KR102372140B1 - Wheel unit using arch mechanism and rotational module having the same - Google Patents

Abstract

In a wheel unit for overcoming obstacles using an arch mechanism and a rotation driving module including the same, the wheel unit includes a hub part, a unit module, and a spoke part. The hub part rotates by receiving a rotational driving force. The unit modules are spaced apart from the hub part by a predetermined distance, and a plurality of unit modules are arranged in close contact with each other in a continuous manner so as to be detachably attached to each other, thereby forming the outer shape of the wheel unit. The spoke part connects between the hub part and the unit module to apply tension, and a plurality of spokes are arranged at regular intervals from each other.

Description

A wheel unit for overcoming obstacles using an arch mechanism and a rotation driving module including the same {WHEEL UNIT USING ARCH MECHANISM AND ROTATIONAL MODULE HAVING THE SAME}

The present invention relates to a wheel unit for overcoming obstacles and a rotation driving module including the same, and more particularly, to a wheel for overcoming obstacles using an arch mechanism that can easily overcome obstacles such as stairs through a deformable structure using an arch mechanism. It relates to a unit and a rotation driving module including the same.

Recently, many technologies related to wheels that can be driven while freely passing through obstacles or stairs have been developed.

In the case of such an obstacle overcoming type wheel, a variable rigidity structure in which the wheel's stiffness changes to overcome an obstacle, and a variable shape structure in which the wheel structure is greatly changed to overcome an obstacle when facing an obstacle are representative. Of course, the variable shape structure and the variable rigidity structure may be designed in a complex relationship with each other.

With respect to the former variable rigidity structure, in US Patent No. 4,782,875, in the technology related to the vehicle ground-coupled wheel, a plurality of spokes connected between the center hub and the circumference of the wheel include a rim and a leaf spring. , discloses a structure capable of overcoming the obstacle by the deformation of the rim and the leaf spring upon contact with the obstacle.

With respect to the latter variable shape structure, as in Korean Patent Application Laid-Open No. 10-2017-0083854, when the shape of some structures constituting the wheel is deformed or compressed when in contact with the obstacle, the shape of the obstacle is deformed. is starting to overcome.

However, the conventional wheel for overcoming obstacles having a variable rigidity structure or a variable shape structure has various problems, such as inability to effectively overcome various obstacles or it takes a considerable amount of time to deform and return the wheel structure in the process of overcoming it.

US Patent No. 4,782,875 Republic of Korea Patent Publication No. 10-2017-0083854

Accordingly, the technical problem of the present invention was conceived in this regard, and the object of the present invention is to apply the principle that the structure collapses when the balance of forces is not achieved in the arch structure, so that when an obstacle collides with the side of the wheel, the obstacle is easy It relates to a wheel unit for overcoming obstacles capable of overcoming obstacles and capable of immediate restoration after overcoming obstacles.

Another object of the present invention relates to a rotation driving module including the wheel unit.

A wheel unit according to an embodiment for realizing the object of the present invention includes a hub portion, a unit module and a spoke portion. The hub part rotates by receiving a rotational driving force. The unit modules are spaced apart from the hub part by a predetermined distance, and a plurality of unit modules are arranged in close contact with each other in a continuous manner so as to be detachably attached to each other, thereby forming the outer shape of the wheel unit. The spoke part connects between the hub part and the unit module to apply tension, and a plurality of spokes are arranged at regular intervals from each other.

In one embodiment, the spoke part passes through the center point of the hub part and applies tension between the hub part and the unit module with respect to a plane parallel to the ground, and the spoke parts located above the plane apply tension between the hub part and the unit module, the surface The spoke parts located under the . may not apply tension between the hub part and the unit module.

In one embodiment, when the wheel unit overcomes an obstacle, the contact state of the unit modules may be released as spoke parts located below the surface are loosely extended.

In an embodiment, the distance along the surface from the hub part to the unit module may be kept constant by the application of tension to the spoke parts located on the upper part of the surface.

In one embodiment, it is formed along the outer surface of the unit modules, when the unit modules are detached from each other, it may further include an outer surface for applying a restoring force.

In one embodiment, a pair of imaginary first and second point points passing through the center point of the hub part and parallel to the ground meets both outer surfaces of the unit modules, and one of the unit modules in contact with the ground In the triangle formed by the contact point, a first line segment connecting the first point and the contact point, and a second line segment connecting the second point and the contact point, are the thickness of the outer shape of the wheel unit formed by the unit modules A thickness T of each of the unit modules may be formed so as to be located inside the (T).

In one embodiment, each of the unit modules is positioned in close contact with each other when the wheel unit passes through a flat ground, and when the wheel unit overcomes an obstacle, the close contact is released and hinges at at least one position It can be transformed into a contact state.

In one embodiment, when overcoming the obstacle, the unit modules located at the position in contact with the obstacle are transformed into a hinged contact state with the outer surface as the first contact point P1, and are sheared by a predetermined distance from the position in contact with the obstacle. The unit modules located at are transformed into a hinge contact state with the inner surface as the second contact point P2, and the unit modules located at the rear end of a predetermined distance from the position in contact with the obstacle are in a hinge contact state with the inner surface as the third contact point P3. can be transformed into

In one embodiment, the unit module includes an outer surface forming the outside of the wheel unit in a rounded surface shape, an inner surface spaced apart from the outer surface by a predetermined distance, a pair of first and It may include second side surfaces, a protrusion protruding from the first side surface, and a recessed portion recessed into the second side surface and into which the protrusion of an adjacent unit module is inserted.

In one embodiment, in a state in which the obstacle is overcome, the protrusion of the unit module is separated from the recessed part of the adjacent unit module, and the upper surface of the protrusion and the upper surface of the recessed part may have the same curvature.

In one embodiment, in the state of overcoming the obstacle, the upper surface of the protrusion and the upper surface of the recessed part may move along the circumferential surface of a circle centered on the contact point of the outer surfaces of the unit modules adjacent to each other.

A rotation driving module according to an embodiment for realizing another object of the present invention includes a wheel unit and a wheel unit for applying driving force and tension to the wheel unit. The wheel unit includes a plurality of unit modules arranged in close contact with each other in succession and detachable. The wheel unit includes a hub unit that provides rotational driving force to the wheel unit, and elastic units that connect between the hub unit and the unit module to apply tension, and are arranged at regular intervals from each other.

In an embodiment, the elastic units include first elastic units fixed to a first external fixing surface of the hub unit to apply tension to one surface of the unit modules, and the first external fixing surface of the hub unit. It may include second elastic units fixed to the second external fixing surface opposite to the second elastic units for applying a tension to the other surface of the unit modules.

