Mobile device, in particular mobile on the ground

Abstract

The invention relates to a mobile device having two gear motors fixed on a substrate, a first gear motor of the gear motors having a first speed reducer, the first speed reducer being driven by a first motor connected to the first speed reducer, the first motor being connected to a first control unit, the first wheel is connected with an output shaft of the first speed reducer in a non-relative-rotation mode, a second speed reducer is arranged on a second speed reducing motor in the speed reducing motors, the second speed reducer is driven by a second motor connected with the second speed reducer, and the second motor is connected with a second control unit. The second wheel is connected with an output shaft of the second speed reducer in a relatively non-rotatable manner, the first speed reducer is designed as a parallel shaft speed reducer, the second speed reducer is designed as a parallel shaft speed reducer, the rotating axis of the first wheel and the rotating axis of the second wheel are coaxial, and the axial direction is parallel to the rotating axis of the wheels. A first gear motor having a first motor and a first control unit is spaced apart from a second gear motor having a second motor and a second control unit, a region covered in the axial direction by the motor together with the control unit connected to the motor overlaps a region covered in the axial direction by the corresponding speed reducer spaced apart from the motor.

Description

Technical Field

[0001] This invention relates to a mobile device, and more particularly to a mobile device capable of moving on the ground. Background Technology

[0002] As is well known, in the drive system of armored vehicles, the steering direction is controlled by the speed difference between the left and right wheels.

[0003] As the closest prior art, a mobile device is known from CN 2 09 870 598 U.

[0004] A power unit for a vehicle is known from CN 1 09 703 649 A. Summary of the Invention

[0005] Therefore, the objective of this invention is to improve mobile devices at the lowest possible cost.

[0006] According to the present invention, this objective is achieved by a mobile device according to the features described in claim 1.

[0007] An important feature of this invention in the mobile device is that the mobile device, particularly a mobile device capable of moving on the ground, has two geared motors fixed to the base plate of the mobile device.

[0008] The first geared motor of the two geared motors has a first reducer, which is driven by a first motor connected to the first reducer. The first motor is connected to a first control unit.

[0009] The first wheel is connected to the output shaft of the first reducer in a manner that prevents relative rotation, particularly on the side of the first reducer away from the first motor in the axial direction, i.e., in a direction parallel to the rotation axis of the output shaft.

[0010] The second geared motor of the two geared motors has a second reducer, which is driven by a second motor connected to the second reducer. The second motor is connected to a second control unit.

[0011] The second wheel is connected to the output shaft of the second reducer in a manner that prevents relative rotation, particularly on the side of the second reducer away from the second motor in the axial direction, i.e., especially in the direction parallel to the rotation axis of the output shaft.

[0012] The first reducer is designed as a parallel shaft reducer, and the second reducer is designed as a parallel shaft reducer.

[0013] In this configuration, the rotation axis of the first wheel is coaxial with the rotation axis of the second wheel.

[0014] Among them, the axial direction is parallel to the corresponding rotation axis of the corresponding wheel.

[0015] The first geared motor and the second geared motor are spaced apart. The first geared motor specifically includes a first reducer, a first motor, and a first control unit. The second geared motor specifically includes a second reducer, a second motor, and a second control unit.

[0016] The area covered in the axial direction by the corresponding motor and the control unit connected to the motor overlaps with the area covered in the axial direction by the corresponding reducer spaced apart from the motor.

[0017] In particular, the area covered in the axial direction by the first motor and the first control unit connected to the first motor overlaps with the area covered in the axial direction by the second reducer, which is separated from the first motor and is not connected to the first motor.

[0018] The advantage here is that the mobile device has a right wheel and a left wheel, each of which can be driven independently. A geared motor is used here, with its reducer designed as a parallel-axis reducer with a flattened reducer configuration. Thus, although the rotation axes of the two wheels are coaxially oriented, a motor can be used whose structural length, together with its corresponding control unit, exceeds the minimum distance between the two reducers of the geared motor. This is because in such a parallel-axis reducer, the output shaft and input shaft are spaced apart, and consequently, the rotor shafts of the two motors of the geared motor are also spaced apart.

