Chassis for a mobile transport system and mobile transport system

Abstract

The present invention relates to a chassis (10) for a mobile transport system, the chassis comprising: a frame (12) and at least four wheel modules (21, 22, 31, 32), each wheel module having at least one wheel (41, 42, 43, 44), the mobile transport system (10) comprising a swing arm (14) swaying relative to the frame (12) about a swing axis (13) extending in the longitudinal direction (X), at least two of the wheel modules (21, 22, 31, 32) being mounted on the frame (12), and the wheels (41, 42, 43, 44) of the wheel modules (21, 22, 31, 32) each about a swing axis extending in the vertical direction (Z). Lines (61, 62, 63, 64) are supported in a manner that allows them to oscillate relative to the frame (12) and rotate relative to the frame (12) about a horizontally extending axis of rotation (51, 52, 53, 54). At least two of the wheel modules (21, 22, 31, 32) are mounted on a swing arm (14). The wheels (41, 42, 43, 44) of the wheel modules (21, 22, 31, 32) are supported relative to the swing arm (14) in a manner that allows them to oscillate relative to the swing arm (14) about a vertically extending axis of rotation (61, 62, 63, 64) and rotate relative to the swing arm (14) about a horizontally extending axis of rotation (51, 52, 53, 54). The invention also relates to a mobile transport system, particularly for transporting objects in a technical facility, the mobile transport system comprising a chassis (10) according to the invention.

Description

Technical Field

[0001] This invention relates to a chassis / running mechanism for a mobile transportation system, the chassis comprising a frame and at least four wheel modules, each wheel module having at least one wheel. The invention also relates to a mobile transportation system, particularly a mobile transportation system for transporting objects within a transportation infrastructure. Background Technology

[0002] In technical facilities, such as production workshops, mobile transport systems, especially autonomous mobile transport systems, are used to transport objects, such as small parts or boxes. Furthermore, these mobile transport systems also move components from logistics areas (such as material warehouses) to workstations where components are processed. This type of mobile transport system is capable of overcoming small uphill or downhill slopes and minor sills or similar obstacles.

[0003] According to document DE 10 2013 019 726 A1, a vehicle has a bracket on which multiple steering units are rotatably supported. Each steering unit has a drive wheel, and the axle of the drive wheel is rotatably supported on an axle carrier, wherein the axle support is rotatably supported by a swing shaft.

[0004] Document DE 10 2012 025 152 A1 discloses an unmanned transportation system having steering rollers and a drive unit arranged on a carrier. The drive unit has wheels driven by an electric motor and is movable relative to the carrier via linear actuators.

[0005] A wheel drive module is known from DE 10 2018 126 700 A1. This wheel drive module includes wheels, a superimposed transmission, and two motors. Here, the motors are configured to drive the wheels together about the wheel axis via the superimposed transmission and to steer about a steering axis perpendicular to the wheel axis.

[0006] A land transport vehicle is known from DE 10 2017 221 375 A1. This land transport vehicle has four wheels, a frame, and a rear axle configured as a swing axle. Here, two wheels are mounted on the frame and two wheels are mounted on the swing axle.

[0007] A passenger and goods transport system is known from DE 197 07 239 A1. The system includes a large module having a driving unit with wheels or rollers, the driving unit having a set of adjustable wheels that can be driven in a rotatable and oscillating manner. Summary of the Invention

[0008] The object of this invention is to improve a chassis for a mobile transport system and a mobile transport system, particularly a mobile transport system for transporting objects in technical facilities.

[0009] This objective is achieved by a chassis for a mobile transport system having the features described below. This objective is also achieved by a mobile transport system having the features described below.

