EP3717396A1

EP3717396A1 - Transport arrangement for transporting containers

Info

Publication number: EP3717396A1
Application number: EP18829181.9A
Authority: EP
Inventors: Meinhard Schwaiger
Original assignee: AMX Automation Technologies GmbH
Current assignee: Agilox Systems GmbH
Priority date: 2017-11-27
Filing date: 2018-11-27
Publication date: 2020-10-07
Also published as: WO2019100097A1

Abstract

The invention relates to a transport arrangement for transporting containers (2), comprising at least two transport robots (1, 1a) which are designed to lift and transport a container (2) together, wherein the transport robots (1, 1a) have at least one communication unit for communication with each other, at least one container corner locking means (5, 5a), at least one lifting force torque support (4, 4a), and at least two sets of running gear (8, 8a, 8b) having a wheel drive (12). The aim of the invention is to provide a transport arrangement and a method which permits the fastest possible and most efficient transport of containers. This aim is achieved in that the at least two sets of running gear (8, 8ab, 8) each have a drive wheel (11, 11a) connected to the wheel drive (12), the wheel axle of which drive wheel can be pivoted about a substantially vertical main axis of rotation (17a) both when uncoupled and when coupled to the container (2).

Description

Transport arrangement for the transport of containers

The invention relates to a transport arrangement for the transport of containers with at least two transport robots, which are designed to lift and transport a container together, wherein the transport robots at least one communication unit for communication with each other, at least one container corner locking, at least one Hubkraftmoment- Support and have at least two suspensions with a wheel drive.

The invention also relates to a method for transporting containers with a transport arrangement, wherein at least two transport robots are arranged on opposite sides of a container, in each case at least one container corner lock and at least one lifting force moment support of the transport robots are connected to the container and the container is lifted from the ground, and wherein at least the two transport robots communicate with each other, exchange data and thus can coordinate their movements.

From WO2017 / 076980, US2017 / 0182923A1, WO2015 / 026246A2,

DE102010060504A1, DE102012108769A1, EP2440431B1, EP2637914B1,

DE102015119193A1, EP2185382B1, EP2079607B1, DE102008059830A1,

EP2352690B1 discloses various floor-bound container handling systems. Floor-bound container handling systems are manually controlled or autonomous heavy transport vehicles with electric, gas, diesel or fuel cell drives, which are either directly loaded and unloaded by means of an independent lifting device (eg harbor crane) or the container can pick up and drop by means of an accessible container bridge and an integrated lifting device, and be able to move the container from this first location (loading location) to a second location (delivery location). Due to the design, such transport vehicles can accommodate a 40 'or two 20' standard containers. The disadvantages of such container handling systems are the high intrinsic weight (in the range of the permissible individual container weight), the large vehicle length (significantly longer than the length of the containers), the limited maneuverability due to the large curve radii and the absence the possibility of 90 ° crossings, as well as the requirement of loading / unloading devices or direct loading / unloading by means of crane systems, whereby the port crane systems and the vehicles are mutually obstructive in their capacity utilization. US2017 / 0182923A1 discloses an autonomously operating forklift transport vehicle for containers with an integrated positioning device for a second container, which can be stacked via a first container, wherein both the first and the second container by means of an external loading device (crane) must be spent on the transport vehicle. The disadvantages are identical to the aforementioned disadvantages of the previously mentioned known solutions.

US5800114, US3327996, US5170994, EP1285878A1, EP123022A1,

WO20150266246 disclose stationary and mobile lifting and lowering devices for vehicles, containers, lifting platforms or the like, which are operated manually or electronically controlled, which are equipped with special lifting devices and from the interaction of 4 or more units, lifting large-volume loads and can lower. A disadvantage of these embodiments is especially the lack of horizontal driving under load.

DE202005002668U1 discloses a lifting and transporting device for heavy loads, consisting of two units, each consisting of a mobile pedestal and a vertically movable carriage with connecting elements for load suspension. A disadvantage is the manual mode and an independent additional conveyor system required for the horizontal method (eg forklift trucks).

The US2004 / 0256266A1, US5170994, EP0123022A1 and WO2015025246A2 disclose devices for fixing or securing containers on hoists, wherein the fixing takes place by means of a twist lock (twist lock) or a plug-in part in the standardized container corner. Disadvantages of these embodiments are, inter alia, the exclusively manually operated rotary closures or insertion parts for fixing a container in the container corners.

