Mobile transport system

Abstract

The invention relates to a mobile transport system, comprising at least one drive module (20) and a support frame (25) which is supported on the drive module (20), wherein the drive module (20) has at least one module frame (12), a pendulum frame (14), a pair of support rollers (41), a pair of brake rollers (42), and a pair of drive wheels (45). The support rollers (41) are arranged on the module frame (12), the brake rollers (42) are arranged on the pendulum frame (14), and the drive wheels (45) are arranged on the pendulum frame (14). The module frame (12) can be pivoted about a module axis (22) relative to the support frame (25), and the pendulum frame (14) can be pivoted about a pendulum axis (13) relative to the module frame (12). The drive module (20) has at least one actuating means (30), by means of which the module frame (12) can be pivoted about the module axis (22) relative to the support frame (25) such that the support rollers (41) are moved away from the support frame (25) in a vertical direction (Z).

Description

[0001] Mobile transport system

[0002] Description:

[0003] The invention relates to a mobile transport system for transporting objects, in particular in a technical system, which comprises at least one drive module and a support frame which is supported on the drive modules.

[0004] 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.

[0005] Document DE 102021 003 983 B3 discloses a generic mobile transport system for transporting objects. The mobile transport system comprises two drive modules arranged offset from one another in a longitudinal direction, and a load-bearing unit supported on the drive modules. The drive modules each comprise a plurality of swivel casters, brake casters, and drive wheels, which can be pivoted relative to one another and relative to the load-bearing unit via levers.

[0006] In the event of a mobile transport system failure, for example, due to a power failure, the brake rollers and possibly also the drive wheels will lock. In this case, the mobile transport system cannot be easily moved. Moving or recovering a defective mobile transport system is therefore difficult.

[0007] US 2020 / 0114714 A1 discloses an autonomous vehicle having drive wheels and support wheels. The drive wheels and support wheels are articulated to a vehicle frame by means of a lever arrangement.

[0008] An autonomous vehicle with a chassis is known from CN 108725626 A. The chassis has drive wheels and support wheels, which are hinged to a vehicle frame by means of a lever arrangement. The invention is based on the object of developing a mobile transport system for transporting objects.

[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 mobile transport system according to the invention is used to transport objects, in particular in a technical system. The mobile transport system according to the invention comprises at least one drive module and a support frame supported on the drive module. The drive module has at least one module frame, a pendulum frame, a pair of support rollers, a pair of brake rollers, and a pair of drive wheels. The support rollers are arranged on the module frame, the brake rollers are arranged on the pendulum frame, and the drive wheels are arranged on the pendulum frame. The module frame can be pivoted about a module axis relative to the support frame, and the pendulum frame can be pivoted about a pendulum axis relative to the module frame. The drive module has at least one actuating means by means of which the module frame can be pivoted about the module axis relative to the support frame such that the support rollers move away from the support frame in a vertical direction.

[0011] The vertical direction runs perpendicular to the floor on which the mobile transport system is located. A transverse direction runs perpendicular to the vertical direction. A longitudinal direction runs perpendicular to the vertical direction and perpendicular to the transverse direction. Horizontal directions extend perpendicular to the vertical direction and parallel to the floor. In particular, the longitudinal direction and the transverse direction represent horizontal directions.

[0012] In the event of a breakdown of the mobile transport system according to the invention, particularly in the event of a power failure, the support rollers can be removed vertically from the support frame by means of the actuating means. As a result, only the support rollers remain in contact with the ground, while the blocked drive wheels and brake rollers are removed from the ground. The mobile transport system can thus be easily moved. Recovering the mobile transport system in the event of a breakdown is therefore relatively simple. The mobile transport system can be quickly moved to the edge of the roadway and no longer blocks the roadway. A transfer station can also be released again if it was blocked by a powerless transport system. The mobile transport system can also be moved to a maintenance area and repaired there with little effort.Furthermore, the inventive design of the mobile transport system allows unevenness of the floor to be compensated.

