Drive and steering device for vehicle and vehicle comprising at least one drive and steering device of this type

Abstract

The invention relates to a drive and steering device (1) for a vehicle (100), comprising: two hollow shaft motors (2 and 3), each having an annular bevel gear (4, 5) which is at least indirectly rotationally fixed to a rotor (5, 7) of the hollow shaft motor, the two annular bevel gears being arranged coaxially to one another; two bevel pinions (8 and 9) rotationally fixed to each other via a shaft (10) arranged in the middle, the two bevel pinions (8 and 9) meshing with both the first annular bevel gear and the second annular bevel gear; a wheel (11) of the vehicle (100), which wheel is arranged on the hub (12) in a rotationally fixed manner; at least one bearing arm (13, 14) on which the hub (12) is rotatably arranged, the at least one bearing arm (13, 14) being arranged on the shaft (10) via at least one rotational connection (15) and being radially supported on the second hollow shaft motor (2, 3) via a bearing point arranged on an inner circumference (16) of the second hollow shaft motor (2, 3); and a mechanical force transmission device (18) which is drivingly arranged between the shaft (10) and the hub (12) for rotationally driving the hub (12) about a longitudinal axis (L1) of the hub. The ring bevel gears (4 and 5) can be rotationally driven by an associated hollow shaft motor such that the hub (12) is rotationally driven about its longitudinal axis (L1) and / or the hub (12) is pivoted about a longitudinal axis (L2) of the drive and steering device depending on the direction and speed of rotation of the ring bevel gears (4 and 5) relative to each other, in this way, the steering angle of the wheel (11) is adjusted. The invention also relates to a vehicle (100).

Description

Technical Field

[0001] The invention relates to a drive and steering device for a vehicle and to a vehicle having at least one drive and steering device of this type. Background Art

[0002] So-called AMRs (autonomous mobile robots) with all-wheel drive and all-wheel steering typically have four drive modules at each corner of the AMR, wherein each drive module has two independent motors, one motor for steering the corresponding wheel and the other motor for driving the corresponding wheel.

[0003] DE 691 09 453 T2 discloses a drive and steering device operatively mounted between a frame and a steering and drive wheel for driving the wheel about a wheel axis and steer the wheel relative to the frame about the steering axis. The device comprises a steering motor having a stator and a rotor, the stator being connected to the frame, wherein the rotor is operatively connected to the wheel for steering the wheel about the steering axis. Furthermore, a drive device is provided, comprising a traction motor operatively connected to the wheel for driving the wheel about the wheel axis. The drive device extends through the stator and is connected to the rotor of the steering motor for driving purposes.

[0004] The object of the present invention is to provide a drive and steering device that saves space, requires relatively few components, and is easy to assemble. This object is achieved by a drive and steering device having the features of claim 1 and by a vehicle having the features of claim 9. Preferred or advantageous embodiments of the invention are apparent from the dependent claims, the following description, and the accompanying drawings. Summary of the Invention

[0005] A driving and steering device for a vehicle according to a first aspect of the present invention comprises:

[0006] - a first hollow shaft motor having a first bevel ring gear which is at least indirectly rotationally fixed to a first rotor of the first hollow shaft motor,

[0007] - a second hollow-shaft motor having a second bevel ring gear which is at least indirectly rotationally fixed to a second rotor of the second hollow-shaft motor, wherein the two bevel ring gears are arranged coaxially with respect to one another,

[0008] - a first bevel pinion gear and a second bevel pinion gear, wherein the bevel pinion gears are rotationally fixed to one another via a shaft arranged therebetween, and wherein each of the bevel pinion gears meshes with both the first bevel ring gear and the second bevel ring gear,

[0009] - a vehicle wheel, which is arranged in a rotationally fixed manner on a hub,

[0010] at least one supporting arm, on which the hub is rotatably arranged, wherein the at least one supporting arm is arranged on the shaft via at least one rotational connection and is radially supported on the second hollow-shaft motor via a bearing point arranged on the inner circumference of the second hollow-shaft motor,

[0011] a mechanical force transmission device drivingly arranged between the shaft and the hub for driving the hub in rotation about the longitudinal axis of the hub,

[0012] The bevel ring gears can be driven in rotation by an associated hollow shaft motor, so that, depending on the relative rotational direction and relative rotational speed of the bevel ring gears, the wheel hub is driven in rotation about its longitudinal axis and / or the wheel hub is pivoted about the longitudinal axis of the drive and steering device in order to adjust the steering angle of the wheel.

