Vehicle for transporting goods

Abstract

The invention relates to a vehicle (100) for transporting goods, comprising: - at least one drive device (10) for driving at least one wheel axle (40), - at least one lifting device (30) for performing a lifting movement (H), wherein the at least one drive device (10) is arranged at least partially within the at least one lifting device (30).

Description

[0001] Description

[0002] Goods transport vehicle

[0003] The invention relates to a vehicle for transporting goods.

[0004] In production and logistics sectors, goods such as products or components must be transported quickly and reliably. In particular, the goods must also be lifted. Therefore, driverless transport vehicles with lifting mechanisms are primarily used for transporting goods.

[0005] From EP 3663488 B1 a parking robot for a motor vehicle is known, wherein a drive device can turn a spindle nut on a threaded rod in order to adjust a lifting device between a lowered and a raised position.

[0006] A driverless transport vehicle with front-wheel steering is known from CN 107364333 A. A device and a method for transporting vehicles are known from CN 110512928 A. A parking robot is also known from CN 109305252 A.

[0007] A fundamental aim in the development of these transport vehicles is to achieve a small form factor, so that the transport vehicle can, for example, drive under the goods or transport pallets and lift them from below.

[0008] The technical problem is to create a vehicle for transporting goods that effectively utilizes the available installation space.

[0009] The solution to the technical problem is provided by the articles with the features of the independent claims. Further advantageous embodiments of the invention are described in the dependent claims.

[0010] A vehicle for the transport of goods is proposed, comprising:

[0011] at least one drive device for driving at least one wheel axle, at least one lifting device for performing a lifting movement, wherein the at least one drive device is at least partially arranged within the at least one lifting device.

[0012] The vehicle has the advantage of effectively utilizing the available installation space by arranging the drive unit, at least partially, within the lifting mechanism – for example, in a cavity within the lifting mechanism. This allows for a particularly small form factor for the vehicle.

[0013] The vehicle is, in particular, a driverless transport vehicle, e.g., an Automated Guided Vehicle (AGV). Naturally, the vehicle can be part of a group of vehicles that, for example, operate autonomously in a swarm. For this purpose, the vehicle can have at least one control and / or communication device, which may, for example, be a microcontroller.

[0014] The lifting device can be arranged in a lowered position and in a raised position. The lifting movement can occur along a lifting axis. The lifting movement is oriented, in particular, against the direction of gravity. The lifting distance between the lowered and raised positions can be at least 50 mm, and in particular at least 100 mm. The vehicle's overall height can be less than 150 mm, and in particular less than 100 mm, when the lifting device is in the lowered position. This allows the vehicle, for example, to drive completely under a transport pallet and lift and transport it using the lifting movement. The lifting device can have at least one transport element, such as a lifting plate, for transporting goods. The transport element can be arranged, for example, on the upper side of the lifting device.

[0015] The drive unit can, in particular, comprise one or more electric motors. Each electric motor can, for example, comprise a rotor and a stator. The drive unit is, in particular, cylindrical in shape. The electric motor can, in particular, be a servo motor. A suitable drive unit is, for example, marketed by Kollmorgen under the designation TBM 6008. The drive unit can, of course, also be designed differently. The drive unit is, in particular, designed to generate a torque in the range of 0.1 Nm to 40 Nm in order to drive the wheel axle. The drive unit is, in particular, arranged around the lifting axis of the lifting device.

[0016] For example, a rotor of the drive unit rotates around the hub axis. The drive unit can be designed to execute a pivoting movement of the wheel axle in order to steer the vehicle, e.g., according to the principle of a pivot-axle steering system.

[0017] The wheel axle can be, for example, the front axle of the vehicle. The hub axle is oriented at a 90° angle to the wheel axle. The wheel axle can be coupled to the drive unit via a gear stage – for example, a bevel gear stage – to transmit the torque generated by the drive unit to the wheel axle. At least one wheel can be arranged at each free end of the wheel axle. Alternatively, the wheel axle can also be a virtual connecting line between the wheels, for example, between the centers of the wheels. In other words, the wheel axle can be a physical object – for example, a shaft – and / or an imaginary axis, which is, for example, one axis of rotation of the wheels. The respective wheel can be, for example, a plastic wheel with a solid rubber tread. The respective wheel can, for example, have a diameter of at least 50 mm. This allows the vehicle to drive over small obstacles.In particular, the diameter of each wheel may not exceed 150 mm, and especially not 100 mm. This ensures that the previously explained overall height is not exceeded.

