Mobile transport system
The mobile transport system addresses inefficiencies in existing lifting units by employing a twin-shaft motor and reduced components, achieving cost-effective, efficient, and robust vertical lifting with synchronized movement.
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- SEW EURODRIVE GMBH & CO KG
- Filing Date
- 2025-11-18
- Publication Date
- 2026-07-09
AI Technical Summary
Existing mobile transport systems for technical plants require complex lifting units with numerous gears and connecting shafts, leading to high costs and potential inefficiencies.
A mobile transport system with a simplified lifting unit design featuring a twin-shaft lifting motor, reduced number of gears and connecting shafts, and synchronized lifting devices, allowing for robust and precise vertical movement of the transport platform.
The simplified lifting unit reduces costs, increases efficiency, and ensures reliable, synchronized lifting of heavy loads while minimizing space requirements and preventing spindle buckling.
Smart Images
Figure EP2025083375_09072026_PF_FP_ABST
Abstract
Description
[0001] Mobile transport system
[0002] Description:
[0003] The invention relates to a mobile transport system for transporting objects in a technical plant, comprising a base frame, a transport plate and a lifting unit by means of which the transport plate can be moved in a vertical direction relative to the base frame.
[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. Mobile transport systems are capable of overcoming slight inclines or declines, as well as small thresholds or similar obstacles. A lifting unit allows for adjustment of the transport platform's height.
[0005] Document DE 102021 003471 B3 discloses a generic mobile transport system for transporting objects in a technical plant. The mobile transport system has several drive wheels and support wheels, as well as a lifting unit by means of which an upper frame can be moved vertically.
[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 in a technical plant comprises a base frame, a transport platform, and a lifting unit by means of which the transport platform can be moved relative to the base frame in a vertical direction. The lifting unit has a plurality of lifting devices, a lifting motor with an output shaft, a first gearbox, a second gearbox, and a plurality of
[0009] ISI \ EIDOPAT 18.11.2025 Connecting shafts. The lifting motor, the gearboxes, the connecting shafts and the lifting devices are coupled to each other in such a way that the first gearbox transmits a rotation of the output shaft of the lifting motor to two of the connecting shafts, and that the second gearbox transmits a rotation of the output shaft of the lifting motor to two of the connecting shafts, and that each of the connecting shafts transmits a rotation to one of the lifting devices.
[0010] The lifting unit of the mobile transport system therefore requires fewer gears and fewer connecting shafts compared to lifting units known from the prior art. This significantly reduces the cost of the lifting unit. Furthermore, the reduced number of moving parts increases the efficiency and effectiveness of the lifting unit.
[0011] According to an advantageous embodiment of the invention, the output shaft of the lifting motor rotates about an axis of rotation extending in a longitudinal direction, and the connecting shafts each rotate about an axis of rotation extending in a transverse direction.
[0012] The transverse direction runs perpendicular to the longitudinal direction. Both the longitudinal and transverse directions are horizontal directions and run parallel to the ground on which the mobile transport system is located. The vertical direction is perpendicular to the ground and therefore runs perpendicular to both the longitudinal and transverse directions. Any direction perpendicular to the vertical direction represents a horizontal direction.
[0013] According to an advantageous embodiment of the invention, each of the lifting devices comprises a spindle and a spindle nut, which is rotatable relative to the spindle about a central axis. By rotating the spindle nuts about the central axes, the spindles undergo a translational movement in the vertical direction. The central axes of the spindles of the lifting devices run parallel to each other in the vertical direction.
[0014] The mobile transport system is capable of lifting relatively heavy loads. The lifting unit is robust and reliably functional. In particular, it can withstand relatively large lateral loads and the resulting moments without risking buckling of the spindles or spindle nuts of the lifting devices. The generation of the lift by spindles and spindle nuts is also very precise. According to an advantageous embodiment of the invention, each of the connecting shafts transmits a rotation to the spindle nut of one of the lifting devices.
