Mobile transport system
By designing multiple swingable wheel pairs and frame structures in the mobile transportation system, the wheels are ensured to always be in contact with the ground under lateral unevenness, thus solving the problem of insufficient driving stability in the prior art and realizing stable operation and flexible guidance under various ground conditions.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SEW EURODRIVE GMBH & CO KG
- Filing Date
- 2020-12-17
- Publication Date
- 2026-08-04
AI Technical Summary
Existing mobile transportation systems struggle to maintain contact between all wheels and the ground when faced with uneven terrain, especially lateral unevenness, resulting in insufficient driving stability and adaptability.
A mobile transportation system is designed in which a vehicle frame is provided with three wheel pairs, namely the first, second and third wheel pairs. The first and third wheel pairs can swing relative to the vehicle frame. The second wheel pair is fixed on the pitch frame and the third wheel is fixed on the tilt frame. The pitch and tilt frames can swing relative to the vehicle frame respectively to ensure that all wheels are always in contact with the ground when there is lateral unevenness.
It achieves stable driving by ensuring that at least five wheels are always in contact with the ground even in lateral unevenness conditions, and ensures normal operation of the system in various ground conditions through drive and braking devices, without the need for additional springs and brakes, simplifying turning and steering.
Smart Images
Figure CN114981144B_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to a mobile transport system for transporting objects in a technical facility, the mobile transport system comprising: a vehicle frame; a first wheel pair, a second wheel pair, and a third wheel pair, each having two wheels, the wheels being rotatable relative to the vehicle frame; and a pitch frame swaying relative to the vehicle frame about a pitch axis extending in a lateral direction. Background Technology
[0002] In technical facilities, such as manufacturing plants, mobile transport systems, particularly autonomous mobile transport systems, are used to transport objects, such as small parts or boxes. These mobile transport systems, in particular, transport components from logistics areas, such as material warehouses, to work areas where the components are processed. This type of mobile transport system is capable of traversing gentle inclines or declines, as well as small ground beams or similar obstacles.
[0003] This type of mobile transport system is known from document DE 10 2017 201 108 A1. The mobile transport system is designed as a ground transport vehicle and has a first support wheel at the front end, a second support wheel at the rear end, and a drive wheel arranged therebetween. Here, the first support wheel is arranged on the chassis, while the second support wheel and the drive wheel are arranged on a pitch frame. The pitch frame is hinged to the chassis by means of a horizontal pitch axis.
[0004] Document EP 2 826 693 A2 discloses a transport vehicle for transporting objects. The transport vehicle includes a front chassis component that holds the two front wheels of a front wheelset in a manner that allows each wheel to rotate about its vertical axis. The front chassis component is connected via hinges to a rear chassis component designed as a stabilizer bar. The rear chassis component holds the two rear wheels of a rear wheelset in a manner that allows each wheel to rotate about its vertical axis and holds an intermediate wheelset between the front and rear wheels in a manner that prevents each wheel from rotating relative to the other about its vertical axis. Summary of the Invention
[0005] Therefore, the object of the present invention is to improve a mobile transportation system for transporting objects. Specifically, the mobile transportation system should be able to compensate for ground unevenness lateral to the direction of travel.
[0006] This type of mobile transport system for transporting objects within a technical facility includes a vehicle frame and a first wheel pair, a second wheel pair, and a third wheel pair, each with two wheels. The wheels are rotatable relative to the vehicle frame. Through the rotation of the wheels in contact with the ground, the mobile transport system can move relative to the ground. Furthermore, the mobile transport system includes a pitch frame that can swing relative to the vehicle frame about a pitch axis extending in the lateral direction. Here, the first wheel of the first wheel pair is fixed to the vehicle frame, and the second wheel of the second wheel pair is fixed to the pitch frame.
[0007] According to the invention, the third wheel of the third wheelset is fixed to a tilting frame that is swayable relative to a pitching frame about a tilting axis that extends at least almost in the longitudinal direction. Preferably, the tilting axis extends exactly in the longitudinal direction.
[0008] The longitudinal direction is at least approximately equivalent to the usual direction of travel of the mobile transport system. The longitudinal direction extends at a right angle to the lateral direction. Both the longitudinal and lateral directions are horizontal and extend parallel to the ground on which 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.