[0019] Therefore, specifically, the motor of the first geared motor is spaced apart from the motor of the second geared motor, and the reducer of the first geared motor covers the gap between the first motor and the second motor in a direction perpendicular to the rotation axis of the first motor's shaft, particularly in the direction perpendicular to the normal direction to the ground.

[0020] The vertical projection of the first reducer in the direction parallel to the rotation axis of the corresponding motor's rotor shaft overlaps with the vertical projection of the second reducer in the direction parallel to the rotation axis of the corresponding motor's rotor shaft.

[0021] Each of the geared motors is approximately L-shaped. Two L-shaped geared motors are arranged together in a second spatial region between the geared motors, and the rotation axis of the steering drive device formed by the two geared motors is located in this second spatial region.

[0022] In an advantageous design, the center of gravity of the drive unit, formed by two geared motors, is spaced apart from the two geared motors. The advantage here is that the center of gravity is centrally located between the two geared motors, i.e., within a second spatial region where a position sensor can be placed. This position sensor thus determines the vehicle's position independently of the steering angle, i.e., independent of the vehicle's direction of travel. Because in this sensor arrangement, where the rotation axis of the steering device intersects the sensor, the determined spatial position is independent of the steering angle, i.e., independent of the vehicle's direction of travel.

[0023] In an advantageous design, the substrate is arranged to be rotatably supported relative to the frame of the mobile device, particularly a vehicle frame, about a first axis of rotation. The advantage here is that the drive unit can be mounted on the substrate, thus the steering direction can be controlled by rotating the substrate relative to the vehicle frame.

[0024] In an advantageous design, the first rotation axis is spaced apart from the two geared motors. The advantage here is that the rotation axis passes through the second spatial region and is specifically parallel to the normal direction to the ground. In this way, the base plate can be rotatably arranged relative to the vehicle frame as the steering angle changes. However, only a rotating bearing needs to be designed for this, because the direction of travel is determined by the speed difference between the two wheels.

[0025] In one advantageous design, the first reducer is designed as a flat reducer.

[0026] The second reducer is designed as a flat reducer. An advantage here is that the drive shaft and output shaft of the corresponding reducer are spaced apart from each other. In this way, a motor integrated with the control unit in a long structure can be used, and despite this, the first motor, along with the first control unit, remains spaced apart from the second reducer.

[0027] In an advantageous design, the reducer is designed as a flat reducer, such that the distance between the output shaft and the input shaft is greater than the distance between the output shaft and all other shafts of the reducer, particularly the distance between the output shaft and the input shaft. The advantage here is that the flat reducer produces a sufficiently large distance between the motors, yet the two wheels, i.e., the two output shafts of the two flat reducers, can still be coaxially oriented.

[0028] In an advantageous design, the rotation axes of the output shaft, the input shaft, and all other shafts are arranged in the same plane. The advantage here is that the reducer is a parallel-axis reducer, and therefore the input and output shafts are spaced apart from each other. With this spacing, even if the rotation axes of the wheels are coaxially oriented, a large structural length of the motor can still be achieved, exceeding even the minimum spacing between the two reducers.

[0029] In an advantageous alternative design, for any other shaft of the reducer that is neither the output shaft nor the input shaft, the quotient of the first and second distances is less than 0.5, specifically less than five-tenths.

[0030] The first spacing is the distance between the rotation axis of the corresponding other shaft and the first plane, where both the drive shaft and the output shaft are located within the first plane. The second spacing is the distance between the rotation axis of the corresponding other shaft and the rotation axis of the drive shaft. The advantage here is that, although these shafts are not precisely arranged in a plane, they have only a small deviation from that plane, and therefore the parallel shaft reducer provides a sufficiently large spacing between the drive shaft and the output shaft.

[0031] In an advantageous design, the first motor, together with a first control unit connected to the first motor, covers and / or exceeds the minimum distance between the two reducers in the axial direction. Specifically, the axial extension of the first motor, together with the first control unit connected to the first motor, is greater than the minimum distance between the two reducers. The advantage here is that, although the motor and its control unit extend elongated in the axial direction, a gap can still be created between the control unit and its motor and another reducer connected to another motor, which in turn is connected to another control unit.

