Mobile unit, in particular mobile unit that can travel on a floor surface

Abstract

The invention relates to a mobile unit comprising two geared motors attached to a base plate, wherein the first of the geared motors has a first gear unit which is driven by a first electric motor that is connected to the first gear unit and is connected to a first control unit, wherein a first wheel is connected to the output shaft of the first gear unit for conjoint rotation therewith, while the second of the geared motors has a second gear unit which is driven by a second electric motor that is connected to the second gear unit and is connected to a second control unit, wherein a second wheel is connected to the output shaft of the second gear unit for conjoint rotation therewith, wherein the first gear unit is designed as a parallel-shaft gear unit, and the second gear unit is designed as a parallel-shaft gear unit, wherein the rotational axis of the first wheel is coaxially aligned with the rotational axis of the second wheel, the axial direction being parallel to the rotational axes of the wheels, wherein the first geared motor, along with the first electric motor and the first control unit, is spaced apart from the second geared motor, along with the second electric motor and the second control unit, wherein the region covered axially by each electric motor, together with the control unit connected thereto, overlaps with the region covered axially by the gear unit that is spaced apart from said electric motor.

Description

[0001] Handset, especially a handset that can be moved on a floor surface

[0002] Description:

[0003] The invention relates to a mobile part, in particular a mobile part that can be moved on a floor surface.

[0004] It is well known that in a tank drive the steering direction is controlled by the speed difference between the left and right wheels.

[0005] The closest state of the art is a handset known from CN 2 09 870 598 U.

[0006] A traction drive of a vehicle is known from CN 1 09 703 649 A.

[0007] The invention is therefore based on the object of developing a mobile part as cost-effectively as possible.

[0008] According to the invention, the object is achieved in the handset according to the features specified in claim 1.

[0009] Important features of the invention in the mobile part are that the mobile part, in particular the mobile part that can be moved on a floor surface, has two geared motors fastened to a base plate of the mobile part, wherein the first of the geared motors has a first gearing that is driven by a first electric motor connected to the first gearing, which is connected to a first control unit, wherein a first wheel is connected in a rotationally fixed manner to the output shaft of the first gearing, in particular on the side facing away from the first electric motor in the axial direction, in particular in a direction parallel to the axis of rotation of the output shaft, wherein the second of the geared motors has a second gearing that is driven by a second electric motor connected to the second gearing, which is connected to a second control unit, wherein a second wheel is connected in a rotationally fixed manner to the output shaft of the second gearing,in particular on the side facing away from the second electric motor in the axial direction, in particular in a direction parallel to the axis of rotation of the output shaft, wherein the first gear is designed as a parallel shaft gear and the second gear is designed as a parallel shaft gear, wherein the axis of rotation of the first wheel is aligned coaxially with the axis of rotation of the second wheel, wherein the axial direction is aligned parallel to the respective axis of rotation of the respective wheel, wherein the first geared motor, in particular comprising the first gear, the first electric motor and the first control unit, is spaced apart from the second geared motor, in particular comprising the second gear, the second electric motor and the second control unit, wherein the area covered in the axial direction by the respective electric motor together with the control unit connected to it overlaps with the area covered in the axial direction by the respective gear spaced apart from it,in particular, wherein the area covered in the axial direction by the first electric motor together with the first control unit connected to it overlaps with the area covered in the axial direction by the second gear unit spaced apart from it, in particular not connected to it, and wherein the area covered in the axial direction by the second electric motor together with the second control unit connected to it overlaps with the area covered in the axial direction by the first gear unit spaced apart from it, in particular not connected to it.

[0010] The advantage here is that the mobile unit has a right and a left wheel, each of which can be driven separately. Geared motors are used here, whose gearboxes are designed as parallel-shaft gears constructed as flat gears. This allows the use of motors whose overall length, together with their respective control units, exceeds the smallest distance between the two gearboxes of the geared motors, despite the coaxial alignment of the rotational axes of the two wheels. In such a parallel-shaft gearbox, the output shaft and the input shaft are spaced apart, so that the rotor shafts of the two electric motors of the geared motors are also spaced apart.

