JPH06171379A - Driving wheel for traveling body - Google Patents
Driving wheel for traveling bodyInfo
- Publication number
- JPH06171379A JPH06171379A JP35318392A JP35318392A JPH06171379A JP H06171379 A JPH06171379 A JP H06171379A JP 35318392 A JP35318392 A JP 35318392A JP 35318392 A JP35318392 A JP 35318392A JP H06171379 A JPH06171379 A JP H06171379A
- Authority
- JP
- Japan
- Prior art keywords
- rotor
- traveling body
- stator core
- wheel
- stator
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
Landscapes
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
- Brushless Motors (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、自走車等の走行体に設
けられる走行体用駆動輪に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a driving wheel for a traveling body provided on a traveling body such as a self-propelled vehicle.
【０００２】[0002]
【従来の技術】近年、床面を走行しつつ各種作業を自動
的に行うロボット等の走行体が種々提案、提供されてい
る。走行体には、走行体を支持し該走行体を走行させる
１乃至複数の駆動輪と、駆動輪を回転させるモータ等の
駆動源と、駆動源の動力を駆動輪に伝達する動力伝達系
とが設けられる。そして従来は、駆動源や動力伝達系を
配設するためのスペースを走行体の底部に確保してい
た。2. Description of the Related Art In recent years, various traveling bodies such as robots have been proposed and provided for automatically performing various operations while traveling on a floor surface. The traveling body includes one or a plurality of drive wheels that support the traveling body and travel the traveling body, a driving source such as a motor that rotates the driving wheels, and a power transmission system that transmits the power of the driving source to the driving wheels. Is provided. And conventionally, the space for disposing the drive source and the power transmission system has been secured at the bottom of the traveling body.
【０００３】[0003]
【発明が解決しようとする課題】従って、前記走行体の
底部に配設されるその他の機器類は、前記駆動源や動力
伝達系によってその配設位置に制約を受けてしまい、そ
れら機器類のレイアウトに自由度を持たせることができ
ない問題があった。本発明は上述の問題に鑑みてなされ
たもので、駆動源や動力伝達系による走行体底部の専有
面積を少なくし、該走行体底部に配設されるその他の機
器類についてのレイアウトの自由度を向上させることが
できる走行体用駆動輪を提供することを目的とする。Therefore, the other devices arranged at the bottom of the running body are restricted in their installation positions by the drive source and the power transmission system, and these devices are There was a problem that the layout could not be given flexibility. The present invention has been made in view of the above problems, and reduces the area occupied by the drive source and the power transmission system at the bottom of the traveling body, and the degree of freedom in layout of other devices arranged at the bottom of the traveling body. It is an object of the present invention to provide a driving wheel for a traveling body that can improve the driving force.
【０００４】[0004]
【課題を解決するための手段】前記目的を達成するため
に本発明は、走行体を支持し回転することで該走行体を
走行させる駆動輪であって、外形が略円形で軸方向に所
定の長さを有しその端部が前記走行体側に支持された固
定子鉄心と、前記固定子鉄心に巻回され互いに異なるパ
ターンで通電される多相巻線と、前記固定子鉄心の外周
に嵌装された環状の回転子と、前記固定子鉄心の外周に
臨む前記回転子の内周に該回転子の周方向に間隔を置い
て複数配設された磁性体と、前記固定子鉄心と回転子と
の間に介挿され該回転子を回転可能に支持する軸受とを
備え、前記回転子が車輪として機能することを特徴とす
る。In order to achieve the above-mentioned object, the present invention is a drive wheel that runs a traveling body by supporting and rotating the traveling body, the outer shape of which is substantially circular and is predetermined in the axial direction. Of a stator core whose end is supported on the side of the traveling body, and a multi-phase winding wound around the stator core and energized in different patterns, and on the outer periphery of the stator core. A fitted annular rotor, a plurality of magnetic bodies provided at an inner circumference of the rotor facing the outer circumference of the stator core at intervals in the circumferential direction of the rotor, and the stator core. A bearing that is inserted between the rotor and rotatably supports the rotor, and the rotor functions as a wheel.
