Self-driving transport robot

Abstract

The invention relates to a self-driving transport robot with a platform (100) that is movable on omnidirectional wheels (110), wherein the platform has a front section (10), a middle section (20) and a rear section (30), wherein the middle section (20) comprises a sandwich structure (21) comprising a lower plate (22) and a reinforcing layer arranged between the lower plate (21) and an upper plate (23), wherein the front section (10) comprises a front receiving space (11) and the rear section (30) comprises a rear receiving space (31), wherein the front receiving space (11) accommodates batteries (12) for powering the transport robot and the rear receiving space (31) accommodates electronics (32) for controlling the transport robot.

Description

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

[0002] Self-driving transport robots, such as automated guided vehicles (AGVs), are frequently used in production facilities to transport payloads between different stations during production without direct human intervention. A particular application for such self-driving transport robots is the transport of vehicle body parts to a measuring area where the parts, fixed to the robot, are measured using tactile or optical methods.

[0003] Such a self-driving transport robot is disclosed, for example, in DE 10 2019 111 329 A1, which shows a transport robot with a platform that can move on omnidirectional wheels. The platform comprises four omnidirectional wheels, the wheels being connected in pairs to a tubular axle. The two tubular axles are mounted on the platform at a front and a rear. A reinforcement frame with a sandwich structure is positioned in a central section of the platform. The reinforcement frame surrounds an open base that houses the batteries and control systems of the self-driving transport robot.

[0004] Although the well-known self-driving transport robot is effective, there are drawbacks when attempting to scale up the existing system. In particular, the familiar design of a self-driving transport robot has limitations when providing a larger platform, especially one with a greater length. Specifically, if the self-driving transport robot is to be used to position vehicle body parts within a measuring area, it is crucial for accurate measurements that the robot's platform is very rigid. Otherwise, the risk of measurement errors increases.

[0005] 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 measurement.

[0006] A similar transport robot is disclosed in KR 10 2 297 141 B1, featuring a complexly designed frame made of a sandwich structure. Beneath the frame are wheels with steering mechanisms, batteries, and control electronics. This arrangement is complex and results in a comparatively large overall height for the known transport robot, which in turn negatively impacts its rigidity and scalability.

[0007] It is therefore an object of the present invention to provide a self-driving transport robot that has increased rigidity and enables highly precise positioning or alignment of vehicle body parts for measurement.

[0008] This task is solved by a self-driving transport robot according to claim 1.

[0009] The self-driving transport robot according to the invention has a platform that is 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 reinforcing layer arranged between the lower plate and an upper plate. The front section comprises a front receiving compartment, and the rear section comprises a rear receiving compartment, the front receiving compartment housing batteries for powering the transport robot, and the rear receiving compartment housing electronics for controlling the transport robot.

[0010] Preferably, the sandwich structure is a box-shaped structure comprising side panels, a bottom panel, and an top panel. The side panels preferably connect the bottom panel to the top panel. The box-shaped sandwich structure is preferably continuous and rectangular in extent. It is possible that a box-shaped structure, particularly a cuboid structure, comprising a bottom panel and side walls, with the space between the bottom panel and the side walls filled with a reinforcing layer, is attached to the top panel. This box-shaped or cuboid sandwich structure preferably extends along the central section. The cuboid sandwich structure is preferably continuous.

[0011] It has been shown, particularly in FEM simulations, that a platform with the electronics and batteries mounted outside the central section, and furthermore, the provision of a sandwich structure in the central section, increases the platform's stiffness. Deformations due to the payload mounted on the platform are significantly reduced, thus providing the necessary stability for high-precision measurement of a vehicle body or body part. In particular, the platform is stiff enough to allow tactile or optical measurement while resting on its omnidirectional wheels. Therefore, it is not necessary to position the platform on or with positioning elements to precisely align the vehicle body part with a predetermined coordinate system.

[0012] According to a preferred embodiment of the invention, the reinforcing layer has 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 reinforcing layer while keeping the platform's weight low. Consequently, the self-driving transport robot can be used in an energy-efficient manner.

[0013] Preferably, the omnidirectional wheels are attached to the upper plate outside the sandwich structure. These wheels serve as support points not only during the robot's movement but also when the robot is stationary, for example, within a measuring area. The rigidity of the omnidirectional wheels ensures precise positioning of the self-propelled robot, allowing it to fit perfectly into a predefined coordinate system. However, positioning the omnidirectional wheels outside the sandwich structure has proven to offer 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. Instead, the sandwich structure serves to reinforce parts of the platform that would otherwise be weak or prone to bending.Secondly, positioning 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, which further stabilizes the self-driving transport robot.

[0014] 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 bounded by the front or rear side walls of the sandwich structure, is easily accessible, allowing for quick replacement of batteries and / or electronics. This improves the maintainability of the self-driving transport robot. Furthermore, FEM simulations have shown that arranging the batteries and / or electronics outside the sandwich structure, particularly in the front and rear sections, prevents the platform from bending under the payload. Instead, the platform enables precise alignment of its payload, especially vehicle body parts, within a measuring range.

