MOBILE TRANSPORTATION SYSTEM

Description

[0001] The invention relates to a mobile transport system for transporting objects in a technical installation, which comprises a vehicle frame, a first pair of wheels, a second pair of wheels and a third pair of wheels, each with two wheels which are rotatable relative to the vehicle frame, and a pendulum frame which is pivotable relative to the vehicle frame about a pendulum axis running in the transverse direction.

[0002] In technical facilities, such as production plants, mobile transport systems, especially autonomous mobile transport systems, are used to transport objects such as small parts or boxes. These mobile transport systems transport, among other things, components from logistics areas, such as a material warehouse, to workstations where the components are processed. These types of mobile transport systems are capable of negotiating slight inclines or declines, as well as small speed bumps or similar obstacles.

[0003] Document DE 10 2017 201 108 A1 discloses a generic mobile transport system designed as an industrial truck and having a first support wheel at a front end, a second support wheel at a rear end, and a drive wheel arranged between them. The first support wheel is mounted on a chassis, while the second support wheel and the drive wheel are mounted on a pendulum frame. The pendulum frame is pivoted to the chassis by means of a horizontal pendulum axle.

[0004] Document EP 2 826 693 A2 discloses a trolley for transporting objects. The trolley comprises a front chassis part that holds two front wheels of a front wheel pair, each rotatable about their vertical axes. The front chassis part is connected by a joint to a rear chassis part designed as a rocker, which holds two rear wheels of a rear wheel pair, each rotatable about their vertical axes, and which, between the front and rear wheels, holds a middle wheel pair, each rotatable about its vertical axis.

[0005] EP 3 130 522 A1 discloses a rolling container for transporting objects. The rolling container has four wheels, two of which are mounted on a pivoting part that is pivotably mounted on a base.

[0006] EP 2 236 391 A2 discloses a transport trolley comprising a chassis with four swivel casters. The trolley also includes two non-steerable rollers.

[0007] DE 10 2017 221 375 A1 discloses a four-wheel industrial truck. The industrial truck comprises a vehicle frame and a rear axle designed as a pendulum axle.

[0008] The invention is therefore based on the object of further developing a mobile transport system for transporting objects. In particular, the mobile transport system should be capable of compensating for uneven ground perpendicular to a direction of travel.

[0009] The object is achieved by a mobile transport system having the features specified in claim 1. Advantageous embodiments and further developments are the subject of the subclaims.

[0010] A generic mobile transport system for transporting objects in a technical facility comprises a vehicle frame, a first pair of wheels, a second pair of wheels, and a third pair of wheels, each with two wheels. The wheels are rotatable relative to the vehicle frame. By rotating the wheels, which are in contact with a ground, the mobile transport system is movable relative to the ground. The mobile transport system further comprises a pendulum frame, which is pivotable relative to the vehicle frame about a transverse pendulum axis. The first wheels of the first pair of wheels are attached to the vehicle frame, and the second wheels of the second pair of wheels are attached to the pendulum frame.

[0011] According to the invention, the third wheels of the third wheel pair are attached to a tilting frame, which is pivotable relative to the pendulum frame about a tilting axis extending at least approximately in the longitudinal direction. Preferably, the tilting axis extends exactly in the longitudinal direction.

[0012] The longitudinal direction corresponds at least approximately to the usual direction of travel of the mobile transport system. The longitudinal direction runs perpendicular to the transverse direction. The longitudinal and transverse directions represent horizontal directions and run parallel to the floor on which the mobile transport system is located. A vertical direction is perpendicular to the floor and runs perpendicular to the longitudinal direction and perpendicular to the transverse direction.

[0013] The inventive design of the mobile transport system ensures that the second wheels of the second pair of wheels, the third wheels of the third pair of wheels, and at least one first wheel of the first pair of wheels are constantly in contact with the ground. Even when negotiating inclines with simultaneous uneven ground transverse to a direction of travel, at least five wheels of the mobile transport system are always in contact with the ground. Furthermore, the second wheels of the second pair of wheels always have the same contact pressure on the ground. The third wheels of the third pair of wheels also always have the same contact pressure on the ground. The use of springs to achieve contact pressure of the wheels on the ground is not necessary. Depending on the condition of the ground, at most one of the first wheels of the first pair of wheels will lose contact with the ground.This means that the mobile transport system is able to compensate for uneven ground across the direction of travel.

