Self-driving transport robot

Abstract

The invention relates to a self-propelled transport robot having a platform (100) movable on omnidirectional wheels (110), the platform having a front section (10), a middle section (20) and a rear section (30), the middle section (20) comprising a sandwich structure (21) comprising a lower plate (22) and a reinforcement layer arranged between the lower plate (21) and an upper plate (23), the front section (10) comprising a front receiving space (11) and the rear section (30) comprising a rear receiving space (31), the front receiving space (11) accommodating batteries (12) for supplying power to the transport robot and the rear receiving space (31) accommodating electronics (32) for controlling the transport robot.

Description

[0001] The invention relates to a self-propelled transport robot.

[0002] Self-propelled transport robots, such as automated guided vehicles, are frequently used in production facilities to transport a payload between different stations during production without direct human assistance. A particular application for such self-propelled transport robots is the transport of vehicle body parts to a measuring area, where the body parts fixed on the self-propelled transport robot are measured using tactile or optical measurement. Such a self-propelled transport robot is disclosed, for example, in US 2012 / 0214194 A1, which shows a transport robot with a platform that can be moved on omnidirectional wheels. The platform comprises four omnidirectional wheels, with the wheels connected in pairs to a tubular axle. The two tubular axles are mounted on a front part and a rear part of the platform.A reinforcement frame with a sandwich structure is positioned in the center of the platform. The reinforcement frame surrounds an open base that houses the batteries and controllers of the self-propelled transport robot.

[0003] Although the well-known self-driving transport robot is well-suited for use, there are drawbacks when attempting to scale the known system. The known design of a self-driving transport robot has limitations, particularly when deploying a platform with larger dimensions, especially a longer platform length. Especially in the case where the self-driving transport robot is to be used to position vehicle body parts in a measurement area, it is crucial for the measurement that the platform of the self-driving transport robot is very rigid. Otherwise, the risk of measurement errors increases.

[0004] FEM simulations have shown that a longer platform tends to bend under the payload. Therefore, a vehicle body part fixed to the platform cannot be positioned accurately enough for high-precision measurements.

[0005] It is therefore an object of the present invention to provide a self-propelled transport robot which has increased rigidity and enables high-precision positioning or alignment of vehicle body parts for measurement.

[0006] This object is achieved by a self-propelled transport robot according to claim 1.

[0007] The self-propelled transport robot according to the invention has a platform movable on omnidirectional wheels. The platform comprises a front section, a middle section, and a rear section. The middle section comprises a sandwich structure having a lower plate and a reinforcement layer arranged between the lower plate and an upper plate. The front section comprises a front receiving space, and the rear section comprises a rear receiving space. The front receiving space accommodates batteries for powering the transport robot, and the rear receiving space accommodates electronics for controlling the transport robot.

[0008] The sandwich structure is preferably a box-shaped structure comprising side panels, the lower panel, and the upper panel. The side panels preferably connect the lower panel to the upper panel. The box-shaped sandwich structure is preferably formed continuously in a rectangular extension. It is possible for a box-shaped structure, in particular a cuboid-shaped structure, comprising the lower panel and side walls, wherein the space between the lower panel and the side walls is filled with a reinforcing layer, to be attached to the upper panel. This box-shaped or cuboid-shaped sandwich structure preferably extends along the central section. The cuboid-shaped sandwich structure is preferably formed continuously.

[0009] It has been shown, particularly in FEM simulations, that a platform with the electronics and batteries mounted outside the central section, and further providing a sandwich structure in the central section, increases the rigidity of the platform. Deformations due to the payload mounted on the platform are significantly reduced, providing the necessary stability for high-precision measurement of a vehicle body or vehicle body part. In particular, the platform is rigid enough to allow tactile or optical measurement while the platform rests on the omnidirectional wheels. It is therefore not necessary to position the platform on or with positioning elements to precisely align the vehicle body part to a predetermined coordinate system.

[0010] According to a preferred embodiment of the invention, the reinforcement layer comprises a honeycomb structure. The honeycomb structure is preferably arranged such that the honeycomb walls extend from the lower plate to the upper plate. The use of a honeycomb structure provides a very rigid reinforcement layer while keeping the weight of the platform low. Consequently, the self-propelled transport robot can be used in an energy-efficient manner.

[0011] Preferably, the omnidirectional wheels are attached to the upper plate outside the sandwich structure. The omnidirectional wheels serve as support points not only during movement of the transport robot, but also when the transport robot is held stationary, for example, in a measuring area. The rigidity of the omnidirectional wheels themselves ensures precise positioning of the self-propelled transport robot, allowing it to fit precisely into a given coordinate system. However, it has been shown that positioning the omnidirectional wheels outside the sandwich structure offers several advantages. Firstly, the upper plate is already stabilized in the area where the omnidirectional wheel is mounted, eliminating the need for an additional sandwich structure. Rather, the sandwich structure is intended to reinforce parts of the platform that would otherwise be weak or prone to bending.Secondly, the positioning of the omnidirectional wheels outside the sandwich structure allows for a low-floor design of the transport robot. This also keeps the center of gravity low, further stabilizing the self-propelled transport robot.

