WO2024125928A1 - Système de transport mobile - Google Patents

Système de transport mobile Download PDF

Info

Publication number
WO2024125928A1
WO2024125928A1 PCT/EP2023/081965 EP2023081965W WO2024125928A1 WO 2024125928 A1 WO2024125928 A1 WO 2024125928A1 EP 2023081965 W EP2023081965 W EP 2023081965W WO 2024125928 A1 WO2024125928 A1 WO 2024125928A1
Authority
WO
WIPO (PCT)
Prior art keywords
drive
module
transport system
base plate
mobile transport
Prior art date
Application number
PCT/EP2023/081965
Other languages
German (de)
English (en)
Inventor
Friedrich Manz
Joshua Gordon David Frisch
Bastian Freitag
Original Assignee
Sew-Eurodrive Gmbh & Co Kg
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sew-Eurodrive Gmbh & Co Kg filed Critical Sew-Eurodrive Gmbh & Co Kg
Publication of WO2024125928A1 publication Critical patent/WO2024125928A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D24/00—Connections between vehicle body and vehicle frame
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles

Definitions

  • the invention relates to a mobile transport system for transporting objects in a technical system, which comprises a vehicle frame and a drive module which has a first drive wheel rotatable about a first drive axis, a second drive wheel rotatable about a second drive axis and at least one electric motor for driving the drive wheels.
  • mobile transport systems In technical systems, for example in production plants or paint shops, mobile transport systems, especially autonomous mobile transport systems, are used to transport objects, such as small parts or boxes.
  • the mobile transport systems in question bring components from logistics areas, such as a material warehouse, to workplaces where the components are processed.
  • Mobile transport systems of this type are able to overcome slight inclines or declines as well as small speed bumps or similar obstacles.
  • a mobile transport system for transporting objects which comprises a vehicle frame, a pendulum frame that can be pivoted about a pendulum axis relative to the vehicle frame and a drive unit.
  • the drive unit is arranged on the pendulum frame.
  • a mobile transport system for transporting objects is also known from the document DE 102020 007 712 A1.
  • the mobile transport system comprises a vehicle frame, a first pair of wheels, a second pair of wheels and a third pair of wheels, each with two wheels, and a pendulum frame which can be pivoted relative to the vehicle frame.
  • the wheels of the second pair of wheels are designed as drive wheels and can be driven by a drive unit.
  • the invention is based on the object of developing a mobile transport system for transporting objects.
  • the drive module is attached to the vehicle frame by means of an interchangeable module, and the interchangeable module comprises a base plate and a carrier plate, and the base plate is fastened to the vehicle frame, and the carrier plate is fastened to the drive module.
  • the carrier plate In a locked state of the interchangeable module, the carrier plate is firmly connected to the base plate, and in a released state of the interchangeable module, the carrier plate is removed from the base plate.
  • the drive module can be relatively easily removed from the vehicle frame for maintenance and repair.
  • a defective drive module can also be relatively easily replaced.
  • the exchangeable module is brought into the released state, the carrier plate is removed from the base plate and the drive module can thus be detached from the vehicle frame.
  • the interchangeable module comprises a first cross block and a second cross block.
  • the first cross block is screwed to the base plate by means of at least one first base screw
  • the first cross block is screwed to the support plate by means of at least one first support screw
  • the second cross block is screwed to the base plate by means of at least one second base screw
  • the second cross block is screwed to the support plate by means of at least one second support screw.
  • the drive module can be removed from the vehicle frame in the transverse direction either on the first side or on the second side.
  • the first transverse block in the locked state of the interchangeable module, is arranged on a first edge region of the base plate, and the second transverse block is arranged on a second edge region of the base plate. The first edge region is opposite the second edge region in the transverse direction.
  • the carrier plate comprises a first centering pin and a second centering pin.
  • the first cross block has a first centering opening and the second cross block has a second centering opening, and in the locked state of the interchangeable module, the first centering pin projects into the first centering opening and the second centering pin projects into the second centering opening.
  • the centering pins and centering openings allow the carrier plate and the base plate to be centered when the interchangeable module is returned to the locked state, i.e. when the drive module is connected to the vehicle frame.
  • the interchangeable module comprises at least one first locking bolt which extends through the first cross block and at least one second locking bolt which extends through the second cross block.