[0014] According to the invention, a braking device is arranged on each of the third wheels of the third wheel pair, by means of which a rotation of the respective third wheel about a horizontal axis of rotation can be braked. The third wheels with the braking devices are thus in constant contact with the ground. This allows braking of the mobile transport system at any time, almost regardless of the ground conditions. Additional braking devices on the first wheels and / or the second wheels are not required.

[0015] According to the invention, the braking devices can be actuated electromagnetically.

[0016] Advantageously, the first wheels of the first pair of wheels are each designed as support wheels and are pivotable relative to the vehicle frame about a vertical pivot axis and are mounted for rotation relative to the vehicle frame about a horizontal rotation axis. Likewise advantageously, the third wheels of the third pair of wheels are each designed as support wheels and are pivotable relative to the vehicle frame about a vertical pivot axis and are mounted for rotation relative to the vehicle frame about a horizontal rotation axis. Support wheels designed in this way are relatively cost-effective and also facilitate cornering of the mobile transport system.

[0017] According to an advantageous embodiment of the invention, the second wheels of the second pair of wheels are designed as drive wheels and are mounted for rotation about a transverse drive axis relative to the pendulum frame and are driven by a drive unit. The drive unit comprises, for example, an electric motor, a differential gear, and an electrical energy storage device. The drive wheels are thus in constant contact with the ground. This allows movement of the mobile transport system at any time, almost regardless of the ground conditions.

[0018] Preferably, the wheels of a pair of wheels are arranged offset from one another in the transverse direction.

[0019] According to a preferred embodiment of the invention, a distance between the second wheels of the second wheel pair in the transverse direction is greater than a distance between the first wheels of the first wheel pair in the transverse direction. Likewise, according to a preferred embodiment of the invention, a distance between the second wheels of the second wheel pair in the transverse direction is greater than a distance between the third wheels of the third wheel pair in the transverse direction. The six wheels of the three wheel pairs are arranged, for example, in the shape of a hexagon which is symmetrical to a longitudinal axis. The four wheels of the first wheel pair and the second wheel pair form corner points of a rectangle. The second wheels of the second wheel pair lie outside this rectangle in the transverse direction.

[0020] Preferably, the second wheels of the second pair of wheels are arranged longitudinally between the first wheels of the first pair of wheels and the third wheels of the third pair of wheels.

[0021] According to an advantageous development of the invention, the distance between the second wheels of the second wheel pair and the pendulum axle in the longitudinal direction is at least approximately equal to the distance between the third wheels of the third wheel pair and the pendulum axle in the longitudinal direction. The pendulum axle is thus arranged at least approximately centrally between the second wheels of the second wheel pair and the third wheels of the third wheel pair in the longitudinal direction.

[0022] As a result, the second wheels of the second pair of wheels exert approximately the same contact pressure on the ground as the third wheels of the third pair of wheels. This is particularly advantageous if the second wheels of the second pair of wheels are designed as drive wheels and a braking device is arranged on each of the third wheels of the third pair of wheels.

[0023] According to a preferred development of the invention, a receiving unit is arranged on the pendulum frame, in particular between the second wheels of the second wheel pair, to which energy can be inductively transferred from a charging unit. The charging unit is designed, for example, as a linear conductor or a coil and is stationary in the floor. The energy inductively transferred from the charging unit to the receiving unit serves, for example, to charge an electrical energy storage device of the mobile transport system.

[0024] According to an advantageous development of the invention, at least one inductive sensor for detecting a magnetic field is arranged on the pendulum frame. If the magnetic field is generated, for example, by a linear conductor laid in the ground, the inductive sensor allows the device to follow said linear conductor to reach a specific destination.

