Modular mobile lift system

Abstract

The present invention relates to a modular mobile lift system (10) designed for high loads and especially for use in clean rooms. The modular mobile lift system comprises a chassis (12), a lifting unit (14) located on the chassis, and a carrier (16) which is located on the lifting unit and is configured to carry a load that is to be moved by the modular mobile lift system. The lifting unit comprises a first lifting column (18) and a first guide carriage (22), the first guide carriage being movable along the first lifting column by means of a first belt (30). The lifting unit further comprises a second lifting column (18) and a second guide carriage (22), the second guide carriage being movable along the second lifting column by means of a second belt (20). The carrier is attached to the two guide carriages and is movable therewith. The chassis has wheel devices (34) for maneuvering the mobile lift system (10), and the running surface of each of the wheel devices (34) consists of rollers (36), the axes of rotation of the rollers (36) extending at a right angle to the axis of rotation of the respective wheel devices (34).

Description

[0001] Modular mobile lift system

[0002] The present invention relates to a modular mobile lift system designed for high load capacities and specifically for use in cleanrooms.

[0003] In recent years, the demands placed on industrial trucks have steadily increased. Loads of varying weights, dimensions, and shapes must be transported as quickly and efficiently as possible, while simultaneously being handled with the utmost precision and care. Additional requirements arise from the specific operating environment, such as ambient temperature, humidity, and cleanliness.

[0004] The production of many products now places extreme demands on the manufacturing environment, as many of the (intermediate) products are very sensitive to contaminants or foreign substances in their environment during production (e.g., in the fields of semiconductor technology, microsystems technology, optics, laser technology, battery technology, aerospace technology, medical technology, pharmaceuticals, food technology, etc.). Increasingly, and in a growing number of industrial sectors, the production of such products is therefore taking place in state-of-the-art cleanroom environments and under increasingly stringent regulations.

[0005] At the same time, alongside the continuously increasing cleanroom requirements, the demands placed on the products manufactured and handled within the cleanroom are also steadily rising. Specifically, there is a trend toward the need to move ever larger loads with consistent or even higher precision. In semiconductor technology, for example, increasingly larger lenses / optics are being used to expose ever larger wafers. Similarly, in battery technology, increasingly larger and more complex battery systems are being used to increase storage capacity.

[0006] The combination of these requirements presents new challenges for the transport and handling of heavy loads, especially in the range of approximately 50 kg to 500 kg, particularly in cleanroom environments. Existing lift systems are not designed for these specific requirements.

[0007] It is therefore an object of the present invention to provide a solution that overcomes these disadvantages. In particular, an object of the present invention is to provide a modular mobile lift system designed for transporting and manipulating a wide range of loads, especially in a cleanroom environment.

[0008] This problem is solved by the device according to claim 1. Advantageous embodiments are specified in the dependent claims.

[0009] A first aspect of the present invention relates to a modular mobile lift system for use in a cleanroom environment. The modular mobile lift system comprises a chassis, a lifting unit arranged on the chassis, and a support beam arranged on the lifting unit and configured to support a load to be moved by the modular mobile lift system. The lifting unit comprises a first lifting column and a first guide carriage, the first guide carriage being movable along the first lifting column by means of a first belt. The lifting unit further comprises a second lifting column and a second guide carriage, the second guide carriage being movable along the second lifting column by means of a second belt. The support beam is attached to and movable with the two guide carriages.

[0010] With the modular mobile lift system according to the invention, a load, either directly mounted on the support or via a modular component holder attached to the support, can be moved in a horizontal (x / y) plane on which the modular mobile lift system is used, by means of the chassis. Likewise, the load can be raised or lowered by means of the lifting unit and thus moved in a vertical (z) direction, perpendicular to the plane.

[0011] Surprisingly, clear advantages emerged from implementing the movement along the lifting axis using a belt drive system. The use of a belt drive system enables precise and repeatable lifting and lowering, and thus exact positioning of the load. Furthermore, the use of a belt drive system according to the invention significantly reduces lubricant consumption and, consequently, the risk of particle release into the environment during operation compared to known mobile lift systems. This makes the modular mobile lift system suitable for use even in cleanroom environments. Specifically, the modular mobile lift system according to the invention can be designed for use in cleanroom environments according to any of the ISO classes 1 to ISO 9 as defined in ISO 14644-1, which is part of the ISO 14644 / DIN EN ISO 14644 standard.

[0012] The two lifting columns of the lifting unit can be arranged parallel to each other on the chassis. Preferably, the two lifting columns lie in a plane perpendicular to the ground on which the chassis runs during operation.

[0013] To further reduce the release of particles into the environment during operation of the modular mobile lift system, the two belts can be made of an abrasion-resistant material, preferably a cleanroom-certified material. Particularly preferably, the belts are made of a material designed for use in a cleanroom environment according to one of ISO classes 1 to 9 as defined in ISO 14644-1, which is part of the ISO 14644 / DIN EN ISO 14644 standard (for example, ISO 9).

