WO2014188111A2

WO2014188111A2 - Electromechanical assembly for a rolling device, and rolling device equipped with such an electromechanical assembly

Info

Publication number: WO2014188111A2
Application number: PCT/FR2014/051154
Authority: WO
Inventors: Antoine TESTASECCA
Original assignee: France Reducteurs
Priority date: 2013-05-21
Filing date: 2014-05-19
Publication date: 2014-11-27
Also published as: WO2014188111A3; FR3005932A1; FR3005932B1; DE212014000129U1

Abstract

The invention relates to an electromechanical assembly for a rolling device, said assembly comprising a wheel (2) referred to as the ground wheel, a motor unit (3) for driving the rotation of the wheel, this unit being housed inside the wheel, and a shaft (4) about which the wheel (2) can be rotationally driven by said motor unit (3). Said assembly further comprises a base (5) connecting said assembly to the device, said base (5), which is provided with a through-opening (6) for the passage of the wheel, being surmounted, on what is referred to as the top face of the base (5), by a cover (7) that covers the opening (6), said cover (7) supporting the shaft (4) about which the wheel (2), which projects partially on the face referred to as the underside of the base in order to press against the ground, is able to be rotationally driven, said cover (7) being, relative to the base (5), mounted, via drive means (8), with the ability to rotate about an axis referred to as vertical axis passing through the opening (6) and extending substantially orthogonally to the wheel shaft (4).

Description

ELECTROMECHANICAL ASSEMBLY FOR A ROLLING MACHINE, AND A ROLLER EQUIPPED WITH SUCH AN ELECTROMECHANICAL ASSEMBLY

The present invention relates to an electromechanical assembly for a rolling machine, and a rolling machine equipped with such an electromechanical assembly.

It relates more particularly to an electromechanical assembly of the type comprising a so-called ground support wheel, a drive unit for rotating the wheel housed inside the wheel, and a shaft around which the wheel is adapted to be driven in rotation by said motor unit.

The production of rolling machinery with both driving and steered wheels is known from the state of the art, as illustrated by the European patent EP 1 746 016. The solutions developed to date, however, generally relate to at least two wheels of the machine and are cumbersome solutions, not transposable to light wheeled vehicles, such as in particular mowing robots or robot vacuums.

An object of the present invention is therefore to provide an electromechanical assembly of the aforementioned type, whose design allows, because of its compactness, its adaptation to a large number of machines.

Another object of the present invention is to provide an electromechanical assembly of the aforementioned type whose design allows a simplification of the other drive means moving the machine equipped with such a set. Another object of the present invention is to provide an electromechanical assembly whose design allows its use on difficult terrain, particularly muddy.

For this purpose, the subject of the invention is an electromechanical assembly for a machine rolling, said assembly comprising a so-called ground support wheel, a drive unit for rotating the wheel housed inside the wheel, and a shaft around which the wheel is adapted to be rotated by said wheel; power unit, characterized in that said assembly further comprises a base for connecting said assembly to the vehicle, said base, provided with a through-wheel-passing opening, being surmounted, on the so-called face side of the top of the base, a cap, covering the aperture, said cap carrying the shaft around which the wheel, which partially projects side of the underside of the base to bear against the ground, is adapted to be rotated, said capping being, relative to the base, mounted by means of driving means, rotatable about a so-called vertical axis passing through the opening and extending substantially orthogonally to the wheel shaft.

Thanks to the architecture of the assembly as described above, the result is a compact assembly whose fragile elements, such as the motor unit and the rotating drive means of the cap, can be perfectly protected from dirt .

Preferably, the wheel shaft protrudes at each of its ends of the wheel to be retained, at each of its ends, inside the cap, preferably via bearing housings arranged at the inside of the cap. The rotational movement of the cap is thus transmitted, via the shaft, to the wheel.

In a first embodiment of the invention, the wheel shaft is formed of two half-shafts and connecting means of the two half-shafts between them. Alternatively, the wheel shaft is made in one piece. Preferably, the drive unit for rotating the wheel comprises a motor and a gearbox, said gearbox being, on the one hand, in engagement with the drive shaft of the motor, on the other hand, coupled directly, or via at least one so-called rotating motion transmission piece, to the wheel for driving the wheel in rotation. Preferably, the reducer comprises an epicyclic gear train with at least one stage.

Preferably, the cap has a generally hemispherical shape.