EP2017281A1 discloses a method and an apparatus for picking up, lifting, horizontally transporting and delivering a container by means of two individual vehicles which can be operated manually or autonomously and which have steerable drive wheels, a docking device and a lifting device. A disadvantage of this design, the relatively large width of the individual vehicles are due to cantilevered support wheels, the lack of locking the docking device, which provides only one connection with the container in the lower container corners by inserting a pin per container corner exclusively in the container longitudinal direction and opposite longitudinal forces and displacements are not secured during the transport process so that the transport vehicles can lose contact during container transport with the container. GB2042217, US820228, US5623818, GB820228, DE102013017062A1, WO2012096570A1, DE3324862A1 disclose multidirectional travel drives having one or two identically driven drive wheels whose axes are aligned substantially parallel to the roadway plane and which are pivotally mounted about a second axis perpendicular to the roadway plane and have an additional steering device for this pivoting movement. Furthermore, JPS62280372A, US20020014357A1, US4221273, US7694758B1, US2004 / 0079560A1 disclose omnidirectional travel drives with two individually driven drive wheels, which are mounted rotatably in a guide about a second axis perpendicular to the wheel axis vertical to the roadway plane and have additional devices in order to influence the direction of travel relative to the driving device and to compensate for uneven ground. DE102013019726A1 discloses an omnidirectional traction drive with two individually driven drive wheels with drive motor with belt drive arranged offset upwards (viewed from the roadway plane), which causes an enormous overall height, the traction drive being pivotable about a vertical axis and perpendicular thereto a second axis is tilted for level compensation is executed. DE102007046868A1 and US6540039B1 disclose a drive system for an omnidirectional vehicle having two staggered steerable wheel assemblies consisting of two drive wheels and EP2336075A1 and EP3216747 disclose a drive system for an omnidirectional vehicle having four staggered steerable wheel assemblies with integrated wheel drive and centralized wheel drive. Storage for the orientation of the direction of travel and a second bearing vertically spaced from the wheel axle for a leveling of the drive wheels. A disadvantage of these embodiments with additionally required steering devices is the lack of possibility of being able to carry out a fluid movement in any desired direction, in the case of the variants with drive units arranged upwardly offset (eg motor and belt transmission) the enormous overall height in the variants with only two wheel assemblies the limited maneuverability (a transverse travel is not possible due to the then identical wheel axles, lacking tilting stability) and in the variants with vertically spaced from the wheel axle second bearing for the leveling of the drive wheels the unfavorable power conditions when cornering, so that only either low cornering speeds or small loads are possible.

US 2006285959 A shows a coherent framework for picking up containers. Motorized wheels are arranged on stanchions, which make the framework movable with the container. However, the scaffolding must be very bulky and large, so that the entire container fits on it. In US 2010/226740 A lifting devices are disclosed, wherein four of these lifting devices can be arranged at the corners of a container to pick this up. They are equipped with wheels and handlebars so that warehouse workers can transport the loaded container manually or by means of a separate towing vehicle. For this purpose, but first all lifting equipment must be properly arranged and then lifted the container. This, together with the moving of the heavy container, is very power and time consuming and requires a lot of staff.

Under the designation MACJAC (https://swarmrobotix.com/macjac.html; 2017- 11-18) of the American company Swarm Robotix (https://swarmro-tix.com), a mobile, automated system for floor-bound container disclosed, which consists of four freely movable, synchronized Einzelfahrzeu- gene, which are each designed with a 5 acting in the container longitudinal direction rotatable container locking (twistlock) and a stroke longitudinal displacement unit. The container parked on the ground is approached at the four corners by one individual vehicle in the container longitudinal direction, the container lock is pushed into the opening of the container side corner and locked, synchronously lifted by means of the four individual vehicles and partially underrun by the individual vehicles , deposited on a platform above support wheels, then moved along the trajectory along trajectories, briefly raised, lowered to the ground and the container locking released, so that the individual vehicles can leave the container parking space. In this case, individual vehicles each have a chassis fixedly connected to the individual vehicle with two driven wheels and two further running gear designed as passive, rotatable support wheels. A disadvantage of this concept with four individual vehicles are the increased coordination effort, the small space conditions for the absorption of energy storage, the total resulting large total width of the sum of container width and twice the single vehicle width, the unfavorable force conditions in the lock (Contai - corner and container locking) and the risk of tipping during container pickup until the container is driven under the container with the support wheels. For this purpose, the support wheels arranged under the container are aligned for travel when loaded, which is associated with great wear and possibly damage to the substrate. In addition, the motion sequences of the individual vehicles are relatively limited, which leads to an extension of the paths and thus to lower efficiency.

The object of the invention is therefore to provide a transport arrangement and a method which enables the fastest possible and efficient transport of containers. This object is achieved according to the invention in that the at least two running gears each have at least one drive wheel connected to the wheel drive, the wheel axle of which is pivotable about a substantially vertical main axis of rotation both in an uncoupled state and in a coupled state with the container.

It is also achieved according to the method according to the invention in that at least two running gears are actively driven and are rotatable about a substantially vertical main axis of rotation both in an uncoupled state and in a coupling state with the container.

In this case, the trolleys can preferably be rotatable independently of each other, but they can also only be designed to be rotatable depending on each other. The trolleys preferably each have a wheel drive, but it is also conceivable that a common wheel drive is provided for a plurality of trolleys.

