KR102452471B1 - Wheel driving apparatus and mobility using the same - Google Patents

Abstract

a drive unit provided with a drive and an output shaft of the drive; an output unit connected to the output shaft through a first reducer and provided to be rotated based on the driving unit; and a driving wheel provided in the output unit and connected to the output shaft through a second reducer to be rotated based on the output unit, wherein the reduction ratio of the second reducer is smaller than that of the first reducer. A drive mechanism is introduced.

Description

Wheel drive mechanism and moving device using the same

The present invention relates to a wheel driving mechanism and a moving device using the same, and to a moving device capable of running on flat ground and climbing stairs through a wheel driving mechanism capable of selectively driving a plurality of reducers through a single driving unit.

Many devices and moving devices have already been developed for traveling on well-paved flat ground. However, there is a problem in that the mechanism and the mobile device for driving on flat land cannot be driven on rough terrain such as unpaved roads or climb stairs.

Therefore, in order to travel rough terrain or climb stairs, Caterpillar (Caterpillar) and many wheel drive mechanisms are being developed. However, in the existing wheel drive mechanism, a power source for driving on flat ground and a power source for climbing stairs, etc. are separately configured. Accordingly, there is a problem in that a large loss occurs in terms of energy, and the structure is complicated because there are many components.

In addition, in order to drive on rough terrain, it should further include a suspension that performs a function of absorbing shock so that the shock generated on the road is not transmitted directly to the vehicle body or passengers and a function of reliably grounding the tire to the road surface. , there was a problem of taking up a large volume and increasing the weight as the suspension was added.

The matters described as the background art above are only for improving the understanding of the background of the present invention, and should not be taken as an acknowledgment that they correspond to the prior art already known to those of ordinary skill in the art.

KR 10-2016-0076079 A KR 10-2015-0138748 A

The present invention has been proposed to solve this problem, and provides a mechanical mechanism through one driving unit and two speed reducers, and using this, both flat driving and stair climbing are possible, and rough road driving including suspension is also possible. to provide a device.

A wheel drive mechanism according to the present invention for achieving the above object includes a drive unit provided with a drive and an output shaft of the drive; It is composed of an output unit connected to the output shaft through a first reducer and a driving wheel connected to the output shaft through a second reducer, the output unit is provided to be rotated based on the driving unit, and the driving wheel is provided to be rotated based on the output unit Including; and the reduction ratio of the second reducer is configured to be smaller than the reduction ratio of the first reducer.

A plurality of driving wheels may be provided, and a link module may be provided between the output unit and each driving wheel.

The link module and the driving wheel may be respectively connected to the output unit at intervals of 120 [deg] angles.

When the reaction force with respect to the driving force transmitted to the driving wheel is less than a predetermined value, the second reducer is driven and the first reducer is not driven. may be driven and the second reducer may not be driven.

The driving unit is provided with a first bevel gear connected to the output shaft, a second bevel gear connected to the first reducer, and a third bevel gear connected to the second reducer, the first bevel gear is connected to the output shaft, and the first bevel gear is the second Both the bevel gear and the third bevel gear may mesh.

A fourth bevel gear may be provided between the output shaft and the first bevel gear in the driving unit, and the fourth bevel gear may transmit power between the output shaft and the first bevel gear.

The second reducer may include a pinion gear and a plurality of spur gears, the pinion gear may be connected to the output shaft, and the plurality of spur gears may be respectively connected to the plurality of driving wheels while being meshed with the pinion gear.

A pulley is provided on each of the driving wheel and the spur gear, and the pulley of the driving wheel and the pulley of the spur gear are connected to each other through a belt, so that the rotational force of the spur gear can be transmitted to the driving wheel.

The first reducer may include a harmonic gear, the wave generator may be connected to the output shaft, the circular spline may be fixed to the driving unit, and the flex spline may be connected to the output unit.

The link module is rotatably coupled to the output part, and the link module may be fixed or released so that the link module does not rotate based on the output part by a roller provided to be movable on the link module.

An elastic body is provided at one end of the roller so that the link module does not rotate based on the output unit by the roller if there is no external force.

A guide part for guiding a path in which the roller moves on the link module may be provided.