[0032] In an advantageous design, the second motor, together with the second control unit connected to the second motor, covers and / or exceeds the minimum distance between the two reducers in the axial direction. Specifically, the axial extension of the second motor, together with the second control unit connected to the second motor, is greater than the minimum distance between the two reducers. The advantage here is that, although the motor and its control unit extend elongated in the axial direction, the second control unit is still arranged away from the first geared motor, particularly away from the first reducer, and especially away from the first motor and its control unit.

[0033] In one advantageous design, the first motor is positioned between the first control unit and the first reducer. The advantage here is that the first control unit and the first reducer are spaced apart, thus preventing the first geared motor from colliding due to its long structural length.

[0034] In one advantageous design, the second motor is positioned between the second control unit and the second reducer. The advantage here is that the second control unit and the second reducer are spaced apart, thus preventing the first geared motor from colliding with the second geared motor due to its long structural length.

[0035] In an advantageous design, the distance between the first control unit and the second reducer is smaller than the distance between the first control unit and the first reducer.

[0036] The distance between the second control unit and the first reducer is smaller than the distance between the second control unit and the second reducer. This has the advantage that the first motor can be positioned between the first reducer and the first control unit. Despite the long structure of the first motor, the first control unit does not collide with the second reducer, and the output shaft of the second reducer is coaxially oriented with the output shaft of the first reducer.

[0037] In an advantageous design, the first geared motor and the second geared motor surround and / or enclose a second spatial region, which is positioned above the first spatial region. That is, the distance between the second spatial region and the ground in contact with the wheel is greater than the distance between the first spatial region and the ground.

[0038] In particular, positioning sensors, especially sensors for determining the position and / or spatial orientation of mobile devices, are arranged in the second spatial region.

[0039] Specifically, the first rotation axis traverses the positioning sensor. An advantage here is that sensors for determining the position and / or orientation of the mobile device can be arranged in the second spatial region. Because the rotation axis of the steering mechanism passes through the second spatial region, this determination is independent of the steering angle of the steering mechanism and / or the mobile device.

[0040] In an advantageous design, the first spatial region is arranged between the first geared motor and the ground, and between the second geared motor and the ground. The advantage here is that particularly efficient inductive coupling can be achieved between the secondary winding and the line conductors / straight conductors arranged on the ground—especially those laid in a long strip—that serve as the primary conductors.

[0041] In an advantageous design, the first reducer and the second reducer are spaced apart from each other in a direction parallel to the rotation axis of the first wheel and the rotation axis of the second wheel, and / or in a direction parallel to the ground. The advantage here is that the spacing provides both a first spatial region and a second spatial region.

[0042] In an advantageous design, a first spatial region is arranged between the reducers, particularly between the first and second reducers in a direction parallel to the ground. This first spatial region is specifically configured to house the secondary windings, and its extension in the direction normal to the ground is greater than the minimum distance between the respective reducer and the ground. The advantage here is that the first and second spatial regions can be provided by spacing.

[0043] In an advantageous design, a secondary winding is arranged in a first spatial region, which is inductively coupled or capable of inductively coupled to a primary conductor, which is arranged on or in the ground and is subjected to alternating current, particularly in the form of a long strip.

[0044] In particular, the capacitor is connected in parallel or series with the secondary winding, so that the resonant frequency of the oscillating circuit formed in this way is equal to the frequency of the alternating current input to the primary conductor.

[0045] In particular, the first and second motors can be powered by the secondary windings and / or by an energy storage device capable of being fed through the secondary windings.

[0046] Specifically, the frequency is between 10 kHz and 1000 kHz. An advantage here is that a first spatial region is available, which is arranged between the ground and the two geared motors. In this way, the secondary winding can be arranged on the mobile device, particularly on the underside of the mobile device, without the need for intermediate components that would cause interference. Therefore, the strongest possible coupling with the primary conductor arranged on the ground can be achieved.

[0047] In an advantageous design, the first axis of rotation passes through the center of gravity of the secondary winding. The advantage here is that the position can be determined independently of the steering angle, even when the steering angle varies significantly.

