• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a transport arrangement for the transport of containers (2) with at least two transport robots (1, 1a), which are designed to lift and transport a container (2) together, wherein the transport robots (1, 1a) at least one communication unit for communication with each other, at least one container corner locking (5, 5a), at least one Hubkraftmoment support (4, 4a) and at least two carriages (8, 8a, 8b) with a wheel drive (12). The object of the invention is to provide a transport arrangement and a method which enables the fastest possible and efficient transport of containers. This is achieved by the fact 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 connected both in an uncoupled state and in a coupled state Container (2) about a substantially vertical main axis of rotation (17 a) is pivotable.
    公开号:AT520628A2
    申请号:T50121/2018
    申请日:2018-02-08
    公开日:2019-05-15
    发明作者:
    申请人:Amx Automation Tech Gmbh；
    IPC主号:
    专利说明:

    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 robot at least one communication unit to communicate with each other, at least one container corner locking, at least one HubkraftmomentAbstützung and at least two Have landing gear 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 Hubkraftmoment support of the transport robot are connected to the container and the container from the ground is lifted, 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, different floor-bound container handling systems are known. Floor-bound container handling systems are manually controlled or autonomous heavy transport vehicles with electric, gas, diesel or diesel
    Fuel cell drive, either by means of one independent
    Lifting device (eg port crane) can be loaded and unloaded directly or can pick up and drop the container by means of an accessible container bridge and an integrated lifting device and can move the container from this first location (loading location) to a second location (place of delivery). Due to the design, such transport vehicles can accommodate a 40 'or two 20' standard containers. A disadvantage of such container handling systems are the high dead weight (is of the order of the permissible single container weight), the large vehicle length (significantly longer than the length of the container), the limited maneuverability due to the large curve radii and the lack of possibility of 90 ° - Querfahrten, as well as the requirement of loading / unloading or direct loading / unloading by means of cranes, the port crane systems and the vehicles interfere with each other in their utilization.
    US2017 / 0182923A1 discloses an autonomously operating floor-bound
    Transport container 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.
    The US5800114, US3327996, US5170994, EP1285878A1, EP123022A1, WO20150266246 disclose stationary and mobile lifting and lowering devices for vehicles, containers, lifts or the like, which are operated manually or electronically controlled, which are equipped with special lifting equipment and the interaction of 4 or more units, can lift and lower large-volume loads. 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
    Consist of load. A disadvantage is the manual mode and an independent additional conveyor system required for the horizontal method (eg forklift trucks).
    US2004 / 0256266A1, US5170994, EP0123022A1 and WO2015025246A2 disclose containers for securing containers
    Hoists, wherein the fixation by means of a twist lock (Twist Lock) or a plug-in takes place in the standardized container corner. Disadvantages of these designs are, inter alia, the only manually operated
    Screw caps or plug-in parts for fixing a container in the
    Container corners.
    EP2017281A1 discloses a method and 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 in 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 in the longitudinal direction occurring forces and displacements during the
    Transport process is not secured, 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, the JPS62280372A, US20020014357A1, US4221273, US7694758B1, US2004 / 0079560A1, omnidirectional travel drives with two individually driven drive wheels, which are rotatably mounted in a guide about a second axis perpendicular to the wheel axis vertical to the road plane, and have additional facilities to the direction of travel relative to the driving device to influence and compensate for bumps. The DE102013019726A1 discloses an omnidirectional traction drive with two individually driven drive wheels with upwardly (viewed from the road plane) staggered drive motor with belt drive, which causes an enormous height, the drive variably tilted about a vertical axis and perpendicular to a second axis for leveling is executed. DE102007046868A1 and US6540039B1 disclose a drive system for an omnidirectional vehicle with two steerable staggered ones
    Wheel assemblies consisting of two drive wheels and EP2336075A1 and EP3216747 disclose a drive system for an omnidirectional vehicle with four staggered steerable wheel assemblies with integrated wheel drive and central bearing for orienting the direction of travel and a second spaced vertically from the wheel axle second bearing for a leveling of the drive wheels. The disadvantage of these embodiments with additionally required steering devices, the lack of opportunity, a liquid
    To be able to perform movement in any direction, in the
    Variants with upwardly staggered drive units (eg motor and belt transmission) the enormous height, in the variants with only two wheel assemblies the limited maneuverability (a transverse travel is not possible because of the then identical axles, lack of tilt stability) and in the variants with vertically spaced from the wheel axle second bearing for leveling the drive wheels from 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. But all must first
    Lifting devices arranged correctly 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; 2017-1118) of the American company Swarm Robotix (https://swarmrobotix.com), a mobile, automated system for containerized container handling is disclosed which consists of four floating, synchronized individual vehicles consists, which are each designed with a 5 acting in the container longitudinal direction rotatable container locking (twistlock) and a stroke longitudinal displacement unit.
