Modular assembly and modular kit for constructing a robotic vehicle or a logistic vehicle

Abstract

The present invention relates to a module assembly for constructing a robotic or logistic vehicle (1), the module assembly (2) comprising a housing (3) having an assembly receptacle (14) for a first electronic assembly (15) designed to cooperate with at least one other electronic assembly (15') of another module assembly (2') to create a controlled drive device of the robotic or logistic vehicle (1). The module assembly (2) is designed as a drive module (72) and comprises as the first electronic assembly (15) a controllable drive wheel (60). The housing (3) of the module assembly (2) comprises a right-angled box-shaped profile body (8). The box-shaped profile body (8) is open on two opposite axial end faces (O, U) and encloses a cavity (6) in ring form. A cover plate (4, 5) is arranged on at least one of the open end faces (O, U) covering the opening of the end face (O, U). One or more T-shaped grooves (7) are provided on at least two, preferably all, outer walls of the box-shaped profile body (8). The invention also relates to a related accompanying module kit (100) for providing a robotic or logistic vehicle (100).

Description

Technical Field

[0001] This invention relates to a modular component and a modular kit for constructing robotic vehicles or logistics vehicles. Background Technology

[0002] In practice, there is a growing demand for rapidly establishing transportation systems to support production or processing flows in industrial environments. While highly specialized transportation systems have been established in large-scale production plants for automobiles, trucks, and similar industrial products, these systems are often unsuitable for industries with continuous production, high cost pressures, or short production cycles. This is because, although these specialized transportation systems are highly efficient in continuous operation, they are costly to modify or adapt to new production processes.

[0003] In addition, vehicles with fixed basic structures are known to serve as general-purpose bases for logistics robots or mobile platforms for industrial robots. These vehicles are typically expensive to purchase and have proprietary interfaces, thus requiring manufacturers to adapt them for new applications.

[0004] Finally, in the field of toy technology, modular systems, such as LEGO Mindstorms, are known to be able to assemble various types of vehicles or robots. However, these modular systems cannot provide sufficient load-bearing capacity for robotic vehicles or logistics vehicles used in the production process.

[0005] CN109263751A and CN108725628A disclose autonomously navigated transport vehicles, in which a chassis in the form of pillars and a structural frame is provided, both constructed of building profiles. All electronic components are individually fixed to the outside of such pillars or columns. Wheel drives are bolted to the frame. Summary of the Invention

[0006] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0007] The objective of this invention is to demonstrate a modular component that allows for the simple and rapid creation of various robotic or logistics vehicles with freely selectable sizes, and the direct mounting of established prototype construction systems, such as new cargo handling equipment, onto the created vehicles.

[0008] Another objective of this invention is to demonstrate a modular construction kit system composed of composable modular components, thereby enabling the rapid and simple construction of various types of robotic vehicles or logistics vehicles as modular systems. This invention addresses these and other problems through features in the independent requirements division.

[0009] This invention comprises multiple aspects, each of which can work alone or in any combination to solve the above or other problems.

[0010] The first aspect of the invention relates to a modular assembly for constructing a robotic vehicle or logistics vehicle. According to the invention, the modular assembly includes a housing having a component receiver for at least one electronic component. This electronic component is designed to work in conjunction with at least one other electronic component of another modular assembly to create a drive system for the robotic vehicle or logistics vehicle. The electronic component can support this function in any way, such as providing energy storage, providing control technology, particularly providing control devices, or providing communication interfaces, sensors, or drive mechanisms. Any intermediate combinations are also possible.

[0011] The housing of the modular assembly of the present invention includes a straight-lined box-shaped profile having a basic shape with a uniform box-shaped cross-section along the axial direction. This box-shaped profile is open at both opposite axial end faces and surrounds an annular cavity.

[0012] At least one open end face has a cover plate that covers the opening of this end face. One or more T-slots are provided on at least two, preferably all, outer walls of the box-shaped profile (each one). The cover plate is preferably designed as a stable load-bearing plate, particularly a metal plate or a plate made of fiber composite material, capable of supporting part of the weight of the robotic or logistics vehicle to be created. Thus, the modular assembly forms a mechanically supported shell on the circumference of the box-shaped profile and on the cover plate, within which any electronic components can be safely installed to prevent collisions. The cover plate is also preferably a flat, smooth component, that is, it has no protrusions. Alternatively, the cover plate can be a profiled component.

[0013] When the shape of the robotic vehicle or logistics vehicle to be created can be freely chosen, the modular components have dual modular characteristics. That is:

[0014] - A mechanical load-bearing module with a uniform geometry, and

[0015] - A functional module of a drive device or electrical / electronic system.

[0016] In this scenario, each module component can be pre-designed as a relevant system component required by the robotic vehicle or logistics vehicle. Module components can have the following specific forms:

[0017] -Driver module,

[0018] -Energy storage module,

[0019] -Control technology module,

[0020] -Communication module,

[0021] -Sensor module,

[0022] - Passive wheel module.

[0023] Modular components with the above-described structure offer several advantages. The box-shaped profile forms a stable housing suitable for supporting loads anticipated in industrial applications. These loads may particularly be support loads from moving workpieces or plant equipment and / or reaction forces from industrial processing. The box-shaped profile can preferably be made of metal. It can be further preferably made of extruded profiles, particularly aluminum, steel, or stainless steel profiles.

[0024] By setting T-slots on multiple outer walls of the box-shaped profile, a high degree of compatibility with existing prototypes, supports, or working equipment systems is achieved.

[0025] Building profiles (also known as hollow profiles or installation profiles) are long, semi-finished products, typically made of aluminum, manufactured primarily through an extrusion process. They have a linear main extension and may have a hole on the central axis, typically 3-6 mm in diameter, for securing screws. Pre-set grooves are present on the outer surface.

[0026] Currently, there are no standards for the groove geometry and connection methods of building profiles. However, most suppliers have very similar external dimensions. A very common size is the 40 series, which includes building profiles with external dimensions of 40mm x 40mm, 40mm x 80mm, or 80mm x 80mm. There are also 20 series profiles, with corresponding external dimensions of 20mm x 20mm for the profile bars, etc.

[0027] The first pre-designed module component, serving as a drive module, has a unique advantage, including a controllable drive wheel as an electronic component. This drive module can connect to other drive modules as well as other modules. Therefore, the first module component contains the controllable drive wheel, which serves as the first electronic component of the electrical / electronic system of the robotic vehicle or logistics vehicle. This forms a mechanical interface with the ground where the robotic vehicle or logistics vehicle will move.

[0028] Other modules include other electronic components (controlled drive devices and / or electrical / electronic systems of robotic or logistics vehicles), such as:

[0029] -Main battery;

[0030] -From battery;

[0031] - Controller (drive control / motion control);

[0032] - Interface devices;

[0033] -Environmental detection equipment;

[0034] - Motion detection equipment used to capture the movement (actual movement) of robotic vehicles or logistics vehicles, either fully or partially.

[0035] By placing the controllable drive wheels within the first modular assembly / drive module, whose housing is composed of a box-shaped profile and at least one cover plate, the controllable drive wheels are protected from collisions. Simultaneously, the drive module is designed so that its housing, particularly its box-shaped profile, is a self-supporting component of the chassis. The drive module's housing can withstand various forces within the chassis, including:

[0036] - Used to support the weight of robotic vehicles or logistics vehicles;

[0037] - Used to carry loads for robotic vehicles or logistics vehicles;

[0038] - Used for responsive forces, which arise from the use of robotic or logistics vehicles or their structures;

[0039] -The internal support force of the load-bearing part.

[0040] Therefore, a chassis for a robotic or logistics vehicle can be constructed using modules composed solely of modular components. In other words, the box-shaped profiles to which the modular components are directly connected can themselves constitute the self-supporting structure of the chassis.

[0041] In addition, the module components also offer the following possibilities:

[0042] - Install an additional load-bearing structure on a chassis entirely composed of modular components; for example, this load-bearing structure could be a frame, and / or could be constructed of building profiles, and / or

[0043] - Add frame elements to the chassis, which may be made of building profiles.