[0013] According to a preferred embodiment of the invention, the drive module is designed such that when the module frame is pivoted about the module axis relative to the support frame by means of the actuating means and the support rollers move away from the support frame in the vertical direction, the brake rollers and / or the drive wheels approach the support frame in the vertical direction. The support rollers thus move vertically toward the ground, and the brake rollers and the drive wheels simultaneously move vertically away from the ground. The support frame, the module frame, and the pendulum frame form a lever arrangement.

[0014] According to an advantageous embodiment of the invention, the actuating means is designed as a screw that extends vertically through the support frame. The actuating means is thus a relatively simple and cost-effective standard component.

[0015] According to an advantageous embodiment of the invention, the module axis and the pendulum axis run parallel to each other in a transverse direction.

[0016] According to an advantageous embodiment of the invention, the module axis is arranged in a longitudinal direction between the support rollers and the pendulum axis.

[0017] According to an advantageous embodiment of the invention, the pendulum axle is arranged in a longitudinal direction between the brake rollers and the drive wheels and between the brake rollers and the module axle.

[0018] According to an advantageous embodiment of the invention, the drive wheels are arranged in a longitudinal direction between the brake rollers and the support rollers.

[0019] According to an advantageous embodiment of the invention, at least one stop element is arranged on the support frame in such a way that when the brake rollers approach the support frame, the pendulum frame comes into contact with the stop element. The lever arrangement comprising the support frame, module frame, and pendulum frame causes the drive wheels to be lifted off the ground when the pendulum frame comes into contact with the stop element.

[0020] Alternatively or additionally, according to an advantageous embodiment of the invention, at least one stop element is arranged on the support frame in such a way that when the drive wheels approach the support frame, the pendulum frame comes into contact with the stop element. The lever arrangement comprising the support frame, module frame, and pendulum frame causes the brake rollers to be lifted off the ground when the pendulum frame comes into contact with the stop element.

[0021] According to an advantageous embodiment of the invention, the support rollers are each mounted so as to be rotatable relative to the module frame about a rotation axis extending in a horizontal direction and pivotable relative to the vehicle frame about a pivot axis extending in a vertical direction. Support rollers designed in this way are relatively cost-effective and also facilitate cornering of the mobile transport system.

[0022] According to an advantageous embodiment of the invention, the brake rollers are each rotatably mounted relative to the pendulum frame about a rotation axis extending in a horizontal direction and pivotable relative to the pendulum frame about a pivot axis extending in the vertical direction. Furthermore, a braking device is arranged on each brake roller, by means of which rotation of the respective brake roller about the rotation axis can be braked. Brake rollers designed in this way are relatively cost-effective and also facilitate cornering of the mobile transport system. The braking devices can be actuated electromagnetically, for example. This enables braking of the mobile transport system.

[0023] According to an advantageous embodiment of the invention, the drive wheels are each rotatably mounted relative to the pendulum frame about a drive axis running in a horizontal direction. Furthermore, the drive module has at least one drive motor for driving the drive wheels about the drive axis. The drive motor is in particular an electric motor. Furthermore, the drive wheels are pivotable relative to the pendulum frame about a common axis running in the vertical direction. This enables omnidirectional movement of the transport system. According to an advantageous development of the invention, the mobile transport system comprises a first drive module and a second drive module, which are arranged offset from one another in a longitudinal direction. The support frame is supported on the first drive module and on the second drive module. The first drive module and the second drive module are preferably identical.

[0024] 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.

[0025] 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:

[0026] Figure 1 : a side view of a mobile transport system,

[0027] Figure 2: an enlarged side view of a drive module of the mobile transport system,

[0028] Figure 3: a front view of the mobile transport system and

[0029] Figure 4: a schematic side view of a drive module.

[0030] Figure 1 shows a schematic side view of a mobile transport system. The mobile transport system is used to transport objects within a technical facility. The technical facility is an industrial application, such as a production plant. The mobile transport system can also be used, for example, to deliver goods to a private recipient's home in a city or residential area. The mobile transport system is an autonomously driving vehicle.

[0031] In the illustration shown here, the mobile transport system is located on a flat floor (not explicitly shown). A vertical direction Z runs perpendicular to the floor. 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. The longitudinal direction X and the transverse direction Y represent horizontal directions. Any direction that extends perpendicular to the vertical direction Z and parallel to the floor represents a horizontal direction. The longitudinal direction X corresponds at least approximately to the usual direction of travel of the mobile transport system.

