EP4373696A1 - Dispositif d'alimentation en énergie pour installations de fabrication, chariot de manutention, installation de fabrication et procédé d'alimentation en énergie - Google Patents

Dispositif d'alimentation en énergie pour installations de fabrication, chariot de manutention, installation de fabrication et procédé d'alimentation en énergie

Info

Publication number
EP4373696A1
EP4373696A1 EP22744187.0A EP22744187A EP4373696A1 EP 4373696 A1 EP4373696 A1 EP 4373696A1 EP 22744187 A EP22744187 A EP 22744187A EP 4373696 A1 EP4373696 A1 EP 4373696A1
Authority
EP
European Patent Office
Prior art keywords
plates
industrial
industrial trucks
industrial truck
runway
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP22744187.0A
Other languages
German (de)
English (en)
Inventor
Joerg Rauschenberger
Henry Frintrop
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Modus One GmbH
Original Assignee
Modus One GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Modus One GmbH filed Critical Modus One GmbH
Publication of EP4373696A1 publication Critical patent/EP4373696A1/fr
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
    • B60L5/42—Current collectors for power supply lines of electrically-propelled vehicles for collecting current from individual contact pieces connected to the power supply line
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
    • B60L5/04—Current collectors for power supply lines of electrically-propelled vehicles using rollers or sliding shoes in contact with trolley wire
    • B60L5/06—Structure of the rollers or their carrying means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
    • B60L5/36—Current collectors for power supply lines of electrically-propelled vehicles with means for collecting current simultaneously from more than one conductor, e.g. from more than one phase
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L9/00—Electric propulsion with power supply external to the vehicle
    • B60L9/02—Electric propulsion with power supply external to the vehicle using dc motors
    • B60L9/04—Electric propulsion with power supply external to the vehicle using dc motors fed from dc supply lines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L9/00—Electric propulsion with power supply external to the vehicle
    • B60L9/16—Electric propulsion with power supply external to the vehicle using ac induction motors
    • B60L9/30—Electric propulsion with power supply external to the vehicle using ac induction motors fed from different kinds of power-supply lines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/40—Working vehicles
    • B60L2200/44—Industrial trucks or floor conveyors

Definitions

  • the present invention relates to a power supply device for power supply of industrial trucks and stationary facilities, especially in a manufacturing plant.
  • the present invention also relates to an industrial truck and a production plant and a method for supplying energy to industrial trucks.
  • a production system for series production is known from document DE 102018105911 A1, with a container storage area for storing containers that contain components intended for production, and with transport means for transporting containers.
  • the means of transport have at least one driverless transport vehicle on which a transport rack is arranged and designed in such a way that containers from the transport rack can be automatically delivered to removal racks in a conveyor device.
  • driverless transport vehicles FZ
  • these are supplied with energy from an energy store, which is arranged on the driverless transport vehicle, such as a petrol tank or a battery.
  • the driverless transport vehicles are supplied with energy via rails or the like, with the energy being transmitted via sliding contacts or inductively. In the latter cases, however, the driverless transport vehicles are track-bound.
  • the above object is achieved by a power supply device according to claim 1. Furthermore, the object is achieved by an industrial truck according to claim 5 and by a production system according to claim 12 and by a method for supplying energy to industrial trucks according to claim 15.
  • the energy supply device enables the supply of at least one industrial truck, in particular a large number of preferably autonomous steerable and electric motor-driven industrial trucks on a runway which is formed by a large number of plates, the plates each having at least one contact section.
  • the contact sections can be contacted by sliding contacts of the industrial trucks. Furthermore, the contact sections can also be contacted by stationary devices, for example processing stations of a production plant.
  • the joints formed between the contact sections which usually serve as insulating joints between the contact sections, and/or joints formed on the panels (e.g. painted or glued on as strips), divide the roadway in a grid-like manner so that the Joints form a lattice or network.
  • joint is to be understood broadly and functionally in the present case and can include both groove-like (recessed) joints, which generally have an electrical insulation task, and joints that have no relation whatsoever to the function of the electrical energy supply.
  • Such “navigation” kerfs can be optical kerfs that point to the slab surface chemically coated (e.g. painted, glued, etc.), as well as joints that are not at all visible on the roadway but can be detected magnetically, for example, or the like.
  • the industrial trucks can be designed without their own energy store and can be moved freely (i.e. not on a track) on the runway formed by the plates or contact surfaces.
  • gaps are formed between respective contact surfaces.
  • these gaps preferably serve to insulate the contact surfaces from one another.
  • they are used by industrial trucks as navigation gaps or guidelines, as mentioned above
  • a combination of the energy supply device with at least one industrial truck that has appropriate navigation means also represents a combination according to the invention.
  • the navigation along the joints enables a relatively precise orientation along the joint directions.
  • the gaps preferably extend in mutually orthogonal directions, so that the industrial trucks can move essentially freely in two dimensions on the net or grid formed by the gaps.
  • the side length of a housing of the industrial truck is greater than a distance from joints, so that the industrial trucks are not track-bound in the classic sense.
  • a distance traveled can also be determined via wheel revolutions or other parameters proportional thereto by means of so-called dead reckoning navigation, and consequently indirectly an absolute position.
  • a plate can have exactly one contact surface.
  • the joints between the contact surfaces correspond to the side edges of the panels.
