Mobile transport system

Abstract

A mobile transport system according to the invention comprises: a vehicle frame (12); a pair of rotatably mounted first support wheels (41); a pair of rotatably mounted second support wheels (42); a drive unit (70) which comprises a first drive wheel (71) that is rotatable about a first drive axis (73) and a second drive wheel (72) that is rotatable about a second drive axis (74); and a swing frame (14), which is pivotable about a swing axis (13) relative to the vehicle frame (12), wherein the first support wheels (41) are arranged on the vehicle frame (12), and the second support wheels (42) are arranged on the swing frame (14). The first support wheels (41) are mounted so as to be rotatable relative to the vehicle frame (12) about a common first axis of rotation (51), and the first axis of rotation (51) always extends parallel to the swing axis (13) in a lateral direction (S) irrespective of a movement direction of the mobile transport system, and a brake unit (45) is arranged at each of the first support wheels (41), by means of which brake units a rotation of the respective first support wheels (41) about the first axis of rotation (51) can be braked.

Description

[0001] Mobile transport system

[0002] Description:

[0003] The invention relates to a mobile transport system for transporting objects, in particular in a technical plant, comprising a vehicle frame, a pair of rotatably mounted first support wheels, a pair of rotatably mounted second support wheels, and a drive unit.

[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 systems move components from logistics areas, such as a material warehouse, to workstations where the components are processed. These mobile transport systems are capable of overcoming slight inclines or declines, as well as small speed bumps or similar obstacles.

[0005] Document DE 102020 002 676 B3 discloses a mobile transport system for transporting objects, particularly in a technical plant, which comprises a drive unit having a first drive wheel rotatable about a first drive axis extending in a transverse direction and a second drive wheel rotatable about a second drive axis extending in a transverse direction. The mobile transport system also includes a pair of first support wheels and a pair of second support wheels.

[0006] The invention is based on the objective of further developing a mobile transport system for transporting objects.

[0007] The problem is solved by a mobile transport system with the features specified in claim 1. Advantageous embodiments and further developments are the subject of the dependent claims.

[0008] A mobile transport system according to the invention for transporting objects, particularly in a technical installation, comprises a vehicle frame, a pair of rotatably mounted first support wheels, a pair of rotatably mounted second support wheels, a drive unit comprising a first drive wheel rotatable about a first drive axis and a second drive wheel rotatable about a second drive axis, and a pendulum frame pivotable about a pendulum axis relative to the vehicle frame. The first support wheels are arranged on the vehicle frame, and the second support wheels are arranged on the pendulum frame. The first support wheels are rotatably mounted about a common first axis of rotation relative to the vehicle frame. Regardless of the direction of movement of the mobile transport system, the first axis of rotation always runs parallel to the pendulum axis in a lateral direction.Each of the first support wheels is equipped with a brake unit, by means of which a rotation of the respective first support wheel around the first axis of rotation can be braked.

[0009] The design of the first support wheels, which are rotatable around a fixed primary axis, increases the load-bearing capacity of the mobile transport system compared to swiveling support wheels. The driving stability of the mobile transport system is also improved. The brake units on the first support wheels generate a relatively high braking force. In particular, this braking force is higher than that generated by swiveling support wheels. Therefore, additional brake units on the second support wheels and / or the drive wheels are not required. The brake units are preferably electromagnetically actuated.

[0010] Optionally, additional brake units are provided on the second support wheels and / or on the drive wheels. This allows for even greater braking force.

[0011] According to an advantageous embodiment of the invention, the diameter of the first support wheels is larger than the diameter of the second support wheels. This makes it easier to drive over uneven ground.

[0012] According to an advantageous embodiment of the invention, the diameter of the first support wheels is larger than the diameter of the drive wheels. This makes it easier to traverse uneven ground.

[0013] According to an advantageous embodiment of the invention, each brake unit has a ventilation device for manually releasing the brake unit. This allows the brake units to be easily manually released in the event of a breakdown, enabling the vehicle to be pushed, for example, to a service station. According to another advantageous embodiment of the invention, the second support wheels are each rotatably mounted about a second axis of rotation extending in a horizontal direction relative to the pendulum frame and pivotable about a pivot axis extending in a vertical direction relative to the pendulum frame. The vertical direction extends perpendicular to both the lateral and horizontal directions. Support wheels designed in this way are relatively inexpensive and also facilitate cornering of the mobile transport system.The vertical direction extends perpendicular to the ground on which the mobile transport system is located. Horizontal directions extend perpendicular to the vertical direction.

