TW201924877A - 輪式移動機器人之防走偏裝置 - Google Patents
輪式移動機器人之防走偏裝置 Download PDFInfo
- Publication number
- TW201924877A TW201924877A TW106143833A TW106143833A TW201924877A TW 201924877 A TW201924877 A TW 201924877A TW 106143833 A TW106143833 A TW 106143833A TW 106143833 A TW106143833 A TW 106143833A TW 201924877 A TW201924877 A TW 201924877A
- Authority
- TW
- Taiwan
- Prior art keywords
- mobile robot
- motor
- wheeled mobile
- bottom plate
- driving wheel
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B3/00—Disc wheels, i.e. wheels with load-supporting disc body
- B60B3/14—Attaching disc body to hub ; Wheel adapters
- B60B3/16—Attaching disc body to hub ; Wheel adapters by bolts or the like
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B3/00—Disc wheels, i.e. wheels with load-supporting disc body
- B60B3/14—Attaching disc body to hub ; Wheel adapters
- B60B3/145—Attaching disc body to hub ; Wheel adapters using washers or distance bushes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B35/00—Axle units; Parts thereof ; Arrangements for lubrication of axles
- B60B35/12—Torque-transmitting axles
- B60B35/18—Arrangement of bearings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0038—Disposition of motor in, or adjacent to, traction wheel the motor moving together with the wheel axle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0046—Disposition of motor in, or adjacent to, traction wheel the motor moving together with the vehicle body, i.e. moving independently from the wheel axle
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Motorcycle And Bicycle Frame (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
- Manipulator (AREA)
Abstract
一種輪式移動機器人之防走偏裝置,其包括殼體、馬達、驅動輪及推力軸承,馬達設置於殼體的內部,馬達具有輸出軸,驅動輪與馬達之輸出軸連接,推力軸承緊配合於驅動輪與殼體之間,藉由推力軸承向驅動輪提供均勻的壓緊力,以限定驅動輪的位置,進而保證輪式移動機器人在移動時不會發生移動路徑偏移現象。
Description
本發明涉及移動機器人,具體是一種輪式移動機器人之防走偏裝置。
移動機器人是具有移動性以有效率的代替人類工作的設備,移動機器人按移動方式分為輪式、腿式、履帶式等,其中輪式移動機器人是通過驅動輪來達到移動之目的。然而,輪式移動機器人在移動時,常會發生驅動輪未能確實定位,導致移動路徑偏移,不僅影響工作效率,甚至會造成機械損壞。
有鑒於上述之狀況,本發明提供一種輪式移動機器人之防走偏裝置,其可限定驅動輪的位置,進而保證輪式移動機器人在移動時不會發生移動路徑偏移現象。
本發明之輪式移動機器人之防走偏裝置,其包括殼體、馬達、驅動輪及推力軸承,馬達設置於殼體的內部,馬達具有輸出軸,驅動輪與馬達之輸出軸連接,推力軸承緊配合於驅動輪與殼體之間。
本發明之輪式移動機器人之防走偏裝置通過於驅動輪與殼體之間設置有推力軸承,推力軸承向驅動輪提供均勻的壓緊力,以限定驅動輪的位置,進而保證輪式移動機器人在移動時不會發生移動路徑偏移現象,因此輪式移動機器人得以維持穩定之工作效率,同時避免機械損壞。
請參閱圖1至圖3,本發明之輪式移動機器人之防走偏裝置包括殼體1、馬達2、驅動輪3、螺絲4及推力軸承5。
殼體1具有底板11及保護罩12,底板11呈橢圓形,底板11具有穿孔111,保護罩12固定罩設於底板11上,底板11與保護罩12之間形成容置空間13,保護罩12具有側板121。
馬達2固定設置於殼體1之容置空間13內,馬達2具有輸出軸21以輸出動力。
請配合參閱圖4,驅動輪3具有輪轂31,驅動輪3通過輪轂31套設於馬達2之輸出軸21上,馬達2為驅動輪3提供動力,驅動輪3部分容置於殼體1之容置空間13內、部分穿過殼體1之底板11之穿孔111而突出於殼體1外。
螺絲4穿過驅動輪3之輪轂31並結合於馬達2之輸出軸21,使驅動輪3與馬達2之輸出軸21連接。
