NL2023750B1 - Axle assembly and vehicle comprising such an axle assembly - Google Patents

Axle assembly and vehicle comprising such an axle assembly Download PDF

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Publication number
NL2023750B1
NL2023750B1 NL2023750A NL2023750A NL2023750B1 NL 2023750 B1 NL2023750 B1 NL 2023750B1 NL 2023750 A NL2023750 A NL 2023750A NL 2023750 A NL2023750 A NL 2023750A NL 2023750 B1 NL2023750 B1 NL 2023750B1
Authority
NL
Netherlands
Prior art keywords
encoder
base
wheel
axle assembly
assembly according
Prior art date
Application number
NL2023750A
Other languages
Dutch (nl)
Inventor
Cornelis Johannes Van Zoelen Ronald
Original Assignee
Terberg Benschop B V
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Terberg Benschop B V filed Critical Terberg Benschop B V
Priority to NL2023750A priority Critical patent/NL2023750B1/en
Priority to PCT/NL2020/050546 priority patent/WO2021045621A1/en
Priority to EP20768129.7A priority patent/EP4025917A1/en
Application granted granted Critical
Publication of NL2023750B1 publication Critical patent/NL2023750B1/en

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P1/00—Details of instruments
    • G01P1/04—Special adaptations of driving means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C19/00—Bearings with rolling contact, for exclusively rotary movement
    • F16C19/22—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings
    • F16C19/34—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load
    • F16C19/36—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load with a single row of rollers
    • F16C19/364—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load with a single row of rollers with tapered rollers, i.e. rollers having essentially the shape of a truncated cone
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C19/00—Bearings with rolling contact, for exclusively rotary movement
    • F16C19/22—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings
    • F16C19/34—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load
    • F16C19/38—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load with two or more rows of rollers
    • F16C19/383—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load with two or more rows of rollers with tapered rollers, i.e. rollers having essentially the shape of a truncated cone
    • F16C19/385—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load with two or more rows of rollers with tapered rollers, i.e. rollers having essentially the shape of a truncated cone with two rows, i.e. double-row tapered roller bearings
    • F16C19/386—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load with two or more rows of rollers with tapered rollers, i.e. rollers having essentially the shape of a truncated cone with two rows, i.e. double-row tapered roller bearings in O-arrangement
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C41/00—Other accessories, e.g. devices integrated in the bearing not relating to the bearing function as such
    • F16C41/007—Encoders, e.g. parts with a plurality of alternating magnetic poles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/443—Devices characterised by the use of electric or magnetic means for measuring angular speed mounted in bearings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C19/00—Bearings with rolling contact, for exclusively rotary movement
    • F16C19/54—Systems consisting of a plurality of bearings with rolling friction
    • F16C19/541—Systems consisting of juxtaposed rolling bearings including at least one angular contact bearing
    • F16C19/542—Systems consisting of juxtaposed rolling bearings including at least one angular contact bearing with two rolling bearings with angular contact
    • F16C19/543—Systems consisting of juxtaposed rolling bearings including at least one angular contact bearing with two rolling bearings with angular contact in O-arrangement
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2326/00—Articles relating to transporting
    • F16C2326/01—Parts of vehicles in general
    • F16C2326/02—Wheel hubs or castors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C25/00—Bearings for exclusively rotary movement adjustable for wear or play
    • F16C25/06—Ball or roller bearings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
    • F16C33/72—Sealings
    • F16C33/76—Sealings of ball or roller bearings
    • F16C33/78—Sealings of ball or roller bearings with a diaphragm, disc, or ring, with or without resilient members
    • F16C33/7886—Sealings of ball or roller bearings with a diaphragm, disc, or ring, with or without resilient members mounted outside the gap between the inner and outer races, e.g. sealing rings mounted to an end face or outer surface of a race
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
    • F16C33/72—Sealings
    • F16C33/76—Sealings of ball or roller bearings
    • F16C33/78—Sealings of ball or roller bearings with a diaphragm, disc, or ring, with or without resilient members
    • F16C33/7889—Sealings of ball or roller bearings with a diaphragm, disc, or ring, with or without resilient members mounted to an inner race and extending toward the outer race
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/24428—Error prevention
    • G01D5/24433—Error prevention by mechanical means

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
  • Rolling Contact Bearings (AREA)

Abstract

The present invention relates to an axle assembly, comprising: - a base; 5 - a rotary part that is rotatable relative to the base; - a bearing that is arranged between the base and the rotary part; - an encoder that is fixed to the base; - wherein the encoder has a rotatable shaft extending in a longitudinal direction; - wherein the encoder is a high resolution encoder; and 10 - Wherein the encoder comprises a connection to the rotary part. The invention furthermore relates to a vehicle comprising such an axle assembly.

