Mobile transport system

Abstract

The invention relates to a mobile transport system for transporting objects in a technical system, comprising a vehicle frame (12) and a drive module (10), which has: - a first drive wheel (71), which can be rotated about a first drive axle (72), - a second drive wheel (72), which can be rotated about a second drive axle (74), and - at least one electric motor for driving the drive wheels (71, 72), wherein the drive module (10) is attached to the vehicle frame (12) by means of an exchange module (20), and the exchange module (20) comprises a main plate (22) and a carrier plate (24), and the main plate (22) is fastened to the vehicle frame (12), and the carrier plate (24) is fastened to the drive module (10), and wherein, when the exchange module (20) is in a locked state, the carrier plate (24) is fixedly connected to the main plate (22), and when the exchange module (20) is in a released state, the carrier plate (24) is away from the main plate (22).

Description

[0001] Mobile transport system

[0002] Description:

[0003] The invention relates to a mobile transport system for transporting objects in a technical installation, which comprises a vehicle frame and a drive module having a first drive wheel rotatable about a first drive axis, a second drive wheel rotatable about a second drive axis and at least one electric motor for driving the drive wheels.

[0004] In technical facilities, such as production plants or paint shops, 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.

[0005] Document DE 102021 000 838 A1 discloses a mobile transport system for transporting objects. The system comprises a vehicle frame, a pendulum frame pivotable about a pendulum axis relative to the vehicle frame, and a drive unit. The drive unit is arranged on the pendulum frame.

[0006] A mobile transport system for transporting objects is also known from document DE 102020 007 712 A1. The mobile transport system comprises a vehicle frame, a first pair of wheels, a second pair of wheels, and a third pair of wheels, each with two wheels, and a pendulum frame that can be pivoted relative to the vehicle frame. The wheels of the second pair of wheels are designed as drive wheels and can be driven by a drive unit.

[0007] For maintenance and repair of a mobile transport system, it is often necessary to remove the drive module with the drive wheels from the vehicle frame. Due to the design of known mobile transport systems, removing the drive module from the vehicle frame is relatively complex. The invention is based on the object of further developing a mobile transport system for transporting objects.

[0008] 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.

[0009] A mobile transport system according to the invention for transporting objects in a technical facility comprises a vehicle frame and a drive module having a first drive wheel rotatable about a first drive axis, a second drive wheel rotatable about a second drive axis, and at least one electric motor for driving the drive wheels. The drive module is attached to the vehicle frame by means of an interchangeable module, and the interchangeable module comprises a base plate and a carrier plate. The base plate is fastened to the vehicle frame, and the carrier plate is fastened to the drive module. When the interchangeable module is locked, the carrier plate is firmly connected to the base plate, and when the interchangeable module is released, the carrier plate is removed from the base plate.

[0010] In the mobile transport system according to the invention, the drive module can be relatively easily removed from the vehicle frame for maintenance and repair. A defective drive module can also be relatively easily replaced. When the interchangeable module is brought into the released state, the carrier plate is removed from the base plate, allowing the drive module to be detached from the vehicle frame.

[0011] According to a preferred embodiment of the invention, the interchangeable module comprises a first cross block and a second cross block. In the locked state of the interchangeable module, the first cross block is screwed to the base plate by means of at least one first base screw, and the first cross block is screwed to the support plate by means of at least one first support screw, and the second cross block is screwed to the base plate by means of at least one second base screw, and the second cross block is screwed to the support plate by means of at least one second support screw. By loosening the at least one base screw on a first side of the mobile transport system and loosening the at least one support screw on a second side of the mobile transport system, the drive module can be removed from the vehicle frame in the transverse direction, optionally on the first side or on the second side.According to an advantageous embodiment of the invention, in the locked state of the interchangeable module, the first transverse block is arranged at a first edge region of the base plate, and the second transverse block is arranged at a second edge region of the base plate. The first edge region is opposite the second edge region in the transverse direction.

