Transport vehicle for transport and method for handling a single-piece

Abstract

The invention relates to a transport vehicle (1) having a receiving platform (3) for receiving single-piece goods (S), a single-piece goods displacement device (4) which can be displaced relative to the receiving platform, and transport means which are arranged opposite one another and are mounted so as to be pivotable about a pivot axis (SA) and which can be adjusted between a starting position and a plurality of actuation positions, wherein the roll-out angle (alpha) is 0 DEG in the starting position and is greater than 0 DEG in each case in the actuating position. The invention further relates to a storage system having such a transport vehicle (1), and to a method for handling single goods, which can be implemented with such a transport vehicle (1).

Description

Technical Field

[0001] The present invention relates to a transport vehicle according to the preamble of claim 1 and a storage system according to the preamble of claim 14.

[0002] Furthermore, the present invention relates to a method for processing a single item of goods according to the preamble of claim 17, the preamble of claim 22, and the preamble of claim 28. Background Technology

[0003] Prior art knows of transport vehicles or warehousing equipment that have a horizontally movable single-item transfer device in the form of a telescopic arm, by means of which a single item can be pushed out or back onto the shelf. Such rack manipulators are described, for example, in WO2016 / 168874A1, EP2351698B1, EP2433882A1, US2003 / 0185656A1, EP0733563A1 and EP2351698B1.

[0004] To move individual items, the single-item transfer device is equipped with multiple transport mechanisms that interlock with the item from the rear to push it into the operating position. A disadvantage here is that these transport mechanisms can generally only pivot between the initial position and exactly one operating position. The operating position is generally determined by end stops for the transport mechanisms.

[0005] Because transport units are arranged in pairs on a pivot plane to facilitate linear outbound and inbound transport without twisting individual items, the individual item transfer devices must be brought together without collision until the minimum distance between their front ends contacts each other. Therefore, the minimum distance between individual item transfer devices is primarily determined by the length of the transport unit. Summary of the Invention

[0006] One object of the present invention is to provide an improved transport vehicle, an improved storage system having such a transport vehicle, and an improved method for handling single-item goods of the type described at the beginning. In particular, it should be possible to handle narrower single-item goods and determine the height, width, and / or position of single-item goods.

[0007] The problem is solved by a device of the type described at the beginning, wherein the transport mechanism is adjustable, particularly steplessly, between a starting position and multiple operating positions. Here, the control unit is configured to pre-determine (preferably individually) turn-out angles for each transport mechanism between the transport mechanism and the single-item transfer device, the respective transport mechanism being pivotally supported on the single-item transfer device. In the starting position, the transport mechanism is in a position (starting angle) where a single item cannot be inserted from the rear (or is located outside the space defined by the single-item transfer device and the receiving platform, which are arranged opposite each other). Here, the turn-out angle is 0° in the starting position, and in the operating position (at the operating angle), the turn-out angle is particularly greater than 0°, preferably a maximum of 180°, 120°, or 100°, in which a single item can be inserted from the rear (within the space defined by the single-item transfer device and the receiving platform). Furthermore, the transport device has an adjustment device for each transport mechanism to implement the pivoting movement of the corresponding transport mechanism at the turn-out angle, particularly for implementing the pivoting movement between the starting position and the pre-determined operating position.

[0008] Furthermore, the object of the present invention is achieved by a method of the type described at the beginning, wherein the control unit of the transport vehicle pre-sets an outward angle between the corresponding transport mechanism and the corresponding single-item cargo transfer device for the operation position of the transport mechanism, and the outward angle can be freely selected by the control unit between 0° and 120°, particularly between 0° and 100°.

[0009] The object of the invention is also achieved by another method of the type described at the beginning, wherein, when the transport mechanism to transport mechanism turns out of a predetermined turning angle, the constraint torque acting on the respective transport mechanism is detected, particularly by means of the constraint detection unit described below, during which the distance between the individual cargo transfer devices changes; or, when the transport mechanism to transport mechanism turns out, the constraint torque acting on the respective transport mechanism is detected, particularly by means of the constraint detection unit described below, and the transport mechanisms are pivoted out separately until the respective constraint torque exceeds a (pre-given) threshold. This can also be implemented in the previously described method if necessary. The object of the invention is also achieved by another method for handling single items in a storage system by means of a transport vehicle (particularly the aforementioned transport vehicle), wherein single item transfer devices, which are arranged opposite each other and movable relative to the receiving platform of the transport vehicle, are positioned at a distance relative to each other on opposite sides of the single item, and transport mechanisms, which are pivotally supported on the single item transfer devices—particularly arranged opposite each other in the pivot plane—are rotated out from their starting positions, wherein the transport mechanisms are pivoted out, and the constraint torque acting on the respective transport mechanisms is detected, during which the distance between the single item transfer devices is changed.

[0010] The advantages achieved by this invention are particularly evident in that the opposing transport mechanisms in a transport mechanism pair can be independently positioned in multiple different operating positions. Therefore, the operating positions used can be adjusted specifically according to the individual item to be processed. This avoids collisions between transport mechanisms when adjusting the distance between the individual item transfer devices. Furthermore, each individual item transfer device can be positioned with a smaller distance relative to each other. This enables the reliable handling of particularly narrow individual items.

[0011] Furthermore, the pivoting motion can be interrupted at any turning angle without damaging the individual cargo and / or the corresponding transport mechanism, especially when the pivoting motion is blocked or hindered by the individual cargo and thus an increased constraint torque is detected.

[0012] For the method described above for handling single shipments, it is preferable to use a transport vehicle according to one of the aspects described.

[0013] The control unit of the transport vehicle is preferably configured to drive and control the adjustment device of the transport mechanism to perform pivoting movements and / or stop pivoting movements, for example, when a predetermined turn-out angle is reached and / or the detected constraint torque exceeds a (predetermined) threshold. The threshold may be predetermined by the control unit.

[0014] According to a preferred embodiment, the control unit of the transport vehicle can be configured to detect changes in the constrained torque and output a signal indicating these changes. Furthermore, the receiving platform of the transport vehicle (particularly the upper side of the receiving platform) defines a (preferably horizontally oriented) receiving plane on which individual items to be received by the transport device can be positioned. The receiving platform can be constructed as a single piece or in multiple pieces. Particularly preferably, the receiving platform includes two individual item supports arranged parallel to each other at a (variable) distance. It is desirable that the distance between the individual item supports be set such that the distance is less than the width of the individual item to be received.

[0015] The single-item cargo transfer device is supported on the transport vehicle in a manner that allows it to be retracted (particularly telescopically) relative to the receiving platform in the extending direction, and preferably extends from a first end region to a second end region along a longitudinal axis. The longitudinal axis of the single-item cargo transfer device is parallel to the retraction direction and is preferably horizontal, particularly orthogonal to the direction of travel of the transport vehicle.

[0016] Generally, each single-item transport device has a side pointing toward another single-item transport device, particularly orthogonal and / or vertically oriented to the receiving platform. These sides are preferably parallel to each other and, where necessary, delineate a receiving space for single items that is defined downwards by the receiving platform.

[0017] Generally, it is stipulated that each transport mechanism extends along its respective pivot axis from its corresponding longitudinal axis to the front end of the respective transport mechanism. For the purpose of transport, all transport mechanisms of the transport device are of the same length.

[0018] Advantageously, the pivot axis is oriented horizontally and / or parallel to the longitudinal axis of the corresponding individual cargo transfer device and / or parallel to its side. The pivot plane is preferably orthogonal to the side of the individual cargo transfer device.

[0019] Advantageously, the pivot axis is arranged such that, during the pivoting movement from the starting position to the operating position, the front end of the transport mechanism moves along a circular path toward the receiving platform. Therefore, the pivot axis can be closer to the receiving platform than the front end of the transport mechanism in the starting position.