  • the locking bolts In the locked state of the interchangeable module, the locking bolts extend into holes in the base plate and the locking bolts can be moved out of the holes in the base plate against a spring force.
  • the locking bolts prevent unwanted movement of the drive module relative to the vehicle frame while the interchangeable module is being moved from the locked state to the released state.
  • the locking bolts can be moved out of the bores of the base plate in the vertical direction relative to the cross blocks against the spring force.
  • the drive module comprises a pendulum frame which can be pivoted relative to the carrier plate about a pendulum axis running in the transverse direction, and the drive wheels are arranged on the pendulum frame and can be rotated relative to the pendulum frame.
  • the drive module comprises a tilting frame which can be pivoted relative to the pendulum frame about a tilting axis running at least approximately in the longitudinal direction, and the drive module comprises a first front support wheel and a second front support wheel which are arranged on the tilting frame.
  • the front support wheels can each be pivoted about a pivot axis running in the vertical direction relative to the tipping frame and are mounted so that they can rotate about a rotation axis running in a horizontal direction relative to the tipping frame.
  • Support wheels designed in this way are relatively inexpensive and also make it easier for the mobile transport system to negotiate curves.
  • the mobile transport system comprises a first rear support wheel and a second rear support wheel, which are arranged on the vehicle frame, and the rear support wheels are each pivotable about a pivot axis running in the vertical direction relative to the vehicle frame and are rotatably mounted about a rotation axis running in a horizontal direction relative to the vehicle frame.
  • Support wheels designed in this way are relatively inexpensive and also make it easier for the mobile transport system to negotiate curves.
  • Figure 1 a side view of a part of a mobile transport system
  • Figure 2 a perspective view of a drive module with an exchange module
  • Figure 3 an exchange module in a released state.
  • Figure 1 shows a side view of part of a mobile transport system.
  • the mobile transport system is used in particular for transporting objects in a technical system.
  • the technical system is an industrial application, for example a production plant or a painting system.
  • the mobile transport system in this case is an autonomously driving vehicle.
  • the mobile transport system is located on a flat floor within the technical system in question.
  • the mobile transport system 10 comprises a vehicle frame 12 and a drive module 10.
  • the mobile transport system 10 further comprises an interchangeable module 20.
  • the drive module 10 is attached to the vehicle frame 12 by means of the interchangeable module 20.
  • the vehicle frame 12 has an approximately rectangular cross-section and extends predominantly in a longitudinal direction X and in a transverse direction Y.
  • the mobile transport system also includes a first rear support wheel (not shown here) and a second rear support wheel (not shown here).
  • the rear support wheels are arranged on the vehicle frame 12.
  • the rear support wheels can each be pivoted about a pivot axis running in the vertical direction Z relative to the vehicle frame 12 and are rotatably mounted about a rotation axis running in a horizontal direction relative to the vehicle frame 12.
  • the rear support wheels are arranged offset from one another in the transverse direction Y.
  • the rotation axes of the rear support wheels run, for example, in the longitudinal direction X or in the transverse direction or in another horizontal direction.
  • the pivot axis and the rotation axis of a rear The support wheels do not intersect in this case.
  • the rear support wheels each comprise two rollers which are arranged parallel to one another.
  • a braking device is arranged on each of the rear support wheels. The braking device can be used to brake rotation of the respective rear support wheel around the axis of rotation.
  • the braking devices can be actuated electromagnetically in this case.
  • the longitudinal direction X corresponds at least approximately to the usual direction of travel of the mobile transport system.
  • the transverse direction Y runs at right angles to the longitudinal direction X.
  • the longitudinal direction X and the transverse direction Y represent horizontal directions and run parallel to the flat floor on which the mobile transport system is located.
  • the vertical direction Z is perpendicular to the flat floor and thus runs at right angles to the longitudinal direction X and at right angles to the transverse direction Y. Every direction at right angles to the vertical direction Z represents a horizontal direction.
  • the drive module 10 has a first drive wheel rotatable about a first drive axis 72
  • the drive wheels 71, 72 are arranged offset from one another in the transverse direction Y.
  • the first drive wheel 71 is located in the transverse direction Y on a first side of the mobile transport system.
  • the second drive wheel 72 is located in the transverse direction Y on a second side of the mobile transport system.
