CN214731705U

CN214731705U - Mobile transportation system

Info

Publication number: CN214731705U
Application number: CN202121047963.9U
Authority: CN
Inventors: 高琼华
Original assignee: Sew Tianjin Transmission Equipment Co ltd
Current assignee: Sew Tianjin Transmission Equipment Co ltd
Priority date: 2021-05-14
Filing date: 2021-05-14
Publication date: 2021-11-16
Anticipated expiration: 2031-05-14

Abstract

The utility model relates to a portable transportation system (10), this portable transportation system is arranged in transporting the object in technical equipment and includes: a middle frame (12), a pair of first supporting wheels (41), a pair of second supporting wheels (42), a pair of driving wheels (45), and a lower frame (14) which is swingable relative to the middle frame (12) about a swing axis (13) extending in a transverse direction (Y), the driving wheels (45) being fixed to the lower frame (14), the second supporting wheels (42) being fixed to the lower frame (14), the first supporting wheels (41) being fixed to a rocker (16) which is swingable relative to the middle frame (12) about a swing axis (15) extending in a longitudinal direction (X).

Description

Mobile transportation system

Technical Field

The utility model relates to a portable transportation system, this portable transportation system are arranged in technical equipment to transport the object and include: the drive device includes a center frame, a pair of first support wheels, a pair of second support wheels, a pair of drive wheels, and a lower frame swingable relative to the center frame about a swing axis extending in a lateral direction.

Background

Mobile transport systems, in particular autonomous mobile transport systems/AGV systems, are used in technical installations, for example in manufacturing plants, for transporting objects, such as small parts or cassettes. The mobile transport system also transports the components from a logistics area, such as a material warehouse, to a processing site where the components are processed. Mobile transportation systems are able to overcome small uphill or downhill slopes as well as small ground bumps or similar obstacles.

Document DE102020000746a1 discloses an unmanned transport vehicle. The unmanned transport vehicle has a running gear with a frame on which a rocker is mounted. The unmanned transport vehicle further comprises two drive wheels and a plurality of support wheels. The unmanned transport vehicle has a receiving plate whose height is adjustable to perform a lifting operation on a transported object.

SUMMERY OF THE UTILITY MODEL

The technical problem to be solved by the utility model is to further improve a mobile transportation system for transporting objects.

According to the utility model discloses a portable conveying system for transporting object in technical equipment includes: the drive device includes a center frame, a pair of first support wheels, a pair of second support wheels, a pair of drive wheels, and a lower frame swingable relative to the center frame about a swing axis extending in a lateral direction. The drive wheel is fixed to the lower frame, the second support wheel is fixed to the lower frame, and the first support wheel is fixed to a rocker which can be pivoted about a pivot axis running in the longitudinal direction relative to the middle frame.

Through portable conveying system's basis the utility model discloses a design has ensured that the drive wheel can exert the same contact pressure to ground always. In any case, at least five of the six wheels of the mobile transport system always touch the ground even when the ground is uneven over a slope and at the same time in a direction transverse to the direction of travel. No springs need to be used to achieve a certain contact pressure of the wheel on the ground. Depending on the nature of the ground, at most one wheel loses contact with the ground. The mobile transport system is thus able to compensate for unevenness of the ground in a direction transverse to the direction of travel.

According to an advantageous embodiment of the invention, the first supporting wheels are staggered with respect to one another in the transverse direction. According to an advantageous embodiment of the invention, the second supporting wheels are offset from each other in the transverse direction.

According to a preferred embodiment of the invention, the first supporting wheels are each mounted so as to be pivotable relative to the pivot lever about a pivot axis extending in the vertical direction and so as to be pivotable relative to the pivot lever about a pivot axis extending in the horizontal direction. The supporting wheel thus designed is less costly and facilitates the cornering of the mobile transport system.

According to a preferred embodiment of the invention, the second supporting wheels are each mounted so as to be pivotable relative to the lower frame about a pivot axis extending in the vertical direction and so as to be pivotable relative to the lower frame about a pivot axis extending in the horizontal direction. Such a design of the supporting wheel is less costly and also facilitates the cornering of the mobile transport system.