[0010] The chassis for a mobile transport system according to the invention includes a frame and at least four wheel modules, each wheel module having at least one wheel. The chassis also includes a pendelschwinge (swing arm) oscillating relative to the frame about a swing axis extending longitudinally. Here, at least two wheel modules are mounted on the frame, and the wheels of these wheel modules are supported in a manner that allows them to oscillate relative to the frame about a swing axis extending vertically and to rotate relative to the frame about a rotation axis extending horizontally. Furthermore, at least two wheel modules are mounted on the pendelschwinge, and the wheels of these wheel modules are supported in a manner that allows them to oscillate relative to the pendelschwinge about a swing axis extending vertically and to rotate relative to the pendelschwinge about a rotation axis extending horizontally.

[0011] The longitudinal direction extends at a right angle relative to the lateral direction. Both the longitudinal and lateral directions represent the horizontal direction and extend parallel to the ground where the chassis of the mobile transport system is located. The vertical direction is perpendicular to the ground and extends at a right angle to both the longitudinal and lateral directions. Each direction perpendicular to the vertical direction represents the horizontal direction.

[0012] The chassis according to the invention has a relatively simple structure and can be implemented in a relatively flat manner, i.e., with a small extension range in the vertical direction. Even on uneven ground, all wheels of the wheel module always maintain contact with the ground on which the chassis of the mobile transport system is located. Furthermore, the chassis has excellent steering performance and can move in any orientation in the horizontal direction.

[0013] Preferably, the wheels of the wheel modules mounted on the frame, especially the swing axes of the wheels, are arranged offset from each other in the lateral direction. Furthermore, preferably, the wheels of the wheel modules mounted on the swing arms, especially the swing axes of the wheels, are arranged offset from each other in the lateral direction. Preferably, the lateral spacing between the swing axes of the wheel modules mounted on the frame is the same as the spacing between the swing axes of the wheel modules mounted on the swing arms. Therefore, when viewed vertically, the wheels, or rather the swing axes of the wheels, form the corners of a rectangle.

[0014] According to a preferred embodiment of the invention, at least two wheel modules in the wheel module are configured as drive modules, wherein each drive module has two motors that can drive at least one wheel of the drive module by oscillating about a swing axis extending in a vertical direction and by rotating about a rotation axis extending in a horizontal direction. Therefore, the chassis can steer in any horizontal direction and move in any orientation in any horizontal direction via its own drive mechanism.

[0015] According to a preferred embodiment of the invention, at least one wheel module in the wheel modules mounted on the frame is configured as a drive module, wherein each drive module has two motors by means of which at least one wheel of the drive module can be driven about a swing axis extending in a vertical direction and at least one wheel of the drive module can be driven about a rotation axis extending in a horizontal direction.

[0016] According to a preferred embodiment of the invention, at least one wheel module in the wheel module mounted on the swing arm is configured as a drive module, wherein each drive module has two motors by means of which at least one wheel of the drive module can be driven about a swing axis extending in a vertical direction and at least one wheel of the drive module can be driven about a rotation axis extending in a horizontal direction.

[0017] For example, a wheel module mounted on the frame and a wheel module mounted on the swing arm are configured as drive modules. If the wheels, or their swing axes, form a rectangle when viewed vertically, the wheel modules configured as drive modules are preferably arranged diagonally.

[0018] According to a preferred embodiment of the invention, at least four wheel modules are configured as drive modules, wherein each drive module has two motors that drive at least one wheel of the drive module about a swing axis extending in a vertical direction and about a rotation axis extending in a horizontal direction. Therefore, the chassis can be steered more precisely and easily in any horizontal direction and can move in any orientation in any horizontal direction via its own actuators.

[0019] According to a preferred embodiment of the invention, each drive module has a superimposed transmission, wherein two motors are configured to jointly drive the wheel about a rotational axis and about a sway axis via the superimposed transmission. The superimposed transmission enables the rotations of the two motors to be superimposed in such a way that both motion drive about the rotational axis and steering drive about the sway axis are achieved. Here, the drive module does not require a linear path. Therefore, it is also possible for the wheel to sway more than 360° about the sway axis.

[0020] According to a preferred design of the invention, the rotation axis and the swing axis intersect in each drive module. This advantageously improves the steering capability of the drive module and consequently the chassis.