  • a plate has a plurality of contact surfaces, with adjacent contact surfaces of a plate preferably being isolated from one another by joints.
  • coded markings are applied to the running surface, each of which indicates an absolute position of the running surface. Therefore, these coded markings can be used to calibrate the navigation system or for referencing.
  • the distance between the coded markings is greater than the length of a side edge (side length) of a panel and/or greater than the distance between joints and/or greater than the side length of a contact surface. It is particularly preferable if the coded markings are arranged, for example, every three to ten plates and/or every three to ten contact surfaces.
  • the coded markings can be transponders integrated into the plates. It is of particular advantage if coded markings are formed by barcodes.
  • a barcode is understood to mean any type of optoelectronically readable writing or optoelectronically readable code, including classic barcodes, 3D codes, etc.
  • the coded markings are preferably in the form of adhesive labels that are glued to the surface of the panels. As a result, the coded markings can be applied inexpensively.
  • the coded markings are implemented using transponders, it is preferable for these to be in the form of passive (eg inductive) transponders.
  • the trans ponder can be integrated (recessed) into the upper side of the panel, but are preferably arranged in the area of the joints, particularly preferably in the area where longitudinal and transverse joints intersect.
  • the industrial trucks preferably have a joint sensor arrangement which, on the one hand, can detect in the first aspect whether the industrial truck is driving exactly along a joint or is gradually deviating from it. In the latter case, steering corrections can then be made if necessary.
  • the gap sensor arrangement preferably includes a plurality (e.g. 4 to 8) of optical sensors (e.g. light sensors) which can be arranged in a matrix, e.g. with distances which are slightly larger than the gap width.
  • such an industrial truck also includes a reading device for the coded markings, in particular a transponder reading device, which is designed to supply energy to transponders arranged on the runway inductively and to read out a code from the transponders excited in this way, and /or a barcode reader.
  • a reading device for the coded markings in particular a transponder reading device, which is designed to supply energy to transponders arranged on the runway inductively and to read out a code from the transponders excited in this way, and /or a barcode reader.
  • the latter can be a scanner, but can also be a camera or some other image sensor by means of which the code is recorded.
  • the signals from the joint sensors and the codes can then be evaluated within a vehicle computer of the industrial truck, but can also be carried out in a control device that is coupled to the industrial truck or its vehicle computer (e.g. wirelessly).
  • the joints are preferably formed in such a way that the contact surfaces of the plates are electrically insulated from one another by them.
  • the width of the joints is preferably uniform and is preferably greater than 5 mm, in particular greater than 8 mm, in particular greater than 10 mm.
  • the width of the joints is preferably less than 20 mm, in particular less than 15 mm.
  • the width of the gaps is preferably smaller than the width of the wheels of the industrial trucks, so that the gaps are not perceived as obstacles during ferry operation. den, regardless of the steering position in which the wheels are arranged above the joints.
  • the plates are preferably mechanically and/or electrically connected to one another by joining them together, in particular plugging them together.
  • the connection of two side edges preferably realizes both a mechanical connection, in particular a latching connection and/or in the manner of a tongue and groove connection.
  • at least two electrical contacts are preferably contacted at the side edges.
  • the power supply is preferably a DC power supply. Accordingly, when contact is made with a side edge, a positive pole and a negative pole are preferably contacted.
  • each plate preferably has exactly one electrical contact surface, which is formed either as a plus pole or as a minus pole.
  • the plates can, for example, be designed in the manner of panels or planks, which contain grooves or tongues in the area of their longitudinal side, in order to be able to lay the plates in the manner of a parquet floor.
  • Insulating strips can also be inserted in the area of the tongue and groove connections, which form longitudinal joints between the individual panels.
  • cables can be inserted into the grooves, which act as an antenna for signal exchange between vehicles and processing stations to higher-level control systems/computers, e.g. as a replacement or as a redundant measure for radio communication such as WLAN or the like.
  • a plurality of transverse joints can also be provided on each of the panels, which electrically insulate a corresponding plurality of contact surfaces on such a panel from one another.
  • each plate consequently has a plurality of electrical contact surfaces which are preferably separated from one another by transverse joints.
  • transverse joints can also be formed by insulating strips that are inserted into corresponding transverse grooves.
  • both a plus line and a minus line are laid on an underside of the plates. Each of the contact surfaces are then connected either to the plus line or to the minus line. It is understood that the minus line can be a ground line having a potential of 0V.
  • the DC voltage is preferably 10 V to 50 V, in particular 24 V or 48 V, for example.
  • the direct voltage is preferably obtained from a mains voltage (alternating current or
  • Three-phase current derived.
  • the plates are polygonal, in particular rectangular, if necessary square, and laid in an association so that the electrical contact surfaces alternately form a positive pole and a negative pole of an electrical voltage source.
  • the driving surface is preferably formed by a chessboard-like arrangement of contact surfaces, which alternately form a positive pole and a negative pole.
  • chessboard-like includes both arrangements with classic square fields, but also arrangements in which the fields are rectangular and/or laterally offset, as in the case of a tiled or plank floor.
  • At least one plate is designed as a support plate.
  • the panels can be formed by panels or planks, which are laid, for example, on transverse crossbeams.
  • the carrying capacity of the support plates is preferably greater than 150 kg/m 2 and in particular greater than 1,000 kg/m 2 .
