Industrial truck with turntable and conveyor

Abstract

An automated guided vehicle (AGV) (10) comprises a carriage (14) with a drive unit (16), a turntable (34) mounted on the carriage (14) with a rotary drive unit (36), and a conveyor (40). The carriage (14) has a front (18) and a rear (20). Between the front (18) and the rear (20), the carriage (14) has a longitudinal extension (82) in a longitudinal direction (22) and a transverse extension (84) in a transverse direction (24) perpendicular to the longitudinal direction (22). The conveyor (40) is mounted on the turntable (34) and is designed for receiving and transferring conveyed goods (54). The transfer includes receiving or discharging conveyed goods (54). The conveyor (40) is rotatable by the turntable (34) about a vertically oriented axis of rotation (42) relative to the carriage (14).

Description

[0001] The present disclosure relates to an unmanned industrial truck with a carriage having a drive mechanism, wherein the carriage has a front and a rear, and wherein the carriage has a longitudinal extent in a longitudinal direction and a lateral extent in a transverse direction between the front and the rear. In particular, the industrial truck has a receptacle for receiving conveyed goods.

[0002] In general, this disclosure deals with automated conveying equipment for material transport, especially for internal logistics.

[0003] Industrial trucks are widely known. So-called driverless transport vehicles (also known as automated guided vehicles, AGVs) are also widely known. These vehicles have their own drive system and are automatically controlled and usually guided without physical contact. Furthermore, autonomous mobile robots (AMRs) are known; these can move and act independently within their environment. AMRs can also be used for material transport, particularly in internal logistics.

[0004] US 2020 / 0316786 A1 describes autonomous mobile robots with a boom carrying a roller conveyor. US 2019 / 0135551 A1 describes an autonomous transport vehicle with a belt conveyor.

[0005] Automated guided vehicles (AGVs) enable the automated and highly efficient control of material flow within a company. AGVs are generally highly mobile and can be positioned and moved freely within a wide range of spaces. However, there are often preferred directions of movement for AGVs, similar to passenger cars; consequently, forward travel may be easier than reversing, lateral movement, or turning maneuvers.

[0006] Therefore, if existing industrial trucks are to be used efficiently for transporting goods between two positions (source and destination), the corresponding interfaces must be regularly adapted to the specific characteristics of the truck so that it can dock safely and quickly and undock after receiving or delivering the goods. This results in considerable effort and a large space requirement.

[0007] Another option is a complex design of the respective interface (transfer station) so that conveyed goods can be transferred safely and quickly, regardless of the actual orientation of the material handling equipment. This requires, for example, robots, transfer portals, or similar devices at the interfaces themselves. This also increases the design complexity and the space requirements.

[0008] Against this background, the disclosure is based on the task of specifying an unmanned industrial truck for transporting goods, which is particularly flexible in its application. The industrial truck should ideally be designed for picking up and dropping off goods, and this should be largely accomplished actively by the truck itself. The industrial truck should be capable of picking up or dropping off goods in a desired orientation, independent of its actual orientation.

[0009] According to a first aspect, the present disclosure relates to an unmanned industrial truck which has the following features: - a vehicle with a drive system, the vehicle has a front and a rear, wherein the vehicle has a longitudinal extent in a longitudinal direction between the front and the rear and a lateral extent in a transverse direction perpendicular to the longitudinal direction, - a turntable with a rotary drive arranged on the carriage, and - a conveyor which is arranged on the turntable and designed to receive and transfer conveyed goods, where the transfer includes the acquisition or disposal of consigned goods, and the conveyor can be rotated by the turntable around a vertically oriented axis of rotation relative to the carriage.

[0010] The task of revelation is thus solved.

[0011] According to the disclosure, the industrial truck, in addition to the degrees of freedom provided by the carriage, has a conveyor for transferring goods and a turntable that provides a further degree of freedom (rotation around a rotary axis). In other words, the conveyor can be rotated by the turntable independently of the carriage's current orientation. This facilitates docking at interfaces (sources and sinks) for receiving or delivering goods.

[0012] In this way, the material handling equipment can enable flexible and safe transfer of goods even under unfavorable structural conditions. In addition to the turntable, the conveyor also contributes to this, allowing for the regular transfer of goods along a conveying path. This transfer can also occur independently of the (global) orientation and movement of the material handling equipment's carriage.

[0013] Goods being conveyed can be of various kinds. Goods being conveyed can also include loading aids (trays, pallets, boxes, and the like), which may be loaded with goods (workpieces, raw materials, semi-finished products, finished parts, products, and other goods).

