Transport vehicle

Abstract

The invention relates to a transport vehicle for transporting objects, comprising a base frame, a plurality of wheels for moving the transport vehicle on a base, a drive unit for driving the wheels, and a receiving unit (1) for inductively receiving energy. The transport vehicle comprises a lifting device by means of which the receiving unit (1) can be moved in a vertical direction (Z) relative to the base frame between a lower end position and an upper end position, the lifting device being provided with an electric cylinder (2), the electric cylinder comprises a cylinder body (22), a push rod capable of moving relative to the cylinder body (22) in the vertical direction (Z), and a motor (21) used for driving the push rod relative to the cylinder body (22).

Description

Technical Field

[0001] The present invention relates to a transport vehicle for transporting objects, the transport vehicle comprising a basic frame, a plurality of wheels for moving the transport vehicle on a base / ground, a drive unit for driving the wheels, and a receiving unit for inductively receiving energy. Background Technology

[0002] A transport vehicle for transporting objects is known from document DE 10 2020 002 676 B3. The transport vehicle has multiple wheels, a drive unit for driving the wheels, and a relay. The transport vehicle also has a receiving unit, to which energy can be inductively transferred from a charging unit, particularly from a linear conductor. The energy inductively transferred to the receiving unit is used, for example, to charge the relay of the transport vehicle.

[0003] The charging unit is typically located within the base on which the transport vehicle moves. A relatively small distance is required between the charging unit and the receiving unit for inductive energy transfer from the charging unit to the receiving unit. If there are obstacles on the base, such as rocks, these obstacles may collide with the receiving unit as the vehicle passes over them. This could damage the receiving unit.

[0004] A transport vehicle having a secondary coil for inductively receiving energy is known from DE 10 2012 022 479 A1. The secondary coil is arranged on the upper side of the vehicle. Summary of the Invention

[0005] Therefore, the object of the present invention is to improve a transport vehicle / transport tool for transporting objects.

[0006] According to the invention, this objective is achieved by a transport vehicle having the features given in claim 1. Advantageous designs and improvements are the subject of the dependent claims.

[0007] The transport vehicle for transporting objects according to the present invention includes a basic frame, a plurality of wheels for moving the transport vehicle on a base, a drive unit for driving the wheels, and a receiving unit for inductively receiving energy. Additionally, the transport vehicle includes a lifting device by means of which the receiving unit can move vertically relative to the basic frame between a lower end position and an upper end position. The lifting device has an electric cylinder, which includes a cylinder body, a push rod / connecting rod movable vertically relative to the cylinder body, and a motor for driving the push rod relative to the cylinder body.

[0008] If the base is flat and free of obstructions, the receiving unit is moved to the lower end position, immediately above the charging unit. In the lower end position, the receiving unit is inductively coupled to the charging unit, and energy can be transferred from the charging unit to the receiving unit. When an obstruction (such as a rock) is detected, a lifting device can raise the receiving unit, i.e., move it vertically away from the base to the upper end position. This prevents the receiving unit from colliding and being damaged. This improves safety during transport vehicle operation and reduces the failure rate. The electric cylinder allows for precise control of the receiving unit's vertical movement relative to the base frame between the lower and upper end positions.

[0009] According to an advantageous design of the invention, the lifting device has an upper frame and a lower frame. The upper frame is connected to the basic frame in a non-movable manner, and the lower frame is connected to the receiving unit in a non-movable manner. Therefore, the vertical movement of the lower frame relative to the upper frame corresponds to the vertical movement of the receiving unit relative to the basic frame.

[0010] According to an advantageous design of the invention, the upper frame is connected to the cylinder and the motor in a non-movable manner, and the lower frame is connected to the push rod in a non-movable manner. When the motor drives the push rod vertically relative to the cylinder, the receiving unit moves vertically relative to the basic frame.

[0011] According to an advantageous design of the invention, the lifting device has a plurality of guide rods extending vertically and connected to the lower frame in a non-movable manner. Here, the guide rods are movable vertically relative to the upper frame. When the lower frame moves vertically relative to the upper frame, the guide rods form a straight guide portion of the lower frame.

[0012] According to an advantageous design of the invention, the lower frame is arranged vertically below the upper frame. The lower frame is arranged vertically between the base and the upper frame.

[0013] According to an advantageous design of the invention, the lifting device has a lower sensor for identifying the lower end position of the receiving unit relative to the basic frame in the vertical direction and an upper sensor for identifying the upper end position of the receiving unit relative to the basic frame in the vertical direction. The end position of the receiving unit can be detected by means of these two sensors, and thus the motor of the electric cylinder can be controlled.

