WO2022238002A1 - Système de transport mobile - Google Patents

Système de transport mobile Download PDF

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Publication number
WO2022238002A1
WO2022238002A1 PCT/EP2022/025197 EP2022025197W WO2022238002A1 WO 2022238002 A1 WO2022238002 A1 WO 2022238002A1 EP 2022025197 W EP2022025197 W EP 2022025197W WO 2022238002 A1 WO2022238002 A1 WO 2022238002A1
Authority
WO
WIPO (PCT)
Prior art keywords
transport system
mobile transport
frame
support wheels
wheels
Prior art date
Application number
PCT/EP2022/025197
Other languages
German (de)
English (en)
Inventor
Ren Weihua
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
Priority claimed from CN202110550621.7A external-priority patent/CN115339797A/zh
Application filed by Sew-Eurodrive Gmbh & Co. Kg filed Critical Sew-Eurodrive Gmbh & Co. Kg
Priority to EP22725993.4A priority Critical patent/EP4337593A1/fr
Publication of WO2022238002A1 publication Critical patent/WO2022238002A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • 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
    • B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K2007/0046—Disposition of motor in, or adjacent to, traction wheel the motor moving together with the vehicle body, i.e. moving independently from the wheel axle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/40—Special vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/60—Industrial applications, e.g. pipe inspection vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/60—Industrial applications, e.g. pipe inspection vehicles
    • B60Y2200/62—Conveyors, floor conveyors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/80—Other vehicles not covered by groups B60Y2200/10 - B60Y2200/60
    • B60Y2200/86—Carts; Golf carts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/90—Vehicles comprising electric prime movers
    • B60Y2200/91—Electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
    • B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
    • B62D65/18—Transportation, conveyor or haulage systems specially adapted for motor vehicle or trailer assembly lines

