Driverless transport vehicle with improved maintainability

Abstract

The invention relates to a driverless, in particular automatically guided transport vehicle (1) for conveying payloads, in particular a material transport vehicle in a plant, having a payload lifting device (2). For improved maintenance capability in particular for electrical and electronic components and systems, it is proposed that a removable interchangeable module (2), in which a plurality of electrical and / or electronic components are combined, is arranged in the chassis (8).

Description

[0001] Automated guided vehicle with improved maintainability.

[0002] The invention relates to a driverless, in particular automatically guided, and preferably autonomously guided transport vehicle for transporting payloads. Such vehicles are usually used as so-called industrial trucks or material transport vehicles in production plants, for example, to transport specific payloads within the warehouse or from the warehouse to the production line, preferably navigating autonomously. The load in such transport vehicles can consist either directly of the payload itself or of a payload carrier that can be separately loaded with the payload – for example, a frame, a rolling base, or the like. The transport vehicle is designed to be able to drive underneath such a payload carrier, lift it independently, transport it to its destination, and set it down again there. For this purpose, it is equipped with an integrated lifting device.

[0003] For the known state of the art, reference is made, for example, to DE 20 2013 004 209 U1 or EP 102706 A1.

[0004] To enable the transport vehicle to perform its diverse functions, it is equipped with numerous electrical and electronic components. In certain situations, such as in the event of a defect, individual components or entire systems should be able to be checked and, if necessary, replaced as quickly and easily as possible. However, due to the limited space available, removing and reinstalling the affected components can sometimes only be done with considerable effort.

[0005] DE 10 2016 014 882 A1 proposes a completely modular transport vehicle according to the preamble of claim 1.

[0006] Against this background, the object of the invention is to propose a generic transport vehicle with improved maintenance options, in particular for electrical and electronic components and systems.

[0007] This object is achieved by the combination of features according to the independent claim. Further embodiments and developments of the invention emerge from the subclaims as well as the following description and figures.

[0008] The invention provides that a removable interchangeable module is arranged in the chassis of the transport vehicle, in which several electrical and / or electronic components are combined.

[0009] A large portion of the electrical and electronic components and systems can thus be conveniently pre-assembled and subsequently installed in the transport vehicle. For efficient production and improved ease of maintenance of the transport vehicle, as well as for effective protection of the sensitive electronic components, the invention provides that the transport vehicle has a front vehicle section, a middle vehicle section, and a rear vehicle section. The front vehicle section is separated from the middle vehicle section by a front partition wall and the rear vehicle section by a rear partition wall, and the interchangeable module is arranged in the middle vehicle section.

[0010] For example, in the event of a component defect, for reprogramming, or a planned component replacement, the entire interchangeable module can be quickly and effectively replaced with a compatible, intact interchangeable module, significantly reducing downtime. Troubleshooting, error analysis, programming, and replacement of the defective component can be performed at a later date in a dust-free environment at an optimally equipped workstation. The heavy and potentially contaminated transport vehicle does not need to be transported and cleaned separately for this purpose, nor does it require complex decontamination measures at the transport vehicle's location.

[0011] This module also offers the advantage for vehicle production that it can be pre-assembled completely independently of the rest of the transport vehicle's structure, for example by a specialized manufacturer.

[0012] Furthermore, differently equipped and / or programmed interchangeable modules can be provided for different task scenarios, which can be quickly exchanged.

[0013] For efficient handling of the interchangeable module, the invention further provides that the interchangeable module has a separate module housing in which the electrical and / or electronic components are accommodated.

[0014] For effective use and extended usability, according to a preferred development of the invention, at least one electronic control unit can be included in the exchange module.

[0015] For an effective division of functions, the preferred embodiment further proposes that at least one first sensor arrangement for detecting the vehicle environment and at least two vehicle wheels, in particular support wheels, are arranged in the front vehicle section.

[0016] For the same reason, the preferred embodiment also proposes that at least one second sensor arrangement for detecting the vehicle environment and at least two drive wheels including associated drive systems are arranged in the rear vehicle section.

[0017] For improved maintenance of the mechanical components, the preferred embodiment of the invention further provides for a lifting drive for operating the lifting device to be located in the center of the vehicle. This makes it particularly easy to access, and the removable module can be quickly removed for even better accessibility.

[0018] According to the preferred embodiment of the invention, the lifting device is operated via an eccentric drive. This allows for a particularly simple and robust design, while also saving space. Furthermore, it requires significantly less control effort, for example, compared to several separate, individually controllable lifting elements. Thus, the eccentric elements, arranged in pairs on each side and coupled to one another, are accommodated within a box-shaped load-bearing element to save space.

[0019] An effective and fast connection of electrical and electronic consumers in transport vehicles provides for an embodiment in which electrical and / or electronic components from the front, middle and rear sections of the vehicle are connected to the exchange module via electrical cables.

[0020] For particularly fast and efficient establishment of the electrical connections, the interchangeable module can, according to a further development, preferably have a few, particularly preferably a single combined electrical interface, which is designed for the simultaneous connection of several electrical and / or electronic components outside the interchangeable module. For example, according to a further development of the invention, the interchangeable module can have a combined electrical interface for connecting all consumers in the rear vehicle section and another combined electrical interface for connecting all consumers in the front and middle vehicle sections.