[0014] The two straps can be made of a stretch-resistant material. Using a stretch-resistant material allows for precise movement and accurate positioning of the load, even after repeated use of the modular mobile lift system over an extended period.

[0015] Preferably, the two webbing straps are made of a stretch-resistant and abrasion-resistant material, which is particularly preferably also cleanroom-certified as described above. The material of the two webbing straps can have a breaking strength of at least 1000 daN and / or an elongation of a maximum of 5%. Preferably, the material has a breaking strength of at least 2200 daN and / or an elongation of a maximum of 3% (DIN EN 12195-2). Therefore, if the webbing straps are made of a stretch-resistant and abrasion-resistant (or even cleanroom-certified) material, both advantages are realized.

[0016] The two straps are preferably made of the same material.

[0017] The modular mobile lift system can include a drive, the drive being configured to drive the first webbing and the second webbing synchronously.

[0018] Preferably, the drive is configured to mechanically synchronize the first and second webbing. Alternatively or additionally, the drive can be configured to electrically or electronically synchronize the first and second webbing. Particularly preferably, the drive is configured to synchronize both the first and second webbing mechanically and electronically. Synchronizing the two webbing ensures even more precise and reproducible lifting and lowering of the load. In each individual case, the specific requirements must be met to determine which of the aforementioned types of synchronization is necessary or sufficient.

[0019] Each of the two guide carriages of the modular mobile lift system can be equipped with longitudinal rollers designed to provide mobility along the respective lifting column, and specifically along the longitudinal axis of that column. Together with the belt-driven mechanism, the efficient rolling motion of the longitudinal rollers further reduces the release of particles into the environment during operation, particularly when lifting and lowering the load.

[0020] Preferably, the longitudinal rollers of each guide carriage have the same diameter or substantially the same diameter. Particularly preferably, the longitudinal rollers of each guide carriage are arranged in pairs such that the two longitudinal rollers of each pair are offset relative to each other in at least two, and preferably two or three, mutually orthogonal spatial directions. Specifically, one of the two rollers of each pair can be offset relative to the other roller of the pair perpendicular to the plane defined by the longitudinal and transverse directions of the guide carriage. This allows tilting moments caused by the load to be supported to be particularly well absorbed and absorbed. In other words, this helps maintain the parallelism of the longitudinal axes of the lifting columns with the longitudinal axes of the guide carriages, even under heavy loads up to 500 kg.At least the deviation from parallelism is reduced, allowing for precise and repeatable movement / positioning of the load to be carried.

[0021] Each of the guide carriages of a modular mobile lift system according to the invention can have lateral guide rollers. The lateral guide rollers serve to limit the movement of the guide carriage transversely to its longitudinal axis and thus transversely to the longitudinal axis of the lifting column. In a particularly preferred embodiment, each of the two lifting columns has a structural profile designed to accommodate the longitudinal rollers, the lateral guide rollers, or both the longitudinal rollers and the lateral guide rollers of the guide carriage assigned to the respective lifting column. This guides the movement of the guide carriage, mediated by the respective belt, along the (longitudinal axis of the) respective lifting column.Specifically, the structural profile can have a chamber designed to accommodate the part of the guide carriage in which the longitudinal rollers and / or lateral guide rollers are arranged, such that the longitudinal rollers and / or lateral guide rollers run on an inner surface of the structural profile and are thus guided.

[0022] The chassis of a modular mobile lift system according to the invention can further comprise wheel assemblies, wherein the running surface of each wheel assembly consists of rollers and the axes of rotation of the rollers are perpendicular to the axis of rotation of the respective wheel assembly. This arrangement allows the modular mobile lift system to be moved efficiently and precisely in all directions of the (x / y) plane, thus enabling the load to be positioned accordingly. The efficient rolling motion also further reduces the risk of particles being released into the environment. Specifically, both the wheel assemblies and the rollers can have suitable bearings (for example, plain or ball bearings) to further reduce particle emissions; these bearings are preferably encapsulated and / or coated with a special cleanroom grease.

[0023] Preferably, each wheel assembly has at least two, and particularly preferably (at least) three, wheels of the same diameter, with the wheels arranged side by side on the axis of rotation of the wheel assembly. For each wheel, several rollers (for example, three, four, five, six, seven, or eight rollers) are arranged around the circumference of the respective wheel such that the rollers of adjacent wheels are offset from one another in the circumferential direction. Preferably, wheel assemblies with three wheels and three, four, or five rollers per wheel are used. This arrangement achieves an overlap of the rollers with respect to the wheel contact point, which leads, on the one hand, to improved load distribution and thus load-bearing capacity, and on the other hand, to increased smooth running. Preferably, the rollers of each wheel are distributed around the circumference of the respective wheel at equal intervals.Preferably, all wheels of a wheel assembly have the same number of rollers (for example, three, four, five, six, seven, or eight rollers). Particularly preferably, all wheel assemblies have the same number of wheels (for example, two, three, or four wheels), wherein each wheel has the same number of rollers (for example, three, four, five, six, seven, or eight rollers).