[0014] With a properly designed industrial truck, automated transfer of conveyed goods can be achieved with high operational reliability even at relatively simple interfaces (sources and sinks). It is particularly advantageous when the industrial truck accesses multiple interfaces if the additional degrees of freedom are provided by the industrial truck itself, rather than by the multiple interfaces.

[0015] The material handling equipment can also be used to rotate the orientation of conveyed goods. This functionality can even be used to transfer goods onto the conveyor at the same interface, then rotate the conveyor 180° using the turntable, and finally place the goods back at the interface with their new orientation (rotated 180°). In this way, the material handling equipment can function as a goods turner.

[0016] The conveyor can be rotated by the turntable. The conveyor sits directly or indirectly on the turntable. This eliminates the need for complicated maneuvers such as turning maneuvers with the carriage. This is advantageous, for example, when there is relatively little space available for moving the (floor-guided) carriage.

[0017] The turntable is functionally positioned between the carriage and the conveyor to rotate the conveyor around the axis of rotation relative to the carriage. This allows the conveyor to be rotated without changing the carriage's orientation.

[0018] The industrial truck is, for example, a driverless transport vehicle for intralogistics. For instance, the industrial truck is designed as an AGV / FTS (automated guided vehicle) or AMR (autonomous mobile robot).

[0019] In principle, a forklift truck as described in the disclosure therefore has, in addition to the degrees of freedom provided by the carriage, at least one additional degree of freedom – usually translational – provided by the conveyor and one additional degree of freedom rotational (provided by the turntable). This considerably expands the range of applications for the forklift truck.

[0020] In one exemplary configuration, the conveyor has a conveying direction, which can be changed when the conveyor rotates relative to the carriage. In this way, the conveyor can actively move the conveyed material without requiring movement of the carriage itself. It is understood that the conveyor can typically move in two directions, i.e., back and forth. However, this is not to be understood as a limitation.

[0021] According to another exemplary embodiment, the conveying direction is horizontally oriented. Thus, in addition to the horizontal degrees of freedom provided by the carriage on the floor, there is a second horizontal plane with at least one translational degree of freedom (through the conveyor) and one rotational degree of freedom (through the turntable). The second horizontal plane is offset vertically upwards relative to the first horizontal plane (located on the floor).

[0022] According to another exemplary embodiment, the conveyor can be pivoted by the turntable at least between a forward orientation parallel to the longitudinal direction and a lateral orientation inclined relative to the longitudinal direction.

[0023] In particular, the turntable allows the conveyor to be freely positioned, for example, from a neutral position (in the direction of travel when the carriage is moving forward) to include deflections of + / - 90°. This allows the material handling equipment to travel along an aisle and pick up or unload goods to the right or left without having to change the carriage's orientation. The material handling equipment can be loaded or unloaded from different directions.

[0024] According to another exemplary embodiment, the conveyor can be swivelled by 180° or more by means of the rotary table to change the direction of the conveyed material. In this way, the orientation of the conveyed material can be changed by 180°. The conveyed material can be turned over. This can be done without additional manipulators.

[0025] In one exemplary configuration, the turntable is designed to swivel the conveyor 360° or more. This allows the conveyor to be positioned as desired using the turntable.

[0026] In another exemplary configuration, the conveyor provides a conveying path that is longer than both the longitudinal and lateral extents of the carriage. In this way, the conveyor provides an overhang / cantilever relative to the carriage. Therefore, the carriage itself does not necessarily need to contact an interface (staging or delivery point for conveyed goods) for the transfer of goods to occur. The conveyor can bridge a gap between the interface and the carriage.

[0027] In another exemplary configuration, the conveyor is designed as a belt conveyor. For example, the conveyor is designed as a double belt conveyor. With a belt conveyor, a receiving station for the conveyed goods can be provided directly on the conveyor. The conveyed goods can be moved by the conveyor directly at the receiving station. Such a conveyor is also suitable for relatively delicate conveyed goods.

[0028] In another exemplary configuration, the conveyor is designed as a roller conveyor. This allows for a durable and particularly low-maintenance conveyor. The roller conveyor can have at least one driven roller, enabling the conveyor to both pick up goods and move them directly at their receiving point.

[0029] According to another exemplary embodiment, the conveyor is designed as a gripper conveyor, featuring a receiving area for conveyed goods and a linearly extendable arm with a hook or gripper. This allows the conveyor to grasp the conveyed goods and pull them horizontally or push them away. Thus, the transfer of conveyed goods at an interface can be particularly simple, without the need for handling equipment or similar devices at the interface. An extendable arm can significantly increase the reach (conveying distance) of the conveyor.

