Driverless transport vehicle and transport device

Abstract

A driverless transport vehicle (10) according to the invention for transporting load carriers (50), in particular racks, comprises a frame (20) having an at least approximately rectangular cross section with a front side (21), a rear side (22) opposite the front side (21), a right longitudinal side and a left longitudinal side opposite the right longitudinal side, the front side (21) and the rear side (22) extending in a transverse direction (Y), and the longitudinal sides extending in a longitudinal direction (X). The driverless transport vehicle (10) comprises a first coupling rod (31) and a second coupling rod (32), each of which are movable in a vertical direction (Z) relative to the frame (20) between an upper end position and a lower end position. A transport device according to the invention comprises a load carrier (50) and a driverless transport vehicle (10) according to the invention, the load carrier (50) comprising a first coupling opening (51) and a second coupling opening (52), and the first coupling rod (31) of the driverless transport vehicle (10) projecting into the first coupling opening (51) of the load carrier (50), and the second coupling rod (32) of the driverless transport vehicle (10) projecting into the second coupling opening (52) of the load carrier (50).

Description

[0001] Driverless transport vehicle and transport device

[0002] Description:

[0003] The invention relates to a driverless transport vehicle for transporting load carriers, in particular racks, which can be accessed from underneath by the driverless transport vehicle. The invention also relates to a transport device comprising a load carrier and a driverless transport vehicle according to the invention.

[0004] Automated guided vehicles (AGVs) can be used in various facilities, such as supermarkets, industrial halls, logistics centers, hospitals, and production plants. These AGVs are used, for example, to transport objects, particularly load carriers, within the respective facility. The load carriers serve to hold the goods being transported.

[0005] Load carriers are, for example, racks that have one or more transport surfaces for holding goods. Such a load carrier has several support elements located beneath the transport surfaces, which are in contact with a base on which the load carrier rests. These support elements include, for example, rotating casters. The automated guided vehicle (AGV) moves under the load carrier and establishes a mechanical connection with it. This allows the AGV to pull the load carrier through the system to a target position.

[0006] From DE 102019200 310 A1, a vehicle for transporting objects is known. The vehicle comprises a receiving device with receiving elements for receiving an object.

[0007] From CN 209581667 U, an autonomous vehicle is known which has a coupling rod for coupling with a load carrier.

[0008] From JP 2023-125575 A, a transport system is known which has a robot and a load carrier that can be coupled to the robot.

[0009] From KR 101863738 B1, an autonomous vehicle is known which can be coupled with a load carrier.

[0010] ISI \ EIDOPAT 10.06.2025 From CN 220684555 U an autonomous vehicle is known which can be coupled with a load carrier.

[0011] The invention is based on the objective of further developing a driverless transport vehicle for transporting load carriers which can be driven under by the driverless transport vehicle, as well as a transport device.

[0012] The problem is solved by a driverless transport vehicle with the features specified in claim 1. Advantageous embodiments and further developments are the subject of the dependent claims. The problem is solved by a transport device with the features specified in claim 9.

[0013] An automated guided vehicle (AGV) according to the invention for transporting load carriers, in particular racks, which can be driven under by the AGV, comprises a frame with an at least approximately rectangular cross-section having a front face, a rear face opposite the front face, a right longitudinal side, and a left longitudinal side opposite the right longitudinal side, wherein the front face and the rear face extend in a transverse direction, and the longitudinal sides extend in a longitudinal direction. The AGV comprises a first connecting rod and a second connecting rod, each of which is movable in a vertical direction relative to the frame between an upper end position and a lower end position.

[0014] The driverless transport vehicle according to the invention can be easily coupled to a suitable load carrier. When the driverless transport vehicle is positioned under the load carrier, the coupling rods can be moved into coupling openings of the load carrier by moving them to their upper end position. The driverless transport vehicle is thereby positively coupled to the load carrier.

[0015] According to an advantageous embodiment of the invention, the first connecting rod is arranged at the front of the frame, and the second connecting rod is arranged at the rear of the frame. The connecting rods are thus arranged relatively far apart. This makes the connection to the load carrier mechanically more stable.

[0016] According to an advantageous embodiment of the invention, the frame has a top surface which extends perpendicular to the vertical direction. The head of a connecting rod in the upper end position is located vertically above the top surface. The head of a connecting rod in the lower end position is located vertically below the top surface.

[0017] According to an advantageous embodiment of the invention, the driverless transport vehicle has wheels arranged at an end region opposite the top surface in the vertical direction. The wheels rest on a floor that extends perpendicular to the vertical direction. The driverless transport vehicle is movable on the floor by means of the wheels.

