KR20240079398A - Robot wheel driving apparatus - Google Patents

Abstract

The present invention relates to a robot wheel driving device. The robot wheel driving device according to an embodiment of the present invention includes a wheel, a motor housing provided inside the wheel, a stator, and a motor including a rotor rotating around the stator. The rotor includes a plurality of magnets positioned to face the stator, and a rotor frame rotating inside the motor housing, wherein the rotor frame includes a rotor yoke that secures each of the plurality of magnets at a set interval, and each of the plurality of magnets. It protrudes on the inside of the rotor yoke so as to be located between the and includes a plurality of magnet guides that guide the attachment position of the magnets. It is possible to maintain the spacing between the magnets and prevent the magnets from being separated.

Description

Robot wheel driving device {ROBOT WHEEL DRIVING APPARATUS}

Embodiments of the present invention relate to a robot wheel drive device. More specifically, it is possible to maintain the distance between a plurality of magnets to improve motor performance and prevent each magnet from deviating in the radial and axial directions of the motor. It relates to a robot wheel drive device having an abduction motor structure that can

The content described below is merely for the purpose of providing background information related to embodiments of the present invention, and the content described does not necessarily constitute prior art.

A robot is a mechanical device that recognizes the external environment, judges the situation, and operates autonomously. Depending on the purpose, they can be divided into industrial robots and service robots.

Until now, the focus has been on mechanical utilization rather than on approaching human intelligence, and it has been mainly used in factory automation, such as replacing simple repetitive tasks that are difficult for humans to do.

Recently, with the rapid development of artificial intelligence technology and the increasing level of IoT, sensor, and cloud technology, robots with intelligence different from before are appearing.

Home robots can perform a variety of roles, such as interacting with people, assisting with daily activities at home, providing entertainment elements, and improving fire, noise, and risk factors.

Meanwhile, various types of devices that require the movement of such robots are being developed. Representative technologies for driving devices such as robot wheel motors are being developed.

For example, a robot wheel drive may be connected to the robot's legs and use a motor to rotate wheels equipped with tires at a set speed. And, an inverter motor can be used as the motor used in this robot wheel drive device.

Inverter motors have the advantage of being able to freely adjust the rotational speed of the motor through the power supplied to the motor, significantly reducing unnecessary energy consumption and noise, and enabling even delicate movements.

Meanwhile, the inverter motor used in the robot wheel drive device is an in-wheel motor that includes an inverter and a magnetic encoder, and an abduction type motor in which the stator is located inside a rotating rotor is mainly used.

In the case of an abduction motor, a ring-shaped rotor yoke surrounds the outside of the stator, and a plurality of magnets are fixed to the inside of the rotor yoke to maintain a set interval.

However, in an abduction type motor, if the plurality of magnets do not maintain the set spacing inside the rotor yoke or the plurality of magnets deviate from the rotation radius and the axial direction, problems that cause failure of the abduction type motor occur.

Conventionally, in order to fix a plurality of magnets to the rotor yoke, a jig for fixing the magnets was first installed inside the rotor yoke. The magnet fixing jig is inserted between the sides of each magnet to maintain the distance between the magnets at a set interval. Next, each magnet was bonded to the inside of the rotor yoke using an adhesive while maintaining the set spacing using a magnet fixing jig.

However, when using a separate jig according to the conventional method, if there is an error or shaking in the magnet alignment work due to the jig for fixing the magnet, it may cause a decrease in motor performance, cogging, and an increase in torque ripple.

As a prior document related to the present invention, CN211606327U discloses a structure in which a magnetic coding servo controller and a hub motor are integrated. The motor disclosed in the prior literature is an abduction type motor in which a stator is fixed inside the rotor, and teeth for aligning magnet positions protrude from the cover of the rotor, and one end of each of the plurality of magnets is bound to the teeth to align the positions. have

However, the conventional prior art literature is easy to install using teeth, but it does not have a structure that is attached in a circular shape to the inside of the rotor housing (i.e., rotor yoke), and has the disadvantage of being able to deviate in the rotation radius or axial direction. If the magnet is separated or shaken, problems may occur such as a decrease in the performance of the motor itself, coating, and an increase in torque ripple.

CN211606327U

The purpose of the present invention is to provide a robot wheel drive device in which the position of a plurality of magnets can be fixed while maintaining a predetermined interval inside the rotor in an abduction motor in which a stator is located inside the rotor.

Another object of the present invention is to provide a robot wheel drive device in which a plurality of magnets are aligned at predetermined intervals inside the rotor and then do not deviate in the radial and axial directions of the motor and the occurrence of shaking can be suppressed as much as possible. .

The objects of the present invention are not limited to the objects mentioned above, and other objects and advantages of the present invention that are not mentioned can be understood by the following description and will be more clearly understood by the examples of the present invention. Additionally, it will be readily apparent that the objects and advantages of the present invention can be realized by the means and combinations thereof indicated in the patent claims.

According to one aspect of the present invention, a robot wheel driving device is provided in which a position of a plurality of magnets in an abduction motor in which a stator is located inside a rotor can be fixed while maintaining a predetermined interval inside the rotor.

In addition, according to another aspect of the present invention, a robot wheel drive device is provided in which a plurality of magnets are aligned at predetermined intervals inside the rotor and then do not deviate in the radial and axial directions of the motor and the occurrence of shaking can be suppressed as much as possible. do.

A robot wheel driving device according to an embodiment of the present invention includes a wheel, a motor housing, and a motor.

The wheel may have a circular body that rotates to drive the robot.

The motor housing is provided inside the wheel and may have a cylindrical shape with one side open. The motor housing includes a first motor housing part in the shape of a disk that can be seated inside the wheel, and a second motor housing part in the shape of a circular tube that can be in close contact with the inner peripheral surface of the wheel.

A through hole having a predetermined diameter and penetrating in the thickness direction is provided at the center of the first motor housing portion. The through hole is used as a site into which the rear end of the rotary shaft (specifically, the second rotating shaft portion) of the rotor frame is inserted.

The rotating axis of the rotor frame is inserted through a through hole and connected to the fastening hole of the wheel. As the bolt sequentially tightens the fastening hole of the wheel and the fastening groove of the rotating axis, the rotating axis of the rotor frame and the center of the wheel can be firmly connected. there is.

The motor is inserted inside the motor housing and provides rotational force to the wheel. Here, the motor may be an inverter-integrated motor.

The motor includes a stator fixed to the inside of the motor housing, and a rotor disposed with an air gap outside the stator and rotating around the stator.

The stator includes a plurality of coils arranged in a circumferential direction, and a stator core around which the plurality of coils are wound and mounted.

The rotor includes a plurality of magnets arranged in a circumferential direction to face a plurality of coils, and a rotor frame that fixes the plurality of magnets and rotates within the motor housing at the same center as the wheel.