[0013] The proposed drive and steering device is characterized by a compact, coaxial design that is easy to assemble. The coaxial arrangement of the motor also allows for high ground clearance. Furthermore, the drive and steering device requires few components, meaning that it can be designed to be particularly simple and lightweight compared to previously known solutions. Furthermore, a continuous 360-degree steering module is possible, allowing the wheels to pivot through at least 360°, making the drive and steering device particularly suitable for use on AMRs.

[0014] Because the bevel ring gears are coaxially arranged with one another, the hollow-shaft motors are also coaxially arranged with one another. Consequently, the stators and rotors of the two hollow-shaft motors are coaxially arranged within the motor housing. Each hollow-shaft motor comprises a stator fixed to the housing and a rotor arranged to rotate relative to the stator, the rotor being designed as a hollow-shaft rotor with a hollow space. Each rotor is preferably rotationally fixed directly to its associated bevel ring gear. However, other components, such as spacers, may also be arranged between the rotor and the associated bevel ring gear.

[0015] The hollow shaft motors are configured to communicate with a control device that can control the respective hollow shaft motors so that the rotor, with the bevel ring gear at least indirectly rotationally fixed thereto, rotates at a variably adjustable rotational speed in a desired direction of rotation. Thus, the hollow shaft motors communicate with at least one control device.

[0016] The two bevel ring gears are designed as ring parts with face teeth or spur teeth, wherein the teeth are arranged facing each other and spatially accommodate the two bevel pinions between the teeth.

[0017] Each bevel pinion has teeth that complement those of the bevel ring gear. Depending on the direction of rotation of the rotor or bevel ring gear, the bevel pinions can be driven by a hollow shaft motor or the bevel ring gear, causing them to rotate together at the same speed about the longitudinal axis of the shaft. The shaft serves as a connecting element for the two bevel pinions. Depending on the direction and speed of rotation of the rotor or bevel ring gear, the wheels can be driven in rotation or pivoted to adjust the steering angle via the shaft and a mechanical force transmission device or via the shaft and at least one support arm.

[0018] The articulated arrangement of the at least one supporting arm on the shaft by means of a rotational connection ensures that the at least one supporting arm cannot rotate about the longitudinal axis of the shaft. Thus, the shaft is rotatably mounted to the at least one supporting arm.

[0019] Furthermore, the bearing point between the at least one support arm and the second hollow-shaft motor is configured to prevent the at least one support arm from rotating about the longitudinal axis of the drive and steering device. Consequently, at least the second rotor of the second hollow-shaft motor is rotatably mounted relative to the at least one support arm. The at least one support arm is supported at least axially on the shaft and at least radially on the bearing point. The bearing point is preferably designed as a bearing bushing or bearing element.

[0020] At least one supporting arm is part of a fork-shaped arrangement that indirectly supports the wheel on the hollow-shaft motor. The fork-shaped arrangement can include one, two, or more supporting arms, on which the wheel is rotatably mounted. Preferably, the wheel hub is rotatably mounted on the two supporting arms, with the wheel being arranged between the two supporting arms in the longitudinal direction of the hub. This allows for better force introduction and transmission.

[0021] The hub is rotationally fixed to the wheel. The hub and wheel may be formed as one piece. However, a two-part design may be advantageous because different materials can be used if the hub is subject to higher or different stresses than the wheel.

[0022] The mechanical force transmission device is preferably a traction drive or a gear transmission. In particular, the force transmission device is a belt drive comprising a first pulley, which is arranged in a rotationally fixed manner on a shaft, and a second pulley, which is arranged in a rotationally fixed manner on a wheel hub, wherein the pulleys are drive-connected via traction means, in particular a toothed belt. A force transmission device designed as a gear transmission has at least two meshing gears, a first gear arranged in a rotationally fixed manner on a shaft, and a second gear arranged in a rotationally fixed manner on a wheel hub. Further gears are also conceivable, which are arranged between the first and second gears on corresponding intermediate shafts.

