FULLY ELECTRIC DRIVE UNIT FOR A VEHICLE, IN PARTICULAR A SELF-PROPELLED WORK MACHINE, AND PROCEDURES FOR ITS OPERATION

Description

I. Area of ​​application

[0001] The invention relates to a fully electric drive unit for a vehicle, in particular a self-propelled work machine, with a required very large gear spread of its drive. II. Technical background

[0002] Self-propelled work machines are understood to be those in which a working device is arranged in a mountable and demountable manner on a carrier vehicle, in particular its chassis, such as a snow plough, or in which the working device together with the carrier vehicle forms an integral self-propelled work machine, such as a self-propelled combine harvester.

[0003] In such a self-propelled work machine, the power requirement of the work equipment does not have to be in a fixed relationship with the driving speed of the carrier vehicle and the power required for this purpose.

[0004] The work machine may include a tool, but this is not a requirement for its definition as a work machine. Any power receiver on the carrier vehicle, such as a hydraulic unit, is also considered a work tool within the meaning of the present invention.

[0005] Vehicles with a large gear ratio spread include tractors or construction vehicles: A tractor used on an agricultural farm must be able to reduce its driving speed to 1 km / h or even less for certain work processes, such as certain soil cultivation, whereas driving speeds of 80 km / h or even more are desirable when driving on public roads.

[0006] At the same time, especially during such slow crawling, the power requirement on the mechanical PTO shafts or the hydraulic connections of the tractor for a connected implement mounted on the tractor can be particularly high.

[0007] In self-propelled machines, the problem of the often independent power requirements of the implement on the one hand and the carrier vehicle's drive on the other has so far been solved by the only available power generator, the combustion engine, supplying torque to the drive via a hydraulic serial pump-motor combination (hydrostat). The torque, i.e., the drive power, for the implement is taken from the hydrostat via a power take-off, making it independent of the engine speed / speed of the drive. The hydrostatic drive train can be arranged in parallel with a fully mechanical drive train, so that the power flow can flow selectively via one of the two drive trains, for example, via the hydrostatic drive train when a mechanical transmission needs to be engaged within the mechanical drive train.

[0008] From the international patent application WO 2017 / 063864 A1, a drive train for a self-propelled agricultural work machine is known in which a main drive source in the form of an internal combustion engine supplies power to the drive train, but with this also continuously adjustable hydraulic motors, usually controlled to be coupled and uncoupled, can both supply power to the drive train and take power from it, whereby the power from the drive train can be taken via various, switchable and switchable auxiliary drives.

[0009] If, on the other hand, you want to drive a self-propelled work machine exclusively electrically (fully electric drive), you could replace the combustion engine with an electric motor, but you would still need the downstream hydraulic transmission in the form of the hydrostat or hydraulic converter.

[0010] In the case of pure transport vehicles, in particular tractors with a required large gear spread of the drive, the independent power take-off is not required, and the hydrostat only serves to achieve the large speed spread, if necessary in combination with a mechanical transmission upstream or downstream.

[0011] Planetary gears are also known for coping with a large speed spread, which include a sun gear, a ring gear and a planet carrier.

[0012] In this context, it should be noted that a planetary gear in the literal sense does not necessarily have to have a ring gear, i.e. a wheel with teeth on its inner circumference, but there are designs in which, instead of the ring gear, usually axially offset from it, another gear with - instead or in addition - teeth on the outer circumference and / or on the front side can be present as a component of the planetary gear.

[0013] However, for the purposes of the present application, it should be clarified that the term "ring gear" is not intended to imply such a restriction of the planetary gears that the so-called ring gear must actually have a toothing on its inner circumference.

[0014] In two-shaft operation, i.e. when one of these three elements is not rotatable or does not rotate, a high, fixed transmission ratio can exist, which is determined solely by the geometric design of these three elements in relation to one another.

[0015] In three-shaft operation, i.e. when all three of these elements are rotatable, a planetary gear as Transfer cases are used by driving one of the three elements and using the other two as outputs or as Summation gears are usedby driving two of the three elements and using the third as the only output to which the sum of the drive power of the two driven elements of the planetary gear is delivered.

[0016] The latter is used, for example, in hybrid vehicles to couple two drive sources - usually of different design - such as an internal combustion engine on the one hand and an electric motor on the other, in such a way that they can provide a drive share that is variable in their relationship to each other, and to connect the output of the planetary gear to the driven axle of the vehicle.