[0021] According to a preferred embodiment of the invention, at least two wheel modules are configured as support modules, wherein in each support module, the rotation axis and the sway axis extend spaced apart from each other, i.e., the rotation axis and the sway axis do not intersect. Support modules constructed in this manner are relatively low-cost and also facilitate turning maneuvers of the chassis of the mobile transport system.

[0022] The mobile transport system according to the invention—particularly a mobile transport system for transporting objects in technical facilities—comprises a chassis according to the invention. The mobile transport system is particularly an autonomous vehicle. The mobile transport system preferably also includes an electric energy storage device, particularly a rechargeable battery, for powering the motor and other modules.

[0023] According to an advantageous design of the invention, the mobile transport system further includes a transmitter head with windings that can be inductively coupled to a primary conductor laid in the ground. Therefore, energy can be inductively and thus contactlessly transferred to an electrical storage device within the mobile transport system.

[0024] This invention is not limited to the above-described combination of features. Those skilled in the art, particularly those seeking to achieve their intended purpose and / or by comparison with the prior art, will recognize other reasonable combinations of the above-described features and / or individual features described above and / or features described below and / or features in the accompanying drawings. Attached Figure Description

[0025] The invention will now be described in more detail with reference to the accompanying drawings. The invention is not limited to the embodiments shown in the drawings. The drawings are merely schematic illustrations of the subject matter of the invention. Wherein:

[0026] Figure 1 A perspective view of the chassis according to the first embodiment is shown;

[0027] Figure 2 A further perspective view of the chassis according to the first embodiment is shown;

[0028] Figure 3 A perspective view of the chassis according to the second embodiment is shown; and

[0029] Figure 4 A further perspective view of the chassis according to the second embodiment is shown. Detailed Implementation

[0030] Figure 1A perspective view of a chassis 10 for a mobile transportation system according to a first embodiment is shown. The chassis 10 is located on the ground. The vertical direction Z extends perpendicular to the ground and perpendicular to the longitudinal direction X and also perpendicular to the transverse direction Y. The longitudinal direction X extends perpendicular to the transverse direction Y. Each direction perpendicular to the vertical direction Z—especially the longitudinal direction X and the transverse direction Y—represents a horizontal direction and extends parallel to the ground. The upper side of the chassis 10 facing away from the ground can be seen in the figure shown.

[0031] The chassis 10 includes a frame 12. The frame 12 includes a base plate 30 extending perpendicularly to the vertical direction Z. The frame 12 also includes two longitudinal beams 32, which are staggered from each other in the transverse direction Y and extend parallel to each other in the longitudinal direction X. The longitudinal beams 32 are rigidly connected to the base plate 30, for example, by welding.

[0032] The chassis 10 also includes a swing arm 14. The swing arm 14 is swayable relative to the frame 12 about a swing axis 13 extending in the longitudinal direction X. A first wheel module 21 and a second wheel module 22 are mounted on the swing arm 14. A third wheel module 23 and a fourth wheel module 24 are mounted on the frame 12.

[0033] Figure 2 It shows Figure 1 This is a further perspective view of the chassis 10 for a mobile transportation system according to the first embodiment. In this figure, the lower side of the chassis 10 facing the ground can be seen. Wheel modules 21, 22, 23, and 24 are configured as drive modules.

[0034] The first wheel module 21 includes a first wheel 41. The first wheel 41 is supported in a manner that allows it to swing relative to the swing arm 14 about a first swing axis 61 extending in the vertical direction Z. The first wheel 41 is also supported in a manner that allows it to rotate relative to the swing arm 14 about a first rotation axis 51 extending in the horizontal direction.

[0035] The second wheel module 22 includes a second wheel 42. The second wheel 42 is supported in a manner that allows it to swing relative to the swing arm 14 about a second swing axis 62 extending in the vertical direction Z. The second wheel 42 is also supported in a manner that allows it to rotate relative to the swing arm 14 about a second rotation axis 52 extending in the horizontal direction.