[0023] Preferably, the first stator of the first hollow-shaft motor is configured to be secured to the vehicle's chassis via a first chassis mounting plate. Alternatively or additionally, the second stator of the second hollow-shaft motor is configured to be secured to the vehicle's chassis via a second chassis mounting plate. By appropriately positioning the hollow-shaft motor on the chassis, ground clearance can be further increased. The chassis mounting plate can be part of the chassis or part of the drive and steering arrangement. Depending on the vehicle design, the chassis mounting plate can be integrally connected to the corresponding stator.

[0024] Preferably, the driving and steering device includes a control device configured to control the hollow shaft motor so that the annular bevel gear rotates in opposite rotational directions at the same rotational speed, thereby rotating the wheel hub about its longitudinal axis in a first rotational direction or a second rotational direction opposite to the first rotational direction. In a method for controlling a driving and steering device according to another aspect of the present invention, when the annular bevel gear is rotated in opposite rotational directions at the same rotational speed by the hollow shaft motor, the wheel hub rotates about its longitudinal axis in the first rotational direction or the second rotational direction opposite to the first rotational direction.

[0025] Alternatively or additionally, the control device is designed to control the hollow shaft motor so that the annular bevel gear rotates at the same rotational speed in the same rotational direction, thereby pivoting the wheel hub about the longitudinal axis of the drive and steering device in a third rotational direction or a fourth rotational direction opposite to the third rotational direction. In a method for controlling a drive and steering device according to another aspect of the present invention, when the annular bevel gear () is rotated at the same rotational speed in the same rotational direction by the hollow shaft motor, the wheel hub pivots about the longitudinal axis of the drive and steering device in the third rotational direction or a fourth rotational direction opposite to the third rotational direction.

[0026] Furthermore, alternatively or additionally, the control device is configured to control the hollow shaft motor so that the annular bevel gear is rotated in opposite rotational directions at different rotational speeds by the hollow shaft motor, whereby the wheel hub rotates about its longitudinal axis in the first rotational direction or the second rotational direction and pivots about the longitudinal axis of the drive and steering device in the third rotational direction or the fourth rotational direction. In the method for controlling the drive and steering device according to another aspect of the present invention, when the annular bevel gear is rotated in opposite rotational directions at different rotational speeds by the hollow shaft motor, the wheel hub rotates about its longitudinal axis in the first rotational direction or the second rotational direction, and when the annular bevel gear is rotated in opposite rotational directions at different rotational speeds by the hollow shaft motor, the wheel hub pivots about the longitudinal axis of the drive and steering device in the third rotational direction or the fourth rotational direction, respectively.

[0027] The steering of the wheel is based on the difference between the rotational or steering speeds of the bevel ring gear. The drive of the wheel depends linearly on the rotational speed of the rotor or bevel ring gear.

[0028] An active or drive connection is understood to be a direct or at least indirect connection between two elements. Thus, two interconnected elements can be connected directly or via other elements. Thus, as already explained above, a plurality of gears or pulleys, as well as, if necessary, traction means, etc., can be arranged between the shaft and the hub in order to rotationally drive the hub about its longitudinal axis in order to transmit a driving force, i.e., a torque and a rotational speed, from the shaft to the hub, or vice versa.

[0029] The vehicle according to the second aspect of the invention comprises at least one drive and steering device according to the first aspect of the invention, wherein the at least one drive and steering device is arranged and supported on a chassis of the vehicle. Preferably, a plurality of drive and steering devices according to the first aspect of the invention are connected to the chassis in order to provide a vehicle that can be used for different applications. The vehicle can be designed in particular as a so-called AMR (autonomous mobile robot), on which products or goods can be transported, for example. An AMR is an intelligent vehicle that can move autonomously in its environment and without external support.

