Vehicle combination consisting of a towing vehicle and trailer for transporting goods

Description

[0001] The present invention relates to a vehicle combination for transporting goods. The vehicle combination comprises a towing vehicle and a trailer, which can be coupled to the towing vehicle by means of a coupling.

[0002] Robot systems that can be attached to trailers and thus transport loads or perform functional tasks (e.g. cleaning a floor) are already known.

[0003] From EP 0 197 858 A1 a coupling is known in which a pin is guided along an arc line.

[0004] From EP 18 02 335 A1 a tractor with a trailer is known, wherein a swivel bearing is provided for the coupling.

[0005] The present invention is based on the objective of specifying a vehicle combination in which the coupling between the trailer and the towing vehicle is designed in a particularly advantageous way.

[0006] According to the invention, this problem is solved by a vehicle combination as described in claim 1. Its towing vehicle has a coupling housing that forms a cavity and a stop surface. This stop surface extends at least partially along an arc which, with respect to a vertical axis of the towing vehicle, is concavely curved and extends over at least half a revolution around the vertical axis of the towing vehicle. In Viewed from a section perpendicular to the arc line, the stop surface at least partially defines the cavity in a horizontal direction away from the towing vehicle. Thus, the stop surface serves as a stop for a coupled coupling piece of the trailer.

[0007] This vehicle combination, particularly the extension of the contact surface along the arc line by at least half a revolution around the vertical axis, allows for a high degree of relative mobility between the towing vehicle and the coupled trailer, such as a rotational movement of the towing vehicle relative to the trailer around its own axis (the vertical axis of the towing vehicle). This makes it possible, for example, to change the position and orientation of the trailer while requiring minimal maneuvering space. In particular, this allows the vehicle combination to maneuver even in narrow warehouse aisles (such as between high-bay racking) or around tight curves.

[0008] Preferred embodiments are found in the dependent claims and the entire disclosure, whereby the description of features does not always differentiate in detail between device and process or use aspects; in any case, the disclosure is to be read implicitly with regard to all claim categories. If, for example, the advantages of the vehicle combination or the coupling in a specific application are described, this is to be understood simultaneously as a disclosure of a corresponding use.

[0009] The coupling housing is the vehicle-side part of the coupling and can be interpreted as its female component. It can be in an open and a closed position. The open position is the one in which the coupling housing must be to allow the coupling piece to be inserted into the housing and thus couple the trailer to the vehicle. The closed position of the coupling housing is the one in which it must be when the coupling piece is inserted, so that the vehicle can transmit power to the trailer via the coupling.

[0010] The arc extends at least half a revolution around the vertical axis of the towing vehicle. Preferably, it extends three-quarters of a revolution; most preferably, it completes a full revolution around the vertical axis of the towing vehicle, thus forming a closed curve. Its curvature is designed such that the pivot point of the coupling is not located within the coupling housing, but within the towing vehicle. Preferably, the pivot point is located on the vertical axis of the towing vehicle.

[0011] In a section viewed perpendicular to the arc line, the cavity is preferably at least partially, and more preferably completely, bounded towards the interior of the towing vehicle (i.e., towards the vertical axis) by the coupling housing. Furthermore, it is preferably also at least partially, and more preferably completely, bounded vertically downwards and / or upwards by inner surfaces of the coupling housing. In any case, when the coupling housing is closed, the cavity is also partially bounded on a fourth side, horizontally away from the vertical axis, by the stop surface. This cross-sectional profile is present in a multitude of sections along the arc line, preferably in each section perpendicular to the arc line.

[0012] In general, the contact surface along the arc line does not necessarily have to be continuous; segmentation with interruptions is also possible. Despite any interruptions, it is preferably designed in the closed state such that the coupling piece finds contact in every rotational position (e.g., is large relative to the interruptions and bridges them). However, a contact surface that is continuous in the closed state, and in particular a fully enclosed contact surface, is preferred.