【０００５】また、本発明は、前記回転子の外周には環
状の弾性体が嵌装されているものとした。さらに、本発
明は、前記固定子鉄心と回転子との端面はカバーで覆わ
れているものとした。Further, according to the present invention, an annular elastic body is fitted around the outer periphery of the rotor. Further, in the present invention, the end faces of the stator core and the rotor are covered with a cover.
【０００６】[0006]
【実施例】以下、本発明の実施例を図面に基づいて説明
する。図１は本発明の一実施例による走行体用駆動輪の
概略構成を示す一部截断正面図、図２は図１に示す走行
体用駆動輪の内部構成を示す側断面図である。Embodiments of the present invention will be described below with reference to the drawings. 1 is a partially cutaway front view showing a schematic configuration of a drive wheel for a traveling body according to an embodiment of the present invention, and FIG. 2 is a side sectional view showing an internal configuration of the drive wheel for a traveling body shown in FIG.
【０００７】図１及び図２中全体符号１で示す本実施例
の駆動輪は、アウタロータ型サーボモータの回転子をそ
のまま車輪として利用したもので、図１に示すように、
外形が略円形で軸方向に所定の長さを有する固定子鉄心
１１と、固定子鉄心１１の外周に嵌装された断面略コ字
状で環状の回転子１２と、回転子１２の外周に嵌装され
た環状のホイール１３と、ホイール１３の外周に嵌装さ
れた環状で弾性を有するウレタンゴム１４（弾性体に相
当）とを備えている。The drive wheels of the present embodiment, which are designated by the overall reference numeral 1 in FIGS. 1 and 2, use the rotor of the outer rotor type servo motor as they are, and as shown in FIG.
A stator core 11 having a substantially circular outer shape and having a predetermined length in the axial direction, an annular rotor 12 having a substantially U-shaped cross section fitted on the outer periphery of the stator core 11, and an outer periphery of the rotor 12. An annular wheel 13 that is fitted is provided, and an annular elastic urethane rubber 14 (corresponding to an elastic body) that is fitted to the outer periphery of the wheel 13 is provided.
【０００８】図２に示すように、固定子鉄心１１の外周
面１１１で両端面１１２，１１３寄りの縁部には、全周
に亘って丸溝１１４がそれぞれ形成されている。固定子
鉄心１１の外周面１１１で両丸溝１１４の間の箇所に
は、図１に示すように、周方向に等間隔を置いて複数の
凹部１１５が形成されており、隣り合う２つの凹部１１
５の間に突極１１６が形成されている。即ち、突極１１
６は固定子鉄心１１の外周に、その周方向に等間隔を置
いて複数形成されている。また、固定子鉄心１１の外周
面１１１で各突極１１６と両丸溝１１４の間の箇所に
は、図２に示す凹溝１１７が、固定子鉄心１１の全周に
亘って形成されており、各突極１１６には図１及び図２
に示すように、固定子巻線１５がそれぞれ巻回されてい
る。As shown in FIG. 2, round grooves 114 are formed over the entire circumference at the edges of the outer peripheral surface 111 of the stator core 11 near both end surfaces 112, 113. As shown in FIG. 1, a plurality of concave portions 115 are formed at equal intervals in the circumferential direction on the outer peripheral surface 111 of the stator core 11 between the two circular grooves 114, and two adjacent concave portions are formed. 11
5, the salient poles 116 are formed. That is, salient pole 11
A plurality of 6 are formed on the outer circumference of the stator core 11 at equal intervals in the circumferential direction. Further, a concave groove 117 shown in FIG. 2 is formed on the outer peripheral surface 111 of the stator core 11 between the salient poles 116 and the both circular grooves 114 over the entire circumference of the stator core 11. , Each salient pole 116 is shown in FIG.
As shown in, the stator windings 15 are respectively wound.
