Lane guidance system for unmanned transport system

Abstract

The invention relates to a track guiding system for a driverless transport system, comprising at least - a track assembly (3) having at least one track groove (12), and - a ground transport means (1) which is provided for the driverless, self-acting operation of a load (9) to be transported, having at least one wheel (6) which can be rotated about a vertical axis (19), wherein the ground transport means (1) can be guided at least partially mechanically by the track assembly (3), and wherein the wheel (6) is embodied with at least one guiding element (7) which prevents a lateral contact of the wheel (6) and the track groove (12) during the guiding.

Description

TECHNICAL FIELD

[0001] The invention relates to a lane guiding system for a driverless transport system, comprising at least one track assembly having at least one lane channel and a floor transport means (Automated Guided Vehicle, AGV) which is provided for the driverless, self-acting operation of a load to be transported. In particular, the invention is used in a robotic vehicle for transporting loads. BACKGROUND

[0002] With the progress of automation technology, the transport of loads and their handling is becoming increasingly important.

[0003] In order to operate a self-acting floor transport means, a certain infrastructure is required in the environment (for example a factory hall) in order for the vehicle to be able to orient itself. Thus, at least the locations for loading or unloading the goods flow (source or discharge) must be defined. These locations are referred to as "supermarkets" and are provided, for example, with floor tracks. These locations ensure that the loading or unloading of the transport trolleys (hand trucks) for the goods to be transported always takes place in the same way, which are, for example, floor rolling devices which are to be transported using the floor transport means.

[0004] In this application, the floor transport means drives backwards into the supermarket lane in order to load or unload the load located on the transport trolley. Here, the four-wheeled transport trolley, which has two wheels on each side, is located in a so-called monorail track. Even the floor transport means itself must drive unilaterally into such a track (drive-in direction) in order to load and unload. Here, at least one support wheel of the floor transport means is guided in the track (on both sides). When driving out of the track (drive-out direction), the following support wheel tries to rotate into the rear position. This is prevented by the monorail track and leads to the support wheel tilting in the track and an increased required torque at the drive wheel. In rare cases, it can even lead to an overload of the drive motor. SUMMARY

[0005] It is therefore the task of the invention to propose a lane guiding system for a driverless transport system which alleviates or even avoids the mentioned disadvantages. In particular, by means of a structurally simple solution, it should be possible to guide the wheels in the track in an improved manner and to reduce the drive torque at the drive wheels of the floor transport means.

[0006] These tasks are solved with a lane guidance system for a driverless transport system according to the independent claims. Other configurations of the invention are given in the dependent claims. It is pointed out that the present description, especially in connection with the drawings, clarifies further details and extensions of the invention which can be combined with the features in the claims.

[0007] The lane guidance system for a driverless transport system contributes to this, which comprises at least the following:

[0008] - a track assembly with at least one lane channel, and

[0009] - a ground conveyor tool which is provided for the driverless, self- autonomous operation of a load to be transported, said ground conveyor tool having at least one wheel which can be rotated about a vertical axis.

[0010] Here, the ground conveyor tool can be guided at least partially mechanically by the track assembly, and the wheel is embodied with at least one guide element which prevents a lateral contact of the wheel and the lane channel during the guidance.

[0011] With this track assembly, the space in the "supermarket lane" is used in an optimal manner. By guiding the wheel mechanically in the lane channel, a rotation of the wheel about the vertical axis into a rearward position is prevented. Advantageously, a possible friction of the wheel at the track is prevented by the guide element acting relative to the track. In this way, the drive torque for the drive wheel of the ground conveyor tool is advantageously reduced at the same time.

[0012] The driverless ground conveyor tool can be a motorized vehicle, if necessary including any kind of trailer, which is determined for driving independently and autonomously.

[0013] "Load" means an object to be handled, including its mass, size, state and / or arrangement. The load can consist (only) of a transport vehicle. The load can also include a load carrier and a transport device for the load carrier, for example a transport vehicle, a load carrier, a ground rolling device, etc. The "load handling" which can be performed by the ground conveyor tool is understood to be, inter alia, lifting, lowering, load transfer and / or load processing.

[0014] The ground conveyor system presented here for a driverless transport system is preferably used for driverless ground conveyor vehicles, which are guided in part by mechanical means (rails, guide means, etc.). The mechanical means (e.g. monorails) are preferably located at the points where the flow of goods is loaded and unloaded (or put on and taken off). Outside of the mechanical means, the ground conveyor vehicles, e.g. active shuttles, can also be guided without mechanical means. For this purpose, the ground conveyor vehicles can interact with a guidance system in the ground or the environment, which prescribes the travel route.