    The parked on the ground container is approached at the four corners of each individual vehicle in the container longitudinal direction, the container lock inserted and locked in the opening of the bottom side front corner container, synchronously raised by means of four individual vehicles and partially underrun by the individual vehicles, on a platform deposited above support wheels, then moved along the trajectory along trajectories, briefly raised, lowered to the ground and the container
    Lock released, so that the individual vehicles can leave the container parking. In this case, individual vehicles each have a firmly connected to the individual vehicle chassis with two driven wheels and two more, designed as a passive, rotatable support wheels running gears. A disadvantage of this concept with four individual vehicles are the increased coordination effort, the small space for the inclusion of energy storage, the total resulting large total width of the sum of container width and twice half of the vehicle width, the unfavorable force conditions in the lock (container corner and container locking ) and the risk of tipping during container picking until the container is driven under the support wheels. For this purpose, arranged under the container support wheels are aligned under load for driving, which is associated with great wear and possibly damage to the substrate. In addition, the motion sequences of the individual vehicles are relatively severely restricted, which leads to an extension of the paths and thus to low efficiency.
    The object of the invention is thus to provide a transport arrangement and a method which ensures the fastest possible and efficient transport of
    Containers allows.
    This object is achieved in that the at least two
    Chassis, at least one each connected to the wheel drive wheel, have, the wheel axle is pivotable about a substantially vertical main axis of rotation both in an uncoupled state and in a coupling state with the container.
    It is also achieved according to the inventive method in that at least two suspensions, actively driven and both in an uncoupled
    State as well as in a coupling state with the container around an im
    Is substantially vertical main axis of rotation is rotatable.
    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
    Chassis preferably each have a wheel drive, but it is also conceivable that a common wheel drive is provided for several chassis.
    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 agile movement, rotation and displacement is possible even in an uncoupled state, which facilitates in particular in the approach and positioning of the transport robot with respect to the container and so 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, at least the container corner lock with the container has entered into a connection. Accordingly, with uncoupled state, a state is meant in which the transport robot has received no connection with the container, so he can move 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 within the meaning of this invention are therefore essentially
    Freight containers in lengths of 20 feet (6,069 m) and 40 feet (12,192 m) are not limited to these.
    Said directions and locations such as vertical and horizontal or horizontal and vertical unless otherwise stated
    Transport arrangements, which are in the intended use position on a flat road, that is, the chassis 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 are coordinated with each other and so process sequences are automated. Also, data about the location, condition or the
    Environment of transport robots are 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 is a relay unit for
    Having communication with the communication units. This relay unit can act as a superior control unit coordinating the transport robots. It can also serve as an interface to control and data presentation for a warehouse worker. It can also provide additional transport robots
    Provide information, for example, expected in the near future
    Transfer orders.
    It is particularly advantageous if the communication units for direct
    Communication are formed with each other. This can reduce the effects of a
    Swarm intelligence can be exploited and optimized by minor external control operations storage operations.
    When jointly lifting and transporting a container it can be provided that more than two, for example four transport robots - one arranged at each corner of the container - are involved. As a result, the transport robots can be made very small.
    But it may also be advantageous if the transport devices each have two container corner locks and preferably two HubkraftmomentAbstützungen. 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 HubkraftmomentAbstützung are located directly on the lifting device. As a result, a container fixed thereto can be easily lifted by the lifting device from the ground in a raised position in which it is easily movable without grinding on the ground.
    In an advantageous embodiment, it is provided that the container corner locking device 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 perpendicular to a connecting surface of the transport robot, preferably designed as a locking pin longitudinal locking device of the container corner locking with a preferably designed as a receptacle for a pen Longitudinal counterpart of the container is connected before or during the distance reduction. Thus, the pin in a designated recess the front sides of the container - as in many standardized containers available - are introduced and so a stable connection can be made.
