Robot wheel driving apparatus
AssigneeLG Electronics Inc.
InventorsJangwon LEE, Young Il PARK, Young Chul SHIN
Life of this patent
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Abstract
A robot wheel driving apparatus includes a wheel configured to rotate to drive a robot, a motor housing positioned inside the wheel, a motor including a stator and a rotor configured to rotate about the stator to transmit a rotating force to the wheel, a sensor magnet connected to the rotor, and an encoder sensor configured to receive a change in a magnetic field caused by rotation of the sensor magnet to detect a rotation angle of the rotor. A first set distance is maintained between the sensor magnet and the encoder sensor.
Claims20
A wheel driving apparatus comprising:
- a wheel;
- a motor housing has a cylindrical shape and is disposed inside the wheel;
- a motor comprising (i) a stator disposed inside the motor housing and (ii) a rotor disposed outside the stator and configured to rotate relative to the stator to thereby transmit a rotating force to the wheel;
- a sensor magnet connected to the rotor and configured to rotate with the rotor;
- and
- an encoder sensor that faces the sensor magnet and is configured to detect a change of a magnetic field based on rotation of the sensor magnet to thereby detect a rotation angle of the rotor,
- wherein the encoder sensor and the sensor magnet are spaced apart from each other by a first set distance.
A wheel driving apparatus comprising:
- a wheel;
- a tire coupled to the wheel;
- a wheel cover that covers sides of the wheel;
- a lower cover that is coupled to a lower portion of the wheel cover and configured to cover a portion between the tire and the wheel cover based on the wheel and the wheel cover being connected to each other;
- a motor housing that is disposed inside the wheel and has a cylindrical shape;
- a motor comprising (i) a stator fixed inside the motor housing and (ii) a rotor disposed outside the stator and configured to rotate relative to the stator to thereby transmit a rotating force to the wheel;
- a sensor magnet connected to the rotor and configured to rotate with the rotor;
- and
- an encoder sensor that faces the sensor magnet and is configured to detect a change of a magnetic field based on rotation of the sensor magnet to thereby detect a rotation angle of the rotor,
- wherein the sensor magnet and the encoder sensor are spaced apart from each other by a first set distance.
Dependencies are inferred from the claim text.