[0013] The coupling housing is an integral part of the towing vehicle. It therefore remains attached to the towing vehicle regardless of whether a trailer is coupled to it or not. The coupling piece is the male part of the coupling and is an integral part of the trailer, remaining attached even when uncoupled. Only when the towing vehicle and trailer are coupled do the coupling housing and coupling piece make positive contact. The coupling serves, for example, to separate the functions of the vehicle combination into the towing vehicle, for propulsion, and the trailer, for transporting goods. This allows the towing vehicle to be coupled with different trailers, enabling the respective vehicle combination to perform various tasks. Empty or loaded trailers can also be temporarily parked, for example, for logistical reasons.

[0014] The towing vehicle has an active drive unit, meaning it is able to influence its own position, orientation, and speed, for example, using integrated actuators. It may, for instance, include a motor unit and a battery unit. The trailer is moved passively, with drive forces from the towing vehicle being transferred to the trailer via the coupling; preferably, the trailer does not have its own drive unit.

[0015] The vertical direction refers to the direction perpendicular to the surface of the ground. Preferably, the vertical direction coincides with the direction pointing away from the Earth's center. The horizontal direction refers to the direction parallel to the surface of the ground. Preferably, it is perpendicular to the direction pointing away from the Earth's center. The vertical axis is the axis oriented vertically and located within the towing vehicle. Preferably, it passes through the center of the towing vehicle. Particularly preferably, it represents an axis of symmetry of the arc line and / or an axis of rotation of the towing vehicle.

[0016] According to a preferred embodiment, the arc along which the stop surface extends is closed around the vertical axis. Generally, it can be shaped, for example, as an ellipse or other closed curve, but preferably it forms a circle. This allows the towing vehicle to rotate completely around its vertical axis relative to the coupled trailer. This can be advantageous, for example, because the towing vehicle can first turn in the desired direction of travel after coupling before the trailer begins to move horizontally.

[0017] Preferably, the contact surface is designed to be rotationally symmetrical about the vertical axis of the towing vehicle, at least when the coupling housing is closed, and in particular rotationally symmetrical. The contact surface is thus shaped, in a sense, as the inner surface of a hollow cylinder whose axis coincides with the vertical axis. The rotational symmetry need not be strictly mathematically exact. For functional purposes, it may be sufficient, for example, if the contact surface is located between two concentric circles lying in the plane of the cross-section at a distance of 2 cm, 1.5 cm, 1 cm, or 0.5 cm in any horizontal section through the contact surface. This symmetry advantageously allows the towing vehicle to rotate while the position of the attached trailer remains unchanged. The towing vehicle can, in effect, "turn the trailer on the spot."

[0018] According to the invention, when the coupling housing is open, a portion of the coupling housing is vertically offset relative to the rest of the coupling housing. In principle, this offset could be superimposed with a horizontal offset, but a purely vertical offset is preferred. A coupling that opens vertically can, for example, be implemented in a space-saving manner between the towing vehicle and the trailer. Furthermore, with a vertically opening coupling housing, the coupling piece can be inserted into the coupling housing particularly easily and without friction. In principle, the offset can also be upwards, but a downward offset is preferred.

[0019] In a preferred embodiment, when open, a portion of the coupling housing is vertically offset downwards relative to the rest of the coupling housing to such an extent that a section of a contact surface formed in this vertically offset portion is located below a running surface of the uncoupled coupling piece. The contact surface is an inner surface of the coupling housing facing the cavity and, at least when closed, forming its lower boundary. It can serve as a support for the coupled coupling piece. Preferably, it is designed in the form of an annular surface. The running surface of the coupling piece is the outer surface of the coupling piece upon which a coupled coupling piece rests.

[0020] When the coupling housing is closed, the portion that is offset downwards when open is raised to the same height as the rest of the housing, thus forming a continuous contact surface. This also raises the coupled coupling piece. This allows trailers with coupling pieces at slightly different vertical heights, for example, due to uneven ground, to be coupled effectively. Furthermore, the vertical movement of the coupling piece during coupling can release any immobilizer on the trailer without requiring additional actuators or manual intervention.

