Heavy-load transport module vehicle, transport vehicle for plurality of heavy-load transport module vehicles, and receiving section for such transport vehicle

Abstract

The invention relates to a heavy-load transport module vehicle (100) comprising: at least one pair of axle assemblies (104, 106) which can be driven independently of one another and which are arranged in a rotationally fixed manner on a common carrier (108); the load supporting unit (116) comprises a load supporting surface (116a), and the loading seat (108) is rotatably connected with the load supporting unit (116); a control device (128) for controlling the drive unit of each shaft assembly (104, 106); and a communication device (130) for bi-directional communication with other heavy-load transport module vehicles and / or an external controller, the communication device (130) further for bi-directional data exchange with the control device (128).

Description

Technical Field

[0001] The invention relates to a heavy-duty transport modular vehicle comprising at least two axle assemblies. Background Art

[0002] In connection with the present invention, heavy-load transport is mentioned here if the load designed for each loaded axle assembly has a value of at least 4 tons, preferably at least 5 tons, even more preferably at least 6 tons.

[0003] In the context of the present invention, a modular vehicle is understood to be a vehicle that can be interconnected with one or more other identical or similarly constructed modular vehicles, ie mechanically rigidly connected and / or coupled in terms of control technology, in order to be able to transport heavy loads.

[0004] A heavy-duty transport module vehicle is known from DE1655176A1, which has a plurality of axle assemblies, each of which can be turned individually, that is, each can pivot around a pivot axis extending in the height direction of the heavy-duty transport module vehicle. Each axle assembly is arranged on a common frame, and the load support unit is also arranged on the frame in a ball-jointed shape and can be lifted and lowered in the height direction. A plurality of such heavy-duty transport module vehicles can be combined into a group, that is, a group of vehicles that are mechanically not rigidly connected so that the load can be transported together. Each heavy-duty transport module vehicle has a cab. The driving energy required for driving the heavy-duty transport module vehicle can be either supplied from the outside through a cable or generated on the vehicle by means of an internal combustion engine. The control signal implemented by the driver can also be supplied through the cable. However, the control signal can also be given acoustically and / or optically. However, automatic remote control by an external command center is also considered. This heavy-duty transport module vehicle is not recognized in practice because it is too expensive in transportation operation. Because, if each vehicle needs to be equipped with personnel, then the heavy-duty transport module vehicle needs a lot of personnel for transportation operation; or the external command center takes on too many tasks to be met at the same time in order to be able to remotely control all vehicles at the same time.

[0005] Therefore, in practice, the following heavy-duty transport module vehicles are usually used, which are combined into a complex before the transportation of the heavy load, i.e. a group of vehicles that are mechanically rigidly connected to each other in order to be able to transport the load together. Such vehicles are sold, for example, by the applicant under the name "PST". In addition to the mechanically rigid connection of the vehicles, it is also necessary that the steering rods of the individual heavy-duty transport module vehicles of the complex need to be coordinated with each other, which is perceived as time-consuming. Summary of the invention

[0006] The object of the present invention is to remedy this situation.

[0007] The object is achieved according to the invention by a heavy-duty transport module vehicle, comprising:

[0008] at least one pair of independently drivable axle assemblies, which are arranged on a common carrier, have axes aligned with one another and are not pivotable relative to the carrier with respect to a pivoting movement about an axis extending in the height direction of the carrier;

[0009] - a load supporting unit, the load supporting unit comprising a load supporting surface, the carrier being rotatably connected to the load supporting unit about a rotation axis extending orthogonally to the load supporting surface;

[0010] - a control device, which is configured and determined for controlling at least one drive unit for each axle assembly that can be driven; and

[0011] a communication device, which is designed and intended for bidirectional communication with at least one further, essentially structurally identical heavy-duty transport module vehicle and / or a superordinate external controller;

[0012] The communication device is also designed and configured for a bidirectional data exchange with the control device.

[0013] A first advantage of the modular heavy-duty transport vehicle according to the invention is that it is not necessary to provide a separate steering device for each axle assembly. More precisely, each pair of drivable axle assemblies can be steered in such a way that the two axle assemblies of the pair under consideration are driven by a control device at different speeds and / or in opposite directions of rotation. Since the axle assemblies are arranged on the carriers commonly assigned to them so as not to be pivotable about an axis extending in the height direction, it is possible for the carriers to rotate about an axis of rotation extending orthogonally to the load-bearing surface. This also applies when multiple pairs of axle assemblies are arranged on the load-bearing unit.

[0014] If the heavy-duty transport module vehicle has only one pair of axle assemblies, the carrier can be formed by the frame of the heavy-duty transport module vehicle, and the individual load-supporting unit can then be arranged on the frame in a rotatable manner relative to the frame. On the contrary, if the heavy-duty transport module vehicle has multiple pairs of axle assemblies, each of these pairs can be equipped with a separate support element as a carrier, and the load-supporting unit can be formed by the frame of the heavy-duty transport module vehicle, and multiple support elements can be rotatably arranged on the frame.

[0015] Even if this is not necessary according to the invention, the at least one carrier does not necessarily need to be directly in rotational connection with the load-carrying unit. According to the invention, it is also conceivable in principle that the at least one carrier is rotatably connected to an intermediate unit, which in turn is rotatably connected to the load-carrying unit.

