DE102015107102B4 - Mecanum wheel vehicle and operating procedures - Google Patents

Abstract

Mecanum wheel vehicle (1) for transporting a payload, comprising a chassis (5) extending along a longitudinal axis (L) and a width axis (B) oriented perpendicular thereto, having at least four Mecanumradantrieben (2; 2a to 2d), which via control means (13) for the realization of an omnidirectional operation of the Mecanumradfahrzeuges (1) are controllable, wherein the chassis (5) a first chassis section (21a) with at least two (2a, 2b) of Mecanumradantriebe (2; 2a, 2b, 2c, 2d) and a second chassis section (21b) having at least two (2c, 2d) of the Mecanumradantriebe (2; 2a, 2b, 2c, 2d), and wherein the first and the second chassis section (21a, 21b) are mechanically interconnected distance variable, and wherein the distance between the first and second chassis sections (21a, 21b) along a first adjustment axis (E1) by driving at least one of the mechanical wheel drives (2; 2a, 2b, 2c, 2d) of the first chassis section (2 1a) and / or of the second chassis section (21b) is adjustable by means of the control means (13) as a function of the at least one payload dimension detected by the sensor means (24). characterized in that the Mecanumradfahrzeug (1) signal-conducting with the control means (13) connected, non-contact sensor means (24) for detecting at least one payload of a by means of Mecanumradfahrzeugs (1) to be included payload (10).

Description

The invention relates to a Mecanumradfahrzeug for transporting a payload, according to the preamble of claim 1, with a along a longitudinal axis and a perpendicular thereto oriented wide axis extending chassis with at least four Mecanumradantrieben (generally: Mecanumradantriebsmittel) via control means for realizing an omnidirectional operation of Mecanumradfahrzeuges are controllable. Furthermore, the invention relates to a method for operating such a vehicle according to the preamble of claim 17.

Mecanum wheel vehicles are well known. In a Mecanumrad are about the circumference of a rim of the wheel a plurality of rotatably mounted, usually barrel-shaped rollers at an angle to the axis of rotation of the rim, mounted by usually 45 ° rotatable. Not the rim, but only the aforementioned roles make contact with the ground. The rollers have no direct drive and can rotate freely about their respective roller rotation axis (which extends at an angle to the rim or Mecanumraddrehachse). The entire Mecanumrad, however, can be driven by a drive, usually an electric motor with variable rotation and variable speed. Known Mecanumradfahrzeuge usually have four wheels, which are arranged in a rectangle. By an appropriate control of the drives of Mecanumräder can be set by an individual choice of direction of Mecanumräder compared to the ground (road) from the sum of the vectors of the individual Mecanumräder an overall direction of movement for the vehicle, with any vehicle movement directions, d. H. An omnidirectional operation is realized.

From the WO 2013/041310 A1 an improved Mecanumrad improved compared to date known Mecanumrädern, which is characterized in that two, each rotatable rollers carrying rims of Mecanumrades are interconnected by damping means that allow a damped relative movement of the rims to each other, whereby uncontrolled hovering states of previous Mecanumradfahrzeuge be avoided were due to the change of a rolling along the roller support point from role to role in turning the rim.

Mecanum wheel vehicles for omnidirectional operation, in particular with the above-described improved Mecanumrädern have been proven. Due to the relatively complex structure of mechanical wheels to conventional, rolling wheels, the maximum load of mechanical wheels is subject to narrow limits, which Mecanumradfahrzeuge so far only limited to carry loads (payloads) or for driving very heavy vehicles.

Regardless of the limited payload problem of Mecanumradfahrzeugen in Mecanumradfahrzeugen generally has the problem that these vehicles have to be adapted to the usually transported cargo size - in particular, a vehicle width is designed so that tilting moments are minimized when transporting a cargo and / or that the vehicle dimensions are designed so that a payload can be included - but this leads to the fact that the Mecanumradfahrzeugbreite for trips with or without payload is oversized. The aforementioned explanations also apply to the length of the Mecanum wheel vehicle. However, the aforementioned oversizing of the dimensions for non-charging operation causes the vehicles to require large parking areas for the periods of non-use. Also, due to the size certain positions can not be approached.

In the US 2013/0 068 543 A1 is a Mecanumfahrzeug described in which the length and width of the chassis can be variably adjusted. In addition to several Mecanumrädern which are arranged to drive motors, the chassis consists of several connected via joints chassis sections, which can be aligned via a folding mechanism at an angle to each other, resulting in a width or length adjustment of Mecanumfahrzeuges.

Based on the aforementioned prior art, the invention is therefore an object of the invention to provide a Mecanumradfahrzeug, which allows good maneuverability - depending on the application with and / or without payload. In particular, the Mecanumradfahrzeug should be used automatically, to take loads automatically, preferably without the need for manual intervention and transport. It should be minimized depending on the application tilting moments during the transport of a payload or it should be given the opportunity to accommodate even large payloads easily. In addition, the Mecanumradfahrzeug should be stowed or turned off on the smallest possible parking areas. Furthermore, the object is to provide an optimized, automated operating method for such a Mecanumradfahrzeug.

This object is achieved with a Mecanumradfahrzeug with the features of claim 1, ie in a generic Mecanumradfahrzeug in that the Mecanumradfahrzeug sensor means for sensing / detecting at least a payload dimension, in particular a payload width and / or a payload length (depth) of a payload to be received or transported by the Mecanum wheel vehicle, and in that the chassis comprises a first chassis section with at least two of the Mecanumradantriebe the Mecanumradfahrzeugs and a second chassis section with at least two of Mecanumradantriebe the Mecanumradfahrzeugs, and that the first and the second chassis section are distance variably mechanically connected to each other (such that this mechanical connection is also maintained at the different set distances) and that the distance between the first and second chassis section along a first Einstellachse by controlling at least one Mecanumantrieb the first chassis section and / or at least one Mecanumantrieb the second chassis section by means of the control means in Dependent eit the at least one, detected by means of the sensor means or determined, load size is adjustable. In other words, the relative displacement of the chassis sections is actuated by driving the mechanical drive means via the control means by means of the mechanical drive means, the relative displacement of the chassis sections being dependent, ie, taking into account the payload dimension determined by the integral sensor means, ie the distance of the chassis sections from each other becomes dependent thereon Set dimension, in particular, as will be explained later, that the payload between the chassis sections is receivable, so that the distance of the chassis sections is set so that it is greater than the sensed load dimension, especially a payload width, thus the chassis sections laterally adjacent to the payload in the direction of its longitudinal extension or perpendicular to the first adjustment axis to be able to accommodate the load between them, in special with the further aim of being able to lift the payload with the help of integral lifting means of Mecanumradfahrzeuges. The detection of at least one payload dimension of a, preferably at least approximately parallelepipedic and / or arranged on a pallet, load is carried out without contact, in particular, as will be explained later, using at least one camera.

With regard to the operating method, the object is achieved with the features of claim 17, d. H. in a generic method in that the distance between the first and the second chassis section along the first adjustment axis is set by controlling at least one of the Mecanumradantriebe the first chassis section and / or the second chassis section by means of the control means. The setting takes place as a function of the at least one detected by the sensor means payload dimension, wherein preferably the length or the width of the Mecanumradfahrzeuges is adapted to the detected payload dimension.

Advantageous developments of the invention are specified in the subclaims. All combinations of at least two features disclosed in the description, the claims and / or the figures fall within the scope of the invention.

In order to avoid repetition, features disclosed according to the device should be regarded as disclosed according to the method and be able to be claimed. Likewise, according to the method disclosed features should be considered as device disclosed and claimed claimable.

The invention is based on the idea to form the chassis in several parts, in such a way that the chassis has at least two chassis sections, each carrying two Mecanumradantriebe and these chassis sections distance variable mechanically (indirectly or directly) to connect mechanically, ie such that the distance between the chassis sections along an adjustment axis while maintaining the mechanical connection, for example by the realization of a telescopic or rail connection is maintained despite a distance variation. According to the invention, it is further provided that the spacing of the aforementioned chassis sections adjacent to the (first) adjustment axis along the (first) adjustment axis is effected by a corresponding activation of the drive mechanisms of the chassis sections such that the chassis sections move towards or away from each other is produced. For the preferred case that the aforementioned adjustment axis extends in the direction of the width extension and thus preferably parallel to the axes of rotation of the Mecanumräder the Mecanumantriebe, it is possible by an opposite rotation of Mecanumräder one of the vehicle sections and simultaneous braking or slower rotation of Mecanumräder, in particular by appropriate control of the associated drives, the opposite chassis section to increase the distance between the chassis sections and thus to widen the chassis as a whole. To narrow, ie to reduce the distance of the chassis sections Mecanumräder the Mecanumradantriebe one of the chassis sections can turn in opposite directions, but then rotated in opposite directions of rotation, while the Mecanumräder the opposite chassis section preferred ( but not mandatory) are held or braked by appropriate control.

