Mobile transport system for transporting objects in technical installation

Abstract

The utility model relates to a mobile transportation system used for transporting objects in technical equipment. The mobile transportation system comprises a basic frame, a pair of driving wheels and a pair of first supporting wheels. The base frame comprises a first side plate, a second side plate, a first end plate and a second end plate. The end plates are parallel to each other, the side plates are parallel to each other, and the end plates and the side plates form right angles.

Description

Technical Field

[0001] This utility model relates to a mobile transport system for transporting objects in technical equipment, the mobile transport system comprising a basic frame, a pair of drive wheels and a pair of first support wheels. Background Technology

[0002] In technical equipment, such as in 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. Mobile transport systems are capable of overcoming slight inclines or declines, as well as small ground beams or similar obstacles. Lifting units allow for adjustment of the height of the transport platforms.

[0003] A mobile transport system for transporting objects in technical equipment is known from document DE 10 2021 003 471 B3. The mobile transport system has multiple drive wheels and support wheels, as well as a lifting unit by means of which the upper frame can move vertically. Utility Model Content

[0004] The purpose of this invention is to further improve a mobile transportation system for transporting objects.

[0005] This objective is achieved through a mobile transportation system with the following characteristics.

[0006] The mobile transport system for transporting objects in technical equipment according to this utility model includes a base frame, a pair of drive wheels, and a pair of first support wheels. The base frame includes a first side plate, a second side plate, a first end plate, and a second end plate. The first end plate and the second end plate are parallel to each other, the first side plate and the second side plate are parallel to each other, and the first end plate and the second end plate are perpendicular to the first side plate and the second side plate.

[0007] A cavity is provided between the side plates and the bottom plate of the base frame, which can be accessed vertically from above. Therefore, the components of the mobile transport system to be mounted on the base frame can be installed relatively easily from above, i.e., from the direction away from the ground. In particular, it is not necessary to lift the mobile transport system from below to install the components.

[0008] According to an advantageous design of this utility model, the mobile transportation system includes a first swing arm, a second swing arm, and a pair of second support wheels. One of the drive wheels and one of the second support wheels are arranged on the first swing arm, and the other of the drive wheel and the other of the second support wheel are arranged on the second swing arm. The first swing arm and the second swing arm are supported in a manner that allows them to swing independently of each other about a common pitch axis relative to the base frame.

[0009] This ensures that all wheels of the mobile transport system remain in contact with the ground when overcoming slopes and traversing uneven terrain. Springs are not required to achieve specific clamping forces on the wheels.

[0010] According to an advantageous design of the present invention, the pitch axis extends in the lateral direction and is arranged in the longitudinal direction between the drive wheel and the second support wheel.

[0011] The lateral direction is perpendicular to the longitudinal direction. Both the longitudinal and lateral directions are horizontal and parallel to the ground on which the mobile transport system is located. The vertical direction is perpendicular to the ground and therefore perpendicular to both the longitudinal and lateral directions. Any direction perpendicular to the vertical direction is a horizontal direction.

[0012] According to an advantageous design of the present invention, the drive wheel is arranged in the longitudinal direction between the pitch axis and the first support wheel.

[0013] According to an advantageous design of this utility model, the first support wheel is fixed on the base frame.

[0014] According to another advantageous design of the present invention, the first support wheel is fixed on the rocker arm, which can swing relative to the base frame about an inclined axis / lateral tilt axis extending in the longitudinal direction.

[0015] Therefore, mobile transportation systems are able to compensate for large ground irregularities along and laterally to the direction of travel.

[0016] According to another advantageous design of the present invention, the drive wheel is fixed on the base frame, the first support wheel is fixed on the rocker arm, and the rocker arm can swing relative to the base frame about an inclined axis extending in the longitudinal direction.

[0017] This significantly reduces the cost of producing mobile transportation systems. These systems can also compensate for uneven ground surfaces.

[0018] According to an advantageous design of the present invention, the inclined axis is arranged in the lateral direction between the first support wheels.

