WO2018224185A1 - Véhicule logistique et base d'un véhicule logistique - Google Patents

Véhicule logistique et base d'un véhicule logistique Download PDF

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Publication number
WO2018224185A1
WO2018224185A1 PCT/EP2018/000302 EP2018000302W WO2018224185A1 WO 2018224185 A1 WO2018224185 A1 WO 2018224185A1 EP 2018000302 W EP2018000302 W EP 2018000302W WO 2018224185 A1 WO2018224185 A1 WO 2018224185A1
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WO
WIPO (PCT)
Prior art keywords
chassis
support frame
longitudinal
base
drive
Prior art date
Application number
PCT/EP2018/000302
Other languages
German (de)
English (en)
Inventor
Claus Henkel
Original Assignee
Claus Henkel
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from DE102017112658.9A external-priority patent/DE102017112658A1/de
Priority claimed from DE102017112641.4A external-priority patent/DE102017112641A1/de
Application filed by Claus Henkel filed Critical Claus Henkel
Publication of WO2018224185A1 publication Critical patent/WO2018224185A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
    • B66F9/072—Travelling gear therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G57/00—Stacking of articles
    • B65G57/02—Stacking of articles by adding to the top of the stack
    • B65G57/03—Stacking of articles by adding to the top of the stack from above
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G65/00—Loading or unloading
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07559—Stabilizing means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/18—Load gripping or retaining means
    • B66F9/183—Coplanar side clamps

Definitions

  • the invention relates to a logistics vehicle for receiving and discharging at least one transport item.
  • 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.
  • the present invention relates to a base, such as a transport pallet or storage pallet, a logistics vehicle and a particular movable transport pallet system. Such a base is used for bundling, storage and transport in particular stackable transport units or storage units.
  • the present invention relates to a system of a base, in particular transport pallet, and means for supporting the transport pallet and a system of a base, in particular transport pallet, and a device for displacing the transport pallet.
  • 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.
  • the goods to be transported are handed over or taken up.
  • the cargo can be raised by means of the forks in vertical height, for delivering the transported goods, the forks move into a free space and then by lowering the cargo over the free space 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.
  • a logistics vehicle for receiving and discharging at least one transported good has a chassis for moving the logistics vehicle between logistics locations, wherein the chassis is provided with an on-board drive.
  • the landing gear needs to be designed only to be moved on horizontal surfaces, in particular at ground level.
  • the travel drive can be an electric drive.
  • the logistics vehicle according to the invention has a support frame, which is supported by the chassis.
  • 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 exclusively by Absen- ken realized by the support frame underrun carriage and parking the landing gear on the ground.
  • the logistics vehicle 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.
  • 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.
  • the logistics vehicle 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.
  • the chassis according to the invention 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 moved independently, without a drive of the transfer robot or any other element of the To suspend the support frame.
  • 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 in that a lifting-top of the chassis by raising it in engagement with a bottom of the support frame in its Einfahrbe- comes rich and thereby the entire support frame is lifted together with transfer robot to then move horizontally.
  • 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.
  • 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 Abstellfroboe 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.
  • 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.
  • 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.
  • the Drive units of the gripping and lifting drive at least partially be provided a common communication electronics, control electronics and / or energy source, for example, a power 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.
  • a power source such as an accumulator or a battery
  • 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.
  • a control and / or regulating device associated with the respective drive on the support frame can have an electropneumatic or hydraulic converter which is accommodated in a housing of the control and / or regulating device of the respective gripping and lifting drive on the support frame.
  • 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.
  • the chassis has its own chassis-side energy storage to provide the electric motor of the traction drive with energy.
  • 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.
  • 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.
  • Memory of the logistics vehicle to be connected.
  • the drive of the chassis that is to say the travel drive
  • 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.
  • 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 ,
  • 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.
  • the gripping and lifting drive both have their own electric motor and their own gear kinematics.
  • 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.
  • 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 moved on the chassis becomes. 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.
  • 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.
  • any combination of support frame and chassis can be considered, with a high flexibility in the formation of logistics vehicles.
  • 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.
  • the support frame comprises an in particular pallet-like chassis-side base, with which in the coupling state, the chassis fahrantriebskraft- in the transfer state is engaged and in the separation state, the base is completely released from the chassis.
  • the base serves to ensure a secure footing of the support frame on a horizontal floor surface.
  • 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.
  • 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.
  • the base can have a pallet shape, for example by using a conventional pallet form.
  • 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.
  • 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 each form an entry channel entrance open to the floor on two opposite side walls, ie two short sides and two long sides.
  • Open to the ground is to be understood in such a way that in the region of the entry channel or the Einfahrkanaleinlandais 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.
  • 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.
  • one is from the Floor extending in the direction of the support surface Einfahrkanal Wein smaller, preferably at least 25% or 50% smaller than a side wall height formed.