[0017] In this context, DE 2016224092 A1 describes a drive train for a motor vehicle in which the internal combustion engine and the I-machine are the two drive sources, and the combined torque of these two drive sources is available at the output. A control device is intended to set a target rotational speed at the output based on the rotational speed of one of the two drive sources and the target torques of both drive sources.

[0018] However, the resulting speed spread on the driven axle is limited.

[0019] WO 2018 / 156676 A2 shows a drive unit according to the preamble of claim 1. III. Description of the invention a) Technical task

[0020] It is therefore the object according to the present invention to provide a fully electric drive unit, in particular without hydraulic components in the drive unit itself, for a vehicle which offers a large, preferably continuously variable, speed spread, in particular of more than 1 to 500, preferably more than 1 to 600, preferably more than 1 to 690 for its drive wheels and, in the case of a self-propelled work machine, offers a power supply or torque supply for the work device which is independent of the speed or the travel speed of the travel drive, i.e. the driven wheels of the carrier vehicle. b) Solution to the task

[0021] This object is achieved by the features of claims 1, 11 and 13. Advantageous embodiments emerge from the subclaims.

[0022] A fully electric drive unit is one in which the required mechanical energy is provided exclusively by electric motors, regardless of whether these are powered by batteries, fuel cells or other sources.

[0023] In particular, electric motors are used as electric motors, which can be operated either as electric motors, i.e. as electrical consumers, or as electrical generators.

[0024] Here, the power take-off is mechanically coupled to one of the two driven inputs of the planetary gear, for example to one of the electric motors, preferably in a fixed gear ratio, whereby the coupling can preferably also be canceled, i.e. deactivated.

[0025] Due to this configuration, the speed of the power take-off cannot be freely selected, but depends on the speed at the corresponding input of the planetary gear to which the power take-off is coupled, i.e., the electric motor connected there. However, the speed of the main output, i.e., the output of the planetary gear, can be freely selected, as it depends on the ratio of the speeds at the two inputs of the planetary gear.

[0026] Thus, if the power take-off requires a specific speed from the motor coupled to it at a fixed ratio, the speed at the output of the planetary gear can still be varied by controlling the speed of the second motor in relation to the speed of the first electric motor. The direction of rotation at the output of the planetary gear can also be selected in this way.

[0027] Therefore, the power of the more powerful electric motor is a maximum of 500%, and preferably only a maximum of 300%, greater than that of the less powerful electric motor, so that both electric motors can also have the same power output. If the power outputs differ, the more powerful electric motor is preferably coupled to the input of the planetary gear where the power take-off is located.

[0028] The power split transmission should preferably be designed so that the maximum speed of the faster one consisting of the planet carrier on the one hand and the power take-off on the other hand is a maximum of 500%, or better still only a maximum of 300% higher than that of the slower of the two.

[0029] Preferably, one electric motor is coupled to the sun gear and the other electric motor is coupled to the ring gear, i.e. operatively connected, so that very low speeds on the planet carrier, including standstill of the planet carrier, can be easily achieved even when the sun gear and ring gear are rotating.

[0030] In this way, hydraulic components can be completely dispensed with in such a drive unit, especially within the drive system.

[0031] Preferably, a control system, in particular an electronic control system, is provided which controls the drive unit according to the target specifications entered by the operator for the drive unit or according to request signals supplied by connected components, in particular controlling the two drive sources, in particular the two electric motors, independently of each other, whereby the direction of rotation, speed and torque of each of the two electric motors can be freely adjusted,

[0032] Depending on the application, a transfer case, in particular a differential, can also be coupled to the planetary carrier in order to distribute the speed and power output to this output of the planetary gear in a targeted manner.

[0033] Likewise, auxiliary drives can also be operatively connected to one of the at least two drive sources, in particular electric motors, preferably in each case at a fixed speed ratio, in particular in a rotationally fixed manner.

[0034] For a compact design of the drive unit, the two drive sources, in particular electric motors, can be arranged axially parallel, in particular coaxially one behind the other or even one inside the other, in which case the planetary gear is then preferably arranged on the front side and centrally on the front side of one of the two electric motors.

[0035] The drive unit is a fully electric drive unit in the sense that the power sources for its transfer case are exclusively electric motors, and in particular, the control system for the drive unit is an electrical, particularly electronic, control system. The energy for the electric motors and the control system can be provided by a battery, a power generator such as a fuel cell, or other types of electrical power supply.

