DE102018107226A1 - Dolly - Google Patents

Abstract

Transport trolley for the in-house transport of goods, wherein the trolley has at least one support frame and a plurality of rollers attached to the support frame, with the following further features:
a) the trolley is designed as a trailer, which has a coupling device for coupling a pulling vehicle pulling the towing vehicle,
b) the trolley has its own drive system over which the trolley is movable in particular without external force when it is not pulled by a tractor, the drive system having at least one electric drive with at least one electric motor, wherein the electric drive with at least one roll of Dolly is coupled so that this role is driven by the electric drive,
c) the transport vehicle has a control unit of an automated guided transport system by which the trolley and in particular its drive system is controlled such that the trolley is moved autonomously.

Description

The invention relates to a trolley for the in-house transport of goods and a use of such a trolley.

Dolly of the type mentioned are used for various purposes, eg. B. for transporting heavy loads in the private and commercial sector. In particular, in the field of internal transport in industrial plants such transport vehicles z. B. used with four or six rollers. One or more rollers can be designed to be steerable, d. H. as a steering wheel to improve the maneuverability of the trolley. Such Dolly have no own drive, but z. B. pushed or pulled by a user, or are attached via a trailer hitch or drawbar to a tractor. About the roles of the trolley then on a surface, z. B. a factory floor to be moved. The roles thus have the function of wheels or wise wheels. Such dolly can be used wisely in other internal areas, such. As in railway stations, in post offices, hospitals, offices, workshops, warehouses, especially for freight transport over short distances.

A generic trolley is z. B. from the DE 89 13 844 U1 known. The support frame described there and, if present, a swing frame are usually welded together from metal parts according to customer requirements. The welds should give the trolley sufficient stability for the transport of heavy loads.

The invention has for its object to provide a trolley, which is universally applicable, for. B. to meet different customer requirements.

1. a) der Transportwagen ist als Anhänger ausgebildet, der eine Koppeleinrichtung zum Ankoppeln eines den Transportwagen ziehenden Zugfahrzeugs aufweist,
2. b) der Transportwagen weist ein eigenes Antriebssystem auf, über das der Transportwagen insbesondere dann ohne Fremdkraft verfahrbar ist, wenn er nicht von einer Zugmaschine gezogen wird, wobei das Antriebssystem wenigstens einen Elektroantrieb mit wenigstens einem Elektromotor aufweist, wobei der Elektroantrieb mit wenigstens einer Rolle des Transportwagens gekoppelt ist, sodass diese Rolle von dem Elektroantrieb antreibbar ist,
3. c) der Transportwagen weist eine Steuereinheit eines fahrerlosen Transportsystems auf, durch die der Transportwagen und insbesondere dessen Antriebssystem derart ansteuerbar ist, dass der Transportwagen autonom verfahrbar ist.

The object is achieved by a trolley for the in-house transport of goods, wherein the trolley has at least one support frame and a plurality of rollers attached to the support frame, with the following further features:

1. a) the trolley is designed as a trailer, which has a coupling device for coupling a pulling vehicle pulling the towing vehicle,
2. b) the trolley has its own drive system over which the trolley is movable in particular without external force when it is not pulled by a tractor, the drive system having at least one electric drive with at least one electric motor, wherein the electric drive with at least one roll of Dolly is coupled so that this role is driven by the electric drive,
3. c) the transport vehicle has a control unit of an automated guided transport system by which the trolley and in particular its drive system is controlled such that the trolley is moved autonomously.

The invention has the advantage that the trolley can be used even more universal and time-saving. Its own drive system makes it possible for the trolley to drive automatically. The additionally existing control unit of an automated guided vehicle system makes it possible for this driving operation to be carried out autonomously, i. can be done without a driver. The trolley can be in this way e.g. be moved to a preprogrammed position in a warehouse or an industrial production hall, or follow a predetermined path. For this, no or only a short action of an operator is required, e.g. the setting of the desired destination position of the trolley. In the further course, i. while the dolly moves autonomously to its target position, no intervention or control by personnel is required. In this way, operators are relieved of time and can already devote to other tasks, while the trolley drives in driverless operation to a specific destination position.

1. a) Ziehen des Transportwagens als Anhänger durch ein mit dem Transportwagen gekoppeltes Zugfahrzeug, insbesondere ohne dass das Antriebssystem des Transportwagens den Transportwagen antreibt,
2. b) Transport des Transportwagens durch ein Zugfahrzeug, wobei der Transportwagen in einem C-Frame- oder einem E-Frame-Transporter aufgenommen ist,
3. c) Fahren des Transportwagens als Einzelfahrzeug unabhängig von einer Zugmaschine mittels seines eigenen Antriebssystems, wobei das Fahren manuell von einem Bediener über eine Bedieneinheit gesteuert wird,
4. d) autonomes Fahren des Transportwagens unabhängig von einer Zugmaschine mittels seines eigenen Antriebssystems, wobei das Fahren automatisch durch die Steuereinrichtung des fahrerlosen Transportsystems gesteuert wird.

According to an advantageous development of the invention, it is provided that the transport carriage can be operated optionally in one of the following operating modes, without the transport vehicle having to be retrofitted for a change of the operating mode:

1. a) pulling the trolley as a trailer by a towing vehicle coupled with the towing vehicle, in particular without the drive system of the trolley driving the trolley,
2. b) Transport of the trolley by a towing vehicle, wherein the trolley is accommodated in a C-frame or an E-frame transporter,
3. c) driving the transport vehicle as a single vehicle independently of a tractor by means of its own drive system, wherein the driving is controlled manually by an operator via an operating unit,
4. d) autonomous driving of the trolley independent of a tractor by means of its own drive system, wherein the driving is controlled automatically by the control device of the driverless transport system.