The rotor frame protrudes on the inside of the rotor yoke to be located between the rotor yoke, which attaches and secures each of the plurality of magnets in a circular shape at a set interval, and guides the attachment position of each of the plurality of magnets. Includes multiple magnet guides.

The rotor yoke includes a ring-shaped rotor yoke body portion to which a plurality of magnets are attached, and a support portion that protrudes from the rotor yoke body portion in the radial direction of the motor and supports one end of each of the plurality of magnets.

The support portion may protrude from one end of the rotor yoke body portion at a set length toward the radial direction of the motor and may have a circular band shape.

At this time, the support unit supports one end of each of the plurality of magnets fixed to the rotor yoke to prevent at least one of the plurality of magnets from being separated in the axial direction of the motor.

The inside of the rotor yoke body may be provided with a magnet attachment surface on which each of a plurality of magnets is attached in a circular shape at a set interval.

A plurality of magnet guides may be arranged in a circular shape on the magnet attachment surface.

The rotor yoke includes a ring-shaped rotor yoke body portion to which a plurality of magnets are attached, and a support portion that protrudes from the rotor yoke body portion in the radial direction of the motor and supports one end of each of the plurality of magnets, and includes a plurality of magnets. Each guide is formed on the magnet guide body portion and a rectangular parallelepiped-shaped magnet guide body portion that protrudes from the inside of the rotor yoke body portion in the radial direction of the motor, and includes protrusions that protrude to constrain the side surfaces of each of the plurality of magnets.

At this time, the protrusion may restrain the side surfaces of each of the plurality of magnets fixed to the rotor yoke to prevent at least one of the plurality of magnets from deviating in the radial direction of the motor.

The magnet guide body portion may have a thickness corresponding to a set interval between each of the plurality of magnets and may have a length smaller than the length of each of the plurality of magnets.

A round portion may be formed on each side of the plurality of magnets.

The protrusion may have a round groove corresponding to the round part.

The stator includes a plurality of coils arranged in a circumferential direction, and a stator core around which the plurality of coils are wound and mounted, a rotor yoke is arranged to surround the outer perimeter of the stator, and a plurality of magnets have a plurality of coils and a predetermined air gap. It can be placed spaced apart with an in between.

The rotor frame includes a rotation axis formed along the center direction of the motor.

The rotation shaft includes a first rotation shaft portion and a second rotation shaft portion. The first rotation shaft portion may be supported by a first bearing. The second rotation shaft portion has a larger diameter than the first rotation shaft portion, and may be integrally connected to the rear end of the first rotation shaft portion and supported by a second bearing. Additionally, a wave washer may be provided at the front end of the first bearing.

The rotor frame further includes a disk-shaped rotor hub integrally coupled with the rotor yoke.

The rotor hub is a disk-shaped external frame formed at a position radially far from the center of the motor, and is formed at a position radially close to the center of the motor and connected to the external frame in a stepped manner (i.e., connected so as to have different heights). It includes a disk-shaped inner frame, and an inclined frame connecting the outer frame and the inner frame.

In addition, it further includes an inverter cover connected to the motor to cover the open portion of the motor housing, and a PCB provided inside the inverter cover and disposed to face the motor.

The inverter cover may have a shape that covers the open portion of the motor housing. The inverter cover can be connected to the motor in an integrated structure. An electrolytic capacitor that can be used for the inverter DC link may be placed inside the inverter cover. The PCB is provided inside the inverter cover and may be arranged to face the motor.

Meanwhile, a sensor magnet may be coupled to the rotation axis. The sensor magnet may be coupled to the front end of the first rotation shaft portion. The sensor magnet can be positioned facing the encoder sensor placed on the PCB at a set distance. Accordingly, the encoder sensor disposed on the PCB can sense the rotation speed of the motor by detecting the sensor magnet coupled to the front end of the first rotation shaft portion.

At the rear end of the rotation shaft, that is, at the rear end of the second rotation shaft portion, a fastening groove capable of fastening a bolt is provided. The fastening groove is located at the center of the motor and may be connected to a fastening hole formed through the center of the wheel. Accordingly, the bolt may be fastened through the fastening hole of the wheel and then inserted into the fastening groove located at the rear end of the rotation axis. As a result, the wheel and rotor frame can be coupled to form the same center. Accordingly, when the rotor frame rotates within the motor housing, the rotational force is transmitted to the wheel coupled at the same center as the rotor frame, making it possible to rotate the wheel required for the robot to run.

The rotor hub may further include a plurality of holes formed through the rotor hub in the thickness direction. A plurality of holes may be formed including six holes. The six holes may be formed radially and spaced apart from each other at a certain distance based on the center of the motor. A plurality of holes can be used as a space for flowing air. Additionally, the plurality of holes can reduce the weight of the rotor hub, thereby reducing the overall weight of the motor.

The stator further includes a stator frame supporting the stator. One side of the stator frame may be coupled to the motor housing to cover the open portion of the motor housing, and the other side of the stator frame may be coupled to cover the inverter cover. The PCB can be fastened to the stator frame and positioned and fixed inside the inverter cover.

The stator frame includes a first stator frame portion, a second stator frame portion, and a third stator frame portion. The first stator frame portion may protrude in a circular shape to face the center of the motor. The second stator frame portion may protrude in a circular shape from the first stator frame portion at intervals in the radial direction. The third stator frame unit may radially connect the first stator frame unit and the second stator frame unit. The PCB may be fastened to the second stator frame portion.

A cylindrical groove is formed in the center of the first stator frame portion, and the tip of the first rotation shaft portion among the rotation shafts may be inserted and supported in the cylindrical groove. A first bearing is inserted between the cylindrical groove and the tip of the first rotation shaft portion. The first bearing reduces rotational friction of the first rotation shaft portion and supports the first rotation shaft portion. And the second rotation shaft portion is supported by the second bearing.

The motor housing includes a first motor housing part in the shape of a disk, and a second motor housing part in the shape of a circular tube protruding from the edge of the first motor housing part at a set length, and a through hole is provided in the center of the first motor housing part. The motor housing has a cylindrical support groove around the through hole. The support groove can be used as an area where the second bearing is inserted.

The second bearing is restrained in the support groove and is disposed between the second rotation shaft portion passing through the through hole and the motor housing. The second bearing reduces rotational friction of the second rotation shaft portion and supports the second rotation shaft portion.

The second stator frame portion includes a circular protrusion that protrudes toward the motor. The circular protrusion protrudes into the inside of the motor, and has a structure in which the outer peripheral surface of the protruding portion and the inner peripheral surface of the stator core are in close contact with each other. Accordingly, the second stator frame portion firmly supports the stator, especially the stator core.

