DRIVERLESS TRANSPORT VEHICLE WITH ENHANCED MAINTAINABILITY

Abstract

The invention relates to a driverless transport vehicle (1), particularly an automatically guided vehicle, for transporting payloads, specifically a material transport vehicle in a factory, with a payload lifting device (2). To improve ease of maintenance, particularly of the electrical and electronic components and systems, it is proposed that a removable and interchangeable module (2) be provided in the chassis (8), in which multiple electrical and / or electronic components are combined. (Figure 4a).

Description

DRIVERLESS TRANSPORT VEHICLE WITH ENHANCED MAINTAINABILITY The invention relates to a driverless transport vehicle, particularly an automatically guided vehicle, and preferably an autonomously guided vehicle, for transporting payloads. Such vehicles are typically used as industrial trucks or material handling vehicles in production plants, for example, to transport specific payloads within the warehouse or from the warehouse to the production line, while preferably navigating autonomously. In the case of such transport vehicles, the load may consist of either the payload itself or a payload carrier that can be loaded separately with the payload, such as shelving, a wheeled cart, or similar equipment. The intention here is for the transport vehicle to be able to travel under the payload carrier, lift it independently, transport it to its destination, and then place it back there. For this purpose, the transport vehicle is equipped with an integrated lifting device. With regard to the prior art, reference is made by way of example to documents DE 20 2013 004 209 U1 or EP 102706 A1. To perform the wide variety of functions of the transport vehicle, numerous electrical and electronic components are installed. In certain situations, for example, in the event of a fault, it should be possible to check individual components or entire systems and, if necessary, replace them as quickly and easily as possible. However, due to limited installation space, the affected components can sometimes be removed and reinstalled with considerable effort. In this context, the object of the invention is to propose a generic transport vehicle with improved ease of maintenance, particularly for electrical and electronic components and systems. This object is achieved by combining features as claimed in the independent claim. Further embodiments and improvements of the invention arise from the dependent claims and the following description and figures. The invention provides that the chassis of the transport vehicle has a removable interchangeable module in which multiple electrical and / or electronic components are combined. Therefore, a large part of the electrical and electronic components and systems can be conveniently pre-assembled and subsequently inserted into the transport vehicle. QCQb ίη / ΖΖΠΖ / Ε / ΥΙΛΙ For example, in the case of a defective component, for reprogramming or a planned component change, the entire interchangeable module can be quickly and efficiently replaced with a compatible, intact interchangeable module, thus significantly reducing downtime. Troubleshooting, fault analysis, programming, and replacement of the defective component can then be performed later in a dust-free environment at an optimally equipped workstation. The heavy and potentially contaminated transport vehicle does not need to be transported and cleaned separately for this purpose, nor are elaborate decontamination measures required at the transport vehicle's location. Also for the manufacture of vehicles, this module offers the advantage that it can be pre-assembled completely independently of the rest of the transport vehicle structure, for example, by a specialized manufacturer. In addition, interchangeable modules equipped and / or programmed differently can be provided, which can be quickly swapped, for different task scenarios. For efficient handling of the interchangeable module, the invention further provides that the interchangeable module has a separate module housing in which the electrical and / or electronic components are housed. For efficient use and improved usability, it is possible, in a preferred embodiment of the invention, that at least one electronic control unit is contained within the interchangeable module. To further improve the production and maintainability of the transport vehicle and ensure effective protection of sensitive electronic components, a preferred embodiment provides that the transport vehicle has a front part of the vehicle, a central part of the vehicle and a rear part of the vehicle, wherein the front part of the vehicle is separated from the central part of the vehicle by a front partition, and the rear part of the vehicle is separated from the central part of the vehicle by a rear partition, and the interchangeable module is arranged in the central part of the vehicle. For an efficient distribution of functions, the preferred embodiment further proposes that at least a first arrangement of sensors to detect the vehicle's surroundings and at least two vehicle wheels, in particular support wheels, be arranged at the front of the vehicle. For the same reason, the preferred embodiment also proposes that at least a second array of sensors be arranged at the rear of the vehicle to detect the vehicle's surroundings, and at least two drive wheels together with the corresponding traction drives. QCQb ίη / ΖΖΩΖ / Ε / ΥΙΛΙ To improve the maintenance of the mechanical components, the preferred embodiment of the invention further provides that a lifting drive is arranged in the central part of the vehicle to operate the lifting device. This lifting