[0025] According to a further advantageous development of the invention, the mobile transport system has a first protractor for detecting a pivoting angle of the pendulum frame about the pendulum axis relative to the vehicle frame. By detecting the pivoting angle of the pendulum frame about the pendulum axis relative to the vehicle frame, the magnitude of an upcoming incline in the direction of travel can be determined. If a permissible pivoting angle is exceeded, an impermissibly steep incline is assumed, and a warning message is issued or the mobile transport system is stopped.

[0026] According to a further advantageous development of the invention, the mobile transport system has a second protractor for detecting a pivot angle of the tilting frame about the tilting axis relative to the pendulum frame. By detecting the pivot angle of the tilting frame about the tilting axis relative to the pendulum frame, the extent of an upcoming unevenness in the ground transverse to the direction of travel can be determined. If a permissible pivot angle is exceeded, an impermissibly large unevenness is assumed, and a warning message is issued or the mobile transport system is stopped.

[0027] Further advantages emerge from the dependent claims. The invention is not limited to the combination of features in the claims. Further possible combinations of claims and / or individual claim features and / or features of the description and / or the figures will become apparent to those skilled in the art, particularly from the problem and / or the problem posed by comparison with the prior art.

[0028] The invention will now be explained in more detail with reference to the accompanying drawings. The invention is not limited to the exemplary embodiments shown in the drawings. The drawings only represent the subject matter of the invention schematically. They show: Figure 1: a schematic plan view of a mobile transport system, Figure 2: a schematic side view of the mobile transport system, Figure 3: a schematic front view of the mobile transport system, Figure 4: a schematic side view of the mobile transport system when traveling uphill, Figure 5: a schematic side view of the mobile transport system when traveling downhill, Figure 6: a schematic side view of the mobile transport system when traveling uphill on a laterally rising slope, Figure 7: a schematic side view of the mobile transport system when traveling downhill on a laterally falling slope and Figure 8: a detailed side view of the mobile transport system.

[0029] Figure 1shows a schematic top view of a mobile transport system 10. The mobile transport system 10 is used in particular for transporting objects within a technical facility. The technical facility is an industrial application, for example, a production plant. The mobile transport system 10 is an autonomously driving vehicle. In the illustration shown here, the mobile transport system 10 is located on a flat floor 5 within the said technical facility.

[0030] The mobile transport system 10 comprises a vehicle frame 12, a pendulum frame 14 and a tilting frame 16. The vehicle frame 12 has an approximately rectangular cross-section and extends predominantly in a longitudinal direction X and in a transverse direction Y.

[0031] The longitudinal direction X corresponds at least approximately to the usual direction of travel of the mobile transport system 10. The transverse direction Y runs at right angles to the longitudinal direction X. The longitudinal direction X and the transverse direction Y represent horizontal directions and run parallel to the flat floor 5. A vertical direction Z is perpendicular to the flat floor 5 and thus runs at right angles to the longitudinal direction X and at right angles to the transverse direction Y. Each direction at right angles to the vertical direction Z represents a horizontal direction.

[0032] The pendulum frame 14 is pivotable about a pendulum axis 13 relative to the vehicle frame 12. The pendulum axis 13 runs in the transverse direction Y. The tilting frame 16 is pivotable about a tilting axis 15 relative to the pendulum frame 14. In the illustration shown here, the tilting axis 15 runs in the longitudinal direction X.

[0033] Two first wheels 41 of a first wheel pair 31 are fastened to the vehicle frame 12 and are rotatable relative to the vehicle frame 12. The first wheels 41 are arranged offset from one another in the transverse direction Y. Two second wheels 42 of a second wheel pair 32 are fastened to the pendulum frame 14 and are rotatable relative to the vehicle frame 12. The second wheels 42 are arranged offset from one another in the transverse direction Y. Two third wheels 43 of a third wheel pair 33 are fastened to the tilting frame 16 and are rotatable relative to the vehicle frame 12. The third wheels 43 are arranged offset from one another in the transverse direction Y.

