DE202008004190U1 - Roll or joint arrangement - Google Patents

Abstract

roll arrangement (R) for a drivable or non-drivable mobile Object (O), such as vehicle, plane, device, device, Cart, platform, stage, means of transport for Sports and leisure or the like., With at least one z. For example rolling on a substrate (U), with a horizontal or substantially horizontal axle body (1) equipped wheel center (2) and with a to the object (O) attachable horizontal or lying substantially horizontally, a guide rail forming annular body (3), in which the two each other opposite ends of the axle body (1) in such a way are recorded, that the axle body (1) with respect a vertical or substantially vertical geometric axis (A) can be swiveled up to 360 °.

Description

The The invention relates to a rolling arrangement for a drivable or non-drivable mobile object. As objects come, for example. all types of vehicles, such as passenger cars, trucks and their trailers, towing vehicles, tractors, excavators, Strallenreinigungsfahrzeuge, forklifts, robotic vehicles and Lawn mowers, vacuum cleaners and the like, also in the form of toys, in Consideration. The roll arrangement also comes, for example, for aircraft, all kinds of devices and devices in industrial and medical field, aerospace and also for Trolley, rack cart, platforms, stages or the like in Shops, offices, event rooms, Warehouses and industry into consideration, but also, for example. for skateboards, scooters and the like means of transportation for Sport and freetime. Another field of application of the invention is in the field of machinery / tools and rotating parts, eg. B. seen as a circular saw blade or whetstone. Likewise the invention as a hinge assembly the transmission of rotation / force in joints between moving parts of objects, like robot arms or other cantilevers, eg. In cranes or excavator buckets.

Numerous attempts are known in the prior art to provide rolling or wheel arrangements with which an object can easily be moved in a selectable direction using normal rollers or wheels without a special steering device (cf. JP-A-2006001518 . JP-A-62128832 . WO-A-8604304 and CA-A-2,331,100 ). In such rolling arrangements, the wheels are not driven in the majority and usually not centrally stored and therefore limited in their function and applicability.

From the DE-PS 478 907 a steering device for motor vehicles is known, the power drive and at least one driving wheel bearing vertical steering column relative to the carriage frame by means of two equiaxed bearing rings, one of which is supported by the carriage frame and the other of the steering column is rotatable about a vertical axis, wherein within the both bearing rings a loosely rotatable, the bearing rings equiaxed leading ring is arranged and with the steering column on opposite sides firmly connected pairs of angle iron holding together the bearing rings and the loose rotatable ring below and above. This is a complex four-point bearing in which the dimensions of the rings in relation to the dimension of the drive wheel is unfavorable.

task The present invention is a rolling arrangement of the above to suggest the type mentioned, with which in simple, stable and compact design a quick change of direction without loss of radius up to 360 ° is possible.

These Object is according to the invention with a rolling arrangement with at least one z. B. for unrolling on a surface certain, with a z. B. horizontal or substantially horizontal Axle body equipped, z. B. disk-shaped Wheel body and with a fastened to the object horizontally or substantially horizontal (i.e., to the ground parallel), a guide rail forming annular body solved, in which the two opposite ends the axle body are received so that the axle body with respect to a z. B. vertical or substantially vertical (ie perpendicular to itself and thus to the ground) geometric Axis can be swiveled up to 360 °. This is it This is a simple two-point mounting of the axle body directly in the circular ring body. This allows the dimension of the annular body in comparison to the dimension of the Radkörpers essential be lower than in the prior art.

For the case of the insertion of such a rolling arrangement as a hinge assembly for the transmission of rotation / force in joints between The axle body needs moving parts of objects Of course not "horizontal" in the sense of parallelism to be underground, with permanent pivoting around one geometric axis perpendicular to it.

to Attachment to the object, the rolling assembly can be a solid frame have, which carries the circular ring body. Within the annular body is then the wheel body by means of the axle body at its two ends in the of The guide rail formed the annular body taken to a perpendicular to its own axis of rotation geometric Axis can be swiveled up to 360 ° so that the wheel body can take any direction. Because the axle body at two symmetrically opposite points is stored, can arise when cornering Transverse forces are particularly well received. Due to the Pivoting up to 360 ° can be a simplified drive are used, which the wheel body only forward needs to drive. The rolling arrangement can of course with steering, brakes, vibration and shock absorbers, Engine, drive mechanics and synchronization when multiple rolling arrangements attached to one and the same object.

