DE102017011058A1 - Driverless transport vehicle - Google Patents

Abstract

An inventive driverless transport vehicle has a base (1) on which at least one non-driven support wheel (2) is arranged for supporting the base, a Antriebsradanordnung with at least one drive wheel (3) for moving the transport vehicle, which at the base at least with a translational degree of freedom in the direction of a vertical axis of the transport vehicle, in particular via at least one rotary joint (4A), and at least one drive (5) for driving the drive wheel arrangement.

Description

The present invention relates to a driverless transport vehicle and a method for operating the transport vehicle.

The object of the present invention is to improve a driverless transport vehicle or its operation.

This object is achieved by a driverless transport vehicle having the features of claim 1 and a method having the features of claim 15. The subclaims relate to advantageous developments.

• - eine ein- oder mehrteilige Basis, an der ein oder mehrere, insbesondere wenigstens drei, antriebslose bzw. passive Stützräder, insbesondere Stütz-, in einer Ausführung Lenkrollen, zum (wenigstens temporären) Abstützen der Basis angeordnet sind;
• - eine Antriebsradanordnung mit einem oder mehreren Antriebsrädern zum Verfahren des Transportfahrzeugs, die an der Basis wenigstens mit bzw. in einem translatorischen Freiheitsgrad in Richtung einer Hochachse des Transportfahrzeugs (beweglich), insbesondere über ein oder mehrere Drehgelenk(e), gelagert ist bzw. sind; und
• - einen oder mehrere Antriebe zum Antreiben der Antriebsradanordnung auf.

According to one embodiment of the present invention, a driverless transport vehicle has:

• a one-part or multi-part base on which one or more, in particular at least three, drive-less or passive support wheels, in particular support wheels, are arranged in one embodiment of castors for (at least temporarily) supporting the base;
• a drive wheel arrangement with one or more drive wheels for moving the transport vehicle, which is or are mounted on the base at least with or in a translatory degree of freedom in the direction of a vertical axis of the transport vehicle (movable), in particular via one or more pivot joints ; and
• - One or more drives for driving the drive wheel assembly.

By supporting wheels can advantageously distributed in a design, a load between the support and drive wheels and so relieves the drive wheel assembly, in particular to be protected from overloading.

In one embodiment, the driverless transport vehicle can be an autonomous or controlled by a guidance control or the like transport vehicle, in particular an "Automated Guided Vehicle" (AGV) and / or set up for coupling and / or lifting of, in particular for this purpose by the transport vehicle, loads be or used.

In one embodiment, the or one or more of the non-drive or passive support wheels are stationary, in a design about a pivot axis transversely, in particular perpendicular, to its roll axis, pivotally mounted on the base, in an embodiment at corners of the base or Transport vehicle and / or in a triangular, rectangular or polygonal arrangement to each other.

As a result, in one embodiment, the support and / or method of the base can be improved.

In one embodiment, the transport vehicle has a load platform which is perpendicular to the or relative to the base, in one embodiment by an adjusting device and / or at least with a translatory degree of freedom in the direction of the vertical axis and / or at least one rotational degree of freedom about a vertical axis Rotary axis, in particular a rotational degree of freedom about a longitudinal and / or a transverse axis of the transport vehicle, is adjustable, in particular mechanically, magnetically, hydraulically and / or pneumatically and / or actively or actuated, in particular electrically and / or motor. The load platform may in one embodiment be closed (areal) or open, in particular lattice, frame, strut, support (structure) or the like, and / or have one or more support points, in particular consisting thereof or defined by them; in particular, be formed.

Thus, in one embodiment, the adjusting device has one or more, in particular electrical, mechanical, magnetic, hydraulic and / or pneumatic, (Ver) actuators for adjusting the load platform against the base. The load platform can thus perform in one embodiment against the base a lifting movement (in the direction of the vertical axis), a pitching movement (about a transverse axis) and / or a rolling movement (about a (other) transverse, in particular the longitudinal axis of the transport vehicle) or for this purpose) are adjusted by the adjusting device (active).

As a result, the transport vehicle can be controlled in one embodiment, in particular for this underrun, lift loads and / or lower and / or on or decouple.

In one embodiment, the adjusting device for adjusting the load platform exerts tensile and / or compressive forces on the load platform or is set up for this purpose.

Accordingly, the adjustment in one embodiment with the load platform tension and pressure transmitting or -fest or be connected double acting, whereby in one embodiment, an advantageous, in particular precise, adjustment can be realized.

In another embodiment, the adjusting device is coupled to the load platform only on one side (acting) or only zug- or only pressure-transmitting or -fest connected, whereby in an embodiment advantageously a simpler and / or more compact adjustment can be used.