  • the distance between the crossbeams can be, for example, in the range between 500 mm and 1000 mm.
  • the vehicle supply section is preferably divided into a large number of compound or supply areas which can be switched off individually, in groups or as a whole.
  • the industrial truck according to the present invention is particularly suitable for an energy supply device as described above.
  • the industrial truck includes a chassis that has at least two wheels that are driven by a respective electric motor.
  • the industrial truck has a plurality of sliding contacts which are designed to make contact with electrically conductive contact surfaces of a travel surface in order to draw electrical power from the contact surfaces for controlling and/or operating the electric motors.
  • the industrial truck includes a sensor arrangement for detecting gaps between contact surfaces and/or for detecting coded markings that are attached to the roadway.
  • the chassis has at least one ball wheel arrangement, which has a rotatably mounted ball wheel made of an electrically conductive material, the ball wheel being mounted in such a way that, at least in a loaded state, an electrically conductive current path is separated from the respective ball wheel is formed to a power connection assigned to this ball wheel.
  • the ball wheel assemblies form sliding contacts.
  • sliding contact is therefore to be understood broadly in the present case and includes both con- rhythms that actually grind on the road surface as well as those that roll on the road surface.
  • the ball wheel arrangements can also preferably take on load-bearing functions. Accordingly, in some embodiments it is sufficient if an industrial truck has only two driven wheels and the horizontal support is otherwise realized by one or a plurality of ball wheel arrangement(s).
  • the ball wheel arrangements preferably have two functions, on the one hand a support function and on the other hand an electrical contacting function.
  • the sliding contacts or ball wheel arrangements are preferably arranged on the industrial truck in such a way that, depending on the installation and the size of the contact surfaces, at least one contact touches a positive contact surface and another sliding contact touches a negative contact surface. Switching is automatic while the industrial truck is moving.
  • a bridge rectifier of the industrial truck is preferably designed so that the sliding contacts are reversed, depending on which sliding contact has a positive pole and which makes contact with a negative pole, so that a constant DC voltage is always available in the industrial truck.
  • the ball wheel of each ball wheel arrangement is preferably mounted between a ball wheel housing and a current collector which is designed to be movable relative to the ball wheel housing and to which the current connection is fixed.
  • the ball wheel In the event of a load, the ball wheel preferably presses against the current collector from below in order to make reliable contact with it.
  • the current collector can be elastically prestressed against such a deflection direction in relation to the ball wheel housing or a housing of the industrial truck in order to achieve good contact between the ball wheel and the current collector even in an unloaded state.
  • a ball bearing is preferably arranged on the current collector, with a ring-like ball bearing cage, in which the individual balls of the ball bearing are arranged on a diameter that is smaller than the diameter of the ball wheel.
  • the ball wheel preferably contacts the current collector via the balls of the ball bearing.
  • each industrial truck has a housing on the underside of which the chassis is formed and on the top of which a transport section for receiving loads or self-moving superstructure devices (such as a robot) is provided.
  • the transport section can have a support surface for receiving a workpiece that is to be transported, for example, from one processing station to the next processing station.
  • the transport section can also be a support surface onto which transport containers or transport pallets can be placed.
  • a plurality of industrial trucks can be provided side by side and/or one behind the other in order to support a larger transport container or a larger transport pallet over the respective transport sections and make it "mobile".
  • the wheels of the industrial trucks can be controlled independently in some cases, so that the control of the wheels can be used to steer the industrial trucks, in particular to rotate 90 ° to align along longitudinal or transverse joints to realize.
  • At least two of the wheels can be moved jointly at least between a first steering position and a second steering position by means of a steering device.
  • the other two wheels can be swiveled freely.
  • the industrial trucks preferably have two-wheel or all-wheel steering.
  • the two-wheel or all-wheel steering is preferably designed in such a way that in particular exactly the two steering positions can be set up, namely a first steering position, in which the vehicle drives in a first direction, and a two steering position, in which the vehicle drives in a second direction is preferably aligned perpendicular to the first direction.
  • Each industrial truck is preferably designed as a small self-propelled unit.
  • the floor conveyor vehicles preferably have a polygonal, in particular rectangular shape when viewed from above, with the longitudinal sides preferably being larger than 180 mm and smaller than 800 mm, in particular smaller than 400 mm.
  • the transverse sides are also preferably larger than 180 mm and smaller than 800 mm, in particular smaller than 400 mm.
  • the housings of the industrial trucks are preferably square in plan view.
  • the side length of the industrial truck is preferably in a range from 200 mm to 800 mm, preferably in a range from 300 mm to 500 mm.
  • the height of the industrial truck, including the chassis is preferably in a range from 100 mm to 400 mm, in particular in a range from 120 mm to 250 mm, in particular in a range from 150 mm to 200 mm.
  • the industrial trucks preferably have exactly four wheels, which are arranged in the area of corners of a housing that is rectangular, in particular square, when viewed from above.
  • the wheels preferably have an identical wheelbase on each side edge.
  • the wheelbase is preferably larger than the length of a side edge (side length) of a contact surface.
  • the ratio of wheelbase to side length is preferably in a range from 1.8:1 to 1.2:1.
  • the floor conveyor vehicles have a polygonal shape in plan view, which can be approximated to a circle.
  • a rotatable turret is provided on the top of this polygonal base body (on the underside of which a landing gear is formed).