According to the invention, the Mecanumradfahrzeug also contactlessly operating sensor means, which are designed and arranged to detect at least one payload, in particular a payload width and / or a payload length of a male of the Mecanumradfahrzeug to be transported and / or with this to be transported payload. The control means for controlling the Mecanumradantriebe are signal-conducting connected to the sensor means and configured and arranged such that this the distance between the first and the second chassis section along the perpendicular or parallel to the Mecanumraddrehachsen adjusting axis by appropriate control of Mecanumradantriebe depending on the means of Set sensor means detected dimension to adjust the Mecanumradfahrzeuglänge (in particular perpendicular to the longitudinal extent of Mecanumraddrehachsen) and / or Mecanumradfahrzeugbreite (in particular parallel to the longitudinal extent of Mecanumraddrehachsen) to the measured payload dimension. It is very particularly preferred to adapt the width of the Mecanum wheel vehicle to the payload width oriented in the same direction in order to be able to receive the payload at least in sections between the two chassis sections. In other words, the distance of the chassis sections along the first adjustment axis is preferably set so that the wheeled vehicle, in particular automatically along the longitudinal extension of the payload can move and in this way receives the payload between the automatic distance-varying chassis sections, in particular to the payload then with the help of integral lift a lifting or supporting surface for the payload providing lifting means to lift, for example in the form of a lifting fork. As will be explained later, it is possible, in particular automatically after the lifting of the payload, to further vary the track wheel width by corresponding activation of the mechanical wheels, in particular to reduce it again, for example to be able to park the payload on the chassis sections and / or one to gain improved maneuverability. In addition or as an alternative to the variation of the Mecanumradfahrzeugbreite preferably oriented parallel to the Mecanumraddrehachsen based on a previously detected payload, in particular the payload width, it is possible to change the Mecanumradfahrzeuglänge depending on a detected dimension, in particular a payload length (depth), in particular such that the Mecanumradfahrzeuglänge after adjustment corresponds to at least the payload length and even more preferably is longer than the payload length, so as to allow a better support of the payload.

If, for example, the vehicle length is to be varied as a function of a detected payload dimension, in particular a payload length (depth), then the aforesaid setting axis runs in the direction of the vehicle longitudinal axis and thus preferably perpendicular to the axes of rotation of the drive wheels of the drive wheel drives, the aforementioned drive section sections are arranged adjacent in the vehicle longitudinal direction. To extend the vehicle, d. H. For further spacing of the chassis sections from each other, for example, arranged on a chassis section Mecanumräder can be rotated in a common direction of rotation, while the Mecanumräder or Mecanumradantriebe the adjacent chassis section are rotated or braked slower or held. Also it is possible to rotate the latter Mecanumradantriebe contrary to the other Mecanumradantrieben. Regardless of the concrete control of Mecanumradantriebe this must in any case be such that a force vector results, which moves the chassis sections in the desired direction along the adjustment axis relative to each other.

Very particular preference is given to an embodiment to be explained later, in which both the width and the length of the chassis by corresponding control of Mecanumradantrieben depending on at least one non-contact detected load size, in particular the payload width and / or payload length is varied, the forces required for this purpose at least partially, preferably completely generated by appropriate control of Mecanumradantriebe that allow, in contrast to conventional wheels without the realization of a mechanical steering force vectors to produce, which are oriented at an angle to the longitudinal extent of the chassis. How this force vectors can be generated by appropriate control is basically known - according to the invention results in a defined distance variation of at least two each two Mecanumradantriebe supporting chassis sections along an adjustment axis, in the direction of the width extension or in the direction of the longitudinal extension of the vehicle, ie in particular parallel may be oriented to the axes of rotation of the Mecanumräder or alternatively perpendicular thereto. The aforementioned orientation of the axes of rotation of the Mecanumräder or Mecanumradfelgen is not compelling, but for a simplified control or Ansteuerbarkeit advantage. Thus, it is possible, for example, the axis of rotation of at least one Mecanumrads at least one of Mecanumradantriebe both angularly to the longitudinal axis of the vehicle as well as to arrange an angle to the width axis of the vehicle, that is, each having an angle deviating from 90 ° to the aforementioned axes. In this case, both the width adjustment and the length adjustability of the first adjusting shaft are angled with respect to the above-mentioned mechanical axis of rotation, distance variation of the longitudinally or widthwise spaced chassis sections is still possible by corresponding force vector generation by means of the mechanical wheel drives and falls within the scope of the invention ,

In view of the concrete design of the non-contact sensor means as a function of their detection result according to the invention the Mecanumradfahrzeugbreite and / or length is adjusted by controlling at least one of Mecanumradantriebe, there are different possibilities. In the simplest case, the sensor means comprise at least one camera, preferably two cameras arranged at an angle to each other for preferably three-dimensional recording of the payload, wherein it is particularly expedient if the corresponding dimension information is determined with the aid of suitable image processing software of the sensor means and / or control means. Additionally or alternatively, it is possible to detect the at least one payload dimension by means of a laser scanner. It is also possible to use 3D strip light scanners as sensor means. Similarly, ultrasound scanners can be used or other, not explicitly mentioned measuring means for determining at least one dimension of the payload.

The trained according to the concept of the invention Mecanumradfahrzeug and the operating method of the invention offer many advantages over known Mecanumradfahrzeugen and use, especially in a width adjustment of Mecanumradfahrzeuges the special properties of Mecanumradantrieben, each comprising at least one Mecanumrad and at least one drive motor, in particular an electric drive motor. Thus, it is possible to vary the vehicle width and / or the vehicle length, in particular solely by a corresponding control of the Mecanumräder or Mecanumradantriebe, whereby the Mecanumradfahrzeug on the one hand in a non-load operation, especially for parking on a parking area occupy a minimum footprint. In addition, due to size variability, it is possible to approach positions that would otherwise not be approachable at a maximum size. In particular, it is possible for the first time to automatically adapt the chassis to the size of the load in order, for example, to be able to travel under differently dimensioned loads, in particular pallets, or even laterally past a load in order to pick them up or return them later through preferred lifting means to be explained later unload. If necessary, it is also possible to set the dimension so that tilting moments are minimized.

Particularly preferred is an embodiment of the Mecanumradfahrzeuges, in which not only the distance adjustment of the chassis sections automatically takes place depending on the previously measured payload dimension, but in which the Mecanumradfahrzeug the payload automatically starts or automatically aligns with this load to the payload, in particular to the To be able to accommodate payload between the chassis sections. In this case, the vehicle is preferably aligned so that the first adjustment axis is aligned parallel to the payload width or payload length. For this purpose, it is particularly expedient if a corresponding sensor system is present - this is preferably the same sensor system by means of which the dimension determination is also possible.

It is expedient if at least one camera is provided for an automatic drive of the Mecanum wheel vehicle or an automatic charge acceptance and / or delivery, in particular at least two cameras arranged at an angle to one another.

As explained, the at least two vehicle frame sections, which are adjustable relative to each other in the adjustment axis, each carry two drive wheel drives for generating the force for relative displacement of these chassis sections. Each Mecanumradantrieb includes, as explained, at least one drive motor, in particular an electric motor and at least one preferably only about a rotational axis, in particular the drive rotational axis rotatable Mecanumrad. This is in contrast to conventional drive wheels preferably not rotatable about a perpendicular to the axis of rotation oriented hinge axis. A Mecanumrad in turn is rotatable about an axis of rotation and also carries distributed over the circumference, preferred barrel-shaped rollers over which the Mecanumrad rolls on a substrate, the roller axes of rotation of the rollers are arranged at an angle to the respective Mecanumrad- or Felgelrehachse the Mecanumrades. In known manner, the Mecanumradantriebe individually or in groups to implement an omnidirectional operation of the vehicle are controlled or controlled by control means, so that the Mecanumräder or Mecanumradgruppen rotatable at individual speeds or directions of rotation, the desired, or predetermined (total or resulting) direction of movement of the Mecanumfahrzeuges (or partial movements or relative movements of each two Mecanumradantrieben carrying chassis sections to each other) results from a sum of individual vectors of Mecanumräder. In this way, despite preferred to dispense with a mechanical steering any direction of movement, ie an omnidirectional operation can be realized and there is the possibility to rotate or turn the entire Mecanumradfahrzeuges on the spot and / or while moving the Mecanumradfahrzeuges in a desired direction of movement , It is essential that the control takes place at least for adaptation of the vehicle dimension automatically as a function of the detected payload dimension. It is particularly preferred if the lifting and / or lowering of the payload takes place automatically and for this purpose the lifting means are controlled accordingly by the control means. It is particularly expedient if the lifting means the payload after the distance variation of at least two of the chassis sections are automatically raised, ie without further user-side engagement are raised lifting.