[0021] In a preferred embodiment, the contact surface is designed with a superelevation. Viewed in a cross-section perpendicular to the arc line, the contact surface is thus inclined transversely towards the inside of the curve. Figuratively speaking, the contact surface is an annular surface sloping downwards towards its center. This allows the bearing force of the coupling piece, which is transmitted between the running surface and the contact surface, to be vectorially distributed into a vertical and a horizontal component. The horizontal component can assist the stop surface in fixing the coupling piece. In addition, the transverse inclination can encourage the coupling piece to assume a desired position within the coupling housing. This can, for example, reduce undesirable play and prevent the coupling piece from striking the stop surface.

[0022] In a preferred embodiment, the coupling housing has a guide surface, which is another internal surface of the coupling housing and vertically delimits at least a portion of the cavity downwards. In a section perpendicular to the arc line, it is located on a side of the cavity horizontally opposite the stop surface. Preferably, the guide surface is inclined transversely downwards away from the vertical axis, thus representing, for example, the counterpart to the contact surface. Analogous to the contact surface, the guide surface can contribute to the desired positioning of the coupling element, which is why reference is made to the description above.

[0023] In a preferred embodiment, the coupling piece has a wheel. A substantially cylindrical outer surface of the wheel, over which the wheel rolls, for example, on a surface, forms the running surface. In the coupled state, the wheel is in contact with the contact surface via the running surface. A coupling piece with a wheel is particularly well suited for a force-free relative movement between the coupling piece and the coupling housing. This allows the towing vehicle, even with a coupled trailer, to rotate relative to the trailer with minimal force. The term "wheel" here is also intended to include a roller or cylinder. However, a ball or a sliding bearing could generally be used instead of a wheel.

[0024] In a preferred embodiment, the vehicle combination has an additional coupling piece with another wheel, which, when coupled, is also located within the coupling housing and rests on the contact surface. The trailer could also be equipped with three or more coupling pieces, but preferably it has exactly two. This allows a moment to be transmitted via the coupling pieces, thus preventing, for example, the trailer from tipping or falling over.

[0025] Preferably, the axes of rotation of the coupling wheels intersect at a single point with the axis of rotation of the coupling surface. In other words, the trailer couplings form an instantaneous center of rotation that coincides with the instantaneous center of rotation of the towing vehicle. This allows, for example, the towing vehicle to rotate around its own axis even with multiple couplings, without the trailer moving significantly forward or backward. This increases maneuverability while ensuring a stable and secure connection between the trailer and the towing vehicle.

[0026] In a preferred embodiment, the towing vehicle has a wheel arrangement and / or control system designed to allow the towing vehicle to rotate without horizontal offset, preferably around the vertical axis. This makes the towing vehicle particularly maneuverable and allows it to move to a desired position with minimal shunting effort.

[0027] Preferably, the towing vehicle is designed to be essentially rotationally symmetrical. For example, an essentially cylindrical outer contour is conceivable. This allows the towing vehicle to be designed in a space-saving manner and reduces, for example, the risk of collision with cargo on the trailer or other obstacles.

[0028] In a preferred embodiment, the trailer has at least one support leg that allows the trailer to be parked securely when uncoupled. The trailer could be equipped with exactly one or a plurality of support legs, but two are preferred. This secures an uncoupled trailer, for example, against unintentional rolling away.

[0029] In a preferred embodiment, the towing vehicle is designed as an autonomous robot. This means that its driving movements and / or coupling to the trailer can be performed autonomously. The towing vehicle is therefore able, for example, to orient itself independently, move to a parked trailer, couple it, move autonomously with the coupled trailer, park the trailer at a desired location, and move away from the trailer.

[0030] In this way, the vehicle combination can not only be operated with minimal personnel, but several vehicle combinations can also be in operation simultaneously, enabling flexible warehouse logistics. Furthermore, a vehicle combination with an autonomous robot can be significantly smaller than one with a manned towing vehicle. A warehouse operated in this way can therefore be specifically tailored to the dimensions required for the goods being transported.

[0031] In a preferred embodiment, the towing vehicle is equipped with a robot arm designed to load cargo onto and / or unload the trailer. Such a robot arm can, for example, be mounted centrally on the top of the towing vehicle. A mechanical gripper, a magnet, or pallet forks, for example, can be attached to the end of the robot arm distal to its attachment to the towing vehicle to move the cargo. Advantageously, this allows the same robot to handle both loading and transporting the cargo. Alternatively or additionally, a worker can load the trailer, for example, while the towing vehicle is performing a driving operation, e.g., with another trailer attached.