[0024] Preferably, the number of wheels and rollers per wheel assembly is selected such that at least two rollers per wheel assembly are in contact with the ground at all times. For this purpose, wheel assemblies with (at least) four wheels and (at least) five rollers per wheel can be used.

[0025] Preferably, at least two first wheel assemblies are arranged at a first end of the chassis, and at least two, and preferably four, second wheel assemblies are arranged at the opposite second end of the chassis. The (mutually parallel) axes of rotation of the first wheel assemblies and the (mutually parallel) axes of rotation of the second wheel assemblies are arranged at a right angle or at a substantially right angle to each other. Typically, the lifting columns of the lifting system are arranged closer to the first (operator) end than to the second (load) end of the chassis of the modular mobile lift system.

[0026] Particularly preferably, the running surface of each of the first and second wheel assemblies consists of rollers, the axes of rotation of the rollers being at right angles to the axis of rotation of the respective wheel assembly. Likewise, for example, only the second wheel assemblies can have a running surface made of rollers, the axes of rotation of the rollers being at right angles to the axis of rotation of the respective wheel assembly. In this embodiment, the first wheel assemblies can have no such rollers.

[0027] In a further preferred embodiment, the first wheel assemblies can have a common drive. Particularly preferably, each of the first wheel assemblies can have its own drive. The respective drive can be provided, for example, by a separate (electric) motor, by means of which the rotation of the respective wheel assembly about its axis of rotation can be driven and controlled.

[0028] Furthermore, each of the second wheel assemblies can have its own braking system. This allows the rotation of the respective wheel assembly around its axis of rotation to be controlled and slowed. In conjunction with the drive system of the first wheel assemblies described above, the braking systems of the two second wheel assemblies enable precise and repeatable control of the movement of the modular mobile lift system while ensuring smooth operation. Specifically, this interaction allows for precise cornering and accurate turning / rotating of the modular mobile lift system.

[0029] The first webbing strap can run over a first deflection pulley at the upper end of the first lifting column furthest from the chassis, and the second webbing strap can run over a second deflection pulley at the upper end of the second lifting column furthest from the chassis. The guide carriages (and thus the support structure and the load to be carried) are therefore essentially suspended from the webbing straps running over the deflection pulleys located at the upper end of the lifting columns, so that the system is self-tensioning. Preferably, the webbing straps initially run over lower deflection pulleys at the opposite end of the lifting columns, i.e., the end closest to the chassis. This allows the webbing straps to run between the respective lower and upper deflection pulleys, and thus virtually parallel to the longitudinal axis of the lifting column, before being deflected by the upper deflection pulley to the respective guide carriage. This allows the webbing system to be integrated compactly and in a space-saving manner.The aforementioned design profile of the lifting columns can be adapted accordingly.

[0030] Preferably, the modular mobile lift system according to the invention further comprises a drive for the belts.

[0031] In a preferred embodiment, the drive for the belts comprises a motor that drives two winding drums on a common drive shaft, wherein the first of the two winding drums is connected to the first belt and the second of the two winding drums is connected to the second belt. In an alternative embodiment, the drive comprises two motors, wherein the first of the two motors drives a first winding drum connected to the first belt and the second of the two motors drives a second winding drum connected to the second belt.

[0032] The winding drums serve to wind and unwind the respective webbing, which is transferred into a corresponding lifting or lowering movement of the guide carriage connected to the webbing.

[0033] Preferably, the modular mobile lift system according to the invention is designed for load capacities of at least 50 kg. More preferably, the modular mobile lift system is designed for load capacities of up to 200 kg. In a preferred embodiment, the modular mobile lift system is designed for load capacities of up to 500 kg. Particularly preferred is the modular mobile lift system designed for load capacities between 50 kg and 500 kg.

[0034] A second aspect of the present invention relates to the use of a modular mobile lift system according to the first aspect in a cleanroom environment, specifically in a cleanroom environment according to one of the classes ISO 1 to ISO 9 according to ISO 14644-1, which is part of the standard ISO 14644 / DIN EN ISO 14644.

[0035] Exemplary embodiments of the invention are shown in the schematic drawings and are described in more detail below, from which further features and advantages of the invention become apparent.

[0036] Figure 1 shows an overall view of a modular system according to the invention.

[0037] Mobile lift systems;

[0038] Figure 2 shows a front view of a modular device according to the invention.

[0039] Mobile lift systems;

[0040] Figure 3 shows a view from below of a modular mobile lift system according to the invention; and

[0041] Figures 4 and 5 show two detailed views of a component of the modular mobile lift system according to the invention shown in Figures 1 to 3.

[0042] The following is an explanation of the invention based on the exemplary drawings, describing the structure and mode of operation of the invention.