[0014] According to an advantageous embodiment of the invention, the lateral distance between the pivot axes is smaller than the lateral distance between the first support wheels. This reduces the sensitivity of the mobile transport system to uneven ground.

[0015] According to an advantageous embodiment of the invention, the drive wheels are arranged in a basic direction between the first support wheels and the second support wheels. This basic direction extends perpendicular to the lateral direction and perpendicular to the vertical direction. The basic direction and the lateral direction are horizontal directions.

[0016] According to an advantageous embodiment of the invention, the drive unit is arranged on the pendulum frame and comprises a drive frame. The first drive wheel is rotatably mounted on a first rocker arm that is pivotable about a first pivot axis relative to the drive frame, and the second drive wheel is rotatably mounted on a second rocker arm that is pivotable about a second pivot axis relative to the drive frame. The drive frame is pivotable about a steering axis extending in a vertical direction relative to the pendulum frame. The vertical direction extends perpendicular to the lateral direction.

[0017] A pivoting movement of the drive frame changes the orientation of the drive wheels relative to the pendulum frame and the vehicle frame. This allows for changes in the orientation of both the pendulum frame and the vehicle frame relative to the direction of movement of the mobile transport system. The mobile transport system features rigid kinematics, which advantageously prevents any yielding or deflection when traversing uneven terrain. Advantageously, space remains between the drive wheels for additional components. Preferably, the first and second pivot axes are aligned.

[0018] According to an advantageous embodiment of the invention, the first rocker arm and the second rocker arm are coupled to each other via a coupling unit in such a way that a pivoting movement of the first rocker arm about the first axis of oscillation in a first pivoting direction causes a pivoting movement of the second rocker arm about the second axis of oscillation in a second pivoting direction opposite to the first pivoting direction.

[0019] A pivoting movement of the swing arms around their axes causes one of the drive axles to move towards the ground and the other drive axle to move away from the ground. This compensates for uneven ground. The pivoting movement of the swing arms around their axes when traversing uneven ground ensures that both drive wheels maintain constant contact with the ground on which the mobile transport system is located and have sufficient ground pressure. The use of springs to achieve sufficient ground pressure is therefore unnecessary. The first support wheels with the brake units also maintain constant contact with the ground. This allows the mobile transport system to be braked at virtually any time, regardless of the ground conditions.

[0020] According to an advantageous embodiment of the invention, the first drive axis and the second drive axis extend parallel to each other in a horizontal direction. The vertical direction extends perpendicular to the horizontal direction. Preferably, the oscillation axes extend parallel to the drive axes.

[0021] According to an advantageous embodiment of the invention, the horizontal distance between the drive wheels is smaller than the lateral distance between the first support wheels. This reduces the sensitivity of the mobile transport system to uneven ground.

[0022] According to an advantageous embodiment of the invention, the mobile transport system comprises two housing parts which are attached to the vehicle frame. Each of the brake units has a brake housing which is attached to a side of the housing part facing away from the first support wheel in the axial direction.

[0023] A brake unit designed in this way generates a relatively high braking force and is readily available and relatively inexpensive. The aforementioned arrangement of the brake housing on the housing component is relatively compact and space-saving.

[0024] According to an advantageous embodiment of the invention, each of the brake units has a brake pad carrier which is rotationally fixed to the first support wheel. Each of the brake units has an anchor disk which is arranged rotationally fixed to the brake housing of the brake unit and which is axially displaceable relative to the brake pad carrier.

[0025] The anchor disc is pressed axially onto the brake pad carrier to brake the first support wheel.

[0026] According to an advantageous embodiment of the invention, the anchor disc and the brake pad carrier are arranged inside the brake housing of the brake unit.

[0027] This results in a compact design for the brake unit. Furthermore, the anchor disc and the brake pad carrier are protected from external mechanical damage.

[0028] The invention is not limited to the combination of features stated in the claims. For those skilled in the art, further meaningful combinations of claims and / or individual claim features and / or features of the description and / or the figures will arise, particularly from the problem statement and / or the problem arising from a comparison with the prior art. The invention will now be explained in more detail with reference to the figures. The invention is not limited to the embodiments shown in the figures. The figures represent the subject matter of the invention only schematically. They show:

[0029] Figure 1: a side view of a mobile transport system,

[0030] Figure 2: a top view of an underside of the mobile transport system and

[0031] Figure 3: a perspective view of the mobile transport system.