Preferably, additional drives to the Mecanumradantrieben for width and / or length adjustment of the chassis is dispensed with.

With regard to the realization of the distance variable, mechanical fixation, there are different possibilities. It is essential that chassis sections are mechanically or indirectly fixed at different distances along the adjustment axis directly or indirectly. In the simplest case, a mechanical telescopic connection can be realized for this purpose between the chassis sections to be adjusted relative to the adjustment axis. It is also conceivable to arrange one of the chassis sections or both chassis sections along a connecting rail adjustable, etc. One possibility is also that the two chassis sections (Verbindungsfahrgestellabschnitt) indirectly via another chassis section are connected to each other, for example via a telescopic extension od. Like. Mechanical Connection and distance variation of the chassis sections to each other, the distance between at least one of the chassis sections to this further, in particular middle Verbindungsfahrgestellabschnitt by driving Mecanumradantrieben is changeable.

As mentioned above, it is particularly preferred if two chassis sections each with two Mecanumradantrieben, d. H. a first chassis section and a second chassis section along a first adjustment axis by appropriate control of Mecanumradantrieben the Mecanumradfahrzeuges is adjustable. In this case, the first adjustment axis can run in the vehicle longitudinal direction or in the vehicle width direction. Particularly preferred is now an embodiment in which two chassis sections, namely a third and a fourth chassis section, each carrying two Mecanumradantriebe of the vehicle along a second adjustment axis by appropriate control of Mecanumradantrieben, preferably automatically variable in dependence on a detected payload dimension are the distance second adjustment axis then preferably perpendicular to the first adjustment axis, d. H. runs in the longitudinal or the width direction of the vehicle. Within the scope of the distance variability along the second setting axis, the third and the fourth vehicle section must be connected to one another in a distance-variable manner (directly or indirectly), whereby the solutions described above can likewise be realized here.

Especially preferred is an embodiment in which the third and fourth chassis sections are each formed by partial chassis sections (sections) of the first and preferably perpendicular to the first adjustment axis (E1) adjacent second chassis section, so that preferably four partial chassis sections exist, the pairs to a first and a second chassis section for, preferably automatic distance variation as a function of at least one detected by the sensor means load dimension along the first Einstellachse and alternatively or simultaneously pairwise to the third and fourth chassis section for distance variation along the second Einstellachse are summarized. In this case, it is very particularly preferable for the drive wheel drives of the third and fourth chassis sections to be those of the first and second chassis sections, so that, for example, the third chassis section carries a drive wheel drive of the first vehicle section and a drive wheel drive of the second drive section, as does the fourth chassis section. Such a vehicle comes with a total of four Mecanumradantriebe from, of course, to achieve greater drive torque and more than four Mecanumradantriebe provided and preferably distributed to the chassis sections or chassis sections are arranged.

A previously described Mecanumrad is maximum flexibility and adaptable both in length and in width, in particular exclusively by appropriate control of Mecanumradantriebe the Mecanumradfahrzeuges.

In an embodiment with at least four chassis sections, each carrying at least one Mecanumradantrieb and the in pairs to form the first and second chassis section and pairwise to form the third and fourth chassis section are summarized, it is possible to connect all subframe sections directly mechanically variable distance with each other or with another, in particular middle, Verbindungsfahrgestellabschnitt. However, an embodiment in which the four partial chassis sections are connected to each other in a U-shaped manner with a variable spacing such that, for example, the first and the second chassis sections are interconnected along the first adjustment axis only via the partial chassis sections of the third or alternatively the fourth chassis section, is particularly preferred. wherein these, directly interconnected or indirectly interconnected via a Verbindungsfahrgestellabschnitt Teilfahrgestellabschnitte along the second Einstellachse are connected to a respective part of the chassis section of the fourth or alternatively the third chassis section. It then results in a U-shaped structure.

Particularly useful is an embodiment of the Mecanumradfahrzeuges, in which this lifting means for varying a perpendicular to the longitudinal axis and the width axis oriented height distance between a, preferably formed by a lifting fork, bearing surface for a payload and the Mecanumantrieben has. Preferably, the lifting means are designed so that a payload, such as a pallet can be raised with these. Of course, the lifting means are not limited to a training as a lifting fork - in principle, the lifting means can take all conceivable design variants - so it is conceivable that the lifting means include a lifting platform with which can be driven under the payload, and then take the payload - a fork shape is not required here. It is also conceivable that the lifting means work in the form of a crane, so do not press the loadload from below, but pulling from above. A combination is also feasible. It is essential that the lifting means have a bearing surface for the payload, which is height-adjusted relative to the chassis sections, by actively adjusting the support surface and / or the chassis sections along a vertical.

To be particularly advantageous, an embodiment has now been found, in which the support surface of the lifting means, in particular a fork fork having lifting fork is arranged in the manner of a forklift fork between the first and the second chassis section, so that by distance variation of the first and second chassis section along the first Setting axis an automatic adjustment to a male payload is possible, in particular by the first and the second chassis section, preferably automatically or driven over the control means parallel to the longitudinal extension of a lifting fork laterally past the charge to be charged and possibly after receiving the payload by operating the lifting means again a piece far by appropriate control of Mecanumradantriebe are movable together. The distance variation along the at least one adjustment axis is effected as a function of the recorded payload dimension, in particular a payload width. Preferably, the pre-established method of the Mecanumradfahrzeuges takes place relative to the payload or recording the payload between the chassis sections automatically by appropriate control of Mecanumradantriebe depending on corresponding sensor information, preferably camera information.

In the case of the provision of a previously discussed Verbindungsfahrgestellabschnittes, with which distance variable two opposite chassis sections, in particular the first and the second chassis section are mechanically variable in distance, it is preferable to arrange the lifting means at this connection portion or set.

To realize an increased carrying capacity or Zulademöglichkeit the Mecanumradfahrzeuges is provided in the development of the invention that in addition to the Mecanumrädern fixed to the chassis or on a movably mounted on the chassis or fixed, in particular height-adjustable, support member, support means (not in the Mecanumrädern form) are provided to support a weight portion, in particular a main weight portion of the chassis of the Mecanumradfahrzeuges and any payload on a ground (road). At the same time, it is provided in the context of the development to limit the proportion of the weight of the chassis and any structures and / or any payload, which is supported on the ground via the Mecanumräder, so as to prevent an unacceptable overload of Mecanumräder. For this purpose, the Mecanumräder relative to the chassis (parallel to the weight direction of the vehicle and / or a payload) resiliently fixed to the chassis or the chassis sections, with the aid of force storage means, which are designed and arranged so that only a partial weight force of a total weight of To support the Mecanumrädern on the ground - this must the force storage means in the vertical direction (ie parallel to the weight force direction) and / or perpendicular (at least with a spring force component) to the surface extension of the chassis or to one of the Mecanumrädern defined Supporting plane for supporting on the ground to be resilient. Preferably, the force storage means are designed such that the spring travel is limited, so that a residual spring travel (in the direction of the weight force) remains or is given with support means supported on the ground. In the event that the support means are to be mounted resiliently, which is optionally possible, the spring stiffness of the force storage means is preferably selected to be lower than a spring stiffness of optional, preferably between the support means and the chassis arranged Abstützkraftspeichermitteln with which the support means optionally resilient are mounted opposite the chassis.

As a result, a Mecanumradfahrzeug obtained while maintaining one of its omnidirectional operation by a corresponding control of Mecanumräder or their drives and which is at the same time able to transport a comparatively large payload, since due to a corresponding resilient Storage of Mecanumräder compared to a chassis and the additional provision of support means is ensured that only a weight portion of the chassis and / or any payload on the Mecanumräder is supported on the ground, while the other or remaining weight share, in particular the greater weight share on the Supporting means can be supported on the ground. For this purpose, there are then a support surface of the support means and the support surface of the Mecanumräder together on the ground, especially in a common plane (with ideal flat ground).

