KR101141947B1 - Wheel device and complex wheeled vehicle having the same - Google Patents

Abstract

PURPOSE: A wheel apparatus and a vehicle equipped with the wheel apparatus is able to be applied a remote control robot, a self control moving robot, and a compact unmanned robot and driven at high speed in the paved road and driven in the unpaved road with getting over the obstacle. CONSTITUTION: A wheel apparatus comprises a track assembly, a track wheel, and driving wheel(260). The track assemblies are connected with each other and forms a caterpillar(52). The traveling wheel is connected to the track assembly to be rotated and comprises a first diameter. The driving wheel is coupled with the track wheel and comprises a second diameter longer than the first diameter.

Description

Wheel device and compound wheel vehicle having same {WHEEL DEVICE AND COMPLEX WHEELED VEHICLE HAVING THE SAME}

One embodiment of the present invention relates to a compound wheel vehicle that is formed to be capable of traveling using a caterpillar.

A compound wheel vehicle having a caterpillar is a vehicle that travels while the track surrounding the starting wheels rotates like a tank, and is widely used in military equipment such as armored vehicles and tanks. In addition, these tracked vehicles are also used in the industrial heavy equipment field.

As such, the caterpillar device may be applied to a remote control vehicle, a small unmanned mobile vehicle, or an autonomous mobile vehicle that is configured to be autonomous.

1 is a perspective view of a conventional wheeled robot 10. As shown in FIG. 1, a wheeled robot includes a body 12 performing various functions and four to six wheels 15 connected to the body 12. Accordingly, the wheel 15 performs functions such as driving, braking, steering, and the like.

However, while the wheel-type robot 10 is excellent in high-speed running on asphalt, concrete pavement, while on the unpaved road, rough road, field, etc., there is a disadvantage that slipping or slipping into a deadlock state. In addition, in order to withstand the load of the body 12 sufficiently, a large diameter tire or many tires are needed and economical efficiency falls.

2 is a perspective view of a conventional tracked robot 20. As shown in FIG. 2, the orbital robot 20 includes a body 22 performing various functions and a pair of caterpillars 25 connected to the body. Therefore, the caterpillar 25 performs functions such as driving, braking, steering, etc. for movement or autonomous movement by the remote control of the robot. Such orbital robot 20 exhibits stable driving performance on slopes, unpaved roads, fields, rough roads, and the like, while sufficiently supporting the high load body 22, and has high frictional resistance and high power on asphalt and concrete pavements. Due to the large losses, it was difficult to drive at high speeds.

As a related prior art document, US Patent Publication No. US2011 / 0005847 discloses a heavy-weight tracked autonomous robot, and Korean Patent No. 10-1041930 discloses a configuration of a wheeled autonomous robot.

One object of the present invention is to provide a wheel device that can be used in a remote control robot, an autonomous mobile robot or a small unmanned robot.

Another object of the present invention is to provide a wheel device capable of driving at high speed on a road paved with a road, and capable of traveling while overcoming obstacles at a low speed on an unpaved road.

In order to achieve the above object of the present invention, the wheel device according to an embodiment of the present invention, so as to be rotatably connected to the track assembly and the track assembly, which are connected to each other to form an endless track, to have a first diameter It may include a track wheel and a traveling wheel coupled to the track wheel is formed, having a second diameter larger than the first diameter.

According to an example related to the present invention, the driving wheel may include an O-ring formed to surround an outer circumference of the driving wheel in contact with the ground.

On the other hand, another embodiment of the present invention for achieving the above object, the driving wheel is formed to be driven in contact with the ground in the first driving mode and the driving wheel in contact with the ground in the second driving mode, the driving in contact with the ground And a track portion formed to be capable of being connected, wherein the track portion includes a track assembly connected to each other to form an infinite track, and a track wheel rotatably connected to the track assembly and having a first diameter, wherein The traveling wheel discloses a wheel device that is formed to have a second diameter larger than the first diameter.

According to an example related to the present disclosure, the first driving mode may be a mode for driving a paved road at high speed, and the second driving mode may be a mode other than the first driving mode.

