EP3233525A1

EP3233525A1 - Mecanum wheeled vehicle

Info

Publication number: EP3233525A1
Application number: EP15817768.3A
Authority: EP
Inventors: Baudouin UEBELHART; Pavel Zdrahal
Original assignee: Omniroll AG
Current assignee: Omniroll AG
Priority date: 2014-12-16
Filing date: 2015-12-02
Publication date: 2017-10-25
Also published as: US20180043951A1; JP2018502767A; CN107531468A; WO2016096437A1; EP3034324A1

Abstract

The invention relates to a Mecanum wheeled vehicle, in particular for transporting a payload, - with a number of Mecanum wheel drives (2), in particular three or four, respectively comprising a Mecanum wheel and a drive, in particular an electromotive drive - with control means (13) for activating the Mecanum wheel drives (2) for omnidirectional operation - with a chassis, the weight of which can be supported both by the Mecanum wheels (3) and by supporting means (6) of the vehicle that are provided in addition to the Mecanum wheels (3) on a base (U), wherein the Mecanum wheels (3), in particular together with the associated drives, are resiliently mounted with respect to the carrier arrangement with the aid of energy storage means (4) to limit the proportion of the weight of the chassis (5) and any payload (10) to be carried by the latter that is to be supported by the Mecanum wheels (3) on the base (U).

Description

Mecanumradfahrzeug

The invention relates to a Mecanumradfahrzeug for omnidirectional driving maneuvers, in particular without mechanical steering, according to claim 1. Furthermore, the invention relates to a system according to claim 13 and a method for operating a Mecanumradfahrzeugs according to claim 15.

Mecanum wheel vehicles are well known. In a Mecanumrad are about the circumference of a rim of the wheel a plurality of rotatably mounted, usually barrel-shaped rollers at an angle to the axis of rotation of the rim, mounted by usually 45 ° rotatable. It is not the rim but only the aforementioned rollers that make contact with the ground. The rollers have no direct drive and can rotate freely about their respective roller rotation axis (which extends at an angle to the rim or Mecanumraddrehachse). The entire Mecanumrad, however, can be driven by a drive, usually an electric motor with variable rotation and variable speed. Known Mecanumradfahrzeuge usually have four wheels, which are arranged in a rectangle. By an appropriate control of the drives of Mecanumräder can be set by an individual direction of rotation of the Mecanumräder compared to the ground (road) from the sum of the vectors of the individual Mecanumräder a total movement direction for the vehicle, with any vehicle movement directions, ie an omnidirectional operation is realized. The basic principle of the Mecanumrades is described for example in DE 2 153 019 A. WO 2013/041310 A1 describes an improved Mecanum wheel which has been improved compared to hitherto known Mecanum wheels, which is characterized in that two rims of the Mecanum wheel bearing respective rotatable rollers are connected to one another via damping means which allow a damped relative movement of the rims to one another. whereby uncontrolled floating states of previous Mecanumradfahrzeuge be avoided, which were due to the change of a rolling along the support point from role to role in turning the rim.

Mecanum wheel vehicles for omnidirectional operation, in particular with the above-described improved Mecanumrädern have been proven. Due to the comparatively complex structure of mechanical wheels to conventional, rolling wheels, the maximum load capacity of mechanical wheels is subject to narrow limits, so that Mecanumradfahrzeuge so far only limited to carry loads (payloads) or for driving very heavy vehicles.

On the basis of the aforementioned prior art, the object of the invention is therefore to specify a mechanical wheel vehicle improved with regard to its load carrying capacity, with which an omnidirectional operation is possible despite a high vehicle weight and / or a high payload. Furthermore, the object is to provide a system comprising a correspondingly improved Mecanumradfahr- tool and carried by this charge. In addition, the object is to provide an operating method for advantageous operation of a correspondingly improved Mecanumradfahrzeuges.