[0009] According to the design of the mobile transport system of the present invention, the second wheel of the second wheel pair, the third wheel of the third wheel pair, and at least one first wheel of the first wheel pair are always in contact with the ground. Therefore, when traversing an uphill slope with uneven ground laterally to the direction of travel, at least five wheels of the mobile transport system are always in contact with the ground. Furthermore, the second wheel of the second wheel pair always applies the same clamping force to the ground. The third wheel of the third wheel pair also always applies the same clamping force to the ground. Springs are not required to achieve the clamping force exerted by the wheels on the ground. Depending on the characteristics of the ground, at most one of the first wheels of the first wheel pair may lose contact with the ground. Thus, the mobile transport system is able to compensate for ground unevenness laterally to the direction of travel.
[0010] Advantageously, the first wheels of the first wheelset are each designed as support wheels and supported in a manner that allows them to swing relative to the vehicle frame about a vertically extending pivot axis and rotate relative to the vehicle frame about a horizontally extending rotation axis. Similarly, advantageously, the third wheels of the third wheelset are each designed as support wheels and supported in a manner that allows them to swing relative to the vehicle frame about a vertically extending pivot axis and rotate relative to the vehicle frame about a horizontally extending rotation axis. This configuration of support wheels is relatively cost-effective and further simplifies the turning of the mobile transport system.
[0011] According to an advantageous design of the invention, the second wheel of the second wheelset is designed as a drive wheel and is supported in a manner that allows it to rotate relative to the pitch frame about a drive axis extending in the lateral direction, and can be driven by a drive unit. The drive unit includes, for example, a motor, a differential, and an electric accumulator. Thus, the drive wheel is always in contact with the ground. Therefore, the movement of the mobile transport system can be achieved at any time, almost independent of the characteristics of the ground.
[0012] According to an advantageous design of the invention, braking devices are respectively arranged on the third wheels of the third wheel pair, by means of which the rotation of the respective third wheel about a rotation axis extending in the horizontal direction can be braked. The braking devices can be operated electromagnetically, for example. Thus, the third wheel with the braking device is always in contact with the ground. Therefore, braking of the mobile transport system can be achieved at any time, almost independent of the characteristics of the ground. Additional braking devices on the first and / or second wheels are not required.
[0013] Preferably, the wheels of this wheel pair are arranged to be staggered from each other in the lateral direction.
[0014] According to a preferred embodiment of the invention, the lateral distance between the second wheels of the second wheel pair is greater than the lateral distance between the first wheels of the first wheel pair. Similarly, according to a preferred embodiment of the invention, the lateral distance between the second wheels of the second wheel pair is greater than the lateral distance between the third wheels of the third wheel pair. For example, the six wheels of the three wheel pairs are arranged in a hexagonal shape, which is symmetrical about the longitudinal axis. The four wheels of the first and second wheel pairs form the corner points of a rectangle. The second wheels of the second wheel pair are located outside this rectangle in the lateral direction.
[0015] Preferably, the second wheel of the second wheel pair is arranged in the longitudinal direction between the first wheel of the first wheel pair and the third wheel of the third wheel pair.
[0016] According to an advantageous improvement of the invention, the distance between the second wheel of the second wheel pair and the pitch axis in the longitudinal direction is at least almost equal to the distance between the third wheel of the third wheel pair and the pitch axis in the longitudinal direction. Therefore, the pitch axis is arranged at least approximately centrally between the second wheel of the second wheel pair and the third wheel of the third wheel pair in the longitudinal direction. Consequently, the second wheel of the second wheel pair and the third wheel of the third wheel pair have approximately the same clamping force acting on the ground. This is particularly advantageous when the second wheel of the second wheel pair is designed as a drive wheel and braking devices are respectively arranged on the third wheel of the third wheel pair.
[0017] According to a preferred embodiment of the invention, a receiving unit is arranged on the pitch frame, particularly between the second wheels of the second wheel pair, to which energy can be inductively transferred from the charging unit. The charging unit is designed, for example, as a linear conductor or coil and is stationary in the ground. The energy inductively transferred from the charging unit to the receiving unit is used, for example, to charge an electric storage device in a mobile transportation system.