[0032] Figure 1 shows a schematic side view of a mobile transport system. In this case, 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 transport system can also be used, for example, to deliver goods to a private residence in a city or residential area. In this case, the mobile transport system is an autonomously driving vehicle. In the illustration shown, the mobile transport system is located on a level surface within a technical facility.

[0033] The mobile transport system comprises a vehicle frame 12 and a pivoting frame 14. The pivoting frame 14 is pivotable about a pivoting axis 13 relative to the vehicle frame 12. The pivoting axis 13 extends in the lateral direction S. The vehicle frame 12 has an approximately rectangular cross-section and extends predominantly in a basic direction T and in the transverse direction S.

[0034] The basic direction T corresponds at least approximately to the usual direction of travel of the mobile transport system. The lateral direction S runs perpendicular to the basic direction T. The basic direction T and the lateral direction S represent horizontal directions and run parallel to the flat ground on which the mobile transport system is located. A vertical direction Z is perpendicular to the flat ground and thus runs perpendicular to the basic direction T and perpendicular to the lateral direction S. Any direction perpendicular to the vertical direction Z represents a horizontal direction.

[0035] Two first support wheels 41 are arranged on the vehicle frame 12 and are rotatable relative to the vehicle frame 12. The first support wheels 41 are arranged offset from each other in the lateral direction S. The first support wheels 41 are rotatably mounted about a common first axis of rotation 51 relative to the vehicle frame 12. The first axis of rotation 51 always runs parallel to the pendulum axis 13 in the lateral direction S, regardless of the direction of movement of the mobile transport system.

[0036] Two secondary support wheels 42 are arranged on the pendulum frame 14 and are rotatable relative to the pendulum frame 14. The secondary support wheels 42 are arranged offset from each other in the lateral direction S. Each secondary support wheel 42 is pivotable about a pivot axis 62 extending in the vertical direction Z relative to the pendulum frame 14. Furthermore, each secondary support wheel 42 is rotatably mounted about a second pivot axis 52 extending in a horizontal direction relative to the pendulum frame 14.

[0037] In the illustration shown here, the second axes of rotation 52 run in the lateral direction S. Depending on the pivoting of the second support wheels 42 about the pivot axis 62, the second axes of rotation 52 run, for example, in the basic direction T or in another horizontal direction. The pivot axis 62 and the second axis of rotation 52 of a second support wheel 42 do not intersect in this case.

[0038] The mobile transport system comprises a drive unit 70, which is arranged on the pendulum frame 14. The drive unit 70 has a drive frame 75 and a slewing ring. The drive frame 75 is pivotable about a steering axis 95 relative to the slewing ring. The slewing ring is attached to the pendulum frame 14. The drive frame 75 is thus pivotable about the steering axis 95 relative to the pendulum frame 14. The drive unit 70 is arranged in the basic direction T between the first support wheels 41 and the second support wheels 42.

[0039] The drive unit 70 comprises a first drive wheel 71 and a second drive wheel 72, which are rotatably mounted. The drive wheels 71, 72 are arranged in the basic direction T between the first support wheels 41 and the second support wheels 42.

[0040] The distance between the second support wheels 42 in the direction T and the pivot axis 13 is at least approximately equal to the distance between the steering axis 95 in the direction T and the pivot axis 13. The distance between the second support wheels 42 and the pivot axis 13 in the direction T corresponds to the distance between the pivot axes 62 and the pivot axis 13 in the direction T. By varying the arrangement of the pivot axis 13 in the direction T, the load distribution between the drive wheels 71, 72 and the second support wheels 42 can be adjusted. The smaller the distance between the pivot axis 13 and the steering axis 95, the higher the load on the drive wheels 71, 72 and the lower the load on the second support wheels 42.

[0041] The distance between the first support wheels 41 in the basic direction T and the pendulum axis 13 is greater than the distance between the steering axis 95 in the basic direction T and the pendulum axis 13, and greater than the distance between the second support wheels 42 in the basic direction T and the pendulum axis 13. The distance between the first support wheels 41 and the pendulum axis 13 in the basic direction T corresponds to the distance between the first pivot axis 51 and the pendulum axis 13 in the basic direction T.

