Mobile transport system

Abstract

The invention relates to a mobile transport system for transporting objects, the system comprising a base frame, a left-hand drive unit, and a right-hand drive unit. The drive units are mounted so as to be movable relative to the base frame in a vertical direction. Each of the drive units has a plurality of guide rollers, and the guide rollers are each rotatable relative to the drive units about an axis of rotation extending in a longitudinal direction. The base frame has a plurality of guide grooves extending in a vertical direction, and the guide rollers of the drive units roll along inner walls of the guide grooves of the base frame.

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 base frame, a left drive unit and a right 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 mobile transport systems move components from logistics areas, such as a material warehouse, to workstations where the components are processed.

[0005] From WO 2022 / 238005 A1, a generic mobile transport system is known which has several frames and a plurality of wheels arranged on the frames. The mobile transport system has drive wheels which can be driven by drive motors.

[0006] German patent DE 102020 104 799 A1 discloses a driverless transport vehicle with a liftable and lowerable load-handling platform. The load-handling platform can be lifted and lowered vertically by means of a lifting device comprising an electric drive unit.

[0007] Mobile transport systems of the same type for transporting objects are also known from documents CN 1 13 119678 A, CN 1 18 597299 A and CN 1 19 261 520 A.

[0008] WO 02 / 046 031 A1 discloses a multidirectional vehicle for transporting objects located on it.

[0009] The invention is based on the objective of further developing a mobile transport system for transporting objects.

[0010] ISI \ EIDOPAT 11.11.2025 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.

[0011] A mobile transport system according to the invention for transporting objects comprises a base frame, a left drive unit, and a right drive unit. The drive units are mounted so as to be movable in a vertical direction relative to the base frame. Each drive unit has a plurality of sliding rollers, and the sliding rollers are rotatable about a longitudinal axis of rotation relative to the drive units. The base frame has a plurality of vertically extending guide grooves, and the sliding rollers of the drive units run on the inner walls of the guide grooves of the base frame.

[0012] The rotating guide rollers allow the drive units to move relative to the base frame with relatively low friction and wear. The cost of the guide rollers is also relatively low.

[0013] According to an advantageous embodiment of the invention, the left drive unit and the right drive unit are arranged offset from each other in a transverse direction.

[0014] According to an advantageous embodiment of the invention, the drive units are guided linearly in the vertical direction relative to the base frame in such a way that movement of the drive units relative to the base frame in the longitudinal direction is prevented.

[0015] The drive units are therefore only movable in the vertical direction. This significantly increases the driving stability of the mobile transport system according to the invention. Unintentional displacement of the drive units relative to the base frame in a horizontal direction, for example when driving over an uneven surface, is advantageously avoided.

[0016] According to an advantageous embodiment of the invention, each of the drive units comprises a drive frame, a drive wheel, and a drive motor. The drive wheel is rotatably mounted about a drive axis extending in a transverse direction relative to the drive frame, and the drive motor drives the drive wheel about this drive axis. According to an advantageous embodiment of the invention, the sliding rollers are arranged on the drive frame. The sliding rollers are rotatable about the axis of rotation relative to the drive frame.

[0017] According to an advantageous embodiment of the invention, the mobile transport system comprises a left yoke and a right yoke. The yokes are rigidly connected to the base frame, and the drive frames of the drive units are each coupled to the yokes by means of spring elements.

[0018] The drive units are thus suspended from the base frame by springs. This allows them to compensate for uneven ground. The arrangement of the spring elements ensures that they are subjected to loads only in the vertical direction, thereby significantly reducing wear on the spring elements.

[0019] According to an advantageous embodiment of the invention, the spring elements are each designed as cylindrical spiral springs, which each project into bores in the yokes and into bores in the drive frame.

[0020] According to an advantageous embodiment of the invention, each of the drive frames of the drive units is coupled to one of the yokes by means of exactly two spring elements. The respective spring elements are arranged longitudinally spaced apart from one another, and the drive axis of the respective drive unit is arranged longitudinally between the spring elements.

[0021] This distributes the forces acting on the drive units when driving over an uneven surface across several spring elements.