drive is therefore easily accessible and, moreover, for even better accessibility, the interchangeable module can be quickly removed. According to the preferred embodiment of the invention, the lifting device is driven by an eccentric drive. This allows the lifting device to be of a particularly simple and robust construction, while also saving space and requiring considerably less expenditure on control technology, for example, compared to several separate, individually actuated lifting elements. For instance, the eccentric elements, arranged in pairs on each side and coupled together, are housed in a space-saving manner within the box-shaped load-bearing element. For efficient and rapid connection of electrical and electronic consumers in the transport vehicle, one embodiment provides that the electrical and / or electronic components of the front, middle and rear parts of the vehicle are connected to the interchangeable module via electrical lines. According to an improvement, for particularly quick and efficient establishment of electrical connections, the interchangeable module may preferably have a small number, and more preferably a single one, of combined electrical interfaces designed for the simultaneous connection of multiple electrical and / or electronic components outside the interchangeable module. For example, according to an improvement, the interchangeable module may have one combined electrical interface for connecting all consumers at the rear of the vehicle and another combined electrical interface for connecting all consumers at the front and center of the vehicle. The present invention will be explained in more detail below on the basis of an exemplary embodiment. In the figures: Figures 1a, 1b, and 1c are a highly simplified illustration of the transport vehicle in a plan view (view a) and side views with a retracted (b) and extended (c) lifting apparatus. Figures 2a, 2b and 2c show views like those in Figures 1a, 1b and 1c, but also with a payload support. Figure 3 is an illustrative representation of an embodiment of the transport vehicle with a payload on a payload carrier. QCQb ίη / ΖΖΠΖ / Ε / ΥΙΛΙ Figures 4a and 4b are a three-dimensional illustration of the transport vehicle with an interchangeable module removed (a) and inserted (b). Figure 5 is a simplified schematic illustration of transport vehicle 1 in a plan view. Figure 6 is a three-dimensional illustration of an embodiment of a module housing. Figures 7a and 7b show a side view of the lifting apparatus in a raised transport position (a) and a lowered parking position (b). Figures 1a, 1b and 1c The driverless transport vehicle 1 is especially suited for transporting payloads on smooth floors in production and assembly plants, for example, for transporting parts and components to and from the production line or in the parts warehouse. The transport vehicle 1 autonomously selects its travel route based on integrated space monitoring sensors (see 18, 18' in Figures 4 and 5) and a control system (not illustrated here). The transport vehicle 1 has a flat and compact chassis 8, on and on which all the control and drive components are arranged. In the embodiment shown, the transport vehicle 1 moves on a pair of support wheels 15 and a pair of drive wheels 14. The drive wheels 14 can be driven individually, independently of each other, and thus serve both for propulsion and for steering the transport vehicle 1. For moving or positioning the load, the transport vehicle 1 has two load-bearing elements 9, 9', which are integral parts of a lifting device 25. The load-bearing elements 9, 9' are elongated in the longitudinal direction or parallel to the travel direction F and flank the chassis 8 laterally in the upper region. In the embodiment shown, each load-bearing element 9, 9' is configured as a hollow, box-shaped body. To lift the load, the load-bearing elements 9, 9' can be raised in a vertical lifting direction H by a lifting stroke 16 from a retracted parking position (view b) to an extended transport position. The load-bearing elements 9, 9' can be connected transversely by means of one or more struts, strips or panels (not shown here) to increase rigidity and / or to make a larger flat load-bearing surface. Figures 2a, 2b and 2c The transport vehicle 1 is designed to preferably transport payloads on a separate payload carrier 6. The payload carrier 6 can be constructed in a QCQb ίη / ZZΖΠZ / E / YΙΛΙ variety of forms: in the form of a shelf as shown, in the form of a cart or trolley with wheels, or similar. The payload support 6 is constructed so that the transport vehicle 1 with the load-bearing elements 9, 9' in the parking position can travel under the payload support 6. The payload support 6 has two crossbars 7, 7' that run transversely to the direction of travel and on which the load-bearing elements are supported during lifting and transport of the payload support 6. In the embodiment shown, the crossbars 7, 7' are connected by means of two longitudinal members 17, 17' located on the outside. To transport the load, the transport vehicle 1 moves under the payload support 6 and activates the lifting device 25. Here, the load support elements 9, 9' are lifted in the lifting direction H, contact the crossbeams 7, 7', and lift the payload support 6 off the ground. The payload support 6 can then be transported to its destination and lowered back onto the ground in the reverse sequence. Figure 3 The figure shows an illustrative usage scenario for transport vehicle 1 and corresponds substantially to the situation illustrated in Figure 2b. One embodiment of transport vehicle 1 is located under the payload support 6, which is configured as a wheeled