Description

Axle assembly and vehicle comprising such an axle assembly The present invention relates to a axle assembly and to a vehicle comprising such an axle assembly. Such a vehicle may be an automated guided vehicle (AGV).
Axle assemblies may be provided with a plurality of sensors. For example, an Anti Braking System (ABS) nowadays typically comprises encoders that are contactless sensors providing a resolution of approximately 100 pulses per revolution, resulting in an accuracy of 3.6° per pulse. This is considered low resolution, and insufficient for many applications. For example, accurate positioning of an automated guided vehicle, which is also known as “inching”, will require a higher accuracy to accurately position the vehicle. During such “inching”, the vehicle is slowly moved over small distances to accurately position the vehicle. As most ABS sensors are induction based, a further problem arises. After all, induction based ABS sensor will fail to generate a measurement signal at low speeds, e.g. below 10 km/h, typically used for inching. During starting and stopping, the distance that is moved at a speed below the threshold speed required for the induction based sensor to accurately operate, is missed. This leads to an inaccuracy.
There is a need for an axle assembly comprising one or more than one sensor that is capable of providing accurate measurement data suitable for e.g. inching of an (autonomous) vehicle and/or for high precision steering thereof.
An objective of the present invention is to provide an axle assembly that is improved relative to the prior art and wherein at least one of the above stated problems is obviated.
Said objective is achieved with the axle assembly according to the present invention, comprising: - a base; - a rotary part that is rotatable relative to the base; - a bearing that is arranged between the base and the rotary part; - an encoder that is fixed to the base; - wherein the encoder has a rotatable shaft extending in a longitadinal direction; - wherein the encoder is a high resolution encoder; and - wherein the encoder comprises a connection to the rotary part.
Instead of using a contactless induction based sensor, the axle assembly according to the invention is provided with an encoder having a rotatable shaft, wherein the encoder comprises a physical connection to the rotary part. Via said physical connection, a relative rotation of the rotary part relative to the base causes a rotation of the rotatable shaft of the encoder under all circumstances and at all speeds, including while driving at very low speeds well below 5 knvh. By using a high resolution encoder, an accurate measurement of this relative rotation is obtained.
According to a preferred embodiment of the invention, the encoder is high resolution having a resolution of at least 500 pulses per revolution, preferably having at least 750 pulses per revolution, more preferably having at least 1000 pulses per revolution, even more preferably having at least 1250 pulses per revolution, and most preferably having at least 1500 pulses per revolution. A resolution of 500 pulses per revolution results in an accuracy of 0,72° per revolution, whereas a resolution of 1000 pulses per revolution results in an accuracy of 0,36° per revolution. The high resolution encoder should ideally provide enough resolution for mm precise vehicle positioning. Taking into account a wheel radius of typically between 450 and 650 mm a resolution of 1000 to 5000 pulses per revolution is preferred.
According to a further preferred embodiment, the connection between the encoder and the rotary part is flexible. By using a flexible connection, the lifespan of the high resolution encoder may be significantly increased, resulting in a more reliable axle assembly. After all, a flexible connection may prevent that all relative movement, e.g. in axial, radial and angular directions or combinations thereof, is directly transferred for the rotary part to the base or vice {5 versa. For example, over time the bearing that is arranged between the base and the rotary part will wear out to some extent. Wear of this bearing and loads on the axle assembly, and especially combinations thereof, may cause undesired but unavoidable relative movements between the rotary part and the base that would disadvantageously load the encoder.
According to an even further preferred embodiment, the connection is configured to allow one or more than one of: - a radial displacement of the rotary part relative to the encoder in a radial direction that is directed transverse to the longitudinal direction defined by the rotatable shaft; - an axial displacement of the rotary part relative to the encoder in an axial direction that is directed in the longitudinal direction defined by the rotatable shaft; and - an angular displacement of the rotary part relative to the encoder in an angular direction around the longitudinal direction defined by the rotatable shaft.