In general, in particular, in one embodiment, the load platform against the base, in particular mechanically, magnetically and / or pneumatically, resilient, mounted, in particular biased, in an embodiment by one or the below-explained Stoffgelenkführung, thereby advantageously takes on a dual function.

In one embodiment, an adjustment (movement) of the load platform on the base to mechanically, in particular form-fitting, limited, in particular by spaced from the adjusting stops. As a result, in one embodiment, the adjustment can be protected.

In one embodiment, the transport vehicle has a tensioning device, which spans the drive wheel arrangement, in particular in the case of a transport vehicle standing on the ground, away from the base in the direction of the vertical axis, or is set up or used for this purpose.

In one embodiment, the tensioning device has one or more, in particular mechanical and / or pneumatic, spring elements which tension the drive wheel arrangement, in particular in each case one or more drive wheels, away from the base or are set up or used for this purpose.

As a result, in one embodiment, an advantageous contact pressure of the drive wheel assembly is realized on the ground and so a driving, in particular drive behavior can be improved. Additionally or alternatively, in one embodiment, a load distribution between support wheels and drive wheel arrangement can be improved.

In one embodiment, the transport vehicle has an adjustment device, by means of which a tension of the drive wheel arrangement caused by the tensioning device can be set or adjusted away from the base or which is set up or used for this purpose. In one embodiment, the adjusting device (for this purpose) adjusts an articulation point of one or more spring elements of the tensioning device or is configured for this purpose.

In one development, the setting device has one or more, in particular electric, motor, mechanical, magnetic, hydraulic and / or pneumatic adjusting drives for adjusting the voltage or is an active (controllable) or actuated setting device.

As a result, in one embodiment, a particularly advantageous contact force of the drive wheel assembly can be realized on the ground and thus a driving, in particular drive behavior and / or a load distribution between support wheels and drive wheel arrangement can be further improved.

In another development, the adjusting device is self-propelled or a passive adjustment device; in particular, it can have, in particular, a, in particular positive and / or mechanical, hydraulic and / or pneumatic, coupling with an adjustment (movement) of the load platform ,

As a result, in one embodiment, the adjusting device can map a further functionality and / or build the transport vehicle (see above) compactly.

• - in Abhängigkeit von, insbesondere (nur) bis zu, einer zulässigen Traglast der Antriebsradanordnung; und/oder
• - in Abhängigkeit von einer Beladung des Transportfahrzeugs oder unabhängig von einer Beladung des Transportfahrzeugs; und/oder
• - in Abhängigkeit von einer Verstellung der Lastplattform gegen die Basis oder unabhängig von einer Verstellung der Lastplattform gegen die Basis; und/oder
• - zum Abheben des Stützrades (wenigstens) bei nicht beladenem Transportfahrzeug, insbesondere (auch) zum Abheben des Stützrades, solange das Transportfahrzeug (höchstens) derart beladen ist, dass dadurch die zulässige Traglast der Antriebsanordnung noch nicht oder höchstens erreicht wird,

einzustellen.In one embodiment, the adjusting device is adapted, is used in particular, the (caused by the clamping device or impressed) voltage of the drive wheel assembly away from the base

• - As a function of, in particular (only) up to, a permissible load of the drive wheel assembly; and or
• - Depending on a load of the transport vehicle or regardless of a load of the transport vehicle; and or
• - in response to an adjustment of the load platform against the base or independent of an adjustment of the load platform against the base; and or
• - For lifting the support wheel (at least) when not loaded transport vehicle, in particular (also) for lifting the support wheel, as long as the transport vehicle (at most) is loaded so that thereby the permissible load of the drive assembly is not or at most achieved

adjust.

By adjusting the voltage as a function of, in particular (only) up to, a permissible load of the drive wheel assembly or an adjuster or appropriately configured or used adjuster in one embodiment, an overload of the drive wheel assembly avoided and / or exploited a maximum allowable load and thereby a particularly advantageous contact pressure of the drive wheel assembly can be realized on the ground. In one embodiment, the setting device for this purpose corresponding limitations, in particular attacks, or the voltage mechanically, in particular form-fitting limit, in particular by limiting movement of the input and / or adjusting and / or load platform against the base. Additionally or alternatively, in one embodiment, one, In particular frictional, fixing the adjuster, in particular at the base, slip on reaching or exceeding the allowable load or be set up for this purpose, in particular as or in the manner of a slip clutch (act).

By adjusting the voltage as a function of a load of the transport vehicle, in particular the load platform, or an adjusting device or appropriately adjusted or used in one embodiment, a particularly advantageous contact force of the drive wheel assembly realized on the ground, in particular the weight of a payload for Increasing the contact pressure can be used.

