Mobile transport system

Abstract

The present invention relates to a mobile transport system (10) for transporting objects, particularly in technical facilities, comprising: a first drive module (20) and a second drive module (20), the first drive module and the second drive module being arranged offset from each other in a longitudinal direction (X); a load support unit (25) supported on the drive module (20), wherein each drive module (20) includes a module frame (14), a first steering wheel (41) rotatably mounted about a first rotation axis, a second steering wheel (42) rotatably mounted about a second rotation axis, a third steering wheel (43) rotatably mounted about a third rotation axis, a fourth steering wheel (44) rotatably mounted about a fourth rotation axis, and a drive unit (70), wherein the drive unit (70) has a drive unit arranged on the module frame (14). The module frame (14) includes a drive frame, a first drive wheel (71) rotatable about a first drive shaft, and a second drive wheel (72) rotatable about a second drive shaft. The first steering wheel (41) is arranged on a first load bar (21), which is swayable relative to the module frame (14) about a load shaft (90) extending in the lateral direction (Y). The second steering wheel (42) is arranged on a second load bar (22), which is swayable relative to the module frame (14) about a load shaft (90). The third steering wheel (43) is arranged on the module frame (14), and the fourth steering wheel (44) is arranged on the module frame (14). The load support unit (25) is supported at a first support portion (31) on the first load bar (21) and a second support portion (32) on the second load bar (22).

Description

Technical Field

[0001] The present invention relates to a mobile transport system, particularly for transporting objects in technical facilities, the mobile transport system comprising a drive module and a plurality of rotatably mounted steering wheels. Background Technology

[0002] In technical facilities, such as production workshops, mobile transport systems, particularly autonomous mobile transport systems, are used to transport objects, such as small parts or boxes. These mobile transport systems also move components from logistics areas, such as material warehouses, to workplaces where components are processed. Such mobile transport systems are capable of overcoming slight inclines or slopes, as well as small ground beams or similar obstacles.

[0003] A mobile transport system for transporting objects, particularly in technical facilities, is known from document DE 10 2020 002 676 B3. This mobile transport system includes a drive unit and multiple rotatably mounted support wheels.

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

[0005] A vehicle with a frame is known from document DE 10 2013 019 726 A1, on which multiple steering units are rotatably mounted. Each steering unit has a drive wheel, the axle of which is rotatably mounted in an axle bracket, wherein the axle bracket is rotatably mounted by means of a swing shaft.

[0006] Document DE 10 2014 015 317 A1 discloses a vehicle with a frame on which components are guided by a linear guide. The vehicle also includes a drive unit with drive wheels, which is rotatably mounted on a rocker arm by means of a rotary bearing.

[0007] A transport system of this kind is known from DE 10 2016 013 645 A1. The transport system has a first moving part and a second moving part and a transport frame, wherein bearing rollers for moving the transport frame on a travel surface are arranged on the transport frame.

[0008] A vehicle comprising a chassis and a drive unit is known from DE 10 2006 046 406 B3. The drive unit has two drive wheels. The vehicle also includes two front wheel units and two rear wheel units. Summary of the Invention

[0009] The purpose of this invention is to further improve a mobile transportation system for transporting objects.

[0010] This objective is achieved by a mobile transport system having the features given in claim 1. Advantageous designs and improvements are the subject of the dependent claims.

[0011] A mobile transport system for transporting objects in a technical facility according to the present invention comprises: a first drive module and a second drive module, the first and second drive modules being arranged offset from each other in a longitudinal direction; and a load support unit supported on the drive modules. Each of the drive modules includes a module frame, a first steering wheel rotatably mounted about a first rotation axis, a second steering wheel rotatably mounted about a second rotation axis, a third steering wheel rotatably mounted about a third rotation axis, a fourth steering wheel rotatably mounted about a fourth rotation axis, and a drive unit. The drive unit has a drive frame arranged on the module frame, a first drive wheel rotatable about the first drive axis, and a second drive wheel rotatable about the second drive axis. The first steering wheel is arranged on a first load bar, which is oscillating relative to the module frame about a load axis extending in a transverse direction; the second steering wheel is arranged on a second load bar, which is oscillating relative to the module frame about the load axis; the third steering wheel is arranged on the module frame; and the fourth steering wheel is arranged on the module frame. The load support unit is supported at a first support portion on the first load bar and a second support portion on the second load bar. Here, the horizontal direction extends at right angles to the vertical direction. The vertical direction extends at right angles to both the vertical and horizontal directions.