[0015] Only one lifting motor is required for the synchronous drive of the lifting devices, ensuring simultaneous lifting movement of all devices. Uneven lifting movement due to faulty synchronization of multiple lifting motors is eliminated.
[0016] According to an advantageous embodiment of the invention, the lifting devices each comprise a housing in which the spindle nut is arranged. The housings of the lifting devices are each rigidly connected to the base frame. A mounting flange is attached to each of the ends of the spindles of the lifting devices facing away from the base frame, and the mounting flanges of the lifting devices are attached to the transport plate.
[0017] According to an advantageous embodiment of the invention, the lifting motor has a stator which coaxially surrounds the output shaft. The output shaft projects longitudinally out of the stator on both sides.
[0018] The lifting motor thus has a continuous output shaft and is also referred to as a twin-shaft motor. This design of the lifting motor allows both ends of the output shaft to be connected to a gearbox.
[0019] According to an advantageous embodiment of the invention, the lifting motor is arranged longitudinally between the first gearbox and the second gearbox.
[0020] This means that the space required for the lifting unit is relatively small.
[0021] According to an advantageous embodiment of the invention, the lifting motor and the first gearbox are designed as a geared motor and form a structural unit.
[0022] This results in a relatively small space requirement for the lifting unit. According to an advantageous embodiment of the invention, the output shaft of the lifting motor is coupled to the second gearbox by means of a shaft coupling such that the shaft coupling transmits a rotation of the output shaft to the second gearbox.
[0023] According to an advantageous embodiment of the invention, the lifting motor, the first gearbox and the second gearbox are designed as a geared motor and form a structural unit.
[0024] For this purpose, the lifting motor is preferably designed as a twin-shaft motor, with each end of the continuous output shaft connected to one of the gearboxes. Preferably, the lifting motor is arranged longitudinally between the first gearbox and the second gearbox. This results in a particularly small space requirement for the lifting unit.
[0025] 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, in particular 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:
[0026] Figure 1: a perspective view of a mobile transport system,
[0027] Figure 2: a perspective view of a chassis of a mobile transport system according to a first embodiment,
[0028] Figure 3: a side view of a chassis of a mobile transport system according to a second embodiment and
[0029] Figure 4: a perspective view of a lifting unit of a mobile transport system.
[0030] Figure 1 shows a perspective 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.
[0031] In the illustration shown, the mobile transport system is located on a level surface. A longitudinal direction X corresponds at least approximately to the usual direction of travel of the mobile transport system. A 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 surface on which the mobile transport system is located. A vertical direction Z is perpendicular to the surface and thus runs perpendicular to both the longitudinal direction X and the transverse direction Y. Any direction perpendicular to the vertical direction Z represents a horizontal direction.
[0032] The mobile transport system has an approximately cuboid shape. A surface of the mobile transport system facing away from the ground extends at least approximately parallel to the ground and thus perpendicular to the vertical direction Z. The mobile transport system comprises a plurality of cladding parts and covers 11, which largely conceal internal components in the illustration shown here. The mobile transport system includes a base frame 12, which is hidden by the covers 11 in the illustration shown here.
[0033] The mobile transport system comprises a transport plate 18, which defines the surface of the mobile transport system. The transport plate 18 serves to hold objects to be transported. The mobile transport system also comprises a lifting unit by means of which the transport plate 18 can be moved relative to the base frame 12 in the vertical direction Z.
[0034] The mobile transport system includes a receiving unit (not shown) to which energy can be inductively transferred from a charging unit. The charging unit may be, for example, a linear conductor or 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 within the mobile transport system. The receiving unit is located in a central area on one of the front sides of the mobile transport system.
[0035] The mobile transport system also features several laser scanners 25. The laser scanners 25 are arranged in a corner area of the front and one long side, as well as in a corner area of the rear and one long side. The laser scanners 25 serve to detect obstacles and to navigate the mobile transport system within the technical facility.
