Lifting module, lifting unit, and transport vehicle

Abstract

The invention relates to a lifting module (10) for a transport vehicle (2), comprising a lifting part (12) which can be moved in the vertical direction (Z) and has a contact element (14) and comprising a drive unit (20) which can be rotated about a rotational axis (D) running in a transverse direction (Y) and which has a drive element (22), said lifting part (12) and drive unit (20) being arranged such that when the drive unit (20) is rotated about the rotational axis (D) in a first rotational direction, the drive element (22) drives the contact element (14) such that the lifting part (12) moves in the vertical direction (Z) from a lower end position into an upper end position, wherein the drive unit (20) has a fork-shaped eccentric (30) which comprises two lateral limbs (31, 32) arranged in an offset manner relative to each other and a base limb (33) connecting the lateral limbs (31, 32), and the drive element (22) is arranged between the lateral limbs (31, 32) in an offset manner relative to the rotational axis (D). The extension of the contact element (14) in the transverse direction (Y) is shorter than the distance between the lateral limbs (31, 32) in the transverse direction (Y). The invention also relates to a lifting unit (50) which comprises at least two lifting modules (10) according to the invention and to a transport vehicle (2) which comprises the at least one lifting module (10) according to the invention and / or at least one lifting unit (50) according to the invention.

Description

[0001] Lifting module, lifting unit and transport vehicle

[0002] Description:

[0003] The invention relates to a lifting module, in particular for a transport vehicle, comprising a lifting piece that is movable in a vertical direction. The invention also relates to a lifting unit, in particular for a transport vehicle, comprising at least two lifting modules according to the invention. The invention further relates to a transport vehicle, in particular an automated guided vehicle.

[0004] Automated guided vehicles can be used in various facilities, such as supermarkets, industrial warehouses, logistics centers, hospitals, and production plants. Automated guided vehicles are used, for example, to transport objects, especially load carriers, within the respective facility. The load carriers serve to hold the goods to be transported.

[0005] Load carriers include racks or pallets, for example, which have one or more transport surfaces for holding goods. Such a load carrier has several support elements arranged beneath the transport surfaces and in contact with a floor on which the load carrier stands. Such support elements include, for example, fixed feet or rotating rollers. To pick up a load carrier, an automated guided vehicle moves underneath the load carrier and lifts it, causing the load carrier's support elements to lose contact with the floor.

[0006] Document DE 102013 009 705 A1 discloses an automated guided vehicle featuring a lifting table. The lifting table comprises two scissor lifts and two linear drives for driving the scissor lifts.

[0007] DE 202015 104465 U1 discloses a lifting device for a trailer. The lifting device comprises a rotatable eccentric disc supported by a cam roller. US 2015 / 225082 A1 discloses a system and method for transporting cargo in an aircraft. Transport vehicles are provided, each of which has a lifting device.

[0008] DE 102016 013 570 A1 discloses a mobile part with a roller bearing unit. The roller bearing unit has a roller and a brake. The brake can be released using an eccentric.

[0009] DE 103 10669 A1 discloses an industrial truck with a load fork. The load fork can be raised from the ground using a lifting device.

[0010] A transport device for transporting pallets is known from US Pat. No. 2,818,989 A. The transport device includes a lifting device for raising the pallets.

[0011] The invention is based on the object of developing a lifting module, in particular for a transport vehicle, a lifting unit, in particular for a transport vehicle, and a transport vehicle, in particular a driverless transport vehicle.

[0012] The object is achieved according to the invention by a lifting module having the features specified in claim 1. Advantageous embodiments and further developments are the subject of the subclaims. The object is further achieved by a lifting unit having the features specified in claim 11. Advantageous embodiments and further developments are the subject of the subclaims. The object is also achieved by a transport vehicle having the features specified in claim 14. Advantageous embodiments and further developments are the subject of the subclaims.