[0012] The mobile transport system advantageously features a modular structure. Various types of load-bearing units can be combined with the drive module depending on the required application. For example, the load-bearing unit is designed to be long and flat, thus having a relatively large extension in the longitudinal direction and a relatively small extension in the vertical direction. Alternatively, the load-bearing unit can also be designed to be short and tall, thus having a relatively small extension in the longitudinal direction and a relatively large extension in the vertical direction. The lateral extension of the load-bearing unit is also variable. The design of the mobile transport system according to the invention allows the gravity transmitted from the load-bearing unit to the drive module to be distributed approximately arbitrarily onto the drive wheels and steering wheels. The design of the mobile transport system according to the invention also compensates for uneven ground surfaces.

[0013] Preferably, the drive frame can swing relative to the module frame about a steering axis extending vertically. Preferably, the first steering wheel can swing relative to the first load bar about a first swing axis extending vertically. Preferably, the second steering wheel can swing relative to the second load bar about a second swing axis extending vertically. Preferably, the third steering wheel can swing relative to the module frame about a third swing axis extending vertically. Preferably, the fourth steering wheel can swing relative to the module frame about a fourth swing axis extending vertically. Steering wheels designed in this way are relatively inexpensive and also facilitate turning maneuvers for the mobile transport system. The swinging motion of the drive frame relative to the module frame also changes the orientation of the drive wheels relative to the module frame. This allows for a change in the direction of movement of the mobile transport system.

[0014] According to an advantageous design of the invention, the load shaft is arranged longitudinally between the first and third swing shafts. According to an advantageous design of the invention, the load shaft is arranged longitudinally between the second and fourth swing shafts.

[0015] According to a preferred embodiment of the present invention, the first support portion is arranged longitudinally between the first swing shaft and the load shaft. According to a preferred embodiment of the present invention, the second support portion is arranged longitudinally between the second swing shaft and the load shaft.

[0016] According to an advantageous design of the invention, the first distance between the load shaft and the first support in the longitudinal direction is at least approximately equal to the third distance between the load shaft and the third swing shaft in the longitudinal direction. According to an advantageous design of the invention, the second distance between the load shaft and the second support in the longitudinal direction is at least approximately equal to the fourth distance between the load shaft and the fourth swing shaft in the longitudinal direction. This arrangement results in a uniform load distribution on the third steering wheel and the first drive wheel, as well as a uniform load distribution on the fourth steering wheel and the second drive wheel.

[0017] According to an advantageous design of the invention, the fifth distance from the first support portion to the first swing axis in the longitudinal direction is at least approximately twice the first distance from the first support portion to the load axis in the longitudinal direction. According to an advantageous design of the invention, the sixth distance from the second support portion to the second swing axis in the longitudinal direction is at least approximately twice the second distance from the second support portion to the load axis in the longitudinal direction. This arrangement results in a uniform load distribution on the first steering wheel and the first drive wheel, as well as a uniform load distribution on the second steering wheel and the second drive wheel.

[0018] According to a preferred embodiment of the present invention, the steering shaft is arranged longitudinally between the first swing shaft and the load shaft. According to a preferred embodiment of the present invention, the steering shaft is arranged longitudinally between the second swing shaft and the load shaft.

[0019] According to an advantageous design of the invention, the seventh distance between the load axle and the steering axle in the longitudinal direction is at least approximately equal to the first distance between the load axle and the first support portion in the longitudinal direction. According to an advantageous design of the invention, the seventh distance between the load axle and the steering axle in the longitudinal direction is at least approximately equal to the second distance between the load axle and the second support portion in the longitudinal direction. This arrangement results in a uniform load distribution on the first and third steering wheels, and a uniform load distribution on the second and fourth steering wheels.

[0020] According to an advantageous design of the invention, the seventh distance from the load axle to the steering axle in the longitudinal direction is at least approximately equal to the third distance from the load axle to the third swing axle in the longitudinal direction. According to another advantageous design of the invention, the seventh distance from the load axle to the steering axle in the longitudinal direction is at least approximately equal to the fourth distance from the load axle to the fourth swing axle in the longitudinal direction. This arrangement results in a uniform load distribution on the first and third steering wheels, as well as a uniform load distribution on the second and fourth steering wheels.