[0036] The third wheel module 23 includes a third wheel 43. The third wheel 43 is supported in a manner that allows it to swing relative to the frame 12 about a third swing axis 63 extending in the vertical direction Z. The third wheel 43 is also supported in a manner that allows it to rotate relative to the frame 12 about a third rotation axis 53 extending in the horizontal direction.

[0037] The fourth wheel module 24 includes a fourth wheel 44. The fourth wheel 44 is supported relative to the frame 12 in a manner that allows it to swing about a fourth pivot axis 64 extending in the vertical direction Z. The fourth wheel 43 is also supported relative to the frame 12 in a manner that allows it to rotate about a fourth rotation axis 54 extending in the horizontal direction.

[0038] Wheels 41, 42, 43, and 44 are in contact with the ground. When the ground is uneven, the swing arm 14 therefore swings relative to the frame 12 about the swing axis 13. In this case, the first swing axis 61 and the second swing axis 62 extend slightly inclined in the vertical direction Z. However, this inclination is only slight; even in this case, the first swing axis 61 and the second swing axis 62 extend approximately in the vertical direction Z.

[0039] In the diagram shown, rotation axes 51, 52, 53, and 54 extend in the lateral direction Y. Depending on the oscillation of one of the wheels 41, 42, 43, and 44 about the corresponding oscillation axis 61, 62, 63, and 64, the corresponding rotation axes 51, 52, 53, and 54 extend, for example, in the longitudinal direction X or in another horizontal direction.

[0040] The first wheel 41 and the second wheel 42 are arranged offset from each other in the lateral direction Y. In particular, the first swing axis 61 and the second swing axis 62 are arranged offset from each other in the lateral direction Y. The third wheel 43 and the fourth wheel 44 are also arranged offset from each other in the lateral direction Y. In particular, the third swing axis 63 and the fourth swing axis 64 are arranged offset from each other in the lateral direction Y. When viewed in the vertical direction Z, the swing axes 61, 62, 63, and 64 form the corners of a parallelogram, especially the corners of a rectangle.

[0041] Each wheel module 21, 22, 23, and 24, configured as a drive module, has two motors. These motors drive the wheels 41, 42, 43, and 44 of their respective drive modules around corresponding swing axes 61, 62, 63, and 64, and also drive the wheels of their respective drive modules around corresponding rotation axes 51, 52, 53, and 54. The corresponding swing axes 61, 62, 63, and 64 and the corresponding rotation axes 51, 52, 53, and 54 of the wheel modules 21, 22, 23, and 24 intersect.

[0042] Furthermore, each wheel module 21, 22, 23, 24 configured as a drive module has a superimposed gearbox. The two motors are configured to jointly drive the corresponding wheels 41, 42, 43, 44 of the corresponding drive module around the corresponding rotation axes 51, 52, 53, 54 via the superimposed gearbox, and to drive the corresponding wheels 41, 42, 43, 44 around the corresponding swing axes 61, 62, 63, 64.

[0043] Figure 3 A perspective view of a chassis 10 for a mobile transportation system according to a second embodiment is shown. The chassis 10 is located on the ground. The vertical direction Z is perpendicular to the ground and extends at a right angle to the longitudinal direction X and the transverse direction Y. The longitudinal direction X extends at a right angle to the transverse direction Y. Each direction perpendicular to the vertical direction Z—especially the longitudinal direction X and the transverse direction Y—represents a horizontal direction and extends parallel to the ground. The upper side of the chassis 10 facing away from the ground can be seen in the figure shown.

[0044] The chassis 10 includes a frame 12. The frame 12 includes a base plate 30 extending perpendicularly to the vertical direction Z. The frame 12 also includes two longitudinal beams 32, which are staggered in the transverse direction Y and extend parallel to each other in the longitudinal direction X. The longitudinal beams 32 are rigidly connected to the base plate 30, for example, by welding.