In this way, a highly flexible transport cart is provided. When transporting the trolley in a C-frame or an E-frame transporter, the trolley can, for example, be raised, so that its roles have no contact with the ground. In this way, the trolley can be moved in any direction in the C-frame or E-frame transporter. Here, as mentioned, no retrofitting measures on the trolley required, instead, the trolley can be set directly from one operating mode to another mode of operation.

According to an advantageous development of the invention, it is provided that the operating unit is arranged on the transport carriage and / or the operating unit has a remote operating unit in the sense of a remote control, which is arranged away from the transport carriage. This additionally allows the trolley to be operated remotely, e.g. via a radio remote control. The trolley may also have two operating units, namely an operating unit on the trolley and a remote control unit remote therefrom. Then, the trolley can alternatively alternatively be controlled via the arranged on the trolley control unit or the remote control unit.

According to an advantageous embodiment of the invention it is provided that the electric drive is coupled with at least two rollers arranged left and right on the trolley, so that these roles on the electric drive either in the same direction or to turn the trolley, are driven in opposite directions. In particular, by the opposite movement of the rollers of the trolley can be turned with a very small footprint or rotated on the spot. Due to the possibility of driving the rollers differently via the electric drive, curves with almost any radius can be driven with the trolley.

According to an advantageous embodiment of the invention, it is provided that the control unit of the driverless transport system for controlling the driverless driving of the trolley has one or more of the following sensing units: GPS sensor, optical environment sensing, lane detection of a lane arranged in the driving range of the trolley. In this way, the trolley is adaptable to virtually any concept of a driverless transport system already used in a company. It is only necessary to select the appropriate sensing unit and to adapt the control unit accordingly or to select a suitable control unit for the sensing unit.

The control unit of the driverless transport system can be arranged completely or partially on the trolley itself, or completely or partially at a remote location, so that via the control unit and a remote control of the driverless operation of the trolley is possible.

According to an advantageous embodiment of the invention it is provided that the trolley has a pivotable below the support frame to horizontal transverse axes relative to the support frame swing frame which is fixed to the support frame, and on the swing frame one or more rollers are attached. In this way, the rollers of the trolley always have good ground contact even on uneven ground.

1. a) der Transportwagen weist als Antriebssystem wenigstens einen Elektroantrieb mit wenigstens einem Elektromotor auf, wobei der Elektroantrieb mit wenigstens einer Rolle gekoppelt ist, sodass diese Rolle von dem Elektroantrieb antreibbar ist,
2. b) der Transportwagen ist längenveränderbar, insbesondere der Tragrahmen ist längenveränderbar.

The object is further achieved by a trolley for the in-house transport of goods, wherein the trolley has at least one support frame and a plurality of rollers attached to the support frame, wherein the trolley has a below the support frame to horizontal transverse axes relative to the support frame pivotable swing frame, the support frame and one or more rollers are attached to the swing frame, characterized by one or both of the following features a), b):

1. a) the transport vehicle has as drive system at least one electric drive with at least one electric motor, wherein the electric drive is coupled to at least one roller, so that this roller can be driven by the electric drive,
2. b) the trolley is variable in length, in particular the support frame is variable in length.

The invention has the advantage that further, novel applications are developed for such transport vehicles. By providing the drive system, the trolley is self-propelled, i. it does not have to be pulled or pushed by a human or a towing vehicle. It has been found that, using modern electric drive technologies, such a drive system can be easily integrated into such a transport vehicle without the size having to be changed. The weight gain can also be kept within limits, especially by using modern accumulator technologies.

The fact that the trolley is variable in length, in particular savings in application areas can be achieved in which different transport tasks for which previously different transport car different length had to be provided to be met. These transport tasks can now be met with a single trolley, which is adapted to the respective needs in terms of length. At most, the provision of fewer different models of variable length trolley is required if the range of transport tasks requires very large differences in length.

According to an advantageous embodiment of the invention it is provided that the electric drive is coupled with at least one roller attached to the swing frame, so that this role can be driven by the electric drive. In this way, a reliable, sufficient ground contact of the electric drive driven roller is ensured even on uneven ground. Accordingly, the trolley can be safely started and operated by the electric drive even under difficult ground conditions.

According to an advantageous development of the invention, it is provided that at least one first swing frame roller is attached to the swing frame on the right side of the vehicle and at least one second swing frame roller is fastened to the left side of the vehicle, wherein the first and second swing frame rollers are electrically driven. In this way, a bilateral symmetrical drive of the trolley by the electric drive is possible. The first and the second swing frame roller can be driven by the same electric drive or different electric drives.

According to an advantageous development of the invention, it is provided that the transport carriage has a first electric drive for driving the first oscillating frame roller and a second electric drive for driving the second oscillating frame roller. This allows side-by-side selective control of the drive system on the dolly, so that by appropriate control of the first and second electric drives, e.g. also a cornering can be supported.

According to an advantageous embodiment of the invention it is provided that the swing frame has a arranged on the left side of the vehicle trolley left swing frame part and arranged on the right side of the vehicle trolley right swing frame part, wherein the left and right swing frame part are independently pivotally mounted on the support frame , In this way, the swing frame is so to speak double-slit designed by the left swing frame part regardless of the right swing frame part can perform the necessary depending on the ground pivoting movements relative to the support frame. In this way, the ground contact of the trolley is further improved.

The aforementioned first swing frame roller can be attached to the right swing frame part, the second swing frame roller on the left swing frame part.