[0036] In addition, a clutch and / or a brake can be provided in a drive train, in particular only one output, in particular the main output: By means of the brake, the corresponding output, which is already braked by the consumer driven by it, can be additionally braked.

[0037] A conventional brake such as a disc brake can be used as the brake, whereby the absorbed braking energy is not used but is lost as waste heat, or a consumer, in particular a part of the implement driven by the drive unit, can be used.

[0038] Whether the brake or the clutch in this output train, in particular the main output, is located further downstream of the drive unit, in particular the planetary gear, depends on the intended use.

[0039] The clutch and brake can be arranged coaxially one behind the other.

[0040] It is also left open whether the brake and / or the clutch are located directly on the corresponding output, or in a parallel secondary line that is coupled to the output line, in particular mechanically coupled, preferably in a fixed speed ratio,

[0041] Regarding a fully electric powered vehicle , especially one self-propelled work machine , the stated object is achieved in that the drive unit present in this vehicle - which in the case of a self-propelled work machine also drives the working device of this self-propelled work machine - is the fully electric drive unit according to the invention.

[0042] Preferably, the planetary carrier is operatively connected to the drive wheels of the vehicle, in particular via an intermediate differential, while - in the case of a self-propelled work machine - the power take-off is operatively connected to the working device of the self-propelled work machine.

[0043] This means that the driving speed and direction of the carrier vehicle can be controlled essentially independently of the current power requirements of the work equipment.

[0044] The power split transmission, together with the axle body or the drive pins for the driven wheels, can form a firmly connected, jointly manageable assembly, the installation of which in a chassis can very quickly produce a corresponding vehicle, in particular a self-propelled work machine.

[0045] Regarding the Control procedureFor the self-propelled work machine according to the invention, in particular its fully electric drive unit, which drives both the carrier vehicle and the work device, the existing task is solved differently depending on the primary current use - operating the work device or fast driving of the carrier vehicle: Primary use is understood to mean that the respective other intended use can certainly be present and carried out in parallel, but the largest proportion of the total power currently used is used for the primary intended use.

[0046] If primarily the work tool operated, i.e. driven by the fully electric drive unit, but the desired driving speed of the carrier vehicle is relatively low or even zero, i.e. requires little power - such as a snow blower or a combine harvester in use - On the one hand, the sun gear and the ring gear, each driven by one of the two electric motors, are driven in opposite directions, so that this differential speed determines the speed of the planetary carrier and thus the speed of the drive wheels of the carrier vehicle, which can therefore be very small and even zero. On the other hand, the electric motor coupled to the power take-off is operated at a speed such that the power take-off provides the desired speed and / or power to the implement driven by it. The speed of the other electric motor is selected in relation to the first-mentioned electric motor so that the desired differential speed is achieved in the planetary gear.

[0047] On the other hand, if the focus is primarily on driving, especially fast driving of the carrier vehiclein the foreground, for which high power is usually required at high driving speeds, but high torque is required at low driving speeds, while the implement is deactivated, i.e. does not need to be driven, on the one hand sun gear and ring gear, in the same Direction of rotation, so that the higher of these two speeds determines the speed of the planetary carrier and thus the speed of the drive wheels of the carrier vehicle, which can therefore be very high, on the other hand the working device is decoupled from the power take-off.

[0048] If, for example, the sun gear and ring gear are driven at the same speed and in the same direction of rotation, this is also the speed and direction of rotation of the planet carrier, since the individual planetary pinions are then stationary with respect to their own axis of rotation and do not move relative to the sun gear and ring gear.

[0049] For example, if the ring gear rotates slightly faster than the sun gear, but in the same direction of rotation, the speed of the planet carrier is between that of the sun gear and the ring gear, but has the same direction of rotation as these two gears of the planetary gear.

[0050] Should the vehicle start from a standstill , both electric motors can preferably be driven simultaneously, but in the same direction of rotation.

[0051] For a particularly slow start , for example because of a very high torque , both electric motors are preferably set in opposite directions, preferably at the same speed, whereby the planet carrier only starts moving at a differential speed, in particular initially standing still.

[0052] By slightly increasing the speed of one electric motor and / or slightly decreasing the speed of the other electric motor, a low speed combined with high torque on the planetary carrier is achieved – starting with a stationary planetary carrier. This allows high drive torques to be achieved when starting off or at low speeds on the vehicle's drive wheels coupled to the planetary carrier.