As a result, the transport robot becomes even more agile and can thus also carry out oblique or lateral movements without having to carry out curved movements. By turning the landing gear, the direction of the landing gear is automatically determined, regardless of the orientation of the transport robot. In particular, in a coupling state, the container can be transported quickly in any direction and also be moved transversely. At the same time, even in an uncoupled state, an agile movement, twisting and shifting becomes possible, which facilitates, in particular, the approach and positioning of the transport robot in relation to the container and thus the coupling.

It is preferably provided that at least one first running gear, which is arranged in a coupling state with the container close to the side of the transport robot facing the container, is actively driven and rotatable. In this case, at least a second chassis is advantageously provided, which is arranged in the coupling state with the container far from the side facing the container, which is either also actively driven and rotatable, or is made passive.

It is understood by rotatable that the chassis is rotatable about a substantially vertical axis and thus by rotation thereof, the movement of the transport device can be directed.

It is understood by near and far that the first chassis is located closer to the side facing the container than the second chassis. This also prevents tilting in this direction. In this case, coupled state is a state in which a transport robot has entered into a connection with the container, that is to say that at least the container corner locking device has entered into a connection with the container. Accordingly, with uncoupled state, a state is meant, in which the transport robot has not made any connection with the container, so it can move so unloaded.

Here, containers are understood not only the ubiquitous in transport containers according to the ISO standard 668, but all transport package with standardized dimensions. For example, these can be boxes of a certain standard. Containers for the purposes of this invention are thus essentially freight containers in the lengths of 20 feet (6,069 m) and 40 feet (12,192 m), but not limited exclusively to these.

Such direction and location details such as vertical and horizontal or horizontal and vertical refer to unless otherwise stated transport arrangements, which are in the intended use position on a egen lane, ie the trolleys are arranged on the bottom.

It can be provided that at least the two transport robots can communicate with one another, exchange data and thus coordinate their movements. Through the communication of the transport robots with each other, the motion sequences can be coordinated with one another and thus process sequences can be automated. Also, data about the location, condition or the environment of the transport robots can be interchanged. This is advantageous in particular in the case of an automatic or semi-automatic system in which transport robots plan and execute their own movements. The communication can take place, for example, via contactless and wireless technologies, such as via radio.

It can be provided that the transport arrangement has a relay unit for communication with the communication units. This relay unit can act as a superior control unit that coordinates the transport robots. It can also serve as an interface to control and data presentation for a warehouse worker. It can also provide transport robots with additional information, such as transfer orders expected in the near future.

It is particularly advantageous if the communication units are designed for direct communication with each other. As a result, the effects of a swarm intelligence can be exploited and storage operations can be optimized by means of minor control intervention from the outside. When jointly lifting and transporting a container, it can be provided that more than two, for example four transport robots - arranged at each corner of the container one - are involved. As a result, the transport robots can be made particularly small.

However, it can also be advantageous if the transport devices each have two container corner locks and preferably two Hubkraftmoment- supports each. This allows two transport units to set a container in a particularly stable manner and accidents are avoided.

The transport robots may be designed such that they are arranged for coupling to the end faces of the container to be coupled. However, they can also be designed to be arranged on other sides, for example the lateral longitudinal sides of the container, in order to couple with the container.

It is also advantageous if the transport robots have vertically displaceable lifting devices for vertical lifting and lowering of the container. As a result, in a simple manner, a container fixed to the transport robot can be lifted off the ground and transported without being dragged on it.

Preferably, the container corner lock and the Hubkraftmoment- support are arranged directly on the lifting device. As a result, a container fixed thereto can easily be lifted by the lifting device from the ground to a raised position in which it can easily be moved without grinding on the ground.

In an advantageous embodiment, it is provided that the container corner lock has a longitudinal locking device, which is arranged perpendicular to a connecting surface of the transport robot and preferably designed as a locking pin, for connection to a container. It is also advantageous if, during the arrangement of the transport robot, the distance between container corner lock and container is reduced and at least one longitudinal locking device of the container corner arranged perpendicular to a connection surface of the transport robot, preferably designed as a locking pin. Lock is connected to a preferably designed as a receptacle for a pen longitudinal counterpart of the container before or during the distance reduction. Thus, the pin can be inserted into a recess provided for this purpose on the front sides of the container, as is the case with many standardized containers, and a stable connection can thus be established.

Here, the connection surface is understood to be a surface which faces the container when the transport robot is in the intended manner with this connected or coupled. In this case, the lifting-force-moment support can preferably be arranged on the connecting surface.

Furthermore, it can be provided that the container corner lock has a transverse locking device arranged parallel to the connecting surface and preferably designed as a locking pin for connection to a container. Accordingly, it can also be provided that, during the arrangement of the transport robots, the distance between container corner lock and container is reduced and a transverse locking device of the container corner lock arranged parallel to the connecting surface and preferably designed as a locking pin, preferably with a receptacle for a pin connected transverse counterpart of the container during or after the distance reduction is connected. This represents another possibility of the stable connection.