According to the present invention for achieving the above object, there is provided a mobile device having a wheel drive mechanism, comprising: a base portion on which a passenger rides; a drive unit coupled to the base unit and provided with a drive and an output shaft of the drive; It is composed of an output unit connected to the output shaft through a first reducer and a driving wheel connected to the output shaft through a second reducer, the output unit is provided to be rotated based on the driving unit, and the driving wheel is provided to be rotated based on the output unit and a rotating part, and the reduction ratio of the second reducer may be smaller than the reduction ratio of the first reducer.

According to the wheel driving mechanism of the present invention and the moving device using the same, both flat driving and stair climbing are possible with one driving source, and this can be implemented as a physical mechanism. In addition, the suspension system is mounted at the same time to have an advantageous effect on rough terrain.

1 is a top view illustrating a wheel driving mechanism according to an embodiment of the present invention.
2 is an enlarged side view of a driving unit and an output unit of a wheel driving mechanism according to an embodiment of the present invention.
3 is an enlarged top view of a link module of a wheel driving mechanism according to an embodiment of the present invention.
4 is a diagram illustrating a state in which the link module of the wheel driving mechanism rotates based on the driving unit according to an embodiment of the present invention.
5 is a perspective view illustrating a moving device having a wheel driving mechanism according to an embodiment of the present invention.

Specific structural or functional descriptions of the embodiments of the present invention disclosed in this specification or application are only exemplified for the purpose of describing the embodiments according to the present invention, and the embodiments according to the present invention may be implemented in various forms. and should not be construed as being limited to the embodiments described in the present specification or application.

Since the embodiment according to the present invention can have various changes and can have various forms, specific embodiments are illustrated in the drawings and described in detail in the present specification or application. However, this is not intended to limit the embodiment according to the concept of the present invention with respect to a specific disclosed form, and should be understood to include all changes, equivalents or substitutes included in the spirit and scope of the present invention.

Terms such as first and/or second 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 element from another element, for example, without departing from the scope of the present invention, a first element may be called a second element, and similarly The second component may also be referred to as the first component.

When a component is referred to as being “connected” or “connected” to another component, it may be directly connected or connected to the other component, but it is understood that other components may exist in between. it should be On the other hand, when it is said that a certain element is "directly connected" or "directly connected" to another element, it should be understood that the other element does not exist in the middle. Other expressions describing the relationship between elements, such as "between" and "immediately between" or "neighboring to" and "directly adjacent to", etc., should be interpreted similarly.

The terms used herein are used only 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 specification, terms such as “comprise” or “have” are intended to designate that the described feature, number, step, operation, component, part, or combination thereof exists, and includes one or more other features or numbers. , it should be understood that it does not preclude the existence or addition of steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical and 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 meanings consistent with the context of the related art, and unless explicitly defined in the present specification, they are not to be interpreted in an ideal or excessively formal meaning. .

Hereinafter, the present invention will be described in detail by describing preferred embodiments of the present invention with reference to the accompanying drawings. Like reference numerals in each figure indicate like elements.

1 is a top view illustrating a wheel driving mechanism according to an embodiment of the present invention.

Referring to Figure 1, the wheel driving mechanism according to the present invention is a drive (not shown) provided with a drive (not shown) and an output shaft (not shown) of the drive (not shown); It consists of an output unit 200 connected to an output shaft through a first reducer and a driving wheel 300 connected to an output shaft (not shown) through a second reducer (not shown), and the output unit 200 is a driving unit (not shown). is provided to be rotated based on, and the driving wheel 300 includes a rotating unit (not shown) provided to be rotated based on the output unit 200, and the reduction ratio of the second reducer (not shown) is the second It is characterized in that it is smaller than the reduction ratio of one reducer (not shown).

A plurality of driving wheels 300 may be provided, and a link module 400 may be provided between the output unit 200 and each driving wheel 300 .

The link module 400 and the driving wheel 300 are provided three each, and may be respectively connected to the output unit 200 at intervals of 120 [deg] angles. Three driving wheels 300 and a link module are respectively provided in the output unit 200 to implement a stable wheel driving mechanism.