In one embodiment, the wheel unit may further include a power transmission unit for transmitting driving force from the outside, and a gear unit extending from one side of the hub unit and connected to the power transmission unit to receive the driving force. .

In an embodiment, the wheel unit may further include a frame unit and a roller unit fixed to the frame unit and allowing tension from the elastic units to be applied only to unit modules located thereon.

In an embodiment, the roller unit includes a central fixed frame fixed to the frame unit and extending through the hub unit, a pair of horizontal fixed frames extending in a horizontal direction at both ends of the central fixed frame, and the A pair of arch frames extending from both ends of each of the horizontal fixing frames in a semicircular shape to the upper portions of the horizontal fixing frames may be included.

In an embodiment, the elastic units may move along the arch frame from the upper portions of the horizontal fixed frames, and may apply tension only to the unit modules located on the upper portions.

In an embodiment, each of the elastic units includes an elastic part fixed to the hub unit, a roller part formed at an end of the elastic part, moving along the arch frame, and connecting the roller part and the unit module, , it may include a spoke part for applying a tension.

In one embodiment, the roller unit may be moved along the inner contact surface of the arch frame toward the central fixed frame.

According to the embodiments of the present invention, the arch does not collapse when an external force is applied only to the center in the arch structure, but simulates the collapse of the arch when an external force is applied from the lateral direction, so that the unit modules are arranged in close contact with each other so that they can be detached from each other. Through a simple structure in which tension is applied only to the upper unit modules among the unit modules, the unit is normally rotated stably, and when an obstacle collides in the lateral direction, the overcoming is possible.

In this case, an outer surface portion is formed along the outer surface of the unit modules to provide immediate restoring force after detachment of the unit modules.

In addition, for stable driving and obstacle overcoming, the thickness (T) of each of the unit modules can be designed to satisfy a predetermined range, and the unit modules in the obstacle overcoming state have hinge contact at the position in contact with the obstacle and at the additional position. Since the state can be varied, it may be possible to effectively overcome obstacles by simulating the hinge contact state in the collapsed state of the actual arch.

In addition, each of the unit modules forms an insertion structure of a protrusion and a recessed portion where insertion and separation are repeated according to the overcoming of an obstacle, so that in the inserted state, the outer shape of the wheel is formed and stable driving is possible, and effective departure from the obstacle overcoming state and insertion is performed to simulate the hinge contact state.

In this case, since the upper surface of the protrusion and the upper surface of the recessed portion form the same curvature to be moved along the circumferential surface of a predetermined circle, friction is minimized and natural insertion and extraction processes can be repeated.

On the other hand, in the case of the rotation driving module including the wheel unit, the wheel unit is designed as an optimal structure for providing driving force and tension to realize the obstacle overcoming state of the wheel unit, thereby effectively overcoming obstacles through a relatively simple structural design. can do.

Specifically, the hub unit and the elastic unit fixed thereto are provided with a roller unit having a fixed position in order to apply tension only to the unit modules located on the upper part, and can be rotated by a driving force separately from the fixed roller unit. And by including the unit modules, it is possible to implement a structure of driving the wheel rotation and providing a selective tension.

That is, the position of the roller unit is fixed so that it is located only at the upper part, and the elastic units are designed to rotate while in contact with the roller unit, so that the elastic units provide tension to the unit modules at the upper part in contact with the roller unit. , by preventing the elastic units from providing tension to the unit modules in the lower part where they do not contact the roller unit, it is possible to effectively implement a selective tension providing structure.

Furthermore, the hub unit includes a separate gear unit, and by disposing the power transmission unit so that the rotational driving force is transmitted to the gear unit, the rotational driving force cannot be provided through the center of the hub unit due to the selective tension providing structure. limitations can be overcome.

In addition, as a whole, by forming the selective tension providing structure as described above symmetrically on both surfaces of the unit modules, it is possible to achieve stable driving of the unit modules and overcoming obstacles.

1 is a front view showing a wheel unit for overcoming obstacles according to an embodiment of the present invention.
FIG. 2A is a front view illustrating an example of an arch structure, and FIG. 2B is a front view illustrating a state in which the arch structure of FIG. 2A is applied to the wheel unit of FIG. 1 .
FIG. 3 is a front view for explaining the conditions for applying the arch structure to the wheel unit of FIG. 1 .
4A is a front view illustrating a distribution state of the load applied to the wheel unit of FIG. 1 , FIG. 4B is a front view illustrating the diameter state of the wheel unit according to the load applied to the wheel unit of FIG. 1 , FIG. 4C is FIG. It is a front view showing the state of the lower region according to the load applied to the wheel unit of 1 .
5A and 5B are front views showing examples of the collapsed state of the arch structure according to the application of an external force.
6A is a front view illustrating a state in which the wheel unit of FIG. 1 overcomes an obstacle, and FIG. 6B is a schematic view comparing the obstacle overcoming state of FIG. 6A with the collapsed state of the arch structure.
FIG. 7 is an enlarged front view illustrating the obstacle overcoming state of FIG. 6A.
8A to 8C are schematic diagrams illustrating deformation states between unit modules in the obstacle overcoming state of FIG. 7 .
9A is a front perspective view illustrating a rotation driving module including a wheel unit according to another embodiment of the present invention, and FIG. 9B is a rear perspective view of the rotation driving module.
10A is a front perspective view of the wheel unit of FIG. 9A , and FIG. 10B is a rear perspective view of the wheel unit of FIG. 10A .

Since the present invention may have various changes and may have various forms, embodiments will be described in detail in the text. However, this is not intended to limit the present invention to the specific disclosed form, it should be understood to include all modifications, equivalents and substitutes included in the spirit and scope of the present invention. In describing each figure, like reference numerals have been used for like elements. Terms such as first, second, etc. may be used to describe various elements, but the elements should not be limited by the terms.

The above terms are used only for the purpose of distinguishing one component from another. The terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise.

In the present application, terms such as "comprises" or "consisting of" are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification is present, but one or more other features It is to be understood that it does not preclude the possibility of the presence or addition of numbers, steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present application. does not

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

1 is a front view showing a wheel unit for overcoming obstacles according to an embodiment of the present invention.

Referring to FIG. 1 , the wheel unit 10 for overcoming obstacles according to the present embodiment (hereinafter referred to as a wheel unit) includes a plurality of unit modules 100 , a spoke unit 200 , a hub unit 300 , and an outer surface part ( 400) is included.