[0016] The possibility of each pair of axle assemblies being specifically steered by the control device realizes another advantage of the heavy-duty transport module vehicle according to the present invention in cooperation with the communication device. Moreover, the heavy-duty transport module vehicle can be combined with at least one other heavy-duty transport module vehicle of substantially the same structure into a group of heavy-duty transport module vehicles, that is, into a combined system of multiple vehicles, which are mechanically connected by the load carried in common when necessary. Here, the adaptation with at least one other heavy-duty transport module vehicle and perhaps with a superior external controller is ensured by the communication device. The communication device can receive and send data on the one hand (two-way communication), and on the other hand can not only transmit the received data to the control device but also receive status data from the control device (two-way data exchange). In this way, the synchronization of the movement of each individual vehicle of the group can also be ensured by the cooperation of the control device and the communication device, with the goal of common transportation of loads.

[0017] In order to form a group, each heavy-duty transport module vehicle can be maneuvered specifically, that is, independently of other heavy-duty transport module vehicles, to a location under the load specified for each heavy-duty transport module vehicle. Subsequently, the corresponding load-bearing surface of each heavy-duty transport module vehicle can be placed in load-bearing engagement with the load. However, as already mentioned, the heavy-duty transport module vehicles are not mechanically connected to each other, so that they do not form a vehicle complex in the sense defined above, but rather a vehicle group in the sense of the present invention. If all heavy-duty transport module vehicles are arranged at the location specified for them and are placed in load-bearing engagement with the load, then these heavy-duty transport module vehicles can be synchronized in their control by means of a communication device and a control device and coupled in control technology. From this moment on, the vehicle group can then be controlled together so that the vehicle group can transport the load to another location.

[0018] In a further development of the invention, it is proposed to provide a further axle assembly which is arranged on the carrier in a manner that it can be pivoted about a pivot axis extending in the height direction of the carrier. In principle, it is conceivable to provide only the above-mentioned pairs of axle assemblies on the heavy-duty transport module vehicle. In this case, the driving stability of the vehicle can be achieved, for example, in terms of control technology, in the case of a single pair of axle assemblies, for example by a drive controller, such as a type of "inverted pendulum" (e.g. ) are known. However, this also applies in a similar manner to the following heavy-duty transport module vehicles: the heavy-duty transport module vehicles have a plurality of pairs of axle assemblies, whose axes are all arranged in alignment with each other in a predetermined steering position. However, in order to simplify the control technology and to simply ensure driving stability, it is advantageous to provide the further axle assemblies as supporting axle assemblies. In particular, three axle assemblies, namely a pair of driven axle assemblies and one supporting axle assembly, on the one hand allow safe standing on the driving surface, and on the other hand allow a compact design. The compact design again allows a high load support density (tons per unit load support area t / m2) to be achieved when using a plurality of heavy-duty transport module vehicles. 2 ).

[0019] In order to further improve the driving stability of the heavy-duty transport module vehicle according to the invention, it is also proposed that the drivable axle assembly is arranged on one side and the other axle assembly is arranged on opposite sides of a plane, firstly, the plane extends parallel to the axis of the drivable axle assembly, secondly, the plane extends in the height direction of the carrier, and thirdly, the plane extends through the center of gravity of the heavy-duty transport module vehicle. It is thus ensured that when driving without load, all three axle assemblies are always in contact with the driving surface. The safety of this contact can also be improved in the following way: the distance between the drivable axle assembly and the plane is between 5 cm and 10 cm.

[0020] Just for the sake of completeness, it is mentioned that the further axle assembly may be an axle assembly which cannot be driven. The manufacturing costs for the heavy-duty transport module vehicle can thus be reduced.

[0021] Furthermore, the wheel or wheels of the further axle assembly can have a smaller diameter than the wheels of the driven axle assembly, which saves installation space and thus allows a more compact design of the heavy-duty transport module vehicle.

[0022] In a further development of the invention, it is proposed that all axle assemblies are designed to be height-adjustable relative to the carrier. This allows the heavy-duty transport module vehicle to be driven under the load in the lowered state and then to receive the load by means of a common height adjustment of the axle assemblies. Thus, a separate lifting device arranged between the load-bearing surface and the carrier is not required in order to establish the load-bearing connection, which reduces the manufacturing costs.

[0023] In addition, the height adjustability allows the additional axle assembly, which is primarily used for driving stability in the unloaded state, to be omitted if driving stability is ensured due to the planar contact of the load-bearing surface with the load and due to the interaction with other heavy-duty transport module vehicles of the group caused by the load. Therefore, the additional axle assembly does not need to have the load-bearing capacity of the driven axle assembly in this case. More precisely, it is sufficient that the additional axle assembly is able to support the weight of the heavy-duty transport module vehicle. Therefore, the additional axle assembly can be designed to be correspondingly small, which improves the compact design of the heavy-duty transport module vehicle as a whole.

[0024] The possibility of dispensing with a lifting device between the load-carrying surface and the carrier also allows the load-carrying surface to be connected to the carrier via a rotating ring, for example a rolling element rotating ring, the diameter of which is preferably at least 25%, even more preferably at least 50%, of the largest outer dimension of the heavy-duty transport module vehicle in the load-carrying state ascertained in the horizontal direction. The stability of the contact with the load can thus be increased.