According to an advantageous development of the invention it is provided that the electric drive is attached to the swing frame, so that the electric drive relative to the support frame is pivotable. This has the advantage that the power transmission from the electric drive to the roller attached to the swing frame can be kept simple, since a rigid connection is possible. If the oscillating frame has the aforementioned right and left oscillating frame part, then the first electric drive can be fastened to the right oscillating frame part, the second electric drive can be fastened to the left oscillating frame part.

According to an advantageous embodiment of the invention it is provided that the axis of rotation of the electric motor is arranged higher than the axis of rotation of the driven by the electric motor of the electric drive roller on the trolley. In this way, the ground clearance of the trolley is hardly affected by the electric drive. This can e.g. be realized by the fact that the electric motor is coupled via a gear with a corresponding axial offset with the roller.

According to an advantageous development of the invention, it is provided that the transport vehicle has an operating unit with handles for manual operation of the transport vehicle, wherein the operating unit has electrical control means for controlling the electric drive in the region of the handles. This allows a comfortable and ergonomic operation of the trolley.

According to an advantageous embodiment of the invention it is provided that the operating unit is designed as a central control column, which is fixed to the support frame. In this way, the appearance of the trolley can be kept beautiful. In addition, the control unit takes up little space.

According to an advantageous embodiment of the invention, it is provided that a drawbar for pulling the trolley by a tractor, the drawbar is pivotable about the transverse axis of the trolley and is held by spring force in a substantially vertical neutral position. The drawbar is used to pull the trolley from a tractor. If the trolley but used separately, ie without tractor, the drawbar is not required. By such automatic pivoting of the drawbar in the substantially vertical neutral position does not interfere with the manual operation of the trolley. The drawbar can create, for example, in the vicinity of the control unit to this. The operating unit, in particular if it is designed as a central control column, can also be arranged in a substantially vertical position on the trolley, for example on an end face of the trolley (front or rear).

According to an advantageous development of the invention it is provided that the transport carriage has a power supply and control unit for power supply and control of the electric drive, which is fixed to the underside of the support frame. In this way, the trolley can be operated independently. The power supply unit may in particular have a rechargeable accumulator. By housing the power supply and control unit at the bottom of the support frame, it is protected from external influences and is not easily damaged. In addition, the usable transport area of the trolley is not affected.

According to an advantageous embodiment of the invention, it is provided that the trolley has a power supply and control unit for power and control of the electric drive, which is adapted to charge the power supply unit in a caused by external force movement of the trolley by the resulting movement of the electric drive. In this way, in a trolley, which is more often moved by external force, e.g. by being pulled by a towing vehicle, the electric drive is kept in a constant operational readiness without the dolly having to be connected in between to a charging port.

According to an advantageous development of the invention, it is provided that the transport carriage has telescopic extensions arranged in the longitudinal direction, by means of which the transport carriage can be adjusted to a desired length in a predetermined range. This allows for robust construction of the trolley easy and safe length adjustment of the trolley. Such telescopic extensions in sufficient stability are commercially available. The length adjustment of the trolley can be made continuously or in predetermined, adjustable stages.

According to an advantageous embodiment of the invention it is provided that the wheelbase of the rollers of the trolley is constant regardless of the length change state. Accordingly, the transport carriage can be designed such that in the change in length, only the support frame is changed in terms of length. This has the advantage that the handling of the trolley remains the same regardless of the length change state.

According to an advantageous embodiment of the invention, it is provided that the trolley has locking means by which the pivoting of the swing frame is limited downwards to a predetermined extent when the trolley is raised by an external lifting device such that the rollers have no contact with the ground. In this way, the trolley can be easily moved in a C-frame or E-frame lift truck in the raised state. By limiting the Verschwenkwegs can be avoided that the rollers of the swing frame swing too far down and thereby the transport of the trolley in the raised state, especially in a direction transverse to the direction of the rollers, made difficult or impossible.

According to an advantageous embodiment of the invention, it is provided that in the raised state by means of the locking means all roles are kept substantially at the same level. This has the advantage that an undesirable contact with the ground of the rollers raised in relation to all the rollers of the trolley is equally avoided.

1. a) als Elektromotor einen bürstenlosen Gleichstrommotor,
2. b) ein mit der Antriebswelle des Elektromotors gekoppeltes Getriebe zur Verringerung der Ausgangsdrehzahl des Elektroantriebs gegenüber der Drehzahl des Elektromotors,
3. c) eine Steuerungs- und/oder Regelungseinheit zur Steuerung und/oder Regelung des Elektromotors, insbesondere eine in dem Elektroantrieb integrierte Steuerungs- und/oder Regelungseinheit.

According to an advantageous development of the invention, it is provided that the electric drive has one or more of the following components:

1. a) as an electric motor a brushless DC motor,
2. b) a transmission coupled to the drive shaft of the electric motor for reducing the output speed of the electric drive relative to the rotational speed of the electric motor,
3. c) a control and / or regulating unit for controlling and / or regulating the electric motor, in particular a control and / or regulating unit integrated in the electric drive.

In this way, an electric drive with high efficiency with low weight and long life can be provided.

According to an advantageous embodiment of the invention it is provided that at the front ends of the trolley rollers, in particular castors, are arranged, and in the middle of one or more run or fixed castors are arranged. The front-side rollers and / or the running or fixed castors may for example be attached to the support frame.

The front ends of the trolley are in particular the front and the back of the trolley, each viewed in the direction of travel. All other spatial information refers to a transport vehicle located on a flat surface.