[0020] Generally speaking, it can be mentioned that two transport mechanisms (especially in the pivot plane) arranged opposite each other form a transport mechanism pair, wherein the transport device may optionally have multiple such transport mechanism pairs arranged in a respective pivot plane.

[0021] Preferably, the transport device for each single-item cargo transfer device includes two external transport mechanisms disposed in the end regions of the respective single-item cargo transfer device, and one or more internal transport mechanisms disposed between the external transport mechanisms. Thus, the external transport mechanisms form pairs of external transport mechanisms. Furthermore, the internal transport mechanisms form at least one pair of internal transport mechanisms.

[0022] If multiple transport agency pairs are provided, the described method can be implemented by selecting one transport agency pair from each transport agency pair through the control unit and using that transport agency pair to carry out the method.

[0023] Each turning angle can be matched with an orthogonal distance between the front end of the transport mechanism and the corresponding single-item transfer device (particularly its side). The orthogonal distance is proportional to the sine of the turning angle and can therefore change with the change of the turning angle.

[0024] In the initial position, the transport mechanism is oriented parallel to the corresponding single-item transfer device, particularly its side, and is housed, if necessary, in a recess within the single-item transfer device. Preferably, the transport mechanism is flush with the side. The rotation angle in the initial position is 0°. Correspondingly, the orthogonal distance is also 0 mm.

[0025] Furthermore, in the operating position, the transport mechanism is tilted and oriented at an angle greater than 0° relative to the corresponding single-item transport device (especially its side).

[0026] Each adjustable turning angle corresponds to one operating position. Therefore, depending on the positioning accuracy of the adjusting device of the corresponding transport mechanism, a different number of operating positions can be set. The positioning accuracy of the adjusting device is, for example, 0.5°, preferably 0.1°, and particularly preferably 0.01°.

[0027] Advantageously, the drive unit for the adjustment device employs an encoder with a resolution of 1024. Therefore, the positioning accuracy of the transport mechanism can be at least 360° / 1024. Furthermore, it can be specified that the drive unit also has a transmission ratio, thereby enabling even higher positioning accuracy.

[0028] Advantageously, the opposing transport mechanisms in the transport mechanism pair can be adjusted to different turning angles, and thus to different operating positions.

[0029] A constraint torque can be understood as a torque, such as a force, that acts in reaction with pivoting motion, particularly pivoting motion from the starting position to the operating position, on the transport mechanism and thus impedes and / or obstructs pivoting motion. A constraint torque can be caused, for example, by a single piece of cargo, which the transport mechanism may intentionally or unintentionally abuts against.

[0030] For example, constraint torque can be reflected in the increased motor current of the adjusting device of the corresponding transport mechanism. The constraint torque can therefore be detected by detecting and / or evaluating the motor current of the corresponding adjusting device (especially the electric drive motor). Since the motor current is proportional to the constraint torque, a threshold can be given, for example, for the motor current.

[0031] The constraint torque is detected by means of the constraint detection unit described below, which is matched with the corresponding transportation agency, according to the destination.

[0032] Preferably, each operating position includes at least one operating position in which the turn-out angle is greater than 90°, particularly at least 95°, at least 100°, or particularly preferably at least 120°.

[0033] It can be specified that the transport mechanism is in the following positions: between the starting position and the maximum operating position (in the maximum operating position, the turn-out angle is greater than 90°, particularly greater than 95°, especially preferably at least 100° or 120°) and in a plurality of operating positions therebetween, in which the turn-out angle is greater than 0° and less than the turn-out angle of the maximum operating position.

[0034] Advantageously, the receiving platform has individual cargo supports extending parallel to each other at variable intervals, which define a receiving plane. Specifically, each operating position can be specified to include at least one operating position in which the turn-out angle is selected such that the corresponding transport mechanism intersects the receiving plane in that at least one operating position. For this purpose, it is desirable that the turn-out angle is greater than 90°.

[0035] Advantageously, the length of the transport mechanism from its pivot axis to its respective front end is greater than the width of the single-item cargo support, or the single-item cargo transfer device is positioned such that when the turn-out angle is 90° or greater and, for example, less than 120°, the transport mechanism protrudes beyond the edge of the single-item cargo support.

[0036] Advantageously, the transport devices can be positioned in non-overlapping transport locations. In these non-overlapping transport locations, the transport mechanisms aligned with each other turn out at the same (pre-given) turning angle, wherein the front ends of the transport mechanisms are positioned at the same orthogonal distance from the corresponding individual cargo transfer devices. To avoid collisions between the transport mechanisms aligned with each other, it can now be specified that each individual cargo transfer device is positioned relative to each other at a distance equal to or greater than twice the orthogonal distance.

[0037] Advantageously, in the method for handling a single item, the transfer device is moved into a non-overlapping transport position, wherein the same turnout angle is pre-given to the operating positions of the two transport mechanisms of the transport mechanism pair by means of a control unit.

[0038] By utilizing non-overlapping transport positions, it is possible to achieve a larger distance between individual cargo transfer devices and thus handle wide individual cargoes, for example, those whose width exceeds twice the length of one of the transport mechanisms. Furthermore, in non-overlapping transport positions, the transport mechanisms of a pair can pivot at a smaller turning angle, for example, less than 45° or less than 30°, thereby also allowing for a smaller distance between the individual cargo transfer devices. This is particularly advantageous for narrow and tall individual cargoes.

[0039] Advantageously, the transport devices can be positioned in overlapping transport locations. Here, the transport mechanisms in the pair rotate out at different (pre-given) turning angles. To achieve a smaller distance between the individual cargo transfer devices and thus enable the handling of narrow individual cargoes, it is preferably stipulated that the individual cargo transfer devices are arranged relative to each other at a distance at which the transport mechanisms in the pair overlap in the pivot plane. Therefore, the distance between the individual cargo transfer devices can be less than twice the orthogonal distance.

[0040] By utilizing overlapping transport positions, smaller distances between single-item transfer devices can be achieved at larger turnout angles, and thus narrow, flat single items, such as those with a width less than twice the length of the transport mechanism, can be reliably handled.

[0041] The objective is that, in non-overlapping transport locations, the front end of one of the two transport units in a transport unit pair is positioned relative to the corresponding single-item transfer device at a first orthogonal distance, while the front end of the other transport unit in the transport unit pair is positioned relative to the corresponding single-item transfer device at a second orthogonal distance. Here, the transport units can be arranged relative to each other at distances less than twice the first orthogonal distance, twice the second orthogonal distance, and / or the sum of the first and second orthogonal distances.

[0042] Advantageously, the transport devices are placed in overlapping transport positions, wherein different turn-out angles can be pre-given for the operating positions of the two transport mechanisms of the transport mechanism pair via the control unit.

[0043] Advantageously, it is stipulated that the transport device can be selectively placed in non-overlapping or overlapping transport positions. Therefore, in order to handle single goods of different widths, it is preferred that the transport device can be selectively placed in overlapping or non-overlapping transport positions, particularly according to the width and / or height of the single goods.

[0044] Advantageously, the control unit pre-determines a corresponding turnout angle based on the geometry of the individual cargo. The geometry of the individual cargo here specifically describes the width of the individual cargo parallel to the distance between the individual cargo transfer devices, the height of the individual cargo, and / or the center of gravity of the individual cargo. The geometry of the individual cargo can be particularly considered such that the pre-determined turnout angle allows the transport mechanism to engage the individual cargo from the rear after its turnout.

[0045] In particular, it is advantageous for multi-item receiving platforms to pre-determine the turning angle of at least one of the transport mechanisms in a pair, such that the corresponding transport mechanism is positioned with its front end below the receiving plane in the operating position. Here, the transport mechanism can be inserted into the intermediate space between the single-item cargo supports. This is advantageous, for example, for handling particularly flat single items.