In a further development, the setting device for this purpose has a load detection device for determining a loading of the transport vehicle and a, in particular electrical, motor, mechanical, hydraulic or pneumatic, actuator for adjusting the voltage of the drive wheel assembly, in particular in dependence on the determined load on.

By one of a loading of the transport vehicle, in particular the load platform, independent adjustment of the voltage or a thereto or appropriately set or used adjustment can be used in one embodiment, a light (re) and / or reliable (re) adjustment and / or Drive behavior can be improved.

By adjusting the voltage as a function of an adjustment of the load platform against the base or a setting device or appropriately configured or used adjusting device, in one embodiment, the adjustment may be made passive.

Conversely, in one embodiment, an adjustment of the load platform against the base independent adjustment of the voltage or a thereto or appropriately set or used adjusting a particularly advantageous contact pressure of the drive wheel assembly realized on the ground and / or the transport vehicle can be operated more flexible.

By adjusting the tension for lifting the support wheel at not or at most up to the permissible load of the drive assembly loaded transport vehicle or a thereto or appropriately set or used adjustment can be realized in an embodiment, a particularly advantageous contact force of the drive wheel on the ground. In one embodiment, a lifting of the support wheel is not provided in non-loaded transport vehicle in normal operation, but the setting only set up, in particular mechanically designed and / or adjustable accordingly. In one embodiment, the adjustment means is adapted to adjust a tension of the drive wheel assembly by the tensioning means from the base to lift the support wheel, as long as (the voltage) the permissible load of the drive wheel assembly is not or at most reached (is).

In one embodiment, the adjusting device adjusts the tension of the drive wheel assembly mechanically or is configured for this purpose or correspondingly.

This allows the tension in one embodiment to be set precisely (r).

In one embodiment, the adjusting device adjusts the tension of the drive wheel assembly hydraulically and / or pneumatically or is configured for this purpose or accordingly.

As a result, in one embodiment, it can be made compact (he) and / or advantageously (he) guided.

In one embodiment, the adjusting device electrically adjusts the voltage of the drive wheel arrangement; in particular, it can be electrically controlled (for this purpose) or set up for this purpose.

As a result, in one embodiment, it can be made compact (he) and / or advantageously (he) guided.

In one embodiment, the adjusting device adjusts the tension of the drive wheel arrangement by motor or is configured for this purpose or correspondingly.

This allows the tension in one embodiment to be set precisely (r).

In one embodiment, the tensioning device is coupled to the drive wheel arrangement and to the base, the load platform and / or the adjusting device, in particular mechanically, fastened thereto in one embodiment and / or clamped therebetween, in one embodiment directly or via the adjustment device.

In a further development, the tensioning device, in particular one or more spring elements, is thus braced between the drive wheel arrangement and the base, in one embodiment directly or via the adjustment device, in particular between the drive wheel arrangement or base and the adjustment device.

Additionally or alternatively, in one development, the tensioning device, in particular one or more spring elements, is clamped between the drive wheel arrangement and the load platform, in one embodiment directly or via the adjustment device, in particular between the drive wheel arrangement or load platform and the adjustment device.

Additionally or alternatively, in one development, the clamping device, in particular one or more spring elements, is clamped between the drive wheel arrangement and the adjusting device for adjusting the load platform, in one embodiment directly or via the setting device, in particular between the drive wheel arrangement or adjusting device and the setting device.

In one embodiment, the adjustment device is decoupled from the base (at least temporarily and / or statically) or against it or relative thereto (as a whole or in total or completely) with or in one or more degrees of freedom, in particular at least one translational degree of freedom in the direction of the vertical axis of the transport vehicle, movable and is supported on the drive wheel from, in particular via or through the clamping device.

As a result, in one embodiment in each case a particularly advantageous contact pressure of the drive wheel assembly is realized on the ground and so a driving, especially drive behavior, and / or load sharing between support wheels and drive wheel assembly further improved and / or the transport vehicle compact (er) build and / or be operated more flexibly.

In one embodiment, the transport vehicle has a, in one embodiment speed-proportional, damping device, the vibrations of the drive wheel assembly and / or load platform, in particular against the base, attenuates, in particular hydraulically, pneumatically and / or mechanically, in particular by friction, or is set up for this purpose or is used.

Additionally or alternatively, in one embodiment, the transport vehicle has a, in particular electrical, motor, hydraulic, pneumatic and / or mechanical, locking device, which fixes the adjustment to the base, in particular optionally in different positions and / or positive and / or frictional engagement or is set up or used for this purpose. In one embodiment, the locking device is arranged such that the adjusting device fixed to the base by the locking device is displaceable or displaced when the permissible load of the drive arrangement is exceeded.

As a result, in one embodiment, the driving, in particular drive behavior, and / or a load distribution between support wheels and drive wheel arrangement can be further improved.