[0022] According to an advantageous embodiment of the invention, the base frame has a plurality of guide rails, each with a U-shaped cross-section. Each guide rail has two parallel side legs and a base leg connecting the side legs. The side legs and the base leg of each guide rail surround one of the guide grooves on three sides. This makes mounting the drive units to the base frame relatively simple. Complex alignment of the drive units relative to the base frame is not required. According to an advantageous embodiment of the invention, the sliding rollers are arranged in pairs. The sliding rollers of each pair are offset from one another in the transverse direction. Each sliding roller runs along exactly one inner wall of a guide groove.This prevents unwanted movement of the drive units relative to the base frame in a lateral direction.

[0023] The invention is not limited to the combination of features stated in the claims. For a person 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 become apparent, in particular from the problem statement and / or the problem arising from a comparison with the prior art.

[0024] The invention will now be explained in more detail with reference to the illustrations. The invention is not limited to the embodiments shown in the illustrations. The illustrations only depict the subject matter of the invention schematically. They show:

[0025] Figure 1: a perspective view of the chassis of a mobile transport system,

[0026] Figure 2: a side view of part of the chassis of the mobile transport system,

[0027] Figure 3: a view of the underside of the chassis of the mobile transport system and

[0028] Figure 4: a sectional view of the part of the chassis from Figure 2.

[0029] Figure 1 shows a perspective view of the chassis 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 the technical facility.

[0030] The mobile transport system comprises a base frame 10. The base frame 10 has an approximately rectangular cross-section and extends predominantly in a longitudinal direction X and a transverse direction Y. The longitudinal direction X corresponds at least approximately to the usual direction of travel of the mobile transport system.

[0031] The transverse direction Y runs perpendicular to the longitudinal direction X. The longitudinal direction X and the transverse direction Y represent horizontal directions and run parallel to the flat 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 longitudinal direction X and perpendicular to the transverse direction Y. Any direction perpendicular to the vertical direction Z represents a horizontal direction.

[0032] The mobile transport system comprises a left drive unit 21 and a right drive unit 21.

[0033] Drive unit 22. The left drive unit 21 and the right drive unit 22 are arranged offset from each other in the transverse direction Y. Each of the drive units 21, 22 has a drive frame 24, a drive wheel 25, and a drive motor 26. The drive wheel 25 is rotatably mounted about a drive axis extending in the transverse direction Y relative to the drive frame 24. Thus, the drive wheel 25 is also rotatable relative to the base frame 10.

[0034] The drive motor 26 drives the drive wheel 25 around the drive axle. The drive motor 26 is designed as a geared motor and includes a gearbox that transmits the rotation of a motor shaft to both the drive axle and the drive wheel 25. The drive wheel 25 rests on the ground.

[0035] The mobile transport system also includes an electrical energy storage device for supplying the drive units 21 and 22, as well as a control unit for controlling the drive units 21 and 22. The mobile transport system also includes a receiving unit to which energy can be inductively transferred from a charging unit. The charging unit is designed, for example, as a linear conductor or a coil. The energy inductively transferred from the charging unit to the receiving unit is used, for example, to charge the electrical energy storage device of the mobile transport system.

[0036] The mobile transport system also includes a communication device for wireless communication with a central server and with other mobile transport systems. Furthermore, the mobile transport system includes several laser scanners. The laser scanners are used for obstacle detection and for navigating the mobile transport system within the technical facility.

[0037] The mobile transport system includes additional support wheels (not shown here) which are rotatable relative to the base frame 10. The support wheels also rest on the ground. Each support wheel is also pivotable about a pivot axis extending in the vertical direction Z relative to the base frame 10.

[0038] The mobile transport system comprises a left yoke 11 and a right yoke 12. The left yoke 11 and the right yoke 12 are each rigidly connected to the base frame 10, in particular by bolting. Figure 2 shows a side view of a portion of the chassis of the mobile transport system. The left side is shown, on which the left drive unit 21 and the left yoke 11 are located. The right side is a mirror image of the left side. The right drive unit 22 is thus functionally identical to the left drive unit 21. The base frame 10 is not shown here.

