US20220250429A1 - Driverless transport system - Google Patents
Driverless transport system Download PDFInfo
- Publication number
- US20220250429A1 US20220250429A1 US17/629,182 US202017629182A US2022250429A1 US 20220250429 A1 US20220250429 A1 US 20220250429A1 US 202017629182 A US202017629182 A US 202017629182A US 2022250429 A1 US2022250429 A1 US 2022250429A1
- Authority
- US
- United States
- Prior art keywords
- floating
- transport system
- chassis
- wheels
- jockey
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
Links
- 239000000758 substrate Substances 0.000 description 4
- 238000013016 damping Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 239000006096 absorbing agent Substances 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000007598 dipping method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/02—Resilient suspensions for a single wheel with a single pivoted arm
- B60G3/04—Resilient suspensions for a single wheel with a single pivoted arm the arm being essentially transverse to the longitudinal axis of the vehicle
- B60G3/06—Resilient suspensions for a single wheel with a single pivoted arm the arm being essentially transverse to the longitudinal axis of the vehicle the arm being rigid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/02—Resilient suspensions for a single wheel with a single pivoted arm
- B60G3/12—Resilient suspensions for a single wheel with a single pivoted arm the arm being essentially parallel to the longitudinal axis of the vehicle
- B60G3/14—Resilient suspensions for a single wheel with a single pivoted arm the arm being essentially parallel to the longitudinal axis of the vehicle the arm being rigid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
- B62D21/18—Understructures, i.e. chassis frame on which a vehicle body may be mounted characterised by the vehicle type and not provided for in groups B62D21/02 - B62D21/17
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D9/00—Steering deflectable wheels not otherwise provided for
- B62D9/002—Steering deflectable wheels not otherwise provided for combined with means for differentially distributing power on the deflectable wheels during cornering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/10—Independent suspensions
- B60G2200/13—Independent suspensions with longitudinal arms only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/10—Independent suspensions
- B60G2200/14—Independent suspensions with lateral arms
Definitions
- the present invention relates to a driverless transport system.
- Driverless transport systems are known per se and serve for example in manufacturing companies for transporting components, containers or other transport goods, for example from one workstation to the next workstation, or from a store to a workstation, for example in automotive manufacturing.
- Driverless transport systems typically comprise a bearing chassis and a structure connected to the chassis which allows for transport of the transport goods, for example deposition surfaces or work surfaces.
- the transport systems typically comprise wheels that are driven by a motor, for example an electric motor, and often also additional non-driven jockey wheels.
- a transport system of this kind may comprise centrally located drive wheels, and be supported by four rollers attached in the corners.
- the four support rollers are then typically rotatably mounted on a component that is fixed to the chassis.
- the conventional undercarriage geometries furthermore do not allow for compensation of shocks which are absorbed via the substrate.
- the rigidly mounted jockey wheels absorb the impacts undamped, and transfer these to the chassis of the vehicle. As a result, damage can occur both to the hardware of the vehicle and to the transport goods.
- An object of the invention is that of improving a driverless transport system in this respect, and in particular of specifying a driverless transport system, in which the drive wheels have permanent ground contact even in the case of ground unevenness and inclines, and which can better compensate or damp impacts.
- a driverless transport system comprising a chassis, drive wheels and jockey wheels, wherein, on each of a first side of the chassis and a second side of the chassis opposite the first side, a floating axle arranged in the longitudinal direction is pivotably connected to the chassis at a connection point assigned in each case, a drive wheel being arranged at one end of each of the floating axles and a jockey wheel being arranged at the opposite end of each of the floating axles, the driverless transport system additionally having a floating axle arranged in the transverse direction which is aligned transversely to the two floating axles arranged in the longitudinal direction and is pivotably or fixedly connected to the chassis at an assigned connection point, a jockey wheel being arranged at each end of the floating axle arranged in the transverse direction.
- two floating axles are used for bearing a drive wheel and a jockey wheel in each case.
- the orientation of said floating axles, and thus of the drive and jockey wheels arranged one behind the other, to a certain extent defines the longitudinal axis of the transport system.
- a conventional forwards movement of the transport vehicle takes place in the direction of said floating axles “arranged in the longitudinal direction”.
- a further individual floating axle is provided for two additional jockey wheels and extends transversely to the two other floating axles, i.e. substantially as a connection between the two floating axles arranged in the longitudinal direction, and preferably normal thereto.
- these two jockey wheels also have ground contact, even in the case of ground unevenness.
- said floating axle arranged in the transverse direction can also be fixedly connected to the chassis.