Additionally or alternatively, by fixing the adjusting device to the base in different positions through the locking device, the drive wheel arrangement can be tensioned differently in the direction of the vertical axis away from the base, or the blocking device can be set up or used for this purpose.

In one embodiment, the adjusting device and / or the adjusting device (in each case) one or more actuators, in one embodiment electrically, in particular electromagnetically, hydraulically or pneumatically, variable length, in particular one or more actuators with linear or rotary on and / or extendable Output members on, for example, lifting cylinders or spindles, eccentric, linear or linear motors or the like.

In one embodiment, the adjusting device and the adjusting device are integrally formed with each other. In particular, at least one actuator of the adjusting device can also adjust the load platform against the base or be used for this purpose or be an actuator of the adjusting device.

Additionally or alternatively, in one embodiment, the adjusting device and the locking device are integrally formed with each other.

As a result, in one embodiment, the transport vehicle each compact (he) build.

In one embodiment, the adjustment and the adjustment, in particular mechanically or control technology, coupled together, in one embodiment such that the adjustment increases a voltage of the drive assembly away from the base when the adjustment moves the load platform away from the base, in particular (temporally ) simultaneously to the adjustment of the load platform or offset in time.

In one embodiment, the transport vehicle has a fabric joint guide with one or more deformation elements, which guides the (adjusting movement of the) load platform against the base or is or is set up for this purpose / are used.

In one embodiment limited, in particular locks, the Stoffgelenkführung a translational degree of freedom of the (adjustment of the) load platform in the direction of one or the longitudinal axis and / or in the direction of one or the transverse axis of the transport vehicle and / or a rotational degree of freedom of (adjustment of the) load platform around the vertical axis ("yaw").

Accordingly, in one embodiment, the load platform guided by the fabric joint guide (thereby) relative to the base, in particular only, a translational degree of freedom in the direction of the vertical axis and / or a rotational degree of freedom about the longitudinal axis ("roles") and / or a rotational degree of freedom around the Transverse axis ("nod"), in which or in one embodiment by the adjustment is adjustable.

The or one or more of the deformation elements are elastically deformed during or by adjusting the adjustment and thus advantageously cause a guiding and / or restoring force. The or one or more of the deformation elements may in particular (in each case) be a leaf spring, the fabric joint guide according to one embodiment a leaf spring guide.

As a result, in one embodiment, an advantageous, in particular compact, lightweight and / or reliable, guidance of the load platform can be made available.

In one embodiment, one or more deformation elements of the fabric joint guide (respectively) at one or more locations (each) fixed or rigid or movable at the base and / or at one point or more locations (respectively) fixed or rigid or movable Tailstock connected. By a rigid fixation of at least one deformation element can be realized in one embodiment, an advantageous fabric hinge guide, advantageously reduced by a movable connection in one embodiment, a (static) over-determination or avoided.

In one embodiment, a distance between two maximum points of one or more deformation elements with the vertical axis of the transport vehicle (in each case) includes an angle which is at least 45 °, in one embodiment at least 60 °, in particular at least 75 °, in particular at maximum and / or minimum distance between load platform and base or maximum and / or minimum setting, in particular stroke of the adjustment. In other words, in one embodiment, the deformation element or elements are aligned at least substantially parallel to the load platform. As a result, in one embodiment, the transport vehicle can be made particularly compact.

In one embodiment, at least two deformation elements of the cloth joint guide are arranged in the same direction or in opposite directions, in particular symmetrically or mirror-inverted relative to one another. As a result, in one embodiment, a stable (re) leadership can be realized.

In one embodiment, the load platform, in particular magnetically, mechanically and / or pneumatically, resiliently supported on the base, in an embodiment by the fabric joint guide.

In one embodiment, one or more drive wheels of the drive wheel assembly (each) via a rotary rocker and / or individually at least with a (own) translational degree of freedom in the direction of the vertical axis of the transport vehicle mounted on the base and / or two or more drive wheels of the drive wheel respectively, in particular in pairs, at least with a (own) translatory degree of freedom in the direction of the vertical axis of the transport vehicle, in particular on a common pivot axis (hinged), mounted on the base.

By such an independent suspension can be realized in one embodiment, a particularly advantageous contact pressure of the drive wheel assembly on the ground and so a driving, in particular drive behavior, and / or a load sharing between support wheels and drive wheel assembly can be further improved.

In one embodiment, one or more drives for driving (at least), in particular exactly, a drive wheel (respectively) via a traction means, in particular a belt or a chain, coupled with this drive wheel.

In addition or as an alternative, one or more drives for driving (at least), in particular precisely, a drive wheel are arranged on one or the rotary rocker supporting this drive wheel.