    Here, the connection surface is understood to mean a surface which faces the container when the transport robot is connected or coupled with it in the intended manner. In this case, the Hubkraftmoment-support may preferably be arranged on the connecting surface.
    Furthermore, it can be provided that the container corner locking has a parallel to the connecting surface arranged, preferably designed as a locking pin transverse locking device for connection to a container. Accordingly, it can also be provided that during the
    Arrangement of transport robots The distance between container corners
    Lock and reduced container and arranged parallel to the connecting surface, preferably designed as a locking pin cross
    Locking device of the container corner locking is connected to a preferably designed as a receptacle for a pen cross-counterpart of the container during or after the distance reduction. This represents another possibility of the stable connection.
    Furthermore, it is advantageous if the container corner locking along a to
    Connecting surface substantially parallel, preferably horizontal
    Transverse axis of the transport device is displaced. The shift can be done by a width adjustment. This can on the one hand have the advantage that such a transverse locking device with a cross-counterpart during the
    Coupling can be connected. On the other hand, this can also serve the
    Container corner locking to adapt 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 Hubkraftdrehmoment be counteracted by the determination with the container corner locking.
    It is advantageous if the Hubkraftmoment-support and the container corners
    Lock are arranged spaced apart in the vertical direction.
    As a result, the effect of Hubkraftmoment support is improved.
    It is particularly advantageous if the landing gear in a coupling state of
    Transport robot are arranged with a container outside the outline of the container. As a result, it may not be possible to even partially push the transport robot, 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 rectilinear and curved movements, the transport unit can also perform 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 side is arranged and at least the first chassis is actively rotatable and driven running. This can prevent that when moving in the coupled state rubs the most heavily loaded chassis by passive motion on the ground and thus high wear occurs. This not only increases the life of the device, but also improves its energy efficiency. In this case, the second suspensions can be driven and executed actively rotatable, or passively act as a role. 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
    Undercarriages. It may even be provided that it is in the coupling or in the
    Lift the container to slightly tilt the transport robot in
    Direction of the container comes, whereby the second chassis further relieved or even lifted off the ground. This will cause the occurrence of
    Wear during passive execution further reduced.
    Furthermore, it can be provided that at least one chassis at least two
    Has drive wheels each with its own wheel drives. This is the
    Agility further improved and by driving the wheels with different torques rotary 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 rotational axis are arranged on the wheel support. Thereby, the rotation axis of the drive wheels can be easily rotated and so 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 if in the guide ring a rotary ring around the
    Main axis of rotation is pivotally mounted and the Radabstützung is pivotally mounted about at least one pendulum bearing about an axis of rotation substantially perpendicularly arranged pendulum axis. 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 can be within a housing
    Energy storage to be provided. This protects it. It can
    Charging mechanisms, for example, accessible by the transport robot
    Be provided for charging terminals.
    Furthermore, it is advantageous if at least a first suspension, which in a
    Coupled state with the container close to the container facing
    Side of the transport robot is arranged, 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 is as self-sufficient as possible
    Navigation possible. Corresponding GPS modules or laser scanners should be provided accordingly.
    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 driving routes, but also, for example, schedules or sequences for
    Transport operations include. 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 in the
    Transport arrangement are provided, and / or if several containers are arranged in unfavorable manner, for example, very close together, 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 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 robot by controlling the
    Speeds of at least one drive unit control their direction of movement and speed. As a result, the movement path is determined in a simple manner.
    The invention is explained in more detail below with reference to the non-limiting figures. Show it:
    Figure 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;
    10 shows two lifting and transport robots with container in perspective view;
    Fig. 11 detail view A of Figure 1 in a perspective view from below.
    12 is a detail of a transport robot and the container in a 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, 1a. 1 shows these transport robots 1, 1a, arranged at a distance at the end faces 2d of a standing on the ground container 2 with the lower container corners 2a. The transport robots 1, 1a can approach the end faces 2d of the container 2 and couple to it. Fig. 2 shows the two cooperating transport robot 1, 1a according to the invention coupled and locked to the container 2 in the raised state, wherein the lifting height of the container to the ground during transport about 50 - 500 mm, preferably 100 to 200 mm.
