Self-propelled load receiving and transporting device

Abstract

The invention relates to a self-propelled load-receiving and transporting device, consisting of at least three legs which have a cavity, are oriented vertically during operation and are stabilised by means of at least two rigid load-receiving frames which connect the legs horizontally, are spaced apart vertically and span a surface, wherein each leg has a travel drive unit at the foot end. According to the invention, a motorised vertical drive component is arranged in the cavity of each of the legs and is coupled in each case to the load-receiving frame in such a way that the load-receiving frame can be adjusted vertically and / or the vertical position of the legs with respect to one another can be changed. The travel drive unit has in each case at least one driven wheel with an axle, wherein the wheel can be adjusted perpendicularly to its axle by means of a steering motor. Furthermore, all electronic or electromechanical components for autonomous operation of the device are located in the cavity of the legs.

Description

[0001] Self-propelled load handling and transport device >

[0002] Description

[0003] The invention relates to a self-propelled load-handling and transport device comprising at least three legs having a cavity and oriented vertically in operation, which are stabilized by means of at least two rigid load-handling frames spanning a surface and connecting the legs horizontally and spaced apart vertically, wherein each leg has a drive unit at its foot end, according to the preamble of claim 1.

[0004] Self-driving robot systems for picking up and transporting loads are a well-established technology. These robots navigate either along predefined paths or by determining coordinates, for which distance measuring devices are also used. A prerequisite for the smooth movement of such robot systems, especially over longer distances, is the absence of obstacles such as uneven surfaces, stairs, thresholds, differences in elevation, or the like. Therefore, appropriate structural measures or modifications must be implemented if the use of process-optimizing or process-simplifying self-driving robot systems is planned.

[0005] Transport systems for receiving and moving containers are also known.

[0006] CN 202112644 U discloses a compensating device with a leg structure for achieving a supporting effect.

[0007] The leg structure is designed so that its support can be adjusted depending on the surrounding terrain. This is achieved through three frame structures, each designed as a movable quadrilateral. Two of these quadrilateral frames have feet with integrated casters. On uneven terrain, the position of the movable quadrilateral connecting the frame sections, with its central support, can be adjusted to the terrain.

[0008] Based on the foregoing, the object of the invention is to provide a further developed, self-propelled load-handling and transport device capable of overcoming uneven surfaces, such as stairs or steps, as well as other differences in height, without the risk of the load being lost or damaged. Furthermore, the device should be able to perform movements in various axial directions within a very small space. The movement of the device should occur independently of any mechanical guides or steering devices.

[0009] The problem of the invention is solved by a self-propelled load-handling and transport device according to the combination of features according to claim 1, wherein the dependent claims include at least suitable embodiments and further developments.

[0010] The concept therefore envisions a self-propelled load-handling and transport device consisting of at least three, preferably four, legs, each with a cavity, oriented vertically during operation, and stabilized by at least two rigid load-handling frames spanning a surface and connecting the legs horizontally and spaced vertically apart. Each leg has a drive unit at its base.

[0011] According to the invention, a motorized vertical drive component is arranged in the cavity of each leg. This motorized vertical drive component is coupled to the respective load-bearing frame in such a way that the load-bearing frame is vertically adjustable and / or the vertical position of the legs relative to each other can be changed.

[0012] The drive unit according to the invention has at least one driven wheel with an axle, wherein the wheel is adjustable perpendicular to its axis by means of a steering motor. Furthermore, all electronic or electromechanical components for the autonomous operation of the device are located in the cavity of the legs.

[0013] The motorized vertical drive component includes, for example, a fixed spindle rod arranged in the respective leg, which is operatively connected to an electrically operated spindle nut, wherein the spindle nut is mounted in a drive housing which has coupling elements to the load-bearing frame.

[0014] These coupling elements serve to connect to the respective load-bearing frame.

[0015] The motorized vertical drive components can be controlled in the same direction and speed of movement, or uniformly and simultaneously, but also in opposite directions or unevenly and not simultaneously.