[0025] Furthermore, it can be provided that the heavy-duty transport module vehicle comprises at least one battery pack, which is preferably arranged substantially completely within the contour of the load carrier. The heavy-duty transport module vehicle can thus also be self-sufficient with regard to its energy supply, i.e., it is independent of an external energy supply during the transport of the load. Between two load transport uses, the at least one battery pack can be recharged at a suitable charging station. Furthermore, the drive energy required for operating the heavy-duty transport module vehicle can be provided in an environmentally friendly manner by using the at least one battery pack according to the invention.

[0026] In an extension of the invention, it is proposed that the control device can be switched between an individual mode and a collective mode. Here, the individual mode can allow the control of a single heavy-duty transport module vehicle. In particular, as explained at the beginning, the individual mode can allow the heavy-duty transport module vehicle under consideration to be arranged under the load at a specified position. If all heavy-duty transport module vehicles are already arranged under the load at the positions specified for them, then it is possible to switch from the individual mode to the collective mode so that a plurality of vehicles can then be controlled together as a vehicle group for transporting the load, as also explained at the beginning.

[0027] Furthermore, in this context, it is advantageous according to the invention if the control device is designed and adapted to synchronize the heavy-duty transport module vehicle with the other heavy-duty transport module vehicles in a synchronization phase after the switchover to the collective mode.

[0028] For this purpose, the control device can also be equipped with an environment detection unit which is designed and intended to detect the distance and / or direction and / or identification of at least one further heavy-duty transport module vehicle.

[0029] In this context, it is also advantageous if the communication device is designed and configured to receive environmental detection data from other heavy-duty transport module vehicles and transmit the environmental detection data to the control device. This allows the heavy-duty transport module vehicle to determine its position within the entire group of heavy-duty transport module vehicles, for example by means of trilateration and / or triangulation. This is advantageous, for example, in the following case: this involves determining the own steering angle based on the steering angle specified for the group.

[0030] In addition, it can be advantageous that the control device is also equipped with a position detection unit, which is configured and determined to detect the absolute position of the heavy-duty transport module vehicle and / or the orientation of the heavy-duty transport module vehicle in space. This allows, on the one hand, the heavy-duty transport module vehicle to be oriented according to the specified orientation, for example, so that the driving direction of the heavy-duty transport module vehicle points to the north. This is particularly advantageous when a plurality of heavy-duty transport module vehicles are used on a common load at the same time. If all heavy-duty modules have received the load, they can all be oriented according to the specified orientation so that their steering directions extend parallel to each other. Then starting from this "basic state", further steering movements can be achieved. On the other hand, therefore, the absolute position of the heavy-duty transport module vehicle in the environment and therefore the absolute position of the entire group in the environment can also be found out, which, for example, allows, in combination with the map data of the environment, to move the group safely, especially without collision, to the target location. Furthermore, in this context it can be advantageous if the control device of each heavy-duty transport module vehicle is also designed and configured to also receive information about the arrangement of the heavy-duty transport module vehicle relative to the load via an associated communication device.

[0031] The environment detection unit and / or the position detection unit may, for example, include one or more of the following generally available units:

[0032] - With the aid of a GNSS receiver (GNSS: Global Navigation Satellite System), the absolute position of the heavy-duty transport module vehicle can be determined. In this case, in a manner known per se, signals in the L1 frequency band can be used, and to increase the positioning accuracy, a phase shift in the L5 frequency band can be used.

[0033] - In addition, with the aid of a compass and / or a gyroscope, the orientation of the heavy-duty transport module vehicle relative to the surroundings can be ascertained.

[0034] - In order to ascertain the relative position and / or relative orientation of a heavy-duty transport module vehicle relative to other heavy-duty transport module vehicles in the group, it is possible to use and / or

[0035] In principle, the distance can be determined using the RSSI method (RSSI: Received Signal Strength Indication). However, this method has the disadvantage that if the signal has to pass through an object, the signal strength is excessively attenuated, so that the determined distance appears to be greater than the actual distance.

[0036] This problem can be avoided, for example, by means of the RTT method (RTT: Round Trip Time), in which the distance is determined by means of a transit time measurement.

[0037] Finally, the direction in which the adjacent heavy-duty transport module vehicle is located can be determined using the AoA method (AoA: Angle of Arrival). However, this method requires the use of an antenna array.

[0038] In adopting When the signal of the heavy-duty transport module vehicle that issues the inquiry is received by one or more of the heavy-duty transport module vehicles that respond The beacon is sent back together with the univocal identification of the heavy-duty transport module vehicle that responds. When beacons are used, the relative orientation of two heavy-load transport module vehicles can also be ascertained.

[0039] All these methods are known per se and, by a suitable combination of these methods, the relative positions of the individual heavy-duty transport module vehicles of a group can be ascertained with an accuracy of less than 10 cm, preferably less than 5 cm.

[0040] In the initialization phase of the collective mode, the heavy-duty transport module vehicles can determine their respective positions within the group and, if applicable, also their respective positions relative to the load. This position plays a decisive role in the subsequent determination of specific steering angles for the individual pairs of axle assemblies. In addition, the heavy-duty transport module vehicles can also be oriented relative to each other in this initialization phase so that their steering directions all extend parallel to each other at the beginning. The directions can be specified by an external controller.