[0018] According to an advantageous improvement of the invention, at least one inductive sensor for detecting magnetic fields is arranged on the pitch frame. If the magnetic field is generated, for example, by a linear conductor installed in the ground, the inductive sensor allows the sensor to follow the linear conductor to a predetermined destination.
[0019] According to another advantageous improvement of the invention, the mobile transport system has a first angle measuring device for detecting the sway angle of the pitch frame relative to the vehicle frame about the pitch axis. By detecting the sway angle of the pitch frame relative to the vehicle frame about the pitch axis, the magnitude of the gradient occurring in the direction of travel can be determined. If the permissible sway angle is exceeded, the system avoids the large, unacceptable gradient and issues an alarm or stops the mobile transport system.
[0020] According to another advantageous improvement of the invention, the mobile transport system has a second angle measuring device for detecting the sway angle of the tilting frame relative to the pitching frame about the tilting axis. By detecting the sway angle of the tilting frame relative to the pitching frame about the tilting axis, the magnitude of the ground unevenness occurring transversely to the direction of travel can be determined. If the sway angle exceeds the permissible limit, the system avoids the unacceptably large ground unevenness and issues an alarm or stops the mobile transport system.
[0021] For those skilled in the art, particularly for purposes proposed and / or proposed by comparison with the prior art, other reasonable combinations of the features of the specification and / or the features of the drawings are possible. Attached Figure Description
[0022] The present invention will now be described in detail with reference to the accompanying drawings. The present invention is not limited to the embodiments shown in the drawings. The drawings are merely schematic illustrations of the subject matter of the invention. The drawings show: Figure 1 A schematic top view of a mobile transportation system is shown. Figure 2 A schematic side view of a mobile transportation system is shown. Figure 3 A schematic front view of a mobile transportation system is shown. Figure 4 A schematic side view of a mobile transportation system as it travels uphill is shown. Figure 5A schematic side view of a mobile transportation system as it travels down a slope is shown. Figure 6 A schematic side view of a mobile transport system as it travels over a laterally ascending slope is shown. Figure 7 A schematic side view of a mobile transport system as it travels over a laterally descending slope is shown, and Figure 8 A detailed side view of the mobile transportation system is shown. Detailed Implementation
[0023] Figure 1 A schematic top view of a mobile transport system 10 is shown. The mobile transport system 10 is specifically designed for transporting objects within a technical facility. This technical facility relates to industrial applications, such as a production plant. The mobile transport system 10 is, in this context, an autonomous vehicle. In the figure shown here, the mobile transport system 10 is situated on flat ground 5 within the technical facility.
[0024] The mobile transportation system 10 includes a vehicle frame 12, a pitch frame 14, and a tilt frame 16. Here, the vehicle frame 12 has an approximately rectangular cross-section and extends primarily in the longitudinal direction X and the lateral direction Y.
[0025] Here, the longitudinal direction X is at least almost equivalent to the usual direction of travel of the mobile transport system 10. The lateral direction Y extends at a right angle relative to the longitudinal direction X. The longitudinal direction X and the lateral direction Y are horizontal directions and extend parallel to the flat ground 5. The vertical direction Z is perpendicular to the flat ground 5 and thus extends at a right angle relative to both the longitudinal direction X and the lateral direction Y. Each direction at a right angle relative to the vertical direction Z is a horizontal direction.
[0026] The pitch frame 14 is swayable relative to the vehicle frame 12 about the pitch axis 13. The pitch axis 13 extends in the lateral direction Y. The tilt frame 16 is swayable relative to the pitch frame 14 about the tilt axis 15. The tilt axis 15 extends in the longitudinal direction X in the figure shown here.
[0027] Two first wheels 41 of a first wheelset 31 are fixed to the vehicle frame 12, and the first wheels are rotatable relative to the vehicle frame 12. The first wheels 41 are arranged to be offset from each other in the lateral direction Y. Two second wheels 42 of a second wheelset 32 are fixed to the pitch frame 14, and the second wheels are rotatable relative to the vehicle frame 12. The second wheels 42 are arranged to be offset from each other in the lateral direction Y. Two third wheels 43 of a third wheelset 33 are fixed to the tilt frame 16, and the third wheels are rotatable relative to the vehicle frame 12. The third wheels 43 are arranged to be offset from each other in the lateral direction Y.
