Transport vehicle for transport, and method for handling piece goods in a storage system

Abstract

The invention relates to a transport vehicle (1) comprising a receiving platform (3) for receiving piece goods (S), piece-goods transfer means (4) which are extendable relative to the receiving platform, and transport members which are mutually opposite, are mounted pivotally about a pivot axis (SA), and are each movable between an initial position and a plurality of actuation positions, wherein the pivoted-out angle (a) is 0° in the initial position and greater than 0° in each of the actuation positions. The invention also relates to a storage system comprising a transport vehicle (1) of this kind, and to a method for handling piece goods, which method can be carried out by means of a transport vehicle (1) of this kind.

Description

[0001] TRANSPORT VEHICLE FOR TRANSPORTING AND METHOD FOR HANDLING UNIT GOODS IN A STORAGE SYSTEM

[0002] The invention relates to a transport vehicle according to the preamble of claim 1 and a storage system according to the preamble of claim 14.

[0003] Furthermore, the invention relates to a method for handling piece goods according to the preamble of claim 17 as well as according to the preamble of claim 22 and according to the preamble of claim 28.

[0004] Transport vehicles or storage and retrieval machines are known from the prior art, which have horizontally extendable unit load transfer means in the form of telescopic arms, by means of which unit loads can be pushed out of or back into storage racks. Such storage and retrieval machines are described, for example, in WO 2016 / 168874 A1, EP 2 351 698 B1, EP 2 433 882 A1, US 2003 / 0185656 A1, EP 0 733 563 A1, EP 2 351 698 B1.

[0005] For moving piece goods, the piece goods handling equipment is equipped with several transport elements that positively engage the piece goods for pushing in an actuated position. A disadvantage of this is that these transport elements can usually be pivoted between an initial position and exactly one actuated position. The actuated position is usually determined by an end stop for the transport elements.

[0006] Since the transport elements are arranged in pairs in a pivoting plane for linear loading and unloading without twisting the piece goods, the piece goods transfer devices can only be brought together without collision up to a minimum distance at which the transport elements are in contact with each other with their front ends. The minimum distance between the piece goods transfer devices is therefore essentially determined by the length of the transport elements.

[0007] One object of the invention is to provide an improved transport vehicle, an improved storage system comprising such a transport vehicle, and an improved method for handling piece goods of the type mentioned above. In particular, the aim is to enable handling of narrower piece goods and to determine the height, width, and / or position of the piece goods.

[0008] The problem is solved by a device of the type mentioned above, wherein the transport elements are each adjustable, in particular continuously, between a starting position and a plurality of actuating positions. The control unit is configured to predetermine a preferably individual pivoting angle for each transport element between the respective transport element and the piece goods transfer means on which the respective transport element is pivotally mounted. In the starting position, the transport element is in a position (at a starting angle) in which it is not possible to reach behind a piece goods (or outside the space defined by the oppositely arranged piece goods transfer means and the receiving platform).The pivoting angle is 0° in the starting position and, in the actuating positions (at an actuating angle) in which it is possible to reach behind a piece of goods (within the space defined by the piece goods displacement means and receiving platform), in particular more than 0° in each case, preferably a maximum of 180°, 120° or 100°. Furthermore, the transport device has an adjusting device for each transport element for carrying out a pivoting movement of the respective transport element into the pivoting angle, in particular for carrying out the pivoting movement between the starting position and a predetermined actuating position.

[0009] Furthermore, the object of the invention is achieved by a method of the type mentioned at the outset, wherein the control unit of the transport vehicle specifies a swivel angle between the respective transport element and the respective piece goods displacement means for the actuating position of the transport elements, and the swivel angle can be freely selected by the control unit between 0° and 120°, in particular between 0° and 100°.

[0010] The object of the invention is further achieved with a further method of the type mentioned at the outset, wherein, when the transport elements of the transport element pair are pivoted out by a defined pivot angle, a restraining moment acting on the respective transport element is detected, in particular by a restraining detection unit described below, while the distance between the piece goods transfer means is changed, or wherein, when the transport elements of the transport element pair are pivoted out, a restraining moment acting on the respective transport element is detected, in particular by a restraining detection unit described below, and the transport elements are each pivoted out until the respective restraining moment exceeds a (predetermined) threshold value. This can also be carried out with the method described above, if necessary.The object of the invention is further achieved with a further method for handling piece goods in a storage system by means of a transport vehicle, in particular a transport vehicle mentioned above, wherein piece goods displacement means arranged opposite one another and extendable relative to a receiving platform of the transport vehicle are positioned at a distance from one another on opposite sides of a piece goods and transport elements pivotally mounted on the piece goods displacement means, in particular arranged opposite one another in a pivot plane, are pivoted out of an initial position, wherein the transport elements are pivoted out and a restraining moment acting on the respective transport element is detected, during which the distance between the piece goods displacement means is changed.

[0011] A particular advantage achieved by the invention is that opposing transport elements of a transport element pair can be moved independently of one another into a multitude of different operating positions. The respective operating position used can therefore be adapted, in particular, to the piece goods to be handled. This prevents collisions between transport elements when adjusting the distance between the piece goods transfer devices. Furthermore, the piece goods transfer devices can also be positioned closer to one another. This enables reliable handling of particularly narrow piece goods.

[0012] Furthermore, the swivel movement can be interrupted at any swivel angle so that there is no damage to the piece goods and / or the respective transport element, especially if the swivel movement is blocked or obstructed by the piece goods and therefore an increased restraining torque is detected.

[0013] For the described methods for handling piece goods, a transport vehicle according to one of the described aspects is preferably used.

[0014] The control unit of the transport vehicle is preferably configured to control the actuators of the transport elements to perform the pivoting movement and / or to stop the pivoting movement, for example, when the specified pivoting angle is reached and / or a detected restraining torque exceeds the (specified) threshold value. The threshold value can be specified by the control unit.

[0015] According to an advantageous embodiment, the control unit of the transport vehicle can be configured to detect a change in a sensed restraining torque and to output a restraining torque change signal. Furthermore, the receiving platform, in particular an upper side of the receiving platform, of the transport vehicle defines a preferably horizontally oriented receiving plane on which piece goods picked up by the transport device can be arranged. The receiving platform can be designed in one or more parts. Particularly preferably, the receiving platform comprises two piece goods supports arranged parallel to one another with a (variable) distance. In this case, it is expedient if the distance between the piece goods supports is set such that it is smaller than the width of a piece of goods to be picked up.

[0016] The piece goods transfer means are mounted on the transport vehicle so that they can be extended relative to the receiving platform in the extension direction, in particular telescopically, and preferably extend along a longitudinal axis from a first end region to a second end region. The longitudinal axis of the piece goods transfer means is aligned parallel to the extension direction and preferably horizontally, in particular orthogonally to a direction of travel of the transport vehicle.

[0017] As a rule, the piece goods transfer means each have a side surface facing the other piece goods transfer means, in particular orthogonal to the receiving platform and / or vertically aligned. The side surfaces are preferably aligned parallel to each other and, if appropriate, delimit a receiving space for the piece goods, which is limited downwards by the receiving platform.

[0018] Typically, the transport elements extend along a longitudinal axis from their respective pivot axis to a front end of the respective transport element. It is advantageous if all transport elements of the transport device are of the same length.

[0019] Advantageously, the pivot axis is aligned horizontally and / or parallel to the longitudinal axis of the respective piece goods transfer device and / or parallel to its side surface. The pivot plane is preferably aligned orthogonally to the side surfaces of the piece goods transfer device.