According to an advantageous embodiment of the invention, a pivotable about horizontal transverse axes relative to the support frame swing frame is attached to the support frame below the support frame, wherein the end-side rollers and / or the running or fixed rollers are arranged on the swing frame. This development of the invention has the advantage that the trolley on rough roads, as they are for. B. by rain gutters in the open area or by inclined planes to overcome height differences graded floors are formed, is better to operate. As a result of the swing frame can be ensured that the arranged between the faces running or fixed castors have road contact at all times and continue to work load bearing. This is not the case with rigid chassis of transport trolleys, which has the disadvantage that at height differences, the load distribution between the individual roles of the trolley varies greatly. Such disadvantages are avoided by said development of the invention. Especially when cornering on such bumps, the road contacts of each wheel can be maintained more secure and the directional stability while cornering be maintained.

It is hereby provided a trolley, which allows due to its chassis in a structurally simple way, a puncture-proof roller guide and road irregularities adapts at any time.

The trolley according to the invention has other advantages, such. B. that it is easily steerable, manoeuvrable, can be narrow and short and thus can be used in many applications. Also worthy of note is the directional behavior of the trolley, d. H. several successively coupled transport vehicles that form a train, drive through when cornering all the same radius of curvature. This avoids that the trolley at the end of the train always run further into the curve inside and collide with other objects or parts of buildings.

Under "castors" rollers are understood to be rotatable about a vertical, possibly offset to the roller rotation axis, steering axis. By "castors" is meant roles that are rigid, d. H. are not steerable, but are only rotatable about the roller rotation axis. By "rollers" is meant rollers arranged in pairs on opposite free ends of a common axis.

A high directional stability of the trolley can be achieved by the fact that front and rear castors are installed, which are always in contact with the ground together with medium rigid running or fixed castors, by the acting from above, by the load on the swinging swing frame induced force. For example, if the front castors are deflected by pivoting of the support frame at the front end, transmits this pivoting movement automatically on the rear castors, which then swing in the opposite direction because of the rigid middle running or fixed castors.

The trolley can, as mentioned, cope with bumps well, which is achieved in that the axes of rotation of the middle rollers, d. H. the running or fixed castors, relative to the axes of rotation of the outer rollers, so z. B. the castors, are variable at a distance from the support frame. This results in both depressions and surveys of the road a consistent ground contact.

According to an advantageous embodiment of the invention, arranged on the swing frame between the front rollers rollers or fixed castors have a lower track width than the front rollers. As a result, on the one hand, the construction of the trolley is simplified, in addition, the tracking accuracy of the trolley is improved by the smaller track. In particular, only one run or fixed castor can be arranged on the swing frame between the front rollers. According to an advantageous development of the invention, the running or fixed roller arranged between the end-side rollers or the running or fixed rollers arranged there are arranged approximately symmetrically with respect to a central axis extending in the longitudinal direction of the transport carriage. This has the advantage that the trolley behaves equally true to the track in every direction (left or right).

Since steering, running and fixed castors are available as standard commercial components, their structural incorporation into the chassis according to the invention enables a particularly cost-effective, sophisticated and easily repairable realization of the trolley.

In an advantageous embodiment, two swing frame elements are hinged to the support frame. In this case, an oscillating frame element near the one end face of the support frame and the other swing frame element near the other end face of the support frame is connected by joints with this. The two swing frame elements are interconnected in the central region of the support frame by one or more oscillating joints. In this embodiment, the force acting from above, caused by the load force is transmitted to the swing frame elements at the locations of the joints. With this introduction of force, the force can be divided simultaneously both on the castors and on the running or fixed castors. The load distribution can be determined by determining the local position of the joints. It succeeds by this measure, constantly pressing all roles or at least one role of each pair of rollers with sufficient pressure on the road surface, so that each role can take the necessary for a good directional stability side guidance.

Another advantage of the vibrating frame construction according to the invention is that the height differences are compensated for road bumps. The support frame performs when overcoming the road bumps lower strokes than the unevenness correspond, which affects a quiet low-vibration freight transport.

An advantageous embodiment provides that the one swing frame element is connected by simple joints and the other swing frame element by double joints with the support frame. The double joints have the function to perform a length compensation, which automatically results when the distance between the central axis and the support frame changes. This development allows a large stroke range when swinging up and down the middle pair of rollers from the running or fixed castors, depending on the vehicle type. Even with extremely sideways entrained roadways ensures that the middle run or fixed wheels and at least briefly ever a steering roller to the swing frame ends, taking into account the aforementioned load distribution in use and thereby high directional stability can be guaranteed.

If the trolley is formed with separate left and right swing frame parts, it may be provided in particular that the left swing frame part has two of said swing frame elements and the right swing frame part each has its own two swing frame elements, which are articulated in the manner mentioned with the support frame.

In an advantageous embodiment, both swing frame elements by elastic vibrating elements, for. B. by rubber swinging elements, connected to the support frame and the swing joints provided with an additional transverse joint. This embodiment comes into consideration when decidedly higher demands are made with regard to a substantially uniform traction.

In this construction, the required joint functions are uniformly taken on both sides and in addition, due to the buffer effect of the elastic oscillating elements, the road bumps balanced.

As a result, the load distribution on all six rollers can be guaranteed to approximately 98%. In addition, a suspension effect is achieved, which is advantageous for vibration-sensitive goods noticeable.

An advantageous development provides that the rubber swinging elements are designed as hollow chamber rubber bellows. As a result, the spring and buffer effect is further improved, wherein both properties can be achieved by one and the same device.

