Mobile transportation system

Abstract

The invention relates to a mobile transport system for transporting articles in a technical installation, comprising a frame (12) and a drive module (10) having a first drive wheel (71), which can be rotated about a first drive axis (72), a second drive wheel (72), which can be rotated about a second drive axis (74), and at least one electric motor for driving the drive wheels (71, 72), according to the invention, the drive module (10) is mounted on the frame (12) by means of the replacement module (20), the replacement module (20) comprising a base plate (22) fastened to the frame (12) and a carrier plate (24) fastened to the drive module (10), the carrier plate (24) being firmly connected to the base plate (22) in a locked state of the replacement module (20) and the carrier plate (24) being disengaged from the base plate (22) in a released state of the replacement module (20).

Description

Technical Field

[0001] The present invention relates to a mobile transportation system for transporting articles in a technical facility / technical plant. The mobile transportation system includes a vehicle frame and a drive module. The drive module has a first drive wheel rotatable about a first drive shaft, a second drive wheel rotatable about a second drive shaft, and at least one motor for driving the drive wheels. Background Art

[0002] In technical facilities, such as in production plants or painting workshops, mobile transportation systems, especially automatically driving mobile transportation systems, are used to transport articles, such as small parts or boxes. The mobile transportation system also brings components from a logistics area (such as a material warehouse) to a workplace where the components are processed. This type of mobile transportation system can overcome gentle uphill or downhill slopes and small speed bumps or similar obstacles.

[0003] A mobile transportation system for transporting articles is known from document DE 10 2021 000 838 A1. The mobile transportation system includes a vehicle frame, a swing frame swingable relative to the vehicle frame about a swing axis, and a drive unit. Here, the drive unit is arranged at the swing frame.

[0004] A mobile transportation system for transporting articles is also known from document DE 10 2020 007 712 A1. The mobile transportation system includes a vehicle frame, a first wheel pair, a second wheel pair, and a third wheel pair each having two wheels, and a swing frame swingable relative to the vehicle frame. Here, the wheels of the second wheel pair are designed as drive wheels and can be driven by a drive unit.

[0005] For the maintenance and repair of the mobile transportation system, it is often necessary to remove the drive module with the drive wheels from the vehicle frame. Due to the structural form of the known mobile transportation system, removing the drive module from the vehicle frame is relatively complex. Summary of the Invention

[0006] The object of the present invention is to improve a mobile transportation system for transporting articles.

[0007] This object is achieved by a mobile transportation system having the features given in claim 1. Advantageous designs and improvements are the subject of the dependent claims.

[0008] A mobile transport system for transporting articles in a technical facility according to the present invention includes a vehicle frame and a drive module. The drive module has a first drive wheel rotatable about a first drive shaft, a second drive wheel rotatable about a second drive shaft, and at least one electric motor for driving the drive wheels. The drive module is mounted on the vehicle frame by means of a replacement module, which includes a base plate and a carrier plate. The base plate is fastened to the vehicle frame, and the carrier plate is fastened to the drive module. In the locked state of the replacement module, the carrier plate is fixedly connected to the base plate, and in the loosened state of the replacement module, the carrier plate is disengaged from the base plate.

[0009] In the mobile transport system according to the present invention, the drive module can be relatively simply removed from the vehicle frame for maintenance and repair. A damaged drive module can also be relatively simply replaced. If the replacement module is placed in the loosened state, the carrier plate is disengaged from the base plate, and thus the drive module can be separated from the vehicle frame.

[0010] According to a preferred design of the present invention, the replacement module includes a first transverse block and a second transverse block. In the locked state of the replacement module, the first transverse block is screwed / threaded to the base plate by means of at least one first base plate screw, the first transverse block is screwed to the carrier plate by means of at least one first carrier screw, and the second transverse block is screwed to the base plate by means of at least one second base plate screw, and the second transverse block is screwed to the carrier plate by means of at least one second carrier screw. By loosening the at least one base plate screw on the first side of the mobile transport system and loosening the at least one carrier screw on the second side of the mobile transport system, the drive module can be selectively disengaged from the vehicle frame transversely on the first side or on the second side.

[0011] According to an advantageous design of the present invention, in the locked state of the replacement module, the first transverse block is arranged in a first edge region of the base plate, and the second transverse block is arranged in a second edge region of the base plate. Here, the first edge region and the second edge region are opposed transversely.