    FIG. 3 shows in detail C of FIG. 2 the transport robot 1, with a housing 10, a height-adjustable lifting device 3, a container corner lock 5 and lifting momentum support 4 arranged thereon, in the locked and thus coupled state with the container 2 and its front 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 counteracted by the HubkraftmomentAbstützung 4 by the support force F4 at a distance Y, wherein the Hubkraftmoment -Abstützung 4 supported on the front side 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 may 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 cooperating invention
    Transport robot 1 and 1a, which are constructed identically and have a lifting device 3, a container corner locking 5, a Hubkraftmoment support 4 and an enclosure 10.
    Fig. 5 shows the two cooperating inventive
    Transport robot 1 and 1a, which are constructed identically, and with the
    Lifting device 3, the container corner locking 5 and 5a, the
    Lifting momentum support 4 and 4a, the lateral lateral
    Locking device 6 and 6a, acting in the container longitudinal direction longitudinal 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 back, with two first running gears 8 and 8b and a second running gear 8a, the ground unit 9, the housing 10 and the laser scanner
    Sensors 13 and 13a. All chassis 8, 8a, and 8b are the same and actively driven and rotatable. This is particularly beneficial since so the
    Danger of wear is particularly small and due to the uniform design
    Costs can be saved.
    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 cross-locking device 6 and 6a, in
    Container longitudinally acting longitudinal locking device 7 and 7a, with three trolleys 8, 8a and 8b, which can be pivoted relative to each other and independently by a pivot angle 17b about a substantially vertical axis, and a bottom 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.
    Fig. 8 shows the two cooperating inventive
    Transport robot 1 and 1a, which are identical, without container 2 in
    An oblique view from below, each executed with the lifting device 3, the
    Container corner lock 5 and 5a, the lateral cross
    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
    Can be adapted to different container widths along a travel direction 5b along a horizontal transverse axis of the transport device 1,1a, the lateral cross-locking device 6 and 6a, in
    Container longitudinally acting longitudinal locking device 7 and 7a and the housing 10. It can also be provided in an alternative embodiment, that by the method along the direction of travel 5b the
    Transverse locking device 6, 6a is connected to a container 2, the
    So this process represents at least part of the coupling process.
    Fig. 10 shows the two cooperating invention
    Transport robot 1 and 1a, which are constructed identically, at a distance from the standing on the ground container 2 with the lower container corners 2a, with the
    Locking openings in the transverse direction 2b and in the longitudinal direction 2c are executed, in perspective view.
    FIG. 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, which
    Container corner lock 5 and 5a, the lateral cross
    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 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 locking device 7 acting in the container longitudinal direction , the first landing gear 8, the ground unit 9 and the container 2, with the container corners 2a formed with the locking openings in the transverse direction 2b and in the longitudinal direction 2c.
    FIG. 13 shows, in quarter section, one of the identically constructed running gears 8, 8a, 8b, comprising 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 a pendulum bearing 18, which forms a pendulum axis 18a acting essentially perpendicular to the drive wheel axis of rotation and a pendulum angle 18b to compensate for
    Uneven ground allows, with the maximum pendulum angle is about +/- 15 °, preferably +/- 5 ° with respect to the horizontal road plane, one
    Rotary 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 for automated driving, docking and conveying along arbitrary
    In-plane orbit curves with an omnidirectional drive system through three
    Chassis 8, 8a, 8b equipped. 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 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 corners
    Latch 5 at a distance X from the vertical axis of rotation 17a a proportionately acting load F5 and generates a tilting moment, the Hubkraftmoment
    Support 4 counteracts by the supporting force F4 at a distance Y, wherein the Hubkraftmoment-support 4 is supported on the container end face 2d) on safety, navigation and monitoring sensors 13, 13a. About a built in the transport robot 1, 1 a, protected by the housing 10
    Communication unit 19 is a secure communication for the coordinated
    Operation of the two units between the transport robots 1,1a possible. In this case, the transport robots 1, 1 a, for example, from a non-illustrated
    Control Center receive 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 in
    Essentially over the entire side of the transport robot 1, 1a 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 interface, even if it is not directly, but only indirectly via the two container corner locks 5, 5a and two Hubkraftmoment-supports 4, 4a comes into contact with the container. This also defines the coupling side facing the container.
