Heavy-duty transport modular vehicle, transport vehicle for a plurality of heavy-duty transport modular vehicles, and storage compartment for such a transport vehicle

Abstract

The present invention relates to a heavy load transport modular vehicle (100) having at least one pair of drivable axle groups (104, 106) arranged on a common support (108) so as to be non-rotatable relative to one another, a load support unit (116) having a load support surface (116a), the support (108) being rotatably connected to the load support unit (116), a control device (128) for controlling the drive units of the axle groups (104, 106), and a communication device (130) for two-way communication with another heavy load transport modular vehicle and / or an external control device, the communication device (130) being further used for two-way data exchange with the control device (128).

Description

[Technical field]

[0001] The present invention relates to a heavy goods transport modular vehicle with at least two axle arrangements. [Background technology]

[0002] In this case, in the context of the present invention, we speak of heavy load transportation in which the loads for which each load-bearing axle group must be designed have a value of at least 4 t, preferably at least 5 t and even more preferably at least 6 t.

[0003] A modular vehicle in the context of the present invention means a vehicle which is connected to one or more other, identically or similarly constructed modular vehicles, i.e. vehicles which can be firmly connected mechanically and / or coupled in terms of control technology in order to enable the transport of heavy loads.

[0004] The heavy-load-transporting modular vehicle known from DE 1 655 176 A1 has several axle arrangements which are each independently steerable, i.e. each swivel about a pivot axis which extends in the height direction of the heavy-load-transporting modular vehicle. The axle arrangements are arranged on a common frame, on which a load-bearing unit is further arranged in a ball-jointed manner and which can be raised and lowered in the height direction. In order to be able to transport a load together, several such heavy-load-transporting modular vehicles can be combined to form a group, i.e. a group of vehicles which are not mechanically rigidly connected. Each heavy-load-transporting modular vehicle has a driver's cab. The drive energy required for driving the heavy-load-transporting modular vehicle can be supplied from the outside via a cable or can be generated on board by means of an internal combustion engine. Furthermore, a control signal which is executed by the driver can be supplied via the cable. However, the control signal can also be given acoustically and / or optically. An automatic remote control by an external command center is also envisaged. This type of modular heavy-duty transport vehicle has not been established in practice because they are too labor-intensive during transport operations, either requiring too many personnel if personnel must be stationed in each vehicle in order to be able to remotely control all vehicles simultaneously for transport operations, or placing a strain on an external command center that must fulfill too many roles simultaneously.

[0005] In practice, therefore, heavy-load-carrying modular vehicles are generally used which, before carrying a load, are joined together to form a complex, i.e. a group of vehicles which are mechanically rigidly connected to one another, so that together they can carry a load. Such vehicles are, for example, sold by the applicant under the name "PST". In this case, in addition to the mechanically rigid connection of the vehicles, the steering linkages of the heavy-load-carrying modular vehicles of the complex must be adjusted to one another, which is recognized as time-consuming. Summary of the Invention [Problem to be solved by the invention]

[0006] The object of the present invention is to provide a solution to this problem. [Means for solving the problem]

[0007] The object of the present invention is to provide a modular vehicle for transporting heavy loads, At least one pair of axle arrangements, which are provided on a common support with mutually aligned axles and which are arranged in a non-rotatable manner with respect to the support with respect to a pivoting movement about an axis extending in the height direction of the support, and which can be driven independently of one another; a load-bearing unit having a load-bearing surface, the support being rotatably connected to the load-bearing unit about an axis of rotation extending perpendicular to the load-bearing surface; a control device configured and arranged to control at least one drive unit of each drivable axle arrangement; A communication device configured and arranged for bidirectional communication with at least one other heavy-duty transport module vehicle of substantially the same construction and / or with a higher-level external control device; It has The communication device is further solved by a heavy-duty transport modular vehicle configured and arranged for two-way data exchange with the control device.

[0008] A first advantage of the heavy-load-transporting modular vehicle according to the invention is that no separate steering device is required for the axle arrangements. Instead, two axle arrangements, each considered as a pair, are driven by the control device at different speeds and / or opposite directions of rotation, so that each pair of drivable axle arrangements can be steered. The axle arrangements are arranged on a common corresponding support for these axle arrangements so that they cannot rotate about an axis extending in the height direction, which results in a rotation of the support about an axis of rotation extending perpendicular to the load-bearing surface. This also applies if several axle arrangement pairs are attached to the load-bearing unit.

[0009] If the heavy-load transport modular vehicle has only one axle group pair, the support can be formed by the frame of the heavy-load transport modular vehicle, on which a separate load-bearing unit is further arranged rotatably relative to the frame, whereas if the heavy-load transport modular vehicle has several axle group pairs, a separate support element can be assigned to each of these pairs as a support, and the load-bearing unit can be formed by the frame of the heavy-load transport modular vehicle, on which several support elements are rotatably arranged.

[0010] Even if this is not required by the invention, the at least one support does not necessarily have to be rotatably connected directly to the load-bearing unit: in principle, the invention also envisages that the at least one support is rotatably connected to the intermediate unit, which is itself rotatably connected to the load-bearing unit.

