Self-propelled bidirectional vehicle

Abstract

Self-propelled bidirectional vehicle (100) for transporting a swap body (2), comprising a chassis (10), a swap body frame (20) for receiving the swap body (2), and a connecting mechanism (60) which is arranged on the swap body frame (20) and is configured to fasten the swap body (2), which can be received with the swap body frame (20), to the swap body frame (20), wherein the connecting mechanism (60) is designed to horizontally displace the swap body (2), which can be received on the swap body frame (20), relative to the swap body frame (20), wherein the connecting mechanism (60) has a sensor system (70) which is configured to determine a compressive force applied to the swap body (2) by the connecting mechanism (60).

Description

Technical area

[0001] The present invention relates to a self-propelled bidirectional vehicle for transporting a swap body. State of the art

[0002] Vehicles for picking up and transporting swap bodies are known from the prior art. These vehicles have devices for locking the swap body to the vehicle. Such devices are known from DE 10 2018 210 359 A1 and DE 298 11 150 U1, wherein the devices have a locking lever that engages with the swap body to secure it to the vehicle. However, such known devices for securing a swap body are not intended to also be configured for horizontally moving the swap body on the vehicle.

[0003] DE 10 2015 001 362 A1 discloses a method and a system for positioning swap bodies with a semi-trailer distribution vehicle.

[0004] DE 10 2004 057 179 A1 discloses a load transport vehicle, in particular a skip loader, with a loading floor as a base for a skip loader swap body that can be placed on or lifted from the loading floor by means of a lifting device. A locking element is provided to displace the skip loader swap body as needed so that a rigid locking element can engage a tilting bearing pin. Description of the invention

[0005] In one aspect, the present invention relates to a self-driving bidirectional vehicle for transporting a swap body. The self-driving bidirectional vehicle can be configured to pick up and transport a swap body without the influence of a human driver. The self-driving bidirectional vehicle can also be configured to approach and drive under a swap body without the influence of a human driver. The self-driving bidirectional vehicle can be an autonomous bidirectional vehicle, which can have a high level of automation according to BASt Level 4 or a full level of automation according to BASt Level 5 as a level of automation of the bidirectional vehicle. The self-driving bidirectional vehicle can therefore be a highly automated bidirectional vehicle or a fully automated bidirectional vehicle.The self-driving bidirectional vehicle can be a non-directional robot vehicle. The self-driving bidirectional vehicle can be designed without a driver's cab.

[0006] In other words, a swap body can also be a swap container or a swap body. The swap body can be designed as a BDF swap body. The swap body can have a swap body container that can be picked up by the self-propelled bi-directional vehicle.

[0007] The self-propelled bidirectional vehicle may be a non-directional vehicle. In other words, the self-propelled bidirectional vehicle may be a non-directional vehicle. The self-propelled bidirectional vehicle therefore does not have a forward and reverse direction of travel. Rather, the self-propelled bidirectional vehicle may have two equivalent directions of travel. The directions of travel may be two opposite directions of travel. The directions of travel may be parallel to a vehicle's longitudinal axis.

[0008] The self-propelled bi-directional vehicle cannot transport a swap body in any one direction. In other words, the self-propelled bi-directional vehicle can transport the swap body in one of two directions of travel. The self-propelled bi-directional vehicle cannot approach a swap body in any one direction. In other words, the self-propelled bi-directional vehicle can approach the swap body in one of two directions of travel. The self-propelled bi-directional vehicle cannot drive under a swap body in any one direction. Driving under the swap body in any one direction can involve driving under the swap body in any one direction along its longitudinal axis. In other words, the self-propelled bi-directional vehicle can drive under the swap body in one of two directions of travel.The self-propelled bi-directional vehicle may be designed to accommodate and transport a single swap body.

[0009] The self-propelled bidirectional vehicle has a chassis. The chassis can be a vehicle frame, a vehicle chassis, or a vehicle subframe, or it can comprise the vehicle frame, the vehicle chassis, or the vehicle subframe. The chassis can support the swap body frame.