Definitions

  • the invention relates to a mobile transport system for transporting objects in a technical installation, which comprises a center frame, a subframe, a pair of first support wheels, a pair of second support wheels and a pair of drive wheels.
  • mobile transport systems in particular autonomous mobile transport systems, are used to transport objects, for example small parts or boxes.
  • the mobile transport systems mentioned bring, among other things, components from logistics areas, such as a material warehouse, to workplaces where the components are processed.
  • Mobile transport systems are able to overcome slight inclines or declines as well as small speed bumps or similar obstacles.
  • a driverless transport vehicle is known from document DE 102020000746 A1.
  • the driverless transport vehicle has a chassis with a frame on which a rocker is mounted.
  • the driverless transport vehicle also includes two drive wheels and several support rollers.
  • the driverless transport vehicle has a receiving plate, which is height-adjustable, for raising and lowering objects to be transported.
  • a vehicle for transporting objects is known from DE 102014 015317 A1.
  • the vehicle includes a receiving part, a frame and a swing arm, which are arranged one above the other.
  • a chassis for a vehicle is known from WO 2019/020862 A1, which has a first frame, a second frame and a third frame. The frames are arranged one above the other.
  • a driverless vehicle is known from JP 2005306178 A, which has a right and a left drive wheel.
  • the vehicle also includes a steering unit for aligning the drive wheels. 2
  • DE102017201108A1 discloses a mobile transport system which is designed as an industrial truck and has a first support wheel at a front end, a second support wheel at a rear end and a drive wheel arranged in between.
  • the object of the invention is to further develop a mobile transport system for transporting objects.
  • the mobile transport system also includes an upper frame.
  • the middle frame is arranged between the lower and the upper frame in the vertical direction. Said frames are mechanically connected to one another in such a way that said frames can be moved relative to one another.
  • the structure according to the invention allows the individual frames to be prefabricated during the manufacture of the mobile transport system and the components required in each case to be mounted on the individual frames and then the prefabricated frames to be connected to one another. This advantageously simplifies the manufacture of the mobile transport system.
  • the individual frames can be checked separately after prefabrication, which makes it easier to localize assembly errors.
  • the undercarriage, the central frame and the upper frame each have a large number of openings and openings.
  • the openings and openings allow improved air circulation through the mobile transport system, which improves heat dissipation.
  • the mobile transport system comprises a lifting unit, wherein the upper frame can be moved in a vertical direction relative to the middle frame by means of the lifting unit. This makes it easier to pick up and drop off objects to be transported.
  • the mobile transport system also includes a stroke sensor for detecting a stroke of the lifting unit. This allows the lift height to be regulated, in particular for adjustment to the heights of other modules.
  • the second support wheels are fastened to the undercarriage, and the undercarriage can be pivoted about a transversely extending pendulum axis relative to the central frame.
  • the mobile transport system is also able to negotiate slight inclines and declines.
  • the mobile transport system has a first goniometer for detecting a pivoting angle of the lower frame about the pendulum axis relative to the middle frame. This allows for the detection of uphill and downhill gradients.
  • the first support wheels are attached to a rocker arm which is pivotable about a longitudinally extending tilting axis relative to the center frame.
  • the mobile transport system has a second goniometer for detecting a pivoting angle of the rocker arm about the tilting axis relative to the center frame. This enables unevenness in the floor to be detected.
  • the drive wheels are attached to the company.
  • the drive wheels are each mounted so as to be rotatable about a drive axis running in the transverse direction relative to the company and can be driven independently of one another by drive motors. Driving the drive wheels at different speeds makes cornering possible.
  • a braking device is arranged on the first support wheels and/or on the second support wheels, by means of which a rotation of the respective support wheel about an axis of rotation running in the horizontal direction can be braked. This means that the mobile transport system can be braked at any time, almost independently of the condition of the ground.
  • Figure 1 a perspective view of a mobile transport system