The second stator frame part includes a plurality of PCB fastening parts. The plurality of PCB fastening parts are areas where a plurality of bolts penetrating the PCB are screwed together, and the PCB can be firmly fixed.

The robot wheel driving device according to an embodiment of the present invention includes a wheel, a wheel cover, a bottom cover, a motor housing, and a motor. The wheel has a circular body that rotates by combining tires to drive the robot. A wheel cover can be connected to the wheel to shield both sides of the wheel. The bottom cover may be coupled to the bottom of the wheel cover. The bottom cover may be coupled to the open portion of the wheel cover to shield the open portion between the tire and the wheel cover that is exposed to the bottom of the wheel when the wheel and the wheel cover are connected. This prevents foreign substances from outside the wheel from flowing into the inside of the wheel. The motor housing is provided inside the wheel and may have a cylindrical shape with one side open. The motor is inserted into the interior of the motor housing and can provide rotational force to the wheel.

The motor includes a stator fixed to the inside of the motor housing, and a rotor disposed on the outside of the stator and rotating around the stator to transmit rotational force to the wheel. The rotor includes a plurality of magnets positioned to face the stator, and It includes a rotor frame that rotates inside the motor housing concentrically with the wheel. The rotor frame protrudes on the inside of the rotor yoke to be located between the rotor yoke, which attaches and secures each of the plurality of magnets in a circular shape at a set interval, and guides the attachment position of each of the plurality of magnets. Includes multiple magnet guides.

The wheel includes a first wheel body portion in the shape of a disc, and a second wheel body portion that protrudes in a circular tube shape along an edge of the first wheel body portion and on which a tire is mounted.

The wheel cover includes a first wheel cover part that shields one side of the wheel, a second wheel cover part that is coupled to face the first wheel cover part with the wheel in between, and shields the other side of the wheel, and a first wheel cover part. It includes a leg connection part that connects the second wheel cover part to the robot body.

The first wheel cover portion includes a first cover body having a shape that convexly covers one side of the wheel so as to secure a first internal space of a predetermined size between one side of the wheel, and extending in the height direction from the top of the first cover body. , It includes a first connection part connecting the first cover body and the leg connection part.

The second wheel cover portion includes a second cover body having a shape that convexly covers the other side of the wheel to secure a second internal space of a predetermined size between the other side of the wheel, and extending in the height direction from the top of the second cover body. , It includes a second connection part connecting the second cover body and the leg connection part.

The robot wheel driving device according to an embodiment of the present invention further includes a link. The link is built into the wheel cover and connects the motor and the wheel cover to constrain the position of the motor. One end of the link may be fixed to the wheel cover, and the other end of the link may be fixed to the motor. For example, one end of the link may be a straight link portion, and the other end of the link may be a circular link portion. The straight link part may be fixed to the inside of at least one of the first and second connection parts. The circular link part is connected to the bottom of the straight link part and can be fixed to the motor. Additionally, the circular link part may be bolted and fixed to the stator frame, and an inverter cover protruding in the shape of a circular cap may be located in the inner hollow of the circular link part.

A fastening groove may be provided on the inner peripheral surface of the tire. And the outer peripheral surface of the second wheel body may be provided with a fastening protrusion inserted into the fastening groove. The fastening protrusions include a first fastening protrusion in the shape of a band surrounding the outer peripheral surface of the second wheel body in the circumferential direction, and a plurality of second fastening protrusions that protrude in a direction intersecting the first fastening protrusion and are formed at regular intervals. Includes.

The rotor yoke includes a ring-shaped rotor yoke body portion to which a plurality of magnets are attached, and a support portion that protrudes from the rotor yoke body portion in the radial direction of the motor and supports one end of each of the plurality of magnets.

The support portion may protrude at a set length from one end of the rotor yoke body toward the radial direction of the motor and may have a circular band shape. The support unit supports one end of each of the plurality of magnets fixed to the rotor yoke and prevents at least one of the plurality of magnets from being separated in the axial direction of the motor.

Each of the plurality of magnet guides is formed on a rectangular parallelepiped-shaped magnet guide body part that protrudes in the radial direction of the motor from the inside of the rotor yoke body part, and a magnet guide body part, and has protruding protrusions to restrain the side surfaces of each of the plurality of magnets. Includes. The protrusions restrain the side surfaces of each of the plurality of magnets fixed to the rotor yoke and prevent at least one of the plurality of magnets from leaving in the radial direction of the motor.

According to an embodiment of the present invention, in the abduction motor structure applied to the robot wheel drive device, when using a plurality of magnets, it is difficult to maintain the gap between the magnets or each magnet moves in the radial and axial directions of the motor. By preventing the motor from moving or breaking away, motor performance can be improved and problems caused by cogging and increased torque ripple can be prevented in advance.

In addition, according to an embodiment of the present invention, work errors due to the use of a separate jig are reduced when attaching a plurality of magnets to the inside of the rotor, and the gap between magnets is reduced by utilizing the magnet guide formed on the rotor yoke without using a separate jig. It can be maintained accurately, improving workability and product reliability.

In addition to the above-described effects, specific effects of the present invention are described below while explaining specific details for carrying out the invention.

Figure 1 is a front perspective view briefly showing a robot wheel drive device according to an embodiment of the present invention.
Figure 2 is a rear perspective view briefly showing a robot wheel drive device according to an embodiment of the present invention.
Figure 3 is a left side view briefly showing a robot wheel driving device according to an embodiment of the present invention.
Figure 4 is a right side view briefly showing a robot wheel driving device according to an embodiment of the present invention.
Figure 5 is a front view briefly showing a robot wheel driving device according to an embodiment of the present invention.
Figure 6 is a schematic exploded perspective view of a robot wheel drive device according to an embodiment of the present invention.
Figure 7 is a schematic exploded perspective view of the wheel cover, wheel, motor housing, motor, inverter cover, and PCB of the robot wheel drive device according to an embodiment of the present invention.
Figure 8 is a cross-sectional view briefly showing the overall structure of a robot wheel drive device according to an embodiment of the present invention.
Figure 9 is a perspective view showing the combined structure of tires, wheels, and motors in a robot wheel drive device according to an embodiment of the present invention.
Figure 10 is a perspective view showing the external appearance of the motor of the robot wheel drive device according to an embodiment of the present invention.
Figure 11 is an exploded perspective view showing the detailed configuration of the motor of the robot wheel drive device according to an embodiment of the present invention.
Figure 12 is a cross-sectional view showing the detailed configuration of the motor of the robot wheel drive device according to an embodiment of the present invention.
Figure 13 is a perspective view showing the rotor yoke and magnet guide in the motor of the robot wheel drive device according to an embodiment of the present invention.
Figure 14 is a perspective view showing a plurality of magnets supported by a magnet guide and fixed to the rotor yoke in the motor of the robot wheel drive device according to an embodiment of the present invention.
Figure 15 is a diagram showing a structure in which a magnet is supported by a magnet guide in a motor of a robot wheel drive device according to an embodiment of the present invention.
Figure 16 is a diagram showing a rotor frame structure in which a rotor yoke to which a magnet is fixed and a rotor hub are combined in a motor of a robot wheel drive device according to an embodiment of the present invention.