[0012] According to an advantageous development of the invention, the carrier plate comprises a first centering pin and a second centering pin. The first cross block has a first centering opening, and the second cross block has a second centering opening. In the locked state of the interchangeable module, the first centering pin protrudes into the first centering opening, and the second centering pin protrudes into the second centering opening. The centering pins and centering openings allow the carrier plate and the base plate to be centered when the interchangeable module is returned to the locked state, i.e., when the drive module is connected to the vehicle frame.

[0013] According to an advantageous embodiment of the invention, the interchangeable module comprises at least one first locking pin, which extends through the first cross block, and at least one second locking pin, which extends through the second cross block. When the interchangeable module is locked, the locking pins extend into holes in the base plate and can be moved out of the holes in the base plate against a spring force. The locking pins prevent unwanted movement of the drive module relative to the vehicle frame while the interchangeable module is being moved from the locked state to the released state.

[0014] According to an advantageous embodiment of the invention, the locking bolts can be moved out of the bores of the base plate in the vertical direction relative to the cross blocks against the spring force.

[0015] According to a preferred embodiment of the invention, the drive module comprises a pendulum frame which is pivotable relative to the support plate about a pendulum axis running in the transverse direction, and the drive wheels are arranged on the pendulum frame and rotatable relative to the pendulum frame. As a result, all wheels of the mobile transport system are always in contact with the ground, even when traveling uphill or downhill. According to a preferred development of the invention, the drive module comprises a tilting frame which is pivotable relative to the pendulum frame about a tilting axis running at least approximately in the longitudinal direction, and the drive module comprises a first front support wheel and a second front support wheel which are arranged on the tilting frame. As a result, all wheels of the mobile transport system are always in contact with the ground, even when traveling uphill or downhill.

[0016] According to a preferred embodiment of the invention, the front support wheels are each pivotable relative to the tipping frame about a vertical pivot axis and are rotatably mounted relative to the tipping 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 a preferred embodiment of the invention, the mobile transport system comprises a first rear support wheel and a second rear support wheel, which are arranged on the vehicle frame. The rear support wheels are each pivotable relative to the vehicle frame about a vertical pivot axis and rotatable 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.

[0018] 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.

[0019] 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:

[0020] Figure 1 : a side view of part of a mobile transport system,

[0021] Figure 2: a perspective view of a drive module with an exchange module and

[0022] Figure 3: an exchange module in a released state.

[0023] Figure 1 shows a side view of part of a mobile transport system. The mobile transport system is used primarily for transporting objects within a technical facility. The technical facility is an industrial application, for example, a production plant or a paint shop. The mobile transport system in this case is an autonomously driving vehicle. In the illustration shown here, the mobile transport system is located on a level floor within the technical facility.

[0024] The mobile transport system 10 comprises a vehicle frame 12 and a drive module 10. The mobile transport system 10 further comprises an interchangeable module 20. The drive module 10 is attached to the vehicle frame 12 by means of the interchangeable module 20. The vehicle frame 12 has an approximately rectangular cross-section and extends predominantly in a longitudinal direction X and in a transverse direction Y.

[0025] The mobile transport system also includes a first rear support wheel (not shown here) and a second rear support wheel (not shown here). The rear support wheels are arranged on the vehicle frame 12. The rear support wheels are each pivotable relative to the vehicle frame 12 about a pivot axis extending in the vertical direction Z and are rotatably mounted relative to the vehicle frame 12 about a rotation axis extending in a horizontal direction. The rear support wheels are arranged offset from one another in the transverse direction Y.

[0026] Depending on the pivoting of the rear support wheels around the pivot axis, the rotation axes of the rear support wheels run, for example, in the longitudinal direction X, in the transverse direction, or in another horizontal direction. The pivot axis and the rotation axis of a rear support wheel do not intersect in this case. The rear support wheels each comprise two rollers arranged parallel to each other. A braking device is arranged on each rear support wheel. The braking device can be used to brake the rotation of the respective rear support wheel around the rotation axis. In this case, the braking devices are electromagnetically actuated.