[0045] The chassis 10 also includes a swing arm 14, which is swayable relative to the frame 12 about a swing axis 13 extending in the longitudinal direction X. A first wheel module 21 and a second wheel module 22 are mounted on the swing arm 14. A third wheel module 23 and a fourth wheel module 24 are mounted on the frame 12.

[0046] Figure 4 A further perspective view of the chassis 10 for a mobile transportation system according to a second embodiment is shown. In this figure, the lower side of the chassis 10 facing the ground can be seen. The first wheel module 21 and the fourth wheel module 24 are respectively configured as drive modules. The second wheel module 22 and the third wheel module 23 are respectively configured as support modules.

[0047] The first wheel module 21 includes a first wheel 41. The first wheel 41 is supported in a manner that allows it to swing relative to the swing arm 14 about a first swing axis 61 extending in the vertical direction Z. The first wheel 41 is also supported in a manner that allows it to rotate relative to the swing arm 14 about a first rotation axis 51 extending in the horizontal direction.

[0048] The second wheel module 22 includes two second wheels 42. The second wheels 42 are supported in a manner that allows them to swing together relative to the swing arm 14 about a second swing axis 62 extending in the vertical direction Z. The second wheels 42 are also supported in a manner that allows them to rotate together relative to the swing arm 14 about a second rotation axis 52 extending in the horizontal direction.

[0049] The third wheel module 23 includes two third wheels 43. The third wheels 43 are supported in a manner that allows them to swing together relative to the frame 12 about a third swing axis 63 extending in the vertical direction Z. The third wheels 43 are also supported in a manner that allows them to rotate together relative to the frame 12 about a third rotation axis 53 extending in the horizontal direction.

[0050] The fourth wheel module 24 includes a fourth wheel 44. The fourth wheel 44 is supported relative to the frame 12 in a manner that allows it to swing about a fourth pivot axis 64 extending in the vertical direction Z. The fourth wheel 43 is also supported relative to the frame 12 in a manner that allows it to rotate about a fourth rotation axis 54 extending in the horizontal direction.

[0051] Wheels 41, 42, 43, and 44 are in contact with the ground. When the ground is uneven, the swing arm 14 therefore swings relative to the frame 12 about the swing axis 13. In this case, the first swing axis 61 and the second swing axis 62 extend slightly inclined in the vertical direction Z. However, this inclination is only slight; even in this case, the first swing axis 61 and the second swing axis 62 extend approximately in the vertical direction Z.

[0052] In the diagram shown, rotation axes 51, 52, 53, and 54 extend in the lateral direction Y. Depending on the oscillation of one of the wheels 41, 42, 43, and 44 about the corresponding pivot axis 61, 62, 63, and 64, the corresponding rotation axis 51, 52, 53, and 54 extends, for example, in the longitudinal direction X or in another horizontal direction.

[0053] The first wheel 41 and the second wheel 42 are arranged offset from each other in the lateral direction Y. In particular, the first swing axis 61 and the second swing axis 62 are arranged offset from each other in the lateral direction Y. The third wheel 43 and the fourth wheel 44 are also arranged offset from each other in the lateral direction Y. In particular, the third swing axis 63 and the fourth swing axis 64 are arranged offset from each other in the lateral direction Y. When viewed in the vertical direction Z, the swing axes 61, 62, 63, and 64 form the corners of a parallelogram, especially the corners of a rectangle.

[0054] Each wheel module in wheel modules 21 and 24, configured as drive modules, has two motors. These motors drive the wheels 41 and 44 of their respective drive modules around corresponding swing axes 61 and 64, and also drive the wheels of their respective drive modules around corresponding rotation axes 51 and 54. The corresponding swing axes 61 and 64 and the corresponding rotation axes 51 and 54 of wheel modules 21 and 24, configured as drive modules, intersect.