The above-described objects, features, and advantages will be described in detail later with reference to the attached drawings, so that those skilled in the art will be able to easily implement the technical idea of the present invention. In describing the present invention, if it is determined that a detailed description of known techniques related to the present invention may unnecessarily obscure the gist of the present invention, the detailed description will be omitted. Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the attached drawings. In the drawings, identical reference numerals are used to indicate identical or similar components.

Although first, second, etc. are used to describe various components, these components are of course not limited by these terms. These terms are only used to distinguish one component from another component, and unless specifically stated to the contrary, the first component may also be a second component.

Throughout the specification, unless otherwise stated, each element may be singular or plural.

Hereinafter, the “top (or bottom)” of a component or the arrangement of any component on the “top (or bottom)” of a component means that any component is placed in contact with the top (or bottom) of the component. Additionally, it may mean that other components may be interposed between the component and any component disposed on (or under) the component.

Additionally, when a component is described as being “connected,” “coupled,” or “connected” to another component, the components may be directly connected or connected to each other, but the other component is “interposed” between each component. It should be understood that “or, each component may be “connected,” “combined,” or “connected” through other components.

As used herein, singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, terms such as “consists of” or “comprises” should not be construed as necessarily including all of the various components or steps described in the specification, and some of the components or steps may include It may not be included, or it should be interpreted as including additional components or steps.

Additionally, as used herein, singular expressions include plural expressions, unless the context clearly dictates otherwise. In the present application, terms such as “consists of” or “comprises” should not be construed as necessarily including all of the various components or steps described in the specification, and some of the components or steps may include It may not be included, or it should be interpreted as including additional components or steps.

Throughout the specification, when referring to "A and/or B", this means A, B or A and B, unless specifically stated to the contrary, and when referring to "C to D", this means unless specifically stated to the contrary. Unless there is one, it means that it is C or higher and D or lower.

In the following description, the robot refers to a robot that can move in the forward, backward, left, and right directions by driving the wheels.

In the following description, the robot wheel driving device may be connected to a leg of the robot's main body and uses a motor to rotate a wheel equipped with a tire at a set speed.

In the following description, the motor used in the robot wheel drive device may be an inverter-integrated motor. The inverter-integrated motor can freely adjust the rotational speed of the motor through the power supplied to the motor, significantly reduces unnecessary energy consumption and noise, and can even achieve delicate movements.

Hereinafter, the present invention will be described in detail with reference to the attached drawings showing a robot wheel driving device according to an embodiment of the present invention.

[Overall structure of robot wheel driving device]

Hereinafter, the overall structure of the robot wheel drive device according to an embodiment of the present invention will be described in detail with reference to the attached drawings.

Figures 1 to 5 are a front perspective view, rear perspective view, left side view, right side view, and front view briefly showing the overall structure of the robot wheel drive device. And Figures 6 and 7 are exploded views showing the overall structure of the robot wheel drive device. Figure 8 is a cross-sectional view of the robot wheel drive device.

As shown, the robot wheel driving device 1 according to an embodiment of the present invention includes a wheel cover 10, a wheel 20, a tire 30, a motor 40, a motor housing 50, and an inverter cover ( 80), PCB (85), and electrolytic capacitor (90).

The wheel cover 10 has a shape that shields both sides of the wheel 20 and is connected to the wheel 20.

As a specific example, the wheel cover 10 includes a first wheel cover portion 11 and a second wheel cover portion 12. The first wheel cover portion 11 may shield one side (eg, left side, etc.) of the wheel 20. The second wheel cover portion 12 may shield the other side (eg, right side, etc.) of the wheel 20.

For example, the first wheel cover part 11 and the second wheel cover part 12 may have the same shape that is symmetrical to each other with respect to the wheel 20, but the shape is not necessarily limited to this.

The second wheel cover part 12 is coupled to the first wheel cover part 11 so as to face the first wheel cover part 11 with the wheel 20 interposed therebetween, and is coupled to the other side (e.g., right side) of the wheel 20. etc.) can be shielded.

The wheel cover 10 further includes a leg connection portion 13. The leg connection part 13 can connect the first wheel cover part 11 and the second wheel cover part 12 to the robot body (not shown).

The first wheel cover part 11 includes a first cover body 111 and a first connection part 113.

The first cover body 111 is positioned on one side (e.g., left side, etc.) of the wheel 20 so that a first internal space 112 of a predetermined size is secured between the one side (e.g., left side, etc.) of the wheel 20. It may have a convex covering shape.

The first connection portion 113 may have a shape extending in a straight line from the top of the first cover body 111 in the height direction. The first connection part 113 connects the first cover body 111 and the leg connection part 13.

The second wheel cover part 12 includes a second cover body 121 and a second connection part 123.

The second cover body 121 is positioned on the other side (e.g., right side, etc.) of the wheel 20 so that a second internal space 122 of a predetermined size is secured between the other side (e.g., right side, etc.) of the wheel 20. It may have a convex covering shape.

The second connection portion 123 may have a shape extending straight from the top of the second cover body 121 in the height direction. The second connection part 123 connects the second cover body 121 and the leg connection part 13.

In addition, the area where the first connection part 113 and the second connection part 123 are connected to the leg connection part 13 may be further provided with a wrinkled shape (see FIG. 1). Using this wrinkle shape, shock at the connection area can be cushioned or expansion and contraction can be adjusted.

A bottom cover 14 may be further provided at the bottom of the wheel cover 10. The bottom cover 14 is coupled to the wheel cover 10 to cover the lower open area of the wheel cover 10.

Specifically, the bottom cover 14 is coupled to cover the open area between the tire 30 and the wheel cover 10 exposed below the wheel 20 when the wheel 20 and the wheel cover 10 are connected. . The bottom cover 14 can prevent external bulky foreign substances from flowing into the wheel 20 and damaging the motor 40.

A link 15 may be further provided inside the wheel cover 10 (see FIG. 6).

Link 15 is built into the wheel cover 10. The link 15 is built into the wheel cover 10 and serves to structurally connect the motor 40 and the wheel cover 10 to constrain their positions.

One end of the link 15 may be fixed to the inside of the wheel cover 10. The other end of the link 15 may be fixed to one side of the motor 40. For example, one end of the link 15 may be a straight link part 151 having a bar shape, and the other end of the link 15 may be a circular link part 152.