[0032] The mobile transport system comprises a first drive module 20 and a second drive module 20. The drive modules 20 are arranged offset from one another in the longitudinal direction X. The mobile transport system also comprises a support frame 25. The support frame 25 is supported on the first drive module 20 and on the second drive module 20. The support frame 25 serves to hold objects to be transported. The mobile transport system comprises a plurality of laser scanners 51, which are mounted in a front end region in the longitudinal direction X and in a rear end region of the mobile transport system in the longitudinal direction X. Furthermore, the mobile transport system comprises a plurality of push rods 52, which are also mounted in the front end region in the longitudinal direction X and in the rear end region of the mobile transport system in the longitudinal direction X. The push rods 52 serve to push the mobile transport system in the event of an accident.The push rods 52 are only inserted into the mobile transport system in the event of an emergency. During normal operation, the push rods 52 are not installed.

[0033] Figure 2 shows an enlarged side view of one of the drive modules 20 of the mobile transport system. The drive module 20 has a module frame 12 and a pendulum frame 14. The pendulum frame 14 is pivotable about a pendulum axis 13 relative to the vehicle frame 12. The module frame 12 is pivotable about a module axis 22 relative to the support frame 25. The pendulum axis 13 runs in the transverse direction Y. The module axis 22 also runs in the transverse direction Y.

[0034] The drive module 10 has a pair of support rollers 41. The support rollers 41 are arranged on the module frame 12. The support rollers 41 are each pivotable relative to the vehicle frame 12 about a pivot axis extending in the vertical direction Z. The support rollers 41 are further each rotatably mounted relative to the module frame 12 about a rotation axis extending in a horizontal direction.

[0035] In the illustration shown here, the rotation axes of the support rollers 41 run in the transverse direction Y. Depending on the pivoting of the support rollers 41 about the pivot axis, the rotation axes of the support rollers 41 run, for example, in the longitudinal direction X or in another horizontal direction. The pivot axis and the rotation axis of a support roller 41 do not intersect in this case.

[0036] The drive module 10 has a pair of brake rollers 42. The brake rollers 42 are arranged on the pendulum frame 14. The brake rollers 42 can each pivot about a pivot axis running in the vertical direction Z relative to the pendulum frame 14. The brake rollers 42 are further each rotatably mounted about a rotation axis running in a horizontal direction relative to the pendulum frame 14. In the illustration shown here, the axes of rotation of the brake rollers 42 run in the longitudinal direction X. Depending on a pivoting of the brake rollers 42 about the pivot axis, the axes of rotation of the brake rollers 42 run, for example, in the transverse direction Y or in another horizontal direction. The pivot axis and the rotation axis of a brake roller 42 do not intersect in the present case.

[0037] A braking device is arranged on each of the brake rollers 42. The braking device can be used to brake the rotation of the respective brake roller 42 about the rotation axis. The braking devices of the brake rollers 42 are electromagnetically actuated. Therefore, if the electrical power supply to the mobile transport system fails, the braking devices and the brake rollers 42 will lock.

[0038] Each of the brake rollers 42 is designed as a double roller. Each of the brake rollers 42 comprises two rollers arranged in parallel and rotatable about the same axis of rotation.

[0039] The drive module 20 has a pair of drive wheels 45. The drive wheels 45 are also arranged on the pendulum frame 14. The drive wheels 45 are each rotatably mounted relative to the pendulum frame 14 about a drive axis extending in a horizontal direction. In the illustration shown here, the drive axes of the drive wheels 45 extend in the transverse direction Y. Furthermore, the drive wheels 45 are mounted on a drive frame, which is pivotally mounted relative to the pendulum frame 14 about an axis extending in the vertical direction Z.

[0040] In this case, the drive module 20 has two drive motors, each driving one of the drive wheels 45 around the respective drive axle. The drive motors are designed as electric motors. If the electrical power supply of the mobile transport system fails, the drive motors and drive wheels 45 lock, particularly if the drive module 20 has motor brakes.