[0021] According to a preferred embodiment of the present invention, the steering shaft is arranged laterally between the first swing shaft and the second swing shaft. According to a preferred embodiment of the present invention, the steering shaft is arranged laterally between the third swing shaft and the fourth swing shaft. According to a preferred embodiment of the present invention, the steering shaft is arranged laterally between the first support portion and the second support portion.

[0022] According to an advantageous design of the invention, the rotation axis of the steering wheel and the drive axis of the drive wheel extend horizontally. The horizontal direction extends at a right angle to the vertical direction.

[0023] According to an advantageous improvement of the invention, a braking device is arranged on at least one of the steering wheels, by means of which the rotation of the respective steering wheel about its respective axis of rotation can be braked. The braking device can be operated, for example, electromagnetically. Thus, braking of the mobile transport system can be performed approximately at any time, independent of ground conditions. No additional braking device is required on the drive wheels.

[0024] According to an advantageous improvement of the invention, a first drive wheel is rotatably mounted on a first rocker arm, which is oscillating relative to a drive frame about a first rocker axis, and a second drive wheel is rotatably mounted on a second rocker arm, which is oscillating relative to the drive frame about a second rocker axis. Here, the first and second rocker arms are connected to each other by a connecting unit, such that the oscillating motion of the first rocker arm about the first rocker axis in a first oscillating direction causes the second rocker arm to oscillate about the second rocker axis in a second oscillating direction opposite to the first oscillating direction.

[0025] When traversing uneven ground, the swinging motion of the rocker arm around the sway axis ensures that both drive wheels remain in contact with the ground with sufficiently high contact pressure. Springs are not required to achieve this sufficient contact pressure. Here, the mobile transport system possesses a rigid kinematic system, which advantageously prevents yielding or deflection when traversing uneven ground. The first and second drive shafts are particularly displaceable relative to each other. The first and second drive shafts always extend parallel to each other. This displacement of the drive shafts relative to each other occurs during the swinging motion of the rocker arm around the sway axis. This advantageously avoids tilting of the drive wheels during the swinging motion of the rocker arm around the sway axis. In a defined orientation of the rocker arm, the drive shafts are aligned with each other. In particular, the first and second sway axes are aligned with each other. Therefore, the sway axes extend parallel to each other and parallel to the drive shafts. Thus, the swinging motion of the rocker arm around the sway axis causes a displacement of one drive shaft toward the ground and a movement of the other drive shaft away from the ground.

[0026] According to a preferred embodiment 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. Specifically, 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 speed reducer is also provided, via which the drive motor drives the drive wheels. Here, the speed reducer is also arranged on the rocker arm. Thus, the drive motor and the speed reducer are arranged in a space-saving manner within the structural space between the drive wheels. The mobile transport system also advantageously includes an energy storage device for supplying power to the drive motors.

[0027] This invention is not limited to the combination of features in the claims. For those skilled in the art, particularly for purposes proposed and / or by comparison with the prior art, other reasonable combinations of features in the claims and / or individual claims and / or the specification and / or the drawings are possible. Attached Figure Description

[0028] 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. Herein are shown:

[0029] Figure 1 Perspective view of a mobile transportation system.

[0030] Figure 2 Side view of the mobile transportation system, and

[0031] Figure 3 : A partial view of the bottom side of the mobile transportation system. Detailed Implementation

[0032] Figure 1 A perspective view of a mobile transport system 10 is shown. The mobile transport system 10 is used here to transport objects within a technical facility. This technical facility relates to industrial applications, such as a production workshop. In this case, the mobile transport system 10 is an autonomous vehicle. In the illustration shown here, the mobile transport system 10 is located on a flat surface within the technical facility.

[0033] The mobile transport system 10 includes a first drive module 20 and a second drive module 20. The drive modules 20 are arranged to be offset from each other in the longitudinal direction X. The mobile transport system 10 also includes a load support unit 25 supported on the drive modules 20. The load support unit 25 is used to carry the object to be transported.

[0034] The longitudinal direction X at least approximately corresponds to the normal direction of travel of the mobile transport system 10. The lateral direction Y extends perpendicular to the longitudinal direction X. Both the longitudinal direction X and the lateral direction Y 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 perpendicular to both the longitudinal direction X and the lateral direction Y. Any direction perpendicular to the vertical direction Z is a horizontal direction.