Additionally or alternatively, in one embodiment at least one rotary rocker, the at least, in one embodiment exactly, a drive wheel stores or at least at least, in one embodiment, a drive wheel is mounted, an open cross-sectional profile, in one embodiment, a U-profile, which is open in one embodiment to a footprint of the drive wheel.

Additionally or alternatively, in one embodiment at least one rotary rocker, which at least, in one embodiment, supports a drive wheel or on which, at least in one embodiment, a drive wheel is mounted, the drive wheel and / or a drive for driving the drive wheel at least partly on. In a further development, this drive wheel is covered by the torsion rocker upwards, in particular embraced on three sides.

As a result, in one embodiment in each case, but in particular in combination of two or more of these features, an advantageous transport vehicle can be provided, in particular its assembly and / or operation (further) can be improved.

In one embodiment, one or more drive wheels of the drive wheel assembly are omnidirectional (e wheels), in particular mecanum wheels or omnidirectional wheels, in which a plurality of rotatably mounted, in one embodiment barrel-shaped, rollers are arranged on the circumference (the "rim") of the wheel are whose rolling axes perpendicular to the roll axis of the wheel or its rim (Allseitenrad) or inclined against this by an angle (mecanum wheel), in one embodiment at least 15 °, in particular at least 30 °, and / or at most 75 °, in particular at most 60 °, is, in particular at least substantially equal to 45 ° can be.

Equally, in one embodiment, one or more drive wheels of the drive wheel arrangement may also be steerable, in particular actively or pivotable transversely, in particular vertically, to its roll axis by a drive about pivot axis. A drive wheel in the sense of the present invention is thus driven in one embodiment by a drive about its roll axis and / or a pivot axis (active) or is set up for this purpose or is used for this purpose. In one embodiment, the transport vehicle by the drive wheel assembly, in one embodiment at the same time, forward, backward and / or sideways, in particular in the direction of (s) a longitudinal and / or transverse axis, movable and / or rotatable about (s) a vertical axis ,

According to an embodiment of the present invention, the load platform, in particular for or when driving under and / or arrival and / or uncoupling and / or lifting and / or lowering a (useful) load, is adjusted against the base for or during operation of the transport vehicle and / or a tension of the drive wheel assembly away from the base in response to an allowable payload of the drive wheel assembly and / or depending on or independent of a load of the transport vehicle and / or depending on or independent of an adjustment of the load platform against the base.

In one embodiment, the load platform is first adjusted, in particular raised, and then at, in particular hereby, loaded or -loaded load platform fixed hereby coupled or thereby adjusted adjustment at the base by the locking device. Characterized the drive wheel assembly is advantageously stretched in one embodiment and then set this voltage.

• 1: ein fahrerloses Transportfahrzeug nach einer Ausführung der vorliegenden Erfindung in einer Seitansicht;
• 2: einen Teil des Transportfahrzeugs der 1;
• 3 bis 8A: jeweils einen Teil eines fahrerlosen Transportfahrzeugs nach einer weiteren Ausführung der vorliegenden Erfindung in 2 entsprechender Seitansicht; und
• 8B: das Transportfahrzeug der 8A mit verstellter Lastplattform.

Further advantages and features emerge from the subclaims and the exemplary embodiments. This shows, partially schematized:

• 1 a driverless transport vehicle according to an embodiment of the present invention in a side view;
• 2 : a part of the transport vehicle of 1 ;
• 3 to 8A in each case a part of a driverless transport vehicle according to a further embodiment of the present invention in 2 corresponding side view; and
• 8B : the transport vehicle of 8A with adjusted load platform.

1 shows a driverless transport vehicle according to an embodiment of the present invention in a side view.

The transport vehicle has a base 1 on, at the corners of four non-driven support wheels are arranged in the form of support or steering rollers, of which in the side view of 1 two support wheels 2 are visible and which, as in 1 indicated by a Bewegungsdoppelfpeil, are passive pivot.

The transport vehicle further comprises a drive wheel assembly with four drive wheels for moving the transport vehicle in the form of omnidirectional Mecanum wheels, of which in the side view of 1 two drive wheels 3 are visible.

The drive wheels are individually via a respective rotary rocker 4 stored at the base, wherein each two of the drive wheels with its own translational degree of freedom in the direction of a vertical axis of the transport vehicle (vertically in 1 ) on a common swing axle 4A articulated at the base 1 are stored, so that the drive wheel assembly is mounted on the base via hinges, of which in the side view of 1 the swing axle 4A is visible.

In each of the identically designed and equipped rotary swivel, which each have a downwardly open U-shaped cross-sectional profile, is an electric motor 5 recorded that the corresponding drive wheel via a belt drive 5A drives.

