Mobile transportation system

Abstract

The present invention relates to a mobile transport system (10) for transporting objects, particularly in technical facilities, the mobile transport system comprising: a vehicle frame (12); a pair of first support wheels (41) and a pair of second support wheels (42) rotatably supported; a first drive wheel (71) rotatable about a first drive axis (73) extending in the lateral direction (Y); a second drive wheel (72) rotatable about a second drive axis (74) extending in the lateral direction (Y); and a pitch frame (14) rotatable about a pitch axis (13) relative to the vehicle frame (12), wherein the first support wheels (41) are arranged on the vehicle frame (12) and the second support wheels (42) are arranged on the pitch frame (14). A drive unit (70) is arranged on a pitch frame (14). The drive unit has a drive frame (75), wherein a first drive wheel (71) is rotatably supported on a first rocker arm (81) that can swing relative to the drive frame (75) about a first rocker arm axis (91), and a second drive wheel (72) is rotatably supported on a second rocker arm (82) that can swing relative to the drive frame (75) about a second rocker arm axis (92). The first rocker arm (81) and the second rocker arm (82) are connected to each other via a connecting unit, such that the swinging motion of the first rocker arm (81) about the first rocker arm axis (91) in a first swinging direction (A) causes the second rocker arm (82) to swing about the second rocker arm axis (92) in a second swinging direction (B) opposite to the first swinging direction (A).

Description

Technical Field

[0001] The present invention relates to a mobile transport system for transporting objects, particularly in technical facilities, the mobile transport system comprising: a vehicle frame; a pair of first support wheels and a pair of second support wheels rotatably supported thereon; a first drive wheel rotatable about a first drive axis; a second drive wheel rotatable about a second drive axis; and a pitch frame rotatable about a pitch axis relative to the vehicle frame. Background Technology

[0002] In technical facilities, such as production plants, mobile transport systems, particularly autonomous mobile transport systems, are used to transport objects, such as small parts or boxes. These mobile transport systems specifically move 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] A mobile transport system is known from document DE 10 2017 201 108 A1. This 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. Here, the pitch frame is hinged to the chassis by means of a horizontal pitch axis.

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

[0005] A vehicle is known from document DE 10 2013 019 726 A1. The vehicle has a base on which multiple steering units are rotatably supported. Each steering unit has a drive wheel, the axle of which is rotatably supported on an axle carrier, wherein the axle carrier is rotatably supported by a pitch axis.

[0006] Document DE 10 2014 015 317 A1 discloses a vehicle with a base on which a receiving portion is guided by a linear guide. The vehicle also includes a drive unit having a drive wheel rotatably supported on a rocker arm by means of a rotary bearing.

[0007] A traveling mechanism for a transport device is known from document WO 2018 / 136987 A1. The transport device has a wheel carrier that can swing about a vertical axis of rotation, and two wheels that can rotate about a common axis of rotation are arranged on the wheel carrier.

[0008] Document WO 2019 / 020862 A1 describes a vehicle that includes a pair of drive wheels and two pairs of support wheels.

[0009] Document JP 2005306178 A describes an unmanned transport vehicle. This transport vehicle includes a pair of drive wheels and two pairs of support wheels. Document DE 10 2013 013 438 A1 describes a transport vehicle for transporting shelves. This transport vehicle includes a pair of drive wheels and two pairs of support wheels. Document DE 27 07 541A1 describes a rail-based vehicle. This vehicle includes three pairs of wheels. Document EP 2 826 693 A2 describes a transport vehicle with a running gear. The running gear includes three pairs of wheels. Summary of the Invention

[0010] Therefore, the purpose of this invention is to improve the mobile transportation system for transporting objects.

[0011] This objective is achieved by a mobile transportation system having the features described below. Advantageous design options and improvements are also described below.

[0012] A mobile transport system according to the invention for transporting objects, particularly in technical facilities, comprises: a vehicle frame; a pair of first support wheels and a pair of second support wheels rotatably supported; a first drive wheel rotatable about a first drive axis extending in the lateral direction; a second drive wheel rotatable about a second drive axis extending in the lateral direction; and a pitch frame oscillating relative to the vehicle frame about a pitch axis. Here, the first support wheels are arranged on the vehicle frame, while the second support wheels are arranged on the pitch frame.