Furthermore, it is advantageous if the container corner locking is displaceable along a preferably parallel horizontal axis of the transport device to the connecting surface. The shift can be done by a width adjustment. On the one hand, this can have the advantage that such a transverse locking device can be connected to a transverse counterpart during the coupling. On the other hand, this can also serve to adapt the container corner lock to different dimensions of containers.

It is advantageous if the Hubkraftmoment support is designed to be applied to a container end face of the container. As a result, the lifting force torque can be counteracted by fixing with the container corner lock.

It is advantageous if the Hubkraftmoment-support and the container corner locking are arranged spaced apart in the vertical direction. As a result, the effect of Hubkraftmoment support is improved.

It is particularly advantageous if the trolleys are arranged in a coupling state of the transport robot with a container outside the floor plan of the container. As a result, there is no need for the transport robot to be pushed in only partially, which simplifies and accelerates the transport process.

In a preferred embodiment, at least one chassis has at least one drive wheel, preferably with a wheel drive, whose wheel axle can be swiveled through 360 °. As a result, in addition to straight and curved movements, the transport unit can also execute movements transversal to the main direction of movement. This improves the mobility with and without connected containers. In a preferred embodiment, it is provided that the transport robots have at least a first chassis and at least a second chassis, wherein in a coupling state with the container, the first landing gear is arranged close to the container side facing the transport robot, the second chassis of the container facing away is arranged and at least the first chassis is actively rotatable and driven executed. In this way it can be prevented that, when moving in the coupled state, the most heavily loaded chassis rubs against the ground by passive movement and as a result high wear occurs. This not only increases the life of the device, but also improves its energy efficiency. In this case, the second running gears can also be driven and actively rotatable, or passively act as a roller. Since the further distance from the container in the coupled state, the second chassis are loaded less by the heavy container, the risk of wear due to friction is less than in the first chassis. In addition, the transmission of torque from the heavier loaded first landing gear to the ground better than the less loaded second landing gear. It can even be provided that, during the coupling or lifting of the container, the transport robot easily tilts in the direction of the container, as a result of which the second chassis is further relieved or even lifted off the ground. This further reduces the occurrence of wear during passive execution.

Furthermore, it can be provided that at least one chassis has at least two drive wheels, each with its own wheel drives. Thus, the mobility is further improved and by driving the wheels with different torques, rotational movements can be initiated.

It is particularly advantageous if at least one wheel drive has an electric motor or a hydraulic motor which can be designed with a gear. These represent particularly simple and energy-efficient designs.

Furthermore, it can be provided that at least one chassis has a guide ring and a wheel support pivotable about a substantially vertical main axis of rotation, and that two drive wheels rotatable about a common drive wheel axis of rotation are arranged on the wheel support. As a result, the axis of rotation of the drive wheels can be easily rotated and thus the direction of movement can be changed. In this case, the wheel support in the guide ring can be arranged at least partially.

It is particularly advantageous when a rotary ring is pivotally mounted about the main axis of rotation in the guide ring and the wheel support via at least one pen dellager about a main axis of rotation substantially vertically arranged Swing axle is pivotally mounted. As a result, the drive unit can compensate for unevenness or obstacles on the ground, thus enabling safe and fast driving.

In this regard, it is particularly advantageous if a maximum pendulum angle of the pendulum bearing is +/- 15 °, preferably +/- 5 °.

It can also be provided that at least one drive unit is designed as a non-driven, trailing support wheel. This allows an additional connection to the ground.

In order to enable a compact design it can be provided that the drive unit is integrated in a floor unit.

It is particularly advantageous if the transport robot has at least one sensor for determining the location, perception of the surroundings or the state of the transport robot or other transport robots. Such sensors provide the transport robot with information about its own condition and its environment. He can transmit this information via the communication unit, thus planning and coordinating storage operations with other transport units, avoiding obstacles, etc. Sensors of other types can also be provided for this purpose.

For sufficient energy supply, an energy store can be provided within an enclosure. This protects it. Charging mechanisms can be provided, for example, by charging terminals which can be approached for the transport robot.

Furthermore, it is advantageous if at least one first running gear, which is arranged in a coupling state with the container close to the side of the transport robot facing the container, is actively driven and rotatable. As a result, the wear can be reduced.

It may be advantageous if the transport robots navigate using GPS, laser scanners and / or other facilities. This allows a self-sufficient navigation possible. Corresponding GPS modules or laser scanners should be provided in a suitable way.

It is particularly advantageous if the transport robots recognize obstacles in the environment and include them in their calculation of a timetable. Thus, despite obstacles, the optimal route can be determined. The timetable can not only the routes, but also, for example, schedules or sequences for transport operations. It can also be provided to carry out a transport in half, then wait until another transport has progressed to a certain point and then continue the first transport. In particular, if more than two transport robots are provided in the transport arrangement, and / or if a plurality of containers are disposed in an unfavorable manner, for example very close to each other, this can be advantageous.