[0046] Advantageously, each adjusting device has a drive mechanism configured to perform pivoting motion and stop pivoting motion when a corresponding predetermined turn-out angle is reached or when the constraint force exceeds a (predetermined) threshold. The drive mechanism is preferably configured to enable the corresponding transport mechanism to move steplessly about a pivot axis. For example, the drive mechanism includes an electric drive motor, particularly a rotary adjusting motor.

[0047] Advantageously, the adjusting device, especially the drive device, is configured to fix the corresponding transport mechanism at a predetermined turnout angle, for example, by applying a holding force.

[0048] Furthermore, it is preferably specified that the control unit has a constraint detection unit configured to detect constraint torques acting on the transport mechanism during the pivoting motion. The constraint detection unit may, for example, be configured to detect the motor current of the drive unit.

[0049] Furthermore, it is preferably specified that the control unit is configured to control the adjustment device and stop the pivoting movement of one or more transport mechanisms when the constraint torque on the corresponding transport mechanism exceeds a (pre-given) threshold. This can, for example, ensure that the transport mechanism does not press on a single piece of cargo. The threshold can be pre-given, for example, by the control unit, through a central computing unit above the storage system, or when the transport vehicle is put into operation or production.

[0050] Advantageously, the adjustment device has an angle detection unit, particularly a rotary encoder, for detecting the turnout angle, especially during the pivoting motion.

[0051] Advantageously, the angle detection unit is connected to the control unit to transmit the detected turn-out angle to the control unit. The control unit can be configured to receive and evaluate the detected turn-out angle from the angle detection unit. During evaluation, the detected turn-out angle can be compared with a pre-given turn-out angle for the corresponding transport mechanism. Preferably, the control unit is configured to drive the adjustment device of the corresponding transport mechanism and stop the pivoting movement of the corresponding transport mechanism when the detected turn-out angle matches the pre-given turn-out angle.

[0052] Advantageously, in the method described above, the following turning angles are detected, particularly by means of an angle detection unit coupled with the corresponding transport mechanism, the transport mechanism having turned out up to the turning angle, and the turning angle corresponding to the distances set between the individual cargo transfer devices.

[0053] In order to adapt the variable distance between the single-item cargo transfer devices to the width of the single item to be received, it is preferably specified that the transport device has a distance adjustment device by means of which the distance between the single-item cargo transfer devices can be adjusted.

[0054] Advantageously, the control unit is configured to pre-define the distance between the individual cargo transfer devices (relative to each other). Here, the transport device can be configured to: position the individual cargo transfer devices (particularly by means of a distance adjustment device) relative to each other at a pre-determined distance; rotate one of the transport mechanisms in a transport mechanism pair, or one of the transport mechanism pairs, by means of a corresponding adjustment device, out to a pre-determined rotation angle or to a rotation angle at which the constraint torque acting on the corresponding transport mechanism exceeds a threshold; or move the individual cargo transfer devices (particularly by means of a distance adjustment device) (closer to each other) until the constraint torque acting on the corresponding transport mechanism rotating out at the pre-determined rotation angle exceeds a threshold.

[0055] The objective is that, in the described method, the distance between the individual cargo transfer devices is changed (in particular increased), and the transport mechanism is pivoted out again until the corresponding constraint torque exceeds a threshold, wherein the pivot angle corresponding to the distance between the individual cargo transfer devices is detected again, and the transport mechanism has pivoted out up to the pivot angle when pivoting out.

[0056] Advantageously, the control unit is configured to transmit a pre-given distance and a detected turnout angle to an (external) computing unit, such as the computing unit of a storage system.

[0057] Optionally, the transport vehicle may include a computing unit configured to receive a pre-given distance and a detected or pre-given turnout angle from the control unit, and to determine the interfering structure causing the constraint force, particularly the width and / or position of a single piece of cargo, based on the pre-given distance and the detected turnout angle corresponding to the pre-given distance, or based on two different pre-given distances and the detected turnout angle corresponding to the pre-given distance.

[0058] It can be specified here that the control unit is configured to transmit a pre-given distance and a detected turn-out angle to the calculation unit.

[0059] Advantageously, in the previously described method, the (corresponding) distance and the turn-out angle corresponding to the (corresponding) distance are transmitted to the calculation unit, and the calculation unit determines the width and / or position of a single item based on one or more transmitted distances and the transmitted turn-out angle.

[0060] Here, the distance and the corresponding turning angle can be transmitted to the computing unit of the transport vehicle described earlier or to the computing unit of the storage system described below. Accordingly, the width and / or position of a single item can be determined by the computing unit of the transport vehicle or the storage system. For example, if the width of the single item is known and / or the height of the single item is greater than the vertical distance between the receiving platform and the front end of the transport mechanism, such that the transport mechanism abuts against the side of the single item with its corresponding front end when turning out, the position of the single item or, if necessary, the width of the single item can be calculated based on a single unique measurement (i.e., based on a single unique distance) and the length of the transport mechanism. If the width and / or position of the single item cannot be clearly determined based on a single unique measurement, for example, because the single item is too low, causing the front end to protrude above the single item in the reached operating position, a second measurement can be performed with a changed distance or turning angle.

[0061] Advantageously, a height detection device can be provided for detecting the height of individual goods and providing a height detection signal, particularly for detecting whether the height exceeds or falls below a predetermined minimum height. Adjustment of the distance between individual goods transport devices (i.e., the position of opposing individual goods transport devices relative to each other) can be made based on the height detection signal to measure the width of the individual goods. The height detection device may, particularly preferably, include at least one grating, which is composed of a unidirectional grating, a reflective grating, or a light strip grating, or a combination thereof, preferably disposed on one of the individual goods transport devices.

[0062] Advantageously, the height detection device can alternatively be configured via a calculation unit such that, in the method described above, the distance and the corresponding turnout angle are transmitted to the calculation unit, which then determines the height of the individual cargo based on one or more transmitted distances and the transmitted turnout angle. In particular, the height of the individual cargo can be determined by a second or more measurements with a changed distance (between the individual cargo transfer devices) or a changed turnout angle, especially by detecting a transition in which the front end of the transport mechanism used for measurement, in the reached operating position (above), just exceeds the individual cargo or just rests against the side wall.

[0063] According to an alternative preferred embodiment, as the transport mechanism turns out and a constraint torque acting on the corresponding transport mechanism is detected, during the change in distance between the individual cargo transfer devices, the distance (between the individual cargo transfer devices) and the corresponding turning-out angle are transmitted to a computing unit, particularly the computing unit of the transport vehicle or the computing unit of the storage system. The computing unit then determines the height and / or width and / or position of the individual cargo based on the transmitted distance or multiple transmitted distances and the transmitted turning-out angle. Preferably, the distance between the individual cargo transfer devices increases from the position where each individual cargo transfer device is located next to the individual cargo until a change in the constraint torque (of the corresponding transport mechanism) is detected. This allows detection of the transition in which the front end of the transport mechanism used, in the reached operating position, is just beyond the individual cargo (above) or just abutting against the side wall. This method is particularly suitable for short individual cargoes that are extended beyond the front end of the transport mechanism used. If changes in the constraint torque cannot be detected, alternatively, the method for determining the width, as described above, can be used based on exceeding a threshold.

[0064] Advantageously, the single-item cargo transfer device includes a telescopic frame and a first telescopic carriage that can be moved out relative to the telescopic frame, and preferably includes a second telescopic carriage that can be moved out relative to the first telescopic carriage, wherein the base frame and the first telescopic carriage and / or the first telescopic carriage and the second telescopic carriage are movably connected via guides.

[0065] Advantageously, one or more of the guide devices are integrally constructed with the first telescopic sliding device.