[0020] It is advantageous if the pivot axis is arranged in such a way that the front end of the transport element moves along a circular path toward the receiving platform when performing the pivoting movement from the starting position to an actuating position. For this purpose, the pivot axis can be located closer to the receiving platform in the starting position than the front end of the transport element.

[0021] In general, it can be mentioned that two transport elements arranged opposite one another, in particular in the pivoting plane, form a transport element pair, wherein the transport device can optionally comprise several such transport element pairs arranged in each pivoting plane.

[0022] Preferably, the transport device comprises two outer transport elements arranged in the end regions of each piece goods transfer means, and one or more inner transport elements arranged between the outer transport elements. The outer transport elements thus form outer transport element pairs. Furthermore, the inner transport elements form at least one inner transport element pair.

[0023] If several transport organ pairs are provided, one of the transport organ pairs can be selected by the control unit in the described methods and used to carry out the method.

[0024] Each pivot angle can be assigned an orthogonal distance between the front end of the transport element and the respective piece goods handling device, in particular its side surface. The orthogonal distance is proportional to the sine of the pivot angle and can therefore be changed by changing the pivot angle.

[0025] In the initial position, the transport element is aligned parallel to the respective piece goods transfer device, in particular to its side surface, and optionally stowed in a recess in the piece goods transfer device, with the transport element preferably being flush with the side surface. The pivoting angle in the initial position is 0°. Accordingly, the orthogonal distance is also 0 mm. Furthermore, in the actuated positions, the transport element is aligned at an angle to the respective piece goods transfer device, in particular to its side surface, and encloses an angle of more than 0°.

[0026] Each adjustable pivot angle can correspond to an actuating position. Thus, depending on the positioning accuracy of the actuating device of the respective transport element, a different number of actuating positions can be set. The positioning accuracy of the actuating device is, for example, 0.5°, preferably 0.1°, and particularly preferably 0.01°.

[0027] It is advantageous if an encoder with a resolution of 1024 is used for the drive device of the positioning device. The positioning accuracy of the transport element can thus be at least 360° / 1024. Furthermore, the drive device can be provided with a gear ratio so that even higher positioning accuracy can be achieved.

[0028] It is advantageously provided that opposing transport elements of a pair of transport elements can be adjusted to different pivoting angles and therefore to different actuation positions.

[0029] A restraining moment can be understood as a moment, for example a force, that counteracts the pivoting movement of the transport element, particularly from the starting position to the actuating position, and thus hinders and / or blocks the pivoting movement. The restraining moment can be caused, for example, by a piece of goods against which the transport element is intentionally or inadvertently positioned.

[0030] The restraining torque can, for example, be reflected in an increased motor current of the actuating device of the respective transport element. By detecting and / or evaluating the motor current of the respective actuating device, in particular an electric drive motor, the restraining torque can be measured. The motor current is proportional to the restraining torque, so the threshold value can be specified, for example, for the motor current.

[0031] The restraining torque is expediently detected by means of a restraining detection unit, described below, assigned to the respective transport element. Preferably, the actuating positions include at least one actuating position in which the pivoting angle is more than 90°, in particular at least 95°, at least 100°, or particularly preferably at least 120°.

[0032] In this case, it can be provided that the transport elements are each pivotable between the starting position and a maximum actuating position in which the pivoting angle is more than 90°, in particular more than 95°, particularly preferably at least 100° or 120°, and a plurality of actuating positions in between in which the pivoting angle is greater than 0° and smaller than the pivoting angle of the maximum actuating position.

[0033] It is advantageous if the receiving platform has piece goods supports that run parallel to one another at variable spacings, defining a receiving plane. In this case, it can be provided, in particular, that the actuating positions include at least one actuating position in which the pivoting angle is selected such that the respective transport element intersects the receiving plane in this at least one actuating position. For this purpose, it is expedient if the pivoting angle is greater than 90°.

[0034] It is advantageous if a length of the transport elements from their pivot axis to their respective front end is greater than a width of the piece goods supports, or if the piece goods displacement means are positioned such that the transport elements protrude beyond an edge of the piece goods supports when the pivoting angle is 90° or greater than 90° and, for example, less than 120°.

[0035] It is advantageous if the transport device can be brought into a non-overlapping transport position. In this position, the transport elements of the transport element pair are each pivoted to the same (predetermined) pivot angle, in which their front ends are positioned at the same orthogonal distance from the respective piece goods transfer device. To prevent a collision between the transport elements of the transport element pair, it can now be provided that the piece goods transfer devices are arranged at a distance from one another that is equal to or greater than twice the orthogonal distance.

[0036] It is advantageous if the transfer device is moved into the non-overlapping transport position in the method for handling piece goods, wherein the same pivoting angle is specified for the actuating positions of the two transport elements of the transport element pair by means of the control unit.

[0037] The non-overlapping transport position allows for a large distance between the unit load transfer devices, allowing for the handling of wide unit loads, such as unit loads whose width exceeds twice the length of one of the transport elements. On the other hand, the transport elements of the pair of transport elements can be pivoted to a small angle, for example, less than 45° or less than 30°, in the non-overlapping transport position, allowing for a small distance between the unit load transfer devices. This is particularly advantageous for narrow but tall unit loads.

[0038] Advantageously, the transport device can be brought into an overlapping transport position. The transport elements of the transport element pair are each pivoted to a different (predetermined) pivoting angle. In order to enable a small distance between the piece goods transferring means and thus the handling of narrow piece goods, it is preferably provided that the piece goods transferring means are arranged at a distance from one another at which the transport elements of the transport element pair overlap in the pivoting plane. Thus, the distance between the piece goods transferring means can in particular be less than twice the orthogonal distance.

[0039] By means of the overlapping transport position, a small distance between the piece goods transfer devices can be achieved with a large swivel angle and therefore narrow, flat piece goods can be handled reliably, for example piece goods whose width is less than twice the length of the transport elements.

[0040] It is expedient if, in the non-overlapping transport position, the front end of one of the two transport elements of the transport element pair is positioned at a first orthogonal distance from the respective piece goods relocation means and the front end of the other of the two transport elements of the transport element pair is positioned at a second orthogonal distance from the respective piece goods relocation means. The transport devices can be arranged at a distance from one another which is smaller than twice the first orthogonal distance, twice the second orthogonal distance and / or a sum of the first and second orthogonal distances. It is advantageous if the transfer device is brought into the overlapping transport position, wherein different pivoting angles are specified by the control unit for the actuating positions of the two transport elements of the transport element pair.

[0041] Advantageously, the transport device can be moved selectively into the non-overlapping or overlapping transport position. Thus, for handling piece goods of different widths, it is preferably provided that the transport device can be moved selectively into the overlapping or non-overlapping transport position, in particular depending on the width and / or height of the piece goods.

[0042] It is advantageous if the respective pivoting angle is specified by the control unit depending on the geometry of the piece goods. The piece goods geometry describes, in particular, the width of the piece goods parallel to the distance between the piece goods transfer devices, the height of the piece goods, and / or the center of gravity of the piece goods. The piece goods geometry can be taken into account in particular by specifying the pivoting angle such that the transport elements reach behind the piece goods after they have pivoted out.

[0043] Particularly with a multi-part receiving platform, it can be advantageous if the pivoting angle of at least one of the transport elements in the pair of transport elements is set such that the respective transport element, in the actuated position, is positioned with its front end below the receiving plane. In this case, the transport element can be inserted into the space between the piece goods supports. This is advantageous, for example, for handling particularly flat piece goods.

