CN1286709C - 无驾驶员的自由导航式负重运输车 - Google Patents

无驾驶员的自由导航式负重运输车 Download PDF

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CN1286709C
CN1286709C CNB981228267A CN98122826A CN1286709C CN 1286709 C CN1286709 C CN 1286709C CN B981228267 A CNB981228267 A CN B981228267A CN 98122826 A CN98122826 A CN 98122826A CN 1286709 C CN1286709 C CN 1286709C
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load
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K·西米希
E·福尔
H·托恩
V·施内德尔
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SMART LANSPLAN AG
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Abstract

在一种无驾驶员的如自由导航式负重物运输车且特别是通过一个升降式承重工具运送卷材如金属带卷、重纸卷或类似物的自由导航式运输车中，当承重工具可升降地安装在一个可在车底盘内移动的支架上且所述承重工具在接收或转送负重物时由支架移入一个比车底盘突出的位置时，可以在保持单位负重物传送点的预定最大底面负荷的情况下，降低能耗并使所述运输车结构轻巧紧凑。

Description

无驾驶员的自由导航式负重运输车
本发明涉及一种无驾驶员的自由导航式负重运输车。本发明尤其是涉及一种利用承重工具传送卷材如金属带卷、重纸卷或类似物的自由导航式运输车。
这样的运输车满足了在产品材料存放中的最不同的逻辑斯谛要求，并且这样的运输车在钢铁企业中作为具有不同导航系统的自动工作装置被用于传送重达约30吨到60吨的卷材。例如，所述运输车借助一个依靠激光的导航装置与路面车道标记无关地或与确定路线无关地在一条可能有的行驶平巷中运动，所述行驶平巷是在运输车主导计算机上自由选择产生的。很轻松地实现了行迹曲线的改变并且所述的激光导航装置使用了沿车行轨迹布置的反射器来定位。
实践中知道的自动搬运卷材用无驾驶员式运输车(一个中间摆渡站必须在没有天车或其它转送装置的帮助下接收所述卷材)具有一个移入卷芯眼中以便接收卷材的支承芯轴。在这种情况下，一个必备的前提条件就是卷材存放区必须是开阔的，这样运输车才能摆渡到存放区即可以不干扰相邻机构地在两个后轮之间取料。在这种情况下，干扰边缘是由运输车的尺寸引起的。但是在许多情况下，所需的运动空间是不够用的或者地面必须连负重物都直接承担，或者如当用运输链接收负重物时，运输车不可能摆渡到负重物接收点。另外，当摆渡地接收负重物时，必须保持最大的地面负荷，所述地面负荷例如在钢厂区内不应该超过单位负重物传送点10t/m2。因而，当在厂区内存在地下堆放站时，例如摆渡式接收负重物是很关键的。
本发明的任务是提供一种其结构紧凑轻巧且降低能耗的适当类型的无驾驶员式运输车，它没有上述缺点地满足了所提出的要求，特别是确保了维持单位负重物传送点的预定最大地面负荷。
根据本发明，如此完成了上述任务，即承重工具可以升降地安装在一个可在车底盘内移动的支架上，所述承重工具在接收或转送负重物时从支架移入一个比车底盘突出的位置。由此实现了运输车不再转送待接收负重物。确切地说，取而代之的方式是，例如可以是插入卷芯眼内的支承芯轴或是放置在卷材外周上的卷材托叉的承重工具从运输车中移入一个与其相比是自由支承的位置。例如，这可以是与行驶方向相反地或通过从侧面移出方式实现的。绝对不应附加通过运输车重量给在负重物接收区内的地面或地下结构加载。另外，当负重物很宽以致因而不能摆渡式传送负重物时，用本发明的运输车来搬运负重物也是可行的。