推力軸承5緊配合於驅動輪3與殼體1之保護罩12之側板121之間,推力軸承5用於承受軸向力,推力軸承5具有軸圈51及座圈52,軸圈51抵靠於驅動輪3而隨驅動輪3轉動,座圈52抵靠於保護罩12之側板121而不轉動,推力軸承5為現有技術,故不再詳加描述。
如圖中所示之具體實施例,本發明之輪式移動機器人之防走偏裝置包括兩個馬達2、兩個驅動輪3、兩個螺絲4及兩個推力軸承5,殼體1之保護罩12具有兩個側板121,兩個馬達2分別固定設置於殼體1的內部兩側,兩個驅動輪3通過兩個螺絲4分別與兩個馬達2連接,兩個推力軸承5分別緊配合於兩個驅動輪3與殼體1之保護罩12之兩個側板121之間。
本發明之輪式移動機器人之防走偏裝置藉由於驅動輪3與殼體1之間設置有推力軸承5,推力軸承5向驅動輪3提供均勻的壓緊力,以限定驅動輪3的位置,進而保證輪式移動機器人在移動時不會發生移動路徑偏移現象,因此輪式移動機器人得以維持穩定之工作效率,同時避免機械損壞。
1‧‧‧殼體
11‧‧‧底板
111‧‧‧穿孔
12‧‧‧保護罩
121‧‧‧側板
2‧‧‧馬達
21‧‧‧輸出軸
3‧‧‧驅動輪
31‧‧‧輪轂
4‧‧‧螺絲
5‧‧‧推力軸承
51‧‧‧軸圈
52‧‧‧座圈
[圖1]係本發明之輪式移動機器人之防走偏裝置之俯視立體外觀圖; [圖2]係本發明之輪式移動機器人之防走偏裝置之仰視立體外觀圖; [圖3]係沿圖1中III-III線之剖面圖;及 [圖4]係本發明之輪式移動機器人之防走偏裝置之部分立體分解圖。
Claims (10)
- 一種輪式移動機器人之防走偏裝置,其包括殼體、馬達及驅動輪,該馬達設置於該殼體的內部,該馬達具有輸出軸,該驅動輪與該馬達之該輸出軸連接,其特徵在於:進一步包括推力軸承,該推力軸承緊配合於該驅動輪與該殼體之間。
- 如請求項1所述之輪式移動機器人之防走偏裝置,其中該殼體具有底板及保護罩,該保護罩罩設於該底板上,該底板與該保護罩之間形成容置空間,該馬達設置於該容置空間內。
- 如請求項2所述之輪式移動機器人之防走偏裝置,其中該保護罩具有側板,該推力軸承緊配合於該驅動輪與該保護罩之該側板之間,該推力軸承具有軸圈及座圈,該軸圈抵靠於該驅動輪而隨該驅動輪轉動,該座圈抵靠於該保護罩之該側板而不轉動。
- 如請求項2所述之輪式移動機器人之防走偏裝置,其中該底板具有穿孔,該驅動輪部分容置於該殼體之該容置空間內、部分穿過該底板之該穿孔而突出於該殼體外。
- 如請求項3所述之輪式移動機器人之防走偏裝置,其中該底板具有穿孔,該驅動輪部分容置於該殼體之該容置空間內、部分穿過該底板之該穿孔而突出於該殼體外。
- 如請求項2至5中任一項所述之輪式移動機器人之防走偏裝置,其中該底板呈橢圓形。
- 如請求項1至5中任一項所述之輪式移動機器人之防走偏裝置,其中該驅動輪具有輪轂,該驅動輪通過該輪轂套設於該馬達之該輸出軸上。
- 如請求項6所述之輪式移動機器人之防走偏裝置,其中該驅動輪具有輪轂,該驅動輪通過該輪轂套設於該馬達之該輸出軸上。
- 如請求項7所述之輪式移動機器人之防走偏裝置,其進一步包括螺絲,該螺絲穿過該驅動輪之該輪轂並結合於該馬達之該輸出軸。
- 如請求項8所述之輪式移動機器人之防走偏裝置,其進一步包括螺絲,該螺絲穿過該驅動輪之該輪轂並結合於該馬達之該輸出軸。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
??201711168066.1 | 2017-11-21 | ||
CN201711168066.1A CN109808789A (zh) | 2017-11-21 | 2017-11-21 | 轮式移动机器人的防走偏装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
TW201924877A true TW201924877A (zh) | 2019-07-01 |
Family
ID=64315958
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
TW106143833A TW201924877A (zh) | 2017-11-21 | 2017-12-13 | 輪式移動機器人之防走偏裝置 |
Country Status (3)
Country | Link |
---|---|
US (1) | US10137727B1 (zh) |
CN (1) | CN109808789A (zh) |
TW (1) | TW201924877A (zh) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111084585B (zh) * | 2020-01-06 | 2021-07-06 | 湖南人文科技学院 | 智能扫地机用具有转向辅助能力的行走轮组 |
CN112693538B (zh) * | 2021-03-23 | 2021-06-22 | 德鲁动力科技(成都)有限公司 | 一种足式机器人足端结构、腿部运动机构及四足机器人 |
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-
2017
- 2017-11-21 CN CN201711168066.1A patent/CN109808789A/zh active Pending
- 2017-12-13 TW TW106143833A patent/TW201924877A/zh unknown
-
2018
- 2018-01-05 US US15/863,846 patent/US10137727B1/en active Active
Also Published As
Publication number | Publication date |
---|---|
US10137727B1 (en) | 2018-11-27 |
CN109808789A (zh) | 2019-05-28 |
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