According to an advantageous further development of the invention, a first braking device is arranged on the first support wheel, by means of which the rotation of the first support wheel about the rotation axis running in the horizontal direction can be braked; or a second braking device is arranged on the second support wheel, by means of which a rotation of the second support wheel about a rotation axis extending in the horizontal direction can be braked. The mobile transport system can thus be braked at any time almost independently of the ground characteristics.

According to an advantageous embodiment of the invention, the drive wheels are each mounted so as to be rotatable relative to the lower frame about a drive axis extending in the transverse direction, the drive wheels being drivable independently of one another by the drive motor. Driving the drive wheels at different rotational speeds makes it possible to drive through curves.

According to an advantageous further development of the invention, the mobile conveyor system has a first angle sensor for detecting a pivot angle of the lower frame relative to the middle frame about the pivot axis. This enables identification of an uphill slope and a downhill slope.

According to an advantageous further development of the invention, the mobile transport system has a second angle sensor for detecting the pivot angle of the pivot lever about the pivot axis relative to the center frame. This enables identification of uneven areas in the ground.

According to an advantageous embodiment of the invention, the drive wheel is arranged in the longitudinal direction between the first and the second supporting wheel.

According to an advantageous further development of the invention, the mobile transport system has a receiving unit to which the energy of the charging unit can be inductively transmitted. The charging unit is, for example, a linear conductor or coil and is statically located in the ground. The energy inductively transmitted from the charging unit to the receiving unit is used, for example, to charge an electrical energy store of the mobile transport system.

Further meaningful possible combinations of the individual description features and/or the drawing features also occur to the person skilled in the art, especially in light of the technical problems stated and/or the technical problems stated in comparison with the prior art.

Drawings

The present invention will be described in detail with reference to the accompanying drawings. The invention is not limited to the embodiments shown in the drawings. The figures only schematically show the subject matter of the invention.

Fig. 1 is a perspective view of a mobile transport system.

Fig. 2 is a perspective view of structural components of the mobile transport system.

Fig. 3 is a perspective view of a lifting unit of the mobile transportation system.

Fig. 4 is a perspective view of the middle frame.

Fig. 5 is a perspective view of a travel mechanism of the mobile transport system.

Fig. 6 is a bottom side view of the mobile transport system.

Fig. 7 is a side view of a travel mechanism of the mobile transport system.

List of reference numerals

10 mobile transportation system

12 middle frame

13 axis of oscillation

14 lower frame

15 swing axis

16 rocker

17 pendulum rod

18 upper frame

20 receiving unit

25 laser scanner

41 first support wheel

42 second support wheel

45 driving wheel

55 drive motor

57 travel transmission mechanism

59 release lever

80 surface of

90 lifting unit

91 lifting device

92 lifting motor

93 central transmission

94 side transmission device

95 connecting shaft

96 output shaft

In the X longitudinal direction

Y transverse direction

In the Z vertical direction

Detailed Description

Fig. 1 shows a perspective view of a mobile transport system 10. The mobile transport system 10 is used here for transporting objects in a technical installation. The technical equipment relates to industrial applications, such as manufacturing plants. The transportation system 10 is also used, for example, to transport goods to the homes of private recipients in a city or residential area. The mobile transport system 10 is here an autonomous vehicle/AGV cart.

The mobile transport system 10 is in the view shown here on a horizontal ground. The longitudinal direction X corresponds at least approximately to the general direction of travel of the mobile transport system 10. The transverse direction Y is at right angles to the longitudinal direction X. The longitudinal direction X and the transverse direction Y represent horizontal directions and are parallel to the ground on which the mobile transport system 10 is located. The vertical direction Z extends perpendicular to the ground, thus perpendicular to the longitudinal direction X and perpendicular to the transverse direction Y. Each direction perpendicular to the vertical direction Z represents a horizontal direction.

