Flat roller drive module for area-moving drive of a mobile platform

Abstract

Drive module (1) for attachment to the underside (U) of a mobile platform (2), such as a mobile operating table (2), wherein the drive module (1) is designed to drive and steer the mobile platform (2) when moving it on a surface, wherein the drive module (1) comprises the following: - a drive roller (3) with a roller axis (30) which defines a rotation axis (XX) about which the drive roller (3) can be rotated for the purpose of driving the mobile platform (2), wherein the drive roller (3) can also be pivoted about a central vertical axis (H) of the drive module (1) in order to steer the mobile platform (2) in a desired direction; - a motor unit (4) for driving and steering the drive roller (3), wherein the motor unit (4) is designed to output a first and a second torque; - a motor power transmission unit (5) for receiving the first and second torque from the motor unit (4), wherein the motor power transmission unit (5) converts the first and second torque into a rotation and / or pivoting of the drive roller (3), characterized in that the motor power transmission unit (5) comprises the following: - a first drive ring (6) for receiving the first torque of the motor unit (4), which is arranged in a first plane perpendicular to the vertical axis (H); - a second drive ring (7) for receiving the second torque of the motor unit (4), which is arranged in a second plane perpendicular to the vertical axis (H); and - a drive shaft (8) for driving the drive roller (3) with a receiving section (10) for receiving an actuating force resulting from the two torques, by means of which the drive roller (3) can be rotated and / or pivoted, wherein the drive shaft (8) is arranged between the first and second drive ring (6), (7) such that its receiving section (10) is connected to both drive rings (6), (7) so that the drive rings (6), (7) together can exert the resulting actuating force on the receiving section (10) of the drive shaft (8).

Description

Background of the Revelation

[0001] Mobile platforms are platforms that can be moved without additional aids. They are moved and controlled either manually or with the aid of integrated drive systems. Manually controlled mobile platforms consist of a base plate with several passive and partially swiveling wheels or casters, on which the entire weight of the platform rests during movement.

[0002] In the medical field, there is a first type of mobile operating table whose base comprises a floor platform equipped with several passively swiveling wheels. Such mobile operating tables are used in hospitals for transporting patients. Operating and controlling these tables is entirely manual and requires a great deal of strength and skill from the operator, especially when transporting obese patients.

[0003] Therefore, mobile operating tables were developed that, in addition to passively swiveling casters, feature a drive mechanism with a drive wheel integrated into the table base. An integrated motor powers the drive wheel, assisting the user in moving the operating table.

[0004] The disadvantage of this improved solution, however, is the fixed alignment of the drive wheel along the longitudinal axis of the operating table. Thus, the drive wheel only supports linear forward and backward movements of the operating table and serves only as a supplementary drive. Steering and maneuvering the mobile operating table still requires the physical effort of an experienced operator. Precise positioning of the operating table perpendicular to the longitudinal axis is therefore very time-consuming and hardly possible in confined spaces. Depending on the load and the orientation of the passive steering casters relative to the desired direction of travel, the operator must manually control the maneuvering of the operating table.

[0005] To further address this issue, one could potentially utilize drive systems for mobile platforms, familiar from the logistics sector, which allow for area-wide maneuvers of the mobile platform in very confined spaces. In this area, precise positioning of the mobile platform and high load-bearing capacity of the drive systems play a crucial role. However, as described below, such drive systems are designed in such a way that they cannot be readily used in medical technology.

[0006] The use of Mecanum wheels is well-known in transport robots. These wheels feature additional convex rollers arranged at a 45° angle to the axis of rotation on the running surface of a carrier wheel. The shape and arrangement of these rollers allow for a closed contour of the running surface. A drive system consisting of several Mecanum wheels enables the vehicle to move in any direction. However, smaller Mecanum wheels have problems on uneven surfaces and require complex bearings.

[0007] Furthermore, differential drives are used, comprising two wheels that can be driven at different speeds. However, this solution is expensive and technically very complex. An additional disadvantage is that the wheels of the differential drive cannot self-align, meaning they can lock up in an emergency, and manually pushing a mobile platform is impossible.

[0008] Neobotix offers a drive module of this type. They sell so-called drive-rotation modules, which are used as drive units in logistics vehicles. One such omnidirectional drive-rotation module is described in the datasheet entitled "Omni-Drive-Module." This datasheet for the omnidirectional drive-rotation module was published on the website www.neobotix-roboter.de and downloaded from the download area in May 2018. The datasheet is enclosed with this application.