[0018] The lifting device can have at least one rotatable part and at least one linearly movable part. The rotatable part can, for example, have an internal thread and be designed as a spindle nut. The linearly movable part, on the other hand, can, for example, have an external thread and be designed as a threaded rod. The rotatable part can be screwed onto the linearly movable part. The lifting device can be kinematically coupled to the wheel axle so that, for example, the previously mentioned pivoting motion can be converted into the lifting motion. This will be explained in more detail below. The parts of the lifting device can be made of, for example, aluminum, steel, or plastic.

[0019] In one embodiment, the at least one lifting device has at least one cavity, wherein the at least one drive device is at least partially arranged within the at least one cavity. The cavity allows the resulting installation space within the lifting device to be used for arranging the drive device. The cavity is particularly cylindrical in shape. This allows, for example, a cylindrically shaped drive device to be arranged within a cylindrically shaped cavity. For instance, the linearly movable part of the lifting device can be hollow – in particular, a hollow cylinder. The degree to which the drive device is arranged within the cavity can depend on the current position of the lifting device, since, for example, the linearly movable part can move back and forth between the lowered and raised positions as a result of the lifting movement.For example, the drive unit may be located entirely within the cavity when the lifting unit is in the lowered position, and at least partially outside the cavity when the lifting unit is in the raised position.

[0020] In one embodiment, the at least one drive unit is designed to execute a pivoting movement of the at least one wheel axle, wherein the at least one wheel axle is kinematically coupled to the at least one lifting device. This allows the pivoting movement of the wheel axle to be directly converted into the lifting movement of the lifting device. The pivoting movement serves, for example, to steer the vehicle and can therefore also be referred to as a steering movement. In particular, the position and orientation of the pivot axis coincide with the lifting axis of the lifting device. The wheel axle is kinematically coupled, in particular, to the previously described rotatable part of the lifting device. For example, the wheel axle and the rotatable part are coupled to each other by a coupling element. The coupling element can, for example, be a bolt. This allows the pivoting movement of the wheel axle to be directly transmitted to the rotatable part of the lifting device.For example, if the pivoting movement is executed by means of the drive unit, a torque acts on the rotatable part due to the kinematic coupling. As a result of the rotation of the rotatable part, the linearly movable part can be screwed from the lowered position to the raised position. In particular, the wheel axle and the rotatable part can be arranged in a rotatable housing module of the vehicle. The rotatable housing module can, for example, be mounted to rotate about the lifting axis. The rotatable housing module is, in particular, a front housing module of the vehicle.

[0021] In one embodiment, the at least one drive unit is designed in multiple parts, wherein a first drive part drives at least one first wheel of the at least one wheel axle, and a further drive part drives at least one further wheel of the at least one wheel axle. This allows the drive unit to drive the wheels independently of each other. The drive unit can thus be used both to perform forward or reverse movement of the vehicle and to perform steering and lifting movements, requiring only two drive parts – i.e., for example, two electric motors. The drive unit can be configured to perform forward or reverse movement of the vehicle by driving the wheels in the same direction. The drive unit can also be configured to perform steering and lifting movements by driving the wheels in opposite directions.By driving the wheels in opposite directions, they move, for example, in a circular path around the lifting axis. Due to the previously explained kinematic coupling between the rotating part and the wheel axle, the rotating part of the lifting device can move along with the wheel axle. This, as already explained, generates the lifting motion.

[0022] In one embodiment, at least one first gear stage is arranged between the at least one first drive element and the at least one first wheel, and at least one further gear stage is arranged between the at least one further drive element and the at least one further wheel, wherein the at least one first gear stage and the at least one further gear stage have the same gear ratio. This allows both drive elements of the drive unit to generate identical torques and speeds, for example, to produce forward or reverse movement or swivel and lifting movements. The vehicle is driven, in particular, without belts, which increases the vehicle's service life, as no belts need to be replaced. Each gear stage can have at least one input shaft and at least one output shaft. The input shaft of the respective gear stage can, for example, be...The input shaft is a drive shaft of the respective drive unit. The output shaft can be part of the wheel axle, located, for example, between the input shaft and the driven wheel. Both the input and output shafts can be bevel gear shafts to convert the rotation of the input shafts—around, for example, the hub axis—into a rotation of the output shafts—around, for example, the wheel axis—displaced by 90°. The gear ratio of the two gear stages can be identical by using the same number of meshing teeth in the gear stages. The input shafts of the gear stages rotate, in particular, around the hub axis. For this purpose, at least one of the input shafts can be hollow, allowing the remaining input shaft to be located inside the hollow input shaft.