The mobile transportation system 10 has at least approximately the shape of a cuboid. The surface 80 of the mobile transport system 10 facing away from the ground extends at least approximately parallel to the ground and is therefore at right angles to the vertical direction Z. The surface 80 is used to receive objects to be transported. The mobile transportation system 10 includes a plurality of cladding and cover members that, in the view shown here, primarily cover the interior components.

The mobile transportation system 10 has a receiving unit 20 to which energy can be inductively transmitted from the charging unit 20. The charging unit is designed, for example, as a linear conductor or as a coil. The energy transmitted inductively from the charging unit to the receiving unit 20 is used, for example, to charge an electrical energy store of the mobile transportation system 10. The receiving unit 20 is located in the central area of the front side of the mobile transportation system 10.

The mobile transport system 10 also has a plurality of laser scanners 25. The laser scanners 25 are arranged in particular in the corner regions of the front side and the longitudinal side as well as in the corner regions of the rear side and the longitudinal side. The laser scanner 25 is used to detect obstacles and to navigate the mobile transport system 10 within the technical installation.

Fig. 2 shows a perspective view of the structural components of the mobile transport system 10. The mobile transport system 10 includes a lower frame 14, a middle frame 12, and an upper frame 18. The upper frame 18, the middle frame 12 and the lower frame 14 are designed to be relatively flat and extend mainly in the longitudinal direction X and the transverse direction Y. The upper frame 18, the middle frame 12 and the lower frame 14 each have a smaller extension in the vertical direction Z. The upper frame 18, the middle frame 12, and the lower frame 14 are stacked on each other in the vertical direction Z.

The lower frame 14 is arranged here towards the ground. The upper frame 18 is disposed away from the ground. The middle frame 12 is arranged between the lower frame 14 and the upper frame 18 in the vertical direction Z. The upper frame 18, the middle frame 12, and the lower frame 14 are mechanically connected to one another, as will be explained in more detail below. The upper frame 18 is mounted so as to be movable relative to the middle frame 12. The lower frame 14 is also mounted for movement relative to the middle frame 12.

The lower frame 14, the middle frame 12, and the upper frame 18 are all made of metal. The upper frame 18, the middle frame 12, and the lower frame 14 have a plurality of openings and through holes, respectively. These openings and through holes are used in part to secure the components. The openings and through holes also improve air circulation in the mobile transport system 10, thereby improving heat dissipation.

In manufacturing the mobile conveyor system 10, each

frame

12, 14, 18 is first prefabricated. The components required in each case are mounted on

separate frames

12, 14, 18. The prefabricated frames 12, 14, 18 are then connected to each other.

Fig. 3 shows a perspective view of the lifting unit 90 of the mobile transport system 10. The lifting unit 90 includes a plurality of components connected to the middle frame 12. The lifting unit 90 is disposed on a side of the middle frame 12 facing the upper frame 18. The upper frame 18 (not shown here) is connected to the middle frame 12 by means of a lifting unit 90. The upper frame 18 can be moved in the vertical direction Z relative to the middle frame 12 by the lifting unit 90.

The lifting unit 90 has a plurality of (presently four) lifting devices 91. Each lifting device 91 comprises a threaded spindle and a threaded spindle nut which is rotatable about a central axis relative to the threaded spindle. In this figure the spindle and the spindle nut of the lifting device 91 are covered. The central axes of the threaded spindles of the lifting device 91 extend parallel to one another in the vertical direction Z. The lifting devices 91 each comprise a housing in which a spindle nut is arranged. The housings of the lifting devices 91 are each fixedly connected to the middle frame 12.

A fastening flange is arranged at each end of the threaded spindle facing away from the center frame 12. The fixing flange serves to fix the lifting device 91 to the upper frame 18, not shown here. By rotating the spindle nut about the central axis, the spindle is subjected to a translational movement in the vertical direction Z. Thereby moving the fixing flange and the upper frame 18 in the vertical direction Z.