[0030] The vehicle includes multiple drive and steering devices and preferably a single control device, wherein the control device is configured to control the drive and steering devices collectively or individually. In particular, the control device is configured to control at least one hollow shaft motor, preferably two hollow shaft motors, of the respective drive and steering devices. Each drive and steering device can be individually controlled by the control device. The control device can also control multiple or all of the drive and steering devices together.

[0031] For this purpose, the control device can also communicate with sensors, which record information about the environment, operating status, position of the vehicle, etc. and provide it to the control device for evaluation, so that the vehicle, in particular the corresponding drive and steering devices, can be controlled accordingly based on this information.

[0032] The above statements, examples and limitations on the technical effects, advantages and embodiments of the drive and steering device according to the first aspect of the invention also apply to the vehicle according to the invention according to the second aspect of the invention, and the above statements, examples and limitations on the technical effects, advantages and embodiments of the vehicle according to the second aspect of the invention also apply to the drive and steering device according to the first aspect of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Other measures for improving the present invention will be further described below using the figures together with the description of preferred examples of the present invention, whereby the same or similar components are marked with the same reference numerals. In the drawings:

[0034] Figure 1 shows a simplified schematic diagram of a vehicle according to the invention having four drive and steering devices according to the invention,

[0035] Figure 2 Shown according to Figure 1 A first schematic diagram of an exemplary drive and steering arrangement,

[0036] Figure 3 Shown according to Figure 1 and Figure 2 A second schematic diagram of the drive and steering device according to the present invention,

[0037] Figure 4 Shown according to Figures 1 to 3 A plan view of the drive and steering device according to the present invention,

[0038] Figure 5 Shown according to Figures 1 to 4 a first perspective view of the drive and steering device according to the invention, to illustrate the control of the drive and steering device during operation in a first driving situation, and

[0039] Figure 6 Shown according to Figures 1 to 5 A second perspective view of the drive and steering device according to the invention is provided to illustrate the control of the drive and steering device during operation in a second driving situation. DETAILED DESCRIPTION

[0040] Figure 1 A vehicle 100 according to the invention is shown in a highly simplified manner. The vehicle 100 comprises a chassis 101 having a platform 103, wherein four drive and steering devices 1 according to the invention are arranged and supported on the chassis 101, only two of which are shown here. The drive and steering devices 1 are located at each corner of the chassis 101. The vehicle 100 is an AMR, wherein the drive and steering devices 1 are designed so that in particular complete movements of the vehicle 100 are possible. The vehicle 100 comprises a control device 102, which is configured to communicate with the drive and steering devices 1 and to control these drive and steering devices individually so that the vehicle 100 can be driven in the forward direction and in the reverse direction and can perform steering operations. For example, cargo 105 can be transported using such a vehicle 100, which can be positioned on the platform 103.

[0041] Figures 2 to 6One of the drive and steering devices 1 of a vehicle 100 is shown as an example, wherein the other three drive and steering devices 1 are designed identically. Therefore, all statements about the drive and steering device 1 described below also apply to the other three drive and steering devices 1.

[0042] according to Figures 2 to 6 , the drive and steering device 1 includes a first hollow shaft motor 2, which has: a first annular bevel gear 4, which is indirectly fixed in rotation to the first rotor 6 of the first hollow shaft motor 2; and a first stator 19, which is fastened to the chassis 101 of the vehicle 100 via a first chassis mounting plate 21 and is supported by the chassis of the vehicle. In addition, the drive and steering device 1 includes a second hollow shaft motor 3, which has: a second annular bevel gear 5, which is fixed in rotation to the second rotor 7 of the second hollow shaft motor 3; and a second stator 20, which is fastened to the chassis 101 of the vehicle 100 via a second chassis mounting plate 22 and is supported by the chassis of the vehicle. Figure 3 and Figure 4 The connection of the chassis mounting plates 21 , 22 to the chassis 101 is schematically indicated in FIG.

[0043] The two bevel ring gears 4, 5 are arranged coaxially with respect to one another and with respect to the longitudinal axes of the stators 19, 20 and the rotors 6, 7, wherein a first bevel pinion 8 and a second bevel pinion 9 are arranged spatially between the bevel ring gears 4, 5 and are connected to one another in a rotationally fixed manner via a shaft 10 arranged therebetween. Each of the bevel pinions 8, 9 meshes with both the first bevel ring gear 4 and the second bevel ring gear 5 on diametrically opposite sides of the bevel ring gears 4, 5.