  • FIG. 2 a perspective representation of structural parts of a mobile transport system
  • FIG. 3 a perspective representation of a lifting unit of the mobile transport system
  • Figure 4 a perspective view of a central frame
  • Figure 5 a perspective view of a chassis of the mobile transport system
  • Figure 6 a view of an underside of the mobile transport system
  • FIG. 7 a side view of a chassis of the mobile transport system.
  • FIG. 1 shows a perspective view of a mobile transport system 10.
  • the mobile transport system 10 is used to transport objects in a technical installation.
  • the technical installation is an industrial application, for example a production plant.
  • the transport system 10 is also used, for example, to deliver goods to a home of a private recipient in a city or in a residential area.
  • the mobile transport system 10 is an autonomous vehicle.
  • a longitudinal direction X corresponds at least approximately to the usual direction of travel of the mobile transport system 10.
  • a 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 ground on which the mobile transport system 10 is located located.
  • a vertical direction Z is perpendicular to the ground and is thus 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. 6
  • the mobile transport system 10 has an at least approximately cuboid shape.
  • a surface 80 of the mobile transport system 10 facing away from the ground extends at least approximately parallel to the ground and thus at right angles to the vertical direction Z.
  • the surface 80 serves to accommodate objects to be transported.
  • the mobile transport system 10 includes a plurality of cladding parts and covers, which in the illustration shown here largely cover internal components.
  • the mobile transport system 10 has a receiving unit 20 to which energy can be transmitted inductively from a charging unit.
  • 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 transport system 10.
  • the receiving unit 20 is located in a central area on a front side of the mobile transport system 10.
  • the mobile transport system 10 also has a number of laser scanners 25 .
  • the laser scanners 25 are arranged in particular in a corner area of the front side and a long side and in a corner area of a rear side and a long side.
  • the laser scanners 25 are used to detect obstacles and to navigate the mobile transport system 10 within the technical installation.
  • FIG. 2 shows a perspective view of structural parts of the mobile transport system 10.
  • the mobile transport system 10 comprises a base 14, a middle frame 12 and an upper frame 18.
  • the said frames 12, 14, 18 are relatively flat and extend primarily in the longitudinal direction X and the transverse direction Y.
  • Said frames 12, 14, 18 each have only a relatively small extent in the vertical direction Z.
  • the frames 12, 14, 18 are arranged one above the other in the vertical direction Z.
  • the company 14 is arranged facing the ground.
  • the upper frame 18 is positioned away from the ground.
  • the middle frame 12 is arranged in the vertical direction Z between the bottom 14 and the top frame 18 .
  • Said frames 12, 14, 18 are mechanically connected to each other, as will be explained in more detail below.
  • the upper frame 18 is movably mounted relative to the middle frame 12 .
  • the company 14 is also movably mounted relative to the center frame 12 . - 7 -
  • the lower frame 14, the middle frame 12 and the upper frame 18 are each made of a metal.
  • Said frames 12, 14, 18 each have a large number of openings and openings. These openings and breakthroughs are partly used to attach components. The openings and breakthroughs also improve air circulation in the mobile transport system 10 and thus improve the dissipation of heat.
  • the individual frames 12, 14, 18 are first prefabricated. The components required in each case are mounted on the individual frames 12, 14, 18. The prefabricated frames 12, 14, 18 are then connected to one another.
  • FIG. 3 shows a perspective view of a lifting unit 90 of the mobile transport system 10.
  • the lifting unit 90 comprises a number of components which are connected to the central frame 12.
  • the lifting unit 90 is arranged 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 via said lifting unit 90 .
  • the upper frame 18 can be moved in the vertical direction Z relative to the middle frame 12 by means of the lifting unit 90 .
  • the lifting unit 90 has a plurality of lifting devices 91, in this case four.
  • Each of the lifting devices 91 comprises a spindle and a spindle nut, which can be rotated about a central axis relative to the spindle.
  • 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 one another in the vertical direction Z.
  • the lifting devices 91 each include a housing in which the spindle nut is arranged. Said housings of the lifting devices 91 are each firmly connected to the central frame 12 .
  • a fastening flange is attached to the ends of the spindles facing away from the central frame 12 .