[0019] According to an advantageous design of the present invention, the first support wheel and the second support wheel can swing relative to the base frame about a swing axis extending in the vertical direction, and are supported in a manner that allows them to rotate relative to the base frame about a rotation axis extending in the horizontal direction.

[0020] This design of the support wheels is relatively cost-effective and also makes turning easier for the mobile transport system.

[0021] According to an advantageous design of this invention, each of the drive wheels is equipped with a drive motor and a travel transmission device. Each travel transmission device is fitted with a release lever. By means of the release lever, the corresponding travel transmission device can be mechanically decoupled from and mechanically connected to the associated drive motor.

[0022] In the event of a malfunction in a mobile transport system, such as due to damage to the drive motor or drive transmission, the drive wheels can be disengaged from the drive motor and drive transmission relatively quickly and without problems, and then allowed to rotate freely, as in unloaded operation. No special tools are required for this. The mobile transport system can then be moved or towed within the maintenance area of ​​the technical equipment for repair.

[0023] This invention is not limited to the above-described combination of features. For those skilled in the art, particularly for purposes proposed and / or proposed by comparison with the prior art, other reasonable combinations of the above-described combination of features and / or individual features and / or features to be described below and / or features in the accompanying drawings are possible. Attached Figure Description

[0024] The present invention will now be described in detail with reference to the accompanying drawings. The present invention is not limited to the embodiments shown in the drawings. The drawings are merely schematic illustrations of the subject matter of the present invention. The drawings show:

[0025] Figure 1 A perspective view of the mobile transportation system is shown.

[0026] Figure 2 A perspective view of the driving mechanism of the mobile transportation system according to the first embodiment is shown.

[0027] Figure 3 A side view of the driving mechanism of the mobile transportation system according to the second embodiment is shown.

[0028] Figure 4 A perspective view of the lifting unit of the mobile transportation system is shown.

[0029] List of reference numerals in the attached diagram:

[0030] 11 Cover plate

[0031] 12 Basic Framework

[0032] 13 Pitch axis

[0033] 15 Inclined axis

[0034] 18 Transport pallets

[0035] 21 First side plate

[0036] 22 Second side plate

[0037] 25 Laser Scanners

[0038] 31 First end plate

[0039] 32 Second end plate

[0040] 41 First support wheel

[0041] 42 Second support wheel

[0042] 45 drive wheels

[0043] 55 drive motor

[0044] 57. Travel transmission device

[0045] 59 Release lever

[0046] 61 First swing arm

[0047] 62 Second swing arm

[0048] 91 Lifting Mechanism

[0049] 92 Lifting Motor

[0050] 95 Connecting shaft

[0051] 97 First Transmission Device

[0052] 98 Second Transmission Device

[0053] 99 Coupling

[0054] X Vertical direction

[0055] Y (horizontal direction)

[0056] Z (vertical direction) Detailed Implementation

[0057] Figure 1 This diagram shows a perspective view of a mobile transportation system. Mobile transportation systems are currently used to transport objects in technological equipment. This technological equipment relates to industrial applications, such as production workshops. Transportation systems are also used, for example, to deliver goods to the homes of private recipients in cities or residential areas. Currently, mobile transportation systems are autonomous vehicles / carts.

[0058] The mobile transport system is situated on a flat surface in the diagram shown here. Here, the longitudinal direction X at least approximately corresponds to the conventional direction of travel of the mobile transport system. The lateral direction Y is perpendicular to the longitudinal direction X. Both the longitudinal direction X and the lateral direction Y are horizontal and extend parallel to the ground on which the mobile transport system is situated. The vertical direction Z is perpendicular to the ground and therefore perpendicular to both the longitudinal direction X and the lateral direction Y. Any direction perpendicular to the vertical direction Z is a horizontal direction.

[0059] The mobile transport system has a structure that is at least approximately cuboid in shape. The surface of the mobile transport system facing away from the ground is at least approximately parallel to the ground and therefore perpendicular to the vertical direction Z. The mobile transport system includes a plurality of linings and covers 11, which, in the illustrations shown here, largely conceal the internal components. The mobile transport system includes a base frame 12, which, in the illustrations shown here, is concealed by the covers 11.