In a simple embodiment of the inventions tion, the annular body, preferably on its inner side, a rolling bearing for the two ends of the axle body. Thus, for example, the rolling bearing for guiding the ends of the axle body may be formed as part of a ball bearing ring, while the ends of the axle body form the other part of the ball bearing ring. But it can also be provided at the ends of the axle body wheels z. B. in the interior of a trained as a U-shaped circular ring body.

Either for drivable as well as non-drivable mobile objects can either the wheel body on the axle body, rotatable about the geometric axis or the axle body with the rotationally fixed arranged wheel body to its geometric Axis be rotatably received in the annular body. The drive can then either on the wheel body or the Acting axle body.

When Drive for the wheel center or the unit off Wheel body and axle body can be different Drive types serve, such as direct drive, gear drive, bevel gear, Chain drive, belt drive and combinations thereof.

If maintain the direction of travel of the object for a certain period of time is to be provided, a fixing device may be provided, which prevents the axle body opposite pivoted the annular body. The same applies to a steering.

The Rolling arrangement can in particular be equipped with a drive arrangement which is a gearbox with two opposite ones each of a motor about an axis perpendicular to the axle body drivable ring gears and two in the area of the ends of the axle body on which the wheel body is fixed is, and between the wheels running gears of which one rotatably with the axle body connected and from which the other freewheeling on the axle body is arranged such that in counter-synchronous Drive the crown wheels of the axle body with the Radkörper is driven in rotation, and in opposite directions non-synchronous drive the ring gears pivoting of the axle body with the wheel center around the vertical Axis and thus a steering of the wheel body is done. The Getrie be able to do so as a bevel gear with two opposite each of a motor about a perpendicular to the axle body Axis drivable bevel gear wheels and two in the field the ends of the axle body on which the wheel body is fixed, and running between the gears conical gear wheels, of which the one with the axle body rotatably connected and from which the other freewheeling on the Achskörper is arranged to be formed. The structure So can analogous to a bevel gear two opposite each other Cogwheels and two opposite bevel gears exhibit. The crown wheels are with their teeth each other facing and combing with the two running in between vertical bevel gears. The bevel gears Rubber wheels can also be used in simple applications which are driven by the upper and lower ring gear. If the two motors have the same speed, then the gears remain in their position and the wheel center when he is perpendicular to a subsoil moves forward on a straight line or backwards. As soon as one of the engines less Turns quickly, a steering begins in any direction.

Thus, the invented roll and joint assembly is omnidirectional and very versatile. The prior art ( DE 478 907 C and DE 199 49 351 A1 ) is always based on a drive motor and a separate steering motor, so of engines with separate functions, of which one only drives and the other is responsible only for the steering. From an economic point of view, the use of the steering motor is too low and too costly. His power is not constantly optimally used in a vehicle or a power transmission in a joint. The present invention provides, according to the last described embodiment, to solve the disadvantages mentioned in an advantageous manner that both motors simultaneously both drive and steer. From an economic point of view, this is an optimal and double power transmission given and both motors are driving at the same time and are both able to steer.

at a particular embodiment of the invention of these drive variants the ring gears are designed as circular ring body, in the center of which the wheel center can pivot in all directions.

The rotatable gear wheel relative to the axle body Can be via a rolling bearing or via a planetary gear upon reversal of the sense of rotation frictionally with the axle body be connected.

The Gear wheels are in a further particular embodiment the invention with corresponding counter-toothing of the crown wheels straight-toothed, helical or arc-toothed.