  • the fastening flanges are used to fasten the lifting devices 91 to the upper frame 18 (not shown here).
  • the spindles experience a translatory movement in the vertical direction Z. This also moves the fastening flanges and the upper frame 18 in the vertical direction Z. 8th
  • the lifting unit 90 also includes a lifting motor 92, a central gear 93, two lateral gears 94 and several connecting shafts 95, in this case six.
  • the lifting motor 92 is firmly connected to the central frame 12.
  • An output shaft of the lifting motor 92 rotates about an axis that runs at least approximately in the longitudinal direction X, and in the process drives the central gear 93 .
  • the central gear 93 is firmly connected to the center frame 12 .
  • the lateral gears 94 are also firmly connected to the center frame 12 .
  • the lateral gears 94 are each coupled to the central gear 93 via a connecting shaft 95 .
  • Said connecting shafts 95 are attached to opposite sides of the central gear 93 .
  • Said connecting shafts 95 each run in the transverse direction Y from the central gear 93 to the side gears 94.
  • the lateral gears 94 are each coupled to two of the lifting devices 91 via two connecting shafts 95 .
  • Said connecting shafts 95 are attached to opposite sides of the lateral gears 94 .
  • Said connecting shafts 95 each run in the longitudinal direction X from the lateral gears 94 to the lifting devices 91.
  • the central gear 93 transmits the rotation of the output shaft of the lift motor 92 to the two side gears 94 via the two connecting shafts 95, which extend in the transverse direction Y.
  • the two side gears 94 transmit said rotation, respectively, via two connecting shafts 95, which are in the Run in the longitudinal direction X, to the lifting devices 91, in particular to the spindle nuts of the lifting devices 91.
  • the lifting unit 90 further includes two output shafts 96.
  • the output shafts 96 are each coupled to one of the lateral gears 94.
  • Said output shafts 96 are mounted on the sides of the side gears 94 opposite to the central gear 93, respectively.
  • the output shafts 96 extend in the transverse directions Y and - 9 - reach through an opening provided for this purpose in the central frame 12.
  • the output shafts 96 are thus accessible outside of the central frame 12 and can be driven, for example, by means of hand cranks or cordless screwdrivers.
  • FIG. 4 shows a perspective representation of a central frame 12 of the mobile transport system 10.
  • a side of the central frame 12 facing away from the upper frame 18 is shown.
  • a rocker arm 16 is pivotable about a pivot axis 15 relative to the center frame 12 .
  • the tilting axis 15 runs in the longitudinal direction X on the side of the middle frame 12 facing away from the upper frame 18.
  • Two pendulum levers 17 can be pivoted about a common pendulum axis 13 relative to the central frame 12 .
  • the swing axle 13 runs in the transverse direction Y on the side of the middle frame 12 facing away from the upper frame 18 .
  • the undercarriage 14 is fastened to the swing levers 17 .
  • the company 14 can thus be pivoted about the pendulum axis 13 relative to the central frame 12 .
  • the tilting axis 15 and the pendulum axis 13 thus run at right angles to one another.
  • the tilting axis 15 and the pendulum axis 13 lie in one plane in the vertical direction Z.
  • the tilting axis 15 and the pendulum axis 13 intersect.
  • Figure 5 shows a perspective view of a chassis of the mobile transport system 10.
  • the company 14, the rocker arm 16 and the pendulum lever 17 are not shown.
  • the lifting unit 90 is also not shown.
  • the mobile transport system 10 is located on a level floor.
  • first support wheels 41 are attached.
  • the first support wheels 41 are offset from one another in the transverse direction Y.
  • the first support wheels 41 each have two rollers arranged next to one another.
  • the first support wheels 41 are each about a first pivot axis running in the vertical direction Z relative to the 10
  • first support wheels 41 are each mounted so as to be rotatable relative to the rocker arm 16 about a first axis of rotation running in a horizontal direction.
  • the first pivot axis and the first axis of rotation of a first support wheel 41 do not intersect in the present case.
  • the first axes of rotation run, for example, in the longitudinal direction X, in the transverse direction Y or in another horizontal direction.
  • the second support wheels 42 are attached.
  • the second support wheels 42 are offset from one another in the transverse direction Y.
  • the second support wheels 42 each have two rollers arranged next to one another.
  • the second support wheels 42 can each be pivoted about a second pivot axis running in the vertical direction Z relative to the undercarriage 14 .
  • the second support wheels 42 are each mounted so as to be rotatable relative to the undercarriage 14 about a second axis of rotation running in a horizontal direction.
  • the second pivot axis and the second axis of rotation of a second support wheel 42 do not intersect in the present case.
