KR102174498B1 - Variable stiffness wheel and drive control method thereof - Google Patents

Abstract

An embodiment of the present invention provides a variable stiffness wheel capable of overcoming an obstacle, and a driving control method thereof. Here, the variable rigidity wheel includes a power transmission unit, a flexible support unit, a rigid variable unit, a flexible separation unit, a first flexible tire unit, an adjustment unit, an impact detection unit, and a control unit. The flexible support unit transmits power while rotating integrally with the power transmission unit that rotates by being connected to the axle. The stiffness variable part is provided in plural, rotates integrally with the flexible support part, is deformed to correspond to an external force, and the stiffness is independently controlled. The flexible separating part divides each stiffness variable part by section. The first flexible tire portion is coupled to the outer peripheral surface of the stiffness variable portion and is connected to each flexible separation portion. The control unit is connected to each of the stiffness variable parts and adjusts the stiffness of the stiffness variable part for each section by adjusting the pressure inside the stiffness variable part. The control unit controls the operation of the adjustment unit to adjust the stiffness of the stiffness variable portion provided in the section to which the corresponding impact is applied based on the magnitude of the impact applied to the first flexible tire unit sensed by the impact sensing unit.

Description

Variable stiffness wheel and its drive control method {VARIABLE STIFFNESS WHEEL AND DRIVE CONTROL METHOD THEREOF}

The present invention relates to a variable stiffness wheel and a drive control method thereof, and more particularly, to a variable stiffness wheel capable of overcoming obstacles and a drive control method thereof.

The robot's mechanics can be broadly classified into those related to manipulation and mobility based on functional factors.

Robots are applied not only for industrial use, but also for extreme work such as disaster prevention, underwater work, space, and nuclear power, and even military use.Therefore, mechanical device technology for mobility such as parallel running devices, caterpillar moving objects, and lightweight, low-noise moving objects technology. The development of is required.

In the case of industrial robots, most of them are driven in indoor industrial sites, so they require a lightweight, low-noise moving body technology that requires precision rather than overcoming obstacles.

In the case of industrial robots driven at outdoor sites, it is common to use huge wheels or caterpillar wheels controlled by the user within the movable area, and because the user manipulates them at close range, there is little need for components for overcoming obstacles. can see.

However, in the case of exploration robots, extreme work, or military use, there are areas that are difficult for the user to control directly, and the moving section is unlikely to be a flat area, so the ability to overcome obstacles must be provided.

In order to solve the above problem, there are methods of having a moving means imitating a plurality of circular wheels or insect legs, but this must have a complex drive and control device, and if a defect of the drive unit or control device occurs in an extreme environment, the movement itself Can cause difficult problems.

Republic of Korea Patent Publication No. 2017-0083854 (published on July 19, 2017) U.S. Patent No. 9120230 (registered on September 1, 2015)

In order to solve the above problems, the technical problem to be achieved by the present invention is to provide a variable rigid wheel capable of overcoming obstacles and a driving control method thereof.

The technical problem to be achieved by the present invention is not limited to the technical problems mentioned above, and other technical problems that are not mentioned can be clearly understood by those of ordinary skill in the technical field to which the present invention belongs from the following description. There will be.

In order to achieve the above technical problem, an embodiment of the present invention is a power transmission unit connected to the axle to rotate; A flexible support unit coupled to the power transmission unit to transmit power while rotating integrally with the power transmission unit; A stiffness variable portion coupled to the outer circumferential surface of the flexible support unit and integrally rotated with the flexible support unit, provided at predetermined intervals along the circumferential direction, deformed according to an external force, and independently adjusted stiffness; A flexible separating unit provided in a radial direction between the plurality of stiffness variable portions to divide each of the stiffness variable portions by section; A first flexible tire part coupled to the outer circumferential surface of the stiffness variable part, connected to each of the flexible separation parts, and protecting the stiffness variable part; A control unit connected to each of the stiffness variable parts and adjusting the stiffness of the stiffness variable part for each section by adjusting the pressure inside the stiffness variable part; An impact sensing unit provided on the power transmission unit and sensing an impact applied to the first flexible tire unit; And it provides a variable stiffness wheel including a control unit for controlling the operation of the adjustment unit so that the stiffness of the stiffness variable portion provided in the section to which the corresponding impact is applied is adjusted based on the magnitude of the impact sensed by the impact sensing unit.

In an exemplary embodiment of the present invention, when the impact detection unit detects an impact of a predetermined threshold or more, the stiffness variable portion, which is provided in a section to which the impact is applied, has a shape deformed, and the shape is increased. When the adjustment unit is controlled to be fixed and the impact applied to the section decreases below the critical size, the adjustment unit is controlled to reduce the stiffness of the stiffness variable portion having a fixed shape, so that the stiffness variable portion is the flexible support unit and the The initial shape may be restored by the restoring force of at least one of the first flexible tire parts.

In an embodiment of the present invention, a second flexible tire portion having a second diameter larger than the first diameter of the first flexible tire portion and provided to be spaced apart from the outer peripheral surface of the first flexible tire portion; And it is provided at a predetermined interval along the circumferential direction between the first flexible tire portion and the second flexible tire portion so that the first flexible tire portion and the second flexible tire portion are connected, and extending in a radial direction, the second It may further include a flexible support frame for supporting the flexible tire.