[0043] The modular mobile lift system 10 shown in Figures 1 and 2 comprises a

[0044] Chassis 12 and a lifting unit 14. The lifting unit 14 is arranged on and attached to the chassis 12. The chassis 12 ensures the mobility of the modular mobile lift system 10, and specifically the lifting unit 14, in all directions of the horizontal (x / y) plane on which the modular mobile lift system 10 operates. During operation, the lifting unit 14 provides the lifting movement in the vertical (z) direction relative to the plane.

[0045] To provide the lifting motion for a load, the lifting unit 14 comprises a support 16 and two lifting columns 18. The two lifting columns 18 are elongated, with their longitudinal axes arranged parallel to each other on the chassis 12. As shown in Figures 1 and 2, the two lifting columns 18 extend from the chassis 12 and are arranged essentially perpendicular to it. The lifting columns 18 point in the direction perpendicular to the horizontal plane of the chassis 12. This arrangement of the lifting columns 18 minimizes the operator's access to and view of the work area and, in particular, of the load to be moved on the support 16.

[0046] The two lifting columns 18 exhibit high torsional and bending stiffness to be suitable for high loads and tipping moments. In the illustrated embodiment, the lifting columns are, for example, manufactured in the form of a structural profile, preferably made of aluminum. Additional stiffening of the lifting columns 18 is achieved by side plates 20, which also serve as the basic framework for the chassis 12. As will be explained below, the (aluminum) profile of the lifting columns 18 also serves as a guide for the lifting movement and can, for this purpose, have one or more (for example, two) chambers extending longitudinally along the lifting column. Furthermore, part of the system's electronics can be housed within the profile.

[0047] The support 16 is designed to carry a load (not shown) that can be moved by the modular mobile lift system 10. Depending on the type and nature of the load, the support 16 can be configured as a modular component holder (fork, gripper, turning unit, etc.) and, in particular, as a rotary and lateral adjustment unit, as indicated in Figures 1 and 2. This provides a rotary function and the possibility of lateral adjustment of the forks in addition to the lifting function, as will be explained in more detail below. The support 16 is arranged to be linearly movable on the two lifting columns 18 by means of two guide carriages 22, such that the support 16 (and thus any load) can move along the parallel longitudinal axes of the two lifting columns 18 and thus in the vertical (z) direction. For this purpose, the support 16 is rigidly connected to the two guide carriages 22.

[0048] If the carrier 16, as shown in Figures 1 and 2, is designed as a modular rotary and lateral adjustment unit, this makes it possible to rotate the load to be transported and to position it as precisely as possible by lateral displacement. A base plate 23 of the carrier 16, which is designed as a rotary and lateral adjustment unit and is firmly screwed to the guide carriages 22 of the lifting system, serves as a mounting and support plate for a precision gearbox (not shown). This measure not only increases the torque but also supports the tilting moment. A pre-stage reduction allows the drive torque to be reduced, and the associated DC motor can be selected to be correspondingly smaller. This reduces the maximum rotational speed, which facilitates the precise handling of the transported goods.

[0049] The base plate 23 is screwed to the front face of the precision gearbox mentioned above and serves to mount the linear guides and the spindle drives for lateral adjustment. To support the weight of the load even during rotation by means of the precision gearbox, a 45 mm wide lateral adjustment mechanism with high adjustment carriages 24 is used. This ensures the required load-bearing capacity of the carriage pair 24 when the fork bridge is arranged horizontally parallel.

[0050] To precisely adjust the spacing of the adjustment carriages 24 and thus the fork width, the adjustment carriages 24 are moved via trapezoidal spindles driven by two DC motors with worm gears (not shown). With a parallel horizontal arrangement, this allows the weight to be supported via the spindle bearings, enabling the load-bearing unit to rotate in any loading condition.

[0051] For the electrical connection of the DC motors for lateral adjustment, a rotary feedthrough with sliding contacts is used, which is guided centrally through the rotary gearbox. This allows the system to rotate continuously in both directions without damaging the cable connection.

[0052] Due to the lubricants used in the linear guides, the entire lateral adjustment system should be enclosed. A sheet metal cladding is used to prevent lubricants from being carried along and to ensure the necessary safety against pinching. This cladding is further enhanced by a metal band cover, which is internally guided against the cladding sheet by a corresponding deflection mechanism. The adjustment carriages 24 lift this band during movement and then return it to the cladding sheet in a controlled manner.

[0053] The modular mobile lift system 10 according to the invention, shown by way of example in Figures 1 and 2, is 1500 mm long, 540 mm wide and 2000 mm high, although the system is not limited to these dimensions. The modular mobile lift system 10 shown is suitable for load capacities of more than 200 kg and preferably up to 500 kg with a boom of 1000 mm.

[0054] In the rear part 25 of the modular mobile lift system 10 there is an externally accessible control unit 26 and a drive unit (not shown).