[0016] With the motorized vertical drive components being controlled in the same direction and at a uniform rate, the load-bearing frame, along with the load on it, is raised or lowered accordingly. To overcome a step, for example, the leg(s) closest to the step can be raised by activating the corresponding vertical drive components. By activating the drive units of the legs furthest from the step, the device then moves onto the step, and so on.

[0017] In one embodiment of the invention, the load-bearing frame can have a sled-like transport means to facilitate the transfer of an object to be transported from the device according to the invention to another similar device or into a shelf or the like.

[0018] The drive units are individually controllable, at least with regard to the steering motor. This allows not only for driving movements in any direction, but also for the device to rotate around its own axis and virtually on the spot.

[0019] Preferably, the respective drive units have an electric motor-driven wheel hub drive.

[0020] In a preferred embodiment, the cross-section of the legs is polygonal. Each leg has longitudinal slots for guided vertical movement of the respective load-bearing frame.

[0021] On the longitudinal outer sides of the legs, there is an arrangement, in particular a strip arrangement with optical indicator elements for status or hazard signaling.

[0022] This could involve, for example, OLED or LED lights that signal certain states of the device through a change in color. These states could include the charge level of batteries, a temporary standby mode, or a state just before the ferry is activated.

[0023] It is also possible to provide operating elements on the outside of the leg housing, for example in the form of a touch screen, an emergency stop switch or the like, or to integrate measuring systems for orientation in space or to arrange further sensors.

[0024] The drive units are easily interchangeable and are located at or within the respective foot end. At least one of the legs of the device according to the invention has means for wireless communication and control of the device. This can be a so-called WLAN router. A position detection system, for example using GPS, LiDAR or camera, ultrasonic beacons, ultra-wideband (UWB) or based on 5G technology, can also be provided.

[0025] The device is preferably controlled wirelessly via a suitable air interface. Depending on the operating conditions and location, the device can be equipped with sensors and warning systems to prevent collisions with people or objects during operation.

[0026] Upon detecting a critical charge level, the device is able to automatically move to the vicinity of a charging station and initiate a charging process. This can be done inductively or via conventional electrical connections.

[0027] At least three of the legs of the device are arranged to form a triangle. Four legs preferably form a quadrilateral, or n legs form an n-gon with n > 4.

[0028] A gap is provided between at least two of the legs of the device for receiving or transferring a load to be transported.

[0029] To overcome uneven terrain, inclines, steps or similar differences in height, the position of the legs is adjusted by means of the respective vertical drive component and corresponding shift of the center of gravity, in order to prevent tipping, for example.

[0030] The aforementioned load-bearing frames form a stable platform for receiving transported goods or for receiving transport containers.

[0031] In the area of ​​load-bearing frames, it is possible to provide sensors that are able to detect a maximum permissible transport weight or, based on a determined transport weight, to determine maximum speeds for moving the device when performing the transport task.

[0032] The invention will be explained in more detail below with reference to exemplary embodiments and figures. The figures show:

[0033] Fig. a1a - c various perspective views of one leg of the device with the cladding not shown for clarity;

[0034] Fig. 2 shows the leg with spindle, spindle clamp and the motor vertical drive components;

[0035] Fig. 3 shows a perspective view of one leg of the device with

[0036] Drive unit in the foot area of ​​the leg and housing-like cover;

[0037] Fig. 4 shows a detailed representation of the drive unit with wheel hub motor and the possibility of adjusting the driven wheel perpendicular to its drive axis by means of a steering motor;

[0038] Fig. 5 shows a perspective view of a motorized

[0039] Vertical drive component with drive housing and coupling elements for connection to the (not shown) load-bearing frame;

[0040] Fig. 6 shows a schematic representation of the device according to the invention with four legs when overcoming inclines in one or two directions by adjusting the position of the legs and shifting the center of gravity;

[0041] Fig. 7 shows a schematic representation of the device according to the invention with a load being carried while overcoming a local obstacle by lifting one leg and

[0042] Fig. 8 shows a representation of a dynamic interaction involving the transfer of transported goods between two devices according to the invention, which differ in their position from one another, without changing the relative position of the transported goods. Figures 1a to 1c show different views of a leg according to the invention for a self-propelled load-handling and transport device.

