DE102021002249B3 - Driverless, motor-driven vehicle equipped with an electrically chargeable battery - Google Patents

Abstract

The invention relates to a driverless motor-driven vehicle equipped with an electrically chargeable battery that automatically moves heavy loads, for example entire bodies or body panels, to pre-programmed positions in automotive construction, unloads the loads there or picks up new loads and places them in predetermined positions discards.

Description

The invention relates to a driverless, motor-driven vehicle equipped with an electrically chargeable battery, for the independently controlled and/or manual loading and unloading and conveying of loads to specific positions in production facilities that can be controlled manually on the vehicle or programmable via telecommunications or the like, in particular in Body construction in the automotive industry, with a telescopic chain conveyor, which can be moved in and out of the lateral boundary lines of the vehicle in directions offset by 180 degrees and loads the load to be picked up or released onto roller conveyors arranged on both sides of the telescopic chain conveyor or unloads to a storage area, with the telescopic chain conveyor having three chains on each side, and the two outer chains are each connected to one another in a geared manner and can be driven synchronously together by a motor, with the two outer chains having one or more carriers for moving the load or a pallet with a load and these chains are driven synchronously by electric motors arranged between the roller conveyors and the respective third chain on each side of the telescopic chain conveyor for motor-synchronously driving spaced-apart elongated telescopic receiving Elements for guiding the two gearedly coupled chains are used, which are jointly driven synchronously by a motor drive arranged between the roller conveyors.

State of the art

A generically required vehicle is through the DE 20 2019 002 838 U1 previously known.

From the DE 10 2019 104 051 A1 is a driverless, motor-driven vehicle for independently controlled loading and unloading and conveying of loads. This driverless transport vehicle is provided with a frame which accommodates a so-called traversing element which can be extended and retracted in at least one horizontal direction relative to the frame on one or both sides beyond its outer boundary. The displacement element is designed in such a way that it automatically connects to a conveying aid and can automatically detach itself from the conveying aid. In addition, the displacement element has a gripping element which can grip the conveying aid. The conveying aid also has a drive element, which can move the gripper element in the horizontal direction relative to the displacement element, at least on one side or on both sides. The drive element is an endlessly closed drive element, which is guided around at least one drive and around a deflection element essentially in the horizontal direction. The endlessly closed drive element is a drive belt or a drive chain or a drive belt. In addition, two gripper half elements are provided, which are arranged on the endlessly closed drive element. In one embodiment, a pair of gripper elements are assigned to the displacement element, which grip the conveying aid together. The gripper elements are arranged on a common drive element and spaced apart from one another. In addition, the frame of the transport vehicle are assigned spaced roller conveyors that are arranged parallel to one another and receive the conveying aid.

From the U.S. 3,486,642 A a tool changing system for pressing tools is already known. This has roller conveyors and several chains.

the DE 20 2016 107 020 U1 shows a driverless, motor-driven vehicle for automatically controlled loading and unloading and conveying of loads. The vehicle has chains driving a telescopic boom to load and unload the loads.

task

The invention is based on the object of creating a driverless vehicle of the specified type, the drive of which operates largely free of vibration and thus without problems and can be assigned to the vehicle in a space-saving manner.

solution of the task

Starting with a driverless, motor-driven vehicle equipped with an electrically rechargeable battery for the independently controlled and/or manual loading and unloading and conveying of loads to specific positions in production facilities that can be controlled manually or via telecommunications or the like in a programmable manner on the vehicle, in particular in the body shop of Motor vehicle industry, with a telescopic chain conveyor, which can be moved in and out of the lateral boundary lines of the vehicle in directions offset by 180 degrees and loads or loads the load to be picked up or released on roller conveyors arranged on both sides of the telescopic chain conveyor unloads a storage area, whereby the telescopic chain conveyor has three chains on each side, and the two chains on the outside are each connected to one another in a geared manner and jointly motor-driven synchronously bar, whereby the two outer chains have one or more carriers for moving the load or a pallet with a load and these chains are driven synchronously by a motor drive arranged between the roller conveyors and the third chain on each side of the telescopic chain conveyor is used for the motor-synchronous drive of spaced-apart elongated telescopic receiving elements for guiding the two chains which are geared to one another and which are jointly and synchronously driven by an electric motor arranged between the roller conveyors, this object is achieved according to the invention in that with their longitudinal axes the drive motors for the telescopic chain conveyor and for the two outer chains are arranged parallel and at a distance from one another and between the two drive motors rectilinear drive shafts are arranged at a distance and with their longitudinal axes parallel to one another, which j drive the respective chains via clutches and each via a gear.