The hub part 300 is positioned at the center of the wheel unit 10 and, although not shown, receives rotational driving force from the outside and rotates around the central point C.

In this case, the hub part 300 may have a circular cross-section, such as a cylindrical shape, as shown.

As shown in the figure, a plurality of individual unit modules 100 are arranged in close contact with each other, and, as a whole, form the outer shape of the wheel unit 10 .

Each of the unit modules 100 is formed to have a predetermined thickness T along the radial direction with respect to the central point C, and may be formed to have a predetermined width in the depth direction of FIG. , in this case, it is obvious that the thickness and width of each of the unit modules 100 can be designed to be modified in various ways.

In addition, each of the unit modules 100 has the same shape, the specific shape will be described in detail with reference to the drawings to be described later, and each unit module 100 having the same shape is arranged to be in close contact with each other.

In this case, the close contact of the unit modules 100 may be released, ie, detachable, from a contact state according to contact with an obstacle, as described below, and the adhesion and detachment between these unit modules 100 . Overcoming obstacles is carried out through

The spoke part 200 connects between the hub part 300 and the unit modules 100, and as shown, may be a wire having a predetermined tension. However, the spoke part 200 is not limited to a wire, and it is sufficient if it connects between the hub part 300 and the unit modules 100 and can apply tension.

A plurality of spoke parts 200 have one end fixed along the circumferential surface of the hub part 300 , and the other end fixed to the unit modules 100 .

In this case, the spoke unit 200 may not have a single spoke connected to all of the unit modules 100 , and as shown in FIG. 1 , only some of the unit modules 100 have a uniform spacing can be connected to

On the other hand, the spoke part 200 is, based on a plane parallel to the ground while passing through the center point C of the hub part 300, the upper spoke 201 positioned on the upper part of the plane and the lower part of the plane. a lower spoke 202 located therein.

That is, the upper spoke 201 connects the unit modules 100 positioned in the upper half of the wheel unit 10 and the hub part 300 , and the lower spoke 202 is the wheel unit 10 . ) to connect the unit modules 100 located in the lower half of the hub unit 300 with the hub unit 300 .

Meanwhile, the defined upper spokes 201 and lower spokes 202 are defined based on their relative positions, and as the wheel unit 10 rotates, the defined upper and lower spokes change.

The spoke unit 200 has a predetermined tension. Accordingly, by applying a tension that is a pulling force between the hub unit 300 and the unit modules 100, the position of the unit modules 100 is determined. and prevent the unit modules 100 from being separated to the outside.

However, in the present embodiment, only tension, which is a force that pulls the unit modules 100 in a direction toward the hub part 300 , is applied to the spoke part 200 .

Accordingly, according to the rotation of the wheel unit 10, the upper spoke 201 located in the upper half of the wheel unit 10 applies tension to the unit modules 100, but the wheel unit 10 ), the lower spoke 202 located in the lower half does not apply tension to the unit modules 100, and thus the lower spoke 202 may be deformed in a loose state rather than in a taut state.

The outer surface part 400 is formed along the outer surface of the unit modules 100, and when the unit modules 100 are detached from each other, a force to restore them is applied.

As described above, the unit modules 100 are in close contact with each other to form the outer shape of the wheel unit 10 as a whole, but some of the unit modules 100 may be detached to the outside due to an imbalance in force.

In particular, the details will be described later, but as the unit modules 100 overcome the obstacle, the relative position is changed and the close contact state may be released. ) is formed along the outer surface of the unit modules 100 , and as a predetermined elastic restoring force is provided to the unit modules 100 , restoration to the close contact state can be performed quickly.

The outer surface portion 400 applies a predetermined elastic recovery force to the outer surface of the unit modules 100 as described above, and the unit modules 100 are formed in a wire shape or a surface shape. It may be fixed to surround the outer surface of the.

FIG. 2A is a front view illustrating an example of an arch structure, and FIG. 2B is a front view illustrating a state in which the arch structure of FIG. 2A is applied to the wheel unit of FIG. 1 .

The wheel unit 10 in this embodiment has an arch mechanism applied, and an arch structure for understanding the operation of the wheel unit 10 will be described with reference to FIGS. 2A and 2B .

First, referring to FIG. 2A , in the arch structure 2 applied to the conventional stone bridge or pier, a plurality of support stones are arranged in close contact with each other along the circumference of the arch structure 2 having a semicircular shape, and the arch structure It is characterized in that the keystone (keystone) is located in the center of (2).

In this case, the load applied to the keystone from the top is directly applied to the central keystone, and the load applied to the keystone is transmitted to the supporting stones of the adjacent arch structure 2 to maintain the arch structure 2 as a whole. will do

If the structural feature of the arch structure 2 is converted to a structure in which the keystone faces the ground 1 as shown in FIG. 2B and assuming an imaginary circle 3 along the supporting stones of the arch structure, in this embodiment of the wheel unit 10 can be derived.

That is, when the wheel unit 10 rotates on the ground, the reaction force F from the ground applied to the wheel unit 10 is applied at the same position as the position of the keystone of the arch structure 2 . Similar to how the arch structure 2 maintains the arch structure 2 by effectively distributing the load applied to the keystone to the surrounding supporting stones, the wheel unit 10 also has a reaction force from the ground. (F) is effectively dispersed to the surrounding unit modules 100 and the overall structure and shape of the wheel unit 10 are maintained.

That is, the wheel unit 10 moves through a plurality of unit modules 100 that are in close contact with each other similarly to the support stones of the arch structure 2 , when passing through the ground without obstacles. The reaction force F can be effectively dispersed, and its shape and structure can be maintained.

FIG. 3 is a front view for explaining the conditions for applying the arch structure to the wheel unit of FIG. 1 .

In this embodiment, in order for the wheel unit 10 to maintain the shape and structure of the overall wheel as described above and withstand the reaction force F, a predetermined condition as shown in FIG. 3 must be satisfied, which is the arch The conditions required in the design of the structure (2) are substantially the same.

In order for the surrounding support stones to effectively distribute the load applied to the keystone in the arch structure 2, hypotenuses on both sides of an imaginary triangle passing through the inside of the semicircular arch structure are ) should extend to the inside of the supporting stones constituting it.

When this principle is applied to the wheel unit 10 of this embodiment, it is as follows.

That is, referring to FIG. 3 , in the wheel unit 10 , the surface passing through the center point C of the hub part 300 and parallel to the ground 1 are both outer surfaces of the unit modules 100 . It is assumed that a pair of points meeting with the first point A1 and the second point A2 are respectively the first point A1 and the second point A2, and the part that meets the ground 1 to which the reaction force F is applied among the unit modules 100 is the contact point. Assuming (B), the first point A1, the second point A2, and the contact point B form a predetermined isosceles triangle.