[0044] Another aspect of the invention relates to a modular kit for providing robotic or logistics vehicles. The modular kit comprises multiple modular components having a uniform interface geometry. The modular components may include all or only some of the features described above. The modular components may be, in particular, active modular components with electronic components. Furthermore, passive modular components without electronic components may also be provided. Each modular component of the modular kit has a housing consisting of a linear, box-shaped profile and at least one cover plate covering an open end face therein.

[0045] A modular kit may contain multiple identical or different modular components, which include electronic components and function to construct a controlled drive or electrical / electronic system. Additionally, one or more identical or different passive modular components may be provided, which do not contain electronic components. Passive modular components may contain, for example, (purely) mechanical components that function to construct a controlled drive. For example, they may be one or more non-drive wheels. Furthermore, at least one passive modular component may be designed to receive electronic components added by the user.

[0046] Furthermore, the modular kit may contain one or more independent fasteners and electronic components, which exist as separate components and can be secured to individual modular components or a group of modular components connected together. The fasteners preferably conform to the uniform interface geometry of the modular components. Below, some particularly good fasteners will be described in detail, possessing special advantages and functionally addressing the aforementioned or other problems.

[0047] The uniform interface geometry of the modular components is based at least on the use of a uniform dimension that gives the basic length. The distance between the external dimension of the modular component and the expected T-slot is preferably set to an integer multiple of this uniform dimension. The aspect ratio of the external dimension is preferably n to n (full-size block, square cross-sectional dimension) or 2n to n (half-size block), where n is a natural number.

[0048] Other advantageous forms of the invention can be derived from the additional requirements, the following detailed description, and the accompanying drawings. Attached Figure Description

[0049] The invention is presented in the drawings in an exemplary and schematic manner. These drawings show:

[0050] Figure 1 and Figure 2 Examples of robots and / or logistics vehicles constructed from different types of modular components;

[0051] Figure 3 : An exploded view of the module components in the preferred example;

[0052] Figure 4 and 5 This demonstrates the best connectors for securing two adjacent modular components.

[0053] Figure 6 and 7 Examples of how modular components are connected to each other or to building profiles using angle irons are shown.

[0054] Figure 8 and 9 An implementation of the cover plate is shown.

[0055] Figure 10 and 11 This demonstrates the layout of a bridge support system for mounting external components on one or more adjacent modular components.

[0056] Figure 12 and 13 The cable management on the module components is described in detail.

[0057] Figure 14 The profile accessory with cable conduit is shown in detail.

[0058] Figures 15 to 18 It demonstrates the best implementation methods of modular components with different functions.

[0059] Figures 19 to 21 It demonstrates a fixed tool for aligning module components or connections to adjacent layers.

[0060] Figure 22 and 23 A robotic vehicle or logistics vehicle with a bracket is shown, which can be used as a construction site transport vehicle.

[0061] Figure 24 An omnidirectional drive wheel for mounting within a modular assembly is shown.

[0062] Figure 25 The module component with a passive wheel is shown.

[0063] Figures 26 to 31 Examples of other fixing tools and add-ons for the module suite are shown.

[0064] Figures 32 to 35 This provides more detailed information on cable management. Detailed Implementation

[0065] Figure 1 and 2 An example of a robotic vehicle (1) created using the modular kit (100) and multiple modular components disclosed herein is shown.

[0066] Modular components (2, 2') constitute the robotic vehicle or logistics vehicle, which have a uniform interface geometry. The modular components differ in component configuration and function for the drive unit and the electrical / electronic system of the robotic vehicle or logistics vehicle. The drive unit and electrical / electronic system of the robotic vehicle or logistics vehicle contain multiple electronic components (15, 15'). The first electronic component (15) is at least one controllable drive wheel (60), mounted in at least one drive module (72). Other electronic components (15') are distributed among the other modular components (2').

[0067] Figure 1 and 2 Each example includes at least one first module component (2) as a drive module (72), which includes a controllable drive wheel (60) as a first electronic component (15), and other module components (2'), including at least one energy storage module (70) as an electronic component (15'), which includes a main battery or a slave battery, and a control technology module (71), which includes a control device as another electronic component (15').

[0068] exist Figure 2 In the example, only one drive module (72) is set up, which contains a controllable drive wheel (60) that serves as an omnidirectional drive wheel (61).

[0069] The omnidirectional drive wheel (61) is a separate aspect of this disclosure. Figure 24 This is shown separately. The omnidirectional drive wheel (61) is preferably a safety drive unit. It has the particular advantage of safe operation in environments where human-machine contact may occur.

[0070] According to this disclosure, the omnidirectional drive wheel (61) can also be used for the temporary movement of medical equipment or loads, at least within the treatment area of ​​a hospital. In such an environment, on the one hand, the driving motion of the robotic vehicle or logistics vehicle (1) should not cause personal injury accidents. On the other hand, during evacuation, a person without specialized knowledge should be able to remove the robotic vehicle or logistics vehicle (1) from escape routes or cleanup areas. The omnidirectional drive wheel (61) preferentially meets both of these requirements, and it is designed to be able to move backward or be controlled to avoid obstacles by an externally applied force in both driven and / or passive states. In the field of robotics, the term "back-drivability" has been established for this backward or controlled avoidance capability.

[0071] The omnidirectional drive wheel (61), the robotic vehicle or logistics vehicle (1) equipped with the omnidirectional drive wheel, and the module kit (1) according to the present disclosure provide a safe drive concept, including at least a passive reverse function and preferably also a controlled avoidance function.

[0072] The omnidirectional drive wheel (61) includes a steering wheel bracket with a vertical steering axis. The steering wheel bracket is freely rotatable about the steering axis. The steering wheel bracket is preferably connected directly or indirectly to the module assembly (2) via the steering axis, and in particular to a cover plate (5). The steering axis thus forms the main support point where the driving effect generated by the drive unit is mechanically transmitted to the module assembly, and thus to the body of the robotic vehicle or logistics vehicle.

[0073] The omnidirectional drive wheel comprises two separately drivable wheels mounted together on a steering wheel bracket (also known as a rear wheel bracket). The steering wheel bracket is rotatably mounted on a flange about a vertical steering axis. The vertical steering axis is at an angle to the wheel axle and has a rearward direction. This rearward direction enhances the passive reversing capability. When an external force is applied to the robotic vehicle or logistics vehicle (1) or the modular assembly (2), at least a portion of the force is transmitted to the steering wheel bracket through the steering axis.

[0074] Due to the backward direction, the force acting on the steering axle, as long as its horizontal component is not perfectly perpendicular to the axle, generates a torque that pushes the steering wheel support to reposition. The omnidirectional drive wheel (61) includes a first drive wheel and a second drive wheel, which can rotate around the axle and are adjacent to each other. This adjacent arrangement of drive wheels generates a boundary condition for the movement of the steering wheel support according to the instantaneous axis theory. The rotating bearing can only rotate around a point located on the axle. The aforementioned torque, as explained above, is generated by an externally applied force, pushing the passively positioned steering wheel support into the backward direction, making the backward direction parallel to the direction of the external force, with the axle following behind the steering axle.

[0075] Due to the aforementioned effects, the omnidirectional drive wheel (61) can slide in any direction on the plane by force acting on the robot vehicle or logistics vehicle or (directly or indirectly) the steering shaft, thus enabling all-around avoidance.

[0076] The omnidirectional drive wheel (61) has at least two drive wheels and an (integrated) motion control device designed to move the omnidirectional drive wheel (61) in any direction in the horizontal plane by controlling the wheel movement of the first and second drive wheels.

[0077] By controlling the movement of the wheels, the omnidirectional drive wheel (61) can travel omnidirectionally on a plane. The aforementioned relationship between the forces, including the drive wheel or axle on one side and the steering axis on the other side, has opposite meanings in the driving motion. By appropriately selecting the movement of the wheels, any driving force can be achieved in the steering axis region, enabling the module assembly (2) (or the entire robot vehicle or logistics vehicle (1)) to move omnidirectionally on a plane.

[0078] The omnidirectional drive wheel is preferably designed without self-locking, so that the first and second drive wheels can rotate freely around the axle in the passive / de-energized state of the omnidirectional drive wheel. The omnidirectional drive wheel is also designed to drive, accelerate, or decelerate the drive wheel at specific steering angles.