Allowing a limited displacement already suffices to reduce the magnitude of potentially damaging loads on the encoder. Especially the angular displacement should be of a limited nature, such that it only prevents damage to the encoder, while not interfering with the measurement accuracy of the encoder. Because the rotatable shaft of the encoder will normally exhibit a limited resistance against rotation, the angular displacement of the connection will hardly ever be used. However, when a relative radial and axial displacement occur in combination, it may be advantageous to have some angular flexibility.
Although it is conceivable that the rotatable shaft of the encoder and the flexible connection are integrated in some embodiments, the flexible connection may comprise a flexible shaft coupling in other embodiments.
Preferred embodiments are the subject of the dependent claims.
The various aspects and features described and shown in the specification can be applied, individually, wherever possible. These individual aspects, and in particular the aspects and features described in the attached dependent claims, may be made subject of divisional patent applications.
In the following description preferred embodiments of the present invention are further elucidated with reference to the drawing, in which: Figure 1 is a side view of a vehicle comprising an axle assembly according to the invention; Figures 2 and 3 are perspective views of a front axle assembly of the vehicle of Figure 1; Figure 4 is a detailed cross sectional view of the axle assembly; Figure 5 is a detailed perspective view of the axle assembly; Figures 6 and 7 show detailed perspective views of a wheel encoder arrangement; and Figures 8 and 9 show detailed perspective views of a steering encoder arrangement.
Figure 1 shows a vehicle 1, more in particular a so-called Terminal Tractor, that comprises an optional intermediate frame 3 that is pivotably attached to the vehicle chassis 2 thereof, and that comprises a connector 4 at the end of intermediate frame 3. The intermediate frame 3 can be lifted with a lift cylinder 6. The vehicle 1 of Figure 1 may be automated, while still allowing (or possibly even requiring) a driver to be seated in the drivers cabin 7. It is however explicitly mentioned that the invention may also be applied to fully automated guided vehicles (AGV's) of different types and sizes, including driverless vehicles with or without a driver cabin.
The invention will now be elucidated on the basis of an axle assembly 8 of the front wheel hub 9 of the vehicle 1. This axle assembly 8 is shown in Figures 2 and 3, wherein the brake drums 22 are made transparent in Figure 3 to show the wheel bearing shafts 11.
The axle assembly 8 according to the invention comprises a base 12 and a rotary part 13 that is rotatable relative to the base 12. A bearing 14 that is arranged between the base 12 and the rotary part 13 facilitates this relative rotation between the rotary part 13 and the base 12. An encoder 15 is fixed to the base 12, and comprises a rotatable shaft 16 extending in a longitudinal direction L. The encoder 15 is a high resolution encoder and the encoder 15 is connected to the rotary part 13 via a connection 17.
The high resolution encoder 15 has a resolution of at least 500 pulses per revolution, preferably of at least 750 pulses per revolution, more preferably of at least 1000 pulses per revolution, even more preferably of at least 1250 pulses per revolution, and most preferably of at least 1500 pulses per revolution. The high resolution encoder 15 should ideally provide enough resolution for mm precise vehicle positioning. Taking into account a wheel radius of typically between 450 and 650 mm requires therefore a preferred resolution of 1000 to 5000 pulses per revolution. In the axle assembly 8 as shown in the Figures, an assembly of base 12, rotary part 13, bearing 14, encoder 15 and connection 17 is applied for two applications (A and B in Figure 5). The first application is for measuring a relative rotation A of a wheel hub 9 relative to the wheel bearing shaft 11, as will be explained in more detail using Figures 4, 6 and 7. The second application is for measuring a relative rotation B of the base 12 relative to the rotary part 13 that is related to a steering angle displacement of the wheel hub 9 relative to an axle housing 18. This will be explained in more detail using Figures 4, 8 and 9.
In both applications of the shown axle assembly 8, the connection 17 between the encoder 15 and the rotary part 13 is preferably flexible. By using a flexible connection 17, the lifespan of the high resolution encoder 15 may be significantly increased, resulting in a more reliable axle assembly 8. The flexibility of the connection 17 reduces the loads on the high resolution encoder 15 that may be caused by wear of the bearing 14 that is arranged between the base 12 and the rotary part 13, by loads on the axle assembly 8, and especially by combinations thereof. As elucidated below, the bearing 14 may be a wheel bearing 19 or a knuckle bearing 20.
Although it is conceivable that the rotatable shaft 16 of the encoder 15 and the flexible connection 17 are integrated in some embodiments, the flexible connection 17 may comprise a flexible shaft coupling in other embodiments. Such a flexible shaft coupling may for example be a double loop coupling 34.