[0009] Such a drive-rotation module comprises a drive wheel that can be pivoted about its vertical axis by a first servo motor and rotated about its transverse axis by a second servo motor. The drive wheel of the drive-rotation module is coupled to the two servo motors via a wheel carrier, with one motor driving the drive wheel and the second motor determining its orientation about the vertical axis. The two motors are stacked above the drive wheel. This known drive-rotation module has the following disadvantages in particular, which is why it is unsuitable for use in mobile operating tables. - The arrangement of the motors results in a tall design for the entire drive module. A mobile platform with such drive-rotation modules can be actively steered, but cannot always move seamlessly, as the wheels may need to be briefly aligned before starting. This affects handling and ergonomics. Power transmission from the drive motor to the drive wheel is achieved via high-ratio, self-locking worm gears. This eliminates the need for additional brakes in this drive module. However, a disadvantage is that a mobile platform equipped with such a drive-rotation module cannot be moved by the operator if the drive fails.

[0010] Publication US 2010 / 0181136A1 describes a drive module with, for example, a Fig. 1 drive shaft 58 shown, which is only connected to an upper drive ring 26 (see also Fig. 13 and Fig. 14) Another drive module is disclosed in publication WO 2012 / 096570 A1. Publication US 2016 / 0151220 A1 describes an operating table. Publication DE 10352707 A1 discloses a base for an operating table. Summary of Revelation

[0011] Starting from this known drive-rotation module, one objective of the present disclosure is to provide a drive module with a lower overall height. In particular, the drive module according to the disclosure is intended to be usable in mobile platforms which, due to their design, can only accommodate compact drive modules, such as mobile operating tables.

[0012] According to the present disclosure, this problem is solved by a drive module for attachment to the underside of a mobile platform, such as a mobile operating table, wherein the drive module is designed to drive and steer the mobile platform when moving it on a surface, and wherein the drive module comprises at least one of the following features: - a drive roller with a roller axle that defines a rotation axis about which the drive roller can be rotated to drive the mobile platform, wherein the drive roller can also be pivoted about a central vertical axis of the drive module to steer the mobile platform in a desired direction; - a motor unit for driving and steering the drive roller, wherein the motor unit is designed to output a first and a second torque; - a motor power transmission unit for receiving the first and second torque from the motor unit, wherein the motor power transmission unit converts the first and second torque into a rotation and / or pivoting of the drive roller, characterized in that the motor power transmission unit comprises the following: - a first drive ring for receiving the first torque of the motor unit, which is arranged in a first plane perpendicular to the vertical axis; - a second drive ring for receiving the second torque of the motor unit, arranged in a second plane perpendicular to the vertical axis; and - a drive shaft for driving the drive roller with a receiving section for receiving an actuating force resulting from the two torques, by means of which the drive roller can be rotated and / or pivoted, wherein the drive shaft is arranged between the first and second drive rings in such a way that its receiving section is connected to both drive rings, so that the drive rings together can exert the resulting actuating force on the receiving section of the drive shaft.

[0013] By providing a motor power transmission unit with two drive rings that run perpendicular to the vertical axis of the drive module, and a drive shaft between the two drive rings, a low overall height of the drive module is achieved.

[0014] The drive shaft of the motor power transmission unit can include a shaft of rotation arranged at an angle of 90 degrees to the vertical axis of the drive module and have a common intersection point with it, such that the drive shaft extends in a radial direction between the first and second drive rings.

[0015] The motor unit can comprise a first rotary motor and a second rotary motor, each positioned outside the radius of the first and second drive rings, respectively. The first rotary motor can be located at the same height as the first drive ring, and the second rotary motor can be located at the same height as the second drive ring. The first and second rotary motors can each output the first and second torque, respectively, allowing both motors to be used simultaneously to drive and / or steer the drive roller.

[0016] The first and second drive rings can be arranged to rotate relative to each other about the central vertical axis of the drive module. In particular, they can be driven simultaneously by the motor unit at the same speed but in opposite directions of rotation, specifically for the purpose of rotating the drive roller about the axis of rotation. The resulting actuating force acting on the receiving section of the drive shaft can then cause the drive shaft to rotate about its axis of rotation.

[0017] In particular, the first and second drive rings can be driven simultaneously by the motor unit at the same speed and in the same direction of rotation. This allows the receiving section of the drive shaft to be driven by both drive rings in their circumferential direction, enabling the drive shaft, and thus the drive roller, to pivot around the vertical axis of the drive module.

[0018] For the purpose of simultaneous rotation and pivoting of the drive roller, in particular the first drive ring and the second drive ring can be driven simultaneously by the motor unit at different speeds.

[0019] Furthermore, the drive module can include a carrier disc. The carrier disc can be rotatably arranged between the first and second drive rings about the vertical axis of the drive module. It can additionally have an opening in which the drive roller, together with the roller axle and the drive shaft, can be received.

[0020] The drive module can also have a first bearing block on which the first drive ring can be mounted. The drive module can further have a second bearing block on which the second drive ring can be mounted. The first and second bearing blocks can serve to jointly support the roller axle and the drive shaft.

[0021] The drive shaft may have an output section for driving the roller axle of the drive roller.