  • the diameter of the preferably circular rotatable tower is preferably less than 22.75 cm, ie less than the distance between the longitudinal beams of a Euro pallet. Consequently, the underside of a Euro-pallet can rest on the larger polygonal base housing, with the tower extending between the longerons of the Euro-pallet and preferably not touching the underside of the pallet floor.
  • the rotatable tower can also be used to support, for example, another means of transport on its upper side, for example a lattice box or the like.
  • a plurality of industrial trucks can be used to move the respective means of transport.
  • the industrial trucks can optionally be connected to one another to form a network.
  • the six vehicles can be connected and synchronized with each other, also with regard to their chassis and propulsion.
  • the six industrial trucks can then preferably form the format of a Euro pallet.
  • the track following control along the joints preferably does not take place via a steering device, but preferably via a stepping motor control. If, for example, the industrial truck deviates from a joint in one direction, at least one wheel on this side can be driven at a higher speed for a short time than a wheel on the other side of the joint, so that a lane correction is possible. At least two wheels on opposite sides of the housing can therefore preferably be controlled and driven independently of one another.
  • improved dead reckoning navigation can be set up by detecting the discontinuous guiding line, ie by also detecting crossings of the joints.
  • Each industrial truck preferably has a housing, a chassis with at least two wheels, at least two sliding contacts or ball wheel arrangements, a vehicle computer for connection to a higher-level control device, a power pack, wheel motors that can be controlled independently of one another for at least two of the wheels, and suitable sensor arrangements for Detecting the joints and/or the coded markings.
  • a vehicle computer is arranged in the housing, which is designed to communicate with a central control device and/or which is designed to provide drivers for electric drive motors and/or a driver for an electric steering motor head for.
  • the drivers each contain the power electronics required to control the electric motors.
  • the industrial truck preferably has two drivers for two electric drive motors in the housing, so that two wheels can be driven independently of one another.
  • a first sensor arrangement for detecting a structure of a driveway (in particular joints and preferably also joint crossings) and a second sensor arrangement for detecting a coding of a marking applied to the driveway are fixed to the housing of the industrial truck.
  • the workpieces In the production plant according to the invention, it is possible for the workpieces to be transported by means of the industrial trucks, the industrial trucks being supplied with energy for electromotive propulsion by means of the electrical energy supply device described above.
  • the runway connects at least two processing stations.
  • the production plant is preferably designed in such a way that a large number of industrial trucks are arranged on the runway, to which orders are assigned as required, for example the collection of a workpiece and the bringing of the workpiece to a processing station.
  • an industrial truck can generally wait for a workpiece to be processed at a processing station.
  • another industrial truck it is also possible for another industrial truck to be assigned for the onward transport of the machined workpiece.
  • the industrial trucks or their vehicle computers are preferably connected to a higher-level control device, for example via a wireless connection such as a WLAN, a Zigbee connection or the like.
  • the production facility can extend in one plane (2D), but can also be implemented three-dimensionally (3D).
  • An energy supply device of the type according to the invention is then preferably arranged on each level.
  • the individual levels are then preferably connected to one another via a lift.
  • a lift preferably also contains an electrical energy supply device according to the invention.
  • At least two processing stations can be reached with one another not only on a single, predetermined path, as in the case of track-bound FTZ. Rather, the driving surface is laid two-dimensionally in such a way that these two processing stations can be reached on a number of different driving routes, depending on which the forklift truck is more likely to move at the joints of the contact surfaces arranged like a chessboard. In other words, the industrial trucks can move freely on the chessboard-like grid. Accordingly, either a shortest route can be chosen, or a route that requires as little waiting as possible. Consequently, it is also possible for parked vehicles to be overtaken or the like.
  • All open spaces consequently form a movement space and also form optional parking spaces.
  • the industrial trucks preferably not only bring workpieces to the processing stations, but can also serve as flexible storage or intermediate storage units.
  • a traffic control system with which the industrial trucks are connected can optimize the routes.
  • the runway in an intermediate area between at least two processing stations is so large that a plurality of industrial trucks can be parked in the intermediate area without other industrial trucks ferrying between the processing stations to block.
  • the runway and/or the processing stations and/or the vehicle supply section is/are arranged in a separate work area within which people are not permitted to remain.
  • the industrial trucks can drive completely autonomously in the separated working area and no collision monitoring of any kind has to be carried out.
  • a traffic control system can track the position of each industrial truck on the runway and can use a suitable higher-level navigation strategy to prevent vehicles from colliding with each other. If the work area is locked, there is no need to ensure that other objects are "in the way" on the runway. If maintenance is necessary, the energy supply device can be switched off, possibly in sections, and the runway can only then be entered by people. This makes it possible for people to enter the vehicle supply section as soon as it is de-energized.
  • markings are arranged on the runway, in particular on individual panels, which are detected by an industrial truck in order to determine the position of the industrial truck on the runway.
  • the position is preferably determined in absolute terms.
  • Each of the markers is preferably a unique marker that indicates absolute position within the entire manufacturing facility, whether in 2D or 3D space.
  • the top of the industrial truck is preferably designed as a transport surface.
  • an anti-slip mat corresponding to the shape of the housing in the plan view can be placed on the upper side of the industrial truck. In this case, it is possible to simply place workpieces on the industrial truck. Precisely one workpiece is preferably placed on each industrial truck.