[0032] Preferably, the vehicle combination is used to couple the trailer to the towing vehicle. The coupling process is preferably carried out as follows: First, a portion of the coupling housing is vertically offset downwards relative to the rest of the coupling housing, to such an extent that the contact surface of the offset portion is located below the running surface of the coupling piece. Then, the coupling piece is positioned within the coupling housing. This can be achieved by a horizontal movement of the towing vehicle towards the trailer or by manually inserting the coupling piece into the coupling housing, for example, by a worker. Finally, the offset portion of the coupling housing can be moved back upwards, thus changing the coupling housing from the open to the closed position. During this process, the coupling piece of the trailer is lifted.The trailer's support leg is also lifted from the ground, thus releasing the frictional connection between the trailer and the ground. The vehicle combination is now ready to drive.

[0033] The invention will now be explained in more detail using exemplary embodiments, whereby the individual features may also be essential to the invention in other combinations and implicitly refer to all categories of the invention.

[0034] In detail: Figure 1 shows a perspective view of a vehicle combination according to the invention with a towing vehicle including a coupling housing in the open state and a detached trailer; Figure 2 shows the vehicle combination according to the invention. Figure 1 In the coupled state, Figure 3 shows a cutaway detail view of a coupling housing and a coupling piece together with a wheel, Figure 4 shows a representation analogous to Figure 3 Another embodiment, Figure 5 in a representation analogous to Figure 3Another embodiment, Figure 6 in a representation analogous to Figure 3 Another embodiment, Figure 7, is a perspective view of a towing vehicle with a gripper arm. Preferred embodiment of the invention

[0035] Figure 1 Figure 1 shows a vehicle combination 1 according to the invention, comprising a towing vehicle 2 and a trailer 3. The towing vehicle 2 is essentially rotationally symmetrical. It is a mobile autonomous robot that can rotate about its vertical axis 9 (rotational movement a) and move in the horizontal plane x, y. The towing vehicle 2 has a coupling housing 4a, 4b, which is located in Figure 1 in an open state. A part 4a of the clutch housing is vertically offset downwards relative to the rest of the clutch housing 4b. The clutch housing has a total of two such vertically offset parts 4a, one of which is in Figure 1located on the rear of the towing vehicle 2 and is therefore concealed.

[0036] The coupling housing 4a, 4b forms a stop surface 7 (more clearly shown in the Figures 3-6 ), which extends along an arc 8. The arc 8 is a closed, rotationally symmetric curve that completely encircles the vertical axis 9 (represented as a dashed circle). On the right side in Figure 1 The figure shows a trailer 3, which has two coupling pieces 6, each with a wheel 13. Additionally, the trailer 3 has two support legs 15 (only one of which is visible). The support legs 15 prevent the trailer 3 from rolling away unintentionally.

[0037] The coupling housing 4a, 4b forms a contact surface 10a, 10b, which defines a cavity 5 of the coupling housing 4a, 4b at the bottom. In the open state, i.e., when parts 4a of the coupling housing are vertically offset downwards, the corresponding parts of the contact surface 10a are also offset downwards relative to the remaining contact surface 10b and are thus in a vertical position below the wheels 13 of the coupling pieces 6. The towing vehicle 2 is then ready for coupling; it can insert the coupling pieces 6 into the vertically offset parts 4a of the coupling housing 4a, 4b and then lift them.

[0038] In Figure 2The coupling housing 4a, 4b is in the closed position and the trailer 3 is coupled. Since the trailer 3 is coupled, its support legs 15 are raised and the trailer 3 is ready to drive, meaning the load 17 shown here can be transported. Also shown are the axes of rotation 14 of the wheels 13 of the coupling pieces 6. They intersect at a single point with the vertical axis 9, which represents an axis of rotation of the towing vehicle 2. This allows the towing vehicle 2 to rotate about its vertical axis 9 without moving the coupled trailer 3.