The Cog wheels and the gears can also as mutually engaging friction wheels, for example be formed of rubber. Furthermore, it is possible to To design ring gears as an electric motor, which the Gear wheels drives.

The Both motors can be used as hollow shaft motors centric over the wheel center, back to back with free space for the unthreading of motor and encoder cables be arranged to form a compact enclosed unit.

additionally can also be arranged brakes, which are the opposite Rotary motion of the engines can block quickly.

When Variant may be the side of the crown wheels on each anywhere the two motors are arranged horizontally or vertically be there about toothed or rubber wheels drive upper and lower ring gear.

For a wheel body while two motors are necessary, at A four-wheeled object has four horizontally arranged ones Engines with continuous drive shafts made. The number of engines can also be reduced to two when using appropriate bevel gear become.

are in an object, such as. A motor vehicle two or more rolling arrangements attached the type of the invention, so can the wheel bodies either independently or synchronous, rectified and / or counter-directed, around its vertical or substantially vertical geometric axis be swiveling. When a motor vehicle, for example. With four invention Rolling arrangements is equipped, can be used for steering the front and rear wheels rectified or the front and rear wheels can be pivoted in opposite directions. Of course It is also possible, for example, only the usual front wheels a vehicle by rolling arrangements according to the invention to replace while the rear wheels in conventional Way are formed. For non-powered trolleys can the wheel bodies can be freely swiveled independently of each other be. An object with three or four rolling arrangements of the invention Type could also only be driven by a centrally located Wheel body to be moved in all directions.

Further Aims, features and applications of the invention result from the following description of exemplary embodiments based on the drawing. Here are all figuratively represented and / or described features alone or in any combination the subject of the invention, also independent of their Summary in individual claims or their dependency.

It demonstrate:

1 An embodiment of a rolling arrangement according to the invention, schematically in an oblique view,

2 the rolling arrangement of 1 from the front, partially cut,

3a to 3c various drive mechanisms and annular body configurations of rolling arrangements according to the invention,

4a and 4b different alignment possibilities for a four arranged in Carrée rolling arrangements,

5a to 5e various positioning of rolling arrangements of the type according to the invention on an object,

6 in plan view, an embodiment of a rolling assembly with steering drive,

7a and 7b schematically in partial section a rolling arrangement in the region of the steering drive,

8a to 8d various principles of steering "from the outside" and "from the inside", in 8a ' partially cut,

9 and 10 in view and in plan view different versions of propulsion and steering principles in context,

11 a detailed representation of a steering drive "from the outside",

12 a detailed representation of a steering drive "from the inside",

13 an embodiment of the invention in which the steering and drive motors are arranged on a rotating plate,

14 the same principle as in 13 but with the motors arranged laterally of the drive axle,

15 an embodiment of the invention in which the steering motor is arranged separately outboard,

16 another type of drive mechanism of a rolling arrangement according to the invention,

17 a still further particularly advantageous type of drive mechanism of a rolling arrangement according to the invention partially in vertical section,

17a a plan view of the lower ring gear of the embodiment of 17 with gear wheels running on it,

18 a variant of the drive mechanism according to the embodiment of 17 , such as

19 an object schematically in plan view a rolling arrangement with four wheel bodies, which are operated with respect to drive and steering by 2 × 2 motors.

The rolling arrangement R after 1 has an axle body 1 on, which with its two outer ends in a serving as a guide rail circular ring body 3 about an axis U perpendicular to the axis A is pivotally mounted. On the axle body 1 is a wheelbase 2 rotatably recorded. The axle body 1 is by means of direct drives 4 , which symmetrically on both sides of the wheel body 2 on the axle body 1 sit drivable about its own geometric axis.

2 shows a similar rolling arrangement R, wherein it is illustrated that the axle body 1 at its two ends via ball bearing rings in the circular ring body 3 is received pivotally. The outer part of the ball bearing ring is from the circular ring body 3 formed, which thus represents a guide rail, the inner part of the ball bearing ring of the ends of the axle body itself. The circular ring body 3 will, as with 1 , from a frame 5 carried, which is to be attached to the mobile object.

