Track tile module, modular track system, and method for manufacturing a track tile module

Abstract

A track tile module providing a driving track for a self-driving wheeled transport vehicle. The track tile module comprises an upper side intended to face upwards, a lower side intended to face downwards, a first longitudinal side edge, a second longitudinal side edge, a first lateral side edge, and a second lateral side edge. A grooved track structure is arranged on the upper side, and the grooved track structure comprises a first pair of parallel track grooves and a second pair of parallel track grooves. The second pair of parallel track grooves is extending in a direction perpendicular to the first pair of parallel track grooves in an intersecting relationship. The grooved track structure further comprises one or more curved track grooves configured for enabling rotational displacement of the transport vehicle.

Description

[0001] TRACK TILE MODULE, MODULAR TRACK SYSTEM, AND METHOD FOR MANUFACTURING A TRACK TILE MODULE

[0002] TECHNICAL FIELD

[0003] The present disclosure relates to a track tile module providing a driving track for a self-driving wheeled transport vehicle. The track tile module comprises an upper side intended to face upwards and a lower side intended to face downwards. A grooved track structure is arranged on the upper side, and the grooved track structure comprises a first pair of parallel track grooves and a second pair of parallel track grooves. The second pair of parallel track grooves is extending in a direction perpendicular to the first pair of parallel track grooves in an intersecting relationship. The disclosure further relates to a modular track system and a method for manufacturing a track tile module.

[0004] BACKGROUND

[0005] Transportation systems with self-driving wheeled transport vehicles are commonly used in different applications where there is a need for transporting objects or other goods between different transporting destinations. Such systems may for example be used in manufacturing facilities for transporting parts or products between workstations, and for transporting products to and from packaging stations. Other application areas may for example be in warehouses fortransporting goods or objects to different storage locations. The self-driving wheeled transport vehicles are commonly arranged as driverless self-propelled transport vehicles providing automated material flows. Such driverless transport vehicles are generally guided by track systems, inductive conductors, or optical markings on the floor. However, freely navigating transport vehicles can also be used, where the vehicles are equipped with navigation devices for orientation on a transport surface.

[0006] Track system based transportation systems are used for an efficient guiding of the self-driving wheeled transport vehicles. However, current transportation systems are often complex in design and non-flexible in construction. When the transportation systems are configured as modular track systems with a plurality of connected track tile modules, a grooved track structure is used for guiding the transport vehicles. Such grooved track structures commonly comprise a first pair of parallel track grooves and a second pair of parallel track grooves extending in a direction perpendicular to the first pair of parallel track grooves in an intersecting relationship. The transport vehicles are arranged with wheels that are used for propelling and guiding the transport vehicles along the parallel track grooves in different directions. The transport vehicles are sometimes arranged with rotating carrying structures for adjusting the position of workpieces or other goods carried by the transport vehicle. Such rotating carrying structures are however costly and complex in design, and there is a need for more flexible and cost efficient solutions for adjusting the position of workpieces or other goods carried by the transport vehicle.

[0007] SUMMARY

[0008] An object of the present disclosure is to provide a track tile module, a modular track system, and a method for manufacturing a track tile module, where the previously mentioned problems are avoided. This object is at least partly achieved by the features of the independent claims. The dependent claims contain further developments of the track tile module, the modular track system, and the method for manufacturing a track tile module.

[0009] The disclosure concerns a track tile module providing a driving track for a self-driving wheeled transport vehicle. The track tile module comprises an upper side intended to face upwards, a lower side intended to face downwards, a first longitudinal side edge, a second longitudinal side edge, a first lateral side edge, and a second lateral side edge. A grooved track structure is arranged on the upper side, and the grooved track structure comprises a first pair of parallel track grooves and a second pair of parallel track grooves. The second pair of parallel track grooves is extending in a direction perpendicular to the first pair of parallel track grooves in an intersecting relationship. The grooved track structure further comprises one or more curved track grooves configured for enabling rotational displacement of the transport vehicle. Advantages with these features are that the configuration with the one or more curved track grooves is enabling rotational displacement of the transport vehicle. The transport vehicle can be rotated in suitable angular positions in relation to the track tile module on the one or more curved track grooves. The track tile module is enabling fully rotational displacement of the transport vehicle, such as for example 180° rotation of the transport vehicle. By such a rotational displacement, it is possible to change transporting direction of goods or workpieces carried by the transport vehicle, or the position of goods or workpieces may be changed for example at a workstation.

[0010] In one embodiment, the one or more curved track grooves are forming part of a common circle having a specific radius. The common circle formed by the curved track grooves is used for the rotational displacement of the transport vehicle, and the specific radius may have any suitable value and adapted for the rotational displacement of the transport vehicle.

[0011] In one embodiment, intersections of the first pair of parallel track grooves with the second pair of parallel track grooves form four track groove junctions. The one or more curved track grooves are intersecting the four track groove junctions. With this configuration of the grooved track structure, the transport vehicle can travel along the first pair of parallel track grooves or the second pair of parallel track grooves, and then stop with the wheels positioned in the four track groove junctions for a following rotational displacement on the one or more curved track grooves.

[0012] In one embodiment, the one or more curved track grooves are arranged as a sectioned groove structure comprising a first track groove arc and a second track groove arc extending between the first longitudinal side edge and the second longitudinal side edge respectively. The first track groove arc and the second track groove arc are enabling simple and efficient rotational displacement of the transport vehicle.

[0013] In one embodiment, each of the first track groove arc and the second track groove arc is forming part of the common circle having the specific radius. The common circle formed by the first track groove arc and the second track groove arc is used for the rotational displacement of the transport vehicle, and the specific radius may have any suitable value and adapted for the rotational displacement of the transport vehicle. In one embodiment, the track tile module further comprises a first inverted track groove arc and a second inverted track groove arc. The first inverted track groove arc is arranged at the first longitudinal side edge and extending between the first track groove arc and the second track groove arc. The second inverted track groove arc is arranged at the second longitudinal side edge and extending between the first track groove arc and the second track groove arc. The first inverted track groove arc and the second inverted track groove arc are enabling simple and efficient rotational displacement of the transport vehicle, when track tile modules are arranged in connection to each other.

[0014] In one embodiment, the first inverted track groove arc and the second inverted track groove arc are having the same specific radius as the first track groove arc and the second track groove arc. This configuration of the inverted track groove arcs are used for forming the common circle when track tile modules are arranged in connection to each other.

[0015] In one embodiment, the one or more curved track grooves are arranged as a single continuous groove structure forming a track groove circle. In this embodiment, the track groove circle is arranged on only one track tile module, and with this configuration of the grooved track structure there is no need for track groove arcs combined with inverted track groove arcs to form the track groove circle.

[0016] In one embodiment, the one or more curved track grooves are arranged as a sectioned groove structure comprising a first track groove arc extending between the first longitudinal side edge and the second lateral side edge, a second track groove arc extending between the second lateral side edge and the second longitudinal side edge, a third track groove arc extending between the second longitudinal side edge and the first lateral side edge, a fourth track groove arc extending between the first lateral side edge and the first longitudinal side edge. The first track groove arc, the second track groove arc, the third track groove arc, and the fourth track groove arc, are enabling simple and efficient rotational displacement of the transport vehicle.

[0017] In one embodiment, each of the first track groove arc, the second track groove arc, the third track groove arc, and the fourth track groove arc is forming part of the common circle having the specific radius. The common circle formed by the first track groove arc, the second track groove arc, the third track groove arc, and the fourth track groove arc, is used for the rotational displacement of the transport vehicle, and the specific radius may have any suitable value and adapted for the rotational displacement of the transport vehicle.

[0018] In one embodiment, the track tile module further comprises a first inverted track groove arc, a second inverted track groove arc, a third inverted track groove arc, and a fourth inverted track groove arc. The first inverted track groove arc is arranged at the second lateral side edge and extending between the first track groove arc and the second track groove arc. The second inverted track groove arc is arranged at the second longitudinal side edge and extending between the second track groove arc and the third track groove arc. The third inverted track groove arc is arranged at the first lateral side edge and extending between the third track groove arc and the fourth track groove arc. The fourth inverted track groove arc is arranged at the first longitudinal side edge and extending between the fourth track groove arc and the first track groove arc. The first inverted track groove arc, the second inverted track groove arc, the third inverted track groove arc, and the fourth inverted track groove arc, are enabling simple and efficient rotational displacement of the transport vehicle, when track tile modules are arranged in connection to each other.