- Arranging the three floating axles, one in the transverse direction, preferably at the front of the vehicle, and two in the longitudinal direction, makes it possible for the transport vehicle to handle unevenness and inclines of up to 7%, depending on the design, without the drive wheels losing ground contact.
- the two floating axles arranged in the longitudinal direction are oriented so as to be in parallel with one another.
- the floating axle arranged in the transverse direction is preferably oriented so as to be normal to the two floating axles arranged in the longitudinal direction.
- the floating axle arranged in the transverse direction is preferably located in the front of the transport system and thus forms a front axle of the transport system.
- the drive wheels of the floating axles arranged in the longitudinal direction are preferably each arranged at the end of the floating axles which is closer to the floating axle arranged in the transverse direction.
- the drive wheels are preferably located close to the center of the transport vehicle in the longitudinal direction.
- the four jockey wheels of the three floating axles preferably form a rectangle.
- the chassis is preferably rectangular in shape.
- the special case of square is covered by the specification “rectangular in shape”.
- the four jockey wheels are preferably located in the corners of the chassis or of the transport vehicle.
- connection points at which the floating axles arranged in the longitudinal direction are pivotably connected to the chassis are preferably located closer to the respective drive wheel of the floating axle than to the respective jockey wheel of the floating axle.
- the connection points can also be located in the center of the respective floating axle.
- the jockey wheels of the floating axles arranged in the longitudinal direction and/or the jockey wheels of the floating axle arranged in the transverse direction are designed so as to be steerable.
- the respective jockey wheels can be steerable in that they can passively assume a steering position, i.e. can assume an angle with respect to straight travel, and/or the respective jockey wheels can be actively steerable, i.e. actively moved into a steering position.
- the steerable jockey wheels can preferably also be driven, i.e. form additional drive wheels.
- FIG. 1 is a schematic view from below of a driverless transport system that is not in accordance with the invention.
- FIGS. 2 a and 3 a are schematic side views of a driverless transport system that is not in accordance with the invention, in different driving situations.
- FIG. 4 a is a schematic view from the front of a driverless transport system that is not in accordance with the invention, in a further driving situation.
- FIGS. 2 b and 3 b are schematic side views of a driverless transport system according to the invention, in the driving situations according to FIGS. 2 a and 2 b.
- FIG. 4 b is a schematic view from the front of a driverless transport system according to the invention, in the further driving situation according to FIG. 4 a.
- FIG. 5 is a schematic view from below of a driverless transport system according to the invention.
- FIG. 1 is a view from below of a driverless transport system that is not in accordance with the invention.
- the transport system of FIG. 1 comprises a chassis 1 , on which two centrally located drive wheels 2 are arranged laterally, and centrally in the longitudinal direction of the transport system.
- the transport system comprises four jockey wheels 3 or support rollers which are arranged in the corners of the transport system.
- the drive wheels 2 and the jockey wheels 3 are fixedly connected to the chassis 1 .
- FIG. 1 The transport system of FIG. 1 that is not in accordance with the invention is shown from the side in FIGS. 2 a and 3 a and from the front in FIG. 4 a , in different problematic driving situations.
- FIGS. 2 b , 3 b and 4 b a vehicle according to the invention is shown in FIGS. 2 b , 3 b and 4 b , in the same driving situations, viewed from the side in each case.
- the advantageous effect of an undercarriage or transport system according to the invention is achieved by the combination of the three floating axles 4 , 6 .
- the front floating axle 6 arranged in the transverse direction, and the rear floating axles 4 , arranged in the longitudinal direction, are first considered separately in FIGS. 2 b , 3 b and 4 b , and then the interaction is explained.
- FIGS. 2 and 3 which compare the prior art with the newly developed undercarriage geometry, show the optimized driving behavior which is achieved by the rear floating axles 4 .
- the rear axle is thus capable of compensating ground changes (see FIGS. 2 a and 2 b ) and of performing vertical movements. As a result, permanent ground contact of all the wheels 2 , 3 and damping of impacts is achieved.
- the undercarriage geometry also makes it possible to handle larger inclines (see FIGS. 3 a and 3 b ) without prematurely resting on the jockey wheels 3 or without loss of ground contact of the drive wheels 2 .
- FIG. 4 also compares the prior art ( FIG. 4 a ) with the new undercarriage geometry ( FIG. 4 b ) of the front axle.
- Ground unevenness such as holes can be compensated by the undercarriage that is mounted centrally at the front ( FIG. 4 b ).
- the floating axle 6 makes it possible for the jockey wheels 3 to perform a vertical movement and thus dip into the hole in the roadway. In this case, the opposite jockey wheel 3 remains on the ground.