[0013] A drive unit is arranged on the pitch frame, the drive unit having a drive frame, wherein a first drive wheel is rotatably supported on a first rocker arm that can swing relative to the drive frame about a first rocker arm axis, and a second drive wheel is rotatably supported on a second rocker arm that can swing relative to the drive frame about a second rocker arm axis. The first and second rocker arms are connected to each other via a connecting unit in such a way that the swinging motion of the first rocker arm relative to the drive frame about the first rocker arm axis in a first swinging direction causes the second rocker arm relative to the drive frame about the second rocker arm axis in a second swinging direction opposite to the first swinging direction.

[0014] According to the design of the present invention, the mobile transport system can compensate for uneven ground. The swinging motion of the rocker arm about its axis when traversing uneven ground ensures that the two drive wheels are always in contact with the ground and have a sufficiently high clamping force. Springs are not required to achieve this sufficient clamping force exerted by the drive wheels on the ground. The mobile transport system here has a rigid motion system, which has the advantage of preventing yielding or bouncing when traversing uneven ground. Advantageously, structural space remains between the drive wheels for other components.

[0015] According to a preferred embodiment of the invention, the first drive shaft and the second drive shaft are movable relative to each other in a manner perpendicular to the lateral direction. Both the first and second drive shafts extend in the lateral direction and therefore always extend parallel to each other. This relative movement of the drive shafts occurs during the swinging motion of the rocker arm about its axis. This advantageously avoids the skewing of the drive wheel during the swinging motion of the rocker arm about its axis. With a specific orientation of the rocker arm, the drive shafts are aligned with each other.

[0016] According to a preferred embodiment of the invention, the first rocker arm axis extends in the lateral direction, and the second rocker arm axis extends in the lateral direction. Preferably, the first and second rocker arm axes are aligned with each other. Therefore, the rocker arm axes extend parallel to each other and parallel to the drive axes. Thus, the oscillating motion of the rocker arms about their axes causes one drive axis to move toward the ground, while the other drive axis moves away from the ground.

[0017] According to an advantageous design of the invention, the connecting unit has a balance bar, a first support, and a second support that can swing about a connecting axis relative to the drive frame, wherein a first rocker arm is connected to the balance bar via the first support, and a second rocker arm is connected to the balance bar via the second support. The connecting unit designed in this way can be manufactured relatively inexpensively and requires relatively little structural space.

[0018] Preferably, the connecting axis extends in a longitudinal direction, which is perpendicular to the transverse direction.

[0019] According to an advantageous improvement of the invention, the drive unit has a first drive motor for driving a first drive wheel and a second drive motor for driving a second drive wheel, wherein the first drive motor is arranged on a first rocker arm and the second drive motor is arranged on a second rocker arm. Preferably, a transmission device is also provided, via which the drive motor drives the drive wheels. The transmission device is also arranged on the rocker arm. The drive motor and the transmission device are thus arranged in a space-saving manner within the structural space between the drive wheels.

[0020] According to a preferred embodiment of the invention, the drive frame can oscillate relative to the pitch frame about a steering axis. This oscillating motion of the drive frame alters the orientation of the drive wheels relative to the pitch frame and relative to the vehicle frame. This allows for a change in the orientation of the pitch frame and the vehicle frame relative to the direction of motion of the mobile transport system.

[0021] Preferably, the steering axis extends vertically, which is perpendicular to the lateral direction. The vertical direction also extends perpendicularly to the longitudinal direction.

[0022] According to an advantageous embodiment of the invention, the drive unit has a turntable fixed to the pitch frame, wherein the drive frame is oscillating relative to the turntable about a steering axis, and the drive unit has a servo motor / adjustment motor for driving the drive frame relative to the turntable. Preferably, a transmission device is also provided, via which the servo motor drives the drive frame. Thus, by means of the servo motor, changes in the orientation of the pitch frame and the vehicle frame relative to the direction of movement of the mobile transport system can be performed.

[0023] According to an advantageous design of the invention, the drive unit includes a rotary transmitter by means of which electrical energy and data can be transmitted from the drive frame to the pitch frame, and from the pitch frame to the drive frame. For this purpose, the rotary transmitter has, for example, a slip ring.

