M321280 八、新型說明： 【新型所屬之技術領域】 本創作係一種應用在機器人吸塵器之越障裂置，尤指 一種使自動化之機器人吸塵器具備有越過障礙物功能的 驅動裝置。 【先前技術】 近年來以人工智慧發展出來的機器人自動吸塵器，因 鲁 為不舄人為操作而使清潔工作自動化而廣受歡迎。如美國 US 6，8 83，2 01號專利即揭示了一種機器人吸塵器，係一種 具有自動清掃及吸塵功能的吸塵器，但就其底部驅動整體 吸塵益移動的裝置而言，係設計成二側各一驅動輪，而前 方没計有一惰輪，各驅動輪受動力源（馬達）帶動而使吸 塵器前進及轉向，而惰輪僅作為支撐用，但是，如此的設 計在實際使用時，一旦地面不平而有凸起時，因惰輪並無 動力，往往會使得吸塵器卡在地面的隆起處而無法越過障 • 礙前進，失去了吸塵器自由移動清掃的功能，另一方面， - 也因為惰輪僅作為支揮而不具備動力，因此容易刮傷地面 (木質地板）或桌面，使用上不甚理想。 【新型内容】 v，提供一種具有越 人吸塵器之越障裝 依據上述，本創作之主要目的在於 過障礙的能力且不會刮傷表面之機器^ 置者。 職是，為達上述之目的， 本創作之機器人吸塵器之越 M321280 障裝置係定位於一主體，以承載該主體於一表面上移動， 該越障裝置包括二驅動輪組，各該驅動輪組包括一動力 源一傳動組件及二輪體，各該傳動組件分別對應地動力 連結該輪體與該動力源，使該輪體接觸該表面且皆受該動 力源所驅動，而能越過障礙且不易刮傷該表面。 【實施方式】M321280 VIII. New Description: [New Technology Field] This creation is a kind of obstacle rupture applied to robot vacuum cleaners, especially an automatic robot vacuum cleaner with a function that overcomes obstacles. [Prior Art] In recent years, robotic automatic vacuum cleaners developed with artificial intelligence have become popular because of the automation of cleaning work for human operations. For example, US Patent No. 6,8,83,2,01 discloses a robotic vacuum cleaner, which is a vacuum cleaner with automatic cleaning and vacuuming functions, but is designed on both sides of the device for driving the whole vacuum suction and movement at the bottom. a driving wheel, and no idler wheel in front, each driving wheel is driven by a power source (motor) to advance and steer the vacuum cleaner, and the idler is only used as a support, but such a design is used in actual use, once the ground is uneven When there is a bulge, because the idler has no power, it often causes the vacuum cleaner to get stuck in the bulge of the ground and cannot cross the obstacle. It prevents the advancement and loses the function of the vacuum cleaner to move freely. On the other hand, - also because the idler only As a support without power, it is easy to scratch the ground (wooden floor) or the table top, which is not ideal for use. [New content] v, providing a more trouble-free device with a vacuum cleaner. According to the above, the main purpose of the creation is to overcome the obstacles and not to scratch the surface of the machine. For the above purpose, the M321280 barrier device of the robot vacuum cleaner of the present invention is positioned on a main body to carry the main body to move on a surface, and the obstacle crossing device comprises two driving wheel sets, each of the driving wheel sets. The utility model comprises a power source, a transmission component and a two-wheel body, wherein each of the transmission components respectively electrically connects the wheel body and the power source, so that the wheel body contacts the surface and is driven by the power source, and can overcome obstacles and is not easy Scratch the surface. [Embodiment]