The connection 17 may be configured to allow one or more than one of: - a radial displacement of the rotary part 13 relative to the encoder 15 in a radial direction RA that is directed transverse to the longitudinal direction L defined by the rotatable shaft 16; - an axial displacement of the rotary part 13 relative to the encoder 15 in an axial direction AX that is directed in the longitudinal direction L defined by the rotatable shaft 16: and - an angular displacement of the rotary part 13 relative to the encoder 15 in an angular direction AN around the longitudinal direction L defined by the rotatable shaft 16.
The first application for measuring a relative rotation A of a wheel 9 relative to the wheel bearing shaft 11 is now explained in more detail using Figures 4, 6 and 7. In this first application, the base 12 is fixedly arranged on or integrated with the wheel bearing shaft 11, the rotary part 13 is a wheel 19 that is rotatable relative to the wheel bearing shaft 11, and the bearing 14 that is arranged between the base 12 and the rotary part 13 is a wheel 19. Although the wheel bearing shaft 11 may itself form a base 12, a wheel bearing mut 26 forms a base 12 in the shown embodiment.
The wheel bearing nut 26 may comprise an internal screw thread 27 that allows it to be screwed onto an end 28 of the wheel bearing shaft 11. This end 28 is provided with an external screw thread.
Figures 5-7 show a wheel hub 10 having a wheel hub flange 21 that is configured 5 to be connected to a brake drum 22 of a wheel 9. The encoder 15 is a wheel encoder 23 that is configured to measure a relative rotation of the wheel 9 relative to the base 12, i.e. the wheel bearing shaft 11, that is related to a rotation of said wheel 9. As can be best seen in Figure 4, the wheel bearing shaft 11 comprises a tongitudinal though hole 24 that is configured to guide a cable 25 that is connected to the wheel IO encoder 15, 23. The wheel encoder 15, 23 is thus fixed relative to the wheel bearing shaft 11, while the wheel hub 10 that forms the rotary part 13 may rotate freely relative to the encoder 15. The cable 25 that is configured to transmit the measurement signal to a controller 29 is guided via the non-rotating wheel bearing shaft 11. The second application for measuring a relative rotation B of the base 12 relative to the rotary part 13 that is related to a steering angle displacement of the wheel 9 relative to an axle housing 18 is now explained in more detail using Figures 4, 8 and 9. In this second application, the base 12 is rotatably arranged relative to an axle housing 18 and configured to rotate in relation to a steering angle displacement of a wheel 9 relative to said axle housing 18. The rotary part 13, that is rotatable relative to the base 12, is a bearing shaft 29 that is fixed relative to said axle housing 18, and the encoder 15 is configured to measure a relative rotation of the base 12 relative to the rotary part 13 that is related to the steering angle displacement.
The encoder 15 is a steering encoder 30. The bearing shaft 29 is also known as knuckle bearing shaft.
From the perspective of the vehicle 1, the rotary part 13 is fixed and the base 12 rotates plus or minus 50° in relation to the steering angle displacement.
However, form the perspective of the base 12, the rotary part 13 rotates.
The limited rotation angle of plus or minus 50° allows the steering encoder 15, 30 to be arranged in the rotating base 12, because the flexibility of the cable 25 is able to provide enough freedom of movement.
The vehicle 1 of Figure 1 further comprises the controller 29 that is connected to the encoder(s) 15, 23, 30. The controller 29 is configured to control at least one of a drive 31 and a steering motor 32 of the vehicle 1. Using the high resolution data provided by the high resolution encoders 15, 23, 30, the controller 29 may control the drive 31 and steering motor 32 for automated “inching” of the vehicle 1, which may therefore be an automated guided vehicle (AGV). Summarizing, the invention proposes an axle assembly 18, and vehicle 1 comprising such an axle assembly 18, having high resolution encoders 15. These high resolution encoders 15 may comprise a wheel encoder 23 and/or a steering encoder 30. According to the invention, the encoders 15, 23, 30 and connections 17 to the respective rotary part 13 are arranged in a very limited space available in an axle assembly 18. A wheel bearing nut 26 may be used to arrange the wheel encoder 15, 23 inside the boundaries of a conventional axle assembly. The steering encoder 15, 30 also had to be fitted in a limited space. Other components, such as brake cylinder 33, limit the available space.
Although they show preferred embodiments of the invention, the above described embodiments are intended only to illustrate the invention and not to limit in any way the scope of the invention. Accordingly, it should be understood that where features mentioned in the appended claims are followed by reference signs, such signs are included solely for the purpose of enhancing the intelligibility of the claims and are in no way limiting on the scope of the claims. Furthermore, itis particularly noted that the skilled person can combine technical measures of the different embodiments. The scope of the invention is therefore defined solely by the following claims.