It is also advantageous if a Hubkraftmoment acts on the Hubkraftmoment-support throughout the transport of the container. As a result, the connection between the transport robot and the container is automatically fixed and the container does not have to be deposited on a surface of the transport robot. Thus, the movement is shortened and a faster transport is possible.

It can be provided that the transport robots control their direction of movement and speed by controlling the rotational speeds of at least one drive unit. This determines the movement path in a simple way.

The invention is explained in more detail below with reference to the non-limiting figures. Show it :

1 shows a transport arrangement according to the invention in an embodiment with two transport robots at a distance from a parked on the ground to be transported container in side view.

FIG. 2 shows the transport robots from FIG. 1 in a coupling state with a container lifted from the ground in side view; FIG.

3 shows detail C of FIG. 2 in an enlarged view;

4 shows the transport robots without containers in side view;

5 shows the two transport robots without containers in plan view;

6 shows one of the transport robots in rear view;

Fig. 7 is a detail view A of Figure 1 in a view from below.

8 shows the two transport robots without containers in an oblique view from below; 9 is a lifting and transport robot without container in an oblique view from the front;

Fig. 10 two lifting and transport robot with container in perspective

View;

FIG. 11 detail view A of FIG. 1 in a perspective view from below; FIG.

12 shows a detail of a transport robot and of the container in perspective view from below;

Fig. 13 shows a chassis in perspective in quarter section.

The embodiment shown in the figures has only two equally designed transport robots 1, la. FIG. 1 shows these transport robots 1, 1 a, arranged at a distance at the end faces 2 d of a container 2 standing at the bottom with the lower container corners 2 a. The transport robots 1, la can approach the end faces 2d of the container 2 and couple to it. FIG. 2 shows the two cooperating transport robots 1, 1a according to the invention coupled and locked to the container 2 in the raised state, wherein the height of the container to the ground during transport is approximately 50 to 500 mm, preferably 100 to 200 mm.

FIG. 3 shows in detail C of FIG. 2 the transport robot 1, with an enclosure 10, a height-adjustable lifting device 3, a container corner lock 5 arranged thereon and lifting force moment support 4 in the locked and thus coupled state with the container 2 and its end face 2d. In the locked state, the weight of the container 2 in the container corner lock 5 at a distance X from a vertical axis of rotation 17a causes a proportionately acting load F5 and generates a tilting moment, which the lifting force momentum support 4 by the supporting force F4 in FIG Distance Y counteracts, wherein the Hubkraftmoment-support 4 is supported on the end face 2d. This results in a solid and stable connection. A communication unit, not shown, is arranged in the interior of the housing 10. The illustrated embodiment is intended to couple with the lower container corners 2a. In alternative embodiments, it can also be provided that they couple with the upper container corners. For this purpose, the Hubkraftabstützung 4 would not correspond to the concern on the front side 2d, but for example to perform on the top of the container 2. FIG. 4 shows the two interacting transport robots 1 and 1a according to the invention, which are constructed identically and have a lifting device 3, a container corner lock 5, a lifting force moment support 4 and a housing 10.

FIG. 5 shows the two interacting transport robots 1 and 1a according to the invention, which are constructed identically, and with the lifting device 3, the container corner lock 5 and 5 a, the lifting force moment support 4 and 4 a, the lateral transverse locking device 6 and 6a, the longitudinal direction acting in the container longitudinal direction locking device 7 and 7a, and the housing 10 are executed.

FIG. 6 shows the lifting and transport robot 1 according to the invention from the rear, with two first running gears 8 and 8b and a second running gear 8a, the ground unit 9, the housing 10 and the sensors 13 and 13 designed as laser scanners 13a. All chassis 8, 8a, and 8b are the same and actively driven and rotatable. This is particularly advantageous since the risk of wear is particularly low and costs can be saved by the uniform construction.

FIG. 7 shows the lifting and transport robot 1 according to the invention with the container 2 according to detail A of FIG. 1 in the view from below, with the lifting device 3, the container corners 2a, the container corner locking 5 and 5a, the lateral Transverse locking device 6 and 6a, the longitudinal direction locking device 7 and 7a acting in the container longitudinal direction, with three trolleys 8, 8a and 8b, which can be pivoted relative to one another and independently by a pivot angle 17b about a substantially vertical axis , and a ground unit 9, in which the trolleys 8, 8a, 8b are integrated. The first carriages 8, 8b are arranged close to the side facing the container and thus close to a connecting surface, wherein they are located at the same height. The second chassis 8a, however, is further arranged from the container side facing. Thus, the first trolleys 8,8b in the coupling and when lifting the container 2 heavier weight than the second chassis 8a.