  • 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.
  • 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.
  • 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 Einfahrkanalunkalunk medicinal 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 5,lette.
  • a cooperating projection-recess pair between the entry channel and support tines is adapted to accommodate both tilting moments acting around a base longitudinal axis as well as about the base transverse axis.
  • the chassis is therefore also preferably used for tilting torque transmission or overturning torque absorption and is preferably dimensioned with respect to one of the at least two retraction channels such that it can engage in a positive engagement with the retraction channel in order to access the transport pallet, in particular in transport pallet longitudinal and / or transport pallet transverse axis to absorb acting tilting moments.
  • the pallet-shaped, chassis-side, base-mounted strut framework can of course be formed integrally with the base, wherein a welding or attachment of the strut framework on the base using removable fasteners, such as fittings, also is 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.
  • vertical struts and horizontal struts of the strut framework are as slim as possible, in particular of a few centimeters wide, form.
  • 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.
  • 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.
  • 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 36o ° 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.
  • at least one robot arm in particular a pair of robot arms, is attached to the revolving frame.
  • 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.
  • 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.
  • 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.
  • 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.
  • the rotary frame motor is electrically operated.
  • 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.
  • 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.
  • 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 turned out that a preferred fixed position of the at least one robot arm in the region of the lower half of the support frame is located. 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.
  • the robot arm is attached to the respective outer side of the respective vertical strut of the rectangular rotary frame or can be raised and lowered vertically via a vertical elevator.
  • the at least one robotic arm consists of at least two or three arm sections, which are coupled to each other with a pivoted or pivoted joint, in order to be able to access in particular anywhere within the achievable arm amplitude, which is formed by the length of the arm sections.
  • a multi-joint chain of at least two or three joints is provided in each case.
  • 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.
  • 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.
  • a set of modular gripping 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.
  • 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.
  • the drive motor may be provided in the region of the respective pivot or swivel joint and / or at the modular connection end, so that the handovers). Boter has complete freedom of movement to realize a picking up and delivering a cargo.
  • 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.
  • the transfer robot 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 serves, in particular, to realize in particular exclusively a vertical up and down movement of a platform, such as a storage shelf.
  • the platform about a vertical axis, in particular the axis of rotation, at least 90 0 rotatable.
  • the platform can be designed either as a simple shelf with a flat surface or with a preferred occupation and discharge direction.
  • 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.
  • 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.
  • the at least two channels or longitudinal channels each have a preferably continuous bottom, opposing side walls and a vertically above above the ground and arranged over the Whole channel length extending opening through which a load pickup 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.
  • 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.
  • 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.
  • each load-receiving vehicle having a traction drive system 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 via the latter Level of channels to lift and / or deposit 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.
  • 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.
  • the side walls of the Hollow profile 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 extension in its lifting state.
  • the support surface may be formed with or as a conveying device, such as a conveyor belt or a conveyor chain.
  • 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.
  • the Quererstreckungs- width of the load-receiving vehicle is less than or equal to the width of a channel, so 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.
  • the conveyor is formed such that the support surface consists of the conveyor.
  • 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.
  • a particularly modular storage rack system can be provided, which in particular comprises a multiplicity 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 extends continuously from a first, preferably front, shelf bottom side to an opposite second, preferably rear, Open edge of the shelf.
  • 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.
  • webs above the channels define a footprint for carrying stored goods on a shelf.
  • 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.
  • 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.
  • 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.
  • each of several shelves per shelf unit are optionally also arranged in pairs in parallel at the same height.
  • shelf units arranged next to one another can form common shelves and possibly a common channel system.
  • At least one shelf has a second channel structure or transverse channel structure with at least two in the transverse direction, in particular in parallel, extending transverse channels, which extend continuously from a third, for example, left, bottom edge side to the opposite fourth, for example, right shelf edge 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.
  • 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.
  • a help for example, the optional robot arms is not necessary.
  • 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.
  • a particularly self-sufficient elevator drive is provided for the platform lift, which moves the platform up and down.
  • the elevator drive is accommodated in the area of the revolving frame and / or the base of the supporting frame.
  • 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.
  • an elevator drive motor is structurally, control- nisch and / or formed regarding the power supply regardless of the drive of the chassis.
  • 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.
  • 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.
  • 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.
  • a separate elevator device is provided by means of attachment points of the respective robot arm.
  • each robotic arm of the pair of robot arms of the transfer robotics can be individually moved up and down.
  • 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 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.
  • the logistics vehicle has a support frame to which the at least one transfer robot is attached.
  • 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 the 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 Handover robot can seize further goods to be transported, so that can take place at the storage intermediate storage commissioning, sequencing or the like of a variety of transport goods.
  • 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.
  • 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.
  • 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.
  • the transported goods 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.
  • 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.
