KR101918403B1 - Track system for moving apparatus for driving over step barrier - Google Patents

Abstract

The present invention is to provide a track system for a moving object for overcoming a stepped obstacle so that a vehicle traveling on a rough road can overcome a high step of a rough road without risk of overturning. A track system for a moving body according to the present invention comprises a wheel supporting frame rotatably coupled to a moving body of a moving body and having a frame engaging portion on one side thereof, a plurality of track driving wheels rotatably coupled to the wheel supporting frame, And a plurality of track drive wheels, a track for orbitally moving by the plurality of track drive wheels, and a drive shaft for rotating along with the drive shaft and sliding on the drive shaft so as to move along the drive shaft, A coupler having a coupler engagement portion capable of engaging with the frame engaging portion and capable of transmitting the rotational force of the drive shaft to the wheel support frame and a coupler coupling portion engaging with the frame engaging portion and sliding the coupler along the drive shaft so that the coupler engaging portion can be separated from the frame engaging portion, Includes coupler transfer unit to move The.

Description

TECHNICAL FIELD [0001] The present invention relates to a track system for a moving object for overcoming a stepped obstacle,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a track system for a moving body, and more particularly to a track system for a moving body for overcoming a stepped obstacle capable of overcoming a high step in a rough.

In the event of a collapse of a building or in a disaster site, it is often necessary to carry out work such as rescue. At this time, since the inside of the accident site is not easy to move due to the collapsed structure, it is necessary to perform work while removing the obstacle.

However, it is difficult to remove heavy obstacles by manpower, and there is a risk of additional collapse at the scene of the accident, so it is not appropriate for people to enter the scene.

For this reason, research and development have been actively conducted on robots which can be operated unmanned in a disaster scene, or robots capable of maneuvering safely on the ground. Robots for accidents and disaster scenes should have a driving system capable of overcoming the rudder formed by collapsing forces and enough force to carry and remove heavy collapses for this purpose.

As a driving system for overcoming the rough terrain, a wheel system capable of independent driving, an infinite track system and the like are used. Particularly, in order to overcome the high level difference among the rough terrain, a double tracked track system or an infinite tracked track system in which the rotation of the entire tracked structure can be passively used has been used.

BACKGROUND ART In general, an endless track system is provided with a pulley rotatably disposed on a side surface of a moving body such as a vehicle or a robot. The pulley is wound on a track so that two pulleys rotate by interlocking with the track, . Such tracked tracked vehicles are capable of traveling on rough roads with packed roads as well as stairs and other obstacles.

However, in a disaster area where a collapse of a building occurs, a vehicle or a robot for carrying out a specific task such as removing an obstacle must move a high stepped rudder, so that a track system capable of overcoming a high step can be provided do.

Patent Registration No. 1652195 (Aug. 29, 2016) Patent Registration No. 1627400 (June 06, 2013)

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described problems, and provides a track system for a moving object for overcoming a stepped obstacle so as to overcome a high step of a rough road without risk of overturning a vehicle traveling on a rough road .

According to an aspect of the present invention, there is provided a track system for a moving body, comprising: a wheel supporting frame rotatably coupled to a moving body of the moving body and having a frame engaging portion at one side; A plurality of track drive wheels rotatably coupled to the wheel support frame; A driving shaft connected to the moving body for drivingly connecting any one of the driving unit and the plurality of track driving wheels; A track orbiting by the plurality of track drive wheels; A coupler slidably coupled to the drive shaft so as to rotate together with the drive shaft and movable along the drive shaft and having a coupler engaging portion engageable with the frame engaging portion to transmit the rotational force of the drive shaft to the wheel support frame; And a coupler transfer unit that slides the coupler along the drive shaft so that the coupler engagement portion can be engaged with the frame engagement portion or separated from the frame engagement portion.

The frame engaging portion may include a frame inserting groove into which the coupler can be inserted.

The coupling protrusion may be provided on one of the frame engaging portion and the coupler engaging portion, and the other coupling recess may be formed with the coupling protrusion.