[0079] The axle of the omnidirectional drive wheel (61) can also move relative to the flange via a tilting mechanism, for example, to compensate for unevenness of the ground.

[0080] Apart from Figure 24 The omnidirectional drive wheel shown can also be any other type of omnidirectional drive wheel.

[0081] like Figure 2 For example, the robotic vehicle (1) also includes a stacked structure having a first stacked layer (L1) and a second stacked layer (L2) thereon.

[0082] exist Figure 2 In the example, all modules are located in the first stack layer (L1) and are mechanically connected to each other. In the upper stack layer (L2), there is an additional carrier plate (80) on which one or more additional electronic components or other components of the module kit (100) can be attached.

[0083] In the example shown, a LIDAR sensor (82) is secured by a sensor holder (81). If a more compact form factor is required, for example, one or more energy storage modules (70) and / or one or more control technology modules (71) can be moved to a second layer stack (L2) (not shown).

[0084] exist Figure 1 In the example of the robotic vehicle (1), another structure is shown. Here, the robotic vehicle or logistics vehicle (1) has a total of four drive modules (2, 72), each equipped with a controllable drive wheel (60), which is an omnidirectional drive wheel (61), as explained in the example above. In addition, the robotic vehicle (1) includes an energy storage module (2, 70) and a control technology module (2, 71), as well as a total of three half-frame blocks (2', 25) on the central axis, one or more of which may be equipped with slave batteries. All module components are arranged on the same layer stack (L1). As mentioned above, additionally, one or more module components (2) may be arranged on a second layer stack (L2), which is above the stack layer (L1) with drive wheels.

[0085] exist Figure 1 At the front end of the robotic vehicle (1), a LiDAR sensor (82) and an additional endurance camera (84) are mounted adjacent to each other via several U-shaped brackets (110) and other compatible sensor brackets (81,83).

[0086] The module kit (100) or robotic vehicle or logistics vehicle (1) may replace or be added to, according to this disclosure. Figure 1 and 2The active module components (2, 2') shown in the diagram, along with other active or passive module components (2) and other functions, are included. For example, the module kit (100) or the robotic vehicle (1) may include a sensor module (2', 74) containing at least one measuring device as an additional electronic component (15'). Such a measuring device may be an accelerometer, an optical scanning sensor, particularly for detecting markings on the road surface, a proximity sensor, or other sensors suitable for generating environmental perception data useful for the drive control of the robotic vehicle (1).

[0087] Additionally, a communication module (2, 73) may be provided as an optional element on the module kit (100) or the robotic vehicle (1), which, as another electronic component (15), includes an interface device such as a graphic display (90), a touch screen, or an input device such as a button, switch, joystick, knob, slide switch, or other suitable input device. Alternatively or supplementally, the communication module (2, 73) may include an interface for wired or wireless external communication, such as via wireless, infrared, Bluetooth, wireless LAN, near field communication (NFC), or other suitable communication formats.

[0088] Figures 15 to 18 Other examples are shown, including a half-format block (25), an energy storage module (70) with a main battery and an emergency stop button (88), a control technology module (71) with a controller, and the aforementioned communication module (73) with a graphic display (90). The format and configuration characteristics of the module components (2,2') shown here can be combined or interchanged arbitrarily. Figure 3 The preferred (mechanical) structure of the modular component (2,2') according to this disclosure is shown. Figure 3 This section describes various aspects of the unified interface, applicable to both active and passive module components (2,2').

[0089] exist Figure 3The example shows a passive modular assembly (2,2'), which, for simplicity, does not include the electronic components (15,15'). However, such electronic components (15,15') can and preferably are arranged within the modular assembly (2,2'). The electronic components (15,15') are preferably at least partially housed in a cavity (6) located within a box-shaped profile (8). The cavity (6) can also be defined in the space between the open sides (O, U) of the box-shaped profile. The cavity (6) is preferably defined directly by the outer walls (transverse surfaces QX, QY and edge region K) of the box-shaped profile (8). For a passive modular assembly (2') designed purely for mechanical support or for later user configuration, the cavity (6) is preferably empty. In an active modular assembly (2,2'), the cavity (6) preferably contains only the electronic components (15,15'), and possibly their fixing and connecting devices. The electronic components (15, 15') can be directly fixed to the housing of the module assembly (2), i.e., to the box-shaped profile and / or at least one cover plate (4, 5). Alternatively, they can be indirectly fixed to the housing by additional fixing devices.

[0090] The component receiver (14) of the electronic component (15, 15') can have any shape. It can be formed by at least one cover plate (4, 5) and / or a box-shaped profile (8) and the interface set therein.

[0091] The box-shaped profile (8) has a basic straight shape and a uniform box-shaped cross-section along the axial direction (Z). Figure 3 The magnified view on the right shows the box-shaped cross-section, which corresponds to the framed portion in the exploded view next to it. This is a top view of the box-shaped cross-section viewed from above along the Z-axis.

[0092] The box-shaped profile (8) is open at two opposite axial ends (O, U) and annularly closes a cavity (6). In the intended use or intended assembly state, the axial direction (Z) is preferably vertical, so the first open end of the box-shaped profile (8) is the top (O) and the second open end is the bottom (U). At least one of the open ends, especially the top (O), is partially closed by a cover plate (4). The cover plate (4,5) is installed at the opening of the end faces (O, U) and is preferably fixed (but detachably) connected to the box-shaped profile (8), particularly by threaded connection, and more preferably by locating connection, to precisely position and place the cover plate (4,5) relative to the box-shaped profile (8).

[0093] The box-shaped profile (8) is preferably integrally formed, especially as a section of an extruded profile. It has multiple outer walls, each integrally connected. The outer walls preferably have the basic shape of a planar outer profile, so that each and preferably all outer walls provide an overall planar contact surface.

[0094] One or more T-slots (7) are provided on at least two, and preferably all, of the outer walls of the box-shaped profile (8). The T-slots (7) extend along the axial direction (Z) of the box-shaped profile (8). In other words, at least one T-slot (7) is parallel to the axial direction (Z).

[0095] In the example shown in the accompanying drawings, the box-shaped profile (8) has a basic shape of a rectangular or square cross-section along the axial direction (Z). Alternatively, other cross-sections with a polygonal basic shape may also be provided, particularly hexagonal or octagonal cross-sections. For simplicity, a rectangular or square cross-section will be assumed to exist in the following description.

[0096] The box-shaped profile (8) preferably has multiple transverse surfaces, especially multiple pairs of parallel transverse surfaces. The transverse surfaces (QX, QY) can form the outer wall of the box-shaped profile (8) individually or in combination with the edge region (K) in the middle.

[0097] In the example shown, the box-shaped profile (8) has a first transverse face (QX) with a first width (BX) and a second transverse face (QY) with a second width (BY, BY'). These widths (BX, BY, BY') are preferably integer multiples of the unit dimension (E).

[0098] These widths can specifically exist in an n to n (full format) or 2n to n (half format) ratio, where n is a natural number. Even better is an E to E or 2E to E ratio, where E is the unit size. Of course, other ratios can also be chosen.

[0099] The unit dimension (E) can have any value. It is best to be a length between 40mm and 500mm, with more preferably 40mm, 60mm, 80mm, 100mm, 120mm, 140mm, 160mm, 180mm or 200mm.

[0100] Figure 11 Showing according to Figure 3 An enlarged cross-sectional view of the example module component (2) and the adjacent half-format module component (2', 25). Figure 11 The example also shows the centerline (M) of the T-slot (7) and the surface transition (F) as the escape line between adjacent transverse surfaces (QX,QY).

[0101] The distance (d1) from the centerline (M) of the first T-slot (7) to the centerline (M) of the adjacent T-slot (7) is preferably a simple value of the unit dimension (E). The distance (d2) between the centerline (M) of the T-slot (7) and the transition surface (F) is preferably half of the unit dimension (E). In other words, the distance (d2) from the T-slot (7) on the transverse plane (QX, QY) to the transition surface (F) of the adjacent transverse plane (QY, QX) is half of the unit dimension (E).

