WO2013009060A3 - 이동 로봇의 휠 조립체 - Google Patents

이동 로봇의 휠 조립체 Download PDF

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Publication number
WO2013009060A3
WO2013009060A3 PCT/KR2012/005432 KR2012005432W WO2013009060A3 WO 2013009060 A3 WO2013009060 A3 WO 2013009060A3 KR 2012005432 W KR2012005432 W KR 2012005432W WO 2013009060 A3 WO2013009060 A3 WO 2013009060A3
Authority
WO
WIPO (PCT)
Prior art keywords
fixing unit
robot body
gear
driven
wheel
Prior art date
Application number
PCT/KR2012/005432
Other languages
English (en)
French (fr)
Other versions
WO2013009060A2 (ko
Inventor
신경철
박성주
이노수
Original Assignee
주식회사 유진로봇
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 주식회사 유진로봇 filed Critical 주식회사 유진로봇
Priority to CN201280033820.XA priority Critical patent/CN103747928B/zh
Priority to EP12811115.0A priority patent/EP2732939B1/en
Priority to US14/232,248 priority patent/US9033079B2/en
Publication of WO2013009060A2 publication Critical patent/WO2013009060A2/ko
Publication of WO2013009060A3 publication Critical patent/WO2013009060A3/ko

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • 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
    • 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
    • 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
    • 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
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
    • B60K17/043—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
    • 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
    • B60K2007/0061—Disposition of motor in, or adjacent to, traction wheel the motor axle being parallel to the wheel axle
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/01—Mobile robot

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

본 발명은 휠이 로봇 몸체에 대하여 승강 가능한 구조로 장착되는 이동 로봇에 관한 것이다. 본 발명은 구동 모터에 의해 구동되는 구동 기어 및 상기 구동 기어에 의해 구동되는 종동 기어가 내부에 수용되고, 일측에 구비된 회동축을 중심으로 로봇 몸체에 대하여 전방 및 후방으로 회동 가능하게 설치되고, 제1 고정부를 구비하는 기어 박스; 상기 종동 기어의 회전축에 결합되어 상기 종동 기어와 일체로 회전하며, 상기 기어 박스의 회동 시 상기 로봇 몸체에 대하여 상승 또는 하강하는 휠; 및 일단이 상기 제1 고정부에 고정되고 타단이 상기 로봇 몸체에 대하여 위치가 고정되는 제2 고정부에 고정되며, 상기 제1 고정부를 상기 제2 고정부 측으로 당겨서 상기 휠을 상기 로봇 몸체에 대하여 하강시키는 방향으로 상기 기어 박스를 회동시키는 당김 부재를 포함한다.
PCT/KR2012/005432 2011-07-13 2012-07-09 이동 로봇의 휠 조립체 WO2013009060A2 (ko)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN201280033820.XA CN103747928B (zh) 2011-07-13 2012-07-09 移动机器人的轮组件
EP12811115.0A EP2732939B1 (en) 2011-07-13 2012-07-09 Wheel assembly of mobile robot
US14/232,248 US9033079B2 (en) 2011-07-13 2012-07-09 Wheel assembly of mobile robot

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2011-0069563 2011-07-13
KR1020110069563A KR101311295B1 (ko) 2011-07-13 2011-07-13 이동 로봇의 휠 조립체

Publications (2)

Publication Number Publication Date
WO2013009060A2 WO2013009060A2 (ko) 2013-01-17
WO2013009060A3 true WO2013009060A3 (ko) 2013-03-14

Family

ID=47506684

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2012/005432 WO2013009060A2 (ko) 2011-07-13 2012-07-09 이동 로봇의 휠 조립체

Country Status (5)

Country Link
US (1) US9033079B2 (ko)
EP (1) EP2732939B1 (ko)
KR (1) KR101311295B1 (ko)
CN (1) CN103747928B (ko)
WO (1) WO2013009060A2 (ko)

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Also Published As

Publication number Publication date
US9033079B2 (en) 2015-05-19
CN103747928B (zh) 2015-10-14
KR20130008891A (ko) 2013-01-23
WO2013009060A2 (ko) 2013-01-17
US20140145495A1 (en) 2014-05-29
EP2732939A4 (en) 2015-06-24
EP2732939A2 (en) 2014-05-21
CN103747928A (zh) 2014-04-23
EP2732939B1 (en) 2018-09-12
KR101311295B1 (ko) 2013-09-25

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