[0044] It is advantageous if the adjusting devices each have a drive device designed to carry out the pivoting movement and to stop it when the respectively predefined pivoting angle is reached or the retaining force exceeds the (predefined) threshold value. The drive device is preferably designed for continuously moving the respective transport element about the pivot axis. For example, the drive device comprises an electric drive motor, in particular a rotary actuator. Advantageously, the adjusting devices, in particular the drive devices, are designed to fix the respective transport element at the predefined pivoting angle, for example by applying a holding force.

[0045] Furthermore, it is preferably provided that the control unit has a restraint detection unit configured to detect a restraining torque acting on the transport elements during the execution of the pivoting movement. The restraint detection unit can, for example, be designed to detect the motor current of the drive devices.

[0046] Furthermore, it is preferably provided that the control unit is configured to control the adjusting devices and stop the pivoting movement of one or more transport elements when the restraining torque on the respective transport element exceeds a (specified) threshold value. This can ensure, for example, that the transport elements do not press on the piece goods. The threshold value can be specified, for example, by the control unit, by a higher-level central processing unit of the warehouse system, or during commissioning or production of the transport vehicle.

[0047] It is advantageous if the adjusting devices each have an angle detection unit, in particular a rotary encoder, for detecting the swivel angle, in particular during the execution of the swivel movement.

[0048] The angle detection unit is advantageously connected to the control unit in order to transmit detected pivoting angles to the control unit. The control unit can be configured to receive and evaluate the detected pivoting angles from the angle detection unit. During evaluation, the detected pivoting angles can be compared with the pivoting angle specified for the respective transport element. The control unit is preferably configured to control the actuating device of the respective transport element and to stop the pivoting movement of the respective transport element when the detected pivoting angle corresponds to the specified pivoting angle.

[0049] It is advantageous if, in the methods described above, the respective swivel angles are detected, in particular by means of the angle detection unit assigned to the respective transport element, up to which the transport elements were swivelled out during swivelling and which correspond to the respectively set distance between the piece goods transfer means.

[0050] In order to adapt the variable distance between the piece goods displacement means to a width of a piece of goods to be picked up, it is preferably provided that the transport device has a distance adjusting device by means of which the distance between the piece goods displacement means can be adjusted.

[0051] It is advantageously provided that the control unit is designed to specify a distance for the piece goods displacement means (from one another). In this case, it can be provided that the transport device is configured to position the piece goods displacement means, in particular by means of the distance adjusting device, at a predetermined distance from one another, to pivot the transport elements of the transport element pair or of one of the transport element pairs by means of their respective adjusting device up to a predetermined pivoting angle or to a pivoting angle at which the restraining torque acting on the respective transport element exceeds the threshold value, or to move the piece goods displacement means (towards one another), in particular by means of the distance adjusting device, until the restraining torque acting on the respective transport element pivoted at a predetermined pivoting angle exceeds the threshold value.

[0052] It is expedient if, in the described methods, the distance between the piece goods shifting means is changed, in particular increased, and the transport elements are pivoted out again until the respective restraining moment exceeds a threshold value, wherein pivoting angles corresponding to the distance between the piece goods shifting means are again recorded, up to which the transport elements were pivoted out during pivoting out.

[0053] It is advantageous that the control unit is configured to transmit the predetermined distance and the detected swivel angles to an (external) computing unit, for example a computing unit of a storage system.

[0054] Optionally, it can be provided that the transport vehicle comprises a computing unit which is configured to receive the predetermined distance and the detected or predetermined swivel angles from the control unit and to determine a width and / or position of a disruptive structure causing the restraining force, in particular a piece of goods, on the basis of a predetermined distance and detected swivel angles corresponding to the predetermined distance or on the basis of two different predetermined distances and detected swivel angles corresponding to the predetermined distances.

[0055] In this case, it can be provided that the control unit is configured to transmit the specified distance and the detected swivel angles to this computing unit.

[0056] It is advantageous if, in the methods described above, the (respective) distance and the swivel angles corresponding to the (respective) distance are transmitted to a computing unit and a width and / or position of the piece goods is determined by the computing unit on the basis of the transmitted distance or the transmitted distances and the transmitted swivel angles.

[0057] The distance and the corresponding swivel angle can be transmitted to the previously described computing unit of the transport vehicle or to the computing unit of a storage system described below. Accordingly, the width and / or position of the piece goods can thus be determined by the computing unit of the transport vehicle or the storage system. If, for example, the width of the piece goods is known and / or a height of the piece goods is greater than a vertical distance between the receiving platform and the front ends of the transport elements, so that the transport elements are positioned with their respective front ends against a side surface of the piece goods when swiveling out, the position of the piece goods or, if applicable, the width of the piece goods can be calculated based on a single measurement (of the swivel angle), i.e. based on a single distance, and a length of the transport elements.If the width and / or position of the piece goods cannot be clearly determined based on a single measurement, for example because the piece goods are so low that the front end protrudes beyond the piece goods in the actuating position reached (top), a second measurement can be carried out with a different distance or swivel angle.

[0058] Advantageously, a height detection device can be provided for detecting the height of the piece goods and for emitting a height detection signal, in particular for detecting whether a predetermined minimum height is exceeded or undershot. The distance between the piece goods transfer devices (i.e., the position of the opposing piece goods transfer devices relative to one another) for measuring the width of the piece goods can be adjusted depending on the height detection signal. The height detection device can, in particular, preferably comprise at least one light barrier selected from the group consisting of a one-way, reflex, or light-band light barrier, or a combination of these, which is / are preferably arranged on one of the piece goods transfer devices.

[0059] Advantageously, the height detection device can alternatively be configured by the computing unit in such a way that, in the previously described methods, the distance and the pivoting angles corresponding to the distance are transmitted to the computing unit, and a height of the piece goods is determined by the computing unit on the basis of the transmitted distance or the transmitted distances and the transmitted pivoting angles. In particular, a height of the piece goods can be determined by a second measurement or multiple measurements with a changed distance (between the piece goods displacement means) or changed pivoting angle, in particular by detecting the transition at which the front end of the transport elements used for the measurement, in the achieved actuating position (top), just protrudes beyond the piece goods or just rests against the side wall.

[0060] According to an alternative advantageous embodiment, when the transport elements are pivoted out and a restraining moment acting on the respective transport element is detected, during which the distance between the piece goods relocation means is changed, the distance (between the piece goods relocation means) as well as the pivoting angles corresponding to the distance can be transmitted to the computing unit, in particular the computing unit of the transport vehicle or the computing unit of the storage system, and a height and / or a width and / or position of the piece goods is determined by the computing unit on the basis of the transmitted distance or the transmitted distances as well as the transmitted pivoting angles.Preferably, the distance between the piece goods transfer means is increased from a position where the piece goods transfer means are close to the piece goods until a change in the restraining torque (of the respective transport elements) is detected. In this way, the transition can be detected at which the front end of the transport elements used, in the actuating position reached, just protrudes (above) beyond the piece goods or just rests against the side wall. This method is particularly suitable for low piece goods over which the front end of the transport elements used protrudes. If no change in the restraining torque can be detected, the method as above for determining the width based on the threshold value being exceeded can alternatively be carried out.

[0061] It is advantageous if the piece goods displacement means each comprise a telescopic frame and a first telescopic carriage extendable relative to the telescopic frame and preferably a second telescopic carriage extendable 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 each movably connected via a guide arrangement.

[0062] It is advantageous if the guide arrangement or the guide arrangements are each formed integrally with the first telescopic slide.

