Modular drive and steering device for a vehicle, and vehicle comprising at least one drive and steering device of this type

Abstract

The invention relates to a modular drive and steering device (1) for an autonomous vehicle (2), comprising a base steering module (3) having a steering actuator (7), and a drive module (4) having a wheel (8) which can be rotationally driven, the drive module (4) being detachably connected to the base steering module (3) via a first interface (S1), and the steering actuator (7) of the base steering module (3) being operatively connected to the wheel (8) via the first interface (S1) for adjusting a steering angle. The invention also relates to a vehicle (2) comprising at least one drive and steering device (1) of this type.

Description

[0001] Modular drive and steering device for a vehicle and vehicle with at least one such drive and steering device

[0002] The invention relates to a modular drive and steering device for a vehicle and to a vehicle having at least one such modular drive and steering device.

[0003] So-called AMRs (Autonomous Mobile Robots) are mobile robots that can operate autonomously in industrial environments, warehouses, factories, or other facilities. AMRs feature corner modules specifically designed for the robot's navigation, movement, and maneuverability. Typically, four drive modules are located at each corner of the AMR chassis. Each drive module can have two independent motors: one for steering the respective wheel, and the other for driving the respective wheel.

[0004] An AGV (automated guided vehicle) is an autonomous, driverless transport vehicle used in various industrial applications to move materials or products from one location to another. AGVs are also used in industrial environments to automate object transport. They use sensors, cameras, lasers, and / or other navigation systems to sense their surroundings and move autonomously, i.e., without human drivers. AGVs typically follow predefined paths or routes indicated by floor markings, magnetic strips, laser guidance, or other guidance systems.

[0005] CN 113212601 A discloses a modular, autonomous, driverless transport vehicle (AGV), comprising a body element and a work module. The body element is provided with a connection module, and the work module is provided with a locking module, the locking module being detachably connected to the connection module. The body element is used to drive the work module, and the work module is used to perform the specified work tasks. The modules are detachably connected, and the functional structure of the transport vehicle is modularized, allowing the work modules to be switched between different functions.

[0006] The object of the present invention is to propose a modular drive and steering device for an autonomously driving vehicle that can be adapted and modified to the application requirements of the vehicle in a space-saving and particularly simple manner. This object is achieved by a drive and steering device having the features of claim 1 and by a vehicle having the features of claim 9. Preferred or advantageous embodiments of the invention emerge from the subclaims, the following description, and the accompanying figures.

[0007] A modular drive and steering device according to the invention for an autonomously driving vehicle comprises a base steering module with a steering actuator and a drive module with a rotationally drivable wheel, wherein the drive module is detachably connected to the base steering module via a first interface, wherein the steering actuator of the base steering module is operatively connected to the wheel via a first interface for adjusting a steering angle. The drive and steering device can be used as a versatilely configurable and reconfigurable corner module for an autonomously driving vehicle, in particular an autonomous mobile robot (AMR) or an autonomous, driverless transport vehicle (AGV). In particular, if the drive and steering device is arranged on a carriage with non-rotatably drivable wheels, it can convert this carriage into an AMR or an AGV or an autonomously driving vehicle.In other words, the vehicle is automated by the drive and steering device according to the invention.

[0008] The detachable connection between the base steering module and the drive module allows the size and performance of a drive unit of the drive module and / or the steering actuator to be adapted to the application requirements. For a specific application profile, a base steering module with a correspondingly dimensioned steering actuator and / or a drive module with a correspondingly dimensioned drive unit for rotating the wheel can be selected and used. In its simplest form, the drive and steering device comprises the base steering module and the drive module detachably connected to it via the first interface. When a vehicle is supplemented with such a modular drive and steering device, a simply motorized, cost-effective vehicle can be realized.Each module has a housing, a frame or the like, wherein connecting surfaces and / or means can be provided on the housing or the frame, via which the modules are connected to one another to form the respective interface and are optionally operatively connected to one another. The modules or components of the module are connected to one another via the respective interface in a force-fitting and / or form-fitting, electronic and / or drive-effective manner. The electronic or drive-effective connection is optional in each case and depends on the type of modules connected or to be connected. The two modules are coupled or locked at the respective interface and are designed to be detachable in order to enable subsequent replacement or addition of modules.