[0024] Preferably, the distance between the second support wheel and the pitch axis in the fundamental direction is at least approximately equal to the distance between the steering axis and the pitch axis in the fundamental direction. The fundamental direction is horizontal and extends perpendicularly to the vertical direction. The pitch axis extends in a lateral direction, which extends perpendicularly to both the vertical and fundamental directions. Therefore, the pitch axis is at least approximately centered between the pitch axis and the second support wheel in the fundamental direction. Consequently, the clamping force exerted on the ground by the drive wheel is approximately the same as that by the second support wheel. The load distribution between the drive wheel and the second support wheel can be adjusted by moving the pitch axis in the fundamental direction.

[0025] Advantageously, the first support wheels are rotatably supported relative to the vehicle frame about a first rotation axis extending in the horizontal direction, and the first support wheels are oscillating relative to the vehicle frame about a first swing axis extending in the vertical direction. Advantageously, the second support wheels are rotatably supported relative to the pitch frame about a second rotation axis extending in the horizontal direction, and the second support wheels are oscillating relative to the pitch frame about a second swing axis extending in the vertical direction. Here, the vertical direction extends perpendicularly to the horizontal direction. The horizontal direction extends perpendicularly to the vertical direction. The support wheels configured in this way are relatively inexpensive and also facilitate turning maneuvers of the mobile transport system.

[0026] According to an advantageous design of the invention, braking devices are respectively arranged on the second support wheels, by means of which the rotation of the respective second support wheels about a second rotation axis extending in the horizontal direction can be braked. The braking devices can be operated electromagnetically, for example, and the second support wheels with braking devices are also in continuous contact with the ground. Therefore, braking of the mobile transport system can be achieved at any time, almost independent of ground characteristics. No additional braking devices are required on the first support wheels and / or drive wheels.

[0027] According to an advantageous design of the invention, the drive wheel is arranged in a fundamental direction between the first support wheel and the second support wheel. As previously stated, the fundamental direction is horizontal and extends perpendicularly to the vertical direction.

[0028] According to a preferred embodiment of the invention, a receiving unit is arranged on the drive frame, to which energy can be inductively transferred from the charging unit. The charging unit is, for example, constructed as a linear conductor or coil and is stationary on the ground. The energy inductively transferred from the charging unit to the receiving unit is used, for example, to charge the electric energy storage device of the mobile transportation system.

[0029] According to an advantageous improvement of the invention, at least one inductive sensor for detecting the magnetic field, particularly of a linear conductor, is arranged on the drive frame. When a magnetic field is generated, for example, by a linear conductor laid in the ground, the inductive sensor is allowed to follow the linear conductor to reach a predetermined destination.

[0030] This invention is not limited to a specific combination of features. Other reasonable combinations of the features in the specification and / or figures will be apparent to those skilled in the art, particularly for the purposes set forth and / or by comparison with the prior art. Attached Figure Description

[0031] The invention will now be described in 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:

[0032] Figure 1 A schematic side view showing a mobile transportation system;

[0033] Figure 2 A side view of the drive unit is shown;

[0034] Figure 3 Showing a front view of the drive unit;

[0035] Figure 4 A perspective view of the drive unit is shown;

[0036] Figure 5A perspective view of the drive unit according to the modified scheme is shown. Detailed Implementation

[0037] Figure 1 A schematic side view of a mobile transportation system 10 is shown. The mobile transportation system 10 is currently used for transporting objects within a technical facility. The technical facility relates to industrial applications, such as a production workshop. The transportation system 10 is also used, for example, to deliver goods to the residences of private recipients in a city or residential area. Currently, the mobile transportation system 10 is an autonomous vehicle / cart. In the illustration shown here, the mobile transportation system 10 is located on flat ground within the technical facility.

[0038] The mobile transport system 10 includes a vehicle frame 12 and a pitch frame 14. The pitch frame 14 is swayable relative to the vehicle frame 12 about a pitch axis 13. The pitch axis 13 extends in the lateral direction S, and the vehicle frame 12 has an approximately rectangular cross-section and extends in the fundamental direction T and the lateral direction S.

[0039] The basic direction T at least approximately corresponds to the usual direction of travel of the mobile transport system 10. The lateral direction S extends perpendicularly to the basic direction T. The basic direction T and the lateral direction S are horizontal and extend parallel to the flat ground on which the mobile transport system 10 is situated. The vertical direction Z is perpendicular to the flat ground and therefore extends perpendicularly to both the basic direction T and the lateral direction S. Each direction perpendicular to the vertical direction Z is a horizontal direction.