[0041] The drive module 20 has two actuating means 30, one of which is concealed in the present illustration. The actuating means 30 are each designed as a screw and extend through the support frame 25 in the vertical direction Z. By means of the actuating means 30, the module frame 12 can be pivoted about the module axis 22 relative to the support frame 25 in such a way that the support rollers 41 move away from the support frame 25 in the vertical direction Z.

[0042] The drive module 20 has two stop elements 32, one of which is concealed in the present illustration. The stop elements 32 are arranged on the support frame 25. The stop elements 32 are each designed as rubber buffers. In the present illustration, the pendulum frame 14 is in contact with the stop elements 32.

[0043] The pendulum axle 13 is arranged in the longitudinal direction X between the brake rollers 42 and the drive wheels 45. The pendulum axle 13 is arranged in the longitudinal direction X between the brake rollers 42 and the module axle 22. The pendulum axle 13 is arranged in the longitudinal direction X between the brake rollers 42 and the support rollers 41. The pendulum axle 13 is arranged in the longitudinal direction X between the stop elements 32 and the module axle 22.

[0044] The module axis 22 is arranged in the longitudinal direction X between the support rollers 41 and the pendulum axis 13. The module axis 22 is arranged in the longitudinal direction X between the support rollers 41 and the brake rollers 42. The module axis 22 is arranged in the longitudinal direction X between the actuating means 30 and the pendulum axis 13. The module axis 22 is arranged in the longitudinal direction X between the actuating means 30 and the stop elements 32.

[0045] The drive wheels 45 are arranged in the longitudinal direction X between the brake rollers 42 and the support rollers 41. The drive wheels 45 are arranged in the longitudinal direction X between the pendulum axle 13 and the support rollers 41. The drive wheels 45 are arranged in the longitudinal direction X between the actuating means 30 and the stop elements 32. The drive wheels 45 are arranged in the longitudinal direction X between the actuating means 30 and the pendulum axle 13.

[0046] Figure 3 shows a front view of the mobile transport system. Each of the support rollers 41 is designed as a double roller. Each of the support rollers 41 comprises two rollers arranged in parallel and rotatable about the same axis of rotation.

[0047] The two support rollers 41 are arranged offset from one another in the transverse direction Y. The two brake rollers 42 are arranged offset from one another in the transverse direction Y. The two drive wheels 45 are arranged offset from one another in the transverse direction Y. Figure 4 shows a schematic side view of the drive module 20. In the illustration shown here, the mobile transport system is in a normal operating mode. In this operating mode, the support rollers 41, the brake rollers 42, and the drive wheels 45 are in contact with the ground on which the mobile transport system is located.

[0048] As already mentioned, the drive module 20 has two actuating means 30, each designed as a screw and extending through the support frame 25 in the vertical direction Z. Only one actuating means 30 is shown here. In the illustration shown here, the actuating means 30 is removed from the module frame 12.

[0049] In the event of a failure of the mobile transport system, the actuating means 30, designed as a screw, is screwed further into the support frame 25. The actuating means 30 then comes into contact with the module frame 12 and causes a pivoting movement of the module frame 12 relative to the support frame 25 about the module axis 22. As a result, the support rollers 41 move away from the support frame 25 in the vertical direction Z and maintain contact with the ground.

[0050] As a result of the said pivoting movement of the module frame 12 relative to the support frame 25 about the module axis 22, the pendulum frame 14 with the brake rollers 42 and the drive wheels 45 approaches the support frame 25. In this case, in particular the brake rollers 42 lose contact with the ground.

[0051] When the pendulum frame 14 comes into contact with the stop element 32, the brake rollers 42 no longer have contact with the ground. As the said pivoting movement of the module frame 12 relative to the support frame 25 continues about the module axis 22, the pendulum frame 14 is pivoted about the pendulum axis 13 relative to the support frame 25. In this case, the drive wheels 45 also lose contact with the ground, provided that ground contact was previously present.

[0052] When the actuating means 30 is fully screwed into the support frame 25, the mobile transport system is in emergency mode. The emergency mode is illustrated in Figures 1, 2, and 3. In emergency mode, only the support rollers 41 are still in contact with the ground, while the drive wheels 45 and the brake rollers 42 are removed from the ground. The mobile transport system can thus be easily moved across the ground, particularly with the aid of the push rods 52.