  • the drive module 10 further comprises an electric motor for driving the first drive wheel 71 and an electric motor for driving the second drive wheel 72.
  • the drive module 10 also includes a control unit for controlling the electric motors for driving the drive wheels 71, 72.
  • the drive module 10 comprises a pendulum frame 14.
  • the pendulum frame 14 can be pivoted about a pendulum axis relative to the vehicle frame 12.
  • the pendulum axis runs in the transverse direction Y.
  • the drive wheels 71, 72 are arranged on the pendulum frame 14 and can be rotated relative to the pendulum frame 14.
  • the electric motors for driving the drive wheels 71, 72 are also arranged on the pendulum frame 14.
  • the drive module 10 comprises a tilting frame 16.
  • the tilting frame 16 is
  • Tilting axis pivotable relative to the pendulum frame 14.
  • the tilting axis extends at least approximately in the longitudinal direction X.
  • the tilt axis runs slightly inclined to the longitudinal direction X.
  • this inclination of the tilt axis is relatively small.
  • the tilt axis therefore still runs approximately in the longitudinal direction X in this case.
  • the drive module 10 comprises a first front support wheel 41 and a second front support wheel 42, which is hidden here.
  • the front support wheels 41 are arranged on the tilting frame 16.
  • the front support wheels 41, 42 can each be pivoted about a pivot axis running in the vertical direction Z relative to the tilting frame 16 and are rotatably mounted about a rotation axis running in a horizontal direction relative to the tilting frame 16.
  • the front support wheels 41, 42 are arranged offset from one another in the transverse direction Y.
  • the axes of rotation of the front support wheels 41, 42 run, for example, in the longitudinal direction X or in the transverse direction or in another horizontal direction.
  • the pivot axis and the axis of rotation of a front support wheel 41, 42 do not intersect in the present case.
  • the front support wheels 41, 42 each comprise two rollers which are arranged parallel to one another.
  • a braking device is arranged on each of the front support wheels 41, 42. By means of the braking device, a rotation of the respective front support wheel 41, 42 about the axis of rotation can be braked.
  • the braking devices can be actuated electromagnetically in the present case.
  • the drive wheels 71, 72 are arranged in the longitudinal direction X between the rear support wheels and the front support wheels 41, 42. A distance between the drive wheels 71, 72 in the transverse direction Y is greater than a distance between the front support wheels 41, 42 in the transverse direction Y. A distance between the drive wheels 71, 72 in the transverse direction Y is also greater than a distance between the rear support wheels in the transverse direction Y.
  • the drive wheels 71, 72, the front support wheels 41, 42 and the rear support wheels are arranged in the form of a hexagon which is symmetrical to a longitudinal axis which runs in the longitudinal direction X.
  • the mobile transport system has an electrical energy storage device (not shown here).
  • the mobile transport system also has a receiving unit (not shown here), which is arranged on the pendulum frame 14 and to which energy can be inductively transmitted from a charging unit.
  • the charging unit is designed, for example, as a linear conductor or as a coil.
  • the energy inductively transmitted from the charging unit to the receiving unit Energy is used, for example, to charge the electrical energy storage device.
  • the receiving unit is located, for example, between the drive wheels 71, 72.
  • FIG. 2 shows a perspective view of a drive module 10 with an interchangeable module 20.
  • the interchangeable module 20 comprises a base plate 22 and a carrier plate 24.
  • the base plate 22 is attached to the vehicle frame 12 (not shown here).
  • the carrier plate 24 is attached to the drive module 10.
  • the pendulum frame 14 can thus pivot about the pendulum axis running in the transverse direction Y relative to the carrier plate 24.
  • the interchangeable module 20 is in a locked state.
  • the carrier plate 24 is firmly connected to the base plate 22.
  • the drive module 10 is firmly connected to the vehicle frame 12.
  • the base plate 22 has a first edge region 51 and a second edge region 52.
  • the first edge region 51 is opposite the second edge region 52 in the transverse direction Y.
  • the carrier plate 24 is located completely or at least almost completely between the edge regions 51, 52 of the base plate 22 in the transverse direction Y.
  • the first edge region 51 is arranged adjacent to the first drive wheel 71
  • the second edge region 52 is arranged adjacent to the second drive wheel 72.
  • Figure 3 shows an interchangeable module 20 in a released state.
  • the carrier plate 24 is removed from the base plate 22.
  • the drive module 10 can be removed from the vehicle frame 12.
  • the carrier plate 24 is removed from the base plate 22 in the vertical direction Z and in the transverse direction Y.
  • the interchangeable module 20 comprises a first cross block 31 and a second cross block 32.
  • the first cross block 31 is arranged on the first edge region 51 of the base plate 22, and the second cross block 32 is arranged on the second edge region 52 of the base plate 22.
