WO2015080685A1 - Véhicule guidé automatique modulaire - Google Patents

Véhicule guidé automatique modulaire Download PDF

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Publication number
WO2015080685A1
WO2015080685A1 PCT/TR2014/000470 TR2014000470W WO2015080685A1 WO 2015080685 A1 WO2015080685 A1 WO 2015080685A1 TR 2014000470 W TR2014000470 W TR 2014000470W WO 2015080685 A1 WO2015080685 A1 WO 2015080685A1
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WO
WIPO (PCT)
Prior art keywords
agv
modules
module
agvs
vehicles
Prior art date
Application number
PCT/TR2014/000470
Other languages
English (en)
Inventor
Eroglu YALCIN
Original Assignee
İrob İleri̇ Robot Otomasyon Si̇stemleri̇ Ve Bi̇lgi̇ Teknoloji̇leri̇ San. Ti̇c. Ltd. Şti̇.
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 İrob İleri̇ Robot Otomasyon Si̇stemleri̇ Ve Bi̇lgi̇ Teknoloji̇leri̇ San. Ti̇c. Ltd. Şti̇. filed Critical İrob İleri̇ Robot Otomasyon Si̇stemleri̇ Ve Bi̇lgi̇ Teknoloji̇leri̇ San. Ti̇c. Ltd. Şti̇.
Priority to EP14838824.2A priority Critical patent/EP3074338A1/fr
Publication of WO2015080685A1 publication Critical patent/WO2015080685A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided

