Driving apparatus for robot
First Claim
Patent Images
1. A self-propelled robot capable of forward and backward movement and changing directions during such movement, comprising:
- a robot body having a ring-shaped base plate;
a cover member disposed within said base plate and including an outer peripheral portion situated beneath said base plate and rotatably mounted thereto about a vertical axis;
a drive wheel mounted to said cover member for rotation about a horizontal axis of rotation;
a ring gear affixed to said cover member for rotation therewith and situated over said base plate such that a portion of said base plate is interposed between said cover member and said ring gear;
steering drive means for rotating said ring gear to turn said drive wheel about said vertical axis; and
propulsion drive means for rotating said drive wheel about said axis of rotation for propelling said robot selectively forward and backward.
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Abstract
A self-propelled robot has a robot body on which a drive wheel is mounted. The drive wheel is connected to a member that can be turned about a vertical axis for steering the robot. A propulsion drive mechanism is mounted on that member for transmitting a propulsion drive to the drive wheel. The propulsion drive mechanism includes a clutch mechanism for disengaging the propulsion drive when the drive wheel encounters excessive resistance to travel. The clutch mechanism includes a spring biased clutch element mounted on an internal spline shaft of the drive wheel.
31 Citations
13 Claims
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1. A self-propelled robot capable of forward and backward movement and changing directions during such movement, comprising:
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a robot body having a ring-shaped base plate; a cover member disposed within said base plate and including an outer peripheral portion situated beneath said base plate and rotatably mounted thereto about a vertical axis; a drive wheel mounted to said cover member for rotation about a horizontal axis of rotation; a ring gear affixed to said cover member for rotation therewith and situated over said base plate such that a portion of said base plate is interposed between said cover member and said ring gear;
steering drive means for rotating said ring gear to turn said drive wheel about said vertical axis; andpropulsion drive means for rotating said drive wheel about said axis of rotation for propelling said robot selectively forward and backward. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A self-propelled robot capable of forward and backward movement and changing directions during such movement, comprising:
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a robot body; a cover member mounted to said robot body for rotation about a vertical axis; a drive wheel mounted to said cover member for rotation about a horizontal axis of rotation; a steering drive means for turning said cover member about said vertical axis; and propulsion drive means for rotating said drive wheel about said axis of rotation, comprising; a motor; a first clutch element operably coupled to said motor and being rotatable about said axis of rotation, said first clutch element including a first surface having first teeth thereon, a second clutch element disposed within said drive wheel and mounted on a splined shaft of said drive wheel for sliding movement therealong, said second clutch element having a second surface facing said first surface and having second teeth, and spring means yieldably biasing said second clutch element toward said first clutch element for interengaging said first and second teeth and permitting said first and second teeth to disengage when said drive wheel encounters excessive resistance to travel.
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Specification