有關本創作為達上述目的、特徵所採用的技術手段及 其功效，茲例舉一較佳實施例並配合以下圖式說明如下·· 參閱第一至三圖，本創作之機器人吸塵器之越障裝置 之一較佳實施例係定位於一自動吸塵器的主體（如第三圖 所不）下方，以承載該主體於一表面（例如地面或桌面） 上移動，該越障裝置包含有二驅動輪組，而自動吸塵器的 主體尚包含有控制電路、感應器及吸塵裝置等，由於此部 伤非本案重點’於此即不詳細說明。 該驅動輪組包括一座體丨、一動力源（本實施例為一 馬達2 )、二傳動組件及二輪體$。 座體1具有一第一殼體11與一第二殼體12,兩者相 結合形成有一供其他構件定位的容置空間。 該馬達2定位於該座體！所形成之容置空間之中央部 位，馬達2朝水平方向的兩端具有相同轉速輸出之二輪出 軸21 ’而該傳動組件具有一蝸桿3及受該媧桿3所傳動之 一行星齒輪組4，各該傳動組件之渦桿3係對應地定位於 其中之一該輸出軸21而隨其同步轉動。由於各傳動組件 連結輸出軸21及輪體5均為相同的連結關係，因此以下 M321280 說明僅以其t-傳動組件為例。 該行星齒輪組4具有一由、 體11上相斟m ^去 心齒輪41、一成形於第一殼 骽11上相對固定不動之内 、42、複數同時嗔合於該中 心回輪41與該内齒環42 星齒於43定仿H， 之仃星齒輪43,及相對供該等行 中*等行星齒輪43運動而轉動之一支架 :壁4 Λ: 41 —側更延伸出-圓形的基壁4 5，該 基i 45周緣延伸出一外圍 亥外圍壁外側面並形成一 外齒輪46，該外齒輪46用你》 .^ 用^與该蝸桿3嚙合傳動，而該 支架桿44則穿出第一殼體n 罘成體11外用以連結其中之一輪體5〇 猎上述構造’當馬達2之輸出轴21轉動時，將同步 帶動涡桿3而鳴合傳動外齒輪46，此時形成第一段的減速 傳動作用’而外齒輪46、中心齒輪41及基壁45係一體形 成故中〜盘輪41與外齒輪46係相同轉速，再經中心齒 輪41連動該等行星齒輪43於内齒環42中轉動所構成的 仃生齒輪系進打第二段的減速作帛，最終由支架桿44輸 出而帶動輪體5轉動’此外，由於馬達2具有二輸出轴21 同步帶動二組傳動組件及二輪體5’使得每一輪體5皆有 動力輸出，而吸塵器本體係同時安裝有二驅動輪組，因此 底部具有四個輪體5接觸地面或桌面，因此可以輕易地越 過地面或桌面的隆起部份或是障礙物，此外，由於各輪體 5均有動力且輪胎表面較軟，較不易刮損地面或桌面，大 中田改善目前機器人吸塵器在使用上的不理想之處。 綜合以上所述，本創作『機器人吸塵器之越障裝置』， 確能藉由上述構造，達到預期之功效，且申請前未見於刊 M321280 之新穎、進步及符合產業 之。而以上所述僅為本創 精神所作之簡易修飾及等 请專利範圍内。 物亦未公開使用，符合新型專利 利用性等要件，爰依法申請專利 作之實施例而已，凡依本創作之 效變化設計，應涵蓋於以下之申 【圖式簡單說明】 驅 第一圖係本創作之機器人^ 動輪組立體分解圖。 第二圖係第-圖之部份繞合立體圖。 【主第/圖係驅動輪組㈣〜及塵器本體之示意圖。 L主要元件符號說明】 1…·座體 U···第一殼體 12···第二殼體 2 ····馬達 21···輸出軸 3 ····煱桿 4…·行星齒輪組 41…中心齒輪 42…内齒環 43 ·..行星齒輪 44 ···支架桿 45···基壁 46…外齒輪 5••…輪體With regard to the technical means and the functions of the present invention for achieving the above purposes and features, a preferred embodiment will be described with reference to the following drawings. Referring to the first to third figures, the robot vacuum cleaner of the present invention is more difficult. A preferred embodiment of the device is positioned below the body of an automatic cleaner (as shown in the third figure) to carry the body on a surface (such as the ground or table top), the obstacle device comprising two drive wheels Group, and the main body of the automatic vacuum cleaner still contains control circuit, sensor and vacuum cleaner, etc., because this injury is not the focus of this case 'this will not be described in detail. The drive wheel set includes a body, a power source (in this embodiment, a motor 2), a second transmission assembly, and a two-wheel body $. The base body 1 has a first housing 11 and a second housing 12, which are combined to form an accommodation space for positioning other components. The motor 2 is positioned in the seat body! At the central portion of the formed accommodating space, the motor 2 has two output shafts 21' of the same rotational speed output at both ends in the horizontal direction, and the transmission assembly has a worm 3 and a planetary gear set 4 driven by the mast 3 The scrolls 3 of each of the transmission assemblies are correspondingly positioned on one of the output shafts 21 to rotate synchronously therewith. Since each of the transmission components is connected to the output shaft 21 and the wheel body 5 in the same connection relationship, the following M321280 shows only the t-drive assembly as an example. The planetary gear set 4 has a pair of ^m ^ centering gears 41 on the body 11, a shape formed on the first casing 11 and relatively fixed, 42, a plurality of simultaneous couplings to the center return wheel 41 and