[0027] The longitudinal direction X corresponds at least approximately to the usual direction of travel of the mobile transport system. The transverse direction Y runs perpendicular to the longitudinal direction X. The longitudinal direction X and the transverse direction Y represent horizontal directions and run parallel to the flat floor on which the mobile transport system is located. The vertical direction Z is perpendicular to the flat floor and thus runs perpendicular to the longitudinal direction X and perpendicular to the transverse direction Y. Any direction perpendicular to the vertical direction Z represents a horizontal direction.

[0028] The drive module 10 has a first drive wheel rotatable about a first drive axis 72

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

[0030] The drive module 10 further comprises an electric motor for driving the first drive wheel 71 and an electric motor for driving the second drive wheel 72. The first drive axle

[0031] 72 and the second drive axle 74 extend in the transverse direction Y and are aligned with each other. The drive module 10 also includes a control unit for controlling the electric motors for driving the drive wheels 71, 72.

[0032] The drive module 10 comprises a pendulum frame 14. The pendulum frame 14 is pivotable about a pendulum axis relative to the vehicle frame 12. The pendulum axis runs in the transverse direction Y. The drive wheels 71, 72 are arranged on the pendulum frame 14 and are rotatable relative to the pendulum frame 14. The electric motors for driving the drive wheels 71, 72 are also arranged on the pendulum frame 14.

[0033] The drive module 10 comprises a tilting frame 16. The tilting frame 16 is

[0034] The tilting axis is pivotable relative to the pendulum frame 14. The tilting axis runs at least approximately in the longitudinal direction X. When the pendulum frame 14 is pivoted about the pendulum axis relative to the vehicle frame 12, the tilting axis runs slightly inclined to the longitudinal direction X. However, this inclination of the tilting axis is relatively small. Thus, even in this case, the tilting axis still runs approximately in the longitudinal direction X.

[0035] The drive module 10 comprises a first front support wheel 41 and a second front support wheel 42, which is concealed here. The front support wheels 41 are arranged on the tilting frame 16. The front support wheels 41, 42 are each pivotable relative to the tilting frame 16 about a pivot axis extending in the vertical direction Z and are rotatably mounted relative to the tilting frame 16 about a rotation axis extending in a horizontal direction. The front support wheels 41, 42 are arranged offset from one another in the transverse direction Y.

[0036] Depending on a pivoting of the front support wheels 41, 42 about the pivot axis, the axes of rotation of the front support wheels 41, 42 run, for example, in the longitudinal direction X or in the transverse direction or in another horizontal direction. The pivot axis and the axis of rotation of a front support wheel 41, 42 do not intersect in the present case. The front support wheels 41, 42 each comprise two rollers which are arranged parallel to one another. A braking device is arranged on each of the front support wheels 41, 42. By means of the braking device, a rotation of the respective front support wheel 41, 42 about the axis of rotation can be braked. The braking devices can be actuated electromagnetically in the present case.

[0037] The drive wheels 71, 72 are arranged in the longitudinal direction X between the rear support wheels and the front support wheels 41, 42. A distance between the drive wheels 71, 72 from one another in the transverse direction Y is greater than a distance between the front support wheels 41, 42 from one another in the transverse direction Y. A distance between the drive wheels 71, 72 from one another in the transverse direction Y is also greater than a distance between the rear support wheels from one another in the transverse direction Y. The drive wheels 71, 72, the front support wheels 41, 42 and the rear support wheels are arranged in the form of a hexagon which is symmetrical to a longitudinal axis which runs in the longitudinal direction X.