[0010] The self-propelled bi-directional vehicle has a swap body frame. The swap body frame can be arranged on the chassis, whereby the chassis can support the swap body frame. The swap body frame is designed to drive under and pick up the swap body. Picking up can be or include raising the swap body. The swap body frame is also designed to park the swap body. Parking can be or include lowering the swap body. The swap body frame is designed to drive under the swap body in a non-directional manner. In other words, the swap body frame is designed to drive under the swap body selectively in one of the two directions of travel of the self-propelled bi-directional vehicle. The swap body frame is vertically movable relative to the pick-up swap body. The swap body frame can be lifted relative to the chassis.The swap body frame can be liftable relative to the chassis, although lifting the swap body frame by vehicle suspension is not provided for in the self-propelled bi-directional vehicle. The chassis can support the removable swap body.

[0011] The self-propelled bidirectional vehicle has a connecting mechanism arranged on the swap body frame and configured to secure the swap body, which can be accommodated with the swap body frame, to the swap body frame. The connecting mechanism may have a locking mechanism. The locking mechanism may be configured to lock the removable swap body to the swap body frame. The connecting mechanism may have an engagement mechanism. The engagement mechanism may be configured to positively engage the removable swap body in order to secure the swap body to the swap body frame. The engagement mechanism may be configured to engage standardized receiving points on the swap body. The connecting mechanism may be non-directional.The connecting mechanism can be arranged symmetrically on the swap body frame relative to the transverse centerline of the self-propelled bidirectional vehicle. This allows the approach and pickup of a swap body to be carried out particularly efficiently, regardless of the direction of travel, thus improving the logistical processes that can be carried out with the self-propelled bidirectional vehicle.

[0012] According to one embodiment of the self-propelled bidirectional vehicle, the swap body frame can be designed without an end stop for positioning the self-propelled bidirectional vehicle in a receiving position for receiving the swap body. Furthermore, the swap body frame can be designed without an end stop for positioning the self-propelled bidirectional vehicle in a locking position for locking the swap body. The swap body frame can therefore be designed without an end stop. The design without an end stop can particularly advantageously enable or even provide for the possibility of driving under the vehicle in any direction.

[0013] The connecting mechanism is designed to horizontally displace the swap body that can be accommodated on the swap body frame relative to the swap body frame. The connecting mechanism can be designed or configured to horizontally displace the swap body that can be accommodated on the swap body frame relative to the swap body frame. The connecting mechanism can be designed, configured, or configured to exert a compressive force on a swap body accommodated on the swap body frame, which displaces the swap body horizontally on a supporting surface of the swap body frame. The accommodated swap body can be lifted by the swap body frame and supported by the swap body frame. A swap body to be accommodated can have an unladen mass that can exceed two tonnes (2 t) or three and a half tonnes (3.5 t).The swap body to be picked up can have a total mass with payload of 16 tonnes (16 t) or 18 tonnes (18 t). The empty mass and the total mass can also each be a corresponding, standardized mass, for example a corresponding DIN-standardized mass for a swap body. The connecting mechanism can be designed to exert a compressive force on the swap body picked up on the swap body frame, which can bring about a horizontal displacement of the picked up swap body, which has at least one of the empty mass and the total mass. The connecting mechanism can have a pressure mechanism which is designed, constructed or arranged to move the pick-up swap body horizontally relative to the swap body frame. The pick-up swap body can be picked up on the swap body frame for horizontal displacement or can be carried by the swap body frame.

[0014] The self-propelled bi-directional vehicle can advantageously use the connecting mechanism to correct the longitudinal position of the swap body lifted and supported on the swap body frame before or during locking the swap body to the swap body frame. The connecting mechanism can advantageously bring about a locking position of the swap body on the swap body frame, thus enabling locking. The self-propelled bi-directional vehicle can also advantageously use the connecting mechanism to automate the picking up of a swap body.

[0015] If the self-propelled bidirectional vehicle does not have an end stop, it may be necessary to perform a longitudinal position adjustment after passing under the swap body in a non-directional manner before the swap body can be locked. After passing under the swap body in a non-directional manner, the swap body may be roughly positioned in the longitudinal direction of the swap body on the swap body frame. The swap body may already be raised and supported in the roughly positioned position on the swap body frame.After the swap body is lifted by the swap body frame, the connecting mechanism provides fine positioning of the swap body supported on the swap body frame. The connecting mechanism is designed to move the lifted swap body horizontally on the swap body frame so that the swap body can be locked in a predetermined horizontal locking position. Locking by engaging the connecting mechanism with the swap body can only be performed in the horizontal locking position.