  • 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 releasably secured to the support frame so that a 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.
  • 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.
  • 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.
  • the gripping hook may be formed by a paragraph or step shape, which is directed upwards or downwards to achieve the respective form fit.
  • 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.
  • the lowered height is less than 20 cm and / or greater than 5 cm.
  • the height in the lowered state is about 10 cm.
  • the width is less than 25 cm and / or greater than 10 cm.
  • the width is about 15 cm.
  • the bar-shaped wagon can be shaped as a movable tines of a forklift, which with a separate landing gear, a separate drive and a lift is provided to achieve the raising and lowering of the support frame, in particular its base, with which the wagon is to be engaged.
  • a pair of independent wagons are provided which can wirelessly communicate with each other to communicate mutual position and conveyance situations to a controller.
  • the two wagons control technology are bound together to move one and the same support frame.
  • 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.
  • the at least one bar-shaped wagon has a wheel drive for horizontal transport along a flat Fuhr agowegs 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.
  • 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 one in particular on a chassis side surface, preferably an outer surface preferably extendable and retractable longitudinal projection.
  • 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.
  • 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.
  • the chassis is rounded on at least one of the longitudinal ends, which open into the end faces of the chassis, to facilitate the insertion into the entry channel, because the possibility of tilting is reduced.
  • a base such as a transport pallet
  • a base for bundling, storing and transporting storage units or goods.
  • a base which can also be referred to as a transport or storage pallet, is used, for example, in storage or order picking systems.
  • the base comprises a base structure, in particular for placing on or off a ground, such as a preferably flat floor, for example, from a warehouse or from a shelf, such as a high rack.
  • the base structure may be adapted to engage with a guide rail provided on the floor or shelf so as to allow a particular guided movement of the transport pallet along the guide rail.
  • the base structure also serves to support or support a support surface facing away from the ground, in particular a rectangular support surface for receiving the transport or storage units.
  • the base structure is arranged completely below the support surface and extends beyond it in neither a longitudinal nor in a transverse direction of the support surface.
  • the base structure 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 toward the floor or in the direction of the floor.
  • 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. For example, an angle between the side walls and the support surface may be dimensioned such that a preferably truncated pyramidal transport pallet results, in which the underside of the base structure resting on the bottom is dimensioned larger than the support surface forming the pallet top side.
  • the transport pallet further comprises two access tunnels or channels which are open towards the ground and which are formed on a transport pallet underside, that is to say in the base structure.
  • the entrance tunnels make it possible, for example, to intervene or retract forklift tines. Furthermore, it is conceivable to guide tension straps through the tunnels, which are to be tensioned around the transport pallet and around the transport units mounted thereon in order to secure them.
  • the at least two entrance tunnels, which are open towards the ground are provided in the base structure such that they intersect beneath the support surface and each form an entrance tunnel entrance open to the floor on two opposite side walls.
  • Open to the ground is to be understood in such a way that in the area of the entrance tunnel or the entrance tunnel entrances, the side walls have no contact with the ground, so that, for example, the forklift tines can be inserted resting on the ground through the entrance tunnel entrance and into the entrance tunnel.
  • the at least two Einfahrtunnel are so arranged relative to each other crossing that these form a common crossing area, the two Einfahrtunneln in common, wherein the Einfahrtunnel preferably in the 90 0 - extending angle to each other.
  • An overall height of the transport pallet which consists for example of wood or steel, is essentially defined by a side wall vertical height and is preferably at most 40 cm.
  • the entrance tunnels can serve as base structure-side guide surfaces. It is advantageous if the guide rails and the entrance tunnel form complementary to each other, in particular with the formation of at least partially interlocking form-fitting dersellden support elements are dimensioned to ensure a safe displacement of the base structure along the guide rail, without the base structure tilts in Transportpalettenlhous- and / or in transport pallet transverse direction.
  • an entry tunnel height extending from the floor in the direction of the support surface is smaller, preferably at least 25% or 50% smaller, than a side wall height.
  • the entrance tunnel height is constant along the entire longitudinal extent of each entrance tunnel. This means that there is still a side wall section between an entrance tunnel entrance and the support surface arranged above it, which preferably accounts for 75% or, for example, 50% of the side wall height.
  • the entrance tunnel entrance is formed as, for example, a U-shaped or semicircular frame in the respective side wall.
  • the side walls are substantially closed in a base structure circumferential direction, that is, closed except for the entrance tunnel inlets formed in the side walls to form a circumferential base structure wall.
  • the driveways in particular have two, preferably opposing entrance tunnel side surfaces, wherein preferably the driveways have a substantially rectangular cross-section.
  • a distance of the corner edge to one of the corner edge facing Einfahrtunnelformat Materials amounts to at most a third, preferably a quarter, most preferably a fifth of the respective Sowandbrei- te, wherein according to a preferred embodiment, the distance of the corner edge to its facing Einfahrtunnelformat substrate at least 32 mm or at least 30 mm.