  • the second cross block 32 is removed from the second edge region 52 of the base plate 22.
  • the first cross block 31 is screwed to the base plate 22 by means of two first base screws 33
  • the second cross block 32 is screwed to the base plate 22 by means of two second base screws 34.
  • the base plate 22 comprises threaded blocks into which the first base screws 33 and the second base screws 34 are screwed.
  • the first cross block 31 is screwed to the carrier plate 24 by means of two first carrier screws 35
  • the second cross block 32 is screwed to the carrier plate 24 by means of two second carrier screws 36.
  • the carrier plate 24 comprises threaded blocks into which the first carrier screws 35 and the second carrier screws 36 are screwed.
  • the two first support screws 35 are arranged in the longitudinal direction X between the two first base screws 33, and the two second support screws 36 are arranged in the longitudinal direction X between the two second base screws 34.
  • the first cross block 31 in the released state of the interchangeable module 20, the first cross block 31 is screwed to the base plate 22 by means of the first base screws 33, and the second cross block 32 is screwed to the carrier plate 24 by means of the second support screws 36.
  • the first support screws 35 and the second base screws 34 are loosened.
  • the first cross block 31 is thus detached from the carrier plate 24, and the second cross block 32 is detached from the base plate 22.
  • the first transverse block 31 has a first centering opening 27.
  • the carrier plate 24 comprises a first centering pin 37.
  • the first centering pin 37 projects into the first centering opening 27.
  • the second transverse block 32 has a second centering opening 28.
  • the carrier plate 24 comprises a second centering pin 38.
  • the second centering pin 38 projects into the second centering opening 28.
  • the first centering pin 37 and the second centering pin 38 are arranged opposite one another in the transverse direction Y.
  • the interchangeable module 20 comprises two first locking bolts 29, which extend through the first cross block 31.
  • the interchangeable module 20 comprises two second locking bolts 30, which extend through the second cross block 32.
  • the Locking bolts 29, 30 In the locked state of the interchangeable module 20, the Locking bolts 29, 30 into holes in the base plate 22.
  • the locking bolts 29, 30 can be moved out of the holes in the base plate 22 in the vertical direction Z relative to the cross blocks 31, 32 against a spring force.
  • the interchangeable module 20 When a mobile transport system is in operation, the interchangeable module 20 is in the locked state, as shown in Figure 1 and Figure 2.
  • the carrier plate 24 is firmly connected to the base plate 22, and the drive module 10 is firmly connected to the vehicle frame 12.
  • the interchangeable module 20 In order to remove the drive module 10 with the drive wheels 71, 72 from the vehicle frame 12, the interchangeable module 20 is brought into the released state, as shown for example in Figure 3.
  • the interchangeable module 20 allows the drive module 10 to be removed from the vehicle frame 12 either on the first side, on which the first drive wheel 71 is located, or on the second side, on which the second drive wheel 72 is located.
  • the first support screws 35 and the second base screws 34 are first loosened.
  • the first cross block 31 is released from the support plate 24 and the second cross block 32 is released from the base plate 22.
  • the vehicle frame 12 is then raised in the vertical direction Z relative to the drive module 10. This causes the carrier plate 24 to move away from the base plate 22 in the vertical direction Z. If necessary, the locking bolts 29, 30 are moved out of the holes in the base plate 22.
  • the exchange module 20 is thus in the released state.
  • the drive module 10 is then removed from the vehicle frame 12 on the second side in the transverse direction Y.
  • the drive module 10 is first pushed in the transverse direction Y from the second side under the vehicle frame 12. If necessary, the locking bolts 29, 30 are pulled downwards in the vertical direction Z, i.e. towards the ground.
  • the vehicle frame 12 is then lowered in the vertical direction Z relative to the drive module 10.
  • the carrier plate 24 approaches the base plate in the vertical direction Z 22.
  • the locking bolts 29, 30 engage in the holes in the base plate 22.
  • the centering pins 37, 38 also engage in the centering openings 27, 28.
  • the first cross block 31 is then screwed to the carrier plate 24 using the previously loosened first carrier screws 35.
  • the second cross block 31 is also screwed to the carrier plate 24 using the previously loosened second
  • the second cross block 32 is screwed to the base plate 22 using base screws 34.
  • the exchange module 20 is then back in the locked state.
  • the second support screws 36 and the first base screws 33 are first loosened. This releases the first cross block 31 from the base plate 22 and the second cross block 32 from the support plate 24.
  • the further steps correspond to the previously described steps for removing the drive module 10 from the vehicle frame 12 on the second side.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Handcart (AREA)