This object is achieved with regard to the Mecanumradfahrzeuges with the features of claim 1. With regard to the system, the object is achieved with the features of claim 13 and with regard to the method with the features of claim 15. Advantageous developments of the invention are specified in the subclaims. All combinations of at least two features disclosed in the description, the claims and / or the figures fall within the scope of the invention. The trained according to the concept of the invention Mecanumradfahrzeug initially comprises several, in particular three or four Mecanumra- dantriebe, the Mecanumräder are preferably arranged the corners of an imaginary triangle or rectangle limiting. In particular in the event that comparatively large payloads are to be transported and / or the total weight of the Mecanumradfahrzeuges is comparatively high, with the result that large Anrollwiderstände must be overcome, it is conceivable, more than three or four Mecanumradantriebe, each comprising a Mecanumrad and a, in particular electromotive drive to provide, to ensure an optimized control, it is preferable if the more than three or four Mecanumradantriebe are in turn summarized in three or four groups, which are controlled in groups by the control means. In principle, it is also conceivable to assign a plurality of drives, in particular a drive on each wheel side, to one of the mechanical wheels or several of the mechanical wheels, preferably all the mechanical wheels, in order to increase the maximum torque that can be applied. In this case too, it is preferred if the drives are combined into three or four groups which can be activated by the control means, wherein preferably the drives of each group are controlled by the control elements in the same way. Regardless of the specific, aforementioned embodiment, each Mecanumrad comprises several, distributed over the circumference, preferably tonnenformige roles, wherein the roller axes of rotation of the rollers are arranged at an angle to the respective Mecanumrad- or wheel rotational axis of Mecanumrades. In a manner known per se, the cancurrent drives can be actuated or controlled individually or in groups for realizing an omnidirectional operation by means of control means with which the mechanical wheels or mechanical wheel groups can be rotated at individual speeds and / or directions of rotation, the desired or predetermined (total or resulting) movement direction of the Mecanumradfahrzeuges resulting from a sum of individual vectors of Mecanumräder. In this way, in spite of preferential waiver of a mechanical steering any direction of movement, ie an omnidirectional operation can be realized and there is the possibility to rotate or turn the entire Mecanumradfahrzeuges on the spot and / or while moving the Mecanumradfahrzeuges in a desired direction of movement. In that regard, the Mecanumradfahrzeug described above according to the invention is consistent with known Mecanumradfahrzeugen. To realize an increased load capacity or Zulademöglichkeit the Mecanumradfahrzeuges is now provided that in addition to the Mecanumrädern fixed to the chassis or on a movably mounted on the chassis or fixed, in particular height-adjustable support member, support means (not in the form of Mecanumrädern) are provided to support a weight force component, in particular a main weight portion of a chassis of the Mecanumradfahrzeuges and any payload on a ground (road). At the same time, it is provided within the scope of the invention to limit the proportion of the weight of the chassis and of any superstructures and / or any payload which is to be supported on the ground via the mechanical wheels, in order thus to prevent unacceptable overloading of the engine. prevent canumbian wheels. For this purpose, the Mecanumräder relative to the chassis (parallel to the weight direction of the vehicle and / or a payload) resiliently fixed to the chassis by means of force storage means, which are designed and arranged so that only a partial weight of a total weight force of the Me- canumrädern be supported on the ground - here must the force storage means in the vertical direction (ie parallel to the weight force direction) and / or perpendicular (at least with a spring force component) to the surface extension of the chassis or to a defined by the Mecanumrä- support plane for supporting on the ground be resilient. Preferably, the force storage means are designed such that the spring travel is limited, so that a residual spring travel (in the direction of the weight force) remains or is given with support means supported on the ground. In the event that the Ab- support means are to be mounted resiliently, which is optionally possible, the spring stiffness of the force storage means is preferably to choose lower than a spring stiffness of optional, preferably between the support means and the chassis arranged Abstützkraftspeichermit- elements, with which the Supporting means are optionally mounted resiliently relative to the chassis.

As a result, a Mecanumradfahrzeug obtained which allows while maintaining its omnidirectional operation by a corresponding control of Mecanumräder or their drives and which is at the same time able to transport a relatively large payload, as due to a corresponding resilient mounting of Mecanumräder against a Chassis and the additional provision of support means is ensured that only one weight portion of the chassis and / or any payload on the Mecanumräder is supported on the ground, while the other re or remaining weight portion, in particular the largest weight portion can be supported on the support via the support means.

For this purpose, there are then a support surface of the support means and the support surface of the Mecanumrader together on the ground, especially in a common plane (with ideal flat ground).