Claims (13)

ConclusiesConclusions 1. Assamenstel, omvattende: - een basis; - een rotatiedeel, dat ten opzichte van de basis roteerbaar is; - een lager, dat tussen de basis en het rotatiedeel is aangebracht; - een encoder, die aan de basis gefixeerd is; - waarbij de encoder een roteerbare as omvat, die zich in een longitudinale richting uitstrekt; - waarbij de encoder een hoog-resolutie encoder is; en - waarbij de encoder een verbinding naar het rotatiedeel omvat.Axle assembly, comprising: - a base; - a rotation part, which is rotatable with respect to the base; - a bearing, which is arranged between the base and the rotary part; - an encoder, which is fixed to the base; - wherein the encoder comprises a rotatable shaft extending in a longitudinal direction; - wherein the encoder is a high-resolution encoder; and - wherein the encoder comprises a connection to the rotation part. 2. Assamenstel volgens conclusie 1, waarbij de verbinding flexibel is.Axle assembly according to claim 1, wherein the connection is flexible. 3. Assamenstel volgens conclusie 2, waarbij de verbinding is ingericht voor het toestaan van een radiale verplaatsing van het rotatiedeel ten opzichte van de encoder in een radiale richting, die loodrecht op de longitudinale richting, welke door de roteerbare as is gedefinieerd, is gericht.Shaft assembly according to claim 2, wherein the connection is arranged to allow radial displacement of the rotary member relative to the encoder in a radial direction perpendicular to the longitudinal direction defined by the rotatable shaft. 4. Assamenstel volgens conclusie 2 of 3, waarbij de verbinding is ingericht voor het toestaan van een axiale verplaatsing van het rotatiedeel ten opzichte van de encoder in een axiale richting, welke in de longitudinale richting, die door de roteerbare as is gedefinieerd, is gericht.Shaft assembly according to claim 2 or 3, wherein the connection is arranged to allow axial displacement of the rotary part relative to the encoder in an axial direction directed in the longitudinal direction defined by the rotatable shaft. . 5. Assamenstel volgens een willekeurige van conclusies 2-4, waarbij de verbinding is ingericht voor het toestaan van een hoekverplaatsing van het rotatiedeel ten opzichte van de encoder in een hoekrichting rond de longitudinale richting, die door de roteerbare as is gedefinieerd.Shaft assembly according to any of claims 2-4, wherein the connection is arranged to allow angular displacement of the rotary part relative to the encoder in an angular direction about the longitudinal direction defined by the rotatable shaft. 6. Assamenstel volgens een willekeurige van de voorgaande conclusies, waarbij de hoog-resolutie encoder een resolutie omvat van ten minste 500 pulsen per omwenteling, bij voorkeur van ten minste 750 pulsen per omwenteling, meer bij voorkeur van ten minste 1000 pulsen per omwenteling, nog meer bij voorkeur van ten minste 1250 pulsen per omwenteling, en meest bij voorkeur ten minste 1500 pulsen per omwenteling.Axle assembly according to any of the preceding claims, wherein the high-resolution encoder comprises a resolution of at least 500 pulses per revolution, preferably of at least 750 pulses per revolution, more preferably of at least 1000 pulses per revolution, still more preferably of at least 1250 pulses per revolution, and most preferably at least 1500 pulses per revolution. 