The reduction ratio of the second reducer (not shown) is smaller than the reduction ratio of the first reducer (not shown). Accordingly, although the output shaft (not shown) of the drive (not shown) is connected to both the first reducer (not shown) and the second reducer (not shown), the reaction force against the driving force transmitted to the driving wheel 300 is a constant value. In this case, the second reducer (not shown) with a low reduction ratio may be driven and the first reducer (not shown) may not be driven.

2 is an enlarged side view of a driving unit and an output unit of a wheel driving mechanism according to an embodiment of the present invention.

Referring to FIG. 2 , the drive unit 100 includes a drive 110 . The drive 110 may be used to provide rotational force, such as an electric motor. The drive 110 is provided with an output shaft (not shown) to output the rotational force of the drive 110 . Both the first reducer 220 and the second reducer 210 may be connected to the output shaft (not shown).

The driving unit 100 includes a first bevel gear 120 connected to an output shaft (not shown), a second bevel gear 130 connected to the first reducer 220 , and a third bevel gear 140 connected to the second reducer 210 . ) is provided, the first bevel gear 120 is connected to an output shaft (not shown), and the first bevel gear 120 may be meshed with both the second bevel gear 130 and the third bevel gear 140 . and a fourth bevel gear 150 is provided between the output shaft (not shown) and the first bevel gear 120 in the driving unit 100, and power can be transmitted from the output shaft (not shown) to the first bevel gear 120 . have.

Specifically, in this embodiment, a fourth bevel gear 150 is provided on the output shaft (not shown), so that the rotational force of the drive 110 is directly transmitted to the fourth bevel gear 150 through the output shaft (not shown), and the fourth bevel gear 150 is provided. The gear 150 rotates in the same direction as the output shaft (not shown). The rotating fourth bevel gear 150 is again meshed with the first bevel gear 120 to transmit a rotational force, and the first bevel gear 120 is rotated with a different axis of rotation from the fourth bevel gear 150 .

Both the second bevel gear 130 and the third bevel gear 140 may mesh with the first bevel gear 120 . As the first bevel gear 120 receiving the rotational force of the fourth bevel gear 150 rotates, either the second bevel gear 130 or the third bevel gear 140 rotates.

According to the characteristic that the reduction ratio of the second reducer 210 is smaller than that of the first reducer 220, when the reaction force to the driving force transmitted to the driving wheel is less than a certain value, the second reducer 210 is driven and the first reducer ( 220 is not driven, and when the reaction force with respect to the driving force transmitted to the driving wheel exceeds a predetermined value, the first reducer 220 may be driven and the second reducer 210 may not be driven.

That is, both the second bevel gear 130 and the third bevel gear 140 are meshed with the first bevel gear 120 on a principle similar to the differential gear device of a car, but the rotation shaft of the first bevel gear 120 also rotates. can As the fourth bevel gear 150 rotates in the driving unit 100 , the first bevel gear 120 rotates while revolving around the second bevel gear 130 and the third bevel gear 140 to the first bevel gear. The gear 120 also rotates the rotating shaft.

Accordingly, the second bevel gear 130 connected to the second reducer 210 and the third bevel gear 140 connected to the first reducer 220 are both meshed with the first bevel gear 120, but the second bevel gear ( One of the 130) and the third bevel gear 140 is fixed and only the other one rotates.

The second reducer 210 may include a pinion gear 211 and a plurality of spur gears 212 . The pinion gear 211 may be connected to an output shaft (not shown). Specifically, when the rotational force of the output shaft (not shown) is transmitted to the fourth bevel gear 150 and the first bevel gear 120 , and the reaction force with respect to the driving force transmitted to the driving wheel 300 is less than a predetermined value, the second bevel The gear 130 may receive rotational force. The second bevel gear 130 may be further provided with a power transmission shaft 160 to transmit rotational force to the pinion gear 211 through this.

A plurality of spur gears 212 respectively corresponding to a plurality of driving wheels (not shown) may be all meshed with the pinion gear 211 . That is, the rotational force transmitted to the pinion gear 211 may be reduced and transmitted to the plurality of spur gears 212 .