[0014] According to an advantageous design of the invention, the lifting device has a metal plate connected to the receiving unit in a non-movable manner. Here, the lower and upper sensors are designed as inductive sensors for detecting the metal plate, and are connected to the basic frame in a non-movable manner. When the receiving unit moves vertically relative to the basic frame, the metal plate also moves vertically relative to the sensors.

[0015] According to an advantageous design of the invention, when the receiving unit is in the upper end position, both the lower and upper sensors detect the metal plate; when the receiving unit is in the lower end position, no sensor detects the metal plate; and when the receiving unit is in the middle position, only the lower sensor detects the metal plate.

[0016] According to an advantageous design of the invention, the lifting device includes an ammeter for measuring the current flowing through the motor. Measuring the current flowing through the motor allows for monitoring whether the lifting device is malfunctioning.

[0017] According to an advantageous design of the invention, the transport vehicle includes a power supply for powering the drive unit and the lifting device, which can be supplied with electrical energy by a receiving unit.

[0018] According to an advantageous design of the invention, the transport vehicle is designed as an autonomous transport vehicle and includes a control device for controlling the drive unit and the lifting equipment.

[0019] This invention is not limited to the combination of features in the claims. For those skilled in the art, particularly for purposes proposed and / or by comparison with the prior art, other reasonable combinations of features in the claims and / or individual claims and / or the specification and / or the drawings are possible. Attached Figure Description

[0020] The invention will now be described in detail with reference to the accompanying drawings. The invention is not limited to the embodiments shown in the drawings. The drawings are merely schematic illustrations of the subject matter of the invention. Wherein:

[0021] Figure 1 A perspective view of a lifting device used for transporting vehicles is shown.

[0022] List of reference numerals in the attached diagram:

[0023] 1 Receiving Unit

[0024] 2 Electric cylinders

[0025] 3. Guide rod

[0026] 5. Upper frame

[0027] 6. Lower Frame

[0028] 21 motors

[0029] 22-cylinder block

[0030] 41 Lower sensor

[0031] 42 Upper Sensor

[0032] 45 Metal Plate

[0033] X Vertical direction

[0034] Y (horizontal direction)

[0035] Z (vertical direction) Detailed Implementation

[0036] Figure 1 A perspective view of a lifting device for transporting vehicles is shown. The lifting device has an upper frame 5 and a lower frame 6. The lower frame 6 is movable relative to the upper frame 5 in the vertical direction Z. The lateral direction Y is perpendicular to the vertical direction Z. The longitudinal direction X is perpendicular to the vertical direction Z and perpendicular to the lateral direction Y.

[0037] A receiving unit 1 is arranged on the lower frame 6. The lower frame 6 is connected to the receiving unit 1 in a manner that prevents relative movement. The lower frame 6 is arranged vertically in the Z direction below the upper frame 5. The lower frame 6 is arranged vertically in the Z direction between the receiving unit 1 and the upper frame 5.

[0038] The lifting device has multiple guide rods 3, specifically four in this case, extending vertically in the Z direction. The guide rods 3 are connected to the lower frame 6 in a non-movable manner. Therefore, the guide rods 3 are also connected to the receiving unit 1 in a non-movable manner. The guide rods 3 are movable relative to the upper frame 5 in the vertical Z direction. The guide rods 3 extend through the upper frame 5.

[0039] The lifting device includes an electric cylinder 2. The electric cylinder 2 includes a cylinder body 22 and a push rod that is movable relative to the cylinder body 22 in a vertical direction Z. The push rod is partially located within the cylinder body 22 and partially protrudes from the cylinder body 22. The electric cylinder 2 also includes a motor 21 for driving the push rod relative to the cylinder body 22 in a vertical direction Z.

[0040] The upper frame 5 is connected to the cylinder 22 and the motor 21 in a non-movable manner. The lower frame 6 is connected to the push rod in a non-movable manner. When the motor 21 drives the push rod in the direction of moving away from the cylinder 22, the lower frame 6 moves away from the upper frame 5 in the vertical direction Z. When the motor 21 drives the push rod in the direction of entering the cylinder 22, the lower frame 6 moves closer to the upper frame 5 in the vertical direction Z.

[0041] The transport vehicle, not shown, is used to transport objects. In the current case, the transport vehicle is an autonomous vehicle. The transport vehicle is situated on a flat base.

[0042] The transport vehicle comprises a basic frame. The basic frame has an approximately rectangular cross-section and extends primarily in the longitudinal direction X and the transverse direction Y. Here, the longitudinal direction X at least approximately corresponds to the usual direction of travel of the transport vehicle.