3a illustrates a drive concept for the wheel body 2 from a motor shaft 6 out over a gear transmission 4 , In this embodiment, the axle body 1 at its ends with ball bearing rollers 7 in a trained as a U-shaped circular ring body 3 about the U vertical axis A pivotally received.

In the drive concept according to 3b finds a pronounced bevel gear drive 4 his use.

3c schematically illustrates a belt drive 4 for the wheel center 2 ,

Possibly. each means are provided to the pivot angle of the axle body 1 in the annular body 3 to change or to fix.

The 4a and 4b illustrate schematically how, for example, four arranged in the Carrée Rollanordnungen R of the inventive type can be controlled synchronously either rectified or counter-directed in their pivot angle orientation.

The 5a to 5e illustrate an object O with a different number of rolling assemblies R with associated steering transmission. According to 5c has only the rolling assembly R in the middle of a steered and driven wheel body 2 ,

6 illustrates an example of a steering of a rolling assembly R of 1 , where for stability reasons the frame 5 was supplemented so that there are four opposing leadership points. The steering takes place from outside the annular body 3 over pinion 10 , which at an outer toothing of the annular body 3 attack. The axle body 1 and the annular body 3 are firmly connected.

Advantageously, at 6 the one drive 4 as drive motor AM for rolling the wheel body 2 and the second drive 4 as a steering motor LM for the steering, ie the rotation of a vertical steering wheel in the circular ring body 3 be used. In this case, the steering motor LM would be in its horizontal position on the annular body 3 , z. B. by two horizontal connecting rods, which sliding in the circular ring body 3 are stored to accomplish, whereby the movement is not hindered by 360 °.

7a shows in partial section the rolling arrangement R of 6 in the area of the steering drive LA. 7b shows a similar section in the region of the guide points of the annular body 3 on the frame 5 by means of roller bearings.

In the 8a to 8d Different steering principles are illustrated "from the outside" and "from the inside". 8a . 8a ' illustrates a steering via gears 10 , The circular ring body 3 (as external gear) is fixed to the axle body 1 connected via ball bearings and clamped against vertically acting forces at four points or circumferentially with rolling bearings at the top and bottom, as the sectional view in 8a illustrated. at 8b is the circular ring body 3 designed as an internal gear. at 8c is the one ring of the bearing via a vertical gear or rubber wheel steering wheel 11 driven. at 8d is the principle illustrated, according to which the two vertical steering wheels 11 , which are fixed to the axle body 1 are connected and always turn around, keep the balance, as they both want to effect an opposite rotation in the horizontal circle plane.

From the 9 and 10 is a drive and steering principle in the context, including the arrangement of shock absorbers 8th is illustrated.

11 shows in detail a steering drive LA from the outside and a section through the rolling bearing of the annular body 3 ,

12 illustrates a steering drive LA from the inside, wherein a nesting of steering shaft and drive shaft can be provided.

In the execution of 13 takes into account that the steering and drive motors centrally and axially on a 360 ° rotating plate 9 - Following the change in direction of the wheel body - are arranged. The drive shaft is running 12 of the steering motor LM through the thicker motor shaft 6 of the drive motor AM to maintain the axiality. Such an arrangement is for example for a central single-wheel drive on the object O, as in 5c shown, conceivable.

According to 14 On the other hand - with the same principle - the motors AM and LM are arranged laterally of the axle so that at least two wheels can be driven by one motor each.

In the arrangement of 15 the steering motor LM is arranged separately on the outside.

In the rolling arrangement R to 16 the fact is exploited that the vertical steering wheels 11 in a U-profile with the rotation of the axle body 1 Ideally, the 360 ° rotation can accomplish, whereby these do not run along with an automatic transmission / an automatic clutch at rest. Always only one of the steering wheels 11 can do the 360 ° rotation, clockwise or counterclockwise.