[0055] The control unit 26 can be used to control both the movement of the load relative to the modular mobile lift system 10 and the movement of the modular mobile lift system 10 itself. This can be done directly by an operator on site or remotely via a data connection, for example, via a wireless network (e.g., based on WLAN, Bluetooth, 3G / 4G / 5G, etc.). The control unit 26 can include a display and input unit, for example, comprising a touchscreen, as indicated in Figure 1. Operating parameters, such as the battery charge level, can be accessed and displayed via the screen. Operating parameters, such as the travel speed, can also be set via the screen; for highly sensitive transport loads, for example, the speed can be set between 1 and 70 mm / s.Similarly, suitable approach ramps for lifting and / or driving movements can be set via the control unit 26, for example, to ensure a smooth, jerk-free movement of the load to be transported.

[0056] The drive unit in the rear section 25 of the modular mobile lift system 10 comprises a drive for the movement of the guide carriages 22 and thus for the vertical lifting movement. The drive for the guide carriages 22 includes a motor (not shown), for example, a 24-volt brushless DC motor, in combination with a gearbox (also not shown), for example, a bevel gear gearbox, which drives a drive shaft. The drive shaft is provided with a winding drum 28 on each end, as indicated in the underside view of the chassis 12 in Figure 3. In this exemplary embodiment, the gearbox has a high gear ratio (for example, 1:178.96). This allows for a wide variability in the lifting speed and a configurable approach ramp, since the electric motor can be operated within a favorable speed range.Alternatively, the two winding drums 28 can also be driven separately via their own motor.

[0057] The power flow between the drive unit and the guide carriage 22 is implemented by a belt tension system comprising belts 30. In the illustrated embodiment, each of the two belts 30 originates from its winding drum 28 and is guided via an associated lower deflection pulley 32 (shown in Figure 3) into the interior of the respective profiled lifting column 18. There, the respective belt 30 runs via an associated upper deflection pulley (not shown), which is arranged inside the lifting column 18 at the end furthest from the chassis 12, to the associated guide carriage 22. Thus, each of the two guide carriages 22 is "suspended" from its upper deflection pulley, whereby the system is pre-tensioned due to the weight of the guide carriage 22.In this way, the guide carriages 22 can be moved precisely and repeatably linearly along the lifting columns 18 via the belts 30, which will be explained in more detail below with reference to the structure of the guide carriages 22 shown in Figures 4 and 5.

[0058] Due to the winding drums 28 located on both sides of the drive shaft and the belts 30 driven by them, the movement of the two guide carriages 22 is mechanically synchronized. Electronic synchronization can also be provided, but it is not mandatory. In an alternative embodiment, the two winding drums 28 can also be driven separately by their respective motors, as already mentioned above. The common drive shaft is therefore omitted in this alternative embodiment. In this case, electronic synchronization of the two motors, and thus of the winding drums 28, is provided.

[0059] The two belts 30 are made of a particularly durable, abrasion-resistant, and stretch-resistant material and are also cleanroom-certified (e.g., according to ISO 14644). The two belts are made of a suitable material (e.g., Dyneema) that is stretch-resistant and generates little abrasion during operation, thus releasing few contaminants into the environment. The described drive system therefore aims to significantly reduce particle formation during continuous operation in order to meet the stringent requirements for use in a cleanroom environment.

[0060] To further reduce the burden on the (cleanroom) environment with pollutants and particles, an extraction device can also be arranged, for example on the guide carriages, on / in the lifting columns or at another suitable location, to remove any remaining abrasion from the ambient air.

[0061] Each of the two lower deflection pulleys 32 shown in Figure 3 also incorporates a measuring axis (not shown). These measuring axes serve to detect the weight of the load being lifted. Simultaneously, they also function as a programmable overload protection system, which stops the lifting movement if the permissible payload is exceeded. Furthermore, this prevents uncontrolled unwinding of the webbing (slack rope detection) when the forks are lowered onto the load. Alternatively or additionally, the measuring axes can also be installed in the aforementioned upper deflection pulleys. Instead of measuring axes, the weight of the payload can also be determined using other measuring methods or sensors.

[0062] Alternatively or additionally, a measuring system can be used that measures the weight of the load to be lifted directly at or within the guide carriage 22, thereby providing a more reliable measurement for further processing by the controller. This allows the necessary functions to be implemented, and the use of multiple measuring sensors also ensures reliability through redundancy. However, measuring directly at the guide carriage 22 requires that the electrical signals from the force sensors be routed to the controller via a suitably flexible cable. This can be achieved, for example, using a coiled cable or a compact, cleanroom-certified cable system. Alternatively, the measurement signals can also be transmitted via a suitable wireless connection.

