DRIVERLESS TRANSPORTER

Abstract

The present application discloses a driverless transporter, which comprises an undercarriage, a drive and a control unit, for transporting goods, such as for loading a transfer station with one or a plurality of workpieces. The driverless transporter comprises here a handling arrangement with a telescopic extension for moving the transported goods in a horizontal direction.

Claims

1. A driverless transporter for transporting goods, comprising: an undercarriage, a drive, a control unit, and a handling arrangement with a telescopic extension for moving the transported goods in a horizontal direction.

2. The driverless transporter according to claim 1, wherein the driverless transporter further comprises a lifting device for moving the transported goods in a vertical direction, the telescopic extension being lifted by the lifting device, and the lifting device being configured as a lifting platform having the telescopic extension mounted thereon.

3. The driverless transporter according to claim 1, wherein the telescopic extension is arranged on the driverless transporter such that, when seen in a top view, the transported goods are arranged within the transporter base area defined by the undercarriage when the telescopic extension is in a retracted condition, and/or a chassis of the transporter and can be moved to a position laterally next to the base area by pulling out the telescopic extension.

4. The driverless transporter according to claim 1, wherein the telescopic extension has arranged thereon a handling element for gripping and/or picking up the transported goods.

5. The driverless transporter according to claim 1, wherein the handling arrangement comprises at least one further axis of movement for moving the transported goods in a horizontal plane.

6. The driverless transporter according to claim 1, wherein the handling arrangement comprises at least two telescopic extensions.

7. The driverless transporter according to claim 1, comprising at least one place for depositing transported goods.

8. The driverless transporter according to claim 1, further comprising a coupling arrangement for mechanically coupling the transporter to a transfer station, wherein the coupling arrangement serves to center and/or support the transporter, wherein a sensor is provided for detecting that coupling has taken place and/or the control unit is configured such that transported goods cannot be moved by the telescopic extension to a location outside the base area of the transporter until coupling has taken place and/or the telescopic extension cannot be pulled out until coupling has taken place.

9. A driverless transport system comprising: at least one driverless transporter for transporting goods, comprising: an undercarriage, a drive, a control unit, and a handling arrangement with a telescopic extension for moving the transported goods in a horizontal direction; and at least one transfer station, wherein the driverless transporter and the transfer station are configured such that goods transported by the transporter can be moved by means of the telescopic extension from a transport position in the area of the transporter to a transfer position in the area of the transfer station and/or transported goods can be moved by means of the telescopic extension from a transfer position in the area of the transfer station to a transport position in the area of the transporter.

10. The driverless transport system according to claim 9, wherein the transfer station is at least one of: machine tool, a material lock, a storage facility, and a storage rack.

11. The driverless transport system according to claim 9, wherein the transfer station comprises a coupling arrangement for mechanically coupling the transporter, the coupling arrangement being used for centering and/or supporting the transporter and preventing a tilting of the transporter during pulling out of the telescopic extension.

12. The driverless transport system according to claim 1, wherein the transporter includes a processor and memory storing instructions for: in a first step, moving to a loading position by means of the undercarriage, in a second step, transferring without the undercarriage being operated, the transported goods to the transfer station by actuating the telescopic extension and/or the lifting device, and compensating for inaccuracies in the process of reaching the loading position by at least one further axis of movement of the transporter.

13. A method of operating a driverless transport system comprising at least one driverless transporter comprising: moving a driverless transporter to a loading position, at which the transporter is arranged next to a transfer station, wherein the driverless transporter comprises: an undercarriage, a drive, a control unit, and a handling arrangement with a telescopic extension for moving the transported goods in a horizontal direction actuating the telescopic extension for loading the transfer station with transported goods and/or for removing transported goods from the transfer station.

14. The method according to claim 13, further comprising removing a processed workpiece from the transfer station in a first step, and transferring a non-processed workpiece thereto in a second step, wherein, no movement of the transporter via its undercarriage takes place between the two steps and/or the transporter remains fixedly at its loading position.

15. The method according to claim 13, wherein the transporter is mechanically coupled to the transfer station at the loading position.

16. The driverless transporter of claim 1, wherein the driverless transporter is for loading a transfer station with one or a plurality of workpieces.