In an advantageous embodiment, the ratios of the distances between the mounting locations of the castors on the swing frame from the locations of the joints of the swing frame elements with the support frame to the distances between the mounting locations of the running or fixed castors on the swing frame of the locations of the joints of the swing frame elements 1/2 , Here, the swing frame elements are divided into sections of 1/3 or 2/3 of their length. Thus, according to the leverage laws of the mechanics of each joint of the support frame 2/6 of the total load on the one pair of castors, another 2/6 of the total load on the other castor pair and two times 1/6 of the total load on the middle run or fixed castors. This results in a central load arrangement on the support frame a completely uniform load distribution to the individual pairs of rollers.

In addition to a uniform side guide of all pairs of rollers and the mechanical stress of all roles is balanced, resulting in a uniform service life.

In an advantageous embodiment, the castors and the running or fixed castors have the same tread diameter. As a result, uniform rolling and driving properties can be achieved. In addition, it is advantageous for economical manufacture and repair to use unitary components.

In an advantageous embodiment, a manual push rod is arranged on an end face of the support frame.

As a single vehicle so provided with the chassis according to the invention trolley by a user on narrow roads and curves, due to the all-wheel steering technology, be properly pushed and directed. Here, the advantage is that using this chassis, a double car length can be moved in the same space of the routes, as before a conventional, simple push vehicle.

It is advantageous to arrange drawbars on one or both end sides of the support frame. It is expedient to pivot the drawbars in the support frame about a horizontal axis and at the free end form a hinge part with a vertical pivot axis. By this measure can be put together by using so-called double drawbars a train system of several vehicles. The double drawbar has a central pivot point, which has an equally long distance from the middle roller pair in front of and behind the vehicle end. This ensures a track fidelity that can be equated to a rail system.

Vehicles with conventional four-wheel drive systems are barely operational for transportation of lighter goods, due to the complex and thus uneconomic technology for cost reasons. This deficiency can be cost-effectively compensated when using the trolley described and still the same effect of a rail-like driving system of several vehicles can be achieved. When using one or more vehicles, it is also possible, due to the oscillating frame, to cope with differences in longitudinal travel, especially in the case of ascent and descent ramps, without impairing the directional stability.

An optimization of this chassis system in terms of directional stability and even load distribution can be achieved by taking advantage of all technical details, such as rubber mounting, additional torsion joints, etc. up to 100%.

Decisive are always the cost / performance ratios. No matter which version is selected, the directional stability is not affected in any case, but only the load distribution on the rollers.

1. a) Ziehen des Transportwagens als Anhänger durch ein mit dem Transportwagen gekoppeltes Zugfahrzeug, insbesondere ohne dass das Antriebssystem des Transportwagens den Transportwagen antreibt,
2. b) Transport des Transportwagens durch ein Zugfahrzeug, wobei der Transportwagen in einem C-Frame- oder einem E-Frame-Transporter aufgenommen ist,
3. c) Fahren des Transportwagens als Einzelfahrzeug unabhängig von einer Zugmaschine mittels seines eigenen Antriebssystems, wobei das Fahren manuell von einem Bediener über eine Bedieneinheit gesteuert wird,
4. d) autonomes Fahren des Transportwagens unabhängig von einer Zugmaschine mittels seines eigenen Antriebssystems, wobei das Fahren automatisch durch die Steuereinrichtung des fahrerlosen Transportsystems gesteuert wird.

The invention also relates to a use of a trolley of the aforementioned type optionally for one of the following operating modes, without the trolley has to be converted for a change of operating mode:

1. a) pulling the trolley as a trailer by a towing vehicle coupled with the towing vehicle, in particular without the drive system of the trolley driving the trolley,
2. b) Transport of the trolley by a towing vehicle, wherein the trolley is accommodated in a C-frame or an E-frame transporter,
3. c) driving the transport vehicle as a single vehicle independently of a tractor by means of its own drive system, wherein the driving is controlled manually by an operator via an operating unit,
4. d) autonomous driving of the trolley independent of a tractor by means of its own drive system, wherein the driving is controlled automatically by the control device of the driverless transport system.

This also makes it possible to realize the advantages explained above.

Further developments and advantageous embodiments of the invention will become apparent from the claims, the further description and the drawings illustrating embodiments of the invention.

• 1 eine Seitenansicht eines Transportwagens auf ebener Fahrbahn,
• 2 eine Seitenansicht ähnlich 1, jedoch am oberen Ende einer Auffahrrampe,
• 3 eine Seitenansicht ähnlich 1, jedoch am unteren Ende einer Auffahrrampe,
• 4 eine perspektivische Ansicht des Transportwagens,
• 5 eine schematische Draufsicht auf den Transportwagen mit einer Darstellung des Spurbildes,
• 6 bis 8 eine weitere Ausführungsform eines Transportwagens in unterschiedlichen Ansichten und
• 9 bis 11 eine weitere Ausführungsform eines Transportwagens in unterschiedlichen Ansichten.

Show it:

• 1 a side view of a trolley on a flat road,
• 2 a side view similar 1 but at the top of a ramp,
• 3 a side view similar 1 but at the bottom of a ramp,
• 4 a perspective view of the trolley,
• 5 a schematic plan view of the trolley with a representation of the track image,
• 6 to 8th a further embodiment of a trolley in different views and
• 9 to 11 a further embodiment of a trolley in different views.

The structure of the trolley is based on the 1 and 4 described of which 1 a longitudinal section and 4 show a perspective view.