[0066] In order to be able to handle single goods of different lengths and / or multiple single goods arranged one after the other, it is preferably specified that the transport device includes multiple transport mechanism pairs, particularly two external transport mechanism pairs arranged in the end area of ​​the single goods transfer device and preferably at least one internal transport mechanism pair arranged between the external transport mechanism pairs.

[0067] Furthermore, it can be specified that the transport vehicle has a base frame, a plurality of wheels rotatably supported on the base frame, and a driving drive coupled to at least one of the wheels.

[0068] The objective is also achieved by using a storage system of the type described above, while taking advantage of the advantages and functions described above, wherein the transport vehicle is constructed according to any of the aspects described above.

[0069] By leveraging the individual adjustability between the single-item transfer devices and the resulting smaller distances, single items of varying sizes, particularly those with very narrow widths, can be handled, thus automating their removal from or placement into the storage system's shelves using transport vehicles.

[0070] Advantageously, the at least one transport vehicle has a base frame, a plurality of wheels rotatably supported on the base frame, and a driving drive coupled to at least one of the wheels.

[0071] The rack aisle preferably includes guide rails extending within the rack aisle, wherein each traveling wheel abuts against one of the plurality of guide rails. Advantageously, the guide rails are arranged in pairs, one above the other, on opposite sides of the rack aisle and forming a driving layer in pairs, wherein each rack layer is associated with a driving layer.

[0072] The storage system includes a computing unit configured to receive turnout angles and / or pre-defined distances between individual cargo transfer devices from the control unit of the transport vehicle, and to determine the width and / or position of the interfering structure based on two different pre-defined distances and the detected turnout angles corresponding to the pre-defined distances.

[0073] In particular, the computing unit, control unit, constraint detection unit, and angle detection unit can be implemented as microprocessor-based hardware, where the functions of these units are implemented as software. Here, a single microprocessor-based hardware unit can also serve multiple functions. Such units can also be implemented in hardware in the form of so-called Field-Programmable Gate Arrays (FPGAs), Programmable Logic Devices (PLDs), Application-Specific Integrated Circuits (ASICs), or other integrated circuits. Multiple units can also be integrated onto a single piece of such hardware. A single unit can also be implemented as an analog circuit or an analog computer. Furthermore, any mixture or combination of these implementation schemes is feasible. Attached Figure Description

[0074] To better understand the present invention, the invention will be described in more detail below with reference to the accompanying drawings.

[0075] The diagrams shown are highly simplified illustrations:

[0076] Figures 1a to 1c A transport vehicle with transport mechanisms at different turning angles is shown in a side view.

[0077] Figure 1d The transport vehicle is shown in a top view;

[0078] Figures 2a to 2e A side view shows transport vehicles carrying individual items of different sizes;

[0079] Figure 3 The transport vehicle is shown in perspective.

[0080] Figure 4 A partial enlarged view of the single-item cargo transfer device is shown in a cross-sectional view.

[0081] Figure 5a and Figure 5b A storage system with multiple transport vehicles is shown;

[0082] Figure 6a A close-up view of the shelving and transport vehicles is shown;

[0083] Figure 6b The guide unit of the transport vehicle is shown;

[0084] Figure 7a , Figure 7b This shows the receipt of a single item of goods via a transport vehicle.

[0085] Figure 7c , Figure 7d This illustrates the delivery of a single item via a transport vehicle.

[0086] Figures 8a to 8c This illustrates how the width and / or location of a single item of cargo can be determined using a transport vehicle. Detailed Implementation

[0087] It should be noted that in various embodiments, the same components have the same reference numerals or component names, and the disclosure contained throughout the specification can be applied to the same components having the same reference numerals or component names in accordance with its meaning. Furthermore, the positional descriptions used in the specification, such as upper, lower, side, etc., are all based on the directly described and shown drawings and should be applied to the new positions in accordance with their meaning if the positions change.

[0088] exist Figures 1a to 1c The image shows a side view of transport vehicle 1. Figure 1d The image shows a top view of transport vehicle 1.

[0089] The transport vehicle 1 includes a control unit 2 and a transport device with a receiving platform 3 for receiving individual goods S. The receiving platform 3 defines a receiving plane AE and can be configured as a single piece or as a multi-piece type as shown below.

[0090] In addition, the transport device includes single-item cargo transfer devices 4 arranged opposite to each other. These devices can be moved relative to the receiving platform 3 along the outgoing direction AR to a first side of the transport vehicle 1 and optionally along another outgoing direction AR' (indicated by dashed lines to a second side of the transport vehicle) opposite to the outgoing direction AR. The single-item cargo transfer devices 4 essentially form the lateral boundary of the receiving space for the single item S, which is downwardly bounded by the receiving platform 3. Preferably, each single-item cargo transfer device 4 has a side SF facing the receiving space. Optionally, the single-item cargo transfer devices 4 can move closer to or further away from each other by means of a spacing adjustment device 10.

[0091] Furthermore, the single-item cargo transfer device 4 is equipped with pairs of transport mechanisms 5, each positioned opposite the other within a pivot plane SE. For example... Figure 1d As can be seen, an external transport mechanism 5 and at least one internal transport mechanism between the external transport mechanisms can be respectively provided in the opposite end regions of the single-item cargo transfer device 4.

[0092] The transport mechanisms 5 are pivotally supported around pivot axes SA and coupled to an adjustment device 6, which allows the transport mechanisms to... Figure 1a The device pivots between the starting position (in which the turnout angle α of the transport mechanism is 0°) and one of the plurality of operating positions (in which the turnout angle α is greater than 0° respectively). Figure 1b and Figure 1cTwo exemplary operating positions are shown respectively. In order to implement the pivoting movement of the transport mechanism 5, it is preferably specified that each adjustment device 6 has a drive device 7.

[0093] The control unit is configured to preset a turnout angle α, for example, 0° or greater than 0°, for each transport mechanism 5 if the corresponding transport mechanism 5 should be placed in the starting position or one of the operating positions. Furthermore, the control unit 2 is preferably configured to drive the corresponding adjustment device 6 to position the transport mechanism 5 into the operating position or starting position defined by the preset turnout angle α.

[0094] Furthermore, it can be specified that the control unit 2 may have an optional constraint detection unit 8, through which the constraint torques acting on the transport mechanism 5 can be detected.

[0095] Preferably, the adjustment device 6 includes an angle detection unit 9, particularly a rotary encoder, which can detect the rotation angle α of the corresponding transport mechanism 5. The control unit 2 can be configured to compare the rotation angle α detected by the angle detection unit 9 with a preset rotation angle α, and stop the pivoting movement when the detected rotation angle α matches the preset rotation angle α. In this way, the transport mechanism 5 can be positioned in the operating position or the starting position.

[0096] Advantageously, the transport vehicle 1 includes an optional computing unit 11 configured to receive and, if necessary, evaluate data related to the detected turnout angle α, the preset distance between the single cargo transfer devices 4, and / or the detected constraint force from the control unit 2.

[0097] Figure 1a The starting position of the transport device is shown, wherein the transport mechanism 5 is located at the starting position, and the single-item cargo transfer devices 4 are positioned at the maximum distance between them. As shown, the transport mechanism 5 is substantially flush with the side SF of the single-item cargo transfer device 4.

[0098] also, Figure 1b The diagram shows the non-overlapping transport positions of the transport devices. In this position, each transport mechanism 5 rotates out at the same turning angle α. Therefore, the orthogonal distance α between the front end VE of the corresponding transport mechanism 5 and the side SF of the corresponding single-item cargo transfer device 4 is also the same, since the orthogonal distance α is proportional to the sine of the turning angle α. To ensure that each transport mechanism 5 does not overlap or collide within its pivot plane SE, each single-item cargo transfer device 4 is positioned at a distance from each other equal to or greater than twice the orthogonal distance α, such as... Figure 1b As shown.