By the downwardly open U-shaped cross-sectional profile drive and drive wheel can each be easily inserted from below into corresponding downwardly open grooves and then secured by locking plates (not shown).

In a modification, not shown, the U-profiles are closed at the top and the drive wheels 3 thus three-sided of the rotary swing 4 encompassed or covered upwards.

The transport vehicle has a load platform 6 on that against the base 1 by one of the following with reference to 2-8 closer explained adjusting device with a translational degree of freedom in the direction of the vertical axis and in one embodiment a rotational degree of freedom about a longitudinal axis (horizontally in 1 ) and / or a rotational degree of freedom about a transverse axis (perpendicular to the plane of the drawing) 1 ) is adjustable.

For the corresponding guidance of the adjustment movement of the load platform, the transport vehicle has a fabric joint guide with a plurality of leaf springs, of which in the side view the 1 two leaf springs arranged in opposite directions 7A . 7B are visible.

Here is the leaf spring 7A at one point movable at the base and fixed at one point to the load platform, the other leaf spring 7B firmly attached to the base at one point and firmly attached to the load platform at one point. On the long side of the transport vehicle, the in 1 opposite visible longitudinal side, another pair of leaf springs is arranged identical.

In one variation, one or more leaf springs may also be tied at multiple locations on the base and / or the load platform, as in FIG 2 indicated by dashed lines.

The leaf springs are arranged substantially parallel to the load platform, so that a distance between their maximally distant points with the vertical axis of the transport vehicle each encloses an angle which is at least 60 °.

As a result, the transport vehicle advantageously flat.

The transport vehicle has a tensioning device 10 for tensioning the drive wheel assembly in the direction of the vertical axis away from the base, which in 1 symbolically indicated by a box and subsequently with reference to 2 is explained in more detail.

In the embodiment of 1 . 2 has the tensioning device 10 four springs 11 each of which is secured to and clamped between the base and one of the rocker arms so that this spring retracts the corresponding rocker arm and thus the drive wheel mounted thereon and thus the tensioner disengages the drive wheel assembly from the base (down in 1 . 2 ) tense.

In the embodiment of 1 . 2 the adjusting device exemplarily four lifting cylinder, of which in the partial view of 2 a lifting cylinder 20 is visible.

3 shows in 2 corresponding side view of a part of a driverless transport vehicle according to another embodiment of the present invention. Corresponding features are denoted by identical reference numerals, so that reference is made to the preceding description and will be discussed below only differences.

In the execution of 3 is the load platform 6 through upper pistons 21A of four double cylinders against the base 1 adjustable. The feathers 11 are in this embodiment respectively on one of the torsion rockers and a lower piston 21B one of the double cylinder attached and braced between them. Instead of double cylinders, double-acting eccentrics, nut-spindle systems with different thread pitches for two counter-rotating nuts or the like can also be used.

The (lower piston 21B The) double cylinder thus form an adjustment, by a voltage of the drive wheel assembly away from the base by the (springs 11 the) clamping device can be adjusted.

feathers 11 and double cylinders are dimensioned so strong that by appropriate extension of the lower piston 21B the support wheels 2 can be lifted at not or only up to the maximum load of the drive assembly laden transport vehicle. Only when reaching or exceeding the permissible load by lifting a heavier load by the extension of the upper piston 21A are the springs 11 correspondingly strongly compressed and the load surplus is over the now resting support wheels 2 supported. In this way, advantageously, a maximum contact force can be realized and thus a driving or driving behavior can be improved.

4 shows in 2 . 3 corresponding side view of a part of a driverless transport vehicle according to another embodiment of the present invention. Corresponding features are denoted by identical reference numerals, so that reference is made to the preceding description and will be discussed below only differences.

In the execution of 4 is the load platform 6 by one or more lifting cylinders 21 against the base 1 adjustable.

The feathers 11 are in this embodiment on one at the base 1 rotatably mounted pivoting lever 12 with the load platform 6 mechanically positively coupled: an extension of the load platform 6 compresses the springs 11 and thus increases the tension of the swingarms 4 or drive wheels 3 away from the base. The adjustment is thus in this embodiment in the form of the pivot lever 12 realized.

5 shows in 2 to 4 corresponding side view of a part of a driverless transport vehicle according to another embodiment of the present invention. Corresponding features are denoted by identical reference numerals, so that reference is made to the preceding description and will be discussed below only differences.

In the execution of 5 become the turning wings 4 or drive wheels 3 by compression springs 11A biased away from the base, which tensioned tension springs 11B in a lowermost lifting position of the load platform 6 maximum counteract. By extending the load platform 6 become the tension springs 11B relaxed. This in turn increases the pressure springs 11A caused tension of the rotary joints 4 or drive wheels 3 away from the base.