[0015] 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 middle section. This design ensures that a sufficient area of ​​the platform is reinforced by the sandwich structure and its reinforcing layer to improve the overall stiffness of the platform.

[0016] The front receiving space can be longitudinally bounded by the sandwich structure and a (preferably vertical) front panel, and the rear receiving space can be longitudinally bounded by the sandwich structure and a (preferably vertical) rear panel. The front and rear panels can form part of a perimeter sheathing attached to the edges of the top panel. The sheathing can comprise the front panel, the rear panel, and side panels. The front panel, the rear panel, and the side panels can cover the underside of the top panel. The front panel, the rear panel, and the side panels can each have a height at least equal to the height of the sandwich structure.

[0017] The front receiving space is preferably defined as a space below the upper plate, bounded longitudinally 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 applies in principle to the rear receiving space. The rear receiving space is preferably defined as a space below the upper plate, bounded longitudinally 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 in the rear receiving space.

[0018] In a preferred embodiment of the self-driving 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 upper plate and a floor or floor along the front or rear edge of the upper plate. Additionally, side plates can be attached to the upper plate, with the side plates also covering the distance between a lateral edge of the upper plate and the floor or floor. However, it is preferred that the front, rear, and side plates each have some ground clearance to allow the robot to move freely on its omnidirectional wheels.

[0019] Furthermore, the front and / or rear sections can be reinforced by at least one longitudinal beam extending from the sandwich structure. This longitudinal beam further reinforces the platform, particularly the upper plate, to prevent flexing under the payload. This stiffens the platform even further, thus enabling highly precise measurement of vehicle body components supported by the platform.

[0020] The longitudinal beam can be formed by extending a side wall of the sandwich structure. As already described, the sandwich structure can be formed by the bottom panel, four side walls (in particular two side walls), a front side wall, and a rear side wall, and the top panel. The side walls, the bottom panel, and the top panel define a reinforcement cavity, which is, in particular, completely filled with the reinforcement layer. To further reinforce the top panel in the front or rear section, especially in the area of ​​the front and rear receiving spaces, the side walls can be extended beyond the box-shaped sandwich structure. The side walls can extend beyond the front and / or rear side wall, thus forming the longitudinal beams.Each longitudinal beam can extend from the sandwich structure to the front or rear panel. The longitudinal beams are preferably attached or fixed to the top panel.

[0021] In a further preferred embodiment of the present invention, the platform comprises at least four, and in particular six, precision plates. The at least four, and in particular six, precision plates can be arranged in a regular pattern on 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 such that they enable highly precise positioning or alignment of the platform in a z-direction. To achieve such high-precision positioning, the platform can be lowered onto the floor, and 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 allows the platform to be raised and lowered.

[0022] Two of the precision plates attached to the underside of the lower plate can include positive-locking projections designed to engage with centering holes in the floor of a measuring area, thus accurately aligning the platform in a measuring position. By utilizing these additional positive-locking projections, lowering the platform to the floor within the measuring area and engaging with the centering holes not only enables highly precise positioning in the z-direction but also aligns the platform in the x- and y-directions. Therefore, the self-propelled transport robot, and in particular its platform, can be aligned with very high precision within a predetermined or specified coordinate system. This allows for accurate measurement of vehicle body parts mounted on the self-propelled transport robot.

[0023] The invention is described in more detail below with reference to a preferred embodiment and the accompanying drawings, wherein Fig. Figure 1 shows a perspective bottom view of a self-driving transport robot according to a preferred embodiment of the invention.

[0024] The self-driving transport robot according to Fig. 1 comprises a platform 100, which is movable on omnidirectional wheels 110. In the in 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. Conversely, the lifting unit can push the omnidirectional wheels 110 downwards to raise the platform 100. When the platform 100 is lowered, the self-propelled transport robot may be in a measuring state. When the platform 100 is raised, the self-propelled transport robot may be in a moving state. In the measuring state, the omnidirectional wheels 110 are preferably fully retracted so as not to extend beyond the support points that contact the floor.In particular, the omnidirectional wheels should not extend beyond a lower plate 22 of a sandwich structure 21 in the measured state. In the moving state, the omnidirectional wheels 110 should instead extend beyond the lower plate 22 to provide sufficient ground clearance for the self-driving transport robot to move smoothly.

[0025] Platform 100 can be divided, at least virtually, into three sections. Specifically, platform 100 comprises a front section 10, a middle section 20, and a rear section 30. The middle section 20 is located between the front section 10 and the rear section 30. In the middle section, platform 100 comprises a sandwich structure consisting of a bottom plate 22 and a reinforcing layer. The reinforcing layer is in Fig. Figure 1 is not shown, but the entire structure is arranged between the lower plate 22 and an upper plate 23. 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, forms a box-shaped structure. The box-shaped structure is, in particular, a cubic shape. The lower plate 22 can have a rectangular shape. Additionally, the cross-section of the sandwich structure 21 can have a rectangular shape.