[0011] In particular, the electric motor of the first geared motor is spaced apart from the electric motor of the second geared motor, and the gear of the first geared motor covers the distance between the first and the second electric motor perpendicular to the axis of rotation of the rotor shaft of the first electric motor, in particular and perpendicular to the normal direction of the floor surface.

[0012] The vertical projection of the first gear in a direction parallel to the axis of rotation of the rotor shaft of the respective electric motor overlaps with the vertical projection of the second gear in a direction parallel to the axis of rotation of the rotor shaft of the respective electric motor.

[0013] Each of the gear motors is roughly L-shaped. Together, the two L-shaped gear motors define a second spatial area located between the gear motors, in which the rotational axis of the steering drive formed by the two gear motors is located.

[0014] In an advantageous embodiment, the center of gravity of the drive unit formed by the two geared motors is spaced apart from both geared motors. Advantageously, the center of gravity is located centrally between the two geared motors, i.e., within the second spatial area in which a position sensor can be arranged, which thus determines the position of the vehicle independently of the steering angle, i.e., independently of the vehicle's direction of travel. Because when the sensor is arranged such that the rotational 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.

[0015] In an advantageous embodiment, the base plate is arranged so as to be rotatable about a first axis of rotation relative to a frame, in particular a vehicle frame, of the mobile part. The advantage here is that the drive unit can be mounted on the base plate and thus the steering direction can be controlled by rotating the base plate relative to the vehicle frame. In an advantageous embodiment, the first axis of rotation is spaced from both gear motors. The advantage here is that the axis of rotation passes through the second spatial area and is aligned in particular parallel to the normal direction of the floor surface. In this way, when the steering angle changes, the base plate is arranged so as to be rotatable relative to the vehicle frame. However, only one pivot bearing is required for this, because the direction of travel is determined by the difference in speed between the two wheels.

[0016] In an advantageous embodiment, the first gear unit is designed as a parallel shaft gear unit, while the second gear unit is designed as a parallel shaft gear unit. This advantageously allows the use of a long electric motor with a control unit, while the first electric motor and first control unit remain spaced apart from the second gear unit.

[0017] In an advantageous embodiment, the gearbox is designed as a parallel-shaft gearbox, so that the output shaft is spaced further from the input shaft, in particular the farthest from it, than from any other shaft in the gearbox. The advantage here is that the parallel-shaft gearbox ensures a sufficiently large distance between the motors, while still allowing the two gears, and thus the two output shafts of the two parallel-shaft gearboxes, to be coaxially aligned.

[0018] In an advantageous embodiment, the rotational axis of the output shaft, the rotational axis of the input shaft, and the rotational axes of all other shafts are arranged in the same plane. This advantageously involves a parallel-shaft gearbox, meaning the input shaft is positioned away from the output shaft. The resulting distance allows for a large overall length of the motors, despite the coaxial alignment of the gear axes of rotation, which even exceeds the smallest distance between the two gearboxes.

[0019] In an alternative advantageous embodiment, for each additional shaft of the transmission which is neither the output shaft nor the input shaft of the transmission, the quotient of a first distance and a second distance is less than 0.5, in particular five tenths, wherein the first distance is the distance between the axis of rotation of the respective additional shaft and a first plane which contains both the driving and the output shaft, and wherein the second distance is the distance between the axis of rotation of the respective additional shaft and the driving shaft. The advantage here is that, although the shafts are not arranged exactly in one plane, they only deviate slightly from the plane, and the parallel shaft transmission therefore provides a sufficiently large distance between the driving shaft and the output shaft.

[0020] In an advantageous embodiment, the first electric motor, together with the first control unit connected to it, covers and / or projects beyond the smallest distance between the two transmissions in the axial direction, in particular wherein the first electric motor, together with the first control unit connected to it, extends further in the axial direction than the smallest distance between the two transmissions. The advantage here is that, despite the long axial extension of the motors, together with their control units, a spacing can be achieved between the control unit including its electric motor and the other transmission, which is connected to the other electric motor, which is connected to the other control unit.