The first reducer 220 is composed of a harmonic gear, the wave generator 221 is connected to an output shaft (not shown), the circular spline 222 is fixed to the driving unit 100 , and the flex spline 223 is the output unit 200 ) can be connected to

Specifically, when the rotational force of the output shaft (not shown) is transmitted to the fourth bevel gear 150 and the first bevel gear 120 and the reaction force with respect to the driving force transmitted to the driving wheel 300 exceeds a predetermined value, the second The bevel gear 130 may be fixed and the third bevel gear 140 may receive rotational force. The wave generator 221 of the first reducer 220 may be connected to the third bevel gear 140 to rotate the wave generator 221 . At this time, the circular spline 222 is fixed to the driving unit 100 , and the flex spline 223 is connected to the output unit 200 and is decelerated by the rotation of the wave generator 221 , and the output unit connected to the flex spline 222 . 200 may rotate based on the driving unit 100 to which the circular spline 222 is fixed.

3 is an enlarged top view of a link module of a wheel driving mechanism according to an embodiment of the present invention.

Referring to FIG. 3 , pulleys 310 and 410 are provided on each of the driving wheel 300 and the spur gear (not shown), and the pulley 310 of the driving wheel and the pulley 410 of the spur gear are mutually belts 420 . ) can be connected via The spur gear (not shown) may rotate together with the pulley 410 of the spur gear, and the driving wheel 300 may rotate together with the pulley 310 of the driving wheel. Accordingly, as the spur gear (not shown) rotates, the pulley 410 of the spur gear rotates, and as the pulley 410 of the spur gear rotates, the belt 420 moves while the pulley 310 of the driving wheel rotates. Thus, the driving wheel 300 may be driven. That is, the rotational force of the spur gear (not shown) may be transmitted to the driving wheel 300 .

4 is a diagram illustrating a state in which the link module of the wheel driving mechanism rotates based on the driving unit according to an embodiment of the present invention.

Referring to FIG. 4 , the link module 400 may be rotatably coupled to the output unit 200 , and the roller 430 may be provided to be movable on the link module 400 . As the roller 430 moves on the link module 400 , the link module 400 may be fixed or released so that the link module 400 does not rotate based on the output unit 200 .

Specifically, when the roller 430 is inserted into the insertion groove provided in the output unit 200 as shown in the left drawing of FIG. 4 , the link module 400 may be fixed so as not to rotate with respect to the output unit 200 , and the right side As shown in the figure, as the roller 430 moves on the link module 400 , the link module 400 may rotate with respect to the output unit 200 while leaving the insertion groove provided in the output unit 200 .

An elastic body 440 is provided at one end of the roller 430 , and when there is no external force, the roller 430 may be inserted into the insertion groove provided in the output unit 200 . The link module 400 may be fixed so as not to rotate based on the output unit 200 by the fixed roller 430 .

A guide part 450 for guiding a path on which the roller 430 moves is provided on the link module 400, and the roller 430 may be guided to move only along a straight path of one degree of freedom on the link module 400. .

Accordingly, when an impact is applied to the driving wheel 300 , the link module 400 is released from the fixing by the roller 430 so that it can rotate based on the output unit 200 and is fixed so as not to rotate again. It can perform the function of suspension. Accordingly, even if the driving wheel 300 is driven on a flat surface with irregularities, vibration of the output unit 200 can be minimized. For this purpose, it may be possible to use an elastic material such as rubber around the driving wheel 300 .

5 is a perspective view illustrating a moving device having a wheel driving mechanism according to an embodiment of the present invention.

Referring to FIG. 5 , a mobile device having a wheel driving mechanism according to the present invention includes a base part 500 on which a passenger rides; a drive unit 100 coupled to the base unit 500 and provided with a drive and an output shaft of the drive; an output unit 200 connected to the output shaft of the driving unit 100 through a first reducer and provided to be rotated with respect to the driving unit 100 ; and a driving wheel 300 provided in the output unit 200 and connected to the output shaft of the driving unit 100 through a second reducer to be rotated based on the output unit; and, the reduction ratio of the second reducer is the second It is characterized in that it is smaller than the reduction ratio of one reducer.

As in the present embodiment, the moving device may be provided with two wheel drive mechanisms according to the present invention at both ends of the base unit 500 .