8 shows the two interacting transport robots 1 and 1a according to the invention, which are constructed identically, without container 2 in an oblique view from below, in each case embodied with the lifting device 3, the container corner locking device 5 and 5a, the lateral cross-section. Locking device 6 and 6a, acting in the container longitudinal direction longitudinal locking device 7 and 7a, the chassis 8, 8a and 8b, the bottom unit 9 and the housing 10th Fig. 9 shows the transport robot 1 according to the invention in an oblique view from the top front, with the lifting device 3, which can be moved vertically upwards / downwards according to lifting direction 3a, the container corner locking 5 and 5a, in a further embodiment by means of the width adjustment a displacement along a horizontal transverse axis of the transport device 1, 1 a can be adapted to different container widths along a travel direction 5 b, the lateral transverse locking device 6 and 6 a, the longitudinal locking device 7 and 7 a acting in the longitudinal direction of the container and the housing 10. In an alternative embodiment, provision may also be made for the transverse locking device 6, 6a to be connected to a container 2 by the method along the travel direction 5b, ie the method represents at least part of the coupling process.

FIG. 10 shows the two interacting transport robots 1 and 1a according to the invention, which are constructed identically, at a distance from the container 2 standing at the bottom with the lower container corners 2a, which are connected to the locking openings in the transverse direction 2b and in the longitudinal direction 2c are executed, in perspective view.

11 shows a detailed view A of FIG. 1 in an oblique view from below, with the transport robot 1 according to the invention, with the lifting device 3, the container corner lock 5 and 5a, the lateral transverse locking device 6 and 6a, in the container longitudinal direction acting longitudinal locking device 7 and 7a, the chassis 8, 8a and 8b, the bottom unit 9 and the container 2, with the container corners 2a.

FIG. 12 shows a detailed view B of FIG. 11 in a perspective view from below, with the transport robot 1 according to the invention, with the lifting device 3, the container corner lock 5, the lateral transverse locking device 6, the longitudinal direction acting in the container longitudinal direction. Locking device 7, the first chassis 8, the bottom unit 9 and the container 2, with the container corners 2a, which are performed with the locking openings in the transverse direction 2b and in the longitudinal direction 2c.

13 shows, in quarter section, one of the identically constructed running gears 8, 8a, 8b, consisting of two drive wheels 11 and 11a, a wheel axle 14 with a drive wheel rotational axis 14a, two wheel drives 12 individually assigned to each drive wheel 11, 11a, a wheel support 15 with a self-aligning bearing 18, which forms a pendulum axle 18a acting essentially perpendicularly to the drive wheel axis of rotation and permits a pendulum angle 18b to compensate for uneven floors, the maximum pendulum angle being approximately +/- 15 °, preferably +/- 5 ° with respect to the horizontal road level, a pivot bearing 17, which forms a substantially perpendicular to the road surface oriented axis of rotation 17a and the drive wheels 11, 11a about this vertical axis of rotation 17a can perform a rotational movement 17b of about +/- 360 °, preferably +/- 180 °.

Each transport robot 1, 1a according to the invention is highly agile and precisely controllable and equipped for automated driving, docking and conveying along any trajectories in the plane with an omnidirectional drive system by three trolleys 8, 8a, 8b. For this purpose, you can dock on a container 2 and safely pick it up, fix it, lift it off the ground and place it on the ground.

The transport robots 1, 1a have in addition to the container corner locking 5, 5a, and the Hubkraftmoment support 4, 4a on the lifting device 3 (in the locked state causes the weight of the container 2 in the container corner locking 5 at a distance X from the vertical axis of rotation 17a a proportionately acting load F5 and generates a tilting moment counteracts the Hubkraftmoment-support 4 by the support force F4 at a distance Y, wherein the Hubkraft- torque support 4 is supported on the container end face 2d) on Safety, navigation and monitoring sensors 13, 13a. A secure communication for the coordinated operation of the two units between the transport robots 1, 1 a is possible via a communication unit 19 which is installed in the transport robot 1, 1 a and protected by the housing 10. In this case, the transport robots 1, 1 a can, for example, receive transfer orders from an unillustrated control center or provide information to them. You can also communicate with each other to synchronize the pairing operations with the container 2. In particular, the common cancellation of the container 2 by the synchronization is desired.

The lifting device 3 may be constructed plate-shaped and extends We sentlichen over the entire side of the transport robot 1, la and has two container corner locks 5, 5a and two Hubkraftmoment-supports 4, 4a. It faces on the side facing the container 2 when coupled to a container 2. Thus, it represents the connection surface, even if it does not contact the container directly, but only indirectly via the two container corner locks 5, 5a and two lifting force moment supports 4, 4a. This also defines the side facing the container when coupled.