[0038] The mobile transport system has an electrical energy storage device (not shown here). The mobile transport system also has a receiving unit (not shown here), which is arranged on the pendulum frame 14 and to which energy can be inductively transferred from a charging unit. The charging unit is designed, for example, as a linear conductor or as a coil. The energy inductively transferred from the charging unit to the receiving unit serves, for example, to charge the electrical energy storage device.

[0039] The receiving unit is located, for example, between the drive wheels 71, 72.

[0040] Figure 2 shows a perspective view of a drive module 10 with an interchangeable module 20. The interchangeable module 20 comprises a base plate 22 and a carrier plate 24. The base plate 22 is attached to the vehicle frame 12 (not shown here). The carrier plate 24 is attached to the drive module 10. The pendulum frame 14 is thus pivotable relative to the carrier plate 24 about the pendulum axis running in the transverse direction Y.

[0041] In the illustration shown here, the interchangeable module 20 is in a locked state. In the locked state of the interchangeable module 20, the support plate 24 is firmly connected to the base plate 22. Thus, in the locked state of the interchangeable module 20, the drive module 10 is firmly connected to the vehicle frame 12.

[0042] The base plate 22 has a first edge region 51 and a second edge region 52. The first edge region 51 lies opposite the second edge region 52 in the transverse direction Y. In the locked state of the interchangeable module 20, the carrier plate 24 is located completely or at least approximately completely between the edge regions 51, 52 of the base plate 22 in the transverse direction Y. The first edge region 51 is arranged adjacent to the first drive wheel 71, and the second edge region 52 is arranged adjacent to the second drive wheel 72.

[0043] Figure 3 shows an interchangeable module 20 in a released state. In the released state of the interchangeable module 20, the carrier plate 24 is removed from the base plate 22. Thus, in the released state of the interchangeable module 20, the drive module 10 can be removed from the vehicle frame 12. In the illustration shown here, the carrier plate 24 is removed from the base plate 22 in the vertical direction Z and in the transverse direction Y.

[0044] The interchangeable module 20 comprises a first cross block 31 and a second cross block 32. In the locked state of the interchangeable module 20, the first cross block 31 is arranged on the first edge region 51 of the base plate 22, and the second cross block 32 is arranged on the second edge region 52 of the base plate 22. In the illustration shown here, in the released state of the interchangeable module 20, the second cross block 32 is removed from the second edge region 52 of the base plate 22. In the locked state of the interchangeable module 20, the first cross block 31 is screwed to the base plate 22 by means of two first base screws 33, and the second cross block 32 is screwed to the base plate 22 by means of two second base screws 34. The base plate 22 comprises threaded blocks into which the first base screws 33 and the second base screws 34 are screwed.

[0045] In the locked state of the interchangeable module 20, the first cross block 31 is screwed to the support plate 24 by means of two first support screws 35, and the second cross block 32 is screwed to the support plate 24 by means of two second support screws 36. The support plate 24 comprises threaded blocks into which the first support screws 35 and the second support screws 36 are screwed.

[0046] In the locked state of the interchangeable module 20, the two first support screws 35 are arranged in the longitudinal direction X between the two first base screws 33, and the two second support screws 36 are arranged in the longitudinal direction X between the two second base screws 34.

[0047] In the illustration shown here, in the released state of the interchangeable module 20, the first cross block 31 is screwed to the base plate 22 by means of the first base screws 33, and the second cross block 32 is screwed to the support plate 24 by means of the second support screws 36. The first support screws 35 and the second base screws 34 are loosened. The first cross block 31 is thus detached from the support plate 24, and the second cross block 32 is detached from the base plate 22.

[0048] The first transverse block 31 has a first centering opening 27. The carrier plate 24 comprises a first centering pin 37. In the locked state of the interchangeable module 20, the first centering pin 37 projects into the first centering opening 27. The second transverse block 32 has a second centering opening 28. The carrier plate 24 comprises a second centering pin 38. In the locked state of the interchangeable module 20, the second centering pin 38 projects into the second centering opening 28. The first centering pin 37 and the second centering pin 38 are arranged opposite one another in the transverse direction Y.