Preferably, the electromechanical assembly comprises a sensor for determining the angular position of the cap disposed, preferably, on the cap, on or in the immediate vicinity of the line formed by the axis of rotation of the cap, and a unit driving the motor unit for driving the wheel in rotation and means for rotating the cap at least according to the signals of said sensor. Preferably, the electromechanical assembly comprises a rotary connector for connecting the motor unit to a power source, said rotary connector being disposed on the cap, on or in the immediate vicinity of the line formed by the axis of rotation of the motor. The hairdo. This arrangement makes it possible to avoid inadvertent disconnection or tearing of the electric power supply cables of the drive unit in rotation of the wheel.

Preferably, the cap is kept applied to the base by a cover defining, with at least a portion of the base, a housing inside which are arranged at least the rotational drive means of the cap. With this embodiment, the rotational drive means of the cap can be immersed in grease or other lubricant, without risk of leakage of the latter.

Preferably, the rotational drive means of the cap are motor means formed by a meshing piece, such as a worm, carried by the base and engaged with a ring gear carried by the cap. This results in a limited size of the assembly.

Preferably, the base has the general shape of a plate provided with a through opening forming the through-passage opening. This base can be made in one piece with the frame of the machine, in the case of a monobloc frame or made in the form of an insert on said frame.

The invention also relates to a rolling machine characterized in that it comprises at least one electromechanical assembly of the aforementioned type. Preferably, said machine is an automatic moving vehicle, without driver sitting or walking behind the machine, also called robot, this machine comprising at least three wheels, one of the wheels being a drive wheel and director formed by said electromechanical assembly, the other wheels being non-driving and non-steering. The invention will be better understood on reading the following description of exemplary embodiments, with reference to the appended drawings in which:

- Figure 1 shows a partial perspective view of a machine equipped with an electromechanical assembly according to the invention. FIG. 2 represents an exploded view of the elements of FIG. 1.

FIG. 3 represents a view from below of the machine represented in FIG. 1.

- Figure 4 shows a top view of an electromechanical assembly according to the invention, the cap having been made transparent to view the inside of the machine and the lid has been omitted.

- Figure 5 shows a sectional view of the machine shown in Figure 1.

As mentioned above, the subject of the invention is an electromechanical assembly 1 for a rolling machine. This rolling machine may be, as in the example shown, a self-moving rolling machine, that is to say without seated driver or driver walking behind the machine, this type of machine is still called robot.

In the example shown, this machine 20 comprises three wheels, namely two non-driving and non-driving wheels 22 and a driving and driving wheel 2 formed by the electromechanical assembly 1 which will be described below. The electromechanical assembly 1 thus comprises, in addition to the ground support wheel 2, a motor drive unit 3 for rotating the wheel housed inside the wheel, a shaft 4 around which the wheel 2 is adapted to being driven in rotation by said engine group 3, a base 5 for connecting said assembly to the vehicle 20, said base 5 being provided with a through-wheel-through opening 6 and surmounted, on the said face side from above the base 5 , a cap 7 coming to cover the opening 6.

This cap 7 carries the shaft 4 around which the wheel 2 which projects partially on the one hand, face side of the top of the base, on the other hand, face side of the bottom of the base to bear against the ground, is able to be rotated. This cap 7 is, relative to the base, mounted via means 8 for driving, rotatable about a vertical axis XX 'said passing through the opening 6 of the base and extending substantially orthogonally to the wheel shaft 4.

In the examples shown, the wheel shaft 4 protrudes at each of its ends from the wheel 2 to be retained, at each of its ends, inside the cap 7, via housings 71 forming bearings within the cap 7.

In particular, the wheel shaft 4 is formed of two half-shafts 41, 42 and means 43 for connecting the two half-shafts 41, 42 to each other. These connection means 43 are formed by a tubular body interposed between the two half-shafts 41, 42 each disposed at an end of said body. This tubular body at least partially houses the group 3 driving motor in rotation of the wheel. This tubular body 43 extends inside of the wheel while the two half-shafts are at least partially projecting from the wheel to be retained inside the cap through the housing 71 forming bearings formed inside the cap.

The tubular body 43 is closed at least partially at each of its ends by a flange 431 and the two half-shafts 41, 42 are each coupled to one of said closure flanges.