  • the industrial trucks preferably work in the manner of a
  • a handling arm or another type of mounting device can also be provided on an industrial truck.
  • the vehicles may be towed autonomously if necessary. It is also possible to clean the roadways using such a superstructure device in the form of a cleaning device.
  • the contact surfaces are each rectangular and arranged in a group in such a way that the electrical contact surfaces alternately form a positive pole and a negative pole, with the industrial trucks each having at least two sliding contacts, the distance between which is greater is as a side edge of a contact surface, so that the industrial trucks are supplied with energy via the two sliding contacts.
  • FIG. 1 is a schematic representation of an embodiment of an energy supply device with an industrial truck
  • FIG. 2 is a schematic perspective view of an embodiment of a manufacturing facility
  • FIG. 3 is a side view of the manufacturing facility of Fig. 2;
  • FIG. 4 is a partially cut-away view of the industrial truck of FIG. 1 in a perspective view;
  • Figure 5 is a side view of the industrial truck of Figures 1 and 4 from a first side;
  • Figure 6 is a side view of the industrial truck of Figures 1 and 4 from a second side orthogonal to the side of Figure 5;
  • Fig. 7 is a perspective view of another embodiment of a power supply device
  • Fig. 8 is a side view of the power supply of Fig. 7;
  • Fig. 9 is a detail view IX of Fig. 8.
  • Fig. 10 is another side view of the power supply of Fig. 7;
  • figure 11 is a detail view XI of figure 10;
  • Fig. 12 is a plan view of the power supply of Fig. 7;
  • Fig. 13 is a detail view XIII of Fig. 12;
  • Fig. 15 is a perspective view obliquely from below of the industrial truck of Fig. 14; and 16 is a schematic sectional view of a ball wheel assembly for an industrial truck.
  • FIG. 1 An energy supply device for supplying energy to autonomous, steerable and electric motor-driven industrial trucks is shown schematically in FIG.
  • the energy supply device 10 serves to supply energy to industrial trucks 12, one of which is also shown schematically in FIG.
  • the industrial trucks 12 are used in particular in a production plant for transporting workpieces 14.
  • the industrial truck 12 has a housing 15 with a flat upper side 16, which serves as a transport surface and on which, as shown in FIG is, a workpiece 14 can be placed.
  • the industrial truck 12 also includes a chassis 18, which includes four wheels 20 in the present case.
  • the housing 15 of the industrial truck is approximately square in plan view, with each side edge of the housing 15 having a side length S which, for example,
  • the wheelbase R of the wheels 20 is less than the length S of the side edge and is preferably in a range of 0.7 x S - 0.95 x S.
  • two wheels are preferably driven diagonally on opposite sides, and these wheels can each be driven independently of one another by electric wheel hub motors and can be steered independently of one another by steering drives. In general, it is also conceivable to drive all four wheels of the industrial truck. In case only two wheels are driven, the other two wheels are freely rotating and freely pivoting wheels.
  • the height (not shown in Fig. 1) of the industrial truck 12 is in a range of 0.5 x S - 2 x S.
  • the industrial truck 12 also has two sliding contacts 22 which are each arranged in the area of one of the wheels 20 and which are spaced apart by a distance K from one another.
  • K is in a range of 0.6 x S - 0.95 x S and can be approximately equal to the value of R.
  • the sliding contacts have springs, not shown in detail, by means of which the sliding contacts are pressed onto the roadway.
  • the cross-section of the sliding contacts is, for example, in a range of 5x5 mm - 12x12 mm.
  • the power supply device 10 includes a vehicle supply section 30.
  • the vehicle supply section 30 has a plurality of plates 32. As shown in FIG. The plates are each square in plan view and have four side edges 34 and a plate top 36.
  • the plates 32 each have interfaces 38, via which the plates in the region of their side edges 34 can be mechanically and electrically connected to one another or can be plugged into one another, preferably in a latching manner.
  • An electrical contact surface 42 is formed on the top side 36 of the plate, which is made of a metallic material or has a metallic coating.
  • the plates 32 are laid by means of their interfaces 38 in such a way that a joint 40 remains between the contact surfaces 42 in each case.
  • the energy supply device 10 has power supplies, not shown in detail, which, for example, can be powered from a mains voltage of 220 V or 380 V (alternating current or three-phase current). generate a DC voltage with a negative pole and a positive pole.
  • the negative pole can be a ground pole.
  • the voltage formed by the negative pole and the positive pole is preferably in a range from 12 V to 48 V, and is in particular 24 V.
  • the plates 32 each have contacting lines 45 (-) for the negative pole and 45 (+) for the positive pole, which are laid below the contact surfaces and are connected to one another with the correct polarity when the plates are plugged together. Consequently, the bonding lines 45 are looped through the plates 32 .
  • the plates 32 are designed in such a way that one of the two through-connection lines is connected to the contact surface 42 via through-connections 44 .
  • mutually adjacent plates 32 are each rotated by 180° in such a way that the contact surfaces of the plates 32 alternately form a negative pole and a positive pole in the manner of a chessboard. Due to the different laying of the panels 32 (in each case rotated by 180° in the case of adjacent panels), the individual panels 32 can each be identical, so that the panels 32 can be produced inexpensively.
  • the length of the sides of the plates 32 is indicated at P in FIG.
  • the value of P is preferably less than the side length S of the housing 15 and is also less than the wheelbase R.