Some advantages

Such a vehicle can be driven largely without vibration, with the drives being arranged between the roller conveyors approximately in the plane of the chassis and thus being able to be arranged in a space-saving manner.

More inventive designs

Further inventive developments are described in patent claims 2 to 11.

The drive motors, the drive shafts and the gears according to claim 2 are preferably arranged in the same or approximately the same structural level between the components of the telescopic chain conveyor. This results in the already mentioned space-saving design for the arrangement of the motorized drive of the telescopic chain conveyor.

In a preferred embodiment, the longitudinal axes of each drive motor with the longitudinal axes of the associated gearbox and one of the drive shafts and the longitudinal axis of the associated gearbox form the shape of a Z in plan view - patent claim 3.

According to patent claim 4, the drive motors are controllable asynchronous motors.

The drive motors can be controlled via a PLC - patent claim 5.

It is of particular advantage that the respective outer chain of the telescopic chain conveyor is assigned a tensioning device designed as a shock absorber, which always loads the respective outer chain under resilient pretension - patent claim 6. This prevents the assigned chain from jumping off the relevant Sprocket prevents and unfavorable loads, especially bending stresses, are elastically compensated.

According to patent claim 7, the tensioning device has an adjustable spring element that is pretensioned.

It is of particular advantage that at least one sensor is assigned to the vehicle, which detects the position of the load to be picked up - patent claim 8.

A secure bearing of the shaft of the sprocket is achieved according to patent claim 9 in that the shafts of the sprockets are arranged in two spaced, edgewise arranged plate-shaped bearing elements between which the sprockets are located.

Advantageously, according to claim 10, each drive shaft is assigned at least one end area to a clamping hub for adjusting the stroke synchronization of the telescopic chain conveyor or the movement of the associated chains for the drive. This allows the stroke of each part of the telescopic chain conveyor to be precisely adjusted so that the chains of the telescopic chain conveyor perform the same stroke synchronously on both sides of the roller tables.

Patent claim 11 describes a further advantageous embodiment of the invention, in which the two drive shafts, which run at a distance and parallel to one another, are arranged in the space between the two motor drives, which run parallel and at a distance from one another with their longitudinal axes, while the gears with their Longitudinal axes are arranged at right angles to the longitudinal axes of the associated motorized drive motor between the respective end face of the drive motor and the associated side wall of the telescopic chain conveyor.

• • Breite: 1662 mm
• • Länge: 2270 mm
• • Höhe: 450 mm
• • Übergabehöhe: 350 mm
• • 2x Fahrlenkantrieb
• • Zuladung 1.000 kg
• • Fahrgeschwindigkeit: 1,2 m/s; maximal 2 m/s (in Bereichen ohne Personen)
• • Navigation: Freie Navigation (+/- 10 mm); QR-Code für sichere Position (+/- 3 mm)
• • Teleskop-Ketten-Förderer: 400 mm
• • Mittenpositionsabfrage und Behälterabfrage am Teleskop-Ketten-Förderer
• • Lasersensor zur Behältererkennung
• • Behälterzentrierung durch Führungsschienen
• • Beidseitiges Beladen und Entladen
• • Ersten 3 Rollen PU beschichtet
• • IP54
• • Soundmodul
• • 3D-Feldüberwachung in Hauptfahrrichtungen
• • PFV-Safe zur sicheren Positionierung
• • Safety WLAN zur sicheren Anlagenkommunikation
• • WLAN zur Kommunikation mit dem Produktionsnetz
• • E1 und E15 Schließung
• • LiFePo4 Akkumulator mit 48V/138Ah