[0063] The chassis 12 is characterized by both excellent maneuverability and high sensitivity in handling. This is ensured in particular by individually driven, three-row wheel assemblies 34 on the underside of the chassis 12, as can be seen in Figure 3. In the embodiment shown, six of these wheel assemblies 34 are installed. Of these six wheel assemblies 24, four are arranged at the end of the chassis 12 furthest from the rear section 25 of the modular mobile lift system 10, such that their respective axes of rotation point in the main rolling direction and thus parallel to the longitudinal direction of the chassis 12. The remaining two of the six wheel assemblies 24 are arranged with their axes rotated by 90 degrees relative to these and are located at the end of the chassis 12 closest to the rear section 25, as can also be seen in Figure 3. Each of the latter two wheel assemblies 34 is driven by its own motor (not shown).If the two motors, and thus the two wheel assemblies 34 in the rear section 25, are driven essentially in the same way, the modular mobile lift system 10 travels in a straight line in the longitudinal direction. If the two motors are driven differently, a corresponding curve is driven.

[0064] The wheel assemblies 34 at the end of the chassis 12 furthest from the rear section 25 of the modular mobile lift system 10 are each equipped with a braking system. The braking system serves to control the rotational movement around the axis of rotation of the wheel assembly 34. With the brake engaged, this allows for maneuvering with a guiding effect. With the brake disengaged, the guiding effect is eliminated, thus enabling lateral movement. This also reduces the turning radius. The brakes can also be used to assist cornering, in particular to provide smooth and jerk-free cornering of the chassis 12. The wheel assemblies 34 at the end of the chassis 12 furthest from the rear section 25 of the modular mobile lift system 10 can also be equipped with a drive mechanism.

[0065] The running surface of each wheel assembly 34 consists, as shown, of separately mounted rollers 36 whose axes of rotation are at right angles to the axis of rotation of the wheel assembly 34. Each wheel assembly 34, as shown, consists of three wheels 35 of the same diameter arranged side by side on the axis of rotation of the wheel assembly 34. For each wheel 35, several of the rollers 36 (for example, three, four, or five per wheel) are arranged distributed around the circumference of the wheel 35, preferably at equal intervals. The three wheels 35 of each wheel assembly 34, which are identical in construction, are arranged, as can also be seen, offset from one another in the circumferential direction or about the axis of rotation of the wheel assembly 34, such that during operation of the modular mobile lift system 10, at least one of the rollers 36 of each wheel assembly 34 is in contact with a flat surface at all times.Furthermore, the rollers 36 in each wheel assembly 34 are arranged such that the contact transfer during movement is as uniform and overlapping as possible, thereby ensuring smooth running of the entire chassis 12. In general, this arrangement allows, in addition to the normal movement when the entire wheel 35 rolls, a direction of travel offset by 90 degrees. To ensure smooth running and meet the load-bearing requirements, each of the rollers 36 has at least two, preferably four, and particularly preferably six ball bearings.

[0066] This arrangement therefore enables movement of the chassis 12 in any direction of the (x / y) plane and optimizes the rolling motion. Centering of the modular mobile lift system 10 is possible in combination with an insertion aid and with the brake released.

[0067] Preferably, each wheel assembly 34 comprises a three-row arrangement of three wheels, each with three rollers 36 per wheel 35, for a total of nine rollers 36. Particularly preferably, each wheel assembly 34 comprises a three-row arrangement of three wheels, each with four rollers 36 per wheel 35, for a total of twelve rollers 36. Preferably, each roller 36 has four ball bearings, and particularly preferably even six ball bearings. Alternatively, for example, a four-row arrangement of four wheels 35, each with five rollers 36 per wheel, for a total of twenty rollers 36, or even a five-row arrangement of five wheels 35, each with seven rollers 36 per wheel, for a total of thirty-five rollers 36, can be used, which further improves the load distribution and concentricity, but at the same time increases complexity and, in particular, requires a larger number of ball bearings.

[0068] Figures 4 and 5 show, as already indicated above, an exemplary guide carriage 22, which is provided as part of a modular mobile lift system 10 according to the invention. The guide carriage 22 shown has an elongated shape with a first end and a second end, wherein the longitudinal axis of the guide carriage 22 defined thereby is, in the assembled state and thus in operation of the modular mobile lift system 10, oriented essentially parallel to the longitudinal axis of the associated lifting column 18.

[0069] To provide mobility for the guide carriage 22 along the lifting column 18, the guide carriage 22 has two types of rollers 38, 40, namely longitudinal rollers 38 and lateral guide rollers 40. The use of rollers 38, 40 largely eliminates the need for lubricants and thus counteracts the associated risk of environmental contamination.

[0070] In the embodiment shown, the longitudinal rollers 38 and the lateral guide rollers 40 of the guide carriage 22 are designed to cooperate with the lifting column 18 and, in particular, with the aforementioned design profile of the lifting column 18 to provide efficient, guided movement.

[0071] Specifically, the longitudinal rollers 38 of the guide carriage 22 serve to provide a guided, precise movement along the longitudinal axis of the respective lifting column 18, thus enabling an efficient lifting motion. The longitudinal rollers 38 are arranged in offset pairs and, in conjunction with the guide provided by the profile of the lifting column 18, ensure that tilting moments caused by the load being supported are directed into the lifting column 18. This prevents or counteracts any tilting of the longitudinal axis of the guide carriage 22 relative to the longitudinal axis of the lifting column 18, since, as mentioned above, such a tilting of the longitudinal axis of the guide carriage is specifically prevented by the precise fit of the longitudinal rollers 38 within the lifting column 18.