[0016] According to one embodiment of the self-propelled bidirectional vehicle, the connecting mechanism can comprise a connecting device. The connecting device can be designed, constructed, or configured like the connecting mechanism. The connecting device can comprise an engagement element. The engagement element can be configured to engage with the swap body that can be accommodated with the swap body frame. The connecting device can comprise a pressure element. The pressure element can be configured to apply a pressure force to the swap body that can be accommodated with the swap body frame in order to displace the swap body horizontally. The pressure element can be configured to apply the pressure force to the swap body lifted and carried by the swap body frame in order to displace the swap body horizontally.The compressive force may be the compressive force required to move the mass of the swap body being carried. The design of the connecting mechanism may be defined based on the corresponding compressive force. With the connecting device, a combination of moving and engaging the swap body to secure it to the swap body frame can be automated and performed by the same device. Thus, during an engagement or locking process of the connecting mechanism, a longitudinal position correction of the swap body relative to the swap body frame can be performed.

[0017] According to a further embodiment of the self-propelled bidirectional vehicle, the connecting device can comprise a one-piece connecting member comprising the engagement element and the pressure element. The connecting device or the connecting member can be formed in one piece. The one-piece connecting member can be configured to apply the pressure force to the swap body and engage with the swap body. The connecting mechanism can thus be designed in a particularly compact form. Furthermore, the connecting mechanism can be designed to be low-wear and low-maintenance due to its one-piece construction.

[0018] According to a further embodiment of the self-propelled bidirectional vehicle, the connecting mechanism or the connecting device can have a rotating hook. The connecting mechanism or the connecting device can have a rotating hook lock for locking the swap body to the swap body frame. The connecting link can be the rotating hook. The rotating hook can be rotatably mounted on the swap body frame. The rotating hook can be rotatably mounted on the swap body frame in such a way that rotation of the rotating hook can bring about a horizontal displacement of the swap body to be picked up and an engagement with the swap body. The rotating hook can be formed in one piece. The rotating hook can have or form the engagement element and the pressure element. The rotating hook can be supported on the swap body during rotation and thus displace the swap body horizontally.The swivel hook can effectively provide the stability and load-bearing capacity required for the design of the connection mechanism.

[0019] According to a further embodiment of the self-propelled bidirectional vehicle, the connecting mechanism or the connecting device can have a hydraulic actuator for generating the compressive force. The hydraulic actuator can be a hydraulic cylinder. The connecting mechanism or the connecting device can be hydraulically actuated to exert the compressive force on the swap body mounted on the swap body frame, with which the swap body can be horizontally displaced relative to the swap body frame. The engagement element and the pressure element can be hydraulically actuated. The connecting link can be hydraulically actuated. The rotating hook can be hydraulically actuated and can be hydraulically rotated to exert the compressive force on the swap body mounted on the swap body frame. The hydraulic actuator can be arranged on the swap body frame.With hydraulic actuation of the connecting mechanism, the compressive force can be generated efficiently and in the quantity required for the design of the connecting mechanism. The self-propelled bidirectional vehicle can have a hydraulic system configured to vertically lift the swap body frame and generate the compressive force with the connecting mechanism or connecting device. The hydraulic system can provide a low-wear drive system.

[0020] According to a further embodiment of the self-propelled bidirectional vehicle, the connecting mechanism can comprise the connecting device arranged in pairs on the swap body frame. The connecting mechanism can comprise a plurality of connecting devices. Two connecting devices can be arranged on opposite sides of the self-propelled bidirectional vehicle. The opposite sides can be the longitudinal end sides of the bidirectional vehicle that are opposite one another with respect to a transverse center axis of the bidirectional vehicle. The pressure elements of the connecting devices arranged in pairs on the swap body frame can be configured to apply uniformly directed forces to the swap body that can be accommodated by the swap body frame.Two connecting devices, located on opposite sides of the vehicle, can be configured to apply equally directed forces to the swap body that can be mounted on the swap body frame. These forces can be compressive forces. A swap body mounted on the swap body frame can thus be efficiently displaced horizontally on the swap body frame using the two cumulative compressive forces of the paired connecting devices.