[0043] The longitudinal direction X and the lateral direction Y are horizontal and parallel to the base on which the transport vehicle is located. Every direction perpendicular to the vertical direction Z is horizontal. The vertical direction Z is perpendicular to the flat base.

[0044] The transport vehicle includes multiple wheels that can rotate relative to the basic frame. The transport vehicle can move on the base using these wheels. In the current configuration, the transport vehicle includes two front wheels and two rear wheels, with the two front wheels staggered from each other in the lateral direction Y, and the two rear wheels staggered from each other in the lateral direction Y. The front and rear wheels are staggered in the longitudinal direction X.

[0045] When a transport vehicle travels in its usual direction of travel, that is, along the longitudinal direction X, the wheels rotate about an axis of rotation extending along the lateral direction Y. For example, when the transport vehicle turns, the axis of rotation of the front wheels oscillates about an axis of swing extending along the vertical direction Z. Thus, the axis of rotation of the front wheels extends horizontally and is inclined relative to the longitudinal direction X and relative to the lateral direction Y.

[0046] The transport vehicle includes a drive unit for driving the wheels. The transport vehicle also includes a relay for supplying power to the drive unit and a control unit for controlling the drive unit. The drive unit includes, for example, a power unit and a transmission and drives some or all of the wheels. The transport vehicle also has a steering device (not shown) for steering the wheels. The steering device may also be controlled by the control unit.

[0047] The transport vehicle also includes the lifting device shown herein. The upper frame 5 of the lifting device is connected to the basic frame of the transport vehicle in a manner that prevents relative movement. For example, the upper frame 5 is threadedly connected to the basic frame.

[0048] The relay is also used to supply power to the lifting equipment, particularly to the motor 21 of the electric cylinder. The control unit is also used to control the lifting equipment, particularly to drive the motor 21 of the electric cylinder.

[0049] The transport vehicle also includes a receiving unit 1, which is fixed to the lower frame 6 of the lifting device. Energy can be inductively transferred from the charging unit to the receiving unit 1. The energy inductively transferred from the charging unit to the receiving unit 1 can be used, for example, to charge the vehicle's electrical system. With the aid of the lifting device, the receiving unit 1 can move vertically Z relative to the basic frame.

[0050] The receiving unit 1 includes a transmitter head with a secondary coil. The charging unit is designed, for example, as an energized primary conductor laid in a substrate beneath the transport vehicle. Alternatively, the charging unit may be designed, for example, as an energized primary coil laid in a substrate beneath the transport vehicle. Here, the charging unit is positioned near the surface of the substrate. The secondary coil of the transmitter head of the receiving unit 1 can be inductively coupled to the charging unit.

[0051] When the lower frame 6 moves away from the upper frame 5 along the vertical direction Z, the receiving unit 1 moves downward along the vertical direction Z, that is, moves towards the base. When the lower frame 6 moves closer to the upper frame 5 along the vertical direction Z, the receiving unit 1 moves upward along the vertical direction Z, that is, moves away from the base.

[0052] When motor 21 drives the push rod in the direction away from cylinder 22, receiving unit 1 moves downward in the vertical direction Z, that is, moves towards the base and away from the basic frame. When motor 21 drives the push rod in the direction of entering cylinder 22, receiving unit 1 moves upward in the vertical direction Z, that is, moves away from the base and towards the basic frame.

[0053] Therefore, by means of a lifting device, the receiving unit 1 can move relative to the basic frame in the vertical direction Z between the lower end position and the upper end position.

[0054] At the lower end, the basic frame is at its maximum distance from the receiving unit 1 along the vertical Z direction. Therefore, the receiving unit 1 is located adjacent to the substrate, specifically above the charging unit disposed within the substrate. Here, the receiving unit 1 is arranged such that the secondary coil is inductively coupled to the charging unit. Thus, energy can be transferred from the charging unit to the receiving unit 1.

[0055] At the upper end position, the basic frame is at its minimum distance from the receiving unit 1 along the vertical direction Z. Therefore, the receiving unit 1 is located at the furthest point from the base. Consequently, the transport vehicle has the maximum ground clearance.

[0056] The lifting device has a lower sensor 41 for identifying the position of the receiving unit 1 in the vertical direction Z relative to the lower end of the basic frame. The lower sensor 41 is designed as an inductive sensor. The lower sensor 41 is connected to the basic frame and the upper frame 5 in a non-movable manner.

[0057] The lifting device has an upper sensor 42 for identifying the position of the receiving unit 1 in the vertical direction Z relative to the upper end of the basic frame. The upper sensor 42 is designed as an inductive sensor. The upper sensor 42 is connected to the basic frame and the upper frame 5 in a non-movable manner.