Unlike the execution of the 4 support the feathers here 11B an extension of the load platform 6 , in the execution of the 4 less energy in the clamping device 11 saved.

6 shows in 2 to 5 corresponding side view of a part of a driverless transport vehicle according to another embodiment of the present invention. Corresponding features are denoted by identical reference numerals, so that reference is made to the preceding description and will be discussed below only differences.

In this embodiment, the adjusting device is in the form of lifting cylinders 22 from the base 1 mechanically decoupled and over the springs 11 the tensioning device on (the rotary swing 4 ) of the drive wheel assembly supported. Thus, here is the clamping device on the drive wheel assembly and the adjustment 22 attached. Driving the lifting cylinders 22 the load platform 6 out, become the springs 11 compressed and the contact pressure of the drive wheels 3 increased, provided a corresponding vertical load by the weight of the load platform 6 and their load on the load platform 6 acts. The lifting cylinders 22 thus form an integral input and adjustment.

Here is the execution of 6 designed so that the springs 11 can be compressed until an allowable load of the drive wheels is reached. Once this is the case, put the stops 40 on, allowing higher forces then over the support wheels 2 be derived. In this case, a small load reserve is advantageously provided for the case that a torsional rocker when driving over a survey (even more) springs. The springs are corresponding 11 and. attacks 40 dimensioned so that the permissible load of the drive wheels only at a compression behind or over the support wheels 2 is reached.

In a lowest position of the load platform 6 also set attacks 41 on, which is an overload of the lifting cylinder 22 prevent.

To vibrations of the drive assembly and the load platform 6 due to the decoupling of the input and adjustment 22 to dampen, the transport vehicle has a damping device 50 on that in the execution of 6 load platform 6 and base 1 coupled. Additionally or alternatively, the damping device may also be arranged elsewhere, for example, the (rotary swing 4 the) drive arrangement and base 1 or lifting cylinder 22 couple.

7 shows in 2 to 6 corresponding side view of a part of a driverless transport vehicle according to another embodiment of the present invention. Corresponding features are denoted by identical reference numerals, so that reference is made to the preceding description and will be discussed below only differences.

In this embodiment, the transport vehicle has a locking device for frictional fixing of the adjusting device 22 at the base 1 in different positions, integral with the adjustment 22 is trained.

In this case, first a load (not shown) under and then the load platform 6 through the lifting cylinders 22 extended. This will be the springs 11 compressed and so the tension of (on the swingarms 4 mounted drive wheels 3 the) drive assembly from the base 1 biased away. Subsequently, the lifting cylinders 22 friction or form-fitting at the base 1 fixed by punch 60 be extended. The contact pressure of the stamp 60 is dimensioned so that they slip when exceeding the allowable load of the drive wheel assembly, for example due to a subsequent payload, so that the attacks 40 put on.

8A . 8B show in 2 to 7 corresponding side view of a part of a driverless transport vehicle according to another embodiment of the present invention. Corresponding features are denoted by identical reference numerals, so that reference is made to the preceding description and will be discussed below only differences.

In this embodiment, the springs are supported 11 on top of levers 13 off, rotatable at the base 1 are articulated and on which cams 23 are rotatably mounted.

As above with reference to 7 explained, is also here first a load (not shown) under and then the load platform 6 extended, but here by aktuiertes turning the cams 23 ( 8A -> 8B) , For example, by an actuated relative movement relative to lever 13 , This will be the springs 11 compressed and so the tension of (on the swingarms 4 mounted drive wheels 3 the) drive assembly from the base 1 stretched away.

Subsequently, the cam discs 23 frictionally engaged at the base 1 fixed by further turning them until they are a friction-enhancing intermediate element 61 against the base 1 terminals.

The attacks 40 limit here accordingly a rotation of the levers 13 ,

Although exemplary embodiments have been explained in the foregoing description, it should be understood that a variety of modifications are possible.

In particular, one of the 1 . 2 appropriate Stoffgelenk- or leaf spring guide also in one of the embodiments of 3 to 8th be realized. Conversely, the clamping device 10 the execution of 1 . 2 also an adjustable clamping device of the embodiments of 3 to 8th his.

It should also be noted that the exemplary embodiments are merely examples that are not intended to limit the scope, applications and construction in any way. Rather, the expert is given by the preceding description, a guide for the implementation of at least one exemplary embodiment, with various changes, in particular with regard to the function and arrangement of the components described, can be made without departing from the scope, as it turns out according to the claims and these equivalent combinations of features.