- the drive wheel 2 would not dip into the hole, but rather lose ground contact ( FIG. 4 a ). This would result in unstable driving behavior. Slight unevenness or objects located on the roadway would also be transferred undamped to the chassis of the vehicle.
- the floating axle 6 which connects the two jockey wheels 3 is preferably designed as a rigid element.
- a driverless transport system comprises a chassis 1 , drive wheels 2 and jockey wheels 3 , wherein, on each of a first side of the chassis 1 and a second side of the chassis 1 opposite the first side, a floating axle 4 arranged in the longitudinal direction is pivotably connected to the chassis 1 at a connection point 5 assigned in each case, a drive wheel 2 being arranged at one end of each of the floating axles 4 and a jockey wheel 3 being arranged at the opposite end of each of the floating axles 4 , the driverless transport system additionally having a floating axle 6 arranged in the transverse direction which is aligned transversely to the two floating axles 4 arranged in the longitudinal direction and is also pivotably connected to the chassis 1 at an assigned connection point 5 , a jockey wheel 3 being arranged at each end of the floating axle 6 arranged in the transverse direction.
- the two floating axles 4 arranged in the longitudinal direction are oriented so as to be in parallel with one another, and the floating axle 6 arranged in the transverse direction is oriented so as to be normal to the two floating axles 4 arranged in the longitudinal direction.
- the drive wheels 2 of the floating axles 4 arranged in the longitudinal direction are each arranged at the end of the floating axles 4 which is closer to the floating axle 6 arranged in the transverse direction, i.e. “at the front” in the transport system, and thus closer to the center of the vehicle in the vehicle longitudinal direction.
- the floating axle 6 arranged in the transverse direction is located in the front of the transport system and thus forms a front axle of the transport system.
- the floating axles 4 arranged in the longitudinal direction form the rear axle of the transport system.
- the chassis 1 is rectangular in shape.
- the four jockey wheels 3 of the three floating axles 4 , 6 together form a rectangle.
- the four jockey wheels 3 are located in the corners of the chassis 1 .
- connection points 5 at which the floating axles 4 arranged in the longitudinal direction are pivotably connected to the chassis 1 are located closer to the respective drive wheel 2 of the floating axle 4 than to the respective jockey wheel 3 of the floating axle 4 .
- the floating axles 4 , 6 make it possible for both the drive wheels 2 and the jockey wheels 3 to perform a perpendicular movement in both directions, and as a result to compensate unevenness on the roadway under normal conditions. This driving behavior is possible only due to the combination of the three floating axles.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Platform Screen Doors And Railroad Systems (AREA)
- Handcart (AREA)
- Vehicle Body Suspensions (AREA)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP19187837.0 | 2019-07-23 | ||
EP19187837.0A EP3770046B1 (de) | 2019-07-23 | 2019-07-23 | Fahrerloses transportsystem |
PCT/EP2020/070885 WO2021013970A1 (de) | 2019-07-23 | 2020-07-23 | Fahrerloses transportsystem |
Publications (1)
Publication Number | Publication Date |
---|---|
US20220250429A1 true US20220250429A1 (en) | 2022-08-11 |
Family
ID=67438552
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US17/629,182 Abandoned US20220250429A1 (en) | 2019-07-23 | 2020-07-23 | Driverless transport system |
Country Status (9)
Country | Link |
---|---|
US (1) | US20220250429A1 (da) |
EP (1) | EP3770046B1 (da) |
JP (1) | JP2022542911A (da) |
KR (1) | KR20220050139A (da) |