  • the side length P of the plates 32 is less than K, the spacing of the sliding contacts 22.
  • the ratio of K/P is preferably in a range of 2-1.2, inclusive in each case, and particularly preferably in a range of 1.95-1.6, inclusive in each case.
  • the industrial truck can have an accumulator in order, for example, to bridge smaller distances between runways that are not designed with plates 32 .
  • the industrial truck 12 has a sensor arrangement that makes it possible to use the joints 40, which are used for isolation, as guidelines for navigation.
  • the width of the joints, shown as F in Figure 1, should for this purpose be no less than 5mm and preferably no greater than 15mm.
  • the joint width F is preferably greater than the dimensions of the sliding contacts 22 contacting the plates 32 in order to avoid short circuits.
  • a coded marking can be applied, e.g. in the form of a barcode, which in Is glued in the form of a filing strip on a respective plate.
  • the markings are used to identify an absolute position on the running surface, specifically both in two dimensions, as shown in FIG. 1, or in three dimensions, as shown in FIGS. 2 and 3 below.
  • the coded markings 46 can therefore serve as reference points in navigation, in particular for calibration purposes.
  • the distance M between two markings 46 is preferably in a range of 3 x P - 10 x P and is 6 x P in the present case.
  • the production facility 50 has five vehicle supply sections 30a-30e arranged one above the other.
  • the processing stations can be distributed over these different levels, although only two such processing stations 54a, 54b are shown in FIG.
  • Each of the vehicle supply sections 30a-30e has a structure corresponding to that of FIG.
  • a plurality of industrial trucks 12 can move largely freely on the runway, which is formed by the plurality of plates 32, which have minus and plus poles like a chess board, as is shown schematically in FIG.
  • the production plant 50 which has several vehicle supply sections 30 arranged vertically one above the other, also includes a lift system 56, which includes a vertically movable lift platform 58, via which vehicles 12 can be transferred from the individual “floors” to other floors.
  • the lift platform 58 is equipped with another vehicle service section 30f so that vehicles can transfer from any of the vehicle service sections 30a-30e to the service arrangement 30f of the lift platform 58 to move vertically from one level to the to be transferred next.
  • the totality of the vehicle supply sections 30 forms a substantially closed working space 62 within which people are not allowed to stay. Furthermore, the parking of other objects is not permitted there.
  • the industrial trucks 12 can therefore be designed without collision sensors, etc.
  • rooms 64 for people can be provided, via which access to the working space 62 is possible when the respective vehicle supply arrangement 30 is switched off. For this purpose, it may be possible to be able to shut down the vehicle supply arrangements 30 in sections.
  • the positions of the markings 46 are also stored in this traffic control computer, for example, which the vehicles can access for the purpose of calibration if this is necessary.
  • the navigation can generally be done via the panels 32, namely 2D or 3D. Furthermore, navigation can take place via tracking and tracing.
  • a lane correction can be based on the detection of the guideline in the form of the gaps 40, for example.
  • transverse joints can also be included in the navigation.
  • the navigation also takes place in the manner of dead reckoning, in which the coded markings are used as reference points, and the link angle is measured on the areas in between, and the wheel revolutions are measured.
  • the industrial truck 12 preferably has a steering device 70 which can be adjusted between a first steering position L1 (see FIG. 4) and a second steering position L2.
  • first steering position the industrial truck 12 moves, for example, along a joint 40.
  • second steering position L2 generally perpendicular thereto, the vehicle travels along a joint that is oriented perpendicular to the first joint.
  • the steering device 70 can set up the two steering positions L1, L2 by means of stops, so that the steering device can be implemented in a structurally simple manner.
  • the industrial truck 12 also includes the above-mentioned vehicle computer 72, which is preferably in wireless contact with the control device 66, e.g. via WLAN, Zigbee, via an antenna cable inserted in a slot, etc.
  • a power supply 78 is also included.
  • a steering motor 80 is driven by the steering motor driver 76 to establish the first or second steering position L1 or L2.
  • the wheel motor drivers 74a, 74b are connected to respective drive motors 82, which can be embodied as wheel hub motors. Individual control of the driven wheels may make it possible to dispense with a separate steering device.
  • Switchable electromagnets 84 are also provided on the four sides of the housing 15 and can be used to couple a plurality of industrial trucks 12 to one another.
  • a sensor arrangement 86 is provided on the underside of the housing 15, specifically in an area between the wheels 20.
  • the sensor arrangement 86 contains a first sensor arrangement for tracking the guidelines in the form of the gaps 40.
  • This first sensor arrangement can be implemented, for example, by a plurality of light sensors that are able to recognize patterns.
  • the joint width F can preferably be at least 10 mm, and the distance between the first sensor arrangement and the contact surface should preferably be less than 15 mm.
  • a second sensor arrangement of the sensor arrangement 86 is also designed to read the encoded markings 46 .
  • the second sensor arrangement can be designed as a scanner or as a camera sensor.
  • One or a plurality of steering position sensors can optionally be provided to monitor the steering positions L1, L2.
  • the vehicle computer 72 can, for example, be implemented by a mini PC (eg Raspberry, etc.). Furthermore, fans for cooling a power pack 78 or the drivers 74, 76 can be provided in the housing 15.
  • a mini PC eg Raspberry, etc.