[0102] The edge region (K) of the box-shaped profile (8), which is positioned along the axial direction (Z) and located between two adjacent transverse surfaces (QX, QY) of the box-shaped profile (8), can have any shape. For example, it can be an edge transition or have a rounded corner. However, according to a particularly preferred embodiment, the edge region (K) is chamfered and has an inclined surface relative to the transverse surfaces (QX, QY). This implementation is shown in all the figures. An additional T-slot (7) can be provided in the edge region (K).

[0103] The T-slot (7) can be of any shape. The figure shows a preferred embodiment of the T-slot (7), particularly... Figures 3 to 8 In the enlarged view and detailed view.

[0104] The T-slot (7) forms a space (16) that is recessed relative to the outer surface (or the outer contour according to the basic cross-sectional shape) of the box-shaped profile (8). At the junction of this space (16) with the outer and upper surfaces of the box-shaped profile (8), two opposing collars (10) are provided. The collars (10) are preferably integrally connected to the box-shaped profile (8). A channel (17) is maintained between the collars (10), its width being less than the width of the recessed space (16). Thus, the channel (17) and the space (16) together form a T-shape in cross-section. The contour of the T-slot (7) defining the inward space (16) is arc-shaped or rounded.

[0105] The T-slot (7) allows a fastener to be inserted along the axial direction (Z), such as a standard fastener like a slotted stone or movable block (9) or screw head, which is supported on the inside of the collar edge (17). The slotted stone (9) can also be inserted along the axial direction (Z) into the T-slot, thus the modular assembly (2) is particularly well-suited for retrofitting additional components.

[0106] As we know from the use of building profiles, there can be problems connecting two directly adjacent profile bars (23). This is because in this case, there are no standard connectors, especially no channel stones (9) available, or a hole or other opening must be machined in the adjacent profile bars (23) to insert a fixing device.

[0107] According to an independent aspect of this disclosure, an adjacent connector (101, 102) is proposed, which is designed and formed to establish a resolvable fixation between two modular components (2, 2') and in the process inserts a double-T channel (103) formed between two directly adjacent T-slots (7). Figure 4 and 5 An example of this abutment connector (101) is shown.

[0108] By using such adjacent connectors (101, 102), machining of the box-shaped profiles (8) can be avoided, while direct connections can be created between directly adjacent T-slots (7). Thus, quick and flexible fixing between adjacent modular components (2,2) is achieved, which solves the aforementioned problems or other disclosed issues. "Adjacent modular components (2,2)" refers to components whose respective outer surfaces are in direct contact with the two box-shaped profiles (8). The modular components can be arranged directly adjacent to each other, particularly on the same stack layer (L1 / L2).

[0109] Double T channel (103) in Figure 4 and 5 oblique view and Figure 6 The cross-sectional view shows the abutment connectors (101, 102) shown. These connectors are intended for and adapted to manufacture a form-fit connection between two adjacent modular assemblies (2, 2'). They are also suitable for manufacturing a connection between a modular assembly (2, 2') and a structural profile (23) having correspondingly sized and parallelly arranged T-slots (7). The double T-channel (103) is formed by a channel (16) between the free space (16) of the two adjacent T-slots (7) and their collar edges (10). The abutment connectors (101, 102) have at least one tool-operable fastener (104, 105) located in the double T-channel (103). Such a tool can be a screwdriver, and the fastener (104, 105) can be a screw. Therefore, according to this disclosure, the advantage of the abutment connectors (101, 102) is that they can be operated without creating an additional opening in the rear wall of the T-slot (7).

[0110] The adjacent connectors (101, 102) include two clamping bodies (106, 107) that can be mounted on the inside of the collar edges (10) of adjacent T-slots (7) to secure them to each other when at least one fastener (104, 105) is operated. The securing is preferably detachable and is achieved by applying a pulling force that presses the collar edges of the adjacent T-slots (7) together.

[0111] exist Figure 4In the example, the adjacent connector (101) is formed of two sheet elements that have a cross-sectional shape substantially corresponding to the cross-section of the double-T channel (103), and the sheet elements are preferably reduced by a tolerance value from the profile of the double-T channel (103). Other shapes, such as blocks, can also be pre-defined. Threaded holes are provided on the lower sheet for inserting fasteners (104) (represented here as screws). Openings are provided on the upper disc through which the fasteners (104) can pass.

[0112] These openings have a relative position and shape design to the threaded holes such that when the fastener (104) is tightened, the movement of the discs (106) relative to each other clamps the collar (10) between them.

[0113] according to Figure 5 For example, the abutment connector (102) has a different structure. It includes two clamping bodies (107), which are preferably designed as slots (9) and guided along a common axis so that they can be close to or far from each other. Figure 5 The guide lines are indicated by dashed lines. Furthermore, the adjacent connector (102) has an additional guiding mechanism, operated by fasteners (105), to bring the clamping bodies (107) relatively close. Figure 5 In the example, this guiding mechanism is formed by two guide rods mounted on the long side of the clamping body (7), which respectively contact the rear edge of the clamping body (107) so that the clamping body (107) is pressed against each other when the guide rods approach each other.

[0114] Box-shaped profile (8) (see Figures 3 to 7 Ideally, there should be at least one fixed channel (18) that penetrates the axial (Z) direction of the box-shaped profile (8). The fixed channel (18) can be of any shape. It is preferably mounted on the inner surface of at least one side of the box-shaped profile (8). Particularly preferably, the fixed channel (18) is shaped like a tunnel or a channel guide.

[0115] The diagram only shows the extrusion guide form because it offers many additional advantages. However, other cross-sectional shapes can also be provided for the mounting channel.

[0116] For example, a closed circular cross-section. An extrusion-guided form is a preferred implementation.

[0117] The fixed channel (18) may have internal threads in at least a portion of its area, forming a bolt channel (13). The internal threads may be pre-fabricated, created by the user using tools, or created by screwing in screws, which allows for particularly economical and rapid installation.

[0118] The mounting channel can further serve as part of the component receiver (14). In particular, a mounting piece (not shown) can be fitted with a compression bracket or compression pin that is inserted axially (Z) into the fixing channel (18) to secure the channel, particularly the electronic components (15, 15').

[0119] Multiple mounting channels (18) of different shapes can also be provided. While it is best to have at least one mounting channel (18) on the inside of the box-shaped profile (8), one or more mounting channels (not shown) may also be provided on the outside of the box-shaped profile (8) as an alternative or additional option.

[0120] Particularly preferably, at least one fixed channel (18) is adjacent to a T-slot (7) in the transverse (X, Y) direction. This at least one fixed channel (18) may be specifically provided in the wall of the T-slot (7) to form a rear wall portion located next to the centerline (M) and outside the transverse (X, Y) direction.

[0121] Furthermore, it is preferable to provide each fixing channel (18) on the opposite side of the T-slot (7) (and at a uniform distance from the centerline (M). In other words, it is preferable to provide a left and a right fixing channel (18) symmetrically at the centerline (M) of the T-slot (7). This creates a unified interface for securing any other component to the box-shaped profile (8) when used alone or in combination with the T-slot (7). In addition, a unified local fixing geometry is generated at the ends of the box-shaped profile (8), corresponding to multiple and preferably all T-slots (7). This interface geometry can be used both to secure the cover plates (4,5) and as part of the component receiver (14).

[0122] The best implementation of cover plate (4,5) is in Figure 3 As shown in Figures 8 and 9, a cover plate (4) covering the upper end face (in the intended assembled state) of a box-shaped profile (8) can be referred to as a top plate (4), and a corresponding lower cover plate (5) can be referred to as a bottom plate (5). The shapes of the top plate (4) and the bottom plate (5) shown in the figures are interchangeable, or their geometric features can be combined in any way. Furthermore, two or more cover plates can be placed directly side by side, for example, to provide a more complex interface geometry, or to achieve higher stiffness or other load-bearing capacity.

