unmanned transport system

Abstract

An unmanned transport system comprising a chassis (1), a driving wheel (2), and a jockey wheel (3) is disclosed, wherein a longitudinally arranged floating shaft (4) is pivotally connected to the chassis (1) at a connection point (5) assigned in each case on each of the first side of the chassis (1) and the second side of the chassis (1) opposite the first side, the driving wheel (2) is positioned at one end of each floating shaft (4), and the jockey wheel (3) is positioned at the opposite end of each floating shaft (4), and the unmanned transport system further has a transversely arranged floating shaft (6), which is transversely aligned with the two longitudinally arranged floating shafts (4) and is pivotally or fixedly connected to the chassis (1) at an assigned connection point (5), and the jockey wheel (3) is positioned at each end of the transversely arranged floating shaft (6).

Description

Technology Field

[0001] The present invention relates to an unmanned transport system. Background Technology

[0002] Automated transport systems are known in themselves and are used, for example, in manufacturing companies to transfer parts, containers, or other transported items from one work station to the next or from a storage area to a work station.

[0003] An unmanned transport system typically includes a support chassis and a structure connected to the chassis to enable transport of goods, such as a loading surface or a work surface. For the purpose of driving, the transport system typically includes wheels driven by motors, such as electric motors, and often also additional non-driven jockey wheels.

[0004] For example, this type of transport system may include a driving wheel located at the center and be supported by four rollers attached at the corners. Then, the four support rollers are rotatably mounted on a part that is typically fixed to the chassis.

[0005] In the case of this type of vehicle, since the vehicle is supported on fixedly mounted wheels, the driving wheels may lose contact with the ground due to conditions of the surface (holes, furrows, unevenness).

[0006] Similar behavior can occur in the case of slopes. The greater the gradient angle and the distance between the front and rear jack wheels, the greater the likelihood that the driving wheels will lose contact with the ground.

[0007] Since all wheels are fixedly connected to the chassis, on smooth roads, the total weight is distributed across all, say, six wheels. As soon as the surface becomes uneven, this balance can be disrupted and cause a reduction in static friction on the wheels. This can cause the wheels to rotate.

[0008] Furthermore, conventional undercarriages cannot compensate for shocks absorbed through the material. Rigidly mounted jack wheels absorb undamped shocks and transmit them to the vehicle's chassis. As a result, damage may occur to both the vehicle's hardware and the transported goods. The problem to be solved

[0009] One objective of the present invention is to improve the unmanned transport system in this regard and to embody an unmanned transport system that allows the driving wheels to maintain permanent ground contact, especially when the ground is uneven and sloped, and also better compensates for or dampens shocks. means of solving the problem

[0010] The above objective is achieved by an unmanned transport system comprising a chassis, driving wheels and a jockey wheel, wherein, on each of the first side of the chassis and the second side of the chassis opposite to the first side, a longitudinally arranged floating axis is pivotally connected to the chassis at a connection point assigned in each case, the driving wheels are positioned at one end of each floating axis, and the jockey wheel is positioned at the opposite end of each floating axis, and the unmanned transport system additionally has a transversely arranged floating axis, which is transversely aligned with the two longitudinally arranged floating axes and is also pivotally or fixedly connected to the chassis at a connection point assigned, and the jockey wheel is positioned at each end of the transversely arranged floating axis.

[0011] According to the present invention, two floating axles are used to support the driving wheels and the jack wheels in each case. The orientation of these floating axles and thus the orientation of the driving wheels and the jack wheels, which are positioned front and back relative to each other, defines the longitudinal axis of the transport system to some extent. The normal forward movement of the transport vehicle occurs in the direction of the "longitudinally positioned" floating axles.

[0012] By connecting one driving wheel to the jack wheel in each case using an individually assigned floating axis, each driving wheel can have ground contact even on uneven and steep terrain.

[0013] An additional individual floating shaft is provided for two additional jack wheels and extends transversely to the two other floating shafts, that is, substantially longitudinally, as a connection between the two floating shafts, and preferably perpendicularly thereto. Consequently, these two jack wheels also have ground contact even when the ground is uneven. According to one embodiment, the transversely positioned floating shaft may also be fixedly connected to the chassis.