[0040] Two first support wheels 41 are arranged on the vehicle frame 12, and they are rotatable relative to the vehicle frame 12. The first support wheels 41 are staggered relative to each other in the lateral direction S. Two second support wheels 42 are arranged on the pitch frame 14, and they are rotatable relative to the pitch frame 14. The second support wheels 42 are staggered relative to each other in the lateral direction S.

[0041] The first support wheels 41 are each rotatable relative to the vehicle frame 12 about a first swing axis 61 extending in the vertical direction Z. Furthermore, the first support wheels 41 are rotatably supported relative to the vehicle frame 12 about a first rotation axis 51 extending in the horizontal direction. In the illustration shown here, the first rotation axis 51 extends in the lateral direction S. Depending on the rotatability of the first support wheels 41 about the first swing axis 61, the first rotation axis 51 extends, for example, in the fundamental direction T or another horizontal direction. The first swing axis 61 and the first rotation axis 51 of the first support wheels 41 do not currently intersect.

[0042] The second support wheels 42 are each rotatable relative to the pitch frame 14 about a second swing axis 62 extending in the vertical direction Z. Furthermore, the second support wheels 42 are rotatably supported relative to the pitch frame 14 about a second rotation axis 52 extending in the horizontal direction. In the illustration shown here, the second rotation axis 52 extends in the lateral direction S. Depending on the rotatability of the second support wheels 42 about the second swing axis 62, the second rotation axis 52 extends, for example, in the fundamental direction T or another horizontal direction. The second swing axis 62 and the second rotation axis 52 of the second support wheels 42 do not currently intersect.

[0043] The mobile transport system 10 includes a drive unit 70 arranged on a pitch frame 14. The drive unit 70 has a drive frame 75 and a turntable 88. The drive frame 75 is oscillating relative to the turntable 88 about a steering axis 95. The turntable 88 is secured to the pitch frame 14. Therefore, the drive frame 75 can oscillate relative to the pitch frame 14 about the steering axis 95. The drive unit 70 is arranged in a basic direction T between a first support wheel 41 and a second support wheel 42.

[0044] The drive unit 70 includes a first drive wheel 71 and a second drive wheel 72, which are rotatably supported. In the illustration shown, the second drive wheel 72 is obscured. The drive wheels 71 and 72 are arranged in the fundamental direction T between the first support wheel 41 and the second support wheel 42. The distance between the second support wheel 42 and the pitch axis 13 in the fundamental direction T is at least approximately equal to the distance between the steering axis 95 and the pitch axis 13 in the fundamental direction T. The distance between the second support wheel 42 and the pitch axis 13 in the fundamental direction T is here equivalent to the distance between the second oscillation axis 62 and the pitch axis 13 in the fundamental direction T.

[0045] Figure 2 A side view of the drive unit 70 is shown. The drive unit 70 includes a first rocker arm 81 that can swing relative to the drive frame 75 about a first rocker arm axis 91 and a second rocker arm 82 that is obscured here and can swing relative to the drive frame 75 about a second rocker arm axis 92. The first rocker arm axis 91 and the second rocker arm axis 92 extend in the lateral direction Y and are aligned with each other. The rocker arms 81 and 82 can swing relative to the drive frame 75 about the rocker arm axes 91 and 92, respectively, in a first swing direction A and in a second swing direction B, which is opposite to the first swing direction A.

[0046] The lateral direction Y extends perpendicularly to the vertical direction Z. The longitudinal direction X extends perpendicularly to both the vertical direction Z and the lateral direction Y. Both the longitudinal direction X and the lateral direction Y are horizontal directions. Each direction perpendicular to the vertical direction Z is a horizontal direction. As described above, the drive frame 75 of the drive unit 70 can swing about the steering axis 95 relative to the turntable 88 and the pitch frame 14 of the mobile transport system 10. Depending on the swinging motion of the drive frame 75 about the steering axis 95, the orientation of the drive frame 75 relative to the vehicle frame 12 and relative to the pitch frame 14 is changed. Figure 1 In the diagram shown, the longitudinal direction X corresponds to the basic direction T, while the transverse direction Y corresponds to the lateral direction S.