[0019] In one embodiment, the first inverted track groove arc, the second inverted track groove arc, the third inverted track groove arc, and the fourth inverted track groove arc, are having the same specific radius as the first track groove arc, the second track groove arc, the third track groove arc, and the fourth track groove arc. This configuration of the inverted track groove arcs are used for forming the common circle when track tile modules are arranged in connection to each other.

[0020] In one embodiment, the first pair of parallel track grooves are extending in a longitudinal direction of the track tile module parallel to the first longitudinal side edge and the second longitudinal side edge. The second pair of parallel track grooves are extending in a lateral direction of the track tile module parallel to the first lateral side edge and the second lateral side edge.

[0021] In one embodiment, the extension of the track tile module in the longitudinal direction is greater than the extension of the track tile module in the lateral direction. The first pair of parallel track grooves is arranged with a first track gauge and the second pair of parallel track grooves is arranged with a second track gauge. The second track gauge is wider than the first track gauge. This different extension in the two directions is enabling a flexible and efficient system, where transport vehicles of different configurations may be used. Further, the modular track system could with this configuration of the track tile module be made efficient with respect to space needed for the system. The first pair of parallel track grooves arranged with a first track gauge and the second pair of parallel track grooves arranged with a second track gauge are enabling formation of the driving track with different track widths, when track tile modules are arranged in connection to each other.

[0022] In one embodiment, the lower side comprises one or more integrated reinforcing ribs. The integrated reinforcing ribs are enabling a stiff and durable construction of the track tile modules.

[0023] In one embodiment, the track tile module is configured as a single piece track tile module, or the track tile module is configured as a multi-piece track tile module comprising two or more joined track tile sub-parts. The single piece track tile module is manufactured in one structural piece. The multi-piece track tile module comprises two or more joined track tile sub-parts that are manufactured in separate structural pieces forming the track tile sub-parts that are joined to form the track tile module.

[0024] The disclosure further concerns a modular track system comprising a plurality of track tile modules as described above. The modular track system further comprises a base structure, and the track tile modules are arranged in connection to each other and attached to the base structure. The grooved track structure of the track tile modules arranged in connection to each other are forming the driving track. The driving track is configured for guiding wheels of the self-driving wheeled transport vehicle.

[0025] Advantages with these modular track system features are that the configuration with the one or more curved track grooves are enabling rotational displacement of the transport vehicle. The transport vehicle can be rotated in suitable angular positions in relation to the track tile module on the one or more curved track grooves. The track tile module is enabling fully rotational displacement of the transport vehicle, such as for example 180° rotation of the transport vehicle. By such a rotational displacement, it is possible to change transporting direction of goods or workpieces carried by the transport vehicle, or the position of goods or workpieces may be changed for example at a workstation. The base structure is providing a reliable support for the track tile modules arranged in connection to each other. The base structure may be configured as a floor structure, or as a frame or beam system arranged for holding the plurality of track tile modules.

[0026] In one embodiment, the track tile modules comprise a first track groove arc and a second track groove arc extending between the first longitudinal side edge and the second longitudinal side edge respectively. Each of the first track groove arc and the second track groove arc is forming part of a track groove circle having a specific radius. The track tile modules further comprise a first inverted track groove arc and a second inverted track groove arc. The first inverted track groove arc is arranged at the first longitudinal side edge and extending between the first track groove arc and the second track groove arc. The second inverted track groove arc is arranged at the second longitudinal side edge and extending between the first track groove arc and the second track groove arc. The first inverted track groove arc and the second inverted track groove arc are having the same specific radius as the first track groove arc and the second track groove arc. A first track groove arc and a second track groove arc of an intermediate track tile module, a second inverted track groove arc of a first directly adjacent track tile module, and a first inverted track groove arc of a second directly adjacent track tile module, together are forming a track groove circle configured for enabling fully rotational displacement of the transport vehicle. The first directly adjacent track tile module and the second directly adjacent track tile module are arranged on laterally opposite sides of the intermediate track tile module, in direct connection to the intermediate track tile module.

[0027] In one embodiment, the track tile modules comprise a first track groove arc extending between the first longitudinal side edge and the second lateral side edge, a second track groove arc extending between the second lateral side edge and the second longitudinal side edge, a third track groove arc extending between the second longitudinal side edge and the first lateral side edge, and a fourth track groove arc extending between the first lateral side edge and the first longitudinal side edge. Each of the first track groove arc, the second track groove arc, the third track groove arc, and the fourth track groove arc is forming part of a track groove circle having a specific radius. The track tile modules further comprise a first inverted track groove arc, a second inverted track groove arc, a third inverted track groove arc, and a fourth inverted track groove arc. The first inverted track groove arc is arranged at the second lateral side edge and extending between the first track groove arc and the second track groove arc. The second inverted track groove arc is arranged at the second longitudinal side edge and extending between the second track groove arc and the third track groove arc. The third inverted track groove arc is arranged at the first lateral side edge and extending between the third track groove arc and the fourth track groove arc. The fourth inverted track groove arc is arranged at the first longitudinal side edge and extending between the fourth track groove arc and the first track groove arc. The first inverted track groove arc, the second inverted track groove arc, the third inverted track groove arc, and the fourth inverted track groove arc, are having the same specific radius as the first track groove arc, the second track groove arc, the third track groove arc, and the fourth track groove arc. A first track groove arc, a second track groove arc, a third track groove arc, and a fourth track groove arc, of an intermediate track tile module; a second inverted track groove arc of a first directly adjacent track tile module, a fourth inverted track groove arc of a second directly adjacent track tile module, a first inverted track groove arc of a third directly adjacent track tile module, and a third inverted track groove arc of a fourth directly adjacent track tile module; together are forming a track groove circle configured for enabling fully rotational displacement of the transport vehicle. The first directly adjacent track tile module and the second directly adjacent track tile module are arranged on laterally opposite sides of the intermediate track tile module, in direct connection to the intermediate track tile module. The third directly adjacent track tile module and the fourth directly adjacent track tile module are arranged on longitudinally opposite sides of the intermediate track tile module, in direct connection to the intermediate track tile module.

[0028] In one embodiment, the track tile modules further comprise one or more locking arrangements configured for releasably attaching the track tile modules to the base structure. In a locked state of the one or more locking arrangements, the track tile modules are connected to the base structure. In an unlocked state of the one or more locking arrangements, the track tile modules are disconnected from the base structure. The locking arrangements are enabling efficient attachment and removal of the track tile modules.

[0029] In one embodiment, the locking arrangements are rotatably connected to the track tile modules. The locking arrangements comprise a latch configured for being rotatably displaced between the unlocked state and the locked state. In the unlocked state, the latch is disengaged from the base structure. In the locked state, the latch is engaging the base structure. The rotating configuration is enabling a simple attachment of the track tile modules to the base structure. By rotating the locking arrangements with the latch from the unlocked state to the locked state, the latch is engaging a locking recess, track, or similar receiving arrangement, in the base structure. To remove the track tile modules from the base structure, the latch is rotated from the locked state to the unlocked state for disengaging the latch from the base structure. In the unlocked state, the track tile modules can easily be removed from the base structure for maintenance or replacement.

[0030] In one embodiment, the first pair of parallel track grooves of the track tile modules when arranged in connection to each other define first drive lanes for the transport vehicle. The first drive lanes are configured to guide the wheels of the transport vehicle along the first pair of parallel track grooves. The second pair of parallel track grooves of the track tile modules when arranged in connection to each other define second drive lanes for the transport vehicle. The second drive lanes are configured to guide wheels of the transport vehicle along the second pair of parallel track grooves. The drive lanes are enabling different possibilities for routing the transport vehicle, and the drive lanes may be arranged in many different ways, depending on how the track tile modules are arranged in connection to each other.