[0018] According to an advantageous embodiment of the invention, the connecting rods each have a circular cross-section. The head regions of the connecting rods are each shaped like a truncated cone. The head regions each form an insertion ramp for the connecting rods. This allows the connecting rods to be inserted into the coupling openings of the load carrier, even if the driverless transport vehicle is positioned imprecisely under the load carrier, i.e., if the connecting rods are located eccentrically under the coupling openings.

[0019] According to an advantageous embodiment of the invention, a lateral surface of each head region extends at an angle of 50° to 70°, preferably 60°, to the vertical direction. At such an angle, inaccurate positioning of the driverless transport vehicle relative to the load carrier can be compensated for particularly well.

[0020] According to an advantageous embodiment of the invention, the connecting rods each have an external thread. The external threads of the connecting rods can be screwed into corresponding internal threads of the coupling openings. This makes the coupling of the driverless transport vehicle to the load carrier particularly robust.

[0021] According to an advantageous embodiment of the invention, the driverless transport vehicle comprises a first electric drive for moving the first connecting rod vertically relative to the frame between the upper and lower end positions, and a second electric drive for moving the second connecting rod vertically relative to the frame between the upper and lower end positions. The electric drives enable automatic coupling between the driverless transport vehicle and the load carrier. A transport device according to the invention comprises a load carrier and a driverless transport vehicle according to the invention. The load carrier includes a first coupling opening and a second coupling opening.The first coupling rod of the driverless transport vehicle protrudes into the first coupling opening of the load carrier, and the second coupling rod of the driverless transport vehicle protrudes into the second coupling opening of the load carrier.

[0022] The driverless transport vehicle is positively coupled to the load carrier. The transport device according to the invention is suitable for the automated transport of objects on a transport surface of the load carrier.

[0023] According to an advantageous embodiment of the invention, the load carrier has an underside that extends perpendicular to the vertical direction. The coupling openings are arranged in the underside. Thus, the load carrier can be driven under by the automated guided vehicle (AGV) if the underside of the load carrier is further from the ground than the top of the AGV.

[0024] According to an advantageous embodiment of the invention, the coupling openings each have a circular cross-section. The insertion areas of the coupling openings are each designed in the form of a truncated cone. The insertion areas each form an insertion ramp for the coupling rods. This allows the coupling rods to be inserted into the coupling openings of the load carrier even if the automated guided vehicle (AGV) is positioned imprecisely under the load carrier, i.e., if the coupling rods are located eccentrically beneath the coupling openings.

[0025] According to an advantageous embodiment of the invention, a starting surface of each insertion area extends at an angle of 50° to 70°, preferably 60°, to the vertical direction. At such an angle, inaccurate positioning of the driverless transport vehicle relative to the load carrier can be compensated for particularly well.

[0026] According to an advantageous embodiment of the invention, the coupling openings each have an internal thread. Corresponding external threads of the coupling rods can be screwed into the internal threads of the coupling openings. This makes the coupling of the driverless transport vehicle to the load carrier particularly robust. The invention is not limited to the combination of features of the claims. For those skilled in the art, further meaningful combinations of claims and / or individual claim features and / or features of the description and / or the figures will arise, in particular from the problem statement and / or the problem arising from a comparison with the prior art.

[0027] The invention will now be explained in more detail with reference to the illustrations. The invention is not limited to the embodiments shown in the illustrations. The illustrations only depict the subject matter of the invention schematically. They show:

[0028] Figure 1: a side view of a driverless transport vehicle,

[0029] Figure 2: a perspective view of a charge carrier,

[0030] Figure 3: a view of one underside of the charge carrier and

[0031] Figure 4: a schematic sectional view of part of a transport device.

[0032] Figure 1 shows a side view of an automated guided vehicle (AGV) 10. The AGV 10 is located on a level surface extending perpendicular to a vertical direction Z. A transverse direction Y extends perpendicular to the vertical direction Z. A longitudinal direction X extends perpendicular to both the vertical direction Z and the transverse direction Y.

[0033] The driverless transport vehicle 10 comprises a frame 20 with an approximately rectangular cross-section. The frame 20 has a front face 21, a rear face 22 opposite the front face 21, a right longitudinal side, and a left longitudinal side opposite the right longitudinal side. The front face 21 and the rear face 22 extend in the transverse direction Y, while the longitudinal sides extend in the longitudinal direction X. The longitudinal sides are longer than the front face 21 and the rear face 22, for example, 1.5 times as long, twice as long, or 2.5 times as long.