CN (1) | CN114761309A (da) |
CA (1) | CA3151867A1 (da) |
DK (1) | DK3770046T3 (da) |
PT (1) | PT3770046T (da) |
WO (1) | WO2021013970A1 (da) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106741295A (zh) * | 2016-12-30 | 2017-05-31 | 云南昆船智能装备有限公司 | 一种地面自适应差速驱动浮动轮系 |
WO2022194491A1 (de) * | 2021-03-16 | 2022-09-22 | Sew-Eurodrive Gmbh & Co. Kg | Fahrwerk für ein mobiles transportsystem und mobiles transportsystem |
WO2022238005A1 (de) * | 2021-05-14 | 2022-11-17 | Sew-Eurodrive Gmbh & Co. Kg | Mobiles transportsystem |
KR20230174154A (ko) * | 2022-06-20 | 2023-12-27 | 주식회사 모션디바이스 | 적재물 운반장치 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN203332260U (zh) * | 2013-07-11 | 2013-12-11 | 青岛海通机器人***有限公司 | 一种机器人的移动机构 |
CN208323359U (zh) * | 2018-05-22 | 2019-01-04 | 北京一棣科技有限公司 | 一种机器人底盘 |
US20200079171A1 (en) * | 2016-12-14 | 2020-03-12 | Zhuineng Robotics (Shanghai) Co., Ltd. | Transportation vehicle |
JP2021126913A (ja) * | 2020-02-10 | 2021-09-02 | 株式会社リコー | 駆動輪ユニット及び走行装置 |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
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JPS62181415U (da) * | 1986-05-09 | 1987-11-18 | ||
JP2769636B2 (ja) | 1989-12-16 | 1998-06-25 | 株式会社スター精機 | 無人自走車 |
AUPP670498A0 (en) | 1998-10-23 | 1998-11-19 | Roller Chair Pty Ltd | Improved mid-wheel drive wheelchair |
US7597160B2 (en) * | 2005-09-07 | 2009-10-06 | Lawson Jr Thomas Towles | Four wheel drive system |
DE102012219002B4 (de) * | 2012-10-18 | 2022-02-10 | Ford-Werke Gmbh | Radaufhängung für ein Fahrzeug mit einer Querblattfeder |
CN103332236B (zh) | 2013-07-11 | 2016-04-06 | 青岛海通机器人***有限公司 | 一种机器人的移动装置 |
US10245935B2 (en) | 2015-09-17 | 2019-04-02 | Clearpath Robotics, Inc. | Mobile platform for materials transport |
CN206437093U (zh) * | 2016-12-30 | 2017-08-25 | 云南昆船智能装备有限公司 | 一种地面自适应差速驱动浮动轮系 |
CN106741295A (zh) | 2016-12-30 | 2017-05-31 | 云南昆船智能装备有限公司 | 一种地面自适应差速驱动浮动轮系 |
DE102017201108A1 (de) | 2017-01-24 | 2018-07-26 | Robert Bosch Gmbh | Verbessertes Flurförderfahrzeug |
CN107235092A (zh) | 2017-06-21 | 2017-10-10 | 斯坦德机器人(深圳)有限公司 | 一种自适应式移动机器人的底盘装置 |
CN109050712A (zh) | 2018-07-13 | 2018-12-21 | 华南理工大学广州学院 | 一种轮式越障变形底盘及其工作方法 |
CN208802074U (zh) * | 2018-08-07 | 2019-04-30 | 北京京东尚科信息技术有限公司 | 差动agv底盘结构及驱动轮系 |
CN209112323U (zh) | 2018-11-02 | 2019-07-16 | 西南科技大学 | 一种六轮的悬架式机器人底盘 |
CN110001816B (zh) * | 2019-04-19 | 2021-06-11 | 南京涵铭置智能科技有限公司 | 一种贴地行走勘察车及其贴地方法 |
-
2019
- 2019-07-23 EP EP19187837.0A patent/EP3770046B1/de active Active
- 2019-07-23 PT PT191878370T patent/PT3770046T/pt unknown
- 2019-07-23 DK DK19187837.0T patent/DK3770046T3/da active
-
2020
- 2020-07-23 KR KR1020227006199A patent/KR20220050139A/ko unknown
- 2020-07-23 JP JP2022505229A patent/JP2022542911A/ja active Pending
- 2020-07-23 CA CA3151867A patent/CA3151867A1/en active Pending
- 2020-07-23 CN CN202080065081.7A patent/CN114761309A/zh active Pending
- 2020-07-23 WO PCT/EP2020/070885 patent/WO2021013970A1/de active Application Filing
- 2020-07-23 US US17/629,182 patent/US20220250429A1/en not_active Abandoned
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN203332260U (zh) * | 2013-07-11 | 2013-12-11 | 青岛海通机器人***有限公司 | 一种机器人的移动机构 |
US20200079171A1 (en) * | 2016-12-14 | 2020-03-12 | Zhuineng Robotics (Shanghai) Co., Ltd. | Transportation vehicle |
CN208323359U (zh) * | 2018-05-22 | 2019-01-04 | 北京一棣科技有限公司 | 一种机器人底盘 |
JP2021126913A (ja) * | 2020-02-10 | 2021-09-02 | 株式会社リコー | 駆動輪ユニット及び走行装置 |
Also Published As
Publication number | Publication date |
---|---|
JP2022542911A (ja) | 2022-10-07 |
PT3770046T (pt) | 2022-12-16 |
DK3770046T3 (da) | 2022-12-19 |
WO2021013970A1 (de) | 2021-01-28 |
KR20220050139A (ko) | 2022-04-22 |
EP3770046B1 (de) | 2022-09-14 |
CN114761309A (zh) | 2022-07-15 |
EP3770046A1 (de) | 2021-01-27 |
CA3151867A1 (en) | 2021-01-28 |
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