[0013] A lifting module according to the invention, in particular for a transport vehicle, comprises a lifting piece which is movable along a linear guide in a vertical direction and has a contact element, and a drive unit which is rotatable about a rotational axis running in a transverse direction and has a drive element. The lifting piece and the drive unit are arranged such that when the drive unit rotates about the rotational axis in a first rotational direction, the drive element drives the contact element such that the lifting piece moves along the linear guide in the vertical direction from a lower end position to an upper end position. The drive unit has a fork-shaped eccentric which comprises two side legs arranged offset from one another and a base leg connecting the side legs. The drive element is arranged offset parallel to the rotational axis between the side legs.The extension of the contact element in the transverse direction is smaller than the distance between the side legs in the transverse direction.

[0014] With the lifting module according to the invention, a load, for example a load carrier, can be lifted relatively quickly. In particular, the lifting module is designed such that a 180° rotation of the drive unit moves the lifting element from the lower end position to the upper end position. Such a stroke is sufficient to lift a load carrier to such an extent that its supporting elements, for example, fixed feet or rotating casters, lose contact with the floor. The lifting module according to the invention is very compact and requires only a relatively small amount of space.

[0015] According to a preferred embodiment of the invention, the drive element is circularly cylindrical. A central axis of the drive element runs parallel to the rotational axis. The drive element can therefore be inserted relatively easily into circular holes in the side legs of the eccentric.

[0016] According to an advantageous embodiment of the invention, the drive element is mounted so as to be rotatable relative to the eccentric about its central axis. When the lifting piece moves from the lower end position to the upper end position, the drive element rolls on the contact element, thereby reducing friction between the drive element and the contact element.

[0017] According to another advantageous embodiment of the invention, the drive element is connected to the eccentric in a rotationally fixed manner. This simplifies assembly of the drive unit and increases the mechanical strength of the drive unit, in particular of the eccentric.

[0018] According to an advantageous embodiment of the invention, the lifting piece is movable along a linear guide in the vertical direction.

[0019] According to a preferred embodiment of the invention, the rotational axis extends through the side legs of the eccentric. This reduces the space required by the lifting module. According to an advantageous embodiment of the invention, the drive unit has two rotary shafts, each of which is rotationally fixedly connected to a side leg of the eccentric. The rotary shafts coaxially surround the rotational axis, with a space between the side legs free of the rotary shafts. In particular, the rotary shafts do not protrude into the space between the side legs. Thus, the space between the side legs is available for the contact element of the lifting piece. This makes the lifting module particularly compact.

[0020] According to an advantageous embodiment of the invention, the contact element protrudes into the space between the side legs when the lifting piece is in its lower end position. This makes the lifting module particularly compact.

[0021] According to an advantageous development of the invention, the lifting module further comprises an electric motor for rotating the drive unit about the rotational axis. In particular, the electric motor is connected to one of the rotating shafts by means of a gear.

[0022] According to an advantageous development of the invention, the lifting module further comprises a lifting sensor for detecting the end position of the lifting element. The lifting sensor is designed, for example, as an inductive proximity sensor that detects the contact element in the upper end position.

[0023] A lifting unit according to the invention, in particular for a transport vehicle, comprises at least two lifting modules according to the invention, which are arranged offset from one another in the transverse direction such that the axes of rotation of the lifting modules are aligned with one another. Using such a lifting unit, a heavier load can be lifted.

[0024] According to an advantageous embodiment of the invention, the rotary shafts of the drive units of the lifting modules are connected to one another in a rotationally fixed manner, in particular by means of a claw coupling. This ensures a smooth and synchronous movement of the lifting elements of the lifting modules. Minor tolerances in the position or alignment of the rotation axes of the lifting modules can be compensated for by the claw coupling.

[0025] According to another advantageous embodiment of the invention, the lifting unit further comprises a central electric motor for rotating the drive units of the lifting modules around the rotation axes. The central electric motor is arranged transversely between the lifting modules. This ensures a smooth and synchronous movement of the lifting elements of the lifting modules. Furthermore, this makes the lifting unit particularly compact.