In this case, the spring force or spring stiffness of the force storage means is preferably matched to the weight of the chassis, any superstructures and / or any payload, so that despite a limitation of the weight component to be supported by the Mecanum wheels, a still sufficient weight share can be supported on the ground via the Mecanum wheels is supported to ensure (sufficient) traction of the Mecanum wheels on the ground to ensure propulsion for omnidirectional movement of the Mecanum wheel vehicle. In particular, it should be ensured that the traction is sufficient in order to be able to transmit a so-called scribing torque, which is necessary in order to overcome a rolling resistance of the vehicle, to or be supported on the ground.

The Mecanumradantriebe, the chassis and the support means form an inseparable unit that is movable together, preferably in the case of not loading a payload so that the support means, as will be explained later in an advantageous development, not on the Support the ground. In addition to a basic suitability of the Mecanumradfahrzeugs according to the invention for carrying payloads, it is also possible for the first time, comparatively heavy Mecanumradfahrzeuge, which for example have heavy, durable structures and construct the weight of these structures only partially on the Mecanumräder and the other part on the support means to be supported on the ground. Very particular preference is given to a vehicle type which can be realized within the scope of the invention, in which lifting means are fixed on the chassis with which a payload can be adjusted in height relative to the chassis. Such an embodiment makes it possible to drive under a payload, adjust the payload relative to the chassis by means of the lifting means, so that a part of the payload weight force on the support means is supported on the ground and only a part of the weight force on the Mecanumräder, said this weight component is chosen sufficiently large to ensure traction of Mecanumräder on the ground.

With regard to the specific design of the support means, there are different possibilities. In the simplest case, it is possible to drag support means by driving the Mecanumräder dragging over the ground. However, it is particularly preferred if the support means for minimizing friction are designed to be movable together with the chassis by driving the mechanical wheels over the ground. It is particularly preferred in this case if the support means have a, about 360 °, rotatable load wheel, in particular in the form of a load roller to a, preferably parallel to a ground extending axis of rotation, which in a direction change of the vehicle by a corresponding control of Mecanumradantriebe is rotatable about a preferably perpendicular to the axis of rotation of the load wheel extending steering axis relative to the chassis. It is particularly useful to provide a plurality of such trained and articulated load wheels for improved load distribution. Very particularly preferably four, the corners of a rectangle limiting load wheels are provided. The at least one load wheel is preferred as "conventional wheel without additional, rotatable relative to the wheel wheels", ie not designed as Mecanumrad and preferably not active, but only indirectly driven via the Mecanumräder. Preferably, the at least one load wheel is also not actively rotatable about the joint axis by means of a steering drive, but only passively by a corresponding change in direction of the vehicle, whereby also an embodiment with active, ie aktuierter steering can be realized, depending on the vehicle direction, the load wheel to a joint axis rotates driven directly. In addition or as an alternative to a load wheel rotatable about an axis of rotation as well as around a joint axis, it is also conceivable to provide supporting means in the form of a rotatable roller, in particular arranged in a cage, which can roll omnidirectionally and thus follow a vehicle direction predetermined by the mechanical wheel drives. It is also conceivable, in principle, to provide support means in the form of a rotatable chain, in the manner of a tracked vehicle, in which case it is preferable to provide an active steering system for pivoting such a chain drive (a chain may also be formed of a rubber-elastic material) so as to adjust a dependent of the respective direction of travel of the Mecanumrades preferred orientation of the chain drive. Regardless of the specific configuration of the support means, these are preferably not active but can only be driven indirectly via the drive wheel drives.

In particular, in a vehicle which is designed to carry or transport a payload, it has been found to be advantageous to form or turn off the power storage means for the Mecanumräder that the support means in not loaded with a payload chassis, which optionally still carries structures, Above one of the Mecanumrädern defined support plane, that is arranged above the ground, and lower only when subjected to a dimensioned or heavy payload with simultaneous or automatic increase of the spring tension of the power storage means together with the chassis. In other words, an embodiment is of particular advantage, in which the support means do not contact the ground during a run of the Mecanumradfahrzeuges, but only when applying a corresponding payload, which at the same time ensures that the means with which the Mecanumräder resiliently mounted relative to the chassis are, be tense, which, as already explained, even with in the support plane defined by the Mecanumrädern support means a residual spring travel of the force storage means should be maintained parallel to the weight direction of force, in particular to compensate for unevenness of the ground and to prevent one to large load must be supported on the Mecanumräder. This is important in order to ensure a controlled omnidirectional propulsion of the Mecanum wheel vehicle, even on uneven ground.

To be particularly advantageous, it has been found that the support means are arranged and fixed in height adjustable on the chassis, such that a distance between a support surface formed by the support surface, with which the support means for supporting a partial load, d. H. a weight portion supported on the ground and the ground or the support plane defined by the Mecanumrädern and thus the distance of the aforementioned support surface is adjustable to the chassis to the spring travel, the power storage means when loading the chassis with a payload can cover until the Support surface of the support means reaches the ground and / or optional Abstützkraftspeichermittel are tensioned according to the maximum load weight, to adjust. By this measure, the maximum, to be supported by the Mecanumrädern on the ground weight force is set at the same time. As will be explained later, this distance setting preferably follows as a function of a measured weight of the payload.

As already indicated, an embodiment can be realized in which only the mechanical wheels are mounted with respect to the chassis by means of the force storage means resiliently to limit the maximum load to be supported or supported and the support means not. Alternatively, it is conceivable not only to store the Mecanumräder resiliently relative to the chassis, but also the support means on Abstützkraftspeichermittel, in which case the spring stiffness of Abstützkraftspeichermittel is preferably greater than that of the force storage means, thus ensuring that only a proportion of the weight on the Mecanumräder is supported on the ground or is supportable.

It is particularly expedient if the force storage means are designed such that even when loaded with a payload Mecanumradfahrzeug a residual spring travel of the force storage means remains parallel to the direction of gravity force to ensure a residual spring capacity. In other words, it is preferred if the theoretically until a stop maximally zurücklegbare spring travel parallel to the direction of the weight force, d. H. the corresponding spring travel component, is longer than the distance of the support surface of the support means to the ground or to the supporting plane defined by the Mecanumrädern in an unloaded state and / or longer than a maximum spring travel optional Abstützkraftspeichermittel parallel to the aforementioned weight direction.

In order to ensure sufficient traction of the Mecanumradantriebe or the Mecanumräder on the ground at different payloads, it has been found to be advantageous if means for adjusting the bias of the power storage means and / or a maximum spring travel, the force storage means can cover by increasing the spring tension, to the supporting means on the ground or reach the defined by the Mecanumrädern support plane and / or are up to optional Abstützkraftspeichermittel according to the load maximum stretched, is adjustable and thus also the maximum weight of the Mecanumrädern to be supported on the ground. This can be manually or preferably with the aid of actuator means, in particular an electromotive drive drivable means for adjusting the bias and / or the spring travel. The aforementioned travel of the force storage means can be adjusted for example by distance variation of a support surface of the support means to the ground or to the chassis, by a corresponding height-adjustable arrangement of the support means relative to the chassis. In the case of a resilient mounting of the support means relative to the chassis via corresponding Abstützkraftspeichermittel may additionally or alternatively to the aforementioned means for adjusting the bias of the force storage means (manual or aktuierte) means for adjusting the bias of the support means may be provided on the vehicle.

It is particularly expedient, as mentioned, if the preload of the force storage means or any support means and / or a (maximum) travel of the force storage means (in particular the distance of a support surface of support means to a Mecanumradabstützebene or to the ground) depending on the weight of a payload is adjustable , where it is particularly preferred if the setting is automated, i. H. via actuator means vornehmbar is. It has now turned out to be particularly expedient if the corresponding weight force can be determined with the aid of measuring means of the Mecanum wheel vehicle. Thus, that the Mecanumradfahrzeug has weight measuring means which are designed and arranged so that the weight of a payload or a weight portion of this load, which is supported on the supporting means or at least one Mecanumrad on the ground is measurable, said measuring means (force measuring means) signal conducting with corresponding Control means for driving the aforementioned actuator means are connected, wherein the control means, the actuator means for adjusting the bias of the force storage means and / or the aforementioned spring travel and / or a bias of any Abstützkraftspeichermitteln depending on a sensor signal of the measuring means, d. H. vary or adjust depending on the payload weight (or weight fraction), on the one hand to limit the load on the Mecanumräder and on the other hand to ensure sufficient traction, in particular for overcoming a Anrollwiderstandes the Mecanumradfahrzeuges.

For the preferred case of the formation of Mecanumradfahrzeuges as a load vehicle, which is suitable and intended for receiving or transporting a payload, it has been found to be advantageous if arranged on the chassis a, in particular tiltable, charging device, preferably a charging trough for receiving the payload is.