【０００９】固定子鉄心１１には図１に示す開口１１８
が軸方向に貫通して形成されており、図２に示すよう
に、走行体２の側部下方に設けられた支持板２１の、前
記固定子鉄心１１の開口１１８が臨む箇所にも、開口２
１１が形成されている。また、図２に示すように、固定
子鉄心１１の一方の端面１１２と支持板２１との間には
円盤状のスペーサ２６が介設され、このスペーサ２６を
介して固定子鉄心１１が支持板２１に、ボルト２２によ
り連結されている。スペーサ２６には図２に示すよう
に、固定子鉄心１１の開口１１８と支持板２１の開口２
１１とを連絡する通孔２３が軸方向に貫通して形成され
ており、支持板２１の固定子鉄心１１が臨む面とは反対
側の面の開口２１１箇所には、図２に示すようにコネク
タ２４が設けられている。The stator core 11 has an opening 118 shown in FIG.
2 is formed so as to penetrate in the axial direction, and as shown in FIG. 2, an opening is also formed in a portion of the support plate 21 provided on the lower side of the traveling body 2 facing the opening 118 of the stator core 11. Two
11 is formed. Further, as shown in FIG. 2, a disk-shaped spacer 26 is provided between one end surface 112 of the stator core 11 and the support plate 21, and the stator core 11 is supported by the spacer 26 via the spacer 26. It is connected to 21 by a bolt 22. As shown in FIG. 2, the spacers 26 have openings 118 in the stator core 11 and openings 2 in the support plate 21.
A through hole 23 communicating with 11 is formed so as to penetrate therethrough in the axial direction, and as shown in FIG. 2, at an opening 211 on the surface of the support plate 21 opposite to the surface facing the stator core 11. A connector 24 is provided.
【００１０】固定子鉄心１１の各突極１１６に巻回され
た各固定子巻線１５の両端のリード（図示せず）は、固
定子鉄心１１の開口１１８、スペーサ２６の通孔２３、
及び支持板２１の開口２１１を通じてコネクタ２４に達
し、コネクタ２４に設けられた不図示の端子に接続され
ている。コネクタ２４には図２に示すように、不図示の
電源側からの給電ケーブル２５が接続され、この給電ケ
ーブル２５を介して各固定子巻線１５には、前記不図示
の電源側から交流電圧が印加される。尚、各固定子巻線
１５に印加される交流電圧の位相は、隣り合う２つの固
定子巻線１５間で異なっている。Leads (not shown) at both ends of each stator winding 15 wound around each salient pole 116 of the stator core 11 have openings 118 of the stator core 11, through holes 23 of the spacer 26,
Also, it reaches the connector 24 through the opening 211 of the support plate 21 and is connected to a terminal (not shown) provided on the connector 24. As shown in FIG. 2, a power supply cable 25 from a power supply side (not shown) is connected to the connector 24, and each stator winding 15 is connected to the AC voltage from the power supply side (not shown) via the power supply cable 25. Is applied. The phase of the AC voltage applied to each stator winding 15 is different between two adjacent stator windings 15.
【００１１】図２に示すように、回転子１２の内周面１
２１で固定子鉄心１１の両丸溝１１４が臨む箇所には、
全周に亘って丸溝１２２がそれぞれ形成されている。ま
た、回転子１２の内周面１２１で両丸溝１２２の間の箇
所には、図２に示す永久磁石１２３（磁性体に相当）が
埋設され、この永久磁石１２３は図１に示すように周方
向に等間隔を置いて複数設けられている。さらに、固定
子鉄心１１の両丸溝１１４と回転子１２の両丸溝１２２
との間には、図２に示すように鋼球１６がそれぞれ介挿
されており、この鋼球１６は図１に示すように、両丸溝
１１４，１２２間にその全周に亘って隙間なく列設され
ている。この鋼球１６により回転子１２は固定子鉄心１
１に対して回転可能に軸受されている。即ち、本実施例
では、固定子鉄心１１の両丸溝１１４、回転子１２の両
丸溝１２２、及び鋼球１６により軸受が構成されてい
る。As shown in FIG. 2, the inner peripheral surface 1 of the rotor 12 is
21 at the position where both circular grooves 114 of the stator core 11 face,
Round grooves 122 are formed along the entire circumference. A permanent magnet 123 (corresponding to a magnetic body) shown in FIG. 2 is embedded in the inner peripheral surface 121 of the rotor 12 between the two circular grooves 122. As shown in FIG. A plurality of them are provided at equal intervals in the circumferential direction. Further, both circular grooves 114 of the stator core 11 and both circular grooves 122 of the rotor 12
As shown in FIG. 2, steel balls 16 are respectively inserted between and, and as shown in FIG. 1, the steel balls 16 have a gap between both round grooves 114, 122 over the entire circumference thereof. They are lined up instead of lined up. This steel ball 16 causes the rotor 12 to move to the stator core 1
It is rotatably supported with respect to 1. That is, in the present embodiment, the bearing is constituted by the both round grooves 114 of the stator core 11, the both round grooves 122 of the rotor 12, and the steel balls 16.
