Transport vehicle for transporting objects

Abstract

The utility model relates to a transport vehicle used for transporting objects. The transport vehicle comprises a basic frame, a plurality of wheels used for enabling the transport vehicle to move on a base, a driving unit used for driving the wheels, and a receiving unit (1) used 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 utility model relates to a transport vehicle for transporting objects. The transport vehicle comprises a basic frame, a plurality of wheels for making the transport vehicle move on a base / ground, a driving unit for driving the wheels and a receiving unit for inductively receiving energy. Background Art

[0002] Document DE 10 2020 002 676 B3 discloses a transport vehicle of this type for transporting objects. The transport vehicle has a plurality of 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 transmitted from a charging unit, in particular from a linear conductor. The energy inductively transmitted to the receiving unit is used, for example, to charge the relay of the transport vehicle.

[0003] The charging unit is usually located in the base on which the transport vehicle moves. In order to transfer energy inductively from the charging unit to the receiving unit, a relatively small distance is required between the charging unit and the receiving unit. If there are obstacles on the base, such as stones, these obstacles may collide with the receiving unit when driving over. This may 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. Utility Model Content

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

[0006] According to the utility model, this object is achieved by a transport vehicle having the following characteristics.

[0007] The transport vehicle for transporting objects according to the utility model comprises 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. In addition, the transport vehicle comprises a lifting device, by means of which the receiving unit can be moved between a lower end position and an upper end position in a vertical direction relative to the basic frame. The lifting device has an electric cylinder, which comprises a cylinder body, a push rod / connecting rod movable in a vertical direction relative to the cylinder body, and a motor for driving the push rod relative to the cylinder body.

[0008] If the substrate is flat and free of obstacles, the receiving unit is moved into the lower end position and immediately adjacent to the substrate 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 obstacle (e.g. a stone) is detected, the lifting device can lift the receiving unit, i.e. move it in the vertical direction away from the substrate into the upper end position. As a result, the receiving unit can be prevented from collisions and damage. As a result, safety during operation of the transport vehicle is increased and the failure rate is reduced. The electric cylinder allows precise control of the movement of the receiving unit in the vertical direction relative to the basic frame between the lower end position and the upper end position.

[0009] According to an advantageous design of the utility model, 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 movement of the lower frame relative to the upper frame in the vertical direction corresponds to the movement of the receiving unit relative to the basic frame in the vertical direction.

[0010] According to an advantageous design of the utility model, the upper frame is connected to the cylinder body and to 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 in a vertical direction relative to the cylinder body, the receiving unit moves in a vertical direction relative to the basic frame.

[0011] According to an advantageous design of the utility model, the lifting device has a plurality of guide rods, which extend in the vertical direction and are connected to the lower frame in a non-movable manner. Here, the guide rods can move in the vertical direction relative to the upper frame. When the lower frame moves in the vertical direction relative to the upper frame, the guide rods form a linear guide for the lower frame.

[0012] According to an advantageous design of the utility model, the lower frame is arranged below the upper frame in the vertical direction and between the base and the upper frame in the vertical direction.

[0013] According to an advantageous design of the utility model, 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 the two sensors, and the motor of the electric cylinder can be controlled accordingly.

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

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

[0016] According to an advantageous design of the utility model, the lifting device has an ammeter for measuring the current flowing through the motor. Measuring the current flowing through the motor can monitor whether the lifting device is running smoothly.

[0017] According to an advantageous design of the present invention, the transport vehicle comprises a relay for supplying power to the drive unit and the lifting device, and the relay can be supplied with electrical energy by the receiving unit.

[0018] According to an advantageous embodiment of the invention, the transport vehicle is designed as an automatic driving transport vehicle and comprises a control device for controlling the drive unit and the lifting device.

[0019] The utility model is not limited to the above-mentioned feature combination. For those skilled in the art, in particular, other reasonable combinations of the above-mentioned feature combination and / or individual features and / or features to be described below and / or features of the accompanying drawings can be obtained from the purpose proposed and / or the purpose proposed by comparison with the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention is described in detail below based on the accompanying drawings. The present invention is not limited to the embodiments shown in the accompanying drawings. The accompanying drawings only schematically illustrate the subject matter of the present invention. Among them:

[0021] Figure 1 A perspective view showing a lifting device for transporting a vehicle.