本发明的优选实施例规定了，装在车底盘侧立柱中的支座同样通过力调节方升降或水平地移入移出。所述支座不仅用于提供足够的运输车翻转安全性或倾覆稳定性，而且它还可以尽可能轻地保持运输车重量并同时减少能耗。因为必须用附加材料或比较庞重地建造出一种自动提供足够的平衡重量的运输车，所以这严重地不利影响了能量平衡。因此，在行驶地下或地面处的可能补加的昂贵混凝土工程是必需的。可以有利地根据一个函数实现支座的加压，所述函数考虑了负重物的实重和移出的承重工具的连续变化位置，从而将承重工具完全移出或自由支承时的轴向负荷保持在这样一个界限内，即不超过在运输车的运输行程中出现的最大值。承重工具移出越多，则根据调节有更大的支承力可供使用。
本发明的其它细节和优点在权利要求书和后续的说明书中给出了并在本发明主题的实施例中描述了。其中：
图1是带有可在车底盘内移动地安装的且用于升降式承重工具的支架的无驾驶员式运输车的总体透视图；
图2是图1所示运输车的侧视图；
图3a-3i是无驾驶员式运输车在转送所接收的负重物时的各连续工位。
图1所示的靠车轮1(见图2)行驶的无驾驶员式运输车2具有与上级运输车主导计算机相联以便进项导航控制的位移传感器3和发送器4(见图3)。为了搬运负重物5(在此实施例中，负重物是卷材5)，在车底盘6中设有一个配有成插入卷芯眼8的支承芯轴形状的承重工具7的且可以在U形轨道9中水平移动的支架10，它支承着借助升降缸11(见图2)作升降运动的承重工具7。支架10的水平转送运动例如是通过一个齿条驱动机构实现的。
车前端具有一个结构部12，它提供了用于设置电池和开关柜(未示出)以及运输车驱动机构13和车轮1的转向驱动机构14(见图3)的空间，即两套前轮和后轮座16是可以转向的，两套前轮如图2所示地安装在摆动座(摆轴)15上。这样一来，避免了较大的行车阻力和摩擦磨损且有效地缩短了转车台。转向驱动电机14和运输车驱动机构13以及升降液压缸的电力驱动机构都可以通过振动子换流器进行调节，由此除了加速外还可以有利地通过电机(对电网反充电)实现减速。与此同时，确保了减速和加速过程以相同参数变化。
安全规程和安全手册考虑了运输车2可以配有压力敏感型防撞杆17和可能有的防撞杆18(见图3)的结构，它们例如借助超声波探头、红外线探头或激光探头在其它周围地区探测障碍物。在这种情况下，在运输车2周围区域内的障碍物可能造成运输车慢速运动。在这里，可以根据距离并与安全技术有关地调节可能有的防撞杆18的敏感度。如果机械式防撞杆17可能触及障碍物，则马上启动紧急制动器。
随后，根据图3所示的不同工位a)-i)示出了转送一个已由运输车2接收的卷材5时的工作方式。与图2不同的是，运输车不是用支承芯轴而是用一个成两个放置在卷材外周上的叉尖19形状的承重工具接收卷材。另外，水平移出的支座20配有一个设置在其前端上的液压支座21。相反的，在如图2所示的运输车中，在侧立柱22内直接安装了垂直升降式支座23。这两个一体式液压支座变型方案的共同点在于，它们在移出负重物即卷材5的同时垂直降低并确保了倾覆稳定性。用液压支座21或垂直升降式支座23对友座20施加压力可以是根据一个调节函数实现的，所述调节函数考虑了负重物的实重和在移出时变化的承重工具(支承芯轴或叉尖)位置，从而如此限定轴向负荷，即使当支架10带着由其承重的卷材5移出时，也不超出在如图3a所示的运输车车底盘承受全部静负荷的运输路程中出现的最大值。
一旦运输车2到达了转送负重物或卷材5的位置，则支座20马上水平移动(见图3b)且液压支座21随后降到地面(见图3c)。随后支架10移动，直到卷材5如图3d所示的那样处于比运输车2突出的位置上为止。随后，卷材5可被(见图3e)放到地面上或放入其存放位置。一旦出现这样的情况，则如图3f、3g所示的那样，先使液压支座21返回其初始位置，随后使支座20和液压支座21移入车底盘中(见图3g)。如果运输车随后离开已存放好的卷材5(见图3h)，则叉尖19处于不承重状态，从而它们一直升高到车底盘6平面内并可以借助支架10返回其初始位置(见图31)。负重物或卷材5的接收在相反过程中发生。
与水平移动的支座布局(支座20和液压支座21)相比，将垂直升降支座23布置在运输车2的车底盘6上的图2所示布局具有这样的优点，即运输车2与接收卷材的堆放台宽度无关。在图3所示的实施例中，这样的卷材堆放台宽度被限定为两个水平移动的支座20间的内宽度。

