Robot comprising working unit and drive unit, and method for producing robot

Abstract

The invention relates to a robot (10) comprising a working unit (20) and a drive unit (50), the drive unit (50) comprising at least one roller (51), and wherein at least one region (24) of a drive motor (23) of the working unit (20) of the robot (10) is accommodated in a shaft (53) of the roller (51).

Description

[0001] This invention relates to a robot according to the independent claims and a method for manufacturing the corresponding robot.

[0002] Especially for small robots, such as cleaning robots for vehicle interiors or window cleaning robots, it is necessary to position as many functional components as possible within a confined space. The space-saving arrangement of drive motors (e.g., for driving cleaning brushes) plays a crucial role, as these motors must be easy to assemble. However, no solutions have been found in the prior art to address the lack of installation space and the poor accessibility of the corresponding drive motors.

[0003] DE 10 200 4 038 074 B3 illustrates a cleaning robot with a brush motor, wherein the robot's drive unit is capable of housing a drive motor for the drive unit. On the other hand, DE 21 201 4 000 129 U1 describes an electromechanical unit for a rolling machine, comprising so-called ground support wheels, a motor assembly for rotating the ground drive wheels, and an axle around which the wheels are driven by the motor assembly. DE 202018 105 546 U1 describes a water tank for a cleaning robot, wherein a roller motor for a flexible roller can be mounted within the rotating shaft of the flexible roller. However, no space-saving arrangement of the drive motors for the robot's working unit is discussed in the prior art.

[0004] The technical problem this invention aims to solve is to arrange the drive motors of a robot's working unit in a space-saving manner while ensuring good accessibility. This problem is solved by a robot comprising a working unit and a drive unit, the drive unit including at least one roller. The roller may include an axle, located on the axle, in other words, arranged around the axle. Preferably, the drive unit may include multiple rollers. For example, at least one pair or more than two, such as three rollers, may be arranged on each side of the robot. The rollers can be driven to rotate about a rotation axis. The rollers arranged on one side can be wrapped with a chain, thus forming a chain drive. The drive unit is used to drive the robot, thereby moving the robot.

[0005] According to the invention, at least one region of the drive motor of the robot's work cell is housed in the shaft of the roller. The work cell is distinct from the drive unit. It is a functional unit that performs a specific function, which is not used to move the robot. The work cell is specifically designed for work performed by the robot. Therefore, the drive motor, at least partially arranged in the shaft, is not the drive motor of the robot's drive unit.

[0006] The arrangement of the drive motors for the work units utilizes previously unused installation space, resulting in space savings. Furthermore, the easy accessibility simplifies both the assembly and maintenance of the drive motors. This significantly reduces installation space, making the drive motors easily accessible and maintainable.

[0007] The drive motor can be arranged in a recess in the shaft. The recess in the shaft can be designed as a through-hole, particularly a through-hole. Specifically, the shaft substantially completely surrounds the receiving area of ​​the drive body in the radial direction. Preferably, the shaft rotates at least 330° around this area in the radial direction. The radial arrangement of the shaft is referenced. Thus, the shaft serves as a housing for the receiving area of ​​the drive motor. The drive motor may include a cover that closes the shaft in an axially outward direction. Therefore, the tires of the rollers move around the housing of the drive motor, which is designed as a shaft. In other words, the housing of the drive motor of the work unit is designed as a shaft for the rollers of the drive unit. The shaft can be fixed to the base of the robot. The base can, in particular, be the chassis of the robot. To fix the shaft to the base, both the shaft and the base can have at least one fixing opening, preferably a fixing hole. They can be arranged coaxially with each other, such that the shaft can be fixed to the base by a fixing device such as screws.

[0008] The base may include recesses for accommodating end regions of the drive motor. The recesses in the base may follow, in an axially inward direction, a recess in the shaft. Therefore, the drive motor can be accommodated in the recesses of the base via the recesses in the shaft, such that regions of the drive motor (e.g., a first end region) are accommodated in the recesses of the base, while regions such as the intermediate region and / or the second end region are accommodated in the recesses of the shaft. Therefore, the regions accommodated in the shaft are preferably the intermediate region and / or the second end region of the drive motor.

[0009] An axially inwardly extending through-hole, preferably a through-hole, extends from a recess in the base. This is used to connect the drive motor to the working unit. Preferably, the working unit is arranged axially inwardly behind the shaft, in other words, arranged behind the shaft, and can be connected to the drive motor via the through-hole in the base.

[0010] The working unit can be a cleaning unit, making the robot a cleaning robot, preferably a cleaning robot for vehicle interiors or a window cleaning robot for vehicle windows. Specifically, the working unit is therefore a cleaning brush that can rotate about the same axis of rotation as the shaft and therefore the roller. It is preferably a circular brush.