[0072] In the illustrated embodiment, the guide carriage 22 has eight longitudinal rollers 38. The eight longitudinal rollers 38, all of which (i) have the same diameter and (ii) have axes of rotation arranged transversely, i.e., perpendicular to the longitudinal direction of the guide carriage 22, are arranged in a kind of box-like structure, with two of the longitudinal rollers 38 forming a pair in which the two longitudinal rollers 38 are offset from each other both longitudinally and transversely in the guide carriage 22. In Figures 4 and 5, four such pairs are present on the guide carriage 22, two at the first end of the guide carriage 22 and two at the opposite, second end. At each end, one pair is arranged on each side in the transverse direction of the guide carriage 22, thus ensuring a uniform distribution of the rolling motion and the load and tilting moments to be absorbed.

[0073] The two longitudinal rollers 38 of each pair can also be arranged offset from each other in the direction perpendicular to the plane formed by the longitudinal and transverse directions of the guide carriage 22, whereby this offset is significantly smaller compared to the longitudinal and transverse offsets described above (which is why this relatively small offset is not easily visible in the figures). In Figure 4, for example, the lower roller 38 of the upper roller pair, which is offset inwards in the transverse direction, is slightly offset in this way (in Figure 4, therefore, slightly to the left, essentially "towards the load"). This ensures that tilting is counteracted when the load is picked up and carried, and that both longitudinal rollers 38 of each pair remain in contact with the guide. This guarantees a particularly uniform distribution of the rolling motion and the load and tilting moments to be absorbed.

[0074] The lateral guide rollers 40 are designed to limit the movement of the guide carriage 22 transversely to the longitudinal axis of the lifting column 18 by interacting with a suitably designed (internal) profile of the lifting column 18.

[0075] The longitudinal rollers 38 and lateral guide rollers 40 of the guide carriage 22 enable precise positioning and movement of the load along the lifting columns 18. Furthermore, the rolling motion and the associated low rolling friction ensure efficient movement and minimal wear, thus minimizing the release of particles into the environment during operation.

[0076] As already mentioned, the guide carriage 22, via its longitudinal rollers 38 and lateral guide rollers 40, is designed to utilize the interior of the profile of the lifting column 18 as a guide. For this purpose, the portion comprising the longitudinal rollers 38 and lateral guide rollers 40 is inserted into the profile of the lifting column 18. Specifically, the longitudinal rollers 38 and the lateral guide rollers 40 ensure that the guide carriage 22, inserted in this manner into a suitably shaped profile of the lifting column 18, is guided stably and tightly in both the longitudinal and transverse directions of the lifting column 18. This counteracts any deviation of the longitudinal axis of the guide carriage 22 from the longitudinal axis of the lifting column 18 during operation. In other words, the guide carriage 22 utilizes the chambered structure of the profile and employs a nested roller guide, which effectively absorbs the high tilting moments of the load being supported.The use of roller guides largely eliminates the need for lubricants, thus counteracting the risk of carryover. Furthermore, roller guides are characterized by a minimal stick-slip effect.

[0077] In the example shown, rollers 38 and 40 are made of a suitable plastic designed for low abrasion. For instance, PEEK (polyetheretherketone) can be used due to its high mechanical strength and wear resistance, while PET (polyethylene terephthalate) is also conceivable in less demanding environments. Other suitable thermoplastic materials and other materials can also be used. The ball bearings of the longitudinal rollers 38 are lubricated with a special cleanroom grease and are encapsulated. The lateral guide rollers 40 are equipped with a plain bearing.

[0078] As can be seen in Figures 4 and 5, the guide carriage 22 shown also has two belt rollers 42, which serve to deflect a cover band 44 shown in Figures 2 and 3 along the lifting columns 18. The cover bands 44 provide both encapsulation of the lifting system (thus preventing the migration of substances such as grease) and pinch protection. With the aid of the guide carriages 22, which are driven by the belts 28, the support 16 and, above it, a load suspended from the support 16 can be moved or positioned efficiently and precisely. For this purpose, each belt 28 is connected to a belt receptacle 46 of the associated guide carriage 22. The aforementioned measuring system, for example in the form of a force sensor, can also be integrated into the belt receptacle 46, allowing the weight of the load to be lifted to be measured at the guide carriage 22.The electrical control lines of the force sensor can be routed transversely through the guide carriage to the outside and guided to the control unit via an additional flat ribbon cable. Alternatively, wireless transmission of the sensor signals using suitable transmission standards is also possible (so).

[0079] The modular mobile lift system 10 can therefore be used specifically in a cleanroom environment due to the measures and properties described above.