[0099] In contrast, Figure 1cThe overlapping transport positions of the transport devices are shown. Here, the transport mechanisms 5 are arranged overlapping each other within their pivot plane SE. To prevent the transport mechanisms 5 from colliding, each transport mechanism rotates out at a different rotation angle α. This allows the individual cargo transfer devices 4 to be arranged particularly close to each other, such as... Figure 1c As shown.

[0100] The following is combined Figures 2a to 2e Case studies are described for different individual goods and different transport locations of transport devices.

[0101] exist Figure 2a In this example, a single item S is positioned on the receiving platform 3, above the single item transfer device 4. The transport device is positioned in a non-overlapping transport location. In the illustrated example, the transport mechanism 5 engages with the single item S from the rear in a form-locking manner, allowing the single item to be pushed off the receiving platform 3 by removing the single item transfer device 4.

[0102] In addition, Figure 2b In the middle, a single piece of cargo S is also set on the receiving platform 3. This single piece of cargo is also higher than the single piece of cargo transfer device 4, but lower than... Figure 2a The cargo S shown is narrower. Here, the transport device is also positioned in a non-overlapping transport location. To prevent the narrower single cargo S from twisting during transfer, the single cargo transfer device 4 is positioned more... Figure 2a They are closer to each other. Here, the transport mechanism 5 also fits into the single cargo S from the rear, so that the single cargo can be pushed off the receiving platform 3 by removing the single cargo transfer device 4.

[0103] exist Figure 2c In this example, a single item S is positioned on the receiving platform 3, below the single item transfer device 4. The transport device is positioned in a non-overlapping transport location. However, in the example shown, the height of the single item S is too low for this setup, so the transport mechanism 5 cannot engage the single item S from the rear. Therefore, the single item S cannot be pushed down under this setup.

[0104] Figure 2d Shown on receiving platform 3 and Figure 2c The same single item S. However, with Figure 2c The difference is that the transport devices are positioned in overlapping transport locations. This means that the transport mechanisms 5 are in different operating positions, allowing them to overlap within their pivot plane SE. Therefore, the transport mechanisms 5 can be fitted into the individual goods S from the rear in a form-locking manner, allowing the individual goods to be pushed off the receiving platform 3 by removing the individual goods transfer device 4.

[0105] The receiving platform 3 can also be implemented as a multi-piece system and include multiple individual cargo holders, as exemplarily shown here. Figure 2e and the following Figure 3 As shown in the diagram, the first and second single-item cargo supports of the receiving platform 3 are spaced apart from each other. These two single-item cargo supports, in particular their respective upper sides, define the aforementioned receiving plane AE.

[0106] Figure 2e Now, another example is shown, in which a flat or low-profile single item S is placed on two single item supports of the receiving platform 3. The transport devices are again in overlapping transport positions. Due to the multi-item design of the receiving platform 3, a pre-set turning angle α can now be provided for one of the transport mechanisms 5, or (if applicable) both transport mechanisms 5, such that the corresponding transport mechanism 5 extends its front end VE between the two single item supports below the receiving plane AE. Thus, even a particularly flat single item S, such as a single item S a few centimeters high, or even an envelope, can be fitted from the rear in a form-locking manner and pushed off the receiving platform 3, as... Figure 2e As shown.

[0107] Figure 3 A perspective view of transport vehicle 1 is shown, which is constructed as a single-layer racking operator.

[0108] Preferably, the transport vehicle 1 has a base frame 12, a plurality of wheels 13 rotatably supported on the base frame 12, and a drive unit 19 for driving at least one wheel 13 (hereinafter referred to as...). Figure 6a (as shown in the figure) and / or control electronics used to drive the driving drive 19.

[0109] like Figure 3 As shown, the single-item cargo transfer device 4 can be supported on the base frame 12 of the transport vehicle 1 in a removable manner (particularly telescopically). The single-item cargo transfer device 4 preferably has a telescopic frame 14 and telescopic carriages 15 and 16 that can be horizontally moved relative to the telescopic frame 14. The first telescopic carriage 15 is connected via... Figure 4 The guide device 17 shown is movably supported on the telescopic frame 14. Furthermore, the second telescopic carriage 16 is movably supported on the first telescopic carriage 15 via the guide device 17. The first telescopic carriage 15 can move relative to the telescopic frame 14 by means of a drive device.

[0110] The transport vehicle 1 shown has multiple transport mechanism pairs, such as... Figure 1d As shown in the schematic diagram. In the example shown, the external transport mechanism 5 is in the operating position, while the internal transport mechanism 5 is in the starting position.

[0111] Advantageously, the transport mechanism 5 is arranged on the uppermost telescopic carriages 15 and 16, for example, on the second telescopic carriage 16.

[0112] Figure 4 An exploded cross-sectional view of a portion of the single-item cargo transfer device 4 is shown, illustrating the telescopic frame 14 and the first and second telescopic carriages 15 and 16. Figure 4 As can be seen from this, the guide device 17 used for telescopic carriages 15 and 16 can be integrally constructed with the first telescopic carriage 15.

[0113] Optionally, a toothed portion 18 may be provided on the lower side of the first telescopic carriage 15. This toothed portion 18 interacts with the drive mechanism of the single-item cargo transfer device 4 to move the first telescopic carriage 15 out. The outward movement can be achieved via a belt drive. Figure 4 (Not shown in the image) is transferred to the second telescopic carriage 16.

[0114] Figure 5a and Figure 5b A portion of a storage system 100 for storing a single item S is shown. The storage system includes at least one aisle unit and multiple transport vehicles 1. The transport vehicles 1 can be configured as described above. In addition to the illustrated aisle unit, the storage system 100 may also have multiple aisle units.

[0115] This type of shelving aisle unit includes two parallel shelves 101 extending longitudinally (X), with a shelving aisle 102 located between the two shelves. A transport vehicle 1 can move along the shelves 101 within the shelving aisle 102. Each shelf 101 includes a plurality of shelving compartments 103 arranged vertically to each other along the height direction (Y), these compartments being aligned with overlapping shelf layers. The shelving compartments 103 form storage areas positioned between shelf uprights 104. Multiple side-by-side and / or front-and-back placement positions are provided within the shelving compartments, where single items can be placed.

[0116] like Figure 5b As shown in the top view, the shelving compartments extend along the depth direction Z from the front side facing the shelving aisle 102 to the rear side away from the shelving aisle 102. A boundary element, such as a (rear) longitudinal beam 105 or a depth support, can be provided on the rear side of the shelving compartment, which extends across the shelving compartment 103 along the longitudinal direction X, and preferably defines the shelving compartment 103 on its rear side.

[0117] Furthermore, it can be specified that guide rails 106 are respectively provided along the front side of opposite shelf compartments 103 in the shelf aisle 102, such that the guide rails 106 mounted on the two shelves 101 are arranged opposite each other in pairs. The transport vehicle 1 can be movably arranged on the guide rails 106. Particularly preferably, each shelf layer is equipped with one such pair of guide rails, which respectively constitute the driving layer FE for the transport vehicle 1. Therefore, as Figure 5aAs shown, transport vehicles 1 assigned to the corresponding rack level can be arranged in each driving level FE. Therefore, the storage system 100 may include multiple transport vehicles 1.

[0118] Furthermore, it may be specified that the storage system 100 (or transport vehicle 1) includes a computing unit 111, which can receive data from the transport vehicle 1 relating to the distance and / or turning angle α between the single-item transfer devices 4, and calculate the width and / or position of the single item S in the shelf compartment 103 accordingly.

[0119] Figure 6a A partial enlarged view shows an area of ​​one of the shelves 101 and one of the transport vehicles 1. The transport vehicle 1 may have a drive drive 19 coupled to at least one wheel 13 to transmit driving force to the wheel and move the transport vehicle 1 along the shelf 101. The wheels 13 are rotatably supported on a base frame 12, particularly about a horizontal axis, and are preferably arranged in a manner that allows them to roll on one of the guide rails 106. Figure 6a As illustrated, the energy supply and / or data supply of the transport vehicle 1 can be achieved via the sliding contact line device 20.