  • a width or a height of the entrance tunnel can be dimensioned such that standard forklift tines can protrude into the tunnel.
  • the driveways are so adapted to standard forklift tines that the driveway tunnels slightly larger, that is in the range of a few millimeters larger, especially about 10 mm or 20 mm larger than the forklift tines are dimensioned so that the forklift tines can preferably enter smoothly into the driveways and wherein by the limited, defined retraction area in the driveway a reliable, non-tilting lifting and Lowering the transport pallet according to the invention is made possible by a forklift.
  • the invention connect the at least two entrance tunnel two opposite side walls together and each define a Einfahrtunneleingang on each side wall, that a continuous, preferably rectilinear entrance tunnel is formed by the base structure.
  • the entire entrance tunnel that is to say both the entrance tunnels and the access tunnel extending therebetween, are open towards the ground.
  • forklift tines it is possible, for example, for forklift tines, if they are dimensioned larger than the corresponding longitudinal or width extension of the basic structure, to project completely through the entry tunnel in the basic structure, in particular in such a way in that the tines each pass through two entrance tunnel entrances belonging to a driveway tunnel.
  • one entrance tunnel entrance preferably two, three or four entrance tunnel entrances
  • one entrance tunnel preferably two, three or four entrance tunnels
  • one entrance tunnel preferably two, three or four entrance tunnels
  • an intersection region preferably four, nine or 16 intersection regions, arises within the base structure.
  • the entrance tunnels preferably have a substantially rectangular, round, in particular semicircular, or trapezoidal cross-section, which is to be understood to be substantially rectangular in that certain manufacturing tolerances of the respective manufacturing variant in introducing the entrance tunnel in the side walls depends, are to be considered.
  • a projection extending in the entrance tunnel longitudinal direction and / or a recess extending in the entrance tunnel longitudinal direction are preferably provided on two opposite entrance tunnel side surfaces, which are oriented in particular at right angles to the support surface and parallel to one another, whereby for example at least two or three Longitudinal projections and / or longitudinal recesses are possible.
  • the longitudinal recess and / or the longitudinal projection extends at least in sections, preferably substantially completely, along the longitudinal extent of the entrance tunnel, it being understood that no longitudinal recess and no longitudinal projection are arranged in the region of a crossing region of two entrance tunnels.
  • the in the longitudinal projections or longitudinal recesses provided in the drive tunnel side surfaces serve to cooperate with in particular form-adapted projections or recesses, which may be attached, for example, to supporting tines according to the invention, in order to provide a support function for the transport pallet.
  • a cooperating projection-recess pair between entrance tunnel and support tines is adapted to receive both tilting moments acting around a transport pallet longitudinal axis and about transport pallet transverse axis.
  • the longitudinal projection and / or the longitudinal recess on the entrance tunnel side surface has an angular, preferably square, or rounded, preferably semicircular, cross-section.
  • a longitudinal projection width is at least 5 mm, preferably at least 15 mm, in particular at least 25 mm, and / or at most 100 mm, preferably at most 50 mm, in particular at most 35 mm, wherein in particular a longitudinal projection height of at least 5 mm, preferably at least 15 mm, in particular at least 20 mm, and / or at most 100 mm, preferably at most 50 mm, in particular at most 30 mm.
  • a width / height dimension of the longitudinal projection to 30 mm x 25 mm (width x height) and a width / height dimension of the longitudinal recess to 32 mm x 29 mm (width x height) results.
  • the support surface of the transport pallet or the base structure is formed as a continuous, that is, full-surface, substantially flat plate having a plate thickness in the range of 3 mm to 15 mm.
  • this has a plurality of mutually spaced, in particular identical, longitudinal beam and / or crossbar.
  • One bar spacing between every two bars is especially the same size and is preferably in the range of 10 mm to 200 mm.
  • the transport pallet that is, the base structure with support surface and base structure sidewall, as a sheet-metal bent part, in particular made in one piece.
  • the transport pallet is made of wood, wherein the bearing surface with the base structure and in particular the side walls are preferably releasably secured together.
  • a system comprising a transport pallet and a supporting tine as described above.
  • the support tine serves for tilting moment transmission or tilting moment absorption and is preferably dimensioned with respect to one of the at least two entrance tunnels in such a way that it can engage in a positive engagement with the entry tunnel in order to absorb tilting moments acting on the transport pallet, in particular in transverse transport pallet longitudinal and / or transport pallet transverse axes ,
  • a positive engagement between the support tines and entrance tunnel is realized.