[0053] The procedure for starting and driving the carrier vehicle at high speed is also applicable to a vehicle that does not have any work equipment but requires a high torque when starting, for example due to its high weight or for other reasons, and whose speed needs to be controlled very precisely.

[0054] A first special caserepresents the transition from a low to a high driving speed of the vehicle: First, starting from the opposite direction of rotation of the two electric motors, their differential speed is increased, which can also be done from a differential speed = zero and then corresponds to the vehicle starting off.

[0055] The increase in the differential speed is achieved by reducing the speed of one of the two electric motors to zero and switching to the opposite direction of rotation, and increasing the speed of this electric motor in this other direction of rotation, whereby this direction of rotation after switching corresponds to the direction of rotation that causes the desired direction of travel of the vehicle.

[0056] Preferably, when the speed of one electric motor is reduced, the increase in power of the other electric motor is greater, so that the vehicle still accelerates. Even during the change in the direction of rotation of one electric motor, the speed of the other electric motor continues to increase, so that there is neither an interrupted acceleration of the vehicle, especially the carrier vehicle, nor a temporary deceleration of the vehicle.

[0057] A second special case represents the control for reversing operation of the vehicle, i.e. the alternating forward and reverse driving of the vehicle: If the directions of rotation of the sun gear and ring gear, in particular of the two electric machines coupled to them, are not the same, the direction of rotation of the planet carrier and thus of the drive wheels of the vehicle depends on which of the two speeds of the sun gear and planet gear is the higher.

[0058] Thus, the vehicle can be driven alternately forwards and backwards by changing their speeds - without changing the direction of rotation of the sun gear or ring gear and the electric motors coupled to them - so that one or the other wheel alternately has the higher speed, whereby this change causes the vehicle to reverse its direction of travel.

[0059] This prevents one of the electric motors from stopping and thus also the relatively low power in the lowest speed range of an electric motor.

[0060] In the described drive unit, at least one of the two electric machines - in particular regardless of the operating state of the drive unit - can be used as a generator for recuperating electrical energy, for example as an electric brake, for example when energy is introduced into the planetary gear, such as the planet carrier, from the drive wheels of the vehicle when driving downhill, for example, or when energy is introduced from a power take-off from a working machine into the planetary gear. c) Examples of implementation

[0061] Embodiments of the invention are described in more detail below by way of example. They show: Figures 1a, b: two designs of the drive unit, Figure 1c: an axial view of the planetary gear Figure 1a , Figure 2: a self-propelled working device with the drive unit from Figure 1a - c , Figure 3: a drive axle assembly with the drive unit Figure 1a - c, Figures 4a, b :supplemented variants of the design according to Figure 1a .

[0062] Figure 1a shows a side view of a first design of the drive unit 100 according to the invention consisting of a power split transmission 50 - in the form of a classic planetary gear 1 and at least one first auxiliary output NA1 - and two electric motors E1, E2 arranged axially parallel to one another as drive sources, which in normal operation drive the sun gear 2 by means of a shaft 7 on the one hand and the ring gear 3 of the planetary gear 1 by means of a shaft 8 on the other hand, while the planet carrier 4 of the planetary gear 1 serves as the main output HA in the form of a shaft 6 fastened thereto in a rotationally fixed manner.

[0063] The power take-off NA1 is coupled to the shaft 7, which is connected in a rotationally fixed manner to the sun gear 2, and / or to the first electric motor E1 connected thereto in a fixed speed ratio.

[0064] In addition, in this case, on shaft 7 - which is non-rotatably coupled to the rotor of the electric motor E1 - there is directly or indirectly another power take-off NA2, which is also coupled to the electric motor E1 at a fixed speed ratio, which in this case can be, for example, a power take-off shaft ZW1.

[0065] Likewise, a further power take-off NA3 can be coupled to shaft 8 connected at a fixed speed ratio and / or to the first electric motor E2 connected thereto.

[0066] Each of the power take-offs can be separated from the planetary gear 1 via a clutch 5, as shown in this case only at the power take-offs NA2 and NA3.