[0021] According to a further embodiment of the self-propelled bidirectional vehicle, the connecting mechanism comprises the connecting device arranged opposite one another on the swap body frame. One connecting device can be arranged on each of the opposite sides of the self-propelled bidirectional vehicle. The opposite sides can be the longitudinal end sides of the bidirectional vehicle that are opposite one another with respect to a transverse center axis of the bidirectional vehicle. The pressure elements of the connecting devices arranged opposite one another on the swap body frame can be configured to apply opposing forces to the swap body that can be accommodated by the swap body frame.If two connecting devices are arranged on opposite sides of the vehicle, the pressure elements of the connecting devices arranged opposite each other in pairs on the swap body frame can be configured to apply opposing forces to the swap body that can be accommodated on the swap body frame. These forces can be compressive forces. A swap body accommodated on the swap body frame can thus be moved bidirectionally in a horizontal direction on the swap body frame.

[0022] According to a further embodiment of the self-propelled bidirectional vehicle, the connecting devices arranged opposite one another on the swap body frame can be configured to selectively apply a compressive force to the removable swap body. The connecting mechanism can therefore be configured to selectively displace the swap body in one direction along the longitudinal axis of the swap body frame. Thus, a longitudinal position correction can be performed independently of the direction along the longitudinal axis of the swap body frame.

[0023] The connecting mechanism has a sensor system configured to determine a compressive force applied to the swap body by the connecting mechanism. The sensor system can have a force sensor that detects the compressive force. The force sensor can be arranged on the pressure element or integrated into the pressure element. The force sensor can be arranged on the actuator or integrated into the actuator. Alternatively or in addition to the force sensor, the sensor system can have a touch sensor that can detect contact between the pressure element and the swap body. The sensor system can be configured to output the determined compressive force or the determined touch to a control device. The control device can be configured to control the connecting mechanism depending on the determined compressive force or the determined touch.The control device can also be configured to deactivate the connection mechanism depending on the specific pressure force or the specific contact.

[0024] According to a further embodiment of the self-propelled bidirectional vehicle, the sensor system can also be configured to determine an engagement state of the connecting mechanism in the swap body. The sensor system can have a position sensor that detects an engagement position of the engagement element. The engagement position can be a rotational position of the engagement element or of the rotary hook. The sensor system can be configured to output the determined engagement state to the control device. The control device can be configured to control the connecting mechanism depending on the determined engagement state. The control device can also be configured to deactivate the connecting mechanism depending on the determined engagement state.The control device can be configured to deactivate the connection mechanism depending on a specific pressure force determined at a specific initial engagement state. A blocked connection mechanism can be deactivated in this way. The control device can be configured to deactivate the connection mechanism depending on a specific maximum engagement state. A skipped connection mechanism can be deactivated in this way, which can occur when a swap body is not present.

[0025] According to a further embodiment of the self-propelled bidirectional vehicle, the sensor system can also be configured to output a signal to a control device of the self-propelled bidirectional vehicle based on the detected compressive force or the detected engagement state, in order to trigger a warning signal indicating that the connection mechanism is blocked. The warning signal can be triggered if the determined compressive force, which was determined during the determined initial engagement state, exceeds a predefined threshold value for the compressive force. The blocked connection mechanism can thus be detected. Short description of the characters Fig. 1 shows a self-propelled bidirectional vehicle according to an embodiment in a perspective view of a swap body frame. Fig. 2a shows a connecting mechanism according to an embodiment for horizontally moving and locking a swap body. Fig. Figure 2b shows the connection mechanism in a locked state of the swap body. Fig. 3 shows the connecting mechanism with opposing connecting devices with one blocked connecting device. Fig. 4 shows the connecting mechanism with the opposing connecting devices in the locked state of the swap body. Detailed description of embodiments

[0026] Fig. 1 shows a perspective view from above of a self-propelled bidirectional vehicle 100 for transporting a swap body 2, shown schematically in the further figures. The self-propelled bidirectional vehicle 100 has a chassis 10, a swap body frame 20, and two vehicle axles 30, 40. The swap body frame 20 is arranged on the chassis 10 and can be raised relative to the chassis 10. The swap body frame 20 has a connecting mechanism 60, which is designed to connect the swap body 2, which is to be accommodated with the swap body frame 20, to the swap body frame 20. The connecting mechanism 60 has four connecting devices 62, which are arranged in pairs and opposite one another on the swap body frame 20. Each connecting device 62 is designed to engage the swap body 2 in a form-fitting manner in order to secure the swap body 2 to the swap body frame 20.Each connecting device 62 is also designed to engage positively with the swap body 2 in order to lock the swap body 2 to the swap body frame 20.