In an embodiment of the present invention, the second flexible tire portion is provided to be spaced apart at a predetermined interval along the circumferential direction, and between a plurality of flexible tire pieces having a first rigidity and each of the flexible tire pieces It is provided in a direction parallel to the axial direction of the flexible tire part to connect the adjacent flexible tire pieces, and may have a plurality of flexible joints having a second rigidity smaller than the first rigidity.

In an embodiment of the present invention, the second flexible tire part may be deformed only in a direction parallel to the axial direction of the second flexible tire part.

In an embodiment of the present invention, the stiffness variable part has a flexible cover having an accommodation space inside, and a powder body that is filled in the accommodation space and deformed in response to an external force applied to the flexible cover, and the control part It is connected to the flexible cover to suck the fluid in the receiving space so that the flexible cover is contracted, and the deformed powder body corresponding to the contracted flexible cover is compressed and fixed to increase rigidity.

In an embodiment of the present invention, the stiffness variable portion may be provided in the receiving space to accommodate the powder body inside, and may further have a flexible pocket portion having a through hole having a size smaller than that of the powder body.

Meanwhile, in order to achieve the above technical problem, an embodiment of the present invention is a drive control method of a variable rigidity wheel, wherein the controller inputs any one of a first driving mode, a second driving mode, and a third driving mode from the user. Receiving driving mode input step; And it provides a driving control method of the variable stiffness wheel including the performing step of performing the driving mode input in the driving mode input step by the control unit.

In an embodiment of the present invention, the first driving mode is a stair climbing mode, and when the first driving mode is input in the driving mode input step, the control unit of the first section from the shock sensing unit A first impact sensing step in which the first flexible tire part is provided with an impact force detected by colliding with the first step, and when the detected impact force is greater than or equal to a preset threshold size, the control part is provided in the first section and the initial shape A first stiffness reduction step of reducing the stiffness of the stiffness variable portion, whose stiffness is increased in the initial shape, and the stiffness variable portion of the first section with reduced stiffness corresponds to the shape of the first step. A first shape fixing step of fixing the shape of the stiffness variable part by increasing the stiffness of the stiffness variable part in a state in which the shape is deformed, and the flexible support part rotates while the shape of the stiffness variable part of the first section is fixed. In connection with this, a first climbing step of climbing the first staircase while rotating the stiffness variable portion and the first flexible tire portion may be performed.

In an embodiment of the present invention, in the performing step, the control unit includes a second impact detection step in which the first flexible tire part of the second section is provided with an impact force detected by colliding with the second step from the impact detection unit, and A second stiffness reduction step of reducing the stiffness of the stiffness variable part, which is provided in the second section by controlling the impact force to be equal to or greater than the critical size, and increases the stiffness in the initial form so that the stiffness variable part is fixed in the initial form Wow, in a state in which the stiffness variable portion of the second section with reduced stiffness is deformed so as to correspond to the shape of the second step, a second shape fixing to fix the shape of the stiffness variable portion by increasing the stiffness of the stiffness variable portion Step, wherein the flexible support part rotates while the shape of the stiffness variable part of the second section is fixed, and in connection therewith, the stiffness variable part and the first flexible tire part rotate to climb the second staircase. You can perform the second climbing stage.

In an embodiment of the present invention, when the impact force detected in the first section from the impact detection unit after the first climbing step is less than the threshold size, the control unit controls the adjustment unit By reducing the stiffness of the stiffness variable part of the first section, the stiffness variable part of the first section is restored to its initial shape by the restoring force of at least one of the flexible support part and the first flexible tire part, and the adjustment part is controlled to A first restoration step of increasing the stiffness of the stiffness variable portion so that the stiffness variable portion is fixed in an initial shape may be performed.

In an embodiment of the present invention, the second driving mode is a paved road driving mode, the third driving mode is a non-paved road driving mode, and when the second driving mode is input in the driving mode input step, the performing step In the operation step, the control unit sets the stiffness variable parts of all sections to have the first driving stiffness, and when the third driving mode is input in the driving mode input step, the control unit in the execution step comprises the stiffness variable parts of all sections. It can be set to have a second driving stiffness greater than the first driving stiffness.

According to an embodiment of the present invention, a flexible support part is provided on a variable stiffness wheel, and a stiffness variable part is provided so that the shape is changed and the stiffness is variable in response to the shape of the object to be pressed. Even if they come into contact with them, they can absorb shocks, climb over obstacles, and overcome them effectively.

The effects of the present invention are not limited to the above effects, and should be understood to include all effects that can be deduced from the configuration of the invention described in the detailed description or claims of the present invention.

1 is an exemplary view showing a variable rigidity wheel according to a first embodiment of the present invention.
2 is a cross-sectional view showing a variable stiffness part of a variable stiffness wheel according to the first embodiment of the present invention.
3 is an exemplary view showing a flexible pocket portion of a variable stiffness wheel according to the first embodiment of the present invention.
4 is an exemplary view for explaining an operation example of a flexible pocket portion of a variable rigidity wheel according to the first embodiment of the present invention.
5 is an exemplary view for explaining an operation example of a variable rigidity wheel according to the first embodiment of the present invention.
6 is an exemplary view showing a variable stiffness wheel according to a second embodiment of the present invention.
7 is a front view showing a modified example of a variable stiffness wheel according to a second embodiment of the present invention.
8 is a side view showing a modified example of a variable stiffness wheel according to a second embodiment of the present invention.
9 is a flowchart showing a method for controlling a drive of a variable rigid wheel according to the first embodiment of the present invention.
10 is a flowchart illustrating a method for controlling a stair climbing drive of a variable rigidity wheel according to the first embodiment of the present invention.
11 is an exemplary view illustrating a method for controlling a stair climbing drive of a variable stiffness wheel according to a first embodiment of the present invention.
12 is an exemplary view for explaining a driving control method of a variable stiffness wheel according to the first embodiment of the present invention.