[0067] In particular, the top view of the planetary gear 1 in the axial direction 10 - the rotation axis of the sun gear 2 - according to Figure 1cmakes it clear that this is a classic planetary gear in which the internally toothed ring gear 3 is arranged concentrically to the externally toothed sun gear 2 and both are in engagement with the four planetary pinions 4a to d in this case, which are rotatably mounted about their axes of rotation on a planet carrier 4 which is operatively connected to the shaft 6, in particular is connected in a rotationally fixed manner.

[0068] Both electric motors E1, E2 are connected to the control system 100* via signal lines 9.

[0069] Figure 1b shows in the same view as Figure 1aa second design of the drive unit 100 according to the invention, which differs from the first design essentially in that it involves a coaxial arrangement of the two electric motors E1, E2, in which the shaft 7, which connects the sun gear 2 to the electric motor E1, extends through the hollow center of the electric motor E2, which is located in the axial direction 10 between the electric motor E1 and the planetary gear 50. The electric motor E2 is connected in a rotationally fixed manner to the ring gear 3 via connecting elements 8.

[0070] In order to achieve a simple, compact design, in this second design the two electric motors E1 and 2 are arranged on one end face of the planetary gear 50, preferably on the side of the planetary gear opposite the main output HA of the planetary gear 50.

[0071] In the 1st design according to Figure 1aIn contrast, the two electric motors E1, E2 are arranged axially parallel to each other on opposite end faces of the planetary gear 1, so that the shaft 7, which connects the planetary gear 1, in particular its sun gear 2, to the electric motor E1, and the shaft 8, which couples the electric motor E2 to the planetary gear 50, run parallel to each other. The shaft 8 is rotationally fixedly connected to a gear, the external toothing of which meshes with an additional external toothing on the ring gear 3.

[0072] The Figures 4a , b show an additional equipment on the main output 6 of the design according to Figure 1a , whereby this supplementary equipment on the main output 6 can also be present on any other design of the drive unit according to the invention, in particular the planetary gear according to the invention: According to Figure 4bIn the output train downstream of the main output HA in its shaft 6, on the one hand, a brake 13 is arranged, i.e. non-rotatably connected to this shaft 6, and downstream of this a clutch 5 is arranged in this output train.

[0073] The main output HA can be additionally braked by the brake 13 - in this case designed as a conventional disc brake with a brake disc 13a which is non-rotatably coupled to the main output HA, i.e. the output shaft 6, and against which brake shoes 13b can be pressed in the axial direction on both sides.

[0074] By means of the clutch 5, consumers driven by the main output HA can be completely decoupled from it.

[0075] The clutch 5 can instead and / or additionally also be arranged upstream of the brake 13 in order to be able to decouple the brake from the main output HA of the transfer case.

[0076] In the design according to Figure 4b The same applies, especially functionally, as to Figure 4a explained, but brake 13 and clutch 5 are arranged here in a separate secondary line of the main output rod 6, which is coupled to the main output HA via a gear connection in a fixed speed ratio.

[0077] In both cases, a torque sensor 14 can be present on the main output HA, which can measure the torque and thus the power taken off at this output.

[0078] This means that - even if such a torque sensor 14 is present only on this main output HA or only on one of the auxiliary outputs - the power distribution to all outputs within the drive unit can be determined by the control 100*.

[0079] Figure 2 shows the drive unit 100 of the Figure 1ainstalled in a self-propelled work machine 200: The main output HA in the form of the shaft 6 is operatively connected to the driven rear axle or the two driven axles of the carrier vehicle 220 via a transfer case VG, while the auxiliary output NA1 is coupled to the work device 210 mounted on the carrier vehicle 220, in particular is detachably coupled by means of a coupling not shown here.

[0080] In this case, the implement 210 is a boom implement in the form of a boom mower. The boom arm 211, which consists of several articulated arm sections 211a to 211d, is attached to the vehicle side to a guide shoe 214, which can be moved in a controlled manner in the horizontal transverse direction 11 along a guide rail 215 attached to the front of the carrier vehicle 220.

[0081] The working head 212 - here a mowing head 212 for mowing the vegetation next to the edge of the roadway - is attached to the free end of the boom arm 211 facing away from the vehicle, which in this illustration is in its storage position on the loading area of ​​the carrier vehicle 220 behind its driver's cab, i.e. in its transport position.

[0082] The arm parts 211a to 211d can be adjusted in their mutual angular position in a controlled manner by means of length-adjustable, in particular telescopic, adjusting elements arranged therebetween, in this case hydraulic or electrically actuated, working cylinder units 213, which are each fastened with one of their ends to one of the arm parts and with their other end directly or indirectly to the next arm part, in each case away from the pivot joints in between, so that by changing the length of the adjusting elements the intermediate angle between the arm parts can be changed.