  • the second axes of rotation run, for example, in the longitudinal direction X, in the transverse direction Y or in another horizontal direction.
  • Two drive wheels 45 are also attached to the company 14, which is not shown here.
  • the drive wheels 45 are offset from one another in the transverse direction Y.
  • the drive wheels 45 are each mounted so as to be rotatable about a drive axis running in the transverse direction Y relative to the company 14 . In the present case, the drive axles of the drive wheels 45 are aligned with one another.
  • the mobile transport system 10 comprises two drive motors 55 and two drive gears 57.
  • Each of the drive wheels 45 has a drive motor 55 and a drive gear 57 associated with it.
  • the drive wheels 45 can be driven independently of one another by means of the drive motors 55 .
  • the drive motors 55 each drive one of the drive wheels 45 in rotation via one of the drive gears 57 .
  • the mobile transport system 10 also includes an electrical energy store, not shown here, for supplying the drive motors 55.
  • the mobile transport system 10 also includes a control device, not shown here, for controlling the drive motors 55.
  • a release lever 59 is attached to each of the driving gears 57 .
  • the respective driving gear 57 is mechanically separated from the associated one 11
  • Drive motor 55 separable, and with the associated drive motor 55 mechanically coupled. If one of the drive motors 55 is separated from the associated drive gear 57, the associated drive wheel 45 can rotate freely.
  • Figure 6 shows a view of an underside of the mobile transport system 10.
  • the company 14 is shown semi-transparent.
  • the rocker arm 16 is not shown.
  • a distance between the drive wheels 45 in the transverse direction Y is greater than a distance between the first support wheels 41 in the transverse direction Y.
  • a distance between the drive wheels 45 in the transverse direction Y is also greater than a distance between the second support wheels 42 in the transverse direction Y.
  • the six wheels 41, 42, 45 are presently arranged in the form of an ellipse. Said ellipse is formed symmetrically to a longitudinal axis which runs in the longitudinal direction X.
  • Figure 7 shows a side view of the chassis of the mobile transport system 10.
  • the rocker arm 16 and the pendulum lever 17 are not shown.
  • the first support wheels 41 are fastened to the rocker arm 16 by means of adapters that are not shown here.
  • the second support wheels 42 are fastened to the undercarriage 14 by means of adapters that are not shown here.
  • the drive wheels 45 are arranged in the longitudinal direction X between the first support wheels 41 and the second support wheels 42 .
  • the pendulum axle 13 is located in the longitudinal direction X between the drive wheels 45 and the second support wheels 42.
  • a distance between the second support wheels 42 in the longitudinal direction X and the pendulum axis 13 is approximately the same as a distance between the drive wheels 45 in the longitudinal direction X and the pendulum axis 13.
  • the distance between the second support wheels 42 and the pendulum axis 13 in the longitudinal direction X corresponds to the distance between the second pivot axes to the pendulum axle 13 in the longitudinal direction X.
  • the distance between the drive wheels 45 and the pendulum axle 13 in the longitudinal direction X corresponds to the distance between the drive axles and the pendulum axle 13 in the longitudinal direction X.
  • a distance between the second support wheels 42 in the longitudinal direction X and the drive wheels 45 is greater than a distance between the first support wheels 41 and the drive wheels 45 in the longitudinal direction X.
  • the distance between the first support wheels 41 and the drive wheels 45 in the longitudinal direction X corresponds to the distance between the first pivot axes to the drive axles in the longitudinal direction X.
  • the distance between the second support wheels 42 and the drive wheels 45 in the longitudinal direction X corresponds to the distance between the second swivel axles and the drive axles in the longitudinal direction X. 12
  • a distance between the first support wheels 41 in the longitudinal direction X and the drive wheels 45 corresponds to about 40% of the distance between the first support wheels 41 in the longitudinal direction X and the second support wheels 42.
  • a distance between the second support wheels 42 in the longitudinal direction X and the drive wheels 45 corresponds to about 60 % of the distance between the first support wheels 41 in the longitudinal direction X and the second support wheels 42.
  • the distance between the first support wheels 41 and the second support wheels 42 in the longitudinal direction X corresponds to the distance between the first pivot axes and the second pivot axes in the longitudinal direction X.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Handcart (AREA)