[0039] Figure 3Figure 1 shows a cutaway detail view of the coupling housing 4a, 4b and its interaction with the coupling piece 6. The coupling housing 4a, 4b forms the cavity 5 into which the single-sided supported wheel 13 of the coupling piece 6 can be inserted. The cavity 5 is bounded horizontally x, y by the stop surface 7, which extends along the arc 8. Below, the cavity 5 is bounded by the contact surface 10a, 10b, which forms a support for the wheel 13, i.e., for its running surface 11. The contact surface 10a, 10b is contoured, i.e., inclined transversely towards the center of the arc (in this representation in the negative x-direction). As the counterpart to the contact surface 10a, 10b, the guide surface 12 is inclined transversely outwards (in the positive x-direction). The wheel 13 rotates around the axis of rotation 14 and can move within the closed clutch housing 4a, 4b by rolling on the contact surface 10a, 10b.

[0040] Figure 4 Figure 1 shows a further embodiment of the coupling housing 4a, 4b and the coupling piece 6 in the same representation. Functionally equivalent elements are shown here with the same reference numerals as in Figure 2. Figure 3 designated (the same applies to the Figures 5 and 6 In general, the above description also applies to the following embodiments, and the differences are primarily described.

[0041] In this embodiment, the wheel 13 is supported on both sides and can rotate about the horizontally oriented axis of rotation 14. The contact surface 10a, 10b is divided into an inner, horizontal section and an outer section inclined transversely towards the center of the arc line (here in the negative x-direction).

[0042] The stop surface 7 is located in the upper area of ​​the coupling housing 4a, 4b and can (unlike the one in Figure 3(In the illustrated embodiment) the coupling piece 6 does not come into contact with the wheel 13, but rather with an upper part 19 of the coupling piece 6. On the side horizontally opposite the stop surface 7, this part 19 of the coupling piece 6 can come into contact with an inner surface 20 of the coupling housing 4a, 4b. The coupling piece 6 is thus positively locked in the horizontal plane by the coupling housing 4a, 4b on both its inner and outer sides.

[0043] In this embodiment, the inclined section of the contact surface 10a, 10b and the guide surface 12 primarily serve to introduce the coupling piece 6 into the upper area of ​​the coupling housing 4a, 4b during coupling.

[0044] Figure 5Figure 1 shows a further embodiment in which the contact surfaces 10a, 10b are not inclined transversely but are horizontally oriented. The horizontal positive locking of the coupled coupling piece 6 is achieved via the inclined guide surface 12 and the stop surface 7 located in the lower region of the coupling housing 4a, 4b. To facilitate insertion of the coupling piece 6 during the coupling process, the coupling piece 6 has a chamfer in its lower region, which can come into contact with the guide surface 12. The wheel 13 is supported on both sides and has a horizontal axis of rotation 14.

[0045] Figure 6Figure 1 shows another embodiment in which the coupling piece 6 is arc-shaped, with the wheel 13 attached to the end of an arc-shaped rod. At its end, the coupling piece 6 has a rounded section that can come into contact with the stop surface 7 and serves as a stop. The wheel 13 rests with its running surface 11 on the horizontally oriented contact surfaces 10a, 10b. The curved shape of the coupling piece 6 can come into contact with the outwardly inclined guide surface 12 during the coupling process.

[0046] Figure 7 Figure 1 shows a further embodiment of a towing vehicle 2 with an exemplary gripping arm 16, which is mounted centrally on the upper surface 21 of the towing vehicle 2. At its distal end to the attachment to the towing vehicle 2, it has a mechanical gripper 18, with which the transported goods 17 can be moved and loaded onto the trailer 3.

Claims

1. A vehicle combination (1) comprising a towing vehicle (2) and a trailer (3), wherein the towing vehicle (2) comprises a coupling housing (4a, 4b) forming a cavity (5), and the trailer (3) comprises a coupling member (6), wherein the coupling housing (4a, 4b) can assume an open and a closed state, and wherein the coupling housing (4a, 4b) forms a stop surface (7), which stop surface (7) extends at least in sections along an arc line (8) and, in a section normal to the arc line (8), delimits the cavity (5) in a horizontal direction (x, y) away from the towing vehicle (2), and which arc line (8) is concavely curved with respect to a vertical axis (9) of the towing vehicle (2) and extends over at least half a circulation around the vertical axis (9) of the towing vehicle (2), and in which cavity (5) the coupling member (6) can be or is arranged, characterized in that, in the open state of the coupling housing (4a, 4b), a part (4a) of the coupling housing (4a, 4b) is offset vertically relative to the remaining coupling housing (4b).