[0048] Further advantages are provided by the dependent claims. The invention is not limited to the combination of features of the claims. For those skilled in the art, particularly for purposes proposed and / or by comparison with the prior art, other reasonable combinations of features of the claims and / or individual claims and / or description features and / or drawings are possible. Attached Figure Description

[0049] The present invention will now be described in detail with reference to the accompanying drawings:

[0050] exist Figure 1 The schematic structure of the driving device of the mobile device according to the present invention is shown in a perspective view.

[0051] exist Figure 2 The corresponding side view is shown in the figure.

[0052] exist Figure 3 The corresponding top view is shown in the figure. Detailed Implementation

[0053] As shown in the accompanying drawings, the mobile device has a drive unit with two geared motors fixed to a base plate.

[0054] The base plate is supported in a manner that allows it to rotate relative to the vehicle frame of the mobile device about a vertically oriented axis of rotation. The vehicle frame can be moved on the ground via steering rollers and / or support rollers.

[0055] Specifically, the vertically pointing axis of rotation is oriented parallel to the normal direction of the flat ground.

[0056] Each of the geared motors has a reducer 1, which is driven by a motor 2. Each reducer is connected to a control unit 3, which has an electronic circuit that supplies power to the corresponding motor 2 and controls the corresponding motor 2.

[0057] The reducer 1 is designed as a flat reducer, that is, it is specially designed as a parallel shaft reducer.

[0058] Therefore, the input shaft of the corresponding reducer 1 is oriented parallel to the output shaft.

[0059] Wheel 4 is connected to the output shaft of the corresponding reducer in a manner that prevents relative rotation, and the wheel is in contact with the ground and / or rolls on the ground.

[0060] The corresponding wheel 4 is arranged on the side of the corresponding reducer 1 that is axially opposite to the motor 2 that drives the corresponding reducer 1.

[0061] The axial direction is parallel to the rotation axis of the corresponding output shaft.

[0062] The output shafts of the two reducers 1 are oriented parallel to each other and preferably coaxially.

[0063] The rotation axis of the output shafts of the two reducers preferably intersects with the rotation axis of the base plate.

[0064] Therefore, when the two wheels 4 rotate at different speeds, the base plate rotates; when the two wheels 4 rotate at synchronized speeds, the mobile device moves in a straight line along the travel direction.

[0065] In a speed reducer, the axes of rotation of the reducer's shafts—specifically the input shaft, output shaft, and all intermediate shafts—are parallel to each other and spaced apart from one another. Preferably, the axes of rotation of the reducer's shafts are all arranged in a single plane, specifically a plane parallel to the ground. However, the angle between the planes defined by at least every two axes of rotation of these shafts is at most 20°.

[0066] Therefore, the reducer is specifically designed as a flat reducer, so that the distance between the output shaft and the input shaft is greater than the distance between any two shafts in the reducer, especially the two closest to each other.

[0067] Therefore, the maximum extension of the reducer is parallel to the ground.

[0068] The corresponding motor 2 is arranged between the corresponding reducer 1 and the corresponding control unit 3.

[0069] The distance between motor 2 and control unit 3 and the ground is greater than the distance between reducer 1 and the ground, so wheel 4 contacts the ground.

[0070] In the axial direction, wheel 4 and motor 2 are separated by a corresponding reducer 1.

[0071] Therefore, a first spatial region 5 can be formed between the reducers 2—specifically in the direction parallel to the ground—the first spatial region having an extension length in the normal direction relative to the ground greater than the minimum distance between the respective reducer and the ground.

[0072] Therefore, a secondary winding is preferably arranged in the first spatial region 5, which can be inductively coupled to a primary conductor laid on or in the ground in a strip shape, the primary conductor being subjected to alternating current, the frequency of which is preferably between 10 kHz and 1000 kHz.

[0073] Therefore, the drive unit, which in particular includes a control unit 3 together with a motor 2, can be powered by the secondary winding.

[0074] A second spatial region 6 can be formed between the two reducers 1 and between the motors 2, in which sensors can be arranged. This second spatial region is traversed by the rotation axis of the wheel 4 and the rotation axis of the base plate—specifically relative to the vehicle frame.

[0075] The input and output shafts of the two reducers 1 define a unique plane that is spaced apart from the first spatial region 5 and / or from the ground of the motor 2 and control unit 3, and the second spatial region is defined and / or surrounded by the two drive units within this plane.