[0120] In addition, transport vehicle 1 may include Figure 6b The guide unit 21, shown in the enlarged view, is mounted on the base frame 12 by a support device and includes guide wheels 22. These guide wheels roll against opposing guide sections 107 of the guide rail 106 to guide the transport vehicle 1 along the shelf 101. The support device includes a support body 23, on which each guide wheel 22 is rotatably supported at a fixed interval.

[0121] The support 23 is fastened to the base frame 12 by means of fastening element 24a and pivotally supported thereon about pivot axis 25, wherein pivot axis 25 is preferably oriented parallel to the travel direction of transport vehicle 1.

[0122] Furthermore, the support device includes two compensating elements 26 disposed on both sides of the base frame 12, which are particularly as follows: Figure 6a and Figure 6bThe configuration shown is a spring element. One compensating element 26 is disposed between the base frame 12 and the support 23. Another compensating element 26 is disposed on the side of the base frame 12 opposite to the support 23. The compensating element 26 is designed such that the support 23 with guide wheel 22 is movable relative to the base frame 12 and pivotable about pivot axis 25. The compensating element 26 may, for example, be disposed on another fastening element 24b. In particular, the spring element may be wound around the fastening element 24b. The compensating element 26 is preferably configured such that the compensating element is pre-tensioned on one side of the base frame 12 between the support 23 and the base frame 12 and on the other side of the base frame 12 between the head of the fastening element 24b and the base frame 12.

[0123] Figures 7a to 7d A method for processing a single item S is shown, wherein, in Figure 7a and Figure 7b The transport vehicle 1 receives a single piece of goods S from the receiving location, and in Figure 7c and Figure 7d The individual item S is delivered to the delivery location at a different location. The receiving location and the delivery location can be, for example, a placement location on shelf 101, or a delivery location on a delivery device or similar object. When an individual item S is received into the warehouse, it can be received from the delivery location, transported to the placement location, and delivered to that placement location by transport vehicle 1. Conversely, when an item is dispatched from the warehouse, it can be received from the placement location on shelf 101, transported to the delivery device, and delivered to that delivery device by transport vehicle 1.

[0124] Upon receiving a single item S, the transport vehicle 1 is positioned in front of the single item S, and the single item transfer device 4 moves out along the removal direction AR, thereby positioning the single item transfer device on the opposite side of the single item S. Here, the single item transfer devices 4 are oriented relative to each other at a distance greater than the width of the single item S. The transport mechanism 5, positioned behind the single item S along the removal direction AR, can now be rotated to the operating position.

[0125] In order to align the single-item cargo transfer device 4 and / or to turn the transport mechanism 5 out, the control unit 2 preferably pre-sets the turning angle α and / or the distance between the single-item cargo transfer devices 4, so that the transport mechanism 5 can... Figure 7a The single item S is fitted from the rear in a form-locking manner as shown. Here, the control unit 2 can take into account the geometry of the single item, particularly the width and / or height of the single item S, as in this combination. Figures 2a to 2e As described above. Therefore, transport devices can be selectively and, if necessary, placed in overlapping or non-overlapping transport positions according to the geometry of individual goods.

[0126] Subsequently, the single-item transfer device 4 can be moved in against the outward direction AR. The single-item cargo S is then transferred from the receiving position to the receiving platform 3 of the transport vehicle 1 via the transport mechanism 5, which engages with the single-item cargo S from the rear via a form-locking mechanism. The transport vehicle 1 can now move towards the delivery position.

[0127] When transport vehicle 1 is delivered, the transport mechanism 5, which is positioned in front of the single piece of cargo S along the removal direction AR, is first rotated to the operating position. Here, control unit 2 pre-sets a rotation angle α for transport mechanism 5, so that transport mechanism 5... Figure 7b The single item S is inserted from the rear in a form-locking manner as shown. Since it is the same single item S as previously received, it is appropriate that the same turning angle α and (if necessary) the same distance are now pre-given as before.

[0128] Subsequently, the single-item cargo transfer device 4 can be moved out along the removal direction AR. The single-item cargo S is transferred from the receiving platform 3 of the transport vehicle 1 to the delivery position via the transport mechanism 5, which is fitted from the rear in a form-locking manner. Figure 7c As shown in the image.

[0129] Finally, the transport vehicle 5 can be returned to its starting position, and the single-item cargo transfer device 4 can be moved in. The transport vehicle 1 is now ready for the next transport mission.

[0130] exist Figures 7a to 7c The dimensions of the single item S processed in the middle are similar to Figure 2a The single item shown is an example. Therefore, the transport devices are positioned at non-overlapping transport locations. However, the handling of the single item S can be combined as follows: Figures 7a to 7b As described, this is implemented for single goods S of different sizes, wherein the transport device is placed in overlapping transport positions when necessary.

[0131] Figure 8a and Figure 8b The diagram illustrates another method for processing a single item S. This method can be implemented as a standalone method or in conjunction with the preceding method. Figures 7a to 7c The methods described are implemented within the scope of the method, especially when transferring transport agency 5.

[0132] Transport vehicle 1 is basically as follows Figure 7aAs shown, the single-item cargo transfer device 4 is positioned in front of the single-item cargo S, and moves out along the removal direction AR, positioning it on the opposite side of the single-item cargo S. Here, the single-item cargo transfer device 4 is oriented relative to each other at a distance greater than that of the cargo S, specifically, the single-item cargo transfer device 4 is oriented relative to each other at its widest (maximum) distance. Unlike the aforementioned method, the transport mechanism 5 located next to the single-item cargo S is now pivoted out (i.e., the single-item cargo S is located, at least in a segment, between the transport mechanism pairs provided for width measurement in the depth direction Z). If necessary, the single-item cargo transfer device 4 moves out (only) this far along the removal direction AR, such that at least one transport mechanism pair is positioned next to the single-item cargo S.

[0133] Transport unit 5 is transferred out until its pivotal movement is blocked by a single piece of cargo S, such as Figure 8a As shown in the diagram. The obstruction of the corresponding transport mechanism 5 manifests as an increase in the constraint torque acting on the transport mechanism 5, which can be detected by the aforementioned constraint detection unit 8. If the constraint torque exceeds a threshold, the pivoting movement can be stopped. This can, for example, serve as a safety mechanism if the transport mechanism 5 is unintentionally positioned next to a single item S. The turning angle α reached when the transport mechanism 5 turns out can be detected by the angle detection unit 9 described above. Based on the detected turning angle α, the distance between each single item transfer device 4, and, if necessary, the length of the transport mechanism 5, the width and / or position of the single item S can be determined in the case shown, especially if the height of the single item S is known and thus determined, the transport mechanism 5, as Figure 8a As shown, their respective front ends VE are attached to the side of the single item S.

[0134] If the height and / or width of a single item S are not known, or if the height of a single item S is too low (as follows) Figure 8c As shown), the transport mechanism 5 extends its respective front end VE over the single piece of cargo, which is to achieve the purpose of re-implementing the measurement at a different distance.

[0135] Therefore, the control unit 2 can reset the distance between the individual cargo transfer devices, which is again greater than the width of the individual cargo S, and is different from the previously set distance, but preferably greater than the previously set distance. The individual cargo transfer devices 4 can now be set relative to each other at this distance, such as... Figure 8b As shown in the diagram, the transport mechanism 5 located next to the single item S can now pivot further outward until the pivoting movement is again blocked by the single item S. The same transport mechanism as before can be used here. The achieved turning angle α can also be detected by the aforementioned angle detection unit 9.