[0060] The mobile transport system includes a transport platform 18 that defines the surface of the mobile transport system. The transport platform 18 is used to receive objects to be transported. The mobile transport system also includes a lifting unit by means of which the transport platform 18 can be moved relative to the base frame 12 in the vertical direction Z.

[0061] The mobile transportation system has a receiving unit (not shown) to which energy can be inductively transferred from a charging unit to the receiving unit. The charging unit is designed, for example, as a linear conductor or a coil. The energy inductively transferred from the charging unit to the receiving unit is used, for example, to charge the battery of the mobile transportation system. The receiving unit is located in the central area at the front of the mobile transportation system.

[0062] The mobile transportation system also includes multiple laser scanners 25. The laser scanners 25 are particularly arranged in the corner areas of the front and longitudinal sides, as well as in the corner areas of the rear and longitudinal sides. The laser scanners 25 are used to identify obstacles and to navigate the mobile transportation system within the technical equipment.

[0063] Figure 2 A perspective view of the driving mechanism of a mobile transportation system according to a first embodiment is shown. The mobile transportation system according to the first embodiment includes a base frame 12, a pair of drive wheels 45, a pair of first support wheels 41, and a pair of second support wheels 42.

[0064] The basic frame 12 includes a first side plate 21, a second side plate 22, a first end plate 31, and a second end plate 32. End plates 31 and 32 are parallel to each other. Side plates 21 and 22 are parallel to each other. End plates 31 and 32 are perpendicular to side plates 21 and 22.

[0065] End plates 31 and 32 and side plates 21 and 22 are made of metal and each has multiple openings and through-holes. These openings and through-holes are used in part to secure the components. The openings and through-holes also improve air circulation in the mobile transport system and thus improve heat dissipation.

[0066] The first support wheel 41 has two rollers arranged side by side. The first support wheel 41 is rotatable relative to the base frame 12 about a swing axis extending in the vertical direction Z. Furthermore, the first support wheel 41 is supported in a manner that allows it to rotate relative to the base frame 12 about a rotation axis extending in the horizontal direction. The rotation axis and the swing axis of the first support wheel 41 do not currently intersect. Based on the swing of the first support wheel 41 about the swing axis, the rotation axis extends, for example, in the longitudinal direction X, in the transverse direction Y, or in another horizontal direction.

[0067] The second support wheel 42 has two rollers arranged side by side. The second support wheel 42 can swing relative to the base frame 12 about a swing axis extending in the vertical direction Z. Furthermore, the second support wheel 42 is supported in a manner that allows it to rotate relative to the base frame 12 about a rotation axis extending in the horizontal direction. The rotation axis and the swing axis of the second support wheel 42 do not currently intersect. Based on the swing of the second support wheel 42 about the swing axis, the rotation axis extends, for example, in the longitudinal direction X, in the transverse direction Y, or in another horizontal direction.

[0068] The mobile transport system includes two drive motors 55 and two drive transmissions 57. Each of the drive wheels 45 is equipped with a drive motor 55 and a drive transmission 57. The drive motors 55 allow the drive wheels 45 to be driven independently of each other. Each drive motor 55 rotatably drives one drive wheel 45 via one of the drive transmissions 57. The mobile transport system also includes, but is not shown, an energy storage device for supplying power to the drive motors 55. The mobile transport system also includes, but is not shown, a control device for controlling the drive motors 55.

[0069] Each of the drive transmission units 57 is equipped with a release lever 59. By means of the release lever 59, the corresponding drive transmission unit 57 can be mechanically disengaged from and mechanically engaged with its associated drive motor 55. If one of the drive motors 55 is disengaged from its associated drive transmission unit 57, the associated drive wheel 45 can rotate freely.

