DE202019003416U1 - Driverless, powered by an electrically rechargeable battery, powered vehicle - Google Patents

Abstract

Driverless, with electrically rechargeable battery equipped, motor-driven vehicle (1), for controlled and / or manual loading and unloading and conveying loads to predetermined, on the vehicle (1) manually or via telecommunications or the like vornehmbar or programmable controlled positions in manufacturing facilities , in particular in the bodywork of the automotive industry, comprising a chassis (2) having on its underside at opposite ends electric motors and electrically driven rollers (28, 29) each rotatable about a vertical axis in both directions by 360 degrees and electromotive are driven and serve for the controlled driving operation of the vehicle (1), sensors (30, 31) designed to detect sceneries and objects being associated with the vehicle (1) and the chassis (2) being moved up and down (X - Y ) adjustable, the load-receiving scissor lift (4) is assigned, which has a linkage with Lever-like scissor elements (16, 17, 20, 21) steplessly height-adjustable by motor (X - Y) and in the respective stroke position is also persistent, wherein the scissor elements (16, 17 or 20, 21) at an end portion slotted guides in the form of in Longitudinal direction of the vehicle (1) extending guide rails (10, 11 and 10a, 11a) are assigned, while the other end portions of the scissors elements (16, 17 and 20, 21) via pivot axes (26, 27) are pivotally mounted, wherein a transverse to the vehicle (1) scissors element pair (20, 21) in which the chassis (2) associated guide rail pair (10, 11) in the longitudinal axis of the vehicle (1) is linearly guided, while the other spaced pair of scissor elements (16, 17) by a the Scherenhubtisch (4) associated guide rail pair (10a, 11a) is guided linearly in Längsachsrichtung the vehicle (1) and this pair of scissor elements (16, 17) at the opposite end via a chassis (2 ) associated pivot axis (27) is pivotally coupled, while the other pair of scissor elements (20, 21) via a respective pivot axis (26) on Scherenhubtisch (4) is pivotally mounted and in each case two scissor elements (16, 20 and 17, 21) respectively a lifting axis (22, 23) arranged on the center of the intersecting longitudinal axes of the respective scissors elements (16, 20 or 17, 21) are articulated to each other and the chassis (2) on a longitudinal side (34) and at one with this longitudinal side (34) a corner region forming broadside (36) each tapered at an acute angle (a or β), wherein the bevelled Longitudinal side (34) jumpless on the opposite broad side (38) extends to the corner and the chamfered broad side (36) without a jump from the corner, which it forms with the longitudinal beveled side (34), to the opposite longitudinal side (37), wherein the beveled longitudinal side (34) and the chamfered broad side (36) form a corner region which is spaced from the boundary lines of the scissor lift (4) so far inwardly from the contour lines of the scissor lift (4) that a scanner (31) arranged here completely or is partially disposed within the contour lines of the scissor lift table (4) and monitors both the space along the slanted longitudinal side (34) and the space along the slanted broadside (36) while a diagonally opposite scanner (31) located in the corner region of the other rectilinear longitudinal side (37) and the rectilinear broad side (38) is arranged, on and swing out is arranged, wherein the scissor lift (4) by a chassis (2) associated with the motor-driven spindle gear (5) is driven up and down (X - Y).

Description

genus

The invention relates to a driverless, equipped with an electrically rechargeable battery, motor-driven vehicle.

State of the art

Driverless vehicles that carry loads to programmable positions are previously known in the industry in various designs and / or constructions.

task

The invention has for its object to provide a driverless vehicle, with electrically rechargeable battery, especially in the bodywork of the automotive industry heavy loads, for example, bodies of motor vehicles, sheet-metal components or the like, to predetermined, possibly programmable, positions and brings picks up such components from certain camps or magazines and also unloads them at predetermined locations, the vehicle should also move in spaces where personnel works safely and without risk of injury to these people.