[0009] An operative connection is understood to mean that two elements are directly connected to one another, or at least indirectly connected via at least one additional element arranged between them. For example, additional shafts and / or gears can be operatively arranged between two shafts. The operative connection realizes a torque and / or speed transmission between two components, even if additional components or elements are arranged between them.

[0010] Such a drive and steering device enables a flexible approach to automation. It creates a scalable and expandable platform that can accommodate or implement different payloads and optional sensor functions and / or computing or evaluation functions. This makes it possible to increase or decrease the scope of the drive and steering device as needed. By implementing this solution, an AMR or AGV can be deployed in a versatile, efficient, and cost-effective manner. Furthermore, such a drive and steering device is particularly suitable for applications and scenarios that require flexible and versatile usability. The basic steering module integrates the steering actuator and, if necessary, other devices, such as power electronics. The basic steering module has a housing in which its components are housed and supported.The steering actuator can be an electric machine comprising a stator supported on the housing and a rotor that can be driven in rotation relative to the stator, which in turn is operatively connected to the drive module or to components of the drive module, in particular the wheel. The base steering module, together with the drive module, can implement a continuous 360-degree steering device, allowing the wheel to pivot by at least 360°, making the drive and steering device particularly advantageous for use in an AMR.

[0011] The drive module comprises means for receiving the wheel and means for rotating the wheel. Preferably, the wheel of the drive module is rotatably mounted on a fork, wherein the fork is operatively connected to the steering actuator of the base steering module via the first interface. In other words, when the base steering module is coupled to the drive module, the fork is operatively connected to the steering actuator, such that when the steering actuator is actuated, the steering angle of the wheel connected to the fork is adjusted. The fork comprises one or more support arms for supporting or mounting the wheel. Preferably, a wheel hub of the wheel is rotatably mounted on two parallel support arms of the fork, wherein the wheel is arranged between the two support arms in the longitudinal direction of the wheel hub. This enables better force introduction and transmission.

[0012] The wheel hub is connected to the wheel in a rotationally fixed manner. The wheel hub and wheel can be constructed as a single piece. However, a two-piece design can be advantageous, as different materials can be used if the wheel hub is subject to greater or different stresses than the wheel.

[0013] The drive unit for rotating the wheel can be designed as an electric machine and integrated into the wheel. The drive unit thus forms a wheel hub drive. For example, the wheel hub can be connected in a rotationally fixed manner to the rotor of the drive unit or form the rotor. The base steering module preferably has fastening means designed to detachably attach the drive and steering device to a chassis of a vehicle. A simple, detachable holder on the chassis can be realized via the fastening means in order to easily implement an AMR or AGV. Preferably, the drive and steering device is plugged onto the chassis and, if necessary, secured in position. The fastening means is not designed to attach the drive and steering device to another drive and steering device, but merely to a vehicle, in particular a cart or trolley with non-driveable wheels.Conversely, the drive and steering device is designed to be attached to the chassis of a non-driven car or trolley in order to convert the car or trolley into an autonomously driving vehicle or to create an automated vehicle.

[0014] The scalability of the application can be improved by connecting multiple drive and steering devices to the chassis. This allows larger loads or identical loads to be moved more quickly. If smaller loads subsequently need to be transported, individual drive and steering devices can be removed. If larger loads need to be transported, individual drive and steering devices can be added.

[0015] Additional add-on modules are not absolutely necessary to implement the drive and steering device according to the invention. However, the drive and steering device can be supplemented or expanded with one or more additional modules via a second interface in order to adapt the drive and steering device to the conditions or requirements of the application. In this sense, the basic steering module preferably has a second interface configured to accommodate a first add-on module.

[0016] By expanding the drive and steering system with add-on modules, the functionality can be specifically expanded for the specific application. The first add-on module can be mounted on the base steering module to extend the drive and steering system, or the vehicle on which the drive and steering system is mounted, with useful, possibly intelligent and IoT functions. This means that the drive and steering system can be networked with other devices, with additional elements, with a cloud, with the internet, or similar, for example, to collect and analyze data and execute actions.