In this case, the spring force or spring stiffness of the force storage means is preferably matched to the weight of the chassis, any superstructures and / or any payload, so that, despite a limitation of the weight force portion to be supported via the Mecanum wheels, a still sufficient weight share via the Mecanum wheels on the ground is supported or supported to ensure a (sufficient) traction of Mecanumrader on the ground to ensure propulsion for omnidirectional moving the Mecanumradfahrzeuges. In particular, it should be ensured that the traction is sufficient in order to be able to transmit a so-called scribing torque, which is necessary in order to overcome a rolling resistance of the vehicle, to or be supported on the ground.

The mechanical drives, the chassis and the supporting means form an inseparable unit which can be moved together, preferably in the event of not loading a payload so that the support means, as will be explained later in the context of an advantageous development, not supported on the ground. In addition to a basic suitability of a designed according to the concept of the invention Mecanumradfahrzeugs for carrying payloads, it is also possible for the first time by the invention comparatively heavy Mecanumrad- vehicles, which have, for example, heavy, durable structures aufwei- sen to construct and the weight of these structures only partially the Mecanum wheels and the other part on the support means on To support the ground. Very particular preference is given to a vehicle type which can be realized within the scope of the invention, in which lifting means are fixed on the chassis with which a payload can be adjusted in height relative to the chassis. Such an embodiment makes it possible to drive under a payload, adjust the payload relative to the chassis by means of the lifting means, so that a part of the payload weight force on the support means is supported on the ground and only a part of the weight force on the Mecanumrader, This weight force portion is chosen sufficiently large to ensure traction of Mecanumräder on the ground.

With regard to the specific design of the support means, there are different possibilities. In the simplest case, it is possible to drag support means by driving the Mecanumräder dragging over the ground. However, it is particularly preferred if the support means for minimizing friction are designed to be movable together with the chassis by driving the mechanical wheels over the ground. It is particularly preferred in this case if the support means have a, about 360 °, rotatable load wheel, in particular in the form of a load roller to a, preferably parallel to a ground extending axis of rotation, which in a direction change of the vehicle by a corresponding control of Mecanumradantriebe is rotatable about a preferably perpendicular to the axis of rotation of the load wheel extending steering axis relative to the chassis. It is particularly useful to provide a plurality of such trained and articulated load wheels for improved load distribution. Very particularly preferably four, the corners of a rectangle limiting load wheels are provided. The at least one load wheel is preferred as "conventional wheel without additional, rotatable relative to the wheel wheels", ie not designed as Mecanumrad and preferably not active, but only indirectly driven via the Mecanumräder The at least one load wheel is also not actively rotatable about the joint axis by means of a steering drive, but only passively by a corresponding change of direction of the vehicle, wherein also an embodiment with active, ie actuated steering can be realized which, depending on the vehicle direction, the load wheel about a joint axis directly driven rotates. In addition or as an alternative to a load wheel rotatable about an axis of rotation as well as around a joint axis, it is also conceivable to provide supporting means in the form of a rotatable roller, in particular arranged in a cage, which can roll omnidirectionally and thus follow a vehicle direction predetermined by the mechanical wheel drives. In principle, it is also conceivable to provide support means in the form of a rotatable chain, in the manner of a tracked vehicle, in which case it is preferable to have an active steering system for pivoting such a chain drive (a chain can also be formed from a rubber-elastic material ), so as to set a dependent of the respective direction of travel of the Mecanumrades preferred orientation of the chain drive. Regardless of the specific configuration of the support means, these are preferably not active but can only be driven indirectly via the drive wheel drives.

In particular, in a vehicle which is designed to carry or transport a payload, it has been found to be advantageous to design or park the power storage means for the Mecanum wheels in such a way that the support means in the case of a chassis not loaded with a payload, which may still have superstructures carries, above a support plane defined by the Mecanumrädern, that are arranged above the ground, and only when applied with a dimensioned or heavy payload with simultaneous or automatic increase of the spring tension of the energy storage means together with chassis, lower. In other words, an embodiment is of particular advantage, in which the support means during an empty drive of Mecanumradfahrzeuges not contact the ground, but only when applying a corresponding payload, which at the same time ensures that the means by which the mecanum wheels are resiliently mounted relative to the chassis, are tensioned, as already explained, even when in the support plane defined by the Mecanum- wheels supporting a residual spring travel of the force storage means should be maintained parallel to the weight direction of force, in particular to compensate for unevenness of the ground and to prevent an excessive load on the Mecanumräder must be supported. This is important in order to ensure controlled omnidirectional propulsion of the Mecanum wheel vehicle, even on uneven ground.