[0012] According to an advantageous improvement of the present invention, the carrier plate includes a first centering pin and a second centering pin. The first transverse block has a first centering opening, and the second transverse block has a second centering opening. In the locked state of the replacement module, the first centering pin extends into the first centering opening, and the second centering pin extends into the second centering opening. The centering pins and the centering openings allow the carrier plate to be centered with the base plate when the replacement module is again placed in the locked state, that is, when the drive module is connected to the vehicle frame.

[0013] According to an advantageous design of the present invention, the replacement module includes at least one first locking bolt passing through the first transverse block and at least one second locking bolt passing through the second transverse block. In the locked state of the replacement module, the locking bolts extend into the holes of the substrate, and the locking bolts can move out of the holes of the substrate against the spring force. The locking bolts prevent the drive module from moving accidentally relative to the vehicle frame during the switching of the replacement module from the locked state to the loosened state.

[0014] According to an advantageous design of the present invention, the locking bolts can move out of the holes of the substrate against the spring force in the vertical direction relative to the transverse block.

[0015] According to a preferred design of the present invention, the drive module includes a swing frame / pitching frame, the swing frame can swing relative to the carrier plate about a swing axis / pitching axis extending transversely, and the drive wheels are arranged on the swing frame and can rotate relative to the swing frame. Thus, even when driving uphill or downhill, all the wheels of the mobile transportation system always remain in contact with the ground.

[0016] According to a preferred improvement of the present invention, the drive module includes a tipping frame / roll frame, the tipping frame can swing relative to the swing frame about a tipping axis / roll axis extending at least approximately longitudinally, and the drive module includes a first front support wheel and a second front support wheel arranged on the tipping frame. Thus, even when driving over a laterally rising slope or a laterally descending slope, all the wheels of the mobile transportation system always remain in contact with the ground.

[0017] According to a preferred design of the present invention, the front support wheels are respectively supported in such a way that they can swing relative to the tipping frame about a swing axis extending in the vertical direction and can rotate relative to the tipping frame about a rotation axis extending in the horizontal direction. The support wheels designed in this way are relatively cost-effective and also make it easy for the mobile transportation system to turn.

[0018] According to a preferred design of the present invention, the mobile transportation system includes a first rear support wheel and a second rear support wheel arranged on the vehicle frame, and the rear support wheels are respectively supported in such a way that they can swing relative to the vehicle frame about a swing axis extending in the vertical direction and can rotate relative to the vehicle frame about a rotation axis extending in the horizontal direction. The support wheels designed in this way are relatively cost-effective and also make it easy for the mobile transportation system to turn.

[0019] The present invention is not limited to the feature combinations of the claims. For those skilled in the art, other reasonable combination schemes of the claims and / or individual claim features and / or the features of the description and / or the features of the drawings can be obtained, especially from the purposes proposed and / or by comparing with the prior art. Description of the Drawings

[0020] The present invention will be described in more detail below with reference to the accompanying drawings. The present invention is not limited to the embodiments shown in the figures. The figures only schematically illustrate the subject matter of the present invention. Among them:

[0021] Figure 1 shows a side view of a part of a mobile transportation system,

[0022] Figure 2 shows a perspective view of a drive module with a replacement module; and

[0023] Figure 3 shows the replacement module in a disassembled state. Detailed Description of the Specific Embodiment

[0024] Figure 1 shows a side view of a part of a mobile transportation system. The mobile transportation system is especially used for transporting articles in a technical facility. The technical facility relates to industrial applications, such as a production plant or a painting workshop. In this example, the mobile transportation system is an autonomous vehicle. In the figure shown here, the mobile transportation system is located on a flat ground / surface within the technical facility.

[0025] The mobile transportation system 10 includes a vehicle frame 12 and a drive module 10. The mobile transportation system 10 further includes a replacement module 20. The drive module 10 is mounted on the vehicle frame 12 by means of the replacement module 20. The vehicle frame 12 has an approximately rectangular cross-section and mainly extends along the longitudinal direction X and the transverse direction Y.