[0027] According to one embodiment, the swap body frame 20 does not have an end stop for horizontally attaching the self-propelled bidirectional vehicle 100 to the swap body 2 to be accommodated. The self-propelled bidirectional vehicle 100 and the swap body frame 20 are thus configured to drive underneath the swap body 2 in a non-directional manner.

[0028] Fig. 2a shows a connecting device 62 of the connecting mechanism 60. A connecting region 3 of the swap body 2 is arranged on a supporting surface 24 of the swap body frame 20 such that a connecting link 67 of the connecting device 62 can engage in the connecting region 3. According to one embodiment, the connecting link 67 is designed as a rotary hook 63. The connecting link 67 has an engagement element 64 which is designed to engage in the connecting region 3. If the connecting link 67 is designed as a rotary hook 63, a hook end region of the rotary hook 63 can form the engagement element 64. The connecting link 67 has a pressure element 66 which is designed to contact the connecting region 3 and exert a pressure force on the connecting region 3. If the connecting link 67 is designed as a rotary hook 63, an inner hook region of the rotary hook 63 can form the pressure element 66.The connecting device 62 also has a hydraulic actuator 68, which is arranged on the swap body frame 20. The hydraulic actuator 68 is configured to move the connecting member 67. If the connecting member 67 is designed as a rotary hook 63, the hydraulic actuator 68 is configured to rotate the rotary hook 63 about a pivot bearing 69, by which the rotary hook 63 is rotatably mounted on the swap body frame 20. A rotation of the rotary hook 63 brought about by the hydraulic actuator causes the engagement element 64 to engage in the connecting area 3 and the exertion of the compressive force by the hydraulic actuator 68 via the pressure element 66 onto the connecting area 3. When the compressive force is exerted, the pressure element 66 pivots onto an inner edge of the connecting area 3, touches it, and thus pushes the swap body 2 in a horizontal movement B on the supporting surface 24.During movement B, the swap body 2 and the connecting area 3 are moved from a mounted state A with a correspondingly mounted position of the swap body 2 on the swap body frame 20 into a locked state V, in which the connecting device 62 or the rotating hook 63 engages in the connecting area 3. In the locked state V, the connecting area 3 of the swap body 2 is positioned and locked on the swap body frame 20.

[0029] The connecting device 62 has a sensor 70 which is configured to determine a rotational position of the rotary hook 63 and an applied pressure force on the pressure element 66. In the Fig. In the initial rotational state of the rotary hook 63 shown in Figure 2a, the pressure element 66 does not yet exert any compressive force on the connection area 3. Based on the determined initial rotational state and the unexerted or applied compressive force, the sensor system 70 outputs corresponding signals to a control device 80, which controls the hydraulic actuator 68. The control device 80 controls the hydraulic actuator 68 such that the rotary hook 63 pivots further into the connection area 3 and displaces the swap body 2 horizontally by exerting a compressive force.

[0030] Fig. 2b shows the connecting device 62 in the locked state V. In this state, the engagement element 64 engages in the connecting area 3. The locked state V is brought about by the pressure element 66 having displaced the swap body 2 horizontally on the supporting surface 24 by exerting the pressure force on the connecting area 3.

[0031] Fig. 3 shows the swap body 2 in a raised state on the swap body frame 20. In one embodiment, two opposing connecting devices 62 are arranged on the swap body frame 20. One connecting link 67 of the two connecting devices 62 is freely rotatable and can thus pivot into a connecting area 3 of the swap body 2 arranged adjacent to the connecting link 67. The other opposing connecting link 67 of the two connecting devices 62 is blocked by the swap body 2 and thus cannot pivot into a connecting area 3 of the swap body 2 arranged adjacent to the other connecting link 67. In the Fig. In the initial rotational state of the blocked connecting link 67 shown in Figure 3, the pressure element 66 already exerts a compressive force on the connecting area 3. Based on the determined initial rotational state and the already exerted or applied compressive force, the sensor system 70 outputs corresponding signals to the control device 80, which deactivates the hydraulic actuator 68, which can actuate the blocked connecting link 67. The control device 80, in turn, controls the actuator 68, which actuates the freely rotatable connecting link 67 of the two connecting devices 62. Thus, the freely rotatable connecting link 67 can pivot into the connecting area 3 and, by exerting a compressive force, push the swap body 2 horizontally with the horizontal movement B in the direction of the blocked connecting link 67. In one embodiment, the connecting link 67 is the rotary hook 63.