[0022] The motor power transmission unit can further comprise a ring gear that is non-rotatably connected to the roller axis of the drive roller and that accommodates the output section of the drive shaft, which is preferably designed as a pinion.

[0023] The roller axis of the drive roller can be offset parallel to the drive shaft, so that the roller axis has no points of intersection with the central vertical axis of the drive module. The motor power transmission unit can include at least one traction element, in particular in the form of belts, for transmitting torque from the motor unit to the drive rings.

[0024] The first and second drive rings can be designed as ring gears. Furthermore, the receiving section of the drive shaft can be in the form of a bevel gear. The ring gears can have teeth in the circumferential direction, while the outer surface of the bevel gear can have mating teeth, so that the bevel gear is in meshing contact with the first and second ring gears.

[0025] The drive module may additionally include a connection unit that serves to pivot the drive roller around the central vertical axis on the underside of the mobile platform.

[0026] The revelation also relates to mobile operating tables equipped with a drive module as described in the revelation.

[0027] The mobile operating table according to the disclosure can have a square base, with a drive module according to the disclosure arranged in each of two diagonally opposite corners of the base and a passive caster arranged in each of the other two diagonally opposite corners of the base.

[0028] In addition, the present disclosure includes individual roller modules / drive modules, mobile platforms with one, two or more roller modules / drive modules, and mobile operating tables and patient tables with one, two or more roller modules / drive modules.

[0029] The present disclosure also includes methods for moving and operating roller modules / drive modules, mobile platforms with such roller modules / drive modules, and mobile operating tables with roller modules / drive modules.

[0030] The present disclosure also includes circuits and / or electronic instructions for controlling roller modules and corresponding motors.

[0031] The present disclosure also includes circuits and / or electronic instructions for controlling, driving and steering mobile platforms and operating tables with the disclosed drive modules or roller modules.

[0032] The devices disclosed may comprise two roller modules / drive modules and two passive steering rollers, or four roller modules / drive modules, or one or more roller modules / drive modules and other roller combinations with a plurality of roller modules / drive modules and optional passive steering rollers. Brief description of the drawings

[0033] Preferred embodiments of the disclosure are explained in more detail below with reference to the figures. These show: Fig. 1. A side view of a mobile platform in the form of a mobile operating table with a patient positioned on a patient support surface of the operating table; Fig. 2 a perspective view of a roller module of a drive module according to the disclosure with a drive roller, parts of a motor power transmission unit and a connection unit for connecting the roller module to the mobile platform according to Fig. 1; Fig. 3 a side view of parts of the motor power transmission unit including the drive roller of the roller module Fig. 2; Fig. 4 a schematic horizontal sectional view through the roller module Fig. 2; Fig. 5 a schematic vertical section view through the roller module Fig. 2 along line II in Fig. 4; Fig. 6. A top view of a bottom side of the mobile platform Fig. 1 with two drive modules as disclosed. Detailed character description

[0034] The following description presents exemplary embodiments of the present disclosure with reference to the drawings. The drawings are not necessarily to scale, but are intended to illustrate the respective features schematically.

[0035] It should be noted that the features and components described below can be combined with one another, regardless of whether they have been described in connection with a single embodiment. The combination of features in the respective embodiments serves only to illustrate the basic structure and function of the claimed device.

[0036] Fig. Figure 1 shows a mobile operating table 2, which can be used to position a patient 34 during a surgical procedure and for transporting the patient. The mobile operating table 2 can also be generally referred to as a mobile platform. From bottom to top, it comprises a foot 31 for placing the operating table 2 on a surface, a vertically arranged operating table column 32 encompassing the foot 31, and a patient support surface 33 detachably attached to an upper end of the operating table column 32.

[0037] The patient support surface 33 is modular and serves to support the patient 34. It comprises a central section 33a connected to the operating table column 32, a leg section 33b, a shoulder section 33c, and a head section 33d. The central section 33a of the patient support surface 33 can be extended as desired by connecting various support surface sections. For this purpose, the central section 33a can include interfaces for detachable coupling with further support surface sections (not shown).

[0038] Depending on the type of surgical procedure to be performed, the patient support surface 33 of the operating table 2 can be raised to a suitable height and tilted as well as inclined.

[0039] The operating table column 32 is height-adjustable and has an internal mechanism for adjusting the height of the patient support surface 33 of the operating table 2. The mechanism is housed in a casing 35, which protects the components from contamination. The base 31 has two sections 31a and 31b of different lengths. It comprises a short section 31a, which corresponds to the foot end of the leg section 33b, i.e., the end of the patient support surface 33 on which the feet of the patient 34 being treated rest. The base 31 also has a long section 31b, which corresponds to the head section 33d of the patient support surface 33.

[0040] First, attention will be paid to the Fig. 6 referred to, which provides an overall view of two identical drive modules 1 as disclosed.