[0041] In the operating phase of the collective mode, the heavy-duty transport module vehicles can then be controlled together. On the one hand, this includes common movements, and not only when driving in a straight line but also when driving on curves. As already mentioned, here, the steering angle for the heavy-duty transport module vehicles of the entire group can be specified only from the outside, that is, by an external controller, while the control device of each individual heavy-duty transport module vehicle itself determines the steering angle that is decisive for the corresponding heavy-duty transport module vehicle based on the specified group steering angle and the position in the group. It goes without saying that it is advantageous to ensure that all heavy-duty transport module vehicles of the group use the same version of the computing software.

[0042] In addition, when transporting loads, it is necessary to consider that the unevenness of the driving surface is compensated. For this reason, in the initialization phase of the collective mode, for all paired axle assemblies, the average initial level of the height adjustment device for each axle assembly can be calculated and determined. If the height adjustment device is a fluid, especially a hydraulic height adjustment device, the initial axle pressure assigned can also be found out and stored. If one of the heavy-duty transport module vehicles reaches the range of its elastic compression limit or elastic extension limit during the operation phase of the collective mode, then this heavy-duty transport module vehicle can notify other heavy-duty transport module vehicles of this through a communication device. In addition, this can also be used as an early warning to notify the operator in the external controller. In this case, the central controller can find out the reaction of each individual member of the group according to the prescribed rules, and transmit the corresponding specific setting value to each individual heavy-duty transport module vehicle. Of course, this finding can also be realized specifically by each individual control device of each heavy-duty transport module vehicle. If the problem should not be solved by the overall reaction, the corresponding alarm can be output to the operator.

[0043] In order to achieve a compact design and thus a high load-bearing density (tons per unit load-bearing area t / m 2 ), it can also be provided that all components are arranged in a plan view within a substantially circular contour, the diameter of which is preferably a maximum of 300 cm, more preferably a maximum of 275 cm, and even more preferably a maximum of 220 cm.

[0044] Merely for the sake of completeness, it should also be mentioned at this point that the heavy-duty transport modular vehicle according to the invention is advantageously and preferably an unmanned heavy-duty transport modular vehicle.

[0045] It should be added that each axle assembly has at least one wheel, and one wheel or at least one wheel among the plurality of wheels may have dual tires.

[0046] According to a second aspect, the invention relates to a transport vehicle for a plurality of heavy-duty transport module vehicles according to the invention, which transport vehicle has a receptacle for each heavy-duty transport module vehicle.

[0047] Heavy-duty transport module vehicles according to the method of the present invention are usually used for each individual special transport. This makes them need to be introduced into the corresponding use site and need to be transported away from there again after completing the transport task. For this reason, for example, a transport vehicle according to the present invention can be used.

[0048] In order to be able to arrange as many heavy-duty transport module vehicles as possible on the transport vehicle, it is proposed that at least two of the receptacles are arranged so as to overlap in the height direction.

[0049] In principle, it is conceivable to use a heavy-duty forklift in order to be able to introduce the heavy-duty transport module vehicle into at least one upper receiving portion and perhaps also into the lowest receiving portion. However, this would also require the heavy-duty forklift to be introduced to the place of use and to be transported away from there again. Therefore, it is preferred according to the invention that the transport vehicle comprises at least one lifting device, which is designed and intended to lift the heavy-duty transport module vehicle arranged in the lowest receiving portion into an upper receiving portion or one of a plurality of upper receiving portions. Of course, each heavy-duty transport module vehicle can also be lowered from its corresponding receiving portion into the lowest receiving portion by means of the lifting device.

[0050] Not only in this context, but also quite generally, it is further proposed that at least one receiving portion, preferably a plurality of receiving portions, and even more preferably all receiving portions, is provided with at least one locking element, which is designed and intended to lock a heavy-duty transport module vehicle arranged in the corresponding receiving portion in the receiving portion. The locking element can, for example, grab the heavy-duty transport module vehicle from below after lifting a heavy-duty transport module vehicle, and - perhaps in cooperation with at least one further locking element - keep the heavy-duty transport module vehicle in the receiving portion, while the lifting device is lowered again to lift another heavy-duty transport module vehicle. In addition, however, the locking element can also lock the heavy-duty transport module vehicle for transportation by means of a transport vehicle.

[0051] In an extension of the second aspect of the invention, it can be provided that at least the receiving section of the transport vehicle with the receiving portion can be lowered onto the foundation. This allows the heavy-duty transport module vehicle arranged in the lowest receiving portion to be moved into the receiving portion or out of the receiving portion without external auxiliary devices, i.e., using only the own drive of the heavy-duty transport module vehicle.

[0052] Not only in this context, but also quite generally, it is also advantageous if the lowermost receiving section has an opening at the side with respect to the direction of travel of the transport vehicle, which opening is designed in such a way that it allows a heavy-duty transport module vehicle to move through the opening into the receiving section or out of the receiving section. In this way, the heavy-duty transport module vehicle can be easily moved laterally into the receiving section or out of the receiving section.

[0053] In order to be able to arrange as many heavy-duty transport module vehicles as possible on the transport vehicle, it is further proposed that at least two of the receptacles are arranged one behind the other in the longitudinal direction of the transport vehicle.

[0054] In connection with transport via the public road network, it is further advantageous if at least the receiving section of the transport vehicle having the receiving portion does not exceed the dimensions of an ISO container.