Hereinafter, the present invention will be described with reference to the accompanying drawings. However, the present invention may be implemented in various different forms, and therefore is not limited to the embodiments described herein. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and similar reference numerals are assigned to similar parts throughout the specification.

Throughout the specification, when a part is said to be “connected (connected, contacted, bonded)” to another part, it is not only “directly connected”, but also “indirectly connected” with another member in the middle. This includes cases where there is "". In addition, when a part "includes" a certain component, it means that other components may be further provided, rather than excluding other components unless specifically stated to the contrary.

The terms used in the present specification are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In the present specification, terms such as “comprise” or “have” are intended to designate the presence of features, numbers, steps, actions, components, parts, or a combination thereof described in the specification, but one or more other features It is to be understood that the presence or addition of elements or numbers, steps, actions, components, parts, or combinations thereof, does not preclude in advance.

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

1 is an exemplary view showing a variable rigidity wheel according to a first embodiment of the present invention.

As shown in Fig. 1, the variable rigidity wheel according to this embodiment includes a power transmission unit 100, a flexible support unit 200, a stiffness variable unit 300, a flexible separation unit 400, and a first flexible tire unit 500. ), an adjustment unit 600, an impact detection unit 700, and a control unit 800.

The power transmission unit 100 may rotate while being connected to an axle.

The flexible support 200 may be coupled to the power transmission unit 100 and may transmit power while rotating integrally with the power transmission unit 100.

The stiffness variable part 300 may be coupled to the outer circumferential surface of the flexible support part 200 and may rotate integrally with the flexible support part 200.

The stiffness variable part 300 may be deformed according to an external force, and specifically, may be deformed to correspond to the shape of the object to be contacted. Here, the contact object is an object that is in contact with the variable rigidity wheel according to the present invention while traveling. When the variable rigidity wheel travels on the road, the contact object may be the ground, and when the variable rigidity wheel climbs the stairs, the contact object is a staircase. Can be

Further, a plurality of stiffness variable parts 300 may be provided at predetermined intervals, and each stiffness variable part 300 may be independently adjusted in stiffness.

FIG. 2 is a cross-sectional view showing a stiffness variable part of a variable stiffness wheel according to a first embodiment of the present invention, and FIG. 3 is an exemplary view showing a flexible pocket part of a variable stiffness wheel according to the first embodiment of the present invention. .

As shown in FIGS. 2 and 3, the stiffness variable part 300 may have a flexible cover 310, a powder body 320, and a flexible pocket part 330.

One side of the flexible cover 310 may be in close contact with the flexible support part 200, and may have a receiving space 311 inside.

The flexible cover 310 may be formed in the form of a thin film having flexibility, and may be made of a material through which air does not pass.

The powder body 320 may have a powder form. The flexible pocket part 330 may be provided in the accommodation space 311 and may have a through hole 331. A plurality of through holes 331 may be formed. In addition, the powder body 320 may be accommodated inside the flexible pocket portion 330. The through hole 331 may be formed to have a size smaller than the size of the powder body 320, and accordingly, the powder body 320 accommodated in the flexible pocket part 330 may not leak through the through hole 331. The flexible pocket portion 330 may be formed in the form of a mesh having a mesh. Flexible pocket portion 330 may be formed of a flexible material, for example, may be made of a fabric. In addition, the flexible pocket portion 330 may have a partition portion 333. The partition portion 333 may be provided in plurality, and the partition portion 333 may be partitioned by, for example, a sewing line 334. The powder body 320 may be accommodated in each of the partition portions 333, and accordingly, the powder body 320 can be uniformly distributed throughout the flexible pocket portion 330.

When the flexible cover 310 is pressed by the contact object, the powder body 320 may be deformed corresponding to the shape of the contact object to be pressed. Here, the word that the powder body 320 is deformed means that the shape in which the powder body is aggregated is deformed as the powder bodies are pushed by the pressed contact object.

The adjusting part 600 (see FIG. 1) may be connected to the stiffness variable part 300. The adjusting unit 600 may have a suction pipe 340, and the suction pipe 340 may extend into the receiving space 311. In addition, one end of the suction pipe 340 introduced into the stiffness variable portion 300 may be connected to the flexible pocket portion 330. Accordingly, the suction force generated by the adjustment unit 600 may be directly provided to the flexible pocket unit 330 through the suction pipe 340. The control unit 600 may suck the fluid in the receiving space 311 through the suction pipe 340 or supply the fluid to the receiving space 311 to adjust the pressure inside the stiffness variable unit 300, through which rigidity The rigidity of the variable part 300 can be adjusted.

The fluid filled into the accommodation space 311 by the control unit 600 or sucked from the accommodation space 311 may include gas or liquid, and for convenience, air will be described below.