The trolley includes a support frame 1 which comprises, as essential supporting elements, a plurality of individual supporting elements, which are assembled into a rectangular shape. On the support frame 1 Buildings can be mounted that are specially designed for the storage of the objects to be transported. However, the structures are not indicated here for the sake of clarity. The items to be transported can also be placed directly on the support frame 1 or be arranged on receiving shoes attached to the support frame.

Below the support frame 1 are arranged rolls. These are each two castors attached to the front ends 6 and two casters mounted in the middle 7 , Instead of the rollers 7 could also be used fixed wheels.

The frame is formed in several parts in the dolly. It consists of the support frame 1 and two swing frame elements 2 , wherein the swing frame elements 2 below the support frame 1 are hinged to this. Here is the joint 4 for the one swing frame element 2 near the one end face of the support frame 1 and the hinge 5 for the other swing frame element 2 near the other end of the support frame 1 , One behind the other, the swing frame elements 2 by a swing joint 3 connected, which is in the middle area of the support frame 1 located.

At the joints between the support frame 1 and the swing frame elements 2 are single joints 4 on one end face and around double joints 5 on the other end face. Alternatively, instead of these joints 4 . 5 also elastic oscillating elements, preferably designed as a hollow rubber bellows rubber vibration elements are used. In this case, the oscillating elements between the swing frame elements can be 2 supplement by additional cross joints.

A special meaning with regard to the load distribution on the rollers 6 . 7 own the distances of the rollers 6 . 7 to the joints 4 . 5 between the support frame 1 and the swing frame 2 , These distances are chosen so that the ratios of the distances between the mounting locations of the castors 6 on the swing frame elements 2 from the places of the joints 4 . 5 the swing frame elements 2 with the support frame 1 to the distances of the mounting locations of the running or fixed castors 7 on the swing frame elements 2 from the locations of the joints 4 . 5 the swing frame elements ½ amount.

From this design results in a uniform load distribution on all roles 6 . 7 , The exact distribution of the total load F on the joints 4 . 5 and the rollers 6, 7 is in 1 indicated by vectors. It will be of the total load 1 / 1 F at central load distribution so 1/2 F divided on each joint. Of these, each castor pair receives 6 2/6 or 1/3 F. On the middle pair of rollers 7 2 1/6 F of each swing frame are eliminated. These add up to 2/6 or 1/3 F.

With the roles 6 . 7 These are commercial roles. The castors 6 are held in two-sided tabs and the tabs arranged to rotate about a vertical, offset to the roller axis steering axis. The rollers 7 sit in pairs on the opposite free ends of a common axis. The diameters of all rolls 6 . 7 are equal.

In the trolley is at an end face of the support frame 1 arranged a manual push rod 9. Alternatively, 1 drawbars on both ends of the support frame 8th be attached. These drawbars 8th For example, have a design as Doppeldeichseln. They are on the support frame 1 pivoted about a horizontal axis and form at the free end of a hinge part with a vertical pivot axis.

The trolley with a corresponding structure can therefore be pushed as a single vehicle as well as put together to form several vehicles as a train system.

In 1 the trolley is on a flat road surface. The swing frame elements 2 are here parallel to the support frame 1 aligned.

In 2 is shown a position in which the trolley is at the top of a ramp. The castors shown in the drawing on the left 6 are on a horizontal plane, while the castors shown in the drawing on the right 6 rest on the inclined plane. The middle rollers 7 are placed exactly on the vertex.

The swing frame elements 2 are now the support frame 1 bent at an angle, with the ends facing the middle of the swing frame elements 2 a smaller distance to the support frame 1 comply with the free ends, each compared to 1 ,

3 illustrates the opposite case. Here is the trolley at the bottom of the ramp. The steering rollers 6 shown in the drawing on the left are thus on the inclined plane, while in the Drawing on the right side castors 6 rest on the horizontal plane. The middle rollers 7 are again placed exactly at the transition edge of the two levels.

Again, the swing frame elements 2 to the support frame 1 Angled, but exactly the opposite. This means the ends of the swing frame elements pointing to the middle 2 Keep a greater distance to the support frame 1 one as the free ends, respectively, again compared to 1 , It also recognizes 2 and 3 the mode of action of the double joint as length compensation. This length compensation increases with increasing deflection of the swing frame elements 2.

The chassis is thus able to independently adapt to all occurring road bumps and here all roles 6 . 7 or at least to keep a roll of a pair of rolls in contact with the road surface. This contact and an additional expression of the roles 6 . 7 to the roadway is sufficient for lateral guidance of the rollers 6 . 7 important, so that when cornering the directional stability is guaranteed.

5 Finally, shows a schematic plan view of the trolley with representation of the track image. The middle rollers 7 give the track and form with the center of its axis practically the pivot or pivot point for steering movements of the trolley on the road. A steering movement is shared by both pairs of steering rollers 6 over the frame with, so the pairs of castors 6 at the opposite end faces of the frame also counteract and run in the same lane.

If several trolleys are coupled together to form a train, each subsequent trolley runs in the lane of the preceding vehicle. So it can be compiled almost arbitrarily long trains and pulled through narrow, winding roads, without the risk that the last car collide with objects or parts of buildings on the inside of the curve.

Based on 6 to 8th Now, an electrically driven embodiment of the trolley will be explained. The 6 shows a side view of the trolley, the 7 a front view and the 8th a perspective view obliquely from below on the trolley.

It can be seen that the trolley on the front in addition to the drawbar 8th an operating unit 10 with handles for manual operation of the trolley. The operating unit 10 is designed as a central control column, the support frame 1 in the region of the drawbar 8th is attached. At the control unit 10 are in the range of handles electrical control means 11 For controlling the electric drive available, eg switch and / or controller for direction control (forward / backward), for speed setting and an emergency stop switch.