Example of a driverless vehicle according to the invention:

• • Width: 1662mm
• • Length: 2270mm
• • Height: 450mm
• • Transfer height: 350 mm
• • 2x steering drive
• • Payload 1,000 kg
• • Driving speed: 1.2 m/s; maximum 2 m/s (in areas without people)
• • Navigation: Free navigation (+/- 10 mm); QR code for safe position (+/- 3 mm)
• • Telescopic chain conveyor: 400 mm
• • Central position query and container query on the telescopic chain conveyor
• • Laser sensor for container detection
• • Container centering using guide rails
• • Loading and unloading on both sides
• • First 3 rolls PU coated
• • IP54
• • Sound module
• • 3D field monitoring in main driving directions
• • PFV-Safe for safe positioning
• • Safety WLAN for secure system communication
• • WLAN for communication with the production network
• • E1 and E15 closure
• • LiFePo4 accumulator with 48V/138Ah

• 1 Ein fahrerloses Fahrzeug in Ansicht von schräg oben, in perspektivischer Darstellung;
• 2 eine ähnliche Darstellung wie in 1, wobei einige Teile entfernt wurden, um eine teilweise Ansicht auf die motorischen Antriebe des Teleskop-Ketten-Förderers freizugeben, ebenfalls perspektivisch dargestellt;
• 3 eine perspektivische Teilansicht auf eine Seite des Teleskop-Ketten-Förderers, ohne motorische Antriebe;
• 4 eine Ansicht von unten auf das Chassis des Fahrzeuges in perspektivischer Darstellung, ohne Teleskop-Ketten-Förderer und ohne dessen motorische Antriebe;
• 5 eine Ansicht auf das Chassis des Fahrzeuges von oben mit ausgefahrener Schublade, ohne Teleskop-Ketten-Förderer und ohne motorische Antriebe, perspektivisch dargestellt;
• 6 eine Ansicht auf einen Teil des fahrerlosen Fahrzeuges, ohne Rollenbahnen, mit den motorischen Antrieben und Getrieben;
• 7 eine Teilansicht auf das Fahrzeug, von schräg oben, mit links und rechts lediglich schematisch angedeuteten Rollenbahnen;
• 8 eine perspektivische Teilansicht des Fahrzeuges, ebenfalls von schräg oben, ohne Rollenbahnen und mit motorischen Antrieben;
• 9 eine Teilansicht des Teleskop-Ketten-Förderers, in perspektivischer Darstellung, mit zugeordnetem motorischen Antrieb;
• 10 eine perspektivische Teilansicht einer Kettenspannvorrichtung des Teleskop-Ketten-Förderers im Endbereich einer mit Mitnehmern ausgerüsteten Kette mit Kettenrad;
• 11 eine weitere perspektivische Teilansicht des Fahrzeuges von schräg unten mit einem motorischen Antrieb, einer Welle und der Lagerung der Zahnräder an einer Seite des Fahrzeuges in beabstandeten als Wandteile ausgebildeten Blechen;
• 12 eine andere Ansicht, gleichfalls in perspektivischer Darstellung, auf einem Teil des Fahrzeuges mit motorischem Antrieb, Welle, Getriebe und Lagerblech für Zahnräder, ähnlich der Darstellung in 9, und
• 13 eine ähnliche Darstellung wie in 1, wobei mit durchgezogenen Linien der Teleskop-Ketten-Förderer auf der einen Seite ausgefahren dargestellt ist und auf der anderen Seite mit strichpunktierten Linien das Ausfahren in einer 180 Grad entgegengesetzten Stellung angedeutet ist.