17. The driverless transporter according to claim 4, wherein the handling element is a gripper and/or a fork.

18. The driverless transporter according to claim 5, wherein the at least one further axis of is a vertical axis of rotation and/or a transverse shuttle, and the further axis of movement moving the telescopic extension and/or being arranged between the lifting device and the telescopic extension.

19. The driverless transporter according to claim 6, wherein the telescopic extensions having parallel pull-out directions and/or being arranged side by side, one above the other or in alignment with each other.

20. The driverless transporter according to claim 7, comprising at least two places for depositing transported goods, wherein the axes of movement of the handling arrangement are configured such that transported goods can be deposited on and/or picked up from a deposit place by means of the telescopic extension, the telescopic extension being pivotable via a vertical axis of rotation towards the deposit place and/or the deposit places.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0066] FIG. 1 shows a first embodiment of a driverless transport system in a perspective representation,

[0067] FIG. 2A/B/C show the first embodiment in a first side view, a second side view, and a top view,

[0068] FIG. 3 shows a second embodiment of a driverless transport system in a perspective representation,

[0069] FIG. 4A/B/C show the second embodiment in a first side view, a second side view, and a top view,

[0070] FIG. 5 shows a third embodiment of a driverless transport system in a perspective representation,

[0071] FIG. 6A/B/C show the third embodiment in a first side view, a second side view, and a top view,

[0072] FIG. 7 shows the removal of a workpiece from a transfer station by a driverless transporter according to the present application,

[0073] FIG. 8 shows a first embodiment of a system comprising a driverless transporter and a transfer station, the transfer station being configured as a machine tool, and

[0074] FIG. 9 shows a second embodiment of a system comprising a driverless transporter and a transfer station, the transfer station being configured as a material lock.

[0075] FIGS. 1-9 are shown approximately to scale.

DETAILED DESCRIPTION OF THE DRAWINGS

[0076] FIGS. 1 to 6 show three embodiments of a driverless transporter according to the present application having the basic structural design described hereinafter:

[0077] The transporters comprise an undercarriage 12 with which they can be moved. In the embodiment, the undercarriage 12 has four wheels, at least two being steerable. In some embodiments, all four wheels may be steerable. The undercarriage is driven by a transporter drive 15 shown in FIG. 2.

[0078] The drive may be electric. The transporter may comprise an energy store, such as an electric energy store, a battery and/or supercaps, which provides the energy for the drive.

[0079] The transporter also comprises a control unit 16 which controls the drive, the steering system and the axes of movement of the transporter. The transporter may drive autonomously and/or semi-autonomously and/or it may be controlled by a transport guidance system. The control unit 16 includes a processor and memory which stores instructions for at least controlling the transporter. The control unit 16 may also include instructions for preventing transported goods from being moved by the telescopic extension to a location outside the base area of the transporter until coupling has taken place and/or the telescopic extension cannot be pulled out until coupling has taken place.

[0080] The transporter 1 comprises a handling arrangement 2 with a telescopic extension 3 for moving transported goods 9 in a horizontal direction. The telescopic extension comprises at least one telescopic element 5, 6 mounted on a support rail 4 so as to be longitudinally displaceable thereon. In the present embodiment, two telescopic rails are provided, each with at least one telescopic element 5, 6 mounted on a support rail 4 in a longitudinally displaceable manner. The telescopic elements 6 have a handling element 7 provided thereon, at which the transported goods, such as a workpiece, can be supported.

[0081] In the first embodiment, two telescopic elements 5 and 6 are provided, which are supported such that they are longitudinally displaceable on each other, in the second and third embodiments one telescopic element 6 may be provided.

[0082] The handling arrangement 2 further comprises a lifting device 13, through which the telescopic extension 3 is vertically displaceable. In the present embodiment, the lifting device 13 is configured as a lifting platform having the telescopic extension 3 arranged thereon.

[0083] The transporter according to the present embodiment comprises a chassis 10, which has a circumferential bumper 11 in the present embodiment. The handling arrangement 2 and such as the lifting device are arranged on the upper side of the chassis 10.

