KR101997086B1

KR101997086B1 - Transformable wheel

Info

Publication number: KR101997086B1
Application number: KR1020140117044A
Authority: KR
Inventors: 정영대
Original assignee: 한화디펜스 주식회사
Priority date: 2014-09-03
Filing date: 2014-09-03
Publication date: 2019-07-05
Also published as: KR20160028236A

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a variable wheel, and relates to a variable wheel that deforms the shape of an overall wheel by deforming an inner frame shape that determines the shape of the wheel.
A variable wheel according to an embodiment of the present invention includes a belt that surrounds a plurality of wheels and rotates by a rotational force transmitted from a part of the plurality of wheels and a belt that is arranged in a circular or oval shape As shown in Fig.

Description

Transformable wheel < RTI ID = 0.0 >

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a variable wheel, and more particularly to a variable wheel that deforms the shape of an overall wheel by deforming the shape of an inner frame that determines the shape of the wheel.

A caterpillar is a device configured for one belt surrounding a plurality of wheels, the shape of which is retained by a plurality of wheels and the belt is rotated by the rotation of a wheel having power among the plurality of wheels to provide movement capability Device.

In general, the overall shape of the caterpillar is elliptical, providing a high grounding force as one side of the caterpillar corresponding to the long side of the ellipse touches the ground.

Because of such high grounding force, a moving object equipped with a caterpillar can be stably driven even on a running surface having a slope or a low coefficient of friction.

On the other hand, while the caterpillar provides a high grounding force as the friction area with the ground increases, the friction losses also occur.

That is, the frictional force becomes large because the friction area with the ground is large, and a large part of the generated power is lost due to the friction with the ground.

Also, since the generated power is lost due to the friction, there is a restriction to increase the speed, and it becomes more difficult to increase the speed as the friction area with the ground becomes larger.

Therefore, the emergence of an invention that makes different degrees of friction with the ground depending on the surrounding environment is required.

Korean Registered Patent No. 10-0871447 (Dec. 03, 2008)

An object of the present invention is to transform the shape of the whole wheel by modifying the shape of the inner frame which determines the shape of the wheel.

The objects of the present invention are not limited to the above-mentioned objects, and other objects not mentioned can be clearly understood by those skilled in the art from the following description.

In order to achieve the above object, a variable-shape wheel according to an embodiment of the present invention includes a belt surrounding a plurality of wheels, a belt rotated by a rotational force transmitted from a part of the plurality of wheels, And a deformation portion for allowing the shape of the belt to be deformed into a circular shape or an elliptical shape.

The details of other embodiments are included in the detailed description and drawings.

According to the variable wheel of the present invention as described above, the shape of the whole wheel can be modified by changing the shape of the inner frame for determining the shape of the wheel, and thus the degree of friction with the ground can be made different depending on the surrounding environment There are advantages.

1 is a view illustrating a shape of a variable wheel according to an embodiment of the present invention.
2 is a view illustrating a fixed wheel of a variable wheel according to an embodiment of the present invention.
FIGS. 3 and 4 are views showing a deformed portion when the shape of the variable wheel according to the embodiment of the present invention is an ellipse. FIG.
5 and 6 are views showing a deformed portion when the shape of the variable wheel according to the embodiment of the present invention is circular.
7 is a view illustrating rotation of a deforming portion according to an embodiment of the present invention.
8 is a view showing the shape of the belt when the shape of the variable wheel is circular.
9 is a view illustrating a shape of a variable wheel according to another embodiment of the present invention.
10 is a view illustrating a shape of a variable wheel according to another embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention and the manner of achieving them will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Is provided to fully convey the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

Although the first, second, etc. are used to describe various elements, components and / or sections, it is needless to say that these elements, components and / or sections are not limited by these terms. These terms are only used to distinguish one element, element or section from another element, element or section. Therefore, it goes without saying that the first element, the first element or the first section mentioned below may be the second element, the second element or the second section within the technical spirit of the present invention.

The terminology used herein is for the purpose of illustrating embodiments and is not intended to be limiting of the present invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. As used herein, the terms "comprises" and / or "made of" means that a component, step, operation, and / or element may be embodied in one or more other components, steps, operations, and / And does not exclude the presence or addition thereof.