solution

This object is achieved by a driverless, equipped with an electrically rechargeable battery, motor-driven vehicle, for controlled and / or manual loading and unloading and conveying loads to predetermined, on the vehicle manually or via telecommunications or the like to be controlled programmable positions in manufacturing facilities, especially in Bodywork of the automotive industry, solved, with a chassis having on its underside at opposite ends electric motors and electrically driven rollers, which are each rotatable about a vertical axis in both directions by 360 degrees and electric motor driven and serve for the controlled driving operation of the vehicle , wherein the vehicle as a scanner formed sensors for detecting scenes and objects are assigned to the chassis and an up and down adjustable, the load receiving scissor lift is associated with the motor via a linkage with lever-like scissor elements los height adjustable and in the respective stroke position is also persistent, wherein the scissor elements are assigned to an end portion slide guides in the form of Längsachsrichtung of the vehicle extending guide rails, while the other end portions of the scissor elements are pivotally mounted via pivot axes, wherein a transversely to the vehicle spaced Scherenelementenpaar in which the chassis associated guide rail pair is guided linearly in the longitudinal axis of the vehicle, while the other spaced pairs of scissors is guided by a Scherenhubtisch associated guide rail pair linearly in Längsachsrichtung of the vehicle and this pair of scissor elements at the opposite end via a pivot axis associated with the chassis is pivotally coupled while the other pair of scissor elements is pivotally mounted on each scissor lift via a respective pivot axis and in each case two scissor elements by jew eils a arranged on the center of the intersecting longitudinal axes of the respective scissor elements lifting axis are articulated connected to each other and the chassis at one longitudinal side and at one longitudinal side forming a corner broadside each slanted at an acute angle, wherein the bevelled longitudinal side jumpless on the opposite Broad side extends to the corner and the chamfered broadside jumpless from the corner, which it forms with the beveled longitudinal side, to the opposite longitudinal side, wherein the bevelled longitudinal side and the chamfered broad side form a corner, which from the boundary lines of the scissor lift so far inward is spaced from the contour lines of the scissor lift table, that a scanner arranged here is arranged wholly or partly within the contour lines of the scissor lift and both the space along the beveled longitudinal side e, as well as the space along the chamfered broadside monitors, while a diagonally opposite scanner, which is arranged in the corner region of the other rectilinear longitudinal side and the rectilinear broadside, is arranged swinging in and out, said scissor by a chassis associated with the motor driven spindle gear is driven up and down the hub.

Some advantages

Such a vehicle makes it possible with relatively simple mechanical components to transport and lift heavy loads, the scissor-type linkage consists of relatively robust pivotally coupled together levers, which are less susceptible to interference and can operate virtually maintenance-free. The vehicle makes it possible to drive the respective recorded loads, for example, whole bodies or body panels, to predetermined, possibly preprogrammed positions, unloading there and then automatically moves back to predetermined other positions, either to take loads or unload or in Rest position to move, for example, to a charging station for the Battery. The programming can be done by telecommunications or on the vehicle itself, as it is also possible to turn off the automatic operation on the vehicle itself by pressing a button to move the vehicle manually to certain positions. Due to the special design of the chassis, the vehicle according to the invention is able to move easily and without risk to the people working here, since it can basically monitor all rooms with only two scanners / sensors around it to the extent necessary. The spindle gear is relatively simple in construction and yet makes it possible to move even heavy loads, which are arranged on the scissor lift, with only one spindle up and down. The scissor elements are guided safely and reliably low friction in guide rails, which are also robust and relatively simple, as this commercial U-profile rails can be considered, between the U-legs suitable guide elements, in particular bearings mounted in roller bearings, straight let go smoothly. To drive the scissor lift, it is sufficient to provide on each side a pair of scissor elements, which are coupled in pairs in their middle length range via pivot axes and allow a smooth up and down movement of the scissor lift. The scissor elements are simple strip-shaped levers that can be made of rod-shaped steel or aluminum alloys, as well as the guide rails made of steel. The lower cavity or the cavities of the chassis can be used for arranging electrical components, cables, the battery, the arrangement of the spindle gear and its drive motor, resulting in a space-saving overall construction.

Further inventive embodiments

Further inventive embodiments are described in the protection claims 2 to 8.

In protection claim 2, a driverless vehicle is claimed in which the spindle gear has a screw with trapezoidal thread and the nut of the spindle gear is arranged in the chassis with a motor drive and is connected at its free end via a joint with the underside of the scissor lift gear. This results in a few components, since in this case the scissor lift itself directly absorbs the outgoing of the spindle gear adjusting force.

According to protection claim 3, the joint has an axis which is coupled by means of a gear arranged on the underside of the scissor lift projection.