[0035] Each of the drive modules 20 includes a module frame 14. Each of the drive modules 20 also includes a first load bar 21 and a load bar 22. A load support unit 25 is supported on the load bars 21 and 22 of the drive module 20.

[0036] Figure 2 A side view of the mobile transportation system 10 is shown. Each of the drive modules 20 includes a first steering wheel 41 rotatable about a first axis of rotation, a second steering wheel 42 rotatable about a second axis of rotation, a third steering wheel 43 rotatable about a third axis of rotation, and a fourth steering wheel 44 rotatable about a fourth axis of rotation. In the illustration shown here, a corresponding one of the steering wheels 41, 42, 43, 44 is obscured by the other steering wheels 41, 42, 43, 44.

[0037] The first steering wheel 41 is correspondingly arranged on the first load bar 21. The second steering wheel 42 is correspondingly arranged on the second load bar 22. The load bars 21 and 22 are oscillating relative to the corresponding module frame 14 about a load axis 90 extending in the lateral direction Y. The third steering wheel 43 and the fourth steering wheel 44 are correspondingly arranged on the module frame 14.

[0038] The first steering wheel 41 is correspondingly oscillating relative to the first load bar 21 about a first swing axis 61 extending in the vertical direction Z. The second steering wheel 42 is correspondingly oscillating relative to the second load bar 22 about a second swing axis 62 extending in the vertical direction Z. The third steering wheel 43 is correspondingly oscillating relative to the module frame 14 about a third swing axis 63 extending in the vertical direction Z. The fourth steering wheel 44 is correspondingly oscillating relative to the module frame 14 about a fourth swing axis 64 extending in the vertical direction Z.

[0039] The rotation axes of steering wheels 41, 42, 43, and 44 extend horizontally. Depending on the oscillation of the steering wheels 41, 42, 43, and 44 around their respective pivot axes 61, 62, 63, and 64, these pivot axes extend, for example, along a longitudinal direction X, a transverse direction Y, or another horizontal direction. In the current configuration, the pivot axes 61, 62, 63, and 64 do not intersect with the rotation axes of the individual steering wheels 41, 42, 43, and 44.

[0040] Figure 3 This is a view showing a portion of the bottom side of the mobile transportation system 10. Only one of the two drive modules 20 and a portion of the load support unit 25 are shown here. Each drive module 20 includes a drive unit 70. The drive unit 70 has a transmission head 75 arranged on the module frame 14. The transmission head 75 is used for sensing and absorbing energy.

[0041] The drive unit 70 also has a drive frame (not shown) arranged on the module frame 14. The drive frame is rotatable relative to the module frame 14 about a steering axis 95 extending in the vertical direction Z. The drive unit 70 has a first drive wheel 71 rotatable about a first drive axis and a second drive wheel 72 rotatable about a second drive axis. The drive axes of the drive wheels 71 and 72 extend in the horizontal direction, respectively. Depending on the oscillation of the drive frame about the steering axis 95, the drive axis extends, for example, in the longitudinal direction X, the transverse direction Y, or another horizontal direction.

[0042] The load support unit 25 is supported at a first support portion 31 on the first load rod 21. The load support unit 25 is supported at a second support portion 32 on the second load rod 22. The load rods 21 and 22 are respectively mounted in bearings on the module frame 14. The load rods 21 and 22 extend through the bearings in the lateral direction Y about their swingable load axis 90.

[0043] The steering shaft 95 is arranged in the lateral direction Y between the first swing shaft 61 of the first steering wheel 41 and the second swing shaft 62 of the second steering wheel 42. The steering shaft 95 is also arranged in the lateral direction Y between the third swing shaft 63 of the third steering wheel 43 and the fourth swing shaft 64 of the fourth steering wheel 44. The steering shaft 95 is also arranged in the lateral direction Y between the first support portion 31 and the second support portion 32.

[0044] The load shaft 90 is arranged along the longitudinal direction X between the first swing shaft 61 and the third swing shaft 63. The load shaft 90 is also arranged along the longitudinal direction X between the second swing shaft 62 and the fourth swing shaft 64. The load shaft 90 is further arranged along the longitudinal direction X between the first support portion 31 and the third swing shaft 63. Finally, the load shaft 90 is arranged along the longitudinal direction X between the second support portion 32 and the fourth swing shaft 64.