[0053] List of reference symbols

[0054] 12 module frames

[0055] 13 Swing axle

[0056] 14 pendulum frames

[0057] 20 drive module

[0058] 22 module axis

[0059] 25 supporting frames

[0060] 30 operating devices

[0061] 32 stop element

[0062] 41 support roller

[0063] 42 brake roller

[0064] 45 drive wheel

[0065] 51 laser scanners

[0066] 52 push rod

[0067] X Longitudinal direction

[0068] Y transverse direction

[0069] Z vertical direction

Claims

Patent claims:

1. A mobile transport system for transporting objects, in particular in a technical installation, comprising at least one drive module (20) and a support frame (25) supported on the drive module (20), wherein the drive module (20) has at least one module frame (12), a pendulum frame (14), a pair of support rollers (41), a pair of brake rollers (42), and a pair of drive wheels (45), characterized in that the support rollers (41) are arranged on the module frame (12), and that the brake rollers (42) are arranged on the pendulum frame (14), and that the drive wheels (45) are arranged on the pendulum frame (14), and that the module frame (12) is pivotable about a module axis (22) relative to the support frame (25), and that the pendulum frame (14) is pivotable about a pendulum axis (13) relative to the module frame (12), and that the drive module (20) has at least one actuating means (30). has,by means of which the module frame (12) can be pivoted about the module axis (22) relative to the support frame (25) in such a way that the support rollers (41) move away from the support frame (25) in a vertical direction (Z).

2. Mobile transport system according to claim 1, characterized in that the drive module (20) is designed such that when the module frame (12) is pivoted about the module axis (22) relative to the support frame (25) by means of the actuating means (30) and the support rollers (41) move away from the support frame (25) in the vertical direction (Z), the brake rollers (42) and / or the drive wheels (45) approach the support frame (25) in the vertical direction (Z).

3. Mobile transport system according to one of the preceding claims, characterized in that the actuating means (30) is designed as a screw which projects through the support frame (25) in the vertical direction (Z).

4. Mobile transport system according to one of the preceding claims, characterized in that the module axis (22) and the pendulum axis (13) run parallel to each other in a transverse direction (Y).

5. Mobile transport system according to one of the preceding claims, characterized in that the module axis (22) is arranged in a longitudinal direction (X) between the support rollers (41) and the pendulum axis (13).

6. Mobile transport system according to one of the preceding claims, characterized in that the pendulum axle (13) is arranged in a longitudinal direction (X) between the brake rollers (42) and the drive wheels (45) and between the brake rollers (42) and the module axle (22).

7. Mobile transport system according to one of the preceding claims, characterized in that the drive wheels (45) are arranged in a longitudinal direction (X) between the brake rollers (42) and the support rollers (41).

8. Mobile transport system according to one of the preceding claims, characterized in that at least one stop element (32) is arranged on the support frame (25) in such a way that when the brake rollers (42) approach the support frame (25), the pendulum frame (14) comes into contact with the stop element (32).

9. Mobile transport system according to one of the preceding claims, characterized in that the support rollers (41) are each rotatably mounted about a rotation axis running in a horizontal direction relative to the module frame (12) and are pivotable about a pivot axis running in the vertical direction (Z) relative to the vehicle frame (12).

10. Mobile transport system according to one of the preceding claims, characterized in that the brake rollers (42) are each mounted so as to be rotatable about an axis of rotation running in a horizontal direction relative to the pendulum frame (14) and are pivotable about a pivot axis running in the vertical direction (Z) relative to the pendulum frame (14), and in that a braking device is arranged on each of the brake rollers (42), by means of which braking device a rotation of the respective brake roller (42) about the axis of rotation can be braked.

11. Mobile transport system according to one of the preceding claims, characterized in that the drive wheels (45) are each rotatably mounted about a drive axis extending in a horizontal direction relative to the pendulum frame (14), and in that the drive module (20) has at least one drive motor for driving the drive wheels (45) about the drive axis.

12. Mobile transport system according to one of the preceding claims, characterized in that the mobile transport system comprises a first drive module (20) and a second drive module (20), which are arranged offset from one another in a longitudinal direction (X), and in that the support frame (25) is supported on the first drive module (20) and on the second drive module (20).

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