Additionally or alternatively, on the chassis lifting means (Abtandsvariationsmittel) for relative height adjustment (Abstandverstellen) of a payload relative to the chassis are provided, wherein in a preferred embodiment of the Mecanumradfahrzeuges with not loaded with a load from the ground lifted or spaced support means, the lifting means move the chassis in the direction of the ground and thereby tension the power storage means of the Mecanumräder until the support means are clamped to the ground and / or optional Abstützkraftspeichermittel reach. In other words, the lifting means are designed for relative displacement of a lifting or transport surface to the chassis. Preferably, the lifting means comprise a fork, in particular a lifting fork in the manner of a forklift or a lifting platform, wherein the lifting fork or lifting platform then form or define the abovementioned bearing or transport surface of the lifting means for receiving the load. Preferably, the support or transport surface for charging a payload is aligned or arranged parallel to the support plane defined by the Mecanumrädern.

With regard to the specific embodiment of the power storage means for resiliently supporting the Mecanumräder, in particular together with the respective drive (in particular in each case an electric motor), there are different possibilities. In the simplest case, the force storage means (spring means) are designed as classic springs, for example as compression springs, such as coil springs and / or torsion springs; The force storage means may also have combinations of differently shaped springs. Preferably, such springs are formed of metal and / or formed resilient due to their geometry. It is also conceivable that the force storage means include gas springs or hydraulic springs or a combination of mechanical springs, gas springs and / or hydraulic springs. It is also conceivable to provide spring-loaded or force-storing force-storing means exclusively or additionally on the basis of the choice of material (for example elastomeric material). It is essential that the force storage means are designed and arranged in such a way that these support means, which are supported on the ground, limit the load of the Mecanum wheels to be supported weight force care, ie serve to buffer the power.

It is very particularly preferred if the Mecanumräder, in particular together with their drives, d. H. the Mecanumradantriebe arranged on resiliently mounted support arms on the chassis or are resiliently mounted with respect to this, wherein the support arms are pivotally fixed to the chassis, such that changes the spring tension of the power storage means by pivoting the support arms. Very particular preference is given to an embodiment in which the swivel angle for adjusting the force-storing means bias voltage can be changed manually or by means of actuator means in order to vary the weight force or weight force component to be carried by the mechanical wheels. It has proven to be particularly advantageous if the force storage means comprise torsion springs, which can be tensioned by pivoting the support arms.

To ensure optimum ground contact and to avoid known from the prior art floating states, it has been found to be advantageous if the Mecanumräder, as shown in WO 2013/041310 is known to comprise two rims, each carrying rotatably arranged rollers over its circumference, wherein the rims are interconnected via damping means which allow a limited relative movement of the rims, in particular a relative movement in the circumferential direction and / or perpendicular to a Mecanumraddrehachse and / or perpendicular to a rim rotation axis of the rims and / or tilt angle to each other. Preferably, the Mecanumräder are designed as described in the aforementioned international patent application.

The invention also leads to a system comprising a previously described Mecanumradfahrzeug and carried by this (again removable or removable) payload, wherein a weight of the payload is proportionately supported on the Mecanumräder and proportionately on the support means on a substrate.

In addition, the invention also leads to a method for operating a trained according to the concept of the invention Mecanumradfahrzeuges. The aim of the method is to set the Mecanumradfahrzeugabmessungen, in particular a Mecanumradfahrzeugbreite and / or length depending on a, in particular spaced from the Mecanumradfahrzeug, payload dimension / dimension that is or was detected by means of sensor means of Mecanumradfahrzeuges. It is particularly useful to adjust the width of the Mecanumradfahrzeuges, by appropriate control of Mecanumradantriebe, in particular as a function of a payload width, which is then preferably oriented parallel to the adjustment axis. Ideally, the distance between the corresponding, adjustably connected chassis sections is adjusted so that the cargo can be received between them, in particular such that the distance between the first and second chassis section of the recorded payload plus a game, to accommodate the payload between the chassis sections can. For this purpose, the chassis preferably has an essentially U-shaped basic shape. It is particularly useful when appropriate lifting means are provided for lifting the payload, and it is particularly useful if the lifting means include, for example, a lifting fork, which is oriented parallel to the longitudinal extension of the aforementioned chassis sections and thus perpendicular to the adjustment axis. Additionally or alternatively, the Mecanumradfahrzeuglänge can be varied, in particular as a function of a perpendicular to the payload width oriented payload.

Further advantages and details of the invention will become apparent from the following description of preferred embodiments and from the drawings.

These show in:

1a - 1d a vehicle wheel vehicle designed according to the concept of the invention in a chassis section arranged from below in different operating states or at different distances from adjacent to each other,

2 FIG. 2 is a diagrammatic view of a Mecanum wheel vehicle designed according to the concept of the invention in plan view during different operating states, FIG.

3 and 4 FIG. 4 shows an alternative embodiment of a mechanical wheel vehicle according to the concept of the invention with lifting means comprising lifting arms which extend perpendicularly to a first setting axis and are arranged in a region between a first and a second vehicle section, which are variable in distance along the setting axis, FIG.

5 FIG. 1 shows a further alternative embodiment of a mecanane wheel vehicle according to the concept of the invention with lifting means, FIG.

6a A possible embodiment of a trained according to the concept of the invention Mecanumradfahrzeuges in a side view without load,

6b : a mechanical wheel vehicle according to 6a with a payload,

7 FIG. 1 shows a possible embodiment of a mechanical wheel vehicle formed according to the concept of the invention in the view from below, FIG.

8th FIG. 4 shows an alternative embodiment of a mechanical wheel vehicle formed according to the concept of the invention in a side view,

9 a further alternative embodiment of a Mecanumradfahrzeuges, which is designed according to the concept of the invention with integral lifting means, and

10 FIG. 4: a further alternative embodiment of a mechanical wheel vehicle formed according to the concept of the invention in a side view.

In the figures, like elements and elements having the same function are denoted by the same reference numerals.

In the 1a to 1d is a Mecanum wheel vehicle 1 shown. This comprises a total of four Mecanumradantriebe 2a to 2d that delimit the corners of an imaginary rectangle. Every Mecanumradantrieb 2a to 2d includes a mecanum wheel 3a to 3d each with an electric motor drive 12a to 12d , All Mecanumradantriebe 2a to 2d , more precisely their electric motor drives 12a to 12d are with control means not shown for individually driving the Mecanumrädern 3a to 3d connected to ensure omnidirectional operation.

The Mecanumrad drives 2a to 2d are fixed, in particular via force storage means to be explained later, with a chassis 5 connected. In addition to the Mecanumradantrieben 2a to 2d carries the chassis 5 with these firmly connected proppants 6 , here in the form of each about a rotation axis 7 and a perpendicularly oriented hinge axis 8th rotatably mounted load wheels. The support means 6 are not about the axis of rotation 7 still around the hinge axis 8th By means of a separate drive directly driven, but rotating or pivoting about this in dependence of a locomotion of Mecanumradfahrzeuges 1 due to the drive of the mechanical wheels 3a to 3b ,

The Mecanum wheel vehicle 1 or the chassis 5 has a longitudinal axis L and a perpendicular thereto oriented width axis B, wherein the longitudinal axis L is oriented perpendicular to Mecanumraddrehachsen 20 To rotate the rims of Mecanumräder are rotatable. Angled to these Mecanumraddrehachsen 20 Rim axes of rotation are oriented on roller rotation axes around which rollers which are carried by the outer wheel drive pulleys in a manner known per se can roll.

The chassis 5 has a first chassis section 21a with the Mecanumradantrieben 2a and 2 B and a second chassis section 21b with the Mecanumradantrieben 2 B and 2c on. These two chassis sections 21a and 21b are along a first adjustment axis E1, which here exemplarily along the width extension or parallel to the width axis B extends variable distance. For this purpose, the first and the second chassis section 21a . 21b mechanically and distance variable along the adjustment axis E1 connected to each other, for example, via a left in the drawing plane arranged and in the drawing plane from top to bottom extending, not shown telescopic or rail connection.

