US 12,325,613 B2
Driverless transport device and driverless transport system for transporting objects, and method for operating a driverless transport device and a driverless transport system for transporting objects
Matthias Huber, Gutmadingen (DE); Christof Klaiber, Villingen-Schwenningen (DE); Carsten Belz, Oberndorf (DE); and Benedikt Nagel, Brigachtal (DE)
Assigned to IMS GEAR SE & CO. KGAA, Donaueschingen (DE); and ANTRIMON (DEUTSCHLAND) GMBH, Aldingen (DE)
Appl. No. 17/772,864
Filed by IMS GEAR SE & CO. KGAA, Donaueschingen (DE); and ANTRIMON (DEUTSCHLAND) GMBH, Aldingen (DE)
PCT Filed Sep. 28, 2020, PCT No. PCT/EP2020/077113
§ 371(c)(1), (2) Date Apr. 28, 2022,
PCT Pub. No. WO2021/083594, PCT Pub. Date May 6, 2021.
Claims priority of application No. 19205983 (EP), filed on Oct. 29, 2019.
Prior Publication US 2022/0363526 A1, Nov. 17, 2022
Int. Cl. B66F 9/06 (2006.01); B25J 5/00 (2006.01); B66F 9/065 (2006.01); B66F 9/18 (2006.01); B25J 13/00 (2006.01); B66F 9/075 (2006.01)
CPC B66F 9/063 (2013.01) [B25J 5/007 (2013.01); B66F 9/065 (2013.01); B66F 9/185 (2013.01); B25J 13/006 (2013.01); B66F 9/0755 (2013.01); B66F 9/07559 (2013.01)] 12 Claims
OG exemplary drawing
 
1. Driverless transport device (10) for transporting objects (38), comprising
a support structure (12) with an outer contour (14),
a chassis (16) fastened to the support structure (12) having at least a first wheel (18) and a second wheel (20), wherein the first wheel (18) is rotatably mounted in the chassis (16) about a first axis of rotation (D1) and the second wheel (20) is rotatably mounted in the chassis (16) about a second axis of rotation (D2),
a drive unit (22), said drive unit (22) including a first drive motor (24) connected to the first wheel (18) and a second drive motor (26) connected to the second wheel (20), wherein the first and second drive motors (24) (26) are configured to be independently operable such that the first and second wheels (18) (20) can be driven independently of one another, and
an expanding unit (98), wherein the expanding unit (98) comprises:
a plurality of guide rails (102) extending radially outwardly from a center of the driverless transport device (10);
a plurality of expanding arms (100), wherein each expanding arm (100) of the plurality of expanding arms (100) is slidably mounted to a respective guide rail (102) of the plurality of guide rails (102), wherein each expanding arm (100) of the plurality of expanding arms (100) is movable between a first position and a second position and each one expanding arm (100) in the second position thereof projects at least partially beyond the outer contour (14);
a synchronization unit (110) including a connecting link disc (112), wherein the connecting link disc (112) is rotatable; and
an adjustment unit (106), wherein the adjustment unit (106) includes a plurality of toggle lever units (108), wherein each toggle lever unit (108) of the plurality of toggle lever units (108) connects the connecting link disc (112) with a respective expanding arm (100) of the plurality of expanding arms (100), wherein each toggle lever unit (108) of the plurality of toggle lever units (108) includes:
a first elongated member and a second elongated member, the first and second elongated members being pivotally coupled to one another,
wherein the first elongated member of each toggle lever unit (108) is pivotally coupled to the connecting link disc (112), and the second elongated member of each toggle lever unit (108) is pivotally coupled to a respective one of the expanding arms (100),
wherein a rotation of the connecting link disc (112) is configured to pivot the first and second elongated member of each toggle lever unit (108) relative to one another, and in turn, to move the plurality of expanding arms (100) between the first position thereof and the second position thereof;
wherein the expanding unit (98) is implemented rotatable relative to the chassis.