[0011] The possibility of individual steering of each pair of the axle arrangement by the control device, in cooperation with the communication device, provides another advantage of the heavy-load transport modular vehicle according to the invention. Moreover, the heavy-load transport modular vehicle according to the invention can be combined with at least one other heavy-load transport modular vehicle of substantially the same configuration to form a heavy-load transport modular vehicle group, i.e. a vehicle unit mechanically coupled via a commonly supported load, if desired. In this case, the coordination of the at least one other heavy-load transport modular vehicle with a possibly higher-level external control device is ensured via the communication device. The communication device can, on the one hand, send and receive data (two-way communication) and, on the other hand, forward the received data to the control device and also receive situation data from the control device (two-way data exchange). In this way, the synchronization of the operation of the individual vehicles of the group can also be ensured by cooperation of the control device and the communication device for the purpose of jointly transporting loads.

[0012] To form a group, the heavy-load transport modular vehicles can be moved individually, i.e. independently of the other heavy-load transport modular vehicles, to the place envisaged for this heavy-load transport modular vehicle under the load. The respective load-bearing surfaces of the heavy-load transport modular vehicles can then be brought into load-bearing engagement with the load. However, the heavy-load transport modular vehicles are not mechanically coupled to one another as already mentioned, so that the heavy-load transport modular vehicles do not form a vehicle complex in the above sense, but a vehicle group in the sense of the present invention. Once all the heavy-load transport modular vehicles are located in the places envisaged for them and brought into load-bearing engagement with the load, the heavy-load transport modular vehicles can be synchronized and control-technically linked with respect to the control of the heavy-load transport modular vehicles by means of communication devices and control devices. From this point on, the vehicle group can be commonly controlled so that it can transport the load to another location.

[0013] In a refinement of the invention, it is proposed that a further axle arrangement is provided which is arranged on the support so as to be pivotable about a pivot axis extending in the height direction of the support. In principle, it is indeed conceivable for the heavy-duty modular vehicle to be provided with only the above-mentioned pairs of axle arrangements. In this case, the running stability of the vehicle can be achieved, for example, in terms of control technology, and in the case of a single axle arrangement, for example, by a drive control device as known from vehicles of the "reversible rocker" type (for example the Segway®). This also applies to heavy-duty modular vehicles which have several axle arrangements, the axles of which are arranged so that they are all aligned with one another in a given steering position. However, in order to simplify the control technology and to ensure the running stability in a simple manner, it is advantageous to provide a further axle arrangement as a supporting axle arrangement. In particular, three axle arrangements, i.e. a pair of driven axle arrangements and one supporting axle arrangement, allow on the one hand a secure standing on the road surface and on the other hand a compact construction. The compact configuration also allows for a high load-bearing density (t / m2) when multiple heavy-duty transport modules are used. 2 This allows for the acquisition of a larger load-bearing area.

[0014] In this case, in order to be able to further increase the running stability of the heavy-load-transporting modular vehicle according to the invention, it is further proposed that the drivable axle arrangement and the further axle arrangement are arranged on opposite sides of a plane which firstly runs parallel to the axles of the drivable axle arrangement, secondly runs in the height direction of the carrier and thirdly runs through the center of gravity of the heavy-load-transporting modular vehicle. This ensures that when traveling without cargo, all three axle arrangements are always in contact with the running surface. The reliability of this contact can be further increased by the distance of the drivable axle arrangement from the plane being 5 cm to 10 cm.

[0015] Simply for the sake of completeness, the alternative axle arrangement may be a non-drive axle arrangement, which can reduce manufacturing costs for the heavy duty modular vehicle.

[0016] Furthermore, one or more wheels of the further axle arrangement may have a smaller diameter than the wheels of the driven axle arrangement, which saves construction space and thus allows for a more compact construction of the heavy-duty transport modular vehicle.

[0017] In a refinement of the invention, it is proposed that all axle groups are configured to be height-adjustable with respect to the support, so that the heavy-duty transport modular vehicle can travel with a load lowered and the load can be lifted by a common adjustment of the height of the axle groups. Therefore, no separate lifting devices need to be provided between the load-bearing surface and the support in order to produce the load-bearing engagement, which reduces manufacturing costs.

[0018] The height adjustment furthermore makes it possible for the further axle arrangement, which primarily serves for the driving stability in the unloaded state, to be raised if driving stability is ensured by surface contact of the load-bearing surface with the cargo and if cooperation with other heavy-load-carrying modular vehicles of the group, which the cargo carries, is ensured. In this case, the further axle arrangement therefore does not have to have the load-bearing capacity of the drivable axle arrangement. Rather, it is sufficient for the further axle arrangement to be able to support the weight of the heavy-load-carrying modular vehicle. The further axle arrangement can therefore be made correspondingly small, which improves the overall compact design of the heavy-load-carrying modular vehicle.

[0019] Furthermore, the possibility of omitting a lifting device between the load-bearing surface and the support allows the load-bearing surface to be connected to the support via a turntable, for example a rolling-element turntable, the diameter of which is preferably at least 25%, more preferably at least 50%, of the maximum outer dimension of the heavy-load-carrying modular vehicle determined in the horizontal direction in the load-bearing state, which allows for an increased stability of contact with the cargo.