[0023] In one embodiment, at least one ring gear stage is arranged between the wheel axle and each wheel. This allows the wheel axle to be positioned vertically offset from a rotational axis of the wheels, while simultaneously transmitting a particularly high torque from the wheel axle to the wheels. This facilitates driving over obstacles. The ring gear stage can transmit torque from one of the output shafts of the previously described gear stages to a ring gear, which in turn is coupled to the respective wheel. In one embodiment, the at least one drive unit comprises at least one rotor and at least one stator, wherein the at least one rotor is connected to at least one rotatable housing module of the vehicle and the at least one stator is connected to at least one further housing module of the vehicle.This allows the rotatable housing module to be twisted relative to the other housing module by means of the drive unit and, for example, rotated around the lifting axis. In particular, the vehicle does not need to be supported by an object outside the vehicle during the swiveling and lifting movement. The lifting device, for example, can be located in the rotatable housing module. The rotatable housing module can, for example, be the previously described front housing module and can be referred to, for example, as the steering and spindle housing. The other housing module, on the other hand, can be a rear part of the vehicle and, for example, be designed as a trailer. Due to the connection between the stator and the other housing module, the other housing module cannot be rotated around the lifting axis, especially when, for example, the swiveling and lifting movement is being performed. The connection between the stator and the other housing module can therefore also be described as rotationally fixed.In other words, the additional housing module is designed to absorb torque generated by the at least one drive unit. In contrast, the parking robots described in the prior art cited at the beginning must grip a tire of a motor vehicle, which absorbs the torque acting during the swiveling and lifting movements. The additional housing module can, for example, have at least one support wheel. The torque generated by the drive unit can be transmitted via the support wheel, for example, through friction between the support wheel and a standing surface.

[0024] In one embodiment, at least one voltage source is arranged in the at least one additional housing module. This allows the weight of the additional housing module, and thus its torque absorption capacity, to be increased. The voltage source can, for example, be a lithium-ion battery.

[0025] In one embodiment, the at least one voltage source is configured to supply power to the at least one drive unit, with the power supply being connected to the at least one stator of the at least one drive unit via a cable. Since the additional housing module and the stator of the drive unit are rotationally fixed to each other, no slip ring contacts are necessary for supplying power to the drive unit. This improves the reliability of the power supply. In another embodiment, the at least one lifting device is mounted in the vehicle so that it can tilt. This allows weight forces to be distributed more evenly in the vehicle, particularly on the wheels. For example, during the lifting movement, the lifting device may come into oblique contact with, for example, the underside of the transport pallet due to unevenness in the floor.The tilting mounting of the lifting device prevents one-sided tilting between the lifting device and the transport pallet by allowing the lifting device to tilt slightly. A maximum tilting angle can be limited to 6°, for example, by a mechanical tilt stop to prevent the vehicle from tipping over. Furthermore, the tilting mounting allows for a more even load distribution across the wheels of the axle, thus counteracting wheel spin caused by uneven loading. The tilting movement of the lifting device occurs primarily relative to the wheel axle.

[0026] The invention is explained in more detail using exemplary embodiments. The figures show:

[0027] Fig. 1 shows a schematic representation of an embodiment of a vehicle for the transport of goods in a first view,

[0028] Fig. 2 shows a schematic representation of an embodiment of a vehicle for the transport of goods in a perspective view and

[0029] Fig. 3 shows a schematic representation of an embodiment of a vehicle for the transport of goods in a further view.

[0030] In the following, identical reference symbols denote elements with the same technical characteristics.

[0031] Fig. 1 shows a vehicle 100 designed as a lifting platform in a first view. The vehicle 100 is used for transporting goods, in particular for lifting and transporting goods. The goods can be, for example, components for a product to be manufactured (not shown) and arranged on a transport pallet (not shown). The vehicle 100 can, for example, drive under the transport pallet and lift it from below.

