US 12,291,439 B2
Driverless transport device and driverless transport system for transporting objects, and method for operating a driver-less transport device and a driverless transport system for transporting objects
Benedikt Nagel, Brigachtal (DE); Fabian Gruler, Aixheim (DE); Matthias Koop, Neufahrn b. Freising (DE); Michael Rosen, Bad Dürrheim (DE); Simon Schwörer, Brigachtal (DE); Yannik Abelmann, Tennenbronn-Schramberg (DE); Yvonne Fürderer, Furtwangen (DE); Christof Klaiber, Villingen-Schwenningen (DE); and Matthias Huber, Gutmadingen (DE)
Assigned to IMS GEAR SE & CO. KGAA, Donaueschingen (DE); and ANTRIMON (DEUTSCHLAND) GMBH, Aldingen (DE)
Appl. No. 17/772,290
Filed by IMS GEAR SE & CO. KGAA, Donaueschingen (DE); and ANTRIMON (DEUTSCHLAND) GMBH, Aldingen (DE)
PCT Filed Jul. 6, 2020, PCT No. PCT/EP2020/068952
§ 371(c)(1), (2) Date Apr. 27, 2022,
PCT Pub. No. WO2021/083561, PCT Pub. Date May 6, 2021.
Claims priority of application No. 19205967 (EP), filed on Oct. 29, 2019.
Prior Publication US 2022/0380187 A1, Dec. 1, 2022
Int. Cl. B66F 9/06 (2006.01); B66F 9/075 (2006.01)
CPC B66F 9/063 (2013.01) [B66F 9/07504 (2013.01); B66F 9/0755 (2013.01); B66F 9/07559 (2013.01); B66F 9/07572 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A driverless transport device (10) for transporting objects (38), comprising:
a support structure (12) having an outer contour (14);
an undercarriage (16) which is secured to the support structure (12) and has at least one first wheel (18) and a second wheel (20), wherein the first wheel (18) is mounted in the undercarriage (16) so as to rotate about a first axis of rotation (D1) and the second wheel (20) is mounted in the undercarriage (16) so as to rotate about a second axis of rotation (D2);
a drive unit (22) by means of which the first wheel (18) and the second wheel (20) can be driven independently of each other; and
a force measuring device (56) by means of which a force acting on the support portion (39) can be determined,
wherein the force measuring device (56) has at least two force sensors (58),
wherein at least one first force sensor of the at least two force sensors (58) is assigned to a first group (60) and at least one second force sensor of the at least two force sensors (58) is assigned to a second group (62), and
wherein the at least one first force sensor of the first group (60) is arranged perpendicular to the at least one second force sensor of the second group (62), such that a main surface of the at least one first sensor of the first group (60) lies in a horizontal plane and a main surface of the at least one second force sensor of the second group (62) extends vertically, the horizontal plane being parallel to ground.