[0045] The first support portion 31 is arranged along the longitudinal direction X between the first swing shaft 61 and the third swing shaft 63. The second support portion 32 is arranged along the longitudinal direction X between the second swing shaft 62 and the fourth swing shaft 64. The first support portion 31 is arranged along the longitudinal direction X between the first swing shaft 61 and the load shaft 90. The second support portion 32 is arranged along the longitudinal direction X between the second swing shaft 62 and the load shaft 90.

[0046] Steering shaft 95 is arranged along the longitudinal direction X between the first swing shaft 61 and the third swing shaft 63. Steering shaft 95 is arranged along the longitudinal direction X between the second swing shaft 62 and the fourth swing shaft 64. Steering shaft 95 is arranged along the longitudinal direction X between the first swing shaft 61 and the load shaft 90. Steering shaft 95 is arranged along the longitudinal direction X between the second swing shaft 62 and the load shaft 90.

[0047] In the longitudinal direction X, the first distance A1 from the load shaft 90 to the first support portion 31 is at least approximately equal to the third distance A3 from the load shaft 90 to the third swing axis 63 in the longitudinal direction X. The second distance A2 from the load shaft 90 to the second support portion 32 in the longitudinal direction X is at least approximately equal to the fourth distance A4 from the load shaft 90 to the fourth swing axis 64 in the longitudinal direction X.

[0048] In the longitudinal direction X, the fifth distance A5 from the first support portion 31 to the first swing axis 61 is at least approximately twice the first distance A1 from the first support portion 31 to the load axis 90 in the longitudinal direction X. In the longitudinal direction X, the sixth distance A6 from the second support portion 32 to the second swing axis 62 is at least approximately twice the second distance A2 from the second support portion 32 to the load axis 90 in the longitudinal direction X.

[0049] In the longitudinal direction X, the seventh distance A7 between the load shaft 90 and the steering shaft 95 is at least approximately equal to the first distance A1 between the load shaft 90 and the first support portion 31 in the longitudinal direction X. The seventh distance A7 between the load shaft 90 and the steering shaft 95 in the longitudinal direction X is at least approximately equal to the second distance A2 between the load shaft 90 and the second support portion 32 in the longitudinal direction X.

[0050] In the longitudinal direction X, the seventh distance A7 between the load shaft 90 and the steering shaft 95 is at least approximately equal to the third distance A3 between the load shaft 90 and the third swing shaft 63 in the longitudinal direction X. The seventh distance A7 between the load shaft 90 and the steering shaft 95 in the longitudinal direction X is at least approximately equal to the fourth distance A4 between the load shaft 90 and the fourth swing shaft 64 in the longitudinal direction X.

[0051] The drive unit 70 includes a first rocker arm oscillating relative to a drive frame about a first rocker axis, and a second rocker arm oscillating relative to the drive frame about a second rocker axis. The first and second rocker axes extend horizontally and are aligned with each other. The two rocker arms are oscillating relative to the drive frame about the rocker axes along a first rocker direction and a second rocker direction opposite to the first rocker direction, respectively.

[0052] A first drive wheel 71 is mounted on a first rocker arm in a manner rotatable about a first drive shaft. A second drive wheel 72 is mounted on a second rocker arm in a manner rotatable about a second drive shaft. The drive shafts extend parallel to the rocker shaft, but are offset from it. The drive shafts can move relative to each other due to the oscillating motion of the rocker arms about the rocker shaft.

[0053] The drive unit 70 includes a coupling unit having an equal-arm rod, a first strut, and a second strut that are swayable relative to the drive frame about a coupling shaft. A first rocker arm is connected to the equal-arm rod via the first strut. A second rocker arm is connected to the equal-arm rod via the second strut. The coupling shaft extends horizontally. The first and second rocker arms are connected to each other via the coupling unit.

[0054] For example, if the first drive wheel 71 travels upwards toward the ground, it will therefore move upwards in the vertical direction Z. This causes the first rocker arm to swing about the first rocker axis in the first swing direction. The first rocker arm, via the first strut, causes the equal arm to swing about the connecting axis. The equal arm, via the second strut, causes the second rocker arm to swing about the second rocker axis in the second swing direction. This causes the second drive wheel to move downwards in the vertical direction Z.