    The container corner lock 5, 5a, has a laterally acting transverse locking device 6, 6a and a longitudinal direction acting in the container longitudinal locking device 7, 7a, both of which are designed as connecting pins or pins. These can engage with the container 2 in the cross-counterparts 2b, and in the longitudinal counterparts 2c and thus allow a stable connection (the transverse counterparts 2b and the longitudinal counterparts 2c are designed as elongated openings). It is provided in the illustrated embodiment that the longitudinal
    Locking device 7, 7a with the container corner locking 5, 5a rigidly connected, preferably designed in one piece, while the QuerVerriegelungsvorrichtung 6, 6a in a 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 inserted into the locking opening provided 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, 1a is connected to the container 2 and brought into 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 are 1,1a outside the outline of the container 2. At the latest when picking up the Hubkraftmoment-supports 4, 4a put on the end faces 2a and a reinforced locking is received and prevents tilting of the transport robot 1,1a ,
    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 a
    To achieve decoupling. Thus, the transport robot 1,1a are free again and ready for further transport operations.
    The omnidirectional chassis 8, 8a, 8b are preferably integrated in 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, one for each drive wheel 11 and 11a independent wheel drive 12, a Radabstützung 15 with the pendulum bearing 18, which forms a pendulum axis 18a, so that the two drive wheels 11, 11a deflect about the pendulum angle 18b and can compensate for bumps, a pivot bearing 17, which forms a substantially perpendicular to the road plane oriented axis of rotation 17a and the drive wheels to this Rotary axis can perform a rotational movement 17b, and thus determine the direction of travel. From the individual speed and the diameter of the drive wheels 11, 11 a results in a peripheral speed with which the drive wheels roll on the road surface and the direction of rotation results in the direction of movement, so such
    Driving speed and direction are defined. The wheel drives 12 are designed as electric motors without gear. At the same speed and the same
    Direction of rotation moves the chassis 8, 8a, 8b straight ahead, at the same speed and opposite direction of rotation, the drive wheels rotate about the axis of rotation 17a on
    Stand, at unequal speed and the same direction of rotation is a cornering executed, the travel exactly a defined path without movement
    Reversing can follow. For navigation and for safe autonomous
    Operation sensors (such as laser scanner, radar) 13 and 13a are provided, which allow a 360 ° all-round visibility in the plane.
    The power supply is preferably carried out electrically, wherein for storing the electrical energy of the prior art corresponding accumulators
    Find use that can be charged at the same time in load operation. The charging process is contact-free or via contacts.
    权利要求:
    Claims (28)
    [1]
    P A T E N T A N S P R E C H E
    1. Transport arrangement for the transport of containers (2) with at least two transport robots (1, 1a), which are adapted to lift and transport a container (2) together, wherein the transport robots (1, 1a) at least one communication unit for communication Have at least one container corner locking (5, 5a), at least one Hubkraftmoment support (4, 4a) and at least two chassis (8, 8a, 8b) with a wheel drive (12), characterized in that the at least two chassis (8, 8a, 8b) 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 (2) about a substantially vertical main axis of rotation (17a) is pivotable.
    [2]
    2. Transport arrangement according to claim 1, characterized in that the transport arrangement has a relay unit for communication with the communication units.
    [3]
    3. Transport arrangement according to claim 1 or 2, characterized in that the communication units are designed for direct communication with each other.
    [4]
    4. Transport arrangement according to one of claims 1 to 3, characterized in that the transport robots (1, 1 a) per two container corner latches (5, 5 a) and preferably two Hubkraftmoment supports (4, 4 a).
    [5]
    5. Transport arrangement according to one of claims 1 to 4, characterized in that the transport robot (1, 1a) vertically displaceable lifting devices (3) for vertical raising and lowering of the container (2).
    [6]
    6. Transport arrangement according to one of claims 1 to 5, characterized in that the container corner locking (5, 5a) is arranged perpendicular to a connecting surface of the transport robot (1, 1a), preferably designed as a locking pin longitudinal locking device (7, 7a) for connection to the container (2).
    [7]
    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 connecting surface, preferably designed as a locking pin transverse locking device (6, 6 a) for connection to the container (2). having.
    [8]
    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]
    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]
    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, 1a) with the container (2) outside the outline of the container (2) ,
    [11]
    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 container (2) facing side of the transport robot (1,1a), the second chassis (8a) from the container (2) side facing away and at least arranged first chassis (8, 8b) is actively rotatable and driven.