Definitions

  • the invention relates to minimizing the maintenance and repair costs and times and providing ease of assembly for unmanned automated guided vehicles (hereinafter referred to as AGV), which are used for carrying, loading, and unloading purposes.
  • AGV unmanned automated guided vehicles
  • the present invention relates to providing quick access and demounting for the groups enabling movement of vehicles by means of modularization of the components required for operation of automated guided (oriented) vehicles, providing product stockpiling opportunity by means of using modular structures, and providing the facility to convert the present loading vehicles or assembly benches/fixtures into AGVs via combination with modular groups.
  • AGV automated guided (oriented) vehicles
  • AGVs are vehicles that have unmanned movement capability with the help of a battery and with the ability of choosing route or position by following a painted line that forms black-and- white contrast or laser reflectors found on the ground or on the wall by means of an aluminium band, magnetic band or magnetic tag positioned with the purpose of providing guiding through a route via a software program.
  • It comprises electromagnetic device or devices (guidance systems) indicating the route that the vehicle would follow for approaching a targeted point after leaving its point of origin.
  • the vehicles can move between desired targets with the help of these systems.
  • AGVs are the most economic ones among many load carrying systems. They pay off their own costs in short time. AGVs can be designed such that they would operate in interaction with conveyors, production lines, automatic loading/unloading units, lift and door etc. sub-units of other transport systems. They enable product tracking and real-time confirmation of delivery via computerized supervision system. They reduce labour force requirement due to use of unmanned vehicles and increase speed and efficiency by eliminating complex tracking operations. Change of production area and increase of product size may be required within a factory. In such cases, the route and capacity of AGVs can be easily changed with low costs and new loading/unloading points can be defined. Unlimited number of loading and unloading points can be formed. As a result of recent studies, damages on products and equipment have also been ' reduced in AGV transport systems. They are not noisy and do not require excessive energy for operation. They can be easily integrated into a system without hindering operation substantially.
  • prior art AGVs need to be lifted to a certain height as a whole by additional systems or vehicles or tilted to reach lower sections.
  • their transportation and delivery to technical service causes extra costs and loss of labour.
  • additional AGVs * are required to be kept as ready or spare vehicles are needed to be provided by the producer company.
  • Prior art AGVs have custom designed bodies in terms of pulling, pushing, lifting, carrying, unloading etc. functions. This leads to production of specially designed AGVs according to desired functions. This causes mass production problems and high stockpiling costs for the AGV producer companies.
  • the purpose of the invention is to enable easy access to the components required for operation of automated guided vehicles without lifting or tilting the vehicle in case of failure or maintenance.
  • Another purpose of the invention is to minimize the required time period and labour for trouble shooting and repairment by means of classifying the components required for operation of the vehicle according to their functions.
  • Another purpose of the invention is to eliminate the losses through the production process by minimizing the time for repairment and maintenance of the vehicle.
  • Another purpose of the invention is to enable use of the vehicles with the purpose of pulling and/or carrying loads by means of combining with various body structures thanks to the modular structure.
  • Another purpose of the invention is to minimize the production time and costs of AGVs with different body designs for pulling, pushing, lifting, and loading functions.
  • Another purpose of the invention is to enable conversion of present carts or assembly benches/fixtures into AGVs via combining with modular groups.
  • the requirement for tilting or complete lifting of automated guided vehicles for maintenance and repairment purposes is eliminated, the engine (of the drive group) placed at the lower part is made easily accessible on the main body, and the removal and maintenance of relevant parts are made easier by being formed of demountable main parts (groups), and only the relevant part can be re-mounted in the system when required.
  • the AGV can be converted into carrying, lifting, pulling, loading etc. applications easily by using the modules. Due to its modular structure, it is suitable for mass production and the production speed is increased and the stockpiling costs are reduced by means of combining the desired functional parts on suitable bodies, and the presently used carts and assembly benches/fixtures can be provided with AGV function by being combined with relevant modular groups.
  • Figure 1 is the relevant general view of a typical AGV of the invention formed by bringing the modules together.
  • Figure 2 and Figure 3 are the representative view of the motion that enables easy access to a typical AGV drive module of the invention on the main body.
  • Figure 4 is the perspective view of the drive module.
  • Figure 5 is the perspective view of the power module (battery compartment).
  • Figure 6 is the perspective view of the control module.
  • Figure 7 is the side view of a typical AGV of the invention formed by bringing the modules together without a drive group protective front cover and showing the axis bearings that provide rotation of the drive group.
  • AGV (10) developed according to the present invention, access to the parts found below the AGVs (10) such as engine section (40.8), drive wheels (40.2) etc. is facilitated, AGV (10) is divided into demountable groups and thus the idle time and repair-maintenance time of the vehicle are minimized, continuous operation of AGV (10) during repairment and maintenance works is provided by means of replacing the relevant modular group and with a functioning modular group instead of carrying the whole AGV for repairment or maintenance works, and thus transportation and personnel costs required- for technical service have been reduced, and mass production failures have been eliminated.
  • the same AGV (10) can be converted into structures for use in carrying or pulling materials by means of change of body (10.1) and main body (10.1) modification. Due to its modular structure, the present carts found in operation can be provided with AGV (10) function by means of bringing the load carts, assembly benches/fixtures used in production together on the relevant modular groups;
  • the AGV (10) of the present invention is formed of 4 main modules. These are Control module (20), Power module (battery compartment) (30), drive module (40), and bumper module (50). Besides the modules, main bodies (10.1) suitable for different functions or characteristic for special demands are also used. While the modules can be used with the purposes of pulling or carrying loads by means of being combined with various main body (10.1) structures, the present carts or assembly benches/fixtures- can also be converted into AGVs (10) according to customer demands.
  • connection points of the modules are designed according to demountable characteristics and thus it can be mounted and demounted via simple movements and operations.
  • Main body (10.1) designs are made in accordance with the idea of enabling safe and simple mounting.
  • the parts can be mounted and demounted in short time and by simple operations on the main body (10.1).
  • the broken parts are determined and the modules to be demounted are rapidly taken out of the main body and replaced with functioning module/modules and thus integrated into the system.
  • the whole AGV (10) idle in case of failure of a part or a system, it is kept working until the failure is repaired.
  • Modules are found in their original bodies. Modules can be brought together via single connection lines. In this way, the system can become operative when the modules are positioned on any body and communication lines are established.
  • Suitable main body (10.1) designs are needed for performing pulling, pushing, carrying etc. functions of AGV (10). Change of the demands depending on the need for AGV (10) and the requirement of producing different AGVs (10) for meeting all the functions prevent mass production or requires keeping high number of stocks.
  • the mechanical and electronical parts providing operation of the vehicle are designed in the form of modules to be used in AGVs (10) having all the required functions. Only the main body (10.1) is required to be changed for different functions. AGV (10) can be designed with the main body (10.1) suitable with the need and completed by use of 4 modules.
  • main modules and main bodies (10.1) suitable for different functions can be mass-produced and stocked.
  • the relevant main body suitable for the demand and 4 main modules can be combined and made ready for use easily.
  • project-based customized automatic oriented vehicles (10) or automatic material carrying systems can be mass-produced in a short time according to customer demands thanks to this modularity (LEGO).
  • the main body (10.1) design is made according the needs of the customer and the standardized modules are mounted on the body, so that the production can be made in short time.
  • modular structure is a significant characteristic for bringing AGV (10) back into the production process as quick as possible in terms of failure.
  • AGV (10) idle waiting time is minimized by changing the relevant module within the maintenance or repairment time period of the mechanical or electronical parts.
  • the module where the relevant defective parts are found can be easily demounted and replaced with a spare module, so that the AGV (10) can be included into the process again.
  • the maintenance and repairment are required to be made at the technical service, only the module to be repaired can be delivered without the need for transporting the whole AGV (10). In this way, top level customer satisfaction is achieved and technical service costs are minimized.
  • the sensor group (40.1) enables movement of the vehicle (10) on a predetermined route. These parts are the most significant parts of the vehicle (10) and also are the parts with highest risk of failure. Since the parts found in this section are movable, they require frequent maintenance, and thus they are made easily accessible on the main body (10.1) without being removed.
  • the drive module (40) is lifted by means of release of the lock mechanism and applying pressure on the lever arm (40.3) and moving around the rotation axis bearing (40.5) axis found on the main body (10.1).
  • the drive wheels (40.2), engine (40.8), and the sensor group (40.1) sections are brought to an accessible point at the front part of the vehicle (10). Safety is easily ensured by means of shock absorbers (40.6).
  • the vehicle (10) By lifting the drive wheels (40.2), the vehicle (10) can be freely moved back and forth via the idle wheels (10.3) found at the corners of vehicle main body (10.1). Following completion of required maintenance works on the engine (40.8), drive wheels (40.2), and the sensor group (40.1), the same axis (40.5) is closed and locked.
  • Presently used railcars can be provided with AGV (10) feature by means of positioning the modules on the bodies and establishing connection lines in between.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
  • Platform Screen Doors And Railroad Systems (AREA)