The track drive wheels connected to the drive axes of the plurality of track drive wheels may be connected to the remaining track drive wheels so as to transmit power.

The wheel support frame includes three edge portions and a triangular wheel support portion having three vertexes, and each of the three vertexes may have one track drive wheel.

A track drive wheel connected to the drive shaft among the plurality of track drive wheels is disposed in the middle of the wheel support and has a gear shape in which a plurality of gears are arranged along the periphery, The wheel may have a gear shape in which a plurality of gears are disposed along respective edge portions so as to be able to be connected to a track drive wheel to which the drive shaft is connected.

Each of the track driving wheels disposed in each of the three vertexes may protrude outward from each of the vertexes.

The track system for a moving body according to the present invention may further comprise a plurality of guide rollers disposed on the wheel support portion so as to guide the track in contact with the track at three edge portions of the wheel support portion.

The track system for a moving body according to the present invention may include a pressure sensing unit disposed at a plurality of positions along the moving direction of the track for each of the edges of the wheel support frame so as to sense a pressure of a section contacting the ground surface of the track; And a plurality of obstacle detectors disposed at respective vertexes of the wheel support frame to detect an impact applied to the track when the track collides with the obstacle.

In the track system for a moving body according to the present invention, in a terrain where there is no obstacle or a step is not large, the moving body is caused to travel by the track motion of the track, and in the case of a terrain having an obstacle or an obstacle, As the whole rotates like a wheel, it allows the moving object to go over obstacles or stepped terrain. Therefore, the moving object can be stably traveled on a terrain having a large step.

Further, the track system for a moving body according to the present invention can convert the drive force of the drive shaft for traversing the track to the wheel support frame side simply by using a coupler that is slidably coupled to the drive shaft and selectively connected to the wheel support frame . Therefore, it can be implemented with a simple structure, and the increase in the unit price due to an increase in the number of parts can be reduced.

1 is a front view showing a track system for a moving body according to an embodiment of the present invention.
2 is a schematic view of a moving object to which a track system for a moving body according to an embodiment of the present invention is applied.
3 is a perspective view showing a part of a track system for a moving body according to an embodiment of the present invention.
Figure 4 is a side view of Figure 3;
5 is a partially exploded view of a track system for a moving body according to an embodiment of the present invention.
6 shows a state in which the wheel support frame and the coupler are disconnected from each other in the track system for a moving body according to an embodiment of the present invention.
FIG. 7 illustrates a connection state between a wheel support frame and a coupler of a track system for a moving body according to an embodiment of the present invention.
8 to 10 illustrate a hull driving method of a moving object to which a track system for a moving object is applied according to an embodiment of the present invention.
9 is a front view showing a track system for a moving body according to another embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a track system for a moving object for overcoming a stepped obstacle according to the present invention will be described in detail with reference to the drawings.

FIG. 1 is a front view showing a track system for a moving body according to an embodiment of the present invention. FIG. 2 is a schematic view of a moving body to which a track system for a moving body according to an embodiment of the present invention is applied. FIG. 4 is a side view of FIG. 3, and FIG. 5 is a partially exploded view of a track system for a moving body according to an embodiment of the present invention .

As shown in the drawings, a track system 100 for a moving body according to an embodiment of the present invention includes a wheel supporting frame 110 coupled to a moving body 10 of a moving body, A plurality of track drive wheels 130, 133, 136 and 140 to be installed, a drive shaft 150 connected to one track drive wheel 130, and a plurality of track drive wheels 130 and 133 A coupler 170 installed on the driving shaft 150 so as to be selectively connected to the wheel support frame 110 and a coupler 170 for moving the coupler 170. [ And a transfer unit 180. The track system 100 for a moving body is mounted on a moving body 10 of a variety of moving bodies such as a vehicle or a robot to enable a smooth rough running of the moving body. As shown in FIG. 2, the track system 100 for a moving body may be mounted on the front and rear left and right sides of the moving body 10 to provide a moving force to the moving body.