[0017] The first supplementary module is preferably a computing module. The computing module can be or comprise a control unit, with which vehicle-specific, in particular driving operation-specific, data can be evaluated, processed, and optionally forwarded. The computing module is preferably designed to be connected in a signal-transmitting manner to the steering actuator of the base steering module and / or the drive unit of the drive module. In other words, the computing module is designed to control the drive unit and / or the steering actuator in order to influence the operation of the vehicle.

[0018] The computing module can be configured to control, with the base steering module and / or the drive module, one or more additional drive and steering devices arranged on the same vehicle. Therefore, if multiple drive and steering devices are arranged on the vehicle, one of which has a computing module and the others do not, the computing module can communicate with the base steering module and / or the drive module of the additional drive and steering devices that do not have a computing module in order to control them. The computing module can therefore send signals to additional drive and steering devices and, if necessary, control them separately. This allows individual drive and steering devices to be simplified when multiple drive and steering devices are present, making the overall application more cost-effective.

[0019] If, instead, each drive and steering device has a computing module, each drive and steering device can be controlled by the associated computing module. The computing modules can communicate with each other to improve plausibility.

[0020] Alternatively, the first supplementary module is a sensor module. The sensor module comprises one or more sensors to monitor the environment of the drive and steering device or the vehicle, the operating state of the vehicle, and / or the position of the vehicle, and to generate corresponding sensor data relating to the environment, the operating state, and / or the position of the vehicle and to process it in such a way that it can be transmitted, for example, to an internal or external computing module, a control unit of the vehicle, or to an external device. By integrating sensors such as lidar, 3D cameras, and / or ultrasonic sensors, the functionality of the vehicle can be improved, enabling it to move in more complex and dynamic environments. Depending on the information generated and provided by the sensor module, the vehicle, in particular the drive and steering device, can be controlled accordingly.

[0021] Preferably, the second interface is arranged on a side of the base steering module opposite the first interface. In other words, a stacked design of the drive and steering device can be realized, allowing the drive and steering device to be designed in a space-saving and slim manner. The drive and steering device is thus characterized by a compact, coaxial design that is easy to install. The coaxial arrangement of the modules also allows for high ground clearance. Of course, depending on the type and function of the respective module, it is conceivable to provide lateral interfaces for the detachable connection of additional modules.

[0022] The first add-on module can be a component that spatially encloses the drive and steering device. In other words, the add-on module can have only one connection option for connecting to the base steering module and for implementing the second interface. Alternatively, and preferably, the first add-on module has at least a third interface designed to accommodate a second add-on module. The second add-on module can already be pre-assembled on the first add-on module and subsequently attached to the base steering module. Alternatively, the second add-on module can be attached or connected to the first add-on module if the first add-on module is already connected to the base steering module via the second interface.

[0023] The second additional module is preferably a computing module if the first additional module is a sensor module, or vice versa. Different stacking options mean that a sensor module, for example, can be placed at a desired height. In other words, the modular design of the drive and steering device enables an optional sensor to be placed at a desired height by placing the sensor module directly on the basic steering module or by placing further modules between the sensor module and the basic steering module until the sensor module is at the desired height in relation to the surface being driven on. To implement different stacking options, the interfaces of the various modules are designed to be compatible with one another. Thus, with appropriate design of the modules with different connection options orInterfaces, the second add-on module can also be located between the base steering module and the first add-on module. This offers the end user greater flexibility in selecting modules to adapt the drive and steering system as required or desired.

[0024] A vehicle according to a second aspect of the invention comprises at least one drive and steering device according to the first aspect of the invention, wherein the at least one drive and steering device is detachably arranged on a chassis of the vehicle. The vehicle is preferably an autonomously driving mobile robot (AMR) or an autonomous driverless transport vehicle (AVG). Goods or goods, for example, can be transported on the vehicle. The vehicle can move independently and without external support in its environment thanks to the drive and steering device(s) connected to it. Depending on the design of the chassis, in particular the non-rotatably driven wheels arranged thereon, it may be sufficient to arrange only one drive and steering device on the chassis. For more complex trajectories, two or more drive and steering devices, for example in the form of corner modules, can be provided.

[0025] The above statements, examples and definitions of technical effects, advantages and embodiments of the modular drive and steering device according to the invention according to the first aspect of the invention also apply mutatis mutandis to the vehicle according to the invention according to the second aspect of the invention, and vice versa.