[0015] The ground conveyor vehicle has at least one wheel, which can be rotated about a vertical axis. Preferably, the ground conveyor vehicle has an axis, which has two such wheels (on the right and left in the direction of travel). The wheels can be held in an associated housing, wherein the housing constitutes the (vertically) rotatable attachment point towards the ground conveyor vehicle and itself constitutes the (two-sided) bearing structure for the wheels, which can be rotated in the housing. These wheels are usually not driven, but passive support or follower wheels are driven. If a moving ground conveyor vehicle forces such a wheel to move in a direction different from its current orientation, the wheel rotates about the vertical (rotary) axis in the new direction of movement until the directional error is compensated.

[0016] The rail assembly is embodied with at least one lane slot. In particular, the lane slot is embodied such that it can partially accommodate and at least sectionally guide the wheels of the ground conveyor vehicle on both sides in particular. The width of the lane slot is preferably at least 30% greater than the width of the wheels. In particular, the width of the lane slot is dimensioned such that a complete rotation of the wheels about their axis is prevented, i.e. that the wheels (without a guidance element) can not (at the same time) come into contact with the flanks of the lane slot.

[0017] It is immediately apparent that in a supermarket further rail systems can also (additionally) be provided.

[0018] The guidance element provided at the wheel prohibits a lateral contact of the wheel with the lane slot during guidance by being embodied, for example, according to the type of a protection element which is (slightly) spaced apart from the wheel, but is fixed in position relative to the wheel, which prevents a contact with the flanks of the lane slot and thus a blocking of the wheel. In particular, the guidance element is arranged in a region around the wheel, which is partially located in the lateral gap between the wheel and the flanks of the lane slot. In particular, the guidance element limits the maximum possible angle of rotation of the wheel about the vertical axis in the lane slot, in particular by widening the wheel.

[0019] Preferably, each wheel is provided with a single guide element. The guide element partially preferably encloses or surrounds the wheel on both sides.

[0020] Preferably, the track assembly is positionally fixed. This means, inter alia, that the track is connected to the floor, for example by being fitted at the floor of a supermarket. Preferably, the track assembly comprises at least one floor track.

[0021] It is possible that the track assembly, in particular of a single lane for use in a supermarket, has two (directly) adjacent tracks, which are used, for example, for guiding at least one wheel of a floor conveyor vehicle and a trolley, respectively.

[0022] Advantageously, the track assembly comprises a channel track, the lane channel of which has at least two flanks. The height of the flanks of the lane channel for the floor conveyor vehicle is preferably at least 50% of the diameter of the wheels of the floor conveyor vehicle. Here, the height of the flanks is preferably less than the diameter of the wheels.

[0023] Suitably, the track assembly comprises at least one monorail track. A wheel guide specially designed for the monorail track ensures improved straight running when exiting and prevents tilting of the support wheels at the track. This likewise results in a smaller torque being required at the drive motor when exiting.

[0024] Preferably, the at least one wheel is a so-called steering roller. The steering roller can also comprise two roller bodies arranged in a manner rotatable side by side, which are fitted to the floor conveyor vehicle in a manner rotatable about a vertical axis.

[0025] Preferably, the wheel is guided in the lane channel of the monorail track.

[0026] Advantageously, the guide element is embodied as a sliding element, for example having a (wear-resistant) plastic. This guide element can be embodied as a sliding element, i.e. for example having a specially designed, in particular correspondingly to the shape of the track flanks, outer sliding surface, precisely in the case of applications in which the guide element is in contact with the track or its flanks more frequently. The sliding element can be configured to have a low-friction surface and / or structure. The sliding element can be provided with a (partial) edging and / or coating made of a wear-resistant material. In most cases, the housing of the wheel is formed using metal, wherein the guide element can be formed from metal and / or plastic.

[0027] Suitably, the guide element is at least partially configured in the shape of a U. Preferably, the U shape is produced in the viewing direction along the vertical (rotational) axis of the wheel, such that at least one (lower or ground-facing) section of the wheel is accommodated in the recess formed by the U.

[0028] The housing of the wheel can form at least one guide element.

[0029] It is possible that the at least one guide element is configured in one piece with the housing.

[0030] It is also possible that the at least one guide element is configured separately and is implemented in a manner connected to the housing.

[0031] Preferably, the guide element is connected form-fittingly to the housing of the wheel.

[0032] Advantageously, the guide element is fastened at the wheel by means of a clip and / or a screw.

[0033] By means of the described measures, preferably a wear-resistant and slidable U-shaped plastic part is placed around and fastened (clipped, screwed) at the support wheel. This component is form-fittingly connected, for example, to the plate carrier of the support wheel and is thus fixed against rotation (tilting). The invention can be used at every vehicle with a steering roller which is guided in a monorail track.

[0034] Suitably, the wheel is at least partially surrounded in the lower or ground-adjacent section by a guide element which acts relative to the track.