[0030] In another exemplary embodiment, a lifting unit is arranged between the carriage and the conveyor, specifically between the carriage and the turntable. The lifting unit allows adjustment to different height levels at the source and sink. This increases flexibility and expands the application possibilities of the material handling equipment. Furthermore, a conveyed item can be lowered to optimize the center of gravity of the material handling equipment. The additional degree of freedom of movement provided by the lifting unit can also be used for picking up or transferring conveyed items, allowing for targeted lifting or lowering.

[0031] According to another exemplary embodiment, the carriage is directionally fixed. In other words, the carriage, similar to a passenger car, has a front and a rear, with normal travel typically occurring with the front leading. In this way, the carriage can be optimized for movement in the normal direction of travel (forward travel), for example, through additional sensors, chassis technology, steering technology, and the like. This does not preclude the carriage from potentially also moving backward or even sideways. At least steering movements during forward travel are generally possible. Even with a preferred orientation of the carriage, the turntable allows for free positioning of the conveyor in a desired rotational orientation. This does not necessarily require rotating the carriage.

[0032] According to another exemplary embodiment, the axis of rotation of the turntable is located in the center of the carriage. This center is, for example, a geometric center of the carriage defined by the midpoint of its longitudinal extent and the midpoint of its lateral extent. It is understood that the center can also encompass a small area around the exact midpoint of the longitudinal and lateral extents. Positioning the axis of rotation in the center is advantageous with regard to load distribution and the resulting center of gravity during operation.

[0033] It is understood that the features mentioned above and those to be explained below can be used not only in the combinations specified, but also in other combinations or on their own, without leaving the scope of this disclosure.

[0034] Further features and advantages of the invention will become apparent from the following description and explanation of several exemplary embodiments with reference to the drawings. These show: Fig. 1: a perspective view of an embodiment of an unmanned industrial truck with a rotary table and conveyor placed on it; Fig. 2: another perspective view of the arrangement according to Fig. 1 with a changed rotational orientation of the conveyor; Fig. 3: one on the Fig. 1 and Fig. 2. Schematic representation based on the principle of illustrating a rotary drive for the turntable; Fig. 4: a side view of another embodiment of an unmanned industrial truck with a lifting unit, a rotary table and a conveyor; Fig. 5: a rear view of the industrial truck according to Fig. 4 with the lifting unit extended and with the conveyor's rotational orientation changed; Fig. 6: a side view of another embodiment of an unmanned industrial truck with a roller conveyor; and Fig. 7: a side view of another embodiment of an unmanned industrial truck with a gripper conveyor.

[0035] The Fig. 1 and Fig. Figure 2 illustrates, using perspective views, an exemplary design of a material handling device designated as 10. In this embodiment, the material handling device 10 is designed as an AMR (autonomous mobile robot) 12.

[0036] The industrial truck 10 comprises a carriage 14 with a drive unit 16 (in the Fig. 1 and Fig. 2 (covered by a housing of the carriage 14). In the exemplary embodiment, the carriage 14 has a front 18 and a rear 20; thus, analogous to passenger cars, there are corresponding assignments. The front 18 is, when traveling forward (compare arrow 56 in Fig. 1 and Fig. 2) in the direction of travel at the front.

[0037] Using Cartesian coordinate systems, they illustrate Fig. 1 and Fig. The coordinate system 22, 24, 26 defines a longitudinal direction, a transverse direction, and a vertical direction. The longitudinal direction 22 and the transverse direction 24 together form a horizontal plane. The vertical direction 26 is oriented vertically. The coordinate system 22, 24, 26 relates to the design of the carriage 14. The dimensions of the carriage 14 can be defined using the coordinate system 22, 24, 26. In other words, the carriage 14 has a longitudinal extent in the longitudinal direction 22, a lateral extent in the transverse direction 24, and a vertical extent in the vertical direction 26.

[0038] In the exemplary embodiment, the carriage 14 carries a superstructure 30 with a rotary table 34. The rotary table 34 includes a rotary drive 36. A conveyor 40 is mounted on the rotary table 34. The conveyor 40 can be rotated by the rotary table 34 about a rotary axis 42 to change the orientation of the conveyor 40. For example, the conveyor 40 is in Fig. 2 compared to the sponsor 40 in Fig. 1. With the carriage 14 otherwise remaining in the same orientation, it is rotated by 90°. In Fig. Figure 1 shows a forward orientation. Fig. Figure 2 shows a side orientation.

[0039] In other words, the turntable 34 can provide an additional degree of freedom (rotation around the axis of rotation 42); see also the curved double arrow 44 for an illustration of the movement. In this way, the conveyor 40 can be positioned independently of the current orientation of the carriage 14. This increases the flexibility of the material handling device 10, and the handling and transfer of conveyed goods can be simplified.