[0055] Furthermore, each wheel module in wheel modules 21 and 24, which are configured as drive modules, has a superimposed gearbox. The two motors are configured to jointly drive the corresponding wheels 41 and 44 of the corresponding drive module about the corresponding rotation axes 51 and 54, and about the corresponding swing axes 61 and 64, via the superimposed gearbox.

[0056] Wheel modules 22 and 23, configured as support modules, do not have motors or gearboxes. Wheels 42 and 43 of the support modules are supported in a manner that allows them to rotate freely about their respective axes of rotation 52 and 53. The respective oscillation axes 62 and 63 and the respective rotation axes 52 and 53 of the wheel modules 22 and 23, configured as support modules, are spaced apart from each other, i.e., they extend without intersecting.

[0057] List of reference numerals in the attached diagram:

[0058] 10 Chassis

[0059] 12 Frame

[0060] 13. Swing axis

[0061] 14. Swing arm

[0062] 21 First Wheel Module

[0063] 22 Second Wheel Module

[0064] 23 Third wheel module

[0065] 24 Fourth Wheel Module

[0066] 30 substrate

[0067] 32 Longitudinal Beams

[0068] 41 First Wheel

[0069] 42 Second wheel

[0070] 43 Third wheel

[0071] 44 The fourth wheel

[0072] 51 First axis of rotation

[0073] 52 Second axis of rotation

[0074] 53 Third axis of rotation

[0075] 54 Fourth axis of rotation

[0076] 61 First swing axis

[0077] 62 Second swing axis

[0078] 63 Third swing axis

[0079] 64 Fourth oscillation axis

[0080] X Vertical direction

[0081] Y (horizontal direction)

[0082] Z represents the vertical direction.

Claims

1. A chassis (10) for a mobile transportation system, the chassis comprising: Frame (12), and At least four wheel modules (21, 22, 23, 24). Each wheel module has at least one wheel (41, 42, 43, 44). in, The mobile transport system (10) includes a swing arm (14) that can swing relative to the frame (12) about a swing axis (13) extending in the longitudinal direction (X). At least two of the wheel modules (21, 22, 23, 24) are mounted on the frame (12). The wheels of the wheel modules mounted on the frame (12) are supported in a manner that allows them to swing relative to the frame (12) about a swing axis extending in the vertical direction (Z) and to rotate relative to the frame (12) about a rotation axis extending in the horizontal direction. At least two of the wheel modules (21, 22, 23, 24) are mounted on the swing arm (14). The wheels of the wheel modules mounted on the swing arm (14) are supported in a manner that allows them to swing relative to the swing arm (14) about a swing axis extending in the vertical direction (Z) and to rotate relative to the swing arm (14) about a rotation axis extending in the horizontal direction. Its features are, The at least four wheel modules (21, 22, 23, 24) are configured as drive modules. Each drive module has two motors, which can drive at least one wheel (41, 42, 43, 44) of the corresponding drive module about a swing axis (61, 62, 63, 64) extending in the vertical direction (Z) and about a rotation axis (51, 52, 53, 54) extending in the horizontal direction. Each drive module has a superimposed transmission, and the two motors are configured to jointly drive the corresponding wheels (41, 42, 43, 44) around the rotation axis (51, 52, 53, 54) and around the swing axis (61, 62, 63, 64) via the superimposed transmission.

2. The chassis (10) according to claim 1. Its features are, The wheels of the wheel module mounted on the frame (12) are arranged staggered from each other in the lateral direction (Y), and / or, The wheels of the wheel module mounted on the swing arm (14) are arranged staggered from each other in the lateral direction (Y).

3. The chassis (10) according to claim 1 or 2. Its features are, In each drive module, the rotation axis (51, 52, 53, 54) and the swing axis (61, 62, 63, 64) intersect.

4. A mobile transport system comprising a chassis (10) according to any one of claims 1 to 3.

5. The mobile transportation system according to claim 4, characterized in that, The mobile transportation system is designed to transport objects within technical facilities.

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