[0021] In an advantageous embodiment, the second electric motor, together with the second control unit connected to it, covers and / or projects beyond the smallest distance between the two gears in the axial direction, in particular wherein the second electric motor, together with the second control unit connected to it, extends further in the axial direction than the smallest distance between the two gears. It is advantageous that, despite the long axial extension of the motors together with their control units, the second control unit is arranged away from the first geared motor, in particular from the first gear, in particular from the first electric motor and its control unit.

[0022] In an advantageous embodiment, the first electric motor is arranged between the first control unit and the first transmission. This is advantageous because the first control unit is spaced apart from the first transmission, thus preventing the long overall length of the first transmission motor from causing a collision.

[0023] In an advantageous embodiment, the second electric motor is arranged between the second control unit and the second gear. This is advantageous because the second control unit is spaced apart from the second gear, thus preventing the long overall length of the first gear motor from colliding with the second gear motor.

[0024] In an advantageous embodiment, the first control unit is located closer to the second transmission than to the first transmission, with the second control unit being located closer to the first transmission than to the second transmission. Advantageously, the first electric motor can be arranged between the first transmission and the first control unit. Despite the long design of the first electric motor, the first control unit does not collide with the second transmission, whose output shaft is aligned coaxially with the output shaft of the first transmission.

[0025] In an advantageous embodiment, the first geared motor and the second geared motor border and / or surround a second spatial region which is arranged above a first spatial region, i.e. which has a greater distance to a ground surface in contact with the wheels than the first spatial region, in particular wherein a position determination sensor, in particular a sensor for determining the position and / or spatial orientation of the mobile part, is arranged in the second spatial region, in particular wherein the first axis of rotation passes through the position determination sensor. It is advantageous in this case that a sensor for determining the position and / or orientation of the mobile part can be arranged in the second spatial region. Because the axis of rotation of the steering device passes through the second spatial region, the determination is independent of the steering angle of the steering device and / or the mobile part.

[0026] In an advantageous embodiment, the first spatial region is arranged between the first geared motor and the floor surface, and is arranged between the second geared motor and the floor surface. This is advantageous in that a particularly efficient inductive coupling can be achieved between the secondary winding and the line conductor arranged on the floor surface, in particular one laid in an elongated manner, acting as the primary conductor.

[0027] In an advantageous embodiment, the first gearing is spaced apart from the second gearing in a direction parallel to the rotational axis of the first wheel and the rotational axis of the second wheel and / or in a direction parallel to the floor surface. The advantage here is that the first spatial area and the second spatial area are made available by this spacing.

[0028] In an advantageous embodiment, a first spatial region, particularly intended for arranging a secondary winding, is arranged between the gears, in particular in a direction parallel to the floor surface between the first gear and the second gear, which extends further in the normal direction to the floor surface than the smallest distance between the respective gear and the floor surface. The advantage here is that the first spatial region and the second spatial region are made available by the spacing.

[0029] In an advantageous embodiment, a secondary winding is arranged in the first spatial area, which is inductively coupled or can be inductively coupled, to a primary conductor arranged on or in the floor surface and supplied with an alternating current, in particular laid in an elongated manner, in particular wherein a capacitor is connected in parallel or in series to the secondary winding, so that the resonance frequency of the oscillating circuit thus formed is equal to the frequency of the alternating current impressed on the primary conductor, in particular wherein the first electric motor and the second electric motor can be supplied from the secondary winding and / or from an energy storage device that can be fed by the secondary winding, in particular wherein the frequency is between 10 and 1000 kHz. It is advantageous in this case that the first spatial area is available, wherein it is arranged between the floor surface and the two geared motors.In this way, the secondary winding can be arranged on the handset, especially on the underside of the handset, without any interfering elements. This ensures the strongest possible coupling to the primary conductor located on the floor.