[0031] In one embodiment, at least some of the plurality of track tile modules attached to the base structure are configured as tile modules having the same design. The configuration of the system with at least some of the plurality of track tile modules attached to the base structure are configured as tile modules having the same design, is enabling a simple and efficient construction of the modular track system for transporting objects or goods. In this way, the same type of track tile modules are used on the base structure. The purpose of arranging the track tile modules with the same design is to simplify the construction and flexibility of the modular track system using track tile modules arranged as standard components. With the expression track tile modules configured as tile modules having the same design is meant that the track tile modules have the same dimensions and configurations, and are arranged with the same grooved track structure. The grooved track structure is arranged in the same way on each track tile module configured as tile modules having the same design with the one or more curved track grooves, the first pair of parallel track grooves, and the second pair of parallel track grooves, where the second pair of parallel track grooves is extending in a direction perpendicular to the first pair of parallel track grooves. The track tile modules configured as tile modules having the same design are manufactured with the aim to be identical, for example by machining the track tile modules with the same configurations and dimensions from the same suitable material, by injection moulding the track tile modules from the same material in identical moulds, by deep drawing or press forming the track tile modules from a suitable material, or by 3D printing the track tile modules in a 3D printer from a suitable printing material. The track tile modules may for example be made of plastic materials, composite materials, metallic materials, wood, or wood composites.

[0032] In one embodiment, the track tile modules comprise alignment structures arranged at a first longitudinal side edge, a second longitudinal side edge, a first lateral side edge, and a second lateral side edge. The alignment structures are configured for aligning the grooved track structures when the track tile modules are arranged in connection to each other. The alignment structures are used for aligning the grooved track structures when the track tile modules are arranged in connection to each other. The alignment structures may have any suitable design, and the alignments structures are securing correct alignment between adjacent track tile modules in order to establish a driving track without misaligned track grooves. The alignment structures may be arranged as protruding sections and recessed sections of the respective side edges. In this way, the protruding sections are configured for engaging recessed sections of adjacent track tile modules, and the recessed sections are configured for engaging protruding sections of adjacent track tile modules, for an efficient arrangement of the modular track system.

[0033] The disclosure further concerns a method for manufacturing a track tile module. The track tile module is providing a driving track for a self-driving wheeled transport vehicle. The method comprises the step: forming the track tile module in an injection moulding operation, a deep drawing operation, a press forming operation, a 3D printing operation, or a machining operation. The track tile module comprises an upper side intended to face upwards, a lower side intended to face downwards, a first longitudinal side edge, a second longitudinal side edge, a first lateral side edge, and a second lateral side edge. A grooved track structure is arranged on the upper side, and the grooved track structure comprises a first pair of parallel track grooves and a second pair of parallel track grooves. The second pair of parallel track grooves is extending in a direction perpendicular to the first pair of parallel track grooves in an intersecting relationship. The grooved track structure further comprises one or more curved track grooves configured for enabling rotational displacement of the transport vehicle.

[0034] Advantages with these features are that the manufacturing of the track tile modules can be made simple and efficient. The track tile modules may be made of any suitable material, such as plastic materials, composite materials, metallic materials, wood, or wood composites. In one specific embodiment, the track tile modules are manufactured with the aim to be identical, for example by machining the track tile modules with the same configurations and dimensions from the same suitable material, by injection moulding the track tile modules from the same material in identical moulds, by deep drawing or press forming the track tile modules from a suitable material, or by 3D printing the track tile modules in a 3D printer from a suitable printing material. The track tile modules may for example be made of plastic materials, composite materials, metallic materials, wood, or wood composites. The one or more curved track grooves are enabling rotational displacement of the transport vehicle. The transport vehicle can be rotated in suitable angular positions in relation to the track tile module on the one or more curved track grooves. The track tile module is enabling fully rotational displacement of the transport vehicle, such as for example 180° rotation of the transport vehicle. By such a rotational displacement, it is possible to change transporting direction of goods or workpieces carried by the transport vehicle, or the position of goods or workpieces may be changed for example at a workstation.

[0035] In one embodiment, the one or more curved track grooves are forming part of a common circle having a specific radius. The common circle formed by the curved track grooves is used for the rotational displacement of the transport vehicle, and the specific radius may have any suitable value and adapted for the rotational displacement of the transport vehicle.

[0036] BRIEF DESCRIPTION OF DRAWINGS The disclosure will be described in detail in the following, with reference to the attached drawings, in which

[0037] Fig. 1a-b show schematically, in a perspective view and in a view from above, an embodiment of a modular track system and a part of the modular track system, where the modular track system comprises a plurality of track tile modules arranged in connection to each other providing a driving track that is guiding wheels of self-driving wheeled transport vehicles,

[0038] Fig. 2a-d show schematically, in a perspective view from above (figure 2a), a track tile module configured as a single piece track tile module; in a view from above (figure 2b), the track tile module configured as a single piece track tile module; in a perspective view from below (figure 2c), the track tile module configured as a single piece track tile module; and in a perspective view from above (figure 2d), a track tile module configured as a multi-piece track tile module comprising joined track tile sub-parts,

[0039] Fig. 3a-b show schematically, in perspective partly cross-sectional views, a locking arrangement of the modular track system configured for releasably attaching the track tile modules to a base structure,

[0040] Fig. 4a-d show schematically, in a side view and in views from above, an embodiment of the self-driving wheeled transport vehicle, where the transport vehicle is configured with wheels that are rotatably arranged around a wheel axis,

[0041] Fig. 5a-b show schematically, in a perspective view and in a view from above, an alternative embodiment of a track tile module, and

[0042] Fig. 6a-b show schematically, in views from above, a further alternative embodiment of a track tile module, and track tile modules arranged in connection to each other.

[0043] DESCRIPTION OF EXAMPLE EMBODIMENTS Various aspects of the disclosure will hereinafter be described in conjunction with the appended drawings to illustrate and not to limit the disclosure, wherein like designations denote like elements, and variations of the described aspects are not restricted to the specifically shown embodiments, but are applicable on other variations of the disclosure.

[0044] Figure 1a schematically shows an embodiment of a modular track system S, and in figure 1 b, parts of the modular track system S are shown more in detail. The modular track system S comprises a plurality of track tile modules 1 arranged in connection to each other. By arranging the track tile modules 1 in connection to each other, a driving track T configured for guiding wheels W of a self-driving wheeled transport vehicle V is provided. The transport vehicle V is used for transporting any suitable type of object or objects between different locations of the modular track system S, such as for example between different workstations or from a workstation to a packing unit or other transportation unit. The modular track system S further comprises a base structure 3, and the track tile modules 1 are arranged in connection to each other and attached to the base structure 3.

[0045] The configuration of the driving track T is enabling transportation of the transport vehicle in a longitudinal direction DLO of the modular track system S, and in a lateral direction DLA of the modular track system S. By designing the transport vehicle V with wheels W that are rotatably arranged, the transport vehicle V can alter between driving in the longitudinal direction DLO and the lateral direction DLA of the modular track system S. The track tile modules 1 are further enabling rotational displacement of the transport vehicle V.

[0046] The transport vehicle V may be connected to a control unit for controlling the driving operation. Alternatively or in combination, the transport vehicle V is provided with a suitable software for controlling the driving operation. It should be understood that a plurality of transport vehicles V could be operated simultaneously on the modular track system.

[0047] In different embodiments, the track tile modules 1 comprise an upper side 5a intended to face upwards, a lower side 5b intended to face downwards, a first longitudinal side edge 6a, a second longitudinal side edge 6b, a first lateral side edge 7a, and a second lateral side edge 7b. A grooved track structure 2 is arranged on the upper side 5a of the track tile modules 1 . The grooved track structure 2 comprises a first pair of parallel track grooves 2a and a second pair of parallel track grooves 2b. The second pair of parallel track grooves 2b is extending in a direction perpendicular to the first pair of parallel track grooves 2a in an intersecting relationship. The grooved track structure 2 further comprises one or more curved track grooves 2d, where the one or more curved track grooves 2d are forming part of a common circle Y having a specific radius R. The one or more curved track grooves 2d are configured for enabling rotational displacement of the transport vehicle V. The specific radius R may have any suitable value and adapted for the rotational displacement of the transport vehicle V.

[0048] For the different embodiments, with the expression track groove is meant guiding structures or guiding means of the track tile modules 1 that are guiding wheels W of the self-driving wheeled transport vehicle V. Suitably, the track grooves are arranged as recessed sections of the track tile modules 1. In specific embodiments, the expression track groove could further encompass protruding track elements of the track tile modules 1 , such as rails or rail-like structures.