【００１２】また、図１及び図２に示すように、回転子
１２の外周面１２４にはホイール１３が嵌装されてお
り、図２に示すように、回転子１２及びホイール１３
の、支持板２１に臨む面とは反対側の端面１２５，１３
１にはカバー１７が設けられている。カバー１７はねじ
１７１によって回転子１２及びホイール１３の端面１２
５，１３１に固着されており、このカバー１７によりホ
イール１３は回転子１２に固定されている。また、この
カバー１７により、固定子鉄心１１の外周面１１１と回
転子１２の内周面１２１との間に塵埃や水等が侵入する
のを防止している。Further, as shown in FIGS. 1 and 2, a wheel 13 is fitted on the outer peripheral surface 124 of the rotor 12, and as shown in FIG. 2, the rotor 12 and the wheel 13 are fitted.
Of the end surfaces 125, 13 on the side opposite to the surface facing the support plate 21.
1 is provided with a cover 17. The cover 17 is fixed to the rotor 12 and the end surface 12 of the wheel 13 by screws 171.
The wheel 13 is fixed to the rotor 12 by the cover 17. Further, the cover 17 prevents dust, water, and the like from entering between the outer peripheral surface 111 of the stator core 11 and the inner peripheral surface 121 of the rotor 12.
【００１３】さらに、図２に示すように、ホイール１３
の支持板２１に臨む端面１３４は、回転子１２の支持板
２１に臨む端面１２６よりも該支持板２１側に延出して
おり、該延出部分のホイール１３の内周面１３５とスペ
ーサ２６の外周面２７との間には、リング状のシール部
材１８が取着されている。このシール部材１８により、
支持板２１側において、固定子鉄心１１の外周面１１１
と回転子１２の内周面１２１との間に塵埃や水等が侵入
するのを防止している。Further, as shown in FIG.
The end surface 134 of the rotor 12 that faces the support plate 21 extends toward the support plate 21 side of the end surface 126 of the rotor 12 that faces the support plate 21, and the inner peripheral surface 135 of the wheel 13 and the spacer 26 at the extending portion. A ring-shaped seal member 18 is attached to the outer peripheral surface 27. With this seal member 18,
On the support plate 21 side, the outer peripheral surface 111 of the stator core 11
This prevents dust, water, and the like from entering between the inner peripheral surface 121 of the rotor 12 and the inner peripheral surface 121.
【００１４】また、ホイール１３の外周面１３２には図
１及び図２に示すようにウレタンゴム１４が嵌装されて
いる。このウレタンゴム１４の内周面１４１には図２に
示すように、ホイール１３の外周面１３２に形成された
凹部１３３と係合する凸部１４２が形成されており、ホ
イール１３の凹部１３３とウレタンゴム１４の凸部１４
２との係合で、ウレタンゴム１４がホイール１３の外周
面１３２から脱落するのを防止している。Further, urethane rubber 14 is fitted on the outer peripheral surface 132 of the wheel 13 as shown in FIGS. As shown in FIG. 2, a convex portion 142 that engages with a concave portion 133 formed on the outer peripheral surface 132 of the wheel 13 is formed on the inner peripheral surface 141 of the urethane rubber 14, and the concave portion 133 of the wheel 13 and the urethane are formed. Convex portion 14 of rubber 14
The engagement with 2 prevents the urethane rubber 14 from falling off the outer peripheral surface 132 of the wheel 13.