When the suction force generated from the adjustment part 600 is provided to the flexible pocket part 330, the air in the accommodation space 311 is introduced into the flexible pocket part 330 through the through hole 331 and can be sucked into the suction pipe 340. have. As the air inside the accommodation space 311 escapes through the suction pipe 340, the powder body 320 may be compressed and firmly fixed. As will be described later, when the flexible cover 310 is pressed by the object to be contacted and the shape is deformed, when the controller 600 inhales the air in the receiving space 311, the flexible cover 310 contracts (320) is pressed to each other, the powder body 320 and the flexible cover 310 is hardened hard. That is, the deformed powder body 320 is hardened in a deformed state as it is pressed by the object to be contacted, and as a result, the rigidity of the stiffness variable portion 300 may be increased. On the other hand, since the powder body 320 is partitioned and accommodated by the partition portion 333, the powder body 320 can be prevented from being partially agglomerated in the process of compressing the powder body 320, and the rigidity variable portion 300 can be uniformly contracted throughout.

The flexible support part 200 may be deformed together when the stiffness variable part 300 is deformed. The flexible support 200 may serve to support the structure of the variable rigid wheel so that the overall shape of the variable rigid wheel is not collapsed even when the shape of the rigid variable portion 300 is deformed.

The flexible support part 200 may have a material and shape capable of effectively implementing a large deformation due to relatively weak rigidity. In addition, when the stiffness of the stiffness variable part 300 is deformed while the shape of the stiffness variable part 300 is deformed, the stiffness variable part 300 may generate a restoring force sufficient to return to its initial shape. Is not limited to.

When the pressurization by the object to be contacted is released and the control unit 600 supplies air to the receiving space 311, the flexible cover 310 expands, and the rigidity of the stiffness variable unit 300 may be reduced. Then, the stiffness variable part 300 may return to its initial shape by the restoring force of the flexible support part 200, and in this state, when the control part 600 inhales the air in the accommodation space 311, the powder body 320 As) are pressed together and hardened, the stiffness of the stiffness variable portion 300 increases, and the stiffness variable portion 300 can maintain its initial shape.

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4 is an exemplary view for explaining an operation example of a flexible pocket portion of a wheel of variable rigidity according to the first embodiment of the present invention.

As shown further including Figure 4, when the contact object (M) presses the stiffness variable portion 300, the flexible cover 310 and the powder body 320 pressed by the pressing force (F) at this time are the contact object The shape is deformed in response to (M), and the shape of the flexible support part 200 may also be deformed.

At this time, the pressing force (F) applied by the contact object (M) is limited to the portion pressed by the contact object (M), and in the powder body 320 and the flexible cover 310, the corresponding portion is the contact object (M ) Can be modified to correspond. Likewise, when the shape of the stiffness variable part 300 is deformed, the shape of the part adjacent to the corresponding part where the shape of the stiffness variable part 300 is deformed is interlocked and deformed in the flexible support part 200.

FIG. 5 is an exemplary view for explaining an operation example of a variable stiffness wheel according to a first embodiment of the present invention. Hereinafter, FIG. 5 will be further included.

The flexible separation unit 400 may be provided in a radial direction between the plurality of stiffness variable parts 300, and each stiffness variable part 300 may be divided for each section.

As in the present embodiment, when four flexible separating units 400 are provided, the stiffness variable portion 300 may be divided into four sections.

The first flexible tire part 500 may be coupled to the outer circumferential surface of the stiffness variable part 300, and the first flexible tire part 500 may be connected to each of the flexible separation parts 400. The first flexible tire part 500 protects the stiffness variable part 300 and may contact the object to be contacted, and may play a role of primarily preventing the wear of the variable stiffness wheel and the impact applied to the variable stiffness wheel. have.

The adjusting unit 600 is connected to each of the stiffness variable parts 300 and may adjust the stiffness of the stiffness variable part 300 for each section.

That is, as shown in FIG. 5, the adjustment unit 600 is the stiffness variable part 300a of the first section S1 and the stiffness variable part 300b of the second section S2 through individual suction pipes 340a to 340d. ), the stiffness variable portion 300c of the third section (S3) and the stiffness variable portion 300d of the fourth section (S4) can be connected, and by inhaling or supplying air through each of the suction pipes (340a to 340d) The stiffness of the stiffness variable portions 300a to 300d of each section S1 to S4 can be individually adjusted.

The impact sensing unit 700 may be provided in the power transmission unit 100 and may sense an impact applied to the first flexible tire unit 500. The impact sensing unit 700 may be configured in plural to correspond to each of the sections S1 to S4, or may be integrated into one.

The control unit 800 may control the operation of the adjustment unit to adjust the stiffness of the stiffness variable unit 300 provided in the section to which the corresponding impact is applied based on the magnitude of the impact detected by the impact detection unit 700, and this Through this, the shape of each stiffness variable part 300 can also be controlled.

When the impact detection unit 700 detects an impact of a predetermined threshold or more, the control unit 800 is provided in a section to which the corresponding impact is applied among each of the sections S1 to S4, and the stiffness variable portion of which the shape is deformed is increased. The adjustment unit can be controlled so that the shape is fixed.

In addition, when the stiffness increases and the impact applied to the section having the fixed stiffness variable portion decreases to a predetermined threshold size or less, the control unit 800 controls the stiffness variable portion with a fixed shape. It can reduce stiffness. Then, the stiffness variable part having reduced stiffness may be restored to its initial shape by the restoring force of at least one of the flexible support part 200 and the first flexible tire part 500. The controller 800 may increase the stiffness of the stiffness variable portion restored to the initial shape again, so that the stiffness variable portion maintains the initial shape.