The container corner lock 5, 5a has a laterally acting transverse locking device 6, 6a and a longitudinal locking device 7, 7a acting in the container longitudinal direction, both being connecting pins or pins are executed. These can engage with the container 2 in the transverse counterparts 2 b, or in the longitudinal counterparts 2 c and thus enable a stable connection (the transverse counterparts 2 b and the longitudinal counterparts 2 c are designed as elongated openings) , It is provided in the illustrated embodiment that the longitudinal locking device 7, 7a rigidly connected to the container corner locking 5, 5a, preferably in one piece, while the transverse locking device 6, 6a in one on the inside - the container at the coupling side facing - the container corner locking 5, 5a protruding closed position and can be brought into a not protruding on the inside open position. As a result, it is not necessary for part of the transport robots 1, 1a to be arranged below the container 2. In the open position shown in FIGS. 5, 7, 8, 9, 11 and 12, when the transport robot 1.1a approaches the front side 2d, the container corner locking device 5, 5a with two legs can be attached to the container corner 2a. At the same time, the longitudinal locking device 7, 7a is introduced into the designated locking opening in the longitudinal direction 2c. In a further step, the transverse locking device 6, 6a is brought into the closed position, and thus introduced into the locking opening in the transverse direction 2b (this can be done automatically or by hand). Thus, the transport robot 1, la connected to the container 2 and placed in a coupling state. If both transport units are coupled to the container 2, this can be canceled (as in FIG. 2) and transported. During this process, the transport robots 1, 1 a are located outside the outline of the container 2. At the time of lifting, the lifting force moment supports 4, 4 a bear against the end faces 2 a and a reinforced locking mechanism is engaged and the transport robots are tilted 1,1a prevented.

If it is desired to park the container 2, it is first lowered again and placed on the ground. Thereafter, the described coupling process can be performed in reverse order so as to achieve decoupling. Thus, the transport robot 1,1a are free again and ready for further transport operations.

The omnidirectional running gears 8, 8a, 8b are preferably integrated into the ground unit 9 and each consist of two independently driven drive wheels 11, 11a, the wheel axle 14, which forms the drive wheel pivot axis 14a, a wheel drive 12 independent of each drive wheel 11 and 11a , a Radab- support 15 with the pendulum bearing 18, which forms a pendulum axis 18a, so that the two drive wheels 11, 11a deflect around the pendulum angle 18b and Bo- can compensate for unevenness, a pivot bearing 17, which forms a substantially perpendicular to the road surface oriented axis of rotation 17a and the drive wheels can perform a rotational movement 17b about this axis of rotation, and thus determine the direction of travel. From the individual speed and the diameter of the drive wheels 11, 11a results in a peripheral speed at which the drive wheels roll on the road surface and the direction of rotation results in the direction of movement, so the speed and direction are defined. The wheel drives 12 are designed as electric motors without gears. At the same speed and the same direction of rotation, the chassis 8, 8a, 8b drives straight ahead, at the same speed and opposite direction of rotation, the drive wheels rotate about the rotation axis 17a on the stand, at unequal speed and the same direction of rotation is a cornering executed, the travel can follow exactly a defined movement path without reversing. For navigation and safe autonomous operation, sensors (for example laser scanner, radar) 13 and 13a are provided which enable a 360 ° all-round visibility in the plane.

The energy supply is preferably carried out electrically, wherein for storing the electrical energy corresponding accumulators find use in the prior art, which can be charged at the same time in load operation. The charging process is contact-free or via contacts.

Claims

PATENT APPLICATIONS

1. Transport arrangement for the transport of containers (2) with at least two transport robots (1, la), which are designed to raise and transport a container (2) together, wherein the transport robots (1, la) at least one communication unit for communication with one another, at least one container corner lock (5, 5a), at least one lifting momentum support (4, 4a) and at least two running gears (8, 8a, 8b) with a wheel drive (12), characterized in that the at least two running gears (8, 8a, 8b) each have at least one drive wheel (11, 11a) connected to the wheel drive (12), the wheel axle of which is in an uncoupled state as well as in a coupling state with the container (FIG. 2) about a substantially vertical main axis of rotation (17 a) is pivotable.

2. Transport arrangement according to claim 1, characterized in that the transport arrangement comprises a relay unit for communication with the communication nikationsseinheiten.

3. Transport arrangement according to claim 1 or 2, characterized in that the communication units are designed for direct communication with each other.

4. Transport arrangement according to one of claims 1 to 3, characterized in that the transport robots (1, la) each two container corner locking Verrie- (5, 5a) and preferably two Hubkraftmoment-supports (4, 4a) have.

5. Transport arrangement according to one of claims 1 to 4, characterized in that the transport robot (1, la) vertically displaceable Hubvor- directions (3) for vertical raising and lowering of the container (2).

6. Transport arrangement according to one of claims 1 to 5, characterized in that the container corner lock (5, 5a) a perpendicular to a connecting surface of the transport robot (1, la) arranged, preferably designed as a locking pin longitudinal locking device (7, 7a) for connection to the container (2).

7. Transport arrangement according to one of claims 1 to 6, characterized in that the container corner locking (5, 5 a) arranged parallel to the connection surface, preferably designed as a locking pin Transverse locking device (6, 6a) for connection to the container (2).

8. Transport arrangement according to one of claims 1 to 7, characterized in that the container corner locking (5, 5 a) along a substantially parallel to the connecting surface, preferably horizontal transverse axis of the transport device are displaceable.