  • a support tine is provided, which in comparison to conventional forklift or forklift tines, which have standard flat support and side surfaces, is such that it can absorb tilting moments acting on the basic structure of the transport pallet, in particular in transport pallet longitudinal and / or transport pallet transverse axis ,
  • the support tines may be integrated in the base structure in such a way that it can at least partially extend out of a position retracted completely in one of the at least two entrance tunnels, in order to absorb the tilting forces or tilting moments in the application case and in particular to generate a counterforce that produces a counterforce Overall system shift of focus causes.
  • the transport pallet thus threatens to tilt in one direction, for example in the direction of a transport pallet longitudinal side
  • the supporting tines can be extended or pushed out of the respective entry tunnel in order to generate a certain counterforce as required. It is clear that the counterforce increases with increasing extension of the supporting tine according to the invention from the entrance tunnel.
  • the support tines may also be structurally separated from the base structure and adapted to the entry tunnel in such a way that the support tine can be retracted from the outside into the entry tunnel if required, wherein the length ratio of a support tine section retracted in the tunnel defines the height of the opposing force to a supporting tine portion extended out of the tunnel.
  • the supporting tines are preferably retracted at least in sections into the entrance tunnel.
  • a longitudinal extent of the supporting tine is dimensioned larger than a longitudinal and / or width extension of the base structure, so that the support tines always protrudes on each of two opposite sides of the base structure on this or protrudes from two opposite entrance tunnel entrances.
  • the supporting tine is designed as an elongate, in particular tine or beam-shaped, article which is constant in cross section, wherein a longitudinal extent is significantly greater than a widthwise extent.
  • a widthwise extension of the supporting tine is at most 500 mm, preferably at most 250 mm, most preferably at most 150 mm, and a vertical extent at most 300 mm, preferably at most 200 mm, most preferably at most 100 mm.
  • the supporting tines have a longitudinal recess provided in particular on a supporting-zinc side surface, preferably an outer surface, and / or a preferably protruding and retractable longitudinal projection provided on a supporting-zinc-side surface, preferably the outer surface.
  • the longitudinal projection may for example be permanently provided on the supporting zinc side surfaces, wherein it is also conceivable that the longitudinal projection is preferably mechanically retractable and extendable.
  • the second embodiment has the advantage that the support tines can be stacked more easily in a passive state and can be arranged side by side in a space-saving manner.
  • one longitudinal projection and / or one longitudinal recess is respectively attached to two opposing supporting zinc side surfaces and extends at least in sections along, preferably substantially along the complete, longitudinal extent of the supporting tine. It is also conceivable that the support tines on at least one of the longitudinal ends, which open into the end faces of the supporting tine, rounded to facilitate the entry into the entrance tunnel, because the possibility of tilting is reduced.
  • the supporting tine longitudinal recess and / or the supporting tine longitudinal projection are shaped with respect to the entrance tunnel longitudinal recess and / or the entrance tunnel longitudinal projection in such a manner that the tine can engage in a form-fitting manner with the respective entrance tunnel in order to receive or transmit tilting moments acting on the base structure
  • the recesses or the projections are dimensioned with respect to each other from the projection or recess such that a clearance of one or a few millimeters, for example at least 3 mm and / or at most 30, preferably at least 5 mm and / or at most 25 mm, in particular at least 10 mm and / or at most 20 mm, is formed between them, so that in a relative movement between supporting tines and entrance tunnel, these can preferably pass each other completely smoothly.
  • a cooperating recess-projection pair only comes into contact with each other in the event of a slight tilting of the transport pallet and then begins to build up the counterforces in order to transmit the tilting moments.
  • the support tine is dimensioned with respect to the entrance tunnel, that each one provided on two opposite Abstauerzinkenin lake humor Abstützzinkenldicasvorsprung so each with respect to an associated formed on a Einfahrtunnelmetabolites
  • longitudinal recess can engage in a positive engagement, so that the Kippmomentübertragung of the base structure on the Einfahrtunnellfitsaussparieux on the AbstützzinkenlNicolsvorsprünge and then transferred to the support tines.
  • the support tines or the support tines designed as a load-carrying vehicle or chassis or as a load-carrying vehicles or chassis.
  • the load-carrying vehicle according to the invention has on its upper side a load-receiving surface, a lifting device for raising and lowering the load-receiving surface and a chassis for moving the load-carrying vehicle and is constructed in particular otherwise the same as the support tines described above.
  • Such an embodiment of the tine as a load-carrying vehicle has already proved to be advantageous in that this can now be moved on the ground and no longer needs to be carried or pushed, which was particularly associated with the increased mass of such a tine with an increased effort.
  • the load-receiving vehicle has over the supporting tines the advantage that by means of the lifting device, a lifting of the transport pallet and thereby in combination with the chassis, a method of transport pallet is possible.
  • the load-carrying vehicle is set up such that it can enter a drive-in tunnel and, in particular, lift the transport pallet completely when the lifting device is actuated.