[0032] The first view shows the vehicle in a cross-sectional plane AA. Cross-sectional plane AA is a plane spanned by a lifting axis Z of the vehicle 100 and a transverse axis Y arranged orthogonally to it. The lifting axis Z is oriented, for example, against the direction of gravity. A longitudinal axis X is arranged orthogonally to the transverse axis Y and the lifting axis Z, and is directed, for example, in the current direction of travel of the vehicle 100.

[0033] A basic idea of ​​the invention is that a drive unit 10 of the vehicle 100 is arranged at least partially within a lifting unit 30 of the vehicle 100 in order to effectively utilize the installation space of the vehicle 100 and thus enable a compact form factor.

[0034] In Fig. 1, the lifting device 30 is arranged in a lowered position. In this position, the overall height D of the vehicle 100 is minimized to a value of, for example, less than 150 mm.

[0035] The drive unit 10 of the vehicle 100 serves to drive a wheel axle 40. For this purpose, the drive unit 10 has several drive components 11, 12. The drive components 11, 12 are, for example, each designed as housingless servomotors. The stators 13, 14 of the drive components 11, 12 can be arranged in a motor housing 15 of the drive unit 10. The rotors of the drive components 11, 12, on the other hand, can rotate about the stroke axis Z. This will be explained in more detail below.

[0036] The lifting device 30 serves to perform a lifting movement H in order to lift the goods. This is indicated by a vertical arrow in Figures 1 to 3. For this purpose, the lifting device 30 can, for example, have a rotatable part 31 designed as a spindle nut, which can move a linearly movable part 32 of the lifting device 30 along the lifting axis Z. The linearly movable part 32 of the lifting device 30 can have an external thread which engages in an internal thread of the rotatable part 31.

[0037] Furthermore, a transport element 36 designed as a lifting plate can be arranged on the upper side of the linearly movable part 32, on which the goods can be arranged during transport.

[0038] The linearly movable part 32 is in particular designed as a hollow cylinder, so that the lifting device 30 has a cavity 33 in which the drive device 10 is arranged.

[0039] The first drive element 11 of the drive unit 10 drives, for example, a first wheel 41 of the wheel axle 40. The second drive element 12 drives, for example, another wheel 42 of the wheel axle 40. This allows the drive unit 10 to drive the wheels 41 and 42 separately, so that the vehicle 100 can perform both a forward or backward movement (not shown) and a pivoting movement S about the pivot axis Z with the aid of the drive unit 10.

[0040] For forward or reverse movement, wheels 41 and 42 can be driven in the same direction, for example. For pivoting movement S, wheels 41 and 42 can be driven in opposite directions, for example. In pivoting movement S, the wheels of axle 40 can therefore be moved on a circular path K around the pivot axis Z (see Fig. 2).

[0041] To enable beltless drive of wheels 41 and 42, a first gear stage 50 is arranged between the first drive unit 11 and the first wheel 41. A further gear stage 60 is arranged between the second drive unit 12 and the second wheel 42. Gear stages 50 and 60 are each designed as bevel gear stages.

[0042] For example, the rotor of the first drive unit 11 can be coupled to an input shaft 51 of the first gear stage 50. The input shaft 51 can rotate about the stroke axis Z and be designed as a bevel gear shaft. The input shaft 51 is also hollow. This allows a centering rod 111 to be arranged along the stroke axis Z, which centers the drive unit 10 within a front housing module 110 of the vehicle 100.

[0043] For example, the rotor of the further drive component 12 can be coupled to an input shaft 61 of the further gear stage 60. The input shaft 61 can also rotate about the stroke axis Z and be designed as a bevel gear shaft. The input shaft 61 is also hollow. This allows the input shaft 51 of the first gear stage 50 to be arranged inside the further input shaft 61.

[0044] Gear stages 50 and 60 have the same gear ratio, so that both drive components 11 and 12 of the drive unit 10 can generate identical torques and speeds to drive the wheels in the same or opposite directions. This ensures that the drive components 11 and 12 are subjected to an even load.