In this case, the base of the isosceles triangle is a line segment A1-A2 in FIG. 3 , and both hypotenuses are a line segment B-A1 (first line segment) and a line segment B-A2 (second line segment), respectively.

Assuming an isosceles triangle as described above, in order for the arch structure implemented through the wheel unit 10 to withstand the reaction force F from the ground 1 , both the first line segment and the second line segment It should extend through the inside of the thickness T of the outer shape of the wheel unit 10 formed by the unit modules 100 .

That is, as shown in FIG. 3 , between the inner circumferential circle 101 formed along the inner surfaces of the unit modules 100 and the outer circumferential circle 102 formed along the outer surfaces of the unit modules 100 . Thus, the thickness T of the unit modules 100 should be formed so that the first line segment B-A1 and the second line segment B-A2 extend.

As described above, in the wheel unit 10 according to this embodiment, the radius and the thickness of the unit modules must be designed within the range that satisfies the above conditions, and through this, the so-called arch structure does not collapse in the arch structure. If it proceeds on the ground in the same way as maintained, the structure of the wheel unit 10 is maintained without collapsing.

On the other hand, when the wheel unit 10 passes through the ground, in order not to collapse the structure of the wheel unit 10, in particular, the function of the spoke unit 200 inside the wheel unit 10 will be described in detail. If you do, it is as follows.

Figure 4a is a front view showing the distribution state of the load applied to the wheel unit of Figure 1, Figure 4b is a front view showing the diameter state of the wheel unit according to the load applied to the wheel unit of Figure 1, Figure 4c is It is a front view showing the state of the lower region according to the load applied to the wheel unit of 1 .

First, referring to FIG. 4A , as the wheel unit 10 receives a reaction force from the ground 1 while passing through the ground 1 , that is, as the wheel unit 10 receives a reaction force from the ground 1 , that is, to the hub part 300 in the direction of the ground 1 As the load F is applied, the upper spokes 201 connecting between the hub part 300 and the upper unit modules 100 distribute the load.

Thus, the upper spokes 201 maintain structural safety between the hub part 300 and the upper unit modules 100 in a tautly extended state.

In addition, referring to FIG. 4B , since tension is applied between the hub part 300 and the upper unit modules 100 in a state in which the upper spokes 201 are tautly extended, the central point C ) and the distance between the line parallel to the ground 1 and the imaginary center line CL where the outer circumferential circle 102 of the unit modules 100 meet may be kept constant.

On the other hand, referring to FIG. 4C , the lower spokes 202 are in a loosened state without applying tension, and accordingly, between the hub part 300 and the lower unit modules 100 The shape of the overall wheel unit 10 may be partially deformed.

However, such a lower unit module 100 as a whole may be slightly deformed or compressed as a shape change as shown in FIG. 4C, but since the design within the range that can maintain the structural safety of the arch structure described above has been implemented, The wheel unit 10 does not collapse and passes through the ground while maintaining stability.

As described above, the principle that the wheel unit 10 according to the present embodiment can pass stably without collapse of the structure when passing through the ground 1 without obstacles has been described.

Hereinafter, structural characteristics when the wheel unit 10 passes through an obstacle will be described.

5A and 5B are front views showing examples of the collapsed state of the arch structure according to the application of an external force.

Before describing the structural characteristics when the wheel unit 10 according to the present embodiment passes through an obstacle, a state in which the arch structure 2 collapses will be described as follows.

That is, in the arch structure 2, when a predetermined external force R is applied to the side other than the keystone, the arch structure 2 collapses. It may collapse with a hinge mechanism as shown, or collapse with a sliding mechanism as shown in FIG. 5B .

That is, when the hinge mechanism of FIG. 5A collapses, the supporting stones 5 are released from their close contact with each other and are separated. can

On the other hand, when the sliding mechanism of FIG. 5B collapses, when the supporting stones 5 are separated from each other by releasing the contact state, the adhered surfaces may slide with each other and separation may be performed.

When the arch structure collapses, whether a hinge mechanism or a sliding mechanism is applied may be determined by various conditions such as the structure, shape, and location of external force application of the supporting stones constituting the arch structure.

Structural characteristics when the wheel unit 10 of this embodiment passes through an obstacle is designed to mimic the collapse of the arch structure to a hinge mechanism among the two mechanisms of collapse of the arch structure. Detailed structural characteristics are as follows. It will be described with reference to the drawings.

6A is a front view illustrating a state in which the wheel unit of FIG. 1 overcomes an obstacle, and FIG. 6B is a schematic view comparing the obstacle overcoming state of FIG. 6A with the collapsed state of the arch structure. FIG. 7 is an enlarged front view illustrating the obstacle overcoming state of FIG. 6A.

That is, referring to FIGS. 6A and 7 , when the obstacle 6 is present on the ground, the side of the wheel unit 10 primarily comes into contact with the obstacle 6 .

The contact of the obstacle 6 applies an external force to the lower side of the wheel unit 10 in the same way as the external force R acting on the side in the arch structure described with reference to FIG. 5A .

As described above, the external force acting on the side of the wheel unit 10 is different from the vertical reaction force from the ground 1 on which the structure of the wheel unit 10 is maintained, and the arch structure 2 is collapsed. Similarly, the wheel unit 10 also collapses around the side on which the external force acts.

In particular, in this embodiment, the unit modules 100 forming the outer shape of the wheel unit 10 maintain a state in close contact with the unit modules adjacent to each other, but in a detachable adhesion state in which the adhesion can be released. to maintain, by the action of the external force as described above, the close contact with each other starts to be released around the point where the external force acts.

In addition, since the lower spokes 202 in the wheel unit 10 loosely extend in a state where no separate tension is applied, the distance between the unit modules 100 by the external force caused by the obstacle 6 . The tight state can be released very easily.

Specifically, as shown in FIGS. 6A and 6B , the position where the close contact between the unit modules 100 is released is directly applied by the external force by the obstacle 6 , that is, the obstacle 6 . It starts from the first contact point P1, which is a position in direct contact with.

In addition, as the wheel unit 10 passes through the obstacle 6, the second contact point P2 and the first contact point P1, which are positions spaced apart by a predetermined distance from the front end of the first contact point P1, The contact state between the unit modules 100 is also released at the third contact point P3, which is a rear end spaced apart by a predetermined distance.