[0041] The Fig. Figure 6 shows the underside U of the base 31 of the mobile operating table 2. For moving and steering the operating table 2, a roller is provided at each corner of the base 31 on its underside U. Two of these rollers are passive steering rollers 26. Such passive steering rollers 26 are known per se. The two passive steering rollers 26 are preferably arranged in two diagonally opposite corners of the base 31. In the two other diagonally opposite corners of the base 31, a drive module 1 according to the disclosure is located in each.

[0042] The disclosed drive module 1 comprises a motor unit 4 and a roller module 1' driven by the motor unit 4. The drive modules 1 are designed to drive and steer the mobile platform 2 when it is moved on a surface.

[0043] Fig. Figure 2 shows the roller module 1' of the present drive module 1 in its entirety. This roller module 1' comprises a drive roller 3, parts 6, 7, 10 of a motor power transmission unit 5, and a connection unit 11 for attaching it to the underside U of the mobile platform 2.

[0044] For better illustration, a Cartesian coordinate system XYZ is shown in the figures. The X-axis is the vertical axis, the Y-axis and the Z-axis are the horizontal axes. A central vertical axis H of the drive module 1 runs in the direction of the X-axis, about which the drive roller 3 can pivot. The Y-axis extends longitudinally along the base 31. The Z-axis extends transversely along the base 31 (see figure). Fig. 1 and Fig. 2).

[0045] The drive roller 3 has a central axle or roller axle 30 ( Fig. 3) This defines a rotation axis XX about which the drive roller 3 can rotate to drive the mobile platform 2. The drive roller 3 can also be pivoted about the central vertical axis H of the drive module 1, allowing the mobile platform 2 to be steered in a desired direction.

[0046] The motor power transmission unit 5 comprises parts 6, 7, 10 of the roller module 1'. It also includes transmission means 27, e.g. in the form of chains, V-belts, toothed belts or other loop-like power transmission elements (see Fig. 6) These transmission means 27 serve to transmit power from the motor unit 4 to the roller module 1'. The motor power transmission unit 5 could therefore also be described as a gearbox located between the motor unit 4 and the drive roller 3. Accordingly, those parts 6, 7, 10 of the roller module 1' that are encompassed by the motor power transmission unit 5 can also be described as gearbox parts.

[0047] The motor power transmission unit 5 serves to receive and convert torques from the motor unit 4, which is intended to drive and steer the drive roller 3. The motor power transmission unit 5 can simultaneously receive two different torques, a first and a second torque, which are supplied by the motor unit 4. Fig. The motor unit 4 shown in Figure 6 is output. After reception, the motor power transmission unit 5 converts the first and second torques into a rotation and / or pivoting of the drive roller 3.

[0048] For this purpose, the motor power transmission unit 5 comprises two in Fig. 2, Fig. 3 drive rings shown, namely a first drive ring 6 and a second drive ring 7, as well as a drive shaft 8.

[0049] The first and second drive rings 6, 7 of the motor power transmission unit 5 each serve to receive the first and second torques of the motor unit 4. They are each arranged in a first and a second plane that run perpendicular to the central vertical axis H of the drive module 1 ( Fig. 2) The two parallel drive rings 6, 7 are designed as two bevel gears. The first and second bevel gears 6, 7 are identical in size and shape. They are arranged in the roller module 1' such that they are rotatable relative to each other about the vertical axis H. Furthermore, they enclose the drive roller 3. Thus, the two bevel gears 6, 7 give the roller module 1' a cylindrical shape extending along the X-axis.

[0050] Fig. Figure 2 further shows a distal end section of the drive shaft 8, namely a receiving section 10 facing away from the drive roller 3. It is arranged between the first and second bevel gears 6, 7 in such a way that it is positively connected to the two bevel gears 6, 7.

[0051] The role module 1' also includes a Fig. 2. Carrier disc 12 shown. The carrier disc 12 is rotatably arranged centrally between the first and second bevel gears 6, 7 about the vertical axis H of the drive module 1. The diameter of the carrier disc 12 is slightly larger than the diameter of the two bevel gears 6 and 7. Furthermore, the carrier disc 12 includes an opening 13 for receiving the drive roller 3 together with the roller axle 30 and the drive shaft 8 (see also Fig. 4).

[0052] How to do it in the Fig. 4 and Fig. As can be seen in Figure 5, the carrier disk 12 has a vertical collar 16 at its outer edge in the circumferential direction, the longitudinal axis of which extends parallel to the central vertical axis H of the drive module 1 (X-axis of the coordinate system) in the direction of the first and second ring gears 6, 7. Fig. Figure 2 shows only a lower section 16b of the collar 16 of the carrier disk 12, which is attached to the upper section of the end face of the second bevel gear 7. A [missing text] in the Fig. 2 omitted and in the Fig. The upper section 16a of the collar 16, shown in Figure 5, is positioned against the lower section of the end face of the first bevel gear 6. This forms an annular outer sleeve for the collar 16 of the carrier disc 12, protecting the interior of the roller module 1' from contamination. The carrier disc 12, together with the outer sleeve 16, also acts as a bumper to prevent damage to the roller module 1'.