[0012] According to the invention, the front section of the platform comprises a front receiving space. The rear section of the platform comprises a rear receiving space. The receiving spaces are formed by the upper plate overlapping the sandwich structure. The space below the upper plate, which is further delimited by front or rear side walls of the sandwich structure, is easily accessible and batteries and / or electronics can thus be quickly replaced. This improves the maintainability of the self-propelled transport robot. Furthermore, FEM simulations have shown that arranging the batteries and / or electronics outside the sandwich structure, particularly in the front section and the rear section, further prevents the platform from bending due to the payload. Rather, the platform enables precise alignment of its payload, particularly vehicle body parts, within a measuring area.

[0013] According to a preferred embodiment of the present invention, the front section and the rear section each have a length in the longitudinal direction of the preferably substantially rectangular platform that is no more than 1 / 3, in particular no more than 1 / 4, in particular no more than 1 / 5, in particular no more than 1 / 6, in particular no more than 1 / 8, of the length of the central section. This design ensures that a sufficient area of ​​the platform is reinforced by the sandwich structure and its reinforcement layer to improve the overall rigidity of the platform.

[0014] The front receiving space can be delimited longitudinally by the sandwich structure and a preferably vertical front plate, and the rear receiving space can be delimited longitudinally by the sandwich structure and a preferably vertical rear plate. The front plate and the rear plate can be part of a circumferential planking attached to the edges of the upper plate. The planking can comprise the front plate, the rear plate, and side planking panels. The front plate, the rear plate, and the side panels can cover the underside of the upper plate. The front plate, the rear plate, and the side panels can each have a height at least equal to the height of the sandwich structure.

[0015] The front receiving space is preferably defined as a space below the upper plate, which is delimited in the longitudinal direction by the sandwich structure, in particular a front wall of the box-shaped sandwich structure, and the front plate. The front receiving space thus forms a channel in which the batteries can be mounted. The same basically applies to the rear receiving space. The rear receiving space is preferably defined as a space below the upper plate, which is delimited in the longitudinal direction of the platform by the sandwich structure, in particular a rear wall of the box-shaped sandwich structure, and the rear plate. The rear receiving space is designed as a channel. The electronics for controlling the transport robot can be mounted in this channel or the rear receiving space.

[0016] In a preferred embodiment of the self-propelled transport robot according to the invention, the front plate and the rear plate each define a longitudinal end of the platform. In other words, the front plate and the rear plate cover the space between the top plate and a floor or ground along the front or rear edge of the top plate. Additionally, side plates can be attached to the top plate, with the side plates also covering the distance between a lateral edge of the top plate and the floor or ground. However, it is preferred that the front, rear, and side plates each have some ground clearance to allow the robot to move freely on the omnidirectional wheels.

[0017] Furthermore, the front section and / or the rear section can be reinforced by at least one longitudinal beam extending from the sandwich structure. The longitudinal beam further reinforces the platform, particularly the upper plate, to prevent the platform from bending under the payload. This further stiffens the platform and thus enables high-precision measurement of vehicle body parts supported by the platform.

[0018] The longitudinal member can be formed by an extension of a lateral side wall of the sandwich structure. As already described, the sandwich structure can be formed by the lower plate, four side walls, in particular two lateral side walls, a front side wall and a rear side wall, and the upper plate. The side walls, the lower plate, and the upper plate delimit a reinforcement space that is, in particular, completely filled with the reinforcement layer. In order to additionally reinforce the upper plate in the front section or the rear section, in particular in the region of the front receiving space and the rear receiving space, the lateral side walls can be extended beyond the box-shaped sandwich structure. The lateral side walls can extend beyond the front side wall and / or the rear side wall and thus form the longitudinal members.Each longitudinal member may extend from the sandwich structure to the front panel or the rear panel. The longitudinal members are preferably attached or fixed to the top panel.

[0019] In a further preferred embodiment of the present invention, the platform comprises at least four, in particular six, precision plates. The at least four, in particular six, precision plates can be attached in a regular pattern to the underside of the lower plate. The precision plates are preferably designed to precisely position the platform within a measuring range. In particular, the precision plates are manufactured in such a way that they enable high-precision positioning or alignment of the platform in a z-direction. To achieve such high-precision positioning, the platform can be lowered onto the ground or floor, in particular onto high-precision positioning elements mounted on or in the floor. For this purpose, the omnidirectional wheels can be suspended in a wheel suspension that enables the platform to be raised and lowered.