[0035] The guide element can extend in the region between the ground and the (horizontal) rotational axis of the wheel and enclose (front and / or rear) the wheel in the direction of travel. It can be provided that the guide element extends forward and / or rearward by no more than or only by a few millimeters beyond the diameter of the wheel itself.

[0036] The track guiding system presented here for unmanned transport systems relates to a mechanical improvement in which, in order to better guide the wheels in the track, the support rollers are provided with a guide device or guide structure which is designed such that the support wheels are surrounded in the lower section by a sliding element which acts relative to the track.

[0037] It should be noted that the use of numerals ("first", "second",...) for elements usually only serves to distinguish, without necessarily specifying the relevance or order of the elements. For the sliding elements, this means, for example, that their installation (stationary, traveling together) and / or location (at the carrier, etc.) can be freely chosen, regardless of the name, or correspond to the technical conditions. BRIEF DESCRIPTION OF DRAWINGS

[0038] The application and the technical background are explained in more detail below with reference to the drawings. Identical components are denoted by identical reference numerals here. The schematic drawings are schematic and are not used to illustrate the scale. The explanations presented with reference to individual details of the drawings can be taken up and can be combined freely with other drawings or facts from the above explanations, unless it is forced upon the person skilled in the art to draw a different conclusion or such a combination is expressly prohibited by the explanations.

[0039] which shows:

[0040] Figure 1 : perspective schematic view of a floor conveyor with a loaded transport vehicle and a track assembly;

[0041] Figure 2 : perspective view of a steering roller with a guide element in a monorail track according to Figure 1 : top view of a floor conveyor, a transport vehicle and a part of a monorail track according to

[0042] Figure 3 : perspective view of a steering roller with a guide element on one side;

[0043] Figure 4a , 4b : front view (left) and top view (right) of a steering roller according to Figure 3 ; Figure 4a Figure 4b

[0044] Figure 5 : an embodiment with a guide element that is open on one side; and

[0045] Figure 6 : an embodiment in which the guide element and the housing are configured as one piece. DETAILED DESCRIPTION

[0046] Figure 1 A perspective view of a floor conveyor 1 that shows an automatic action, with a loaded transport vehicle 2 and a track assembly 3, for example with at least one monorail track 4. The floor conveyor 1 is arranged in such a way that it can be driven on the ground 5 by means of (not shown) drive wheels, wherein A denotes the direction of movement of the floor conveyor 1 when driving in and B denotes the direction of movement of the floor conveyor 1 when driving out. One of the wheels 6, for example a support wheel, is arranged at the lower end region of the floor conveyor 1. The wheel 6 is embodied with a guide element 7. The wheels of the transport vehicle 2 are denoted by 8.1 to 8.4 (only 8.1 and 8.2 are shown). The transport vehicle 2 is arranged in such a way that it can be moved on the floor conveyor 1, for example by means of a drive motor (not shown). The floor conveyor 1 is arranged in such a way that it can be moved on the floor 5, for example by means of a drive motor (not shown). Figure 1 A track assembly 3 with two monorail tracks 4.1, 4.2 is shown in which the monorail tracks, taking into account the different sides of the floor conveyor 1, can be positioned at different supermarket locations.​​

[0047] Figure 2 Showing according to Figure 1 An enlarged top view of the ground transport vehicle 1, the transport vehicle 2, and a portion of the monorail track 4. In this case, the load 9 consists of the cargo 10 and the transport vehicle 2, which is used to transport the cargo 10. The monorail track 4 is constructed with a track groove 12 (see also...). Figure 3 The grooved rail 11 of the ground conveyor 1 and the wheels 6 of the ground conveyor 1 and the wheels 8.1 and 8.2 (8.2 only shown) of the transport vehicle 2 are located in the lane groove 12.

[0048] Figure 3 The diagram shows a perspective view of a wheel 6 configured as a steering roller 13, which has a guide element 7 within a lane groove 12 of a monorail track 4. The housing (plate bracket), for example made of steel, is indicated by 14; the wheel body, for example made of cast iron, is indicated by 15; and the tread of the steering roller 13, for example made of polyurethane, is indicated by 16. The guide element 7 is preferably formed as a sliding element made of abrasion-resistant plastic. The guide element 7 is secured to the housing 14 in a replaceable manner using screws 17. The lane groove 12 is substantially U-shaped in cross-section, for example constructed as a square, rectangle, or trapezoid with one side open. The lane groove 12 has two opposing side wings 12.1, 12.2 and a groove bottom 12.3. The guide element 7 substantially (i.e., largely or almost completely) fills the lane groove 12, or the gap between the tread 16 of the wheel 6 and the side wings 12.1, 12.2. In this way, at least one outer surface 7.1, 7.2 of the guide element 7 can be made to slide and rub against the side wings 12.1, 12.2 of the lane groove 12 during guidance, and contact and rolling friction of the tread 16 and / or wheel 15 at the side wings 12.1, 12.2 can be prevented.