[0026] Further measures improving the invention are presented in more detail below, together with the description of a preferred embodiment of the invention, with reference to the figures, wherein identical or similar components are provided with the same reference numerals. The single figure shows a simplified schematic perspective view of a vehicle according to the invention—only partially shown—with two exemplary drive and steering devices according to the invention.

[0027] According to the single figure, an autonomously driving vehicle 2 according to the invention is shown in a simplified and only partial manner. It shows part of a chassis 9 of the vehicle 2, which in this example is frame-shaped. Several modular drive and steering devices 1 according to the invention are detachably arranged on the chassis 9, with only two of the drive and steering devices 1 being shown in the figure, which are located on a common side, for example on the front of the vehicle 2. Furthermore, non-rotatably driven wheels 13 are provided on the chassis 9. If no drive and steering device 1 is detachably attached to the chassis 9, the vehicle 2 is a conventional, manually movable cart or trolley. Conversely, if one or more drive and steering devices 1 are attached to it, the cart becomes aare converted into an autonomously driving vehicle 2 according to the invention, wherein the autonomous drive of the vehicle 2 is carried out via the drive and steering devices 1. The remaining, non-driven wheels 13 are merely carried along and, provided they are in contact with the surface being traveled on after the drive and steering devices 1 have been connected to the chassis 9, serve to improve the stability of the vehicle 2. The vehicle 2 in the present case is an AMR which has a drive and steering device 1 in the form of a corner module at each corner of the chassis 9. With such a vehicle 2, for example, goods or other objects which can be positioned on or at the chassis 9 can be transported.

[0028] One of the drive and steering devices 1 is described in more detail below. The other drive and steering devices 1 are identically designed unless otherwise stated, so that the following description is analogous and equally applicable to the other drive and steering devices 1. The two drive and steering devices 1 of the vehicle 2 (not shown here) are mirror-inverted to the drive and steering devices 1 shown here and are arranged, for example, at the rear of the vehicle 2. The respective drive and steering device 1 comprises four modules in the present case, namely, starting from the surface being traveled on, a drive module 4, a basic steering module 3, a first supplementary module 5 in the form of a computing module, and a second supplementary module 6 in the form of a sensor module.The drive module 4 and the base steering module 3 are connected to one another via a first interface S1, wherein the drive module 4 is rotatably mounted and axially supported relative to the base steering module 3 by an axial bearing element 15. The base steering module 3 and the first supplementary module 5 are connected to one another via a second interface S2, wherein the second interface S2 is arranged on a side of the base steering module 3 opposite the first interface S1. The first supplementary module 5 and the second supplementary module 6 are connected to one another via a third interface S3, wherein the third interface S3 is arranged on a side of the first supplementary module 5 opposite the second interface S2. This enables a tower-like design and stacked arrangement of the drive and steering device 1 to be realized.Thus, modules 3 - 6 are arranged coaxially to each other and are connected to each other, for example, via housings or frames of the individual modules.

[0029] The base steering module 3 has fastening means 12 on a rear side or a side facing the chassis 9 (not shown in detail here), which are designed to detachably fasten the drive and steering device 1 to the chassis 9. The fastening means 12 can connect the base steering module 3 to the chassis 9 in a force-fitting and / or form-fitting manner. Hook-shaped tabs that can be hooked onto the chassis 9 and optionally screwed are conceivable. The base steering module 3 further has a steering actuator 7 as an electric machine. The structure of the steering actuator 7 is not shown in detail here. In any case, a rotationally drivable component of the steering actuator 7, such as a rotor or a shaft connected thereto in a rotationally fixed manner, is connected to a fork 10 of the drive module 4. The fork 10 is detachably connected to the rotor in a rotationally fixed manner, for example via a spline or the like.The steering actuator 7 can further comprise a transmission stage arranged in the power flow between the electric motor and the fork 10 to transmit drive power. This allows the electric motor to be designed more slenderly. A wheel hub 15 is rotatably mounted on the fork 10, which in turn is rotationally connected to a wheel 8 of the drive module 4, which can be rotationally driven by a drive unit (not shown here) that can be integrated into the wheel 8. The steering actuator 7 is designed to adjust a steering angle of the wheel 8.