The straight link part 151 may be fixed to the inside of the first connection part 113. However, it is not necessarily limited to this, and the linear link part 151 may be fixed to the inside of the second connection part 123.

The circular link part 152 is connected to the bottom of the linear link part 151 in a ring shape and can be fixed to one side of the motor 40. An inverter cover 80 protruding in the shape of a circular cap is inserted into the inner hollow of the circular link portion 152 and may have a structure that protrudes to the outside of the motor 40.

The wheel 20 is a device that receives the rotational force of the motor 40 and drives the robot to travel. The wheel 20 has a circular body, and a tire 30 may be coupled to the outer circumferential surface of the wheel 20.

The wheel 20 includes a first wheel body 21 and a second wheel body 22. The first wheel body portion 21 may have a disk shape. The second wheel body portion 22 is a portion that protrudes in the shape of a circular tube along the edge of the first wheel body portion 21, which has a disk shape. A tire 30 may be mounted on the outer peripheral surface of the second wheel body 22.

Tire 30 is mounted on wheel 20. The tire 30 is a member that rolls and rotates on the ground as the wheel 20 rotates, and moves the robot in a set direction.

Since the tire 30 undergoes repeated friction and contact with the ground, it can be manufactured from various materials in consideration of durability, slip prevention, etc. depending on the type of ground. For example, the tire 30 may be made of a material such as rubber. For example, a fastening groove 31 is provided on the inner peripheral surface of the tire 30. Fastening protrusions 23 and 24 may be provided on the outer peripheral surface of the second wheel body portion 22. The fastening protrusions 23 and 24 may be inserted into and fixed in the fastening groove 31 (see FIG. 7).

The fastening protrusions 23 and 24 include first fastening protrusions 23 and second fastening protrusions 24 having different shapes. For example, the first fastening protrusion 23 may be formed in the form of a ring-shaped band surrounding the outer peripheral surface of the second wheel body 22 in the circumferential direction. The second fastening protrusion 24 may protrude in a direction intersecting the first fastening protrusion 23, and may be formed in the form of a straight strip having a certain length in the width direction of the tire. The second fastening protrusion 24 may have a trapezoidal cross-section.

Additionally, a plurality of second fastening protrusions 24 may be provided, and the plurality of fastening protrusions 24 may be formed along the first fastening protrusions 23 at regular intervals from each other.

In this way, the first fastening protrusions 23 and the second fastening protrusions 24 have a shape that intersects and protrudes, so that the fastening grooves 31 are inserted and fixed into the first and second fastening protrusions 23 and 24. The tire 30 can be firmly mounted on the second wheel body 22.

The motor housing 50 is a housing component that stores the motor 40 inside.

The motor housing 50 is seated and coupled to the inside of the wheel 20. The motor housing 50 has a cylindrical shape with one side open, and the motor 40 can be accommodated therein through the open side.

For example, the motor housing 50 includes a first motor housing portion 51 and a second motor housing portion 52. The first motor housing portion 51 is a disk-shaped body that is seated inside the wheel 20. The second motor housing portion 52 is a circular tube-shaped body that can be in close contact with the inner peripheral surface of the wheel 20. A through hole 511 may be provided in the center of the first motor housing portion 51 (see FIG. 7). Here, the through hole 511 refers to a circular hole having a constant diameter and formed by penetrating the first motor housing portion 51 in the thickness direction. The through hole 511 is a portion through which the rear end of the rotation axis 721 of the rotor frame 72 is inserted.

The rotation axis 721 of the rotor frame 72 penetrates the through hole 511 of the first motor housing portion 51, and the penetration part of the rotation axis 721 and the wheel 20 are integrated using a bolt. By being fastened, the rotor frame 72 is fastened to the wheel 20 and rotates together.

The motor 40 is mounted inside the motor housing 50 and provides rotational force to the wheel 20. In an embodiment of the present invention, the motor 40 is an inverter-integrated motor, and may be an external rotation type motor in which the rotor 70 rotates outside the stator 60 (see FIG. 7).

The motor 40 includes a stator 60 and a rotor 70. The stator 60 is fixed in position inside the motor housing 50, whereas the rotor 70 rotates outside the stator 60.

The inverter cover 80 may have a cylindrical cap shape that covers the open portion of the motor housing 50. The motor 40 is an inverter-integrated motor, and the inverter cover 80 is connected to the motor 40 (see FIG. 7).

The electrolytic capacitor 90 can be used for the inverter DC link in the inverter-integrated motor 40 (see FIG. 7). The electrolytic capacitor 90 may use an aluminum electrolytic capacitor (AL capacitor), but is not necessarily limited thereto. Therefore, although not shown separately, a multi layer ceramic condenser (MLCC) can be used for the DC link of an inverter-integrated motor.

The PCB 85 is located inside the inverter cover 80 (see Figure 7). The PCB 85 is arranged to face the motor 40, and although not separately shown, a number of inverter circuit elements may be further arranged.

Additionally, an encoder sensor 88 (see FIG. 11) that detects the rotation of the motor 40 may be further disposed on the PCB 85.

[Motor structure]

Hereinafter, the structure of the abduction motor applied to the robot wheel drive device according to an embodiment of the present invention will be described in detail with reference to the attached drawings.

In the drawing, Figure 9 shows the tire, wheel, and motor combined, and Figure 10 shows the external appearance of the motor. Figure 11 shows the detailed configuration of the motor according to an embodiment of the present invention, disassembled in the axial direction. Figure 12 shows a cross-sectional structure of a motor according to an embodiment of the present invention. Figure 13 shows the rotor yoke and magnet guide, Figure 14 shows the magnet fixed to the rotor yoke using the magnet guide, and Figure 15 shows the structure in which the magnet is supported in the radial and axial directions by the magnet guide. This is an enlarged drawing. Figure 16 shows the structure of a rotor frame in which a rotor hub is coupled to a rotor yoke to which a magnet is fixed.

Referring to FIG. 9, a wheel 20 and a tire 30 are mounted on the outside of the motor 40.

Referring to FIG. 10, it shows a structure in which the wheel 20 and tire 30 are removed and the motor 40 is built inside the motor housing 50.

The motor housing 50 has a cylindrical shape with one side open, and the motor 40 can be inserted inside using the open portion of the motor housing 50.

The motor housing 50 includes a first motor housing portion 51 and a second motor housing portion 52. The first motor housing portion 51 refers to a disk-shaped body. The second motor housing portion 52 refers to a body in the shape of a circular tube.

A stator frame 61 is coupled to the motor housing 50, and an inverter cover 80 having a cylindrical cap shape is connected to the outside of the stator frame 61. In this way, the motor 40 may have the form of an inverter-integrated motor.