The group 3 rotary drive motor of the wheel comprises a motor 31 and a gearbox 32. The motor 31 is preferably a brushless motor, also called "brushless" motor. The gearbox 32 is, on the one hand, in engagement with the drive shaft 31 1 of the motor 31, on the other hand, coupled directly, or via at least one rotating movement movement piece 321. , at the wheel 2, for driving in rotation of the wheel. This is the second solution that has been chosen here.

The reducer 32 comprises an epicyclic gear 322. This epicyclic train may be at one or more stages. In the example shown, this planetary gear train is multistage. The motor shaft 31 carries a sun gear meshing with satellites carried by a first planet carrier. These satellites come into engagement with a ring gear of the planet carrier to drive in rotation the planet carrier, which carries on its opposite face a sun gear. This planet transmits, via satellites carried by a second planet carrier, its rotational movement to the second planet carrier. This second carrier planet wears again, on its opposite side, a sun gear meshes with satellites carried by a closure flange 43 of the tubular body. These satellites protrude from the closure flange through lights 431 1 formed in said flange.

The transmission of the rotational movement of these satellites to the wheel takes place here by the rotating part 321. This rotating piece 321 is an annular piece provided, at the peripheral edge of its opening delimitation, a toothing 321 1 adapted to engage meshing with the satellites 3221 of the 322 epicyclic train and on one of its faces, male members, or female 3212 respectively, adapted to engage with female members, respectively male 21, complementary carried by said wheel.

In the example shown, the annular piece 321 is equipped with notches 3212 engaging with radial ribs formed inside the wheel.

The wheel 2 here affects the general shape of a sphere and is formed of two assembled half-shells.

As a variant with respect to what is described above, the wheel shaft could have been made in one piece and the motor unit attached to said shaft.

The base 5 affects the general shape of a plate with a through opening forming the opening 6 through the wheel well. This plate can be made in the form of a simple annular plate attached to a second rectangular plate as shown in the figures, or be made in one piece with the rectangular plate. Of course, the base 5 can affect a large number of shapes, depending on the characteristics of the machine and in particular, depending on the characteristics of the rest of the chassis of the machine.

The cap 7 which forms a bell, here presents a general hemispherical shape. This cap 7 is held in place on the base 5 by a cover 10 delimiting, with at least a portion of the base 5, a housing inside which are arranged at least the means 8 for rotating the cap 7 .

This cover 10 is here formed by a plate of generally annular shape which closes an annular cavity extending between two substantially circular edges of the base. An enlargement of the cavity of the base and the cover is provided to accommodate the means 8 for rotating the cap 7.

The means 8 for rotating the cap 7 are means 8 motors formed by a meshing piece made here in the form of a screw 81 endless carried by the base 5. This worm, driven in rotation by a motor 84, engages with a ring gear 82, carried by the 7. The ring gear 82 is disposed tangentially to the worm 81. This ring gear 82 is formed at the base of the cap on the outer periphery of the cap. The drive in rotation of the endless screw 81 by the motor coupled to said worm thus allows, by means of the toothed crown 82, the rotational drive of the cap 7 with respect to the base 5. complete this drive in rotation of the cap 7, centering wheels or rollers 83 arranged on the base 5, on a circle concentric with the ring gear 82, can be provided.

The cap 7 is thus rotatably mounted relative to the base 5 about a vertical axis XX 'passing through the opening 6 through the base and extending substantially orthogonally to the wheel shaft, in particular perpendicular to the longitudinal axis of said shaft. This axis XX 'preferably passes through the center of the wheel and extends perpendicularly to the plane of the opening 6 through the base.

The cap further comprises a connector 1 1 rotating connection of the group 3 engine to a power source. This connector 1 1 rotating is disposed on the cap, on, or in the immediate vicinity of, the line formed by the axis XX 'of rotation of the cap 7. This connector 1 1 rotating allows the electrical connection of the motor unit to a source power supply, usually on board the craft. The assembly also comprises a sensor 9 for determining the angular position of the cap 7 disposed on the cap, on or in the immediate vicinity of the line formed by the axis XX 'of rotation of the cap and a control unit 12. group 3 driving motor in rotation of the wheel and means 8 for rotating the cap at least according to said signals said sensor 9.

Of course, the sensor 9 could have been placed in another location of the assembly.

The assembly therefore comprises means for supplying input data to the control unit and the control unit is configured to, from said input data, control the group 3 driving motor in rotation of the wheel and means 8 rotational drive of the cap.