The lifting unit 90 further includes a lifting motor 92, a central transmission 93, two side transmissions 94, and a plurality of (six in the present case) connecting shafts 95. The lift motor 92 is fixedly connected to the middle frame 12. The driven shaft of the lifting motor 92 rotates about an axis extending at least substantially in the longitudinal direction X, thereby driving the central transmission 93.

The central gear 93 is fixedly connected to the middle frame 12. The side transmission 94 is also fixedly connected to the middle frame 12. The side transmissions 94 are each coupled to the central transmission 93 via a connecting shaft 95. The connecting shafts 95 are arranged here on opposite sides of the central gear 93. The connecting shafts 95 each extend in the transverse direction Y from the central gear 93 to the side gears 94.

The side transmissions 94 are each coupled to two lifting devices 91 by two connecting shafts 95. The connecting shafts 95 are arranged here on opposite sides of the side transmission 94. The connecting shafts 95 extend from the side transmission 94 to the lifting device 91 in the longitudinal direction X, respectively.

The central transmission 93 transmits the rotation of the driven shaft of the elevating motor 92 to the two side transmissions 94 through two connecting shafts 95 extending in the transverse direction Y. The two side drives 94 each transmit the rotation to the lifting device 91, in particular to the spindle nut of the lifting device 91, via two connecting shafts 95 extending in the longitudinal direction X.

When the driven shaft of the lifting motor 92 rotates, the spindle nut of the lifting device 91 is driven in a rotating manner via the

transmissions

93, 94 and the connecting shaft 95. This causes the spindle to perform a translational movement in the vertical direction Z as described. Thereby also moving the fixing flange and the upper frame 18 in the vertical direction Z.

The lifting unit 90 also has two output shafts 96. The output shafts 96 are each coupled to one of the side gears 94. The output shafts 96 are respectively disposed at opposite sides of the side gears 94 from the center gear 93. The output shafts 96 each extend in the transverse direction Y and each pass through an opening provided therefor in the middle frame 12. Thus, the output shaft 96 is accessible outside the mid-frame 12 and may be driven, for example, by a manual crank or an electric wrench.

When the output shaft 96 is driven in a rotary manner, the spindle nut of the lifting device 21 is driven in a rotary manner via the side transmission 93 and the connecting shaft 95. This causes the spindle to perform a translational movement in the vertical direction Z, as described above. Thereby also moving the fixing flange and the upper frame 18 in the vertical direction Z.

Fig. 4 shows a perspective view of the middle frame 12 of the mobile transport system 10. In this view, the side of the middle frame 12 facing away from the upper frame 18 is shown. The rocker 16 can be pivoted about a pivot axis 15 relative to the middle frame 12. The pivot axis 15 extends in the longitudinal direction X on the side of the middle frame 12 facing away from the upper frame 18.

The two rocker levers 17 can be pivoted about a common pivot axis 13 relative to the central frame 12. The pivot axis 13 extends in the transverse direction Y on the side of the middle frame 12 facing away from the upper frame 18. The lower frame 14, not shown here, is fixed to the rocker 17. The lower frame 14 can thus be pivoted about the pivot axis 13 relative to the middle frame 12.

The swing axis 15 and the swing axis 13 thus extend at right angles to one another. The swing axis 15 and the swing axis 13 lie in one plane in the vertical direction Z. Thus, the swing axis 15 and the swing axis 13 intersect.

Fig. 5 shows a perspective view of the running gear of the mobile transport system 10. The lower frame 14, the rocker 16 and the rocker 17 are not shown here. The lifting unit 90 is also not shown. The mobile transport system 10 is here located on a flat ground.

Two first supporting wheels 41 are fastened to the rocker 16, not shown here. The two first supporting wheels 41 are offset from each other in the transverse direction Y. The first support wheels 41 each have two wheels arranged next to one another. The first support wheels 41 are each pivotable relative to the rocker 16 about a first pivot axis extending in the vertical direction Z. The first support wheels 41 are furthermore mounted so as to be able to rotate relative to the rocker 16 about first axes of rotation extending in the horizontal direction, respectively. The first pivot axis and the first axis of rotation of the first support wheel 41 do not intersect in the present case. Depending on the oscillation of the first support wheel 41 about the first pivot axis, the first rotation axis extends, for example, in the longitudinal direction X, in the transverse direction Y or in another horizontal direction.