[0020] It may further be envisaged that the heavy-load transport modular vehicle has at least one battery pack, which is preferably arranged substantially completely inside the contour of the support. This makes the heavy-load transport modular vehicle self-sufficient also in terms of its energy supply, i.e. independent of external energy supply means during cargo transport. Between two cargo transport inputs, the at least one battery pack can be charged again in a suitable charging station. Furthermore, the drive energy required for the operation of the heavy-load transport modular vehicle can be provided in an environmentally friendly manner by using at least one battery pack according to the invention.

[0021] In a refinement of the invention, it is proposed that the control device can be switched between an individual mode and a collective mode. In this case, the individual mode allows the control of individual heavy load transport modular vehicles. As mentioned in particular at the beginning, the individual mode allows each considered heavy load transport modular vehicle to be placed in a predefined position below the load. Once all heavy load transport modular vehicles have been placed in the position below the load envisaged for these heavy load transport modular vehicles, it is possible to switch from the individual mode to the collective mode, whereby - as also mentioned at the beginning - a number of vehicles can then be controlled together as a vehicle group in order to transport the load.

[0022] In this connection, the invention further advantageously provides that the control device is configured and provided for in a synchronization phase after switching to collective mode to synchronize the heavy load transport module vehicle with other heavy load transport module vehicles.

[0023] For this purpose, the control device may further be associated with a surroundings detection unit, which is configured and designed to detect the distance and / or direction and / or identifier of at least one further heavy load transport module vehicle.

[0024] In this connection, it is furthermore advantageous if the communication device is configured and provided for receiving surrounding detection data of other heavy load transport module vehicles and forwarding said surrounding detection data to the control device, so that the heavy load transport module vehicle can determine its position in the entire heavy load transport module vehicle fleet, for example by trilateration and / or triangulation. This is advantageous, for example, when determining a specific steering angle based on a steering angle set for the complex is an issue.

[0025] It may furthermore be advantageous if the control device is further assigned a position detection unit, which is designed and arranged to detect the absolute position of the heavy-load transport module vehicle and / or the orientation of the heavy-load transport module vehicle in space. On the one hand, this makes it possible to align the heavy-load transport module vehicle according to a set orientation, for example so that the running direction of the heavy-load transport module vehicle points north. This is particularly advantageous when several heavy-load transport module vehicles are used simultaneously for one common load. Once all the heavy-load modules support a load, they can all be aligned according to a set orientation, so that their steering directions run parallel to one another. Starting from this "basic state", subsequent steering operations can then be carried out. On the other hand, this makes it possible to determine the absolute position of the heavy-load transport module vehicle and thus of the entire fleet in the surroundings, which, for example, in conjunction with the map data of the surroundings, makes it possible to move the fleet reliably, in particular collision-free, to the destination. In this connection, it may furthermore be advantageous if the control device of each heavy load transport module vehicle is further configured and provided to also obtain information regarding the positioning of the heavy load transport module vehicle relative to the cargo via a correspondingly arranged communication device.

[0026] The surroundings detection unit and / or the position detection unit may for example include one or more of the following commonly available units: A GNSS receiver (GNSS - Global Navigation Satellite System) can be used to determine the absolute position of the heavy-duty transport module vehicle, using signals in the L1 frequency band in a manner known per se, as well as a phase shift in the L5 frequency band to increase the accuracy of the localization. A compass and / or gyroscope may be used to further determine the orientation of the heavy load module vehicle relative to its surroundings. · Wi-Fi® and / or Bluetooth® may be used to determine the relative position and / or relative orientation of the heavy load transport modular vehicle to other heavy load transport modular vehicles in the fleet. In this case, the distance can essentially be determined using the RSSI (Received Signal Strength Indication) method, which has the drawback, however, that when the signal has to penetrate an object, the signal strength is excessively attenuated, so that the determined distance appears longer than it actually is.

[0027] This problem can be avoided, for example, by using the RTT (Round Trip Time) method, in which distance is determined by propagation time measurements.

[0028] Finally, the AoA (AoA-Angle of Arrival) method can be used to determine the direction in which adjacent heavy-duty transport module vehicles are located, but this method requires the use of an antenna array.

[0029] When using Bluetooth, a signal from an inquiring heavy-duty transport module vehicle may be sent back by one or more Bluetooth beacons of the responding heavy-duty transport module vehicle with a one-to-one corresponding identifier of the heavy-duty transport module vehicle, in which case, if at least two Bluetooth beacons are used, the relative orientation of the two heavy-duty transport module vehicles may also be determined.

[0030] All these methods are known per se and by suitable combination of these methods the relative positions of the heavy-duty transport modular vehicles of a group can be determined with an accuracy of less than 10 cm, preferably less than 5 cm.