[0123] The cover plate (4,5) preferably has a fixing opening (19) aligned with the end face of the fixing channel (18) of the box-shaped profile (8), so that at least one cover plate (4,5) can be fixed and / or positioned on the box-shaped profile (8) by inserting it into at least two fixing channels (18) with a fixing element (20), in particular a screw. For positioning, pins may be inserted into portions of the fixing opening (19) and fixing channel (18) instead or additionally. In other words, at least one cover plate (4,5) has a plurality of fixing openings (19) whose hole positions correspond to the arrangement of a plurality of fixing channels (18) on the box-shaped profile (8), thereby creating a positioning interface geometry. The cover plate (4,5) further preferably has an outer profile with long sides (50) whose orientation corresponds to the outer profile of the box-shaped profile.

[0124] As an alternative or supplement, a cover plate (4,5) preferably has an outer profile with corner regions (51) between its long sides (50), and the corner regions (51) protrude from the outer profile on the edge region (K) of the box-shaped profile (8). In other words, the corner regions (51) respectively form corner protrusions (52) relative to the outer profile of the box-shaped profile (8). The corner protrusions (52) of the corner regions (51) of these cover plates (4,5) are... Figure 8 In the magnified detail view and Figure 3 The left end of the cover plate (4) is highlighted in shadow. The corner protrusion (52) can be used for various beneficial purposes.

[0125] On the one hand, the corner protrusion (52) can be used to position the module component (2) relative to the adjacent portion of the module component (100), in particular to position it coplanarly with the adjacent module component (2'). Figure 20 An example shows four directly adjacent module components (2,2') that are fixed to each other in the corner protrusion (52) region by connecting discs (119), wherein the connecting discs (119) fit on each corner protrusion (52) so that the cover (4) is positioned at a common height.

[0126] In addition, the angular protrusion (52) can serve as a contact point for manipulators or fixtures during the manufacturing process.

[0127] When manufacturing the modular assembly (2,2'), the corner protrusion (52) can serve as a contact point for an operator or fixture. As will be explained below, the corner protrusion (52) can be effectively utilized, for example, to mount a stack connector. For this and other purposes, a through-hole (53) can be present in the corner region (51).

[0128] A cover plate (4,5) preferably has a through hole (53) near a corner region (51), such that the opening of such arrangement and size overlaps with the space (16) of the T-slot (7) of the edge region (K) of the box-shaped profile (8) in the predetermined installation state. Such a T-slot (7) is referred to as an edge longitudinal slot (11) for simplicity in the following discussion, while a T-slot (7) on the transverse surface (QX,QY) of the box-shaped profile (8) may be referred to as a side longitudinal slot (12).

[0129] exist Figure 8 In the magnified detail, the overlap of the opening (53) with the space (16) of the underlying edge groove (11) is shown in a top view. The through hole (53) can be of any shape. According to the best variant shown in the drawing, it has a rectangular cross-sectional shape. Alternatively, it can also have a square shape, a triangle, or a circular segment shape.

[0130] Through the through hole (53), an access in the axial (Z) direction T-slot (7) is created. For example, tools or fixing devices can be inserted through the through hole (53).

[0131] A cover plate (4,5) may also have at least one edge groove (54) on one long side (50), such that the grooves are arranged and sized to align with the space (16) of the T-slot (7) and the channel (17) between the collar edge (10) of the T-slot (7) in the intended installation state. The edge groove (54) may be, for example, semi-circular or rectangular. Particularly preferably, the edge groove (54) is made T-shaped and has substantially the same profile as the cross-section of the T-slot (7). The shape of the edge groove (54) and the T-slot (7) corresponds in Figure 8 This can be seen in the enlarged display.

[0132] In other words, a cover plate (4,5) has at least one edge groove (54) on one long side (50), which, in the intended installation state, is to allow a free insertion of a fixing device or tool into a T-slot (7) on the transverse surface (QX,QY) of the box-shaped profile (8).

[0133] Another aspect of this invention, which can be used alone or in combination with other aspects, relates to an outline attachment (30) of a modular component (2,2').

[0134] The best implementation of the outline attachment (30) is in Figure 3 , as shown in 14 and 32 to 35.

[0135] The profile attachment (30) is preferably arranged and fixed on the outside of the module assembly (2,2'), particularly on the open end face (O) or cover plate (4,5) of the box-shaped profile body (8). Hereinafter, we will assume that the profile attachment (30) is arranged and fixed on the outside of the cover plate (4). Alternatively, the profile body can be fixed to the box-shaped profile body (8).

[0136] The outline attachment (30) can be adapted to a full-format block or a half-format block (25). The outline attachment (30) can be arranged on an active module component (2,2') containing an electronic component (15) and a passive module component (2') without an electronic component (15,15').

[0137] According to the invention, the profile attachment (30) is preferably designed to be substantially annular with a flat bottom for contact with the cover plate (4,5) and the underside of the box-shaped profile (8). The profile attachment (30) preferably has an annular cable guide groove (31) surrounding a central opening (32). Both the cable guide groove (31) and the central opening (32) can be closed by a cover having a corresponding shape. A single or multiple cable channel cover plate (39) can be provided for covering the end face opening of the cable guide groove (31) on the profile attachment (30) and is detachably fixed to the attachment. In addition, a cover cap (40) can be provided for detachably fixing the central opening (32) on the central opening profile attachment (30). The fixing method can be any, such as form fit or force fit. Particularly preferred is a snap-fit ​​fixing device (41). Preferred embodiments of the cable channel cover plate (39) and cover cap (40) are as follows: Figure 3 As shown in 34 and 35.

[0138] The cable guide channel (31) preferably has a semi-open channel shape, with a bottom wall (35), a transverse wall (33) near the inside of the module assembly (2) or near the central opening (32), and a transverse wall (34) near the outside. Figure 14 In the image, the cross-section of the cable guide groove (31) and its adjacent walls (30, 34, 35) are shown in shaded areas. It is partially open at the top.

[0139] The transverse walls (33, 34) preferably form annular grooves. At least on one side (QX, QY) and / or in the direction of the central opening (32) of the module assembly (2), recesses (36) may preferably be provided in the inner transverse walls (33) and / or the outer transverse walls (34) through which cables or wires (38) can be introduced from a cable guide groove (31) of one module assembly (2) into a cable guide groove (31) of an adjacent module assembly (2). Such cable guidance... Figure 12 and 13Examples are provided. One or more guides (37) may be provided in the bottom wall (35) of the cable guide groove (31) or the bottom wall (35) of the profile attachment (30). In this design, the guides (37) may also be located in the area of ​​the groove (36) (see Figure 12 (Enlarged view above). The guide (37) is preferably designed to pass through a thin strip or band-like fastener, particularly a cable tie, so that it surrounds the wire (38) placed in the area of ​​the cable guide groove (31) or recess (36) in a U-shape. Figure 13 The enlarged detail in the upper right corner shows a U-shaped cable tie with a guide (37).

[0140] The central opening (32) of the profile attachment (30) preferably allows access to the cavity (6) inside the cover plate (4,5) and / or the box-shaped profile body (8). Therefore, the cover plate (4), particularly the top plate (4), may have a central opening (42) located in the central region, aligned with the central opening (32) of the profile attachment (30). The central opening (42) and the central opening (32) may have the same or different shapes. It is also possible that the cover plate (4,5) does not have a central opening, which is meaningful in passive modular assemblies or in modular assemblies where the cover plate (4,5) requires high mechanical load-bearing capacity.

[0141] The cover plate (4,5), particularly the top plate (4), and / or the profile attachment (30) may each have at least one port opening (55, 55'), wherein, in a predetermined installation state, the port opening (55) on the profile attachment (30) is aligned with the port opening (55') on the cover plate (4,5), in which case the port opening (55) on the profile attachment (30) is preferably located in the bottom wall (35) of the cable guide channel (31). Thus, the port opening (55, 55') can provide an alternative access method to the cavity (2) of the module assembly (2) or the box-shaped profile (8).

[0142] Depending on the implementation of the module component (2), the cover plate (4,5) may have only one or more port openings (55'), or only one or more intermediate openings (42), or any combination thereof. In one preferred implementation variant, the profile attachment (30) may be designed as a standard component, including a central opening (32) and one or more port openings (55). In this case, only the cover plate (4,5) needs to be adjusted for functional adjustments to the module component (2), while the profile attachment (30) can be uniformly used for all module components (2) of the same format. Alternatively, for a single or all module components (2), a suitable profile attachment (30) may be provided, containing only the openings (32,55) required in specific situations.