The wheel supporting frame 110 is rotatably coupled to the moving body 10 of the moving body. The wheel supporting frame 110 includes a wheel supporting portion 112 for rotatably supporting a plurality of track driving wheels 130, 133, 136 and 140, a coupler coupling portion 120 for selectively coupling the coupler 170 ). The wheel support portion 112 and the coupler connection portion 120 are spaced apart from each other to face each other and coupled to each other through a plurality of bridge portions 127.

The wheel support 112 has a triangular shape with three sides 113, 114 and 115 and three vertexes 116, 117 and 118. Each of the three vertexes 116, 117 and 118 of the wheel support 112 is provided with one of the track drive wheels 133, 136 and 140. Each of the three side portions 113, 114, and 115 of the wheel support portion 112 is provided with a guide roller 145 that rotates in contact with the track 160 that orbitally moves.

The guide roller 145 may be rotated about the rotation axis 146 coupled to the wheel support 112 as a rotation center axis. The plurality of guide rollers 145 support the orbit track 160, thereby preventing the track 160 from being excessively bent and supporting the track system 100 for the moving body from the ground. Although two guide rollers 145 are shown on each side 113, 114 and 115 in the figure, the number of guide rollers 145 disposed on each side 113, 114, May be variously changed.

Coupler connection portion 120 is disposed behind wheel support portion 112. In the middle of the coupler connection part 120, there is provided a frame engaging part 122 to which the coupler 170 can be engaged. The frame engaging portion 122 includes a frame insertion groove 123 into which the coupler 170 can be inserted, a plurality of engaging projections 124 and engagement grooves 124 alternately arranged along the periphery of the frame insertion groove 123, 125). The coupling coupler 120 and the coupler 170 are connected in a power transmitting manner when the coupler 170 is inserted into the frame insertion groove 123 of the frame engaging portion 122 and the coupler 170 The connection between the coupler connection part 120 and the coupler 170 is released.

Although the coupler connection portion 120 is shown as a triangular shape corresponding to the wheel support portion 112 in the drawing, the structure of the coupler coupling portion can be variously changed. In addition to the structure in which the wheel support frame also includes the triangular wheel support portion 112 and the coupler connection portion 120 as shown in the figure, the plurality of track drive wheels 130, 133, 136 and 140 are rotatably supported While the coupler 170 can be selectively connected. The structure of the frame engaging portion 122 for connection with the coupler 170 may be variously changed according to the structure of the coupler and the like.

The track drive wheels 130, 133, 136 and 140 are rotatably mounted on the wheel support 112 of the wheel support frame 110 to orbit the track 160. The track drive wheels 130, 133, 136 and 140 can rotate about the rotation axis 132, 135, 138 and 142, respectively, which are coupled to the wheel support 112. The drive shaft 150 is connected to one track drive wheel 130 among the plurality of track drive wheels 130, 133, 136 and 140, and the other track drive wheels 133, 136, (Not shown) is coupled to the track drive wheel 130 to which the drive wheel 150 is connected. The track drive wheel 130 connected to the drive shaft 150 is disposed at the center of the wheel support portion 112 and the remaining track drive wheels 133 and 136 and 140 are disposed at three vertexes 116 of the wheel support portion 112. [ (117) and (118). Each of the track drive wheels 130, 133, 136 and 140 has a gear shape in which a plurality of gears 131, 134, 137, and 141 are disposed along the peripheries. The track drive wheels 130 connected to the drive shaft 150 are respectively connected to the remaining track drive wheels 133 and 136 and 140 so that the rotational force of the drive shaft 150 is transmitted to the remaining track drive wheels 133 and 136, (Not shown).