It has proved to be particularly advantageous when the support means are arranged or fixed in height-adjustable manner on the chassis such that a distance between a support surface formed by the support means and the support means for supporting a partial load, ie a weight force component, is supported supporting the ground and the ground or the support plane defined by the Mecanumrädern and thus the distance of the aforementioned support surface is adjustable to the chassis to the spring travel, the force storage means when loading the chassis with a payload can cover until the support surface of the support means reached the ground and / or optional Abstützkraftspeichermittel maximum tension according to the payload, are able to adjust. By this measure, the maximum, to be supported by the Mecanumrädern on the ground weight force is set at the same time. As will be explained later, this distance setting preferably follows as a function of a measured weight of the payload. As already indicated, an embodiment is feasible in which only the mechanical wheels are mounted with respect to the chassis by means of the force storage means resiliently to limit the maximum load to be supported or supported and the support means not. Alternatively, it is conceivable not only to store the Mecanumräder resiliently relative to the chassis, but also the support means on Abstützkraftspeicherm mediate, in which case the Federsteif ig speed of Abstützkraftspeicherm means is preferably greater than that of the force storage means, thus ensuring that only a proportion the weight is supported by the Mecanumräder on the ground or can be supported.

It is particularly expedient if the force storage means are designed in such a way that a residual spring travel of the force storage means remains parallel to the direction of the weight force to ensure residual spring capacity, even in the case of a load-driven mechanical vehicle. In other words, it is preferred if the spring travel, which is theoretically maximally traversable until reaching a stop, is parallel to the direction of the weight force, i. the corresponding spring travel component is longer than the distance of the support surface of the support means to the ground or to the support plane defined by the mechanical wheels in an unloaded state and / or longer than a maximum spring travel of optional support force storage means parallel to the aforementioned weight direction of force.

In order to ensure sufficient traction of the mecanum wheel drives or the Mecanum wheels on the ground at different payloads, it has proven to be advantageous if means for adjusting the bias of the power storage means and / or a maximum spring travel, the force storage means cover while increasing the spring tension until the support means are resting on the ground. set or reach the support plane defined by the Mecan wheels and / or until optional Abstützkraftspeichermittel are maximally stretched according to the payload, is adjustable and thus also the maximum weight to be supported by the Mecanumrädern on the ground. This can be manually or preferably with the aid of actuator means, in particular an electromotive drive drivable means for adjusting the bias and / or the spring travel. The aforementioned travel of the force storage means can be adjusted for example by distance variation of a support surface of the support means to the ground or to the chassis, by a corresponding height-adjustable arrangement of the support means relative to the chassis. In the case of a resilient mounting of the support means relative to the chassis via corresponding Abstützkraftspeichermittel may additionally or alternatively to the aforementioned means for adjusting the bias of the force storage means (manual or aktuierte) means for adjusting the bias of the support means may be provided on the vehicle.

It is particularly expedient, as mentioned, if the preload of the force storage means or any support means and / or a (maximum) travel of the force storage means (in particular the distance of a support surface of support means to a Mecanumradabstützebene or to the ground) depending on the weight of a payload is adjustable , wherein it is particularly preferred if the setting is automated, ie vornehmbar via actuator means. It has now turned out to be particularly expedient if the corresponding weight force can be determined with the aid of measuring means of the Mecanum wheel vehicle. That is to say that the mechanical wheel vehicle has weight force measuring means which are designed and arranged such that the weight force of a payload or of a weight component of this payload which is transmitted via the support means or at least one gear wheel on the lower is supportable is measurable, said measuring means (force measuring means) are signal conductively connected to corresponding control means for driving the aforementioned actuator means, wherein the control means, the actuator means for adjusting the bias of the force storage means and / or the aforementioned spring travel and / or a bias of any Abstützkraftspeichermitteln depending on a sensor signal of the measuring means, ie vary or adjust depending on the payload weight (or weight fraction), on the one hand to limit the load of Mecanumräder and on the other hand to ensure sufficient traction, in particular to overcome a rolling resistance of Mecanum- wheeled vehicle.

For the preferred case of the formation of Mecanumradfahrzeuges as a load vehicle, which is suitable and intended for receiving or transporting a payload, it has been found to be advantageous if arranged on the chassis a, in particular tiltable, charging device, preferably a charging trough for receiving the payload is.