[0043] Each leg 1 has a cavity 2 that forms a channel.

[0044] A communication interface 3, for example a WLAN router, is provided in the head area of ​​leg 1.

[0045] In one embodiment, an LED strip 4 is located in the edges or peripheral areas of the leg, serving for status or hazard signaling. The necessary power electronics 5 are also located in the cavity 2. Preferably, a power supply unit in the form of a set of accumulators 6 is housed in the lower area of ​​the cavity 2 of the leg 1.

[0046] The foot area of ​​leg 1 accommodates a drive unit 7 with steering motor (see Figure 4).

[0047] Leg 1 is a stable, self-propelled structure and, depending on the performance class of the device, has vertical supports 8 and horizontal stabilizing bridges 9.

[0048] Figure 2 serves to illustrate the design of the motorized vertical drive components, in which three such vertical drive components 10 are shown according to Figure 2.

[0049] A threaded spindle 11 with upper and lower spindle clamps 12 runs along the longitudinal extension of leg 1.

[0050] Furthermore, a guide rail 13 and a support plate 14 are shown.

[0051] The respective motorized vertical drive components 10 can move independently of one another upwards or downwards, i.e., in a vertical direction, along the threaded spindle when the drive motor (see Figure 5) and integrated spindle nut are activated. The structure of each vertical drive component is comprehensible to a person skilled in the art with reference to Figure 5.

[0052] A drive housing 15 accommodates the control unit 16 with motor and belt drive 17.

[0053] The driven and rotatable spindle nut with nut housing 18 is also mounted in the drive housing 15. The motor power is transmitted, for example, via a toothed belt 19.

[0054] The timing belt 19 is held at its required pretension by means of belt tensioner 20.

[0055] The drive housing also has two coupling elements 21 for connection to the load-bearing frame, which is not shown here.

[0056] The respective drive unit, which is inserted into the lower part of the leg and can be fixed there, is shown in Figure 4.

[0057] The drive unit 7 comprises a support plate 22 which accommodates a wheel hub motor 23 on its underside.

[0058] The axle present in the wheel hub motor 23 can now be rotated vertically about its position with the help of a steering motor 24.

[0059] Figure 3 shows a perspective view of a leg 1 with housing cover and drive unit as well as the coupling elements 21.

[0060] Examples of the design and use of the device according to the invention are illustrated in Figures 6 to 7.

[0061] Figure 6 addresses the problem of global disturbances such as inclines, slopes, and declines that must be overcome without altering the relative position of the transported goods, i.e., without slippage, tipping, or vibration. To solve such a problem, the position in space is first determined with respect to the horizon. The target value here is a horizontal position, meaning a horizon of 0 degrees relative to the load and the overall center of gravity below any potential tipping point. When determining the actual value of the deviation, for example, in the form of an undesired tilt, the position is compensated for by vertical movement of the leg using a spindle drive, a belt drive, or a rack and pinion system.

[0062] Local obstacles as shown in Figure 7 are uneven, poor surfaces, such as steps, holes, or thresholds, which must be overcome without changing the relative position of the transported goods. It is also important to prevent the device from tipping over.

[0063] Here too, the position in space is measured in relation to an artificial horizon, and disturbances are detected. If a deviation from the actual value is selected, or if a local disturbance is detected, the position of the respective leg is compensated for by vertical movement; that is, the vertical position of the corresponding leg is adjusted relative to the disturbance.

[0064] Figure 8 illustrates a dynamic interaction. The task here is to transfer a transported item from a first device to a second device while the vehicle is in motion. Again, the transported item should not slip, become jammed, or fall off.

[0065] In this example, in addition to determining the position in space relative to the other vehicle, accelerations in all directions are also measured. The target value here is the handover by aligning the relative positions and the speeds of movement. This is achieved by changing the position of the legs vertically, but also by adjusting the speed using the drive units.