To vary the Mecanumradfahrzeugbreite, ie the extension of the chassis 5 along the width axis B, for example, the Mecanumradantriebe 2c and 2d , as in 1b is shown, are rotated in opposite directions. The Mecanumradantriebe are preferred at the same time 2a and 2 B braked or held. In any case, the Mecanumradantriebe 2a to 2d so driven that a force component on the chassis sections 21a and 21b along the first adjustment axis E1 acts, so that the chassis sections 21a and 21b move relative to each other along the first adjustment axis E1. At the same time or with a time delay or not at all, as in 1c shown for a further broadening the Mecanumradantriebe 2a to 2 B while rotating, for example, the Mecanumradantriebe 2d be slowed down. Made up of the 1b and 1c resulting adjustment movements can basically be carried out simultaneously. It is essential in any case that by a corresponding control of Mecanumradantriebe 2a to 2d the first and second chassis sections 21a and 21b be adjusted relative to each other along the adjustment axis E1 while maintaining a distance-variable mechanical connection.

In particular from 1d it can be seen that the chassis 5 next to the first and second chassis sections 21a and 21b a third chassis section 21c and a fourth chassis section 21d having. The third chassis section 21c includes the Mecanumradantrieb 2a as well as the Mecanumradantrieb 2c while the fourth chassis section 21d the Mecanumradantriebe 2 B and 2d includes. By appropriate control of Mecanumradantriebe 2a to 2d , For example, by braking or holding the Mecanumradantriebe 2a and 2c and simultaneously rotating the Mecanumradantriebe 2 B and 2d in a common rotation direction, the distance between the chassis sections 21c and 21d along a second adjustment axis E2, which extends perpendicular to the first adjustment axis E1, while maintaining the distance-variable mechanical connection of the third and the fourth chassis section 21c and 21d along the adjustment axis E2.

In principle, an embodiment in which the vehicle is adjustable only along one of the adjustment axes E1 or E2 is also feasible. In the case of longitudinal adjustability, the adjustment axis designated E2 is then the first adjustment axis E1 and the chassis sections 21c and 21d around the first or second chassis section 21a and 21b ,

In the concrete embodiment, the chassis sections set 21a to 21d together from pairwise combinations of part chassis sections (subsections) 22a to 22d of the chassis 5 ,

Specifically, the first chassis section 21a formed by the one Mecanumradantrieb 2a respectively. 2 B carrying sections 22a and 22b while the second chassis section 21b is formed from the sections 22c and 22d with the Mecanumradantrieben 2c and 2d , here to realize the width adjustment. To realize the length adjustability of the third chassis section 21c made up of sections 22a and 22c with his Mecanumradantrieben 2a and 2c and the fourth chassis section 21d is made up of sections 22b and 22d with his Mecanumradantrieben 2 B and 2d ,

As only in 1a schematically indicated comprises the Mecanumradfahrzeug 1 sensor means 24 , here for example in the form of two cameras for scanning a recorded, in particular payload to be lifted. The sensor means 24 are formed and arranged for detecting at least one payload dimension of the payload, in particular a payload width extending parallel to the width axis B and / or a payload length extending parallel to the longitudinal axis L into the payload 1a to 1d for reasons of clarity not shown, preferably cuboid payload. The sensor means 24 are connected with - in the 1a to 1d also not shown for reasons of clarity - control means, which in turn the Mecanumradantriebe 2a to 2d for length and / or width change of the Mecanumradfahrzeuges in dependence of the means of the sensor 24 detected load size, in particular the payload width and / or the payload length are controlled.

In 2 is a Mecanum wheel vehicle 1 shown in the drawing plane left in its minimum areal extent, in which the chassis sections 21a to 21d or subsections 22a to 22d are minimally spaced, while in the drawing plane right, the chassis is increased in both width and length, wherein, as explained in more detail, in principle, an embodiment can be realized, which is exclusively width or length variable.

In the 3 and 4 is a particularly preferred embodiment of a Mecanumradfahrzeuges 1 shown in the form of a load transport vehicle. For example only, the illustrated Mecanumradfahrzeug 1 only along the first adjustment axis E1 as a function of a detected with the help of non-marked sensor means payload width distance variable, wherein the adjustment axis E1 here again coincides with the width axis B of the vehicle. The Mecanum wheel vehicle 1 includes a first chassis section 21a and a second chassis section 21b with their Mecanumradantrieben 2a and 2 B respectively. 2c and 2d , which are each arranged perpendicular to the adjustment axis E1 one behind the other. The two chassis sections 21a and 21b are slidably connected along the adjustment axis E1 with a Verbindungsfahrgestellabschnitt 23 , In other words, the chassis sections 21a and 21d directly slidably connected to this Verbindungsfahrgestellabschnitt 23 and thereby indirectly mechanically interconnected distance variable. By appropriate control of Mecanumradantriebe 2a to 2d is the distance of the chassis sections 21a and 21b Adjusted along the first adjustment axis E1, between the in 3 displayed maximum and the in 4 shown minimum distance. In all relative positions remains the mechanical connection of the chassis sections 21a and 21b receive.

The maximum width is dimensioned so that in this the distance between the chassis sections 21a and 21b (slightly) larger than the payload width measured in the same direction 10 so as to be able to drive past both chassis sections laterally in the direction of the longitudinal extent of the payload extending perpendicular to the width of the payload and thus to be able to pick up the payload between the chassis sections and then lift it with the aid of the integral lifting means.

It can be seen that at the connection chassis section 23 lifting equipment 15 comprising a lifting fork 16 are arranged. The only example as a lifting fork 16 trained lifting equipment 15 define or form a bearing surface 17 for a payload 10 , The lifting fork 16 is located in an area between the first chassis sections 21a and 21b and extends perpendicular to the first adjustment axis E1.

The above construction makes it possible to accept the payload 10 (Pallet) to minimize the chassis to its minimum width by appropriate control of Mecanumradantriebe 2a to 2d , which increases mobility.

If necessary, in the 3 and 4 shown, only variable-width Mecanumradfahrzeug 1 In addition, be designed variable in length and indeed as a function of a previously detected load dimension, in particular a payload length - then there are a third and a fourth chassis section 21c and 21d each with two Mecanumradantrieben 2c and 2d provide, preferably for this purpose, the same Mecanumradantriebe 2a to 2d the same Mecanumradantriebe find use, as provided for the realization of the width adjustment, analogous to the embodiment according to the 1a to 1d ,

In 5 is a Mecanum wheel vehicle 1 shown. The structure corresponds essentially to the structure of the Mecanumradfahrzeuges 1 according to 3 and 4 - In addition, the Mecanumradfahrzeug 1 according to 4 an extension variability along a second adjustment axis E2. For this purpose, in addition to the first and the second vehicle frame section 21a and 21b a third and a fourth chassis section 21c and 21d intended. The two chassis sections 21a and 21b are indirectly over the Verbindungsfahrgestellabschnitt 23 distance variable mechanically interconnected. This is located in an area between and possibly above or below the subsections 22b and 22d , The subsection 22d otherwise is only along the second adjustment axis E2 with the subsection 22c connected, analogous to the subsection 22b with the subsection 22a , The pairwise assignment is analogous to the embodiment according to the 1a to 1d realized.

It is important that the adjustment of the extent of the Mecanumradfahrzeuges along the first adjustment axis E1 and / or along the second adjustment axis E2 in dependence, ie, taking into account by means of sensor means 24 recorded load dimensions or at least one payload dimension, preferably one extending along the axis E1 payload width and / or in dependence along the second adjustment axis E2 extending payload takes place. For this purpose, the sensor means which comprise, for example, at least one camera and a computer unit with image processing software signal-conducting connected to control means via which the Mecanumradantriebe can be controlled.

The following is the operation of a preferably provided resilient mounting of Mecanumradantriebe 21a to 21d described in combination with support means, wherein the other, previously described functionality or width and / or length change is not discussed - this is of course also in the following embodiments by a multi-part design of the chassis 5 and a corresponding drive realization of the Mecanum wheels 3 realized.

In the 6 and 6b is again the basic principle of a designed according to the concept of the invention Mecanumradfahrzeuges 1 shown. This comprises a total of four Mecanumradantriebe 2 that limit the corners of an imaginary rectangle and of which in the side view only two in the direction of a longitudinal direction of the vehicle 1 spaced drives can be seen. The two other Mecanumradantriebe are located in the drawing plane behind. Every Mecanumradantieb 2 includes a mecanum wheel 3 with not shown, arranged thereon, electric motor drive. All drives are in a conventional manner with control means, not shown, for individually driving the Mecanumräder 3 connected to ensure omnidirectional operation. The chassis 5 is designed in several parts to realize a latitude and / or length changeability (not shown - see previous illustrations).

It can be seen that the Mecanum wheels 3 along with their drives 2 via energy storage agent 4 are resiliently mounted to a chassis 5 which the Mecanum wheels 3 carrying with their drives. The energy storage agent 4 are merely exemplified as a coil spring reproduced in a simplified representation. Of course, other, resilient bearings are possible - it is essential that at least one perpendicular to a substrate U oriented Federkaftkomponente between the chassis 5 and the Mecanum wheels 3 acts.