[0034] A distance between the second wheels 42 of the second wheel pair 32 in the transverse direction Y is greater than a distance between the first wheels 41 of the first wheel pair 31 in the transverse direction Y. A distance between the second wheels 42 of the second wheel pair 32 in the transverse direction Y is also greater than a distance between the third wheels 43 of the third wheel pair 33 in the transverse direction Y. The six wheels 41, 42, 43 are arranged in the form of a hexagon which is symmetrical to a longitudinal axis which runs in the longitudinal direction X.

[0035] The second wheels 42 of the second wheel pair 32 are designed as drive wheels and are mounted for rotation relative to the pendulum frame 14 about a drive axis 52 extending in the transverse direction Y. The mobile transport system 10 comprises a drive unit (not shown here) by means of which the second wheels 42 can be driven. The drive unit comprises, for example, an electric motor, a differential gear, and an electrical energy storage device.

[0036] Figure 2 shows a schematic side view of the mobile transport system 10. The second wheels 42 of the second pair of wheels 32 are arranged in the longitudinal direction X between the first wheels 41 of the first pair of wheels 31 and the third wheels 43 of the third pair of wheels 33.

[0037] The first wheels 41 of the first wheel pair 31 are designed as support wheels and are each pivotable relative to the vehicle frame 12 about a first pivot axis 61 running in the vertical direction Z. The first wheels 41 are further each rotatably mounted relative to the vehicle frame 12 about a first axis of rotation 51 running in a horizontal direction. In the illustration shown here, the first axes of rotation 51 run in the transverse direction Y. Depending on a pivoting of the first wheels 41 about the first pivot axis 61, the first axes of rotation 51 run, for example, in the longitudinal direction X or in another horizontal direction. The first pivot axis 61 and the first axis of rotation 51 of a first wheel 41 do not intersect in the present case.

[0038] The third wheels 43 of the third wheel pair 33 are designed as support wheels and are each pivotable relative to the vehicle frame 12 about a third pivot axis 63 running in the vertical direction Z. The third wheels 41 are further each rotatably mounted relative to the vehicle frame 12 about a third axis of rotation 53 running in a horizontal direction. In the illustration shown here, the third axes of rotation 53 run in the transverse direction Y. Depending on a pivoting of the third wheels 43 about the third pivot axis 63, the third axes of rotation 53 run, for example, in the longitudinal direction X or in another horizontal direction. The third pivot axis 63 and the third axis of rotation 53 of a third wheel 43 do not intersect in the present case.

[0039] In the present case, a distance of the second wheels 42 of the second wheel pair 32 in the longitudinal direction X from the pendulum axle 13 is approximately equal to a distance of the third wheels 43 of the third wheel pair 33 in the longitudinal direction X from the pendulum axle 13. The distance of the second wheels 42 from the pendulum axle 13 in the longitudinal direction X corresponds to the distance of the drive axle 52 from the pendulum axle 13 in the longitudinal direction X. The distance of the third wheels 43 from the pendulum axle 13 in the longitudinal direction X corresponds to the distance of the third pivot axes 63 from the pendulum axle 13 in the longitudinal direction X.

[0040] Figure 3 shows a schematic front view of the mobile transport system 10. The first wheels 41 of the first pair of wheels 31 are covered by the third wheels 43 of the third pair of wheels 33 and are therefore not visible.

[0041] Figure 4shows a schematic side view of the mobile transport system 10 traveling up an incline that is inclined at an angle A with respect to the flat ground 5. In the illustration shown here, the first wheels 41 are located on the flat ground 5, the third wheels 43 are located on the incline, and the second wheels 42 are located at the transition from the flat ground 5 to the incline. The pendulum frame 14 is pivoted about the pendulum axis 13 relative to the vehicle frame 12. The first wheels 41, the second wheels 42, and the third wheels 43 are in contact with the ground.

[0042] Figure 5shows a schematic side view of the mobile transport system 10 traveling down a slope that is inclined at an angle A with respect to the flat ground 5. In the illustration shown here, the first wheels 41 are located on the flat ground 5, the third wheels 43 are located on the slope, and the second wheels 42 are located at the transition from the flat ground 5 to the slope. The pendulum frame 14 is pivoted about the pendulum axis 13 relative to the vehicle frame 12. The first wheels 41, the second wheels 42, and the third wheels 43 are in contact with the ground.