[0047] A first drive wheel 71 is rotatably supported on a first rocker arm 81 about a first drive axis 73 extending in the transverse direction Y. A second drive wheel 72 is rotatably supported on a second rocker arm 82 about a second drive axis 74 extending in the transverse direction Y. In the illustration shown, the second drive wheel 72 is obscured. Therefore, drive axes 73 and 74 extend parallel to rocker arm axes 91 and 92, but are offset from these rocker arm axes. The oscillating motion of the rocker arms 81 and 82 about rocker arm axes 91 and 92 allows drive axes 73 and 74 to move relative to each other in a direction perpendicular to the transverse direction Y.

[0048] The drive unit 70 has a receiving unit 20 arranged on the drive frame 75, which can inductively transfer energy from the charging unit to the receiving unit. The charging unit is configured, for example, as a linear conductor or coil. The energy inductively transferred from the charging unit to the receiving unit 20 is used, for example, to charge the electric energy storage device of the mobile transportation system 10.

[0049] The drive unit 70 also includes an inductive sensor 21, which is arranged on the drive frame 75. The inductive sensor 21 is used to detect magnetic fields. If the magnetic field is generated, for example, by a linear conductor laid in the ground, the inductive sensor 21 allows the follower of the linear conductor to reach a defined destination.

[0050] Figure 3 A front view of the drive unit 70 is shown. The drive unit 70 includes a coupling unit having a balance bar 80, a first support 85, and a second support 86 that are swayable about a coupling axis 90 relative to a drive frame 75. A first rocker arm 81 is connected to the balance bar 80 via the first support 85. A second rocker arm 82 is connected to the balance bar 80 via the second support 86. The coupling axis 90 extends in the longitudinal direction X. Therefore, the first rocker arm 81 and the second rocker arm 82 are connected to each other via the coupling unit.

[0051] For example, when the first drive wheel 71 travels to a high point on the ground, it moves upward in the vertical direction Z. The first rocker arm 81 then swings about its axis 91 in the first swing direction A. The first rocker arm 81, via the first support 85, causes the balance bar 80 to swing about the connecting axis 90. The balance bar 80, via the second support 86, causes the second rocker arm 82 to swing about its axis 92 in the second swing direction B. This causes the second drive wheel 72 to move downward in the vertical direction Z.

[0052] During the process, the drive wheels 71 and 72 not only move in the vertical direction Z, but also move slightly in the longitudinal direction X. However, due to the geometric arrangement of the rocker arms 81 and 82 and the rocker arm axes 91 and 92, the movement of the drive wheels 71 and 72 in the longitudinal direction X is negligible compared to their movement in the vertical direction Z.

[0053] Therefore, the first rocker arm 81 and the second rocker arm 82 are connected to each other via a connecting unit in such a way that the oscillation of the first rocker arm 81 about the first rocker arm axis 91 in the first oscillation direction A causes the second rocker arm 82 to oscillate about the second rocker arm axis 92 in the second oscillation direction B. The first rocker arm 81 and the second rocker arm 82 are also connected to each other via a connecting unit in such a way that the upward movement of the first drive wheel 71 in the vertical direction Z causes the downward movement of the second drive wheel 72 in the vertical direction Z, and vice versa.

[0054] The first support 85 and the second support 86 extend at least approximately in the vertical direction Z, and the lengths of the first support 85 and the second support 86 are adjustable independently of each other. This means that the extension / extension dimension of the supports 85 and 86 in the vertical direction Z is adjustable.

[0055] The drive unit 70 includes a tilt sensor (not shown) that detects the tilt of the balance bar 80 relative to the drive frame 75 about the connecting axis 90. The drive unit 70 also includes a tilt sensor (not shown) that detects the tilt of the first rocker arm 81 relative to the drive frame 75 about the first rocker arm axis 91. Finally, the drive unit 70 includes a tilt sensor (not shown) that detects the tilt of the second rocker arm 82 relative to the drive frame 75 about the second rocker arm axis 92.

[0056] Figure 4 A perspective view of the drive unit 70 is shown. The drive unit 70 has a servo motor 89 for driving the drive frame 75 relative to the turntable 88 about the steering axis 95. Currently, the servo motor 89 is fixedly arranged on the drive frame 75 and is operatively connected to a transmission device via which the servo motor 89 drives the drive frame 75 relative to the turntable 88.

[0057] The transmission device includes a pinion 97 and a gear ring 98 fixedly arranged on the drive frame 75. The gear ring 98 is fixedly arranged on the turntable 88. The pinion 97 meshes with the gear ring 98. In the illustration shown here, the pinion 97 and the gear ring 98 are covered by a cover plate 77, which is fixedly arranged on the drive frame 75.