In the drawing, the invention is illustrated - partly schematically - using an exemplary embodiment. Show it:

• 1 A driverless vehicle in a perspective view from above;
• 2 a similar representation as in 1 , with some parts removed to reveal a partial view of the motorized drives of the telescopic chain conveyor, also shown in perspective;
• 3 a perspective partial view of one side of the telescopic chain conveyor, without motor drives;
• 4 a bottom view of the chassis of the vehicle in a perspective view, without telescopic chain conveyor and without its motor drives;
• 5 a view of the chassis of the vehicle from above with the drawer extended, without a telescopic chain conveyor and without motor drives, shown in perspective;
• 6 a view of part of the driverless vehicle, without roller conveyors, with the motor drives and gears;
• 7 a partial view of the vehicle, diagonally from above, with left and right only schematically indicated roller conveyors;
• 8th a perspective partial view of the vehicle, also diagonally from above, without roller conveyors and with motor drives;
• 9 a partial view of the telescopic chain conveyor, in perspective, with associated motor drive;
• 10 a perspective partial view of a chain tensioning device of the telescopic chain conveyor in the end area of a chain equipped with drivers with sprocket;
• 11 another perspective partial view of the vehicle obliquely from below with a motor drive, a shaft and the storage of the gears on one side of the vehicle in spaced plates designed as wall parts;
• 12 another view, also in perspective, of part of the vehicle with motor drive, shaft, gear and bearing plate for gears, similar to the representation in 9 , and
• 13 a similar representation as in 1 , wherein the telescopic chain conveyor is shown extended on one side with solid lines and the extension is indicated in a 180 degree opposite position on the other side with dot-dash lines.

The driverless vehicle is denoted by the reference numeral 1 as a whole in the drawing, which comprises a chassis 2 ( 4 and 5 ) made of steel and / or aluminum sheets and / or plastic and / or carbon fiber parts, which in the 4 visible representation is designed approximately H-shaped in plan view and open to the ground, limited spaces 3, 4, 5, which are used for space-saving accommodation of items described below.

In space 3, two support rollers 6 and 7 are arranged on the left and right at a distance from the longitudinal axis 8, while on the longitudinal axis 8 there is a roller 10 designed as an omni drive and driven by an electric motor 9, which rotates about its position in relation to the floor vertical axis is rotatably arranged in opposite directions by 360 degrees.

In the end area of the space 5, at a distance from the longitudinal axis 8, a roller 12 driven by an electric motor 11 is arranged, which constantly has ground contact and which, like the roller 10, rotates around a vertical axis with respect to the ground Axis is arranged to rotate 360 degrees in opposite directions. The electric motor 11 and the roller 12 forms a drive designed as an omni-drive for the vehicle 1, together with the electric motor 9 and the roller 10. The chassis 2 can also be assigned more than the number of omni-drives described. The rollers 10 and 12 drive the vehicle 1 in any direction.

A support roller 13 is arranged on the longitudinal axis 8 in space 5, which, like the two support rollers 6 and 7, normally does not have any contact with the floor, can be extended against the floor in a lifting manner if necessary, but can also be lifted off it again in order to move the vehicle manually be able.

How out 5 As can be seen, the support rollers 6, 7 and 13 are at the ends 14 and 15 of the vehicle 1, i.e. from the outside, via shafts 16, 17 and 13a, for example by means of a manually operated tool, in the vertical direction with respect to the ground - and retractable. A cordless screwdriver, for example, can be used as an aid. If one of the Omni-Drives 9, 10 and/or 11, 12 fails or other faults arise in the vehicle 1, the support rollers 6, 7, 13 can be extended and the vehicle 1 can be pushed by hand, for example. The shafts 16, 17 and 13a protrude slightly from the chassis 2 to the outside.