The track drive wheels 133, 136 and 140 disposed at the three vertexes 116, 117 and 118 of the wheel support 112 support the track 160 in contact with the inner side of the track 160, At the same time, the driving force is transmitted directly to the track 160. The three track drive wheels 133, 136 and 140 each project outwardly from the vertexes 116, 117 and 118 of the respective gears 134, 137 and 141. Therefore, in an emergency situation in which the track 160 is removed from the track drive wheels 133 (136) and 140 (140), the track drive wheels 133 (136) and 140 have. Therefore, the vehicle can be driven even in an emergency situation in which the track 160 is removed.

The driving shaft 150 connects the driving unit (not shown) provided on the moving body 10 and the track driving wheel 130 disposed at the center of the wheel supporting unit 112 so as to transmit power. The driving shaft 150 is connected to the driving part of the moving body 10 and extends through the frame insertion groove 123 of the coupler connecting part 120 to the rear side of the wheel supporting part 112. The driving shaft 150 is connected to the track driving wheel 130 disposed at the center of the wheel supporting portion 112 through the power transmitting portion 155. The power transmitting portion 155 is coupled to the wheel supporting portion 112 to transmit the driving force of the driving shaft 150 to the track driving wheel 130. A fixing protrusion 151 for coupling with the coupler 170 protrudes from the outer circumferential surface of the driving shaft 150. The fixing protrusion 151 has a shape elongated in the longitudinal direction of the driving shaft 150.

1, the track 160 includes a plurality of track drive wheels 133, 136 and 140 respectively disposed at three vertexes 116, 117 and 118 of the wheel support 112, And supported or supported by a plurality of guide rollers 145 that are respectively disposed on the three side portions 113, 114, and 115 of the wheel support portion 112. The track 160 can move the moving body by being orbitalized by receiving a driving force from the track driving wheels 130, 133, 136, and 140 while being in contact with the ground. The track 160 may have a belt structure composed of a material having elasticity, such as rubber, or a structure in which a metal link is connected in a chain form, or a closed loop structure and can orbitally move. Although not shown in the drawings, teeth corresponding to gear teeth 134, 137 and 141 of the track drive wheels 133, 136 and 140 may be provided on the inside of the track 160.

2 through 7, the coupler 170 is slidably coupled to the drive shaft 150 so as to be selectively connected to the coupler connection portion 120 of the wheel support frame 110. The coupler 170 may rotate along with the drive shaft 150 and linearly move along the drive shaft 150. The coupler 170 includes a coupler body 171 coupled to the driving shaft 150 and a coupler engaging portion 175 corresponding to the frame engaging portion 122 of the coupler connecting portion 120.

A drive shaft insertion hole 172 into which the drive shaft 150 is inserted is provided at the center of the coupler body 171 and a fixing groove 173 corresponding to the fixing protrusion 151 of the drive shaft 150 is formed at one side of the drive shaft insertion hole 172 Respectively. The fixing groove 173 extends in the direction of the axis of rotation of the coupler body 171 and is open to both sides of the coupler body 171. The drive shaft 150 is inserted into the drive shaft insertion port 172 and the fixing protrusion 151 is inserted into the fixing groove 173 so that the coupler body 171 rotates about the drive shaft 150 in the circumferential direction And is rotated together with the drive shaft 150 without slipping. On the other hand, the coupler body 171 can be slipped in the longitudinal direction of the drive shaft 150, and can linearly move in the longitudinal direction with respect to the drive shaft 150.

The coupler engaging portion 175 includes a plurality of engaging projections 176 and engaging grooves 177 that are alternately arranged along the periphery of the coupler body 171. The plurality of engaging projections 176 can be inserted into the plurality of engaging grooves 125 of the frame engaging portion 122 and the plurality of engaging projections 124 of the frame engaging portion 122 can be inserted into the plurality of engaging grooves 177. [ Can be inserted.