  • the lifting device is in particular positioned completely below the load-receiving surface and preferably lifts or lowers it in an exclusively translatory manner.
  • FIG. 1 is a perspective view of a logistics vehicle according to the invention in a preferred embodiment, wherein two storage latches are attached to short sides of a cuboid support structure of the logistics vehicle;
  • FIG. 2 shows a perspective view of the logistics vehicle according to FIG. 1 in another operating state, namely a stable operating state;
  • FIG. 3 shows a perspective view of the logistics vehicle according to FIG. 1 in a further stable operating state in which transported goods can be loaded and manipulated; 4 shows a perspective view of the logistics vehicle according to FIG. 3, wherein a transfer robot has grasped a transport item;
  • FIGS. 3 and 4 shows a perspective view of the logistics vehicle according to FIGS. 3 and 4, wherein three transport items are to be stacked on top of one another;
  • Fig. 6 is a perspective view of the logistics vehicle of Figures 3 to 5, wherein a plurality of goods to be transported are stacked.
  • FIG. 8 shows a perspective view of the logistics vehicle according to FIG. 6, wherein a lowered robot arm deposits a cargo on the ground or picks it up from the ground;
  • FIG. 9 is a perspective view of a set of modular gripping elements, showing an example of six gripping elements of different or similar construction, to provide different gripping principles to the logistics vehicle.
  • the logistics vehicle according to the invention is generally provided with the reference numeral 1, which is designed to move horizontally as a ground vehicle on a flat surface and independently record and deliver cargo 3.
  • the logistics vehicle 1 comprises a chassis 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 designed wirelessly and can communicate with a control room, its own control device and its own electrical energy source, which exclusively serves to operate the chassis 5.
  • the chassis 5 consists of two structurally separated independent independent moving beams n, 13, which is controlled by a control room, not shown, in order to move to the desired position.
  • the two moving beams 11, 13 have their own traction drive (not shown in detail), which drives wheels to spend the moving beam 11, 13 in the desired position.
  • 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.
  • the driving beams 11, 13 retracted into a coupling position and are located below a base 15 of a support frame 7, the Einfahrkanäle 17, 19, 21, 23, which extend linearly from one side to the other side.
  • the base 15 has a cuboid shape and is provided in the horizontal cross-section rectangular with a short side 25 and a long side 27. In each case on the short side 25 and on the long side 27, a pair of barrier-free retraction channels 17, 19 and 21, 23 is provided.
  • the moving beams 11, 13 are completely retracted in the entry channels of the short side.
  • the retraction channels extend through the entire base 15 in a straight line.
  • the moving beam has a longitudinal extent which is significantly greater than the long side 27 of the base 15, so that the moving beams 11, 13 protrude clearly on both short sides 25.
  • hoist the moving beam 11, 13 are activated in particular by the control room and a top 31 of the moving beams 11, 13 lift and engage with a bottom of the base 15th in the region 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.
  • the chassis 15 in the form of the moving beam 11, 13 can move horizontally by the two moving beams are controlled simultaneously from the control room.
  • a supporting strut framework 35 is placed on the continuation of the cuboid support frame and firmly connected to the base 15.
  • the strut framework 35 and the base 15 form the support frame 37 of the logistics vehicle 1.
  • the strut framework 35 has on the upper side 33 of the base 15 side facing two short struts 41, 43, of which four vertical struts 45 extend.
  • On a top 47 of the framework 35 cross struts 51, 53 and long struts 55, 57 are formed, with all struts are firmly connected together to form a stable strut framework 35.
  • the strut framework is rigidly fixed to the upper side 33 of the base 15, in particular welded.
  • the pivotal frame 61 comprises a rectangular structure and two vertical frame bars 63 which are coupled together by a horizontal short bar 65 to form a rigid frame.
  • the base 15 has a centrally located pivot bearing 67 to support the pivotal frame 61.
  • an inner collar 71 is provided, on which the rotating frame 61 is also mounted by means of a pivot bearing, so that a safe rotation of the rotating frame 61 is ensured about the rotation axis R.
  • a rotor arm 73, 75 is fastened, in particular on its vertical bars 63, wherein the fastening is realized by means of a hinge joint 77, which is held on the vertical bar 63.
  • the pivotal frame 61 in particular on the vertical struts a vertical elevator (not shown) to move the robot arms 73, 75 regardless of the arm position in the height direction up and down.
  • Each robot arm 73, 75 consists of two arm sections 81 a, 81 b, which are connected to one another via a hinge joint 83.
  • a gripping hand 85 which can receive gripping elements such as finger elements.
  • the gripper hand 85 has a modular connection, via which a plurality of gripping elements can be received, which are shown as a set in Fig. 9, for example.
  • a gripping member set receptacle 91 is provided at the upper end of the rotating frame in the region of the inner collar 71.