Abstract

L'invention concerne un système de transport mobile (10) pour le transport d'objets dans une installation technique, comprenant un cadre central (12), un cadre inférieur (14), une paire de premières roues d'appui (41), une paire de secondes roues d'appui (42) et une paire de roues d'entraînement (45), le système de transport mobile (10) comprenant un cadre supérieur (18), le cadre central (12) étant disposé dans la direction verticale (Z) entre le cadre inférieur (14) et le cadre supérieur (18), et lesdits cadres (12, 14, 18) étant reliés mécaniquement l'un à l'autre de telle sorte que lesdits cadres (12, 14, 18) sont mobiles l'un par rapport à l'autre.
PCT/EP2022/025197 2021-05-14 2022-05-03 Système de transport mobile WO2022238002A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP22725993.4A EP4337593A1 (fr) 2021-05-14 2022-05-03 Système de transport mobile

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN202110550621.7 2021-05-14
CN202110550621.7A CN115339797A (zh) 2021-05-14 2021-05-14 移动式运输系统
DE102021003469 2021-07-06
DE102021003469.4 2021-07-06

Publications (1)

Publication Number Publication Date
WO2022238002A1 true WO2022238002A1 (fr) 2022-11-17

Family

ID=81850809

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2022/025197 WO2022238002A1 (fr) 2021-05-14 2022-05-03 Système de transport mobile

Country Status (3)

Country Link
EP (1) EP4337593A1 (fr)
DE (1) DE102022001547A1 (fr)
WO (1) WO2022238002A1 (fr)

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005306178A (ja) 2004-04-21 2005-11-04 Symtec Hozumi:Kk 無人搬送車
WO2008151345A2 (fr) * 2007-06-12 2008-12-18 Profactor Research And Solutions Gmbh Dispositif permettant l'insertion automatique de modules d'application à une plate-forme de robot, et dispositif d'approvisionnement et de transport de modules d'application
DE102014015317A1 (de) 2014-10-17 2016-04-21 Sew-Eurodrive Gmbh & Co Kg Fahrzeug mit Gestell
DE102017201108A1 (de) 2017-01-24 2018-07-26 Robert Bosch Gmbh Verbessertes Flurförderfahrzeug
WO2019020862A1 (fr) 2017-07-26 2019-01-31 Universitat Politècnica De Catalunya Plate-forme omnidirectionnelle
CN209481103U (zh) * 2018-12-30 2019-10-11 深圳市普渡科技有限公司 升降机构及机器人
EP3659755A2 (fr) * 2017-07-26 2020-06-03 Universitat Politècnica De Catalunya Plate-forme omnidirectionnelle et transporteur omnidirectionnel
DE102020000746A1 (de) 2019-02-12 2020-08-13 Sew-Eurodrive Gmbh & Co Kg Mobilteil
CN111533043A (zh) * 2020-05-13 2020-08-14 安徽伽马莱恩机器人有限公司 一种机器人用移动底盘
CN212532154U (zh) * 2020-05-19 2021-02-12 吉林省吉邦自动化科技有限公司 一种智能移动机器人的顶升装置

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005306178A (ja) 2004-04-21 2005-11-04 Symtec Hozumi:Kk 無人搬送車
WO2008151345A2 (fr) * 2007-06-12 2008-12-18 Profactor Research And Solutions Gmbh Dispositif permettant l'insertion automatique de modules d'application à une plate-forme de robot, et dispositif d'approvisionnement et de transport de modules d'application
DE102014015317A1 (de) 2014-10-17 2016-04-21 Sew-Eurodrive Gmbh & Co Kg Fahrzeug mit Gestell
DE102017201108A1 (de) 2017-01-24 2018-07-26 Robert Bosch Gmbh Verbessertes Flurförderfahrzeug
WO2019020862A1 (fr) 2017-07-26 2019-01-31 Universitat Politècnica De Catalunya Plate-forme omnidirectionnelle
EP3659755A2 (fr) * 2017-07-26 2020-06-03 Universitat Politècnica De Catalunya Plate-forme omnidirectionnelle et transporteur omnidirectionnel
CN209481103U (zh) * 2018-12-30 2019-10-11 深圳市普渡科技有限公司 升降机构及机器人
DE102020000746A1 (de) 2019-02-12 2020-08-13 Sew-Eurodrive Gmbh & Co Kg Mobilteil
CN111533043A (zh) * 2020-05-13 2020-08-14 安徽伽马莱恩机器人有限公司 一种机器人用移动底盘
CN212532154U (zh) * 2020-05-19 2021-02-12 吉林省吉邦自动化科技有限公司 一种智能移动机器人的顶升装置

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