[0043] If the pendulum frame 14, as in Figure 4 and Figure 5As shown, the vehicle frame 12 is pivoted about the pendulum axis 13, the tilt axis 15 (not visible here) runs slightly inclined to the longitudinal direction X. However, this inclination of the tilt axis 15 is relatively small. Thus, even in this case, the tilt axis 15 still runs approximately in the longitudinal direction X. Likewise, the third pivot axes 63 run slightly inclined to the vertical direction Z. This inclination of the third pivot axes 63 is also relatively small.

[0044] Figure 6shows a schematic side view of the mobile transport system 10 traveling up a laterally rising slope that is inclined at an angle A with respect to the flat floor 5. In the illustration shown here, the first wheels 41 (hidden here) are located on the flat floor 5. The second wheels 42 are also located on the flat floor 5. One of the third wheels 43 is located on the flat floor 5, the other of the third wheels 43 is located on the laterally rising slope. The tilting frame 16 is pivoted about the tilting axis 15 relative to the pendulum frame 14. The first wheels 41, the second wheels 42, and the third wheels 43 are in contact with the ground.

[0045] Figure 7shows a schematic side view of the mobile transport system 10 traveling on a laterally sloping slope that is inclined at an angle A with respect to the flat floor 5. In the illustration shown here, the first wheels 41 (hidden here) are located on the flat floor 5. The second wheels 42 are also located on the flat floor 5. One of the third wheels 43 is located on the flat floor 5, and the other of the third wheels 43 is located on the laterally sloping slope. The tilting frame 16 is pivoted about the tilting axis 15 relative to the pendulum frame 14. The first wheels 41, the second wheels 42, and the third wheels 43 are in contact with the ground.

[0046] If the tilting frame 16, as shown in Figure 6 and Figure 7As shown, the third pivot axes 63 extend slightly inclined to the vertical direction Z, as shown in the figure, relative to the pendulum frame 14, but this inclination of the third pivot axes 63 is relatively small. Likewise, the third rotation axes 53 extend slightly inclined to a horizontal direction in this case. This inclination of the third rotation axes 53 is also relatively small.

[0047] Figure 8 shows a detailed side view of the mobile transport system 10. The illustration corresponds to the illustration in Figure 2 , but additional details of the mobile transport system 10 are shown.

[0048] The mobile transport system 10 has a receiving unit 20, which is arranged on the pendulum frame 14 and to which energy can be inductively transmitted from a charging 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 20 serves, for example, to charge an electrical energy storage device of the mobile transport system 10. The receiving unit 20 is located between the second wheels 42.

[0049] The mobile transport system 10 further comprises a first inductive sensor 21 and a second inductive sensor 22, which are arranged on the pendulum frame 14. The inductive sensors 21, 22 serve to detect a magnetic field. If the magnetic field is generated, for example, by a linear conductor laid in the ground, the inductive sensors 21, 22 allow the linear conductor to be followed to reach a specific destination. The inductive sensors 21, 22 are arranged offset from one another in the longitudinal direction X. The first inductive sensor 21 is located in the longitudinal direction X between the drive axle 52 and the first pivot axes 61. The second inductive sensor 22 is located in the longitudinal direction X between the drive axle 52 and the third pivot axes 63. In the transverse direction Y, the inductive sensors 21, 22 are located approximately centrally between the second wheels 42.

[0050] The mobile transport system 10 also has two braking devices 73, one of which is arranged on each of the third wheels 43. The braking device 73 can be used to brake the rotation of the respective third wheel 43 about the third rotation axis 53 extending in the horizontal direction. In this case, the braking devices 73 are electromagnetically actuated. List of reference symbols

[0051] 5 Level floor 10 Mobile transport system 12 Vehicle frame 13 Oscillating axle 14 Oscillating frame 15 Tilting axle 16 Tilting frame 20 Receiver unit 21 First inductive sensor 22 Second inductive sensor 31 First pair of wheels 32 Second pair of wheels 33 Third pair of wheels 41 First wheel 42 Second wheel 43 Third wheel 51 First rotation axis 52 Drive axle 53 Third rotation axis 61 First swivel axis 63 Third swivel axis 73 Braking device A Angle XLongitudinal direction YTransverse direction ZVertical direction