Unless defined otherwise, all terms (including technical and scientific terms) used herein may be used in a sense commonly understood by one of ordinary skill in the art to which this invention belongs. Also, commonly used predefined terms are not ideally or excessively interpreted unless explicitly defined otherwise.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

BRIEF DESCRIPTION OF DRAWINGS FIG. 1 is a view showing a change of the shape of a variable wheel according to an embodiment of the present invention, in which the shape of a wheel is changed to a circle or an ellipse. FIG.

The variable wheels 10 and 20 according to the embodiment of the present invention include wheels 110, 120, 130, 140, 150, 160, 170, 180, 210 and 220 and a belt 300.

A plurality of wheels 110, 120, 130, 140, 150, 160, 170, 180, 210 and 220 are provided. Depending on the arrangement of the wheels, the shape of the belt 300, The shape is determined.

The belt 300 surrounds the plurality of wheels 110, 120, 130, 140, 150, 160, 170, 180, 210 and 220 and rotates by a rotational force transmitted from a plurality of wheels.

The variable type wheels 10 and 20 of the present invention are attached to a moving body (not shown) to move the moving body. For example, when a vehicle, an armored vehicle or a trolley is a moving body, As shown in FIG.

In other words, when the driving means (not shown) provided on the moving body generates a rotational force and transmits the rotating force to a part of the wheel, the belt rotates while the wheel rotates, and as the belt 300 in contact with the ground rotates, It becomes possible to move.

A plurality of variable-form wheels 10, 20 can be attached to a moving body, for example, four variable-size wheels 10, 20 of the same size, such as four wheels having the same size, Lt; / RTI > However, the present invention is not limited to this, and the size and number of the variable wheels 10 and 20 attached to the moving body can be variously determined. For example, the sizes of the variable-type wheels 10 and 20 may be changed according to the positions of the variable-type wheels 10 and 20, and the number of the variable-type wheels 10 and 20 may vary depending on the size or weight of the moving object. Or for various other reasons, the size and the number of the variable wheels 10, 20 may be differently applied and attached to the moving body.

1, the variable wheels 10, 20 may have an elliptical or circular shape, the shape of which is determined by the number of wheels 110, 120, 130, 140, 150, 160, 170, 180, 210, 220 ). &Lt; / RTI > That is, when the plurality of wheels are arranged in an elliptical shape, the shape of the variable wheel 10 is determined to be an ellipse, and when the plurality of wheels are arranged in a circle, the shape of the variable wheel 20 is determined to be circular.

The shape of the variable wheel according to the embodiment of the present invention is not limited to an ellipse or a circle but may be varied according to the arrangement of the wheels 110, 120, 130, 140, 150, 160, 170, 180, Shape.

As described above, some of the plurality of wheels may transmit rotational force to the belt 300, for example, the ninth wheel 210 and the tenth wheel 220 may transmit the rotational force to the belt 300. [ In this case, it can be understood that the remaining wheels 110, 120, 130, 140, 150, 160, 170 and 180 simply maintain the shape of the belt 300 at that position. Hereinafter, the wheel that transmits the rotational force to the belt 300 is referred to as a driving wheel.

However, it is to be understood that the wheels other than the ninth wheel 210 and the tenth wheel 220 may serve as driving wheels, and the entire wheels may serve as driving wheels.

For example, the fourth wheel 140, the fifth wheel 150, the sixth wheel 160, and the seventh wheel 170 receive the rotational force from the driving means and transmit the rotational force to the belt 300, The role of

In particular, the wheel that transmits the rotational force among the plurality of wheels may not be changed in position, regardless of the shape of the belt 300, such as the fourth, fifth, sixth, and seventh wheels 140, 150, 160, Therefore, it is easier to transmit the rotational force of the transmission means to the wheels 4, 5, 6, 7 (140, 150, 160, 170). For example, when one of the variable-speed wheels 10 and 20 is provided with a transmission mechanism, and when the rotational force of the transmission means is transmitted to the wheel by any mechanism, the mechanism becomes simpler when the corresponding wheel is a fixed wheel It can be done. The mechanism for transmitting the rotational force of the transmission means to the wheels is beyond the scope of the present invention, and therefore, a detailed description thereof will be omitted.

FIG. 2 is a view illustrating a fixed wheel of a variable wheel according to an embodiment of the present invention. When the positions of the fourth, fifth, sixth and seventh wheels 140, 150, 160 and 170 are fixed, 20 are changed in shape.