[0058] The lifting device has a metal plate 45, which is connected to the receiving unit 1 and the lower frame 6 in a non-movable manner. The metal plate 45 can be detected by a lower sensor 41 and an upper sensor 42.

[0059] When the receiving unit 1 is in the upper position, both the lower sensor 41 and the upper sensor 42 detect the metal plate 45. When the receiving unit 1 is in the lower position, neither sensor 41 nor sensor 42 detects the metal plate 45. When the receiving unit 1 is in the middle position, only the lower sensor 41 detects the metal plate 45.

[0060] When the motor 21 drives the push rod in the direction away from the cylinder 22 and the receiving unit 1 moves downward in the vertical direction Z, the rated current / theoretical current flows through the motor 21 when the lifting equipment is functioning normally.

[0061] When the motor 21 drives the push rod in the direction of entering the cylinder 22 and the receiving unit 1 moves upward in the vertical direction Z, the rated current flows through the motor 21 when the lifting equipment is functioning normally.

[0062] The lifting equipment has an ammeter for measuring the current flowing through the motor 21. Measuring the current flowing through the motor allows for monitoring of the lifting equipment, especially whether it is malfunctioning.

[0063] When the ammeter measures that the current flowing through motor 21 is greater than the corresponding rated current, the lifting equipment will not operate smoothly, for example, one of the guide rods will bend.

[0064] When the ammeter measures that the current flowing through motor 21 is less than the corresponding rated current, for example, when receiving unit 1 is not present.

Claims

1. A transport vehicle for transporting objects, the transport vehicle comprising: Basic framework Multiple wheels used to move transport vehicles on the base. Drive unit for driving wheels, and A receiving unit (1) for inductive energy reception. Its features are, The transport vehicles include lifting equipment. The lifting device enables the receiving unit (1) to move relative to the basic frame in the vertical direction (Z) between the lower end position and the upper end position. The lifting equipment has an electric cylinder (2), The electric cylinder includes a cylinder body (22), a push rod that can move relative to the cylinder body (22) in a vertical direction (Z), and a motor (21) for driving the push rod relative to the cylinder body (22).

2. The transport vehicle according to claim 1, Its features are, The lifting equipment has an upper frame (5) and a lower frame (6). The upper frame (5) is connected to the basic frame in a manner that prevents relative movement. The lower frame (6) is connected to the receiving unit (1) in a manner that prevents relative movement.

3. The transport vehicle according to claim 2, Its features are, The upper frame (5) is connected to the cylinder (22) and the motor (21) in a manner that prevents relative movement. The lower frame (6) is connected to the push rod in a manner that prevents relative movement.

4. The transport vehicle according to claim 2 or 3, Its features are, The lifting device has multiple guide rods (3) extending vertically (Z) and connected to the lower frame (6) in a manner that prevents relative movement. The guide rod (3) can move relative to the upper frame (5) in the vertical direction (Z).

5. The transport vehicle according to any one of claims 2 to 4, Its features are, The lower frame (6) is arranged vertically (Z) below the upper frame (5).

6. The transport vehicle according to any one of the preceding claims, Its features are, The lifting device has a lower sensor (41) and an upper sensor (42), the lower sensor being used to identify the position of the receiving unit (1) in the vertical direction (Z) relative to the lower end of the basic frame. The upper sensor is used to identify the position of the receiving unit (1) in the vertical direction (Z) relative to the upper end of the basic frame.

7. The transport vehicle according to claim 6, Its features are, The lifting device has a metal plate (45) that is connected to the receiving unit (1) in a manner that prevents relative movement. The lower sensor (41) and the upper sensor (42) are designed as inductive sensors for detecting the metal plate (45). The lower sensor (41) and the upper sensor (42) are connected to the basic frame in a manner that prevents them from moving relative to each other.

8. The transport vehicle according to claim 7, Its features are, When the receiving unit (1) is in the upper position, the lower sensor (41) and the upper sensor (42) detect the metal plate (45). When the receiving unit (1) is in the lower position, neither of the sensors (41, 42) detects the metal plate (45). When the receiving unit (1) is in the middle position, only the lower sensor (41) detects the metal plate (45).

9. The transport vehicle according to any one of the preceding claims, Its features are, The lifting equipment has an ammeter for measuring the current flowing through the motor (21).

10. The transport vehicle according to any one of the preceding claims, Its features are, The transport vehicle includes a power supply for powering the drive unit and the lifting equipment, which can be supplied with electrical energy by the receiving unit (1).

11. The transport vehicle according to any one of the preceding claims, Its features are, The transport vehicles are designed to be autonomous. The transport vehicle includes a control unit for controlling the drive unit and lifting equipment.

Images