The swing frame 2 is formed in the form of the second left and right side of the vehicle associated individual left and right swing frame parts, which pivot independently of each other on the support frame 1 are attached. At each swing frame part is in the range of the swing frame roller 7 a respective, individual electric drive 12 attached. The electric drive 12 is rigid on the swing frame and accordingly on the respective swing frame role 7 arranged so that the electric drive 12, the same pivoting movements relative to the support frame 1 executes as the swing frame or the respective swing frame part. Approximately in the middle of the vehicle underside of the trolley is on the support frame 1 a power supply and control unit 13 arranged for power supply and to control the electric drives 12 serves. Accordingly, electrical lines are laid on the trolley between the power supply and control unit 13, the electric drives 12 and the electrical control means 11.

The power supply and control unit 13 can be removably attached to the trolley, so that removal of the power supply and control unit is possible in a simple manner, for example, when the trolley is to be pulled in the trailer-only by a tractor, or for a change of the power supply and control unit. The 8th shows the trolley with removed power supply and control unit 13 , so that only the recording space 15 recognizable for this.

The trolley has a rear coupling 14 for coupling another trolley.

The 9 to 11 show an embodiment of the trolley, in which the support frame 1 is variable in length. The 9 shows the trolley in side view, the 10 in a plan view of the loading area and the 11 in a perspective view obliquely from below. All 9 to 11 show the trolley in an already extended state of the support frame 1 ,

Visible is that the support frame 1 in a front frame part 1a and a rear one Support frame member 1b is divided by telescopic extensions 16 are connected to each other on the left and the right side of the vehicle. About the telescopic extensions 16, the front and the rear support frame part 1a . 1b be pulled apart, as shown in the figures, or so far pushed together that the front support frame part 1a on the rear frame part 1b is present or at least close to it.

The chassis of the trolley is, as explained above, with the support frame 1 and the swing frame 2 formed, wherein, unlike the embodiment of the 6 to 8th , Here an approximately centrally arranged swing frame from a front swing frame element 2a , which ends near the front of the support frame, and a rear swing frame element 2 B , which ends in the region of the rear side of the support frame is formed. At the coupling point of the oscillating frame elements 2a, 2b, ie in the region of the oscillating joint 3 , are two central swing frame rollers 7 arranged.

The trolley also has locking means 17 on, which are arranged in the region of the support frame rollers 6. By the locking means 17 is the Verschwenkweg the swing frame 2 limited down to a predetermined extent, when the trolley is raised by external lifting devices such that the rollers 6 . 7 have no ground contact. The lifting means, such as a lifting unit of a C-frame or E-frame trolley, is to be set in the area of the locking means 17 on the trolley. If the trolley is then lifted, by the locking means 17 ensured that all roles 6 . 7 at least about the same level. The locking means 17 are then on the lifting means. In this way, the trolley according to the invention can be transported transversely to the intended direction of travel of the trolley in the raised state even in a transverse direction.

The trolley also has front and rear load supports 19 . 20 on, with a front loading bracket 19 on the front support frame part 1a is arranged frontally and a rear loading bracket 20 on the rear support frame part 1b is arranged frontally.

The drawbar 8th , which is pivotable about the transverse axis of the trolley, is further biased by a spring mechanism so that it is held in a substantially vertical neutral position, as in 9 to 11 is recognizable. The spring mechanism is in the range of a coupling point 18 the drawbar 8 on the support frame 1 arranged. The spring mechanism may, for example, have one or more torsion springs.

As can also be seen in the figures, the transport carriage may have a control unit 100 of an automated guided vehicle transport system. Through this control unit 100 the driverless operation of the trolley can be controlled. The control unit 100 controls the electric drives in dependence on data from at least one sensing unit 12 or its electric motors. In this way, the trolley can be driven from a current position to a target position or along a predetermined route.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 8913844 U1 [0003]

Claims (28)