[0055] In a development of the second aspect of the invention, it can further be provided that the transport vehicle is designed as a trailer which can be brought into traction connection with a tractor which is not part of the transport vehicle, for example by means of a gooseneck.

[0056] Additionally, the transport vehicle may include an energy supply unit for charging the battery pack of the heavy-duty transport module vehicle.

[0057] Although an embodiment of a transport vehicle has been described above, in which the heavy-duty transport module vehicles are arranged in their usual operating position (i.e. with a substantially horizontal load-bearing surface) in the receiving part of the transport vehicle, it is mentioned here for the sake of completeness that other embodiments are also conceivable in principle. It is mentioned only by way of example that the heavy-duty transport module vehicles can also be arranged in the receiving part with a substantially vertical load-bearing surface. In this case, no lifting device is then required, but rather pivoting devices are required, which grasp the heavy-duty transport module vehicles and pivot them from their usual operating position (i.e. with a substantially horizontal load-bearing surface) to a transport position with a substantially vertical load-bearing surface.

[0058] According to a third aspect, the invention relates to a receiving section for such a transport vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] The present invention will be explained in more detail below with reference to the accompanying drawings.

[0060] Figure 1 A perspective and partially schematic view showing a heavy-duty transport module vehicle according to the invention from obliquely below;

[0061] Figure 2 Display Press Figure 1 A schematic bottom view of a heavy-duty transport module vehicle;

[0062] Figure 3 A side view showing a plurality of heavy-duty transport module vehicles according to the present invention, which are arranged under a load;

[0063] Figure 4 A perspective view showing a fully loaded transport vehicle according to the invention for transporting a plurality of heavy-duty transport module vehicles according to the invention; and

[0064] Figure 5 Display of transport vehicles in partially unloaded state Figure 4 Similar view. DETAILED DESCRIPTION

[0065] exist Figure 1In the figure, the heavy-duty transport module vehicle according to the present invention is generally indicated by 100. The heavy-duty transport module vehicle 100 includes a frame 102, which is Figure 1 102 is represented in the form of a dotted cylinder. Only a part of the upper boundary wall 102a of the frame 102 is physically described. The boundary wall 102a forms the real frame, on which other components of the heavy-duty transport module vehicle 100, which will be explained below, are arranged. In addition, the frame 102 also includes a peripheral wall 102b, which only serves as a protective wall for the heavy-duty transport module vehicle 100.

[0066] The heavy-duty transport module vehicle 100 comprises a height direction H, a transverse direction Q and a longitudinal direction L, which extend orthogonally to each other in pairs.

[0067] On the lower side of the upper boundary wall 102a of the frame 102, two drivable shaft assemblies 104 and 106 are arranged so as not to rotate about a direction extending parallel to the vertical axis H. Therefore, the frame 102 forms a carrier 108 for the two shaft assemblies 104, 106. In addition, a non-driven support shaft assembly 110 is also arranged on the lower side of the upper boundary wall 102a of the frame 102, and the support shaft assembly is rotatable about an axis X extending parallel to the vertical axis H by means of a rotating ring 112.

[0068] A rotating ring 114 is provided on the upper side of the upper boundary wall 102a of the frame 102, which in turn supports a load support unit 116 having a load support surface 116a. With the aid of the rotating ring 114, the load support unit 116 and the frame 102 can be rotated about an axis Y extending parallel to the vertical axis H (see Figure 2 ) are rotated relative to each other. In order to ensure stable support of the load, the value of the diameter d of the rotating ring 114 is at least 1 / 4, preferably at least 1 / 2 of the value of the diameter D of the frame 102. Here, the diameter D can be, for example, a maximum of 300 cm, more preferably a maximum of 275 cm, and even more preferably a maximum of 220 cm. Here, a width of maximum 220 cm has the following advantage: the heavy-duty transport module vehicle 100 can even be arranged in an ISO container in this case.

[0069] In addition, as in Figure 2 As described in the drawings, the wheel axes 104a and 106a of the axle assemblies 104 and 106 extend through the rotation axis Y so as to ensure that all three axle assemblies 104, 106, 110 are reliably supported on the foundation or running surface U (see Figure 3The mass distribution of the components of the heavy-duty transport module vehicle 100 is selected so that the center of gravity S of the heavy-duty transport module vehicle 100 is located on the side of the wheel axes 104a and 106a of the axle assemblies 104 and 106 that face the support axle assembly 110, preferably with a spacing s of at least 5 cm, and more preferably with a spacing of at least 10 cm.

[0070] It should also be mentioned here that each axle assembly 104, 106, 110 in the described embodiment has two wheels 104b, 106b, 110b, wherein the wheels of the axle assemblies 104 and 106 have double tires and the wheels of the axle assembly 110 have single tires. In addition, in order to save installation space, the wheels of the axle assembly 110 have a smaller diameter than the wheels of the axle assemblies 104 and 106.

[0071] In addition, Figure 2 1 and 2, the components required for operating the heavy-duty transport module vehicle 100 are described, namely the hydraulic unit 120, the battery pack 122, the brake unit 124 (which supplies brake pressure to the brakes of the axle assemblies 104, 106 and possibly also to the brakes of the axle assembly 110), the electrical unit 126, as well as the control device 128 and the communication device 130. All of these components are preferably arranged completely within the contour of the frame 102, that is, within the protective wall 102b.

