EP4153525B1 - Véhicule de transport sans conducteur à maintenabilité améliorée - Google Patents

Véhicule de transport sans conducteur à maintenabilité améliorée

Info

Publication number
EP4153525B1
EP4153525B1 EP21731917.7A EP21731917A EP4153525B1 EP 4153525 B1 EP4153525 B1 EP 4153525B1 EP 21731917 A EP21731917 A EP 21731917A EP 4153525 B1 EP4153525 B1 EP 4153525B1
Authority
EP
European Patent Office
Prior art keywords
vehicle
transport vehicle
electrical
transport
interchangeable module
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP21731917.7A
Other languages
German (de)
English (en)
Other versions
EP4153525A1 (fr
Inventor
Sven Mainz
Sascha GERBER
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Aumovio Germany GmbH
Original Assignee
Continental Automotive Technologies GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Continental Automotive Technologies GmbH filed Critical Continental Automotive Technologies GmbH
Publication of EP4153525A1 publication Critical patent/EP4153525A1/fr
Application granted granted Critical
Publication of EP4153525B1 publication Critical patent/EP4153525B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07513—Details concerning the chassis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/065—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted

Definitions

  • the invention relates to a driverless, in particular automatically guided, and preferably autonomously guided transport vehicle for transporting payloads.
  • Such vehicles are usually used as so-called industrial trucks or material transport vehicles in production plants, for example, to transport specific payloads within the warehouse or from the warehouse to the production line, preferably navigating autonomously.
  • the load in such transport vehicles can consist either of the payload itself or of a payload carrier that can be separately loaded with the payload – for example, a frame, a rolling base, or the like.
  • the transport vehicle is designed to be able to drive underneath such a payload carrier, lift it independently, transport it to its destination, and set it down again there. For this purpose, it is equipped with an integrated lifting device.
  • the object of the invention is to propose a generic transport vehicle with improved maintenance options, in particular for electrical and electronic components and systems.
  • the invention provides that a removable interchangeable module is arranged in the chassis of the transport vehicle, in which several electrical and/or electronic components are combined.
  • the transport vehicle has a front vehicle section, a middle vehicle section, and a rear vehicle section.
  • the front vehicle section is separated from the middle vehicle section by a front partition wall and the rear vehicle section by a rear partition wall, and the interchangeable module is arranged in the middle vehicle section.
  • the entire interchangeable module can be quickly and effectively replaced with a compatible, intact interchangeable module, significantly reducing downtime.
  • Troubleshooting, error analysis, programming, and replacement of the defective component can be performed at a later date in a dust-free environment at an optimally equipped workstation.
  • the heavy and potentially contaminated transport vehicle does not need to be transported and cleaned separately for this purpose, nor does it require complex decontamination measures at the transport vehicle's location.
  • This module also offers the advantage for vehicle production that it can be pre-assembled completely independently of the rest of the transport vehicle's structure, for example by a specialized manufacturer.
  • the invention further provides that the interchangeable module has a separate module housing in which the electrical and/or electronic components are accommodated.
  • At least one electronic control unit can be included in the exchange module.
  • the preferred embodiment further proposes that at least one first sensor arrangement for detecting the vehicle environment and at least two vehicle wheels, in particular support wheels, are arranged in the front vehicle section.
  • the preferred embodiment also proposes that at least one second sensor arrangement for detecting the vehicle environment and at least two drive wheels including associated drive systems are arranged in the rear vehicle section.
  • the preferred embodiment of the invention further provides for a lifting drive for operating the lifting device to be located in the center of the vehicle. This makes it particularly easy to access, and the removable module can be quickly removed for even better accessibility.
  • the lifting device is operated via an eccentric drive.
  • This allows for a particularly simple and robust design, while also saving space. Furthermore, it requires significantly less control effort, for example, compared to several separate, individually controllable lifting elements.
  • the eccentric elements arranged in pairs on each side and coupled to one another, are accommodated within a box-shaped load-bearing element to save space.
  • An effective and fast connection of electrical and electronic consumers in transport vehicles provides for an embodiment in which electrical and/or electronic components from the front, middle and rear sections of the vehicle are connected to the exchange module via electrical cables.
  • the interchangeable module can, according to a further development, preferably have a few, particularly preferably a single combined electrical interface, which is designed for the simultaneous connection of several electrical and/or electronic components outside the interchangeable module.
  • the interchangeable module can have a combined electrical interface for connecting all consumers in the rear vehicle section and another combined electrical interface for connecting all consumers in the front and middle vehicle sections.
  • the driverless transport vehicle 1 is used in particular for transporting payloads on smooth floors in production and assembly plants, for example, to transport parts and components to and from the production line or in the parts warehouse.
  • the transport vehicle 1 selects its route autonomously, based on integrated space monitoring sensors (see 18, 18' in Fig. 4 , 5 ) and a control system not shown here.
  • the transport vehicle 1 has a flat, compact chassis 8 in and on which all control and drive components are arranged.