[0030] In an advantageous embodiment, the first axis of rotation contains the center of gravity of the secondary winding. This is advantageous in that, even with large steering angle changes, the position determination remains independent of the steering angle or the steering angle change. Further advantages arise from the subclaims. The invention is not limited to the combination of features of the claims. Those skilled in the art will recognize further useful combinations of claims and / or individual claim features and / or features of the description and / or the figures, in particular from the task and / or the task posed by comparison with the prior art.

[0031] The invention will now be explained in more detail using schematic illustrations:

[0032] Figure 1 shows a schematic structure of a drive arrangement of a mobile part according to the invention in an oblique view.

[0033] Figure 2 shows a corresponding side view.

[0034] Figure 3 shows a corresponding top view.

[0035] As shown in the figures, the handset has a drive unit which has two gear motors attached to a base plate.

[0036] The base plate is mounted so that it can rotate around a vertically directed axis relative to the vehicle frame of the handset. The vehicle frame can be moved along a floor surface using swivel casters and / or support casters.

[0037] In particular, the vertically directed axis of rotation is aligned parallel to the normal direction of the flat floor surface.

[0038] Each of the geared motors has a gear 1, which is driven by an electric motor 2, to which a control unit 3 is connected, which has an electronic circuit from which the respective electric motor 2 is supplied and which controls the respective electric motor 2.

[0039] The gear unit 1 is designed as a parallel shaft gear unit, in particular as a parallel shaft gear unit.

[0040] The input shaft of the respective gearbox 1 is therefore aligned parallel to the output shaft.

[0041] A wheel 4 is connected to the output shaft of each gear unit, which contacts and / or rolls against the ground surface. The respective wheel 4 is arranged on the side of the respective gear unit 1 axially opposite the electric motor 2 driving the respective gear unit 1.

[0042] The axial direction is aligned parallel to the axis of rotation of the respective output shaft.

[0043] The output shafts of the two gearboxes 1 are aligned parallel to each other and preferably coaxial to each other.

[0044] The axes of rotation of the output shafts of the two gearboxes preferably intersect the axis of rotation of the base plate.

[0045] Therefore, when the two wheels 4 have different speeds, the base plate is rotated; when the two wheels 4 have a synchronous speed, the handset moves straight ahead in the direction of travel.

[0046] In the transmission, the axes of rotation of the transmission shafts, in particular the input shaft, the output shaft, and all intermediate shafts, are parallel to each other and spaced apart from each other. Preferably, the axes of rotation of the transmission shafts are all arranged in a single plane, in particular one aligned parallel to the base surface. At least, however, the planes spanned by two of the shaft axes of rotation have a maximum angle of 20° to each other.

[0047] In particular, the gearbox is designed as a flat gearbox, so that the output shaft has a greater distance from the input shaft than there is between any two, in particular nearest adjacent, shafts of the gearbox.

[0048] The longest extension of the gearbox is therefore parallel to the floor surface.

[0049] The respective electric motor 2 is arranged between the respective transmission 1 and the respective control unit 3.

[0050] The electric motors 2 and the control units 3 are spaced further from the ground than the transmissions 1, whereas the wheels 4 touch the ground. In the axial direction, the wheels 4 are spaced from the motors 2 by the respective transmissions 1.

[0051] Therefore, between the gears 2, in particular in the direction parallel to the floor surface, a first spatial area 5 is available, which extends further in the normal direction to the floor surface than the smallest distance between the respective gear and the floor surface.

[0052] In this first spatial area 5, therefore, a secondary winding is preferably arranged which can be inductively coupled to a primary conductor laid elongated on or in the floor, which is supplied with an alternating current whose frequency is preferably between 10 and 1000 kHz.

[0053] Thus, the drives, in particular comprising the control units 3 with the electric motors 2, can be supplied electrically from the secondary winding.

[0054] A second spatial area 6, in which sensors can be arranged, is available between the two transmissions 1 and between the electric motors 2. This second spatial area is traversed by the rotational axes of the wheels 4 and by the rotational axis of the base plate, particularly relative to the vehicle chassis.