[0026] A transport vehicle according to the invention, in particular a driverless transport vehicle, comprises a drive device, an electrical energy storage device for supplying the drive device and a control device for controlling the drive device as well as at least one lifting module according to the invention and / or at least one lifting unit according to the invention.

[0027] According to an advantageous development of the invention, the transport vehicle further comprises a support plate rigidly connected to the lifting elements of the lifting modules. The support plate serves in particular to support loads. Furthermore, the support plate ensures a smooth and synchronous movement of the lifting elements of the lifting modules.

[0028] Preferably, the transport vehicle further comprises a receiving unit 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 a floor on which the transport vehicle is located. The energy inductively transferred from the charging unit to the receiving unit serves, for example, to charge the electrical energy storage device of the transport vehicle.

[0029] 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.

[0030] 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:

[0031] Figure 1 : an exploded view of a lifting module,

[0032] Figure 2: a sectional view of a lifting module in the retracted state,

[0033] Figure 3: a sectional view of a lifting module in the extended state,

[0034] Figure 4: a plan view of a lifting unit and

[0035] Figure 5: a perspective view of a chassis of a transport vehicle.

[0036] Figure 1 shows an exploded view of a lifting module 10. The lifting module 10 comprises a lifting piece 12, which is movable along a linear guide in a vertical direction Z. A transverse direction Y runs perpendicular to the vertical direction Z. A longitudinal direction X runs perpendicular to the vertical direction Z and perpendicular to the transverse direction Y.

[0037] The linear guide comprises two guide rods 44, which are circularly cylindrical in shape. The guide rods 44 are mounted on a mounting plate 48, offset from one another in the transverse direction Y. The center axes of the guide rods 44 extend in the vertical direction Z. Two circular sliding bores 42 are formed in the lifting piece 12. The sliding bores 42 extend in the vertical direction Z. The guide rods 44 extend into the sliding bores 42. The lifting piece 12 is thus movable along the guide rods 44. The linear guide further comprises two sliding sleeves 46, which are pressed into the sliding bores 42 of the lifting piece 12 and coaxially surround the guide rods 44.

[0038] The lifting module 10 comprises a drive unit 20, which is rotatable about a rotation axis D running in the transverse direction Y. The drive unit 20 has a fork-shaped eccentric 30. The eccentric 30 comprises a first side leg 31 and a second side leg 32. The side legs 31, 32 are arranged offset from one another in the transverse direction Y. The eccentric 30 further comprises a base leg 33, which connects the side legs 31, 32. A space is formed between the side legs 31, 32. An extension of the space between the side legs 31, 32 in the transverse direction Y defines a distance between the side legs 31, 32 in the transverse direction Y.

[0039] The drive unit 20 has a first rotary shaft 25 and a second rotary shaft 26. The first rotary shaft 25 is rotationally fixedly connected to the first side leg 31 of the eccentric 30. The second rotary shaft 26 is rotationally fixedly connected to the second side leg 32 of the eccentric 30. The rotary shafts 25, 26 are offset from one another in the transverse direction Y and coaxially surround the rotation axis D. The rotation axis D thus runs through the side legs 31, 32 of the eccentric 30.

[0040] The rotary shafts 25, 26 do not protrude into the space between the side legs 31, 32 of the eccentric 30. The space between the side legs 31, 32 is thus free of the rotary shafts 25, 26.

[0041] An end of the first rotary shaft 25 facing away from the first side leg 31 is rotatably mounted in a first pivot bearing 35. An end of the second rotary shaft 26 facing away from the second side leg 32 is rotatably mounted in a second pivot bearing 36. The pivot bearings 35, 36 are arranged offset from one another in the transverse direction Y.