[0044] according to Figure 3 and Figure 4 Two support arms 13, 14 are arranged on the shaft 10 via associated rotational joints 15, wherein the rotational joints 15 allow the shaft 10 to rotate relative to the support arms 13, 14. The support arms 13, 14 rotatably receive the wheel hub 12 at one wheel-side end, wherein the wheel 11 is rotationally fixed to the wheel hub 12, so that a rotation of the wheel hub 12 about its longitudinal axis L1 causes a rotation of the wheel 11 about the longitudinal axis L1. The wheel 11 is arranged between the two support arms 13, 14 along the longitudinal axis L1 in the longitudinal direction of the wheel hub 12.

[0045] according to Figure 4The support arms 13, 14 are also radially supported on the second hollow-shaft motor 3 via bearing points 17 arranged on the inner circumference 16 of the second hollow-shaft motor 3. The bearing points 17 are designed as annular bearing bushings and prevent the support arms 13, 14 from rotating about the longitudinal axis L2 of the drive and steering device 1. The rotors 6, 7 are therefore arranged to rotate relative to the support arms 13, 14.

[0046] A mechanical force transmission device 18 designed as a belt drive is effectively arranged between the shaft 10 and the hub 12, which transmits the driving force introduced into the shaft 10, which causes the shaft 10 to rotate about its longitudinal axis, to the hub 12 via the belt 23, in order to drive the wheel 11 in rotation. For the sake of clarity, the pulleys on the shaft 10 or on the hub 12 that hold the belt 23 are not shown in detail here.

[0047] Figure 1 The control device 102 shown in FIG is communicatively connected to the hollow shaft motors 2 and 3. By appropriately energizing the stators 19 and 20, the rotors 6 and 7, and thus the bevel ring gears 4 and 5, can be driven to perform a rotational movement at a certain rotational speed about the longitudinal axis L2 of the drive and steering device 1. The bevel ring gears 4 and 5 can be rotationally driven in the same rotational direction as well as in opposite rotational directions. Furthermore, the bevel ring gears 4 and 5 can be driven at the same rotational speed or at different rotational speeds.

[0048] In particular, the bevel ring gears 4, 5 can be driven in rotation so that, depending on the relative rotational direction and relative rotational speed of the bevel ring gears 4, 5, the wheel hub 12 is driven in rotation about its longitudinal axis L1 and / or the wheel hub 12 is pivoted about the longitudinal axis L2 of the drive and steering device 1 in order to adjust the steering angle of the wheel 11. The adjustment of the steering angle of the wheel 11, i.e., the rotation of the wheel 11 about the second longitudinal axis L2, is based on the difference between the rotational speeds of the bevel ring gears 4, 5. The rotational drive of the wheel 11 about the first longitudinal axis L1 is linearly dependent on the respective rotational speeds of the rotors 6, 7 or the bevel ring gears 4, 5.

[0049] Figure 5A first case is shown, according to which the hub 12 rotates about its longitudinal axis L1 in a first rotational direction R1 or in a second rotational direction R2 opposite to the first rotational direction, when the annular bevel gears 4, 5 are rotated in opposite rotational directions at the same rotational speed by the hollow shaft motors 2, 3. In the present case, the first annular bevel gear 4 rotates clockwise at a first speed according to the first arrow 24, and the second annular bevel gear 5 rotates counterclockwise at a second speed corresponding to the first speed according to the second arrow 25. Thus, the annular bevel gears 4, 5 rotate at the same speed in opposite rotational directions. This causes the pinions 8, 9 to rotate together at the same speed about the longitudinal axis of the shaft 10, causing the shaft 10 to rotate about its longitudinal axis, whereby the driving force is transmitted to the wheel 11 via the force transmission device 18 operatively connected to the shaft 10. Thus, the wheel 11 rotates in the first rotational direction R1. Therefore, the mechanical force transmission device 18 serves to transmit the driving force from the shaft 10 to the wheel 11. In Figure 5 In the case shown in FIG, the wheel 11 is driven only in rotation, so that the drive and steering device 1, and therefore the vehicle 100, moves along the third arrow 26, for example, in the forward direction of travel of the vehicle 100. On the other hand, if the first bevel ring gear 4 rotates counterclockwise at a first speed and the second bevel ring gear 5 rotates clockwise at the same second speed, the third arrow 26 points in the opposite direction, which corresponds to, for example, a reverse direction opposite to the forward direction of travel of the vehicle 100. Thus, the wheel 11 rotates in a second rotational direction R2, which is opposite to the first rotational direction R1. In this sense, the control device 102 is configured to control the hollow shaft motors 2, 3 so that the bevel ring gears 4, 5 rotate in opposite rotational directions at the same rotational speed, thereby rotating the wheel hub 12 about its longitudinal axis L1 in the first rotational direction R1 or in the second rotational direction R2, which is opposite to the first rotational direction.