[0036] Figure 2 shows a perspective view of the chassis of a mobile transport system according to a first embodiment. The mobile transport system according to the first embodiment comprises the base frame 12, a pair of drive wheels 45, a pair of first support wheels 41, and a pair of second support wheels 42.
[0037] The base frame 12 comprises a first side plate 21, a second side plate 22, a first end plate 31, and a second end plate 32. The end plates 31 and 32 are oriented parallel to each other. The side plates 21 and 22 are oriented parallel to each other. The end plates 31 and 32 are oriented perpendicular to the side plates 21 and 22.
[0038] The end plates 31, 32 and the side plates 21, 22 are each made of a metal and each has a multitude of openings and penetrations. These openings and penetrations serve in part for the attachment of components. The openings and penetrations also improve air circulation in the mobile transport system and thus improve heat dissipation.
[0039] The first support wheels 41 each have two rollers arranged side by side. The first support wheels 41 are each pivotable about a pivot axis extending in the vertical direction Z relative to the base frame 12. Furthermore, the first support wheels 41 are each rotatably mounted about a rotation axis extending in a horizontal direction relative to the base frame 12. The pivot axis and the rotation axis of a first support wheel 41 do not intersect. Depending on the pivoting of the first support wheels 41 about the pivot axis, the rotation axes extend, for example, in the longitudinal direction X, in the transverse direction Y, or in another horizontal direction.
[0040] The second support wheels 42 each have two rollers arranged side by side. The second support wheels 42 are each pivotable about a pivot axis extending in the vertical direction Z relative to the base frame 12. Furthermore, the second support wheels 42 are each rotatably mounted about a rotation axis extending in a horizontal direction relative to the base frame 12. The pivot axis and the rotation axis of a second support wheel 42 do not intersect. Depending on the pivoting of the second support wheels 42 about the pivot axis, the rotation axes extend, for example, in the longitudinal direction X, in the transverse direction Y, or in another horizontal direction.
[0041] The mobile transport system comprises two drive motors 55 and two drive gearboxes 57. Each of the drive wheels 45 is assigned one drive motor 55 and one drive gearbox 57. The drive motors 55 allow the drive wheels 45 to be driven independently of one another. Each drive motor 55 drives one of the drive wheels 45 rotationally via one of the drive gearboxes 57. The mobile transport system also includes an electrical energy storage device (not shown) for supplying power to the drive motors 55. The mobile transport system also includes a control unit (not shown) for controlling the drive motors 55.
[0042] Each of the drive units 57 is equipped with a release lever 59. The release lever 59 allows the respective drive unit 57 to be mechanically disconnected from its associated drive motor 55, as well as mechanically coupled to it. When one of the drive motors 55 is disconnected from its associated drive unit 57, the corresponding drive wheel 45 is freely rotatable.
[0043] The mobile transport system comprises a first pivot lever 61 and a second pivot lever 62. One of the drive wheels 45 and one of the second support wheels 42 are arranged on the first pivot lever 61. One of the drive wheels 45 and one of the second support wheels 42 are arranged on the second pivot lever 62.
[0044] The two pivot levers 61, 62 are independently pivotable about a common pivot axis 13 relative to the base frame 12. The pivot axis 13 extends in the transverse direction Y. The pivot axis 13 is arranged in the longitudinal direction X between the drive wheels 45 and the second support wheels 42.
[0045] The drive wheels 45 are arranged offset from each other in the transverse direction Y. Each drive wheel 45 is rotatably mounted about a drive axis extending in the transverse direction Y relative to the base frame 12. The second set of support wheels 42 are also arranged offset from each other in the transverse direction Y.
[0046] The mobile transport system includes a tilting lever, which is concealed here. The first support wheels 41 are attached to the tilting lever. The tilting lever is pivotable about a tilting axis 15 extending in the longitudinal direction X relative to the base frame 12. The first support wheels 41 are arranged offset from each other in the transverse direction Y.