[0031] That is, during the initialization phase of the collective mode, the heavy-load transport module vehicles can also determine their respective positions in the group, possibly relative to the load. This position plays an important role in the subsequent determination of the individual steering angles for the individual pairs of the axle arrangement. Furthermore, the heavy-load transport module vehicles can also be aligned with each other during this initialization phase, so that the steering directions of the heavy-load transport module vehicles all initially run parallel to each other. In this case, the directions can be set by an external control device.

[0032] The heavy-duty transport module vehicles can then be controlled together in the collective mode operating phase. This includes, on the one hand, a common behavior when driving straight and when driving around curves. As already mentioned, in this case, only the steering angle of the entire heavy-duty transport module vehicle fleet can be set from the outside, i.e. by an external control device, while the control device of the individual heavy-duty transport module vehicles determines the steering angle that is important for each heavy-duty transport module vehicle on the basis of the set fleet steering angle and its position within the fleet itself. In this case, it is of course advantageous to ensure that all heavy-duty transport module vehicles of the fleet use the same version of the calculation software.

[0033] Furthermore, when transporting goods, compensation for unevenness of the running surface must be taken into account. For this purpose, in the initialization phase of the collective mode, an average initial level for the height adjustment devices of the axle arrangement can be calculated and determined for all pairs of the axle arrangement. If the height adjustment devices are fluidic, in particular hydraulic, height adjustment devices, the corresponding initial axle pressures can also be determined and stored. If one of the heavy-load transport modular vehicles reaches the region of its extension limit during the operation phase of the collective mode, it informs the other heavy-load transport modular vehicles of this via the communication device. Furthermore, this can also be informed by an operator of the external control device as a preliminary warning. In this case, the central control device can detect the reaction of the individual components of the collective according to predetermined rules and transmit the corresponding individual settings to the individual heavy-load transport modular vehicles. Of course, this detection can also be carried out individually by each individual control device of the heavy-load transport modular vehicles. If the problem cannot be solved by a collective reaction, a corresponding warning message can be issued to the operator.

[0034] Compact construction and therefore high load-bearing density (t / m 2 It may further be envisaged that in order to obtain a load bearing area, all components are arranged within a substantially circular contour in plan view, the diameter of which is preferably at most 300 cm, more preferably at most 275 cm, even more preferably at most 220 cm.

[0035] For the sake of completeness it should now be further mentioned that the modular heavy load transport vehicle according to the invention is advantageously and preferably an unmanned modular heavy load transport vehicle.

[0036] It may further be noted that each axle group includes at least one wheel, where the wheel, or at least one of the wheels, may include twin tires.

[0037] In a second aspect, the invention relates to a plurality of transport vehicles for heavy load transport modular vehicles according to the invention, with one accommodation unit per heavy load transport modular vehicle.

[0038] Modular vehicles for transporting heavy loads of the type according to the invention are generally used for individual special transport purposes, because they must be delivered to the respective site of use and removed again after the transport task has been completed. For this purpose, the transport vehicle according to the invention can be used, for example.

[0039] In order to be able to accommodate as many heavy load transport modular vehicles as possible on the transport vehicle, it is proposed that at least two storage compartments are arranged one above the other in the height direction.

[0040] Basically, it is conceivable to use a heavy-duty forklift so that the heavy-duty modular vehicle can be introduced into at least one upper storage compartment and possibly also into the lowest storage compartment. However, in this case, the heavy-duty forklift also has to be delivered to the use site for this purpose and removed again from there. Therefore, according to the invention, the transport vehicle preferably has at least one lifting device, which is designed and arranged to lift the heavy-duty modular vehicle arranged in the lowest storage compartment into one or more upper storage compartments. Of course, the heavy-duty modular vehicle can be lowered from each storage compartment of the heavy-duty modular vehicle into the lowest storage compartment by means of the lifting device.

[0041] In this connection, but also generally, it is further proposed that at least one, preferably a number of, and more preferably all of the receiving compartments are assigned at least one fixing element, which is formed and arranged for fixing the heavy-load-transporting module vehicle arranged in each receiving compartment in the receiving compartment. After the heavy-load-transporting module vehicle has been lifted, this fixing element can engage the heavy-load-transporting module vehicle, for example from below, and possibly cooperate with at least one further fixing element to hold it in the receiving compartment, while the lifting device is lowered again to lift another heavy-load-transporting module vehicle. Additionally, the fixing element can also fix the heavy-load-transporting module vehicle for transport by the transport vehicle.

[0042] In a refinement of the second aspect of the invention, it may be provided that at least one storage section of the transport vehicle, including the storage compartment, is lowerable to the ground, which allows a heavy-load-transporting modular vehicle arranged in the lowest storage compartment to enter or leave the storage compartment without external assistance, i.e. using only the vehicle's own drive.

[0043] In this connection, but also generally, it is advantageous if the lowest storage compartment has a lateral opening in the direction of travel of the transport vehicle, which opening is designed in such a way that a heavy-load-transporting modular vehicle can be moved into or out of the storage compartment through this opening, in this way allowing the heavy-load-transporting modular vehicle to be easily moved into or out of the storage compartment at the side.