[0050] Figure 6 A second situation is shown, according to which, when the bevel ring gears 4, 5 are rotated at the same rotational speed in the same rotational direction by the hollow shaft motors 2, 3, the hub 12 pivots about the longitudinal axis L2 of the drive and steering device 1 in a third rotational direction R3 or a fourth rotational direction R4 opposite to the third rotational direction. Figure 6Due to the relative rotational movement of the bevel ring gears 4 and 5, the shaft 10 rotates at its center point together with the bevel pinions 8 and 9 about the longitudinal axis L2 of the drive and steering device 1, whereby the support arms 13 and 14 arranged on the shaft 10 also rotate about the longitudinal axis L2, and thus the hub 12 and the wheel 11 are pivoted about the longitudinal axis L2 to adjust the steering angle of the wheel 11. In the present case, the first bevel ring gear 4 rotates clockwise at a first speed according to the first arrow 24, and the second bevel ring gear 5 rotates clockwise at a second speed corresponding to the first speed according to the second arrow 25. Therefore, the bevel ring gears 4 and 5 rotate at the same speed and in the same direction. Figure 6 In the case shown in FIG, wheel 11 is pivoted only about longitudinal axis L2 along third arrow 26 to adjust the steering angle, for example, to initiate a right turn. Consequently, wheel 11, hub 12, support arms 13, 14, and shaft 10 rotate about longitudinal axis L2 in a third rotational direction R2. On the other hand, if both bevel ring gears 4, 5 rotate counterclockwise together at the same speed, third arrow 26 is oriented in the opposite direction, for example, to initiate a left turn of vehicle 100. In this regard, control device 102 is configured to control hollow shaft motors 2, 3 so that bevel ring gears 4, 5 rotate at the same rotational speed and in the same rotational direction, thereby pivoting hub 12 about longitudinal axis L2 of drive and steering device 1 in a fourth rotational direction R4, which is opposite to third rotational direction R3.

[0051] Figure 5 and Figure 6 The two situations described in the foregoing can also be combined with each other in order to drive the corresponding wheels 11 during operation of the vehicle 100 and simultaneously initiate and execute a turn of the vehicle 100. In this sense, the control device 102 is configured to control the hollow shaft motors 2, 3 so that the ring bevel gears 4, 5 are rotated in opposite rotational directions at different rotational speeds by the hollow shaft motors 2, 3, whereby the wheel hub 12 rotates about its longitudinal axis L1 in the first rotational direction R1 or the second rotational direction R2 and pivots about the longitudinal axis L2 of the drive and steering device 1 in the third rotational direction R3 or the fourth rotational direction R4.

[0052] For example, in the case where the first bevel ring gear 4 is driven clockwise at a first speed and the second bevel ring gear 5 is driven counterclockwise at a second speed greater than the first speed, on the one hand, it is possible to Figure 5 The vehicle 100 moves forward, while at the same time, the wheel 11 and the hub 12, the shaft 10 and the supporting arms 13 and 14 arranged on the shaft rotate counterclockwise around the longitudinal axis L2 of the drive and steering device 1, so as to Figure 6 The description sets the steering angle of the wheel 11 in the first direction.