In addition to the Mecanumrädern 3 carries the multi-section chassis 5 with this firmly connected support means 6 , here in the form of around one axis of rotation 7 as well as a vertically oriented hinge axis 8th rotatably mounted load wheels.

The support means 6 are not about the axis of rotation 7 still around the hinge axis 8th can be driven directly by means of a separate drive, but rotate or pivot about these in dependence a locomotion of Mecanumradfahrzeuges 1 due to the drive of the mechanical wheels 3 ,

In 6a a state without a payload is shown. It acts in the embodiment shown essentially of the chassis 5 caused weight force on the force storage means 4 on the Mecanum wheels 3 so that they support this entire weight force on the ground in the state shown. The of the support means 6 , Specifically formed by the load wheels support surfaces 9 (Target contact surfaces to the ground) are spaced from the ground U.

6b shows the Mecanum wheel vehicle 1 according to 1a with attached load (load) 10 , This has a weight F of X N. Due to the payload 10 or because of their weight F, the force storage means 4 stretched by covering a spring travel, in which the chassis 5 with payload 10 against the spring force of the energy storage means 4 automatically adjusted downwards in the direction of gravity until the support means 6 with their support surface 9 supported on the ground. There remains a small residual spring travel of the force storage means to compensate for unevenness of the substrate U obtained (residual spring capacity). By appropriate choice of the energy storage means 4 and the remaining residual spring travel or residual spring capacity is the over the Mecanumräder 3 limited weight to be supported. In other words, only a portion of the weight of the payload 10 supported on the ground via the mechanical wheels and the other part via the support means. The energy storage agent 4 are chosen so that based on the payload 10 or the corresponding total weight sufficient traction of Mecanumräder 3 on the underground U is given to move the Mecanumradfahrzeug (omnidirectional).

Particularly preferred is an embodiment in which the bias of the energy storage means 4 , in particular depending on the load to be loaded 10 is adjustable and / or a bias of optional Abstützkraftspeichermitteln not shown here, with which the support means 6 if necessary opposite the chassis 5 can be resiliently mounted. It is also conceivable, the distance of the support surface based on the condition according to 1a without load relative to the ground to adjust the spring travel and thus set a residual spring travel of the spring.

Most preferably, at least one of the aforementioned settings takes place as a function of the weight force to be determined or of a weight component of the payload to be determined 10 , For example, as in 1 indicated measuring means (force measuring means) 11 be provided, for example, on the multi-section chassis 5 with which the weight of a payload can be determined. Depending on this weight, which alternatively also outside the Mecanumradfahrzeugs 1 can be determined, then one of the aforementioned settings are made manually or via actuator means, and it is very particularly preferred if this automatically in response to a sensor signal of the measuring means 11 by appropriate actuations of the actuator means by means of control means takes place.

7 shows a possible embodiment of a Mecanumradfahrzeuges 1 , which is formed according to the concept of the invention from below. Evident are the four, the corners of an imaginary rectangle, limiting Mecanumradantriebe 2 , each one Mecanumrad 3 include, which means of a drive, here in each case an electric motor drive 12 is drivable to ensure omnidirectional operation. The drives 12 are being taxed 13 driven in an individual direction and / or at an individual speed.

Every mecanum wheel 3 includes a plurality of distributed over a circumference of the wheel arranged, preferably barrel-shaped rollers whose roller axes of rotation is arranged at an angle to the Mecanumraddrehachsen, preferably the Mecanumraddrehachsen two adjacent Mecanumräder are aligned and the Mecanumraddrehachse two Mecanumradpaare are aligned parallel to each other.

To recognize this is a first and a second, along the first adjustment axis E1 by driving the Mecanumräder 3 relative to each other adjustable chassis sections 21a and 21b comprising chassis 5 opposite which the Mecanumradantriebe 2 are resiliently mounted. The chassis 5 also carries supporting means 6 for carrying a load.

8th shows a highly schematic of a preferred embodiment of a Mecanumradfahrzeuges 1 , The Mecanumrad drives 2 are via support arms 14 pivotable on the chassis 5 hinged. The support arm 14 are each energy storage agent 4 assigned in the form of torsion springs, wherein the torsion springs are preferably biased with separate, not shown drives for varying the force storage means bias voltage. Of course, in addition to or as an alternative to torsion springs also differently shaped springs z. B. gas springs or coil springs used.

It can be seen here that in addition to the Mecanumrädern 3 support means 6 are provided, with which a part of a payload to be supported on a substrate can be supported.

9 shows in a highly schematic view of a Mecanumradfahrzeug 1 , Which of its basic structure according to the embodiment according to 1a to 2 equivalent. On the chassis 5 are lifting equipment 15 (Distance variation means) for changing a distance between one of the lifting means 15 defined contact surface 17 for a load to be transported and the chassis 5 , In the specific embodiment, the lifting means comprise 15 a fork 16 , with a suitable, for example, electric motor drive relative to the chassis 5 is arranged adjustable in height.

Alternative lifting equipment 15 , For example, in the form of a height adjustable via a piston-cylinder arrangement, a spindle drive or a scissors joint drive or the like. Drives platforms are additionally or alternatively feasible. The drives preferably comprise a motor, in particular an electric motor.

10 shows an alternative embodiment of a Mecanumradfahrzeuges 1 with Mecanumradantrieben 2 and support means 6 which, when not loaded with a payload analogous to the embodiment according to the 1a and 1b lifted off the ground. The support means 6 include rotatably and steerable rollers disposed on a height-adjustable chassis portion of the chassis 5 , which in the embodiment shown as a support element 18 is designated are fixed, which again adjustable in height on the chassis 5 is fixed. In other words, the support means 6 height adjustable on the chassis 5 fixed. The support frame 18 is supported by a spring element 19 on the chassis 5 and serves to accommodate a payload. The spring stiffness of the spring element 19 is less than the spring stiffness of the force storage means 4 , which causes the support element 18 lowers under load until the support means 6 or whose support surface reach the ground, in which state a residual spring travel of the force storage means 4 is ensured, leaving only a partial weight force over the Mecanumräder 3 is supported on the ground.

In the embodiments according to the 6a to 10 For reasons of clarity, the sensor means for detecting at least one load dimension are not shown. These are nevertheless present and signal-conducting connected to control means, which is preferably the same control means for adjusting a spring force bias. It is essential that the vehicle width and / or length is varied as a function of a load-bearing dimension detected by means of the sensor means.

LIST OF REFERENCE NUMBERS

1

Mecanumradfahrzeug

2

Mecanumradantrieb

2a to 2d

Mecanumradantriebe

3

Mecanum wheels

4

Power storage means

5

chassis

6

support means

7

axis of rotation

8th

joint axis

9

supporting

10

payload

11

measuring Equipment

12

Drives of Mecanumradantriebe

12a to 12d

Mecanumradantriebe

13

control means

14

support arms

15

lifting equipment

16

lifting fork

17

bearing surface

18

supporting member

19

spring element

20

Mecanumraddrehachsen

21a to 21d

chassis sections

22a to 22d

sections

23

Connection chassis sections

L

longitudinal axis

B

width axis

E1

first adjustment axis

E2

second adjustment axis

U

underground

Claims (20)