[0026] The mobile transportation system also includes a first rear support wheel not shown here and a second rear support wheel not shown here. The rear support wheels are arranged at the vehicle frame 12. The rear support wheels are respectively supported in such a way that they can swing relative to the vehicle frame 12 about a swing axis extending in the vertical direction Z and can rotate relative to the vehicle frame 12 about a rotation axis extending in the horizontal direction. The rear support wheels are arranged offset from each other along the transverse direction Y.

[0027] According to the swing of the rear support wheel about the swing axis, the rotation axis of the rear support wheel extends, for example, along the longitudinal direction X or along the transverse direction or along another horizontal direction. In this example, the swing axis and the rotation axis of the same rear support wheel do not intersect. Each rear support wheel includes two rollers arranged parallel to each other. Braking devices are respectively arranged on the rear support wheels. By means of the braking devices, the rotation of the corresponding rear support wheel about the rotation axis can be braked. In this example, the braking devices can be electromagnetically operated.

[0028] Here, the longitudinal X approximately corresponds at least to the normal driving direction of the mobile transportation system. The transverse Y is perpendicular to the longitudinal X. The longitudinal X and the transverse Y are horizontal directions and are parallel to the flat ground on which the mobile transportation system is located. The vertical direction Z is perpendicular to this flat ground and is thus perpendicular to the longitudinal X and perpendicular to the transverse Y. Any direction perpendicular to the vertical direction Z is a horizontal direction.

[0029] The drive module 10 has a first drive wheel 71 rotatable about a first drive shaft 72 and a second drive wheel 72 rotatable about a second drive shaft 74. The second drive wheel 72 is covered here. The drive wheels 71, 72 are arranged offset from one another in the transverse Y direction. The first drive wheel 71 is located on the first side of the mobile transportation system in the transverse Y direction. The second drive wheel 72 is located on the second side of the mobile transportation system in the transverse Y direction.

[0030] Furthermore, the drive module 10 has a motor for driving the first drive wheel 71 and a motor for driving the second drive wheel 72. The first drive shaft 72 and the second drive shaft 74 extend in the transverse Y direction and are aligned with one another. The drive module 10 also includes a control unit for controlling the motors for driving the drive wheels 71, 72.

[0031] The drive module 10 includes a rocker frame 14. The rocker frame 14 is swingable relative to the vehicle frame 12 about a swing axis. The swing axis extends in the transverse Y direction. The drive wheels 71, 72 are arranged on the rocker frame 14 and are rotatable relative to the rocker frame 14. The motors for driving the drive wheels 71, 72 are also arranged on the rocker frame 14.

[0032] The drive module 10 includes a tipping frame 16. The tipping frame 16 is swingable relative to the rocker frame 14 about a tipping axis. The tipping axis extends at least approximately in the longitudinal X direction. If the rocker frame 14 swings relative to the vehicle frame 12 about the swing axis, the tipping axis extends in a manner slightly inclined relative to the longitudinal X direction. However, the inclination of the tipping axis is relatively small. Therefore, in this case, the tipping axis still extends approximately in the longitudinal X direction.

[0033] The drive module 10 includes a first front support wheel 41 and a second front support wheel 42 which is covered here. The front support wheel 41 is arranged on the tipping frame 16. The front support wheels 41, 42 are each supported in such a way that they are swingable relative to the tipping frame 16 about a swing axis extending in the vertical direction Z and rotatable relative to the tipping frame 16 about a rotation axis extending in the horizontal direction. The front support wheels 41, 42 are arranged offset from one another in the transverse Y direction.

[0034] Depending on the swinging of the front support wheels 41, 42 about the swinging axis, the rotation axes of the front support wheels 41, 42 extend, for example, in the longitudinal direction X or in the transverse direction or in another horizontal direction. In this example, the swinging axis and the rotation axis of the same front support wheels 41, 42 do not intersect. The front support wheels 41, 42 each include two rollers arranged parallel to each other. Braking devices are respectively arranged on the front support wheels 41, 42. By means of the braking devices, the rotation of the corresponding front support wheels 41, 42 about the rotation axis can be braked. In this example, the braking devices can be electromagnetically operated.

