connected in the transverse direction (11) and / or in the longitudinal direction () when coupled. 10) are increasingly centered against one another, in particular by considering the sum of coupling elements and counter-elements of the tractor (4) and trailer (2). Transport vehicle according to one of the preceding claims, characterized in that when viewed from above - the at least one coupling element (1.4) is arranged on or in the rear-facing coupling side (4a) of the tractor (4), - the at least one counter element (1.2) is arranged on or in the forward-facing coupling side (2a) of the trailer (2). Transport vehicle according to one of the preceding claims, characterized in that one of the coupling element (1.4) and counter element (1.2) is a coupling recess (6) with two flanks (6a, b) approaching one another in the coupling direction (1 ') - The other is a coupling pin (7) which fits into the coupling recess (6), - in particular if it is sufficiently immersed in the coupling direction (1 ') on the two flanks (6a, b). (Coupling recess) Transport vehicle according to one of the preceding claims, characterized in that - the coupling direction (1 ') is directed horizontally in the transverse direction (11) and / or in the vertical direction (12), in particular outwards and / or upwards and / or - through the direction of the flanks (6a, b) defined flank plane (8) is horizontal or vertical. Transport vehicle according to one of the preceding claims, characterized in that - the coupling recess (6) is an opening (6) in a coupling plate (16), in which the flanks (6a, b) in one tip (6c) pass over and - in particular the coupling recess (6) is enclosed on all sides, - in particular the coupling recess (6) is of central symmetry, in particular an equilateral triangle (6) - in particular the coupling recess (6), in particular the coupling Plate (16), in particular the triangle (6), lies in the flank plane (8). (Coupling pin) Transport vehicle according to one of the preceding claims, characterized in that - the coupling pin (7) can be moved or pivoted linearly, - in particular the two coupling pins (7) of the two coupling points (3a, b) can be driven counter-synchronously, and / or - in particular the coupling pin (7) is pivotable about a pin axis (7 ') and strives radially from it. (Lifting device) Transport vehicle according to one of the preceding claims, characterized in that the lifting device (5) is functionally combined with the coupling mechanism (1). Transport vehicle according to one of the preceding claims, characterized in that - a circumferential surface as a lifting surface (5 "), over which the coupling pin (7) protrudes radially, is at least partially arranged around the pin axis (7 ') with an in Circumferential direction, in particular continuously changing radius (R) to the pin axis (7 '), - in particular the lifting surface (5 ") runs parallel to the pin axis (7'), - in particular the lifting surface (5") the lateral surface of a Eccentric to the pin axis (7 ') rotatably connected with this lifting cylinder (15). Transport vehicle according to one of the preceding claims, characterized in that - the smallest radius (Rmin) is smaller and the largest radius (Rmax) is greater than the distance between the pin axis (7 ') and the underside of the coupling plate (16) the trailer (2), - in particular the change in radius is selected so that it is self-locking against a load resting on it. (Basic form) Transport vehicle according to one of the preceding claims, characterized in that when viewed from above, the tractor (4) has - a straight, rear coupling side (4a) on which the coupling elements (1.4) are arranged, and / or - a convexly curved, in particular semicircular front front (4b), and / or - is constructed essentially symmetrically to the longitudinal direction (10), in particular with the exception of only single tractor components. Transport vehicle according to one of the preceding claims, characterized in that on or in the coupling side (4a) of the tractor (4) - at least one centering element, in particular a wide centering element (17) and / or a centering element (18) ( define), in particular in the transverse direction (11) in the central region, in particular in the center, and / or - on both sides of the longitudinal center (10 '), in particular symmetrically thereto, a distance sensor (13), in particular a distance button (13), and / or - on one side of the longitudinal center (10 ') at least one line laser (21a, b) and objected to it, in particular on the other side of the longitudinal center (10'), at least one triangulation There is a camera (22) which is suitable for recording and evaluating the light line (23) generated by the line laser (21a, b), and / or - an approach camera (26) is present, in particular with a variable focal length and / or a depth of field of at least ens 3 cm, better at least 5 cm, better at least 10 cm. Transport vehicle according to one of the preceding claims, characterized in that viewed from above - there are at least three, preferably only three, wheel units (24) which can be driven in a controlled manner and in particular each have an omnidirectional wheel (14), two of which in particular close to the coupling Side (4a), in particular with wheel axes (14 ') lying perpendicular to the longitudinal direction (10), and one near the front end of the tractor (4), in particular on the longitudinal center (10'), and / or in particular with in the longitudinal direction ( 10) lying wheel axle (14 '), - the wheel units (24) also comprising the wheel motor (25) driving the wheel (14) and in particular the wheel units (24) in the base frame (40) of the Tractor (4), especially from the side, can be inserted. Transport vehicle according to one of the preceding claims, characterized in that - a downward-pointing floor camera (27), in particular for navigating by means of markings applied to the ground, away from the longitudinal center (10 '), in particular from the outside into the base frame (40) insertable, is present - viewed from above, around the ground camera (27) and / or in the height from the ground camera (27) to the underside of the tractor (4), a light-tight, in particular cylindrical, upright light -Shield (28) is present. (Triangulation system) Transport vehicle according to one of the preceding claims, characterized in that at least one line laser (21a, b) is arranged on or in the tractor (4), in particular its coupling side (4a) with the direction of radiation (21 ') of the central axis of one of light fan (21 ") given to it in the top view viewed obliquely to the rear, towards the longitudinal center (10 '), - in the transverse direction (11) spaced therefrom a triangulation camera (22) with viewing direction (22') viewed in the top view obliquely rear, towards the longitudinal center (10 ') is arranged in particular for use as a wide centering element (17) and / or as a distance sensor (13). Transport vehicle according to one of the preceding claims, characterized in that - the one line laser (21a) is arranged at such a height that its approximately horizontal light fan plane (21 ") is below the approximately horizontal flank plane (8), in particular the Coupling plate (16), a trailer (2) parked from the ground, and / or - the line laser (21b) is arranged so that the light fan (21 ") of its approximately vertical light fan plane (21") is coupled and / or in uncoupled state at least the height area of the base plate (2.1) of the trailer (2), in particular also the flank plane (8) in particular the coupling plate (16). (Pendant) Transport vehicle according to one of the preceding claims, characterized in that the trailer (2) - comprises a base plate (2.1) and a counter element (1.2) on its coupling side (2a) and / or - two wheels (29) projecting from the underside or rollers in the rear half of the base plate (2.1) facing away from the coupling side (2a), and / or - a structure (2.2) is fixed on the base plate (2.1), in particular in the form of an open top, in particular arranged in a matrix , Compartments (31). Transport vehicle according to one of the preceding claims, characterized in that the counter-element (1.2) is formed on or in a Z-profile (30) which is headed twice in different directions and in particular has a right-angled offset angle, - one end leg (30c) of which is connected to the coupling. Side (2a) is attached to the base plate (2.1), and / or - whose middle leg (30b), in particular on the coupling-side narrow surface, rests on the base plate (2.1) and / or - in its other end leg (30a) that at least a counter element (1.2), in particular the two coupling recesses (6) are arranged. Transport vehicle according to one of the preceding claims, characterized in that the counter element (1.2) - comprises a central counter element (18 ') which acts in the transverse direction (11), in particular a form-fitting, and / or - which acts in the transverse direction (11), in particular without contact , In particular optically, scannable wide counter element (17 ').

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