In this case, at the first contact point P1 , unit modules adjacent to each other about the contact point on the outer circumferential circle 102 of the unit modules 100 maintain a state in contact with each other, but the second and third contact points In the fields P2 and P3, the unit modules adjacent to each other around the contact point on the inner circumferential circle 101 of the unit modules 100 maintain a state in contact with each other.

As shown by way of example in FIG. 6B , when a predetermined external force R is applied to the side in the actual arch structure 2, when the arch structure 2 collapses through the hinge mechanism, the external force ( The first contact point P1 to which R) is applied, and second and third contact points P2 and P3 are respectively formed at the front and rear ends of the first contact point P1, and the arch structure 2 is collapsed. have the same characteristics as

That is, the wheel unit 10 in this embodiment has a structure in which it collapses in the same way as the collapse according to the hinge mechanism of the arch structure 2 by an external force according to contact with the obstacle 6 .

On the other hand, as described above, according to the contact with the obstacle 6, the lower portion of the wheel unit 10 is released from the contact state of the adjacent unit modules at the first to third contact points P1, P2, P3. However, this departure is such that the contact point on the outer circumferential circle 102 or the inner circumferential circle 101 is maintained and separated, and the complete detachment phenomenon of the unit modules does not occur.

Further, in the case of the wheel unit 10, as described above, it includes the outer surface portion 400 that covers the outer surface of the unit modules 100 and provides a predetermined restoring force, and the spoke portion 200 Since tension is applied so that the hub part 300 and the unit modules 100 do not deviate from a predetermined distance, the unit modules 100 of the wheel unit 10 partially collapsed according to the hinge mechanism as described above. ), as the wheel unit 10 overcomes the obstacle 6, it is restored to its original state and returns to the structure shown in FIG.

Thus, the wheel unit 10 in this embodiment effectively passes through and overcomes the obstacle 6 located on the ground 1 .

8A to 8C are schematic views illustrating deformation states between unit modules in the obstacle overcoming state of FIG. 7 .

More specifically, the structure of the unit modules 100 and the state of close contact and detachment between adjacent unit modules when overcoming obstacles will be described.

First, referring to FIG. 8A , the unit modules 100 are all formed in the same shape, and each unit module 100 has an outer surface 110 , an inner surface 120 , a side surface 130 , a protrusion 140 and It includes a recess 150 .

On the other hand, the unit module 100 may be a block having a three-dimensional structure forming a predetermined width in a direction perpendicular to the drawing, in which the shape shown in FIGS. 8A to 8C is a shape observed from one side. there is.

However, since it has the same shape as the shape shown above, except for forming a predetermined width in the direction perpendicular to the drawing, in the following, the shape observed from one side as shown in FIGS. 8A to 8C will be the center. Explain.

The outer surface 110 forms the outside of the wheel unit 10 in a generally rounded surface shape, and when the outer surface 110 of the unit modules 100 is extended as a whole, the wheel unit 10 is The outer circumferential circle 102 is formed.

That is, the outer surface 110 is formed to have the same curvature as that of the outer circumferential circle 102 of the wheel unit 10 .

On the other hand, the contact point PX between the outer surfaces 110 of the adjacent unit modules 100 serves as a center of rotation, and the wheel unit 10 collapses when the obstacle 6 is overcome. It becomes the center of rotation corresponding to the hinge in the hinge collapse mechanism.

The inner surface 120 is spaced apart from the outer surface 110 by a predetermined distance, and when the inner surface 120 of the unit modules 100 is extended, the inner circumference 101 of the wheel unit 10 is formed as a whole.

The inner surface 120 may have a shape that protrudes outward as a whole, that is, in a direction toward the hub part 300 , and may be rounded and protruded in a flexible shape. That is, the edge of the inner surface 120 may have a smooth rounded shape.

The side surface 130 connects the inner surface 120 and the outer surface 110, and a first side surface 131 connecting one side of the inner surface 120 and one side of the outer surface 110, and and a second side surface 132 connecting the other side of the inner surface 120 and the other side of the outer surface 110 .

The protrusion 140 protrudes from the first side surface 131 toward an adjacent unit module, and the recess 150 is recessed inside the corresponding unit module from the second side 132 .

In this case, although the protrusion 140 protrudes from the first side surface 131 and the recessed part 150 is recessed from the second side surface 132 , the protrusion 140 protrudes from the second side surface 132 . It protrudes from the side surface 132 , and it is also possible that the recessed part 150 is recessed from the first side surface 131 .

However, it is necessary that all unit modules have protrusions and recesses of the same structure and direction.

The protrusion 140 has an upper surface 141 protruding from the first side surface 131 in a direction toward the inner surface 120 , and protruding from the first side surface 131 in a direction toward the outer surface 110 . It includes a lower surface 143 , and a connection surface 142 connecting the upper surface 141 and the lower surface 143 .

Similarly, the recessed portion 150, the upper surface 151 recessed from the second side surface 132 in the direction toward the inner surface 120, the second side surface 132 in the direction toward the outer surface 110 It includes a lower surface 153 recessed from the, and a connection surface 152 connecting the upper surface 151 and the lower surface 153 .

In this case, as shown in FIG. 8A, in a state in which the so-called arch structure does not collapse, that is, in a state in which the wheel unit 10 passes through the ground, the unit modules 100 are arranged to be in close contact with each other, In the unit modules adjacent to each other, the first side surface 131 is in close contact with the second side surface 132 , and the protrusion 140 is in close contact with the recessed part 150 .

That is, the upper surface 141 , the lower surface 143 , and the connecting surface 142 constituting the protrusion 140 are the upper surface 151 , the lower surface 143 and the connecting surface constituting the recessed portion 150 . The shape is formed to match each of the 152 and to be inserted. Such a state of close contact between the adjacent unit modules is as shown in FIG. 8A.

On the other hand, as described above, when the contact state between the lower unit modules collapses while the wheel unit 10 overcomes the obstacle 6 , the unit module at the first contact point P1 . The state in which the close contact between them is released is as shown in FIGS. 8B and 8C.

That is, as shown in FIGS. 8B and 8C , at the first contact point P1 , the contact state between the adjacent unit modules starts to be released, and the adjacent unit modules 100 are contact points on the outer surface. starts to rotate relatively around the rotation center point PX.

In this case, the protrusion 140, which was impregnated in the recessed part 150 in the close contact state, starts to be separated from the recessed part 150, and the upper surface 141 of the protruding part 140 which is separated in this way and the recessed part. As shown, the upper surface 151 of the part 150 moves along the circumferential surface of a circle of a predetermined radius r formed with the rotation center point PX as the rotation center.