[0049] The grooved track structure 2 of the track tile modules 1 are forming the driving track T when the track tile modules 1 are arranged in connection to each other. As indicated in figures 1a-b, the first pair of parallel track grooves 2a of the track tile modules 1 when arranged in connection to each other define first drive lanes Di for the transport vehicle V. The first drive lanes Di are configured to guide the wheels W of the transport vehicle V in the longitudinal direction DLO along first pairs of parallel track grooves 2a of track tile modules 1 arranged in connection to each other. The second pair of parallel track grooves 2b of the track tile modules 1 when arranged in connection to each other define second drive lanes D2 for the transport vehicle V. The second drive lanes D2 are configured to guide wheels W of the transport vehicle V in the lateral direction DLA along second pairs of parallel track grooves 2b of track tile modules 1 arranged in connection to each other. The arrangement with the first drive lanes Di and the second drive lanes D2 is enabling different possibilities for routing the transport vehicle V, and the drive lanes may be arranged in many different ways, depending on how the track tile modules 1 are arranged in connection to each other.

[0050] The modular track system S comprises a plurality of track tile modules 1 attached to the base structure 3. In the embodiment shown in figures 1a-b, the plurality of track tile modules 1 attached to the base structure 3 are configured as tile modules having the same design, as will be further described below.

[0051] The base structure 3 may be configured as a floor structure, or as a frame or beam system arranged for holding the plurality of track tile modules 1. The track tile modules 1 may be configured as single piece track tile modules, or the track tile modules 1 may be configured as multi-piece track tile modules comprising two or more joined track tile sub-parts 1a.

[0052] First embodiments of the track tile modules 1 are shown in figures 2a-d. The track tile modules 1 comprise an upper side 5a intended to face upwards, a lower side 5b intended to face downwards, a first longitudinal side edge 6a, a second longitudinal side edge 6b, a first lateral side edge 7a, and a second lateral side edge 7b. As illustrated in figures 2a and 2d, the track tile modules 1 have an extension in a longitudinal direction DLO and a lateral direction DLA. The longitudinal direction DLO of the track tile modules 1 when the track tile modules 1 are arranged in connection to other track tile modules 1 in the modular track system S is corresponding to the longitudinal direction DLO of the modular track system S. The lateral direction DLA of the track tile modules 1 when the track tile modules 1 are arranged in connection to other track tile modules 1 in the modular track system S is corresponding to the lateral direction DLA of the modular track system S.

[0053] As illustrated in figure 2c, a lower side 5b of the track tile modules 1 comprise a plurality of integrated reinforcing ribs 10 that are enabling a stiff and durable construction of the track tile modules 1.

[0054] The track tile modules 1 comprise a grooved track structure 2 arranged on an upper side 5a, as shown in for example figures 2a and 2d. The grooved track structure 2 comprises a first pair of parallel track grooves 2a, and a second pair of parallel track grooves 2b extending in a direction perpendicular to the first pair of parallel track grooves 2a in an intersecting relationship. The first pair of parallel track grooves 2a are extending in the longitudinal direction DLO of the track tile modules 1 parallel to the first longitudinal side edge 6a and the second longitudinal side edge 6b. The second pair of parallel track grooves 2b are extending in the lateral direction DLA of the track tile modules 1 parallel to the first lateral side edge 7a and the second lateral side edge 7b. The first pair of parallel track grooves 2a of the track tile modules 1 when arranged in connection to each other define first drive lanes Di for the transport vehicle V, and the second pair of parallel track grooves 2b of the track tile modules 1 when arranged in connection to each other define second drive lanes D2 for the transport vehicle, as described above. The grooved track structure 2 of the track tile modules 1 are thus forming the driving track T with the first drive lanes Di and the second drive lanes D2 when the track tile modules 1 are arranged in connection to each other.

[0055] In the embodiments illustrated in figures 2a-d, the extension of the track tile modules 1 in the longitudinal direction DLO is greater than the extension of the track tile modules 1 in the lateral direction DLA. This different extension in the two directions is enabling a flexible and efficient system, where transport vehicles V of different configurations may be used. Further, the modular track system S could with this configuration of the track tile modules 1 be made efficient with respect to space needed for the system. The first pair of parallel track grooves 2a is arranged with a first track gauge G1 and the second pair of parallel track grooves 2b is arranged with a second track gauge G2, enabling formation of the driving track T when the track tile modules 1 are arranged in connection to each other. The second track gauge G2 is wider than the first track gauge G1 , as understood from for example figures 2a and 2d. The respective track gauges are adapted to the configuration of the transport vehicles and are matching distances between the wheels W of the transport vehicles V.

[0056] In the embodiments in figures 2a-d, the grooved track structure 2 further comprises two curved track grooves 2d that are configured for enabling rotational displacement of the transport vehicle V. Intersections I of the first pair of parallel track grooves 2a with the second pair of parallel track grooves 2b form four track groove junctions J, and the two curved track grooves 2d are intersecting the four track groove junctions J, as shown in for example figure 2a. The two curved track grooves 2d are arranged as a sectioned groove structure comprising a first track groove arc 20a and a second track groove arc 20b. Each of the first track groove arc 20a and second track groove arc 20b is extending between the first longitudinal side edge 6a and the second longitudinal side edge 6b. Each of the first track groove arc 20a and the second track groove arc 20b is forming part of a common circle Y having a specific radius R, as understood from for example figure 1 b. As shown in for example figures 2a-b and 2d, the track tile modules 1 further comprise a first inverted track groove arc 30a and a second inverted track groove arc 30b. The first inverted track groove arc 30a is arranged at the first longitudinal side edge 6a, and is extending between the first track groove arc 20a and the second track groove arc 20b. The second inverted track groove arc 30b is arranged at the second longitudinal side edge 6b, and is extending between the first track groove arc 20a and the second track groove arc 20b. The first inverted track groove arc 30a and the second inverted track groove arc 30b are having the same specific radius R as the first track groove arc 20a and the second track groove arc 20b.

[0057] In figure 1b, a plurality of track tile modules 1 of the modular track system S are arranged in connection to each other. In the following, the grooved track structure 2 will be described in connection to an intermediate track tile module 11, a first directly adjacent track tile module 1Ai, and a second directly adjacent track tile module 1A2. As shown in the figure, the first directly adjacent track tile module 1Aiand the second directly adjacent track tile module 1A2 are arranged on laterally opposite sides of the intermediate track tile module 1i, in direct connection to the intermediate track tile module 1i. A first track groove arc 20a and a second track groove arc 20b of the intermediate track tile module 11, a second inverted track groove arc 30b of the first directly adjacent track tile module 1Ai, and a first inverted track groove arc 30a of the second directly adjacent track tile module 1A2, together are forming a track groove circle 40 configured for enabling fully rotational displacement of the transport vehicle V.

[0058] The transport vehicle V may have any suitable configuration, and to shift between driving in the first drive lanes Di and the second drive lanes D2, the transport vehicle V is arranged with wheels W that are rotatably arranged around a wheel axis Aw, as shown in figures 4a-d. In a first wheel position P1 , the transport vehicle V is configured for driving in the first drive lanes Di along first pairs of parallel track grooves 2a of track tile modules 1 arranged in connection to each other. In a second wheel position P2, where the wheels are rotated 90 degrees from the first position P1 , the transport vehicle V is configured for driving in the second drive lanes D2 along second pairs of parallel track grooves 2b of track tile modules 1 arranged in connection to each other. The wheels W are rotated between the first wheel position P1 and the second wheel position P2, when the transport vehicle is positioned on a track tile module 1 with each wheel W arranged in a corresponding track groove junction J of the track tile module

[0059] I , such as the position schematically shown in figure 4b. In a third wheel position P3, between the first wheel position P1 and the second wheel position P2, the transport vehicle V may be rotated in different directions by propelling the wheels W along the track groove circle 40, as shown in figures 4c-d. In the third wheel position P3, the wheels are suitably arranged in a direction corresponding to the tangential direction of the track groove circle 40 for an efficient rotational displacement of the transport vehicle V. The third wheel position P3 is suitably used for enabling a fully rotational displacement of the transport vehicle V, and through such a rotation, it is possible to change direction of goods or workpieces carried by the transport vehicle V. The transport vehicle V may for example be rotated 180° in the third wheel position P3.

[0060] The transport vehicle V and / or the track tile modules 1 may be arranged with sensors or other suitable sensing devices for a correct positioning of the transport vehicle V on the track tile module 1 , aligning each wheel Wwith a corresponding track groove junction J.

[0061] When wheels W of the transport vehicle V are positioned in the track groove junctions

[0062] J, the transport vehicle V can change driving directions between directions along the first pair of parallel track grooves 2a in the longitudinal direction DLO of the modular track system S and the second pair of parallel track grooves 2b in the lateral direction DLA of the modular track system S.