[0076] The second spatial region 6 is farther from the ground than the first spatial region 5.

[0077] The corresponding motor 2, together with the control unit 3 connected to the motor, extends a greater distance in the axial direction than the distance between the two reducers 2. Nevertheless, the motor 2, together with the control unit 3 connected to the motor, is spaced apart from the corresponding other reducer 2, specifically the reducer 2 that is spaced apart from the motor and, in particular, not connected to the motor. This is achieved by designing the reducer 2 as a flat reducer, because this design allows for a large extension range of the reducer 2 in a direction parallel to the ground but perpendicular to the axial direction.

[0078] Specifically, the area covered in the axial direction by the corresponding motor 2 together with the control unit 3 connected to the corresponding motor overlaps with the area covered in the axial direction by the reducer 2, which is correspondingly spaced from the motor and, in particular, not connected to the motor.

[0079] In other embodiments of the invention, the substrate is designed as part of the vehicle frame and is therefore fixedly connected to the vehicle frame, i.e., it cannot rotate relative to the vehicle frame.

[0080] List of reference numerals in the attached diagram:

[0081] 1. Gear reducers, especially flat gear reducers and / or parallel shaft gear reducers

[0082] 2 motors

[0083] 3 Control Unit

[0084] 4 wheels

[0085] 5 First Space Region

[0086] 6. Second spatial region.

Claims

1. A mobile device, particularly a mobile device capable of moving on the ground, The mobile device has two geared motors fixed to the base plate of the mobile device. The first geared motor in the geared motor has a first reducer, which is driven by a first motor connected to the first reducer. The first motor is connected to a first control unit, specifically on the side of the first motor opposite to the first reducer, where it is connected to the first control unit. The first gear is connected to the output shaft of the first reducer in a manner that prevents relative rotation, particularly on the side opposite to the first motor in the axial direction, i.e., in particular in the direction parallel to the rotation axis of the output shaft. The second geared motor in the geared motor has a second reducer, which is driven by a second motor connected to the second reducer. The second motor is connected to a second control unit, specifically on the side of the second motor opposite to the second reducer, where it is connected to the second control unit. The second wheel is connected to the output shaft of the second reducer in a manner that prevents relative rotation, particularly on the side opposite to the second motor in the axial direction, i.e., in particular in the direction parallel to the rotation axis of the output shaft. Its features are, The first reducer is designed as a parallel shaft reducer, and the second reducer is designed as a parallel shaft reducer. The rotation axis of the first wheel is coaxial with the rotation axis of the second wheel. The axial direction is parallel to the corresponding rotation axis of the corresponding wheel. The first geared motor and the second geared motor are spaced apart. The first geared motor specifically includes a first reducer, a first motor, and a first control unit. The second reducer specifically includes a second reducer, a second motor, and a second control unit. The area covered in the axial direction by the corresponding motor and the control unit connected to the corresponding motor overlaps with the area covered in the axial direction by the corresponding reducer spaced apart from the motor. In particular, the area covered in the axial direction by the first motor and the first control unit connected to the first motor overlaps with the area covered in the axial direction by the second reducer, which is spaced apart from the first motor and, in particular, is not connected to the first motor. The area covered in the axial direction by the second motor and the second control unit connected to the second motor overlaps with the area covered in the axial direction by the first reducer, which is spaced apart from the second motor and, in particular, is not connected to the second motor.

2. The mobile device according to claim 1, Its features are, The center of gravity of the drive unit formed by the two geared motors is spaced apart from the two geared motors.

3. The mobile device according to any one of the preceding claims, Its features are, The substrate is arranged to be supported in a manner that allows it to rotate about a first axis of rotation relative to the frame of the mobile device, particularly the frame of a vehicle.

4. The mobile device according to any one of the preceding claims, Its features are, The first rotation axis is spaced apart from the two geared motors. Specifically, the axis of rotation is oriented parallel to the normal direction of the ground.

5. The mobile device according to any one of the preceding claims, Its features are, The first reducer is designed as a flat reducer. The second reducer is designed as a flat reducer. Specifically, the first reducer and the second reducer have the same structure, and / or the first motor and the second motor have the same structure.