Furthermore, in the room 5 in the corner area facing away from the omni-drive 11, 12 there is a follower roller 18 which does not have its own drive and can be rotated about a horizontal axis. A different number of omni-drives than the omni-drives 9, 10, 11 and 12 can also be provided, which are arranged in different areas of the chassis 2.

Scanners 19 and 20 are arranged on diagonally opposite corner areas of the chassis 2 and detect obstacles or precise positions that the vehicle 1 is programmed to move to. If necessary, these scanners 19, 20 can be folded in around axes that are not shown in more detail, so that they do not protrude beyond the outlines of the chassis 2. Additional scanners can also be assigned to the vehicle 1 .

How clear 4 As can be seen, the two chassis parts 21, 22 are arranged at a distance from one another and are connected to one another functionally or materially in one piece by a box-like, central chassis web 23. This results in a torsion-resistant and lightweight construction for the chassis 2, which also serves to accommodate the drives 9, 10 or 11, 12 and the support rollers 6, 7, 13 and the idler roller 18.

Between the two chassis parts 21, 22 is a drawer 24 ( 1 and 5 ) arranged so that it can be pushed out and pushed in. In the drawer 24 there can be electronic components, but also maintenance means, for example switches and/or keyboards, for programming and/or controlling and testing components of the vehicle 1, for example the electric motors.

Arranged between the two chassis parts 21, 22 is a telescopic chain conveyor, designated overall by the reference numeral 25, 26, between which strip-like elements 27, 28 running parallel to one another and spaced apart are arranged.

A roller conveyor 29 is associated with the chassis part 21 and a roller conveyor 30 is associated with the chassis part 22 . The roller conveyors 29, 30 consist of a large number of rollers or cylinders arranged one behind the other/next to one another and can be rotated loosely in opposite directions, each with axes of rotation running parallel to one another, on which a load (not shown), for example a body, a pallet with body parts or the like for a Automobile or sheet metal parts in bodywork in the automotive industry, can be pushed up and down. The rollers are easily rotatably mounted in roller bearings, for example in ball bearings or needle bearings.

The rollers or rollers of the roller conveyors 29, 30 located on both sides in the end area can be provided with a suitable friction-reducing and/or noise-reducing coating, for example made of a wear-resistant plastic, so that the lowering, pushing up or pushing off of loads is as quiet as possible and/or or happens without slip (not shown).

The space between the two roller conveyors 29, 30 is separated by three plate-shaped elements that connect seamlessly to one another ( 1 ), Covered between the telescopic chain conveyor 25, 26, with the drawer 24 being located under one plate 31.

In the room 4, an electrically chargeable battery, not shown, is arranged, which is responsible for the movement and driving of the vehicle 1 Omni-Drive 9, 10 or 11, 12 or more and the remaining electrical or electronic components of the vehicle 1 with supplied with electricity. The wiring and other electrical or electronic components have been omitted from the drawing for the sake of clarity.

The telescopic chain conveyor 25, 26 consists of a total of six chains, which are designed in the manner of Gallsche chains, link chains or the like.

Three chains 32, 33, 34 and 35, 36, 37 are assigned to the roller conveyor 29 and 30, respectively. For reasons of easier graphic representation, the links of the chains are not everywhere, but only in 10 shown, but drawn throughout in a band-like manner ( 3 ).

The outer pair of chains 32, 33 on the one hand and 35, 36 on the other hand facing the roller conveyor 29 or 30 is geared to one another and driven together in opposite directions X or Y, with the chains 32 or 35 arranged on the outside having drivers, of which in 1 , 6 , 7 , 9 and 10 several driver cams can be seen, with only two driver cams arranged at a distance from one another in the direction of movement having the reference numerals 38, 39. Seen over the length of the associated chain several driver cams can be provided, as for example from the 6 , 7 , 8th , 9 and 10 you can see. The driver cams 38, 39 or others reach under suitable pallets or other transport objects (not shown) on which the respective load is located and pull the load in question onto the roller conveyor 29, 30 or push it from these roller conveyors 29, 30 onto a suitable one Storage space, which also has roller conveyors, for example in a magazine (not shown).