[0022] List of reference numerals:

[0023] 1 Receiving unit

[0024] 2 Electric cylinders

[0025] 3 Guide rod

[0026] 5 Upper frame

[0027] 6 Lower frame

[0028] 21 Motor

[0029] 22 Cylinder

[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 DESCRIPTION

[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 can move relative to the upper frame 5 in a vertical direction Z. The transverse direction Y is perpendicular to the vertical direction Z. The longitudinal direction X is perpendicular to the vertical direction Z and perpendicular to the transverse direction Y.

[0037] The receiving unit 1 is arranged on the lower frame 6. The lower frame 6 is connected to the receiving unit 1 in a relatively immovable manner. The lower frame 6 is arranged below the upper frame 5 along the vertical direction Z. The lower frame 6 is arranged between the receiving unit 1 and the upper frame 5 along the vertical direction Z.

[0038] The lifting device has a plurality of guide rods 3, here four guide rods, which extend in the vertical direction Z. 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 can be moved relative to the upper frame 5 in the vertical direction Z. The guide rods 3 extend through the upper frame 5.

[0039] The lifting device has an electric cylinder 2. The electric cylinder 2 includes a cylinder body 22 and a push rod movable relative to the cylinder body 22 in a vertical direction Z. The push rod is partially located in 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 body 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 a direction to move out of the cylinder body 22, the lower frame 6 moves away from the upper frame 5 along the vertical direction Z. When the motor 21 drives the push rod in a direction to enter the cylinder body 22, the lower frame 6 approaches the upper frame 5 along the vertical direction Z.

[0041] A transport vehicle, not shown here, is used to transport the object. In the present case, the transport vehicle is an automatic driving vehicle. The transport vehicle is located 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 a longitudinal direction X and a transverse direction Y. The longitudinal direction X corresponds at least approximately to the usual direction of travel of the transport vehicle.

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

[0044] The transport vehicle comprises a plurality of wheels that can rotate relative to the basic frame. The transport vehicle can move on the base by means of the wheels. In the present case, the transport vehicle comprises two front wheels and two rear wheels, the two front wheels being arranged offset relative to each other in the transverse direction Y, and the two rear wheels being arranged offset relative to each other in the transverse direction Y. The front wheels and the rear wheels are arranged offset relative to each other in the longitudinal direction X.

[0045] When the transport vehicle is traveling in the usual direction of travel, i.e. in the longitudinal direction X, the wheels rotate about a rotation axis extending in the transverse direction Y. For example, when the transport vehicle is traveling in a bend, the rotation axis of the front wheels oscillates about a swivel axis extending in the vertical direction Z. The rotation axis of the front wheels then extends in the horizontal direction, which is inclined relative to the longitudinal direction X and relative to the transverse direction Y.

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

[0047] The transport vehicle also includes a lifting device shown here. The upper frame 5 of the lifting device is connected to the basic frame of the transport vehicle in a relatively immovable manner. 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 device, in particular to the motor 21 of the electric cylinder. The control unit is also used to control the lifting device, in particular to drive the motor 21 of the electric cylinder.

[0049] The transport vehicle further comprises 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 is used, for example, to charge the battery of the transport vehicle. With the aid of the lifting device, the receiving unit 1 can be moved in a vertical direction Z relative to the basic frame.

[0050] The receiving unit 1 comprises a transmitter head with a secondary coil. The charging unit is designed, for example, as a primary conductor that is powered and is laid in a substrate under the transport vehicle. The charging unit is also designed, for example, as a primary coil that is powered and is laid in a substrate under the transport vehicle. In this case, the charging unit is arranged 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 toward the base. When the lower frame 6 approaches 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 the motor 21 drives the push rod in a direction away from the cylinder 22, the receiving unit 1 moves downward in the vertical direction Z, that is, moves toward the substrate and away from the basic frame. When the motor 21 drives the push rod in a direction entering the cylinder 22, the receiving unit 1 moves upward in the vertical direction Z, that is, moves away from the substrate and toward the basic frame.

[0053] The receiving unit 1 is thus movable relative to the base frame in the vertical direction Z between a lower end position and an upper end position by means of the lifting device.

[0054] In the lower end position, the base frame is at a maximum distance from the receiving unit 1 in the vertical direction Z. The receiving unit 1 is therefore located in the immediate vicinity of the substrate, in particular above a charging unit arranged in the substrate. The receiving unit 1 is arranged in this case such that the secondary coil is inductively coupled to the charging unit. Energy can thus be transferred from the charging unit to the receiving unit 1.

