DE102015003107B4 - Vehicle and method for manufacturing different variants of a vehicle - Google Patents

Abstract

Vehicle, i.e. driverless transport system and/or automatically controlled vehicle, wherein wheel units are arranged on a frame (1), i.e. on a platform, of the vehicle, each wheel unit being either non-rotatably connected to the frame (1) or to the frame (1) is rotatably mounted, the associated axis of rotation being aligned in the direction normal to the traveling surface (2), each wheel unit having at least one drivable wheel (9), the drivable wheel (9) of each wheel unit being non-rotatably connected to a shaft (11), to which a gear (5) is connected in a rotationally fixed manner, which meshes with a further gear (5), which is connected in a rotationally fixed manner to a further shaft (11), the further shaft (11) being driven directly or via an angular gear stage by an electric motor (3) can be driven, the angle gear stage having a pinion (4) which is non-rotatably connected to the further shaft (11) and which is in engagement with a pinion which is connected to the rotor shaft d the electric motor (3) has a non-rotatably connected gear wheel (5), the electric motor (3) being attached to the frame (1), a toothed part being non-rotatably connected to the wheel unit for the rotatable mounting of the respective wheel unit on the frame (1), characterized in that that the toothed part meshes with a toothed belt (6) which can be driven by a further toothed part which is non-rotatably connected to the rotor shaft of a further electric motor (7), the rotor shaft and/or the axis of the toothed part being in the normal direction to the travel surface (2) is aligned, the further electric motor (7) being fastened to the frame (1), the wheel unit having a further wheel (9) which is freely rotatably mounted on the shaft (11) which is non-rotatably connected to the first wheel (9) is connected, wherein a bearing is arranged on the shaft (11), on which the further wheel (9) is mounted, wherein two or four of the wheel units arranged on the frame (1) can be steered by one each respective further electric motor (7) and/or two or four of the wheel units arranged on the frame (1) can be driven by a respective electric motor (3), the non-steerable wheel units being non-rotatably connected to the frame (1).

Description

The invention relates to a vehicle according to the preamble features of claim 1.

It is generally known that a vehicle has wheels, with a wheel unit being rotatably mounted on the vehicle for steering purposes.

From the generic writing DE 10 2009 040 043 A1 a drive and steering device for an industrial truck is known.

From the DE 20 2005 018 341 U1 a device for steering a semi-trailer or a trailer is known.

The invention is therefore based on the object of making a vehicle economical to produce as required.

The object is achieved by a vehicle having the features of claim 1.

Important features of the invention in the vehicle, in particular driverless transport system and/or automatically controlled vehicle, are that wheel units are arranged on a frame, in particular on a platform, of the vehicle,
wherein each wheel unit is either non-rotatably connected to the frame or is rotatably mounted on the frame, in particular wherein the associated axis of rotation is aligned vertically or in the normal direction to the travel surface,
each wheel unit having at least one drivable wheel.

The advantage here is that the wheel units can be manufactured as modules and can be connected to the frame. Thus, the modules can be connected to the frame in a simple manner. However, each module can be manufactured as a steerable or drivable module by connecting it to an electric motor or to other electric motors. A vehicle that has the specified number of steerable and/or drivable wheel units can thus be produced from the modular system in a simple manner.

According to the invention, the drivable wheel of each wheel unit is non-rotatably connected to a shaft to which a gear wheel is non-rotatably connected, which meshes with another gear wheel which is non-rotatably connected to another shaft. The advantage here is that the wheel can be driven via a gear stage.

According to the invention, the further shaft can be driven directly or via an angular gear stage by an electric motor,
in particular wherein the bevel gear stage has a pinion which is non-rotatably connected to the further shaft and which meshes with a gear wheel which is non-rotatably connected to the rotor shaft of the electric motor,
in particular wherein the electric motor is fixed to the frame. The advantage here is that the electric motor can be attached to the frame and the wheel can be driven via a gear stage. The electric motor can be fixed to the frame and the wheel unit can nevertheless be mounted so that it can rotate relative to the frame. In this way, in the case of a steerable design, the wheel unit can be arranged rotatably on the frame, with the axis of rotation being aligned in the normal direction of the travel surface.