  • fans for cooling a power pack 78 or the drivers 74, 76 can be provided in the housing 15.
  • Power supplies for supplying the contacting lines 45 can be integrated into some of the boards, but can also be arranged outside of the boards, e.g will.
  • the energy supply device shown in FIGS. 7 to 13 shows in schematic form two vehicle supply sections 30Aa and 30Ab lying vertically one above the other.
  • the vehicle supply sections 30 are formed by a plurality of plates 32A which are designed as support plates.
  • the panels 32A are formed as elongate panels that are joined together at their side edges.
  • the energy supply device 10A has a plurality of vertical posts 90 which are connected to one another via cross members 92 and longitudinal members 94 .
  • the cross members 92 extend in a direction y.
  • the longitudinal beams 94 extend in a direction x orthogonal thereto.
  • each vehicle supply section 30A are formed as elongated panels extending along the direction x and arranged side by side.
  • the plates 32A are connected to each other by tongue and groove connections 96.
  • the tongue and groove connections 96 have elongated recesses on the upper side of the plates 32A, in each of which insulating strips 98 are inserted.
  • the plates 32A rest on the crossbeams 92 in an isolated manner.
  • a plurality of transformers 100 can be provided, which are designed to convert a mains voltage of e.g. 220 V (see Fig. 12) into a DC voltage, specifically in level of 24 V, for example.
  • the power packs or transformers 100 can, as can be seen in FIG. 12, be assigned to respective supply areas, which can then consequently be switched off separately via the power packs.
  • the mains voltages of 220V can each be generated via ballast transformers which are connected on the input side to a three-phase power supply of, for example, 400V.
  • each plate 32A can have a plurality of contact surfaces 42A which are separated from one another by transverse joints 102 .
  • the transverse joints 102 can be configured in the same manner as the joints 40 described above. In particular, the transverse joints can also be pure navigation joints that are applied to the plates 32A and have no insulating function
  • Each vehicle supply section 30A can consequently be formed by a plurality of contact surfaces 42A which are separated from one another by longitudinal joints in the form of insulating strips 98 and by transverse joints 102 (in this case with an insulating function).
  • the pads 42A may be square in plan as shown in FIG. 12, or may be rectangular as shown in FIG.
  • FIG. 11 shows contacting lines 45A, which can enable through-contacting across transverse joints 102.
  • markings 46A in the form of transponders can be inserted into the insulating joints 40A, which are formed by insulating strips 98, or into the transverse joints 102.
  • the transponders can be passive transponders that work according to the inductive principle.
  • a reader attached to an industrial truck is designed to implement an inductive coupling with the passive transponder in order to supply it with energy for a short time and to stimulate it to send the code (coding) stored in the transponder so that the transponder can then be unique can be identified.
  • each transponder has its own coding, so that each transponder indicates an absolute position in the energy supply device.
  • FIGs. 14 and 15 a further embodiment of an industrial truck 12A is shown.
  • the industrial truck 12A has a base 110 which is polygonal in plan view, and a tower 112 extending upwardly therefrom in the vertical direction.
  • the chassis 18 has two driven wheels 20A, 20Aa, the centrally under the tower 112 and are arranged coaxially to one another and can be controlled independently of one another by means of separate electric motors.
  • the vehicle 12 shown in FIGS. 4-6 can also have only two wheels that are driven independently of one another (and are therefore also capable of steering), which are preferably offset diagonally, and two freely pivotable (“passive”) wheels.
  • the passive wheels can optionally be designed as a ball wheel arrangement (see below).
  • the base 110 is polygonal and approximately circular in plan view.
  • the tower 112 is preferably designed to be rotatable relative to the base 110 .
  • the control of the driven wheels is significantly simplified as a result.
  • the undercarriage further includes a plurality of ball wheel assemblies 114 disposed in the area of the outer periphery of the base 110.
  • the industrial truck 12A preferably has eight ball wheel arrangements 114 of this type, each of which has a load capacity greater than 10 kg, for example.
  • the ball wheel assemblies 114 are preferably constructed as shown in FIG.
  • Each ball wheel assembly 114 has a ball wheel 116 that extends to a floor and is thus approximately level in the driving plane with the bearing surfaces of the driven wheels 20A, 20Aa, as shown in FIG.
  • the industrial truck 12A also has a marker detection sensor 120 in the form of a transponder reader between the driven wheels 20A, 20Aa.
  • the transponder reading device 120 as a marking detection sensor is designed to detect a transponder 46A and to read out its coding, as shown in FIG. Furthermore, the industrial truck 12A has on the underside one, preferably two, gap detection sensors 118 arranged one behind the other in the direction of travel, each of which has a plurality of light sensors arranged in an array-like manner in order to detect whether a vehicle is moving along a gap (e.g. along an insulation strip 98 or a transverse insulation gap 102).
  • a gap detection sensors 118 arranged one behind the other in the direction of travel, each of which has a plurality of light sensors arranged in an array-like manner in order to detect whether a vehicle is moving along a gap (e.g. along an insulation strip 98 or a transverse insulation gap 102).
  • the industrial truck 12A can be guided along a joint by independently controlling the driven wheels 20A, 20Aa.
  • the ball gear assembly 114 includes a ball gear housing 130 that is fixed to a housing of the industrial truck, such as the base 110 as shown in FIG.