【００１５】このような構成による本実施例の駆動輪１
では、各固定子巻線１５にコネクタ２４及び給電ケーブ
ル２５を介して前記不図示の電源側からの交流電圧を印
加し、しかも隣り合う２つの固定子巻線１５間で印加さ
れる交流電圧の位相を異ならせると、固定子鉄心１１の
外周面１１１に回転磁界が発生する。この回転磁界は回
転子１２の内周面１２１に埋設された複数の永久磁石１
２３に作用し、これにより回転子１２に回転トルクが生
じて回転し、これと一体にホイール１３及びウレタンゴ
ム１４が回転する。The drive wheel 1 of this embodiment having such a configuration
Then, an AC voltage from the power supply side (not shown) is applied to each stator winding 15 via the connector 24 and the power feeding cable 25, and the AC voltage applied between two adjacent stator windings 15 is When the phases are made different, a rotating magnetic field is generated on the outer peripheral surface 111 of the stator core 11. This rotating magnetic field is generated by the permanent magnets 1 embedded in the inner peripheral surface 121 of the rotor 12.
23, which causes a rotational torque to be generated in the rotor 12, causing the rotor 12 to rotate, and the wheel 13 and the urethane rubber 14 rotate integrally with this.
【００１６】従って、ウレタンゴム１４の外周面１４３
（図１、図２）を接地させて前述の如く各固定子巻線１
５に交流電圧を印加し、回転子１２と一体にホイール１
３及びウレタンゴム１４を回転させることで、走行体２
が走行する。また、各固定子巻線１５に交流電圧を印加
しない状態では、回転子１２に回転トルクが生じず、鋼
球１６により固定子鉄心１１に対し単に回転可能に軸受
された状態となるため、駆動輪１は外力により自由に回
転できる従動輪として機能する。Therefore, the outer peripheral surface 143 of the urethane rubber 14
(Figs. 1 and 2) are grounded and each stator winding 1 is connected as described above.
AC voltage is applied to the wheel 1, and the rotor 1 is integrated with the wheel 1
By rotating 3 and urethane rubber 14, the traveling body 2
Runs. Further, in a state where no AC voltage is applied to each stator winding 15, no rotational torque is generated in the rotor 12 and the steel balls 16 are simply rotatably supported by the stator core 11, so that the driving is performed. The wheel 1 functions as a driven wheel that can be freely rotated by an external force.
【００１７】以上説明したように本実施例の駆動輪１に
よれば、固定子鉄心１１、回転子１２、永久磁石１２
３、及び固定子巻線１５によりアウタロータ型サーボモ
ータを構成し、鋼球１６により回転子１２を固定子鉄心
１１に対して回転可能に軸受したので、駆動輪１の内部
に駆動源と動力伝達系とを内蔵させることができる。従
って、駆動輪１を走行体２に配設するに当たり、駆動輪
１によって専有される走行体２側のスペースを最小限に
留めることができ、走行体２にその他の機器類を配設す
る際に、それら機器のレイアウトの自由度を向上させる
ことができる。As described above, according to the drive wheel 1 of this embodiment, the stator core 11, the rotor 12, and the permanent magnet 12 are provided.
Since the outer rotor type servomotor is constituted by 3 and the stator winding 15, and the rotor 12 is rotatably supported by the steel ball 16 with respect to the stator core 11, the drive source and the power are transmitted to the inside of the drive wheel 1. The system can be built in. Therefore, in disposing the drive wheel 1 on the traveling body 2, it is possible to minimize the space on the traveling body 2 side that is occupied by the driving wheel 1, and to dispose other devices on the traveling body 2. In addition, the degree of freedom in the layout of those devices can be improved.