On the other hand, another embodiment of the present invention for achieving the above object is, a body having a power generating unit, the driving wheel is formed on both sides of the body, the driving wheel connected to the power generating unit and the driving force by the starting wheel Disclosed is a composite wheel vehicle including track parts including a caterpillar receiving a transmission, and driving wheels connected to the power generator, spaced apart from the track, and configured to travel in contact with the ground in a high speed driving mode. do.

According to an example related to the present invention, the infinite track of the track part is formed to connect and surround each other with the first wheel and the second wheel spaced from the first wheel, wherein one of the wheels is formed as a starting wheel Can be.

According to an example related to the present invention, the driving wheels may be disposed on side surfaces of the first wheel and the second wheel, respectively.

According to an example related to the present invention, the first wheel and the second wheel may be formed to have a first diameter, and the traveling wheels may be formed to have a second diameter.

According to an example related to the present invention, the driving wheel may include an O-ring formed to surround an outer circumference of the driving wheel in contact with the ground.

According to an example related to the present invention, the driving wheels may be formed to be coupled to the first wheel and the second wheel, respectively.

According to an example related to the present invention, the starting wheels may be formed to receive a driving force from a drive shaft connected to the power generating unit.

According to an example related to the present invention, the driving wheel may further include at least one pulley (Pully) to receive the driving force from the drive shaft, the driving wheels may be formed to be connected by the drive shaft and the pulley.

As described above, according to the wheel device of the hybrid wheel vehicle according to an embodiment of the present invention, since the road wheel rotates together with the track part while the driving wheel is slightly buried on the unpaved road surface, it is possible to drive stably with a large ground area and a ground force of the track part. Can be. In addition, it is possible to prevent lateral slipping with respect to the running direction of the composite wheel vehicle. In addition, the obstacle can be easily overcome even on the inclined surface.

In addition, on the pavement surface, only the driving wheel contacts the road surface, thereby enabling high-speed driving with minimal frictional resistance. Therefore, unnecessary power loss can be minimized given that the vehicle is operated with a limited battery.

In addition, when the wheel apparatus is mounted on a remote control robot, a small unmanned robot, or an autonomous mobile robot, there is an advantage in that a certain performance can be performed even in a situation where a paved surface and an unpaved road surface are mixed in a driving environment.

1 is a perspective view of a conventional wheeled robot.
Figure 2 is a perspective view of a conventional crawler robot.
3 is a perspective view of a compound wheel vehicle having a wheel device according to a first embodiment of the present invention;
4 is a half sectional view when the composite wheel of FIG. 3 is on an unpaved road surface.
Fig. 5 is a half sectional view when the composite wheel of Fig. 3 is on a pavement surface.
6 is a partial front view of a hybrid wheel according to a second embodiment of the present invention.
7 is a half sectional view of a hybrid wheel according to a third embodiment of the present invention.

Hereinafter, a wheel apparatus and a composite wheel vehicle having the same according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. In the present specification, different embodiments are given the same or similar reference numerals for the same or similar configurations, and the description is replaced with the first description. As used herein, the singular forms "a", "an" and "the" include plural forms unless the context clearly indicates otherwise.

3 is a perspective view of a compound wheel vehicle equipped with a wheel device according to a first embodiment of the present invention. As shown in FIG. 3, the compound wheel vehicle 30 may be a military robot performing an operation, an industrial robot in charge of production, a security security robot, a research and discovery robot. It may also be another movable vehicle.

The wheel device of the compound wheel vehicle 30 includes a caterpillar, a track wheel and a travel wheel. A caterpillar is formed by coupling a plurality of track assemblies together.

The track wheel may be one of a maneuver wheel, a flow wheel, or a bogie wheel. The starting wheel is formed to transmit the driving force of the power generating unit to the infinite track. The flow wheel may be formed to be located at the left and right front of the vehicle body to maintain the alignment of the caterpillar. The bogie wheel can be formed to maintain alignment of the ground pressure and the caterpillar.

The track wheel may consist of only the starting wheels, or may include any one of a flow wheel and a bogie wheel.

The traveling wheel is formed to space the track from the ground. For example, the driving wheel is formed to have a diameter larger than the track heel. In this case, the road surface contacts only the driving wheel on a flat surface without obstacles, so that it is possible to travel at high speed.

As shown in FIG. 3, the caterpillar connects the first wheel and the second wheel spaced apart from each other, and is formed to surround at least a portion.