[0026] The sandwich structure 21 can have four side walls 24 that define an interior space, which is preferably completely filled with a reinforcing layer. The reinforcing layer can be a honeycomb structure. In the case of a honeycomb structure, the honeycomb walls preferably extend between the lower panel 22 and the upper panel 23. The four side walls 24 comprise 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 panel 23 extends over the front side wall 24a, the rear side wall 24b, and the lateral side wall 24c.

[0027] The upper plate 23, which extends beyond the 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 side parts of the upper plate 23 that overlap the sandwich structure 21 on the side sides.

[0028] Platform 100 further comprises sheathing panels attached to the upper panel 21, in particular to the outer perimeter of the upper panel 23. The sheathing panels may be suspended from the outer edges of the upper panel 23. The sheathing side panels together form a rectangular sheathing frame extending vertically beneath the upper panel 23.

[0029] As in Fig. As shown in Figure 1, the length of the sandwich structure 21 defines the central section 20. The central section 20 is the section 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. The front section 10 comprises a front receiving space bounded by the front side wall 24a of the sandwich structure 21, the front panel 13, and the upper panel 23. In particular, the overlapping portion of the upper panel 23 bounds the front receiving space 11. Thus, the front receiving space 11 forms a channel capable of accommodating batteries. The electrical 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.

[0030] In the rear section 30, the rear receiving space 31 is also bounded 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 bounded 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 receiving the electronics of the self-driving transport robot.

[0031] By arranging the batteries 12 in the front section 10 and the electronics 32 in the rear section 30, and simultaneously providing a reinforced central section 20, the platform 100 is very stable and rigid. Therefore, the platform 100 is less susceptible to deformation and thus very suitable for high-precision measurement of body parts.

[0032] To enhance the suitability for high-precision measurement, the sandwich structure 21 can include precision plates 26 attached to the underside of the lower plate 22. The precision plates are preferably arranged in a regular pattern on the lower plate 22. At least two of the precision plates can include projections capable of interacting with corresponding holes in the base of a measuring area. This creates a positive-locking connection within the measuring area, enabling high-precision positioning of the transport robot. In particular, the platform can thus be positioned precisely within a predetermined or specified coordinate system in any direction, especially in the x, y, and z directions.

[0033] As further in Fig.As shown in Figure 1, the front plate, the rear plate, and the side panels together form a rectangular frame for the cladding. The frame preferably covers the omnidirectional wheels 110. The side panels 25 can be easily removed from the platform 100 to provide easy access to the omnidirectional wheels 110. This allows the omnidirectional wheels 110 to be replaced quickly and easily during maintenance. This improves the overall service life of the self-propelled transport robot.

[0034] The upper plate 23 can be formed by a grid plate incorporating numerous mounting holes. These 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 component. The vehicle body component can thus be attached to these support structures for high-precision measurement.

[0035] The materials used for the various parts of Platform 100 preferably include steel or aluminum. In particular, the reinforcing layer can be made of an aluminum honeycomb structure. Reference sign 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 top plate 24 side wall 24a front side wall 24b rear side wall 24c side wall 25 side panel 25 longitudinal beams 26 Precision plates 27 lead 30 rear section 31 rear recording room 32 Electronics 33 rear plate

Claims

[1] Self-driving 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 reinforcing 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-driving transport robot according to claim 1, characterized by that the reinforcing layer has or consists of a honeycomb structure. [3] Self-driving transport robot according to claim 1 or 2, characterized by , that the omnidirectional wheels (110) are attached outside the sandwich structure (21) to the upper plate (23). [4] Self-driving transport robot according to any one of the preceding claims, characterized by , that the front section (10) and the rear section (30) each have a length in the longitudinal direction of the, preferably 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-driving transport robot according to any of the preceding claims, characterized by, that the front receiving space (11) is limited in the longitudinal direction by the sandwich structure (21) and a, preferably vertical, front plate (13) and the rear receiving space (31) is limited in the longitudinal direction by the sandwich structure (21) and a, preferably vertical, rear plate (33). [6] Self-driving transport robot according to claim 5, characterized by , that the front plate (13) and the rear plate (33) each define a longitudinal end of the platform (100). [7] Self-driving transport robot according to any of the preceding claims, characterized by , that the front section (10) and / or the rear section (30) is reinforced by at least one longitudinal beam extending from the sandwich structure (21). [8] Self-driving transport robot according to claim 7, characterized by , that the longitudinal beam (25) is formed by an extension of a lateral side wall (24) of the sandwich structure (21). [9] Self-driving transport robot according to any of the preceding claims, characterized by , that 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-driving transport robot according to claim 9, characterized by , that two of the precision plates (26) include positive-locking projections (27) designed to be inserted into centering holes in the base of a measuring area in order to accurately align the platform (100) in a measuring position.

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