DE102015003107A1 - Vehicle and method for producing various variants of a vehicle - Google Patents

Abstract

Vehicle and method for producing various variants of a vehicle, wherein on a frame, in particular on a platform, the vehicle wheels are arranged, each wheel unit is either rotatably connected to the frame or is rotatably mounted on the frame, in particular wherein the associated axis of rotation vertically or is aligned in the normal direction to the traversing surface, wherein each wheel unit has at least one drivable wheel.

Description

The invention relates to a vehicle and a method for producing various variants of the vehicle.

It is well known that a vehicle has wheels, being rotatably mounted to the steering of a wheel unit on the vehicle.

The invention is therefore an object of the invention to make a vehicle as needed inexpensive to produce.

According to the invention the object is achieved in the vehicle according to the features specified in claim 1 and in the method for producing various variants of a vehicle according to the features indicated in claim 8.

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

The advantage here is that the wheels units are manufactured as modules and can be connected to the frame. Thus, the modules are connectable in a simple manner with the frame. However, each module can be manufactured as a steerable or drivable module by connection to an electric motor or with further electric motors. Thus, a vehicle can be produced from the kit in a simple manner, which has the predetermined number of steerable and / or drivable wheels units.

In an advantageous embodiment, the drivable wheel of each wheel unit is rotatably connected to a shaft, with which a gear is rotatably connected, which is engaged with a further gear, which is rotatably connected to another shaft. The advantage here is that the wheel is driven by a gear stage.

In an advantageous embodiment, the further shaft can be driven directly or via an angular gear stage by an electric motor,
in particular wherein the angular gear stage has a pinion which is connected in a rotationally fixed manner to the further shaft and which is in engagement with a toothed wheel which is non-rotatably connected to the rotor shaft of the electric motor,
in particular, wherein the electric motor is attached to the frame. The advantage here is that the electric motor can be fastened to the frame and the wheel can be driven via a gear stage. In this case, the electric motor can be fixed to the frame and still the sprocket rotatable relative to the frame storable. In this way, in a steerable embodiment, the sprocket unit can be arranged rotatably on the frame, wherein the axis of rotation is aligned in the normal direction of the travel surface.

In an advantageous embodiment, a toothed part is rotatably connected to the rotatable unit for rotatably supporting the respective wheel unit on the frame, which is in engagement with a toothed belt, which is drivable by a further toothed part, which is non-rotatably connected to the rotor shaft of a further electric motor,
in particular, wherein the rotor shaft and / or the axis of the toothing part is aligned vertically or in the normal direction to the traversing surface,
in particular, wherein the further electric motor is fastened to the frame. The advantage here is that the steerability of the wheel unit can be produced in a simple manner.

In an advantageous embodiment, the wheel unit on another wheel which is freely rotatably mounted on the shaft, which is rotatably connected to the first wheel,
in particular wherein a bearing is arranged on the shaft on which the further wheel is mounted. The advantage here is that even when cornering no slippage occurs.

In an advantageous embodiment, two or four of the wheels arranged on the frame units are steerable by a respective further electric motor and / or two or four of the wheels arranged on the wheels are drivable by a respective electric motor. The advantage here is that depending on the number of drivable wheels units correspondingly heavy loads can be transported by the vehicle. Depending on the number of steerable wheel units, narrower or further curve radii can be traversed. For example, if only a single pair of steerable wheels is provided, with the pair being spaced apart transversely to the direction of travel, only a larger turning radius is passable. However, when steerable wheel units are spaced apart in the direction of travel, can be traversed in a narrower turning radius.

In an advantageous embodiment, the non-steerable wheel units are rotatably connected to the frame. The advantage here is that the wheel units can not turn automatically and thus blocking is avoidable.

• – 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.Important features in the method for producing various variants of a vehicle are that the vehicle is made from a kit of components that

• - a frame
• - wheeled units
• - Electric motors including angular gear stages for producing a respective drivable wheel unit and
• - Further electric motors including belt drives for the production of a respective steerable wheel unit,

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

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

In an advantageous embodiment, two steerable and drivable wheel units and further wheel units are fastened for producing a first variant, in particular wherein the further wheel units are connected in a rotationally fixed manner to the frame,
for the production of a second variant four steerable wheel units are attached, two of which are drivable,
for fixing a third variant, four drivable wheel units are attached, two of which are steerable,
four steerable and drivable wheels are attached to produce a fourth variant. The advantage here is that the first variant can carry lighter loads than the second. However, with the second variant, a narrower radius of curvature can be driven through and, with the third variant, heavier loads can be conveyed than with the first or second variant. The fourth variant also carries heavy loads and the narrower turning radius is passable.