As shown in FIG. 5, the stiffness of each of the stiffness variable parts 300a to 300d is increased from its initial shape, so that the stiffness variable parts 300a to 300d are in a circular wheel shape while driving while the ground (G ) When the first section (S1) is pressed by the object (M) on the top and the impact force sensed by the impact sensing unit 700 is greater than or equal to a preset threshold, the controller 800 determines the rigidity of the first section (S1). The adjustment unit 600 may be operated and controlled so that the stiffness of the variable unit 300a is reduced.

That is, the control unit 600 supplies air to the stiffness variable portion 300a of the first section S1 through the suction pipe 340a connected to the stiffness variable portion 300a of the first section S1 The rigidity of the stiffness variable portion 300a of the section S1 may be reduced. Then, the stiffness variable portion 300a of the first section S1 may be deformed in shape to correspond to the shape of the object M to be pressed. And, in a state in which the shape is deformed so that the stiffness variable portion 300a of the first section S1 corresponds to the shape of the object M to be pressed, the adjustment unit 600 is configured to be in the first section S1 through the suction pipe 340a. By inhaling air of the stiffness variable part 300a of ), the stiffness of the stiffness variable part 300a of the first section S1 may be increased. The stiffness variable part 300a of the first section S1 with increased stiffness may be fixed in shape with its shape deformed to correspond to the shape of the object M being pressed, and the variable stiffness wheel while running is rattled. Without this, you can step on the object (M) and cross over.

Thereafter, the variable stiffness wheel rotates so that the stiffness variable portion 300b of the second section S2 is in close contact with the ground G, and the impact applied to the stiffness variable portion 300a of the first section S1 is preset. When it is reduced to less than the critical size, the adjusting unit 600 can reduce the stiffness of the stiffness variable portion 300a of the first section S1 by supplying air to the stiffness variable portion 300a of the first section S1. have. Then, the stiffness variable portion (300a) of the first section (S1) is the restoring force of at least one of the flexible support portion (200a) of the first section (S1) and the first flexible tire portion (500a) of the first section (S1) It can be restored to its initial form by Then, the adjustment unit 600 re-inhales the air of the stiffness variable portion 300a of the first section S1 restored to its initial shape, thereby increasing the stiffness of the stiffness variable portion 300a of the first section S1. The shape of the stiffness variable part 300a of the first section S1 may be fixed in a state in which it has been restored to its initial shape.

6 is an exemplary view showing a variable stiffness wheel according to a second embodiment of the present invention, and FIG. 7 is a front view showing a modified example of a variable stiffness wheel according to the second embodiment of the present invention. In the present embodiment, a configuration provided on the outer circumferential surface of the first flexible tire part 500 may be further included, and other configurations are the same as in the above-described first embodiment, so that the same part is assigned the same number and repeated contents are Omit it if possible.

As shown in FIGS. 6 and 7, the variable rigidity wheel according to the present embodiment may further include a second flexible tire part 900 and a flexible support frame part 950.

The second flexible tire portion 900 may have a second diameter larger than the first diameter of the first flexible tire portion 500 and may be provided to be spaced apart from the outer peripheral surface of the first flexible tire portion 500. Accordingly, in the present embodiment, the second flexible tire part 900 may directly contact the object to be contacted, and may primarily prevent abrasion of the variable stiffness wheel and the impact applied to the variable stiffness wheel.

The second flexible tire part 900 may have a flexible tire piece 910 and a flexible joint 920.

The flexible tire pieces 910 may be provided in plural, and each flexible tire piece 910 may be provided to be spaced apart at predetermined intervals along the circumferential direction. The flexible tire piece 910 may have a first rigidity.

The flexible joint 920 may be provided between each of the flexible tire pieces 910, and may connect adjacent flexible tire pieces 910.

Further, the flexible joint 920 may be provided in a direction parallel to the axial direction of the second flexible tire part 900, and may have a second rigidity that is smaller than the first rigidity of the flexible tire piece 910. Accordingly, when the second flexible tire part 900 contacts the contact object, the second flexible tire part 900 may be effectively deformed in shape corresponding to the shape of the contact object.

The flexible support frame portion 950 is in a circumferential direction between the first flexible tire portion 500 and the second flexible tire portion 900 so that the first flexible tire portion 500 and the second flexible tire portion 900 are connected. It may be provided at predetermined intervals along the line, and may extend in a radial direction to support the second flexible tire part 900.

The flexible support frame part 950 may protect the inner configuration of the flexible support frame part 950 from a sudden dynamic impact.

As shown in FIG. 7, while driving in a state in which the stiffness variable part of the variable stiffness wheel according to the present embodiment has a circular wheel shape due to increased stiffness in its initial shape, the object M on the ground G When the first section (S1) is pressurized and the impact force sensed by the impact sensing unit at this time is greater than or equal to a preset threshold, the control unit operates the control unit so that the rigidity of the stiffness variable portion (300a) of the first section (S1) is reduced. can do. When the shape of the stiffness variable portion 300a of the first section S1 is deformed, the flexible support frame portion 950a of the first section S1 and the second flexible tire portion 900a of the first section S1 Also, the shape may be deformed, and through this, the impact applied to the variable stiffness wheel from the outside during driving may be effectively reduced.