At the in 17 Rolling arrangement shown is a drive assembly AO with a trained example as a bevel gear transmission G with two opposite each of a motor 13 . 14 about an axis perpendicular to the axle body drivable conical wheels 15 . 16 and two in the area of the ends of the axle body 1 on which the wheel body 2 is fixed, and between the ring gears 15 . 16 running conical gears 17 . 18 represented, of which the one ( 18 ) with the axle body 1 non-rotatable and from which the other ( 17 ) running free on the axle body 1 is arranged such that in counter-synchronous drive the ring gears 15 . 16 the axle body 1 with the wheel center 2 is driven in rotation, and in opposite synchronous drive of the crown wheels 15 . 16 a pivoting of the axle body 1 with the wheel center 2 about the vertical axis A and thus a steering of the wheel body 2 he follows. The crown wheels 15 . 16 are designed as circular ring body, so that in the center of the wheel body 2 can pivot in all directions. The lower ring gear 16 forms a circular ring body 3 of the kind described above. The gear wheel 17 can via a rolling bearing freewheeling or via a planetary gear (not shown) when reversing the direction of rotation frictionally with the axle body 2 be connected. The gears 17 . 18 are in this case with corresponding counter-toothing of the crown wheels 15 . 16 straight teeth, but it is also a helical or curved toothing possible. Variants may also consist in that the crown wheels 15 . 16 and the gears 17 . 18 are designed as mutually engaging friction wheels, for example made of rubber. Furthermore, it is possible the crown wheels 15 . 16 as an electric motor, which the gears 17 . 18 drives. The two engines 13 . 14 are as shown in 17 as hollow shaft motors centric over the wheel body 2 arranged, back to back with a certain distance from each other.

According to 18 are the crown wheels 15 . 16 not formed as bevel gears, as in the embodiment according to the 17 . 17a but as angle profiles with gear wheels adapted between them 17 . 18 , which are formed for example as friction wheels. In the execution according to 18 are the two engines 13 . 14 horizontally, ie in one or more planes in or parallel to the plane of the axle body 1 arranged. Also here forms, as in the execution according to the 17 . 17a the lower ring gear 16 a circular ring body 3 in the sense of the embodiments described above.

In 19 It is shown that for an object O with four wheel bodies 2 four horizontally arranged motors 13 . 14 with continuous axle bodies 1 suffice.

A

axis

AT THE

drive motor

AO

drive arrangement

G

transmission

LA

steering drive

LM

steering engine

O

object

R

roll arrangement

RA

roll drive

U

underground

1

axle body

2

Wheel center

3

Annular body

4

drive

5

frame

6

motor shaft

7

Ball bearing rollers

8th

shock absorber

9

plate

10

Pinion, gears

11

steering wheels

12

drive shaft

13

engine

14

engine

15

crown

16

crown

17

Pinion

18

Pinion

19

tension springs

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• - JP 2006001518 A [0002]
• - JP 62128832 A [0002]
• WO 8604304 A [0002]
• CA 2331100 A [0002]
• - DE 478907 [0003]
• - DE 478907 C [0013]
• - DE 19949351 A1 [0013]

Claims (18)