Two second supporting wheels 42 are also fixed to the lower frame 14, which is not shown here. The two second support wheels 42 are offset from each other in the transverse direction Y. The second support wheels 42 each have two wheels arranged next to one another. The second support wheels 42 are each pivotable relative to the lower frame 14 about a second pivot axis extending in the vertical direction Z. The second support wheels 42 are also mounted so as to be rotatable relative to the lower frame 14 about second rotation axes extending in the horizontal direction, respectively. The second pivot axis and the second axis of rotation of the second support wheel 42 do not intersect in the present case. The second axis of rotation extends, for example, in the longitudinal direction X, in the transverse direction Y or in another horizontal direction, as a function of the oscillation of the second support wheel 42 about the second pivot axis.

Two drive wheels 45 are also fastened to the lower frame 14, which is not shown here. The drive wheels 45 are offset from each other in the transverse direction Y. The drive wheels 45 are mounted so as to be rotatable relative to the lower frame 14 about drive axes extending in the transverse direction Y, respectively. In the present case, the drive axes of the drive wheels 45 are aligned with one another or coaxial with one another.

The mobile transport system 10 has two drive motors 55 and two travel drives 57. Each drive wheel 45 is provided with a drive motor 55 and a travel gear 57. The drive wheels 45 can be driven independently of each other by means of the drive motor 55. The drive motors 55 drive and rotate one of the drive wheels 45 via one of the travel transmission mechanisms 57, respectively. The mobile transport system 10 also comprises an electrical energy accumulator, not shown here, for supplying the drive motor 55 with electrical energy. The mobile transport system 10 further comprises a control device, not shown here, for controlling the drive motor 55.

A release lever 59 is respectively arranged at each travel gear 57. The respective travel gear 57 can be mechanically decoupled from the respective drive motor 55 and can be mechanically coupled to the respective drive motor 55 by means of a release lever 59. If one of the drive motors 55 is decoupled from the respective travel gear 57, the respective drive wheel 45 can rotate freely.

Fig. 6 shows a view of the underside of the mobile transport system 10. The lower frame 14 is shown here semi-transparently. The rocker arm 16 is not shown here. The distance of the drive wheels 45 from each other in the transverse direction Y is greater than the distance of the first support wheels 41 from each other in the transverse direction Y. The distance of the drive wheels 45 from each other in the transverse direction Y is greater than the distance of the second support wheels 42 from each other in the transverse direction Y. In the present case, six

wheels

41, 42, 45 are arranged along an elliptical trajectory. The ellipse is symmetrical about a longitudinal axis extending in the longitudinal direction X.

Fig. 7 shows a side view of the running gear of the mobile transport system 10. The rocker 16 and the rocker 17 are not shown here. The first support wheel 41 is fixed to the rocker 16 by means of an adapter, not shown here. The second bearing wheel 42 is fixed to the lower frame 14 by means of an adapter, not shown here.

The drive wheel 45 is arranged in the longitudinal direction X between the first support wheel 41 and the second support wheel 42. The oscillation axis 13 is located between the drive wheel 45 and the second support wheel 42 in the longitudinal direction X.

Here, the distance of the second supporting wheel 42 in the longitudinal direction X to the swivel axis 13 is substantially equal to the distance of the driving wheel 45 in the longitudinal direction X to the swivel axis 13. The distance of the bearing wheel 42 from the pivot axis 13 in the longitudinal direction X corresponds here to the distance of the second pivot axis from the pivot axis 13 in the longitudinal direction X. The distance of the drive wheel 45 in the longitudinal direction X to the swivel axis 13 corresponds to the distance of the drive axis in the longitudinal direction X to the swivel axis 13.