[0070] The mobile transport system includes a first swing arm 61 and a second swing arm 62. One of the drive wheels 45 and one of the second support wheels 42 are arranged on the first swing arm 61. The other of the drive wheels 45 and the other of the second support wheels 42 are arranged on the second swing arm 62.

[0071] Two swing arms 61 and 62 are independently and swingably supported relative to the base frame 12 about a common pitch axis 13. The pitch axis 13 extends in the lateral direction Y. The pitch axis 13 is arranged in the longitudinal direction X between the drive wheel 45 and the second support wheel 42.

[0072] The drive wheels 45 are arranged staggered from each other in the lateral direction Y. The drive wheels 45 are rotatably supported relative to the base frame 12 around a drive axis extending in the lateral direction Y. The second support wheels 42 are also arranged staggered from each other in the lateral direction Y.

[0073] The mobile transport system includes a rocker arm, which is concealed here. A first support wheel 41 is fixed to the rocker arm. The rocker arm is swayable relative to the base frame 12 about an inclined axis / lateral tilt axis 15 extending in the longitudinal direction X. The first support wheels 41 are staggered from each other in the lateral direction Y.

[0074] Therefore, the tilt axis 15 and the pitch axis 13 are perpendicular to each other. The tilt axis 15 is arranged between the first support wheels 41 in the lateral direction X. The drive wheel 45 is arranged between the pitch axis 13 and the first support wheels 41 in the longitudinal direction X.

[0075] Figure 3 A side view of the driving mechanism of a mobile transportation system according to a second embodiment is shown. The mobile transportation system according to the second embodiment includes a base frame 12, a pair of drive wheels 45 and a pair of first support wheels 41, but does not include the second support wheels 42.

[0076] The basic frame 12 includes a first side plate 21, a second side plate 22, a first end plate 31, and a second end plate 32. End plates 31 and 32 are parallel to each other. Side plates 21 and 22 are parallel to each other. End plates 31 and 32 are perpendicular to side plates 21 and 22.

[0077] End plates 31 and 32 and side plates 21 and 22 are made of metal and each has multiple openings and through-holes. These openings and through-holes are used in part to secure the components. The openings and through-holes also improve air circulation in the mobile transport system and thus improve heat dissipation.

[0078] The first support wheel 41 has two rollers arranged side by side. The first support wheel 41 is rotatable relative to the base frame 12 about a swing axis extending in the vertical direction Z. Furthermore, the first support wheel 41 is supported in a manner that allows it to rotate relative to the base frame 12 about a rotation axis extending in the horizontal direction. The rotation axis and the swing axis of the first support wheel 41 do not currently intersect. Based on the swing of the first support wheel 41 about the swing axis, the rotation axis extends, for example, in the longitudinal direction X, in the transverse direction Y, or in another horizontal direction.

[0079] The mobile transport system includes two drive motors 55 and two travel transmissions 57. Each of the drive wheels 45 is equipped with a drive motor 55 and a travel transmission 57. The drive motors 55 allow the drive wheels 45 to be driven independently of each other. Each drive motor 55 rotatably drives one of the drive wheels 45 via one of the travel transmissions 57. The mobile transport system also includes, but is not shown, an energy storage device for supplying power to the drive motors 55. The mobile transport system also includes, but is not shown, a control device for controlling the drive motors 55.

[0080] Each of the drive transmission units 57 is equipped with a release lever 59. By means of the release lever 59, the corresponding drive transmission unit 57 can be mechanically disengaged from and mechanically engaged with its associated drive motor 55. If one of the drive motors 55 is disengaged from its associated drive transmission unit 57, the associated drive wheel 45 can rotate freely.

[0081] One of the drive wheels 45 is fixed to the first side plate 21 of the base frame 12. The other drive wheel 45 is fixed to the second side plate 22 of the base frame 12. The drive wheels 45 are thus fixed to the base frame 12.

[0082] The drive wheels 45 are arranged staggered from each other in the lateral direction Y. The drive wheels 45 are supported relative to the base frame 12 in a manner that allows them to rotate about drive axes extending in the lateral direction Y. The drive axes of the drive wheels 45 are aligned with each other.