[0044] In order to be able to arrange as many heavy load transport modular vehicles as possible on the transport vehicle, it is further proposed that at least two storage compartments are arranged one behind the other in the longitudinal direction of the transport vehicle.

[0045] With regard to transport via the public road network, it is furthermore advantageous if the transport vehicle's accommodation section, at least including the accommodation compartment, does not exceed the dimensions of an ISO standard container.

[0046] In a refinement of the second aspect of the invention, it may further be provided that the transport vehicle is configured as a free-wheeling vehicle which can be brought into a towing connection, for example via a swan neck, with a towing vehicle not belonging to the transport vehicle.

[0047] Furthermore, the transport vehicle may have an energy supply unit for charging the battery pack of the heavy load transport modular vehicle.

[0048] Although one embodiment of the transport vehicle has been described above, in which the heavy-load-transporting modular vehicle is arranged in the receptacle of the transport vehicle in its normal operating position, i.e. with a substantially horizontal load-bearing surface, it is mentioned here for the sake of completeness that in principle other embodiments are also conceivable. Only by way of example, the heavy-load-transporting modular vehicle may be arranged in the receptacle with a substantially vertical load-bearing surface. In this case, swivel devices are required instead of lift devices, which grip the heavy-load-transporting modular vehicle and swivel it from its normal, i.e. with a substantially horizontal load-bearing surface, operating position to a transport position with a substantially vertical load-bearing surface.

[0049] In a third aspect, the invention relates to a storage compartment for such a transport vehicle.

[0050] The invention will now be described in more detail with reference to one embodiment thereof with reference to the accompanying drawings, in which: FIG. [Brief description of the drawings]

[0051] [Figure 1] 1 is a partially schematic perspective view of a heavy-load-transporting modular vehicle according to the present invention, seen obliquely from below; [Diagram 2] FIG. 2 is a schematic diagram showing the heavy load transport modular vehicle shown in FIG. 1 as seen from below. [Diagram 3] FIG. 2 is a side view showing a number of modular heavy load transport vehicles according to the present invention arranged under a load. [Figure 4] FIG. 2 is a perspective view of a fully loaded transport vehicle according to the invention, used for transporting a number of heavy load transport modular vehicles according to the invention; [Diagram 5] FIG. 5 is a view similar to FIG. 4, showing the transport vehicle in a partially unloaded state. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0052] In Fig. 1, a heavy load transport modular vehicle according to the invention is generally indicated with the reference number 100. The heavy load transport modular vehicle 100 comprises a frame 102, which is suggested in Fig. 1 in the form of a dashed cylinder. Only a part of the upper bulkhead 102a of the frame 102 is shown in substance. This bulkhead 102a forms the actual frame in which the other components of the heavy load transport modular vehicle 100, which are further described below, are arranged. Furthermore, the frame 102 further comprises a peripheral wall 102b, which only serves the function of lining the heavy load transport modular vehicle 100.

[0053] The heavy load transport modular vehicle 100 has a height direction H, a lateral direction Q, and a longitudinal direction L which extend perpendicularly to each other in pairs.

[0054] Two drivable axle groups 104, 106 are arranged on the underside of the upper bulkhead 102a of the frame 102 so as to be non-rotatable relative to one another with respect to rotation about a direction extending parallel to the height axis H. In other words, the frame 102 forms a support 108 for the two axle groups 104, 106. Furthermore, a non-driven supporting axle group 110 is also arranged on the underside of the upper bulkhead 102a of the frame 102 so as to be rotatable about an axis X extending parallel to the height axis H via a turntable 112.

[0055] A turntable 114 is arranged on the upper surface of the upper bulkhead 102a of the frame 102, which itself supports a load-bearing unit 116 with a load-bearing surface 116a. Via the turntable 114, the load-bearing unit 116 and the frame 102 can rotate relative to each other about an axis Y (see FIG. 2) extending parallel to the height axis H. In order to ensure a stable support of the cargo, the value of the diameter d of the turntable 114 is at least ¼, preferably at least ½, of the value of the diameter D of the frame 102. In this case, the diameter D can be, for example, up to 300 cm, preferably up to 275 cm, more preferably up to 220 cm. In this case, a width of up to 220 cm has the advantage that the heavy-load-transporting modular vehicle 100 can even be placed in an ISO-standard container.

[0056] As further shown in Figure 2, the axles 104a and 106a of the axle groups 104, 106 extend through the axis of rotation Y. In order to ensure a reliable upright positioning of all three axle groups 104, 106, 110 on the ground or running surface U (see Figure 3), the mass distribution of the components of the heavy load transport modular vehicle 100 is selected such that the centre of gravity S of the heavy load transport modular vehicle 100 extends, on the side of the axles 104a and 106a of the axle group 104 or 106 facing the supporting axle group 110, preferably within a distance s of at least 5 cm, more preferably at least 10 cm.

[0057] It should be further noted here that the axle groups 104, 106, 110 all have two wheels 104b, 106b, 110b in the embodiment shown, with the wheels of the axle groups 104 and 106 having twin tires and the wheels of the axle group 110 having a single tire. In order to save construction space, the wheels of the axle group 110 further have a smaller diameter than the wheels of the axle groups 104 and 106.