The coupling protrusion 176 of the coupler coupling portion 175 is inserted into the coupling groove 125 of the frame coupling portion 122 while the coupler body 171 is inserted into the frame insertion groove 123 of the coupler coupling portion 120, The frame engaging portion 122 and the coupler engaging portion 175 can be engaged with each other in such a manner that the engaging projection 124 of the frame engaging portion 122 is inserted into the engaging recess 177 of the coupler engaging portion 175. [ When the frame engaging portion 122 and the coupler engaging portion 175 are engaged with each other, the rotational force of the driving shaft 150 is transmitted to the coupler connecting portion 120 through the coupler 170, ). ≪ / RTI >

As shown in FIG. 1, the coupler transfer unit 180 is disposed outside the wheel support frame 110 to provide a linear movement force to the coupler 170. The coupler transfer unit 180 can advance the coupler 170 toward the frame engaging portion 122 side through the coupler connecting member 185 and retract it from the frame engaging portion 122. [ The coupler coupling member 185 has a drive shaft insertion port 186 into which the drive shaft 150 is inserted and a fixing groove 187 into which the fixing protrusion 151 of the drive shaft 150 is inserted. The coupler connecting member 185 may be coupled to the coupler 170 through a fixing member such as a screw.

The coupler transfer unit 180 may have various structures capable of providing a linear movement force to the coupler 170, and the mounting positions thereof are not limited to those shown in the drawings, and may be variously changed. Further, the coupler connecting member 185 may be omitted, and the coupler transfer unit 180 may push or pull the coupler 170 directly.

6, when the coupler transfer unit 180 retracts the coupler 170 from the frame engaging portion 122 so that the coupler engaging portion 175 is disengaged from the frame engaging portion 122, The rotational force can not be transmitted to the wheel support frame 110. At this time, the rotational force of the drive shaft 150 is transmitted to the other track drive wheels 133, 136 and 140, which are in contact with the track 160 through the track drive wheel 130, to orbit the track 160.

7, when the coupler transfer unit 180 advances the coupler 170 toward the frame engaging portion 122 so that the coupler engaging portion 175 engages with the frame engaging portion 122, The rotational force is transmitted to the wheel supporting frame 110 through the coupler 170 to rotate the wheel supporting frame 110. At this time, the track drive wheel 130 does not rotate relative to the wheel support frame 110, so that the track 160 stops orbiting motion.

Hereinafter, the operation of the track system 100 for a moving body according to the embodiment of the present invention will be described with reference to the drawings.

8, the track system 100 for a moving body mounted on the moving body 10 is provided on the side of the side portions G1, G2 and G3 of the wheel supporting portion 112, One side moves along the paper surface G in the form of facing the paper surface G. [ At this time, the coupler 170 is kept disconnected from the wheel supporting frame 110, and the rotational force of the driving shaft 150 is transmitted to the track driving wheels 130, 133, 136 and 140, To or from the moving body 10 in the orbit.

On the other hand, when the track system 100 for a moving body disposed on the front side of the moving body 10 of the moving track system 100 mounted on the moving body 10 reaches the obstacle O, The coupler 170 of the coupler 170 is engaged with the frame engaging portion 122 of the wheel supporting frame 110 by advancing the coupler 170 toward the wheel supporting frame 110 side. At this time, as shown in FIG. 9, the wheel support frame 110 receives the rotational force of the driving shaft 150 and rotates, and the track 160 stops orbiting motion. In this way, the entire wheel support frame 110 rotates like a wheel, so that the obstacle O can be passed without difficulty. The track system 100 for a moving body on the rear side of the track system 100 for a mobile body moves in the track 160 while the track system 100 for the moving body on the front side of the mobile body 10 moves beyond the obstacle O, It is possible to maintain the running by the orbital motion of the vehicle. The track system 100 for a moving body on the front side of the moving body 10 after the moving track system 100 has passed the obstacle O is rotated by the action of the coupler conveying unit 180, 110), thereby starting the travel by the track 160. [0050]

10, when the track system 100 for a moving body disposed on the rear side of the moving body 10 reaches the obstacle O, the track 160 is stopped in the same manner as described above, 110 can be moved over the obstacle O by rotating the whole.