[0084] The telescopic extension is arranged on the transporter in such a way that, at the retracted position of the telescopic extension, an item of transported goods supported at the handling element of the telescopic extension is located within a base area 14 of the transporter, the base area being defined by the undercarriage and/or the chassis. Safe transport of the transported goods is accomplished in this way and the risk of tipping over is reduced.

[0085] In the present embodiment, the support rails 4 are arranged on an Inner side of an outer boundary, such as a wall element, so that, at the retracted position, the telescopic elements 5, 6 are located between the outer boundaries and, such as, between the wall elements. An embodiment of the transported goods are also supported at the handling element such that, at the retracted position of the telescopic extension, they are located between the outer boundaries and, such as, between the wall elements.

[0086] The telescopic extension or extensions may have a base area, which occupies at least 10% of the base area of the transporter, further at least 25% and 50% of the base area of the transporter. The base area of a telescopic extension is defined by its width multiplied by its length at the retracted position.

[0087] The telescopic extension is arranged and configured such that transported goods, such as a workpiece, supported at the handling element can be moved to a position next to the base of the transporter. As shown schematically in FIG. 7, the transported goods can thus be moved into the area of a transfer station, when the transporter is arranged next to this transfer station, so as to transfer the transported goods there, and/or the handling element can be moved into the area of a transfer station, when the transporter is arranged next to this transfer station, so as to take over the transported goods there.

[0088] Such as, the telescopic extension allows the transported goods to be taken over or transferred without the necessity of moving the transporter.

[0089] In the case of the embodiment shown in FIGS. 1 and 2, one telescopic extension 3 m provided. The latter extends along the longer side of the undercarriage of the transporter. A very large reach of the telescopic extension can be accomplished in this way.

[0090] The handling element 7 provided is here a gripper. In the present embodiment, it is a mechanical gripper with movable gripper jaws 8, by means of which a workpiece 9 can be gripped.

[0091] In the case of the second embodiment shown in FIGS. 3 and 4, two telescopic extensions 3 and 3 are provided. They allow taking over of a finished workpiece and transfer of a workpiece to be processed.

[0092] The telescopic extensions 3 and 3 are arranged parallel to each other. In the present embodiment, they are placed side by side. They extend along a shorter side of the transporter.

[0093] According to an alternative structural design, the two telescopic extensions 3 and 3 may also be placed one above the other. In this case, the telescopic extensions 3 and 3 may also extend along the longer side of the transporter, as is known for the telescopic extension 3 according to the first embodiment

[0094] According to a further alternative structural design, the two telescopic extensions 3 and 3 may also be aligned with each other and therefore extendable in opposite directions.

[0095] In the embodiments shown in FIGS. 2 to 6, the handling arrangement has a further axis of movement 17, 19 through which the telescopic extension can be moved in a horizontal plane. The further axis of movement is here arranged such that a two-dimensional operating space for the handling-element is defined by the further axis of movement and the telescopic extension. If a lifting device is additionally provided, a three-dimensional operating space is obtained.

[0096] In the case of the second embodiment shown in FIGS. 2 to 4, the further axis of movement is configured as a transverse shuttle. To this end, the telescopic extensions 3 are arranged on a carriage that it is movable along a guide in a direction which is perpendicular to the pull-out direction of the telescopic extensions.

[0097] The transverse shuttle allows to alternately move the first and second telescopic extensions 3 and 3 to the same position, without moving the transporter. In this way, a first workpiece can be taken over from the transfer position by means of one telescopic extension and a second workpiece can be moved to the same transfer position by means of the second telescopic extension, these steps taking place in succession.

[0098] In the middle position of the transverse shuttle, however, both telescopic extensions and/or the workpieces supported thereat are located within the base area 14 of the transporter.

[0099] In the case of the embodiment shown In FIGS. 3 and 4, the handling element 3 is again configured as a gripper, which, however, does not grip around the workpiece but clamps it laterally.

[0100] A transverse shuttle, as shown in FIGS. 3 and 4, may also be used in the embodiment shown in FIGS. 1 and 2 with one telescopic extension 3, and in the case of this structural design such as for the fine positioning of the workpiece and/or the compensation of errors in the positioning of the transporter relative to the transfer station. Some embodiments may use only one telescopic extension.