[0063] In order to be able to handle piece goods of different lengths and / or several piece goods arranged one behind the other, it is preferably provided that the transport device comprises several pairs of transport elements, in particular two outer pairs of transport elements arranged in end regions of the piece goods displacement means and preferably at least one inner pair of transport elements arranged between them.

[0064] Furthermore, it can be provided that the transport vehicle has a base frame, several wheels rotatably mounted on the base frame and a travel drive coupled to at least one of the wheels.

[0065] The object is further achieved by utilizing the advantages and effects described above with a storage system of the type mentioned at the outset, wherein the transport vehicle is designed according to one of the aspects described above.

[0066] Due to the individual adjustability and the resulting smaller distance between the piece goods handling equipment, piece goods of different sizes, in particular piece goods with a particularly small width, can be handled and thus automatically retrieved from or stored in the storage rack of the storage system using the transport vehicle.

[0067] It is advantageous if the at least one transport vehicle has a base frame, a plurality of running wheels rotatably mounted on the base frame, and a drive coupled to at least one of the running wheels. The rack aisle preferably comprises guide rails running therein, with each of the running wheels resting against one of the guide rails. It is advantageous if the guide rails are arranged one above the other in pairs on opposite sides of the rack aisle and each pair forms a travel level, with each rack level being assigned a travel level.

[0068] It is expedient if the storage system comprises a computing unit which is configured to receive swivel angles and / or predetermined distances between the piece goods relocation means from the control unit of the transport vehicle and to determine a width and / or position of a disturbance structure on the basis of two different predetermined distances as well as detected swivel angles corresponding to the predetermined distances.

[0069] In particular, the computing unit, control unit, restraint detection unit, and angle detection unit can be implemented as microprocessor-based hardware, with the functions of these units being implemented as software. A common microprocessor-based hardware can also be used for multiple functions. Such a unit can also be implemented on hardware in the form of a so-called field programmable gate array (FPGA), programmable logic device (PLD), an application-specific integrated circuit (ASIC), or other integrated circuit. Here, too, multiple units can be integrated on such hardware. A unit can also be implemented as an analog circuit or analog computer. Furthermore, any mixture or combination of these designs is possible.

[0070] For a better understanding of the invention, it is explained in more detail using the following figures.

[0071] They show in a highly simplified, schematic representation:

[0072] Fig. 1a to 1c show a transport vehicle with transport elements in different swivel angles in side view;

[0073] Fig. Id the transport vehicle in plan view;

[0074] Fig. 2a to 2e show a side view of the transport vehicle with different sized piece goods; Fig. 3 shows a perspective view of the transport vehicle;

[0075] Fig. 4 is an enlarged cross-sectional view of a piece goods transfer device;

[0076] Fig. 5a and 5b a storage system with several transport vehicles;

[0077] Fig. 6a an enlarged detail of a storage rack and the transport vehicle;

[0078] Fig. 6b a guide unit of the transport vehicle;

[0079] Fig. 7a, 7b a piece of goods being picked up by the transport vehicle;

[0080] Fig. 7c, 7d a delivery of a piece of goods by the transport vehicle;

[0081] Fig. 8a to 8c a determination of a width and / or position of the piece goods by means of the transport vehicle.

[0082] By way of introduction, it should be noted that in the variously described embodiments, identical parts are provided with identical reference symbols or component designations. The disclosures contained throughout the description can be applied mutatis mutandis to identical parts with identical reference symbols or component designations. Furthermore, the positional information chosen in the description, such as top, bottom, side, etc., refers to the directly described and illustrated figure and, in the event of a change in position, is to be applied mutatis mutandis to the new position.

[0083] In Fig. 1a to Fig. 1c a transport vehicle 1 is shown in side view and in Fig. 1d in plan view.

[0084] The transport vehicle 1 comprises a control unit 2 and a transport device with a receiving platform 3 for receiving piece goods S. The receiving platform 3 defines a receiving plane AE and can be designed in one piece or in several parts as shown below.

[0085] In addition, the transport device comprises piece goods displacement means 4 arranged opposite one another and extendable relative to the receiving platform 3 in an extension direction AR to a first side of the transport vehicle 1 and optionally in a further extension direction AR', shown in dashed lines, opposite to the extension direction AR to a second side of the transport vehicle. Essentially, the piece goods displacement means 4 form a lateral boundary of a receiving space for the piece goods S, which is delimited downwards by the receiving platform 3. Preferably, the piece goods displacement means 4 each have a side surface SF facing the receiving space. Optionally, the piece goods displacement means 4 can be moved towards or away from one another by means of a spacing adjustment device 10.

[0086] Furthermore, transport elements 5 are arranged opposite one another in pairs on the piece goods transfer means 4 in a respective pivoting plane SE. As can be seen in Fig. 1d, outer transport elements 5 can be arranged in opposite end regions of the piece goods transfer means 4, and at least one inner transport element 5 can be arranged between them.

[0087] The transport elements 5 are each pivotably mounted about a pivot axis SA and are each coupled to an adjusting device 6, by means of which the transport elements can be pivoted between an initial position shown in Fig. 1a, in which a pivoting angle α of the transport elements is 0°, and one of several actuating positions in which the pivoting angle α is in each case more than 0°. Two exemplary actuating positions are shown in Fig. 1b and Fig. 1c. To carry out the pivoting movement of the transport elements 5, it is preferably provided that the adjusting devices 6 each have a drive device 7.

[0088] The control unit is configured to predetermine a pivoting angle a for each transport element 5, for example, 0° or more than 0°, when the respective transport element 5 is to be moved into the starting position or into one of the actuating positions. Furthermore, the control unit 2 is preferably configured to control the respective actuating devices 6 in order to move the transport elements 5 into the actuating or starting position defined by the predetermine pivoting angle a.

[0089] Furthermore, it can be provided that the control unit 2 has an optional restraint detection unit 8, by means of which a restraining torque acting on the transport elements 5 can be detected.

[0090] Preferably, the adjusting devices 6 each have an angle detection unit 9, in particular a rotary encoder, by means of which the pivoting angle a of the respective transport element 5 can be detected. The control unit 2 can be configured to compare a pivoting angle a detected by the angle detection unit 9 with the predetermined pivoting angle a and to stop the pivoting movement when the detected pivoting angle a corresponds to the predetermined pivoting angle a. Thus, the transport element 5 can be positioned in the actuating position or in the starting position.

[0091] It is advantageous if the transport vehicle 1 comprises an optional computing unit 11 which is configured to receive data relating to detected swivel angles a, predetermined distances between the piece goods transfer means 4 and / or detected restraining forces from the control unit 2 and to evaluate them if necessary.

[0092] Fig. 1a shows a starting position of the transport device, in which the transport elements 5 are in the starting position and the piece goods transfer means 4 are positioned at maximum distance from each other. As can be seen, the transport elements 5 are essentially flush with the side surface SF of the piece goods transfer means 4.

[0093] Furthermore, Fig. 1b shows a non-overlapping transport position of the transport device. In this position, the transport elements 5 are pivoted to the same pivot angle a. An orthogonal distance a between a front end VE of the respective transport element 5 and the side surface SF of the respective piece goods displacement means 4 is thus also the same, since the orthogonal distance a is proportional to the sine of the pivot angle a. To prevent the transport elements 5 from overlapping or colliding in their pivot plane SE, the piece goods displacement means 4 are arranged at a distance from one another that is equal to or greater than twice the orthogonal distance a, as shown in Fig. 1b.