[0143] The port opening (55) on the profile attachment (30) is preferably located near at least one groove (36) in the transverse walls (33, 34) of the cable guide channel (31). According to a particularly preferred embodiment, each cable guide channel (31) has a port opening (55) on its long side at the center of the bottom wall (35) and at a position aligned with the grooves (36) on the left and right sides. In this way, a branching possibility is provided in each transverse plane (QX, QY) to route the cable or cable (38) toward the central opening (32), toward the cavity (6), toward the adjacent module assembly (2), or through a segment of the cable guide channel (31).

[0144] The modular kit (100) disclosed herein is particularly suitable for forming a robotic vehicle or logistics vehicle (1) that forms the basis of a freely configurable ground transport vehicle. For this purpose, any load-bearing structure (120) can be fixed to one or more modular components (2), and in particular, any geometry can be manufactured from structural profiles (23) that are already widely used in practice. Figure 22 and Figure 23 Showing according to Figure 1 The robot vehicle (1) is shown in the side and bottom views, wherein a cubic support structure (120) is additionally fixed to the vehicle (1), for example, which carries an adapted receiving part (121) to carry a workpiece (122) to be transferred. Due to the T-slots (7) on the box-shaped profile (8), the support structure (120) or structural profile (23) can be secured by adjacent connectors (101, 102) according to this disclosure, as well as standard fixing devices, such as... Figure 21 The angular connector (21), grooved stone (9), and screw or riveting connections shown are interconnected. This connection can be made with standard tools and can be made in a detachable manner without requiring machining of the module assembly (2).

[0145] Furthermore, adjacent module components (2) can also be connected via, for example... Figure 7 The standard fasteners, such as the angled connector (22), channel stone (9), and screws, are connected together. Therefore, the modular kit (100) is particularly suitable for rapid and universal use in industrial enterprises and can be directly combined with existing structures, support systems, or prototypes based on an established system with structural profiles (23). Through standardized geometric interfaces, multi-layered structures and complex actuation concepts for sensor devices can be further realized.

[0146] Each module assembly (2) preferably includes a component receiver (14), which may be arranged on or constituted by at least one cover plate (4, 5) and / or inside the box-shaped profile (8). The component receiver (14) may specifically include a top plate (4) at the upper end of the box-shaped profile (8) at a predetermined assembly position and / or a bottom plate (5) at the lower end of the box-shaped profile (8) at a predetermined assembly position and / or one or more fixing channels (18) inside the box-shaped profile (8). The component receiver (14) is designed such that the electronic components (15) fixed thereto are at least partially located in the cavity (6) of the box-shaped profile (8). Depending on the function of the module assembly (2), the bottom plate (5) may be provided or omitted.

[0147] The base plate (5) may also have a closed surface or a central opening (42).

[0148] The cover plates (4,5) are preferably made of a mechanically load-bearing material, particularly metal, and work in conjunction with the outer wall of the box-shaped profile (8) to give the overall housing of the modular assembly (2) high strength, torsional stiffness, and shape stability. For example, the modular body (2) can be adapted to support weights significantly exceeding 500 kg.

[0149] Another independent aspect of the invention is to provide a modular assembly (2) having a box-shaped profile (8) and at least one cover plate (4,5), wherein a controllable drive wheel (60) or at least one non-drive wheel (63) is disposed in a cavity (6) of the box-shaped profile (8) and protrudes only partially downward from the modular assembly (2) at a predetermined assembly position. Thus, the box-shaped profile provides a protective shell for a wheel, preferably for the wheels of each robotic vehicle or logistics vehicle (1) composed of modular assemblies (2,2'). Furthermore, the drive control or motion control of the robotic vehicle or logistics vehicle (1) can be designed to be simpler, since the main external dimensions of the vehicle are determined by the outer wall of the box-shaped profile (8), preferably a multiple of the unit dimension (E).

[0150] This is beneficial because the wheel contact points of all robotic vehicles or logistics vehicles (1) are located within the outer contour of the vehicle (1).

[0151] According to another aspect of the invention, a module kit (100) for assembling a robotic vehicle or logistics vehicle (1) is provided, the module kit including at least one disclosed active module component (2), namely a power module (70) and / or a control technology module (71) and / or a drive module (72) and / or a communication module (73) and / or a sensor module (74). Alternatively, the module kit may include at least one passive module component (2), such as a passive wheel module (75), which includes at least one non-drive wheel.

[0152] The non-drive wheel (63) can be mounted on the passive wheel module (75) in any manner. It can be a steerable or non-steerable wheel, or have a steerable or fixed axle. Particularly preferably, the non-drive wheel (63) can support omnidirectional movement. The non-drive wheel (63) can be mounted on the passive wheel bracket (62), which in turn can move on the module assembly (2), and in particular can be fixed on the top plate (4). The passive wheel bracket (62) can particularly be a rearward-rolling axle guard.

[0153] The axis of the non-drive wheel (63) is skewed relative to the fundamentally perpendicular axis of rotation of the passive wheel support (62). A passive wheel module (75) can be coupled to a non-drive wheel and contains an electronic component (15) including a motion detector for detecting the motion of the non-drive wheel (63). In this case, the passive wheel module (75) may still be an active module component (2) with the electronic component (15). Such an active-passive wheel module (75) in Figure 25 It is displayed in the middle.

[0154] The multiple stacked layers (L1, L2) of the module kit (100) can be interconnected in any manner. The module kit (100) particularly preferably includes a stacking connector (111, 117), such as... Figure 19 and 21 Examples are shown in the text.

[0155] The stack connectors (111, 117) are intended and designed to loosely secure the first module component (2) together with adjacent objects on the first stack layer (L1) and the stack layer above or below (L2).

[0156] The stacking connectors (111, 117) are preferably secured on at least one corner protrusion (52) in the corner area (51) of the cover plate (4, 5).

[0157] Figure 19 A first preferred embodiment of the stacking connector (111) according to the invention is shown. The stacking connector (111) has a distance segment (112) and one or two fixing flaps (113, 115). If two fixing flaps (113, 115) are present, they are preferably arranged on opposite sides of the distance segment (112) and extend beyond the distance segment (112). A shoulder (114) is formed between the distance segment (112) and the first fixing flap (113), which can serve as a contact edge for physical support.

[0158] The stacking connector (111) can be used through a through hole (53) in the cover plate (4,5) of the first module assembly (2) via the first fixing wing (113). At this time, the shoulder (114) will fit tightly against the surface of the cover plate (4,5) and be supported there.

[0159] According to a preferred embodiment, another shoulder (116) is also formed between the distance segment (112) and the second fixing wing (115). The stack connector (111) can be used via the second fixing wing (115) in another through hole (53) on the cover plate (4,5) of the adjacent module assembly (2), or in a corresponding through hole (53) of the additional support plate (80). In this case, the other shoulder (16) can preferably be supported on the surface of the cover plate (4,5) of the adjacent module assembly (2) or on the surface of the additional support plate (80).

[0160] The additional support plate (80) may have essentially the same geometric interface as explained above for the cover plate and base plate (4,5). However, its fixing structure in the central region may differ; for example, it may be used to fix the sensor bracket (81,83,85), the adapter (87), the display bracket (89), the U-shaped bracket (110), or any combination of the above elements in various combinations.

[0161] Figure 21 An embodiment of a preferred stacking connector (117) according to the invention is shown. It includes a column (118) that can be supported on a plurality of corner protrusions (52) of adjacent cover plates (4,5) of adjacent module assemblies (2). The column (118) can be directly or indirectly fixed to the corner protrusions (52). Preferably, it is indirectly fixed via a connecting disc (119), such as... Figure 20 Shown separately. The column (118) is particularly preferably constructed of a structural rod (23) having a T-shaped groove (7) on its side. This is particularly likely a 20-series structural profile (23). The column (118) can have any length. It can be customized according to... Figure 27 The example corresponds to the required distance between the upper edge of the top plate (4) of the lower stack (L1) and the lower edge of the bottom plate (5) of the upper stack (L2). Alternatively, the column (118) can extend to the lower edge of the top plate (4) of the upper stack (L2). In other words, the length of the column (118) can be equal to the height of the module assembly (2) in the axial direction (Z) plus the required distance between the stacked layers (L1, L2).