Transport trolley for the in-house transport of goods, wherein the trolley has at least one support frame and a plurality of rollers attached to the support frame, with the following further features: a) the trolley is designed as a trailer, which has a coupling device for coupling a pulling vehicle pulling the towing vehicle, b) the trolley has its own drive system over which the trolley is movable in particular without external force when it is not pulled by a tractor, the drive system having at least one electric drive with at least one electric motor, wherein the electric drive with at least one roll of Dolly is coupled so that this role is driven by the electric drive, c) the transport vehicle has a control unit of an automated guided transport system by which the trolley and in particular its drive system is controlled such that the trolley is moved autonomously. A trolley according to the preceding claim, characterized in that the trolley is selectively operable in one of the following modes of operation, without the trolley must be retrofitted for a change of operating mode: a) pulling the trolley as a trailer by a towing vehicle coupled to the towing vehicle, in particular without the propulsion system of the trolley driving the trolley, b) transport of the trolley by a towing vehicle, the trolley being accommodated in a C-frame or an E-frame transporter, c) driving the trolley as a single vehicle independently of a tractor its own drive system, wherein the driving is controlled manually by an operator via an operating unit, d) autonomous driving of the trolley independently of a tractor by means of its own drive system, wherein the driving automatically by the control device of the driverless transport system ms is controlled. A trolley according to one of the preceding claims, characterized in that the operating unit is arranged on the trolley and / or the operating unit has a remote control unit in the sense of a remote control, which is arranged away from the trolley. A trolley according to any one of the preceding claims, characterized in that the electric drive is coupled with at least two rollers arranged left and right on the trolley, so that these roles on the electric drive either in the same direction or to turn the trolley, are driven in opposite directions. A trolley according to one of the preceding claims, characterized in that the control unit of the driverless transport system for controlling the driverless driving of the trolley has one or more of the following sensing units: GPS sensor, optical ambient sensing, lane detection of a lane arranged in the driving range of the trolley. A trolley according to any one of the preceding claims, characterized in that the trolley has a pivotable about the horizontal transverse axes below the support frame relative to the support frame swing frame, which is fixed to the support frame, and on the swing frame one or more rollers are attached. Transport trolley for the in-house transport of goods, in particular trolley according to one of the preceding claims, wherein the trolley has at least one support frame and a plurality of rollers fixed to the support frame, wherein the trolley has a below the support frame to horizontal transverse axes relative to the support frame pivotal swing frame, the on Support frame is attached, and on the swing frame one or more rollers are fixed, characterized by one or both of the following features a), b): a) the transport carriage has at least one electric drive with at least one electric motor as a drive system, wherein the electric drive with at least a role is coupled, so that this role can be driven by the electric drive, b) the trolley is variable in length, in particular the support frame is variable in length. A trolley according to the preceding claim, characterized in that the electric drive is coupled with at least one roller attached to the swing frame, so that this role can be driven by the electric drive. A trolley according to the preceding claim, characterized in that on the swing frame on the right side of the vehicle trolley at least a first swing frame roller and on the left side of the vehicle trolley at least a second swing frame roller is fixed, wherein the first and the second swing frame roller is electrically driven. Trolley according to the preceding claim, characterized in that the Dolly has a first electric drive for driving the first swing frame roller and a second electric drive for driving the second swing frame roller. A trolley according to one of the preceding claims, characterized in that the oscillating frame has a arranged on the left side of the vehicle trolley left swing frame part and arranged on the right side of the vehicle trolley right swing frame part, wherein the left and right swing frame part independently pivotally attached to the support frame are. Trolley according to one of the preceding claims, characterized in that the electric drive is mounted on the swing frame, so that the electric drive relative to the support frame is pivotable. A trolley according to one of the preceding claims, characterized in that the axis of rotation of the electric motor is arranged higher than the axis of rotation of the electric motor driven by the roller on the trolley. A trolley according to one of the preceding claims, characterized in that the trolley has an operating unit with handles for manual operation of the trolley, wherein the control unit has in the region of the handles electrical control means for controlling the electric drive. A trolley according to the preceding claim, characterized in that the operating unit is designed as a central control column which is fixed to the support frame. Dolly after one of the Claims 8 to 9 , characterized in that the trolley comprises a drawbar for pulling the trolley by a tractor, wherein the drawbar is pivotable about the transverse axis of the trolley and is held by spring force in a substantially vertical neutral position. A trolley according to any one of the preceding claims, characterized in that the trolley comprises a power supply and control unit for power supply and control of the electric drive, which is fixed to the underside of the support frame. A trolley according to one of the preceding claims, characterized in that the trolley has a power supply and control unit for power and control of the electric drive, which is adapted to charge at a caused by external force movement of the trolley by the resulting movement of the electric drive, the power supply unit , A trolley according to the preceding claim, characterized in that the trolley has arranged in the longitudinal direction telescopic extensions, by which the trolley is adjustable in a predetermined range to a desired length. Trolley according to one of the preceding claims, characterized in that the wheelbase of the rollers of the trolley is constant regardless of the length change state. A trolley according to one of the preceding claims, characterized in that the trolley has locking means by which the Verschwenkweg the swing frame is limited downwards to a predetermined extent when the trolley is raised by an external lifting device such that the rollers have no contact with the ground. A trolley according to the preceding claim, characterized in that in the raised state by means of the locking means all rollers are held substantially at the same level. A trolley according to one of the preceding claims, characterized in that the electric drive comprises one or more of the following components: a) a brushless DC motor as electric motor, b) a transmission coupled to the drive shaft of the electric motor for reducing the output speed of the electric drive relative to the speed of the electric motor , c) a control and / or regulating unit for controlling and / or regulating the electric motor, in particular a control and / or regulating unit integrated in the electric drive. Trolley according to one of the preceding claims, characterized in that at the front ends of rollers, in particular castors, are arranged, and in the middle of which one or more runners or fixed castors are arranged. A trolley according to the preceding claim, characterized in that arranged on the swing frame between the front rollers rollers or fixed castors have a smaller track width than the front rollers. Dolly after one of the Claims 18 or 19 Are characterized in that arranged on the oscillating frame between the front side rolls running or fixed bracket or arranged there running or castors is arranged approximately symmetrically to a plane extending in the longitudinal direction of the trolley or central axis. Dolly after one of the Claims 18 to 20 , characterized in that the swing frame comprises at least two swing frame elements, wherein the one swing frame member near the one end face of the support frame and the other swing frame member near the other end face of the support frame are connected by joints with this and the two swing frame elements with each other in the central region of the support frame by a or more swing joints are connected. Use of a trolley according to one of the preceding claims optionally for one of the following operating modes, without the trolley having to be retrofitted for a change of the operating mode: a) pulling the trolley as a trailer by a towing vehicle coupled with the towing vehicle, in particular without the drive system of the trolley driving the trolley, b) Transport of the trolley by a towing vehicle, wherein the trolley is accommodated in a C-frame or an E-frame transporter, c) driving the transport vehicle as a single vehicle independently of a tractor by means of its own drive system, wherein the driving is controlled manually by an operator via an operating unit, d) autonomous driving of the trolley independent of a tractor by means of its own drive system, wherein the driving is controlled automatically by the control device of the driverless transport system.

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