  • the set 91 gripping elements can be grasped at any time by the respective robot arm 73, 75 and exchanged 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 drive which is arranged in a cavity of the base 15 (not shown in detail) for exerting rotary drive forces on the rotating frame 61.
  • the transfer robotics represented by the two robot arms 73, 75 has a plurality of drives to enable movement of the robot arms by means of the connection of the hinge joints.
  • each robot arm 73, 75 and the gripping hand can be provided with one or more own drives in order to ensure an independent space movement.
  • the transfer robotics which can be formed, for example, by the support frame 61, the two robot arms 73, 75, can be assigned to its own energy source, such as a battery or an accumulator, so that a self-sufficient functioning of the transfer robot compared to the chassis 5 is.
  • Both the chassis 5 and the support frame 7 have their own control and regulating device, its own power source, its own communication interface to be operated independently, ie independently.
  • the chassis 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.
  • the hooking of the shelf is realized by a step projection 99, which cooperates either with a correspondingly dimensioned transverse strut 51 or with a shape-complementary step-shaped counter hook, such as at the shelf structure 97 can be seen by the reference numeral 101.
  • a plurality of shelf units can be arranged one behind the other, which can be moved simultaneously with the support frame 7.
  • the rack 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.
  • the shelf structure 97 may also have special shelves with channels in which specific rolling stock are housed to realize a self-sufficient removal from the shelf 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.
  • a base-side base plate is provided near the footprint on which the shelf units are anchoring-free.
  • Each shelf unit receives in the execution copies shown in Figure 1 in height direction offset shelves.
  • a shelf below its footprint, 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.
  • the structure of the logistics vehicle is approximately identical to that in Fig. 1.
  • the shelf structure 95 has no shelves, but shelf rails by a prefabricated cargo in the form of a transport box can be used and preserved.
  • the lifting mechanism of the moving beams n, 13 is lowered, so that the base 15 and the rack structures 95, 97 are safely parked on the ground.
  • the retraction channels 17, 19, 21, 23 have a substantially rectangular cross-section and each have a groove-shaped longitudinal recess 24 on two opposite Einfahrkanalirridonvid.
  • the chassis 5 is dimensioned such that it can engage with the retraction channel 17, 19, 21, 23 in a positive engagement to accommodate acting on the transport pallet tilting moments.
  • the chassis 5 is 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 6 on two opposite chassis side surfaces.
  • the longitudinal projection 6 can be permanently formed.
  • the longitudinal projection 6 is retractable and retractable, that is retractable into the chassis interior and extendable from this.
  • the longitudinal projection 6 advantageously extends along the complete longitudinal extent of the chassis 5, so that the absorption of the tilting moments over substantially the entire longitudinal extent of the chassis 5 is made possible.
  • the running-gear longitudinal projection 5 is shaped with respect to the insertion channel longitudinal recess 24 so that it can engage with the recess 24 to transmit the tilting moments, but also such that a clearance of one or a few millimeters, such as 3 mm, is formed therebetween, so that in a relative movement between the chassis 5 and retraction channel 17, 19, 21, 23, these preferably can pass each other completely smoothly.
  • a further operating position of the logistics vehicle is shown in FIG. 1, wherein two moving beams 11, 13 are extended on the longitudinal side 27 by at least 40% or 50%, to tilt the Base 15 and the support frame 5 to avoid the cargo 3, which is to be raised by the transfer robotics.
  • FIG. 4 the lifting of the transported material 3 by the transfer robot in particular the transfer arms 73, 75 is shown, wherein, as shown in Fig. 3 it can be seen, the vertical elevator on the support frame 1 has moved down to the lowest possible gripping position for transfer robotics to ensure.
  • the robot arms 73, 75 can be displaced along the rotary frame 61 by means of the vertical elevator in the vertical direction, but also a central shelf tray 59, which is arranged between the vertical bars 63 of the rotary frame 61.
  • a lifting device is provided in order to shift the central shelf 59 in the vertical direction as well. Changing the orientation of the travel channels formed in the central tray 59 reaches the rotation of the rotary frame 61.
  • Fig. 7 it is illustrated that the drives of one robot arm 75 can be moved completely autonomously to the other robot arm 73.
  • the chassis 5 is set to the trailer mode and can now move the support frame including the attached shelf structures.
  • the logistics vehicle 1 can be moved on the basis of the chassis 5, which is shown in the coupling position in FIG. 7, together with the rack structures 95, 97 in order to move from one logistics location to another.
  • the robot arms 73, 75 can perform completely self-sufficient picking processes and sequencing processes of the transport goods lying in the clipboards, so that this time is good can be used to achieve the desired composition of cargo at the other logistics location.
  • the base 15 is placed on the ground to stabilize the support frame and the moving beams 11, 13 extended to prevent tilting of the base 15 forward.