[0162] The module kit (100) preferably includes at least one U-shaped bracket (110), such as Figure 10 and 11As shown. The U-shaped bracket (110) has an arc-shaped portion (middle portion) and two end fixing portions. The distance between the fixing portions is preferably an integer multiple of the unit size (E), which is the size that defines the geometry of the modular assembly (2). The distance segments can be exactly equal to the unit size (E). The fixing portions can have any shape. Particularly preferably, the fixing portions have forked interlocking baffles, so that the first U-shaped bracket (110) can be fixed at the same height position with the adjacent U-shaped bracket (110) in the same T-slot (7). Each fixing baffle can be provided with a hole, for example, through which a screw can be inserted into a slot stone (9) that can be installed in the T-slot (7).

[0163] The module kit (100) preferably includes one or more sensors and corresponding mounting devices, through which the sensors can be fixed to the module assembly (2) or the additional support plate (80). Figures 26 to 31 For this purpose, an example is shown of a LIDAR sensor (82) and its associated sensor bracket (81), which allows for fixation in a vertical or corresponding position. Figure 27 An example of a Time-of-Flight camera (84) and its sensor is shown.

[0164] Figure 27 A Time-of-Flight camera (84) and its sensor bracket (83) are shown, which allows for adjustment of the camera's tilt angle;

[0165] Figure 28 A 360° laser scanner (86) is shown, equipped with a sensor bracket (85) that allows it to be fixed to the lateral surfaces (QX, QY) of an additional support plate (80) or module assembly (2).

[0166] Figure 29 An emergency stop button (88) is shown, which can be secured to the transverse face (QX,QY) of the module assembly (2) or the collar edge 10 of the cover plate (4,5) via a mounting adapter (87) (see [link]). Figure 16 ).

[0167] Figure 30 and 31 A graphic display (90) is displayed, which can be obliquely fixed to an additional support plate (80) or a U-shaped bracket (110) by a display stand (89).

[0168] Wiring between other electronic units or robotic or logistics vehicles (1) in the module assembly (2) and module kit (100) can be done in any manner. According to a preferred implementation, all data connections provide a uniform connector format, specifically conforming to Ethernet and EtherCat standards. Operating current can be supplied to some electronic components (15) via data cables, specifically conforming to Power-Over-Ethernet standards.

[0169] A connecting bracket (56) is preferably provided on the port opening (55') of at least one cover plate (4,5).

[0170] Plugs, switches, sensors, or other electronic attachments can be mounted on it. The connector bracket (56) can be of any shape. It is preferably designed as an angular element. It is also preferred to insert the connector bracket (56) into the slot extension of the port opening (55') and to secure it, for example, by screws and slot stones (9). The connector bracket (56) also preferably protrudes upward through the port opening (55) in a predetermined assembled state so that it aligns with the groove (36) of the transverse wall (33, 34) of the cable guide groove (31). A preferred implementation of the connector bracket (56) and its arrangement in Figure 32 and 33 It is displayed in the middle.

[0171] The invention can be modified in various ways. In particular, features of all the shown, described or claimed implementation examples can be combined or substituted with each other in any way.

[0172] In the execution example shown, the main components of the controlled drive equipment of all robotic vehicles or logistics vehicles (1), namely the controlled wheel drive, main battery and drive control device, are designed as an electronic component (15, 15') and arranged in the respective modular components (2, 2'). Alternatively, a robotic vehicle (1) can be constructed in which only at least one controlled wheel drive is in a modular component (2).

[0173] Furthermore, all disclosed features can be combined individually with each of the disclosed independent aspects. This is particularly applicable to the physical structure of the module component (2), which can be used alone or in combination with other module components (2') and / or at least one electronic component (15, 15').

[0174] Reference Symbol List

[0175]

[0176]

[0177]

Claims

1. A modular component for constructing a robotic vehicle or logistics vehicle (1), characterized in that, The module assembly (2) includes a housing (3) having a component receiver (14) for a first electronic component (15), the component receiver being designed to work in conjunction with at least one other electronic component (15') and further module assemblies (2') to create a controlled drive device for a robotic vehicle or logistics vehicle (1). The housing (3) of the module assembly (2) includes a linear box-shaped profile (8) having a basic shape with a uniform box-shaped cross-section along the axial direction (Z), and the box-shaped profile... (8) Opens at two opposing axial end faces (O, U) and forms a cavity (6) around it, and a cover plate (4, 5) is arranged at at least one open end face (O, U) covering the opening of the end face (O, U), and one or more T-slots (7) are provided on the outer walls of at least two and all of the box-shaped profiles (8) perpendicular to the open end faces (O, U), and the module assembly (2) is designed as a drive module (72) and includes a controllable drive wheel (60) containing a first electronic component (15).

2. The module component according to claim 1, characterized in that, Further module components (2') - Designed as an energy storage module (70) and as a main or slave battery for further electronic components (15'); or - Designed as a control technology module (71) and as a control device for further electronic components (15'); or - Designed as a communication module (73) and as an interface device for further electronic components (15'); Designed as a sensor module (74) and as an environmental monitoring device as a further electronic component (15'); - Designed as a passive wheel module (75), and includes at least one non-drive wheel and As a further electronic component (15'), it is a motion detection device for detecting the motion of non-drive wheels.

3. The module component according to claim 1 or 2, characterized in that, The module component (2) includes a controllable omnidirectional drive wheel (61).

4. The module component according to claim 1 or 2, characterized in that, The further module component (2') has a passive wheel bracket (62) which includes at least one non-drive wheel (63) and is designed to support omnidirectional motion, wherein the passive wheel bracket (62) is a free wheel bracket.

5. The module component according to claim 1 or 2, characterized in that, The component receiver (14) is designed such that the electronic components (15, 15') attached thereto are at least partially arranged in the cavity (6) of the box-shaped profile (8).

6. The module component according to claim 1 or 2, characterized in that, The component receiver (14) is arranged on or formed by at least one cover plate (4,5). -On the top plate (4) arranged at the predetermined assembly position at the upper end of the box-shaped profile (8) and / or - The base plate (5) is arranged at the predetermined assembly position at the lower end of the box-shaped profile (8).

7. The module component according to claim 1 or 2, characterized in that, At least one of the T-slots (7) is oriented parallel to the axial direction (Z).

8. The module component according to claim 1 or 2, characterized in that, The box-shaped profile (8) has a basic shape and a rectangular or square cross section along the axial direction (Z).

9. The module component according to claim 1 or 2, characterized in that, The box-shaped profile (8) has a first width (BX) of the transverse surface (QX) and a second width (BY, BY') of the transverse surface (QY), each width being an integer multiple of the unit dimension (E) in an E-to-E or 2E-to-E ratio.

10. The module component according to claim 9, characterized in that, in - The center-to-center distance (d1) from the centerline (M) of the T-slot (7) to the centerline of the adjacent T-slot (7) is an integer multiple or half of the unit dimension (E); and / or - The distance (d2) from the center of the T-groove (7) on the transverse surface (QX) to the transition surface of the adjacent transverse surface (QY) is half of the unit dimension (E).

11. The module component according to claim 1 or 2, characterized in that, One edge region (K) of the box-shaped profile (8) is chamfered and has a bevel relative to the two transverse faces (QX,QY) of the box-shaped profile (8), which is oriented along the axis (Z) and located between the two transverse faces (QX,QY).

12. The module component according to claim 11, characterized in that, In one edge region (K) of the box-shaped profile (8), which is oriented along the axial direction (Z) and located between the two transverse surfaces (QX, QY) of the box-shaped profile (8), another T-shaped groove (7) is provided.