Alternatively, even if an impact is applied to the first section (S1) by an object (M) on the ground (G) during driving, if the impact force detected by the impact detection unit at this time is less than a preset threshold size, the control unit does not operate the control unit. May not. In this case, the shape of the flexible support frame portion 950a and the second flexible tire portion 900a of the first section S1 pressed by the object M may be deformed to absorb the impact, through which, Damage can be prevented by preventing impact from being transmitted to the stiffness variable part.

In addition, the second flexible tire portion 900 may be deformed only in a direction parallel to the axial direction of the second flexible tire portion 900.

Figure 8 is a side view showing a modified example of the variable rigidity wheel according to the second embodiment of the present invention, when the variable rigidity wheel stepped on the contact object M of the ground G while driving, FIG. 8A As shown in, the variable rigidity wheel stepped on the object M may not be deformed in its axial direction (A1).

That is, the variable stiffness wheel may not be deformed so that the heights of the two sides in the radial direction A2 are different from each other, even if they step on the contact object M of the ground G while driving as shown in FIG. 8B. Through this, the variable stiffness wheel can be fixed without shaking left or right based on the driving direction.

Hereinafter, a method for controlling a drive of a variable rigid wheel will be described.

9 is a flowchart showing a method for controlling a drive of a variable rigid wheel according to the first embodiment of the present invention.

As shown in FIG. 9, the driving control method of the variable stiffness wheel may include a driving mode input step (S1100) and an execution step (S1200).

The driving mode input step S1100 may be a step in which the controller receives one of a first driving mode, a second driving mode, and a third driving mode from the user.

Here, the first driving mode may be a stair climbing mode, the second driving mode may be a paved road driving mode, and the third driving mode may be a non-paved road driving mode.

The input of the driving mode in the driving mode input step (S1100) is not limited to the case input by the user as described above, and a separate sensing device detects front information of the driving path of the mobile device equipped with variable stiffness wheels. And, the information detected in this way may be directly input.

The performing step S1200 may be a step in which the controller performs the driving mode input in the driving mode input step. In the performing step (S1200), the controller may control appropriate driving according to a stair climbing mode, a paved road driving mode, or an unpaved road driving mode.

10 is a flowchart illustrating a method for controlling a stair climbing drive of a variable rigid wheel according to a first embodiment of the present invention, and FIG. 11 is a flowchart illustrating a method for controlling a stair climbing drive of a variable rigid wheel according to a first embodiment of the present invention. It is an exemplary diagram for.

As shown in FIGS. 10 and 11, when the first driving mode is input in the driving mode input step S1100, in the performing step S1200, the control unit performs a first shock detection step S1210 and a first stiffness reduction step S1220. ), the first shape fixing step (S1230), and the first climbing step (S1240) may be performed.

The first shock sensing step (S1210) is a step in which the control unit receives the shock force sensed by the first flexible tire part 500 of the first section (S1) from the shock sensing unit 700 colliding with the first step (ST1). I can.

In the first stiffness reduction step (S1220), when the impact force detected by the control unit is greater than or equal to a preset threshold size, the control unit is provided in the first section (S1), and the stiffness is increased in the initial form, and the shape is fixed to the initial form. It may be a step of reducing the stiffness of the variable part 300a. When the stiffness of the stiffness variable portion 300a of the first section S1 is reduced, the stiffness variable portion 300a of the first section S1 may be deformed in shape to correspond to the shape of the first step ST1.

When the variable rigidity wheel further includes a second flexible tire portion 900 and a flexible support frame portion 950, the second flexible tire portion 900a of the first section (S1) in the first rigidity reduction step (S1220) And the flexible support frame portion 950a may also be modified in shape to correspond to the shape of the first step ST1. As described above, since the second flexible tire part 900 has a plurality of flexible tire pieces and a plurality of flexible joints, and the flexible support frame part is formed extending in the radial direction, it is effectively transformed in shape corresponding to the shape of the step to be pressed. Can be.

In the first shape fixing step (S1230), the control unit is in a state in which the shape of the stiffness variable part 300a of the first section S1 with reduced rigidity is deformed to correspond to the shape of the first step ST1, and the first section ( It may be a step of fixing the shape of the stiffness variable part 300a of the first section S1 by increasing the stiffness of the stiffness variable part 300a of S1).

In the first climbing step (S1240), the flexible support part 200 rotates in a state in which the shape of the stiffness variable part 300a of the first section S1 is fixed, and in conjunction with this, the entire stiffness variable part and the entire first It may be a step of allowing the variable rigidity wheel to climb the first step ST1 while the flexible tire unit rotates. As described above, since the stiffness variable portion 300a of the first section S1 is deformed and hardened to correspond to the shape of the first step ST1, the stiffness variable portion 300a of the first section S1 It is possible to climb the first staircase ST1 while rotating while maintaining the shape of.

Here, the performing step (S1200) may perform the first restoration step (S1245), and the first restoration step (S1245) is from the shock sensing unit 700 after the first climbing step (S1240) to the first section (S1). ) Can be performed when the impact force sensed is less than a preset threshold size. In the first restoration step (S1245), the control unit controls the adjustment unit to reduce the stiffness of the stiffness variable portion 300a of the first section (S1) having a fixed shape, so that the stiffness variable portion 300a of the first section (S1) Is restored to its initial shape by the restoring force of at least one of the flexible support part 200 and the first flexible tire part, and by controlling the adjustment part again, the stiffness of the stiffness variable part 300a of the first section S1 is increased. This may be a step of fixing the stiffness variable portion 300a of the first section S1 to an initial shape. Accordingly, the stiffness variable portion of the first section S1 may return to its initial shape after climbing the stairs.