The operation mode switching of the moving track system 100 can be automatically performed according to a manual operation by a driver or a detection signal of a sensing device capable of detecting an obstacle or a state of the ground G. [

As described above, in the track system 100 for a moving object according to the embodiment of the present invention, when the obstacle O is not present or the terrain is not large, the moving object is driven by the orbit motion of the track 160, The entire support frame 110 supporting the track drive wheels 130, 133, 136 and 140 for moving the track 160 rotates like a wheel so that the obstacle O ) Or steps allow you to cross over large terrain.

The track system 100 for a moving body according to an embodiment of the present invention may further include a coupler 170 selectively connectable with the wheel support frame 110 sliding along the drive shaft 150, The driving force of the track 160 for orbital motion can be simply switched to the wheel supporting frame 110 side. Therefore, it can be implemented with a simple structure.

9 is a front view showing a track system for a moving body according to another embodiment of the present invention.

The track system 200 for a moving body shown in FIG. 9 includes a wheel support frame 110, a plurality of track drive wheels 130, 133, 136 and 140, a drive shaft 150, A coupler 170 (see FIG. 1), a coupler transfer unit 180, a plurality of obstacle sensing units 210, and a plurality of pressure sensing units 220. The moving track system 200 further includes a plurality of obstacle sensing units 210 and a plurality of pressure sensing units 220 as compared with the track system 100 for a moving body described above, same.

The plurality of obstacle detection units 210 are for sensing impacts applied to the track 160 when the track 160 collides with an obstacle and are provided at the vertexes 116, . The obstacle detecting unit 210 may have various structures that can detect an impact applied to the track 160.

The plurality of pressure sensing parts 220 are for sensing the pressure of the section contacting the ground surface of the track 160 and may be configured to detect movement of the track 160 at each of the sides 113, Direction. The pressure sensing unit 220 may have a variety of structures that can sense the pressure received by the track 160 when the track 160 contacts the ground G. [

The track system 200 of the moving body may use the sensing signal of the obstacle sensing unit 210 and the sensing signal of the pressure sensing unit 220 as a control signal for controlling the coupler transport unit 180.

That is, when the track 160 collides with the obstacle O during traveling due to the trajectory motion of the track 160, the obstacle sensing part 210 adjacent to the part colliding with the obstacle O is caused to hit the track 160 The coupler 170 can be connected to the wheel support frame 110 by operating the coupler transfer unit 180. [ At this time, the obstacle O can be crossed by the rotation of the wheel support frame 110. The plurality of pressure sensing parts 220 sense the pressure applied to the tracks 160 at the respective sides 113, 114 and 115 while the wheel support frame 110 rotates. When any one of the plurality of side portions 113, 114, and 115 touches the flat paper surface G and the pressure sensing portions 220 disposed at the side portions sense even pressure equal to or greater than a predetermined level, 180 can be operated to separate the coupler 170 from the wheel support frame 110, thereby switching to the running mode by the trajectory motion of the track 160.

As described above, the track system 200 for a moving body according to the present embodiment can check the presence or absence of an obstacle on the ground and the level difference of the ground by using the obstacle sensing unit 210 and the pressure sensing unit 220, It is possible to automatically switch to the track track motion mode or the wheel support frame rotation mode.

In the present embodiment, the number of the obstacle sensing unit 210 or the pressure sensing unit 220 and the installation position thereof are not limited to those shown in the drawings, and may be variously changed.

Although the preferred embodiments of the present invention have been described above, the scope of the present invention is not limited to those described and illustrated above.

For example, in the figure, a plurality of track drive wheels 130, 133, 136 and 140 are formed in a gear shape, and a track drive wheel 130 and a remaining track drive wheels 133 ) 140 are connected to each other by gears, the structure of the track drive wheels and the link structure between the track drive wheels can be variously changed. Also, only some of the plurality of track drive wheels are rotated to receive the drive force of the drive shaft, and some track drive wheels may be installed to support the track in the idle state.