[0101] According to the third embodiment shown in FIGS. 5 and 6, a rotary table 19 is provided as a further axis of movement, on which the telescopic extension is arranged and via which the latter can be pivoted about a vertical axis of rotation 20.

[0102] According to the third embodiment shown in FIGS. 5 and 6, two deposit places 21 and 21 for depositing transported goods, such as workpieces, are additionally provided. The deposit places and the telescopic extension are configured such that, by means of the telescopic extension and the further axis of movement, transported goods and such as workpieces, which have been picked up by the handling element of the telescopic extension, can optionally be deposited on one of the two deposit places and/or picked up therefrom by means of the handling element.

[0103] The third embodiment allows, by means of one telescopic extension, taking over of a first workpiece from a transfer position, depositing it on one of the two workpiece deposit places and picking up a second workpiece from the other workpiece deposit place and moving this workpiece to the transfer position; For the actual transport, however, the respective workpiece may be supported at the handling element and is therefore located within the base area. For reasons of space, the workpiece deposit places are, however, arranged at the edge of the base area.

[0104] According to the embodiment shown in FIGS. 5 and 6, the rotary table is arranged such that, by rotating the rotary table, the telescopic extension can be directed optionally to the first and the second workpiece deposit place.

[0105] The rotary table 19 is arranged on one side of the base area and the two workpiece deposit places are arranged on the opposite side of the base area, the longer sides of the base area extending from the rotary table to the workpiece deposit places.

[0106] Transfer of the workpieces to the transfer station takes place at a third rotary position of the rotary table, at which the telescopic extension is oriented parallel to the longer sides of the base area.

[0107] A rotary table of the type shown in FIGS. 5 and 6 may, however, also be used independently of the use of workpiece deposit places. For example, such a rotary table may have arranged thereon an arrangement of two telescopic extensions, which are adapted to be extended in opposite directions.

[0108] Likewise, it is imaginable to use a telescopic extension comprising a plurality of handling elements which are arranged thereon.

[0109] According to the embodiment shown in FIGS. 5 and 6, a fork is provided as a handling element 7, which can be used for supporting thereon a pallet on which one or a plurality of workpieces can be clamped in position.

[0110] It goes without saying that the handling elements described in connection with the individual embodiments can also be used in combination with the respective other embodiments.

[0111] FIG. 7 shows the transfer 9f a workpiece from the transporter 1 to a transfer station 25. On the right-hand side, the transporter with the workpiece 9 is shown at a transport position, at which the telescopic extension is retracted and the workpiece held on the handling element is located within the base area 14. On the left-hand side, however, the telescopic extension is shown at a position, at which the workpiece has been moved to a transfer position in the area of the transfer station by pulling out the telescopic extension 3.

[0112] FIG. 8 shows schematically a case of use in which the transfer station 25 is a machine tool, e.g. a gear cutting machine. The latter comprises a machine table 25 with a workpiece holder and a machine stand 27 with a processing head for processing a workpiece accommodated in the workpiece holder. The telescopic extension 3 now allows moving a workpiece across the machine table to the workpiece holder and/or picking up a workpiece from the workpiece holder and moving it to the transporter. In the present embodiment, the machine tool additionally comprises a counterstand 28, the workpiece being adapted to be moved in between the workpiece holder and the counterstand by means of the telescopic extension in order to be clamped there.

[0113] Alternatively, the workpieces could, however, also be taken over from and transferred to a transfer arrangement, which is provided separately from the workpiece holder. In this case, an automation of the machine tool may be provided for transporting workpieces from the workpiece holder to the transfer arrangement and back.

[0114] FIG. 9, however, shows a case of use, in which the telescopic extension is used for moving a workpiece 9 into the area of a material lock 25 and for picking it up from there. The material lock has a first and a second lock wall 33 and 33, which separate the interior of the lock from an area within a safety fence and an area outside a safety fence. The transporter may here be positioned in an area outside the safety fence next to the material lock and can move workpieces into and/or out of the material lock by actuating the telescopic extension. For this purpose, a lock wall 33 is opened to such an extent that the telescopic extension can be moved into the interior of the material lock.