In addition or as an alternative, lifting means (distance variation means) for relative height adjustment (spacing adjustment) of a payload relative to the chassis can be provided on the chassis, wherein in a preferred embodiment of the Mecanum wheel vehicle with not lifted by a load from the ground lifted or spaced support means the lifting means move the undercarriage in the direction of the ground, thereby tensioning the force storage means of the mecanum wheels until the supporting means have tensioned the ground and / or optional supporting force storage means. In other words, the lifting means are designed for relative displacement of a lifting or transport surface to the chassis. Preferably, the lifting means comprise a fork, in particular a forklift in the manner of a forklift or a lifting platform, wherein forklift or lifting fork beplattform then form the aforementioned support or transport surface of the lifting means for receiving the load or define. Preferably, the support or transport surface for charging a payload is aligned or arranged parallel to the support plane defined by the mechanical wheels.

With regard to the specific configuration of the force storage means for resiliently supporting the mechanical wheels, in particular together with the respective drive (in particular in each case an electric motor), there are different possibilities. In the simplest case, the force storage means (spring means) are designed as classic springs, for example as compression springs, such as coil springs and / or torsion springs; The force storage means may also have combinations of differently shaped springs. Preferably, such springs are formed of metal and / or formed resilient due to their geometry. It is also conceivable that the force storage means include gas springs or hydraulic springs or a combination of mechanical springs, gas springs and / or hydraulic springs. It is also conceivable to provide spring-loaded or force-storing force-storing means exclusively or additionally on the basis of the choice of material (for example elastomeric material). It is essential that the force storage means are designed and arranged so that they support in supporting on the ground support means for limiting the weight to be supported by the Mecanumrädern, i. serve for power buffering.

It is particularly preferred if the Mecanumräder, in particular together with their drives, ie the Mecanumradantriebe arranged on resiliently mounted support arms on the chassis or are resiliently mounted with respect to this, wherein the support arms are pivotally fixed to the chassis, such that through Swiveling the support arms changes the spring tension of the force storage means. Quite Particular preference is given to an embodiment in which the swivel angle for adjusting the force storage means bias voltage manually or by means of Aktuatorm ntel n is changed to vary the weight of the Mecanumrädern to be carried weight or weight component. It has proven to be particularly advantageous if the force storage means comprise torsion springs, which can be tensioned by pivoting the support arms.

In order to ensure optimum ground contact and to avoid floating states known from the prior art, it has proven to be advantageous if the mechanical wheels, as known from WO 2013/041310, comprise two rims, each of which carries rotatably arranged rollers over its circumference , wherein the rims are connected to each other via damping means, which allow a limited relative movement of the rims, in particular a relative movement in the circumferential direction and / or perpendicular to a Mecanumraddre- hachse and / or perpendicular to a rim rotation axis of the rims and / or tilt angle to each other. Preferably, the Mecanumräder are designed as described in the aforementioned international patent application.

The invention also leads to a system comprising a Mecanum wheel vehicle designed according to the concept of the invention and a payload carried by it (again removable or removable), wherein a weight force of the payload proportionally over the Mecanumräder and proportionately on the support means on a substrate is supported. In addition, the invention also leads to a method for operating a trained according to the concept of the invention Mecanumradfahrzeuges. The core of the method is that a part of the weight of the chassis and / or a payload of Mecanumräder and the other part of the weight is supported on the supporting means on the ground. It is preferred in this case if the weight force which is supported via the mechanical wheels is set as a function of a measured weight force of the payload. In particular, by a corresponding adjustment of the bias voltage of the force storage means and / or a spring travel of the force storage means, in particular a maximum travel of the force storage means they must cover until the support means reach the ground and / or to optional Abstützkraftspeicherm Ittel the maximum caused by the payload Reach spring tension. Further advantages, features and details of the invention will become apparent from the following description of preferred embodiments and from the drawings.

These show in:

Fig. 1 a a trained according to the concept of the invention

Mecanumradfahrzeug for carrying loads without payload, Fig. 1 b, the Mecanumradfahrzeug of FIG. 1 a with attached

Charge,

Fig. 2 is a view of an embodied according to the concept of the invention embodiment of a Mecanumradfahrzeugs from below

Fig. 3 in a highly schematic representation of an alternative

Embodiment of a Mecanumradfahrzeuges in a side view 4 is a highly schematized view of an alternative embodiment of a trained according to the concept of the invention Mecanumradfahrzeuges arranged on a chassis lifting means, here exemplarily comprising a Hubgabe, and

Fig. 5 is also a highly schematic, alternative embodiment of a Mecanumradfahrzeuges. In the figures, like elements and elements having the same function are indicated by the same reference numerals.