  • the ball wheel housing 130 is designed in such a way that a ball wheel 116 in the form of a sphere protrudes downwards opposite an unspecified opening of the ball wheel housing 130 .
  • the opening consequently has a smaller diameter than the diameter of the ball wheel 116.
  • the ball wheel assembly 114 further includes a current collector 132.
  • the current collector 132 is movably supported in the vertical direction relative to the ball wheel housing 130. As shown in FIG.
  • the current collector 132 is preferably located in the vertical direction between the ball wheel 116 and an insulating plate 134, through which the current collector 132 can be isolated from the industrial truck housing (base 110).
  • the current collector 132 is vertically biased by elastic members such as springs 136 in a direction toward the ball gear 116 so that the ball gear 116 protrudes from the opening of the ball gear case 130 in an unloaded state, as shown in Fig. 16 is.
  • a power connection 138 is provided, which is connected to a power supply device, not shown, of the industrial truck.
  • a ball bearing 140 is arranged, which has a cage 142 on which a plurality of balls 144 are rotatably mounted.
  • the cage is horizontally oriented and supports the balls 144 on a diameter smaller than the outside diameter of the ball gear 116.
  • the balls 144, the cage 142, the current collector 132 and the ball wheel 116 itself are preferably made of an electrically highly conductive material, such as a metal.
  • the ball wheel arrangement 114 consequently has the function of a sliding contact, even if the contact as such is not sliding but rolling.
  • the ball wheel 116 presses from below against the balls 144 of the ball bearing 140, so that the springs 136 are compressed until the current collector 132 hits the underside of the insulation plate 134. In this state, as shown in FIG. 16, the ball gear 116 will still protrude vertically downward from the ball gear case 130 so that the power supply is ensured.
  • the increased contact pressure also ensures good electrical contact between the individual elements.
  • the springs 136 press the ball bearing 140 or its balls 144 against the ball wheel 116 in order to ensure good electrical contact in this way.
  • the relative rotatability of the tower or a turntable of the tower can be controlled by a motor, but can also be passive.
  • a plurality of ball wheel arrangements can also be provided, of which only some are designed or connected to receive electrical power, whereas others serve purely to support a load.
  • each industrial truck can also have a number of driven wheels 20 that is greater than 2.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un dispositif d'alimentation en énergie (10) pour alimenter en énergie des chariots de manutention entraînés par moteur électrique (12) et/ou des dispositifs stationnaires (54), en particulier dans une installation de fabrication (50), le dispositif d'alimentation en énergie comprenant une partie d'alimentation de chariot (30) qui comporte une pluralité de plaques (32) qui peuvent être reliés l'une à l'autre mécaniquement et/ou électriquement par assemblage dans la zone de leurs bords latéraux (34) et chacune comprenant, sur leur face supérieure (36) au moins une surface de contact électrique (42) ; les plaques (32) formant des parties d'une surface de roulement pour les chariots de manutention (12), et les plaques pouvant être mises en contact par des contacts à frottement (22) des chariots de manutention (12) ou par des dispositifs stationnaires (54) ; (i) des espaces (40) étant formés sur les plaques (32) et/ou entre des surfaces de contact adjacentes (42), lesdits espaces pouvant faire office de lignes de guidage lors de la navigation des chariots de manutention (12) ; et/ou (ii) des marquages codés (42) étant appliqués sur la surface de roulement formée par les plaques (32), chaque marquage codé indiquant une position absolue sur la surface de roulement, de sorte que lesdits marquages codés servent de points de référence lors de la navigation des chariots de manutention (12).
EP22744187.0A 2021-07-22 2022-07-13 Dispositif d'alimentation en énergie pour installations de fabrication, chariot de manutention, installation de fabrication et procédé d'alimentation en énergie Pending EP4373696A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102021119060.6A DE102021119060A1 (de) 2021-07-22 2021-07-22 Energieversorgungseinrichtung für Fertigungsanlagen, Flurförderfahrzeug, Fertigungsanlage und Energieversorgungsverfahren
PCT/EP2022/069582 WO2023001656A1 (fr) 2021-07-22 2022-07-13 Dispositif d'alimentation en énergie pour installations de fabrication, chariot de manutention, installation de fabrication et procédé d'alimentation en énergie

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EP4373696A1 true EP4373696A1 (fr) 2024-05-29

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EP22744187.0A Pending EP4373696A1 (fr) 2021-07-22 2022-07-13 Dispositif d'alimentation en énergie pour installations de fabrication, chariot de manutention, installation de fabrication et procédé d'alimentation en énergie

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EP (1) EP4373696A1 (fr)
DE (1) DE102021119060A1 (fr)
WO (1) WO2023001656A1 (fr)

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3120648A1 (de) 1981-05-23 1982-12-16 Arnold 2850 Bremerhaven Adam Anordnung zur stromversorgung von elektrofahrzeugen
DE3911054C3 (de) 1989-04-05 1997-01-02 Wagner Foerdertechnik Navigationssystem und -Verfahren zur leitdrahtlosen Führung von fahrerlosen Flurförderzeugen
DE102012024038A1 (de) * 2012-12-08 2014-06-12 Identytec Gmbh & Co. Kg Produktionssystem
US20200398916A1 (en) 2017-03-20 2020-12-24 Identytec Gmbh & Co. Kg Production system with an agv for automatically discharging containers to picking shelves

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