[0028] The distance between the second wheels 42 of the second wheel pair 32 in the lateral direction Y is greater than the distance between the first wheels 41 of the first wheel pair 31 in the lateral direction Y. The distance between the second wheels 42 of the second wheel pair 32 in the lateral direction Y is also greater than the distance between the third wheels 43 of the third wheel pair 33 in the lateral direction Y. Here, the six wheels 41, 42, and 43 are arranged in a hexagonal shape, which is designed to be symmetrical with respect to the longitudinal axis extending in the longitudinal direction X.
[0029] The second wheel 42 of the second wheel pair 32 is designed as a drive wheel and is supported relative to the pitch frame 14 in a manner that allows rotation about a drive axis 52 extending in the lateral direction Y. The mobile transport system 10 includes a drive unit (not shown) by means of which the second wheel 42 can be driven. The drive unit includes, for example, a motor, a differential, and an electric accumulator.
[0030] Figure 2 A schematic side view of the mobile transport system 10 is shown. The second wheel 42 of the second wheel pair 32 is arranged in the longitudinal direction X between the first wheel 41 of the first wheel pair 31 and the third wheel 43 of the third wheel pair 33.
[0031] The first wheel 41 of the first wheel pair 31 is designed as a support wheel and is rotatable relative to the vehicle frame 12 about a first swing axis 61 extending in the vertical direction Z. Furthermore, the first wheel 41 is supported relative to the vehicle frame 12 by means of a first rotation axis 51 extending in the horizontal direction. In the figure shown here, the first rotation axis 51 extends in the transverse direction Y. Depending on the oscillation of the first wheel 41 about the first swing axis 61, the first rotation axis 51 extends, for example, in the longitudinal direction X or in another horizontal direction. Here, the first swing axis 61 and the first rotation axis 51 of the first wheel 41 do not intersect.
[0032] The third wheel 43 of the third wheel pair 33 is designed as a support wheel and can swing relative to the vehicle frame 12 about a third swing axis 63 extending in the vertical direction Z. Furthermore, the third wheels 41 are supported relative to the vehicle frame 12 by means of a third rotation axis 53 extending in the horizontal direction. In the figure shown here, the third rotation axis 53 extends in the transverse direction Y. Depending on the swing of the third wheel 43 about the third swing axis 63, the third rotation axis 53 extends, for example, in the longitudinal direction X or in another horizontal direction. Here, the third swing axis 63 and the third rotation axis 53 of the third wheel 43 do not intersect.
[0033] Here, the distance of the second wheel 42 of the second wheel pair 32 in the longitudinal direction X relative to the pitch axis 13 is almost equal to the distance of the third wheel 43 of the third wheel pair 33 in the longitudinal direction X relative to the pitch axis 13. The distance of the second wheel 42 in the longitudinal direction X relative to the pitch axis 13 is here equivalent to the distance of the drive axis 52 in the longitudinal direction X relative to the pitch axis 13. The distance of the third wheel 43 in the longitudinal direction X relative to the pitch axis 13 is here equivalent to the distance of the third oscillation axis 63 in the longitudinal direction X relative to the pitch axis 13.
[0034] Figure 3 A schematic front view of the mobile transport system 10 is shown. The first wheel 41 of the first wheel pair 31 is obscured by the third wheel 43 of the third wheel pair 33 and is therefore not visible.
[0035] Figure 4 A schematic side view of the mobile transport system 10 is shown as it travels uphill, the uphill slope being inclined at an angle A relative to flat ground 5. In the figure shown here, the first wheel 41 is on the flat ground 5, the third wheel 43 is on the uphill slope, and the second wheel 42 is on the transition from the flat ground 5 to the uphill slope. The pitch frame 14 swings about the pitch axis 13 relative to the vehicle frame 12. The first wheel 41, the second wheel 42, and the third wheel 43 are in contact with the ground.
[0036] Figure 5 A schematic side view of the mobile transport system 10 is shown as it travels down a slope at an angle A relative to a flat surface 5. In the figure shown here, the first wheel 41 is on the flat surface 5, the third wheel 43 is on the downhill slope, and the second wheel 42 is on the transition from the flat surface 5 to the downhill slope. The pitch frame 14 swings about the pitch axis 13 relative to the vehicle frame 12. The first wheel 41, the second wheel 42, and the third wheel 43 are in contact with the ground.