[0049] The interchangeable module 20 comprises two first locking pins 29, which extend through the first cross block 31. The interchangeable module 20 comprises two second locking pins 30, which extend through the second cross block 32. When the interchangeable module 20 is locked, the locking pins 29, 30 extend into holes in the base plate 22. The locking pins 29, 30 can be moved out of the holes in the base plate 22 relative to the cross blocks 31, 32 in the vertical direction Z, counter to a spring force.

[0050] In an operating mobile transport system, the interchangeable module 20 is in the locked state, as shown in Figure 1 and Figure 2. The carrier plate 24 is firmly connected to the base plate 22, and the drive module 10 is firmly connected to the vehicle frame 12.

[0051] To remove the drive module 10 with the drive wheels 71, 72 from the vehicle frame 12, the interchangeable module 20 is brought into the released state, as shown, for example, in Figure 3. The interchangeable module 20 allows the drive module 10 to be removed from the vehicle frame 12 either on the first side, on which the first drive wheel 71 is located, or on the second side, on which the second drive wheel 72 is located.

[0052] To remove the drive module 10 from the vehicle frame 12 on the second side, as shown in Figure 3, the first support screws 35 and the second base screws 34 are first loosened. This releases the first cross block 31 from the support plate 24, and the second cross block 32 from the base plate 22.

[0053] The vehicle frame 12 is then raised in the vertical direction Z relative to the drive module 10. This causes the support plate 24 to move away from the base plate 22 in the vertical direction Z. If necessary, the locking pins 29, 30 are also moved out of the holes in the base plate 22. The interchangeable module 20 is thus in the released state. The drive module 10 is then removed from the vehicle frame 12 on the second side in the transverse direction Y.

[0054] To subsequently reconnect a drive module 10 to the vehicle frame 12, the drive module 10 is first pushed under the vehicle frame 12 in the transverse direction Y from the second side. If necessary, the locking pins 29, 30 are pulled downward in the vertical direction Z, i.e., toward the ground.

[0055] Subsequently, the vehicle frame 12 is lowered in the vertical direction Z relative to the drive module 10. As a result, the support plate 24 approaches the base plate 22 in the vertical direction Z. The locking pins 29, 30 engage in the holes in the base plate 22. The centering pins 37, 38 also engage in the centering openings 27, 28.

[0056] The first cross block 31 is then screwed to the support plate 24 using the previously loosened first support screws 35. Likewise, the second cross block 31 is screwed to the support plate 24 using the previously loosened second

[0057] The second cross block 32 is screwed to the base plate 22 using base screws 34. The interchangeable module 20 is then returned to the locked position.

[0058] To remove the drive module 10 from the vehicle frame 12 on the first side, first loosen the second support screws 36 and the first base screws 33. This releases the first cross block 31 from the base plate 22, and the second cross block 32 from the support plate 24. The remaining steps correspond to the previously described steps for removing the drive module 10 from the vehicle frame 12 on the second side.

[0059] List of reference symbols

[0060] 10 drive module

[0061] 12 vehicle frames

[0062] 14 pendulum frames

[0063] 16 tilting frames

[0064] 20 interchangeable modules

[0065] 22 Base plate

[0066] 24 carrier plate

[0067] 27 first centering opening

[0068] 28 second centering opening

[0069] 29 first locking bolt

[0070] 30 second locking bolt

[0071] 31 first transverse block

[0072] 32 second transverse block

[0073] 33 first base screw

[0074] 34 second base screw

[0075] 35 first support screw

[0076] 36 second support screw

[0077] 37 first centering pin

[0078] 38 second centering pin

[0079] 41 first front support wheel

[0080] 42 second front support wheel

[0081] 51 first edge area

[0082] 52 second edge area

[0083] 71 first drive wheel

[0084] 72 second drive wheel

[0085] 73 first drive axle

[0086] 74 second drive axle

[0087] X Longitudinal direction

[0088] Y transverse direction

[0089] Z vertical direction

Claims

Patent claims:

1. A mobile transport system for transporting objects in a technical installation, comprising a vehicle frame (12) and a drive module (10) having a first drive wheel (71) rotatable about a first drive axis (72), a second drive wheel (72) rotatable about a second drive axis (74), and at least one electric motor for driving the drive wheels (71, 72), characterized in that the drive module (10) is attached to the vehicle frame (12) by means of an interchangeable module (20), and the interchangeable module (20) comprises a base plate (22) and a carrier plate (24), and the base plate (22) is fastened to the vehicle frame (12), and the carrier plate (24) is fastened to the drive module (10), and that in a locked state of the interchangeable module (20), the carrier plate (24) is firmly connected to the base plate (22), and in a released state of the interchangeable module (20), the carrier plate (24) is removed from the base plate (22).

2. Mobile transport system according to claim 1, characterized in that the interchangeable module (20) comprises a first cross block (31) and a second cross block (32), and that in the locked state of the interchangeable module (20) the first cross block (31) is screwed to the base plate (22) by means of at least one first base screw (33), and the first cross block (31) is screwed to the support plate (24) by means of at least one first support screw (35), and the second cross block (32) is screwed to the base plate (22) by means of at least one second base screw (34), and the second cross block (32) is screwed to the support plate (24) by means of at least one second support screw (36).

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

4. Mobile transport system according to one of claims 2 to 3, characterized in that the carrier plate (24) comprises a first centering pin (37) and a second centering pin (38), and in that the first cross block (31) has a first centering opening (27), and the second cross block (32) has a second centering opening (28), and in that in the locked state of the exchange module (20) the first centering pin (37) projects into the first centering opening (27) and the second centering pin (38) projects into the second centering opening (28).

5. Mobile transport system according to one of claims 2 to 4, characterized in that the interchangeable module (20) comprises at least one first locking bolt (29) which projects through the first cross block (31), and at least one second locking bolt (30) which projects through the second cross block (32), and that in the locked state of the interchangeable module (20) the locking bolts (29, 30) project into bores in the base plate (22), and that the locking bolts (29, 30) can be moved out of the bores in the base plate (22) against a spring force.

6. Mobile transport system according to claim 5, characterized in that the locking bolts (29, 30) are movable against the spring force in the vertical direction (Z) relative to the transverse blocks (31, 32) out of the bores of the base plate (22).

7. Mobile transport system according to one of the preceding claims, characterized in that the drive module (10) comprises a pendulum frame (14) which is pivotable about a pendulum axis running in the transverse direction (Y) relative to the support plate (24), and in that the drive wheels (71, 72) are arranged on the pendulum frame (14) and are rotatable relative to the pendulum frame (14).

8. Mobile transport system according to claim 7, characterized in that the drive module (10) comprises a tilting frame (16) which is pivotable relative to the pendulum frame (14) about a tilting axis running at least approximately in the longitudinal direction (X), and in that the drive module (10) comprises a first front support wheel (41) and a second front support wheel (42) which are arranged on the tilting frame (16).

9. Mobile transport system according to claim 8, characterized in that the front support wheels (41, 42) are each pivotable about a pivot axis running in the vertical direction (Z) relative to the tilting frame (16) and are rotatably mounted about a rotation axis running in a horizontal direction relative to the tilting frame (16).

10. Mobile transport system according to one of the preceding claims, characterized in that the mobile transport system comprises a first rear support wheel and a second rear support wheel which are arranged on the vehicle frame (12), and in that the rear support wheels are each pivotable about a pivot axis running in the vertical direction (Z) relative to the vehicle frame (12) and rotatable about a rotation axis running in a horizontal direction relative to the vehicle frame (12).

Images