  • the transport vehicle 1 moves in the embodiment shown on a pair of support wheels 15 and a pair of drive wheels 14.
  • the Drive wheels 14 can be driven independently of one another and individually, thus serving both for propulsion and for steering the transport vehicle 1.
  • the transport vehicle 1 has two load-carrying elements 9, 9', which form part of a lifting device 25.
  • the load-carrying elements 9, 9' are designed to be elongated longitudinally or parallel to the direction of travel F and flank the chassis 8 laterally in the upper area.
  • each load-carrying element 9, 9' is designed as a box-shaped hollow body.
  • the load-carrying elements 9, 9' can be raised in the vertical lifting direction H from a retracted parking position (view b) by a lifting amount 16 into an extended transport position.
  • Load carrier elements 9, 9' can be cross-connected via one or more struts, bands or plates not shown here in order to increase rigidity and/or to create a larger, flat loading area.
  • the transport vehicle 1 is designed for the preferential transport of payloads in a separate payload carrier 6.
  • the payload carrier 6 can be constructed in various ways—as a frame as shown, as a trolley or rolling base, and the like.
  • the payload carrier 6 is constructed such that the transport vehicle 1 with load-carrying elements 9, 9' can drive into the parking position beneath the payload carrier 6.
  • the payload carrier 6 has two cross members 7, 7' extending transversely to the direction of travel, against which the load-carrying elements are supported when lifting and transporting the payload carrier 6.
  • the cross members 7, 7' are connected via two external longitudinal members 17, 17'.
  • the transport vehicle 1 moves under the payload carrier 6 and activates the lifting device 25.
  • the load carrier elements 9, 9' are raised in the lifting direction H, rest on the cross members 7, 7', and lift the payload carrier 6 from the ground.
  • the payload carrier 6 can then be transported to the destination and placed back on the ground in the reverse order.
  • the figure shows an example of a usage scenario of the transport vehicle 1 and essentially corresponds to the one in the Fig.2b
  • the situation shown is shown in Figure 1.
  • One embodiment of the transport vehicle 1 is located under the payload carrier 6, which is designed as a rolling base.
  • the payload carrier 6 is loaded with a payload 22, which consists of a lattice box filled with bags.
  • Fig. 4 shows an embodiment of the transport vehicle 1 according to the invention.
  • An easily replaceable, interchangeable module 2 is arranged in the interior of the chassis 8.
  • Most of the electronic components 23 required for regulating and controlling the transport vehicle 1 are arranged therein.
  • an electronic control unit 4 and other elements of the vehicle control system are centrally accommodated therein.
  • the interchangeable module 2 has its own module housing 3, which is inserted into a seat provided for it in the chassis 8 and is fixed therein with a few fastening elements not explicitly shown here, such as screws, bayonet locks, tension clamps or other fastening elements that can be released relatively easily and quickly.
  • the transport vehicle 1 according to the invention is structurally and functionally divided in the longitudinal direction or along the direction of travel F into three vehicle sections, which are separated from one another by a front partition 13 and a rear partition 13'.
  • first sensor arrangement 18 for detecting the vehicle environment, furthermore the two support wheels 15, 15' are arranged therein.
  • the exchange module 2 is arranged in the central vehicle section 11.
  • the central vehicle section 10 contains a lifting drive 19 for actuating the lifting device 25, one or more electric batteries 21, and, if necessary, charging and electrical power components 24 for charging control.
  • a second sensor arrangement 18' for detecting the vehicle's surroundings as well as the two drive wheels 14, 14' together with their associated electric drive systems 20.
  • the interchangeable module 2 extends in the transverse direction essentially over the entire inner width of the central vehicle section 11.
  • the interchangeable module 2 in the embodiment shown, has a combined electrical interface 5, 5' on the front and rear.
  • the front electrical interface 5 is used to connect electrical and electronic components from the front 10 and middle 11 vehicle sections, whereas the rear electrical interface 5' is provided for connecting electrical and electronic components from the rear vehicle section 12.
  • the rear electrical interface 5' is provided for connecting electrical and electronic components from the rear vehicle section 12.
  • the two sensor arrangements 18, 18' are shown here merely as examples and symbolically as a placeholder, representing a real combination of several individual sensors arranged at different locations.
  • Fig. 6 shows an embodiment of the module housing 3.
  • the module housing 3 is made of sheet metal. It is essentially tub-shaped and has a U-shaped sheet metal profile, which forms the bottom and side walls of the module housing 3. and is stiffened and stabilized by cross plates on the front and rear.
  • the module housing 3 can be provided with all appropriate mounting interfaces such as holes, punched holes, sheet metal nuts, rails, and the like.
  • the Fig. 7 shows a partial side view of some elements of the lifting device 25 of the transport vehicle 1 in the raised transport position (view a) and in the lowered parking position (view b).
  • the lifting device 25 On each side of the transport vehicle 1, the lifting device 25 has two equally sized eccentric elements 26, 26', which act on the same load-bearing element 9.
  • the two eccentric elements 26, 26' are coupled to each other via a belt drive, so that when the lifting drive 19 is activated, they are forced to rotate simultaneously in the same direction, thereby raising or lowering the load-bearing element 9.
  • each eccentric element 26, 26' is equipped radially on the outside with a rolling bearing element, with which it picks up the load-bearing element 9 with low noise and low friction.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Platform Screen Doors And Railroad Systems (AREA)
  • Handcart (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Warehouses Or Storage Devices (AREA)