Abstract

L'invention concerne un véhicule guidé automatisé (10) comprenant des modules de commande (20), de puissance (30), d'entraînement (40) et de pare-choc (50) à des fins de transport, de chargement ou de déchargement de matériaux. Pour permettre une production en série et ponctuelle, le changement de fonction peut être obtenu en changeant uniquement le corps principal (10.1) et en gardant les autres modules. Pour simplifier la maintenance et permettre l'accès au module d'entraînement (40) sans soulever le véhicule, un bras (40.3) est placé au-dessus du corps principal (10.1) et permet la rotation du module d'entraînement sur un axe (40.5).
PCT/TR2014/000470 2013-11-27 2014-11-26 Véhicule guidé automatique modulaire WO2015080685A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP14838824.2A EP3074338A1 (fr) 2013-11-27 2014-11-26 Véhicule guidé automatique modulaire

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
TR201313839 2013-11-27
TR2013/13839 2013-11-27

Publications (1)

Publication Number Publication Date
WO2015080685A1 true WO2015080685A1 (fr) 2015-06-04

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Country Status (2)

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EP (1) EP3074338A1 (fr)
WO (1) WO2015080685A1 (fr)

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105096507A (zh) * 2015-07-13 2015-11-25 李占平 消防机器人视频感知巡查报警装置及巡查报警方法
CN105502210A (zh) * 2016-01-22 2016-04-20 无锡凯乐士科技有限公司 一种agv车
CN105730553A (zh) * 2016-02-05 2016-07-06 广东嘉腾机器人自动化有限公司 一种可自适应地面变形的agv底盘结构
CN106409125A (zh) * 2016-12-20 2017-02-15 中国电子科技集团公司第二十研究所 易于生产和装配的减震型模块化教研用agv平台
US20170144502A1 (en) * 2015-11-23 2017-05-25 Kia Motors Corporation Automated guided vehicle
DE102016014882A1 (de) 2016-12-14 2017-06-29 Daimler Ag Baukastensystem für ein fahrerloses Transportfahrzeug zum Herstellen wenigstens eines Produkts, insbesondere eines Fahrzeugs
CN108528481A (zh) * 2018-01-22 2018-09-14 中融飞腾（北京）科技有限公司 一种重型货物的电动托运系统
CN108628305A (zh) * 2018-04-04 2018-10-09 合肥工业大学 一种用于agv的高精度自动定位及引导系统
CN109132478A (zh) * 2018-06-27 2019-01-04 嘉善缔嘉装饰材料有限公司 一种板件上料装置
FR3077809A1 (fr) * 2018-02-14 2019-08-16 Psa Automobiles Sa Dispositif de retournement de vehicule autoguide
WO2020069504A1 (fr) 2018-09-28 2020-04-02 Autoguide, LLC Installation logistique commerciale, véhicule guidé autonome robotique modulaire configurable et procédé associé
WO2021233506A1 (fr) * 2020-05-19 2021-11-25 Continental Teves Ag & Co. Ohg Véhicule de transport sans conducteur à maintenabilité améliorée
US11977392B2 (en) 2020-05-11 2024-05-07 Mobile Industrial Robots Inc. Identifying elements in an environment