[0083] By pivoting the vehicle-side end of the boom arm 211 about a vertical pivot axis relative to the guide shoe 214, the working group 212 can be brought into the desired position, usually to the side next to or to the side in front of the carrier vehicle 220 during operation.

[0084] By means of the drive unit 100 according to the invention, the driving speed of the carrier vehicle 220 can be controlled independently of the power delivered to the working device 210 via the power take-off NA1 by controlling the rotational speed and thus the power of the two electric motors E1, E2.

[0085] For the simplified construction of a self-propelled work machine 200 shows Figure 3 ,how the drive unit 100 according to the invention with a transfer case VG coupled to the shaft 6 of the main output HA, which on the other hand is operatively connected to the driven axle 221, can form a finished, jointly manageable drive assembly 222, which only needs to be inserted and fixed in the chassis of the carrier vehicle 220 during assembly. LIST OF REFERENCE SYMBOLS

[0086] 1Planetary gear 2Sun gear 3Ring gear 4Planet carrier 4a-dPlanet pinion 5Coupling 6Shaft 7Shaft 8Connecting element 9Signal line 10Axial direction, rotation axis 111. Transverse direction 122. Transverse direction 13Brake 13aBrake disc 13bBrake shoe 14Power sensor, torque sensor 50Power split transmissions 100Drive unit 100*Control 200 Self-propelled machine 210 Implement, boom mower 211 Boom arm 211a - d Arm parts 212 Working head, mowing head 213 Working cylinder unit 214 Guide shoe 215 Front rail 220Carrier vehicle 221Drive axle 221a, driven wheel 222Drive axle assembly E1, E2E- Machine HAMain drive NA1, / 2, / 3Power take-off VGTransfer case ZW1, ZW2PTO

Claims

1. Fully electric drive unit (100) for a vehicle, in particular a self-driving work machine (200) comprising a carrier vehicle (220) and an implement (210) that is integrated or is arranged thereon such that it can be dismantled, the drive unit (100) comprising - a power split transmission (50) having - a planetary transmission (1) having the rotatable elements of sun gear (2), ring gear (3) and planet carrier (4), - it being possible for one of these three rotatable elements to be used as the main output of the planetary transmission (1), - two drive sources, each of which is operatively connected to and can drive one of the two other of the three mentioned rotatable elements (2, 3, 4) of the planetary transmission (1), - a controller (100*), which can centrally control the two drive sources independently of one another, - two E-machines (E1, E2) as drive sources, - the E-machines (E1, E2) being controllable independently of one another, - at least one secondary output (NA1) which is operatively connected to one of the two E-machines (E1 or E2), in particular is operatively connected to said E-machine (E1 or E2) in a fixed transmission ratio, characterised in that - the maximum power of the more powerful E-machine (e.g. E1) is greater and at most 500% greater than that of the less powerful E-machine (e.g. E2).

2. Drive unit according to claim 1, characterised in that - the maximum power of the more powerful E-machine (e.g. E1) is at most 300% greater than that of the less powerful E-machine (e.g. E2).

3. Drive unit according to either of the preceding claims, characterised in that - the maximum rotational speed of the faster of the planet carrier on the one hand and the secondary output on the other hand is at most 500%, preferably only at most 300% higher than that of the slower of the two, - in particular the maximum rotational speed of the planet carrier on the one hand and the secondary output on the other hand is the same.

4. Drive unit according to any of the preceding claims, characterised in that - the planet carrier (4) can be operatively connected to the drive wheels (221a, b) of a vehicle, in particular a carrier vehicle (220), and / or - the at least one secondary output (NA1) can be operatively connected to the implement (210).

5. Drive unit according to any of the preceding claims, characterised in that - one E-machine (E1, E2) is operatively connected to the sun gear (2) and the other E-machine (E2, E1) is operatively connected to the ring gear (3), and / or - the direction of rotation of the two E-machines (E1, E2) can be switched.

6. Drive unit according to any of the preceding claims, characterised in that - the secondary output (NA1) is a power take-off shaft (ZW1), and / or - the secondary output (NA1) can be decoupled via a coupling (5).