That is, the upper surface 141 of the protrusion 140 and the upper surface 151 of the recessed portion 150 are the curvature of the circumferential surface of a circle having a predetermined radius r formed with the rotation center point PX as the rotation center. formed with the same curvature as

Thus, when the protrusion 140 is separated from the recessed part 150 , the upper surface 141 of the protruding part 140 and the upper surface 151 of the recessed part 150 are separated along the circumferential surface of the circle. and moved, as well as detachment, re-insertion of the protrusion 140 into the recessed part 150 can be easily performed during the restoration process.

As described above, each of the unit modules is formed such that the protrusion and the recessed portion satisfy the above conditions, so that rotational deviation and rotational insertion based on the rotational center point can be easily performed, so that in the collapse of the so-called arch structure It is possible to overcome obstacles by effectively simulating the collapse process by the hinge mechanism, and when driving on a general flat surface, in the vertical direction, that is, in the direction in which the reaction force (F) from the ground is applied, by the coupling and fixing force between the protrusion and the depression. Deformation of the wheel unit 10 can be kept to a minimum.

9A is a front perspective view illustrating a rotation driving module including a wheel unit according to another embodiment of the present invention, and FIG. 9B is a rear perspective view of the rotation driving module. 10A is a front perspective view of the wheel unit of FIG. 9A , and FIG. 10B is a rear perspective view of the wheel unit of FIG. 10A .

9A to 10B , the rotation driving module 30 according to the present embodiment includes a wheel unit 11 and a wheel unit 20 .

The wheel unit 11 in this embodiment has substantially the same structure and arrangement, close contact and release state of each of the unit modules 100 in the wheel unit 10 described with reference to FIG. 1 , and accordingly, The overlapping description of the driving state on the ground of the wheel unit 11 and the passing state of the obstacle will be omitted.

In this case, since the outer surface portion formed on the outer surface of the unit modules 100 is also substantially the same as the outer surface portion 400 in FIG. 1 , the overlapping description will be omitted.

On the other hand, the spoke part 200 and the hub part 300 included in the wheel unit 10 of FIG. 1 are included in the wheel unit 20 in this embodiment, and a detailed description will be given later.

In this embodiment, the wheel unit 20 includes a frame unit 500 , a power transmission unit 600 , a roller unit 700 , an elastic unit 800 , and a hub unit 900 .

The frame part 500 includes a horizontal frame 510 extending in a first direction (X), and a downward direction from the center of the horizontal frame 510, that is, a third direction perpendicular to the first direction (X) ( a vertical frame 520 extending to Z).

The horizontal and vertical frames 510 and 520 extend by a predetermined length, and each of them may have a rectangular frame shape, but various shapes or lengths may be formed.

The roller unit 700 is fixed on the horizontal frame 510 , and the power transmission unit 600 is fixed on the vertical frame 520 .

Although not shown, the power transmission unit 600 transmits a rotational driving force to the hub unit 900 by a driving force provided from the outside, and is fixed on the vertical frame 520 .

The power transmission unit 600 generally provides a rotational driving force to the rotational central axis of the rotational driving module 30, but in this embodiment, due to the structure of the roller unit 700 to be described later, the power transmission unit Reference numeral 600 is positioned at an eccentric position from the central axis of rotation of the rotation driving module 30 to transmit power.

That is, the hub unit 900 has a hollow cylindrical shape with an open center and is located in the center of the rotation driving module 30 , and through the open hollow part in the center of the hub unit 900 , the The central fixed frame 721 of the roller unit 700 penetrates and is positioned.

Thus, the power transmission unit 600 is located on the vertical frame 520 lower than the connection position of the central fixed frame 721 , that is, located at an eccentric position and rotates to the hub unit 900 . provides driving force.

In this case, the hub unit 900 has a gear unit 930 formed on one side of the hub unit 900 to receive rotational driving force from the power transmission unit 600 , and the power transmission unit 600 . ) is coupled to the gear unit 930 to provide the rotational driving force to the hub unit 900 .

In addition, as shown in FIG. 10B , the hub unit 900 has a structure having an overall cylindrical shape as the gear part 930 is provided, and has a central opening toward the frame part 500 and is relatively A gear unit having a cylindrical shape having a small radius may be additionally provided, and as the gear unit 930 rotates, the hub unit 900 rotates integrally as a whole.

The roller unit 700 includes a central fixed frame 720 , a pair of first and second arch frames 730 and 740 , and a pair of first and second horizontal fixed frames 721 and 722 . do.

The central fixed frame 720 is fixed to the horizontal frame 510 and extends along the second direction Y perpendicular to both the first direction X and the third direction Z.

Although the central fixed frame 720 is shown to include an opening 710 with an open center, the opening 710 may be sealed, and thus the central fixed frame 720 extends to have a cylindrical shape as a whole. can be

The pair of first and second horizontal fixed frames 721 and 722 are at both ends of the central fixed frame 720, with the center fixed frame 720 being the center along the first direction (X). is formed to extend in both directions.

In this case, each of the first and second horizontal fixed frames 721 and 722 may extend in a bar shape, and the central fixed frame 720 is positioned at the center of the extended horizontal fixed frames. will have

On the other hand, the central fixed frame 720 extends through the central opening of the hub unit 900 to protrude outward from both sides of the hub unit 900 , and accordingly, the first and second horizontal fixed frames The members 721 and 722 are also formed on both sides of the outer side of the hub unit 900 .

That is, the first and second horizontal fixing frames 721 and 722 are located outside the first and second external fixing surfaces 910 and 720 that are both ends of the hub unit 900 . .

The pair of first and second arch frames 730 and 740 have a semi-circular shape from both ends of the first and second horizontal fixed frames 721 and 722, respectively, and the first and second horizontal It extends above the fixed frames 721 and 722 .

That is, the first arch frame 730 forms an upper semicircle of the rotation driving module 30 together with the first horizontal fixed frame 721 , and the second arch frame 740 also includes the second arch frame 740 . Together with the horizontal fixed frame 722 , the upper semicircle of the rotation driving module 30 is formed.

In this case, the first and second arch frames 730 and 740 have the same shape and form a shape symmetrical to each other on both sides with respect to the hub unit 900 .

On the other hand, the central fixed frame 720 as well as the first and second horizontal fixed frames 721 and 722, and the first and second arch frames 730 and 740 are all fixed in their positions. That is, the position of the rotation driving module 30 is not changed in the process of driving the rotation and overcoming obstacles, and it maintains a fixed state.