[0063] In a first example, the transport vehicle V is driving in the longitudinal direction DLO along a first pair of parallel track grooves 2a with the wheels arranged in the first wheel position P1. To change driving direction of the transport vehicle V from driving in the longitudinal direction DLO along the first pair of parallel track grooves 2a to driving in the lateral direction DLA along a second pair of parallel track grooves 2b, the transport vehicle V is propelled in the longitudinal direction DLO and stopped at any track tile module 1 of the modular track system S suitable for changing driving direction. When the transport vehicle V is positioned on the track tile module 1 with each wheel W arranged in a corresponding track groove junction J of the track tile module 1 , as shown in figure 4b, the wheels are rotated from the first wheel position P1 to the second wheel position P2. When the wheels have been positioned in the second wheel position P2, the transport vehicle V can start driving in the lateral direction DLA along the second pair of parallel track grooves 2b. In a second example, the transport vehicle V is driving in the lateral direction DLA along a second pair of parallel track grooves 2b with the wheels arranged in the second wheel position P2. To change driving direction of the transport vehicle V from driving in the lateral direction DLA along the second pair of parallel track grooves 2b to driving in the longitudinal direction DLO along a first pair of parallel track grooves 2a, the transport vehicle V is propelled in the lateral direction DLA and stopped at any track tile module 1 of the modular track system S suitable for changing driving direction. When the transport vehicle V is positioned on the track tile module 1 with each wheel W arranged in a corresponding track groove junction J of the track tile module 1 , as shown in figure 4b, the wheels are rotated from the second wheel position P2 to the first wheel position P1. When the wheels have been positioned in the first wheel position P1 , the transport vehicle V can start driving in the longitudinal direction DLO along the first pair of parallel track grooves 2a.

[0064] The track tile modules 1 comprise one or more locking arrangements 9 configured for releasably attaching the track tile modules 1 to the base structure 3. In the embodiments shown in figures 2a-d, the track tile modules 1 comprise four locking arrangements 9 arranged in each corner section of the track tile modules 1. The locking arrangements 9 are illustrated more in detail in figures 3a-b.

[0065] The locking arrangements 9 are rotatably connected to the track tile modules 1 , as illustrated with an arrow in figure 3a. The locking arrangements 9 comprise a latch 9a configured for being rotatably displaced between an unlocked state Su and a locked state SL. In the locked state SL of the locking arrangements 9, the track tile modules 1 are connected to the base structure 3, and the latch 9a is in the locked state SL engaging the base structure 3. In the unlocked state Su of the locking arrangements 9, the track tile modules 1 are disconnected from the base structure 3, and the latch 9a is in the unlocked state Su disengaged from the base structure 3.

[0066] To connect the track tile modules 1 to the base structure 3, the track tile modules 1 are first placed in a correct position onto the base structure 3, as indicated in figure 3a. By rotating the locking arrangements 9 with the latch 9a from the unlocked state Su to the locked state SL, the latch 9a is engaging a locking recess, track, or similar receiving arrangement, in the base structure 3, as shown in figure 3b. To remove the track tile modules 1 from the base structure 3, the latch 9a is rotated from the locked state SL to the unlocked state Su for disengaging the latch 9a from the base structure 3. In the unlocked state Su, the track tile modules can easily be removed from the base structure 3, for maintenance or replacement. A suitable tool may be used for rotating the locking arrangements 9.

[0067] At least some of the plurality of track tile modules 1 attached to the base structure 3 are configured as tile modules having the same design. With the expression track tile modules 1 configured as tile modules having the same design is meant that the track tile modules 1 have the same dimensions and configurations, and are arranged with the same grooved track structure 2 and track groove junctions J. The grooved track structure 2 is thus arranged in the same way on each track tile module 1 configured as tile modules having the same design with one or more curved track grooves 2d, the inverted track groove arcs, a first pair of parallel track grooves 2a, and a second pair of parallel track grooves 2b, where the second pair of parallel track grooves 2b is extending in a direction perpendicular to the first pair of parallel track grooves 2a. The first pair of parallel track grooves 2a is arranged with a first track gauge Gi and the second pair of parallel track grooves 2b is arranged with a second track gauge G2, enabling formation of the driving track T when the track tile modules 1 are arranged in connection to each other.

[0068] In one specific embodiment, the track tile modules configured as tile modules having the same design are manufactured with the aim to be identical, for example by machining the track tile modules with the same configurations and dimensions from the same suitable material, by injection moulding the track tile modules from the same material in identical moulds, by deep drawing or press forming the track tile modules from a suitable material, or by 3D printing the track tile modules in a 3D printer from a suitable printing material. The track tile modules 1 may for example be made of plastic materials, composite materials, metallic materials, wood, or wood composites.

[0069] The purpose of arranging the track tile modules 1 with the same design is to simplify the construction and flexibility of the modular track system S using track tile modules 1 arranged as standard components. In this way, the same type of track tile modules 1 are used. The track tile modules 1 configured as tile modules having the same design may be configured as single piece track tile modules, where the track tile modules 1 are manufactured in one structural piece. In the embodiment shown in figure 2a, the track tile modules 1 arranged as tile modules having the same design are configured as single piece track tile modules. Alternatively, the track tile modules 1 configured as tile modules having the same design are configured as multi-piece track tile modules comprising two or more joined track tile sub-parts 1a, where the track tile modules 1 are manufactured in separate structural pieces forming the track tile sub-parts 1a that are joined to form the track tile modules 1. In figure 2d, an alternative embodiment of the track tile modules 1 arranged as tile modules having the same design, is schematically illustrated. In this embodiment, the track tile modules 1 are configured as multi-piece track tile modules comprising joined track tile sub-parts 1a. In the shown embodiment, the track tile modules 1 are formed by joining four track tile sub-parts 1a. The track tile sub-parts 1a may be joined by any suitable means for forming the track tile modules, such as for example by using glue, screw fastening members, rivets, snap fasteners, heat bonding operations, and / or welding operations.

[0070] With reference to the embodiment shown in figures 1a-b, all track tile modules 1 attached to the base structure 3 are configured as tile modules having the same design.

[0071] In the embodiments shown in figures 2a-d, the track tile modules 1 comprise alignment structures 8 arranged at the first longitudinal side edge 6a, the second longitudinal side edge 6b, the first lateral side edge 7a, and the second lateral side edge 7b. The alignment structures 8 are configured for aligning the grooved track structures 2 when the track tile modules 1 are arranged in connection to each other. The alignment structures 8 may have any suitable design, and the alignment structures 8 are securing correct alignment between adjacent track tile modules 1 in order to establish the driving track T without misaligned track grooves. In the embodiment shown in figures 2a-d, the alignment structures 8 are arranged as protruding sections 8a and recessed sections 8b of the respective side edges. The protruding sections 8a are engaging recessed sections 8b of adjacent track tile modules 1 , and the recessed sections 8b are engaging protruding sections 8a of adjacent track tile modules 1 , for an efficient configuration of the modular track system S.

[0072] The modular track system S is easily installed by attaching a plurality of track tile modules 1 to the base structure 3. At least some of the plurality of track tile modules 1 attached to the base structure 3 are configured as tile modules having the same design. As described above, one or more locking arrangements 9 are configured for releasably attaching the track tile modules 1 to the base structure 3. The locking arrangements 9 are arranged into a locked state SL for connecting the track tile modules 1 to the base structure 3. The locking arrangements 9 are arranged into an unlocked state Su for disconnecting the track tile modules 1 from the base structure 3.

[0073] A second embodiment of the track tile modules 1 is shown in figures 5a-b. The track tile modules 1 comprise an upper side 5a intended to face upwards, a lower side 5b intended to face downwards, a first longitudinal side edge 6a, a second longitudinal side edge 6b, a first lateral side edge 7a, and a second lateral side edge 7b. Suitably, the track tile modules have a structural configuration similar to the one described above in connection to figures 2a-b, but with a different grooved track structure 2. The track tile modules 1 have an extension in a longitudinal direction DLO and a lateral direction DLA. The longitudinal direction DLO of the track tile modules 1 when the track tile modules 1 are arranged in connection to other track tile modules 1 in the modular track system S is corresponding to the longitudinal direction DLO of the modular track system S. The lateral direction DLA of the track tile modules 1 when the track tile modules 1 are arranged in connection to other track tile modules 1 in the modular track system S is corresponding to the lateral direction DLA of the modular track system S.