[0094] In contrast, Fig. 1c shows an overlapping transport position of the transport device. Here, the transport elements 5 are arranged overlapping one another in their pivoting plane SE. To prevent the transport elements 5 from colliding, they are pivoted out at different pivoting angles α. This allows the piece goods transfer means 4 to be arranged particularly close to one another, as shown in Fig. 1c.

[0095] Below, case studies for different piece goods and different transport positions of the transport devices are described with reference to Fig. 2a to Fig. 2e. In Fig. 2a, a piece of goods S is arranged on the receiving platform 3, which is higher than the piece goods transfer means 4. The transport device is set in a non-overlapping transport position. In the example shown, the transport elements 5 engage behind the piece goods S in a form-fitting manner, so that it can be pushed off the receiving platform 3 by extending the piece goods transfer means 4.

[0096] Furthermore, in Fig. 2b, a piece of goods S is also arranged on the receiving platform 3, which is also higher than the piece of goods transferring means 4 but narrower than the piece of goods S shown in Fig. 2a. Here, too, the transport device is set in a non-overlapping transport position. To prevent the narrower piece of goods S from twisting during transfer, the piece of goods transferring means 4 are positioned closer to one another than in Fig. 2a. Here, too, the transport elements 5 engage behind the piece of goods S in a form-fitting manner, so that it can be pushed off the receiving platform 3 by extending the piece of goods transferring means 4.

[0097] In Fig. 2c, a piece of goods S is arranged on the receiving platform 3, which is lower than the piece of goods transfer means 4. The transport device is set in a non-overlapping transport position. In the example shown, however, the piece of goods S is too low for this setting, so that the transport elements 5 do not reach behind the piece of goods S. Pushing off the piece of goods S is therefore not possible in this setting.

[0098] Fig. 2d shows the same piece goods S as Fig. 2c on the receiving platform 3. In contrast to Fig. 2c, however, the transport device is arranged in the overlapping transport position. This means that the transport elements 5 are in different operating positions, so that they can overlap in their pivoting plane SE. Thus, the transport elements 5 can engage behind the piece goods S in a form-fitting manner, so that it can be pushed off the receiving platform 3 by extending the piece goods shifting means 4.

[0099] The receiving platform 3 can also be designed in several parts and comprise several piece goods supports, as shown by way of example in Fig. 2e and subsequently in Fig. 3. A first piece goods support and a second piece goods support of the receiving platform 3 are arranged at a distance from one another. The two piece goods supports, in particular their respective upper sides, define the previously described receiving plane AE. Fig. 2e now shows a further example, in which a flat or low piece of goods S rests on the two piece goods supports of the receiving platform 3. The transport device is again in the overlapping transport setting.Due to the multi-part design of the receiving platform 3, it is now possible to specify the pivoting angle a for one of the transport elements 5, or possibly also both transport elements 5, such that the respective transport element 5 extends with its front end VE between the two piece goods supports below the receiving plane AE. This allows even a particularly flat piece of goods S, for example, a piece of goods S a few centimeters high or even an envelope, to be positively gripped behind and pushed off the receiving platform 3, as shown in Fig. 2e.

[0100] Fig. 3 shows a perspective view of the transport vehicle 1, which is designed as a single-level storage and retrieval machine.

[0101] Preferably, the transport vehicle 1 has a base frame 12, a plurality of running wheels 13 rotatably mounted on the base frame 12, a travel drive 19 shown below in Fig. 6a for driving at least one running wheel 13 and / or control electronics for controlling the travel drive 19.

[0102] As can be seen in Fig. 3, the piece goods shifting means 4 can be mounted on the base frame 12 of the transport vehicle 1 in an extendable manner, in particular telescopically. The piece goods shifting means 4 preferably each have a telescopic frame 14 and telescopic carriages 15, 16 that can be extended horizontally relative to the telescopic frame 14. A first telescopic carriage 15 is displaceably mounted on the telescopic frame 14 via a guide arrangement 17 shown in Fig. 4. Furthermore, the second telescopic carriage 16 is displaceably mounted on the first telescopic carriage 15 via a guide arrangement 17. The first telescopic carriage 15 can be moved relative to the telescopic frame 14 with the aid of a drive device.

[0103] The transport device of the illustrated transport vehicle 1 has, as also shown in the schematic representation in Fig. 1d, several pairs of transport elements. In the example shown, the outer transport elements 5 are in an actuating position, and the inner transport elements 5 are in the starting position. It is expedient for the transport elements 5 to be arranged on the uppermost telescopic carriage 15, 16, for example, on the second telescopic carriage 16.

[0104] Fig. 4 shows a section of a piece goods transfer device 4 in a cross-sectional exploded view, showing the telescopic frame 14 and the first and second telescopic carriages 15, 16. As can be seen from Fig. 4, the guide arrangements 17 for the telescopic carriages 15, 16 can be formed integrally with the first telescopic carriage 15.

[0105] Optionally, a toothing 18 can be provided on the underside of the first telescopic carriage 15, which interacts with a drive device for the piece goods transfer means 4 to extend the first telescopic carriage 15. The extension movement can be transmitted to the second telescopic carriage 16 via a belt drive (not shown in Fig. 4).

[0106] Fig. 5a and Fig. 5b show a section of an eager system 100 for storing piece goods S, which comprises at least one rack aisle unit and several transport vehicles 1. The transport vehicles 1 can be designed as described above. In addition to the illustrated rack aisle unit, the storage system 100 can have a plurality of rack aisle units.

[0107] Such a rack aisle unit comprises two storage racks 101 arranged parallel to one another, which extend in the longitudinal direction X and between which a rack aisle 102 is located, wherein transport vehicles 1 can be moved in the rack aisle 102 along the storage racks 101. The storage racks 101 each comprise a plurality of shelf compartments 103 arranged one above the other in the vertical direction Y, which are aligned with superimposed rack levels. The shelf compartments 103 form storage areas arranged between rack uprights 104. The shelf compartments provide a plurality of storage spaces arranged side by side and / or one behind the other, on which piece goods can be placed.

[0108] As shown in the plan view in Fig. 5b, the shelf compartments extend in a depth direction Z from a front side facing the shelf aisle 102 to a rear side facing away from the shelf aisle 102. A limiting element, for example a (rear) longitudinal cross member 105 or depth support, can be provided on the rear side of the shelf compartments, which extends in the longitudinal direction X over the shelf compartment 103 and preferably limits the shelf compartment 103 at its rear side.

[0109] Furthermore, it can be provided that in the rack aisle 102, a guide rail 106 is provided along the front side of each of the opposing rack compartments 103, so that the guide rails 106 mounted on the two storage racks 101 are arranged opposite one another in pairs. The transport vehicle 1 can be arranged such that it can move on the guide rails 106. Particularly preferably, each rack level is assigned such a pair of guide rails, each of which forms a travel level FE for a transport vehicle 1. Thus, a transport vehicle 1 can be arranged in each travel level FE, which is assigned to the respective rack level, as shown in Fig. 5a. The storage system 100 can therefore comprise a plurality of transport vehicles 1.

[0110] Furthermore, it can be provided that the storage system 100 (or the transport vehicle 1) comprises a computing unit 111, which can receive data relating to the distance between the piece goods displacement means 4 and / or pivoting angle a from the transport vehicle 1 and, based thereon, can calculate a width and / or position of a piece goods S in the shelf compartment 103.