LIST OF REFERENCE NUMBERS

1

Base

2

stabilizer

3

drive wheel

4

A torsional rocker

4A

common swing axle

5

drive

5A

belt drive

6

load platform

7A, 7B

leaf spring

10

tensioning device

11

feather

11A

compression spring

11B

mainspring

12

pivoting lever

13

lever

20, 21, 22

lifting cylinder

21A, 21B

reciprocating

23

cam

40.41

attack

50

attenuator

60

stamp

61

intermediate element

Claims (15)

Driverless transport vehicle with: - a base (1) on which at least a non-driven support wheel (2) is arranged for supporting the base; - A drive wheel assembly with at least one drive wheel (3) for moving the transport vehicle, which is mounted on the base at least with a translatory degree of freedom in the direction of a vertical axis of the transport vehicle, in particular via at least one rotary joint (4A); and - At least one drive (5) for driving the drive wheel assembly. Transport vehicle after Claim 1 characterized by a load platform (6) against the base, in particular by means of an adjusting device (20; 21; 21A; 22; 23) and / or at least one translatory degree of freedom in the direction of the vertical axis and / or at least one rotational degree of freedom about one to the vertical axis vertical axis of rotation, is adjustable. Transport vehicle according to one of the preceding claims, characterized by a tensioning device (11, 11A) for, in particular by an adjusting device (12; 11B; 21B; 22; 13, 23) adjustable clamping of the drive wheel arrangement in the direction of the vertical axis away from the base. Transport vehicle according to the preceding claim, characterized in that the tensioning device has at least one spring element (11; 11A) for tensioning the drive wheel assembly away from the base and / or the adjusting device is adapted to move the tensioning device through the tensioning device away from the base Depending on a permissible load of the drive wheel assembly and / or depending on or independent of a loading of the transport vehicle and / or depending on or independent of an adjustment of the load platform against the base and / or to lift the support wheel at least when not loaded transport vehicle. Transport vehicle according to one of the preceding claims, characterized in that the adjusting device is arranged for electrical, motor, mechanical, hydraulic and / or pneumatic adjustment of the tension of the drive wheel arrangement and / or a load detection device for determining a loading of the transport vehicle and an actuator for adjusting the voltage the drive wheel assembly has. Transport vehicle according to one of the preceding claims, characterized in that the clamping device with the drive wheel assembly and the base, the load platform and / or the adjusting device, in particular mechanically, coupled and / or that the decoupled from the base adjusting device is supported on the drive wheel assembly. Transport vehicle according to one of the preceding claims, characterized by a damping device (50) for damping vibrations of the drive wheel assembly and / or load platform and / or a locking device (60; 61) for, in particular positive and / or frictional, fixing the adjusting device to the base , especially in different positions. Transport vehicle according to one of the preceding claims, characterized in that the adjusting device and the adjusting and / or locking device are integrally formed with each other and / or the adjusting device and the adjusting device, in particular mechanically or control technology, are coupled together. Transport vehicle according to one of the preceding claims, characterized by a fabric joint guide with at least one deformation element (7A, 7B) for guiding the adjustment movement of the load platform. Transport vehicle according to the preceding claim, characterized in that: - at least one deformation element of the fabric joint guide is fixedly or movably connected to the base and / or the load platform at one or more points; - A distance between two points of maximum distance of at least one deformation element with the vertical axis of the transport vehicle forms an angle which is at least 45 °; and / or - at least two deformation elements of the fabric joint guide are arranged in opposite directions to each other. Transport vehicle according to one of the preceding claims, characterized in that the load platform is resiliently supported on the base. Transport vehicle according to one of the preceding claims, characterized in that at least one drive wheel of the drive wheel assembly via a rotary rocker (4) and / or individually at least with a translational degree of freedom in the direction of the vertical axis of the transport vehicle is mounted on the base and / or at least two drive wheels of the drive wheel assembly in each case at least with a translational degree of freedom in the direction of the vertical axis of the transport vehicle, in particular on a common pivot axis (4A), are mounted on the base. Transport vehicle according to one of the preceding claims, characterized in that at least one drive (5) for driving a drive wheel via a traction means (5A) coupled with this drive wheel and / or on the this drive wheel overlapping torsion rocker (4) is arranged and / or at least one a drive wheel supporting rotary rocker (4) has an open cross-sectional profile and / or at least partially receives the drive wheel and / or a drive for driving the drive wheel. Transport vehicle according to one of the preceding claims, characterized in that the drive wheel assembly comprises at least one omnidirectional or steerable drive wheel. Method for operating a transport vehicle according to one of the preceding claims, characterized in that the load platform, in particular for driving under and / or coupling and / or uncoupling and / or lifting and / or lowering a load, adjusted against the base and / or a voltage the drive wheel assembly is adjusted away from the base in response to an allowable payload of the drive wheel assembly and / or depending on or independent of a load of the transport vehicle and / or depending on or independent of an adjustment of the load platform against the base.

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