The traveling wheel can be coupled to the track wheel. The combined driving wheel and track wheel together form a composite wheel.

The compound wheel vehicle 30 may be classified into a body 32 in which devices for performing various functions are installed and a plurality of compound wheels 50 and 51.

The body may include a power generating unit such as a motor or an engine. And it may include a drive shaft and the driven shaft to transfer the driving force of the power generating unit, the pulley may be formed on the drive shaft or the driven shaft to transmit the driving force to each wheel. Pulley means a means that can transmit the rotational force of the shaft, such as gears and belts to other shafts.

FIG. 4 is a half sectional view when the composite wheels 50 and 51 of FIG. 3 are on the unpaved road surface 70, and FIG. 5 shows the composite wheels 50 and 51 on the pavement surface 72 in FIG. Half section of the time. As shown in FIG. 4 and FIG. 5, a drive shaft 53 connected to an engine (not shown) or a motor (not shown) or a transmission (not shown) transmits driving force to the hybrid wheels 50 and 51.

The track portion may be formed including the infinite track 52 of the metal material. Therefore, as shown in FIG. 4, when the caterpillar 52 contacts the unpaved road surface 70, the grounding area is wide and the grounding force becomes large.

The traveling wheel 60 is made of a metal that is lightweight and has high abrasion resistance, such as aluminum alloy. The running wheel 60 has a disk shape having a large diameter compared to the width, and the diameter is larger than the radius of curvature of the caterpillar. 5% to 20% larger.

If the diameter difference is large, the speed of the compound wheel vehicle can be greatly increased as compared with the case where only the caterpillar is mounted, but the driving force can be lowered because the torque of the motor is not increased. On the contrary, when the diameter difference is reduced, the driving force is relatively larger than when the diameter difference is increased, but the increase in speed may be further reduced.

 The difference in diameter between the traveling wheel and the radius of curvature of the caterpillar can be appropriately changed in consideration of the speed of the compound wheel vehicle, the driving force of the motor, and the like.

The traveling wheel 60 may be circular or may have an annular doughnut shape for weight reduction. 3 to 5, when the traveling wheel 60 is annular, four to six connecting rims 62 protrude from the inner surface.

The connecting rim 62 is made of the same material as the driving wheel 60 and may be integrally formed. After the connecting rim 62 is extended and protruded, the end is connected to the side of the pulley. The connection between the connection rim 62 and the pulley may be permanently fastened (eg, welded, riveted, etc.), but quick snap connections, bolted nut connections, etc. may be applied for quick and easy separation (removable).

In addition, the unpaved road surface 70 as shown in FIG. 4 may be, for example, a mountain, a slope, a dirt road, a field, a stream, a field, a rough road, dirt, or the like. The pavement surface 72 as shown in FIG. 5 may be concrete, asphalt, indoor floor, wood, floor, ice sheet, tile, or the like.

The pulley is for driving a caterpillar, and a pair of pulleys are provided in one caterpillar, and a plurality of idler pulleys may be provided in the middle. In particular, the pair of pulleys can be divided into a driving pulley that receives the rotational force from the engine or motor and a driven pulley for guiding the rotation of the track piece. In the embodiment of the present invention, the pulley to which the driving wheel 60 is connected may be both a driving pulley and a driven pulley.

6 is a partial front view of a hybrid wheel according to a second embodiment of the present invention. As shown in FIG. 6, the connecting shaft 162 is connected on the same axis as the driving shaft 53. The connecting shaft 162 may be connected to the driving shaft 53 through a pulley or may be connected to the pulley.

The tire 160 is a rubber tire and is rotated through the connecting shaft 162. The diameter of the tire 160 is about 4 mm to 20 mm (two times the same radius difference) larger than the diameter of the caterpillar. This difference in diameter is intended to slightly float the infinite track on the pavement surface 72 as shown in FIG.

7 is a half sectional view of a hybrid wheel according to a third embodiment of the present invention. As illustrated in FIG. 7, a receiving groove 266 having a Y-shaped cross section is formed at an edge surface of the driving wheel 260, and an O-ring 268 is tightly fitted in the receiving groove 266.

The O-ring 268 increases the frictional force with the road surface to enable quiet running while preventing the sliding in the driving direction as well as the lateral sliding crossing with respect to the driving direction.