9. Transport arrangement according to one of claims 1 to 8, characterized in that the Hubkraftmomentabstützung (4, 4a) to a container end face (2d) of the container (2) is designed to be applied.

10. Transport arrangement according to one of claims 1 to 9, characterized in that all running gears (8, 8a, 8b) are arranged in a coupling state of the transport robot (1, la) with the container (2) outside the outline of the container (2) ,

11. Transport arrangement according to one of claims 1 to 10, characterized in that the transport robot (1,1a) at least a first chassis (8, 8b) and at least a second chassis (8a), wherein in a coupling state with the container (2 ) the first chassis (8, 8b) is arranged close to the side of the transport robot (1, 1a) facing the container (2), the second chassis (8a) is disposed away from the side facing the container (2) and at least the first chassis (8, 8b) is designed to be actively rotatable and driven.

12. Transport arrangement according to one of claims 1 to 11, characterized in that at least one chassis (8, 8a, 8b) at least two drive wheels (11, 11a), each with its own wheel drives (12).

13. Transport arrangement according to one of claims 1 to 12, characterized in that at least one wheel drive (12) comprises an electric motor or a hydraulic motor, preferably with transmission.

14. Transport arrangement according to one of claims 1 to 13, characterized in that at least one chassis (8, 8a, 8b) has a guide ring (17) and, about the substantially vertical main axis of rotation (17a) pivotable wheel support (15), and that two drive wheels (11, 11a) which are rotatable about a common drive wheel rotational axis (14a) are arranged on the wheel support (15).

15. Transport arrangement according to claim 14, characterized in that in the guide ring (17) a rotary ring (16) about the main axis of rotation (17a) is pivotally mounted bar and that the Radabstützung (15) via at least one pen dellager (18) to a to the main axis of rotation (17a) substantially vertically arranged pendulum axis (18a) is pivotally mounted.

16. Transport arrangement according to claim 15, characterized in that a maximum pendulum angle (18b) of the self-aligning bearing (18) +/- 15 °, preferably +/- 5 °.

17. Transport arrangement according to one of claims 1 to 16, characterized in that at least one second chassis (8a) is designed as a non-driven, trailing support wheel.

18. Transport arrangement according to one of claims 1 to 17, characterized in that at least one chassis (8, 8a, 8b) is integrated in a ground unit (9).

19. Transport arrangement according to one of claims 1 to 18, characterized in that the transport robot (1, la) at least one sensor for determining the location, perception of the environment or the state of the transport robot (1, la) or other transport robot (1 , la).

20. Transport arrangement according to one of claims 1 to 19, characterized in that within an enclosure (10) is provided an energy storage.

21. Method for transporting containers with a transport arrangement, where at least two transport robots (1, 1a) are arranged on opposite sides of a container (2), in each case at least one container corner lock (5, 5a) and at least one lifting force moment Support (4, 4a) of the transport robot (1, la) are connected to the container (2) and the container (2) is lifted off the ground, and wherein at least the two transport robots (1, la) communicate with each other, Exchange data and thus can coordinate their movements, characterized in that at least two carriages (8, 8a, 8b), actively driven and both in an uncoupled state and in a Koppe- lungszustand with the container (2) to a in the Is substantially vertical main axis of rotation (17 a) is rotatable.

22. The method according to claim 21, characterized in that at least one first chassis (8, 8b), which in a coupling state with the container (2) close to the container (2) facing side of the transport robot (1, la) is arranged, is actively driven and rotatable.

23. The method according to claim 21 or 22, characterized in that during the arrangement of the transport robot (1, la), the distance between the container corner locking (5, 5a) and container (2) is reduced and at least each a longitudinal locking device (7, 7a) of the container corner lock (5, 5a) arranged perpendicular to a connecting surface of the transport robot (1, 1a), preferably designed as a locking pin, with a longitudinal counterpart of the container, preferably designed as a receptacle for a pin ( 2) before or during the distance reduction.

24. The method according to any one of claims 21 to 23, characterized in that during the arrangement of the transport robot (1, la) reduces the distance between container corner locking (5, 5a) and container (2) and arranged parallel to the connection surface , Preferably designed as a locking pin transverse locking device (6, 6a) of the container corner locking (5, 5a) is connected to a preferably designed as a receptacle for a pen cross-counterpart of the container (2) during or after the distance reduction ,

25. The method according to any one of claims 21 to 24, characterized in that the transport robots (1, la) navigate by means of GPS, laser scanner and / or other devices.

26. The method according to any one of claims 21 to 25, characterized in that the transport robots (1, la) recognize obstacles of the environment and include them in their calculation of a timetable.

27. The method according to any one of claims 21 to 26, characterized in that during the transport of the container (2) continuously a Hubkraft- moment acts on the Hubkraftmoment-support (4, 4a).

28. The method according to any one of claims 21 to 27, characterized in that the transport robot (1, la) by controlling the rotational speeds of at least one chassis (8, 8a, 8b) control their direction of movement and speed.