[0020] Two of the precision plates attached to the underside of the lower plate may include positive-lock projections designed to be inserted into centering holes in the floor of a measuring area to precisely align the platform in a measuring position. By using additional positive-lock projections, lowering the platform to the floor in a measuring area and thus engaging centering holes in the floor not only enables highly precise positioning in a z-direction but also aligns the platform in the x- and y-directions. Therefore, the self-propelled transport robot, in particular the platform, can be aligned in a very high-precision manner within a predetermined or predefined coordinate system. This enables accurate measurement of vehicle body parts mounted on the self-propelled transport robot.

[0021] The invention will be described in more detail below using a preferred embodiment with reference to the accompanying drawings, in which Fig. 1 shows a perspective bottom view of a self-propelled transport robot according to a preferred embodiment of the invention.

[0022] The self-driving transport robot according to Fig. 1 comprises a platform 100 which is movable on omnidirectional wheels 110. In the Fig. In the embodiment shown in Figure 1, the platform 100 comprises six omnidirectional wheels 110. Each of the omnidirectional wheels 110 is integrated into a wheel suspension, which may include a shock absorber and a lifting unit for raising or lowering the platform relative to the ground or floor. In other words, the omnidirectional wheels 110 can be raised to lower the platform 100, in particular until the platform 100 reaches the floor. In contrast, the lifting unit can push the omnidirectional wheels 110 downward to raise the platform 100. When the platform 100 is lowered, the self-propelled transport robot can be in a measuring state. When the platform 100 is raised, the self-propelled transport robot can be in a moving state. In the measuring state, the omnidirectional wheels 110 are preferably fully retracted so as not to extend beyond support points that touch the floor.In particular, in the measurement state, the omnidirectional wheels should not extend beyond a lower plate 22 of a sandwich structure 21. In the moving state, the omnidirectional wheels 110 should instead extend beyond the lower plate 22 to provide sufficient ground clearance for the self-propelled transport robot to move smoothly.

[0023] The platform 100 can be at least virtually divided into three sections. In particular, the platform 100 comprises a front section 10, a middle section 20, and a rear section 30. The middle section 20 is arranged between the front section 10 and the rear section 30. In the middle section, the platform 100 comprises a sandwich structure having a bottom plate 22 and a reinforcement layer. The reinforcement layer is in Fig. 1, but is arranged entirely between the lower plate 22 and an upper plate 23. However, the upper plate 23 has larger dimensions than the lower plate 22. In particular, the upper plate 23 overlaps the lower plate 22 on all its sides. The upper plate 23 and the lower plate 22 are connected by side walls 24. Thus, the sandwich structure, in particular the lower plate 22 and the side walls 24, form a box-like shape. The box-like shape forms, in particular, a cubic shape. The lower plate 22 can have a rectangular shape. In addition, the cross-section of the sandwich structure 21 can have a rectangular shape.

[0024] The sandwich structure 21 can have four side walls 24 that define an interior space that is preferably completely filled with a reinforcement layer. The reinforcement layer can be a honeycomb structure. In the case of a honeycomb structure, the honeycomb walls preferably extend between the lower plate 22 and the upper plate 23. The four side walls 24 include two lateral side walls 24c that extend parallel to each other. The lateral side walls 24c are connected by a front side wall 24a and a rear side wall 24b. The upper plate 23 extends over the front side wall 24a, the rear side wall 24b, and the lateral side wall 24c.

[0025] The upper plate 23, which extends beyond the lateral side walls 24c, provides a receiving space for the omnidirectional wheels 110. The omnidirectional wheels 110 are thus mounted on the upper plate 23, in particular on the lateral parts of the upper plate 23 that overlap the sandwich structure 21 on the lateral sides.

[0026] The platform 100 further includes planking panels attached to the top plate 21, particularly to the outer perimeter of the top plate 23. The planking panels may be suspended from the outer edges of the top plate 23. The planking side panels together form a rectangular planking frame extending vertically beneath the top plate 23.

[0027] As in Fig. 1, the length of the sandwich structure 21 defines the central section 20. The central section 20 is the portion of the platform 100 that encompasses the sandwich structure 21. Adjacent to the central section 20 are the front section 10 on one side and the rear section 30 on the other side. The front section 10 comprises a front receiving space defined by the front side wall 24a of the sandwich structure 21, by the front plate 13, and by the top plate 23. In particular, the overlapping part of the top plate 23 defines the front receiving space 11. Thus, the front receiving space 11 forms a channel that can accommodate batteries. The electric batteries can be connected to motors of the transport robot, so that the batteries 12 provide the necessary power to move the self-propelled transport robot.