[0042] The drive unit 20 has a drive element 22. The drive element 22 is circularly cylindrical. A central axis of the drive element 22 runs parallel to the rotational axis D. The drive element 22 is arranged offset parallel to the rotational axis D between the side legs 31, 32 of the eccentric 30. In particular, the drive element 22 extends completely through the space between the side legs 31, 32 in the transverse direction Y.

[0043] In the present case, the drive element 22 is inserted into circular bores in the side legs 31, 32 of the eccentric 30. The drive element 22 thus projects into the side legs 31, 32. The drive element 22 is, for example, pressed into the circular bores in the side legs 31, 32 and is thus connected to the eccentric 30 in a rotationally fixed manner. It is also conceivable for the drive element 22 to be integrally connected to the side legs 31, 32. It is also conceivable for the drive element 22 and the eccentric 30 to be formed in one piece. Furthermore, it is conceivable for the drive element 22 to be rotatably mounted in the bores in the side legs 31, 32, i.e., rotatable about its central axis relative to the eccentric 30. The lifting piece 12 has a contact element 14 which is designed in the form of a projection.An extension of the contact element 14 in the transverse direction Y is smaller than the distance between the side legs 31, 32 of the eccentric 30 in the transverse direction Y. A sliding piece 40 is attached to an underside of the contact element 14.

[0044] The lifting piece 12 and the drive unit 20 are arranged such that the drive element 22 and the contact element 14 interact. The drive element 22 acts on the underside of the contact element 14, in this case via the sliding piece 40. When the drive unit 20 rotates about the rotation axis D in a first rotational direction, the drive element 22 transmits a force to the contact element 14, thereby moving the lifting piece 12.

[0045] The lifting piece 12 and the drive unit 20 are arranged in particular such that when the drive unit 20 rotates about the axis of rotation D in the first direction of rotation, the drive element 22 drives the contact element 14 such that the lifting piece 12 moves along the linear guide in the vertical direction Z from a lower end position to an upper end position.

[0046] In a normal application, the lifting module 10 is arranged such that when the drive unit 20 rotates about the rotation axis D in a second direction of rotation, which is opposite to the first direction of rotation, the lifting piece 12 is moved from the upper end position to the lower end position due to the force of gravity.

[0047] A web 62, extending in the transverse direction Y, is mounted on the pivot bearings 35, 36. The web 62 connects the pivot bearings 35, 36 to one another. A bracket 64 is attached to the web 62. The lifting module 10 includes a stroke sensor 16 for detecting an end position of the lifting piece 12. The bracket 64 supports the stroke sensor 16, which is embodied here as an inductive proximity sensor. A strip 66 is provided between the pivot bearings 35, 36.

[0048] Figure 2 shows a sectional view of a lifting module 10 in the retracted state. When the lifting module 10 is retracted, the lifting element 12 is in the lower end position and thus close to the mounting plate 48. The contact element 14 of the lifting element 12 is away from the stroke sensor 16. The stroke sensor 16 therefore does not detect the contact element 14 in the lower end position shown here.

[0049] The contact element 14 of the lifting piece 12 extends into the space between the side legs 31, 32 of the eccentric 30. In the vertical direction Z, the contact element 14 is located between the drive element 22 and the base leg 33 of the eccentric 30. The drive element 22 rests against the sliding piece 40.

[0050] When the drive unit 20 rotates around the rotation axis D by 180° in the first direction of rotation, the drive element 22 drives the contact element 14 such that the lifting piece 12 moves along the linear guide in the vertical direction Z to the upper end position. In the illustration shown here, the first direction of rotation corresponds to the clockwise direction.

[0051] Figure 3 shows a sectional view of a lifting module 10 in the extended state. When the lifting module 10 is extended, the lifting element 12 is in the upper end position and thus away from the mounting plate 48. The contact element 14 of the lifting element 12 is located near the stroke sensor 16. The stroke sensor 16 therefore does not detect the contact element 14 in the upper end position shown here.