In Figs. 1 a and 1 b, the basic principle of a designed according to the concept of the invention Mecanumradfahrzeuges 1 is shown. This comprises a total of four Mecanumradantriebe 2, which limit the corners of an imaginary rectangle and of which in the side view only two spaced in the direction of a longitudinal direction of the vehicle 1 drives can be seen. The two other Mecanumradantriebe are located in the drawing plane behind. Each Mecanumradantieb 2 comprises a Mecanumrad 3 with not shown, arranged thereon, electric motor drive. All drives are connected in a conventional manner with control means, not shown, for individually driving the Mecanumräder 3 to ensure an omnidirectional operation. It can be seen that the Mecanumräder 3 are resiliently mounted on power storage means 4 relative to a chassis 5, which carries the Mecanumräder 3 with their drives. The force storage means 4 are reproduced by way of example only as a helical spring in the context of a simplified representation. Of course, other resilient mountings are possible - it is essential that at least one perpendicular to a base U oriented Federkaftkomponente between the chassis 5 and the Mecanumrädern 3 acts.

In addition to the mechanical wheels 3, the chassis 5 carries with this fixedly connected support means 6, here in the form of load wheels rotatably mounted about a respective rotation axis 7 and about a hinge axis 8 oriented perpendicular thereto.

The support means 6 are neither directly drivable about the axis of rotation 7 nor about the hinge axis 8 by means of a separate drive, but rotate or pivot about them as a function of locomotion of the wheeled vehicle 1 due to the drive of the mechanical wheels 3. In FIG a state without a payload shown. It acts in the embodiment shown, essentially caused by the chassis 5 weight force on the power storage means 4 on the Mecanumräder 3 so that they support this entire weight force on the ground in the state shown. The support surfaces 9 formed by the support means 6, more precisely by the load wheels (desired contact surfaces to the ground) are spaced apart from the substrate U.

1 a with attached load (load) 10. This has a weight F of X Nos. Due to the payload 10 or due to their weight F, the force storage means 4 are stretched by covering a spring travel in which the undercarriage 5 with payload 10 is automatically moved downward in the direction of the weight force against the spring force of the force-storing means 4 until the support means 6 are supported with their support surface 9 on the ground. There remains a small residual spring travel of the force storage means to compensate for unevenness of the substrate U obtained (Residual resiliency). By appropriate choice of the force storage means 4 and the remaining residual spring travel or residual spring capacity over the Mecanumräder 3 weight to be supported is limited. In other words, only a portion of the weight of the payload 10 is supported via the Mecanumräder and the other part of the supporting means on the ground. The power storage means 4 are selected so that, based on the payload 10 or the corresponding total weight, there is sufficient traction of the Mecanum wheels 3 on the ground U in order to move the Mecanum wheel vehicle (omnidirectionally).

Particularly preferred is an embodiment in which the bias of the force storage means 4, in particular in dependence of the load to be loaded 10 is adjustable and / or a bias of optional Abstützkraftspeichermitteln not shown here, with which the support means 6 are resiliently mounted when needed relative to the chassis 5 can. It is also conceivable to set the distance of the support surface with respect to the condition according to FIG. 1 a without load relative to the ground for setting the spring travel and thus a residual spring travel of the spring.

Very particular preference is given to at least one of the aforementioned settings depending on the weight to be determined or a weight of force to be determined the payload 10. For this purpose, for example, as indicated in Fig. 1 measuring means (force measuring means) 1 1 are provided, for example on the chassis 5, with which the weight of a payload is determined. As a function of this weight force, which can alternatively also be determined outside of the wheeled vehicle 1, one of the abovementioned settings is then made manually or by means of an actuator, wherein it is particularly preferred if this is done automatically as a function of a sensor. sorsignals the measuring means 1 1 is carried out by appropriate controls of the actuator means by means of control means.

Fig. 2 shows a possible embodiment of a Mecanumradfahrzeuges 1, which is designed according to the concept of the invention from below. Evident are the four, the corners of an imaginary rectangle, limiting Mecanumradantriebe 2, each comprising a Mecanumrad 3, which is drivable by means of a drive, here in each case an electric motor drive 12 to ensure an omnidirectional operation. The drives 12 are driven by control means 13 in an individual direction and / or at an individual speed.