[0055] The input shafts and output shafts of the two gearboxes 1 span a single plane which is spaced apart from the first spatial area 5 and / or from the underside of the electric motors 2 and the control units 3 and in which the second spatial area is bordered and / or surrounded by the two drive units.

[0056] The second room area 6 is further away from the floor surface than the first room area 5.

[0057] The respective electric motor 2 together with the control unit 3 connected to it extends further in the axial direction than the distance between the two gearboxes 2. Nevertheless, the electric motor 2 together with the control unit 3 connected to it is spaced apart from the other gearbox 2, in particular from the gearbox 2 that is spaced apart from it, in particular not connected to it. This is achieved by the design of the gearbox 2 as a flat gearbox, since this design results in a large extension of the gearbox 2 in a direction parallel to the base surface but perpendicular to the axial direction.

[0058] In particular, the area covered in the axial direction by the respective electric motor 2 together with the control unit 3 connected to it overlaps with the area covered in the axial direction by the gear unit 2 which is spaced apart from it and in particular is not connected to it.

[0059] In further embodiments according to the invention, the base plate is designed as part of the vehicle frame and is thus firmly connected to the vehicle frame, in particular not rotatable relative to the vehicle frame.

[0060] List of reference symbols

[0061] 1 Gearbox, in particular parallel shaft gearbox and / or parallel shaft gearbox 2 Electric motor

[0062] 3 Control unit

[0063] 4 wheel

[0064] 5 first room area

[0065] 6 second room area

Claims

Patent claims:

1. A mobile part, in particular a mobile part movable on a floor surface, which has two geared motors fastened to a base plate of the mobile part, wherein the first of the geared motors has a first gearing driven by a first electric motor connected to the first gearing and connected to a first control unit, in particular on its side facing away from the first gearing, wherein a first wheel is connected in a rotationally fixed manner to the output shaft of the first gearing, in particular on the side facing away from the first electric motor in the axial direction, in particular in a direction parallel to the axis of rotation of the output shaft, wherein the second of the geared motors has a second gearing driven by a second electric motor connected to the second gearing and connected to a second control unit, in particular on its side facing away from the second gearing,wherein a second wheel is connected in a rotationally fixed manner to the output shaft of the second gear, in particular on the side facing away from the second electric motor in the axial direction, in particular in a direction parallel to the axis of rotation of the output shaft, characterized in that the first gear is designed as a parallel shaft gear and the second gear is designed as a parallel shaft gear, wherein the axis of rotation of the first wheel is aligned coaxially with the axis of rotation of the second wheel, wherein the axial direction is aligned parallel to the respective axis of rotation of the respective wheel, wherein the first geared motor, in particular comprising the first gearing, the first electric motor and the first control unit, is spaced apart from the second geared motor, in particular comprising the second gearing, the second electric motor and the second control unit, wherein the area covered in the axial direction by the respective electric motor together with the control unit connected to it overlaps with the area covered in the axial direction by the gearing spaced apart from it, in particular wherein the area covered in the axial direction by the first electric motor together with the first control unit connected to it overlaps with the area covered by the gearing spaced apart from it, in particular not connected to it,second gear overlaps in the axial direction and wherein the area covered in the axial direction by the second electric motor together with the second control unit connected to it overlaps with the area covered in the axial direction by the first gear spaced apart from it, in particular not connected to it.

2. Mobile part according to claim 1, characterized in that the center of gravity of the drive unit formed from the two gear motors is spaced apart from both gear motors.

3. Mobile part according to one of the preceding claims, characterized in that the base plate is mounted so as to be rotatable about a first axis of rotation relative to a frame, in particular a vehicle frame, of the mobile part.

4. Mobile part according to one of the preceding claims, characterized in that the first axis of rotation is spaced apart from both geared motors, in particular wherein the axis of rotation is aligned parallel to the normal direction of the floor surface.