The respective other chain, for example 34 and 37, is used for the opposite linear movement X - Y of the telescopic chain conveyor 25, 26 on one side or on the opposite other side of the vehicle 1, i.e. on sides of the vehicle offset by 180 degrees from one another 1, the chains 32 to 37 being guided by an elongate element, for example a hollow, O or L rail made of steel, light metal or plastic.

Lifting eyes are arranged at 40, which can be connected to a lifting device, not shown, if necessary, in order, for example, to lift and transport the vehicle 1 or parts thereof by a crane or the like.

the end 3 one sees the three chains 32, 33, 34 for one side of the vehicle 1, e.g X or Y can be motor driven. The pairs of chains, for example 32, 33, are designed to be circumferential, with the chain 33, which is guided over sprockets 41, 42, 43, having driver cams 39 - as described above - so that the other chain 32 can be designed to be circumferential without further ado can, since it does not disturb the circulation of this pair of chains 32, 33.

The drive is designed accordingly on the other side, where the corresponding sprockets are located. The chain 34 is guided over sprockets 44,45,46. On the opposite side, the corresponding chain is also geared and guided over corresponding sprockets.

the 6 , 7 , 8th , 9 and 10 show again a something from 3 different perspective view of chains and sprockets.

In particular from the 6 , 7 , 8th and 9 the drive of the chains 32, 33, 34 or 35, 36, 37 can be seen. For this purpose, two adjustable or controllable electric motors designed as asynchronous motors 47, 48 are used, the arrangement of which is particularly clear from FIGS 6 , 7 and 8th in relation to the telescopic chain conveyor 25, 26 can be seen. The two electric motors 47, 48 are arranged with their longitudinal axes 49, 50 parallel and at a distance from one another. The drive shafts of these electric motors 47, 48 are each assigned a gear 51 or 52, whose longitudinal axes 53 or 54 are orthogonal to the longitudinal axes of the drive shafts of the associated electric motor 47 or 48. Each of the gears 51 and 52 is assigned a drive shaft 55 and 56 respectively. The two drive shafts 55, 56 run with their longitudinal axes parallel and at a distance from one another and are arranged in the space between the two electric motors 47, 48 and run in a straight line with their longitudinal axes, with one drive shaft 55 supporting the telescopic chain conveyor 25 and the other drive shaft 56 drives the telescopic chain conveyor 26 ( 6 and 7 ).

The drive shafts 55, 56 are provided with couplings 57, 58 and 59, 60 at both end portions, respectively. The clutches 58, 59 are associated with clamping hubs, with which an adjustment of the precise synchronous movements of the telescopic chain conveyor 25, 26 is given.

As can be seen, in the top view ( 6 ) a Z, which also stands for the longitudinal axis of the electric motor 48 with the longitudinal axis 54 of the gear 52, the longitudinal axis of the drive shaft 55 and the longitudinal axis 53 and the transmission 51 applies accordingly.

The electric motors 47, 48, the gears 51, 52 and the rectilinear drive shafts 55, 56 arranged between the electric motors 47, 48 and the gears 51, 52 can be arranged on the same or approximately the same structural level and only upwards with regard to the spatial dimensions or at the bottom in the space delimited between the telescopic chain conveyor 25, 26 protrude by a certain amount from this assumed building level.

How out 11 as can be seen, the axes of the sprockets 41 - 46 on each side of the telescopic chain conveyor 25, 26 are arranged between two thick-walled steel or steel or a other material existing plate-shaped bearing elements 61, 62 stored with their axes at both ends, so that there is a vibration-free arrangement of the sprockets on both sides of the telescopic chain conveyor 25, 26. The arrangement and storage is on the out 12 Apparent side of the telescopic chain conveyor can be seen accordingly and designed the same on both sides of the telescopic chain conveyor 25, 26.