Citations (1)

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US20080166217A1 (en) * 2007-01-05 2008-07-10 Kiva Systems, Inc. System and method for transporting inventory items

Patent Citations (1)

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US20080166217A1 (en) * 2007-01-05 2008-07-10 Kiva Systems, Inc. System and method for transporting inventory items

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
IROB ILERI ROBOT OTOMASYON VE BILGI TEKNOLOJILERI: "Otomatik Yönlendirilmis Araçlar - AGV", 9 August 2013 (2013-08-09), XP054975810, Retrieved from the Internet <URL:https://web.archive.org/web/20130809055723/http://www.irob.com.tr/> [retrieved on 20150407] *

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105096507A (zh) * 2015-07-13 2015-11-25 李占平 消防机器人视频感知巡查报警装置及巡查报警方法
US20170144502A1 (en) * 2015-11-23 2017-05-25 Kia Motors Corporation Automated guided vehicle
US9868591B2 (en) * 2015-11-23 2018-01-16 Kia Motors Corporation Automated guided vehicle
CN105502210A (zh) * 2016-01-22 2016-04-20 无锡凯乐士科技有限公司 一种agv车
CN105730553A (zh) * 2016-02-05 2016-07-06 广东嘉腾机器人自动化有限公司 一种可自适应地面变形的agv底盘结构
DE102016014882A1 (de) 2016-12-14 2017-06-29 Daimler Ag Baukastensystem für ein fahrerloses Transportfahrzeug zum Herstellen wenigstens eines Produkts, insbesondere eines Fahrzeugs
CN106409125A (zh) * 2016-12-20 2017-02-15 中国电子科技集团公司第二十研究所 易于生产和装配的减震型模块化教研用agv平台
CN108528481A (zh) * 2018-01-22 2018-09-14 中融飞腾（北京）科技有限公司 一种重型货物的电动托运系统
FR3077809A1 (fr) * 2018-02-14 2019-08-16 Psa Automobiles Sa Dispositif de retournement de vehicule autoguide
CN108628305A (zh) * 2018-04-04 2018-10-09 合肥工业大学 一种用于agv的高精度自动定位及引导系统
CN108628305B (zh) * 2018-04-04 2021-03-23 合肥工业大学 一种用于agv的高精度自动定位及引导系统
CN109132478A (zh) * 2018-06-27 2019-01-04 嘉善缔嘉装饰材料有限公司 一种板件上料装置
WO2020069504A1 (fr) 2018-09-28 2020-04-02 Autoguide, LLC Installation logistique commerciale, véhicule guidé autonome robotique modulaire configurable et procédé associé
CN112805211A (zh) * 2018-09-28 2021-05-14 自动导向有限责任公司 商业物流设施、可配置模块化机器人自主引导车辆及其方法
EP3856620A4 (fr) * 2018-09-28 2021-12-15 Autoguide, LLC Installation logistique commerciale, véhicule guidé autonome robotique modulaire configurable et procédé associé
US11305936B2 (en) 2018-09-28 2022-04-19 Autoguide, LLC Commercial logistic facility, configurable modular robotic autonomous guided vehicle, and method therefor
CN112805211B (zh) * 2018-09-28 2023-09-05 莫比奥工业机器人公司 商业物流设施、可配置模块化机器人自主引导车辆及其方法
US11977392B2 (en) 2020-05-11 2024-05-07 Mobile Industrial Robots Inc. Identifying elements in an environment
WO2021233506A1 (fr) * 2020-05-19 2021-11-25 Continental Teves Ag & Co. Ohg Véhicule de transport sans conducteur à maintenabilité améliorée

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