【００１８】尚、本実施例では、回転子１２とウレタン
ゴム１４との間にホイールを介設したが、ホイール１３
は省略してもよい。また、本実施例では、ホイール１３
の外周面１３２にウレタンゴム１４を嵌装したが、ウレ
タンゴム１４を省略したり、その他の弾性体をホイール
１３の外周面１３２や回転子１２の外周面１２４に嵌装
してもよい。さらに、本実施例では、固定子鉄心１１の
両丸溝１１４、回転子１２の両丸溝１２２、及び鋼球１
６により軸受を構成したが、軸受の構成はこれに限定さ
れず、また、回転子１２及びホイール１３の端面１２
５，１３１に固着したカバー１７を省略し、ホイール１
３を回転子１２に直接固着するようにしてもよい。In this embodiment, the wheel is interposed between the rotor 12 and the urethane rubber 14, but the wheel 13
May be omitted. Further, in this embodiment, the wheel 13
Although the urethane rubber 14 is fitted to the outer peripheral surface 132 of the above, the urethane rubber 14 may be omitted, or another elastic body may be fitted to the outer peripheral surface 132 of the wheel 13 or the outer peripheral surface 124 of the rotor 12. Further, in this embodiment, both round grooves 114 of the stator core 11, both round grooves 122 of the rotor 12, and the steel ball 1 are used.
Although the bearing is constituted by 6, the constitution of the bearing is not limited to this, and the rotor 12 and the end surface 12 of the wheel 13 are
The wheel 17 is omitted by omitting the cover 17 fixed to the 5,131.
3 may be directly fixed to the rotor 12.
【００１９】そして、本実施例では、アウタロータ型サ
ーボモータの回転子をそのまま車輪として利用した場合
について説明したが、例えばアウタロータ型ブラシレス
モータの回転子等、その他種々のアウタロータ型モータ
の回転子をそのまま車輪として利用することで、本発明
の駆動輪を構成することができる。本発明の走行体用駆
動輪は、各種自走ロボット、走行式作業機、自動車等の
車輌、車輌型玩具等、駆動輪を備える全ての走行体に適
用可能であることは言うまでもない。In this embodiment, the rotor of the outer rotor type servo motor is used as it is as a wheel. However, the rotor of various outer rotor type motors such as the rotor of the outer rotor type brushless motor is used as it is. The drive wheel of the present invention can be constructed by using it as a wheel. It goes without saying that the drive wheel for a traveling body of the present invention can be applied to all traveling bodies provided with a driving wheel, such as various types of self-propelled robots, traveling work machines, vehicles such as automobiles, and vehicle-type toys.
【００２０】[0020]
【発明の効果】以上説明したように本発明によれば、走
行体を支持し回転することで該走行体を走行させる駆動
輪であって、外形が略円形で軸方向に所定の長さを有し
その端部が前記走行体側に支持された固定子鉄心と、前
記固定子鉄心に巻回され互いに異なるパターンで通電さ
れる多相巻線と、前記固定子鉄心の外周に嵌装された環
状の回転子と、前記固定子鉄心の外周に臨む前記回転子
の内周に該回転子の周方向に間隔を置いて複数配設され
た磁性体と、前記固定子鉄心と回転子との間に介挿され
該回転子を回転可能に支持する軸受とを備え、前記回転
子が車輪として機能するようにしたので、駆動源や動力
伝達系による走行体底部の専有面積を少なくし、該走行
体底部に配設されるその他の機器類についてのレイアウ
トの自由度を向上させることができる。As described above, according to the present invention, a driving wheel that supports and rotates a traveling body to drive the traveling body, has a substantially circular outer shape and has a predetermined length in the axial direction. A stator core whose end is supported on the traveling body side, a multi-phase winding wound around the stator core and energized in mutually different patterns, and fitted on the outer periphery of the stator core An annular rotor, a plurality of magnetic bodies provided at an inner circumference of the rotor facing the outer circumference of the stator core at intervals in the circumferential direction of the rotor, the stator core and the rotor Since the rotor is rotatably supported by the rotor and the rotor functions as a wheel, the area occupied by the drive source and the power transmission system at the bottom of the traveling body is reduced, Improves the degree of freedom in the layout of other equipment installed on the bottom of the moving body It can be.
【図１】本発明の一実施例による走行体用駆動輪の概略
構成を示す一部截断正面図である。FIG. 1 is a partially cutaway front view showing a schematic configuration of drive wheels for a traveling body according to an embodiment of the present invention.