Referring to FIGS. 11 and 12 , the abduction motor 40 shown is mounted inside the motor housing 50 and includes a stator 60 and a rotor 70.

The stator 60 is positioned and fixed inside the motor housing 50. The stator 60 includes a plurality of coils 63 arranged in the circumferential direction and a stator core 62 around which the plurality of coils 63 are wound.

Additionally, the stator 60 further includes a stator frame 61. The stator frame 61 refers to a cover member that supports the stator 60 as a whole and is coupled to cover one open surface of the motor housing 50. One side of the stator frame 61 is coupled to cover the motor housing 50, and the inverter cover 80 is coupled to the other side of the stator frame 61.

The stator frame 61 includes a first stator frame portion 611, a second stator frame portion 612, and a third stator frame portion 613.

The first stator frame portion 611 protrudes in a circular shape to face the center of the motor 40. The second stator frame portion 612 protrudes in a circular shape from the first stator frame portion 611 at intervals in the radial direction. The third stator frame portion 613 radially connects and supports the first stator frame portion 611 and the second stator frame portion 612. The PCB 85 may be fastened to the second stator frame portion 612.

A cylindrical groove 6111 is formed in the center of the first stator frame portion 611. The cylindrical groove 6111 is supported by inserting the tip portion of the first rotation shaft portion 7211. A first bearing 7213 is inserted between the cylindrical groove 6111 and the tip of the first rotation shaft portion 7211, and supports the first rotation shaft portion 7211.

The second stator frame portion 612 includes a circular protrusion 6121. The circular protrusion 6121 protrudes into the inside of the motor 40, and the protruding outer peripheral surface and the inner peripheral surface of the stator core 62 face each other and are supported. The second stator frame portion 612 has a circular boss-shaped PCB fastening portion 6123 that fastens the PCB 85 with bolts.

The rotor 70 is disposed with an air gap outside the stator 60. And when power is supplied to the motor 40, the rotor 70 rotates around the stator 60.

The rotor 70 includes a plurality of magnets 71 and a rotor frame 72. The plurality of magnets 71 have a structure arranged in the circumferential direction to face the plurality of coils 63. The rotor frame 72 fixes a plurality of magnets 71 and rotates inside the motor housing 50.

The rotor frame 72 includes a rotation shaft 721, a rotor hub 722, a rotor yoke 723, and a magnet guide 730.

The rotation axis 721 is located at the rotation center of the rotor 70. For example, the rotation axis 721 has a shape that protrudes long from the center of the rotor frame 72 to have a predetermined length along the axial direction of the motor 40.

The rotation shaft 721 includes a first rotation shaft portion 7211 and a second rotation shaft portion 7212 (see FIG. 12). For example, the first rotation shaft portion 7211 is located at the front end of the rotation shaft 721 and is supported by the first bearing 7213. The second rotation shaft portion 7212 is located at the rear end of the rotation shaft 721 and has a shape whose diameter is larger than that of the first rotation shaft portion 7211. The second rotation shaft portion 7212 is integrally connected to the rear end of the first rotation shaft portion 7211 and is supported by a second bearing 7215. And a wave washer 7214 may be further provided at the front end of the first bearing 7213 (see FIG. 12).

Additionally, a fastening groove 7216 for fastening bolts to the wheel 20 is provided at the rear of the second rotating shaft portion 7212. The fastening groove 7216 is located at the center of the rotation axis 721, and the bolts are sequentially fastened through the center of the wheel 20. Accordingly, the wheel 20 and the rotor frame 72 are connected at the same center and can rotate together.

Additionally, a sensor magnet 81 may be coupled to the rotation axis 721 (see FIG. 12). The sensor magnet 81 may be coupled to the front end of the first rotation shaft portion 7211. The sensor magnet 81 may be positioned facing the encoder sensor 88 placed on the PCB 85 at a set distance. Accordingly, the encoder sensor 88 can sense the rotation of the motor 40 by detecting the sensor magnet 81 coupled to the front end of the first rotation shaft portion 7211.

The rotor hub 722 refers to a disk-shaped frame that supports the rotation axis 721 by protruding from the center.

For example, the rotor hub 722 is divided by position and shape and includes an external frame 7221, an internal frame 7222, and an inclined frame 7223 (see FIGS. 12 and 16). The external frame 7221 is a disk-shaped frame formed at a position radially far from the center of the motor 40. The internal frame 7222 is a disk-shaped frame formed at a position radially close to the center of the motor 40 and connected to the external frame 7221 with a predetermined height difference. The inclined frame 7223 obliquely connects the external frame 7221 and the internal frame 7222.

Additionally, the rotor hub 722 may have a plurality of holes 723 penetrating in the thickness direction (see FIG. 16). For example, the plurality of holes 723 may be formed as six circular holes based on the center of the motor 40. These holes 723 function to introduce cooling air to cool the motor 40, and have the advantage of reducing weight.

The rotor yoke 727 refers to a circular tube-shaped frame connected to the rim of the rotor hub 722. In addition, the magnet guide 730 protrudes from the inner wall of the rotor yoke 727 and guides the attachment position of each magnet 71 when a plurality of magnets 71 are attached to maintain the set interval between the plurality of magnets 71. It is a structure that does it.

With reference to FIGS. 13 to 15 , the rotor yoke 727 and the magnet guide 730 will be described in detail.

Figure 13 shows a rotor yoke and a magnet guide, Figure 14 shows a plurality of magnets fixed to the rotor yoke, and Figure 15 shows a structure in which magnets are supported by a magnet guide.

The rotor yoke 727 can be fixed by attaching a plurality of magnets 71 in a circular shape.

The plurality of magnets 71 may be attached in a circular shape to the magnet attachment surface 7281 provided on the inner wall of the rotor yoke 727 while maintaining a set interval. For example, a bonding material can be applied to one surface of the magnet 71, and the magnet 71 can be fixed by attaching it to a designated position on the magnet attachment surface 7281.

The magnet guide 730 is formed on the inner wall of the rotor yoke 727, and may be formed to protrude in advance at a position where a plurality of magnets 71 are to be attached. Accordingly, the set interval between the plurality of magnets 71 can be maintained, and there is no need to use a separate jig when attaching the magnets 71.

In addition, the magnet guide 730 not only maintains the set interval between the plurality of magnets 71 by guiding the attachment positions of the plurality of magnets 71 in advance, but also allows the magnets 71 attached thereto to operate the motor 40. Prevents deviation in the radial direction.

As a specific example, the rotor yoke 727 includes a rotor yoke body portion 728 and a support portion 729.

The rotor yoke body portion 728 is a ring-shaped body and refers to a circular tube-shaped body connected to the rim of the disk-shaped rotor hub 722 (see FIG. 16).