cart. The payload support 6 is loaded with a payload 22, which consists of a wire mesh box filled with sacks. Figures 4a and 4b Figures 4a and 4b show an embodiment according to the invention of the transport vehicle 1. An interchangeable module 2, which can be easily swapped, is arranged inside the chassis 8. Most of the electronic components 23 required for closed-loop and open-loop control of the transport vehicle 1 are arranged in this interchangeable module. For example, an electronic control unit 4 and other elements of the vehicle control system are housed in the center. The interchangeable module 2 has a dedicated module housing 3, which is inserted into a seat provided for it in the chassis 8 and is secured therein by means of a small number of fastening elements (not explicitly illustrated here) such as screws, bayonet fasteners, tension clamps, or other fastening elements that can be released relatively easily and quickly. Figure 5 The transport vehicle 1 according to the invention is, in the longitudinal direction or along the direction of travel F, structurally and functionally divided into three vehicle parts that are separated from each other by a front partition 13 and a rear partition 13'. QCQb ίη / ΖΖΠΖ / Ε / ΥΙΛΙ A first arrangement of sensors 18 to detect the vehicle's surroundings is located at the front of the vehicle 10, and the two support wheels 15,15' are also arranged there. The interchangeable module 2 is arranged in the central part of the vehicle 11. A lifting drive 19 for operating the lifting apparatus 25, one or more electric batteries 21 and possibly charging and electrical power components 24 for controlling the charging operations are located in the central part of the vehicle 10 in addition to the interchangeable module. A second array of sensors 18' to detect the vehicle's surroundings and the two drive wheels 14,14' together with their corresponding electric drive drives 20 are located at the rear of the vehicle 12. In the embodiment shown, the interchangeable module 2 extends in a transverse direction substantially over the entire inner width of the central part of the vehicle 11. The aforementioned components from different parts of the vehicle must be connected to various electronic components 23 and to the electronic control unit 4 within the interchangeable module 2. For this purpose, in the embodiment shown, the interchangeable module 2 has a combined electrical interface 5, 5' on both the front and rear sides. The front electrical interface 5 serves for connecting electrical and electronic components from the front 10 and central 11 parts of the vehicle, while the rear electrical interface 5' is provided for connecting electrical and electronic components from the rear 12 part of the vehicle. However, within the invention, it is equally conceivable to provide a single common electrical interface for establishing all the necessary connections to the components outside the interchangeable module 2. Within the invention, it would also be conceivable to design a common electrical interface of this type such that the connection and disconnection processes are automatically and forcibly performed during the insertion and removal of the interchangeable module 2 into and from the transport vehicle 1, respectively. Such a common interface could be arranged, for example, on the underside of the module housing 4. The two sensor arrangements 18,18' are illustrated here only as an example and symbolically as a placeholder representing an actual combination of several individual sensors arranged in different locations. Figure 6 Figure 6 shows an embodiment of module 3 housing. In the example embodiment shown, module 3 housing is made of sheet metal. It has a construction The QCQb ίη / ZZOZ / E / YILI is substantially similar to a channel and has a U-shaped bent sheet metal profile, which forms the base and side walls of the module 3 housing and is stiffened and stabilized on the front and rear sides by transverse metal sheets. For the installation of electronic components, the module 3 housing can be provided with all corresponding fastening interfaces, such as perforations, perforated slots, sheet metal nuts, rails, and the like. Figures 7a and 7b Figures 7a and 7b show a partial side view of some elements of the lifting apparatus 25 of the transport vehicle 1 in the raised transport position (view a) and in the lowered parking position (view b). On each side of the transport vehicle 1, the lifting device 25 has in each case two eccentric elements 26, 26' of equal size, which act on the same load-bearing element 9. The two eccentric elements 26, 20' are coupled together by means of an enveloping drive, so that, when the lifting drive 19 is activated, these eccentric elements are forced to rotate simultaneously in the same direction and, in doing so, raise or lower the load-bearing element 9. To reduce friction between the eccentric elements 3, 3' and the load-bearing element 9, each eccentric element 26, 26' is equipped, radially on the outside, with a ball bearing element by means of which said eccentric element rolls quietly and with low friction on the load-bearing element 9. QCQb ίη / ΖΖΠΖ / Ε / ΥΙΛΙ List of reference designations Transport vehicle interchangeable module Module housing Electronic control unit Electrical interface Payload support Crossbar Chassis Load-bearing element Front of the vehicle Central part of the vehicle Rear of the vehicle Partition Drive wheel Support wheel Lift travel Longitudinal member Sensor arrangement Lifting drive Traction drive Battery Payload Electronic components Energy components Lifting device Eccentric element F Direction of travel H Lifting direction