According to the invention, a toothed part is non-rotatably connected to the wheel unit for the rotatable mounting of the respective wheel unit on the frame.

According to the invention, the toothed part meshes with a toothed belt, which can be driven by a further toothed part which is connected in a torque-proof manner to the rotor shaft of a further electric motor,
in particular where the rotor shaft and/or the axis of the toothed part is aligned vertically or in the normal direction to the travel surface,
in particular wherein the additional electric motor is attached to the frame. The advantage here is that the steerability of the wheel unit can be produced in a simple manner.

According to the invention, the wheel unit has a further wheel which is freely rotatably mounted on the shaft which is non-rotatably connected to the first wheel.
in particular, a bearing being arranged on the shaft, on which the further wheel is mounted. The advantage here is that there is no slip even when cornering.

According to the invention, two or four of the wheel units arranged on the frame can be steered by a respective further electric motor and/or two or four of the wheel units arranged on the frame can be driven by a respective electric motor. The advantage here is that, depending on the number of wheel units that can be driven, correspondingly heavy loads can be transported by means of the vehicle. Depending on the number of steerable wheel units, tighter or wider curve radii can be negotiated. If, for example, only a single pair of steerable wheel units is provided, with the pair being spaced apart from one another transversely to the direction of travel, only a larger curve radius can be negotiated. However, if steerable wheel units are spaced apart from one another in the direction of travel, a tighter curve radius can be negotiated.

According to the invention, the non-steerable wheel units are non-rotatably connected to the frame. The advantage here is that the wheel units cannot turn by themselves, which means that blocking can be avoided.

• - ein Gestell
• - Rädereinheiten
• - Elektromotoren samt Winkelgetriebestufen zur Herstellung einer jeweiligen antreibbaren Rädereinheit und
• - weitere Elektromotoren samt Riementriebe zur Herstellung einer jeweiligen lenkbaren Rädereinheit,

aufweist,
wobei zur Herstellung jeweiliger Varianten lenkbare und/oder antreibbare und/oder weder lenkbare noch antreibbare Rädereinheiten am Gestell befestigt werden,
insbesondere wobei die nicht lenkbaren Rädereinheiten drehfest mit dem Gestell verbunden sind.In a method for producing different variants of a vehicle, the vehicle is made from a kit of components that

• - a rack
• - wheel units
• - Electric motors including bevel gear stages for the production of a respective drivable wheel unit and
• - further electric motors including belt drives for the production of a respective steerable wheel unit,

having,
wherein steerable and/or drivable and/or neither steerable nor drivable wheel units are attached to the frame for the production of respective variants,
in particular wherein the non-steerable wheel units are non-rotatably connected to the frame.

The advantage here is that different variants can be produced and thus heavy or light loads can be transported with the vehicle depending on requirements. In addition, depending on the number of steering units, narrow or wide curve radii can be negotiated.

In particular, to produce a first variant, two steerable and drivable wheel units and further wheel units are attached, in particular with the further wheel units being non-rotatably connected to the frame,
to produce a second variant, four steerable wheel units are attached, two of which can be driven,
to produce a third variant, four drivable wheel units are attached, two of which can be steered,
to produce a fourth variant, four steerable and drivable wheel units are attached. The advantage here is that the first variant can transport lighter loads than the second. However, a tighter curve radius can be negotiated with the second variant and heavier loads can be transported with the third variant than with the first or second variant. With the fourth variant, heavy loads can also be transported and the tighter curve radius can also be negotiated.

The invention is not limited to the combination of features in the claim. For the person skilled in the art, there are further meaningful combinations of individual claim features and/or features of the description and/or the figures, in particular from the task and/or the task arising from comparison with the prior art.