[0032] Fig.4 shows the horizontally displaced swap body 2 in the locked state V. In this state, the previously blocked connecting link 67 is also freely rotatable and can thus engage with the connecting area 3 of the swap body 2. The engagement of the previously blocked connecting link 67 was made possible by the horizontal movement B, by which the connecting area 3 blocked relative to the blocked connecting link 67 was displaced such that an engagement opening of the connecting area 3 is positioned such that engagement of the connecting link is possible. In the locked state V, both opposing connecting links 67 engage with the connecting areas 3 of the swap body 2. Reference symbol 2 swap bodies 3 Connection area 10 Chassis 20 swap body frames 30, 40 vehicle axles 60 connecting mechanism 62 connecting device 63 swivel hooks 64 engagement element 66 pressure element 67 connecting link 68 hydraulic actuator 69 pivot bearings 70 Sensor technology 80 Control device 100 bidirectional vehicles A attached state B horizontal movement V locked state

Claims

[1] Self-propelled bidirectional vehicle (100) for transporting a swap body (2), comprising a chassis (10), a swap body frame (20) for receiving the swap body (2), and a connecting mechanism (60) which is arranged on the swap body frame (20) and is configured to fasten the swap body (2) which can be received with the swap body frame (20) to the swap body frame (20), wherein the connecting mechanism (60) is designed to horizontally displace the swap body (2) which can be received on the swap body frame (20) relative to the swap body frame (20), wherein the connecting mechanism (60) has a sensor system (70) which is configured to determine a compressive force applied to the swap body (2) by the connecting mechanism (60). [2] Self-propelled bidirectional vehicle (100) according to claim 1, wherein the connecting mechanism (60) comprises a connecting device (62) which has an engagement element (64) and a pressure element (66), wherein the engagement element (64) is configured to engage the swap body (2) which can be accommodated with the swap body frame (20), and wherein the pressure element (66) is configured to apply a pressure force to the swap body (2) which can be accommodated with the swap body frame (20) in order to displace the swap body (2) horizontally. [3] Self-propelled bidirectional vehicle (100) according to claim 2, wherein the connecting device (62) comprises an integrally formed connecting member (67) which comprises the engaging element (64) and the pressing element (66). [4] Self-propelled bidirectional vehicle (100) according to claim 2 or 3, wherein the connecting device (62) comprises a rotary hook (63) which is rotatably mounted on the swap body frame (20), and wherein the rotary hook (63) comprises the engagement element (64) and the pressure element (66). [5] Self-propelled bidirectional vehicle (100) according to one of claims 2 to 4, wherein the connecting device (62) comprises a hydraulic actuator (68) for generating the compressive force. [6] Self-propelled bidirectional vehicle (100) according to one of claims 2 to 5, wherein the connecting mechanism (60) comprises the connecting device (62) arranged in pairs on the swap body frame (20), wherein the pressure elements (66) of the connecting devices (62) arranged in pairs on the swap body frame (20) are arranged to apply forces of the same direction to the swap body (2) which can be accommodated with the swap body frame (20). [7] Self-propelled bidirectional vehicle (100) according to one of claims 2 to 6, wherein the connecting mechanism (60) has the connecting device (62) in an opposite arrangement on the swap body frame (20), wherein the pressure elements (66) of the connecting devices (62) arranged opposite on the swap body frame (20) are designed to apply oppositely directed forces to the swap body (2) which can be accommodated with the swap body frame (20). [8] Self-propelled bidirectional vehicle (100) according to claim 1, wherein the sensor system (70) is further configured to determine an engagement state of the connecting mechanism (60) in the swap body (2). [9] Self-propelled bidirectional vehicle (100) according to claim 1 or 8, wherein the sensor system (70) is further configured to output a signal to a control device (80) of the self-propelled bidirectional vehicle (100) based on the detected pressure force or the detected engagement state in order to trigger a warning signal indicating that the connection mechanism (60) is blocked.

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