[0053] The components in the roller module 1' are supported by means of bearing blocks. For this purpose, the roller module 1' comprises an upper bearing block 14 and a lower bearing block 15, which are each fastened to the upper and lower side surfaces of the carrier disk 12 by means of connecting elements, such as screws, inserted into bores 29 ( Fig. 4 and Fig. 5) This causes the two bearing blocks 14, 15 to move together with the carrier disk 12 when it pivots about the vertical axis H. They are designed as stable elements, preferably made of plastic.

[0054] The upper section of the roller module 1' has the connection unit 11 ( Fig. 2) It has an essentially disc-shaped design and serves for the detachable attachment of the roller module 1' to the underside U of the mobile platform 2. The connection unit 11 includes circumferentially spaced round bores 18 for receiving connecting elements, such as screws. In addition, the connection unit 11 has a central circular recess 17 for connection to a lifting cylinder, which enables the roller module 1' to be extended and retracted from the base 31 of the mobile platform 2.

[0055] Fig. Figure 3 is an enlarged view of the gear components of the roller module 1' as well as the drive roller 3 and the roller axle 30. The drive shaft 8, arranged radially between the first and second bevel gears 6, 7, can be seen. The drive shaft 8 is arranged such that its axis of rotation R and the vertical axis H of the drive module 1 are at an angle of 90 degrees to each other and have a common point of intersection.

[0056] The drive shaft 8 comprises two end sections, one proximal output section 9 facing the drive roller 3 (shown in Fig. 4, Fig. 5) and the aforementioned recording section 10. As in the Fig. 4 and Fig. As can be seen in section 5, the drive shaft 8 engages with its output section 9 in a ring gear 19 which is non-rotatably connected to the drive roller 3.

[0057] The output section 9 is preferably designed as a pinion which engages with an internal toothing of the ring gear 19 (not shown).

[0058] The receiving section 10 of the drive shaft 8 is designed as a bevel gear which has a connection area A, B with the first and second ring gear 6, 7 on two opposite sides of its cylindrical surface (see Fig. 5).

[0059] A positive-locking connection is achieved between the two ring gears 6, 7 and the bevel gear 10 by means of a toothed connection. For this purpose, the bevel gear 10 has a toothed surface 10a which engages with mating teeth 6a, 7a on the opposite sides of the ring gears 6, 7 ( Fig. 3).

[0060] This design of the motor power transmission unit 5 ensures that the first and second torques of the motor unit 4, each received by the first and second ring gears 6, 7, can be transmitted to the bevel gear 10. The actuating force resulting from the two torques is transmitted from the bevel gear 10 to the pinion 9 via the drive shaft 8 and ultimately results in a rotation and / or pivoting of the drive roller 3.

[0061] The arrangement of the bevel gears 6, 7 relative to the drive shaft 8, as shown, allows the two bevel gears 6, 7 to jointly exert the actuating force resulting from two torques on the pinion gear 10 of the drive shaft 8. Thus, a low overall height of the drive module 1 can advantageously be achieved by means of a simple design of the motor power transmission unit 5. The number of drive elements required to drive and steer a mobile platform 2 is also reduced, which in turn reduces the weight of the drive module 1. Furthermore, this also reduces the manufacturing costs of a drive module 1.

[0062] Fig. Figure 4 shows a schematic horizontal sectional view through the carrier disk 12 of the roller module 1'. The drive roller 3, including the roller axle 30, and the drive shaft 8 are visible, arranged with a small amount of play in the opening 13 of the carrier disk 12. The carrier disk 12 is designed here as a solid disk with the recess or opening 13 cut into it. This precise fit of the components within the carrier disk 12 protects them and increases the stability of the roller module 1'.

[0063] The roller axle 30 of the drive roller 3 is rotatably mounted in the bearing blocks 14, 15 connected to the carrier disc 12. As in Fig. 3 and Fig. As shown in Figure 4, one end of the roller axle 30 is supported in a ball bearing 22, while the other end, which passes through the ring gear 19, is held in a needle bearing 24. The drive shaft 8 is rotatably supported in a needle sleeve 25 and a ball bearing 23. Fig. 4 and Fig. 5).

[0064] Fig. Figure 4 further shows that the drive shaft 8 is offset both axially and radially relative to the roller axis 30 of the drive roller 3. The drive shaft 8 and the roller axis 30 thus have a section in which they are arranged parallel to each other. As a result, a center point M of the drive roller 3 lying on the roller axis 30 has no points of intersection with the central vertical axis H of the drive module 1.