[0011] On the other hand, the present invention relates to a method for manufacturing a robot comprising a working unit and a drive unit, the drive unit including at least one roller. The method includes arranging at least a portion of a drive motor of the working unit within the shaft of the roller of the drive unit. Specifically, this method is used to manufacture the aforementioned robot.

[0012] Preferably, a recess can be formed first in the shaft and then in the robot's base. Furthermore, corresponding fixing openings can be formed in both the shaft and the base. The shaft is now fixed to the base via coaxially arranged fixing openings, into which fixing devices such as screws are inserted. Additionally, a through opening can be formed in the base, starting from the recess. A drive motor can now be inserted into the recesses in both the shaft and the base, such that at least one region of the drive motor is arranged in the shaft and at least one region of the drive motor is arranged in the base. The region arranged in the base is particularly a first end region, while the intermediate region can be arranged in the shaft. A second end region can protrude from the shaft and can be covered by a cap. The working unit can now be arranged axially inward behind the shaft and connected to the drive motor located on the shaft via the through opening.

[0013] As shown in the diagram:

[0014] Figure 1 : A 3D diagram of the robot;

[0015] Figure 2 : Figure 1 Another perspective view of the robot;

[0016] Figure 3 : Figure 1 An enlarged cross-sectional view showing the cover of the drive motor for the robot's work unit;

[0017] Figure 4 : Figure 3 Further magnification of the details reveals tires and chains without the robot's drive unit;

[0018] Figure 5 : Figure 4 The view, but without axle 53, but with tires and a chain; and

[0019] Figure 6 : Figures 3 to 5 A slightly perspective sectional view of the cross-section; and

[0020] Figure 7 Flowchart of a method for manufacturing robots. Detailed Implementation

[0021] exist Figure 1 The diagram shows a robot 10 in perspective, designed as, for example, a cleaning unit 11. It includes a work unit 20, which is designed as a cleaning unit 21 (see [reference]). Figure 2 In addition, robot 10 includes a drive unit 50, meaning the robot includes six wheels 51, three on each side, which are fixed to a base 58 designed as a chassis 59.

[0022] Each roller 51 has a tire 52. A chain 57 for the mobile robot 10 is arranged around the corresponding roller 51 on each side. Each roller 51 has an axle 53 on which the tire 52 is mounted. The area 24 of the drive motor 23 of the working unit 20 is located in the axle 53 (see...). Figure 6 ).exist Figure 1 In the middle, this view is correspondingly covered by the cover 28 of the drive motor, which closes the drive motor in the axial external direction 91.

[0023] Figure 2 Shown from below Figure 1 A perspective view of the robot 10, in which the working cell 20 is clearly seen as designed as a cleaning brush 22. It is arranged axially inward 92 behind the shaft 53.

[0024] Figure 3 It shows Figure 1 The enlarged cross-section shows the area without the cover 28 of the drive motor 23. The second end region 27 of the drive motor 23 can now be clearly seen. The region 24 housed in the shaft 53 is the intermediate region 25. Furthermore, it can be seen how the shaft 53 has a recess 54 to accommodate the drive motor 23. It can also be clearly seen how the tire 52 is arranged around the shaft 53.

[0025] exist Figure 4 In the middle, you can see Figure 3 A further enlarged cross-section, this time without chain 57 and tire 52. Shaft 53 serves as the housing for the receiving area 24 of the drive motor 23. The receiving area 24 is almost completely surrounded by shaft 53 in the radial direction.

[0026] Figure 5 It shows the relationship with Figure 4 The same enlarged view is shown, but without the shaft 53, but with tires 52 and chains 57. The base 58, here the chassis 59, includes a recess 60, which is, for example, a cuboid. A through opening 61 is formed from the recess 60. This is used to connect the drive motor 23 to the working unit 20. A fixing opening 62 is also formed for fixing the shaft 53 to the base 58.

[0027] exist Figure 6 A perspective sectional view can be seen. It clearly shows how the drive motor 23 has a first end region 26, a second end region 27, and an intermediate region 25. The intermediate region 25 is arranged in the recess 54 of the shaft 53. Figure 6 In the middle, the second end region 27 protrudes from the shaft 53 in the axial outward direction 91.

[0028] The recess 54 in shaft 53 is designed as a through opening 55. Additionally, shaft 53 may include a fixing opening 56 for securing shaft 53 to base 58, through which a screw (not shown) can pass. A corresponding fixing opening 62 is also located in base 58, through which a screw can also be guided. The corresponding fixing openings 56 and 62 are arranged coaxially. How the first end region 26 is arranged in the recess 60 of base 58 can be clearly seen. Figure 6 The through opening 61, covered by the drive motor 23, is used to connect to the working unit 20.

[0029] Figure 7 A method 100 for manufacturing a robot including a drive unit and a working unit is shown. In a first step, a recess 54 101 may be formed in the shaft 53 of the drive unit 50, i.e., in the shaft 53 of the roller 51. A corresponding recess 60 may also be formed in a base 58 on which at least one roller 51 is fixed.