[0055] List of reference numerals in the attached diagram:

[0056] 10. Mobile Transportation System

[0057] 14 Module Framework

[0058] 20 Driver Modules

[0059] 21 First load bar

[0060] 22 Second load bar

[0061] 25 Load support unit

[0062] 31 First support part

[0063] 32 Second support section

[0064] 41 First steering wheel

[0065] 42 Second Steering Wheel

[0066] 43 Third steering wheel

[0067] 44 Fourth steering wheel

[0068] 61 First swing axis

[0069] 62 Second swing axis

[0070] 63 Third Swing Axis

[0071] 63 Fourth swing axis

[0072] 70 drive units

[0073] 71 First drive wheel

[0074] 72 Second drive wheel

[0075] 75 Transfer Head

[0076] 90 Load axis

[0077] 95 Steering Axle

[0078] A1 First Distance

[0079] A2 Second Distance

[0080] A3 Third Distance

[0081] A4 Fourth Distance

[0082] A5 Fifth Distance

[0083] A6 Sixth Distance

[0084] A7 Seventh Distance

[0085] X longitudinal direction

[0086] Y-direction (horizontal direction)

[0087] Z vertical direction

Claims

1. A mobile transport system (10) for transporting objects, said mobile transport system comprising: A first drive module (20) and a second drive module (20), the first drive module and the second drive module being arranged to be offset from each other in the longitudinal direction (X), and A load support unit (25) is supported on the drive module (20), wherein, Each of the drive modules (20) includes Module framework (14). The first steering wheel (41) is mounted in a manner that allows it to rotate around a first rotation axis. The second steering wheel (42) is mounted in a manner that allows it to rotate about a second rotation axis. The third steering wheel (43) is mounted in a manner that allows it to rotate around a third rotation axis. The fourth steering wheel (44) is mounted in a manner that allows it to rotate about a fourth rotation axis, and Drive unit (70), wherein, The drive unit (70) has a drive frame arranged on the module frame (14), a first drive wheel (71) rotatable about a first drive shaft, and a second drive wheel (72) rotatable about a second drive shaft, wherein, The first steering wheel (41) is arranged on the first load bar (21), which is swayable relative to the module frame (14) about a load axis (90) extending in the lateral direction (Y). The second steering wheel (42) is arranged on the second load bar (22), which can swing about the load shaft (90) relative to the module frame (14). The third steering wheel (43) is mounted on the module frame (14). The fourth steering wheel (44) is arranged on the module frame (14), and therein, The load support unit (25) is supported at a first support portion (31) on the first load rod (21) and at a second support portion (32) on the second load rod (22).

2. The mobile transportation system (10) according to claim 1. Its features are, The drive frame can swing relative to the module frame (14) about a steering axis (95) extending in the vertical direction (Z); and / or The first steering wheel (41) is oscillating about a first swing axis (61) extending in the vertical direction (Z) relative to the first load bar (21); and / or The second steering wheel (42) can swing about a second swing axis (62) extending in the vertical direction (Z) relative to the second load bar (22); and / or The third steering wheel (43) can swing relative to the module frame (14) about a third swing axis (63) extending in the vertical direction (Z); and / or The fourth steering wheel (44) can swing relative to the module frame (14) about the fourth swing axis (64) extending in the vertical direction (Z).

3. The mobile transportation system (10) according to claim 2. Its features are, The load shaft (90) is arranged longitudinally (X) between the first swing shaft (61) and the third swing shaft (63); and / or The load shaft (90) is arranged in the longitudinal direction (X) between the second swing shaft (62) and the fourth swing shaft (64).

4. The mobile transportation system (10) according to claim 2. Its features are, The first support portion (31) is arranged longitudinally (X) between the first swing shaft (61) and the load shaft (90); and / or The second support part (32) is arranged in the longitudinal direction (X) between the second swing shaft (62) and the load shaft (90).

5. Mobile transport system (10) according to claim 3, characterized in that The first support part (31) is arranged in the longitudinal direction (X) between the first swing shaft (61) and the load shaft (90); and / or the second support part (32) is arranged in the longitudinal direction (X) between the second swing shaft (62) and the load shaft (90).