Each Mecanumrad comprises a plurality of distributed over a circumference of the wheel arranged, preferably barrel-shaped rollers whose roller axes of rotation is arranged at an angle to the Mecanumraddrehachsen, preferably the Mecanumraddrehachsen two adjacent Mecanumräder are aligned and the Mecanumraddrehachse two Mecanumrad- pairs are aligned parallel to each other. To recognize the chassis 5, against which the Mecanumradantriebe 2 are resiliently mounted. The chassis 5 also carries support means 6 for carrying a load.

FIG. 3 shows a highly schematic representation of a preferred embodiment of a mechanical wheeled vehicle 1. The Mecanumradantriebe 2 are articulated via support arms 14 pivotally mounted on the chassis 5. The support arm 14 are each associated with power storage means 4 in the form of torsion springs, wherein the torsion springs are preferably biased with separate, not shown drives for varying the force storage means bias. Of course, in addition to or as an alternative to torsion springs differently designed springs eg gas springs or coil springs can be used.

It can also be seen here that, in addition to the mechanical wheels 3, supporting means 6 are provided with which a part of a payload to be supported can be supported on a ground.

4 shows in a highly schematic view a Mecanumradfahr- convoy 1, which corresponds to the exemplary embodiment of FIG. 1 a to 2 of its basic structure. On the chassis 5 are lifting means 15 (distance variation means) for varying a distance between a defined by the lifting means 15 supporting surface 17 for a load to be transported and the chassis 5. In the concrete embodiment, the lifting means 15 include a forklift 16, which with a suitable For example, electric motor drive is arranged vertically adjustable relative to the chassis 5.

Alternative lifting means 15, for example in the form of a height-adjustable platforms via a piston-cylinder arrangement, a spindle drive or a scissor joint drive or the like. Drives are additionally or alternatively feasible. The drives preferably comprise a motor, in particular an electric motor.

Fig. 5 shows an alternative embodiment of a Mecanumradfahrzeu- ges 1 with Mecanumradantneben 2 and support means 6, which are lifted from the ground when not loaded with a payload analogous to the embodiment shown in Figures 1 a and 1 b. The support means 6 comprise rotatably and steerably arranged rollers which are fixed to a height-adjustable chassis section of the chassis 5, which is referred to as a support element 18 in the embodiment shown, which is again adjustable in height on the chassis. 5 is set. In other words, the support means 6 are fixed in height adjustable on the chassis 5. The support frame 18 is supported via a spring element 19 on the chassis 5 and serves to receive a payload. The spring stiffness of the spring element 19 is less than the spring stiffness of the force storage means 4, whereby the support member 18 lowers under load until the support means 6 or their support surface reach the ground, in which state a residual spring travel of the force storage means 4 is ensured, so that only a partial weight force on the Mecanumräder 3 is supported on the ground.

LIST OF REFERENCE NUMBERS

1 Mecanum wheel vehicle

2 Mecanumradantneb

3 mechanical wheels

4 energy storage agent

5 chassis

6 support means

7 rotary axis ZDR-P-

8 joint axis

9 support surface

10 payload

1 1 measuring device

12 drives of Mecanumradantriebe

13 control means

14 support arms

15 lifting gear

16 lifting fork

17 bearing surface

18 supporting element

19 spring element

Underground

Claims

Mecanum wheeled vehicle, especially for transporting a load,

- with several, in particular three or four, Mecanum wheel drives (2), each comprising at least one Mecanum wheel and at least one, in particular electric motor, drive,

- for controlling the Mecanum wheel drives

(2) control means (13) designed for omnidirectional operation,

- with a chassis (6), the weight of which can be supported on a surface (U) both via the Mecanum wheels (3) and via support means (6) of the vehicle provided in addition to the Mecanum wheels (3),

wherein the Mecanum wheels (3), in particular together with the associated drives, are used to limit the proportion of the weight of the chassis (5) to be supported on the ground (U) via the Mecanum wheels (3) and any load (10) to be carried by it with the help of Energy storage means (4) are mounted resiliently relative to the chassis.