• In der 1 ist ein erfindungsgemäßes Fahrzeug einer Baureihe von Fahrzeugen gezeigt, wobei das Fahrzeug vier Rädereinheiten aufweist, von denen zwei angetrieben und lenkbar sind.
• In der 2 ist ein erfindungsgemäßes Fahrzeug der Baureihe von Fahrzeugen gezeigt, wobei das Fahrzeug vier Rädereinheiten aufweist, von denen zwei angetrieben und vier lenkbar sind.
• In der 3 ist ein erfindungsgemäßes Fahrzeug der Baureihe von Fahrzeugen gezeigt, wobei das Fahrzeug vier Rädereinheiten aufweist, von denen vier angetrieben und zwei lenkbar sind.
• In der 4 ist ein erfindungsgemäßes Fahrzeug der Baureihe von Fahrzeugen gezeigt, wobei das Fahrzeug vier Rädereinheiten aufweist, von denen vier angetrieben und lenkbar sind.
• In der 5 ist eine angetriebene und lenkbare Rädereinheit gezeigt.
• In der 6 ist eine angetriebene Rädereinheit gezeigt.
• In der 7 ist eine lenkbare Rädereinheit gezeigt.

The invention will now be explained in more detail with reference to figures:

• In the 1 a vehicle of a series of vehicles according to the invention is shown, the vehicle having four wheel units, two of which are driven and steerable.
• In the 2 a vehicle of the series of vehicles according to the invention is shown, the vehicle having four wheel units, two of which are driven and four of which are steerable.
• In the 3 a vehicle of the series of vehicles according to the invention is shown, the vehicle having four wheel units, four of which are driven and two of which are steerable.
• In the 4 a vehicle of the series of vehicles according to the invention is shown, the vehicle having four wheel units, four of which are driven and steerable.
• In the 5 a powered and steerable wheel unit is shown.
• In the 6 a driven wheel unit is shown.
• In the 7 a steerable wheel unit is shown.

As shown in the figures, a series of vehicles is provided according to the invention, the vehicles having a frame 1 on which wheel units can be mounted, with which the vehicle can be moved on a floor 2 .

The wheel units are initially constructed in the same way, although they can be designed to be either steerable and/or drivable. An electric motor 3, which is mounted on the frame 1, can be provided in each case for driving. A further electric motor 7 can be provided for steering, which is also mounted on the frame 1 .

The wheel unit has two wheels, in particular rollers. Each of the wheels is arranged on a shaft to which a toothed part, in particular a bevel pinion, is connected in a rotationally fixed manner, which is connected to another toothed part, esp special bevel gear, is engaged, which is non-rotatably connected to the shaft 11. The shaft 11 is arranged perpendicularly to the axis of the shaft of the wheel. The wheels can thus be driven via a differential whose input shaft is formed by the shaft 11 .

The shafts of the wheels and the shaft 11 are rotatably mounted in the holding part 8, in particular the housing part, of the wheel unit.

As in 6 shown, the shaft 11 is non-rotatably connected to a gear wheel 5 which meshes with a pinion 4 which is non-rotatably connected to the rotor shaft of the electric motor 3 or is provided on the rotor shaft of the electric motor 3 . The pinion 4 is preferably a bevel pinion and the gear wheel 5 is a bevel gear, so that the rotor shaft is aligned perpendicular to the shaft 11 .

The case of the differential is connected to a disc 10 which is rotatably mounted on the support part 8 of the gear unit. To adjust the steering angle, a toothed part can be connected in a rotationally fixed manner to the holding part 8, so that, as in FIG 7 shown, can be driven via a toothed belt 6, which is driven by a pinion arranged in a rotationally fixed manner on the rotor shaft of an electric motor 7. The steering angle can thus be adjusted by the electric motor 7 by rotating the disk 10 via the belt drive. The motor 7 is advantageously equipped with an angle sensor for detecting the angular position of the rotor shaft of the motor 7 . Thus, the angular position can be regulated to the predetermined steering angle by a device feeding the motor, such as a converter or inverter. For this purpose, the device has a control unit that adjusts the detected actual value of the angular position to the specified steering angle by specifying a corresponding voltage profile for the motor 7 . Alternatively, a stepping motor can also be used.

As in 5 shown, the wheel unit is also driven according to FIG 6 and steerable according to 7 executable. Thus, the wheels 9 of the wheel unit can be driven by the electric motor 3 and the steering angle can be adjusted via the motor 7.

As in the 1 until 4 shown, wheel units can be arranged on a frame of the vehicle. In this case, for example, four wheel units can be provided, all of which can be designed to be the same or different in pairs.

The kit for producing a variant of the series thus has a frame and wheel units. In addition, the kit includes belt drive with electric motors 7 and gear stages, having gears 5 and pinions 4, together with electric motors 3.