Claims (9)

  1. Véhicule de transport sans conducteur (1), en particulier à guidage automatique, destiné à transporter une charge, comprenant un châssis (8) dans lequel sont agencés des composants électriques et électroniques de commande et d'entraînement, caractérisé en ce que le véhicule de transport (1) comprend une partie avant (10) de véhicule, une partie centrale (11) de véhicule et une partie arrière (12) de véhicule, la partie avant (10) de véhicule étant séparée de la partie centrale (11) de véhicule par une cloison de séparation avant (13) et la partie arrière (12) de véhicule étant séparée de la partie centrale (11) de véhicule par une cloison de séparation arrière (13'), et un module interchangeable amovible (2) étant agencé dans la partie centrale (11) de véhicule, dans lequel sont regroupés plusieurs composants électriques et/ou électroniques.
  2. Véhicule de transport (1) selon la revendication 1, caractérisé en ce que le module interchangeable (2) comprend un boîtier de module (3) dans lequel sont logés les composants électriques et/ou électroniques.
  3. Véhicule de transport (1) selon au moins une des revendications précédentes, caractérisé en ce que le module interchangeable (2) contient au moins une unité de commande électronique (4).
  4. Véhicule de transport (1) selon au moins une des revendications précédentes, caractérisé en ce que, dans la partie avant (10) de véhicule, sont agencés au moins un premier dispositif capteur (18) pour détecter l'environnement du véhicule et au moins deux roues (15, 15') du véhicule.
  5. Véhicule de transport (1) selon au moins une des revendications précédentes, caractérisé en ce que, dans la partie arrière (12) de véhicule, sont agencés au moins un deuxième dispositif capteur (18') pour détecter l'environnement du véhicule et au moins deux roues motrices (14, 14') ainsi qu'au moins un dispositif d'entraînement (20).
  6. Véhicule de transport (1) selon au moins une des revendications précédentes, caractérisé en ce que, dans la partie centrale (11) de véhicule, est agencé au moins un dispositif d'entraînement de levage (19) destiné à actionner un dispositif de levage (25) pour soulever la charge.
  7. Véhicule de transport (1) selon la revendication 6, caractérisé en ce que le dispositif de levage (25) est actionné par un mécanisme à excentrique.
  8. Véhicule de transport (1) selon au moins une des revendications précédentes, caractérisé en ce que les composants électriques et/ou électroniques des parties avant, centrale et arrière (10, 11, 12) de véhicule sont reliés au module interchangeable (2) par des câbles électriques.
  9. Véhicule de transport (1) selon au moins une des revendications précédentes, caractérisé en ce que le module interchangeable (2) comprend au moins une interface électrique combinée (5) qui est conçue pour connecter simultanément plusieurs composants électriques et/ou électroniques à l'extérieur du module interchangeable (2).
EP21731917.7A 2020-05-19 2021-05-10 Véhicule de transport sans conducteur à maintenabilité améliorée Active EP4153525B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102020206276.5A DE102020206276A1 (de) 2020-05-19 2020-05-19 Fahrerloses Transportfahrzeug mit einer verbesserten Wartungsfreundlichkeit
PCT/DE2021/200063 WO2021233506A1 (fr) 2020-05-19 2021-05-10 Véhicule de transport sans conducteur à maintenabilité améliorée

Publications (2)

Publication Number Publication Date
EP4153525A1 EP4153525A1 (fr) 2023-03-29
EP4153525B1 true EP4153525B1 (fr) 2025-09-03

Family

ID=76421896

Family Applications (1)

Application Number Title Priority Date Filing Date
EP21731917.7A Active EP4153525B1 (fr) 2020-05-19 2021-05-10 Véhicule de transport sans conducteur à maintenabilité améliorée

Country Status (8)

Country Link
US (1) US20230192461A1 (fr)
EP (1) EP4153525B1 (fr)
JP (1) JP7483930B2 (fr)
KR (1) KR102863668B1 (fr)
CN (1) CN115461300A (fr)
DE (1) DE102020206276A1 (fr)
MX (1) MX2022014638A (fr)
WO (1) WO2021233506A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102020206306A1 (de) * 2020-05-19 2021-11-25 Continental Teves Ag & Co. Ohg Fahrerloses Transportfahrzeug mit einer Nutzlast-Hubvorrichtung.
NL2035308B1 (en) * 2023-07-07 2025-01-14 Starnus Holding B V Modular robotic vehicle for autonomous navigation and transportation of a load

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Also Published As

Publication number Publication date
US20230192461A1 (en) 2023-06-22
WO2021233506A1 (fr) 2021-11-25
KR102863668B1 (ko) 2025-09-23
JP2023522336A (ja) 2023-05-30
KR20220154770A (ko) 2022-11-22
DE102020206276A1 (de) 2021-11-25
CN115461300A (zh) 2022-12-09
EP4153525A1 (fr) 2023-03-29
JP7483930B2 (ja) 2024-05-15
MX2022014638A (es) 2023-01-04

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