[0055] In the upper end position, the basic frame is at a minimum distance from the receiving unit 1 in the vertical direction Z. The receiving unit 1 is therefore located at the furthest distance from the base. The transport vehicle thus has a maximum ground clearance.

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

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

[0058] The lifting device has a metal plate 45 which is connected to the receiving unit 1 and to the lower frame 6 in a manner that is immovable relative to one another. The metal plate 45 can be detected by the lower sensor 41 and the upper sensor 42 .

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

[0060] When the motor 21 drives the push rod in a direction away from the cylinder 22 and the receiving unit 1 moves downward in the vertical direction Z, a lower rated current / theoretical current flows through the motor 21 in the case of normal functioning of the lifting device.

[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 upper rated current flows through the motor 21 when the lifting device is functioning normally.

[0062] The lifting device has an ammeter for measuring the current flowing through the motor 21. Measuring the current flowing through the motor can monitor the lifting device, especially monitor whether the lifting device is running smoothly.

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

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

Claims

1. A transport vehicle for transporting an object, the transport vehicle comprising: Basic framework, a plurality of wheels for moving the transport vehicle over the base, a drive unit for driving the wheels, and a receiving unit (1) for inductively receiving energy, It is characterized in that Transport vehicles including lifting equipment, By means of the lifting device, the receiving unit (1) can be moved relative to the basic frame in a vertical direction (Z) between a lower end position and an upper end position. The lifting device comprises 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 a vertical direction (Z), and a motor (21) for driving the push rod relative to the cylinder body (22).

2. The transport vehicle for transporting an object according to claim 1, It is characterized in that The lifting device comprises an upper frame (5) and a lower frame (6). The upper frame (5) is connected to the basic frame in a manner that it cannot move relative to the base frame. The lower frame (6) is connected to the receiving unit (1) in a manner that the lower frame (6) cannot move relative to the receiving unit.

3. The transport vehicle for transporting an object according to claim 2, It is characterized in that The upper frame (5) is connected to the cylinder body (22) and the motor (21) in a manner that the upper frame (5) cannot move relative to the cylinder body (22). The lower frame (6) is connected to the push rod in a manner that the push rod cannot move relative to the push rod.

4. The transport vehicle for transporting objects according to claim 2 or 3, It is characterized in that The lifting device comprises a plurality of guide rods (3) extending in a vertical direction (Z) and connected to a lower frame (6) in a manner that is immovable relative to each other. The guide rod (3) can move relative to the upper frame (5) along the vertical direction (Z).

5. The transport vehicle for transporting objects according to claim 2 or 3, It is characterized in that The lower frame (6) is arranged below the upper frame (5) along the vertical direction (Z).

6. A transport vehicle for transporting objects according to any one of claims 1 to 3, It is characterized in that The lifting device has a lower sensor (41) and an upper sensor (42), wherein the lower sensor is used to detect the lower end position of the receiving unit (1) relative to the basic frame in the vertical direction (Z), The upper sensor is used to identify the upper end position of the receiving unit (1) relative to the basic frame in the vertical direction (Z).

7. The transport vehicle for transporting an object according to claim 6, It is characterized in that The lifting device comprises a metal plate (45) which is connected to the receiving unit (1) in a manner that is immovable relative to one another. 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 they cannot move relative to each other.

8. The transport vehicle for transporting an object according to claim 7, It is characterized in that When the receiving unit (1) is located at the upper end position, the lower sensor (41) and the upper sensor (42) detect the metal plate (45), When the receiving unit (1) is located at the lower end position, the sensors (41, 42) do not detect the metal plate (45). When the receiving unit (1) is located at the middle position, only the lower sensor (41) detects the metal plate (45).

9. A transport vehicle for transporting objects according to any one of claims 1 to 3, It is characterized in that The lifting device has an ammeter for measuring the current flowing through the motor (21).

10. The transport vehicle for transporting objects according to any one of claims 1 to 3, characterized in that: The transport vehicle includes a relay for supplying power to the drive unit and the lifting equipment. The relay can be supplied with electrical energy from the receiving unit (1).

11. The transport vehicle for transporting objects according to any one of claims 1 to 3, characterized in that: The transport vehicle is designed as an autonomous transport vehicle. The transport vehicle comprises a control device for controlling the drive unit and the lifting device.

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