the The inner ring 42 is fixed at 43, the comet gear 43 is rotated, and one of the brackets is rotated relative to the planetary gear 43 in the row: wall 4 Λ: 41 - the side extends further - round a base wall 45, the peripheral edge of the base i extends out of a peripheral wall of the peripheral wall and forms an external gear 46. The external gear 46 is meshed with the worm 3 by the meshing mechanism, and the bracket rod 44 is driven. Then, the first housing n is inserted outside the body 11 to connect one of the wheel bodies 5 to sculpt the above structure. When the output shaft 21 of the motor 2 rotates, the scroll 3 will be synchronously driven to sing the transmission external gear 46. When the first stage of the reduction transmission function is formed, the external gear 46, the sun gear 41 and the base wall 45 are integrally formed, so that the disk wheel 41 and the external gear 46 rotate at the same speed, and the planetary gears 43 are interlocked via the sun gear 41. The twin gear train formed by rotating in the inner ring gear 42 enters the second stage of the deceleration operation, and finally is driven by the bracket rod 44. In turn, the wheel body 5 is rotated. In addition, since the motor 2 has two output shafts 21, the two sets of transmission components and the two wheel bodies 5' are synchronously driven, so that each wheel body 5 has power output, and the vacuum cleaner system is equipped with two driving wheel sets at the same time. Therefore, the bottom has four wheel bodies 5 that contact the ground or the table top, so that it can easily pass over the raised parts of the ground or the table top or obstacles. In addition, since each wheel body 5 has power and the surface of the tire is soft, it is not easy to scrape. Damage to the ground or the desktop, Dazhongtian improves the current unsatisfactory use of the robot vacuum cleaner. Based on the above, the creation of the robotic vacuum cleaner's obstacle-blocking device can achieve the expected effect through the above-mentioned structure, and it has not seen the novelty, progress and industry compliance of the M321280 before the application. The above description is only for the simple modification of the creative spirit and the scope of the patent. The material has not been used in public, and it conforms to the requirements for the use of new patents, and the application for patents according to law. Any design that changes according to the effect of this creation should be covered in the following application [simplified description of the drawings] The robot of this creation is a three-dimensional exploded view of the moving wheel set. The second figure is a partial perspective view of the first figure. [Main/picture system drive wheel set (4) ~ schematic diagram of the dust body. L main component symbol description] 1...·seat U···first housing 12···second housing 2 ····motor 21···output shaft 3 ···· mast 4...·planet Gear set 41...Center gear 42...Internal ring 43 ·..Planet gear 44 ··· Bracket rod 45···Base wall 46...External gear 5••...wheel body