5. Mobile part according to one of the preceding claims, characterized in that the first gear is designed as a flat gear and that the second gear is designed as a flat gear, in particular wherein the first gear is designed identically to the second gear and / or wherein the first electric motor is designed identically to the second electric motor.

6. Mobile part according to one of the preceding claims, characterized in that the first gear is designed as a flat gear, so that the output shaft has a greater distance, in particular the greatest distance, from the input shaft than from all other shafts of the first gear, and / or that the second gear is designed as a flat gear, so that the output shaft has a greater distance, in particular the greatest distance, from the input shaft than from all other shafts of the second gear.

7. Mobile part according to one of the preceding claims, characterized in that the axis of rotation of the output shaft, the input shaft and all further shafts are arranged in the same and / or common plane or that for each further shaft of the transmission which is not the output shaft and not the input shaft of the transmission, the quotient of a first distance and a second distance is less than 0.5, in particular five tenths, the first distance being the distance between the axis of rotation of the respective further shaft and a first plane which contains both the driving and the output shaft, and the second distance being the distance between the axis of rotation of the respective further shaft and the driving shaft.

8. Mobile part according to one of the preceding claims, characterized in that the first electric motor, together with the first control unit connected to it, covers and / or projects beyond the smallest distance between the two gears in the axial direction, in particular wherein the first electric motor, together with the first control unit connected to it, extends further in the axial direction than the smallest distance between the two gears, and / or that the second electric motor, together with the second control unit connected to it, covers and / or projects beyond the smallest distance between the two gears in the axial direction, in particular wherein the second electric motor, together with the second control unit connected to it, extends further in the axial direction than the smallest distance between the two gears.

9. Handset according to one of the preceding claims, characterized in that the first electric motor is arranged between the first control unit and the first gear, and / or that the second electric motor is arranged between the second control unit and the second gear.

10. Handset according to one of the preceding claims, characterized in that the first control unit has a smaller distance to the second gear than to the first gear, wherein the second control unit has a smaller distance to the first gear than to the second gear.

11. Mobile part according to one of the preceding claims, characterized in that the first geared motor and the second geared motor border and / or surround a second spatial region which is arranged above a first spatial region, that is to say has a greater distance from a floor surface touching the wheels than the first spatial region, in particular wherein a position-determining sensor, in particular a sensor for determining the position and / or spatial orientation of the mobile part, is arranged in the second spatial region, in particular wherein the first axis of rotation traverses the position-determining sensor.

12. Handset according to one of the preceding claims, characterized in that the first spatial region is arranged between the first gear motor and the floor surface and is arranged between the second gear motor and the floor surface.

13. Mobile part according to one of the preceding claims, characterized in that the first gear is spaced apart from the second gear in a direction parallel to the axis of rotation of the first wheel and to the axis of rotation of the second wheel and / or in a direction parallel to the floor surface, and / or that between the gears, in particular in a direction parallel to the floor surface between the first gear and the second gear, a first provided spatial region, in particular for a secondary winding, is arranged, which extends further in the normal direction to the floor surface than the smallest distance between the respective gear and the floor surface, in particular wherein the secondary winding is arranged in the spatial region.

14. Mobile part according to one of the preceding claims, characterized in that a secondary winding is arranged in the first spatial area, which is inductively coupled or can be inductively coupled, to a primary conductor arranged on or in the floor surface, to which an alternating current is applied, in particular laid in an elongated manner, in particular wherein a capacitor is connected in parallel or in series to the secondary winding, so that the resonance frequency of the oscillating circuit thus formed is equal to the frequency of the alternating current impressed on the primary conductor, in particular wherein the first electric motor and the second electric motor can be supplied from the secondary winding and / or from an energy storage device that can be fed by the secondary winding, in particular wherein the frequency is between 10 and 1000 kHz.The advantage is that the handset's power supply is contactless, meaning the handset is not only maintenance-free but can also be used in wet areas.

15. A handset according to one of the preceding claims, characterized in that the first axis of rotation contains the center of gravity of the secondary winding. Advantageously, the inductive coupling is independent of the rotational position of the handset.

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