In a first variant according to 1 of the series, two mere wheel units and two steerable and drivable wheel units are provided on the frame, ie together with a pair of motors 3 and a pair of motors 7.

In this way, a cost-effective vehicle can be produced by which minimum first radii can be driven through and maximum first loads can be transported.

In a second variant according to 2 In the series, four steerable wheel units are arranged on the frame, two of which can be driven.

In this way, a cost-effective vehicle can be produced by which, in comparison to the first radii, narrower radii can be driven through and a maximum of first loads can be transported.

In a third variant according to 3 In the series, four driven wheel units are arranged on the frame, two of which are steerable.

In this way, a cost-effective vehicle can be produced by which minimal first radii can be driven through and, in comparison to the first loads, heavier loads can be transported.

In a fourth variant according to 4 In the series, four driven wheel units are arranged on the frame, four of which can be steered.

In this way, a cost-effective vehicle can be produced by which minimal first radii can be driven through and, in comparison to the first loads, heavier loads can be transported.

In another exemplary embodiment according to the invention, a first wheel 9 of the wheel unit is non-rotatably connected to a shaft which is rotatably mounted on the wheel unit, in particular on the holding part 8, in particular the housing part of the wheel unit. A gear wheel is non-rotatably connected to the shaft and is in engagement with the gear wheel which is non-rotatably connected to the shaft 11 . Thus the wheel together with the shaft can be driven by the shaft 11 , the shaft 11 being driven by the motor 3 . Another wheel of the wheel unit is freely rotatably mounted on the shaft by means of a bearing. Thus, one of the wheels of the wheel unit is driven, and another wheel, which is arranged coaxially to this first wheel, is freely rotatably mounted. This prevents the wheels from slipping, i.e. slipping, when cornering.

The drivability of the aforementioned wheel units can be achieved by appropriately energizing the respective motor. Likewise, the steerability of the aforementioned wheel units can be achieved by appropriately energizing the respective motor. The respective wheel unit can only be driven or steered if the respective motor is installed.

Reference List

1

Frame of the vehicle, in particular platform of the vehicle

2

floor, traversing surface

3

electric motor

4

pinion

5

gear

6

timing belt

7

electric motor

8th

Retaining part, in particular housing part of the wheel unit

9

wheel

10

disc part

11

Wave

Claims (1)

Vehicle, i.e. driverless transport system and/or automatically controlled vehicle, wheel units being arranged on a frame (1), i.e. on a platform, of the vehicle, each wheel unit being either non-rotatably connected to the frame (1) or on the frame (1) is rotatably mounted, the associated axis of rotation being aligned in the direction normal to the traveling surface (2), each wheel unit having at least one drivable wheel (9), the drivable wheel (9) of each wheel unit being non-rotatably connected to a shaft (11), to which a gear wheel (5) is connected in a rotationally fixed manner, which meshes with a further gear wheel (5), which is connected in a rotationally fixed manner with a further shaft (11), the further shaft (11) being driven directly or via an angular gear stage by an electric motor (3) can be driven, wherein the angular gear stage has a pinion (4) which is non-rotatably connected to the further shaft (11) and which is in engagement with one of the rotors elle of the electric motor (3) non-rotatably connected gear (5), wherein the electric motor (3) is attached to the frame (1), wherein for the rotatable mounting of the respective wheel unit on the frame (1), a toothed part is non-rotatably connected to the wheel unit, characterized that the toothed part meshes with a toothed belt (6) which can be driven by a further toothed part which is non-rotatably connected to the rotor shaft of a further electric motor (7), the rotor shaft and/or the axis of the toothed part being in the normal direction to the travel surface (2), the further electric motor (7) being fastened to the frame (1), the wheel unit having a further wheel (9) which is freely rotatably mounted on the shaft (11) which is non-rotatably connected to the first wheel (9), a bearing being arranged on the shaft (11), on which the further wheel (9) is mounted, two or four of the wheel units arranged on the frame (1) being steerable can be driven by a respective further electric motor (7) and/or two or four of the wheel units arranged on the frame (1) can be driven by a respective electric motor (3), the non-steerable wheel units being non-rotatably connected to the frame (1).

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