Further advantages emerge from the subclaims. The invention is not limited to the combination of features of the claims. For the skilled person, further meaningful combination options of claims and / or individual claim features and / or features of the description and / or figures, in particular from the task and / or by posing the task by comparison with the prior art task.

The invention will now be explained in more detail with reference to figures:
In the 1 an inventive vehicle of a series of vehicles is shown, wherein the vehicle has four wheel units, two of which are driven and steerable.

In the 2 an inventive vehicle of the series of vehicles is shown, wherein the vehicle has four wheel units, two of which are driven and four steerable.

In the 3 an inventive vehicle of the series of vehicles is shown, wherein the vehicle has four wheels, of which four are driven and two are steerable.

In the 4 an inventive vehicle of the series of vehicles is shown, wherein the vehicle has four wheel units, four of which are driven and steerable.

In the 5 is shown a powered and steerable wheel unit.

In the 6 a powered sprocket 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, wherein the vehicles are a frame 1 on which wheel units can be mounted, with which the vehicle on a floor 2 are movable.

The wheels are initially built the same, but they are either steerable and / or driven executable. For driving is in each case an electric motor 3 Predictable, on the frame 1 is mounted. For steering is in each case another electric motor 7 Predictable, also on the frame 1 is mounted.

The wheel unit has in each case two wheels, in particular rollers. Each of the wheels is arranged on a shaft with which a toothing part, in particular bevel pinion, is non-rotatably connected, which is in engagement with a further toothing part, in particular bevel gear, which is non-rotatable with the shaft 11 connected is. The wave 11 is arranged perpendicular to the axis of the shaft of the wheel. Thus, therefore, the wheels are driven by a differential whose input shaft from the shaft 11 is formed.

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

As in 6 represented is the wave 11 rotatably with a gear 5 connected, which is engaged with a pinion 4 , which is rotatably connected to the rotor shaft of the electric motor 3 or on the rotor shaft of the electric motor 3 is provided. Preferably, the pinion 4 a bevel gear and the gear 5 a bevel gear, so that the rotor shaft perpendicular to the shaft 11 is aligned.

The case of the differential is with a disc 10 connected, which is rotatably mounted on the holding part 8th the wheel unit. For steering angle adjustment is a gearing part with the holding part 8th rotationally connectable, so that it, as in the 7 represented by a toothed belt 6 can be driven by one on the rotor shaft of an electric motor 7 rotationally fixed pinion is driven. Thus, the electric motor 7 the steering angle caused by over the belt drive rotation of the disc 10 adjustable. Advantageously, is the engine 7 with an angle sensor for detecting the angular position of the rotor shaft of the motor 7 fitted. Thus, from a motor-feeding device, such as inverter or inverter, the angular position can be regulated to the predetermined steering angle. For this purpose, the device has a control unit, which regulates the detected actual value of the angular position to the predetermined steering angle by the engine 7 a corresponding voltage curve is specified. Alternatively, a stepper motor can be used.

As in 5 shown, the wheel unit is also driven according to 6 and steerable according to 7 executable. Thus, the wheels 9 the sprocket driven by the electric motor 3 and the steering angle adjustable via the engine 7 ,

As in the 1 to 4 Wheel units can be arranged on a frame of the vehicle. In this case, for example, four wheel units are providable, all the same or in pairs differently executable.

The construction 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, comprising gears 5 and pinion 4 , together with electric motors 3 ,

In a first variant according to 1 The series are on the frame two mere wheels and two steerable and drivable wheels, so together with a pair of motors 3 and a pair of engines 7 , intended.

In this way, a cost-effective vehicle can be produced, from which minimum first radii are traversable and maximum loads can be transported.

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

In this way, a cost-effective vehicle can be produced, from which in comparison to the first radii tighter radii are traversable and maximum loads are first transportable.