Accordingly, when the moving device travels on flat ground, the driving force of the driving unit 100 is transmitted to the second reducer having a small reduction ratio, so that the second reducer may drive the driving wheel 300 . At this time, the first reducer may be fixed by the load of the occupant riding on the base part 500 .

However, when the mobile device meets the stairs or encounters rough terrain with severe irregularities, the reaction force for the driving force transmitted to the driving wheel 300 may exceed a certain value. In this case, the second reducer connected to the driving wheel 300 is fixed, and the driving force of the driving unit 100 is transmitted to the first reducer having a relatively high reduction ratio. Accordingly, the output unit 200 connected to the first reducer rotates based on the base unit 500 supported by the load of the occupant and the driving unit 100 connected thereto. That is, as the output unit 200 rotates, the moving device is capable of climbing stairs.

Although shown and described with respect to specific embodiments of the present invention, it is understood in the art that the present invention can be variously improved and changed without departing from the spirit of the present invention provided by the following claims. It will be obvious to those of ordinary skill in the art.

100: driving unit 200: output unit
210: second reducer 220: first reducer
300: drive wheel 400: link module
500: base part

Claims (14)

a drive unit provided with a drive and an output shaft of the drive;
It is composed of an output unit connected to the output shaft through a first reducer and a driving wheel connected to the output shaft through a second reducer, the output unit is provided to be rotated based on the driving unit, and the driving wheel is provided to be rotated based on the output unit Including;
A wheel driving mechanism, characterized in that a plurality of driving wheels are provided, and a link module is provided between the output unit and each driving wheel. The method according to claim 1,
The reduction ratio of the second reducer is smaller than the reduction ratio of the first reducer. delete The method according to claim 1
The link module and the driving wheel are respectively connected to the output unit at an angle of 120 [deg]. The method according to claim 1,
When the reaction force with respect to the driving force transmitted to the driving wheel is less than a predetermined value, the second reducer is driven and the first reducer is not driven. A wheel drive mechanism characterized in that the drive is driven and the second reducer is not driven. The method according to claim 1,
The driving unit is provided with a first bevel gear connected to the output shaft, a second bevel gear connected to the first reducer, and a third bevel gear connected to the second reducer, the first bevel gear is connected to the output shaft, and the first bevel gear is the second A wheel driving mechanism, characterized in that it meshes with both the bevel gear and the third bevel gear. 7. The method of claim 6,
The driving unit is provided with a fourth bevel gear between the output shaft and the first bevel gear, and the fourth bevel gear transmits power between the output shaft and the first bevel gear. The method according to claim 1,
The second reducer is composed of a pinion gear and a plurality of spur gears, the pinion gear is connected to the output shaft, and the plurality of spur gears are respectively connected to the plurality of driving wheels while meshing with the pinion gear. 9. The method of claim 8,
A pulley is provided on each of the driving wheel and the spur gear, the pulley of the driving wheel and the pulley of the spur gear are connected to each other through a belt, and the rotational force of the spur gear is transmitted to the driving wheel. The method according to claim 1,
A wheel drive mechanism, characterized in that the first reducer is composed of a harmonic gear, the wave generator is connected to the output shaft, the circular spline is fixed to the driving part, and the flex spline is connected to the output part. The method according to claim 1,
The link module is rotatably coupled to the output part, and the link module is fixed or released so that the link module does not rotate based on the output part by a roller provided movably on the link module. 12. The method of claim 11,
An elastic body is provided at one end of the roller, and the link module is fixed by the roller so as not to rotate based on the output unit if there is no external force. 12. The method of claim 11,
A wheel driving mechanism, characterized in that a guide portion for guiding a path along which the roller moves on the link module is provided. a base part on which the occupant boards;
a drive unit coupled to the base unit and provided with a drive and an output shaft of the drive;
It is composed of an output unit connected to the output shaft through a first reducer and a driving wheel connected to the output shaft through a second reducer, the output unit is provided to be rotated based on the driving unit, and the driving wheel is provided to be rotated based on the output unit Including;
A wheel driving mechanism, characterized in that a plurality of driving wheels are provided, and a link module is provided between the output unit and each driving wheel.

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