Robotics corner module

Patent metadata

Field	Value
Publication number	US-2025083305-A1
Application number	US-202418756541-A
Country	US
Kind code	A1
Filing date	Jun 27, 2024
Priority date	Sep 9, 2023
Publication date	Mar 13, 2025
Grant date	—

Abstract

A robotics corner module includes a steering drive unit, a traction drive unit, and a support structure. The steering drive unit includes an electric motor that drives rotation of a rotor shaft about a rotor shaft axis, and an output shaft coupled with the rotor shaft via a geartrain, such that rotation of the rotor shaft about the rotor shaft axis by the electric motor drives rotation of the output shaft about an output shaft axis that is parallel to and radially offset from the rotor shaft axis. The traction drive unit includes an electric motor that drives rotation of a rotor shaft about a rotor shaft axis, and a wheel hub operably coupled with the rotor shaft of the traction drive unit via a geartrain.

First claim

What is claimed is:

1 . A robotics corner module, comprising:
a steering drive unit, comprising:
an electric motor that drives rotation of a rotor shaft about a rotor shaft axis; and
an output shaft operably coupled with the rotor shaft via a geartrain, such that rotation of the rotor shaft about the rotor shaft axis by the electric motor drives rotation of the output shaft about an output shaft axis that is parallel to and radially offset from the rotor shaft axis;
a traction drive unit, comprising:
an electric motor that drives rotation of a rotor shaft about a rotor shaft axis; and
a wheel hub operably coupled with the rotor shaft of the traction drive unit via a geartrain, such that rotation of the rotor shaft of the traction drive unit drives rotation of the wheel hub about a wheel hub axis that is parallel to and radially aligned with the rotor shaft axis of the traction drive unit; and
a support structure that extends between the output shaft and the traction drive unit, such that rotation of the output shaft about the output shaft axis drives rotation of the support structure and the traction drive unit about the output shaft axis.

2 . The robotics corner module of claim 1 , wherein the geartrain of the traction drive unit includes a first planetary gearset, comprising:
a sun gear that is coupled to the rotor shaft of the traction drive unit, such that the sun gear and the rotor shaft of the traction drive unit are operable to rotate about the rotor shaft axis of the traction drive unit at a common rate of rotation; a plurality of planet gears engaged with the sun gear and configured to revolve about the rotor shaft axis of the traction drive unit; and a carrier that rotates about the rotor shaft axis of the traction drive unit at a rate corresponding with a rate that the planet gears revolve about the rotor shaft axis of the traction drive unit.

3 . The robotics corner module of claim 2 , wherein the geartrain of the traction drive unit includes a second planetary gearset, comprising:
a sun gear that is coupled to the carrier of the first planetary gearset and configured to rotate at a common rate of rotation about the rotor shaft axis of the traction drive unit with the carrier of the first planetary gearset; a plurality of planet gears engaged with the sun gear of the second planetary gearset and configured to revolve about the rotor shaft axis of the traction drive unit; and a carrier that rotates about the rotor shaft axis of the traction drive unit at a rate corresponding with a rate that the planet gears of the second planetary gearset revolve about the rotor shaft axis of the traction drive unit, wherein the carrier of the second planetary gearset is operably coupled with the wheel hub, such that the wheel hub and the carrier of the second planetary gearset rotate at a common rate of rotation.

4 . The robotics corner module of claim 3 , wherein the geartrain of the traction drive unit includes a ring gear that, with respect to the rotor shaft axis of the traction drive unit, is rotationally fixed and is radially outboard of and engaged with the plurality of planet gears of the first planetary gearset and the plurality of planet gears of the second planetary gearset.

5 . The robotics corner module of claim 4 , wherein the carrier of the second planetary gearset includes an axially distal face that faces axially away from the electric motor of the traction drive unit with respect to the rotor shaft axis of the traction drive unit, the axially distal face having a spline interface that is engaged with a corresponding spline interface of the wheel hub that faces axially toward the electric motor of the traction drive unit.

6 . The robotics corner module of claim 5 , wherein the traction drive unit further comprises:
a traction drive unit housing that includes a main body that has an inner surface that defines a motor housing region that houses the electric motor of the traction drive unit and an outer surface opposite the inner surface; and a wheel hub bearing that extends radially, with respect to the rotor shaft axis of the traction drive unit, between the outer surface of the main body of the traction drive unit housing and the wheel hub and that is configured to support and facilitate rotation of the wheel hub about the wheel hub axis, wherein the wheel hub bearing is axially aligned with the electric motor of the traction drive unit with respect to the rotor shaft axis of the traction drive unit.

7 . The robotics corner module of claim 6 , wherein the traction drive unit further comprises:
a wheel rim that, with respect to the rotor shaft axis of the traction drive unit, extends radially outboard from the wheel hub and is axially aligned with the wheel hub bearing.

8 . The robotics corner module of claim 6 , wherein the outer surface of the main body includes a groove that, with respect the rotor shaft axis of the traction drive unit, is recessed in the radially-inboard direction and axially aligned with the electric motor of the traction drive unit.

9 . The robotics corner module of claim 8 , further comprising:
a radiator mounted to the support structure and having a conduit extending outward therefrom and into the groove of the outer surface, such that a portion of the conduit is axially aligned with the motor and positioned radially between the wheel hub bearing and the main body, with respect to the rotor shaft axis of the traction drive unit.

10 . The robotics corner module of claim 9 , wherein the conduit includes a terminal end that is disposed within the groove of the outer surface of the main body.

11 . The robotics corner module of claim 7 , wherein the main body of the traction drive unit housing further defines a gearbox region that houses the geartrain of the traction drive unit on a first axial side of the motor housing region with respect to the rotor shaft axis of the traction drive unit.

12 . The robotics corner module of claim 11 , wherein the traction drive unit housing comprises:
a bearing shield that, with respect to the rotor shaft axis of the traction drive unit, extends radially inboard from the inner surface of the main body between the motor housing region and the gearbox region; and a gearbox end plate that, with respect to the rotor shaft axis of the traction drive unit, extends radially inboard from the inner surface of the main body toward the carrier of the second planetary gearset, such that the inner surface of the main body, the bearing shield, and the gearbox end plate cooperate to define the gearbox region of the housing, wherein the carrier of the second planetary gearset extends through a gearbox end plate opening defined by the gearbox end plate, such that the axially distal face of the carrier is positioned axially beyond the gearbox end plate outside of the gearbox region of the housing.

13 . The robotics corner module of claim 11 , wherein the traction drive unit further comprises:
an electric brake configured to inhibit rotational movement of the rotor shaft of the traction drive unit about the rotor shaft axis of the traction drive unit.

14 . The robotics corner module of claim 13 , wherein the traction drive unit housing comprises:
a bearing shield that, with respect to the rotor shaft axis, extends radially inboard from the inner surface of the main body between the motor housing region and an electric brake housing region that is defined by the main body and the bearing shield that extends between the motor housing region and the electric brake housing region, wherein the motor housing region is positioned axially between the

Assignees

• Schaeffler Technologies Ag

Inventors

• Johnson Joseph
• Hooker Craig
• Hrusch Nicholas

Classifications

• F16H57/0476

  Electric machines and gearing, i.e. joint lubrication or cooling or heating thereof · CPC title

• F16H57/0417

  Heat exchangers adapted or integrated in the gearing · CPC title

• F16H57/0416

  Air cooling or ventilation · CPC title

• F16H1/46

  Systems consisting of a plurality of gear trains each with orbital gears, {i.e. systems having three or more central gears} · CPC title

• F16H1/20

  involving more than two intermeshing members · CPC title