    [12]
    12. Transport arrangement according to one of claims 1 to 11, characterized in that at least one chassis (8, 8a, 8b) has at least two drive wheels (11, 11a), each with its own wheel drives (12).
    [13]
    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]
    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 in that two drive wheels (11, 11a) rotatable about a common drive wheel rotational axis (14a) are arranged on the wheel support (15).
    [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 and that the Radabstützung (15) via at least one self-aligning bearing (18) about a main axis of rotation (17a ) is mounted pivotably mounted substantially perpendicular pendulum axis (18a).
    [16]
    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]
    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]
    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]
    19. Transport arrangement according to one of claims 1 to 18, characterized in that the transport robot (1, 1a) at least one sensor for determining the location, perception of the environment or the state of the transport robot (1, 1a) or other transport robot (1, 1a ) having.
    [20]
    20. Transport arrangement according to one of claims 1 to 19, characterized in that an energy store is provided within an enclosure (10).
    [21]
    21. A method for transporting containers with a transport arrangement, wherein 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, 1a) are connected to the container (2) and the container (2) is lifted from the ground, and wherein at least the two transport robots (1, 1a) communicate with each other, exchange data and thus can coordinate their movements , characterized in that at least two running gears (8, 8a, 8b), actively driven and in an uncoupled state as well as in a coupling state with the container (2) about a substantially vertical main axis of rotation (17a) is rotatable.
    [22]
    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, 1a) is arranged , is actively driven and rotatable.
    [23]
    23. The method according to claim 21 or 22, characterized in that during the arrangement of the transport robot (1, 1a), the distance between the container corner locking (5, 5a) and container (2) is reduced and at least one perpendicular to a connecting surface of the Transport robot (1, 1a), preferably designed as a locking pin longitudinal locking device (7, 7a) of the container corner locking (5, 5a) with a preferably designed as a receptacle for a pen longitudinal counterpart of the container (2) before or during the distance reduction is connected ,
    [24]
    24. The method according to any one of claims 21 to 23, characterized in that during the arrangement of the transport robot (1, 1a) reduces the distance between the container corner locking (5, 5a) and container (2) and arranged parallel to the connecting 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]
    25. The method according to any one of claims 21 to 24, characterized in that the transport robot (1, 1a) navigate by means of GPS, laser scanner and / or other means.
    [26]
    26. The method according to any one of claims 21 to 25, characterized in that the transport robots (1, 1a) detect obstacles of the environment and include them in their calculation of a timetable.
    [27]
    27. The method according to any one of claims 21 to 26, characterized in that during the transport of the container (2) continuously a Hubkraftmoment on the Hubkraftmoment-support (4, 4a) acts.
    [28]
    28. The method according to any one of claims 21 to 27, characterized in that the transport robot (1, 1a) by the control of the rotational speeds of at least one chassis (8, 8a, 8b) their direction of movement and - speed control.
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    同族专利:
    公开号 | 公开日
    AT520685A1|2019-06-15|
    AT520628A3|2019-08-15|
    AT520628B1|2020-08-15|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    AT522589B1|2019-06-08|2020-12-15|Omnidirectional wheel hub drive|DE1904938B1|1969-02-01|1970-10-22|Fries Gmbh Heinrich De|Transport device for large containers|
    US7789175B2|2005-10-11|2010-09-07|Cycogs, Llc|Modular dual wheel drive assembly, wheeled devices that include modular dual wheel drive assemblies and methods for moving and/or maneuvering wheeled devices using modular dual wheel drive assemblies|
    EP2017218A1|2007-07-20|2009-01-21|Van Helsdingen, C.C.|Method and apparatus for moving freight containers|
    US20090238669A1|2008-03-18|2009-09-24|Hathaway Richard C|Vehicle, system and method for handling cargo containers|
    DE102013019726A1|2013-11-27|2015-05-28|Sew-Eurodrive Gmbh & Co Kg|Vehicle, in particular AGV or FTS, with frame and at least one steering unit|
    GB2558518B|2016-05-31|2021-09-29|Arrival Ltd|Autonomous container transportation|
    法律状态:
    2020-12-15| PC| Change of the owner|Owner name: AGILOX SYSTEMS GMBH, AT Effective date: 20201113 |
    优先权:
    申请号 | 申请日 | 专利标题
    AT601342017A|AT520685A1|2017-11-27|2017-11-27|Lifting and transport robots|
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