[0053] Conversely, forward travel of the vehicle 100 can also be achieved when the first ring bevel gear 4 is driven clockwise at a first speed and the second ring bevel gear 5 is driven counterclockwise at a second speed lower than the first speed (see FIG. Figure 5 ), while at the same time, the wheel 11 and the hub 12, the shaft 10 and the supporting arms 13 and 14 arranged on the shaft rotate clockwise around the longitudinal axis L2 of the drive and steering device 1 in order to set the steering angle of the wheel 11 in a second direction opposite to the first direction (refer to Figure 6 ).

[0054] In another driving state in which the vehicle 100 is to be driven backward, the first ring bevel gear 4 is driven counterclockwise at a first speed and the second ring gear 5 is driven clockwise at a second speed greater than the first speed, and the vehicle 100 can be driven backward, while at the same time, the wheel 11 and the wheel hub 12, the shaft 10 and the support arms 13 and 14 arranged on the shaft rotate counterclockwise around the longitudinal axis L2 of the drive and steering device 1 to set the steering angle of the wheel 11 in the first direction.

[0055] Conversely, the vehicle 100 can also be driven backward when the annular bevel gear 4 is driven counterclockwise at a first speed and the second annular bevel gear 5 is driven clockwise at a second speed lower than the first speed, while at the same time, the wheel 11 and the wheel hub 12, the shaft 10 and the support arms 13 and 14 arranged on the shaft rotate clockwise around the longitudinal axis L2 of the drive and steering device 1 so as to set the steering angle of the wheel 11 in a second direction opposite to the first direction.

[0056] Since all components along the longitudinal axis L2 of the drive and steering device 1 are arranged coaxially, a space-saving drive and steering device 1 can be realized, which allows for a relatively large ground clearance under the chassis 101. In addition, such a drive and steering device 1 allows the wheels 11 to rotate 360°, whereby the vehicle 100 can be used in a variety of different applications.

[0057] It is understood that the present invention is not limited to the various alternative embodiments described herein. For example, other components may be effectively arranged between the rotors 6, 7 and the associated bevel ring gears 4, 5, for example to facilitate or simplify the connection of the hollow shaft motors 2, 3 to the chassis 101. Alternatively or in addition, only a single support arm 13 or 14 may be provided, on which the wheel 11 with the hub 12 is arranged. This may be advantageous if the load carried by the vehicle 100 is relatively small.