[0037] As in Figure 4 and Figure 5 As shown, if the pitch frame 14 swings about the pitch axis 13 relative to the vehicle frame 12, the tilt axis 15, which is not visible here, extends slightly tilted relative to the longitudinal direction X. However, the tilt of the tilt axis 15 is relatively small at this time. Thus, in this case, the tilt axis 15 still extends almost entirely in the longitudinal direction X. Similarly, the third swing axis 63 extends slightly tilted relative to the vertical direction Z in this case. The tilt of the third swing axis 63 is also relatively small.
[0038] Figure 6A schematic side view of the mobile transport system 10 is shown as it travels over a laterally ascending ramp at an angle A relative to a flat ground 5. In the figure shown here, the first wheel 41, which is currently covered, is on the flat ground 5. The second wheel 42 is also on the flat ground 5. One of the third wheels 43 is on the flat ground 5, and the other of the third wheels 43 is on the laterally ascending ramp. The tilting frame 16 swings about the tilting axis 15 relative to the pitching frame 14. The first wheel 41, the second wheel 42, and the third wheel 43 are in contact with the ground.
[0039] Figure 7 A schematic side view of the mobile transport system 10 is shown as it travels over a laterally descending ramp at an angle A relative to a flat surface 5. In the figure shown here, the first wheel 41, which is currently covered, is on the flat surface 5. The second wheel 42 is also on the flat surface 5. One of the third wheels 43 is on the flat surface 5, and the other of the third wheels 43 is on the laterally descending ramp. The tilting frame 16 swings about the tilting axis 15 relative to the pitching frame 14. The first wheel 41, the second wheel 42, and the third wheel 43 are in contact with the ground.
[0040] As in Figure 6 and Figure 7 As shown, if the tilting frame 16 swings about the tilting axis 15 relative to the pitching frame 14, the third swinging axis 63 extends with a slight tilt relative to the vertical direction Z. However, the tilt of the third swinging axis 63 is relatively small in this case. Similarly, the third rotation axis 53 extends with a slight tilt relative to the horizontal direction in this case. The tilt of the third rotation axis 53 is also relatively small.
[0041] Figure 8 A detailed side view of the mobile transportation system 10 is shown. This figure corresponds to... Figure 2 The display shows, however, additional details of the mobile transportation system 10.
[0042] The mobile transportation system 10 has a receiving unit 20, which is arranged on the pitch frame 14 and can be inductively supplied with energy by a charging unit. The charging unit is designed, for example, as a linear conductor or a coil. The energy inductively supplied to the receiving unit 20 by the charging unit is used, for example, to charge the electric energy storage device of the mobile transportation system 10. The receiving unit 20 is located between the second wheels 42.
[0043] The mobile transportation system 10 also includes a first inductive sensor 21 and a second inductive sensor 22, both arranged on the pitch frame 14. The inductive sensors 21 and 22 are used to detect magnetic fields. If the magnetic field is generated, for example, by a linear conductor installed in the ground, the inductive sensors 21 and 22 allow the sensors to follow said linear conductor to reach a predetermined destination. The inductive sensors 21 and 22 are arranged offset from each other in the longitudinal direction X. The first inductive sensor 21 is located in the longitudinal direction X between the drive axis 52 and the first oscillation axis 61. The second inductive sensor 22 is located in the longitudinal direction X between the drive axis 52 and the third oscillation axis 63. In the lateral direction Y, the inductive sensors 21 and 22 are located almost centrally between the second wheels 42.
[0044] The mobile transport system 10 also has two braking devices 73, one of which is arranged on each of the third wheels 43. By means of the braking devices 73, the rotation of the corresponding third wheel 43 about a third rotation axis 53 extending in the horizontal direction can be braked. Here, the braking devices 73 can be operated electromagnetically.