As described above, as the position of the fourth, fifth, sixth, and seventh wheels 140, 150, 160, and 170 is fixed, it may be easy to receive the rotational force of the transmission means. However, 20, the other wheel may not be changed in position as a fixed wheel, and the position of the entire wheel may be changed.

The deformable wheels 10 and 20 according to the embodiment of the present invention may include a deformable portion 400 having a plurality of wheels 110, 120, 130, 140, 150, 160, 170 , 180, 210, and 220 to adjust the shape of the belt 300 to a circular shape or an elliptical shape. However, as described above, the shape of the belt 300 may be determined to be a shape other than a circular shape or an elliptical shape.

3 and 4 show that the shape of the variable wheel 10 according to the embodiment of the present invention is an oval shape 5 and 6 are views showing a deformed portion 400 when the shape of the deformable wheel 20 according to the embodiment of the present invention is circular.

The wheels 110, 120, 130, 140, 150, 160, 170, 180, 210 and 220 are connected to the deformation portion (not shown) via links 431, 432, 433, 434, 435, 436, 437, 438, 441, 412, 413, 416, 421, 422 for providing a path for changing the position of some of the links 431, 432, 433, 436, 441, 442 are connected to the deforming part 400 . 432, 433, 434, 435, 436, 437, 438, 441, 422, 433, 434, 435, 431, 442 are changed, the overall arrangement of the wheels can be changed.

Therefore, when the links are arranged as shown in FIGS. 3 and 4, the shape of the variable wheel 10 is determined to be an ellipse, and when the links are arranged as shown in FIGS. 5 and 6, the shape of the variable wheel 20 is determined to be circular do.

Powering means (not shown) for changing the position of the link may be provided inside the deforming portion 400 to change the arrangement of the links.

On the other hand, the links 434, 435, 437, and 438 corresponding to the fourth, fifth, sixth, and seventh wheels 140, 150, 160, and 170 as the fixed wheels may be fixed links and their positions may not be changed.

When the shape of the variable-form wheel 10 is elliptical, the area of the belt 300 contacting the ground is formed to be large, so that stable traveling by the moving object becomes possible. In addition, when the shape of the wheel of the variable type is circular, the area of the belt 300 contacting the ground is formed to be small so that the loss due to friction can be reduced, and the moving efficiency of the moving body can be increased have.

The moving speed of the moving object is determined by the ratio between the rotational speed of the driving wheel and the size of the driving wheel and the length of the belt 300. That is, when the rotational speed of the driving wheel is increased, the moving speed of the moving body increases, and as the size of the driving wheel increases at the same rotational speed of the driving wheel, the moving speed of the moving body increases.

That is, when the driving wheels rotate at the same rotational speed, the size of the driving wheels increases and as the length of the belt 300 decreases, the moving speed of the moving body increases. There is a limitation in determining the size of the driving wheel and the length of the belt 300 while maintaining the shape of the belt 20 as it is.

In other words, in any case, the size of the belt 300 must be larger than the size of the driving wheel. This means that the moving distance at which the moving body can move when the driving wheel is rotated once is limited to the circumferential length of the driving wheel It is not.

Thus, according to another embodiment of the present invention, the entire deformable part 400 may be rotated to move the movable body. In other words, when the shape of the belt 300 is elliptical, each of the plurality of wheels 110, 120, 130, 140, 150, 160, 170, 180, 210, 220 rotates in place with respect to their rotational axis, When the belt 300 is formed in a circular shape, the plurality of wheels 110, 120, 130, 140, 150, 160, 170, 180, 210, 220 rotate only around the center of the belt 300, Can rotate with respect to the center of the belt (300) together with the belt (300).

FIG. 7 is a view illustrating a rotation of a deforming unit according to an embodiment of the present invention. When the rotational force of the separately provided transmission means 500 is transmitted to the deforming unit 400, Fig.

As described above, the moving speed of the moving body can be further increased as the entire deformation part 400 rotates. That is, when the driving wheel described above rotates once, the moving body moves by the circumferential length of the driving wheel. However, when the driving unit 500 of FIG. 7 rotates the deformation unit 400 by one revolution, Moving.