[0111] Fig. 6a shows an enlarged detail of the area of ​​one of the storage racks 101 and one of the transport vehicles 1. The transport vehicle 1 can have a drive 19, which is coupled to at least one of the running wheels 13 in order to transmit a drive force to it and to move the transport vehicle 1 along the storage rack 101. The running wheels 13 are rotatably mounted on the base frame 12, in particular about a horizontal axis, and preferably each rests on one of the guide rails 106 in a rollable manner. As shown schematically in Fig. 6a, the transport vehicles 1 can be supplied with energy and / or data via a conductor line arrangement 20.

[0112] In addition, the transport vehicle 1 can comprise a guide unit 21, shown enlarged in Fig. 6b, which is mounted on the base frame 12 via a bearing device and comprises guide wheels 22 which roll on mutually facing guide sections 107 of the guide rail 106 in order to move the transport vehicle 1 along the storage rack 101. The bearing device comprises a bearing body 23, wherein the guide wheels 22 are rotatably mounted on the bearing body 23 at a fixed distance from one another. The bearing body 23 is fastened to the base frame 12 by means of a fastening element 24a and is mounted thereon so as to be pivotable about a pivot axis 25, wherein the pivot axis 25 is preferably aligned parallel to the direction of travel of the transport vehicle 1.

[0113] In addition, the bearing device comprises two compensating elements 26 arranged on both sides of the base frame 12, which are designed as a spring element, in particular as shown in Fig. 6a and Fig. 6b. One of the compensating elements 26 is arranged between the base frame 12 and the bearing body 23. The other of the compensating elements 26 is arranged on a side of the base frame 12 facing away from the bearing body 23. The compensating elements 26 are designed such that the bearing body 23 with the guide wheels 22 is movable relative to the base frame 12 and can pivot about the pivot axis 25. The compensating elements 26 can be arranged, for example, on a further fastening element 24b. In particular, the spring elements can be wound around the fastening element 24b.The compensating elements 26 are preferably designed such that they are prestressed on one side of the base frame 12 between the bearing body 23 and the base frame 12 and on the other side of the base frame 12 between a head of the fastening element 24b and the base frame 12.

[0114] Fig. 7a to Fig. 7d show a method for handling piece goods S, wherein a piece of goods S is picked up by the transport vehicle 1 from a receiving location in Fig. 7a and Fig. 7b and delivered to a delivery location at a different location in Fig. 7c and Fig. 7d. The picking location and the staging location can each be, for example, a storage location in a storage rack 101, a storage location on a staging device or the like. When a piece of goods S is put into storage, it can be picked up by the transport vehicle 1 from the staging location, transported to the storage location and delivered to this storage location. Conversely, when the piece of goods S is retrieved, it can be picked up by the transport vehicle 1 from the storage location in the storage rack 101, transported to the staging device and delivered to the staging location.

[0115] When picking up the piece goods S, the transport vehicle 1 is positioned in front of the piece goods S and the piece goods shifting means 4 are extended in the extension direction AR so that they are positioned on opposite sides of the piece goods S. The piece goods shifting means 4 are aligned at a distance from one another that is wider than the piece goods S. Those transport elements 5 positioned behind the piece goods S in the extension direction AR can now be pivoted into the actuating position.

[0116] To align the piece goods displacement means 4 and / or to pivot the transport elements 5, the control unit 2 preferably specifies a pivoting angle α and / or a distance between the piece goods displacement means 4, so that the transport elements 5 positively engage behind the piece goods S, as shown in Fig. 7a. In this case, the control unit 2 can take into account a piece goods geometry, in particular a width and / or height of the piece goods S, as explained in connection with Fig. 2a to Fig. 2e. The transport device is thus selectively moved into the overlapping or non-overlapping transport position, depending on the piece goods geometry.

[0117] The piece goods transfer means 4 can then be retracted in the opposite direction to the extension direction AR. The transport elements 5, which engage behind the piece goods S in a form-fitting manner, transfer the piece goods S from the receiving location to the receiving platform 3 of the transport vehicle 1. The transport vehicle 1 can now be moved to the delivery location.

[0118] When the transport vehicle 1 is released, those transport elements 5 which are arranged in front of the piece goods S in the extension direction AR are first pivoted into the actuating position. The control unit 2 specifies a pivoting angle α for each of the transport elements 5, so that the transport elements 5 positively engage behind the piece goods S, as shown in Fig. 7b. Since the piece goods S is the same as before when picked up, it is expedient to now specify the same pivoting angle α and, if applicable, the same distance as before.

[0119] The piece goods transfer means 4 can then be extended in the extension direction AR. The transport elements 5, which engage behind the piece goods S in a form-fitting manner, transfer the piece goods S from the receiving platform 3 of the transport vehicle 1 to the delivery location, as shown in Fig. 7c.

[0120] Finally, the pivoted-out transport elements 5 can be pivoted back into their starting position, and the piece goods shifting means 4 can be retracted. The transport vehicle 1 is now ready for the next transport order. The piece goods S handled in Fig. 7a to Fig. 7c are similarly dimensioned to those shown in Fig. 2a. Therefore, the transport device is set in the non-overlapping transport position in each case. However, the handling of the piece goods S can be carried out as described in connection with Fig. 7a to Fig. 7c for piece goods S of different sizes, with the transport device being moved to the overlapping transport setting if necessary.

[0121] Fig. 8a and Fig. 8b show a further method for handling piece goods S. This method can be carried out as an independent method or within the framework of the method previously described in connection with Fig. 7a to Fig. 7c, in particular when pivoting out the transport elements 5.

[0122] The transport vehicle 1 is positioned in front of a piece of goods S essentially as shown in Fig. 7a and the piece of goods displacement means 4 are extended in the extension direction AR so that they are positioned on opposite sides of the piece of goods S. In this case, the piece of goods displacement means 4 are aligned at a distance from one another that is wider than the piece of goods S, in particular the piece of goods displacement means 4 are aligned at their widest (maximum) distance from one another. In contrast to the previously described method, those transport elements 5 are now pivoted out that are arranged next to the piece of goods S (i.e. the piece of goods S is located at least with a section in the depth direction Z between a pair of transport elements provided for the width measurement). If necessary, the piece of goods displacement means 4 are extended (only) far enough in the extension direction AR that at least one pair of transport elements is positioned next to the piece of goods S.

[0123] The transport elements 5 are pivoted out until the pivoting movement is blocked by the piece goods S, as shown in Fig. 8a. A blockage of the respective transport element 5 is indicated by an increased restraining torque acting on the transport element 5, which can be detected by the previously described restraining torque detection unit 8. If the restraining torque exceeds a threshold value, the pivoting movement can be stopped. This can, for example, function as a safety mechanism if the transport elements 5 were inadvertently positioned next to the piece goods S. The pivoting angle α reached when the transport elements 5 pivot out can be detected by the previously described angle detection unit 9.On the basis of the detected pivoting angle a, the distance between the piece goods shifting means 4 and, if applicable, a length of the transport elements 5, a width and / or position of the piece goods S can already be determined in the case shown, in particular if the height of the piece goods S is known and it is thus ensured that the transport elements 5 are positioned with their respective front end VE on side surfaces of the piece goods S as shown in Fig. 8a.

[0124] If the height and / or width of the piece goods S is not known or if the height of the piece goods S is so low, as shown below in Fig. 8c, that the transport elements 5 protrude beyond it with their respective front end VE, it is expedient to carry out the measurement again with a different distance.

[0125] For this purpose, the control unit 2 can again specify a distance between the piece goods relocation means, which is again greater than the width of the piece goods S and differs from the previously set distance and is preferably greater than this. The piece goods relocation means 4 can now be set at this distance from one another, as shown in Fig. 8b. Those transport elements 5 which are positioned next to the piece goods S can now be pivoted out further until the pivoting movement is once again blocked by the piece goods S. This can involve the same transport elements as before. The achieved pivoting angle α can also be detected by the angle detection unit 9 described above.