Then, in the performing step (S1200), the control unit may perform a second impact detection step (S1250), a second stiffness reduction step (S1260), a second shape fixing step (S1270), and a second climbing step (S1280). .

The second shock sensing step (S1250) is a step in which the control unit receives the shock force sensed by the shock sensing unit 700 from the first flexible tire part 500 of the second section S2 colliding with the second staircase ST2. I can.

In the second stiffness reduction step (S1260), when the impact force sensed by the control unit is greater than or equal to a preset threshold size, the control unit is provided in the second section (S2), and the stiffness is increased from the initial form to fix the shape in the initial form. It may be a step of reducing the stiffness of the variable part 300b.

When the stiffness of the stiffness variable portion 300b of the second section S2 is reduced, the stiffness variable portion 300b of the second section S2 may be deformed to correspond to the shape of the second step ST2.

And, when the variable rigidity wheel further includes a second flexible tire portion 900 and a flexible support frame portion 950, the second flexible tire portion of the second section (S2) in the second rigidity reduction step (S1260) ( 900b) and the flexible support frame portion 950b may also be modified in shape to correspond to the shape of the second staircase ST2.

In the second shape fixing step (S1270), the control unit is in a state in which the stiffness variable portion 300b of the second section S2 with reduced stiffness is deformed to correspond to the shape of the second step ST2, and the second section ( It may be a step of fixing the shape of the stiffness variable part 300b of the second section S2 by increasing the stiffness of the stiffness variable part 300b of S2).

In the second climbing step (S1280), the flexible support part 200 rotates while the shape of the stiffness variable part 300b of the second section S2 is fixed, and the entire stiffness variable part and the entire first flexible tire are interlocked therewith. It may be a step of climbing the second staircase ST2 while the additional rotation is made.

By repeating the above-described steps in the order of the third section, the fourth section, the first section, and the like, the variable rigidity wheel can continuously climb the stairs. In this case, it is of course possible to repeatedly perform the step of causing the stiffness variable part of the corresponding section to be returned to its initial shape after stepping on the stairs.

On the other hand, the case where the second driving mode or the third driving mode is input in the driving mode input step S1100 will be described with reference to FIG. 12.

12 is an exemplary view for explaining a driving control method of a variable stiffness wheel according to the first embodiment of the present invention.

As shown in (a) of FIG. 12, when the second driving mode, which is the driving mode on the pavement, is input in the driving mode input step (S1100), in the performing step (S1200), the control unit controls the stiffness variable portions of all sections to be the first driving stiffness. Can be set to have.

Here, the first driving stiffness may be relatively strong stiffness, and through this, a relatively high suspension stiffness may be provided, so that the paved road RS1 can be driven at high speed.

In the driving mode input step S1100, when the third driving mode, which is the unpaved road driving mode, is input, in the performing step S1200, the control unit may set the stiffness variable portions of all sections to have the second driving stiffness.

Here, the second driving stiffness may be greater than the first driving stiffness, and through this, a relatively low suspension stiffness can be provided, so that the unpaved road RS2 can be stably driven.

The above description of the present invention is for illustrative purposes only, and those of ordinary skill in the art to which the present invention pertains will be able to understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention. will be. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not limiting. For example, each component described as a single type may be implemented in a distributed manner, and similarly, components described as being distributed may also be implemented in a combined form.

The scope of the present invention is indicated by the claims to be described later, and all changes or modified forms derived from the meaning and scope of the claims and the concept of equivalents thereof should be construed as being included in the scope of the present invention.

100: power transmission unit 200: flexible support unit
300: rigid variable part 310: flexible cover
320: powder body 330: flexible pocket portion
340: suction pipe 400: flexible separation unit
500: first flexible tire part 600: adjusting part
700: impact detection unit 800: control unit
900: second flexible tire part 910: flexible tire piece
920: flexible joint 950: flexible support frame part

Claims (12)