The O-ring 268 may be made of a material such as silicon, urethane, rubber, synthetic resin, and the like, and may be elastically inserted into the receiving groove 266.

As a modification of the present invention, a tooth may be formed around the traveling wheel 260 in addition to the o-ring 268 to increase the friction force.

Hereinafter, with reference to the accompanying drawings with respect to the operation of the hybrid wheel of the track-type mobile robot having the configuration as described above will be described in detail.

First, the operation in the state of traveling on the unpaved road surface 70 will be described as shown in FIG. The unpaved road surface 70 is often soft because the surface is made of dirt. Therefore, as the lower portion of the travel wheel 60 penetrates the unpaved road surface 70, the travel wheel contact portion 64 is formed in the soil.

And, most of the load of the body 32 is transmitted to the caterpillar to dig into the slightly unpaved road surface (70). That is, the load of the body 32 travels while the caterpillar and the traveling wheel 60 share (the ratio is adjustable).

At this time, high friction force does not occur because the driving wheel contact portion 64 is slightly stuck in the soil. In addition, since the lateral slip does not occur, stable steering performance is exerted. In addition, due to the infinite track, stable running is possible with a large ground area and high grounding force.

Next, the operation in the state of driving the pavement surface 72 as shown in FIG. Since the pavement surface 72 has a smooth surface and high hardness, the driving wheel 60 does not penetrate.

Therefore, as shown in FIG. 5, only the driving wheel 60 supports the load of the body 32. At this time, the caterpillar is held slightly floating from the pavement surface 72. At this time, the size of the floating gap is sufficient so that the caterpillar does not touch the pavement surface 72.

If the driving force of the motor is sufficient, the running speed can be increased by increasing the diameter of the traveling wheel, if necessary. As a result, the contact friction force with the pavement surface 72 is minimized, and the diameter of the circumference is increased to enable high-speed driving.

In particular, when the O-ring 268 is installed as shown in Figure 7, it is possible to run quiet and quiet through the elastic deformation of the O-ring 268, in particular, it can obtain a great effect indoors.

FIG. 6 illustrates an embodiment in which the tire 160 is installed in place of the driving wheel made of metal. Accordingly, the tire 160 contacts the pavement surface 72 to fully support the load of the robot, and the caterpillar is slightly injured. In the state as shown in FIG. 6, since the driving conditions are the same as those of a conventional wheeled robot (vehicle), high speed travel is possible, and more stable cornering or braking is possible than the travel wheels.

As described above, those skilled in the art will understand that the present invention can be implemented in other specific forms without changing the technical spirit or essential features.

Therefore, it should be understood that the above-described embodiments are to be considered in all respects as illustrative and not restrictive.

The scope of the present invention is shown by the following claims rather than the detailed description, and all changes or modifications derived from the meaning and scope and equivalent concept of the claims are included in the scope of the present invention. Should be interpreted.

Claims (9)

delete delete A body having a power generator;
A track assembly formed on both sides of the body, the track assembly forming an endless track such that at least a portion of the track contacts the ground in a first mode of driving on an unpaved road;
At least one of the track wheels coupled to the drive shaft connected to the power generating portion for transmitting a driving force to the track assembly; And
The track assembly is spaced apart from the ground, the track assembly is formed in a disk shape having a smaller width than the diameter so as to be able to travel in contact with the ground in the second mode does not contact the ground, the first mode in the second mode Comprising a driving wheel connected by the pulley receives a driving force from the drive shaft to drive at a high speed compared to the mode,
The driving wheel,
Receiving groove formed in the Y-shaped cross section on the edge surface;
An o-ring formed in close contact with the receiving groove to surround an outer circumference of the driving wheel; And
And a connecting rim protruding from the inner side toward the body so as to be detachably connected to the pulley. The method of claim 3,
The track wheels include a first wheel and a second wheel,
The track assembly is formed to connect and surround each other the first wheel and the second wheel spaced from the first wheel,
The one of the wheels is a compound wheel vehicle, characterized in that the starting wheel. The method of claim 4, wherein
And the traveling wheels are disposed on side surfaces of the first wheel and the second wheel, respectively. delete The method of claim 4, wherein
The driving wheels,
The combined wheel vehicle, characterized in that coupled to the first wheel and the second wheel, respectively. delete delete

Images