[0126] The detected swivel angles a corresponding to the respective distances between the piece goods relocation means 4 as well as the set distance or distances can now be transmitted, in particular as a data set, to a computing unit 11, 111, for example to the computing unit 11 of the transport vehicle 1 or the computing unit 111 of the storage system 100. The computing unit 11 can evaluate the distance(s) as well as the swivel angle(s) a and calculate a width and / or position of the piece goods S based thereon and optionally based on a length of the transport elements 5.

[0127] The width of the piece goods and / or position of the piece goods (relative to the piece goods shifting means 4) results from the geometric arrangement as well as the known geometric sizes such as the distance between the piece goods shifting means 4, the swivel angles a and, if applicable, a length of the transport elements 5.

[0128] As mentioned, Fig. 8c shows a case study in which a height of the piece goods S is less than a vertical distance between the receiving platform 3 and the front end VE of the transport elements 3, both in the starting position and in the actuating position shown in Fig. 8c. Thus, the width and / or position of the piece goods S cannot be clearly determined in this case by a single measurement. Therefore, as shown in Fig. 8a and Fig. 8b and described in this context, it is necessary to perform the measurement with a first distance and with a modified second distance.

[0129] Thus, the transport vehicle 1 can determine the width and / or position of the piece goods S at the receiving location and, if necessary, adjust the transport device accordingly for picking up the piece goods S. Furthermore, a correction order can optionally be derived from this if an incorrect position, for example a twist, of the piece goods S is detected.

[0130] Finally, it should be noted that the scope of protection is determined by the patent claims. However, the description and drawings should be considered for the interpretation of the claims. Individual features or combinations of features from the various embodiments shown and described may represent independent inventive solutions in their own right.

[0131] In particular, it is also noted that the devices depicted may in reality comprise more or fewer components than shown. In some cases, the depicted devices or their components may also be shown not to scale and / or enlarged and / or reduced in size.

[0132] Reference symbol list

[0133] 1 transport vehicle SF side surface

[0134] Control unit VE front end

[0135] Pick-up platform X Longitudinal direction a Piece goods support Y Height direction

[0136] General cargo handling equipment Z depth direction

[0137] transport organ

[0138] Adjusting device

[0139] Drive device

[0140] 8 Restraint detection unit

[0141] 9 Angle detection unit

[0142] 10 Width adjustment device

[0143] 11 Computing unit

[0144] 12 base frames

[0145] 13 Wheel

[0146] 14 telescopic frames

[0147] 15, 16 Telescopic slides

[0148] 17 Guide arrangement

[0149] 18 Gearing

[0150] 19 Drive

[0151] 20 Conductor line arrangement

[0152] 21 Management Unit

[0153] 22 Guide wheel

[0154] 23 bearing bodies

[0155] 24a, 24b Fastening element

[0156] 25 swivel axis

[0157] 26 Compensation element 100 Storage system 101 Storage rack

[0158] 102 Shelf aisle 103 Shelf compartment

[0159] 104 Shelf uprights 105 Longitudinal beam

[0160] 106 Guide rail 107 Guide section

[0161] 111 Calculation unit a Orthogonal distance a From swivel angle

[0162] AE shooting plane

[0163] AR, AR' Extension direction FE Driving level S General cargo SA Swivel axis SE Swivel level

Claims

P a t e n t a n s p r ü c h e 1. Transport vehicle (1), in particular a storage and retrieval machine, for transporting piece goods (S) in a storage system (101), which comprises a transport device and a control unit (2) for controlling the transport device, wherein the transport device has a receiving platform (3) for receiving piece goods (S), piece goods displacement means (4) arranged opposite one another at a variable distance and extendable relative to the receiving platform (3) for displacing piece goods (S) between the receiving platform (3) and a storage rack (101), and a pair of transport elements which have two transport elements (5) arranged opposite one another, in particular in a pivoting plane (SE), and each mounted on one of the piece goods displacement means (4) so ​​as to be pivotable about a pivot axis (SA), characterized in thatthat the transport elements (5) are each adjustable between a starting position and a plurality of actuating positions and the control unit (2) is designed to predetermine a respective pivoting angle (α) between the transport element (5) and the piece goods displacement means (4) for the transport elements (5), wherein the transport device for the transport elements (5) each has an adjusting device (6) for performing a pivoting movement of the respective transport element (5) into the predefined pivoting angle (α), and the pivoting angle (α) is 0° in the starting position and more than 0° in the actuating positions.

2. Transport vehicle (1) according to claim 1, characterized in that the actuating positions comprise at least one actuating position in which the pivoting angle is more than 90°, in particular at least 95°, particularly preferably at least 100°.

3. Transport vehicle (1) according to claim 1 or 2, characterized in that the receiving platform (3) has piece goods supports (3a) which run parallel to one another at a variable distance and which define a receiving plane (AE), wherein the actuating positions comprise at least one actuating position in which the pivoting angle is selected such that the respective transport member (5) intersects the receiving plane (AE) in this at least one actuating position.

4. Transport vehicle (1) according to one of claims 1 to 3, characterized in that the transport device can be brought into a non-overlapping transport position in which the transport elements (5) of the pair of transport elements are pivoted out to the same pivoting angle (a), in which their front ends (VE) are each positioned at an orthogonal distance (a) to the respective piece goods displacement means (4), and the piece goods displacement means (4) are arranged at a distance from one another which is equal to or greater than twice the orthogonal distance (a).

5. Transport vehicle (1) according to one of claims 1 to 4, characterized in that the transport device can be brought into an overlapping transport position in which the transport elements (5) of the pair of transport elements are each pivoted out to a different pivoting angle (α) and the piece goods displacement means (4) are arranged at a distance from one another in which the transport elements (5) of the pair of transport elements overlap in their pivoting plane (SE).

6. Transport vehicle (1) according to one of claims 1 to 5, characterized in that the control unit (2) has a restraint detection unit (8) for detecting restraining moments acting on the transport elements (5) when carrying out the pivoting movement and is designed to control the adjusting devices (6) and to stop the pivoting movement of a respective transport element (5) when the restraining moment acting on the respective transport element (5) exceeds a threshold value.

7. Transport vehicle (1) according to one of claims 1 to 6, characterized in that the adjusting devices (6) each have an angle detection unit (9), in particular a rotary encoder, for detecting the pivoting angle (α), in particular during the execution of the pivoting movement.

8. Transport vehicle (1) according to claim 6 and 7, characterized in that the control unit (2) is designed to predetermine a distance for the piece goods displacement means (4) and the transport device is designed to position the piece goods displacement means (4) at the predefined distance from one another and to move the transport elements (5) of the pair of transport elements by means of their respective adjusting device (6) up to a predefined To swing out of the swivel angle (a) or into a swivel angle (a) in which the restraining torque acting on the respective transport element (5) exceeds the threshold value.

9. Transport vehicle (1) according to claim 8, characterized in that the control unit (2) is designed to transmit the predetermined distance and the detected swivel angle (α) to a computing unit (11).

10. Transport vehicle (1) according to claim 8 or 9, characterized in that the transport vehicle (1) comprises a computing unit (11) which is designed to receive the predetermined distance and the detected pivoting angles (α) from the control unit (2) and to determine a width and / or position of a disturbing structure causing the restraining force on the basis of a predetermined distance and detected pivoting angles corresponding to the predetermined distance or on the basis of two different predetermined distances and detected pivoting angles (α) corresponding to the predetermined distances.