[0065] This offset arrangement of the drive shaft 8 and the roller axle 30 relative to each other results in a so-called caster of the drive roller 3 (comparable to the design of a shopping cart wheel). The caster ensures that the orientation of the drive roller 3 of the drive module 1 can be manually corrected according to the direction of travel of the mobile platform 2 in the event of a failure of the motor unit 4. Thus, the mobile platform 2 can also be moved in emergency operation.

[0066] Accordingly, in some embodiments of the drive modules 1, the roller modules 1' are freely rotatable when not driven or when in emergency operation. Furthermore, the existing passive steering rollers 26 can also be designed with a caster function. This design of all rollers allows for their rapid alignment in a desired direction of travel and thus enables manual movement of the mobile platform 2 as needed.

[0067] In some embodiments, the axis offset could be achieved by means of a hypoid gear, in which the axis of rotation R of the drive shaft 8 and the vertical axis H of the drive module 1 are offset relative to each other and do not have a common intersection point.

[0068] In further embodiments, the roller module 1' can be designed without axis offset and thus without caster.

[0069] From the Fig. Figure 5, which shows a schematic vertical section view through the roller module 1', shows that the connecting unit 11 of the roller module 1' is rotatably mounted on the upper bearing block 14 by means of a ball bearing 20. Fig. Figure 5 further illustrates the bearing of the first and second bevel gear 6, 7 on the upper and lower bearing blocks 14, 15 respectively by means of double rows of ball bearings 37.

[0070] Fig. Figure 6 illustrates an example arrangement of the drive modules 1 according to the disclosure on the underside U of the mobile platform 2. Fig. 1. Two drive modules 1 are provided. Each of these has a motor unit 4 and a roller module 1'. The two roller modules 1' are attached to the underside U of the mobile platform 2 in diagonally opposite corners by means of their connection unit 11, with two remaining corners of the underside U of the mobile platform 2 being equipped with passive swivel casters 26.

[0071] According to Fig. The two motor units 4 are also arranged on the underside U of the mobile platform 2. Each unit comprises a first rotary motor 4a and a second rotary motor 4b, each indicated by a dashed line. The rotary motors 4a and 4b are each coupled to one of the two bevel gears 6 and 7 via a traction element 27. The rotary motors 4a and 4b each output the first and second torques, which are received by the first and second bevel gears 6 and 7 of the motor power transmission unit 5, respectively. The two rotary motors 4a and 4b preferably each comprise an electric motor 28 and a planetary gear unit 36.

[0072] The rotary motors 4a,b can, for example, have an electric motor without sliding contacts, a so-called brushless electric motor 28. Each electric motor 28 is connected to its associated planetary gear unit 36 ​​by means of an additional traction element (not shown). Each of the planetary gear units 36 is then in turn coupled to one of the two bevel gears 6, 7 by means of the traction element 27 ( Fig. 6) Brushless electric motors eliminate the need for slip rings and brushes, which are subject to high wear. Their advantage lies in their long service life.

[0073] In some embodiments of the drive module 1, the brushless motors 28 can be equipped with a braking system which is selected depending on the weight and operating speed of the mobile platform 2.

[0074] In one variant, the in Fig. The 6 casters 26 and roller modules 1' shown are retracted into the base 31 of the operating table 2, ensuring that the operating table 2 stands securely on a surface. When the operating table 2 is to be moved again, the user issues a corresponding command (e.g., via a remote control), whereupon the casters 26 extend again. The roller modules 1' then extend. Since the motor units 4 are coupled to the roller modules 1', they extend and retract with them. The extension and retraction of the casters 26 and the roller modules 1', along with the motor units 4, can be carried out, for example, by means of a hydraulic system. For this purpose, each caster 26 and each roller module 1' can be assigned a hydraulic cylinder (not shown).In other embodiments as disclosed, the extension and retraction of the steering rollers 26 and the roller modules 1' can take place with the aid of an electric motor drive and / or another lifting device.

[0075] By arranging the motors 4a, 4b in this way, the vertical dimension of the drive module 1 can be kept as small as possible. Thus, the overall height of the drive module 1 depends primarily on the geometry, specifically the width and diameter of the drive roller 3. The overall height of the drive mechanism, comprising the two bevel gears 6, 7 and the drive shaft 8, is less than the diameter of the drive roller 3 used. For example, by using a drive roller 3 with a diameter of 100 mm, a drive mechanism 6, 7, 8 with a maximum height of 80 mm can be designed. In other embodiments according to the disclosure, the height of the drive mechanism 6, 7, 8 can be, for example, 50, 60, 70, 90, 100, or 50-100 mm. A drive module 1 can have an overall height that is no more than 10 cm, and in particular no more than 5 cm, greater than the diameter of the drive roller 3.