Rotation of the entire deformable part 400 can be performed after the shape of the deformable wheel 20 is changed to a circular shape, and the ride feeling of the moving object can be changed according to the detailed shape of the deformable wheel 20. [

1 and 2, when the plurality of wheels 110, 120, 130, 140, 150, 160, 170, 180, 210 and 220 are arranged in a circle, the shape of the belt 300 is changed to a circular shape However, in reality, the belt 300 may not form a circular shape.

8 is a view showing the shape of the belt when the shape of the variable wheel is circular. It is shown that the shape of the belt 300 is formed in a polygonal shape corresponding to the number of wheels, not a complete circle.

In this way, when the entire deformable wheel is polygonal and the entire deformable part 400 rotates, a large vibration can be transmitted to the moving body.

In order to prevent this, the variable wheel according to the embodiment of the present invention may include an air mover.

9 shows a modification of the shape of the variable wheel according to another embodiment of the present invention in which the shape of the elliptical variable wheel 30 is changed to a circular variable wheel 40, To a variable-shape wheel 50 in which a fluid is injected.

The fluid bag 600 may be provided along the outer circumferential surface of the belt 300. That is, when the plurality of wheels are arranged in an elliptic shape to a circular shape, the overall shape of the variable wheel 40 is polygonal. At this time, the fluid is supplied to the fluid bag 600 provided along the outer circumferential surface of the belt 300 As the fluid bag 600 is inflated as the fluid is injected, the shape of the fluid bag 600 is changed to a circular shape.

Since the fluid bag 600 in which the fluid is injected is provided on the outer circumferential surface of the belt 300, the impact generated when the fluid bag 600 is in contact with the ground can be alleviated, and the outer shape of the fluid bag 600 is formed into a circular shape Even if the entire deformation part 400 rotates, a large vibration is not generated.

Meanwhile, in the present invention, the shape of the variable wheel may be circular or elliptical, and in any case, the fluid bag 600 preferably has an elastic force so that it can have a corresponding shape.

10 shows a modification of the shape of the variable wheel according to another embodiment of the present invention in which the shape of the elliptical variable wheel 30 is changed to a circular variable wheel 40 and the wheels 110, The shape of the variable wheel 60 is changed by reducing the distance between the fluid passages 600, 120, 130, 140, 150, 160, 170, 180, 210, 220, The variable wheel 70 of Fig.

The vibration generated when the entire deformable part 400 rotates is generated when the shape of the variable wheel is polygonal. At this time, the larger the distance between the wheels, the larger the vibration becomes.

Thus, according to another embodiment of the present invention, the interval between the plurality of wheels can be narrowed in rotating the entire deformable portion 400. That is, as shown in FIG. 10, after changing the shape from the elliptical wheel 30 to the circular wheel 40, the size of the entire variable wheel is reduced 60 by narrowing the interval between the plurality of wheels. to be.

Thus, as the interval between the plurality of wheels decreases, the vibration generated when the entire deformation part 400 rotates can be reduced.

In addition, after the size of the variable wheel is reduced, fluid is injected into the fluid bag 600 provided along the outer circumferential surface of the belt 300, so that vibrations occurring while contacting the ground can be more effectively mitigated.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It will be understood. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive.

10, 20, 30, 40, 50, 60, 70: variable wheel
110, 120, 130, 140, 150, 160, 170, 180, 210, 220:
300: Belt
400:
431, 432, 433, 434, 435, 436, 437, 438, 441, 442: Link
411, 412, 413, 416, 421, 422:
500: transmission means
600: fluid bag

Claims

A belt surrounding a plurality of wheels and rotating at a rotational force transmitted from a part of the plurality of wheels; And
And a deforming portion for adjusting the arrangement of the plurality of wheels to deform the shape of the belt into a circular shape or an elliptical shape,
The plurality of wheels being connected to the deforming portion via respective links,
Wherein the deforming portion is provided with a sliding hole for providing a path for changing the position of some of the links in the deforming portion.

The method according to claim 1,
Wherein the wheel for transmitting the rotational force of the plurality of wheels does not change its position even if the shape of the belt becomes circular or elliptic.

The method according to claim 1,
When the shape of the belt is elliptical, each of the plurality of wheels rotates in place with reference to their rotation axis, and only the belt rotates about its center,
Wherein the plurality of wheels rotate with respect to the center of the belt together with the belt when the shape of the belt is circular.