2. Vehicle combination (1) according to claim 1, in which the arc line (8), along which the stop surface (7) extends, is closed in itself circumferentially around the vertical axis (9).

3. Vehicle combination (1) according to one of the preceding claims, in which, at least in the closed state of the coupling housing (4a, 4b), the stop surface (7) is at least rotationally symmetrical with respect to the vertical axis (9) of the towing vehicle (2).

4. Vehicle combination (1) according to one of the preceding claims, in which, in the open state, the part (4a) of the coupling housing (4a, 4b) is offset downwards relative to the remaining coupling housing (4b), such that a section (10a), which is formed in the part (4a), of a contact surface (10a, 10b) which delimits the cavity (5) downwards in the closed state is arranged below a tread surface (11) of the non-coupled coupling member (6), wherein the tread surface (11) of the coupled coupling member (6) lies on the contact surface (10a, 10b)within the closed coupling housing (4a, 4b), that is to say the coupling member (6) is raised.

5. Vehicle combination (1) according to one of the preceding claims, in which the coupling housing (4a, 4b) forms a contact surface (10a, 10b) which delimits the cavity (5) downwards and, in a coupled state, that is to say when the coupling member (6) is arranged within the cavity (5) and the coupling housing (4a, 4b) is in the closed state, constitutes a support for the coupling member (6), wherein the contact surface (10a, 10b) is of raised design, that is to say is inclined transversely in the section normal to the arc line (8) towards the curve interior of the arc line (8).

6. Vehicle combination (1) according to one of the preceding claims, in which the coupling housing (4a, 4b) has a guide surface (12) which, as viewed in the section, is arranged on a side of the cavity (5) which is horizontally opposite the stop surface (7) and slopes away obliquely from the vertical axis (9).

7. Vehicle combination (1) according to one of the preceding claims, in which the coupling member (6) has a wheel (13) which, in a coupled state, that is to say when the coupling member (6) is arranged within the cavity (5) and the coupling housing (4a, 4b) is in the closed state, is arranged within the coupling housing (4a, 4b) and lies on a contact surface (10a, 10b) of the coupling housing (4a, 4b) which delimits the cavity (5) downwards.

8. Vehicle combination (1) according to claims 3 and 7, which has a further coupling member (6) with a further wheel (13) which, in the coupled state, is arranged within the coupling housing (4a, 4b) and lies on the contact surface (10a, 10b), wherein the wheels of the coupling members have axes of rotation (14) which intersect at one point with the axis of rotation of the stop surface (7).

9. Vehicle combination (1) according to one of the preceding claims, in which the towing vehicle (2) has a wheel arrangement or wheel control which is designed such that the towing vehicle (2) can rotate about the vertical axis (9) without horizontal offset.

10. Vehicle combination (1) according to one of the preceding claims, in which the towing vehicle (2) is designed to be substantially fully rotationally symmetrical.

11. Vehicle combination (1) according to one of the preceding claims, in which the trailer (3) has a stand (15) which is designed to be placed in a frictionally engaged manner in the open state of the coupling housing (4a, 4b).

12. Vehicle combination (1) according to one of the preceding claims, in which the towing vehicle (2) is designed as an autonomous robot, wherein both its driving movements and the coupling of the towing vehicle (2) to the trailer (3) take place autonomously.

13. Vehicle combination (1) according to one of the preceding claims, in which the towing vehicle (2) is equipped with a gripper arm (16) which is designed to load cargo (17) onto the trailer (3) and / or to unload said cargo.

14. Use of a vehicle combination (1) according to one of the preceding claims, in which the trailer (3) is coupled by the coupling member (6) being arranged within the coupling housing (4a, 4b) and the coupling housing (4a, 4b) being transferred into the closed state.