[0076] The operating principle of the present drive module 1 is as follows: To power the mobile platform 2 from Fig. 1. The first and second bevel gears 6, 7 are driven via the traction elements 27 by the first and second motors 4a, 4b of the motor unit 4 at the same speed but in opposite directions of rotation. This sets the bevel gear 10 of the drive shaft 8, which meshes with the two bevel gears 6, 7, into a rotational motion. This actuating force, resulting from the two torques of the motor unit 4, is then transmitted to the pinion 9 of the drive shaft 8, which is engaged with the ring gear 19. This causes the drive roller 3 to rotate about the axis of rotation XX.

[0077] For the purpose of controlling mobile platform 2 from Fig.1. The first and second bevel gears 6, 7 are driven simultaneously by the first and second rotary motors 4a, 4b of the motor unit 4 via the traction elements 27, at the same speed and in the same direction of rotation. This causes the bevel gear 10, which meshes with the two bevel gears 6, 7, and thus the drive shaft 8, to rotate about the vertical axis H in the direction of rotation of the bevel gears 6, 7. Since the radially arranged drive shaft 8 is supported in the bearing blocks 14, 15, these are also rotated. This pivoting of the components of the roller module 1' ultimately leads to the pivoting of the drive roller 3 about the vertical axis H of the drive module 1.

[0078] The design of the present drive module 1 also enables the simultaneous driving and steering of the mobile platform 2. For this purpose, the two bevel gears 6, 7 are each driven simultaneously at different speeds by the first and second rotary motors 4a, 4b. Analogous to the previously described mode of operation, this results in the simultaneous rotation and pivoting of the drive roller 3 about the axis of rotation XX of the roller axle 30 and about the vertical axis H of the drive module 1.

[0079] As a result, the drive modules 1 according to the disclosure do not require separate motors for steering and driving the roller modules 1'. The motors 4a, b are used together for steering and driving the mobile platform 2. This provides twice the motor power, which is particularly advantageous when starting the mobile platform 2.

[0080] In this way, simple and safe maneuvering of the mobile platform 2 is achieved without separate drives for powering and steering the drive roller 3. Thus, the mobile platform 2 can be maneuvered ergonomically by an operator without requiring any physical effort.

[0081] The disclosed design of the drive modules 1 enables the mobile platform 2 to be maneuvered and oriented in any direction in the YZ plane within a small space with motor assistance, without turning it. The disclosure thus relates to mobile operating tables and other mobile platforms capable of linear forward and backward movement as well as orthogonal lateral movement. This includes, for example, a rectangular patient transport table that can move and be steered forward in its longitudinal direction (narrow side at the front) without a turning radius ("zero-turn"). This is useful, for example, for transporting a patient 34 positioned on the operating table 2 through crowded hospital corridors and precisely positioning them for surgical procedures in an operating room. The simplified maneuvering allows the operating table to be positioned with its long edge as close as possible to, for example, the operating table.Docking to hospital beds, MRI tables or other surfaces ensures safe and precise patient transfer.

[0082] An exemplary method of the present disclosure may include the following steps: aligning a set of roller modules 1' to determine a desired direction of movement of a mobile platform 2, driving all roller modules 1' in the direction of movement, optionally stopping the roller modules 1', aligning the set of roller modules 1' in a second direction of movement that differs from the first direction, and driving all roller modules 1' to move the platform 2 in the second direction.

[0083] This can be achieved by driving the first drive ring 6 and the second drive ring 7 of the respective roller module 1' in the same and opposite directions of rotation using the motor unit 4. The movement of the individual roller modules 1' and motor units 4 can be coordinated by coupled control modules that issue electronic instructions and / or have circuits configured to operate in accordance with this disclosure.