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

In this way, a cost-effective vehicle can be produced, from which minimum first radii are traversable and compared to the first loads heavier loads can be transported.

In a fourth variant according to 4 In the series four driven wheels are arranged on the frame, four of which are steerable.

In this way, a cost-effective vehicle can be produced, from which minimum first radii are traversable and compared to the first loads heavier loads can be transported.

In another embodiment of the invention is a first wheel 9 the sprocket unit with a shaft rotatably connected to the wheel unit, in particular on the holding part 8th , ie in particular housing part of the wheel unit, is rotatably mounted. With the shaft, a gear is rotatably connected, which is in engagement with the shaft 11 rotatably connected gear. Thus, the wheel and shaft of the shaft 11 drivable, with the shaft 11 from the engine 3 is driven. 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, another, coaxially arranged to this first wheel wheel freely rotatably mounted. In this way, a slippage of the wheels, so slip, is prevented when cornering.

The driveability of the aforementioned wheels units can be achieved by appropriate energization of the respective motor. Likewise, the steerability of the aforementioned wheels units can be achieved by appropriate energization of the respective motor. Only if so the respective engine is einmontiert, the respective wheel unit is driven or steerable.

LIST OF REFERENCE NUMBERS

1

Frame of the vehicle, in particular platform of the vehicle

2

Ground, travel surface

3

electric motor

4

pinion

5

gear

6

toothed belt

7

electric motor

8th

Holding part, in particular housing part of the wheel unit

9

wheel

10

disk part

11

wave

Claims (9)

Vehicle, in particular driverless transport system and / or automatically controlled vehicle, characterized in that on a frame, in particular on a platform, the vehicle wheels are arranged, each wheel unit is either 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 traversing surface, wherein each wheel unit has at least one drivable wheel. Vehicle according to at least one of the preceding claims, characterized in that the drivable wheel of each wheel unit is rotatably connected to a shaft with which a gear is rotatably connected, which is in engagement with another gear, which is rotatably connected to another shaft. Vehicle according to at least one of the preceding claims, characterized in that the further shaft can be driven directly or via an angular gear stage by an electric motor, in particular wherein the angular gear stage has a rotatably connected to the further shaft pinion, which is in engagement with a with the rotor shaft of the Electric motor rotatably connected gear, in particular wherein the electric motor is mounted on the frame. Vehicle according to at least one of the preceding claims, characterized in that for rotatably supporting the respective wheel unit on the frame, a toothed part rotatably connected to the sprocket unit, which is engaged with a toothed belt, which is drivable by a further toothed part, the rotationally fixed to the rotor shaft a further electric motor is connected, in particular wherein the rotor shaft and / or the axis of the toothing part is aligned vertically or in the normal direction to the traversing surface, in particular wherein the further electric motor is fixed to the frame. Vehicle according to at least one of the preceding claims, characterized in that the sprocket unit has a further wheel which is freely rotatably mounted on the shaft, which is rotatably connected to the first wheel, in particular wherein on the shaft a bearing is arranged, on which the another wheel is stored. Vehicle according to at least one of the preceding claims, characterized in that two or four of the wheels arranged on the frame are steerable by a respective further electric motor and / or two or four of the wheels arranged on the Gestell are driven by a respective electric motor. Vehicle according to at least one of the preceding claims, characterized in that the non-steerable wheel units are rotatably connected to the frame. A method for producing various variants of a vehicle according to at least one of the preceding claims, wherein the vehicle is produced from a kit of components, the - a frame - wheel units - electric motors including angular gear stages for producing a respective drivable wheel unit and - further electric motors together with belt drives for producing a respective steerable wheel unit, characterized in that for the production of respective variants steerable and / or drivable and / or neither steerable nor drivable wheel units are mounted on the frame, in particular wherein the non-steerable wheel units are rotatably connected to the frame. Method according to at least one of the preceding claims, characterized in that for the production of a first variant, two steerable and drivable wheels units and further wheel units are fastened, in particular wherein the other wheel units are rotatably connected to the frame, four steerable wheel units are attached to produce a second variant of which two are drivable, For the production of a third variant, four drivable wheel units are fastened, two of which are steerable, four steerable and drivable wheel units being fastened for producing a fourth variant.

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