11. Transport vehicle (1) according to one of claims 1 to 10, characterized in that the piece goods displacement means (4) each have a telescopic frame (14) and a first telescopic carriage (15) extendable relative to the telescopic frame (14) and preferably a second telescopic carriage (16) extendable 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 each movably connected via a guide arrangement (17).

12. Transport vehicle (1) according to claim 11, characterized in that the guide arrangement (17) or the guide arrangements (17) are each formed integrally with the first telescopic carriage (15).

13. Transport vehicle (1) according to one of claims 1 to 12, characterized in that the transport device comprises several pairs of transport elements, in particular two in End regions of the piece goods displacement means (4) arranged outer transport element pairs and preferably at least one inner transport element pair arranged between them.

14. Storage system (100) for storage units in storage racks (101) comprising at least one rack aisle unit which has two storage racks (101) arranged next to one another and extending in a longitudinal direction (X) and a rack aisle (102) running between the storage racks (101) in the longitudinal direction (X), and at least one transport vehicle (1) which can be moved in the rack aisle (102) along the storage racks (101), characterized in that the at least one transport vehicle (1) is designed according to one of claims 1 to 13.

15. 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 running wheels (13) rotatably mounted on the base frame (12) and a travel drive (19) coupled to at least one of the running wheels (13).

16. Storage system (100) according to claim 14 or 15, characterized in that the storage system (100) comprises a computing unit (11) which is configured to receive pivoting angles (α) and / or predetermined distances between the piece goods displacement means (4) from the control unit (2) of the transport vehicle (1) and to determine a width and / or position of a disturbance structure on the basis of two different predetermined distances and detected pivoting angles (α) corresponding to the predetermined distances.

17. Method for handling piece goods (S) in a storage system (100), according to one of claims 14 to 16, by means of a transport vehicle (1), in particular according to one of claims 1 to 13, comprising a displacement of piece goods (S) between a receiving location and a receiving platform (3) of the transport vehicle (1) by means of piece goods displacement means (4) arranged opposite one another and extendable relative to the receiving platform (3), wherein on the piece goods displacement means (4) pivotally mounted, arranged opposite one another in a pivot plane (SE) transport elements (5) of a Transport element pair can be pivoted out from an initial position into an actuating position in order to positively engage behind the piece goods (S) for displacement, characterized in that a control unit (2) of the transport vehicle (1) predetermines a pivoting angle (a) between the respective transport element (5) and the respective piece goods displacement means (4) for the actuating position of the transport elements (5) and the pivoting angle (a) can be freely selected by the control unit (2) between 0° and 120°, in particular between 0° and 100°.

18. Method according to claim 17, characterized in that the transfer device is brought into a non-overlapping transport position, wherein the control unit (2) predetermines the same pivoting angle (α) for the actuating positions of the two transport elements (5) of the transport element pair, the transport elements (5) of the transport element pair are pivoted out to the predetermine pivoting angle (α) so that they are positioned with their front end (VE) at an orthogonal distance (α) to the side surface (SF) of the respective piece goods displacement means (4), and a distance between the piece goods displacement means (4) is set which is equal to or greater than twice the orthogonal distance (α).

19. Method according to claim 18, characterized in that the transfer device is brought into an overlapping transport position, wherein different pivoting angles (α) are predetermined by the control unit (2) for the actuating positions of the two transport elements (5) of the transport element pair, the transport elements (5) of the transport element pair are pivoted out to the respectively predetermined pivoting angle (α), and a distance between the piece goods displacement means (4) is set such that the transport elements (5) of the transport element pair overlap one another in the pivoting plane (SE).

20. Method according to claim 18 and 19, characterized in that the transfer device is moved selectively into the overlapping or non-overlapping transport position depending on a width and / or height of the piece goods (S).

21. Method according to one of claims 17 to 20, characterized in that the respective pivoting angle (a) is predetermined by the control unit (2) as a function of a piece goods geometry.

22. A method for handling piece goods (S), in particular according to one of claims 17 to 21, in a storage system (100), in particular according to one of claims 14 to 16, by means of a transport vehicle (1), in particular according to one of claims 1 to 13, wherein piece goods displacement means (4) arranged opposite one another and extendable relative to a receiving platform (3) of the transport vehicle (1) are positioned at a distance from one another on opposite sides of a piece goods (S), and transport elements (5) of a pair of transport elements, which are pivotably mounted on the piece goods displacement means (4), in particular arranged opposite one another in a pivot plane (SE), are pivoted out of a starting position, characterized in thatthat when the transport elements (5) of the transport element pair are swivelled out by a defined swivel angle (a), a restraining moment acting on the respective transport element (5) is detected while the distance between the piece goods displacement means (4) is changed, or that when the transport elements (5) of the transport element pair are swivelled out, a restraining moment acting on the respective transport element (5) is detected and the transport elements (5) are each swivelled out until the respective restraining moment exceeds a threshold value.

23. Method according to claim 22, characterized in that pivoting angles (a) corresponding to the distance between the piece goods displacement means (4) are detected, up to which the transport elements (5) were pivoted during pivoting.

24. Method according to claim 23, characterized in that the distance between the piece goods displacement means (4) is changed and the transport elements (5) are pivoted out again until the respective restraining moment exceeds a threshold value, wherein again the distance between the piece goods displacement means (4) corresponding From the swivel angle (a) to which the transport elements (5) were swiveled out during swiveling out can be recorded.

25. Method according to one of claims 23 to 24, characterized in that the distance and the swivel angles (α) corresponding to the distance are transmitted to a computing unit (11) and a width and / or position of the piece goods (S) is determined by the computing unit (11) on the basis of the transmitted distance or the transmitted distances and the transmitted swivel angles (α).

26. Method according to one of claims 22 to 25, characterized in that the distance and the swivel angles (α) corresponding to the distance are transmitted to a computing unit (11) and a height of the piece goods (S) is determined by the computing unit (11) on the basis of the transmitted distance or the transmitted distances and the transmitted swivel angles (α).

27. Method according to one of claims 22 to 26, characterized in that the adjustment of the distance between the piece goods displacement means (4) for measuring the width and / or position of the piece goods (S) is carried out as a function of the determined height of the piece goods (S).

28. Method for handling piece goods (S), in particular according to one of claims 17 to 27, in a storage system (100), in particular according to one of claims 14 to 16, by means of a transport vehicle (1), in particular according to one of claims 1 to 13, wherein piece goods displacement means (4) arranged opposite one another and extendable relative to a receiving platform (3) of the transport vehicle (1) are positioned at a distance from one another on opposite sides of a piece goods (S), and transport elements (5) pivotably mounted on the piece goods displacement means (4), in particular arranged opposite one another in a pivoting plane (SE), are pivoted out from an initial position, characterized in that the transport elements (5) are pivoted out and a transport element (5) REPLACEMENT BLADE RECTIFIED SHEET (RULE 91) ISA / EP acting restraining moment is detected during which the distance between the piece goods transfer means (4) is changed.

29. Method according to claim 28, characterized in that the distance and the pivoting angles (α) corresponding to the distance are transmitted to a computing unit (11, 111), in particular the computing unit (11) of the transport vehicle (1) or the computing unit (111) of the storage system (100), and a height and / or a width and / or position of the piece goods (S) is determined by the computing unit on the basis of the transmitted distance or the transmitted distances and the transmitted pivoting angles (α).

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