Claims

[1] Drive module (1) for attachment to the underside (U) of a mobile platform (2), such as a mobile operating table (2), wherein the drive module (1) is designed to drive and steer the mobile platform (2) when moving the mobile platform (2) on a surface, wherein the drive module (1) comprises the following: - a drive roller (3) with a roller axis (30) defining a rotation axis (XX) about which the drive roller (3) is rotatable for driving the mobile platform (2), wherein the drive roller (3) is also pivotable about a central vertical axis (H) of the drive module (1) in order to steer the mobile platform (2) in a desired direction; - a motor unit (4) for driving and steering the drive roller (3), wherein the motor unit (4) is designed to output a first and a second torque; - a motor power transmission unit (5) for receiving the first and second torques from the motor unit (4), wherein the motor power transmission unit (5) converts the first and second torques into a rotation and / or pivoting of the drive roller (3), characterized by that the engine power transmission unit (5) comprises: - a first drive ring (6) for absorbing the first torque of the motor unit (4), which is arranged in a first plane which is perpendicular to the vertical axis (H); - a second drive ring (7) for absorbing the second torque of the motor unit (4), which is arranged in a second plane which is perpendicular to the vertical axis (H); and - a drive shaft (8) for driving the drive roller (3) with a receiving section (10) for receiving an actuating force resulting from the two torques, by means of which the drive roller (3) can be rotated and / or pivoted, wherein the drive shaft (8) is arranged between the first and second drive rings (6), (7) in such a way that it is connected with its receiving section (10) to both drive rings (6), (7) so that the drive rings (6), (7) can jointly exert the resulting actuating force on the receiving section (10) of the drive shaft (8). [2] Drive module according to claim 1, wherein the drive shaft (8) comprises a rotation axis (R) which is arranged at an angle of 90 degrees to the vertical axis (H) of the drive module (1) and has a common intersection point therewith, so that the drive shaft (8) extends in a radial direction between the first and second drive rings (6), (7). [3] Drive module according to claim 1 or 2, wherein the motor unit (4) comprises a first rotary motor (4a) and a second rotary motor (4b), which are each arranged outside the radius of the first and second drive rings (6), (7), wherein the first rotary motor (4a) is arranged at the level of the first drive ring (6) and the second rotary motor (4b) is arranged at the level of the second drive ring (7), and wherein the first and second rotary motors (4a), (4b) each output the first and second torque, so that the two rotary motors (4a), (4b) can be used simultaneously to drive and / or steer the drive roller (3). [4] Drive module according to one of the preceding claims, wherein the first drive ring (6) and the second drive ring (7) are arranged to be rotatable relative to one another about the central vertical axis (H) of the drive module (1) and can be driven by the motor unit (4) at the same speed but in opposite directions of rotation at the same time for the purpose of rotating the drive roller (3) about the axis of rotation (XX), so that the resulting actuating force acting on the receiving section (10) of the drive shaft (8) causes the drive shaft (8) to rotate about the axis of rotation (R). [5] Drive module according to one of the preceding claims, wherein the first drive ring (6) and the second drive ring (7) can be driven simultaneously by the motor unit (4) at the same speed and in the same direction of rotation, so that the receiving section (10) of the drive shaft (8) is carried along by the two drive rings (6), (7) in their circumferential direction, so that the drive shaft (8) and thus the drive roller (3) is pivoted about the vertical axis (H) of the drive module (1). [6] Drive module according to one of the preceding claims, wherein for the purpose of simultaneous rotation and pivoting of the drive roller (3), the first drive ring (6) and the second drive ring (7) can be driven simultaneously by the motor unit (4) at different speeds. [7] Drive module according to one of the preceding claims, further comprising a carrier disc (12) which is arranged between the first and the second drive ring (6), (7) rotatably about the vertical axis (H) of the drive module (1) and has an opening (13) in which the drive roller (3) together with the roller axis (30) and the drive shaft (8) is received. [8] Drive module according to one of the preceding claims, further comprising a first bearing block (14) on which the first drive ring (6) is mounted, and a second bearing block (15) on which the second drive ring (7) is mounted, wherein the first bearing block (14) and the second bearing block (15) serve for the joint mounting of the roller axis (30) and the drive shaft (8). [9] Drive module according to one of the preceding claims, wherein the drive shaft (8) has an output section (9) for driving the roller axis (30) of the drive roller (3). [10] Drive module according to claim 9, wherein the motor power transmission unit (5) further comprises a ring gear (19) which is connected in a rotationally fixed manner to the roller axis (30) of the drive roller (3) and which receives the output section (9) of the drive shaft (8), which is preferably designed as a pinion. [11] Drive module according to one of the preceding claims, wherein the roller axis (30) of the drive roller (3) is offset parallel relative to the drive shaft (8) so that the roller axis (30) has no points of intersection with the central vertical axis (H) of the drive module (1). [12] Drive module according to one of the preceding claims, wherein the motor power transmission unit (5) comprises traction means (27), in particular belts, for transmitting torque from the motor unit (4) to the drive rings (6), (7). [13] Drive module according to one of the preceding claims, wherein the first drive ring (6) and the second drive ring (7) are designed as ring gears and the receiving section (10) of the drive shaft (8) is in the form of a bevel gear, wherein the ring gears (6), (7) have teeth in the circumferential direction and the outer surface of the bevel gear (10) has a counter-toothing, so that the bevel gear (10) is in meshing connection with the first and second ring gear (6) (7). [14] Drive module according to one of the preceding claims, further comprising a connection unit (11) for pivotably fastening the drive roller (3) about the central vertical axis (H) on the underside (U) of the mobile platform (2). [15] Mobile operating table (2) with a drive module (1) according to one of the preceding claims. [16] Mobile operating table (2) with a square base (31), wherein a drive module (1) according to one of the preceding claims is arranged in two diagonally opposite corners of the base (31) and a passive steering roller (26) is arranged in the two other diagonally opposite corners of the base (31).

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