[0047] The tilting axis 15 and the pendulum axis 13 are thus perpendicular to each other. The tilting axis 15 is arranged in the transverse direction X between the first support wheels 41. The drive wheels 45 are arranged in the longitudinal direction X between the pendulum axis 13 and the first support wheels 41.
[0048] Figure 3 shows a side view of a chassis of a mobile transport system according to a second embodiment. The mobile transport system according to the first embodiment comprises the base frame 12, a pair of drive wheels 45 and a pair of first support wheels 41, but no second support wheels 42.
[0049] The base frame 12 comprises a first side plate 21, a second side plate 22, a first end plate 31, and a second end plate 32. The end plates 31 and 32 are oriented parallel to each other. The side plates 21 and 22 are oriented parallel to each other. The end plates 31 and 32 are oriented perpendicular to the side plates 21 and 22.
[0050] The end plates 31, 32 and the side plates 21, 22 are each made of a metal and each has a multitude of openings and penetrations. These openings and penetrations serve in part for the attachment of components. The openings and penetrations also improve air circulation in the mobile transport system and thus improve heat dissipation.
[0051] The first support wheels 41 each have two rollers arranged side by side. The first support wheels 41 are each pivotable about a pivot axis extending in the vertical direction Z relative to the base frame 12. Furthermore, the first support wheels 41 are each rotatably mounted about a rotation axis extending in a horizontal direction relative to the base frame 12. The pivot axis and the rotation axis of a first support wheel 41 do not intersect. Depending on the pivoting of the first support wheels 41 about the pivot axis, the rotation axes extend, for example, in the longitudinal direction X, in the transverse direction Y, or in another horizontal direction.
[0052] The mobile transport system comprises two drive motors 55 and two drive gearboxes 57. Each of the drive wheels 45 is assigned one drive motor 55 and one drive gearbox 57. The drive motors 55 allow the drive wheels 45 to be driven independently of one another. Each drive motor 55 drives one of the drive wheels 45 rotationally via one of the drive gearboxes 57. The mobile transport system also includes an electrical energy storage device (not shown) for supplying power to the drive motors 55. The mobile transport system also includes a control unit (not shown) for controlling the drive motors 55.
[0053] Each of the drive units 57 is equipped with a release lever 59. The release lever 59 allows the respective drive unit 57 to be mechanically disconnected from its associated drive motor 55, as well as mechanically coupled to it. When one of the drive motors 55 is disconnected from its associated drive unit 57, the corresponding drive wheel 45 is freely rotatable. One of the drive wheels 45 is attached to the first side plate 21 of the base frame 12. One of the drive wheels 45 is attached to the second side plate 22 of the base frame 12. The drive wheels 45 are thus attached to the base frame 12.
[0054] The drive wheels 45 are arranged offset from each other in the transverse direction Y. Each drive wheel 45 is rotatably mounted about a drive axis extending in the transverse direction Y relative to the base frame 12. The drive axes of the drive wheels 45 are aligned with each other.
[0055] The mobile transport system includes a tilting lever, which is concealed here. The first support wheels 41 are attached to the tilting lever. The tilting lever is pivotable about a tilting axis 15 extending in the longitudinal direction X relative to the base frame 12. The first support wheels 41 are arranged offset from each other in the transverse direction Y.
[0056] The tilting axis 15 and the pendulum axis 13 are thus perpendicular to each other. The tilting axis 15 is arranged in the transverse direction X between the first support wheels 41. The drive wheels 45 are arranged in the longitudinal direction X between the pendulum axis 13 and the first support wheels 41.
[0057] Figure 4 shows a perspective view of a lifting unit of the mobile transport system. The lifting unit comprises several components which are connected to the base frame 12. By means of the lifting unit, the transport plate 18 (not shown here) can be moved relative to the base frame 12 in the vertical direction Z.