[0072] According to the present invention, the control device 128 is used to control the drive motors of the driven axle assemblies 104, 106. If the two drive motors are driven in the same direction and at the same speed, the heavy-duty transport module vehicle 100 travels in a straight line. If the two drive motors are driven at different speeds or even in opposite directions, the heavy-duty transport module vehicle 100 travels around a curve or even turns on the spot.

[0073] The drive motors of the driven shaft assemblies 104 , 106 may be electric motors supplied with electric current from the battery pack 122 , or may be hydraulic motors supplied with hydraulic fluid from the hydraulic unit 120 .

[0074] Furthermore, the communication device 130 is used on the one hand for bidirectional data exchange with the control device 128 and on the other hand for bidirectional communication with at least one further substantially structurally identical heavy-duty transport module vehicle and / or an external controller.

[0075] As especially Figure 1As described in , all axle assemblies 104, 106, 110 are designed to be height-adjustable relative to the frame 102. This allows the heavy-duty transport module vehicle 100 to travel under the load in the lowered state and then accommodate the load by adjusting the height of the axle assemblies 104, 106, 110 together, as will be explained in more detail below. This height adjustability also makes it possible to compensate for unevenness of the foundation U (see FIG. 1 ) when transporting together with other heavy-duty transport module vehicles 100 that are identically or at least identically designed. Figure 3 ). The height adjustment can be achieved here in a fluidic, in particular hydraulic, or electric manner.

[0076] Since heavy-duty transport module vehicles are usually used for special transportation, they need to be placed at the corresponding use site and transported away from there again after completing the transportation task. For the heavy-duty transport module vehicle 100 according to the present invention, for this purpose, for example, Figure 4 and 5 The transport vehicle 150 according to the present invention is described in FIG.

[0077] The transport vehicle 150 comprises a receiving section 152 in which the respective heavy-duty transport module vehicle 100 can be received, a gooseneck section 154 by means of which the transport vehicle can be coupled to a tractor, and a running gear section 156. The connection of the receiving section 152 on the one hand to the gooseneck section 154 and on the other hand to the running gear section 156 comprises a lifting mechanism (known per se and therefore not described separately) by means of which the receiving section 152 can be lowered onto a foundation.

[0078] In the described embodiment, the receiving section 152 comprises nine receiving parts 152a in total, namely three stacks arranged one after another in the direction of travel, each stack having three receiving parts 152a arranged one above the other in the height direction. However, it goes without saying that the receiving section 152 can also have any other number of stacks, and each stack can have any other number of receiving parts 152a.

[0079] The respective bottommost receiving portion 152a of each stack has a lateral opening 152b through which a heavy-duty transport module vehicle 100 can leave the respective receiving portion 152a or move into the receiving portion. Figure 5 In this context, a heavy-duty transport module vehicle 100 - 1 is depicted which has just left one of the receiving portions 152 a .

[0080] In order to also allow the heavy-duty transport module vehicles in the upper receiving portions 152a to be able to leave the receiving section 152 laterally, the receiving section 152 includes four lifting devices 158, of which two are arranged at the ends with respect to the three piles of receiving portions 152a and two are arranged between these piles. Each lifting device 158 includes a lifting fork or a lifting plate 158a, by means of which a heavy-duty transport module vehicle can be grasped from below. Thus, by operating the two lifting devices 158 assigned to one of the piles of receiving portions among the piles of receiving portions 152a, the heavy-duty transport module vehicle 100 can be lifted or lowered. Figure 5 This is described for the heavy-duty transport module vehicle 100-2.

[0081] If a heavy-duty transport module vehicle 100 is already arranged in the receiving portion 152a provided therefor, the heavy-duty transport module vehicle can be locked there by means of the locking element 160 (in the Figure 4 The lifting device 158 is locked (only schematically indicated in FIG. 1 ) so that the lifting device 158 can be moved toward another heavy-duty transport module vehicle 100. The locking elements 160 are advantageously also used for transport locking of the heavy-duty transport module vehicles 100 in the receiving portion 152a.

[0082] It should be added that the lifting forks or lifting plates 158a of the lifting device 158 arranged between the stack receptacles 152a can be rotated through 180° so that they can handle two adjacent stacks.

[0083] It should also be added that the receiving section 152 preferably does not exceed the dimensions of an ISO container, so that the receiving section can also be transported independently of the gooseneck section and the running gear section, for example on a truck or a railway flatbed.

[0084] Finally, it should also be added that the transport vehicle 150 may also include at least one energy supply unit 162 for charging the battery pack 122 of each heavy-duty transport module vehicle 100. The energy supply unit 162 can be arranged on the gooseneck section 154, such as Figure 4 However, in addition or as an alternative, it is also possible that the energy supply unit is arranged on the running gear section 156 and / or in one of the receiving parts 152a of the receiving section 152.

[0085] Next, the operation of the heavy-duty transport module vehicle according to the invention will be explained in more detail.

[0086] If the heavy-duty transport module vehicle 100 has been placed at the point of use by means of the transport vehicle 150 Figure 4 ), they then need to move to the load to be transported 180 (see Figure 3For this purpose, the heavy-duty transport module vehicles 100 are lowered one after another by means of the lifting device 158 assigned to the respective stack into the lowest receiving portion 152a of the respective stack, provided that the heavy-duty transport module vehicle is not yet in the lowest receiving portion 152a.