[0074] In the embodiment illustrated in figures 5a-b, the extension of the track tile modules 1 in the longitudinal direction DLO is greater than the extension of the track tile modules 1 in the lateral direction DLA. A first pair of parallel track grooves 2a is arranged with a first track gauge Gi and a second pair of parallel track grooves 2b is arranged with a second track gauge G2, enabling formation of the driving track T when the track tile modules 1 are arranged in connection to each other. The second track gauge G2 is wider than the first track gauge G1. The respective track gauges are adapted to the configuration of the transport vehicles and are matching distances between the wheels W of the transport vehicles V.

[0075] The grooved track structure 2 is arranged on the upper side 5a, as shown in figures 5a-b. The grooved track structure 2 comprises the first pair of parallel track grooves 2a, and the second pair of parallel track grooves 2b extending in a direction perpendicular to the first pair of parallel track grooves 2a in an intersecting relationship. The first pair of parallel track grooves 2a are extending in the longitudinal direction DLO of the track tile modules 1 parallel to the first longitudinal side edge 6a and the second longitudinal side edge 6b. The second pair of parallel track grooves 2b are extending in the lateral direction DLA of the track tile modules 1 parallel to the first lateral side edge 7a and the second lateral side edge 7b. The track tile module 1 further comprises a curved track groove 2d arranged as a single continuous groove structure forming a track groove circle 40. Thus, the track groove circle 40 is in this embodiment arranged on only one track tile module 1 , and with this configuration of the grooved track structure 2 there is no need for track groove arcs combined with inverted track groove arcs to form the track groove circle.

[0076] The track tile modules 1 shown in figures 5a-b may be arranged with reinforcing ribs, locking arrangements, and alignment structures, in the same way as described above in connection to figures 2a-d. Further, a plurality of track tile modules 1 may be attached to a base structure 3 for forming a modular track system S, and the track tile modules 1 may be configured as tile modules having the same design as described above. The base structure 3 may be configured as a floor structure, or as a frame or beam system arranged for holding the plurality of track tile modules 1. The track tile modules 1 may be configured as single piece track tile modules, or the track tile modules 1 may be configured as multi-piece track tile modules comprising two or more joined track tile sub-parts.

[0077] A third embodiment of the track tile modules 1 is shown in figures 6a-b. The track tile modules 1 comprise an upper side 5a intended to face upwards, a lower side 5b intended to face downwards, a first longitudinal side edge 6a, a second longitudinal side edge 6b, a first lateral side edge 7a, and a second lateral side edge 7b. Suitably, the track tile modules have a structural configuration similar to the one described above in connection to figures 2a-b, but with a different grooved track structure 2. The track tile modules 1 have an extension in a longitudinal direction DLO and a lateral direction DLA. The longitudinal direction DLO of the track tile modules 1 when the track tile modules 1 are arranged in connection to other track tile modules 1 in the modular track system S is corresponding to the longitudinal direction DLO of the modular track system S. The lateral direction DLA of the track tile modules 1 when the track tile modules 1 are arranged in connection to other track tile modules 1 in the modular track system S is corresponding to the lateral direction DLA of the modular track system S. In the embodiment illustrated in figures 6a-b, the extension of the track tile modules 1 in the longitudinal direction DLO is the same as the extension of the track tile modules 1 in the lateral direction DLA. However, it should be understood that in other nonillustrated embodiments, the extension of the track tile modules 1 in the longitudinal direction DLO might be different from the extension of the track tile modules 1 in the lateral direction DLA.

[0078] A first pair of parallel track grooves 2a is arranged with a first track gauge Gi and a second pair of parallel track grooves 2b is arranged with a second track gauge G2, enabling formation of the driving track T when the track tile modules 1 are arranged in connection to each other. In this embodiment, first track gauge G1 is the same, or essentially the same, as the second track gauge G2. The respective track gauges are adapted to the configuration of the transport vehicles and are matching distances between the wheels W of the transport vehicles V.

[0079] The grooved track structure 2 is arranged on the upper side 5a, as shown in figures 6a-b. The grooved track structure 2 comprises the first pair of parallel track grooves 2a, and the second pair of parallel track grooves 2b extending in a direction perpendicular to the first pair of parallel track grooves 2a in an intersecting relationship. The first pair of parallel track grooves 2a are extending in the longitudinal direction DLO of the track tile modules 1 parallel to the first longitudinal side edge 6a and the second longitudinal side edge 6b. The second pair of parallel track grooves 2b are extending in the lateral direction DLA of the track tile modules 1 parallel to the first lateral side edge 7a and the second lateral side edge 7b.

[0080] In the embodiment in figures 6a-b, the grooved track structure 2 further comprises four curved track grooves 2d that are configured for enabling rotational displacement of the transport vehicle V. Intersections I of the first pair of parallel track grooves 2a with the second pair of parallel track grooves 2b form four track groove junctions J, and the four curved track grooves 2d are intersecting the four track groove junctions J, as shown in for example figure 6a. The curved track grooves 2d are arranged as a sectioned groove structure comprising a first track groove arc 20a extending between the first longitudinal side edge 6a and the second lateral side edge 7b, a second track groove arc 20b extending between the second lateral side edge 7b and the second longitudinal side edge 6b, a third track groove arc 20c extending between the second longitudinal side edge 6b and the first lateral side edge 7a, and a fourth track groove arc 20d extending between the first lateral side edge 7a and the first longitudinal side edge 6a. Each of the first track groove arc 20a, the second track groove arc 20b, the third track groove arc 20c and the fourth track groove arc 20d is forming part of a common circle Y having a specific radius R.

[0081] As shown in figures 6a-b, the track tile modules 1 further comprise a first inverted track groove arc 30a, a second inverted track groove arc 30b, a third inverted track groove arc 30c, and a fourth inverted track groove arc 30d. The first inverted track groove arc 30a is arranged at the second lateral side edge 7b and is extending between the first track groove arc 20a and the second track groove arc 20b. The second inverted track groove arc 30b is arranged at the second longitudinal side edge 6b and is extending between the second track groove arc 20b and the third track groove arc 20c. The third inverted track groove arc 30c is arranged at the first lateral side edge 7a and is extending between the third track groove arc 20c and the fourth track groove arc 20d. The fourth inverted track groove arc 30d is arranged at the first longitudinal side edge 6a and is extending between the fourth track groove arc 20d and the first track groove arc 20a. The first inverted track groove arc 30a, the second inverted track groove arc 30b, the third inverted track groove arc 30c, and the fourth inverted track groove arc 30d, are having the same specific radius R as the first track groove arc 20a, the second track groove arc 20b, the third track groove arc 20c, and the fourth track groove arc 20d.

[0082] In figure 6b, a plurality of track tile modules 1 of a modular track system S are arranged in connection to each other. In the following, the grooved track structure 2 will be described in connection to an intermediate track tile module 11, a first directly adjacent track tile module 1Ai, a second directly adjacent track tile module 1A2, a third directly adjacent track tile module 1A3, and a fourth directly adjacent track tile module AS shown in the figure, a first track groove arc 20a and a second track groove arc 20b, a third track groove arc 20c, and a fourth track groove arc 20d, of an intermediate track tile module 1i; a second inverted track groove arc 30b of a first directly adjacent track tile module 1Ai, a fourth inverted track groove arc 30d of a second directly adjacent track tile module 1A2, a first inverted track groove arc 30a of a third directly adjacent track tile module 1A3, and a third inverted track groove arc 30c of a fourth directly adjacent track tile module 1 A4; together are forming a track groove circle 40 configured for enabling fully rotational displacement of the transport vehicle V. The first directly adjacent track tile module 1Aiand the second directly adjacent track tile module 1A2 are arranged on laterally opposite sides of the intermediate track tile module 1i, in direct connection to the intermediate track tile module 1i. The third directly adjacent track tile module 1A3and the fourth directly adjacent track tile module 1A4are arranged on longitudinally opposite sides of the intermediate track tile module 1i, in direct connection to the intermediate track tile module 1i.

[0083] The track tile modules 1 shown in figures 6a-b may be arranged with reinforcing ribs, locking arrangements, and alignment structures, in the same way as described above in connection to figures 2a-d. Further, a plurality of track tile modules 1 may be attached to a base structure 3 for forming the modular track system S, and the track tile modules 1 may be configured as tile modules having the same design as described above. The base structure 3 may be configured as a floor structure, or as a frame or beam system arranged for holding the plurality of track tile modules 1. The track tile modules 1 may be configured as single piece track tile modules, or the track tile modules 1 may be configured as multi-piece track tile modules comprising two or more joined track tile sub-parts.