[0039] The mobile transport system comprises several spring elements 40. The drive frame 24 of the left drive unit 21 is coupled to the left yoke 11 by means of two spring elements 40. The spring elements 40 are each designed as cylindrical coil springs, which each project into bores in the left yoke 11 and into bores in the drive frame 24.

[0040] The spring elements 40 are arranged at intervals from each other in the longitudinal direction X. The drive shaft of the left drive unit 21 is arranged in the longitudinal direction X between the spring elements 40. In particular, the drive shaft of the left drive unit 21 is arranged centrally in the longitudinal direction X between the spring elements 40.

[0041] The left drive unit 21 has a plurality of sliding rollers 90. The sliding rollers 90 are arranged on the drive frame 24. The sliding rollers 90 are each rotatable about a longitudinal axis X extending relative to the drive frame 24 of the left drive unit 21. The base frame 10 has a plurality of guide grooves 92 extending vertically Z (not shown here). The sliding rollers 90 of the left drive unit 21 run on the inner walls of the guide grooves 92 of the base frame 10.

[0042] The left drive unit 21 is thus mounted so as to be movable relative to the base frame 10 in the vertical direction Z. In particular, the left drive unit 21 is guided linearly relative to the base frame 10 in the vertical direction Z such that movement of the left drive unit 21 relative to the base frame 10 in the longitudinal direction X as well as in the transverse direction Y is prevented.

[0043] The movement of the left drive unit 21 in the vertical direction Z towards the base frame 10 and the left yoke 11 takes place against a spring force, whereby the spring elements 40 cause the said spring force.

[0044] Figure 3 shows a view of the underside of the chassis of the mobile transport system. The base frame 10 has a plurality of guide rails 94, each with a U-shaped cross-section. Each of the guide rails 94 has two parallel side legs and a base leg connecting the side legs. The side legs and the base leg of each guide rail 94 surround one of the guide grooves 92 on three sides.

[0045] The sliding rollers 90 of the drive units 21, 22 project in longitudinal direction X into the guide grooves 92 of the base frame 10 and, as already mentioned, run along the inner walls of the guide grooves 92.

[0046] Each of the drive units 21, 22 has a release lever attached to the respective drive motor 26. The release lever allows the gearbox of the respective drive motor 26 to be mechanically disconnected from the associated drive wheel 25, as well as mechanically coupled to the associated drive wheel 25. When the drive motor 25 is disconnected from the associated drive wheel 25, the drive wheel 25 is freely rotatable.

[0047] Figure 4 shows a sectional view of the part of the chassis from Figure 2. A cavity is formed in the first yoke 11, which is arranged facing upwards in the vertical direction Z, i.e., away from the left drive unit 21 and the ground. The cavity is open upwards in the vertical direction Z.

[0048] The mobile transport system comprises two adjustment plates 82, one of which is assigned to each of the yokes 11, 12. The adjustment plates 82 are arranged in the cavity of the first yoke 11 and in the cavity of the second yoke 12 (not shown). The adjustment plates 82 are movable relative to their respective yokes 11, 12 in the vertical direction Z.

[0049] The mobile transport system further comprises two adjusting screws 84, one adjusting screw 84 being assigned to each of the yokes 11, 12. The adjusting screws 84 extend through the adjusting plates 82 and are each screwed into one of the yokes 11, 12. A rotation of one of the adjusting screws 84 causes a movement of the respective adjusting plate 82 relative to the respective yoke 11, 12 in the vertical direction.

[0050] As already mentioned, the spring elements 40 protrude into bores in the left yoke 11. The spring elements 40 bear against the adjusting plate 82. A rotation of the adjusting screw 84 thus causes a change in the preload of the spring elements 40 and therefore a change in the spring force exerted by the spring elements 40.

[0051] The mobile transport system thus has means for adjusting the spring force caused by the spring elements 40. These means for adjusting the spring force comprise the two adjusting plates 82 and the two adjusting screws 84.

[0052] The mobile transport system further comprises several guide pins. Each of the spring elements 40 concentrically surrounds a guide pin. The guide pins are rigidly connected to the adjusting plates 82. The guide pins are guided linearly in the bores relative to the drive frames 24 in the vertical direction Z.