The telescopic chain conveyors 25, 26 are mounted and guided smoothly by linear ball guides.

The vehicle 1 has safety scanners and a safety PLC that ensures safe shutdown of the electronics. There are also sensors for container detection and security scanners at the station where the loads are loaded and unloaded. The position of a container with a load is detected by means of a mid-range distance sensor in order to extend the telescopic chain conveyor 25, 26 with a corresponding stroke X - Y.

For example, two driver cams 39 on the respective chain conveyor can be used as grippers to grip a container foot for loading and unloading, loading and unloading on both sides being possible in that the telescopic chain conveyor 25, 26 is offset by 180 degrees can be extended and retracted so that the vehicle 1 can work from both sides. The vehicle 1 can also have a loudspeaker via a sound module. Within a few seconds, a vehicle 1 can be jacked up over the shafts 13a, 16, 17 using a cordless screwdriver or the like so that the vehicle 1 can be pushed away. Since safety scanners may not recognize all contours, vehicle 1 is additionally equipped with 3D field monitoring. The 3D field surveillance includes ten objects with an opening angle of 60x45 degrees with a detection range of 2.5 to 5 meters, for example, whereby the main directions of travel can be secured.

The maintenance drawer 24 can be equipped with components with PLC programming of a PLC. In addition, the vehicle 1 can be equipped with a safety WLAN for communication with a central system. If necessary, the WLAN is connected to a light system for communication with the production network. Furthermore, the vehicle 1 is equipped with two emergency stop buttons on the diametrically opposite end area (not shown), so that it can be easily reached from all directions. The drawer 24 can be equipped with a touch screen. Below the roller conveyor 29, 30 there can be a bead with LED lights all around, which can be seen from all sides as a blue light or in a different color. During the loading and unloading process, switching to another color is possible either automatically or remotely. When driving the vehicle 1, running lights can be seen on both sides of the vehicle 1 via LED lights, for example white light at the front and red light at the rear, with a different color being able to be switched on every 1.5 cm. The colors can be programmable.

How out 10 As can be seen, the two outer chains 32, 33 and 36, 37 are assigned a type of shock absorber, which is denoted by the reference number 63 and essentially has a spring element 64, which consists of a prestressed compression spring, in the present case designed as a spiral spring, whose preload can be adjusted by an axially adjustable abutment and which prevents the chain from jumping off the associated sprocket wheel when a load is gripped by the respective front driver cam 38 and also absorbs harmful bending and compressive stresses.

The features described in the patent claims and in the description and evident from the drawing can be essential for the realization of the invention both individually and in any combination.

Reference List

1

vehicle, driverless

2

chassis

3

space

4

"

5

"

6

support roller

7

"

8th

longitudinal axis

9

Electric motor, omni drive

10

Roll, omni drive

11

Electric motor, omni drive

12

Roll, omni drive

13

support roller

13a

wave

14

face

15

"

16

wave

17

"

18

role, accompanying 1

19

scanner

20

"

21

chassis part

22

"

23

Chassis bridge, middle

24

drawer

25

Telescopic Chain Conveyor

26

"""

27

element, bar-like

28

" , "

29

roller conveyor

30

"

31

plate

32

Chain

33

"

34

"

35

"

36

"

37

"

38

driving cam

39

"

40

lifting eye

41

Sprocket

42

"

43

"

44

"

45

"

46

"

47

electric motor, asynchronous motor

48

" , "

49

longitudinal axis

50

"

51

transmission

52

"

53

longitudinal axis

54

"

55

drive shaft

56

"

57

coupling

58

"

59

"

60

"

61

Bearing element, plate-shaped

62

" , "

63

shock absorber

64

spring element

X

Direction of movement of the telescopic chain conveyor 25, 26

Y

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Claims (11)