[0058] 2 further shows the components required for operation of the heavy load transport modular vehicle 100, namely a hydraulic unit 120, a battery pack 122, a brake unit 124 supplying brake pressure to the brakes of the axle groups 104, 106 and possibly 110, an electric unit 126, as well as a control device 128 and a communication device 130. All these components are preferably located completely inside the contour of the frame 102, i.e. inside the lining 102b.

[0059] In the present invention, the control device 128 is used to control the drive motors of the drivable axle arrangements 104, 106. If both drive motors are driven in the same direction and at the same speed, the heavy load transport module vehicle 100 moves in a straight line. If both drive motors are driven at different speeds or even in opposite directions, the heavy load transport module vehicle 100 will drive around a curve or even turn on the spot.

[0060] The drive motors of the drivable axle arrangements 104 , 106 may be electric motors supplied with electrical current from a battery pack 122 or hydraulic motors supplied with hydraulic fluid from a hydraulic unit 120 .

[0061] Furthermore, the communication device 130 is used for two-way data exchange with the control device 128 on the one hand and for two-way communication with at least one other heavy load transport module vehicle of substantially identical construction and / or an external control device on the other hand.

[0062] As shown in particular in Fig. 1, all axle groups 104, 106, 110 are configured to be height adjustable with respect to the frame 102. This allows the heavy-load transport modular vehicle 100 to travel with a load lowered and then to lift the load by jointly adjusting the height of the axle groups 104, 106, 110, as will be explained in more detail below. This height adjustment also makes it possible to adjust to unevenness of the ground U (see Fig. 3) when transporting a load together with another identically or at least similarly constructed heavy-load transport modular vehicle 100. In this case, the height adjustment can be performed fluidically, in particular hydraulically, or by means of an electric motor.

[0063] Since the heavy-duty transport module vehicle is generally used for special transport, it is necessary to deliver the heavy-duty transport module vehicle to the site of use and to remove it again after the transport task is completed. For this purpose, for the heavy-duty transport module vehicle 100 according to the present invention, for example, the transport vehicle 150 according to the present invention shown in Figures 4 and 5 can be used.

[0064] The transport vehicle 150 has a storage section 152 capable of accommodating a number of heavy-load transporting modular vehicles 100, a swan-neck section 154 capable of coupling the transport vehicle to a towing vehicle, and a running gear section 156. In this case, the connection of the storage section 152 to the swan-neck section 154 on the one hand and to the running gear section 156 on the other hand have lifting means (not shown separately, as they are known per se) by means of which the storage section 152 can be lowered to the ground.

[0065] The storage section 152 in the illustrated embodiment has a total of nine storage compartments 152a, i.e. three stacks arranged one behind the other in the running direction, each having three storage compartments 152a arranged one above the other in the height direction, although it is clear that the storage section 152 can also have any other number of stacks and any other number of storage compartments 152a per stack.

[0066] Each bottom receptacle 152a of each stack has a lateral opening 152b through which the heavy load transport modular vehicle 100 can exit from or enter into the respective receptacle 152a. In this connection, FIG. 5 shows the heavy load transport modular vehicle 100-1 just exiting one of the receptacles 152a.

[0067] In order to allow the modular vehicle arranged in the upper storage section 152a to also exit laterally from the storage section 152, the storage section 152 has four lifting devices 158, two of which are arranged at the ends of the three stacks of the storage section 152a and two of which are arranged between these stacks. Each lifting device 158 has a lifting fork or a lifting plate 158a, via which the lifting devices 158 can engage with the modular vehicle from below. The modular vehicle 100 can thus be raised or lowered by operating the two lifting devices 158 assigned to one of the stacks of the storage section 152a. This is shown in FIG. 5 for the modular vehicle 100-2.

[0068] Once the heavy-load-transporting module vehicle 100 has been placed in the storage section 152a assigned to it, it can be fixed there by means of a fixing member 160 (only indicated diagrammatically in FIG. 4 ) so that the lift device 158 can be transferred to another heavy-load-transporting module vehicle 100. The fixing member 160 is advantageously also used for fixing the transport position of the heavy-load-transporting module vehicle 100 in the storage section 152a.

[0069] It should be noted that the lift forks or lift plates 158a of the lift device 158 positioned between the stacks in the storage section 152a can rotate by 180°, so that the lift forks or lift plates 158a can operate two adjacent stacks.

[0070] It should further be noted that since the storage section 152 preferably does not exceed the dimensions of an ISO standard container, the storage section 152 can be transported, for example, by truck or railroad flatcar, regardless of the swan neck section and running gear section.

[0071] Finally, it should be noted that the transport vehicle 150 may further comprise at least one energy supply unit 162 for charging the battery pack 122 of the heavy load transport module vehicle 100. In this case, the energy supply unit 162 may be arranged in the swan neck section 154, as indicated diagrammatically in FIG. 4. However, it is also possible, additionally or alternatively, to arrange the energy supply unit 162 in the running gear section 156 and / or in one of the receptacles 152a of the receptacle section 152.