[0058] The lifting unit comprises several, in this case four, lifting devices 91. Each of the lifting devices 91 includes a spindle and a spindle nut, which is rotatable relative to the spindle about a central axis. The spindles and spindle nuts of the lifting devices 91 are hidden in this illustration. The central axes of the spindles of the lifting devices 91 run parallel to each other in the vertical direction Z. Each of the lifting devices 91 comprises a housing in which the spindle nut is arranged.
[0059] The housings of the lifting devices 91 are each rigidly connected to the base frame 12. In particular, the housings of the lifting devices 91 are each rigidly connected to the side plates 21, 22 of the base frame 12. For example, the housings of the lifting devices 91 are each arranged in the corners of the base frame 12 and are rigidly connected to the side plates 21, 22 and to the end plates 31, 32 of the base frame 12.
[0060] A mounting flange is attached to each of the ends of the spindles furthest from the base frame 12. These mounting flanges serve to attach the lifting devices 91 to the transport plate 18 (not shown). By rotating the spindle nuts about their central axes, the spindles undergo a translational movement in the vertical direction Z. This also moves the mounting flanges and the transport plate 18 in the vertical direction Z.
[0061] The lifting unit further comprises a lifting motor 92, a first gearbox 97, a second gearbox 98, and several, in this case four, connecting shafts 95. An output shaft of the lifting motor 92 rotates about an axis of rotation that runs at least approximately in the longitudinal direction X. The output shaft of the lifting motor 92 drives the first gearbox 97 and the second gearbox 98.
[0062] The lifting motor 92 is designed as a twin-shaft motor. The lifting motor 92 has a stator that coaxially surrounds the output shaft. The output shaft of the lifting motor 92 projects longitudinally X from the stator on both sides. One end of the output shaft is connected to the first gearbox 97, and the opposite end of the output shaft is connected to the second gearbox 98.
[0063] The lifting motor 92 is arranged longitudinally X between the first gearbox 97 and the second gearbox 98. The lifting motor 92 and the first gearbox 97 are designed as a geared motor and form a single structural unit.
[0064] The output shaft of the lifting motor 92 is coupled to the second gearbox 98 by means of a shaft coupling 99. The shaft coupling 99 transmits a rotation of the output shaft of the lifting motor 92 to the second gearbox 98.
[0065] The first gearbox 97 is coupled to two of the lifting devices 91 via two connecting shafts 95. These connecting shafts 95 are arranged on opposite sides of the first gearbox 97. The connecting shafts 95 extend in the transverse direction Y from the first gearbox 97 to the lifting devices 91. The first gearbox 97 transmits a rotation of the output shaft of the lifting motor 92 to the connecting shafts 95.
[0066] The second gearbox 98 is coupled to two of the lifting devices 91 via two connecting shafts 95. These connecting shafts 95 are arranged on opposite sides of the second gearbox 98. The connecting shafts 95 extend in the transverse direction Y from the second gearbox 98 to the lifting devices 91. The second gearbox 98 transmits a rotation of the output shaft of the lifting motor 92 to the connecting shafts 95.
[0067] The connecting shafts 95 each rotate about an axis of rotation extending in the transverse direction Y. The axes of rotation of the connecting shafts 95 are therefore perpendicular to the axis of rotation of the output shaft of the lifting motor 92.
[0068] Each of the connecting shafts 95 thus transmits a rotation to one of the lifting devices 91. In particular, each of the connecting shafts 95 transmits a rotation to the spindle nut of one of the lifting devices 91.