Claims

1. Mobile transport system (10) for transporting objects in a technical facility, comprising a vehicle frame (12), a first wheel pair (31), a second wheel pair (32) and a third wheel pair (33), each having two wheels (41, 42, 43), which are rotatable relative to the vehicle frame (12), and a swing frame (14), which is pivotable relative to the vehicle frame (12) about a swing axle (13) that extends in a transverse direction (Y), wherein the first wheels (41) of the first wheel pair (31) are attached to the vehicle frame (12), and the second wheels (42) of the second wheel pair (32) are attached to the swing frame (14), characterized in that the third wheels (43) of the third wheel pair (33) are attached to a tilting frame (16), which is pivotable relative to the swing frame (14) about a tilt axle (15) that extends at least approximately in the longitudinal direction (X), and in that arranged at each of the third wheels (43) of the third wheel pair (33) is a braking device (73), by means of which a rotation of the respective third wheel (43) about an axis of rotation (53) that extends in a horizontal direction can be braked, and in that the braking devices (73) are electromagnetically actuated.

2. Mobile transport system (10) according to claim 1, characterized in that the first wheels (41) of the first wheel pair (31) and / or the third wheels (43) of the third wheel pair (33) are each designed as support wheels, and are swivelable relative to the vehicle frame (12) about a swivel axis (61, 63) that extends in a vertical direction (Z), and are mounted in such a way as to be rotatable relative to the vehicle frame (12) about an axis of rotation (51, 53) that extends in a horizontal direction.

3. Mobile transport system (10) according to at least one of the preceding claims, characterized in that the second wheels (42) of the second wheel pair (32) are designed as drive wheels, and are mounted in such a way as to be rotatable relative to the swing frame (14) about a drive axis (52) that extends in the transverse direction (Y), and can be driven by a drive unit.

4. Mobile transport system (10) according to at least one of the preceding claims, characterized in that the wheels (41, 42, 43) of each wheel pair (31, 32, 33) are arranged offset from each other in the transverse direction (Y).

5. Mobile transport system (10) according to at least one of the preceding claims, characterized in that a distance between the second wheels (42) of the second wheel pair (32) in the transverse direction (Y) is greater than a distance between the first wheels (41) of the first wheel pair (31) in the transverse direction (Y), and / or in that a distance between the second wheels (42) of the second wheel pair (32) in the transverse direction (Y) is greater than a distance between the third wheels (43) of the third wheel pair (33) in the transverse direction (Y).

6. Mobile transport system (10) according to at least one of the preceding claims, characterized in that the second wheels (42) of the second wheel pair (32) are arranged between the first wheels (41) of the first wheel pair (31) and the third wheels (43) of the third wheel pair (33) in the longitudinal direction (X).

7. Mobile transport system (10) according to at least one of the preceding claims, characterized in that a distance of the second wheels (42) of the second wheel pair (32) from the swing axle (13) in the longitudinal direction (X) is at least approximately equal to a distance of the third wheels (43) of the third wheel pair (33) from the swing axle (13) in the longitudinal direction (X).

8. Mobile transport system (10) according to at least one of the preceding claims, characterized in that arranged on the swing frame (14) is a receiving unit (20), to which energy can be inductively transferred from a charging unit.

9. Mobile transport system (10) according to at least one of the preceding claims, characterized in that at least one inductive sensor (21, 22) for detecting a magnetic field is arranged on the swing frame (14).

10. Mobile transport system (10) according to at least one of the preceding claims, characterized in that the mobile transport system (10) comprises a first angle measuring means for detecting a pivot angle of the swing frame (14) relative to the vehicle frame (12) about the swing axle (13).

11. Mobile transport system (10) according to at least one of the preceding claims, characterized in that the mobile transport system (10) comprises a second angle measuring means for detecting a pivot angle of the tilting frame (16) relative to the swing frame (14) about the tilt axle (15).