In protection claim 4, a vehicle is described in which the leadership of the guide rails associated end portions of the scissor elements is made of friction rollers formed as rollers between the U-legs of the cross-sectionally U-shaped guide rails in a straight line. This results in a safe power transmission.

The chassis is or are assigned according to protection claim 5 at least one or more revolving roller or rollers, which are constantly supported on the ground as well as the motor-driven rollers. These motor-driven rollers are each driven by an electric motor. Such drives are purchased as a purchased part and are known under the trade name "Omni-Drive".

In protection claim 6, a further advantageous embodiment is described.

Protection claim 7 describes a vehicle in which a trained as a charging station docking station for charging a chassis associated with the battery is located on one side of the vehicle. As a result, the driverless vehicle can drive directly to a charging station and, for example, laterally dock onto it without further manipulations being required.

Advantageously, the spindle gear is mounted with its motor drive in the chassis - protection claim. 8

• 1 Ein fahrerloses Fahrzeug mit in unterer Hubstellung bewegten Scherenhubtisch, ein Scanner ausgeschwenkt, in perspektivischer Darstellung;
• 2 eine Unteransicht zu dem in 1 dargestellten Fahrzeug;
• 3 ein schematischer Längsschnitt durch das aus 1 und 2 ersichtliche Fahrzeug, mit zum Teil nach oben bewegtem Scherenhubtisch;
• 4 das aus den 1 bis 3 ersichtliche Fahrzeug mit weiter nach oben bewegtem Scherenhubtisch und
• 5 das aus den 1 bis 4 ersichtliche Fahrzeug in perspektivischer Darstellung, wobei der Scherenhubtisch ebenfalls teilweise nach oben bewegt wurde, mit einem ausgeschwenkten Scanner.

In the drawing, the invention - partly schematically - illustrated in one embodiment. Show it:

• 1 A driverless vehicle with scissor lift table moved in lower stroke position, a scanner swung out, in perspective view;
• 2 a bottom view to the in 1 illustrated vehicle;
• 3 a schematic longitudinal section through the 1 and 2 apparent vehicle, with partly upwardly moved scissor lift;
• 4 that from the 1 to 3 apparent vehicle with further upward scissor lift and
• 5 that from the 1 to 4 apparent vehicle in perspective view, wherein the scissor lift has also been partially moved upwards, with a swung scanner.

The vehicle is in the drawing as a whole by the reference numeral 1 denotes a chassis 2 Made of steel and / or aluminum sheet and / or plastic and / or carbon fiber parts, which has a down completely or partially open space 3 has, which is used for space-saving recording below described items.

The chassis 2 is a scissor lift table 4 associated with that in relation to the chassis 2 in the direction X respectively. Y , thus up and down, is arranged in a liftable manner. In 1 is the lowest stroke position of the scissor lift 4 shown while in 4 an upper stroke position in the direction X scissor lift table 4 is illustrated.

The chassis 2 is a motor drive, in this case with a motor spindle drive 5 , assigned, consisting essentially of a spindle nut 6 and a screw spindle 7 consists. The thread is presently designed as a trapezoidal thread and has in the illustrated embodiment, for example, self-locking. The spindle gear 5 is a motor drive 8th assigned in the form of a reversible electric motor, which has a shaft 9 For example with coupling the screw spindle 7 in opposite directions of rotation drives and thereby the scissor lift 4 in the direction X respectively. Y jerk-free, infinitely and sensitively in different height ranges moves and possibly also secures.

How to look in particular 4 recognize, are on both sides of the chassis 2 in the longitudinal axis of the vehicle 1 extending, parallel to each other, the same size guide rails 10 . 11 arranged. Above this are the scissor lift table 4 also in the longitudinal direction of the same extending guide rails 10a . 11a arranged, in 3 only in each case the guide rails 10 . 10a can be seen. The one on the opposite side of the chassis 2 or scissor lift 4 located guide rails 10a respectively. 11a have therefore been indicated in parentheses. The guide rails 10 . 11 . 10a . 11a are the same size, the same shape and are formed in the present case as a relatively short U-profile rails, with their U-legs on both the chassis 2 , as well as at the scissor lift table 4 are directed in pairs and at a distance from each other and limit a limited by the respective U-leg space together with the U-leg connecting web. The length of the guide rails 10 . 11 . 10a . 11a depends on the predetermined stroke X - Y The scissor lift table 4 each executes for a particular vehicle.