[0040] In the exemplary embodiment according to the Fig. 1 and Fig. In Figure 2, the conveyor 40 is designed as a belt conveyor 50. The belt conveyor 50 has at least one or two belts 52 that can be driven by a drive. It is understood that instead of two spaced-apart belts 52, a single belt (conveyor belt) can also be used. In other words, the conveyor 40 can also be designed as a belt conveyor. In the Fig. 1 and Fig. Figure 2 shows an arrow labelled 54 illustrating the conveying direction of conveyor 40.

[0041] In other words, the conveyor 40 can move conveyed goods along the conveying direction 54. This can optionally include movements in two directions (back and forth), making the material handling device 10 even more versatile. The conveying direction 54 can be changed by a rotational movement of the conveyor 40 relative to the carriage 14. In other words, the conveying direction 54 can be changed in a horizontal plane parallel to the horizontal plane defined by the longitudinal direction 22 and the transverse direction 24. In exemplary embodiments, any change in the rotational position of the conveyor 40 is possible.

[0042] In the Fig. 1 and Fig. Figure 2 shows that the arrow labeled 56 illustrates one direction of the carriage 14 when moving forward. The conveying direction 54 is shown in Fig. 1 parallel to the direction of forward travel 56. In Fig. 2 is the conveying direction 54 oriented orthogonally (laterally) to it. This can be used to pick up or drop off conveyed goods laterally, independent of the global orientation of the carriage 14. In this way, the carriage 14 does not have to couple to an interface (source or sink for conveyed goods) in a cumbersome manner. The carriage 14 can maintain its global orientation.

[0043] The conveyor 40 has at least one receiving point 60 for receiving conveyed goods. Thus, the conveyor 40 can receive, transport, and transfer conveyed goods, with the receiving point 60 serving as the receiving location. In total, the material handling device can transfer 10 conveyed goods between different positions that are significantly spaced apart. For this purpose, the carriage 14, which is moved by the drive unit 16, is used as the transport vehicle. The receiving or transfer of conveyed goods is carried out using the conveyor 40 and the rotary table 34.

[0044] Based on the Fig. 1 and Fig. 2 illustrates Fig. 3 An exemplary design of the rotary drive 36 for the rotary table 34. In Fig. Figure 3 shows the conveyor 40 only schematically, using a dashed line. In the exemplary embodiment, the rotary drive 36 comprises a wheel driven by a pinion, which can rotate about the axis of rotation 42 and thereby carry the conveyor 40. The axis of rotation 42 is arranged in the center of the carriage 14. This ensures a favorable center of gravity.

[0045] The Fig. 4 and Fig. 5 are based on the representations according to the Fig. 1 and Fig. 2. Fig. Figure 4 shows a side view of the industrial truck 10, with the conveyor 40 as shown in Fig. 1 is oriented parallel to carriage 14. Fig. Figure 5 shows a rear view of the industrial truck 10, with the conveyor 40 as shown in Figure 5. Fig. 2 is oriented orthogonally to the carriage 14 (or to its direction of travel 56 when traveling forwards).

[0046] The conveyor 40 carries a conveyed material 62, which is arranged at the receiving point 60. The conveyor 40, designed, for example, as a belt conveyor or belt conveyor, can move the conveyed material 62 linearly in the conveying direction 54.

[0047] In the exemplary embodiment according to the Fig. 4 and Fig. Furthermore, a lifting unit 70 with a lifting guide 72 is arranged between the carriage 14 and the conveyor 40. Fig. Figure 4 shows the lifting unit 70 in a retracted position. Fig. Figure 5 shows the lifting unit 70 in an extended position. The lifting unit 70 is designed to move the conveyor 40 in the vertical direction 26; compare the double arrow labeled 74 in Figure 5. Fig. 5.

[0048] In this way, conveyed goods 62 can be picked up or transferred at desired height positions. In the embodiment according to the Fig. 4 and Fig. In diagram 5, the lifting unit 70 is positioned between the carriage 14 and the turntable 34. It is also conceivable to position the lifting unit 70 between the turntable 34 and the conveyor 40.

[0049] In Fig. 5 is designated by 80 as a conveying section provided by the conveyor 40. Materials 62 can be transported along the conveying section 80 in the conveying direction 54. This can occur independently of the movement of the carriage 14. In the exemplary embodiment, the conveying section 80 is larger than the longitudinal extent 82 of the carriage 14 (compare Fig. 4) and larger than the width 84 of the carriage 14 (compare Fig. 5) In this way, conveyed goods 52 – viewed from above – can be moved by the conveyor 40 beyond the circumference of the carriage 14. This allows the conveyor 40 to be flexibly connected to interfaces for transferring or receiving conveyed goods 62. Thanks to its rotatability, this can be done regardless of the orientation of the carriage 14.