[0042] The diameter of the first support wheels 41 is larger than the diameter of the second support wheels 42. The diameter of the first support wheels 41 is also larger than the diameter of the drive wheels 71, 72. It is also conceivable that the diameter of the first support wheels 41 is equal to the diameter of the drive wheels 71, 72.

[0043] Figure 2 shows a top view of the underside of the mobile transport system. The drive unit 70 comprises a first rocker arm 81, which is pivotable about a first pivot axis 91 relative to the drive frame 75, and a second rocker arm 82, which is pivotable about a second pivot axis 92 relative to the drive frame 75. The first drive wheel 71 is rotatably mounted on the first rocker arm 81 about a first drive axis 73. The second drive wheel 72 is rotatably mounted on the second rocker arm 82 about a second drive axis 74.

[0044] The first pivot axis 91 and the second pivot axis 92 each run horizontally and are aligned with each other. The drive axes 73 and 74 run parallel to each other in a horizontal direction. The drive axes 73 and 74 run parallel to the pivot axes 91 and 92, but are offset from them.

[0045] The swing arms 81, 82 are each pivotable in a first pivoting direction and in a second pivoting direction opposite to the first pivoting direction about the pivot axes 91, 92 relative to the drive frame 75. By pivoting the swing arms 81, 82 about the pivot axes 91, 92, the drive axes 73, 74 are displaceable relative to each other in the approximately vertical direction Z. The drive unit 70 comprises a coupling unit, which has a rocker arm pivotable about a coupling axis relative to the drive frame 75, a first strut, and a second strut. The first swing arm 81 is connected to the rocker arm by means of the first strut. The second swing arm 82 is connected to the rocker arm by means of the second strut. The coupling axis runs in a horizontal direction, perpendicular to the pivot axes 91, 92. The first swing arm 81 and the second swing arm 82 are thus coupled to each other via the aforementioned coupling unit.

[0046] For example, if the first drive wheel 71 encounters a raised section of the ground, it is thereby moved upwards in the vertical direction Z. The first rocker arm 81 is thereby pivoted about the first pivot axis 91 in the first direction of rotation. The first rocker arm 81, via the first strut, causes a pivoting movement of the rocker arm about the coupling axis. The rocker arm, via the second strut, causes a pivoting movement of the second rocker arm 82 about the second pivot axis 92 in the second direction of rotation. This causes the second drive wheel 72 to move downwards in the vertical direction Z.

[0047] The first rocker arm 81 and the second rocker arm 82 are thus coupled to each other via the coupling unit such that a pivoting movement of the first rocker arm 81 about the first pivoting axis 91 in the first pivoting direction causes a pivoting movement of the second rocker arm 82 about the second pivoting axis 92 in the second pivoting direction. The first rocker arm 81 and the second rocker arm 82 are also coupled to each other via the coupling unit such that a movement of the first drive wheel 71 upwards in the vertical direction Z causes a movement of the second drive wheel 72 downwards in the vertical direction Z, and vice versa.

[0048] The first and second struts extend at least approximately in the vertical direction Z. The lengths of the first and second struts are independently adjustable. This means that the extension of the struts in the vertical direction Z is adjustable.

[0049] The drive unit 70 has a tilt sensor (not shown) which detects an inclination of the rocker arm about the coupling axis relative to the drive frame 75. The drive unit 70 has a tilt sensor (not shown) which detects an inclination of the first rocker arm 81 about the first rocker arm axis 91 relative to the drive frame 75. The drive unit 70 has a tilt sensor (not shown) which detects an inclination of the second rocker arm 82 about the second rocker arm axis 92 relative to the drive frame 75.

[0050] The distance between the pivot axes 62 in the lateral direction S is smaller than the distance between the first support wheels 41 in the lateral direction S. The distance between the drive wheels 71, 72 in the horizontal direction is smaller than the distance between the first support wheels 41 in the lateral direction S. The distance between the drive wheels 71, 72 in the horizontal direction is smaller than the distance between the pivot axes 62 in the lateral direction S.

[0051] The mobile transport system comprises two brake units 45. One brake unit 45 is arranged on each of the first support wheels 41. The brake unit 45 allows the rotation of the respective first support wheel 41 about the first axis of rotation 51 to be braked. The brake units 45 are electromagnetically actuated.