[0072] The operation of the modular heavy-duty vehicle according to the invention will now be described in more detail.

[0073] When the heavy-load transport modular vehicle 100 is delivered to the use site by the transport vehicle 150 (situation shown in FIG. 4), it is then necessary to move the heavy-load transport modular vehicle 100 to the cargo 180 (see FIG. 3) to be transported. For this purpose, the heavy-load transport modular vehicle 100 is lowered one after another into the lowest storage section 152a of each stack (unless the heavy-load transport modular vehicle 100 is already located in this lowest storage section 152a) by using the lift device 158 assigned to each stack.

[0074] When the heavy-load transport modular vehicle 100 is located in the lowest receptacle 152a, the heavy-load transport modular vehicle 100 is started up. The control device 128 of the heavy-load transport modular vehicle 100 is then switched to an individual mode, which allows the heavy-load transport modular vehicle 100 to be moved independently of the other heavy-load transport modular vehicles, for example by means of a wireless remote control device communicating with the control device 128 via the communication device 130. In this way, each heavy-load transport modular vehicle 100 can be moved by itself to its assigned place under the cargo 180. Then, via the height adjustment of the axle arrangements 104, 106, 110, the load-supporting unit 116 can be raised until the load-supporting surface 116a of the load-supporting unit 116 rests flatly against the underside of the cargo 180.

[0075] If necessary, the supporting axle arrangement 110 can be raised, since it only needs to be designed for the weight of the heavy-load-transporting modular vehicle 100 and not for the support of a larger load. In this case, the remaining heavy-load-transporting modular vehicle 100 is stabilized by surface contact with the cargo 180.

[0076] When all of the heavy load handling modular vehicles 100 are positioned under the cargo 180 at their assigned locations, their controllers 128 are all switched to collective mode.

[0077] In the synchronization phase of the collective mode, each heavy load transport module vehicle 100 detects on the one hand where and in what orientation it is located with respect to the external environment. For this, systems known per se can be used, such as, for example, a GNSS receiver (GNSS - Global Navigation Satellite System) or a compass. These systems can be part of a position detection unit 132 associated with the control device 128. On the other hand, each heavy load transport module vehicle 100 detects in the synchronization phase the direction, distance and possibly orientation in which the other heavy load transport module vehicles 100 are located. In this case, the one-to-one corresponding identifiers of the other heavy load transport module vehicles 100 are also detected. For this, for example, Wi-Fi and / or Bluetooth and / or similar systems can be used. The abovementioned systems can be part of an environment detection unit 134 associated with the control device 128.

[0078] Once the surrounding detection and position detection are completed, the detection results are transmitted to and received by the other heavy load transport modular vehicles 100 via the communication device 130. Based on these data, each heavy load transport modular vehicle 100 can determine the exact composition of the group and its own position within the group, which can serve as the basis for control during the cargo transport, i.e. during the driving phase in collective mode. For this, it is merely necessary that all heavy load transport modular vehicles 100 use the same software. To ensure this, the version number of the software used can advantageously also be transmitted.

[0079] Furthermore, it would be advantageous if the position of the cargo relative to the fleet could also be determined, which would facilitate collision avoidance during cargo transport.

[0080] During the transport of goods, the heavy-load transport modular vehicles 100 constantly exchange operating data with each other, so that critical situations can already be recognized in advance and appropriate measures can be taken. For example, the heavy-load transport modular vehicles 100 can transmit the current state of extension of their axle groups 104, 106 and possibly 110. If one of the heavy-load transport modular vehicles 100 reaches the region of its extension limit, it informs the other heavy-load transport modular vehicles 100 of this. Furthermore, this can also be informed as a preliminary warning to the operator of the external control device. In this case, the central control device can detect the reaction of each individual component of the group according to predefined rules and transmit the corresponding individual settings to the individual heavy-load transport modular vehicles 100. Of course, this detection can also be carried out individually by each individual control device 128 of the heavy-load transport modular vehicles 100. If the problem cannot be solved by all the reactions, a corresponding warning message can be issued to the operator.

Claims

1. A heavy-duty transport module vehicle (100), - A single common support (108) is provided with axles that are aligned with each other, and with respect to pivotal motion about an axis extending in the height direction (H) of the support (108), there are at least one pair of axle configurations (104, 106) that are arranged in a way that prevents them from pivoting relative to the support (108) and are independently drivable, - A load-supporting unit (116) having a load-supporting surface (116a), wherein the support (108) is rotatably coupled to the load-supporting unit (116) about a rotation axis (Y) extending perpendicular to the load-supporting surface (116a), A control device (128) formed and defined to control at least one drive unit of each of the drivable axle configurations (104, 106), - A communication device (130) formed and defined to communicate bidirectionally with at least one other heavy-lift transport module vehicle and / or a higher-level external control device having substantially the same structure, It has, The communication device (130) is further configured and defined to exchange data bidirectionally with the control device (128) in a heavy-duty transport module vehicle (100).

2. A heavy-duty transport module vehicle according to claim 1, further comprising another axle group (110) arranged on the support (108) so as to be rotatable about a pivot axis extending in the height direction of the support (108).