[0030] The computing module or the first supplementary module 5 also comprises a housing, which, for example, contains a controller or a computing unit. The computing module or the controller integrated therein is designed to communicate with the base steering module 3 and the drive module 4 and to control them by transmitting command signals in such a way that a rotational drive of the wheel 8 can be carried out to drive the vehicle 2 in the forward or reverse direction, as well as an adjustment of a steering angle of the wheel 8. The connection between the computing module and the base steering module 3 and the drive module 4 can be wired or wireless. In wired versions, connector systems must be provided at the interfaces.

[0031] The sensor module or the second supplementary module 6 is arranged on the side of the drive and steering device 1 opposite the wheel 8. The sensor module comprises a sensor 14 designed to monitor the surroundings of the vehicle 2. The sensor data from the sensor 14 is provided to the computing module, which transmits corresponding signals to the base steering module 3 and / or the drive module 4 to influence the drive.

[0032] It is understood that the invention is not limited to the exemplary embodiment described here. For example, individual supplementary modules 5, 6 can be omitted in order to make the drive and steering device 1 simpler and thus more cost-effective. For example, on the side of the chassis 9 shown here, one of the drive and steering devices 1 can have a sensor module and the other drive and steering device 1 can have no sensor module if the sensor data from one sensor module is sufficient to monitor the vehicle's surroundings. Alternatively or additionally, one of the drive and steering devices 1 can have a computing module and the other drive and steering device 1 can have no computing module if a single computing module is sufficient for communicating with the base steering module and / or the drive module of the other drive and steering devices 1 and is configured accordingly.

[0033] List of reference symbols

[0034] 1 drive and steering device

[0035] 2 vehicles

[0036] 3 Basic steering module

[0037] 4 Drive module

[0038] 5 First supplementary module

[0039] 6 Second supplementary module

[0040] 7 Steering actuator

[0041] 8 wheel

[0042] 9 chassis

[0043] 10 forks

[0044] 11 Axial bearing element

[0045] 12 fasteners

[0046] 13 Non-driven wheel

[0047] 14 Sensor

[0048] 15 Axial bearing element

[0049] S1 First interface

[0050] S2 Second interface

[0051] S3 Third Interface

Claims

Patent claims 1. Modular drive and steering device (1) for an autonomously driving vehicle (2), comprising a base steering module (3) with a steering actuator (7), and a drive module (4) with a rotationally drivable wheel (8), wherein the drive module (4) is detachably connected to the base steering module (3) via a first interface (S1), wherein the steering actuator (7) of the base steering module (3) is operatively connected to the wheel (8) via a first interface (S1) for adjusting a steering angle.

2. Drive and steering device (1) according to claim 1, characterized in that the basic steering module (3) has a second interface (S2) which is designed to receive a first supplementary module (5).

3. Drive and steering device (1) according to claim 1 or claim 2, characterized in that the wheel (8) of the drive module (4) is rotatably arranged on a fork (10), wherein the fork (10) is operatively connected to the steering actuator (4) of the base steering module (3) via the first interface (S1).

4. Drive and steering device (1) according to one of the preceding claims, characterized in that the base steering module (3) has fastening means (12) which are designed to detachably fasten the drive and steering device (1) to a chassis (9) of the vehicle (2).

5. Drive and steering device (1) according to one of claims 2 to 4, characterized in that the first supplementary module (5) is a computing module or a sensor module.

6. Drive and steering device (1) according to one of claims 2 to 5, characterized in that the second interface (S2) is arranged on a side of the base steering module (3) opposite the first interface (S1).

7. Drive and steering device (1) according to one of claims 2 to 6, characterized in that the first supplementary module (5) has at least one third interface (S3) which is designed to receive a second supplementary module (6).

8. Drive and steering device (1) according to claim 7, characterized in that the second supplementary module (6) is a computing module when the first supplementary module (5) is a sensor module, or vice versa.

9. Vehicle (2) comprising at least one drive and steering device (1) according to one of the preceding claims, wherein the drive and steering device (1) is detachably arranged on a chassis (9) of the vehicle (2).

10. Vehicle (2) according to claim 9, characterized in that the vehicle (2) is an autonomously driving, mobile robot or an autonomous, driverless transport vehicle.

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