[0087] If the heavy-duty transport module vehicle 100 is in the lowest receiving portion 152a, the heavy-duty transport module vehicle is activated. Subsequently, the control device 128 of the heavy-duty transport module vehicle is switched to an individual mode, which allows the heavy-duty transport module vehicle 100 to move independently of other heavy-duty transport module vehicles, for example by means of a radio remote control, which communicates with the control device 128 via a communication device 130. In this way, each heavy-duty transport module vehicle 100 can be maneuvered to the position assigned to the heavy-duty transport module vehicle under the load 180. Subsequently, the load support unit 116 can be lifted by means of the height adjustability of the axle assemblies 104, 106, 110 until the load support surface 116a of the load support unit is flatly attached to the lower side of the load 180.

[0088] Now, if desired, the support axle assembly 110 can be lifted, since it only needs to be designed for the weight of the heavy-duty transport module vehicle 100 and does not need to be designed to accommodate a larger load. The rest of the heavy-duty transport module vehicle 100 is stabilized here by the surface contact with the load 180.

[0089] If all heavy-duty transport module vehicles 100 are already positioned at their assigned positions below the load 180 , their control devices 128 are all switched into collective mode.

[0090] In the synchronization phase of the collective mode, each heavy-duty transport module vehicle 100 itself ascertains, on the one hand, with respect to the external environment, what orientation it has in the environment. For this purpose, for example, a GNSS receiver (GNSS: Global Navigation Satellite System), a compass and similar systems known per se can be used. These systems can be components of a position detection unit 132, which is assigned to the control device 128. On the other hand, each heavy-duty transport module vehicle 100 ascertains in the synchronization phase in which direction, at which distance and perhaps in which orientation the other heavy-duty transport module vehicles 100 are located. In this case, the univocal identification of the other heavy-duty transport module vehicles 100 is also ascertained. For this purpose, for example, a GNSS receiver (GNSS: Global Navigation Satellite System) can be used. and / or The systems just mentioned may be components of an environment detection unit 134 which is associated with the control device 128 .

[0091] If the environmental detection and the orientation detection are finished, the result of the investigation is transmitted to other heavy-duty transport module vehicles 100 by means of the communication device 130 and received by them. Based on these data, each heavy-duty transport module vehicle 100 can determine the precise configuration of the group and the position of the heavy-duty transport module vehicle within the group, and this serves as the basis for control during the load transportation, i.e. during the operation phase of the collective mode. For this purpose, it is only necessary that all heavy-duty transport module vehicles 100 use the same software. In order to ensure this, the version number of the software used can also be advantageously transmitted.

[0092] It is also advantageous to determine the position of the load relative to the group. This facilitates the avoidance of collisions during the transport of the load.

[0093] During the load transportation, each heavy-duty transport module vehicle continuously exchanges operation data with each other, so that critical situations can be identified in advance and suitable countermeasures can be introduced. For example, each heavy-duty transport module vehicle 100 can transmit the elastic compression state or elastic extension state of their axle assembly 104, 106 and perhaps axle assembly 110. If one of the heavy-duty transport module vehicles 100 reaches the range of its elastic compression limit or elastic extension limit, then the heavy-duty transport module vehicle will notify this to other heavy-duty transport module vehicles 100. In addition, this can also be notified to the operator in the external controller as an early warning. The central controller can in this case find out the reaction of each individual member of the group according to the prescribed rules, and transmit the corresponding specific setting value to each individual heavy-duty transport module vehicle 100. Of course, this finding can also be realized specifically by each individual control device 128 of each heavy-duty transport module vehicle 100. If the problem should not be solved by the overall reaction, then the corresponding alarm output can be given to the operator.

Claims

1. A heavy-duty transport module vehicle (100), the heavy-duty transport module vehicle comprising: at least one pair of independently drivable shaft assemblies (104, 106), which are arranged on a common carrier (108), have axes aligned with each other and are not pivotable relative to the carrier (108) with respect to a pivoting movement about an axis extending in a height direction (H) of the carrier (108); - a load supporting unit (116), the load supporting unit comprising a load supporting surface (116a), the carrier (108) being rotatably connected to the load supporting unit (116) around a rotation axis (Y) extending orthogonally to the load supporting surface (116a); - a control device (128) configured and configured to control at least one drive unit of each of said drivable shaft assemblies (104, 106); and - A communication device (130), which is designed and configured for bidirectional communication with at least one other essentially structurally identical heavy-duty transport module vehicle and / or a superior external controller, and which is also designed and configured for bidirectional data exchange with the control device (128).

2. The heavy-duty transport module vehicle according to claim 1, characterized in that: A further shaft assembly (110) is provided, which is arranged on the carrier (108) in a pivotable manner about a pivot axis (X) extending in the height direction (H) of the carrier (108).

3. The heavy-duty transport module vehicle according to claim 2, characterized in that: Each of the drivable shaft assemblies (104, 106) is arranged on one side and the other shaft assembly (110) is arranged on the other side on opposite sides of a plane, firstly, the plane extends parallel to the axis of each of the drivable shaft assemblies (104, 106), secondly, the plane extends in the height direction (H) of the carrier (108), and thirdly, the plane extends through the center of gravity (S) of the heavy-duty transport module vehicle (100).