[0045] An output shaft 52 of the first gear stage 50 is formed as part of the wheel axle 40. The output shaft 52 drives, for example, the first wheel 41. An output shaft 62 of the next gear stage 60 is also formed as part of the wheel axle 40. The output shaft 62 drives, for example, the next wheel 42. Furthermore, at least one ring gear stage 70 is arranged between the wheel axle 40 and the wheels 41 and 42. For this purpose, the two output shafts 52 and 62 of the gear stages 50 and 60 each engage with a ring gear 71, which is coupled to the respective wheel 41 or 42. This allows the wheel axle 40 to be arranged vertically offset from a rotational axis of the wheels 41 and 42. The vertical offset between the wheel axle 40 and the wheels 41, 42 allows the wheels 41, 42 to have a larger diameter without exceeding the vehicle's overall height D 100. The large diameter of the wheels 41, 42 facilitates driving over obstacles.

[0046] The stators 13, 14 of the drive unit 10 are not only connected to the motor housing 15. Rather, the stators 13, 14 are connected to the linearly movable part 32 of the lifting device 30 via a pin 34 in a rotationally fixed but vertically displaceable manner. For this purpose, the linearly movable part 32 has a vertical groove 35 in which the pin 34 is guided. As a result of the lifting movement H, the motor housing 15 is not lifted, but the linearly movable part 32 displaces vertically relative to the motor housing 15.

[0047] The linearly movable part 32 of the lifting device 30 is further connected to a rear housing module 120 of the vehicle 100 (this is not shown in detail in Fig. 1). Thus, the stators 13, 14 of the drive components 11, 12 are also connected to the rear housing module 120 via the linearly movable part 32.

[0048] The rotors of the drive components 11, 12, on the other hand, are connected to the front housing module 110 via the wheel axle 40, so that the front housing module 110 rotates about the lifting axis Z during the pivoting movement S. The front housing module 110 is thus rotatable relative to the rear housing module 120.

[0049] Fig. 2 shows a schematic representation of an embodiment of a vehicle 100 for the transport of goods in a perspective view.

[0050] In addition to Fig. 1, Fig. 2 shows that the rear housing module 120 is supported by a rear wheel 82. A torque generated by the drive unit 10 (see Fig. 1) can be absorbed by friction between the rear wheel 82 and a contact surface of the vehicle 100. In other words, the rear wheel 82 acts as a support wheel and counteracts rotation of the front housing module 110 during the pivoting movement S. Furthermore, Fig. 2 shows that the wheels 41, 42 rotate on a circular path K around the lifting axis Z during the pivoting movement S. Due to a kinematic coupling between the wheel axle 40 and the lifting device 30, the pivoting movement S of the wheel axle 40 can be directly converted into a lifting movement H of the lifting device 30. This kinematic coupling is shown in detail in Fig. 3.

[0051] In the additional housing module 120, a voltage source 121, e.g., a lithium-ion battery, is also arranged. The voltage source 121 is designed to supply the drive unit 10 with current, with the power supply 122 being connected via cable to the at least one stator 13, 14 of the drive unit 10. Since the additional housing module 120 is rotationally fixed relative to the stators 13, 14, no slip ring contacts are necessary for supplying power to the drive unit 10.

[0052] Fig. 3 shows a schematic representation of an embodiment of a vehicle 100 for transporting goods in a further view. This further view shows the vehicle 100 in a longitudinal section plane BB. The longitudinal section plane BB is a plane spanned by a lifting axis Z and a longitudinal axis X arranged orthogonally to it.

[0053] Figure 3 shows a constructive implementation of the kinematic coupling between the front housing module 110 of the vehicle 100 and the rotatable part 31 of the lifting device 30. For the kinematic coupling, two coupling elements 112, each designed as a double bolt, are inserted into recesses in the front housing module 110 and the rotatable part 31. The coupling elements 112 are in turn screwed to the front housing module 110 by means of a screw 113 each.

[0054] Since the wheel axle 40 of the vehicle 100 is also located in the front housing module 110, the wheel axle 40 and the rotatable part 31 of the lifting device 30 are kinematically coupled to each other.