[0052] Each of the brake units 45 has a ventilation device for manually venting the respective brake unit 45. The brake unit has, for example, a tie rod which can be translationally displaced between an upper end position, in which the brake unit 45 is released, and a lower end position, in which the brake unit 45 is actuated, by means of an actuating lever.

[0053] The mobile transport system comprises two housing parts which are attached to the vehicle frame 12. The housing parts are connected to the vehicle frame 12 in a way that prevents displacement and rotation. The first support wheels 41 are each arranged on one of the housing parts and are rotatably mounted about the first pivot axis 51 relative to the housing part.

[0054] Each of the brake units 45 has a brake housing. The respective brake housing is attached to the side of the respective housing part facing away from the respective first support wheel 41 in the axial direction with respect to the first axis of rotation 51. The brake housing is bolted to the housing part. The brake housing is thus rotationally fixed to the housing part.

[0055] Each of the brake units 45 has a brake pad carrier. The brake pad carrier is rotationally fixed to the first support wheel 41. The brake pad carrier thus also rotates about the first axis of rotation 51 relative to the housing part. The brake pad carrier is axially displaceable relative to the first support wheel 41 and relative to the housing part.

[0056] Each of the brake units 45 has an anchor disc. The anchor disc is arranged perpendicular to the brake housing. The anchor disc is axially displaceable relative to the brake pad carrier. The anchor disc is also axially displaceable relative to the brake housing. The anchor disc and the brake pad carrier are located inside the brake housing.

[0057] Each of the brake units 45 has a plurality of springs. The springs are designed, for example, as spiral compression springs. The springs exert a spring force on the anchor disc in the axial direction towards the brake pad carrier.

[0058] Each of the brake units 45 has an electromagnet. The electromagnet is designed in the form of a coil winding that coaxially surrounds the first axis of rotation 51. When the electromagnet is energized, it exerts a magnetic force on the armature disk in the axial direction away from the brake pad carrier. The brake unit 45 is thus electromagnetically actuated.

[0059] When the electromagnet is energized such that the magnetic force is greater than the spring force, the armature disc is pulled axially away from the brake pad carrier. The first support wheel 41 is then freely rotatable about the first axis of rotation 51.

[0060] When the electromagnet is de-energized, the spring force moves the armature disc axially towards the brake pad carrier. The armature disc then comes into contact with the brake pad carrier and pushes the brake pad carrier further axially towards the housing part. The brake pad carrier is then clamped between the housing part and the armature disc. This action brakes the first support wheel 41.

[0061] Figure 3 shows a perspective view of the mobile transport system. The mobile transport system includes a receiving unit (not shown) to which energy can be inductively transferred from a charging unit. The receiving unit is, for example, arranged on the vehicle frame 12 between the drive unit 70 and the first support wheels 41. Alternatively, the receiving unit is arranged on the drive frame 75. The charging unit is, for example, designed as a linear conductor or as a coil. The energy inductively transferred from the charging unit to the receiving unit is used, for example, to charge an electrical energy storage device of the mobile transport system.

[0062] The mobile transport system also includes an inductive sensor, not shown here. The inductive sensor is arranged on the pendulum frame 14 between the second support wheels 42. The inductive sensor serves to detect a magnetic field. If the magnetic field is generated, for example, by a linear conductor laid in the ground, the inductive sensor allows the system to follow said linear conductor to reach a specific destination.

[0063] Reference symbol list

[0064] 12 vehicle frames

[0065] 13 Pendulum axle

[0066] 14 pendulum frames

[0067] 41 first support wheel

[0068] 42 second support wheel

[0069] 45 Brake unit

[0070] 51 first axis of rotation

[0071] 52 second axis of rotation

[0072] 62 Swivel axis

[0073] 70 Drive unit

[0074] 71 first drive wheel

[0075] 72 second drive wheel

[0076] 73 first drive axle

[0077] 74 second drive axle

[0078] 75 drive frame

[0079] 81 first swing arm

[0080] 82 second swing arm

[0081] 91 first swing axle

[0082] 92 second swing axle

[0083] 95 Steering axle

[0084] S side direction

[0085] T basic direction

[0086] Z Vertical direction

Claims

Patent claims:

1. Mobile transport system for transporting objects, in particular in a technical plant, comprising a vehicle frame (12), a pair of rotatably mounted first support wheels (41), a pair of rotatably mounted second support wheels (42), a drive unit (70) comprising a first drive wheel (71) rotatable about a first drive axis (73) and a second drive wheel (72) rotatable about a second drive axis (74), and a pendulum frame (14) pivotable about a pendulum axis (13) relative to the vehicle frame (12), wherein the first support wheels (41) are arranged on the vehicle frame (12) and the second support wheels (42) are arranged on the pendulum frame (14), characterized in that the first support wheels (41) are rotatably mounted about a common first axis of rotation (51) relative to the vehicle frame (12), and that the first axis of rotation (51) is independent of any direction of movement of the mobile transport system,always runs parallel to the pendulum axis (13) in a lateral direction (S), and that a brake unit (45) is arranged on each of the first support wheels (41), by means of which a rotation of the respective first support wheel (41) about the first axis of rotation (51) can be braked.

2. Mobile transport system according to claim 1, characterized in that the diameter of the first support wheels (41) is larger than the diameter of the second support wheels (42).

3. Mobile transport system according to one of the preceding claims, characterized in that the diameter of the first support wheels (41) is larger than the diameter of the drive wheels (71, 72).

4. Mobile transport system according to one of the preceding claims, characterized in that each of the brake units (45) has a ventilation device for manually venting the brake unit (45).

5. Mobile transport system according to one of the preceding claims, characterized in that the second support wheels (42) are each rotated about a second axis of rotation (52) extending in a horizontal direction relative to the The pendulum frame (14) is rotatably mounted and pivotable about a pivot axis (62) extending in a vertical direction (Z) relative to the pendulum frame (14), wherein the vertical direction (Z) extends perpendicular to the lateral direction (S) and perpendicular to the horizontal direction.

6. Mobile transport system according to claim 5, characterized in that the distance between the pivot axes (62) in the lateral direction (S) is smaller than the distance between the first support wheels (41) in the lateral direction (S).

7. Mobile transport system according to one of the preceding claims, characterized in that the drive wheels (71 , 72) are arranged in a basic direction (T) between the first support wheels (41) and the second support wheels (42), wherein the basic direction (T) extends perpendicular to the lateral direction (S) and perpendicular to the vertical direction (Z).

8. Mobile transport system according to one of the preceding claims, characterized in that the drive unit (70) is arranged on the pendulum frame (14) and has a drive frame (75), and that the first drive wheel (71) is rotatably mounted on a first rocker arm (81) pivotable about a first pivot axis (91) relative to the drive frame (75), and the second drive wheel (72) is rotatably mounted on a second rocker arm (82) pivotable about a second pivot axis (92) relative to the drive frame (75), and that the drive frame (75) is pivotable about a steering axis (95) extending in a vertical direction (Z) relative to the pendulum frame (14), wherein the vertical direction (Z) extends perpendicular to the lateral direction (S).

9. Mobile transport system according to claim 8, characterized in that the first rocker arm (81) and the second rocker arm (82) are coupled to each other via a coupling unit such that a pivoting movement of the first rocker arm (81) about the first pivoting axis (91) in a first pivoting direction causes a pivoting movement of the second rocker arm (82) about the second pivoting axis (92) in a second pivoting direction opposite to the first pivoting direction.

10. Mobile transport system according to one of the preceding claims, characterized in that the first drive axis (73) and the second drive axis (74) run parallel to each other in a horizontal direction, wherein the vertical direction (Z) extends perpendicular to the horizontal direction.

11. Mobile transport system according to claim 10, characterized in that the distance between the drive wheels (71, 72) in the horizontal direction is smaller than the distance between the first support wheels (41) in the lateral direction (S).

12. Mobile transport system according to one of the preceding claims, characterized in that the mobile transport system comprises two housing parts which are attached to the vehicle frame (12), and that each of the brake units (45) has a brake housing which is attached to a side of the housing part facing away from the first support wheel (41) in the axial direction.

13. Mobile transport system according to claim 12, characterized in that each of the brake units (45) has a brake pad carrier which is rotationally fixed to the first support wheel (41), and that each of the brake units (45) has an anchor disk which is arranged rotationally fixed to the brake housing of the brake unit (45), and which is axially displaceable relative to the brake pad carrier.

14. Mobile transport system according to claim 13, characterized in that the anchor disc and the brake pad carrier are arranged within the brake housing of the brake unit (45).

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