Claims (1)

1.一种无驾驶员的自由导航式负重物运输车，该运输车具有一个借助于升降缸(11)可升降的承重工具(7)，该运输车用于运送金属带卷和重纸卷，该承重工具(7)可升降地安装在一个可在车底盘(6)内移动的支架(10)上，所述承重工具在接收和转送负重物时从支架(10)内移入一个比车底盘(6)突出的位置，其特征在于，设置在车底盘(6)的侧立柱(22)内的支座(23)随负重物(5)的移出而同时竖直下降并在放下负重物后提升到其在车底盘(6)中的初始位置。
CNB981228267A 1997-11-12 1998-11-11 无驾驶员的自由导航式负重运输车 Expired - Lifetime CN1286709C (zh)

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DE19749900A DE19749900A1 (de) 1997-11-12 1997-11-12 Fahrerloses, z. B. frei navigierendes Transportfahrzeug zum Handhaben von Lasten
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CN102141813B (zh) * 2011-04-15 2012-07-25 三峡电力职业学院 一种感应式循迹小车及其循迹方法
FR3012387B1 (fr) * 2013-10-25 2015-10-30 Rio Tinto Alcan Int Ltd Vehicule de manutention et usine d'electrolyse comprenant ce vehicule
US9896316B2 (en) 2016-06-30 2018-02-20 The Procter & Gamble Company End effector for a transport device for the movement of parent rolls of convolutely wound web materials
CN108238570B (zh) * 2018-01-21 2019-08-27 上海百蒂凯农业科技有限公司 一种农业袋装货物搬运装置
DE102018105778B4 (de) * 2018-03-13 2020-11-05 Adrian Siegler Verfahren zum Ausliefern von Waren mittels eines Lieferfahrzeugs sowie eine mobile Verteilervorrichtung
GR20180100396A (el) * 2018-08-27 2020-04-15 Θεοδωρος Γεωργιου Δεσσος Ελαφρυς και μικρου μεγεθους ανυψωτης/μεταφορεας φορτιων
KR102132170B1 (ko) * 2019-01-22 2020-07-10 주식회사 원익홀딩스 팔레트식 전용 지그 및 가스실린더의 자율주행운반기구
CN110588482B (zh) * 2019-10-17 2024-01-19 马鞍山市华宇环保设备制造有限公司 一种用于集装箱运输钢卷装拆箱专用车
CN110683388A (zh) * 2019-11-19 2020-01-14 邵阳市祥佳塑胶科技有限公司 一种封缄胶带生产用上料机
KR102189316B1 (ko) * 2020-03-10 2020-12-09 우영산업(주) 링 타입 소재 이송 기능을 구비한 절삭장치
CN112061659B (zh) * 2020-09-28 2021-11-19 安徽佳洁面业股份有限公司 一种用于面粉厂内仓库的运载送货设备
CN114933131B (zh) * 2022-06-06 2024-05-24 阿特拉斯叉车(杭州)有限公司 成卷材料转运方法及系统
KR102547863B1 (ko) * 2022-07-05 2023-06-28 주식회사 와트 무인 배송 로봇
CN116080511A (zh) * 2023-01-16 2023-05-09 三一机器人科技有限公司 悬臂轴装置及agv

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EP0916615B1 (de) 2005-10-12
EP0916615A2 (de) 1999-05-19
KR19990045168A (ko) 1999-06-25
ATE306458T1 (de) 2005-10-15
TW476731B (en) 2002-02-21
BR9804210A (pt) 1999-12-14
JPH11217196A (ja) 1999-08-10
DE59813100D1 (de) 2006-02-23
CN1221689A (zh) 1999-07-07
AU9143798A (en) 1999-06-03
ES2253802T3 (es) 2006-06-01
EP0916615A3 (de) 2002-01-02
DE19749900A1 (de) 1999-06-02
KR100320486B1 (ko) 2002-02-19
ZA9810195B (en) 1999-04-13

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