[0049] exist Figure 4a and 4b The text shows the data according to... Figure 3 Front and top views of the steering roller 13. Figure 4a Wheel 15 (see Figure 3 The tire and tread 16 are supported in a manner that allows them to rotate about the horizontal axis 18 in the directions of the curved arrows C and D. The steering roller 13 is supported in a manner that allows it to rotate about the vertical axis 19 in the directions of the curved arrows E and F. Figure 4a The steering roller 13 is surrounded by the guide element 7 in the lower section.

[0050] according to Figure 4bThe guide element 7 is generally U-shaped and partially surrounds the steering roller. Furthermore, it can be seen in this figure that the guide element 7 extends in the region between its bottom and the horizontal axis 18 of the wheel 6 and (only in this region) surrounds the wheel 6 in the direction of movement, wherein the guide element does not (in fact) extend beyond the diameter of the wheel 6 in at least one direction of movement (here to the right in the schematic diagram), that is, the front region of the guide element is actually completely covered by the wheel in the top view.

[0051] Figure 5 An embodiment is shown with a guide element 7 that is open on one side, for example, L-shaped, which is fastened to the housing 14.

[0052] Figure 6 An embodiment in which the guide element 7 and the housing 14 are constructed as a single unit is shown. In this case, the guide element 7 can be implemented in a reinforced manner to resist wear. The guide element 7 can be positioned on its side wings 12.1, 12.2 facing the lane groove 12. Figure 3 The outer surfaces 7.1 and 7.2 of the guide element 7 are coated or plated with a sliding coating. The guide element 7 can be integrally constructed as a plastic part with the housing 14. The housing 14 (steering housing) has a turntable 20 at its upper end, which has a ball bearing or roller bearing (not shown). The turntable 20 is rotatably supported on a fastening plate 21, which is rigidly mounted in the lower region of the ground conveyor 1.

[0053] List of reference numerals

[0054] 1. Ground conveying equipment

[0055] 2 transport vehicles

[0056] 3 Track Components

[0057] 4; 4.1, 4.2 Single-track

[0058] 5. Ground

[0059] 6 wheels

[0060] 7. Guide elements

[0061] 7.1, 7.2 Outer surface of the guide element

[0062] 8.1 to 8.4 Wheels of the transport vehicle

[0063] 9. Load

[0064] 10. Carrying goods

[0065] 11. Groove rail

[0066] 12-lane channel

[0067] 12.1, 12.2 Flank of the channel

[0068] 12.3 Channel bottom of the channel

[0069] 13 Steering roller

[0070] 14 Housing

[0071] 15 Wheel body

[0072] 16 Tread

[0073] 17 Screw

[0074] 18 Horizontal axis

[0075] 19 Vertical axis

[0076] 20 Turntable

[0077] 21 Fastening plate

[0078] A, B Direction of movement

[0079] C, D, E, F Direction of rotation

Claims

1. A lane guidance system for an unmanned transportation system, comprising at least: Track assembly (3), the track assembly having at least one track groove (12), and A ground transport vehicle (1) is configured for unmanned, autonomous operation of a load (9) to be transported, and the ground transport vehicle has at least one wheel (6) capable of rotating about a vertical axis (19). in, The ground transport vehicle (1) is at least partially mechanically guided by the track assembly (3), wherein the wheel (6) is configured to have at least one guide element (7) that prevents lateral contact between the wheel (6) and the lane groove (12) during guidance. The guide element (7) is formed as a sliding element. The track assembly (3) includes a grooved rail (11), and the track groove (12) of the grooved rail has at least two side wings (12.1, 12.2). The guide element is arranged in the area surrounding the wheel, which is partially located in the lateral gap between the wheel and the side flanks of the lane groove.

2. The lane guidance system according to claim 1, wherein, The wheel (6) is a steering roller (13).

3. The lane guidance system according to claim 1, wherein, The guide element (7) is formed as a sliding element with plastic.

4. The lane guidance system according to claim 1, wherein, The guide element (7) is U-shaped.

5. The lane guidance system according to claim 1, wherein, The housing (14) of the wheel (6) forms the guide element (7).

6. The lane guidance system according to any one of claims 1 to 4, wherein, The guide element (7) is connected to the housing (14) of the wheel (6).

7. The lane guidance system according to claim 1, wherein, The guide element (7) is fastened to the wheel (6) by a clip or screw (17).

8. The lane guidance system according to claim 1, wherein, The wheel (6) is at least partially surrounded by a guide element (7) that functions relative to the track assembly (3) in the section near the ground.

9. The lane guidance system according to claim 1, wherein, The guide element (7) extends in the region between the bottom and the horizontal axis (18) of the wheel (6) and surrounds the wheel (6) in the direction of movement, wherein the guide element does not extend beyond the diameter of the wheel (6) in at least one direction of movement.

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