[0021] The present invention is explained in more detail below using an exemplary embodiment. In the following: Fig.1 Highly simplified representation of the transport vehicle in top view (view a) and side views with retracted (b) and extended (c) lifting device. Fig.2 Views according to Fig.1 , but additionally with a payload carrier. Fig.3 exemplary representation of an embodiment of the transport vehicle with a payload in a payload carrier. Fig.4 Spatial representation of the transport vehicle with a removed (a) and an inserted (b) interchangeable module. Fig.5 Highly simplified basic representation of the transport vehicle 1 in plan view. Fig.6 spatial representation of an embodiment of a module housing. Fig.7 Side view of the lifting device in a raised transport position (a) and a lowered parking position (b). Fig. 1

[0022] The driverless transport vehicle 1 is used in particular for transporting payloads on smooth floors in production and assembly plants, for example, to transport parts and components to and from the production line or in the parts warehouse. The transport vehicle 1 selects its route autonomously, based on integrated space monitoring sensors (see 18, 18' in Fig. 4 , 5 ) and a control system not shown here.

[0023] The transport vehicle 1 has a flat, compact chassis 8 in and on which all control and drive components are arranged.

[0024] In the embodiment shown, the transport vehicle 1 moves on a pair of support wheels 15 and a pair of drive wheels 14. The drive wheels 14 are independent of one another, can be driven individually, and thus serve both for propulsion and for steering the transport vehicle 1.

[0025] To carry or place the load, the transport vehicle 1 has two load-carrying elements 9, 9', which form part of a lifting device 25. The load-carrying elements 9, 9' are designed to be elongated longitudinally or parallel to the direction of travel F and flank the chassis 8 laterally in the upper area. In the embodiment shown, each load-carrying element 9, 9' is designed as a box-shaped hollow body. To lift the load, the load-carrying elements 9, 9' can be raised in the vertical lifting direction H from a retracted parking position (view b) by a lifting amount 16 into an extended transport position.

[0026] Load carrier elements 9, 9' can be cross-connected via one or more struts, bands or plates not shown here in order to increase rigidity and / or to create a larger, flat loading area. Fig.2

[0027] The transport vehicle 1 is designed for the preferential transport of payloads in a separate payload carrier 6. The payload carrier 6 can be constructed in various ways—as a frame as shown, as a trolley or rolling base, and the like.

[0028] The payload carrier 6 is constructed such that the transport vehicle 1 with load-carrying elements 9, 9' can drive into the parking position beneath the payload carrier 6. The payload carrier 6 has two cross members 7, 7' extending transversely to the direction of travel, against which the load-carrying elements are supported when lifting and transporting the payload carrier 6. In the embodiment shown, the cross members 7, 7' are connected via two external longitudinal members 17, 17'.

[0029] To transport the load, the transport vehicle 1 moves under the payload carrier 6 and activates the lifting device 25. The load carrier elements 9, 9' are raised in the lifting direction H, rest on the cross members 7, 7', and lift the payload carrier 6 from the ground. The payload carrier 6 can then be transported to the destination and placed back on the ground in the reverse order. Fig.3

[0030] The figure shows an example of a usage scenario of the transport vehicle 1 and essentially corresponds to the one in the Fig.2b The situation shown is shown in Figure 1. One embodiment of the transport vehicle 1 is located under the payload carrier 6, which is designed as a rolling base. The payload carrier 6 is loaded with a payload 22, which consists of a lattice box filled with bags. Fig.4

[0031] Fig. 4 shows an embodiment of the transport vehicle 1 according to the invention. An easily replaceable, interchangeable module 2 is arranged in the interior of the chassis 8. Most of the electronic components 23 required for regulating and controlling the transport vehicle 1 are arranged therein. For example, an electronic control unit 4 and other elements of the vehicle control system are centrally accommodated therein.

[0032] The interchangeable module 2 has its own module housing 3, which is inserted into a seat provided for it in the chassis 8 and is fixed therein with a few fastening elements not explicitly shown here, such as screws, bayonet locks, tension clamps or other fastening elements that can be released relatively easily and quickly. Fig.5

[0033] The transport vehicle 1 according to the invention is structurally and functionally divided in the longitudinal direction or along the direction of travel F into three vehicle sections, which are separated from one another by a front partition 13 and a rear partition 13'.

[0034] In the front vehicle section 10 there is a first sensor arrangement 18 for detecting the vehicle environment, furthermore the two support wheels 15, 15' are arranged therein.

[0035] The exchange module 2 is arranged in the central vehicle section 11. In addition to the exchange module, the central vehicle section 10 contains a lifting drive 19 for actuating the lifting device 25, one or more electric batteries 21, and, if necessary, charging and electrical power components 24 for charging control.

[0036] In the rear vehicle section 12 there is a second sensor arrangement 18' for detecting the vehicle's surroundings as well as the two drive wheels 14, 14' together with their associated electric drive systems 20.