Driverless, motor-driven vehicle (1) equipped with an electrically chargeable battery, for independently controlled and/or manual loading and unloading and conveying of loads to specific positions in production facilities that can be controlled manually on the vehicle (1) or programmed via telecommunications or the like, in particular in body construction in the automotive industry, with a telescopic chain conveyor (25, 26), which can be moved in and out of the lateral boundary lines of the vehicle (1) in directions (X - Y) offset by 180 degrees and which loads the load to be picked up or delivered onto roller conveyors (29, 30) arranged on both sides of the telescopic chain conveyor (25, 26) or unloads it to a storage location, the telescopic chain conveyor (25, 26) having three chains ( 32, 33, 34 or 35, 36, 37), and the two outer chains (32, 33 or 35, 36) are each connected to one another in a geared manner and jointly driven synchronously by a motor Are bbar, the two outer chains (32, 33 or 35, 36) one or more driver cams (38, 39) for moving the load or a Have a pallet with a load and these chains (32-37) are driven synchronously by electric motors (47, 48) arranged between the roller conveyors (29, 30) and the respective third chain (34 or 37) on each side of the telescopic chain Conveyor (25, 26) for the motor-synchronous drive of spaced-apart, elongated telescopic receiving elements (25, 26) for guiding the two chains which are geared to one another and are synchronously conveyed together by a roller conveyor (29, 30) arranged motor drive, characterized in that the drive motors (47, 48) for the telescopic chain conveyor (25, 26) and for the two outer chains are mounted with their longitudinal axes (49, 50) parallel and at a distance from one another (32, 33 or 35, 36) are arranged and between the two drive motors (47, 48) rectilinear drive shafts (55, 56) are arranged at a distance and with their longitudinal axes parallel to one another drive the respective chains (32 - 37) via clutches (57, 58, 59, 60) and via a gear (51 or 52). vehicle after claim 1 , characterized in that the drive motors (47, 48), the drive shafts (55, 56) and the gears (51, 52) are arranged in the same or approximately the same structural level between the components of the telescopic chain conveyor (25, 26). . vehicle after claim 1 or 2 , characterized in that in plan view the longitudinal axis of each drive motor (47, 48) with the longitudinal axis of one of the drive shafts (55 or 56) and the longitudinal axis of the associated gear (51 or 52) form a Z. vehicle after claim 1 or one of the preceding claims, characterized in that the drive motors (47, 48) are controllable asynchronous motors. vehicle after claim 1 or one of the preceding claims, characterized in that the drive motors (47, 48) can be regulated via a PLC. vehicle after claim 1 or one of the preceding claims, characterized in that the respective outer chain (32 or 35) of the telescopic chain conveyor (25, 26) is assigned a tensioning device designed as a shock absorber (63) which clamps the respective outer chain ( 32 or 35) is always loaded under spring tension. vehicle after claim 6 , characterized in that the tensioning device (63) is associated with an adjustable spring element which is under pretension. vehicle after claim 1 or one of the preceding claims, characterized in that the vehicle (1) is assigned at least one sensor which detects the position of the load to be accommodated. vehicle after claim 1 or one of the preceding claims, characterized in that the shafts of the chain wheels (41 - 46) are arranged in two spaced, edgewise arranged plate-shaped bearing elements (61, 62), between which the chain wheels (41 - 46) are located. vehicle after claim 1 or one of the preceding claims, characterized in that each drive shaft (55 or 56) has a clamping hub at least on one end area for adjusting the stroke synchronization of the telescopic chain conveyor (25, 26) or the movement of the associated chains (32, 33 or 36, 37) is assigned to the drive. vehicle after claim 1 or one of the preceding claims, characterized in that the two drive shafts (55, 56) running at a distance from one another and parallel to one another are arranged in the space between the two motor drives (47, 48) running with their longitudinal axes parallel and at a distance from one another , while the gears (51, 52) with their longitudinal axes (53, 54) perpendicular to the longitudinal axes of the associated motorized drive motor (47, 48) between the respective end face of the drive motor (47, 48) and the associated side wall of the telescopic chain Conveyor (25, 26) are arranged.

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