[0035] The drive wheels 71, 72 are arranged in the longitudinal direction X between the rear support wheels and the front support wheels 41, 42. The distance between the drive wheels 71, 72 in the transverse direction Y is greater than the distance between the front support wheels 41, 42 in the transverse direction Y. The distance between the drive wheels 71, 72 in the transverse direction Y is also greater than the distance between the rear support wheels in the transverse direction Y. In this example, the drive wheels 71, 72, the front support wheels 41, 42 and the rear support wheels are arranged in the shape of a hexagon, and the hexagon is designed to be symmetrical with respect to the longitudinal axis extending in the longitudinal direction X.

[0036] The mobile transport system has an electric energy storage device (not shown here). The mobile transport system also has a receiving unit (not shown here), and the receiving unit is arranged at the swing frame 14, and energy can be inductively transmitted from the charging unit to the receiving unit. The charging unit is designed, for example, as a linear conductor or a coil. The energy inductively transmitted from the charging unit to the receiving unit is used, for example, to charge the electric energy storage device. The receiving unit is located, for example, between the drive wheels 71, 72.

[0037] Figure 2 A perspective view of the drive module 10 with the replacement module 20 is shown. The replacement module 20 includes a substrate 22 and a carrier plate 24. The substrate 22 is fastened to a vehicle frame 12 (not shown here). The carrier plate 24 is fastened to the drive module 10. Thus, the swing frame 14 can swing relative to the carrier plate 24 about a swing axis extending in the transverse direction Y.

[0038] In the illustration shown here, the replacement module 20 is in the locked state. In the locked state of the replacement module 20, the carrier plate 24 is firmly connected to the substrate 22. Thus, in the locked state of the replacement module 20, the drive module 10 is firmly connected to the vehicle frame 12.

[0039] The substrate 22 has a first edge region 51 and a second edge region 52. The first edge region 51 and the second edge region 52 are opposed to each other in the transverse direction Y. In the locked state of the replacement module 20, the carrier plate 24 is located completely or at least approximately completely between the edge regions 51, 52 of the substrate 22 in the transverse direction Y. The first edge region 51 is arranged adjacent to the first drive wheel 71, and the second edge region 52 is arranged adjacent to the second drive wheel 72.

[0040] Figure 3 Shows the replacement module 20 in the loosened state. In the loosened state of the replacement module 20, the carrier plate 24 is disengaged from the substrate 22. Thus, in the loosened state of the replacement module 20, the drive module 10 can be removed from the vehicle frame 12. In the illustration shown here, the carrier plate 24 is disengaged from the substrate 24 in the vertical direction Z and the transverse direction Y.

[0041] The replacement module 20 includes a first transverse block 31 and a second transverse block 32. In the latched state of the replacement module 20, the first transverse block 31 is arranged at the first edge region 51 of the substrate 22, and the second transverse block 32 is arranged at the second edge region 52 of the substrate 22. In the illustration shown here, in the loosened state of the replacement module 20, the second transverse block 32 is disengaged from the second edge region 52 of the substrate 22.

[0042] In the latched state of the replacement module 20, the first transverse block 31 is screwed to the substrate 22 by means of two first substrate screws 33, and the second transverse block 32 is screwed to the substrate 22 by means of two second substrate screws 34. The substrate 22 includes threaded seats, and the first substrate screws 33 and the second substrate screws 34 are screwed into the threaded seats.

[0043] In the latched state of the replacement module 20, the first transverse block 31 is screwed to the carrier plate 24 by means of two first carrier screws 35, and the second transverse block 32 is screwed to the carrier plate 24 by means of two second carrier screws 36. The carrier plate 24 includes threaded seats, and the first carrier screws 35 and the second carrier screws 36 are screwed into the threaded seats.

[0044] In the latched state of the replacement module 20, the two first carrier screws 35 are arranged between the two first substrate screws 33 in the longitudinal direction X, and the two second carrier screws 36 are arranged between the two second substrate screws 34 in the longitudinal direction X.

[0045] In the illustration shown here, in the loosened state of the replacement module 20, the first transverse block 31 is screwed to the substrate 22 by means of the first substrate screws 33, and the second transverse block 32 is screwed to the carrier plate 24 by means of the second carrier screws 36. The first carrier screws 35 and the second substrate screws 34 are loosened. Thus, the first transverse block 31 is separated from the carrier plate 24, and the second transverse block 32 is separated from the substrate 22.