The scissor lift table 4 is on both sides of the longitudinal axis of the vehicle 1 extending pairs of lever-type scissors elements 16 . 20 respectively. 17 . 21 in the direction X respectively. Y moved by a motor and also locked or braked in the desired stroke position.

The lever-like scissor elements 16 . 20 respectively. 17 . 21 are designed and shaped according to form, skill and material properties. In pairs there are two of these lever-like scissor elements on each side 16 . 20 respectively. 17 . 21 arranged and by one in the middle of the intersecting longitudinal axes of each paired scissor elements 16 . 20 respectively. 17 . 21 by a lifting axle 22 respectively. 23 pivotally coupled with each other.

Both the scissor elements 16 . 20 as well as the scissor elements 17 . 21 are at theirs the guide rails 10 . 11 one hand or 10a . 11a on the other hand facing end portions through the guide rails 10 . 10a . 11 . 11a guided in a straight line and with low friction. For this purpose, the lever-like scissor elements have 16 . 17 such as 20 . 21 at their associated ends axes on which rollers are mounted in bearings stored friction. Out 4 it can be seen that the scissor elements 20 . 21 axes 14 . 15 have, on which such trained as guide elements roles 12 . 13 rotatably arranged and between the U-legs of the associated guide rails 10 . 11 are guided in a straight line. The lever-like scissor elements 16 . 17 also have such axes 14a . 15a on which roles 12a . 13a are rotatably arranged. The roles 12 . 13 . 12a . 13a can be stored easily in rolling bearings.

At their respective guide rails 10 . 10a respectively. 11 . 11a Averted end sections are the scissor elements 16 . 17 respectively. 20 . 21 pivotally mounted in pivot bearings, being out 3 only two in the middle length range pivotally about a lifting axis 22 Scissor-like coupled scissor elements are recognizable to each other, which pivot bearings are assigned. The one pivot bearing is about a pivot axis 18 and a bearing block 26 the scissor lift table 4 assigned while the other scissor element about a pivot axis 19 and a bearing block 27 that the chassis 2 is assigned, is pivotally mounted. Also the pair of scissor elements, that of the other long side of the scissor lift table 4 is associated in the same way about pivot axes and bearing blocks or bearing elements with the scissor lift 4 or the chassis 2 pivotally coupled, which is not shown for reasons of simplification in the drawing in detail.

The spindle 7 is about an axis 39 at the scissor lift table 4 coupled. If necessary, can also be provided another storage. For this the screw spindle engages 7 with a lead 40 between spaced bearing approaches 41 . 42 through, being the axis 39 through a hole in the projection 40 and coaxially arranged holes of the bearing lugs 41 . 42 engages and is secured against accidental removal.

How to get out further 3 detects, the respective bearings of the scissor elements 16 . 17 such as 22 . 23 on each side of the scissor lift 4 arranged in pairs one above the other.

The scissor lift table 4 can, for example, execute a stroke of 140 mm. In addition, such a vehicle may, for example, carry a load of 500 kg. The width of such a vehicle is above all in the illustrated embodiment 1,000 mm and the overall length of 1,857 mm with a total height of the vehicle of 520 mm, with the scissor lift 4 in its lowest - retracted - position.

The scissor lift table 4 are ratchets 24 . 25 assigned to possess the latches in the off 4 apparent position in the also in 4 shown, lowered position below the surface of the scissor lift 4 are pivotally arranged. With these pawls locked 24 . 25 For example, loads, for example pallets, or the like, can be placed on the scissor lift table 4 are arranged to secure against unintentional movement.

The chassis 2 can be assigned as a so-called omni-Drives, each driven by an electric motor roles assigned to be rotatable about their vertical axis with respect to the ground in opposite directions by 360 degrees and motor driven and drive the vehicle. Some of these omni-drives are labeled with the reference numbers 28 . 29 in 2 indicated.

In the other corner area in 2 an unillustrated further, third Omni-Drive is arranged. The wheels of the Omni-Drives have constantly ground contact, while additional support rollers or the like in case of need are height adjustable and lockable to extend in case of failure of motor drives these roles against the ground and then move the vehicle by hand can. Height-adjustable support rollers can be moved in and out from outside, for example by a cordless screwdriver, via shafts and are normally located in the room 3 above the ground. Furthermore, if necessary, further rollers which always have contact with the ground can be provided.