[0030] Corresponding fixing openings 56, 62 can be provided in the base 58 and the shaft 53. The base 58 and the shaft 53 can be arranged such that the recesses 54, 60 and the fixing openings 56, 62 extend coaxially. The shaft 53 can now be fixed to the base 58. The drive motor 23 can now be introduced into the recesses 54, 60, such that its first end region 26 is arranged in the recess 60 of the base 58 and its intermediate region 25 is arranged in the recess 54 of the shaft 53. Overall, at least one region 24 of the drive motor 23 is arranged 103 in the shaft 53 and 104 in the base 58, i.e., in the recess 60 of the base 58.

[0031] The working unit 20 can be arranged 105 behind the shaft 53 in the axial inward direction 92, and the drive motor 23 can be connected 106 to the working unit 20 through the through opening 61 (extending from the recess 60 in the base 58).

[0032] List of reference numerals

[0033] 10 robots

[0034] 11 Cleaning Units

[0035] 20 working units

[0036] 21 cleaning units

[0037] 22 Cleaning Brush

[0038] 23 drive motors

[0039] 24 areas

[0040] 25 Middle Area

[0041] 26 First end region

[0042] 27 Second end region

[0043] 28 caps

[0044] 50 drive units

[0045] 51 rollers

[0046] 52 tires

[0047] 53 axis

[0048] 54 recess

[0049] 55 through opening

[0050] 56 Fixed opening

[0051] 57 chains

[0052] 58 matrix

[0053] 59 chassis

[0054] 60 recess

[0055] 61 through opening

[0056] 62 Fixed opening

[0057] 91 Axis outward direction

[0058] 92 axial direction inward

[0059] 100 Methods for Manufacturing Robots

[0060] 101 forms a recess in the shaft of the drive unit.

[0061] 102 forms a recess in the matrix.

[0062] At least one area of ​​the drive motor of the 103 working unit is arranged in the shaft of the robot's drive unit.

[0063] At least one region of the drive motor of the 104 working unit is arranged in the base.

[0064] The 105 working unit is arranged axially and inwardly behind the shaft.

[0065] Connection between 106 drive motor and working unit

Claims

1. A robot (10) comprising a working unit (20) and a drive unit (50). The drive unit (50) includes at least one roller (51). Its features are, At least one region (24) of the drive motor (23) of the working cell (20) of the robot (10) is housed in the shaft (53) of the roller (51).

2. The robot (10) according to claim 1. Its features are, The working unit (20) is different from the driving unit (50).

3. The robot (10) according to claim 1 or 2, characterized in that, The work unit (20) is specifically designed for the work performed by the robot (10).

4. The robot (10) according to any one of the preceding claims. Its features are, The drive motor (23) is not the drive motor of the drive unit (20).

5. The robot (10) according to any one of the preceding claims. Its features are, The region (24) of the drive motor (23) is arranged in the recess (54) of the shaft (53), wherein the recess (54) is configured as a through opening (55).

6. The robot (10) according to any one of the preceding claims. Its features are, The shaft (53) substantially completely surrounds the housing area (24) of the drive motor (23) in the radial direction.

7. The robot (10) according to any one of the preceding claims. Its features are, The shaft (53) serves as the housing for the receiving area (24) of the drive motor (23).

8. The robot (10) according to any one of the preceding claims. Its features are, The drive motor (23) includes a cover (28) that closes the shaft (53) in the axial outward direction (91).

9. The robot (10) according to any one of the preceding claims. Its features are, The shaft (53) is fixed to the base (58) of the robot (10). The base (58) includes a recess (60) for accommodating the end region of the drive motor (23).

10. The robot (10) according to claim 9. Its features are, The substrate (58) includes a through hole (61) extending from the recess (60) and in the axially inward direction (92) for connecting the drive motor (23) to the working unit (20).

11. The robot (10) according to claim 10. Its features are, The working unit (20) is arranged in the axial inward direction (92) behind the shaft (53) and is connected to the drive motor (23) through the through opening (61) in the base (58).

12. The robot (10) according to any one of the preceding claims. Its features are, The working unit (20) is a cleaning unit (21), which makes the robot (10) a cleaning robot (11).

13. The robot (10) according to any one of the preceding claims. Its features are, The working unit (20) is a cleaning brush (22).

14. A method (100) for manufacturing a robot (10) comprising a work cell (20) and a drive unit (50). The drive unit (50) includes at least one roller (51). Its features are, At least one region (24) of the drive motor (23) of the working cell (20) of the robot (10) is arranged in the shaft (53) of the roller (51).

15. The method (100) according to claim 14. in, The method is designed for manufacturing a robot (10) according to any one of claims 1 to 13.

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