[0058] Figure 5 A perspective view of the drive unit 70 according to the modified scheme is shown. Figure 5 The drive unit 70 shown according to the modified scheme and Figure 4 The drive unit 70 shown largely corresponds to the one described above. The differences between the drive units 70 will be discussed primarily below.

[0059] In the illustration of the modified drive unit 70 shown here, the cover plate 77 has been removed. Therefore, the pinion 97 and the gear ring 98 of the transmission are visible. The servo motor 89 drives the pinion 97, which meshes with the gear ring 98.

[0060] The modified drive unit 70 includes a rotary transmitter 94 having a base that is approximately rotationally symmetric, and in particular cylindrical. The cylindrical axis of the base of the rotary transmitter 94 extends in the vertical direction Z and is aligned with the steering axis 95.

[0061] The rotary transmitter 94 is fixedly positioned on the drive frame 75 and can swing relative to the turntable 88 about the steering axis 95. Similarly, it is conceivable that the rotary transmitter 94 is fixedly positioned on the turntable 88 and can swing relative to the drive frame 75 about the steering axis 95.

[0062] The rotary transmitter 94 has a slip ring (not shown) that allows electrical energy and data to be transmitted from the drive frame 75 to the turntable 88 and the pitch frame 14. Electrical energy and data can also be transmitted from the turntable 88 and the pitch frame 14 to the drive frame 75 using the slip ring.

[0063] The modified drive unit 70 also includes a support plate 78, which is fixedly arranged on the drive frame 75. The support plate 78 is approximately rotationally symmetrical with respect to the steering axis 95 and approximately concentrically surrounds the drive frame 75.

[0064] List of reference numerals in the attached diagram:

[0065] 10. Mobile Transportation System

[0066] 12 Vehicle frame

[0067] 13 Pitch axis

[0068] 14 Pitch Frame

[0069] 20 Receiving Units

[0070] 21 First inductive sensor

[0071] 41 First support wheel

[0072] 42 Second support wheel

[0073] 51 First axis of rotation

[0074] 52 Second axis of rotation

[0075] 61 First swing axis

[0076] 62 Second swing axis

[0077] 70 drive units

[0078] 71 First drive wheel

[0079] 72 Second drive wheel

[0080] 73 First drive axis

[0081] 74 Second drive shaft

[0082] 75 Driver Framework

[0083] 77 Cover plate

[0084] 78 Load-bearing plate

[0085] 80 stabilizer bar

[0086] 81 First rocker arm

[0087] 82 Second rocker arm

[0088] 85 First Pillar

[0089] 86 Second Pillar

[0090] 88 turntable

[0091] 89 servo motors

[0092] 90 Connecting axis

[0093] 91 First rocker arm axis

[0094] 92 Second rocker arm axis

[0095] 94 Rotary Transmitter

[0096] 95 Steering axis

[0097] 97 small gears

[0098] 98 gear ring

[0099] A. First swing direction

[0100] B. Second swing direction

[0101] S Lateral direction

[0102] T basic direction

[0103] X Vertical direction

[0104] Y (horizontal direction)

[0105] Z (vertical direction)

Claims

1. A mobile transportation system (10) for transporting objects, the mobile transportation system comprising: Vehicle frame (12); A pair of first support wheels (41) and a pair of second support wheels (42) are supported in a rotatable manner; A first drive wheel (71) capable of rotating about a first drive axis (73) extending in the lateral direction (Y); A second drive wheel (72) capable of rotating about a second drive axis (74) extending in the lateral direction (Y); and A pitch frame (14) is swayable relative to the vehicle frame (12) about a pitch axis (13), wherein, The first support wheel (41) is arranged on the vehicle frame (12). The second support wheel (42) is arranged on the pitch frame (14). Its features are, A drive unit (70) is arranged on the pitch frame (14), the drive unit having a drive frame (75), wherein, The first drive wheel (71) is rotatably supported on a first rocker arm (81) that can swing relative to the drive frame (75) about the axis (91) of the first rocker arm. The second drive wheel (72) is rotatably supported on a second rocker arm (82) that can swing relative to the drive frame (75) about the axis (92) of the second rocker arm. The first rocker arm (81) and the second rocker arm (82) are connected to each other via a connecting unit in the following manner, such that, The swing motion of the first rocker arm (81) about the first rocker arm axis (91) in the first swing direction (A) causes the second rocker arm (82) to swing about the second rocker arm axis (92) in the second swing direction (B) opposite to the first swing direction (A).