7. Assamenstel volgens een willekeurige van de voorgaande conclusies, waarbij - de basis fixeerbaar op een wiellageras is aangebracht of daarmee is geïntegreerd; - het rotatiedeel een wiel is, dat roteerbaar is ten opzichte van de wiellageras; en - het lager, dat tussen de basis en het rotatiedeel is aangebracht, een wiellager is.Axle assembly according to any of the preceding claims, wherein - the base is fixedly arranged on a wheel bearing axle or integrated therewith; - the rotation part is a wheel, which is rotatable with respect to the wheel bearing axis; and - the bearing, which is arranged between the base and the rotary part, is a wheel bearing. 8. Assamenstel volgens conclusie 7, waarbij de encoder een wielencoder is, die is ingericht voor het meten van een relatieve rotatie van het wiel ten opzichte van de basis, welke is gerelateerd aan een rotatie van genoemd wiel.Axle assembly according to claim 7, wherein the encoder is a wheel encoder arranged to measure a relative rotation of the wheel with respect to the base, which is related to a rotation of said wheel. 9. Assamenstel volgens conclusie 7 of 8, waarbij de wiellageras een longitadinaal doorgaand gat omvat, dat is ingericht voor het geleiden van een aan de encoder verbonden kabel.Shaft assembly according to claim 7 or 8, wherein the wheel bearing shaft comprises a longitudinal through hole adapted to guide a cable connected to the encoder. 10. Assamenstel volgens een willekeurige van conclusies 1-6, waarbij: - de basis roteerbaar ten opzichte van een asbehuizing is aangebracht en is ingericht om te roteren in verhouding tot een stuurhoek verplaatsing van een wiel ten opzichte van genoemde asbehuizing: - het rotatiedeel, dat roteerbaar is ten opzichte van de basis, een lageras is, die ten opzichte van genoemde asbehuizing is gefixeerd; en - de encoder is ingericht voor het meten van een relatieve rotatie van de basis ten opzichte van het rotatiedeel, welke aan de stuurhoekverplaatsing gerelateerd is.Axle assembly according to any of claims 1-6, wherein: - the base is mounted rotatably with respect to an axle housing and is arranged to rotate in relation to a steering angle displacement of a wheel with respect to said axle housing: - the rotation part, which is rotatable with respect to the base, is a bearing shaft fixed with respect to said shaft housing; and - the encoder is adapted to measure a relative rotation of the base with respect to the rotation part, which is related to the steering angle displacement. 11. Voertuig, omvattende een assamenstel volgens een willekeurige van de voorgaande conclusies.Vehicle, comprising an axle assembly according to any of the preceding claims. 12. Voertuig volgens conclusie 11, verder omvattende: - een aan de encoder verbonden besturing; en - waarbij de besturing is ingericht voor het besturen van ten minste één van een aandrijving en een stuurmotor van het voertuig.Vehicle as claimed in claim 11, further comprising: - a control connected to the encoder; and - wherein the control is adapted to control at least one of a drive and a steering motor of the vehicle. 13. Voertuig volgens conclusie 11 of 12, waarbij het voertuig een automatisch geleid voertuig is.Vehicle according to claim 11 or 12, wherein the vehicle is an automatically guided vehicle.
NL2023750A 2019-09-03 2019-09-03 Axle assembly and vehicle comprising such an axle assembly NL2023750B1 (en)

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NL2023750A NL2023750B1 (en) 2019-09-03 2019-09-03 Axle assembly and vehicle comprising such an axle assembly
PCT/NL2020/050546 WO2021045621A1 (en) 2019-09-03 2020-09-03 Axle assembly and vehicle comprising such an axle assembly
EP20768129.7A EP4025917A1 (en) 2019-09-03 2020-09-03 Axle assembly and vehicle comprising such an axle assembly

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