3. The heavy-duty transport module vehicle according to claim 2, wherein the drivable axle configuration group (104, 106) and the other axle configuration group (110) are arranged on opposite sides of a plane that first extends parallel to the axles of the drivable axle configuration group (104, 106), second extends in the height direction (H) of the support (108), and third extends through the center of gravity (S) of the heavy-duty transport module vehicle (100).

4. The heavy-duty transport module vehicle according to claim 2 or 3, wherein the other axle configuration group (110) is a non-driveable axle configuration group.

5. The heavy-duty transport module vehicle according to claim 2, wherein one or more wheels (110b) of the other axle configuration group (110) have a smaller diameter than the wheels (104b, 106b) of the driven axle configuration group (104, 106).

6. All of the axle configurations (104, 106, 110) are formed to be height-adjustable relative to the frame, as described in claim 1, for the heavy-duty transport module vehicle.

7. The load support unit (116) is coupled to the support (108) via a turntable (114), for example, a rolling element turntable, and the diameter (d) of the turntable (114) is preferably at least 25%, and more preferably at least 50%, of the maximum outer dimension (D) of the heavy load transport module vehicle (100) determined in the horizontal direction in a load-supported state, as described in claim 1.

8. The heavy-lift transport module vehicle according to claim 1, further comprising at least one battery pack (122), the battery pack (122) preferably positioned substantially entirely inside the contour of the support (108).

9. The heavy-duty transport module vehicle according to claim 1, wherein the control device (128) is switchable between individual mode and group mode.

10. The heavy-lift transport module vehicle according to claim 9, wherein the control device (128) is configured and defined to synchronize the heavy-lift transport module vehicle (100) with another heavy-lift transport module vehicle during the synchronization phase after switching to the group mode.

11. A surrounding detection unit (134) is correspondingly positioned to the control device (128), and the surrounding detection unit (134) is formed and defined to detect the distance and / or direction and / or identifier of at least one other heavy load transport module vehicle, according to claim 1.

12. The heavy-duty transport module vehicle according to claim 1, wherein the communication device (130) is configured and defined to receive surrounding detection data from another heavy-duty transport module vehicle and to transfer the surrounding detection data to the control device (128).

13. The heavy-lift transport module vehicle according to claim 1, wherein a position detection unit (132) is further arranged in correspondence with the control device (128), and the position detection unit (132) is formed and defined to detect the absolute position and / or the orientation of the heavy-lift transport module vehicle in space.

14. The heavy-duty transport module vehicle according to claim 1, wherein all components are arranged within a substantially circular contour when viewed in plan, the diameter (D) of the contour being preferably up to 300 cm, more preferably up to 275 cm, and even more preferably up to 220 cm.

15. A transport vehicle (150) for a plurality of heavy-duty transport module vehicles (100) according to claim 1, wherein each of the heavy-duty transport module vehicles (100) has one storage section (152a).

16. The transport vehicle according to claim 15, wherein at least two of the storage sections (152a) are arranged in a vertically oriented manner in the height direction.

17. The transport vehicle according to claim 16, wherein the transport vehicle has at least one lift device (158), the lift device (158) being formed and defined to lift the heavy transport module vehicle (100) located in the lowest housing section (152a) into one or more upper housing sections (152a).

18. The transport vehicle according to claim 15, wherein at least one position-fixing member (160) is provided in correspondence with at least one of the housing sections (152a), preferably a plurality of the housing sections (152a), and more preferably all of the housing sections (152a), and the position-fixing member (160) is formed and defined to fix the position of the heavy object transport module vehicle (100) disposed within each of the housing sections (152a) within the housing section (152a).

19. The transport vehicle according to claim 15, wherein at least one storage section (152) of the transport vehicle (150), including the storage section (152a), is lowerable toward the ground (U).

20. The lowermost storage section (152a) has a lateral opening (152b) with respect to the direction of travel of the transport vehicle (150), the opening (152b) being designed to allow one heavy-duty transport module vehicle (100) to enter into the storage section (152a) through the opening (152b) or to exit from the storage section (152a), as described in claim 15.

21. The transport vehicle according to claim 15, wherein at least two of the storage sections (152a) are arranged in a sequential order in the longitudinal direction of the transport vehicle (150).

22. The transport vehicle (150), wherein at least the storage section (152) including the storage section (152a) does not exceed the dimensions of an ISO standard container, as described in claim 15.

23. The transport vehicle according to claim 15, wherein the transport vehicle is formed as a coasting vehicle that can be brought into a towing coupling state with a towing vehicle not belonging to the transport vehicle (150), for example via a swan neck (154).

24. The transport vehicle according to claim 15, wherein the transport vehicle has an energy supply unit (162) for charging the battery pack (122) of the heavy object transport module vehicle (100).

25. A storage compartment (152) for a plurality of heavy transport module vehicles according to claim 1, wherein each of the heavy transport module vehicles (100) has one storage section (152a).

26. Furthermore, the storage compartment according to claim 25, having at least one of the features of the storage compartment described in any one of claims 16 to 18, 20 to 22, and 24.

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