US20220250429A1 - Driverless transport system - Google Patents

Driverless transport system Download PDF

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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
Application number
US17/629,182
Other languages
English (en)
Inventor
Markus Gartner
Franz Holler
Gottfried Krainer
Christian Wieland
Valentin Wiener
Werner J. Frissenbichler
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fb Industry Automation GmbH
FRISSENBICHLER GESMBH
Original Assignee
Fb Industry Automation GmbH
FRISSENBICHLER GESMBH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=67438552&utm_source=***_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=US20220250429(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Fb Industry Automation GmbH, FRISSENBICHLER GESMBH filed Critical Fb Industry Automation GmbH
Publication of US20220250429A1 publication Critical patent/US20220250429A1/en
Abandoned legal-status Critical Current

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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)
US17/629,182 2019-07-23 2020-07-23 Driverless transport system Abandoned US20220250429A1 (en)

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)

* Cited by examiner, † Cited by third party
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)

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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

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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
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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
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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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