[0037] In the embodiment shown, the interchangeable module 2 extends in the transverse direction essentially over the entire inner width of the central vehicle section 11.

[0038] The aforementioned components from various vehicle sections must be connected to various electronic components 23 and the electronic control unit 4 within the interchangeable module 2. For this purpose, the interchangeable module 2, in the embodiment shown, has a combined electrical interface 5, 5' on the front and rear. The front electrical interface 5 is used to connect electrical and electronic components from the front 10 and middle 11 vehicle sections, whereas the rear electrical interface 5' is provided for connecting electrical and electronic components from the rear vehicle section 12. Within the scope of the invention, however, it is equally conceivable to provide a single common electrical interface, which is intended to establish all necessary connections to components outside the interchangeable module 2.

[0039] Furthermore, it would be conceivable within the scope of the invention to design such a common electrical interface in such a way that the connection or disconnection process occurs automatically when inserting or removing the interchangeable module 2 into or from the transport vehicle 1. Such a common interface could, for example, be arranged on the underside of the module housing 4.

[0040] The two sensor arrangements 18, 18' are shown here merely as examples and symbolically as a placeholder, representing a real combination of several individual sensors arranged at different locations. Fig.6

[0041] Fig. 6 shows an embodiment of the module housing 3. In the illustrated embodiment, the module housing 3 is made of sheet metal. It is essentially trough-shaped and has a U-shaped sheet metal profile that forms the base and side walls of the module housing 3 and is stiffened and stabilized by cross plates on the front and rear. For the installation of electronic components, the module housing 3 can be provided with all appropriate mounting interfaces, such as holes, punched holes, sheet metal nuts, rails, and the like. Fig.7

[0042] The Fig. 7 shows a partial side view of some elements of the lifting device 25 of the transport vehicle 1 in the raised transport position (view a) and in the lowered parking position (view b).

[0043] On each side of the transport vehicle 1, the lifting device 25 has two equally sized eccentric elements 26, 26', which act on the same load-bearing element 9. The two eccentric elements 26, 26' are coupled to each other via a belt drive, so that when the lifting drive 19 is activated, they are forced to rotate simultaneously in the same direction, thereby raising or lowering the load-bearing element 9. To reduce friction between the eccentric elements 3, 3' and the load-bearing element 9, each eccentric element 26, 26' is equipped radially on the outside with a rolling bearing element, with which it picks up the load-bearing element 9 with low noise and low friction. List of reference symbols

[0044] 1Transport vehicle 2Swap module 3Module housing 4Electronic control unit 5Electrical interface 6Payload carrier 7Traverse 8Chassis 9Load carrier element 10Front vehicle section 11Middle vehicle section 12Rear vehicle section 13Partition wall 14Drive wheel 15Support wheel 16Hub 17Longitudinal member 18Sensor arrangement 19Lift drive 20Traction drive 21Battery 22Payload 23Electronic components 24Power components 25Lifting device 26Eccentric element FDirection of travel HLifting direction

Claims

1. Driverless, in particular automatically guided transport vehicle (1) for transporting a load, comprising a chassis (8) with electrical and electronic control and drive components arranged therein, characterized in that the transport vehicle (1) has a front vehicle portion (10), a middle vehicle portion (11) and a rear vehicle portion (12), wherein the front vehicle portion (10) is separated from the middle vehicle portion (11) by a front partition (13), and the rear vehicle portion (12) is separated from the middle vehicle portion (11) by a rear partition (13'), and wherein a removable interchangeable module (2) is arranged in the middle vehicle portion (11), in which removable interchangeable module multiple electrical and / or electronic components are combined.

2. Transport vehicle (1) according to Claim 1, characterized in that the interchangeable module (2) has a module housing (3) in which the electrical and / or electronic components are accommodated.

3. Transport vehicle (1) according to at least one of the preceding claims, characterized in that the interchangeable module (2) comprises at least one electronic control unit (4).

4. Transport vehicle (1) according to at least one of the preceding claims, characterized in that at least one first sensor arrangement (18) for sensing the vehicle surroundings, and at least two vehicle wheels (15, 15'), are arranged in the front vehicle portion (10).

5. Transport vehicle (1) according to at least one of the preceding claims, characterized in that at least one second sensor arrangement (18') for sensing the vehicle surroundings, and at least two drive wheels (14, 14') and at least one traction drive (20), are arranged in the rear vehicle portion (12).

6. Transport vehicle (1) according to at least one of the preceding claims, characterized in that at least one lifting drive (19) for actuating a lifting apparatus (25) for the purposes of lifting the load is arranged in the middle vehicle portion (11).

7. Transport vehicle (1) according to Claim 6, characterized in that the lifting apparatus (25) is actuated by way of an eccentric drive.

8. Transport vehicle (1) according to at least one of the preceding claims, characterized in that electrical and / or electronic components from the front, middle and rear vehicle portions (10, 11, 12) are connected to the interchangeable module (2) via electrical lines.

9. Transport vehicle (1) according to at least one of the preceding claims, characterized in that the interchangeable module (2) has at least one combined electrical interface (5) which is designed for the simultaneous connection of multiple electrical and / or electronic components outside the interchangeable module (2).

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