13. The module component according to claim 1 or 2, characterized in that, The T-shaped groove (7) forms a space (16) that is recessed inward relative to the outer surface of the box-shaped profile (8). Two opposing collar edges (10) are provided at the transition between the space (16) and the outer surface of the box-shaped profile (8), in which a channel (17) is left, the width of which is smaller than the width of the recessed space (16). Therefore, in cross-section, the channel (17) and the space (16) form a T-shape.

14. The module component according to claim 1 or 2, characterized in that, The box-shaped profile (8) has at least one fixed channel (18) extending through the box-shaped profile (8) along the axial (Z) direction, the fixed channel having a tunnel or pipe-guided shape.

15. The module component according to claim 14, characterized in that, At least one of the fixed channels (18) is located on the inside of the box-shaped profile (8).

16. The module component according to claim 14, characterized in that, At least one of the fixed channels (18) has internal threads to form a screw channel (13).

17. The module component according to claim 14, characterized in that, One of the fixed channels (18) is set near the transverse (X, Y) side of the T-slot (7), and a fixed channel (18) is set opposite each T-slot (7).

18. The module component according to claim 14, characterized in that, At least one of the cover plates (4,5) has a fixing opening (19) that is aligned with the end of a fixing channel (18) of the box-shaped profile (8) so that at least one cover plate (4,5) is secured with a screw as a fixing element (20) that can be inserted into at least two fixing channels (18) so that the cover plate can be secured and / or positioned on the box-shaped profile (8).

19. The module component according to claim 1 or 2, characterized in that, The module component (2,2') has a profile attachment (30) which is disposed on the cover plate (4), specifically on the outside of the top plate (4), and is fixed there.

20. The module component according to claim 19, characterized in that, The outline attachment (30) of the module component (2,2') includes a collar-shaped surrounding cable guide groove (31) that surrounds a central opening (32).

21. The module component according to claim 20, characterized in that, The contour attachment (30) has a semi-open channel shape with a bottom wall (35), a transverse wall (33) adjacent to the inside of the module assembly (2), and another transverse wall (34) adjacent to the outside.

22. The module component according to claim 21, characterized in that, The cable guide groove (31) has at least one transverse surface (QX,QY) facing the module assembly (2,2') and a groove (36) facing the center opening on the transverse wall (33,34).

23. The module component according to claim 21 or 22, characterized in that, The cable guide groove (31) has one or more band guides (37) on its bottom wall (35) to guide a fastener with a line or band shape, which is a cable tie that surrounds the cable (38) placed in the cable guide groove (31) in a U-shape.

24. The module component according to claim 20, characterized in that, The top plate (4) has an opening in the central region that is aligned with the central opening (32) of the profile attachment (30), thereby forming a channel to the cavity of the module assembly (2,2').

25. The module component according to claim 20, characterized in that, The module assembly (2,2') includes at least one cable channel cover (39) which is detachably secured to the port opening of the cable guide groove (31) of the profile accessory (30) by a snap-fit ​​fastener (41).

26. The module component according to claim 20, characterized in that, The module component (2) has a cover cap (40) which is detachably fixed to the center opening (32) of the contour attachment (30) for covering by a snap fastener (41').

27. The module component according to claim 13, characterized in that, One of the cover plates (4,5) has an outer contour having: - The long side (50) aligned with the end face of the box-shaped profile (8) in the transverse plane (QX,QY) region. as well as - The corner region (51) located between the long sides protrudes beyond the outer contour of the box-shaped profile (8) at the end face of the edge region (K).

28. The module component according to claim 27, characterized in that, One of the cover plates (4,5) has a through hole (53) near a corner region (51), the through hole having a rectangular cross-sectional shape, and the arrangement and size of the through hole (53) overlap with the free space (16) of the T-shaped groove (7) in the edge region (K) of the box-shaped profile (8) in the predetermined installation state of the cover plate (4,5).

29. The module component according to claim 28, characterized in that, One of the cover plates (4,5) has at least one edge groove (54) on one long side (50), the edge groove being T-shaped, and the edge groove (54) is arranged and sized to align with the free space (16) of the T-shaped groove (7) and the channel (17) between the collar edge (10) of the T-shaped groove (7) in the intended installation state.

30. The module component according to claim 28, characterized in that, One of the cover plates (4,5) has at least one edge groove (54) on one long side (50), which is designed to allow free access, in the intended installation state, to the port of the T-shaped groove (7) on the transverse surface (QX,QY) of the box profile (8) for inserting a fixing element.

31. The module component according to claim 21, characterized in that, The top plate (4) and a profile accessory (30) each have at least one port opening (55, 55'), wherein, in the predetermined installation state, the port opening (55') of the cover plate (4, 5) and the port opening (55) of the profile accessory (30) are aligned, and the port opening (55) of the profile accessory (30) is an opening in the bottom wall (35) of the cable guide groove (31).

32. The module component according to claim 31, characterized in that, The module component (2) has at least one connecting bracket (56) which is fixed to the port opening (55') of the cover plate (4) in a predetermined installation state and extends outward through the port opening (55) of the profile attachment (30).

33. The module component according to claim 31, characterized in that, The port opening (55) of the contour attachment (30) is located near the groove (36) of the transverse wall (33,34) of the cable guide groove (31).

34. A module kit for providing robotic vehicles or logistics vehicles (1), characterized in that, The module kit includes a plurality of module components (2,2') that can be arranged adjacent to each other and detachably connected, characterized in that the first module component (2) of the plurality of module components (2,2') is constituted according to any one of the preceding claims 28-30.

35. The module kit according to claim 34, characterized in that, At least one other module component (2,2') of the module suite (100) - Designed as an energy storage module (70) and serving as a main or secondary battery for other electronic components (15); or - Designed as a control technology module (71) and as a control device for other electronic components (15); or - Designed as a communication module (73) and as an interface device for other electronic components (15); - Designed as a sensor module (74), and as part of other electronic components (15), it includes an environmental sensing device; - Designed as a passive wheel module (75) and including at least one non-drive wheel as a motion detector of other electronic components (15) for detecting the motion of the non-drive wheel.

36. The module kit according to claim 34, characterized in that, The module kit (100) includes at least one abutment connector (101, 102) designed to be inserted into a double T-channel (103) formed by the free space (16) between two adjacent T-shaped recesses (7) and the space (16) between their collar edges (10), and the abutment connector (101, 102) includes at least one fastener (104, 105) operable by a tool guideable in the double T-channel (103), and the abutment connector (101, 102) includes at least two clamping bodies (106, 107) which, when operating at least one fastener (104, 105), can be placed inside the collar edges (10) of the adjacent T-shaped recesses (7) to secure them together.

37. The module kit according to claim 34, characterized in that, The module kit (100) includes at least one U-shaped bracket (110) having an arc-shaped segment and two fixed segments at the ends, wherein the distance between the fixed segments is an integer multiple of a unit dimension (E) that defines the geometry of the module assembly (2,2').

38. The module kit according to claim 34, characterized in that, The module kit (100) includes a stack connector (111, 117), and at least one module component (2) is detachably secured at a first stack position (L1) to another module component (2') at a stack position (L2) above or below it.

39. The module kit according to claim 38, characterized in that, One of the stacking connectors (111) includes a distance segment (112) and two fixing flaps (113, 115) that protrude from opposite sides of the distance segment (112) and form a shoulder (114) between the distance segment (112) and the first fixing flap (113). The stacking connector (111) can be inserted through the first fixing flap (113) into a through hole (53) of the cover plate (4, 5) of the first module assembly (2), wherein the shoulder (114) can be tightly supported on the surface of the cover plate (4, 5).

40. The module kit according to claim 39, characterized in that, The stack connector (111) has another shoulder (116) between the distance segment (112) and the second fixed wing (115), and the stack connector (111) can be inserted together with the second fixed wing (115) into the through hole (53) of the cover plate (4,5) of the adjacent module assembly (2,2'), wherein the other shoulder (116) can form a fixed support on the surface of the cover plate (4,5) of the adjacent module assembly (2,2').

41. The module kit according to claim 38, characterized in that, The stack connector (117) includes a column (118) that can be supported on multiple corner protrusions (52) of adjacent cover plates (4,5) of adjacent module assemblies (2,2'), wherein the column is formed from a profile bar (23) with a side having a T-shaped groove (7).

Images