6. The mobile device according to any one of the preceding claims, Its features are, The first reducer is designed as a flat reducer, so the distance between the output shaft and the input shaft is greater than the distance between the output shaft and all other shafts of the first reducer, especially the distance between the output shaft and the input shaft. And / or, The second reducer is designed as a flat reducer, so that the distance between the output shaft and the input shaft is greater than the distance between the output shaft and all other shafts of the second reducer, especially the distance between the output shaft and the input shaft is the largest.

7. The mobile device according to any one of the preceding claims, Its features are, The rotation axes of the output shaft, input shaft, and all other shafts are arranged in the same and / or common plane. or, For any other shaft of the reducer that is neither the output shaft nor the input shaft, the quotient of the first clearance and the second clearance is less than 0.5, that is, in particular less than five-tenths. The first spacing is the spacing between the rotation axis of the corresponding other shaft and the first plane, where both the drive shaft and the output shaft are located within the first plane. The second spacing is the spacing between the rotation axis of the corresponding other shaft and the rotation axis of the drive shaft.

8. The mobile device according to any one of the preceding claims, Its features are, The first motor, together with the first control unit connected to the first motor, covers and / or exceeds the minimum distance between the two reducers in the axial direction. In particular, the axial extension length of the first motor, together with the first control unit connected to the first motor, is greater than the minimum distance between the two reducers. And / or, The second motor, together with the second control unit connected to the second motor, covers and / or exceeds the minimum distance between the two reducers in the axial direction. In particular, the axial extension length of the second motor together with the second control unit connected to the second motor is greater than the minimum distance between the two reducers.

9. The mobile device according to any one of the preceding claims, Its features are, The first motor is positioned between the first control unit and the first reducer. And / or, The second motor is positioned between the second control unit and the second reducer.

10. The mobile device according to any one of the preceding claims, Its features are, The distance between the first control unit and the second reducer is less than the distance between the first control unit and the second reducer. The distance between the second control unit and the first reducer is less than the distance between the control unit and the second reducer.

11. The mobile device according to any one of the preceding claims, Its features are, A first geared motor and a second geared motor surround and / or enclose a second spatial region, the second spatial region being arranged above the first spatial region, and the distance between the second spatial region and the ground in contact with the wheel being greater than the distance between the first spatial region and the ground. In particular, positioning sensors, especially sensors for determining the position and / or spatial orientation of mobile devices, are arranged in the second spatial region. Specifically, the first rotation axis traverses the positioning sensor.

12. The mobile device according to any one of the preceding claims, Its features are, The first spatial area is arranged between the first geared motor and the ground, and between the second geared motor and the ground.

13. The mobile device according to any one of the preceding claims, Its features are, The first reducer and the second reducer are spaced apart from each other in a direction parallel to the rotation axis of the first wheel and the rotation axis of the second wheel and / or in a direction parallel to the ground. And / or, Between the reducers, particularly between the first and second reducers in a direction parallel to the ground, a predetermined first spatial region, especially a spatial region for the secondary winding, is arranged. The extension length of the first spatial region in the normal direction relative to the ground is greater than the minimum distance between the respective reducer and the ground. In particular, secondary windings are arranged in the spatial region.

14. The mobile device according to any one of the preceding claims, Its features are, A secondary winding is arranged in the first spatial region, and the secondary winding is inductively coupled or can be inductively coupled to a primary conductor—particularly laid in a long strip—that is arranged on or in the ground and is subject to alternating current. Specifically, the capacitor is connected in parallel or series with the secondary winding, so that the resonant frequency of the oscillating circuit formed in this way is equal to the frequency of the alternating current input to the primary conductor. Specifically, the first and second motors can be powered by their secondary windings and / or by energy storage devices that can be fed through their secondary windings. Specifically, the frequency is between 10 kHz and 1000 kHz. An advantage of this is that power supply to the mobile device can be performed contactlessly, thus making the device not only maintenance-free but also usable in humid environments.

15. The mobile device according to any one of the preceding claims, Its features are, The first axis of rotation includes the center of gravity of the secondary winding. An advantage here is that inductive coupling is independent of the rotational position of the mobile device.

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