4. The heavy-duty transport module vehicle according to claim 2 or 3, characterized in that: The further shaft assembly (110) is a shaft assembly that cannot be driven.

5. The heavy-duty transport module vehicle according to any one of claims 2 to 4, characterized in that: The wheel or wheels (110b) of the further axle assembly (110) have a smaller diameter than the wheels (104b, 106b) of the respective driven axle assembly (104, 106).

6. The heavy-duty transport module vehicle according to any one of claims 1 to 5, characterized in that: All shaft assemblies (104, 106, 110) are constructed in a height-adjustable manner relative to the frame.

7. The heavy-duty transport module vehicle according to any one of claims 1 to 6, characterized in that: The load supporting unit (116) is connected to the carrier (108) via a rotating ring, such as a rolling body rotating ring. Preferably, the diameter (d) of the rotating ring is at least 25%, and more preferably at least 50%, of the maximum external dimension (D) of the heavy-duty transport module vehicle (100) measured in the horizontal direction in the load-supported state.

8. The heavy-duty transport module vehicle according to any one of claims 1 to 7, characterized in that: The heavy-duty transport module vehicle also includes at least one battery pack (122), preferably, the battery pack is substantially completely disposed within the contour of the carrier (108).

9. The heavy-duty transport module vehicle according to any one of claims 1 to 8, characterized in that: The control device (128) can be switched between an individual mode and a collective mode.

10. The heavy-duty transport module vehicle according to claim 9, characterized in that: The control device (128) is designed and configured to synchronize the heavy-duty transport module vehicle (100) with other heavy-duty transport module vehicles in a synchronization phase after switching into a collective mode.

11. The heavy-duty transport module vehicle according to any one of claims 1 to 10, characterized in that: The control device (128) is equipped with an environment detection unit (134) which is designed and configured to detect the distance and / or direction and / or identification of at least one further heavy-duty transport module vehicle.

12. The heavy-duty transport module vehicle according to any one of claims 1 to 11, characterized in that: The communication device (130) is designed and configured to receive environmental detection data of other heavy-duty transport module vehicles and transmit the environmental detection data to the control device (128).

13. The heavy-duty transport module vehicle according to any one of claims 1 to 12, characterized in that: The control device (128) is also equipped with a position detection unit (132), which is designed and configured to detect the absolute position of the heavy-duty transport module vehicle and / or the orientation of the heavy-duty transport module vehicle in space.

14. The heavy-duty transport module vehicle according to any one of claims 1 to 13, characterized in that: All components are arranged in a plan view within a substantially circular contour, preferably with a diameter (D) of at most 300 cm, more preferably at most 275 cm, even more preferably at most 220 cm.

15. A transport vehicle (150) for a plurality of heavy-duty transport module vehicles (100) according to any one of the preceding claims, the transport vehicle comprising a receiving portion (152a) for each of the heavy-duty transport module vehicles (100).

16. The transport vehicle according to claim 15, characterized in that: At least two of the receiving portions (152a) are arranged to overlap in the height direction.

17. The transport vehicle according to claim 16, characterized in that: The transport vehicle comprises at least one lifting device (158) which is designed and configured to lift a heavy-duty transport module vehicle (100) disposed in a lowermost receiving portion (152a) into an upper receiving portion (152a) or one of a plurality of upper receiving portions.

18. The transport vehicle according to any one of claims 15 to 17, characterized in that At least one receiving portion (152a), preferably a plurality of receiving portions (152a), and even more preferably all receiving portions (152a) are provided with at least one locking element (160), which is constructed and determined to lock a heavy-duty transport module vehicle (100) arranged in the corresponding receiving portion (152a) in the receiving portion.

19. The transport vehicle according to any one of claims 15 to 18, characterized in that At least a receiving section (152) of the transport vehicle (150) having the receiving portion (152a) can be lowered onto a foundation (U).

20. The transport vehicle according to any one of claims 15 to 19, characterized in that The lowermost receiving portion (152a) has a lateral opening (152b) relative to the travel direction of the transport vehicle (150), which is designed to allow a heavy-duty transport module vehicle (100) to move through the opening into the receiving portion (152a) or to leave the receiving portion (152a).

21. The transport vehicle according to any one of claims 15 to 20, characterized in that At least two of the receiving portions (152a) are arranged one after another in the longitudinal direction of the transport vehicle (150).

22. The transport vehicle according to any one of claims 15 to 21, characterized in that At least the receiving section (152) of the transport vehicle (150) having the receiving portion (152a) does not exceed the dimensions of an ISO container.

23. The transport vehicle according to any one of claims 15 to 22, characterized in that The transport vehicle is designed as a trailer which can be placed in a traction connection with a tractor which is not part of the transport vehicle (150), for example by means of a gooseneck (154).

24. The transport vehicle according to any one of claims 15 to 23, characterized in that The transport vehicle comprises an energy supply unit (162) for charging the battery pack (122) of each heavy-duty transport module vehicle (100).

25. A receiving section (152) for a plurality of heavy-duty transport module vehicles according to any one of claims 1 to 14, the receiving section comprising a receiving portion (152a) for each of the heavy-duty transport module vehicles (100).

26. The receiving section of claim 25, further comprising at least one of the receiving section features of any one of claims 16 to 18, 20 to 22 and 24.

Images