How out 2 it can be seen are on diagonally opposite corner areas of the chassis 2 scanner 30 . 31 arranged the obstacles or exact positions that the vehicle 1 programmed to start, recognize. The scanner 30 is about an axis in the chassis 2 foldable designed, so that in case of need, for example, not over the outline of the chassis 2 protrudes or occupies only a slight prominent position. Swinging or unfolding the scanner 30 is in 2 indicated by solid and dashed lines. The signals of the scanners 30 . 31 control the engines of the omni-drives. It can be the vehicle 1 also be associated with other scanners.

Extending and retracting the scanner 30 can by a remote-controlled drive 33 or, if necessary, also done manually.

On one long side is the chassis 2 a docking station 32 assigned to the vehicle 1 can approach to charge its battery to a suitable electrical contact point. An electrically rechargeable battery is in the room 3 of the chassis 2 arranged (not shown). Also electrical and electronic components necessary for the driving of the vehicle 1 necessary and controlling the omni-drives, as well as programmable electronic devices have been omitted for the sake of simplicity. This also applies to cabling and other electronic components. These devices are also together with the omni-drives and different roles in the room 3 assigned and are purchased elements.

The scanners 30 . 31 can be configured as a security scanner and have a safety PLC that ensures safe shutdown of the electronics. In addition, if necessary, sensors are provided for container detections and security scanner at the station, where the loading and unloading of the loads takes place. By means of a mid-range distance sensor, for example, the position of a load can be detected in order to drive the vehicle into the correct position. Furthermore, the vehicle can 1 If necessary, also have a speaker and a sound module. Within a few seconds, the vehicle can be jacked up with the help of a cordless screwdriver or the like, so that the vehicle 1 can be pushed away. Because the scanners 30 . 31 may not recognize all contours, the vehicle may 1 If necessary, also be equipped with 3D field monitoring. The 3D field monitoring captures scenes and objects with an opening angle of 60 x 45 degrees with a detection range of, for example, 2.5 to 5 meters, whereby main directions of travel can also be secured.

How to get out 2 recognizes, is the chassis 2 on one longitudinal side 34 at an acute angle α in the direction of the longitudinal center axis 35 of the vehicle 1 beveled rectilinear design. The same is the broadside of the chassis 2 at an acute angle β straight to the room 3 formed obliquely in the direction of the corner area, so that the scanner 31 that lies within the outline of the lift table 4 located, both on the long side 34 of the chassis 2 , as well as on the broadside 36 can detect the space to be detected.

This is the scanner 31 capable of both the space along the side surface 34 and beyond and along the broadside 36 and beyond, while the swing-out scanner 30 the room along the long side 37 and the broadside 38 and beyond that.

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

LIST OF REFERENCE NUMBERS

1

vehicle

2

chassis

3

room

4

Scissor

5

spindle gear

6

spindle nut

7

screw

8th

Drive, motor

9

wave

10

guide rail

10a

"

11

"

11a

"

12

Guide element, roller

12a

","

13

","

13a

","

14

axis

14a

"

15

"

15a

axis

16

scissors element

17

"

18

swivel axis

19

"

20

scissors element

21

"

22

lifting axis

23

"

24

Ratcheting

25

"

26

bearing block

27

"

28

Omni-Drive

29

"

30

scanner

31

scanner

32

docking station

33

drive

34

long side

35

Longitudinal central axis

36

broadside

37

long side

38

broadside

39

axis

40

head Start

41

bearing projection

42

"

X

Stroke direction "

α

angle

β

"

Claims (8)