7. Drive unit according to any of the preceding claims, characterised in that - the two E-machines (E1, E2) are arranged so as to be axially parallel, in particular concentric with respect to one another, - in particular with the planetary transmission (1) on one of the two end faces of the E-machine group.

8. Drive unit according to any of the preceding claims, characterised in that - in the case of E-machines (E1, E2) that are arranged coaxially with respect to one another, the E-machine (E1 or E2) arranged further from the planetary transmission (1) is operatively connected, in particular axially, to the secondary output (NA1).

9. Drive unit according to any of the preceding claims, characterised in that - a torque detector (14) is arranged on at least one of the outputs (HA, NA1, NA2, NA3), preferably only on one output, preferably only on the main output (HA), and / or - the planet carrier (4) is operatively connected to a power split transmission (VG), in particular a differential.

10. Drive unit according to any of the preceding claims, characterised in that - a coupling (5), and / or - a brake (13) - is operatively connected to the main output (HA), arranged coaxially or in parallel, - in particular the implement (210) or one of its partial tools that consumes energy is used as the brake (13).

11. Fully electrically driven vehicle, in particular self-driving work machine (200), characterised in that the drive unit of the vehicle, in particular of the self-driving work machine (200), is a fully electric drive unit (100) according to any of claims 1 to 10.

12. Vehicle according to claim 11, characterised in that - the planet carrier (4) is operatively connected to the drive wheels (222a, b) of a vehicle, in particular of a carrier vehicle (220), - the at least one secondary output (NA1) is in particular operatively connected to the implement (210), and / or - the driven axle (221) together with the fully electric drive unit (100) is an integrated drive axle assembly (222) that can be handled together.

13. Method for controlling a fully electrically driven vehicle, in particular a self-driving work machine (200) according to either claim 11 or claim 12, comprising a carrier vehicle (220) and an implement (210) arranged thereon, as well as a drive unit (100) which drives both, characterised in that A) for primary operation of the implement (210) during slow travel or even when the carrier vehicle (220) is stationary, - the sun gear (2) and ring gear (3) are driven in opposing directions by one of the two E-machines (E1, E2) each, such that the differential speed determines the speed of the planet carrier (4) and thus of the drive wheels (222a, b), - the two E-machines (E1, E2), in particular the E-machine (E1) coupled to the secondary output (NA1), is controlled such that the implement (210) coupled to the secondary output (NA1) obtains the currently required power and / or speed, and / or B) for primary rapid travel of the carrier vehicle (220), - the sun gear (2) and ring gear (3) are driven so as to run in the same direction of rotation, by one of the two E-machines (E1, E2) each, such that the sum of the two speeds determines the speed of the planet carrier (4) and thus of the drive wheels (221a, b).

14. Method according to claim 13, characterised in that when starting up the vehicle, in particular carrier vehicle (220) and non-driven implement (210), - both E-machines (E1, E2) are set into rotation simultaneously, i.e. with a time spacing of less than 2 seconds, preferably less than 1 second, - but in the same direction from the start.

15. Method according to either claim 13 or claim 14, characterised in that when transitioning from slow to fast travel of the carrier vehicle (220), in particular in the case of an at least initially driven implement (210), - proceeding from opposing directions of rotation of the two E-machines (E1, E2), the differential speed of which is increased, - in the process the speed of one of the two E-machines (E1) is reduced to zero, switched to the opposite direction of rotation, and driven in this other direction of rotation, - in particular during the zero-crossing of the E-machine (E1) the speed or the torque of the other E-machine (E2) is further increased, preferably such that the speed of the planet carrier (4) does not drop during the zero-crossing, but preferably increases further, in particular increases continuously.

16. Method according to any of claims 13 to 15, characterised in that for reverse operation of the vehicle, in particular carrier vehicle (200), in the case of opposite directions of rotation, to be maintained, of the sun gear (2) and ring gear (3) and the E-machines (E1, E2) coupled thereto, the speeds of which are changed such that alternately one or the other thereof has the higher speed, this change in each case bringing about a travel direction reversal of the planet carrier (4) and thus of the vehicle (200).

17. Method according to any of claims 13 to 16, characterised in that - at least one of the two E-machines (E1, E2) is used as a generator, driven by the power split transmission (50), and charges a battery connected thereto, and / or - power can be introduced via at least one of the secondary drives (NA1, NA2, NA3), in particular from an implement connected thereto, into the power split transmission (50).