[0052] The contact element 14 of the lifting piece 12 projects into a part of the space between the side legs 31, 32 of the eccentric 30, facing away from the base leg 33. In the vertical direction Z, the drive element 22 is located between the contact element 14 and the base leg 33 of the eccentric 30. The drive element 22 rests against the sliding piece 40.

[0053] When the drive unit 20 rotates around the rotation axis D by 180° in the second direction of rotation, the lifting piece 12 is moved by gravity along the linear guide in the vertical direction Z to the lower end position. In the illustration shown here, the second direction of rotation corresponds to the counterclockwise direction.

[0054] Figure 4 shows a plan view of a lifting unit 50. The lifting unit 50 comprises a first lifting module 10 and a second lifting module 10. The lifting modules 10 are arranged offset from one another in the transverse direction Y. The lifting modules 10 are arranged such that the axes of rotation D of the lifting modules 10 are aligned with one another and coincide to form a common axis of rotation.

[0055] Each of the lifting modules 10 comprises an electric motor 28 for rotationally driving the drive unit 20 about the rotation axis D. Each of the lifting modules 10 further comprises a gear 29, which in this case is designed as an angular gear. The electric motor 28 of the first lifting module 10 is connected to the first rotary shaft 25 of the first lifting module 10 by means of the gear 29. The electric motor 28 of the second lifting module 10 is connected to the second rotary shaft 26 of the second lifting module 10 by means of the gear 29.

[0056] An output shaft of each electric motor 28 rotates about an axis that runs at least approximately in the longitudinal direction X, thereby driving the associated gear 29. The gears 29 transmit the rotations of the output shafts of the electric motors 28 to the rotating shafts 25, 26 of the lifting modules 10.

[0057] The first rotary shaft 25 of the second lifting module 10 is connected in a rotationally fixed manner to the second rotary shaft 26 of the first lifting module 10 by means of a claw coupling. The first rotary shaft 25 of the second lifting module 10, the second rotary shaft 26 of the first lifting module 10, and the claw coupling are concealed by a cover 52 in the illustration shown here. The cover 52 is arranged between the lifting modules 10 in the transverse direction Y.

[0058] It is also conceivable for the lifting unit 50 to have a central electric motor 28 for the rotational drive of the drive units 20 of the lifting modules 10 about the rotation axes D. In this case, the central electric motor 28 is arranged in the transverse direction Y between the lifting modules 10. In this case, the central electric motor 28 is connected via a central gear 29 to the first rotary shaft 25 of the second lifting module 10 and to the second rotary shaft 26 of the first lifting module 10.

[0059] Figure 5 shows a perspective view of a chassis of an automated guided vehicle 2. The automated guided vehicle 2 is used in this case to transport load carriers in a facility, such as a supermarket, an industrial hall, a logistics center, a hospital, or a production plant. In the illustration shown here, the transport vehicle 2 is located on a level floor. The vertical direction Z is perpendicular to the floor. The longitudinal direction X and the transverse direction Y represent horizontal directions and run parallel to the floor on which the transport vehicle 2 is located. The longitudinal direction X corresponds at least approximately to the usual direction of travel of the transport vehicle 2.

[0060] The chassis of the transport vehicle 2 comprises a vehicle frame 70 with an approximately rectangular cross-section. The vehicle frame 70 comprises a base plate 71 extending perpendicular to the vertical direction Z. The vehicle frame 70 further comprises two longitudinal members 72, which extend parallel to each other in the longitudinal direction X and offset from one another in the transverse direction Y. The longitudinal members 72 are rigidly connected, for example, welded, to the base plate 71.

[0061] The chassis of the transport vehicle 2 also includes a swing arm 74. The swing arm 74 is pivotable relative to the vehicle frame 70 about a swing axis extending in the longitudinal direction X. A first wheel module and a second wheel module are attached to the swing arm 74. A third wheel module and a fourth wheel module are attached to the vehicle frame 70.