[0080] The modular mobile lift system 10 can be equipped with a suitable power source, such as a lead-acid battery or, preferably, a lithium-ion battery, which can optionally be exchanged via a quick-change system. Due to the typically mobile use of the cleanroom lift, a DC system with an operating voltage of 24V is preferred. Additionally or alternatively, the modular mobile lift system 10 can also have a mains connection.

[0081] The modular component handling system (forks, grippers, turning unit, etc.) can be designed, in particular, as a modular quick-change system for the load-handling attachments. Finally, the number of lifting columns is not limited to two, but can also be one or three, and generally more than two.

Claims

Patent claims 1. Modular mobile lift system (10) for use in a cleanroom environment, comprising a chassis (12); a lifting unit (14) arranged on the chassis (12); and a support (16) arranged on the lifting unit (14) and configured to support a load to be moved by the modular mobile lift system; wherein the lifting unit (14) comprises a first lifting column (18) and a first guide carriage (22), the first guide carriage (22) being movable along the first lifting column (18) by means of a first belt (30); and wherein the lifting unit (14) further comprises a second lifting column (18) and a second guide carriage (22), the second guide carriage (22) being movable along the second lifting column (18) by means of a second belt (30); and wherein the support (16) is attached to and movable with the two guide carriages (22).

2. Modular mobile lift system (10) according to claim 1, wherein the first webbing (30) and the second webbing (30) each consist of a stretch-resistant and / or abrasion-resistant material.

3. Modular mobile lift system (10) according to claim 1 or 2, which further comprises a drive, wherein the drive is configured to drive the first webbing (30) and the second webbing (30) synchronously.

4. Modular mobile lift system (10) according to claim 3, wherein the drive is configured to drive the first belt (30) and the second belt (30) mechanically and / or electronically in a synchronized manner.

5. Modular mobile lift system (10) according to one of the preceding claims, wherein each of the guide carriages (22) has longitudinal rollers (38) which are arranged to provide the mobility of the guide carriage (22) along the respective lifting column (18).

6. Modular mobile lift system (10) according to claim 5, wherein the longitudinal rollers (38) of each guide carriage (22) have substantially the same diameter and are arranged in pairs on the guide carriage (22) such that the two longitudinal rollers (38) of each pair are offset relative to each other in at least two mutually orthogonal spatial directions.

7. Modular mobile lift system (10) according to one of the preceding claims, wherein each of the guide carriages (22) has lateral guide rollers (40) which are arranged to limit the mobility of the guide carriage (22) transversely to the longitudinal axis of the lifting column (18).

8. Modular mobile lift system (10) according to one of the preceding claims, wherein each of the two lifting columns (18) has a structural profile which is configured to accommodate the longitudinal rollers (38) and / or lateral guide rollers (40) of the guide carriage (22) assigned to the respective lifting column (18) in such a way that the movement of the guide carriage (22) mediated by the respective belt (30) is guided along the respective lifting column (18).

9. Modular mobile lift system (10) according to one of the preceding claims, wherein the chassis (12) for maneuvering the modular mobile lift system (10) has wheel devices (34) and the running surface of each of the wheel devices (34) consists of rollers (36), wherein the axes of rotation of the rollers (36) are at right angles to the axis of rotation of the respective wheel device (34).

10. Modular mobile lift system (10) according to claim 9, wherein each of the wheel devices (34) has at least three wheels (35) of the same diameter and the wheels (35) are arranged side by side on the axis of rotation of the wheel device (34), wherein several of the rollers (36) are arranged distributed over the circumference of each of the wheels (35) such that the rollers (36) of adjacent wheels (35) are arranged offset from each other in the circumferential direction.

11. Modular mobile lift system (10) according to claim 9 or 10, wherein two first wheel devices (34) are arranged at a first end of the chassis (12) and two second wheel devices (34) are arranged at the opposite second end of the chassis (12), wherein the axes of rotation of the first wheel devices (34) and the second wheel devices (34) are arranged at a substantially right angle to each other.

12. Modular mobile lift system (10) according to claim 11, wherein each of the first wheel devices (34) has its own drive.

13. Modular mobile lift system (10) according to claim 12, wherein each of the second wheel devices (34) has its own braking system.

14. Modular mobile lift system (10) according to one of the preceding claims, wherein the first belt (30) runs over a first deflection pulley at the end of the first lifting column (18) furthest from the chassis (12) and the second belt (30) runs over a second deflection pulley at the end of the second lifting column (18) furthest from the chassis (12).

15. Modular mobile lift system (10) according to one of the preceding claims, which further comprises a drive, wherein the drive comprises a motor which drives two winding drums (28) on a common drive shaft, wherein the first of the two winding drums (28) is connected to the first webbing (30) and the second of the two winding drums (28) is connected to the second webbing (30); or wherein the drive comprises two motors, wherein the first of the two motors drives a first winding drum (28) connected to the first webbing (30) and the second of the two motors drives a second winding drum (28) connected to the second webbing (30).

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