[0083] The mobile transport system includes a rocker arm, which is concealed here. A first support wheel 41 is fixed to the rocker arm. The rocker arm is swayable relative to the base frame 12 about an inclined axis 15 extending in the longitudinal direction X. The first support wheels 41 are staggered from each other in the transverse direction Y.

[0084] Therefore, the tilt axis 15 and the pitch axis 13 are perpendicular to each other. The tilt axis 15 is arranged between the first support wheels 41 in the lateral direction X. The drive wheel 45 is arranged between the pitch axis 13 and the first support wheels 41 in the longitudinal direction X.

[0085] Figure 4 A perspective view of the lifting unit of the mobile transport system is shown. The lifting unit includes multiple components connected to the base frame 12. The lifting unit enables the transport plate 18 (not shown) to move relative to the base frame 12 in the vertical direction Z.

[0086] The lifting unit has multiple, specifically four, lifting mechanisms 91. Each of the lifting mechanisms 91 includes a lead screw and a lead screw nut, the lead screw nut being rotatable relative to the lead screw about a central axis. In this figure, the lead screw and lead screw nut of the lifting mechanism 91 are obscured. The central axes of the lead screws of the lifting mechanisms 91 extend parallel to each other in the vertical direction Z. Each lifting mechanism 91 includes a housing in which the lead screw nut is arranged.

[0087] The housing of the lifting mechanism 91 is fixedly connected to the base frame 12. In particular, the housing of the lifting mechanism 91 is fixedly connected to the side plates 21 and 22 of the base frame 12. For example, the housing of the lifting mechanism 91 is arranged in the corner of the base frame 12, and is fixedly connected to the side plates 21 and 22 of the base frame 12 and the end plates 31 and 32.

[0088] Fixed flanges are installed on the ends of the lead screw that are away from the base frame 12. These fixed flanges are used to secure the lifting mechanism 91 to the transport plate 18 (not shown). By rotating the lead screw nut around its central axis, the lead screw translates vertically in the Z direction. Consequently, the fixed flanges and the transport plate 18 also move vertically in the Z direction.

[0089] The lifting unit also includes a lifting motor 92, a first transmission device 97, a second transmission device 98, and multiple connecting shafts 95. The output shaft of the lifting motor 92 rotates about a rotation axis that extends at least approximately in the longitudinal direction X. Here, the output shaft of the lifting motor 92 drives the first transmission device 97 and the second transmission device 98.

[0090] Here, the lifting motor 92 is designed as a dual-axis motor. The lifting motor 92 has a stator that coaxially surrounds the output shaft. The output shaft of the lifting motor 92 extends from both sides of the stator in the longitudinal direction X. Here, one end of the output shaft is connected to the first transmission device 97, and the opposite end of the output shaft is connected to the second transmission device 98.

[0091] The lifting motor 92 is arranged in the longitudinal direction X between the first transmission device 97 and the second transmission device 98. The lifting motor 92 and the first transmission device 97 are designed as geared motors and form a structural unit.

[0092] The output shaft of the lifting motor 92 is connected to the second transmission device 98 via a coupling 99. The coupling 99 transmits the rotation of the output shaft of the lifting motor 92 to the second transmission device 98.

[0093] The first transmission device 97 is connected to two of the lifting mechanisms 91 via two connecting shafts 95. The connecting shafts 95 are arranged on opposite sides of the first transmission device 97. The connecting shafts 95 extend from the first transmission device 97 to the lifting mechanism 91 in the transverse Y direction. The first transmission device 97 transmits the rotation of the output shaft of the lifting motor 92 to the connecting shafts 95.

[0094] The second transmission device 98 is connected to two other members of the lifting mechanism 91 via two additional connecting shafts 95. These connecting shafts 95 are positioned on opposite sides of the second transmission device 98. The connecting shafts 95 extend from the second transmission device 98 to the lifting mechanism 91 in the transverse Y direction. The second transmission device 98 transmits the rotation of the output shaft of the lifting motor 92 to the connecting shafts 95.