[0058] Reference Signs List

[0059] 1. Drive and steering device

[0060] 2First hollow shaft motor

[0061] 3. Second hollow shaft motor

[0062] 4First ring bevel gear

[0063] 5Second ring bevel gear

[0064] 6First rotor

[0065] 7 Second rotor

[0066] 8First bevel gear

[0067] 9Second small bevel gear

[0068] 10-axis

[0069] 11 rounds

[0070] 12 wheels

[0071] 13 first supporting arm

[0072] 14 Second support arm

[0073] 15 Rotary connection

[0074] 16 Inner circumference of the second hollow shaft motor

[0075] 17 Bearing point on the second hollow shaft motor

[0076] 18 Mechanical force transmission device

[0077] 19First stator

[0078] 20 Second stator

[0079] 21 First chassis mounting plate

[0080] 22 Second chassis mounting plate

[0081] 23 belts

[0082] 24 First Arrow

[0083] 25 Second Arrow

[0084] 26 Third Arrow

[0085] 100 vehicles

[0086] 101 chassis

[0087] 102 control device

[0088] 103 Platform

[0089] 104 cargo

[0090] L1 Longitudinal axis of the hub

[0091] L2 Longitudinal axis of the drive and steering device

[0092] R1 first rotation direction

[0093] R2 second rotation direction

[0094] R3 third rotation direction

[0095] R4 fourth rotation direction

Claims

1. A driving and steering device (1) for a vehicle (100), the driving and steering device comprising: a first hollow shaft motor (2) having a first bevel ring gear (4) which is at least indirectly rotationally fixed to a first rotor (6) of the first hollow shaft motor (2), a second hollow shaft motor (3) having a second bevel ring gear (5) which is at least indirectly rotationally fixed to a second rotor (7) of the second hollow shaft motor (3), wherein the two bevel ring gears (4, 5) are arranged coaxially with respect to one another, - a first bevel pinion (8) and a second bevel pinion (9), wherein the bevel pinions (8, 9) are rotationally fixed to one another via a shaft (10) arranged therebetween, and wherein each of the bevel pinions (8, 9) meshes with both the first bevel ring gear (4) and the second bevel ring gear (5), - a wheel (11) of the vehicle (100), the wheel being arranged in a rotationally fixed manner on a hub (12), at least one supporting arm (13, 14), on which the hub (12) is rotatably arranged, wherein the at least one supporting arm (13, 14) is arranged on the shaft (10) via at least one rotational connection (15) and is radially supported on the second hollow shaft motor (3) via a bearing point (17) arranged on the inner circumference (16) of the second hollow shaft motor (3), a mechanical force transmission device (18) drivingly arranged between the shaft (10) and the hub (12) for driving the hub (12) in rotation about its longitudinal axis (L1), The bevel gears (4, 5) can be driven in rotation by associated hollow shaft motors (2, 3), so that, depending on the relative rotational direction and relative rotational speed of the bevel gears (4, 5), the wheel hub (12) is driven in rotation about the longitudinal axis (L1) of the wheel hub and / or the wheel hub (12) is pivoted about the longitudinal axis (L2) of the drive and steering device (1) in order to adjust the steering angle of the wheel (11).

2. The driving and steering device (1) according to claim 1, It is characterized in that The wheel hub (12) is rotatably arranged on two support arms (13, 14), wherein the wheel (11) is arranged between the two support arms (13, 14) in the longitudinal direction of the wheel hub (12).

3. The driving and steering device (1) according to claim 1 or claim 2, It is characterized by: The mechanical power transmission device (18) is a traction drive or a gear transmission.

4. Drive and steering device (1) according to one of the preceding claims, It is characterized in that The first stator (19) of the first hollow shaft motor (2) is configured to be fastened to the chassis (101) of the vehicle (100) via a first chassis mounting plate (21).

5. Drive and steering device (1) according to one of the preceding claims, It is characterized by: The second stator (20) of the second hollow shaft motor (3) is configured to be fastened to the chassis (101) of the vehicle (100) via a second chassis mounting plate (22).

6. Drive and steering device (1) according to one of the preceding claims, It is characterized in that The control device (102) is configured to control the hollow shaft motors (2, 3) so that the annular bevel gears (4, 5) rotate at the same rotational speed in opposite rotational directions, thereby rotating the hub (12) around the longitudinal axis (L1) of the hub in a first rotational direction (R1) or a second rotational direction (R2) opposite to the first rotational direction.

7. Drive and steering device (1) according to one of the preceding claims, It is characterized by: The control device (102) is configured to control the hollow shaft motors (2, 3) so that the annular bevel gears (4, 5) rotate at the same rotational speed in the same rotational direction, whereby the wheel hub (12) pivots about the longitudinal axis (L2) of the drive and steering device (1) in a third rotational direction (R3) or a fourth rotational direction (R4) opposite to the third rotational direction.

8. Drive and steering device (1) according to one of the preceding claims, It is characterized by: The control device (102) is configured to control the hollow shaft motors (2, 3) so that the annular bevel gears (4, 5) are rotated in opposite rotation directions at different rotation speeds by the hollow shaft motors (2, 3), thereby causing the wheel hub (12) to rotate about the longitudinal axis (L1) of the wheel hub in the first rotation direction (R1) or the second rotation direction (R2), and to pivot about the longitudinal axis (L2) of the drive and steering device (1) in the third rotation direction (R3) or the fourth rotation direction (R4).

9. A vehicle (100) comprising at least one drive and steering device (1), the at least one drive and steering device being a drive and steering device according to one of the preceding claims, wherein The at least one driving and steering device (1) is arranged and supported on a chassis (101) of the vehicle (100).

10. The vehicle (100) according to claim 9, It is characterized in that There are a plurality of drive and steering devices (1) and a control device (102), wherein the control device (102) is configured to individually control the drive and steering devices (1).

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