[0084] For the different embodiments, the track tile modules 1 may be made of any suitable material, such as plastic materials, composite materials, metallic materials, wood, or wood composites. The track tile modules 1 may be manufactured with the track tile module configurations described in the embodiments above, from plastic materials or composite materials in an injection moulding operation; from aluminium or steel in deep drawing or press forming operations; from plastic materials, composite materials, or metallic materials, in a 3D printing operation; or from plastic materials, composite materials, metallic materials, wood, or wood composites, in a machining operation.

[0085] It will be appreciated that the above description is merely exemplary in nature and is not intended to limit the present disclosure, its application or uses. While specific examples have been described in the specification and illustrated in the drawings, it will be understood by those of ordinary skill in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the present disclosure as defined in the claims. Furthermore, modifications may be made to adapt a particular situation or material to the teachings of the present disclosure without departing from the essential scope thereof. Therefore, it is intended that the present disclosure not be limited to the particular examples illustrated by the drawings and described in the specification as the best mode presently contemplated for carrying out the teachings of the present disclosure, but that the scope of the present disclosure will include any embodiments falling within the foregoing description and the appended claims. Reference signs mentioned in the claims should not be seen as limiting the extent of the matter protected by the claims, and their sole function is to make claims easier to understand.

[0086] REFERENCE SIGNS

[0087] 1 : Track tile module

[0088] 1a: Track tile sub-part

[0089] 1A< First directly adjacent track tile module

[0090] 1A2: Second directly adjacent track tile module

[0091] IAS: Third directly adjacent track tile module

[0092] 1A4: Fourth directly adjacent track tile module

[0093] 1i: Intermediate track tile module

[0094] 2: Grooved track structure

[0095] 2a: First pair of parallel track grooves

[0096] 2b: Second pair of parallel track grooves

[0097] 2d: Curved track groove

[0098] 3: Base structure

[0099] 5a: Upper side

[0100] 5b: Lower side

[0101] 6a: First longitudinal side edge

[0102] 6b: Second longitudinal side edge

[0103] 7a: First lateral side edge

[0104] 7b: Second lateral side edge

[0105] 8: Alignment structure

[0106] 9: Locking arrangement

[0107] 9a: Latch

[0108] 10: Reinforcing rib

[0109] 20a: First track groove arc

[0110] 20b: Second track groove arc

[0111] 20c: Third track groove arc

[0112] 20d: Fourth track groove arc

[0113] 30a: First inverted track groove arc

[0114] 30b: Second inverted track groove arc

[0115] 30c: Third inverted track groove arc

[0116] 30d: Fourth inverted track groove arc

[0117] 40: Track groove circle

[0118] D First drive lane D2: Second drive lane

[0119] DLA: Lateral direction

[0120] DLO: Longitudinal direction

[0121] G First track gauge G2: Second track gauge

[0122] I: Intersection

[0123] J: Track groove junction

[0124] R: Radius

[0125] S: Modular track system SL: Locked state

[0126] Su: Unlocked state

[0127] T: Driving track

[0128] V: Transport vehicle

[0129] W: Wheel Y: Common circle

Claims

CLAIMS1. A track tile module (1) providing a driving track (T) for a self-driving wheeled transport vehicle (V), wherein the track tile module (1) comprises an upper side (5a) intended to face upwards, a lower side (5b) intended to face downwards, a first longitudinal side edge (6a), a second longitudinal side edge (6b), a first lateral side edge (7a), and a second lateral side edge (7b), wherein a grooved track structure (2) is arranged on the upper side (5a), wherein the grooved track structure (2) comprises a first pair of parallel track grooves (2a) and a second pair of parallel track grooves (2b) extending in a direction perpendicular to the first pair of parallel track grooves (2a) in an intersecting relationship, wherein the grooved track structure (2) further comprises one or more curved track grooves (2d) configured for enabling rotational displacement of the transport vehicle (V).

2. The track tile module (1) according to claim 1 , wherein the one or more curved track grooves (2d) are forming part of a common circle (Y) having a specific radius (R).

3. The track tile module (1) according to claim 1 or 2, wherein intersections (I) of the first pair of parallel track grooves (2a) with the second pair of parallel track grooves (2b) form four track groove junctions (J), wherein the one or more curved track grooves (2d) are intersecting the four track groove junctions (J).

4. The track tile module (1) according to any preceding claim, wherein the one or more curved track grooves (2d) are arranged as a sectioned groove structure comprising a first track groove arc (20a) and a second track groove arc (20b) extending between the first longitudinal side edge (6a) and the second longitudinal side edge (6b) respectively.

5. The track tile module (1) according to claim 2 and 4,wherein each of the first track groove arc (20a) and the second track groove arc (20b) is forming part of the common circle (Y) having the specific radius (R).

6. The track tile module (1) according to claim 4 or 5, wherein the track tile module (1) further comprises a first inverted track groove arc (30a) and a second inverted track groove arc (30b), wherein the first inverted track groove arc (30a) is arranged at the first longitudinal side edge (6a) and extending between the first track groove arc (20a) and the second track groove arc (20b), and wherein the second inverted track groove arc (30b) is arranged at the second longitudinal side edge (6b) and extending between the first track groove arc (20a) and the second track groove arc (20b).

7. The track tile module (1) according to any of claims 5 and 6, wherein the first inverted track groove arc (30a) and the second inverted track groove arc (30b) are having the same specific radius (R) as the first track groove arc (20a) and the second track groove arc (20b).

8. The track tile module (1) according to any of claims 1 to 3, wherein the one or more curved track grooves (2d) are arranged as a single continuous groove structure forming a track groove circle (40).

9. The track tile module (1) according to any of claims 1 to 3, wherein the one or more curved track grooves (2d) are arranged as a sectioned groove structure comprising a first track groove arc (20a) extending between the first longitudinal side edge (6a) and the second lateral side edge (7b), a second track groove arc (20b) extending between the second lateral side edge (7b) and the second longitudinal side edge (6b), a third track groove arc (20c) extending between the second longitudinal side edge (6b) and the first lateral side edge (7a), a fourth track groove arc (20d) extending between the first lateral side edge (7a) and the first longitudinal side edge (6a).

10. The track tile module (1) according to claim 2 and 9,wherein each of the first track groove arc (20a), the second track groove arc (20b), the third track groove arc (20c), and the fourth track groove arc (20d), is forming part of the common circle (Y) having the specific radius (R).11 . The track tile module (1 ) according to claim 9 or 10, wherein the track tile module (1) further comprises a first inverted track groove arc (30a), a second inverted track groove arc (30b), a third inverted track groove arc (30c), and a fourth inverted track groove arc (30d), wherein the first inverted track groove arc (30a) is arranged at the second lateral side edge (7b) and extending between the first track groove arc (20a) and the second track groove arc (20b), wherein the second inverted track groove arc (30b) is arranged at the second longitudinal side edge (6b) and extending between the second track groove arc (20b) and the third track groove arc (20c), wherein the third inverted track groove arc (30c) is arranged at the first lateral side edge (7a) and extending between the third track groove arc (20c) and the fourth track groove arc (20d), wherein the fourth inverted track groove arc (30d) is arranged at the first longitudinal side edge (6a) and extending between the fourth track groove arc (20d) and the first track groove arc (20a).

12. The track tile module (1) according to claim 10 and 11 , wherein the first inverted track groove arc (30a), the second inverted track groove arc (30b), the third inverted track groove arc (30c), and the fourth inverted track groove arc (30d), are having the same specific radius (R) as the first track groove arc (20a), the second track groove arc (20b), the third track groove arc (20c), and the fourth track groove arc (20d).

13. The track tile module (1) according to any preceding claim, wherein the first pair of parallel track grooves (2a) are extending in a longitudinal direction (DLO) of the track tile module (1) parallel to the first longitudinal side edge (6a) and the second longitudinal side edge (6b), wherein the second pair of parallel track grooves (2b) are extending in a lateral direction (DLA) of the track tile module (1) parallel to the first lateral side edge (7a) and the second lateral side edge (7b).

14. The track tile module (1) according to claim 13, wherein the extension of the track tile module (1) in the longitudinal direction (DLO) is greater than the extension of the track tile module (1) in the lateral direction (DLA), wherein the first pair of parallel track grooves (2a) is arranged with a first track gauge (Gi) and the second pair of parallel track grooves (2b) is arranged with a second track gauge (G2), wherein the second track gauge (G2) is wider than the first track gauge (G1).