[0050] Fig. Figure 6 illustrates a fundamentally similar design for a forklift truck. Therefore, the following discussion will primarily focus on differences compared to those already described in the... Fig. 1-5 illustrated designs are discussed.

[0051] Fig. Figure 6 illustrates a roller conveyor 90, which serves as a conveyor 40 for conveyed goods 62. The roller conveyor 90 has a plurality of rollers 92, at least one or some of which may be driven. Similar to the belt conveyor 50 (compare the Fig. 1 and Fig. 2) The conveyed goods 62 can be moved back and forth in a conveying direction 54. In the manner already described above, the roller conveyor 90 can also be rotated about the axis of rotation 42 by the rotary table 34.

[0052] Fig. Figure 7 illustrates another, fundamentally similar design of a forklift truck. The following discussion will therefore primarily focus on differences compared to those already described in the... Fig. 1-5 illustrated designs are discussed.

[0053] Fig. Figure 7 illustrates a gripper conveyor 100, which serves as a conveyor 40 for conveyed goods 62. The gripper conveyor 100 has an extendable arm 102 with a gripper 104 that can grasp conveyed goods 62 at a suitable gripping section 106. In this way, conveyed goods 62, which are ready at a staging area 110, can be pulled onto or pushed away from a receiving station 108 on the gripper conveyor 100. Similar to the belt conveyor 50 (compare the Fig. 1 and Fig. 2) The conveyed goods 62 can be moved back and forth in a conveying direction 54. In the manner already described above, the gripper conveyor 100 can also be rotated around the axis of rotation 42 by the rotary table 34. QUOTES INCLUDED IN THE DESCRIPTION

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

[0000] US 2020 / 0316786 A1

[0004] US 2019 / 0135551 A1

[0004]

Claims

[1] Driverless industrial truck (10) comprising the following: - a carriage (14) with a drive mechanism (16), wherein the vehicle (14) has a front (18) and a rear (20), wherein the carriage (14) has a longitudinal extent (82) in a longitudinal direction (22) between the front (18) and the rear (20) and a lateral extent (84) in a transverse direction (24) transverse to the longitudinal direction (22), - a rotary table (34) arranged on the carriage (14) with a rotary drive (36), and - a conveyor (40) which is arranged on the rotary table (34) and is designed to receive and transfer conveyed goods (54), the transfer includes the acquisition or disposal of consigned goods (54), and wherein the conveyor (40) can be rotated by the rotary table (34) about a vertically oriented axis of rotation (42) relative to the carriage (14). [2] Industrial truck (10) according to claim 1, wherein the conveyor (40) has a conveying direction (54), and wherein the conveying direction (54) can be changed when the conveyor (40) rotates relative to the carriage (14). [3] Industrial transport device (10) according to claim 2, wherein the conveying direction (54) is horizontally oriented. [4] Industrial transport device (10) according to one of claims 1-3, wherein the conveyor (40) is pivotable by the rotary table (34) at least between a forward orientation parallel to the longitudinal direction (22) and a lateral orientation inclined relative to the longitudinal direction (22). [5] Industrial transport device (10) according to one of claims 1-4, wherein the conveyor (40) can be pivoted by the rotary table (34) by 180° or more to rotate the direction of the conveyed material (54). [6] Industrial transport device (10) according to one of claims 1-5, wherein the conveyor (40) provides a conveying distance (80) which is longer than the longitudinal extent (82) and longer than the lateral extent (84) of the carriage (14). [7] Industrial transport device (10) according to one of claims 1-6, wherein the conveyor (40) is designed as a belt conveyor or belt conveyor (50). [8] Industrial transport device (10) according to one of claims 1-6, wherein the conveyor (40) is designed as a roller conveyor (90). [9] Industrial transport device (10) according to one of claims 1-6, wherein the conveyor (40) is designed as a gripper conveyor (100) which has a receiving place (108) for conveyed goods (54) and a particularly linear extendable arm (102) with a hook or gripper (104). [10] Industrial transport device (10) according to one of claims 1-9, wherein a lifting unit (70) is arranged between the carriage (14) and the conveyor (40), in particular between the carriage (14) and the rotary table (34). [11] Industrial transport device (10) according to one of claims 1-10, wherein the carriage (14) is directionally bound. [12] Industrial transport device (10) according to one of claims 1-11, wherein the axis of rotation (42) of the rotary table (34) is arranged in the center of the carriage (14).

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