[0046] The first transverse block 31 has a first centering opening 27. The carrier plate 24 includes a first centering pin 37. In the latched state of the replacement module 20, the first centering pin 37 extends into the first centering opening 27. The second transverse block 32 has a second centering opening 28. The carrier plate 24 includes a second centering pin 38. In the latched state of the replacement module 20, the second centering pin 38 extends into the second centering opening 28. The first centering pin 37 and the second centering pin 38 are arranged to be opposed to each other along the transverse direction Y.

[0047] The replacement module 20 includes two first latch bolts 29 passing through the first transverse block 31. The replacement module 20 includes two second latch bolts 30 passing through the second transverse block 32. In the latched state of the replacement module 20, the latch bolts 29, 30 extend into the holes of the base plate 22. The latch bolts 29, 30 can move out of the holes of the base plate 22 relative to the transverse blocks 31, 32 in the vertical direction Z against the spring force.

[0048] When the mobile transport system is in operation, the replacement module 20 is in the latched state, as shown in Figure 1 and Figure 2 At this time, the carrier plate 24 is fixedly connected to the base plate 22, and the drive module 10 is fixedly connected to the vehicle frame 12.

[0049] In order to remove the drive module 10 with the drive wheels 71, 72 from the vehicle frame 12, the replacement module 20 is placed in the loosened state, as shown in, for example, Figure 3 The replacement module allows the drive module 10 to be detached from the vehicle frame 12 selectively on the first side where the first drive wheel 71 is located or on the second side where the second drive wheel 72 is located.

[0050] In order to detach the drive module 10 from the vehicle frame 12 on the second side, as shown in Figure 3 First, the first carrier screw 35 and the second base plate screw 34 are loosened. Thereby, the first transverse block 31 is separated from the carrier plate 24, and the second transverse block 32 is separated from the base plate 22.

[0051] Immediately afterwards, the vehicle frame 12 is lifted relative to the drive module 10 in the vertical direction Z. Thereby, the carrier plate 24 moves away from the base plate 22 in the vertical direction Z. If necessary, the latch bolts 29, 30 are also moved out of the holes of the base plate 22. Thus, the replacement module 20 is in the loosened state. Immediately afterwards, the drive module 10 is moved away from the vehicle frame 12 in the transverse direction Y on the second side.

[0052] In order to subsequently reconnect the drive module 10 to the vehicle frame 12 again, first the drive module 10 is pushed under the vehicle frame 12 from the second side in the transverse direction Y. If necessary, at this time, the latch bolts 29, 30 are pulled downwards in the vertical direction, i.e., towards the ground.

[0053] Subsequently, the frame 12 is lowered relative to the drive module 10 in the vertical direction Z. Thereby, the carrier plate 24 approaches the substrate 22 in the vertical direction Z. At this time, the locking bolts 29, 30 are engaged into the holes of the substrate 22. At this time, the centering pins 37, 38 are also engaged into the centering openings 27, 28.

[0054] Subsequently, the first transverse block 31 is screwed to the carrier plate 24 by means of the first carrier screw 35 that was previously loosened. Similarly, the second transverse block 32 is screwed to the substrate 22 by means of the second substrate screw 34 that was previously loosened. Thereafter, the replacement module 20 is again in the locked state.

[0055] To disengage the drive module 10 from the frame 12 on the first side, first loosen the second carrier screw 36 and the first substrate screw 33. Thereby, the first transverse block 31 is separated from the substrate 22, and the second transverse block 32 is separated from the carrier plate 24. The subsequent steps correspond to the steps described above for disengaging the drive module 10 from the frame 12 on the second side.

[0056] List of reference numerals:

[0057] 10 Drive module

[0058] 12 Frame

[0059] 14 Rocking frame

[0060] 16 Tilting frame

[0061] 20 Replacement module

[0062] 22 Substrate

[0063] 24 Carrier plate

[0064] 27 First centering opening

[0065] 28 Second centering opening

[0066] 29 First locking bolt

[0067] 30 Second locking bolt

[0068] 31 First transverse block

[0069] 32 Second transverse block

[0070] 33 First substrate screw

[0071] 34 Second substrate screw

[0072] 35 First carrier screw

[0073] 36 Second carrier screw

[0074] 37 First centering pin

[0075] 38 The second pair of middle pins

[0076] 41 The first front support wheel

[0077] 42 The second front support wheel

[0078] 51 The first edge area

[0079] 52 The second edge area

[0080] 71 The first drive wheel

[0081] 72 The second drive wheel

[0082] 73 The first drive shaft

[0083] 74 The second drive shaft

[0084] X Longitudinal

[0085] Y Transverse

[0086] Z Vertical direction.