2. The mobile transportation system (10) according to claim 1, characterized in that, The first drive axis (73) and the second drive axis (74) can move relative to each other in a manner perpendicular to the lateral direction (Y).

3. The mobile transportation system (10) according to claim 1 or 2, characterized in that, The first rocker arm axis (91) extends in the lateral direction (Y). The second rocker arm axis (92) extends in the lateral direction (Y), and / or The first rocker arm axis (91) and the second rocker arm axis (92) are aligned with each other.

4. The mobile transportation system (10) according to claim 1 or 2, characterized in that, The connecting unit has a balance bar (80) capable of swinging around the connecting axis (90), a first support (85), and a second support (86), wherein, The first rocker arm (81) is connected to the balance bar (80) via the first support (85). The second rocker arm (82) is connected to the balance bar (80) via the second support (86).

5. The mobile transportation system (10) according to claim 4, characterized in that, The connecting axis (90) extends in the longitudinal direction (X), which extends perpendicularly to the transverse direction (Y).

6. The mobile transportation system (10) according to claim 1 or 2, characterized in that, The drive unit (70) has a first drive motor for driving the first drive wheel (71) and a second drive motor for driving the second drive wheel (72), wherein, The first drive motor is mounted on the first rocker arm (81). The second drive motor is mounted on the second rocker arm (82).

7. The mobile transportation system (10) according to claim 1 or 2, characterized in that, The drive frame (75) can swing about the steering axis (95) relative to the pitch frame (14).

8. The mobile transportation system (10) according to claim 7, characterized in that, The steering axis (95) extends in the vertical direction (Z), which is perpendicular to the lateral direction (Y).

9. The mobile transportation system (10) according to claim 7, characterized in that, The drive unit (70) includes a turntable (88) secured to the pitch frame (14), wherein, The drive frame (75) can swing relative to the turntable (88) about the steering axis (95). The drive unit (70) has a servo motor (89) for driving the drive frame (75) relative to the turntable (88).

10. The mobile transportation system (10) according to claim 7, characterized in that, The drive unit (70) includes a rotary transmitter (94) by means of which electrical energy and data can be transmitted from the drive frame (75) to the pitch frame (14) and from the pitch frame (14) to the drive frame (75).

11. The mobile transportation system (10) according to claim 7, characterized in that, The distance between the second support wheel (42) and the pitch axis (13) in the basic direction (T) is at least approximately equal to the distance between the steering axis (95) and the pitch axis (13) in the basic direction (T).

12. The mobile transportation system (10) according to claim 1 or 2, characterized in that, The first support wheels (41) are supported relative to the vehicle frame (12) in a manner that allows them to rotate about a first axis of rotation (51) extending in the horizontal direction. The first support wheel can swing relative to the vehicle frame (12) about a first swing axis (61) extending in the vertical direction (Z), and / or The second support wheels (42) are supported relative to the pitch frame (14) in a manner that allows them to rotate about a second rotation axis (52) that extends in the horizontal direction. The second support wheel can swing about a second swing axis (62) extending in the vertical direction (Z) relative to the pitch frame (12), wherein The vertical direction (Z) extends perpendicularly to the horizontal direction (Y).

13. The mobile transportation system (10) according to claim 1 or 2, characterized in that, A braking device is provided on the second support wheel (42) to brake the rotation of the corresponding second support wheel (42) around the second rotation axis (52) extending in the horizontal direction.

14. The mobile transportation system (10) according to claim 1 or 2, characterized in that, The drive wheels (71, 72) are arranged in the basic direction (T) between the first support wheel (41) and the second support wheel (42).

15. The mobile transportation system (10) according to claim 1 or 2, characterized in that, A receiving unit (20) is arranged on the drive frame (75), which can inductively transfer energy from the charging unit to the receiving unit, and / or At least one inductive sensor (21) for detecting the magnetic field of the conductor is arranged on the drive frame (75).

16. The mobile transportation system (10) according to claim 15, characterized in that, The conductor is linear.

17. The mobile transportation system (10) according to claim 1 or 2, characterized in that, The mobile transport system is used to transport objects within technical facilities.

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