[0014] The use of two driving wheels is sufficient to drive the conveying system. However, in a further embodiment of the present invention, some or all of the wheels referred to as "jack wheels" may be driven. Therefore, each individual or all "jack wheels" may also constitute "driving wheels" in addition to the minimum required driving wheels.

[0015] Due to the geometric arrangement of three floating axes (one positioned along the transverse axis and two along the longitudinal axis), the driving wheels and jack wheels can have permanent ground contact under typical ground conditions. This arrangement also allows for shock compensation, which has a positive effect on the service life of the hardware. Additionally, due to the achieved damping, the transported goods are protected from damage caused by vibration or undesirable slippage.

[0016] By arranging three floating axles (one positioned transversely, preferably at the front of the vehicle, and two positioned longitudinally), the transport vehicle can handle uneven terrain and slopes of up to 7%, depending on the design, without the driving wheels losing contact with the ground.

[0017] Further improvements to the present invention are embodied in the dependent claims, description, and accompanying drawings.

[0018] Preferably, at least during normal operation, when the conveying system moves in the forward direction, the two floating axes arranged in the longitudinal direction are oriented to be parallel to each other.

[0019] The floating axis arranged in the transverse direction is preferably oriented perpendicular to two floating axes arranged in the longitudinal direction.

[0020] The floating axis arranged transversely is preferably located at the front of the conveying system and thus forms the front axis of the conveying system.

[0021] The driving wheels of the longitudinally positioned floating axle are preferably positioned at the ends of the floating axle that are closer to the transversely positioned floating axle. The driving wheels are preferably positioned close to the center of the transport vehicle in the longitudinal direction.

[0022] The four jack wheels of the three floating axles preferably form a rectangle.

[0023] The chassis is preferably rectangular. In this case, special cases of a square are also included in the "rectangular" specification.

[0024] Four jack wheels are preferably located at the corners of the chassis or transport vehicle.

[0025] Each connection point of a longitudinally arranged floating shaft that is pivotally connected to the chassis is preferably located closer to each driving wheel of the floating shaft than to each jack wheel of the floating shaft. The connection point may also be located at the center of each floating shaft.

[0026] According to one embodiment of the present invention, a jack wheel of a floating axis arranged longitudinally and / or a jack wheel of a floating axis arranged transversely is designed to be steerable. Each jack wheel is steerable in that it can passively take a steering position, that is, in that it can form an angle with respect to linear movement, and / or each jack wheel is actively steerable, that is, it can actively move to a steering position. The steerable jack wheel can preferably also be driven, that is, it can form an additional driving wheel.

[0027] The present invention will be described exemplarily below with reference to the drawings. Brief explanation of the drawing

[0028] FIG. 1 is a schematic diagram of an unmanned transport system not according to the present invention, viewed from below. FIGS. 2a and 3a are schematic side views of an unmanned transport system not according to the present invention in different driving situations. FIG. 4a is a schematic diagram of an unmanned transport system not according to the present invention in additional driving conditions, viewed from the front. FIGS. 2b and 3b are schematic side views of an unmanned transport system according to the present invention in a driving situation according to FIGS. 2a and 2b. FIG. 4b is a schematic diagram of an unmanned transport system according to the present invention viewed from the front in an additional driving situation according to FIG. 4a. FIG. 5 is a schematic diagram of an unmanned transport system according to the present invention viewed from below. Specific details for implementing the invention

[0029] FIG. 1 is a bottom view of an unmanned transport system not according to the present invention.

[0030] The transport system of FIG. 1 includes a chassis (1), on which two center-position driving wheels (2) are positioned at the sides and at the center along the length of the transport system. Additionally, the transport system includes four jockey wheels (3) or support rollers positioned at the corners of the transport system. The driving wheels (2) and the jockey wheels (3) are fixedly connected to the chassis (1).