A power transmission unit connected to the axle and rotating;
A flexible support unit coupled to the power transmission unit to transmit power while rotating integrally with the power transmission unit;
A stiffness variable portion coupled to the outer circumferential surface of the flexible support unit and integrally rotated with the flexible support unit, provided at predetermined intervals along the circumferential direction, deformed according to an external force, and independently adjusted stiffness;
A flexible separating unit provided in a radial direction between the plurality of stiffness variable portions to partition each of the stiffness variable portions for each section;
A first flexible tire part coupled to the outer circumferential surface of the stiffness variable part, connected to each of the flexible separation parts, and protecting the stiffness variable part;
A control unit connected to each of the stiffness variable parts and adjusting the stiffness of the stiffness variable part for each section by adjusting the pressure inside the stiffness variable part;
An impact sensing unit provided on the power transmission unit and sensing an impact applied to the first flexible tire unit; And
A variable stiffness wheel comprising a control unit for controlling the operation of the adjustment unit so that the stiffness of the stiffness variable portion provided in the section to which the corresponding impact is applied is adjusted based on the magnitude of the impact detected by the impact sensing unit. The method of claim 1,
The control unit
When the impact detection unit detects an impact equal to or greater than a preset threshold, the stiffness variable portion, which is provided in a section to which the impact is applied among the sections, has a deformed shape, and controls the adjustment unit so that the rigidity is increased and the shape is fixed,
When the impact applied to the corresponding section is reduced to less than the critical size, by controlling the control unit to reduce the rigidity of the stiffness variable portion having a fixed shape, the stiffness variable portion is at least one of the flexible support portion and the first flexible tire portion. Variable stiffness wheel, characterized in that to restore the initial shape by one restoring force. The method of claim 1,
A second flexible tire portion having a second diameter larger than the first diameter of the first flexible tire portion and provided to be spaced apart from the outer peripheral surface of the first flexible tire portion; And
It is provided at a predetermined interval along the circumferential direction between the first flexible tire part and the second flexible tire part so that the first flexible tire part and the second flexible tire part are connected, and extends in a radial direction to the second flexible tire part. Variable rigidity wheel, characterized in that it further comprises a flexible support frame portion for supporting the tire portion. The method of claim 3,
The second flexible tire part
A plurality of flexible tire pieces provided spaced apart at predetermined intervals along the circumferential direction and having first rigidity,
It has a plurality of flexible joints provided between each of the flexible tire pieces in a direction parallel to the axial direction of the second flexible tire part to connect the adjacent flexible tire pieces, and having a second rigidity smaller than the first rigidity. Variable stiffness wheel, characterized in that. The method of claim 3,
The variable rigidity wheel, characterized in that the second flexible tire part is deformed only in a direction parallel to the axial direction of the second flexible tire part. The method of claim 1,
The stiffness variable part
A flexible cover with a receiving space inside,
A powder body filled in the receiving space and deformed in response to an external force applied to the flexible cover,
It is provided in the receiving space to accommodate the powder body inside, and has a flexible pocket portion having a through hole of a size smaller than the size of the powder body,
The control unit is connected to the flexible pocket and sucks the fluid in the receiving space so that the flexible cover contracts, and the deformed powder body corresponding to the contracted flexible cover is compressed and fixed to increase rigidity. Variable stiffness wheel made by delete A method for controlling the drive of a variable rigid wheel according to any one of claims 1 to 6,
A driving mode input step in which the control unit receives one of a first driving mode, a second driving mode, and a third driving mode from a user; And
The driving control method of a variable stiffness wheel comprising a performing step of performing, by the control unit, the driving mode input in the driving mode input step. The method of claim 8,
The first driving mode is a stair climbing mode, and when the first driving mode is input in the driving mode input step,
In the performing step, the control unit
A first shock sensing step in which the first flexible tire part of the first section is provided with an shock force detected by colliding with the first step from the shock sensing part;
When the detected impact force is greater than or equal to a preset threshold, the first stiffness is provided in the first section by controlling the adjustment unit, and the stiffness of the stiffness variable part is fixed in the initial form by increasing the stiffness in the initial form. The reduction phase,
A first shape fixing step of fixing the shape of the stiffness variable part by increasing the stiffness of the stiffness variable part in a state in which the stiffness variable part of the first section with reduced stiffness is deformed to correspond to the shape of the first step; and ,
The first climbing step in which the flexible support part rotates while the shape of the stiffness variable part of the first section is fixed, and the stiffness variable part and the first flexible tire part rotate in connection therewith to climb the first staircase. A drive control method for a variable rigid wheel, characterized in that performing. The method of claim 9,
In the performing step, the control unit
A second shock sensing step in which the first flexible tire part of the second section hits a second step from the shock sensing part and is provided with an shock force detected;
When the detected impact force is greater than or equal to the critical size, the second stiffness decreases to reduce the stiffness of the stiffness variable part, which is provided in the second section by controlling the control unit and increases the stiffness in the initial form, and the shape is fixed in the initial form. Step and,
A second shape fixing step of fixing the shape of the stiffness variable part by increasing the stiffness of the stiffness variable part in a state in which the stiffness variable part of the second section with reduced stiffness is deformed to correspond to the shape of the second step; and ,
The second climbing step in which the flexible support part rotates while the shape of the stiffness variable part of the second section is fixed, and the stiffness variable part and the first flexible tire part rotate in connection therewith to climb the second staircase. A drive control method of a variable rigid wheel, characterized in that performing. The method of claim 9,
When the impact force detected in the first section by the impact sensing unit after the first climbing step is less than the threshold size,
The control unit controls the adjustment unit to reduce the stiffness of the stiffness variable portion of the first section with a fixed shape, so that the stiffness variable portion of the first section has a restoring force of at least one of the flexible support unit and the first flexible tire unit. And performing a first restoration step of increasing the stiffness of the stiffness variable portion by controlling the adjustment unit and fixing the stiffness variable portion to the initial shape by controlling the adjustment unit. . The method of claim 9,
The second driving mode is a paved road driving mode, the third driving mode is an unpaved road driving mode,
When the second driving mode is input in the driving mode input step, in the performing step, the control unit sets the stiffness variable parts of all sections to have the first driving stiffness,
Variable stiffness, characterized in that when the third driving mode is input in the driving mode input step, in the performing step, the control unit sets the stiffness variable parts of all sections to have a second driving stiffness greater than the first driving stiffness. Wheel drive control method.

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