Mecanum wheel vehicle ( 1 ) for transporting a payload, having a chassis extending along a longitudinal axis (L) and a width axis (B) oriented perpendicular thereto ( 5 ) with at least four Mecanumradantrieben ( 2 ; 2a to 2d ) via control means ( 13 ) for the realization of an omnidirectional operation of the Mecanum wheel vehicle ( 1 ) are controllable, wherein the chassis ( 5 ) a first chassis section ( 21a ) with at least two ( 2a . 2 B ) of the Mecanumradantriebe ( 2 ; 2a . 2 B . 2c . 2d ) and a second chassis section ( 21b ) with at least two ( 2c . 2d ) of the Mecanumradantriebe ( 2 ; 2a . 2 B . 2c . 2d ), and wherein the first and the second chassis section ( 21a . 21b ) are mechanically interconnected by a distance variable, and wherein the distance between the first and second chassis sections ( 21a . 21b ) along a first adjustment axis (E1) by controlling at least one of the Mecanumradantriebe ( 2 ; 2a . 2 B . 2c . 2d ) of the first Chassis section ( 21a ) and / or the second chassis section ( 21b ) by means of the control means ( 13 ) depending on the at least one, by means of the sensor means ( 24 ) detected load size is adjustable. characterized in that the Mecanum wheel vehicle ( 1 ) signal-conducting with the control means ( 13 ), non-contact sensor means ( 24 ) for detecting at least one payload dimension of a vehicle by means of the Mecanumradfahrzeugs ( 1 ) payload ( 10 ) having. Mecanum wheel vehicle according to claim 1, characterized in that the control means ( 13 ) the at least one Mecanumradantrieb ( 2 ; 2a . 2 B . 2c . 2d ) of the first and / or second chassis section ( 21a . 21b ) are designed such that the distance between the first and second chassis section ( 21a . 21b ) is set such that the payload between the first and the second chassis section ( 21a . 21b ) is receivable. Mecanum wheel vehicle according to one of claims 1 or 2, characterized in that the chassis ( 5 ) a third chassis section ( 21c ) with at least two ( 2a . 2 B ) of the Mecanumradantriebe ( 2 ; 2a . 2 B . 2c . 2d ) and a fourth chassis section ( 21d ) with at least two ( 2 B . 2d ) of the Mecanumradantriebe ( 2 ; 2a . 2 B . 2c . 2d ), wherein the third and the fourth chassis section ( 21c . 21d ) are mechanically interconnected in a distance-variable manner and wherein the distance between the third and fourth chassis sections ( 21c . 21d ) along a second adjustment axis (E2) extending at an angle to the first adjustment axis (E1) by controlling at least one of the drive gears ( 2 ; 2a . 2 B . 2c . 2d ) of the third and / or fourth chassis section ( 21c . 21d ) by means of the control means ( 13 ) is adjustable in dependence on the at least one payload dimension. Mecanumradfahrzeug according to claim 3, characterized in that the third and the fourth chassis section ( 21c . 21d ) one, at least one Mecanumradantrieb ( 2 ; 2a . 2 B . 2c . 2d ) section ( 22a to 22d ) of the first chassis section ( 21a ) and one, at least one Mecanumradantrieb ( 2 ; 2a . 2 B . 2c . 2d ) and the first adjustment axis (E1) adjacent portion ( 22 ; 22a . 22b . 22c . 22d ) of the second chassis section ( 21b ) or are each formed by these and that the at least two Mecanumradantriebe ( 2a . 2c ) of the third chassis section ( 21c ) at least one Mecanumradantrieb ( 2a ) of the first chassis section ( 21c ) and at least one Mecanumradantrieb ( 2c ) of the second chassis section ( 21b ) or are formed by these, and that the at least two Mecanumradantriebe ( 2 B . 2d ) of the fourth chassis section ( 21d ) at least one Mecanumradantrieb ( 2 B ) of the first chassis section ( 21a ) and at least one Mecanumradantrieb ( 2d ) of the second chassis section ( 21b ) or are formed by these. Mecanumradfahrzeug according to claim 4, characterized in that the third and the fourth chassis section ( 21c . 21d ) directly spaced variable with each other or with a Verbindungsfahrgestellabschnitt ( 23 ) both over the subsections ( 22a . 22b ; 22c . 22d ) of the first chassis section ( 21a ) and the second chassis section ( 21b ) are connected. Mecanumradfahrzeug according to any one of the preceding claims, characterized in that the first adjustment axis (E1) coincides with the width axis (B) or the longitudinal axis (L). Mecanumradfahrzeug according to any one of the preceding claims, characterized in that the Mecanumradantriebe ( 2a to 2d ) each at least one to a Mecanumraddrehachse ( 20 ) rotatable and on the outer circumference a plurality of circumferentially about the Mecanumraddrehachse ( 20 ) adjacent wheels carrying Mecanumrad ( 3 ) exhibit. Mecanum wheel vehicle according to one of the preceding claims, characterized in that the Mecanum wheel vehicle ( 1 ) Lifting means ( 15 ) for changing a perpendicular to the longitudinal axis (L) and the width axis (B) oriented height distance between a support surface ( 17 ) for the payload and the Mecanumradantrieben ( 2 ; 2a . 2 B . 2c . 2d ), and that preferably the control means ( 13 ) the lifting means ( 15 ) are designed such that this the payload ( 10 ) record automatically. Mecanum wheel vehicle according to claim 8, characterized in that the bearing surface ( 17 ), between the first and the second chassis section ( 21a . 21b ) and the distance of the first and / or second chassis section ( 21a . 21b ) to the support surface ( 17 ) along the first adjustment axis (E1) by controlling at least one of the Mecanumradantriebe ( 2 ; 2a . 2 B . 2c . 2d ) of the first and / or second chassis section ( 21a . 21b ) is adjustable. Mecanum wheel vehicle according to one of the preceding claims, characterized in that a weight of the chassis ( 5 ) over both the Mecanum wheels ( 3 ) as well as in addition to the Mecanum wheels ( 3 ) provided supporting means ( 6 ) of the Mecanum wheel vehicle ( 1 ) can be supported on a substrate (U) and that the at least one Mecanumrad ( 3 ) having Mecanumradantriebe ( 2 ; 2a . 2 B . 2c . 2d ) to the Limiting the over the Mecanumradantriebe ( 2 ; 2a . 2 B . 2c . 2d ) on the ground (U) to be supported weight portion of the chassis ( 5 ) and any payload to be borne by the latter using force storage means ( 4 ) resilient with respect to the chassis ( 5 ) are stored. Mecanum wheel vehicle according to claim 10, characterized in that the supporting means ( 6 ) at least one when driving the Mecanumradfahrzeuges ( 1 ) about a rotation axis ( 7 ) rotatable load wheel, which in a direction change of Mecanumradfahrzeuges ( 1 ) about a hinge axis ( 8th ) is rotatable and / or that the support means ( 6 ) have a rotatably arranged ball for supporting on the ground (U). Mecanum wheel vehicle according to one of claims 10 or 11, characterized in that the force storage means ( 4 ) are formed such that the support means ( 6 ) when not loaded with a payload chassis ( 5 ) above one of the Mecanum wheels ( 3 ) defined support plane are arranged and upon application of a payload while increasing the spring tension of the force storage means ( 4 ) lower. Mecanum wheel vehicle according to claim 12, characterized in that the distance between one of the support means ( 6 ) supporting surface ( 9 ) and that of the Mecanum wheels ( 3 ) defined support plane is adjustable. Mecanum wheel vehicle according to one of the preceding 10 to 13, characterized in that the support means ( 6 ) not resilient to the chassis ( 5 ) are stored or so on Abstützkraftspeichermittel relative to the chassis ( 5 ) are resiliently mounted, that a spring stiffness of the Abstützkraftspeichermittel is greater than a spring stiffness of the force storage means ( 4 ). Mecanumradfahrzeug according to one of the preceding 10 to 14, characterized in that a bias voltage of the force storage means ( 4 ) and / or a spring travel of the force storage means ( 4 ) for setting the maximum of the mechanical wheels ( 3 ) on the ground (U) to be supported weight portion manually or by means of actuator means is adjustable. Mecanum wheel vehicle according to one of the preceding 10 to 15, characterized in that the Mecanumradfahrzeug ( 1 ) Measuring means for determining a weight force or a weight portion of the chassis ( 5 ) and / or the payload, and that the measuring means signal-conducting with control means ( 13 ) for actuating the actuator means for adjusting the bias voltage of the energy storage means ( 4 ) and / or the spring travel in dependence of a sensor signal of the measuring means are connected. Method for operating a Mecanum wheel vehicle ( 1 ) according to one of the preceding claims, characterized in that at least one payload dimension of a payload ( 10 ) is detected and that the distance between the first and second chassis section ( 21a and 21b ) along the first adjustment axis (E1) by controlling at least one of the Mecanumradantriebe ( 2 ; 2a . 2 B . 2c . 2d ) of the first chassis section ( 21a ) and / or the second chassis section ( 21b ) by means of the control means ( 13 ) is set as a function of the at least one load dimension. A method according to claim 17, characterized in that the at least one Mecanumradantrieb ( 2 ; 2a . 2 B . 2c . 2d ) is controlled so that the first and the second chassis drive ( 21a . 21b ) the payload ( 10 ) between them. Method according to one of claims 17 and 18, characterized in that the payload ( 10 ) by means of lifting devices of the Mecanum wheel vehicle ( 1 ), preferably automatically, is raised and then preferably from the Mecanumradfahrzeug ( 1 ) is transported. A method according to claim 19, characterized in that the distance between the first and the second chassis section ( 21a . 21b ) after lifting the payload ( 10 ) is reduced to a level such that the payload dimension in that direction is equal to or less than the payload dimension.

Images