Vehicle according to claim 1,

characterized,

that the support means (6) have at least one load wheel that can be rotated about an axis of rotation (7) when the vehicle is moving, which can be rotated about a joint axis when the vehicle changes direction and/or that the support means (6) has a rotatably arranged ball for supporting on the Have underground (U). Vehicle according to one of claims 1 or 2,

characterized,

in that the force storage means (4) are designed and arranged in such a way that the support means (6) are arranged above a support plane defined by the Mecanum wheels (3) when the chassis (5) is not loaded with a payload (10) and when loaded with a load (10) while simultaneously increasing the spring tension of the force storage means (4), in particular together with the chassis (5), lower towards the ground (U).

Vehicle according to claim 3,

characterized,

that the distance between a support surface (6) formed by the support means (6) and that of the Mecanum wheels

(3) defined support level can be adjusted.

Vehicle according to one of claims 3 or 4,

characterized,

that a maximum spring travel component of the force storage means

(4) parallel to an adjustment direction of the chassis (5) when loaded with a payload (10), without payload (10) is greater than the distance measured in the same direction between a support surface of the support means (6) and that of the Mecanum wheels ( 3) defined support level.

Vehicle according to one of the preceding claims,

characterized,

that the supporting means (6) are not resilient relative to the chassis

(5) are stored, or are supported in this way via supporting force storage means. are resiliently mounted relative to the chassis (5) so that a spring stiffness of the supporting force storage means is greater than a spring stiffness of the force storage means (4).

Vehicle according to one of the preceding claims,

characterized,

that a preload of the force storage means (4) and/or a spring travel of the force storage means for adjusting the maximum proportion of weight to be supported by the Mecanum wheels (3) on the ground can be adjusted, manually or by means of actuator means.

Vehicle according to one of the preceding claims,

characterized,

that the mecanum wheeled vehicle (1) has measuring means (1 1) for determining a weight force or a weight force component of the chassis (5) and/or a payload (10), and that the measuring means (1 1) are signal-conducting with control means (13) for controlling the Actuator means for adjusting the preload of the force storage means (4) and/or the spring travel depending on a sensor signal of the measuring means (1 1) are connected.

Vehicle according to one of the preceding claims,

characterized,

that a, in particular tiltable, loading device, preferably a loading tray, is arranged on the chassis (5) for receiving a load (10).

Vehicle according to one of the preceding claims,

characterized,

that on the chassis (5), in particular by means of an actuator, preferably comprising a piston-cylinder drive and / or a Scissor joint drive, drivable lifting means (15), in particular with a lifting fork (16) or a lifting platform, are arranged for lifting a load (10) relative to the chassis (5).

Vehicle according to one of the preceding claims,

characterized,

that the Mecanum wheels (3), in particular together with the drives, are arranged on the chassis (5) via resiliently mounted, pivotable support arms (!4), in particular by means of torsion springs, in such a way that the spring tension of the Energy storage means (4) changes and / or that the spring preload of the force storage means (4) can be adjusted by actively adjusting the pivot angle of the support arms (14), in particular with the help of actuator means or manually.

Vehicle according to one of the preceding claims,

characterized,

that the Mecanum wheels (3) have several rims, each with rollers arranged distributed over their circumference and rotatably mounted relative to the respective rim, and that at least two adjacent ones of the rims are connected to one another via damping means, which ensure a damped, limited relative movement of the rims in the circumferential direction and/or or are designed perpendicular to a Mecanum wheel rotation axis and/or perpendicular to a rim rotation axis of the rims and/or at a tilt angle to one another.

System comprising a mecanum wheeled vehicle (1) according to one of the preceding claims and a payload (10) carried by it, wherein a weight of the payload (10) is proportionally over the Mecanum wheels (3) and are partially supported on a surface (U) via the support means (6).

System according to claim 13,

characterized,

that the energy storage means (4) can be compressed by a residual spring travel when the load (10) is applied, in particular to compensate for unevenness in the ground (U).

Method for operating a mecanum wheeled vehicle according to one of claims 1 to 12,

characterized,

that part of the weight of the chassis (5) and/or any payload (10) is supported on the surface (U) via the Mecanum wheels (3) and the other part of the weight is supported on the surface (U) via the support means (6).

Method according to claim 15,

characterized,

that the weight of a payload (10) is measured, in particular on the Mecanum wheeled vehicle (1), and that a preload of the force storage means (4) and/or a spring travel of the force storage means (4) are/will be adjusted depending on the measured weight.