[0034] The automated guided vehicle (AGV) 10 is used to transport load carriers 50, in particular racks, which the AGV 10 can access from underneath. The frame 20 of the AGV 10 has a top surface 25 that extends perpendicular to the vertical direction Z. The AGV 10 has wheels 40, which are arranged at one end of the frame opposite the top surface 25 in the vertical direction Z. The wheels 40 rest on the ground. The AGV 10 has a drive unit for the rotary drive of the wheels 40. The AGV 10 also has a control unit for controlling the drive unit and an electrical energy storage device for supplying power to the drive unit. The AGV 10 further has several laser scanners for monitoring its surroundings.

[0035] The driverless transport vehicle 10 comprises a first connecting rod 31 and a second connecting rod 32. The first connecting rod 31 is located at the front 21 of the frame 20. The second connecting rod 32 is located at the rear 22 of the frame 20. The connecting rods 31 and 32 are each movable in the vertical direction Z relative to the frame 20 between an upper end position and a lower end position. In the illustration shown here, the connecting rods 31 and 32 are each in their lower end positions.

[0036] The driverless transport vehicle 10 comprises a first electric drive 41 for moving the first connecting rod 31 in the vertical direction Z relative to the frame 20 between the upper end position and the lower end position. The driverless transport vehicle 10 also comprises a second electric drive 42 for moving the second connecting rod 32 in the vertical direction Z relative to the frame 20 between the upper end position and the lower end position. The electric drives 41 and 42 are, for example, designed as electric cylinders.

[0037] Figure 2 shows a perspective view of a load carrier 50. The load carrier 50 is designed as a frame and comprises a transport surface 58, which extends perpendicular to the vertical direction Z. The transport surface 58 serves to hold goods to be transported, for example, boxes or cartons. It is also conceivable that the load carrier 50 has several transport surfaces 58, which are arranged one above the other in the vertical direction Z.

[0038] The load carrier 50, designed as a frame, further comprises four casters 53. The casters 53 are arranged vertically Z below the aforementioned transport surface 58 and rest on the ground. Each caster 53 is rotatable about a pivot axis perpendicular to the vertical direction Z. The casters 53 are also pivotable about a swivel axis extending vertically Z. The load carrier 50 can be moved on the ground by means of the casters. The load carrier 50 has a bottom surface 55, which also extends perpendicularly to the vertical direction Z. The bottom surface 55 is located below the transport surface 58. Thus, in the vertical direction Z, the bottom surface 55 is positioned between the transport surface 58 and the ground.

[0039] The distance between the underside 55 of the load carrier 50 and the ground is greater than the distance between the top 25 of the automated guided vehicle 10 and the ground. The load carrier 50 can therefore be accessed from underneath by the automated guided vehicle 10.

[0040] Figure 3 shows a view of the underside 55 of the charge carrier 50. The charge carrier 50 comprises a first coupling opening 51 and a second coupling opening 52. The coupling openings 51, 52 are arranged in the underside 55 of the charge carrier 50.

[0041] The coupling openings 51, 52 each have a circular cross-section. Each coupling opening 51, 52 includes an insertion area 57. The insertion areas 57 of the coupling openings 51, 52 are each shaped like a truncated cone.

[0042] The coupling openings 51, 52 are arranged offset from each other in the longitudinal direction X. The distance between the coupling openings 51, 52 corresponds to the distance between the coupling rods 31, 32 of the driverless transport vehicle 10.

[0043] Figure 4 shows a schematic sectional view of part of a transport device. The transport device comprises a load carrier 50 and an automated guided vehicle (AGV) 10. The first coupling rod 31 of the AGV 10 projects into the first coupling opening 51 of the load carrier 50, and the second coupling rod 32 of the AGV 10 projects into the second coupling opening 52 of the load carrier 50.

[0044] In the view shown here, a portion of the transport device is enlarged. This portion contains the first coupling opening 51 of the load carrier 50 and the first coupling rod 31 of the driverless transport vehicle 10 projecting into it. The second coupling rod 32 is identical to the first coupling rod 31. The second coupling opening 52 is identical to the first coupling opening 51. The first coupling rod 31 has a circular cross-section. The first coupling rod 31 has a head region 37 facing away from the ground. The head region 37 of the first coupling rod 31 is in the shape of a truncated cone. An outer surface of the head region 37 extends at an angle of 60° to the vertical direction Z. An inner surface of the head region 37 extends at an angle of 120° to the vertical direction Z.

[0045] The head 37 of a connecting rod 31, 32 in the upper end position is located above the top surface 25 in the vertical direction Z. The head 37 of a connecting rod 31, 32 in the lower end position is located below the top surface 25 in the vertical direction Z. In the illustration shown here, the first connecting rod 31 is in the upper end position.