[0053] The mobile transport system also includes several locking screws, not shown here. Each locking screw extends through one of the yokes 11, 12 and is screwed into one of the drive frames 24. The locking screws are movable relative to the yokes 11, 12 in the vertical direction Z. The locking screws secure the drive units 21, 22 and prevent them from falling out of the base frame 10.

[0054] Reference symbol list

[0055] 10 basic frames

[0056] 11 left yoke

[0057] 12 right yoke

[0058] 21 left drive unit

[0059] 22 right drive unit

[0060] 24 drive frames

[0061] 25 drive wheel

[0062] 26 Drive motor

[0063] 40 spring element

[0064] 82 adjustment plates

[0065] 84 Adjusting screw

[0066] 90 sliding roller

[0067] 92 guide groove

[0068] 94 Running rail

[0069] X Longitudinal direction

[0070] Y transverse direction

[0071] Z Vertical direction

Claims

Claims:

1. Mobile transport system for transporting objects, comprising a base frame (10), a left drive unit (21) and a right drive unit (22), characterized in that the drive units (21, 22) are movably mounted relative to the base frame (10) in a vertical direction (Z), and that each of the drive units (21, 22) has a plurality of sliding rollers (90), and that the sliding rollers (90) are each rotatable about an axis of rotation extending in a longitudinal direction (X) relative to the drive units (21, 22), and that the base frame (10) has a plurality of guide grooves (92) extending in a vertical direction (Z), and that the sliding rollers (90) of the drive units (21, 22) run on inner walls of the guide grooves (92) of the base frame (10).

2. Mobile transport system according to claim 1, characterized in that the left drive unit (21) and the right drive unit (22) are arranged offset from each other in a transverse direction (Y).

3. Mobile transport system according to one of the preceding claims, characterized in that the drive units (21, 22) are guided linearly in the vertical direction (Z) relative to the base frame (10) in such a way that movement of the drive units (21, 22) relative to the base frame (10) in the longitudinal direction (X) is prevented.

4. Mobile transport system according to one of the preceding claims, characterized in that each of the drive units (21, 22) has a drive frame (24), a drive wheel (25) and a drive motor (26), and that the drive wheel (25) is rotatably mounted about a drive axis extending in a transverse direction (Y) relative to the drive frame (24), and that the drive motor (26) drives the drive wheel (25) about the drive axis.

5. Mobile transport system according to claim 4, characterized in that the sliding rollers (90) are each arranged on the drive frame (24), and that the sliding rollers (90) are each rotatable about the axis of rotation relative to the drive frame (24).

6. Mobile transport system according to one of claims 4 to 5, characterized in that the mobile transport system comprises a left yoke (11) and a right yoke (12), and that the yokes (11, 12) are firmly connected to the base frame (10), and that the drive frames (24) of the drive units (21, 22) are each coupled to the yokes (11, 12) by means of spring elements (40).

7. Mobile transport system according to claim 6, characterized in that the spring elements (40) are each designed as cylindrical spiral springs, which each project into bores in the yokes (11 , 12) and into bores in the drive frame (24).

8. Mobile transport system according to one of claims 6 to 7, characterized in that each of the drive frames (24) of the drive units (21, 22) is coupled to one of the yokes (11, 12) by means of exactly two spring elements (40), and that the respective spring elements (40) are arranged spaced apart from each other in the longitudinal direction (X), and that the drive axis of the respective drive unit (21, 22) is arranged in the longitudinal direction (X) between the spring elements (40).

9. Mobile transport system according to one of the preceding claims, characterized in that the base frame (10) has a plurality of guide rails (94), each of which has a U-shaped cross-section, and that each of the guide rails (94) has two parallel side legs and a base leg connecting the side legs, and that the side legs and the base leg of a guide rail (94) each surround one of the guide grooves (92) from three sides.

10. Mobile transport system according to one of the preceding claims, characterized in that the sliding rollers (90) are arranged in pairs, and that the sliding rollers (90) of a pair of sliding rollers are each arranged offset from each other in the transverse direction (Y), and that each of the sliding rollers (90) runs on exactly one inner wall of a guide groove (92).

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