[0045] List of reference numerals in the attached diagram: 5. Flat ground 10. Mobile Transportation System 12 Vehicle frame 13 Pitch axis 14 Pitch Frame 15 Inclined axis 16 Inclined Frame 20 Receiving Units 21 First inductive sensor 22 Second inductive sensor 31 First wheel pair 32 Second wheel pair 33 Third wheel pair 41 First Wheel 42 Second wheel 43 Third wheel 51 First axis of rotation 52 Drive shaft 53 Third axis of rotation 61 First swing axis 63 Third swing axis 73 Braking device A angle X Vertical direction Y (horizontal direction) Z (vertical direction)
Claims
1. A mobile transport system (10) for transporting objects in a technical facility, the mobile transport system comprising: Vehicle frame (12). The first wheel pair (31), the second wheel pair (32), and the third wheel pair (33) each have two wheels (41, 42, 43). The wheels are rotatable relative to the vehicle frame (12), and A pitch frame (14) capable of swinging relative to the vehicle frame (12) about a pitch axis (13) extending in the lateral direction (Y), wherein The first wheel (41) of the first wheel pair (31) is fixed to the vehicle frame (12), and The second wheel (42) of the second wheel pair (32) is fixed to the pitch frame (14). Its features are, The third wheel (43) of the third wheel pair (33) is fixed to the tilt frame (16), which is able to swing relative to the pitch frame (14) about a tilt axis (15) extending at least almost in the longitudinal direction (X). Braking devices (73) are arranged on the third wheels (43) of the third wheel pair (33), which can brake the rotation of the corresponding third wheel (43) around the rotation axis (53) extending in the horizontal direction. The braking devices (73) can be operated electromagnetically.
2. The mobile transportation system (10) according to claim 1, characterized in that, The first wheel (41) of the first wheel pair (31) and / or the third wheel (43) of the third wheel pair (33) are designed as support wheels, and It is supported in a manner that allows it to swing relative to the vehicle frame (12) about a swing axis (61, 63) extending in the vertical direction (Z) and to rotate relative to the vehicle frame (12) about a rotation axis (51, 53) extending in the horizontal direction.
3. The moving transportation system (10) according to claim 1 or 2, characterized in that The second wheel (42) of the second wheel pair (32) is designed as a drive wheel and is supported in a manner that allows it to rotate relative to the pitch frame (14) about a drive axis (52) that extends in the lateral direction (Y), and can be driven by a drive unit.
4. The moving transportation system (10) according to claim 1 or 2, characterized in that The wheels (41, 42, 43) of the wheel pair (31, 32, 33) are arranged to be staggered from each other in the lateral direction (Y).
5. Mobile transportation system (10) according to claim 1 or 2, characterized in that The distance between the second wheels (42) of the second wheel pair (32) in the lateral direction (Y) is greater than the distance between the first wheels (41) of the first wheel pair (31) in the lateral direction (Y), and / or The distance between the second wheels (42) of the second wheel pair (32) in the lateral direction (Y) is greater than the distance between the third wheels (43) of the third wheel pair (33) in the lateral direction (Y).
6. Mobile transportation system (10) according to claim 1 or 2, characterized in that The second wheel (42) of the second wheel pair (32) is arranged in the longitudinal direction (X) between the first wheel (41) of the first wheel pair (31) and the third wheel (43) of the third wheel pair (33).
7. Mobile transportation system (10) according to claim 1 or 2, characterized in that The distance between the second wheel (42) of the second wheel pair (32) and the pitch axis (13) in the longitudinal direction (X) is at least almost equal to the distance between the third wheel (43) of the third wheel pair (33) and the pitch axis (13) in the longitudinal direction (X).
8. The mobile transportation system (10) according to claim 1 or 2, characterized in that, A receiving unit (20) is arranged on the pitch frame (14), which can transmit energy to the receiving unit in an inductive manner by the charging unit.
9. Mobile transportation system (10) according to claim 1 or 2, characterized in that At least one inductive sensor (21, 22) for detecting magnetic fields is arranged on the pitch frame (14).
10. Mobile transportation system (10) according to claim 1 or 2, characterized in that The mobile transport system (10) has a first angle measuring device for detecting the swing angle of the pitch frame (14) about the pitch axis (13) relative to the vehicle frame (12).
11. Mobile transportation system (10) according to claim 1 or 2, characterized in that The mobile transport system (10) has a second angle measuring device for detecting the swing angle of the tilt frame (16) about the tilt axis (15) relative to the pitch frame (14).