These input data supply means comprise data acquisition means formed here by the sensor 9 of the angular position of the cap relative to the base. These data acquisition means may further comprise a geolocation sensor, an obstacle detection sensor or the like.

The data delivery means may further comprise a data entry interface further referred to as a man / machine interface and / or a predefined data storage memory.

On the basis of the input data, the control unit 12 controls the operation of the rotary drive motor unit of the wheel to enable the propulsion of the machine and the rotational drive means 8 of the cap for direct the craft. This results in an easy direction of the machine, using an extremely compact set.

Claims

1. Electromechanical assembly (1) for a rolling machine, said assembly comprising a so-called ground support wheel (2), a motor group (3) for driving the wheel in rotation housed inside the wheel, and a shaft (4) around which the wheel (2) is capable of being rotated by said motor group (3), characterized in that said assembly further comprises a base (5) for connecting said assembly (1) to the machine (20), said base (5), provided with a through opening (6) for the wheel arch, being surmounted, on the so-called top side of the base (5), by a cap (7), overlapping of the opening (6), said cap (7) carrying the shaft (4) around which the wheel (2), which partially projects on the face side from the underside of the base to come to rest on the ground, is capable of being driven in rotation, said cap (7) being, relative to the base (5), mounted, by means of drive means (8), movable in rotation around an axis (XX') called vertical passing through the opening (6) and extending substantially orthogonal to the wheel shaft (4).

2. Electromechanical assembly according to claim 1, characterized in that the wheel shaft (4) projects at each of its ends from the wheel (2) to be retained, at each of its ends, inside of the cap (7), preferably via housings (71) forming bearings provided inside the cap (7).

3. Electromechanical assembly (1) according to one of claims 1 or 2, characterized in that the wheel shaft (4) is formed of two half-shafts (41,42) and means (43) for connecting the two half-shafts (41, 42) between them.

4. Electromechanical assembly (1) according to one of claims 1 to 3, characterized in that the group (3) motor for driving the rotation of the wheel comprises a motor (31) and a reduction gear (32), said reduction gear (32) being on the one hand, engaged with the drive shaft (31 1) of the motor (31), on the other hand, coupled directly, or via at least one part (321) rotating so-called motion transmission, to the wheel (2) for driving the rotation of the wheel.

5. Electromechanical assembly (1) according to claim 4, characterized in that the reduction gear (32) comprises an epicyclic train (322) with at least one stage.

6. Electromechanical assembly (1) according to one of claims 1 to 5, characterized in that the cap (7) has a general hemispherical shape.

7. Electromechanical assembly (1) according to one of claims 1 to 6, characterized in that it comprises a sensor (9) for determining the angular position of the cap (7) arranged, preferably, on the cap ( 7), on or in the immediate vicinity of the line formed by the axis (XX') of rotation of the cap (7), and a unit (12) for controlling the group (3) motor driving the rotation of the wheel and means (8) for driving the cover in rotation at least as a function of the signals from said sensor (9).

8. Electromechanical assembly (1) according to one of claims 1 to 7, characterized in that it comprises a rotating connector (1 1) for connecting the motor group (3) to an energy source, said connector (1 1) rotating being arranged on the cap, on, or in the immediate vicinity of, the line formed by the axis (XX') of rotation of the cap (7).

9 electromechanical assembly (1) according to one of claims 1 to 8, characterized in that the cap (7) is held in place on the base (5) by a cover (10) delimiting, with at least part of the base (5), a housing inside which are arranged at least the means (8) for rotating the cap (7).

10. Electromechanical assembly (1) according to one of claims 1 to 9, characterized in that the means (8) for driving the cover (7) in rotation are motor means (8) formed by a part of meshing, such as a endless screw (81), carried by the base (5) and engaged with a toothed crown (82) carried by the cap (7).

1 1. Electromechanical assembly (1) according to one of claims 1 to 10, characterized in that the base (5) has the general shape of a plate provided with a through opening forming the through opening (6) of tire tracks.

12. Rolling machine (20) characterized in that it comprises at least one electromechanical assembly (1) conforming to one of claims 1 to 10

13. Rolling machine (20) according to claim 12, characterized in that said machine is a rolling machine with automatic movement, free of a driver seated or walking behind the machine, also called a robot, this machine comprising at least three wheels, one of the wheels being a driving and steering wheel formed by said electromechanical assembly (1), the other wheels (22) being non-driving and non-steering.