[0095] Here, the connecting shaft 95 rotates about a rotation axis extending in the transverse direction Y. Therefore, the rotation axis of the connecting shaft 95 is perpendicular to the rotation axis of the output shaft of the lifting motor 92.

[0096] Therefore, each connecting shaft 95 transmits rotation to one of the lifting mechanisms 91. In particular, each connecting shaft 95 transmits rotation to the lead screw nut of one of the lifting mechanisms 91.

[0097] If the output shaft of the lifting motor 92 rotates, the lead screw nut of the lifting mechanism 91 is driven rotatably through the transmission devices 97 and 98 and the connecting shaft 95. As a result, the lead screw translates in the vertical direction Z, as already mentioned. Consequently, the fixed flange and the transport plate 18 also move in the vertical direction Z.

Claims

1. A mobile transport system for transporting objects in technical equipment, the mobile transport system comprising: The basic frame (12), a pair of drive wheels (45), and a pair of first support wheels (41) Its features are, The basic frame (12) includes a first side plate (21), a second side plate (22), a first end plate (31), and a second end plate (32). The first end plate (31) and the second end plate (32) are parallel to each other. The first side plate (21) and the second side plate (22) are parallel to each other. The first end plate (31) and the second end plate (32) are perpendicular to the first side plate (21) and the second side plate (22).

2. The mobile transport system for transporting objects in technical equipment according to claim 1, Its features are, The mobile transport system includes a first swing arm (61), a second swing arm (62), and a pair of second support wheels (42). One of the drive wheels (45) and one of the second support wheels (42) are arranged on the first swing arm (61). Another of the drive wheels (45) and another of the second support wheels (42) are arranged on the second swing arm (62). The first swing arm (61) and the second swing arm (62) are supported in such a way that they can swing independently of each other about a common pitch axis (13) relative to the base frame (12).

3. The mobile transport system for transporting objects in technical equipment according to claim 2, Its features are, The pitch axis (13) extends in the lateral direction (Y). The pitch axis (13) is arranged in the longitudinal direction (X) between the drive wheel (45) and the second support wheel (42).

4. The mobile transport system for transporting objects in technical equipment according to claim 2 or 3, Its features are, The drive wheel (45) is arranged in the longitudinal direction (X) between the pitch axis (13) and the first support wheel (41).

5. The mobile transport system for transporting objects in technical equipment according to claim 2 or 3, Its features are, The first support wheel (41) is fixed on the base frame (12).

6. The mobile transport system for transporting objects in technical equipment according to claim 2, Its features are, The first support wheel (41) is fixed on the rocker arm. The rocker arm can swing relative to the base frame (12) about an inclined axis (15) extending in the longitudinal direction (X).

7. The mobile transport system for transporting objects in technical equipment according to claim 1, Its features are, The drive wheel (45) is fixed to the base frame (12). The first support wheel (41) is fixed on the rocker arm. The rocker arm can swing relative to the base frame (12) about an inclined axis (15) extending in the longitudinal direction (X).

8. The mobile transport system for transporting objects in technical equipment according to claim 6 or 7, Its features are, The inclined axis (15) is arranged in the lateral direction (Y) between the first support wheels (41).

9. A mobile transport system for transporting objects in technical equipment according to claim 2 or 3. Its features are, The first support wheel (41) and the second support wheel (42) can swing relative to the base frame (12) about a swing axis extending in the vertical direction (Z). And it is supported in a manner that allows it to rotate relative to the base frame (12) about a rotation axis that extends in the horizontal direction.

10. A mobile transport system for transporting objects in technical equipment according to any one of claims 1 to 3, Its features are, Each of the drive wheels (45) is equipped with a drive motor (55) and a travel transmission device (57). Each of the driving transmission devices (57) is equipped with a release lever (59), by means of which the corresponding driving transmission device (57) can be mechanically separated from and mechanically connected to the drive motor (55) provided.

Images