[0046] The first coupling opening 51, as already mentioned, has a circular cross-section and includes an insertion area 57. The insertion area 57 of the first coupling opening 51 is shaped like a truncated cone. An outer approach surface of the insertion area 57 extends at an angle of 60° to the vertical direction Z. An inner approach surface of the insertion area 57 extends at an angle of 120° to the vertical direction Z.

[0047] The outer diameter of the first connecting rod 31 is smaller than the inner diameter of the first connecting opening 51.

[0048] Reference symbol list

[0049] 10 Driverless Transport Vehicle

[0050] 20 frames

[0051] 21 Front page

[0052] 22 Rear

[0053] 25 Top

[0054] 31 first connecting rod

[0055] 32 second connecting rod

[0056] 37 Head area

[0057] 40 wheel

[0058] 41 first electric drive

[0059] 42 second electric drive

[0060] 50 load carriers

[0061] 51 first coupling opening

[0062] 52 second coupling opening

[0063] 53 rolls

[0064] 55 Underside

[0065] 57 Insertion area

[0066] 58 tons transport area

[0067] X Longitudinal direction

[0068] Y transverse direction

[0069] Z Vertical direction

Claims

Patent claims:

1. Driverless transport vehicle (10) for transporting load carriers (50), in particular racks, which can be driven under by the driverless transport vehicle (10), comprising a frame (20) with an at least approximately rectangular cross-section having a front side (21), a rear side (22) opposite the front side (21), a right longitudinal side and a left longitudinal side opposite the right longitudinal side, wherein the front side (21) and the rear side (22) extend in a transverse direction (Y), and the longitudinal sides extend in a longitudinal direction (X), characterized in that the driverless transport vehicle (10) comprises a first connecting rod (31) and a second connecting rod (32), each of which is movable in a vertical direction (Z) relative to the frame (20) between an upper end position and a lower end position.

2. Driverless transport vehicle (10) according to claim 2, characterized in that the first coupling rod (31) is arranged on the front side (21) of the frame (20), and that the second coupling rod (32) is arranged on the rear side (22) of the frame (20).

3. Driverless transport vehicle (10) according to one of the preceding claims, characterized in that the frame (20) has a top surface (25) which extends perpendicular to the vertical direction (Z), and that a head region (37) of a connecting rod (31, 32) located in the upper end position is located above the top surface (25) in the vertical direction (Z), and that the head region (37) of a connecting rod (31, 32) located in the lower end position is located below the top surface (25) in the vertical direction (Z).

4. Driverless transport vehicle (10) according to claim 3, characterized in that the driverless transport vehicle (10) has wheels (40) which are arranged at one end region opposite the top (25) in the vertical direction (Z), and that the wheels (40) stand on a floor which extends perpendicular to the vertical direction (Z).

5. Driverless transport vehicle (10) according to one of claims 3 to 4, characterized in that the connecting rods (31, 32) each have a circular cross-section, and that the head regions (37) of the connecting rods (31, 32) are each designed in the form of a truncated cone.

6. Driverless transport vehicle (10) according to claim 5, characterized in that a lateral surface of each head region (37) extends inclined by 50° to 70°, preferably 60°, to the vertical direction (Z).

7. Driverless transport vehicle (10) according to one of the preceding claims, characterized in that the connecting rods (31, 32) each have an external thread.

8. Driverless transport vehicle (10) according to one of the preceding claims, characterized in that the driverless transport vehicle (10) comprises a first electric drive (41) for moving the first connecting rod (31) in the vertical direction (Z) relative to the frame (20) between the upper end position and the lower end position and a second electric drive (42) for moving the second connecting rod (32) in the vertical direction (Z) relative to the frame (20) between the upper end position and the lower end position.

9. Transport device comprising a load carrier (50) and a driverless transport vehicle (10) according to one of the preceding claims, characterized in that the load carrier (50) comprises a first coupling opening (51) and a second coupling opening (52), and that the first coupling rod (31) of the driverless transport vehicle (10) projects into the first coupling opening (51) of the load carrier (50), and that the second coupling rod (32) of the driverless transport vehicle (10) projects into the second coupling opening (52) of the load carrier (50).

10. Transport device according to claim 9, characterized in that the load carrier (50) has a bottom surface (55) which extends perpendicular to the vertical direction (Z), and that the coupling openings (51, 52) are arranged in the bottom surface (55).

11. Transport device according to one of claims 9 to 10, characterized in that the coupling openings (51, 52) each have a circular cross-section, and that the insertion areas (57) of the coupling openings (51, 52) are each formed in the form of a truncated cone.

12. Transport device according to claim 11, characterized in that a starting surface of each insertion area (57) extends inclined by 50° to 70°, preferably 60°, to the vertical direction (Z).

13. Transport device according to one of claims 9 to 12, characterized in that the coupling openings (51, 52) each have an internal thread.

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