[0136] The detected turning angle α corresponding to the distance between the individual cargo transfer device 4 and the set distance or multiple set distances (especially as a dataset) can now be transmitted to the calculation unit 11, 111, for example, to the calculation unit 11 of the transport vehicle 1 or the calculation unit 111 of the storage system 100. The calculation unit 11 can evaluate the distance and the turning angle α, and on this basis, and if necessary, calculate the width and / or position of the individual cargo S based on the length of the transport mechanism 5.

[0137] The width of a single item and / or the position of a single item (relative to the single item transfer device 4) is determined here by the geometric arrangement and known geometric quantities, such as the distance between each single item transfer device 4, the turning angle α, and (if necessary) the length of the transport mechanism 5.

[0138] As mentioned above, in Figure 8c In the example shown, whether at the starting position or at... Figure 8c In the operating positions shown, the height of each individual item S is less than the vertical distance between the receiving platform 3 and the front end VE of the transport mechanism 3. Therefore, in this case, a single measurement cannot definitively determine the width and / or position of the individual item S. Therefore, in this context... Figure 8a and Figure 8b As shown and described in this regard, measurements need to be taken at a first distance and a modified second distance.

[0139] Therefore, the width and / or position of a single item S can be determined at the receiving location by means of the transport vehicle 1, and the transport device can be adjusted accordingly to receive the single item S if necessary. Furthermore, a correction task can also be selectively derived from this if an incorrect position, such as twisting, is determined to be found in the single item S.

[0140] Finally, it should be noted that the scope of protection is determined by the patent claims. However, the claims should be interpreted based on the specification and drawings. A single feature or combination of features in the various embodiments shown and described can be a solution to an independent invention.

[0141] It is particularly important to note that the apparatus shown in the illustrations may actually contain more or fewer components than illustrated. In some cases, the apparatus or its components may also be shown out of scale and / or enlarged and / or reduced.

[0142] List of reference numerals

[0143] 1. Transport vehicles

[0144] 2 Control Unit

[0145] 3 Receiving Platform

[0146] 3a Single-piece cargo support

[0147] 4 Single-item cargo transfer device

[0148] 5. Transportation agencies

[0149] 6. Adjustment device

[0150] 7. Drive unit

[0151] 8 Constraint Detection Unit

[0152] 9 Angle Detection Units

[0153] 10 Width Adjustment Device

[0154] 11 Computing Units

[0155] 12 Base Frame

[0156] 13 Walking wheels

[0157] 14 Telescopic Frame

[0158] 15, 16 Telescopic Carriage

[0159] 17. Guiding device

[0160] 18 teeth

[0161] 19 Driving Drive

[0162] 20. Sliding conductor rail device

[0163] 21 Guiding Unit

[0164] 22 guide wheels

[0165] 23 Bearing body

[0166] 24a, 24b Fastening Components

[0167] 25 rotating axis

[0168] 26 compensation elements

[0169] 100 storage system

[0170] 101 Shelves

[0171] 102 Shelf Aisle

[0172] 103 Shelving Compartments

[0173] 104 Shelf Uprights

[0174] 105 longitudinal beams

[0175] 106 guide rail

[0176] 107 Guide Section

[0177] 111 computing units

[0178] orthogonal distance

[0179] α Turning angle

[0180] AE receiving plane

[0181] AR, AR's direction of movement

[0182] FE driving layer

[0183] S single item

[0184] SA pivot axis

[0185] SE Pivot

[0186] SF side

[0187] VE front end

[0188] X longitudinal direction

[0189] Y-axis

[0190] Z-depth direction

Claims

1. A transport vehicle (1), particularly a racking machine, said transport vehicle for transporting single items (S) in a storage system (101), said transport vehicle comprising a transport device and a control unit (2) for driving the transport device, wherein, The transport device has: a receiving platform (3) for receiving a single item (S); a single item transfer device (4) arranged opposite each other at a variable distance and movable relative to the receiving platform (3), the single item transfer device being used to transfer the single item (S) between the receiving platform (3) and the shelf (101); and a pair of transport mechanisms having two transport mechanisms (5) arranged opposite each other—particularly within a pivot plane (SE)—and supported on one of the single item transfer devices (4) in a manner that allows it to pivot about a pivot axis (SA). Its features are, The transport mechanism (5) can be adjusted between a starting position and multiple operating positions, and the control unit (2) is configured to pre-given the turnout angle (α) between the transport mechanism (5) and the single cargo transfer device (4) for the transport mechanism (5), wherein the transport device has an adjustment device (6) for each transport mechanism (5) to implement the pivoting movement of the corresponding transport mechanism (5) at the pre-given turnout angle (α), and the turnout angle (α) is 0° at the starting position and greater than 0° at the operating positions.

2. The transport vehicle (1) according to claim 1, characterized in that, The operating position includes at least one of the following operating positions, wherein the rotation angle is greater than 90°, particularly at least 95°, and especially preferably at least 100°.

3. The transport vehicle (1) according to claim 1 or 2, characterized in that, The receiving platform (3) has single-item cargo supports (3a) that extend parallel to each other at a variable distance, the single-item cargo supports defining a receiving plane (AE), wherein the operating position includes at least one operating position in which the turn-out angle is selected such that the corresponding transport mechanism (5) intersects the receiving plane (AE) in the at least one operating position.

4. The transport vehicle (1) according to any one of claims 1 to 3, characterized in that, The transport device can be placed in a non-overlapping transport position, in which the transport mechanisms (5) of the transport mechanism pair turn out at the same turning angle (α), wherein the front end (VE) of the transport mechanism is positioned at an orthogonal distance (a) relative to the corresponding single cargo transfer device (4), and each single cargo transfer device (4) is set at a distance relative to each other that is equal to or greater than twice the orthogonal distance (a).

5. The transport vehicle (1) according to any one of claims 1 to 4, characterized in that, The transport device can be placed in an overlapping transport position in which the transport mechanisms (5) of the transport mechanism pair turn out at different turning angles (α), and each of the single cargo transfer devices (4) is set relative to each other at a distance in which the transport mechanisms (5) of the transport mechanism pair overlap in their pivot plane (SE).

6. The transport vehicle (1) according to any one of claims 1 to 5, characterized in that, The control unit (2) has a constraint detection unit (8) for detecting the constraint torques acting on the transport mechanism (5) respectively when the pivoting motion is performed, and the control unit is configured to drive the adjustment device (6) and stop the pivoting motion of the corresponding transport mechanism (5) when the constraint torque acting on the corresponding transport mechanism (5) exceeds the threshold.

7. The transport vehicle (1) according to any one of claims 1 to 6, characterized in that, Each adjustment device (6) has an angle detection unit (9), particularly a rotary encoder, for detecting the turnout angle (α), especially during the pivoting motion.

8. The transport vehicle (1) according to claim 6 or 7, characterized in that, The control unit (2) is configured to pre-determine the distance for the single-item cargo transfer device (4), and the transport device is configured to position the single-item cargo transfer devices (4) relative to each other at a pre-determined distance and, by means of their respective adjustment devices (6), turn out the transport mechanism (5) of the transport mechanism pair until a pre-determined turnout angle (α) or at a turnout angle (α) at ​​which the constraint torque acting on the respective transport mechanism (5) exceeds the threshold.

9. The transport vehicle (1) according to claim 8, characterized in that, The control unit (2) is configured to transmit the pre-given distance and the detected turn-out angle (α) to the calculation unit (11).

10. The transport vehicle (1) according to claim 8 or 9, characterized in that, The transport vehicle (1) includes a calculation unit (11) configured to: receive a pre-given distance and a detected turnout angle (α) from the control unit (2), and determine the width and / or position of the interference structure causing the constraint force based on the pre-given distance and the detected turnout angle corresponding to the pre-given distance, or based on two different pre-given distances and the detected turnout angle (α) corresponding to the pre-given distance.