Roll arrangement (R) for a drivable or non-drivable mobile object (O), such as vehicle, aircraft, device, apparatus, car, platform, stage, means of transportation for sports and leisure or the like., With at least one z. B. for unrolling on a substrate (U) certain, with a horizontal or substantially horizontal axis body ( 1 ) equipped wheel body ( 2 ) and with a to the object (O) fastened horizontally or substantially horizontally lying, a guide rail forming annular body ( 3 ), in which the two opposite ends of the axle body ( 1 ) are received such that the axle body ( 1 ) with respect to a vertical or substantially vertical geometric axis (A) by up to 360 ° is pivotable. Rolling arrangement (R) according to claim 1, characterized in that the annular body ( 3 ) a rolling bearing for the two ends of the axle body ( 1 ). Rolling arrangement (R) according to claim 1 or 2, characterized in that the wheel body ( 2 ) on the axle body ( 1 ), possibly driven, is received rotatably about the geometric axis. Roll arrangement (R) according to claim 1 or 2, characterized in that the axle body ( 1 ) with the non-rotatably mounted wheel body ( 2 ), possibly driven, about its geometrical axis rotatable in the annular body ( 3 ) is recorded. Roll arrangement (R) according to one of the preceding claims, with a direct drive, gear drive, bevel gear drive, chain drive, belt drive ( 4 ) and / or the like. Drive for the axle body ( 1 ) and / or the wheel body ( 2 ). Rolling arrangement (R) according to one of the preceding claims, characterized by a drive arrangement (AO) with a z. B. gear formed as a bevel gear (G) with two opposite each of a motor ( 13 . 14 ) one to the axle body ( 1 ) vertical axis (A) drivable z. B. tapered ring gears ( 15 . 16 ) and two in the region of the ends of the axle body ( 1 ), on which the wheel body ( 2 ) and between the ring gears ( 15 . 16 ) ongoing z. B. tapered gears ( 17 . 18 ), of which the one ( 18 ) with the axle body ( 1 ) rotatably connected and of which the other ( 17 ) free-running on the axle body ( 1 ) is arranged such that in counter-synchronous drive of the crown wheels ( 15 . 16 ) the axle body ( 1 ) with the wheel body ( 2 ) is driven in rotation and in opposite non-synchronous drive of the crown wheels ( 15 . 16 ) a pivoting of the axle body ( 1 ) with the wheel body ( 2 ) about the vertical axis (A) and thus a steering of the wheel body ( 2 ) he follows. Rolling arrangement (R) according to claim 6, characterized in that the ring gears ( 15 . 16 ) are formed as circular ring body, in the center of which the wheel body ( 2 ) can pivot in all directions. Rolling arrangement (R) according to claim 6 or 7, characterized in that the other gear ( 17 ) via a roller bearing or via a planetary gear when reversing the direction of rotation frictionally with the axle body ( 2 ) connected is. Rolling arrangement (R) according to one of claims 6 to 8, characterized in that the gear wheels ( 17 . 18 ) with corresponding counter-toothing of the crown wheels ( 15 . 16 ) are straight-toothed, helical or arc-toothed. Rolling arrangement (R) according to one of claims 6 to 9, characterized in that the ring gears ( 15 . 16 ) and the gears ( 17 . 18 ) as mutually engaging friction wheels, z. B. are formed of rubber. Rolling arrangement (R) according to one of claims 6 to 10, characterized in that the ring gears ( 15 . 16 ) are formed as an electric motor, which the gears ( 17 . 18 ) drives. Rolling arrangement (R) according to one of claims 6 to 11, characterized in that the two motors ( 13 . 14 ) as hollow shaft motors centric over the wheel body ( 2 ) are arranged. Rolling arrangement (R) according to one of the claims 6 to 12, characterized in that brakes for quick blocking the motors are provided. Rolling arrangement (R) according to one of claims 6 to 11 or 13, characterized in that the two motors ( 13 . 14 ) horizontally or vertically, ie in one or more planes in or parallel to the plane of the axle body ( 1 ), or perpendicular thereto, are arranged. Object (O) with at least one rolling arrangement (R) according to one of claims 1 to 14. Object (O) according to claim 15, having at least two, preferably four, rolling arrangements (R) according to one of claims 1 to 13, wherein the wheel bodies ( 2 ) independently of one another or synchronously with each other, rectified and / or counter-aligned, about their vertical or substantially vertical geometric axis (A) are pivotable. Object (O) according to claim 15 or 16, characterized in that in the presence of four rolling arrangements (R) two motors each ( 13 ) for driving the respective upper ring gear ( 15 ) and two motors each ( 14 ) for driving the lower ring gear ( 16 ) serve. Rolling arrangement in particular according to one of the claims 1 to 14, which as a hinge assembly for the transmission of Rotation / force between moving parts of an object (O), such as robot arms or other cantilevers, eg. In cranes, or at excavator buckets, is formed.