Claims

1. A driverless transport vehicle (1), in particular automatically guided, for transporting a load, comprising a chassis (8) with electrical and electronic control and drive components arranged therein, characterized in that, in the chassis (8), there is a removable and interchangeable module (2) in which multiple electrical and / or electronic components are combined.

2. The transport vehicle (1) according to claim 1, characterized in that the interchangeable module (2) has a module housing (3) in which the electrical and / or electronic components are housed.

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

4. The transport vehicle (1) according to at least one of the preceding claims, characterized in that the transport vehicle (1) has a front part of the vehicle (10), a central part of the vehicle (11) and a rear part of the vehicle (12), wherein the front part of the vehicle (10) is separated from the central part of the vehicle (11) by a front partition (13), and the rear part of the vehicle (12) is separated from the central part of the vehicle (11) by a rear partition (13'), and wherein the interchangeable module (2) is arranged in the central part of the vehicle (11).

5. The transport vehicle (1) according to claim 4, characterized in that at least a first arrangement of sensors (18) for detecting the vehicle's surroundings, and at least two vehicle wheels (15, 15'), are arranged at the front of the vehicle (10).

6. The transport vehicle (1) according to claim 4, characterized in that at least a second arrangement of sensors (18) for detecting the vehicle's surroundings and at least two drive wheels (14, 14j) and at least one traction drive (20) are arranged at the rear of the vehicle (12).

7. The transport vehicle (1) according to claim 4, characterized in that at least one lifting drive (19) for actuating a lifting apparatus (25) in order to lift the load is arranged in the central part of the vehicle (11).

8. The transport vehicle (1) according to claim 7, characterized in that the lifting apparatus (25) is driven by means of an eccentric drive. QCQb ίη / ZZΖΠZ / E / YΙΛΙ 9. The transport vehicle (1) according to at least one of claims 4-8, characterized in that the electrical and / or electronic components of the front, middle and rear parts of the vehicle (10,11,12) are connected to the interchangeable module (2) via electrical lines.

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

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