This fixed state is provided through the horizontal frame 510 to which the central fixed frame 720 is fixed, and although not shown, the horizontal frame 510 is provided with the rotation driving module 30 It is fixed to the body of a transport means such as a vehicle or a wheelchair, and its position may not be changed.

The elastic unit 800 applies tension only to the upper unit modules 100 among the unit modules 100 included in the wheel unit 11, and the wheel unit 10 of FIG. It performs substantially the same role as that of the spoke unit 200 .

The elastic unit 800 includes a plurality of end portions of the hub unit 900 that are fixed at regular intervals on a first external fixing surface 910 that is an end facing the frame portion 500 among both ends of the hub unit 900 . A plurality of first elastic units 810, and a plurality of second elastic units 820 fixed at regular intervals on the second external fixing surface 920 opposite to the first external fixing surface 910, include

In this case, the arrangement of the first and second elastic units 810 and 820 may be the same at positions symmetrical to each other.

Meanwhile, each of the first and second elastic units 810 and 820 has the same structure, and includes an elastic part 830 , a roller part 840 , and a spoke part 850 .

The elastic part 830 is fixed to the external fixing surfaces 910 and 920 of the hub unit 900 and rotates according to the rotation of the hub unit 900 .

In addition, the elastic part 830 provides a predetermined tension to the spoke part 850 .

The roller part 840 is formed at the end of the elastic part 830 and is rolled and moved along the inner contact surfaces 731 and 741 of the arch frames 730 and 740 .

In this case, since the arch frames 730 and 740 are located only at the upper portion with respect to the horizontal fixed frames 721 and 722 , the roller unit 840 is formed based on the horizontal fixed frames 721 and 722 . It moves along the inner contact surfaces 731 and 741 of the arch frames 730 and 740 only when passing through the upper part, and when passing through the lower part of the horizontal fixed frames 721 and 722 is separate Free position change is possible without the contact surfaces of

One end of the spoke unit 850 is fixed to the elastic unit 830 , and the other end is fixed to the unit modules 100 , and a tension is applied to the unit modules 100 .

In this case, the spoke unit 850 does not need to be fixed to all the unit modules 100 , and may be fixed to only some of the unit modules 100 at regular intervals.

The roller part 840 is fixed between the elastic part 830 and the spoke part 850 and controls the tension applied to the spoke part 850 .

That is, when the roller part 840 is moved in the direction toward the elastic part 830 , the tension applied to the spoke part 850 increases, and the roller part 840 moves the unit module 100 . When it is moved in the direction in which it is directed, the tension applied to the spoke part 850 is reduced.

In the present embodiment, arch frames 730 and 740 having a predetermined radius are formed on the upper portions of the horizontal fixed frames 721 and 722 , and the roller unit 840 is connected to the arch frames 730 and 740 . ), when moving along the inner contact surfaces 731 and 741 , the roller part 840 is forcibly maintained at a constant distance from the elastic part 830 or from the unit module 100 , and accordingly , the extended length of the spoke portion 850 is also maintained constant.

That is, the position of the roller part 840 that is forcibly positioned by the arch frames 730 and 740 tightens the spoke part 850 so that a predetermined tension can be applied to the unit module 100 . As a result, when the roller unit 840 passes through the arch frames 730 and 740 , a constant tension is firmly transmitted to the unit module 100 .

On the other hand, when the roller unit 840 does not pass through the arch frames 730 and 740 , that is, when the roller unit 840 passes through the lower portions of the horizontal fixed frames 721 and 722 , the Since there is no structure forcibly fixing the position of the roller unit 840, the roller unit 840 may be relatively positioned in a direction toward the unit module 100. Accordingly, the spoke unit 850 is loosely formed. In this state, the tension applied to the unit module 100 decreases or disappears.

This is, in the spoke part 200 described with reference to FIG. 1, the upper spoke 201 serves to distribute the load by applying a constant tension to the load, but the lower spoke 202 is extended in a loose state. As a result, it performs the same action as the state in which no separate tension is provided.

Accordingly, the rotation driving module 30 in this embodiment also minimizes deformation of the structure when passing through the ground in the same manner as the wheel unit 10 described with reference to FIG. 1 while maintaining a stable state of the arch structure and It is driven through maintaining the same stable state, and when an obstacle is overcome, the arch structure collapses with the same mechanism as that of the hinge mechanism and then recovers to its original state, so that the obstacle can be easily overcome.

According to the embodiments of the present invention as described above, the arch does not collapse when an external force is applied only to the center in the arch structure. Through a simple structure in which tension is applied only to the upper unit modules among the unit modules, the unit modules are stably rotated in normal times, and when an obstacle collides in the lateral direction, the unit modules are detached and then restored. Effective overcoming of obstacles is possible.

In this case, an outer surface portion is formed along the outer surface of the unit modules to provide immediate restoring force after detachment of the unit modules.

In addition, for stable driving and obstacle overcoming, the thickness T of each of the unit modules can be designed to satisfy a predetermined range, and the unit modules in the obstacle overcoming state are in contact with the obstacle and the hinge contact at the additional position. Since it can be changed to a state, it may be possible to effectively overcome an obstacle by simulating the hinge contact state in the collapsed state of the actual arch.

In addition, each of the unit modules forms an insertion structure of a protrusion and a recessed portion in which insertion and separation are repeated according to the overcoming of obstacles, so that in the inserted state, the outer shape of the wheel is formed and stable driving is possible, and effective departure from the obstacle overcoming state and insertion is performed to simulate the hinge contact state.

In this case, since the upper surface of the protrusion and the upper surface of the recessed portion form the same curvature to be moved along the circumferential surface of a predetermined circle, friction is minimized and natural insertion and extraction processes can be repeated.

On the other hand, in the case of the rotation driving module including the wheel unit, the wheel unit is designed to have an optimal structure for providing driving force and tension so as to realize the obstacle overcoming state of the wheel unit, thereby effectively overcoming obstacles through a relatively simple structural design. can do.

Specifically, the hub unit and the elastic unit fixed thereto are provided with a roller unit having a fixed position in order to apply tension only to the unit modules located on the upper part, and can be rotated by a driving force separately from the fixed roller unit. And by including the unit modules, it is possible to implement a structure of driving the wheel rotation and providing a selective tension.

That is, the position of the roller unit is fixed so that it is located only at the upper part, and the elastic units are designed to rotate while in contact with the roller unit, so that the elastic units provide tension to the unit modules at the upper part in contact with the roller unit. , by preventing the elastic units from providing tension to the unit modules in the lower part where they do not contact the roller unit, it is possible to effectively implement a selective tension providing structure.