Abstract

L'invention concerne un système de transport mobile pour le transport d'objets dans un système technique, comprenant un châssis de véhicule (12) et un module d'entraînement (10), qui comprend : - une première roue d'entraînement (71), qui peut être entraînée en rotation autour d'un premier essieu d'entraînement (72), - une seconde roue d'entraînement (72), qui peut être entraînée en rotation autour d'un second essieu d'entraînement (74), et - au moins un moteur électrique pour entraîner les roues d'entraînement (71, 72), le module d'entraînement (10) étant fixé au châssis de véhicule (12) au moyen d'un module d'échange (20), et le module d'échange (20) comprenant une plaque principale (22) et une plaque de support (24), et la plaque principale (22) étant fixée au châssis de véhicule (12), et la plaque de support (24) étant fixée au module d'entraînement (10), et, lorsque le module d'échange (20) est dans un état verrouillé, la plaque de support (24) étant reliée à demeure à la plaque principale (22), et lorsque le module d'échange (20) est dans un état libéré, la plaque de support (24) étant éloignée de la plaque principale (22).
PCT/EP2023/081965 2022-12-12 2023-11-15 Système de transport mobile WO2024125928A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102022004673 2022-12-12
DE102022004673.3 2022-12-12

Publications (1)

Publication Number Publication Date
WO2024125928A1 true WO2024125928A1 (fr) 2024-06-20

Family

ID=88837161

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2023/081965 WO2024125928A1 (fr) 2022-12-12 2023-11-15 Système de transport mobile

Country Status (2)

Country Link
DE (1) DE102023131876A1 (fr)
WO (1) WO2024125928A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3281848A1 (fr) * 2015-03-24 2018-02-14 Tokyo Metropolitan Industrial Technology Research Institute Bogie à culbuteur
DE102020007712A1 (de) 2020-01-28 2021-07-29 Sew-Eurodrive Gmbh & Co Kg Mobiles Transportsystem
DE102021000838A1 (de) 2020-03-09 2021-09-09 Sew-Eurodrive Gmbh & Co Kg Mobiles Transportsystem
DE102022001550A1 (de) * 2021-05-14 2022-11-17 Sew-Eurodrive Gmbh & Co Kg Mobiles Transportsystem

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3281848A1 (fr) * 2015-03-24 2018-02-14 Tokyo Metropolitan Industrial Technology Research Institute Bogie à culbuteur
DE102020007712A1 (de) 2020-01-28 2021-07-29 Sew-Eurodrive Gmbh & Co Kg Mobiles Transportsystem
DE102021000838A1 (de) 2020-03-09 2021-09-09 Sew-Eurodrive Gmbh & Co Kg Mobiles Transportsystem
DE102022001550A1 (de) * 2021-05-14 2022-11-17 Sew-Eurodrive Gmbh & Co Kg Mobiles Transportsystem

Also Published As

Publication number Publication date
DE102023131876A1 (de) 2024-06-13

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