The support portion 729 protrudes from the rotor yoke body portion 728 in the radial direction of the motor 40 and is a support portion that seats and supports one end of each of the plurality of magnets 71.

For example, the support portion 729 protrudes from one end of the rotor yoke body portion 728 toward a set length in the radial direction of the motor 40 to form a circular band-shaped frame. The protruding length of the support portion 729 is preferably long enough to allow one end of the plurality of magnets 71 to be seated in close contact as a whole (see FIG. 15).

In this way, the support unit 729 stably supports one end of each of the plurality of magnets fixed to the rotor yoke and prevents at least one of the plurality of magnets 71 from being separated in the axial direction of the motor 40. can do.

The inside of the rotor yoke body 728, that is, the inner wall, may be provided with a magnet attachment surface 7281 on which a plurality of magnets 71 are attached in a circular shape. A plurality of magnet guides 730 may be arranged in a circular shape on the magnet attachment surface 7281.

To be more specific, the magnet guide 730 includes a magnet guide body 731 and a protrusion 732 (see FIG. 15).

Referring to FIG. 15, the magnet guide body portion 731 is formed in the form of a rectangular parallelepiped block that protrudes from the inside of the rotor yoke body portion 728 in the radial direction of the motor 40.

Protrusions 732 are formed on the magnet guide body portion 731.

Specifically, the protrusion 732 protrudes in a wedge shape to support the side of the magnet 71 and prevent the radial deviation of the magnet 71 when each magnet 71 is attached between the magnet guide body parts 731. It can be.

For example, a round portion 711 may be formed on the side of each magnet 71 by rounding the angled corners. The protrusion 732 may have a round groove 7321 having a curvature corresponding to the round portion 711. Accordingly, when each magnet 71 is inserted between the magnet guide body parts 731 and the attachment position is aligned, a structure is provided in which the round part 711 is supported facing the round groove 7321, so that the magnet ( 71) can prevent radial deviation.

In this way, the protrusion 732 can restrain the side surfaces of each of the plurality of magnets 71 fixed to the rotor yoke 727 and prevent the magnets 71 from leaving in the radial direction of the motor.

Additionally, the magnet guide body portion 731 may have a certain length. For example, the magnet guide body portion 731 may have a thickness t1 corresponding to the set interval 733 that must be maintained between the plurality of magnets 71. Additionally, the magnet guide body portion 731 may have a length (L1) smaller than that of each magnet (71). Accordingly, the plurality of magnets 71 can be aligned in their attachment positions while maintaining the set spacing 733 between each of the plurality of magnet guide body parts 731, and are firmly attached to the magnet attachment surface 281 so that the positions can be adjusted. It can be fixed.

Referring to FIG. 16, a plurality of magnets 71 are attached to the rotor yoke 727 by a magnet guide 730, and then the rotor yoke 727 and the rotor hub 722 are combined to form the rotor frame 72. You can see how it was produced.

A plurality of magnets 71, for example, 42 magnets 71, are installed using a plurality of magnet guides 730 protruding from the inner wall of the rotor yoke 727 without using a separate magnet attachment jig. may also be attached to the rotor yoke 727. In addition, the plurality of magnets 71, for example, 42 magnets 71, are firmly supported by the support portion 729 and the magnet guide 730 to prevent the motor from deviating in the radial and axial directions.

The rotor yoke 727 to which a plurality of magnets 71 are attached is connected along the circular edge of the rotor hub 722 to form the rotor frame 72. A stator may be placed in the empty space inside the rotor frame 72 with a gap between the magnet 71 and the stator.

In the existing case, in order to attach multiple magnets inside the rotor, a separate jig was manufactured, prepared, and installed to maintain the set spacing between each magnet corresponding to the number of magnets, and the spacing between magnets was individually checked and attached. If the magnets come off or shake during the attachment process, failure to maintain the gap between the magnets could cause problems due to performance deterioration of the motor itself, cogging, and increased torque ripple.

According to an embodiment of the present invention, by manufacturing a magnet guide in advance by protruding from the inner wall of the rotor yoke, when the number of magnets to be attached increases (e.g., 42 magnets, etc.), it is advantageous to maintain the gap between magnets. , the performance of the motor can be improved by preventing radial and axial deviation of the magnet.

As described above, the present invention has been described with reference to the illustrative drawings, but the present invention is not limited to the embodiments and drawings disclosed herein, and various modifications may be made by those skilled in the art within the scope of the technical idea of the present invention. It is obvious that transformation can occur. In addition, although the operational effects according to the configuration of the present invention were not explicitly described and explained in the above description of the embodiments of the present invention, it is natural that the predictable effects due to the configuration should also be recognized.

1: Robot wheel drive device
10: wheel cover
11: First wheel cover part
111: first cover body
112: First internal space
113: first connection part
12: Second wheel cover part
121: Second cover body
122: Second internal space
123: second connection part
13: Leg connection part
14: Bottom cover
15: Link
151: Straight link part
152: Circular link part
20: wheel
21: first wheel body portion
22: second wheel body portion
23: First fastening protrusion
24: Second fastening protrusion
30: tires
31: fastening groove
40: motor
50: motor housing
51: First motor housing part
511: Through hole
512: support groove
52: Second motor housing part
60; stater
61: Stator frame
611: First stator frame part
6111: Cylindrical groove
612: Second stator frame part
6121: circular protrusion
6123: PCB fastening part
613: Third stator frame part
62: stator core
63: coil
70: rotor
71: Magnet
711: Round part
72: Rotor frame
721: Rotation axis
7211: First rotation shaft portion
7212: Second rotation shaft portion
7213: first bearing
7214: Wave Washer
7215: Second bearing
7216: fastening groove
722: rotor hub
7221: External frame
7222: Internal frame
7223: Inclined frame
723: Hall
727: Rotor Yoke
728: Rotor yoke body
7281: Magnet attachment surface
729: Support section
730: Magnet guide
731: Magnet guide body
732: protrusion
7321: round groove
733: Setting interval
80: Inverter cover
81: Sensor magnet
85:PCB
88: Encoder sensor
90: electrolytic capacitor

Claims (20)