Here, the distance of the second support wheel 42 to the drive wheel 45 in the longitudinal direction X is greater than the distance of the first support wheel 41 to the drive wheel 45 in the longitudinal direction X. The distance of the first support wheel 41 in the longitudinal direction X to the drive wheel 45 corresponds to the distance of the first pivot axis in the longitudinal direction X to the drive axis. The distance of the second support wheel 42 in the longitudinal direction X to the drive wheel 45 corresponds to the distance of the second pivot axis in the longitudinal direction X to the drive axis.

Here, the distance of the first supporting wheel 41 in the longitudinal direction X to the drive wheel 45 is approximately equal to 40% of the distance of the first supporting wheel 41 in the longitudinal direction X to the second supporting wheel 42. Here, the distance of the second supporting wheel 42 in the longitudinal direction X to the drive wheel 45 is approximately equal to 60% of the distance of the first supporting wheel 41 in the longitudinal direction X to the second supporting wheel 42. The distance of the first support wheel 41 to the second support wheel 42 in the longitudinal direction X corresponds to the distance of the first pivot axis in the longitudinal direction X to the second pivot axis.

Claims

1. A mobile transport system (10) for transporting objects in technical installations, comprising: a middle frame (12), a pair of first supporting wheels (41), a pair of second supporting wheels (42), a pair of driving wheels (45), and a lower frame (14) swingable relative to the middle frame (12) about a swing axis (13) extending in a transverse direction (Y),

it is characterized in that the preparation method is characterized in that,

the drive wheel (45) is fixed to the lower frame (14), the second bearing wheel (42) is fixed to the lower frame (14), and the first bearing wheel (41) is fixed to a rocker (16) which can be pivoted about a pivot axis (15) extending in the longitudinal direction (X) relative to the middle frame (12).

2. The mobile transport system (10) of claim 1, wherein the first support wheels (41) are offset from each other in the transverse direction (Y) or the second support wheels (42) are offset from each other in the transverse direction (Y).

3. The mobile transport system (10) according to claim 1 or 2, characterised in that the first support wheels (41) are each mounted so as to be swingable relative to the rocker (16) about a pivot axis extending in the vertical direction (Z) and so as to be rotatable relative to the rocker (16) about a rotation axis extending in the horizontal direction.

4. The mobile transport system (10) according to claim 1 or 2, characterised in that the second supporting wheels (42) are each mounted so as to be pivotable relative to the lower frame (14) about a pivot axis extending in the vertical direction (Z) and so as to be rotatable relative to the lower frame (14) about a rotation axis extending in the horizontal direction.

5. The mobile transport system (10) according to claim 1 or 2, characterised in that on the first support wheel (41) there is arranged a first braking device by means of which a rotation of the first support wheel (41) about a rotation axis extending in the horizontal direction can be braked; or a second braking device is arranged on the second support wheel (42), by means of which second braking device a rotation of the second support wheel (42) about a rotation axis extending in the horizontal direction can be braked.

6. The mobile transport system (10) according to claim 1 or 2, characterised in that the drive wheels (45) are each mounted rotatably relative to the lower frame (14) about a drive axis extending in the transverse direction (Y), the drive wheels being drivable independently of one another by a drive motor (55).

7. The mobile transport system (10) according to claim 1 or 2, characterised in that the mobile transport system (10) has a first angle sensor for detecting the pivot angle of the lower frame (14) about the pivot axis (13) relative to the middle frame (12).

8. The mobile transport system (10) of claim 1 or 2, characterised in that the mobile transport system (10) has a second angle sensor for detecting the pivot angle of the rocker (16) about the pivot axis (15) relative to the middle frame (12).

9. The mobile transport system (10) according to claim 1 or 2, characterized in that a drive wheel (45) is arranged between the first support wheel (41) and the second support wheel (42) in the longitudinal direction (X).

10. The mobile transport system (10) according to claim 1 or 2, characterized in that the mobile transport system (10) has a receiving unit (20) to which the energy of the charging unit can be transmitted inductively.