公开(公告)号：US20160311479A1

公开(公告)日：2016-10-27

申请号：US15135826

申请日：2016-04-22

Applicant: iRobot Corporation

Inventor： Pavlo E. Rudakevych ,  Garran M. Gossage ,  Christopher L. Morey ,  Todd M. Meaney ,  Timothy R. Ohm

IPC: B62D55/088 ,  B60B9/26 ,  F41H7/00 ,  B62D55/08 ,  B62D55/32 ,  B29D30/02 ,  B60B1/08 ,  B60B5/02

CPC classification number: B62D55/075 ,  B29C45/00 ,  B29D30/02 ,  B29K2069/00 ,  B29K2077/00 ,  B29L2031/32 ,  B60B5/02 ,  B60B9/26 ,  B60B2310/204 ,  B60B2360/32 ,  B62D55/08 ,  B62D55/088 ,  B62D55/0885 ,  B62D55/12 ,  B62D55/14 ,  B62D55/32 ,  F41H7/005 ,  Y10S901/01

Abstract: A wheel assembly for a remote vehicle comprises a wheel structure comprising a plurality of spokes interconnecting a rim and a hub. The spokes comprise at least one slit extending therethrough radially inward from the rim to the hub. The assembly also comprises a flipper structure comprising an arm, a plurality of legs, and an attachment base. The plurality of legs and the attachment base comprise a four-bar linkage. The assembly further comprises an insert comprising a bore with a flat surface that tapers outward from a top portion to a bottom portion of the insert. The insert being configured to couple the flipper structure to the wheel structure via an axle on the remote vehicle and prevent backlash between the axle and the flipper structure. The flipper structure being configured to transmit axial forces to the wheel structure. The wheel structure being configured to absorb radial and axial forces.

Abstract translation: 用于远程车辆的车轮组件包括轮架结构，其包括将轮辋和轮毂相互连接的多个辐条。 轮辐包括至少一个从轮缘向内延伸穿过轮毂的狭缝。 组件还包括包括臂，多个腿和附接底座的导板结构。 多个腿部和附接基部包括四杆连杆。 组件还包括插入件，其包括具有从插入件的顶部向底部向外逐渐变细的平坦表面的孔。 所述插入件构造成经由所述远程车辆上的轴将所述导板结构耦合到所述车轮结构，并且防止所述车轴与所述导板结构之间的间隙。 导板结构被构造成将轴向力传递到车轮结构。 轮结构被构造成吸收径向和轴向力。