A wheel that rotates to drive the robot;
a motor housing located inside the wheel and having a cylindrical shape; and
A stator fixed to the inside of the motor housing,
A motor disposed outside the stator and including a rotor that rotates around the stator to transmit rotational force to the wheel.
The rotor includes a plurality of magnets positioned to face the stator; and
It includes a rotor frame that rotates inside the motor housing at the same center as the wheel,
The rotor frame includes a rotor yoke that attaches and secures each of the plurality of magnets in a circular shape at a set interval; and
a plurality of magnet guides that protrude from the inside of the rotor yoke to be positioned between each of the plurality of magnets and guide attachment positions of each of the plurality of magnets;
A robot wheel drive device comprising a.
According to paragraph 1,
The rotor yoke is,
A ring-shaped rotor yoke body portion to which the plurality of magnets are attached; and
a support portion protruding from the rotor yoke body portion in a radial direction of the motor and supporting one end of each of the plurality of magnets;
A robot wheel drive device comprising a.
According to paragraph 2,
The support portion protrudes at a set length from one end of the rotor yoke body toward the radial direction of the motor and has a circular band shape.
Robot wheel drive device.
According to paragraph 2,
A magnet attachment surface is provided on the inside of the rotor yoke body to which each of the plurality of magnets is attached in a circular shape at a set interval,
The plurality of magnet guides are arranged in a circular manner on the magnet attachment surface.
Robot wheel drive device.
According to paragraph 1,
The rotor yoke is,
A ring-shaped rotor yoke body portion to which the plurality of magnets are attached; and
A support part protrudes from the rotor yoke body in the radial direction of the motor and supports one end of each of the plurality of magnets,
Each of the plurality of magnet guides,
A magnet guide body portion having a rectangular parallelepiped shape protruding from the inside of the rotor yoke body portion in the radial direction of the motor; and
a protrusion formed on the magnet guide body and protruding to constrain side surfaces of each of the plurality of magnets;
A robot wheel drive device comprising a.
According to clause 5,
The magnet guide body portion has a thickness corresponding to a set interval of each of the plurality of magnets and has a length smaller than the length of each of the plurality of magnets.
Robot wheel drive device.
According to clause 5,
A round portion is formed on each side of the plurality of magnets,
The protrusion has a round groove corresponding to the round part.
Robot wheel drive device.
According to paragraph 1,
The stator is,
A plurality of coils arranged in a circumferential direction; and
It includes a stator core on which the plurality of coils are wound and mounted,
The rotor yoke is arranged to surround the exterior of the stator,
The plurality of magnets are arranged to be spaced apart from the plurality of coils with a predetermined gap between them.
Robot wheel drive device.
According to clause 8,
The rotor frame is,
It includes a rotation axis formed along the center direction of the motor,
The rotation axis is,
a first rotating shaft supported by a first bearing; and
a second rotating shaft having a larger diameter than the first rotating shaft, and being integrally connected to a rear end of the first rotating shaft and supported by a second bearing;
A robot wheel drive device comprising a.
According to clause 8,
The rotor frame is,
It further includes a disc-shaped rotor hub integrally coupled with the rotor yoke,
The rotor hub is,
a disc-shaped external frame formed at a position radially distant from the center of the motor;
a disk-shaped inner frame formed at a position radially close to the center of the motor and connected to the outer frame in a stepped manner; and
an inclined frame connecting the outer frame and the inner frame;
A robot wheel driving device comprising a.
According to paragraph 1,
an inverter cover connected to the motor to cover the open portion of the motor housing; and
a PCB provided inside the inverter cover and arranged to face the motor;
A robot wheel drive device comprising a.
According to clause 11,
The stator is,
A plurality of coils arranged in a circumferential direction;
a stator core on which the plurality of coils are wound and mounted; and
Includes a stator frame supporting the stator,
One surface of the stator frame is coupled to the motor housing to cover an open portion of the motor housing,
The other side of the stator frame is covered and coupled with the inverter cover,
The PCB is fastened to the stator frame and positioned and fixed inside the inverter cover.
Robot wheel drive device.
According to clause 12,
The stator frame is,
a first stator frame portion that protrudes in a circular shape to face the center of the motor;
a second stator frame portion circularly protruding from the first stator frame portion at intervals in the radial direction; and
A third stator frame portion radially connected between the first stator frame portion and the second stator frame portion,
The PCB is fastened to the second stator frame portion.
Robot wheel drive device.
A wheel with tires coupled to it and rotating;
a wheel cover that shields both sides of the wheel;
a bottom cover coupled to the lower part of the wheel cover and shielding an open area between the tire and the wheel cover when the wheel and the wheel cover are connected;
a cylindrical motor housing provided inside the wheel and having one side open; and
It includes a motor inserted into the interior of the motor housing and providing rotational force to the wheel,
The motor includes a stator fixed to the inside of the motor housing; and
It includes a rotor disposed outside the stator and rotating around the stator to transmit rotational force to the wheel,
The rotor includes a plurality of magnets positioned to face the stator; and
It includes a rotor frame that rotates inside the motor housing at the same center as the wheel,
The rotor frame includes a rotor yoke that attaches and secures each of the plurality of magnets in a circular shape at a set interval; and
a plurality of magnet guides that protrude from the inside of the rotor yoke to be positioned between each of the plurality of magnets and guide attachment positions of each of the plurality of magnets;
A robot wheel drive device comprising a.
According to clause 14,
The wheel is,
A first wheel body portion having a disk shape; and
a second wheel body portion that protrudes in a circular tube shape along an edge of the first wheel body portion and on which the tire is mounted;
A robot wheel drive device comprising a.
According to clause 14,
The wheel cover is,
a first wheel cover portion that shields one side of the wheel;
a second wheel cover part coupled to face the first wheel cover part with the wheel in between, and shielding the other side of the wheel; and
A leg connection part connecting the first wheel cover part and the second wheel cover part to the robot body;
A robot wheel drive device comprising a.
According to clause 16,
The first wheel cover part,
a first cover body having a shape that convexly covers one side of the wheel to ensure a first internal space of a predetermined size between the first cover body and one side of the wheel; and
A first connection part extends in the height direction from the top of the first cover body and connects the first cover body and the leg connection part,
The second wheel cover part,
a second cover body having a shape that convexly covers the other side of the wheel to secure a second internal space of a predetermined size between the other side of the wheel; and
a second connection part extending in the height direction from the top of the second cover body and connecting the second cover body and the leg connection part;
A robot wheel drive device comprising a.
According to clause 14,
A link is built into the wheel cover and connects the motor and the wheel cover to constrain the position of the motor,
One end of the link is fixed to the wheel cover, and the other end of the link is fixed to the motor.
Robot wheel drive device.
According to clause 14,
The rotor yoke is,
A ring-shaped rotor yoke body portion to which the plurality of magnets are attached; and
A support part protrudes from the rotor yoke body in the radial direction of the motor and supports one end of each of the plurality of magnets,
The support portion protrudes at a set length from one end of the rotor yoke body toward the radial direction of the motor and has a circular band shape.
Robot wheel drive device.
According to clause 19,
Each of the plurality of magnet guides,
A magnet guide body portion having a rectangular parallelepiped shape protruding from the inside of the rotor yoke body portion in the radial direction of the motor; and
a protrusion formed on the magnet guide body and protruding to constrain side surfaces of each of the plurality of magnets;
A robot wheel drive device comprising a.

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