[0028] In the rear section 30, the rear receiving space 31 is also defined by the rear side wall 24b of the sandwich structure and the rear plate 33 attached to the upper plate 23. The rear receiving space is further defined by the overlapping part of the upper plate 23, which extends over the sandwich structure 21. Thus, the rear receiving space 31 also forms a channel for accommodating the electronics of the self-propelled transport robot.

[0029] By arranging the batteries 12 in the front section 10 and the electronics 32 in the rear section 30, while simultaneously providing a reinforced central section 20, the platform 100 is very stable and rigid. Thus, the platform 100 is less susceptible to deformation and therefore very suitable for high-precision measurement of body parts.

[0030] To increase the suitability for high-precision measurement, the sandwich structure 21 can have precision plates 26 attached to the underside of the lower plate 22. The precision plates are preferably attached to the lower plate 22 in a regular pattern. At least two of the precision plates can include projections capable of interacting with corresponding holes in the bottom of a measuring area. Thus, a positive connection can be established in the measuring area, enabling high-precision positioning of the transport robot. In particular, the platform can thus be precisely positioned within a predetermined or predefined coordinate system in any direction, in particular in the x, y, and z directions.

[0031] As further stated in Fig.As shown in Figure 1, the front plate, the rear plate, and the side plates together form a rectangular frame of a planking. The frame preferably covers the omnidirectional wheels 110. The side plates 25 can be easily removed from the platform 100 to easily access the omnidirectional wheels 110. Thus, the omnidirectional wheels 110 can be easily and quickly replaced during maintenance. This improves the overall service life of the self-propelled transport robot.

[0032] The upper plate 23 can be formed by a grid plate comprising a plurality of mounting holes. The mounting holes can be used to attach posts or columns to the platform. The posts or columns can then form support structures for a vehicle body part. The vehicle body part can thus be attached to the support structures for high-precision measurement.

[0033] The materials used for the various parts of the platform 100 preferably include steel or aluminum. In particular, the reinforcement layer may be made of an aluminum honeycomb structure. Reference symbol 100 Platform 110 omnidirectional wheels 10 front section 11 front recording room 12 batteries 13 front plate 20 Middle section 21 Sandwich structure 22 lower plate 23 upper plate 24 side wall 24a front side wall 24b rear side wall 24c side wall 25 side panel 25 longitudinal beams 26 Precision plate 27 lead 30 rear section 31 rear recording room 32 Electronics 33 rear plate QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] US 2012 / 0214194 A1

[0002]

Claims

[1] Self-propelled transport robot with a platform (100) movable on omnidirectional wheels (110), the platform having a front section (10), a middle section (20) and a rear section (30), the middle section (20) comprising a sandwich structure (21) comprising a lower plate (22) and a reinforcement layer arranged between the lower plate (21) and an upper plate (23), the front section (10) comprising a front receiving space (11) and the rear section (30) comprising a rear receiving space (31), the front receiving space (11) accommodating batteries (12) for powering the transport robot and the rear receiving space (31) accommodating electronics (32) for controlling the transport robot. [2] Self-propelled transport robot according to claim 1, characterized by , the reinforcing layer has or consists of a honeycomb structure. [3] Self-propelled transport robot according to claim 1 or 2, characterized by , the omnidirectional wheels (110) are attached to the upper plate (23) outside the sandwich structure (21). [4] Self-propelled transport robot according to one of the preceding claims, characterized by , the front section (10) and the rear section (30) each have a length in the longitudinal direction of the, preferably substantially rectangular, platform (100) which is not more than 1 / 3, in particular not more than 1 / 4, in particular not more than 1 / 5, in particular not more than 1 / 6, in particular not more than 1 / 8, of the length of the middle section (20). [5] Self-propelled transport robot according to one of the preceding claims, characterized by, the front receiving space (11) is delimited in the longitudinal direction by the sandwich structure (21) and a preferably vertical front plate (13) and the rear receiving space (31) is delimited in the longitudinal direction by the sandwich structure (21) and a preferably vertical rear plate (33). [6] Self-propelled transport robot according to claim 5, characterized by , the front plate (13) and the rear plate (33) each define a longitudinal end of the platform (100). [7] Self-propelled transport robot according to one of the preceding claims, characterized by , the front section (10) and / or the rear section (30) is reinforced by at least one longitudinal member extending from the sandwich structure (21). [8] Self-propelled transport robot according to claim 7, characterized by , the longitudinal member (25) is formed by an extension of a lateral side wall (24) of the sandwich structure (21). [9] Self-propelled transport robot according to one of the preceding claims, characterized by , at least four, in particular six, precision plates (26) are attached in a regular pattern to the underside of the lower plate (22). [10] Self-propelled transport robot according to claim 9, characterized by , two of the precision plates (26) comprise positive-locking projections (27) designed to be inserted into centering holes in the bottom of a measuring area in order to precisely align the platform (100) in a measuring position.

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