11. The transport vehicle (1) according to any one of claims 1 to 10, characterized in that, The single-item cargo transfer device (4) has a telescopic frame (14) and a first telescopic carriage (15) that can be moved out relative to the telescopic frame (14), and preferably has a second telescopic carriage (16) that can be moved out relative to the first telescopic carriage (15), wherein the base frame (12) and the first telescopic carriage (15) and / or the first telescopic carriage (15) and the second telescopic carriage (16) are movably connected via guide devices (17).

12. The transport vehicle (1) according to claim 11, characterized in that, One or more guide devices (17) are integrally constructed with the first telescopic carriage (15).

13. The transport vehicle (1) according to any one of claims 1 to 12, characterized in that, The transport device includes multiple transport mechanism pairs, particularly two external transport mechanism pairs arranged in the end region of the single cargo transfer device (4), and preferably at least one internal transport mechanism pair arranged between the external transport mechanism pairs.

14. A storage system (100) for a storage unit in a shelf (101), the storage system comprising: At least one shelving aisle unit having two shelving units (101) arranged side by side and extending in a longitudinal direction (X) and a shelving aisle (102) extending in a longitudinal direction (X) between the shelving units (101); and at least one transport vehicle (1) movable in the shelving aisle (102) along the shelving units (101), characterized in that the at least one transport vehicle (1) is constructed according to any one of claims 1 to 13.

15. The storage system (100) according to claim 14, characterized in that, The at least one transport vehicle (1) has a base frame (12), a plurality of wheels (13) rotatably supported on the base frame (12), and a drive drive (19) coupled to at least one of the wheels (13).

16. The storage system (100) according to claim 14 or 15, characterized in that, The storage system (100) includes a computing unit (11) configured to receive a turnout angle (α) from the control unit (2) of the transport vehicle (1) and / or a pre-given distance between each individual cargo transfer device (4), and to determine the width and / or position of the interference structure based on two different pre-given distances and the detected turnout angle (α) corresponding to the pre-given distance.

17. A method for handling a single item (S) in a storage system (100) according to any one of claims 14 to 16 by means of a transport vehicle (1), particularly a transport vehicle (1) according to any one of claims 1 to 13, the method comprising: A single item (S) is transferred between the receiving position and the receiving platform (3) of the transport vehicle (1) by means of a single item transfer device (4) which is arranged opposite to each other and can be moved relative to the receiving platform (3), wherein a transport mechanism (5) which is pivotally supported on the single item transfer device (4) and arranged opposite to each other in the pivot plane (SE) rotates from the starting position to the operating position so as to engage the single item (S) from the rear in a locking manner for transfer. Its features are, The control unit (2) of the transport vehicle (1) pre-sets the turning angle (α) between the corresponding transport mechanism (5) and the corresponding single cargo transfer device (4) for the operation position of the transport mechanism (5), and the turning angle (α) can be freely selected by the control unit (2) between 0° and 120°, especially between 0° and 100°.

18. The method according to claim 17, characterized in that, The transfer device is placed in a non-overlapping transport position, wherein the control unit (2) pre-given the same turn-out angle (α) for the operation position of the two transport mechanisms (5) of the transport mechanism pair, and the transport mechanism (5) of the transport mechanism pair is turned out at the pre-given turn-out angle (α), so that the transport mechanism is positioned with its front end (VE) relative to the side (SF) of the corresponding single cargo transfer device (4) at an orthogonal distance (a), and the distance between each single cargo transfer device (4) is set to be equal to or greater than twice the orthogonal distance (a).

19. The method according to claim 18, characterized in that, The transfer device is placed in an overlapping transport position, wherein the control unit (2) pre-given different turn-out angles (α) for the operation positions of the two transport mechanisms (5) of the transport mechanism pair, the transport mechanisms (5) of the transport mechanism pair are turned out at the pre-given turn-out angles (α) respectively, and the distance between each single cargo transfer device (4) is set such that the transport mechanisms (5) of the transport mechanism pair overlap each other in the pivot plane (SE).

20. The method according to claims 18 and 19, characterized in that, Depending on the width and / or height of a single item (S), the transfer device may be selectively placed in overlapping or non-overlapping transport positions.

21. The method according to any one of claims 17 to 20, characterized in that, The corresponding turnout angle (α) is pre-given by the control unit (2) according to the geometry of the individual cargo.

22. A method for handling a single item (S) in a storage system (100), particularly in a storage system according to any one of claims 14 to 16, by means of a transport vehicle (1), particularly a transport vehicle according to any one of claims 1 to 13, particularly a method according to any one of claims 17 to 21, wherein, The single-item cargo transfer devices (4), which are positioned opposite each other and can be moved relative to the receiving platform (3) of the transport vehicle (1), are positioned on opposite sides of the single item (S) at a distance relative to each other, and the transport mechanism (5), which is pivotally supported on the single-item cargo transfer devices (4) and is positioned opposite each other in the pivot plane (SE), rotates out from the starting position. Its features are, When the transport mechanism (5) turns out of the prescribed turning angle (α), the constraint torque acting on the corresponding transport mechanism (5) is detected. During this period, the distance between the single-item cargo transfer devices (4) is changed, or When the transport mechanism (5) of the transport mechanism is turned out, the constraint torque acting on the corresponding transport mechanism (5) is detected, and the transport mechanism (5) is pivoted out until the corresponding constraint torque exceeds the threshold.

23. The method according to claim 22, characterized in that, The following turning angle (α) is detected and corresponds to the distance between the single cargo transfer device (4), and the transport mechanism (5) has turned out up to the turning angle when turning out.

24. The method according to claim 23, characterized in that, Change the distance between the single cargo transfer devices (4) and turn the transport mechanism (5) out again until the corresponding constraint torque exceeds the threshold, wherein the following turning-out angle (α) corresponding to the distance between the single cargo transfer devices (4) is detected again, and the transport mechanism (5) has turned out up to the turning-out angle when turning out.

25. The method according to any one of claims 23 to 24, characterized in that, The distance and the corresponding turnout angle (α) are transmitted to the calculation unit (11), and the calculation unit (11) determines the width and / or position of the single item (S) based on the transmitted distance or multiple transmitted distances and the transmitted turnout angle (α).

26. The method according to any one of claims 22 to 25, characterized in that, The distance and the turnout angle (α) corresponding to the distance are transmitted to the calculation unit (11), and the calculation unit (11) determines the height of the single cargo (S) based on the transmitted distance or multiple transmitted distances and the transmitted turnout angle (α).

27. The method according to any one of claims 22 to 26, characterized in that, In order to measure the width and / or position of the individual goods (S), the distance between the individual goods transfer devices (4) is set according to the determined height of the individual goods (S).

28. A method for handling a single item (S) in a storage system (100), particularly in a storage system according to any one of claims 14 to 16, by means of a transport vehicle (1), particularly a transport vehicle according to any one of claims 1 to 13, particularly a method according to any one of claims 17 to 27, wherein, The single-item cargo transfer devices (4), which are positioned opposite each other and can be moved relative to the receiving platform (3) of the transport vehicle (1), are positioned at a distance relative to each other on opposite sides of the single item (S), and the transport mechanism (5), which is pivotally supported on the single-item cargo transfer device (4)—particularly positioned opposite each other in the pivot plane (SE)—is rotated out from the starting position. Its features are, The transport mechanism (5) is pivoted out and the constraint torque acting on the corresponding transport mechanism (5) is detected. During this period, the distance between the single cargo transfer devices (4) is changed.

29. The method according to claim 28, characterized in that, The distance and the corresponding turnout angle (α) are transmitted to the calculation unit (11, 111), particularly to the calculation unit (11) of the transport vehicle (1) or the calculation unit (111) of the storage system (100), and the calculation unit determines the height and / or width and / or position of the single cargo (S) based on the transmitted distance or multiple transmitted distances and the transmitted turnout angle (α).

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