15. The track tile module (1) according to any preceding claim, wherein the lower side (5b) comprises one or more integrated reinforcing ribs (10).

16. The track tile module (1) according to any preceding claim, wherein the track tile module (1) is configured as a single piece track tile module, or wherein the track tile module (1) is configured as a multi-piece track tile module comprising two or more joined track tile sub-parts (1a).

17. A modular track system (S) comprising a plurality of track tile modules (1) according to any of claims 1 to 16, wherein the modular track system (S) further comprises a base structure (3), wherein the track tile modules (1) are arranged in connection to each other and attached to the base structure (3), wherein the grooved track structure (2) of the track tile modules (1) arranged in connection to each other are forming the driving track (T), wherein the driving track (T) is configured for guiding wheels (W) of the self-driving wheeled transport vehicle (V).

18. The modular track system (S) according to claim 17, wherein the track tile modules (1) comprise a first track groove arc (20a) and a second track groove arc (20b) extending between the first longitudinal side edge (6a) and the second longitudinal side edge (6b) respectively, wherein each of the first track groove arc (20a) and the second track groove arc (20b) is forming part of a track groove circle (40) having a specific radius (R), wherein the track tile modules (1) further comprise a first inverted track groove arc (30a) and a second inverted track groove arc (30b), wherein the firstinverted track groove arc (30a) is arranged at the first longitudinal side edge (6a) and extending between the first track groove arc (20a) and the second track groove arc (20b), wherein the second inverted track groove arc (30b) is arranged at the second longitudinal side edge (6b) and extending between the first track groove arc (20a) and the second track groove arc (20b), wherein the first inverted track groove arc (30a) and the second inverted track groove arc (30b) are having the same specific radius (R) as the first track groove arc (20a) and the second track groove arc (20b), wherein a first track groove arc (20a) and a second track groove arc (20b) of an intermediate track tile module (11), a second inverted track groove arc (30b) of a first directly adjacent track tile module (1 AI), and a first inverted track groove arc (30a) of a second directly adjacent track tile module (1 A2), together are forming a track groove circle (40) configured for enabling fully rotational displacement of the transport vehicle (V), wherein the first directly adjacent track tile module (1 AI) and the second directly adjacent track tile module (1A2) are arranged on laterally opposite sides of the intermediate track tile module (11), in direct connection to the intermediate track tile module (11).

19. The modular track system (S) according to claim 17, wherein the track tile modules (1) comprise a first track groove arc (20a) extending between the first longitudinal side edge (6a) and the second lateral side edge (7b), a second track groove arc (20b) extending between the second lateral side edge (7b) and the second longitudinal side edge (6b), a third track groove arc (20c) extending between the second longitudinal side edge (6b) and the first lateral side edge (7a), a fourth track groove arc (20d) extending between the first lateral side edge (7a) and the first longitudinal side edge (6a), wherein each of the first track groove arc (20a), the second track groove arc (20b), the third track groove arc (20c) and the fourth track groove arc (20d) is forming part of a track groove circle (40) having a specific radius (R), wherein the track tile modules (1) further comprise a first inverted track groove arc (30a), a second inverted track groove arc (30b), a third inverted track groove arc (30c), and a fourth inverted track groove arc (30d), wherein the first inverted track groove arc (30a) is arranged at the second lateral side edge (7b)and extending between the first track groove arc (20a) and the second track groove arc (20b), wherein the second inverted track groove arc (30b) is arranged at the second longitudinal side edge (6b) and extending between the second track groove arc (20b) and the third track groove arc (20c), wherein the third inverted track groove arc (30c) is arranged at the first lateral side edge (7a) and extending between the third track groove arc (20c) and the fourth track groove arc (20d), wherein the fourth inverted track groove arc (30d) is arranged at the first longitudinal side edge (6a) and extending between the fourth track groove arc (20d) and the first track groove arc (20a), wherein the first inverted track groove arc (30a), the second inverted track groove arc (30b), the third inverted track groove arc (30c), and the fourth inverted track groove arc (30d), are having the same specific radius (R) as the first track groove arc (20a), the second track groove arc (20b), the third track groove arc (20c), and the fourth track groove arc (20d), wherein a first track groove arc (20a), a second track groove arc (20b), a third track groove arc (20c), and a fourth track groove arc (20d), of an intermediate track tile module (1i); a second inverted track groove arc (30b) of a first directly adjacent track tile module (1 AI), a fourth inverted track groove arc (30d) of a second directly adjacent track tile module (1 A2), a first inverted track groove arc (30a) of a third directly adjacent track tile module (1 AS), and a third inverted track groove arc (30c) of a fourth directly adjacent track tile module (1A4); together are forming a track groove circle (40) configured for enabling fully rotational displacement of the transport vehicle (V), wherein the first directly adjacent track tile module (1 AI) and the second directly adjacent track tile module (1A2) are arranged on laterally opposite sides of the intermediate track tile module (11), in direct connection to the intermediate track tile module (11); and wherein the third directly adjacent track tile module (1AS) and the fourth directly adjacent track tile module (1A4) are arranged on longitudinally opposite sides of the intermediate track tile module (1i), in direct connection to the intermediate track tile module (11).

20. The modular track system (S) according to any of claims 17 to 19,wherein the track tile modules (1) further comprise one or more locking arrangements (9) configured for releasably attaching the track tile modules (1) to the base structure (3), wherein in a locked state (SL) of the one or more locking arrangements (9) the track tile modules (1) are connected to the base structure (3), wherein in an unlocked state (Su) of the one or more locking arrangements (9) the track tile modules (1) are disconnected from the base structure (3).21 . The modular track system (S) according to claim 20, wherein the locking arrangements (9) are rotatably connected to the track tile modules (1), wherein the locking arrangements (9) comprise a latch (9a) configured for being rotatably displaced between the unlocked state (Su) and the locked state (SL), wherein in the unlocked state (Su) the latch (9a) is disengaged from the base structure (3), wherein in the locked state (SL) the latch (9a) is engaging the base structure (3).

22. The modular track system (S) according to any of claims 17 to 21 , wherein the first pair of parallel track grooves (2a) of the track tile modules (1) when arranged in connection to each other define first drive lanes (Di) for the transport vehicle (V), wherein the first drive lanes (Di) are configured to guide the wheels (W) of the transport vehicle (V) along the first pair of parallel track grooves (2a), wherein the second pair of parallel track grooves (2b) of the track tile modules (1) when arranged in connection to each other define second drive lanes (D2) for the transport vehicle (V), wherein the second drive lanes (D2) are configured to guide wheels (W) of the transport vehicle (V) along the second pair of parallel track grooves (2a).

23. The modular track system (S) according to any of claims 17 to 22, wherein at least some of the plurality of track tile modules (1) attached to the base structure (3) are configured as tile modules having the same design.

24. The modular track system (S) according to any of claims 17 to 23, wherein the track tile modules (1) comprise alignment structures (8) arranged at a first longitudinal side edge (6a), a second longitudinal side edge (6b), a first lateral side edge (7a), and a second lateral side edge (7b), wherein the alignment structures (8) are configured for aligning the grooved track structures (2) when the track tile modules (1) are arranged in connection to each other.

25. A method for manufacturing a track tile module (1), wherein the track tile module (1) is providing a driving track (T) for a self-driving wheeled transport vehicle (V), wherein the method comprises the step: forming the track tile module (1) in an injection moulding operation, a deep drawing operation, a press forming operation, a 3D printing operation, or a machining operation, wherein the track tile module (1) comprises an upper side (5a) intended to face upwards, a lower side (5b) intended to face downwards, a first longitudinal side edge (6a), a second longitudinal side edge (6b), a first lateral side edge (7a), and a second lateral side edge (7b), wherein a grooved track structure (2) is arranged on the upper side (5a), wherein the grooved track structure (2) comprises a first pair of parallel track grooves (2a) and a second pair of parallel track grooves (2b) extending in a direction perpendicular to the first pair of parallel track grooves (2a) in an intersecting relationship, wherein the grooved track structure (2) further comprises one or more curved track grooves (2d) configured for enabling rotational displacement of the transport vehicle (V).

26. The method according to claim 25, wherein the one or more curved track grooves (2d) are forming part of a common circle (Y) having a specific radius (R).

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