[0069] When the output shaft of the lifting motor 92 rotates, the spindle nuts of the lifting devices 91 are driven rotationally via the gears 97, 98 and the connecting shafts 95. As already mentioned, this causes the spindles to undergo a translational movement in the vertical direction Z. This also moves the mounting flanges and the transport plate 18 in the vertical direction Z. Reference numeral list
[0070] 11 Cover
[0071] 12 basic frames
[0072] 13 Pendulum axle
[0073] 15 tipping axle
[0074] 18 Transport plate
[0075] 21 first side panel
[0076] 22 second side panel 25 laser scanner
[0077] 31 first frontal plate
[0078] 32 second end plate
[0079] 41 first support wheel
[0080] 42 second support wheel
[0081] 45 drive wheel
[0082] 55 Drive motor
[0083] 57 Driving transmission
[0084] 59 Release levers
[0085] 61 First swivel lever 62 Second swivel lever 91 Lifting device
[0086] 92 Hub motor
[0087] 95 Connecting shaft
[0088] 97 first gearbox
[0089] 98 second gearbox
[0090] 99 Shaft coupling
[0091] X Longitudinal direction
[0092] Y transverse direction
[0093] Z Vertical direction
Claims
Patent claims:
1. Mobile transport system for transporting objects in a technical facility, comprising a base frame (12), a transport plate (18) and a lifting unit by means of which the transport plate (18) can be moved in a vertical direction (Z) relative to the base frame (12), wherein the lifting unit a plurality of lifting devices (91), a lifting motor (92) with an output shaft, a first gearbox (97), a second gearbox (98) and exhibits a plurality of connecting shafts (95), characterized by the fact that the lifting motor (92), the gearboxes (97, 98), the connecting shafts (95) and the lifting devices (91) are coupled together in such a way that the first gearbox (97) transmits a rotation of the output shaft of the lifting motor (92) to two of the connecting shafts (95), and that the second gearbox (98) transmits a rotation of the output shaft of the lifting motor (92) to two of the connecting shafts (95), and that 2. Mobile transport system according to claim 1, characterized in that the output shaft of the lifting motor (92) rotates about a rotational axis extending in a longitudinal direction (X), and that The connecting shafts (95) each rotate about an axis of rotation extending in a transverse direction (Y).
3. Mobile transport system according to any of the preceding claims, characterized by the fact that Each of the lifting devices (91) comprises a spindle and a spindle nut, which is rotatable about a central axis relative to the spindle, and that By rotating the spindle nuts around the central axes, the spindles undergo a translational movement in the vertical direction (Z), and that the central axes of the spindles of the lifting devices (91) run parallel to each other in the vertical direction (Z).
4. Mobile transport system according to claim 3, characterized in that Each of the connecting shafts (95) transmits a rotation to the spindle nut of one of the lifting devices (91).
5. Mobile transport system according to any of the preceding claims, characterized by the fact that the lifting devices (91) each comprise a housing in which the spindle nut is arranged, and that the housings of the lifting devices (91) are each firmly connected to the base frame (12), and that a mounting flange is attached to each of the ends of the spindles of the lifting devices (91) facing away from the base frame (12), and that the mounting flanges of the lifting devices (91) are attached to the transport plate (18).
6. Mobile transport system according to any of the preceding claims, characterized by the fact that the lifting motor (92) has a stator which coaxially surrounds the output shaft, and the output shaft projects out of the stator on both sides in the longitudinal direction (X).- 16 - 7. Mobile transport system according to one of the preceding claims, characterized by the fact that the lifting motor (92) is arranged in the longitudinal direction (X) between the first gearbox (97) and the second gearbox (98).
8. Mobile transport system according to any of the preceding claims, characterized by the fact that the lifting motor (92) and the first gearbox (97) are designed as a geared motor and form a structural unit.
9. Mobile transport system according to any of the preceding claims, characterized by the fact that the output shaft of the lifting motor (92) is coupled to the second gearbox (98) by means of a shaft coupling (99) such that The shaft coupling (99) transmits a rotation of the output shaft to the second gearbox (98).
10. Mobile transport system according to any of the preceding claims, characterized by the fact that the lifting motor (92), the first gearbox (97) and the second gearbox (98) are designed as a geared motor and form a structural unit.