[0055] Therefore, during a pivoting movement S, the wheel axle 40, the front housing module 110, and the rotatable part 31 of the lifting device 30 rotate about the lifting axis Z. Due to the threaded structure between the rotatable part 31 and the linearly movable part 32 of the lifting device 20, the linearly movable part 32 is raised along the lifting axis Z. Furthermore, Fig. 3 shows an oval section E, which reveals one of the coupling elements 112 in another cross-sectional plane CC. In cross-sectional plane CC, it can be seen that a lower bolt of the coupling element 112 is arranged in an oval-shaped tilting stop 114 of the rotatable part 31. The oval shape of the tilting stop 114 allows the lifting device 30 to be tilted about the upper bolt of the coupling element 112. At the same time, the tilting stop 114 limits a tilting movement of the lifting device 30 to, for example, a maximum of 6°.In other words, the lifting device 30 is mounted in a tilting position in the front housing module 110 of the vehicle 100. This allows, for example, weight forces to be distributed more evenly across the wheels 41, 42. Reference numeral list.

[0056] drive unit

[0057] first drive unit

[0058] further drive component

[0059] , 14 Stator

[0060] engine housing

[0061] Lifting device

[0062] rotatable part

[0063] linearly movable part

[0064] cavity

[0065] Cones

[0066] Nut

[0067] Transport element

[0068] wheel axle

[0069] first bike

[0070] another wheel

[0071] first gear stage

[0072] Input wave

[0073] Output wave

[0074] further gear stage

[0075] Input wave

[0076] Output wave

[0077] hollow gear stage

[0078] ring gear

[0079] rear wheel

[0080] 0 vehicles

[0081] 0 rotatable housing module

[0082] 1 centering rod

[0083] 2 coupling element

[0084] 3 screws

[0085] 4 Tilt stop

[0086] 0 additional housing modules

[0087] 1 voltage source

[0088] 2 Power supply A-A Cross-sectional plane

[0089] BB Longitudinal section plane

[0090] CC further cross-sectional plane D construction height

[0091] E section

[0092] H lifting movement

[0093] K circular track

[0094] S swivel movement

[0095] X Longitudinal axis

[0096] Y transverse axis

[0097] Z-axis

Claims

Patent claims 1. Vehicle (100) for the transport of goods, comprising: at least one drive unit (10) for driving at least one wheel axle (40), at least one lifting device (30) for performing a lifting movement (H), wherein the at least one drive device (10) is arranged at least partially within the at least one lifting device (30).

2. Vehicle (100) according to claim 1, characterized in that the at least one lifting device (30) has at least one cavity (33), wherein the at least one drive device (10) is arranged at least partially in the at least one cavity (33).

3. Vehicle (100) according to one of the preceding claims, characterized in that the at least one drive device (10) is designed to perform a pivoting movement (S) of the at least one wheel axle (40), wherein the at least one wheel axle (40) is kinematically coupled to the at least one lifting device (30).

4. Vehicle (100) according to one of the preceding claims, characterized in that the at least one drive device (10) is designed in multiple parts, wherein a first drive part (11) drives at least one first wheel (41) of the at least one wheel axle (40), wherein a further drive part (12) drives at least one further wheel (42) of the at least one wheel axle (40).

5. Vehicle (100) according to claim 4, characterized in that at least one first drive part (11) and at least one first wheel (41) is arranged, wherein at least one further gear stage (50) is arranged between at least one further drive part (12) and at least one further wheel (42), wherein the at least one first gear stage (50) and the at least one further gear stage (60) have the same gear ratio.

6. Vehicle (100) according to one of claims 4 or 5, characterized in that at least one ring gear stage (70) is arranged between the wheel axle (40) and the wheels (41, 42).

7. Vehicle (100) according to one of the preceding claims, characterized in that the at least one drive unit (10) has at least one rotor and at least one stator (13, 14), wherein the at least one rotor is connected to at least one rotatable housing module (110) of the vehicle (100) and the at least one stator (13, 14) is connected to at least one further housing module (120) of the vehicle (100).

8. Vehicle (100) according to claim 7, characterized in that at least one voltage source (121) is arranged in the at least one further housing module (120).

9. Vehicle (100) according to claim 8, characterized in that the at least one voltage source (121) is designed to supply the at least one drive unit (10) with current, wherein the power supply (122) is provided by cable to the at least one stator (13, 14) of the at least one drive unit (10).

10. Vehicle (100) according to one of the preceding claims, characterized in that the at least one lifting device (30) is mounted in the vehicle (100) in a tiltable manner.

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