[0031] A transport system of FIG. 1 not according to the present invention is shown in FIG. 2a and 3a as viewed from the side in a different problematic driving situation, and is also shown in FIG. 4a as viewed from the front.

[0032] For comparison, the vehicle according to the present invention is shown in FIGS. 2b, 3b, and 4b as viewed from the side in each case under the same driving conditions.

[0033] The advantageous effect of the substructure or transport system according to the present invention is obtained by a combination of three floating axes (4, 6). The front floating axis (6) arranged transversely and the rear floating axis (4) arranged longitudinally are first considered individually in FIGS. 2b, 3b, and 4b, and then their interaction is described.

[0034] FIGS. 2 and 3, which compare the conventional technology with the newly developed substructure, show the optimized driving behavior achieved by the rear floating axis (4).

[0035] Therefore, the rear axle can compensate for changes in the ground (see FIGS. 2a and 2b) and also perform vertical movement. As a result, permanent ground contact and damping of impact are achieved for all wheels (2, 3). The substructure also enables handling larger inclines without premature settling on the jack wheel (3) or loss of ground contact for the driving wheel (2) (see FIGS. 3a and 3b).

[0036] FIG. 4 compares the prior art (Fig. 4a) with a new substructure of the front axle (Fig. 4b). Unevenness of the ground, such as holes, can be compensated for by a substructure mounted at the center at the front (Fig. 4b). By means of the floating axle (6), the jack wheel (3) can perform vertical movement and thus enter into a hole in the road. In this case, the jack wheel (3) on the opposite side remains on the ground. In contrast, in the case of a rigid front axle or a fixedly mounted jack wheel (3), the drive wheel (2) will not enter the hole but will lose ground contact (Fig. 4a). As a result, unstable driving behavior will occur. Slight unevenness or objects on the road will also be transmitted to the vehicle chassis without damping. For clarity, it should be noted here that the floating axle (6) connecting the two jack wheels (3) is preferably designed as a rigid element.

[0037] As a result of the combination of the arrangement of three floating axles (4, 6) in an unmanned transport system, permanent road contact of all wheels (2, 3) can be ensured in the case of ramps or uneven roads. Additionally, damping is achieved without the use of shock absorbers.

[0038] Therefore, an unmanned transport system according to the present invention (e.g., shown in FIG. 5 as viewed from above) comprises a chassis (1), a driving wheel (2) and a jack wheel (3), and on each of the first side of the chassis (1) and the second side of the chassis (1) opposite the first side, a longitudinally arranged floating shaft (4) is pivotally connected to the chassis (1) at a connection point (5) assigned in each case, the driving wheel (2) is positioned at one end of each floating shaft (4), and the jack wheel (3) is positioned at the opposite end of each floating shaft (4), and the unmanned transport system additionally has a transversely arranged floating shaft (6), which is transversely aligned with the two longitudinally arranged floating shafts (4) and is also pivotally connected to the chassis (1) at an assigned connection point (5), and the jack wheel (3) is positioned at each end of the transversely arranged floating shaft (6).

[0039] Two floating axes (4) arranged in the longitudinal direction are oriented parallel to each other, and a floating axis (6) arranged in the transverse direction is oriented perpendicular to the two floating axes (4) arranged in the longitudinal direction.

[0040] The driving wheels (2) of the floating shaft (4) arranged in the longitudinal direction are each positioned at the end of the floating shaft (4) that is closer to the floating shaft (6) arranged in the transverse direction, that is, at the "front" of the transport system, and thus closer to the center of the vehicle in the longitudinal direction.

[0041] The floating shaft (6) arranged in the transverse direction is located at the front of the transport system and thus forms the front axis of the transport system. The floating shaft (4) arranged in the longitudinal direction forms the rear axis of the transport system.

[0042] The chassis (1) is rectangular.

[0043] The four jack wheels (3) of the three floating axles (4, 6) form a rectangle together.

[0044] Four jack wheels (3) are located at the corners of the chassis (1).