Driverless, with electrically rechargeable battery equipped, motor-driven vehicle (1), for controlled and / or manual loading and unloading and conveying loads to predetermined, on the vehicle (1) manually or via telecommunications or the like vornehmbar or programmable controlled positions in manufacturing facilities , in particular in the bodywork of the automotive industry, comprising a chassis (2) having on its underside at opposite ends electric motors and electrically driven rollers (28, 29) each rotatable about a vertical axis in both directions by 360 degrees and electromotive are driven and the controlled driving of the Vehicle (1) serve, wherein the vehicle (1) designed as a scanner sensors (30, 31) for detecting sceneries and objects are assigned to the chassis (2) up and down (X - Y) adjustable, the load receiving scissor lift (4), which is steplessly height-adjustable by means of a link mechanism with lever-type scissor elements (16, 17, 20, 21) and can also be stopped in the respective stroke position, the scissor elements (16, 17 or 20, 21) at one end region link guides in the form of longitudinal axis of the vehicle (1) extending guide rails (10, 11 and 10a, 11a) are assigned, while the other end portions of the scissor elements (16, 17 and 20, 21) via pivot axes (26, 27) are mounted pivotably, wherein a transversely to the vehicle (1) spaced scissor element pair (20, 21) in which the chassis (2) associated guide rail pair (10, 11) in the longitudinal axis of the vehicle (1) is linearly guided, w the other pair of scissor elements (16, 17) is guided linearly in the longitudinal axis direction of the vehicle (1) by a guide rail pair (10a, 11a) associated with the scissor lift table (4) and this scissor element pair (16, 17) at the opposite end via a 2) associated pivot axis (27) is pivotally coupled, while the other pair of scissor elements (20, 21) via a respective pivot axis (26) on Scherenhubtisch (4) is pivotally mounted and in each case two scissor elements (16, 20 or 17, 21) each one on the center of the intersecting longitudinal axes of the respective scissors elements (16, 20 and 17, 21) arranged lifting axis (22, 23) are pivotally connected to each other and the chassis (2) on a longitudinal side (34) and at one with this Longitudinal side (34) forming a corner region broadside (36) each tapered at an acute angle (a or β), wherein the beveled longitudinal side (34) jump on the opposite broad side (38) extends to the corner region and the chamfered broad side (36) without a jump from the corner region, which it forms with the longitudinal beveled side (34), to the opposite longitudinal side (37), wherein the beveled longitudinal side (34) and the beveled broad side (36) form a corner region which is spaced from the boundary lines of the scissor lift (4) so far inwardly from the contour lines of the scissor lift (4) that a scanner arranged here (31) wholly or partially within the contour lines of the scissor lift ( 4) and monitors both the space along the longitudinal chamfered side (34) and the space along the chamfered broadside (36), while a diagonally opposite scanner (31) located in the corner region of the other rectilinear longitudinal side (37) and the rectilinear broad side (38) is arranged, is arranged on and swung out, the scissors Lifting table (4) by a the chassis (2) associated with the motor-driven spindle gear (5) on and off hubangetrieben (X - Y) is. Vehicle after Claim 1 , characterized in that the spindle gear (5) has a screw spindle (7) with trapezoidal thread and the nut of the spindle gear (5) in the chassis (2) with a motor drive (8) is arranged and at its free end via a hinge with the Bottom of the scissor lift (4) is connected by gearing. Vehicle after Claim 1 or 2 , characterized in that the hinge has an axis (39) which is coupled by means of a gear arranged on the underside of the scissor lift (4) projection (40). Vehicle after Claim 1 or one of the preceding claims, characterized in that the guide of the guide rails (10, 11 and 10a, 11a) associated end portions of the scissor elements (16, 17 or 20, 21) as rollers (12, 13, 12a, 13a ) trained guide elements friction between the U-legs of the cross-sectionally U-shaped guide rails (10, 11 and 10 a, 11 a) is made in a straight line. Vehicle after Claim 1 or one of the preceding claims, characterized in that the chassis (2) is or are associated with at least one or more revolving roller or rollers, which, like the motor-driven rollers (28, 29) constantly supported on the ground. Vehicle after Claim 1 or one of the preceding claims, characterized in that the chassis (2) is associated with a rotatable by 360 degrees rotatable roller and on each side thereof a retractable and extendable support, wherein the chassis (2) also on the other Side eccentrically has another electric motor driven, rotatable by 360 degrees role and has a follower role at a distance thereto and possibly retractable and retractable support rollers. Vehicle after Claim 1 or one of the preceding claims, characterized in that on one side of the vehicle (1) designed as a charging station docking station (32) for charging a chassis (2) associated battery is located. Vehicle after Claim 1 or any one of the preceding claims, characterized characterized in that the spindle gear (5) is mounted with its motor drive (8) in the chassis (2).

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