  • the robot arms 73, 75 can readily function without the operating condition of the chassis 5 being important.
  • a robot arm 75 is shown, which emits the cargo, the cube 121.
  • Fig. 9 the set of modular engaging elements is shown, which is realized for example in that one (131) or more pairs of fingers (133) are provided to grip the cargo 3, 21. Also magnetic gripping means 127 or for example pneumatic suction means 125 can be used to realize the gripping element.
  • these gripping elements as shown in Fig. 9, for example, attached to a modular set 91, which is positioned at the top 47 of the strut framework 35.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

L'invention concerne un véhicule logistique (1) destiné à recevoir et à livrer au moins un produit à transporter (3), comprenant un châssis (5) destiné à déplacer le véhicule logistique (1) entre des emplacements logistiques. Selon l'invention, le châssis est pourvu d'un système d'entraînement propre au véhicule ; un châssis support (37) supporté par le châssis (5) ; et au moins un robot de transfert (bras 73 et 75) qui est fixé au cadre de support et qui présente un entraînement de préhension et de levage pour recevoir et délivrer au moins un produit à transporter (3), le châssis (5) et le châssis support (37) étant fixés de manière amovible l'un à l'autre et le système d'entraînement ainsi que le châssis étant conçus de manière à être autonomes et séparables l'un de l'autre, de sorte que, dans un état d'accouplement, dans lequel le châssis (5) supporte fermement le châssis support (37), le véhicule logistique peut être déplacé par le châssis entraîné, et dans un état de séparation, dans lequel le châssis support (37) est libéré du châssis (5), le châssis peut être déplacé indépendamment par le système d'entraînement sans le châssis support.
PCT/EP2018/000302 2017-06-08 2018-06-08 Véhicule logistique et base d'un véhicule logistique WO2018224185A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE102017112658.9A DE102017112658A1 (de) 2017-06-08 2017-06-08 Logistikfahrzeug
DE102017112658.9 2017-06-08
DE102017112641.4 2017-06-08
DE102017112641.4A DE102017112641A1 (de) 2017-06-08 2017-06-08 Transportpalette und insbesondere verfahrbares Transportpalettensystem

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WO2018224185A1 true WO2018224185A1 (fr) 2018-12-13

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CN109760983A (zh) * 2019-03-21 2019-05-17 新石器慧通（北京）科技有限公司 货箱
CN110328633A (zh) * 2019-07-11 2019-10-15 广东嘉腾机器人自动化有限公司 一种agv料车定位机构及对接方法
CN111347442A (zh) * 2020-03-31 2020-06-30 拉扎斯网络科技（上海）有限公司 配送机器人
CN113120120A (zh) * 2021-05-07 2021-07-16 思博智能科技(中山)有限公司 一种具有组装式快递柜的物流车
CN113306943A (zh) * 2021-07-08 2021-08-27 上海原能细胞生物低温设备有限公司 一种智能样本库存储系统
CN114074901A (zh) * 2022-01-18 2022-02-22 广东友力智能科技有限公司 一种堆垛机
CN114380235A (zh) * 2022-01-28 2022-04-22 广州高昌机电股份有限公司 一种超大承重可移动举升机和控制方法
CN114852569A (zh) * 2022-05-06 2022-08-05 徐工汉云技术股份有限公司 一种可自主攀爬的存储小车系统及立体仓库
CN115512485A (zh) * 2022-11-23 2022-12-23 广州映博智能科技有限公司 一种便于机器人取货的可调宽售货柜
EP4116232A1 (fr) * 2021-07-06 2023-01-11 Intelligrated Headquarters, LLC Système modulaire de levage vertical
CN117733887A (zh) * 2024-01-26 2024-03-22 江南大学 一种智能配送机器人

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CN109760983A (zh) * 2019-03-21 2019-05-17 新石器慧通（北京）科技有限公司 货箱
CN110328633A (zh) * 2019-07-11 2019-10-15 广东嘉腾机器人自动化有限公司 一种agv料车定位机构及对接方法
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CN111347442B (zh) * 2020-03-31 2021-08-24 拉扎斯网络科技（上海）有限公司 配送机器人
CN113120120A (zh) * 2021-05-07 2021-07-16 思博智能科技(中山)有限公司 一种具有组装式快递柜的物流车
EP4116232A1 (fr) * 2021-07-06 2023-01-11 Intelligrated Headquarters, LLC Système modulaire de levage vertical
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CN114852569A (zh) * 2022-05-06 2022-08-05 徐工汉云技术股份有限公司 一种可自主攀爬的存储小车系统及立体仓库
CN115512485A (zh) * 2022-11-23 2022-12-23 广州映博智能科技有限公司 一种便于机器人取货的可调宽售货柜
CN117733887A (zh) * 2024-01-26 2024-03-22 江南大学 一种智能配送机器人

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