[0115] For transferring and/or taking over goods and such as workpieces, the transporter may be moved by means of the undercarriage to a defined loading position next to the transfer position. The transfer and/or take-over is/are may then be executed, in a stationary condition of the transporter, via the movement axes of the handling arrangement alone.

[0116] At the loading position, the transporter can be coupled mechanically to the transfer station. On the one hand, this can serve to support the transporter and to secure it against tipping over during pulling out of the telescopic extension. On the other hand, the transporter can be guided and/or centered so that it will be guided into the loading position.

[0117] FIG. 8 shows a variant in which mechanical coupling takes place in a form-fit manner by means of a coupling arrangement 29. To this end, the transporter comprises a lug and the transfer station a bolt 31, which may be movable by a drive and which couples with the lug. The coupling arrangement 29 may also include a sensor to detect successful coupling.

[0118] The coupling arrangement serves to center and/or support the transporter. An embodiment of the coupling unit defines a fixed position of the transporter relative to the transfer station and/or prevents the transporter from tipping over, when, by pulling out the telescopic extension, the transported goods are moved out of the base area, which is defined by the undercarriage and/or a chassis of the transporter.

[0119] An embodiment of the coupling arrangement may comprise guide areas through which the transporter is guided to a defined position during a displacement motion.

[0120] In FIG. 9 a fork 34 is provided, which grips around the transporter and/or engages guides arranged on both sides of the transporter. Alternatively or additionally, a guide rail 35 is provided for the wheels of the undercarriage, or a roller guide through which the transporter is guided into the loading position on both sides thereof. Furthermore, a rail, which couples with the transporter, may be provided on the floor, alternatively or additionally.

[0121] In addition, a stop 36 with a support surface is provided at the transfer station, by means of which the transporter rests on the transfer station at a loading position and which prevents the transporter from tipping over.

[0122] Coupling to the transfer station may, of course, also take place indirectly, for example by coupling the transporter with a coupling element which, like the transfer station, is fixedly connected to the floor.

[0123] FIGS. 1-9 show example configurations with relative positioning of the various components. If shown directly contacting each other, or directly coupled, then such elements may be referred to as directly contacting or directly coupled, respectively, at least in one example. Similarly, elements shown contiguous or adjacent to one another may be contiguous or adjacent to each other, respectively, at least in one example. As an example, components laying in face-sharing contact with each other may be referred to as in face-sharing contact. As another example, elements positioned apart from each other with only a space there-between and no other components may be referred to as such, in at least one example. As yet another example, elements shown above/below one another, at opposite sides to one another, or to the left/right of one another may be referred to as such, relative to one another. Further, as shown in the figures, a topmost element or point of element may be referred to as a top of the component and a bottommost element or point of the element may be referred to as a bottom of the component, in at least one example. As used herein, top/bottom, upper/lower, above/below, may be relative to a vertical axis of the figures and used to describe positioning of elements of the figures relative to one another. As such, elements shown above other elements are positioned vertically above the other elements, in one example. As yet another example, shapes of the elements depicted within the figures may be referred to as having those shapes (e.g., such as being circular, straight, planar, curved, rounded, chamfered, angled, or the like). Further, elements shown intersecting one another may be referred to as intersecting elements or intersecting one another, in at least one example. Further still, an element shown within another element or shown outside of another element may be referred as such, in one example.

[0124] It will be appreciated that the configurations and routines disclosed herein are exemplary in nature, and that these specific embodiments are not to be considered in a limiting sense, because numerous variations are possible. The subject matter of the present disclosure includes all novel and non-obvious combinations and sub-combinations of the various systems and configurations, and other features, functions, and/or properties disclosed herein.

[0125] As used herein, the term approximately is construed to mean plus or minus five percent of the value or range unless otherwise specified.

[0126] The following claims particularly point out certain combinations and sub-combinations regarded as novel and non-obvious. These claims may refer to an element or a first element or the equivalent thereof. Such claims should be understood to include incorporation of one or more such elements, neither requiring nor excluding two or more such elements. Other combinations and sub-combinations of the disclosed features, functions, elements, and/or properties may be claimed through amendment of the present claims or through presentation of new claims in this or a related application. Such claims, whether broader, narrower, equal, or different in scope to the original claims, also are regarded as included within the subject matter of the present disclosure.