[0045] Each connection point (5) of the floating shaft (4) arranged longitudinally and pivotably connected to the chassis (1) is located closer to each driving wheel (2) of the floating shaft (4) than to each jack wheel (3) of the floating shaft (4).

[0046] By structurally integrating three floating axles (4, 6) in an unmanned transport system, better characteristics regarding the driving behavior of the transport system can be obtained, as described. Three axles (4, 6) are used, and the wheels (2, 3), that is, all wheels of the transport system, are connected to the chassis (1) at three points, specifically at the connection point (5). This ensures that all (6) wheels are always on the ground / surface. The lifting of the wheels will be possible only in extreme situations, or only when the road pothole is deep enough to exceed the structurally or mechanically possible vertical / compensated lift of the floating axles. In practice, this can occur, for example, if one wheel entering a deep bump in the road causes a large upward deflection of the wheel positioned on the opposite side of the floating axle, causing the opposite wheel to hit the chassis, which is already typically positioned above the wheel.

[0047] By means of floating axles (4, 6), both the driving wheel (2) and the jack wheel (3) can perform vertical movement in both directions, and as a result, can compensate for unevenness on the road under normal conditions. This driving behavior is possible only by the combination of three floating axles. Explanation of the symbols

[0048] 1 chassis 2 drive wheels 3 jack wheels 4. Floating axis positioned in the longitudinal direction 5 connection points 6. Floating axis arranged transversely

Claims

Claim 1 An unmanned transport system comprising a chassis (1), a driving wheel (2), and a jockey wheel (3), wherein a first floating axis is located on a first side of the chassis (1) and a second floating axis is located on a second side of the chassis (1) opposite to the first side, and each of the first and second floating axes (4) arranged longitudinally are pivotally connected to the chassis (1) at first and second connection points (5) assigned in each case, the driving wheel (2) is positioned at one end of each of the first and second floating axes (4), and the jockey wheel (3) is positioned at the opposite end of each of the first and second floating axes (4), and the unmanned transport system further has a third floating axis (6) arranged transversely, the third floating axis (6) is aligned transversely with respect to the first and second floating axes (4) arranged longitudinally and is also assigned An unmanned transport system pivotally connected to a chassis (1) at a connection point (5), a jack wheel (3) is positioned at each end of a third floating axis (6) arranged transversely, all wheels of the unmanned transport system are connected to the chassis at three points, and the first, second, and third floating axes are structurally integrated through a structural integration element. Claim 2 An unmanned transport system according to claim 1, wherein, at least during normal operation, when the unmanned transport system moves in a forward direction, the first and second floating axes (4) arranged longitudinally are oriented parallel to each other and / or the third floating axis (6) arranged transversely is oriented perpendicular to the first and second floating axes (4) arranged longitudinally. Claim 3 An unmanned transport system according to claim 1, wherein the driving wheels (2) of the first and second floating axles (4) arranged in the longitudinal direction are respectively arranged at the ends of the first and second floating axles (4) that are closer to the third floating axle (6) arranged in the transverse direction. Claim 4 In claim 1, the third floating axis (6) arranged in the transverse direction is located in the front part of the unmanned transport system and thus forms the front axis of the unmanned transport system. Claim 5 An unmanned transport system according to claim 1, wherein four jack wheels (3) of the first, second, and third floating axes (4, 6) form a rectangle. Claim 6 In claim 1, the chassis (1) is rectangular, an unmanned transport system. Claim 7 In claim 6, an unmanned transport system in which four jack wheels (3) are positioned at the corners of the chassis (1). Claim 8 An unmanned transport system according to claim 1, wherein each connection point (5) of the first and second floating axes (4) arranged longitudinally and pivotably connected to the chassis (1) is located closer to each driving wheel (2) of the first and second floating axes (4) than to each jack wheel (3) of the first and second floating axes (4). Claim 9 An unmanned transport system according to any one of claims 1 to 8, wherein the jack wheels (3) of the first and second floating axles (4) arranged in the longitudinal direction and / or the jack wheels (3) of the third floating axle (6) arranged in the transverse direction are designed to be steerable.

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