In the figure, the wheel supporting portion 112 of the wheel supporting frame 110 has a triangular shape, and the plurality of track driving wheels 130, 133, 136, and 140 support the vertex portion 116 of the wheel supporting portion 112, (117) 118 and the center, but the shape of the wheel support part can be variously changed, and the number and arrangement structure of the track drive wheels can be variously changed.

Although the driving shaft 150 is provided with the fixing protrusion 151 and the coupler 170 is provided with the fixing groove 173 corresponding to the fixing protrusion 151, the driving shaft 150 and the coupler 170 ) Can be variously changed.

It should also be noted that the figure shows that the wheel support frame 110 and the coupler 170 can be coupled to each other in such a manner that the frame engaging portion 122 has the frame insertion groove 123 and the coupler 170 is inserted into the frame insertion groove 123 The frame engaging portion and the coupler engaging portion may be changed into various other structures that enable mutual engagement between the coupler and the wheel supporting frame to transmit power.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. Those skilled in the art will appreciate that numerous modifications and variations can be made in the present invention without departing from the spirit and scope of the appended claims.

100: track system for a moving body 110: wheel support frame
112: Wheel support 113 to 115:
116 to 118: vertex portion 120: coupler connection portion
122: frame engaging portion 123: frame engaging groove
124, 176: engaging projection 125, 177: engaging groove
127: bridge part 130, 133, 136, 140: track drive wheel
131, 134, 137, 141: gear 132, 135, 138, 142, 146:
150: drive shaft 151: fixing projection
155: power transmission portion 160: track
170: coupler 171: coupler body
175: coupler engaging part 180: coupler conveying unit
185: coupler connecting member 210: obstacle detecting unit
220: pressure sensing unit

Claims (9)

A wheel supporting frame rotatably coupled to the moving body of the moving body and having a frame engaging part at one side thereof; A plurality of track drive wheels rotatably coupled to the wheel support frame; A driving shaft connected to the moving body for drivingly connecting any one of the driving unit and the plurality of track driving wheels; A track orbiting by the plurality of track drive wheels; A coupler slidably coupled to the drive shaft so as to rotate together with the drive shaft and movable along the drive shaft and having a coupler engaging portion engageable with the frame engaging portion to transmit the rotational force of the drive shaft to the wheel support frame; And a coupler transfer unit slidably moving the coupler along the drive shaft so that the coupler engagement portion is engaged with the frame engagement portion or separated from the frame engagement portion,
Wherein the wheel support frame includes three edge portions and a triangular wheel support portion having three vertexes, each of the three vertexes has one track drive wheel,
A plurality of pressure sensing parts disposed at respective sides of the wheel support frame along the moving direction of the track so as to sense a pressure of a section contacting the ground surface of the track; And a plurality of obstacle detectors disposed at respective vertexes of the wheel support frame to detect an impact applied to the track when the track collides with the obstacle.
The method according to claim 1,
Wherein the frame engaging portion has a frame inserting groove into which the coupler can be inserted.
The method according to claim 1,
Wherein one of the frame engaging portion and the coupler engaging portion is provided with a coupling protrusion and the other of the frame engaging portion and the coupler engaging portion is provided with a coupling groove to which the coupling protrusion is coupled.
The method according to claim 1,
And a track drive wheel connected to the drive shaft among the plurality of track drive wheels is connected to the remaining track drive wheels so as to transmit power.
delete The method according to claim 1,
A track drive wheel connected to the drive shaft among the plurality of track drive wheels is disposed in the middle of the wheel support portion and has a gear shape having a plurality of gears disposed along an edge,
Wherein the track driving wheels disposed respectively at the three vertexes are formed in a gear shape in which a plurality of gears are arranged along respective edge portions so as to be able to be connected to the track driving wheels to which the driving shaft is connected.
The method according to claim 1,
Wherein the track drive wheels each disposed at the three vertexes each have a peripheral edge protruded outward from each of the vertexes.
The method according to claim 1,
Further comprising: a plurality of guide rollers disposed on the wheel support portion so as to guide the track in contact with the track at three edge portions of the wheel support portion.

delete

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