[0062] The first wheel module has a first wheel. The first wheel is pivotally mounted relative to the pendulum swing arm 74 about a first pivot axis running in the vertical direction Z. The first wheel is also rotatably mounted relative to the pendulum swing arm 74 about a first rotation axis running in a horizontal direction. The second wheel module has a second wheel. The second wheel is pivotally mounted relative to the pendulum swing arm 74 about a second pivot axis running in the vertical direction Z. The second wheel is also rotatably mounted relative to the pendulum swing arm 74 about a second rotation axis running in a horizontal direction.

[0063] The third wheel module has a third wheel. The third wheel is pivotally mounted relative to the vehicle frame 70 about a third pivot axis running in the vertical direction Z. The third wheel is also rotatably mounted relative to the vehicle frame 70 about a third rotation axis running in a horizontal direction. The fourth wheel module has a fourth wheel. The fourth wheel is pivotally mounted relative to the vehicle frame 70 about a fourth pivot axis running in the vertical direction Z. The fourth wheel is also rotatably mounted relative to the vehicle frame 70 about a fourth rotation axis running in a horizontal direction.

[0064] The first wheel and the second wheel are offset from each other in the transverse direction Y. The third wheel and the fourth wheel are also offset from each other in the transverse direction Y. The wheels are in contact with the ground. If the ground is uneven, the pendulum swing arm 74 pivots about the pendulum axis relative to the vehicle frame 70.

[0065] The transport vehicle 2 comprises two lifting units 50, each of which comprises two lifting modules 10. The mounting plates 48, the pivot bearings 35, 36, and the rails 66 of the lifting modules 10 are each firmly connected to the vehicle frame 70, in particular by means of screws. The electric motors 28 and the gears 29 of the lifting modules 10 are each firmly connected to the longitudinal members 72, in particular by means of screws. The rotary shafts 25, 26 of the lifting modules 10, connected to the gears 29, extend through the longitudinal members 72.

[0066] The transport vehicle 2 comprises a support plate (not shown here). The support plate is rigidly connected to the lifting pieces 12 of the lifting modules 10, in particular by means of screws. The support plate is movable relative to the vehicle frame 70 in the vertical direction Z. When the drive units 20 of the lifting modules 10 rotate about the respective axis of rotation D in the first direction of rotation, the lifting plate 32 moves away from the vehicle frame 70 in the vertical direction Z. When the drive units 20 of the lifting modules 10 rotate about the axis of rotation D in the second direction of rotation, the lifting plate 32 moves toward the vehicle frame 70 in the vertical direction Z.

[0067] The transport vehicle 2 further comprises a drive device, an electrical energy storage device, in particular a rechargeable battery, for supplying the drive device, and a control device for controlling the drive device. Furthermore, the transport vehicle 2 comprises a receiving unit 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 ground on which the transport vehicle 2 is located. The energy inductively transferred from the charging unit to the receiving unit serves, for example, to charge the electrical energy storage device of the transport vehicle 2.

[0068] The transport vehicle 2 also has several laser scanners (not shown here). The laser scanners are arranged in particular in the corner areas of the vehicle frame 70. The laser scanners are used to detect obstacles and to navigate the transport vehicle 2 within the facility. List of reference symbols Transport vehicle 70 Vehicle frame

[0069] 10 Lifting module 71 Base plate

[0070] 12 lifting piece 72 longitudinal member

[0071] 14 Contact element 74 Pendulum swing arm

[0072] 16 Stroke sensor D rotation axis

[0073] 20 Drive unit X Longitudinal direction

[0074] 22 Drive element Y transverse direction

[0075] 25 first rotary shaft Z vertical direction

[0076] 26 second rotating shaft

[0077] 28 electric motor

[0078] 29 gearboxes

[0079] 30 eccentric

[0080] 31 first lateral leg

[0081] 32 second side leg

[0082] 33 base legs

[0083] 35 first pivot bearing

[0084] 36 second pivot bearing

[0085] 40 sliding piece

[0086] 42 sliding bore

[0087] 44 Guide rod

[0088] 46 sliding sleeve

[0089] 48 Mounting plate

[0090] 50 lifting unit

[0091] 52 Cover

[0092] 62 jetty

[0093] 64 brackets

[0094] 66 bar

Claims

Patent claims:

1. Lifting module (10), in particular for a transport vehicle (2), comprising a lifting element (12) which is movable in a vertical direction (Z) and a contact element (14) and a drive unit (20) which is rotatable about a rotation axis (D) extending in a transverse direction (Y) and has a drive element (22), wherein the lifting piece (12) and the drive unit (20) are arranged such that when the drive unit (20) is rotated about the rotation axis (D) in a first direction of rotation, the drive element (22) drives the contact element (14) such that the lifting piece (12) moves in a vertical direction (Z) from a lower end position to an upper end position, wherein the drive unit (20) has a fork-shaped eccentric (30) which has two offset side legs (31, 32) and one of the side legs (31 , 32) connecting base leg (33), and wherein the drive element (22) is arranged parallel to the axis of rotation (D) between the side legs (31 , 32), and wherein the extension of the contact element (14) in the transverse direction (Y) is less than the distance between the side legs (31, 32) in the transverse direction (Y).

2. Lifting module (10) according to claim 1, characterized in that the drive element (22) is circular cylindrical and that a central axis of the drive element (22) runs parallel to the axis of rotation (D).

3. Lifting module (10) according to claim 2, characterized in that the drive element (22) is rotatably mounted relative to the eccentric (30) about its central axis.

4. Lifting module (10) according to claim 2, characterized in that the drive element (22) is rotatably connected to the eccentric (30).

5. Lifting module (10) according to one of the preceding claims, characterized in that the lifting element (12) is movable along a linear guide in the vertical direction (Z).

6. Lifting module (10) according to one of the preceding claims, characterized in that the axis of rotation (D) passes through the side legs (31 , 32) of the eccentric (30).

7. Lifting module (10) according to one of the preceding claims, characterized in that the drive unit (20) has two rotary shafts (25, 26) which are connected to each of a side leg (31, 32) of the eccentric (30) in a rotationally fixed manner and which coaxially surround the axis of rotation (D), wherein a space between the side legs (31, 32) is free of the rotary shafts (25, 26).

8. Lifting module (10) according to one of the preceding claims, characterized in that the contact element (14) projects into the space between the side legs (31, 32) when the lifting piece (12) is in the lower end position.

9. Lifting module (10) according to one of the preceding claims, further comprising an electric motor (28) for rotary drive of the drive unit (20) about the axis of rotation (D).

10. Lifting module (10) according to one of the preceding claims, further comprising a lifting sensor (16) for detecting an end position of the lifting piece (12).

11. Lifting unit (50), in particular for a transport vehicle (2), comprising at least two lifting modules (10) according to one of the preceding claims, which are arranged offset from each other in the transverse direction (Y) such that the axes of rotation (D) of the lifting modules (10) are aligned with each other.

12. Lifting unit (50) according to claim 11, characterized in that The rotary shafts (25, 26) of the drive units (20) of the lifting modules (10) are connected to each other in a rotationally fixed manner, in particular by means of a claw coupling.

13. Lifting unit (50) according to one of claims 11 to 12, further comprising a central electric motor (28) for rotary drive of the drive units (20) of the lifting modules (10) about the axes of rotation (D), wherein the central electric motor (28) is arranged in the transverse direction (Y) between the lifting modules (10).

14. Transport vehicle (2), in particular driverless transport vehicle (2), comprising a drive unit, an electrical energy storage device for supplying the drive unit and a control unit for controlling the drive unit and at least one lifting module (10) and / or at least one lifting unit (50) according to one of the preceding claims.

15. Transport vehicle (2) according to claim 14, further comprising a support plate which is rigidly connected to the lifting pieces (12) of the lifting modules (10).

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