6. The mobile transportation system (10) according to any one of claims 2 to 5. Its features are, The first distance (A1) from the load shaft (90) to the first support (31) in the longitudinal direction (X) is approximately equal to or exactly equal to the third distance (A3) from the load shaft (90) to the third swing shaft (63) in the longitudinal direction (X); and / or The second distance (A2) between the load shaft (90) and the second support (32) in the longitudinal direction (X) is approximately equal to or exactly equal to the fourth distance (A4) between the load shaft (90) and the fourth swing shaft (64) in the longitudinal direction (X).

7. The mobile transportation system (10) according to any one of claims 2 to 5. Its features are, The fifth distance (A5) from the first support portion (31) to the first swing axis (61) in the longitudinal direction (X) is approximately twice or exactly twice the first distance (A1) from the first support portion (31) to the load axis (90) in the longitudinal direction (X); and / or The sixth distance (A6) between the second support part (32) and the second swing axis (62) in the longitudinal direction (X) is approximately twice or exactly twice the second distance (A2) between the second support part (32) and the load axis (90) in the longitudinal direction (X).

8. The mobile transportation system (10) according to any one of claims 2 to 5. Its features are, The steering shaft (95) is arranged longitudinally (X) between the first swing shaft (61) and the load shaft (90); and / or The steering shaft (95) is arranged in the longitudinal direction (X) between the second swing shaft (62) and the load shaft (90).

9. The mobile transportation system (10) according to claim 8. Its features are, The seventh distance (A7) between the load shaft (90) and the steering shaft (95) in the longitudinal direction (X) is approximately equal to or exactly equal to the first distance (A1) between the load shaft (90) and the first support portion (31) in the longitudinal direction (X); and / or The seventh distance (A7) between the load shaft (90) and the steering shaft (95) in the longitudinal direction (X) is approximately equal to or exactly equal to the second distance (A2) between the load shaft (90) and the second support part (32) in the longitudinal direction (X).

10. The mobile transportation system (10) according to claim 8. Its features are, The seventh distance (A7) between the load shaft (90) and the steering shaft (95) in the longitudinal direction (X) is approximately equal to or exactly equal to the third distance (A3) between the load shaft (90) and the third swing shaft (63) in the longitudinal direction (X); and / or The seventh distance (A7) between the load shaft (90) and the steering shaft (95) in the longitudinal direction (X) is approximately equal to or exactly equal to the fourth distance (A4) between the load shaft (90) and the fourth swing shaft (64) in the longitudinal direction (X).

11. The mobile transportation system (10) according to any one of claims 2 to 5. Its features are, The steering shaft (95) is arranged in the lateral direction (Y) between the first swing shaft (61) and the second swing shaft (62); and / or The steering shaft (95) is arranged in the lateral direction (Y) between the third oscillating shaft (63) and the fourth oscillating shaft (64); and / or The steering shaft (95) is arranged in the lateral direction (Y) between the first support part (31) and the second support part (32).

12. The mobile transportation system (10) according to any one of claims 1 to 5. Its features are, The first rotating shaft, the second rotating shaft, the third rotating shaft, and the fourth rotating shaft, as well as the first drive shaft and the second drive shaft, extend horizontally.

13. The mobile transport system (10) according to any one of claims 1 to 5. Its features are, A braking device is provided on at least one of the first steering wheel (41), the second steering wheel (42), the third steering wheel (43), and the fourth steering wheel (44), by means of which the rotation of the respective steering wheel about the respective rotation axis can be braked.

14. The mobile transport system (10) according to any one of claims 1 to 5. Its features are, A first drive wheel (71) is rotatably mounted on a first rocker arm, which is capable of swinging relative to the drive frame about a first rocker axis. The second drive wheel (72) is rotatably mounted on the second rocker arm, which is capable of swinging relative to the drive frame about the second rocker axis; The first rocker arm and the second rocker arm are connected to each other by a connecting unit, such that the swinging motion of the first rocker arm around the first rocking axis in the first swinging direction causes the second rocker arm to swing around the second rocking axis in the second swinging direction opposite to the first swinging direction.

15. The mobile transport system (10) according to any one of claims 1 to 5. Its features are, 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).

16. The mobile transportation system (10) according to any one of claims 1 to 5, characterized in that, The mobile transport system is used to transport objects within a technical facility.

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