Claims

1. A mobile transportation system for transporting articles in a technical facility, comprising a frame (12) and a drive module (10) having a first drive wheel (71) rotatable about a first drive shaft (72), a second drive wheel (72) rotatable about a second drive shaft (74), and at least one electric motor for driving these drive wheels (71, 72), characterized in that the drive module (10) is mounted on the frame (12) by means of a replacement module (20), the replacement module (20) includes a base plate (22) and a carrier plate (24), the base plate (22) is fastened to the frame (12), and the carrier plate (24) is fastened to the drive module (10), in the locked state of the replacement module (20), the carrier plate (24) is firmly connected to the base plate (22), in the loosened state of the replacement module (20), the carrier plate (24) is disengaged from the base plate (22).

2. The mobile transportation system according to claim 1, characterized in that the replacement module (20) includes a first transverse block (31) and a second transverse block (32), in the locked state of the replacement module (20), the first transverse block (31) is screwed to the base plate (22) by means of at least one first base plate screw (33), the first transverse block (31) is screwed to the carrier plate (24) by means of at least one first carrier screw (35), the second transverse block (32) is screwed to the base plate (22) by means of at least one second base plate screw (34), the second transverse block (32) is screwed to the carrier plate (24) by means of at least one second carrier screw (36).

3. The mobile transportation system according to claim 2, characterized in that in the locked state of the replacement module (20), the first transverse block (31) is arranged on a first edge region (51) of the base plate (22), the second transverse block (32) is arranged on a second edge region (52) of the base plate (22), the first edge region (51) and the second edge region (52) are opposite to each other in the transverse direction Y.

4. The mobile transportation system according to any one of claims 2 to 3, characterized in that, The carrier plate (24) includes a first centering pin (37) and a second centering pin (38), the first transverse block (31) has a first centering opening (27), the second transverse block (32) has a second centering opening (28), in the locked state of the replacement module (20), the first centering pin (37) extends into the first centering opening (27), and the second centering pin (38) extends into the second centering opening (27).

5. The mobile transportation system according to any one of claims 2 to 4, characterized in that, The replacement module (20) includes: at least one first locking bolt (29) passing through the first transverse block (31); and at least one second locking bolt (30) passing through the second transverse block (32), in the locked state of the replacement module (20), these locking bolts (29, 30) extend into the holes of the base plate (22), the locking bolts (29, 30) can move out of the holes of the base plate (22) against the spring force.

6. The mobile transportation system according to claim 5, characterized in that, The locking bolts (29, 30) can move out of the holes of the base plate (22) against the spring force in the vertical direction (Z) relative to the transverse blocks (31, 32).

7. The mobile transportation system according to any one of the above claims, characterized in that The drive module (10) includes a swing frame (14) that is pivotable relative to the carrier plate (24) about a swing axis extending in the transverse direction (Y). Drive wheels (71, 72) are arranged on the swing frame (14) and are rotatable relative to the swing frame (14).

8. The mobile transportation system according to claim 7, characterized in that the drive module (10) includes a tipping frame (16) that is pivotable relative to the swing frame (14) about a tipping axis extending at least approximately in the longitudinal direction (X). The drive module (10) includes a first front support wheel (41) and a second front support wheel (42) arranged on the tipping frame (16).

9. The mobile transportation system according to claim 8, characterized in that the front support wheels (41, 42) are each supported to be pivotable relative to the tipping frame (16) about a swing axis extending in the vertical direction (Z) and rotatable relative to the tipping frame (16) about a rotation axis extending in the horizontal direction.

10. The mobile transportation system according to any one of the above claims, characterized in that the mobile transportation system includes a first rear support wheel and a second rear support wheel arranged on the vehicle frame (12). The rear support wheels are each supported to be pivotable relative to the vehicle frame (12) about a swing axis extending in the vertical direction (Z) and rotatable relative to the vehicle frame (12) about a rotation axis extending in the horizontal direction.

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