【図２】図１に示す走行体用駆動輪の内部構成を示す側
断面図である。FIG. 2 is a side sectional view showing an internal configuration of a drive wheel for a traveling body shown in FIG.
１ 駆動輪 １１ 固定子鉄心 １１１ 固定子鉄心外周面 １１４，１２２ 丸溝（軸受） １２ 回転子 １２１ 回転子内周面 １２３ 永久磁石（磁性体） １４ ウレタンゴム（弾性体） １５ 固定子巻線（多相巻線） １６ 鋼球（軸受） ２ 走行体 1 Drive Wheel 11 Stator Iron Core 111 Stator Iron Core Outer Surface 114,122 Round Groove (Bearing) 12 Rotor 121 Rotor Inner Surface 123 Permanent Magnet (Magnetic Body) 14 Urethane Rubber (Elastic Body) 15 Stator Winding ( Multi-phase winding) 16 Steel ball (bearing) 2 Traveling body
Claims (3)
を走行させる駆動輪であって、 外形が略円形で軸方向に所定の長さを有しその端部が前
記走行体側に支持された固定子鉄心と、 前記固定子鉄心に巻回され互いに異なるパターンで通電
される多相巻線と、 前記固定子鉄心の外周に嵌装された環状の回転子と、 前記固定子鉄心の外周に臨む前記回転子の内周に該回転
子の周方向に間隔を置いて複数配設された磁性体と、 前記固定子鉄心と回転子との間に介挿され該回転子を回
転可能に支持する軸受とを備え、 前記回転子が車輪として機能する、 ことを特徴とする走行体用駆動輪。1. A drive wheel for running a traveling body by supporting and rotating the traveling body, the outer shape of which is substantially circular and has a predetermined length in an axial direction, and an end portion of which is supported on the traveling body side. A stator core, a multi-phase winding wound around the stator core and energized in different patterns, an annular rotor fitted to the outer periphery of the stator core, and the stator core A plurality of magnetic bodies, which are arranged at intervals in the circumferential direction of the rotor on the inner circumference of the rotor facing the outer circumference, and are inserted between the stator core and the rotor to rotate the rotor. And a bearing that supports the rotor, and the rotor functions as a wheel.
装されている請求項１記載の走行体用駆動輪。2. The drive wheel for a traveling body according to claim 1, wherein an annular elastic body is fitted around the outer periphery of the rotor.
ーで覆われている請求項１又は２記載の走行体用駆動
輪。3. The drive wheel for a traveling body according to claim 1, wherein end faces of the stator core and the rotor are covered with a cover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP35318392A JPH06171379A (en) | 1992-12-11 | 1992-12-11 | Driving wheel for traveling body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP35318392A JPH06171379A (en) | 1992-12-11 | 1992-12-11 | Driving wheel for traveling body |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH06171379A true JPH06171379A (en) | 1994-06-21 |
Family
ID=18429124
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP35318392A Pending JPH06171379A (en) | 1992-12-11 | 1992-12-11 | Driving wheel for traveling body |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH06171379A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0650936U (en) * | 1992-12-22 | 1994-07-12 | 光洋精工株式会社 | Motor integrated hub unit bearing device in a direct drive type electric vehicle |
| WO2010136868A1 (en) * | 2009-05-27 | 2010-12-02 | Velayutham Kadal Amutham | Wheel motor with an outer rotor |
| JP2016064762A (en) * | 2014-09-25 | 2016-04-28 | Ntn株式会社 | In-wheel motor mounted vehicle |
-
1992
- 1992-12-11 JP JP35318392A patent/JPH06171379A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0650936U (en) * | 1992-12-22 | 1994-07-12 | 光洋精工株式会社 | Motor integrated hub unit bearing device in a direct drive type electric vehicle |
| WO2010136868A1 (en) * | 2009-05-27 | 2010-12-02 | Velayutham Kadal Amutham | Wheel motor with an outer rotor |
| US8476794B2 (en) | 2009-05-27 | 2013-07-02 | Empire Technology Development Llc | Wheel motor with rotating outer rotor |
| JP2016064762A (en) * | 2014-09-25 | 2016-04-28 | Ntn株式会社 | In-wheel motor mounted vehicle |
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