[0066] It should be noted here that, with regard to the vertical drive components, not only the described solution using a spindle and spindle nut, but also comparable solutions familiar to those skilled in the art can be used. For example, solutions using a hydraulic drive in the form of a piston / cylinder, as well as solutions with a rack and pinion drive and meshing gears for executing the vertical movement, are feasible.

[0067] Reference symbol list

[0068] 1 leg

[0069] 2 cavities

[0070] 3 Communication interface / router

[0071] 4 bar

[0072] 5 Power Electronics

[0073] 6 accumulators

[0074] 7 Drive unit

[0075] 8 vertical beams

[0076] 9 Stabilizing bridge

[0077] 10 Vertical drive component

[0078] 11 Spindle

[0079] 12 Spindle clamp

[0080] 13 Guide rail

[0081] 14 Carrier plate

[0082] 15 drive housings

[0083] 16 Control

[0084] 17 Belt drive

[0085] 18 Spindle nut

[0086] 19 timing belts

[0087] 20 belt tensioners

[0088] 21 coupling element

[0089] 22 Support plate

[0090] 23 Wheel hub motor

[0091] 24 Steering motor

Claims

Claims 1. Self-propelled load handling and transport device, consisting of at least three legs (1) having a cavity (2) and oriented vertically in operation, which are stabilized by means of at least two rigid load handling frames spanning a surface and connecting the legs (1) horizontally and spaced apart vertically, wherein each leg (1) has a drive unit (7) at its foot end, which is characterized by - in the cavity (2) of each of the legs (1) a motorized vertical drive component (10) is arranged and each is coupled to the load-bearing frame in such a way that the load-bearing frame is vertically adjustable and / or the vertical position of the legs (1) can be changed relative to each other, - the drive unit (7) has at least one driven wheel with an axle, wherein the wheel is adjustable perpendicular to its axis by means of a steering motor (24), - and furthermore, all electronic or electromechanical components for the autonomous operation of the device are located in the cavity (2) of the legs (1).

2. Device according to claim 1, characterized by the fact that the motor vertical drive component (10) comprises a spindle rod (11) attached in the respective leg (1), which is mounted with at least one electrically operated spindle nut (18) in a drive housing (15) which has coupling elements (21) to the load-bearing frame.

3. Device according to claim 2, characterized by the fact that the motor vertical drive components (10) can be controlled in their direction of movement and speed of movement in the same direction or uniformly and simultaneously, but also in opposite directions or unevenly and not simultaneously.

4. Device according to one of the preceding claims, characterized by the fact that the drive units (7) can be individually controlled at least with regard to the steering motor (24).

5. Device according to one of the preceding claims, characterized by the fact that the respective drive units (7) have a wheel drive or wheel hub motor (23).

6. Device according to one of the preceding claims, characterized by the fact that the cross-section of the legs is arbitrary, in particular as a polygon, and that the respective leg (1) has longitudinal slots for the guided vertical movement of the respective load-bearing frame.

7. Device according to one of the preceding claims, characterized by the fact that a strip arrangement (4) with optical indicator elements for status or danger signaling is located on the longitudinal outer sides of the legs (1).

8. Device according to one of the preceding claims, characterized by the fact that the drive units (7) are interchangeably designed at or in the respective foot end of the leg (1).

9. Device according to one of the preceding claims, characterized by the fact that means for wireless communication (3) and for controlling the device are provided in the respective leg (1).

10. Device according to one of the preceding claims, characterized by the fact that at least three legs (1) of the device span a triangle, four legs (1) a quadrilateral or n legs (1) an n-gon with n > 4.

11. Device according to one of the preceding claims, characterized by the fact that at least between two legs (1) of the device a distance is provided for receiving or transferring a load to be transported.

12. Device according to one of the preceding claims, characterized by the fact that, in order to overcome unevenness, inclines, steps or similar differences in height, the position of the legs (1) is adjusted by means of the respective vertical drive component (10) for the purpose of shifting the center of gravity.

13. Device according to one of the preceding claims, characterized by the fact that the respective load-bearing frame forms a stable platform for receiving transported goods or transport containers.

14. Device according to one of the preceding claims, that I understand that at least one leg (1) is equipped with a sensor for status, position and / or hazard detection.

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