Furthermore, the hub unit includes a separate gear unit, and by disposing the power transmission unit so that the rotational driving force is transmitted to the gear unit, the rotational driving force cannot be provided through the center of the hub unit due to the selective tension providing structure. limitations can be overcome.

In addition, as a whole, by forming the selective tension providing structure as described above symmetrically on both surfaces of the unit modules, it is possible to achieve stable driving of the unit modules and overcoming obstacles.

Although the above has been described with reference to the preferred embodiments of the present invention, those skilled in the art can variously modify and change the present invention without departing from the spirit and scope of the present invention as set forth in the claims below. You will understand that you can.

10, 11: wheel unit 20: wheel module
30: rotation drive module 100: unit module
110: outer surface 120: inner surface
130: side 140: protrusion
150: recessed part 200: spoke part
300: hub 400: outer surface
500: frame unit 600: power transmission unit
700: roller unit 800: elastic unit
900: hub unit

Claims (19)

a hub portion rotating by receiving a rotational driving force;
a unit module spaced apart from the hub part by a predetermined distance and arranged in close contact with each other so as to be continuously detachable from each other to form an outer shape of the wheel unit; and
It connects between the hub part and the unit module to apply tension, and includes a plurality of spoke parts arranged at regular intervals from each other,
When the wheel unit overcomes the obstacle, the unit modules located at the position in contact with the obstacle, the unit modules located at the front end of the predetermined distance from the position in contact with the obstacle, and the unit modules located at the rear end of the predetermined distance are released from the close contact state. and a wheel unit, characterized in that it is transformed into a hinge contact state. According to claim 1, wherein the spoke portion,
Based on the plane passing through the center point of the hub part and parallel to the ground,
The spoke parts located on the upper part of the surface apply tension between the hub part and the unit module, and the spoke parts located on the lower part of the surface do not apply tension between the hub part and the unit module. wheel unit. The method of claim 2, wherein when the wheel unit overcomes an obstacle,
The wheel unit, characterized in that the contact state of the unit modules is released as the spoke parts located below the surface are loosely extended. 3. The method of claim 2,
The wheel unit, characterized in that the distance along the surface from the hub portion to the unit module is maintained constant by the application of tension to the spoke portions located on the upper portion of the surface. The method of claim 1,
The wheel unit is formed along the outer surfaces of the unit modules, and further comprises an outer surface portion for applying a force to restore the unit modules when they are detached from each other. The method of claim 1,
A triangle formed by a pair of imaginary first and second point points passing through the center point of the hub part and having a plane parallel to the ground meet both outer surfaces of the unit modules and a contact point in contact with the ground among the unit modules at,
A first line segment connecting the first point and the contact point and a second line segment connecting the second point and the contact point are located inside the thickness T of the outer shape of the wheel unit formed by the unit modules To do so, the wheel unit, characterized in that the thickness (T) of each of the unit modules is formed. According to claim 1, wherein each of the unit modules,
When the wheel units pass through the flat ground, the wheel unit, characterized in that it is positioned in close contact with each other. According to claim 7, When overcoming the obstacle,
The unit modules located at the position in contact with the obstacle are transformed into a hinge contact state with the outer surface as the first contact point P1,
The unit modules located at the front end of a predetermined distance from the position in contact with the obstacle are transformed into a hinge contact state with the inner surface as the second contact point P2,
The unit modules located at the rear end of a predetermined distance from the position in contact with the obstacle are transformed into a hinged contact state with the inner surface as the third contact point (P3). a hub portion rotating by receiving a rotational driving force;
a unit module spaced apart from the hub part by a predetermined distance and arranged in close contact with each other so as to be continuously detachable from each other to form an outer shape of the wheel unit; and
It connects between the hub part and the unit module to apply tension, and includes a plurality of spoke parts arranged at regular intervals from each other,
The unit module includes a pair of first and second side surfaces positioned opposite to each other, a protrusion protruding from the first side surface, and a recessed portion into which the adjacent protrusion is inserted into the second side surface,
In a state in which the obstacle is overcome, the protrusion of the unit module is separated from the depression of the adjacent unit module. 10. The method of claim 9,
The unit module further includes an outer surface forming an outer side of the wheel unit in a rounded surface shape, and an inner surface spaced apart from the outer surface by a predetermined distance,
The pair of first and second side surfaces connect the outer surface and the inner surface,
A wheel unit, characterized in that the upper surface of the protrusion and the upper surface of the recessed portion have the same curvature. The method of claim 10, wherein in the state of overcoming the obstacle,
The upper surface of the protrusion and the upper surface of the recessed portion,
A wheel unit, characterized in that it moves along the circumferential surface of a circle centered on the contact point of the outer surfaces of the unit modules adjacent to each other. A wheel unit, and a wheel unit for applying a driving force and tension to the wheel unit,
The wheel unit is
a plurality of unit modules arranged in close contact with each other in succession and detachable from each other;
The wheel unit is
a hub unit providing rotational driving force to the wheel unit;
a plurality of elastic units connected between the hub unit and the unit module to apply tension, a plurality of elastic units arranged at regular intervals from each other;
a power transmission unit that transmits a driving force from the outside; and
and a gear unit extending from one side of the hub unit and connected to the power transmission unit to receive the driving force. The method of claim 12, wherein the elastic units,
first elastic units fixed to the first external fixing surface of the hub unit and applying tension to one surface of the unit modules; and
and second elastic units fixed to a second external fixing surface opposite to the first external fixing surface of the hub unit and applying a tension to the other surface of the unit modules. delete The method of claim 12, wherein the wheel unit,
frame part; and
The rotation driving module further comprising a roller unit fixed to the frame and allowing tension from the elastic units to be applied only to the unit modules located thereon. The method of claim 15, wherein the roller unit,
a central fixing frame fixed to the frame and extending through the hub unit;
a pair of horizontal fixing frames extending in the horizontal direction at both ends of the central fixing frame; and
and a pair of arch frames extending upwards of the horizontally fixed frames in a semicircular shape from both ends of each of the horizontally fixed frames. The method of claim 16, wherein the elastic units,
The rotation driving module, characterized in that it moves along the arch frame in the upper part of the horizontal fixed frames, and applies tension only to the unit modules located in the upper part. The method of claim 17, wherein each of the elastic units,
an elastic part fixed to the hub unit;
a roller part formed at an end of the elastic part and moving along the arch frame; and
and a spoke part connecting the roller part and the unit module and applying a tension. The method of claim 18, wherein the roller unit,
The rotation driving module, characterized in that it is moved along the inner contact surface of the arch frame toward the central fixed frame.

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