KR102555025B1 - Wheel unit having a plurality of chain-shape rotatable blocks - Google Patents

Abstract

A wheel unit for overcoming obstacles including a chain-type rotary block includes a hub portion, a plurality of unit blocks, and a support body. The hub portion receives rotational driving force and rotates. The unit blocks are spaced apart from the hub by a predetermined distance and form the outer shape of the wheel unit, and adjacent unit blocks are connected to each other. The support connects between the hub part and the unit blocks or is filled between the hub part and the unit blocks. In the case of overcoming an obstacle, at a contact portion in contact with an obstacle, unit blocks adjacent to each other relatively rotate in a state in which the outer surfaces of the unit blocks are in contact with the obstacle.

Description

Wheel unit for overcoming obstacles including a chain-type rotation block {WHEEL UNIT HAVING A PLURALITY OF CHAIN-SHAPE ROTATABLE BLOCKS}

The present invention relates to a wheel unit for overcoming obstacles, and more particularly, to a wheel unit including a rotation block having a coupling structure such as a chain while applying a deformable structure using a surface tension mechanism of water droplets, so as to be able to travel on a flat surface as well as to run on stairs. The present invention relates to a wheel unit for overcoming obstacles including a chain-type rotation block capable of easily overcoming obstacles, and in particular, implementing stable deformation in an obstacle overcoming process.

Recently, a number of 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 stiffness of the wheel is changed to overcome an obstacle, and a variable shape structure in which the structure of the wheel is greatly changed to overcome an obstacle when facing an obstacle are typical examples. Of course, the variable shape structure and the variable rigidity structure may be designed in complex association with each other.

In particular, in relation to the latter variable shape structure, as in Korean Patent Registration No. 10-2174498, upon contact with an obstacle, the shape of some structures constituting the wheel is deformed or compressed through shape deformation such as an obstacle. is starting to overcome.

Furthermore, as in Korean Patent Publication No. 10-2014-0125166, a structure that passes through the ground through shape deformation in which a part is compressed according to the reaction force received from the ground when passing through the ground is also being developed.

However, conventional wheels for overcoming obstacles of such a variable shape structure have a problem in that the structure of the wheel for realizing the variable shape is designed very complicated, and cannot effectively overcome various obstacles in reality, or the wheel structure is broken during the overcoming process. There are various problems, such as taking a considerable amount of time for deformation and return.

On the other hand, although a structure including a plurality of unit structures and connecting unit structures in the form of a chain or through pins is disclosed through Japanese Patent Registration No. 3904428, in the case of the above structure, only relative rotation is possible in a connection structure. However, there is a limit in that the structures connected to each other are relatively variable in position and cannot effectively overcome obstacles.

That is, as continuous obstacle overcoming is performed, stable deformation and structural recovery of the wheel structure are very important. However, in the form of partial deformation of the wheel structure in the conventional integrated structure, such stable deformation and structural recovery cannot be realized. there is

Republic of Korea Patent No. 10-2174498 Republic of Korea Patent Publication No. 10-2014-0125166 Japanese Patent Registration No. 3904428

Therefore, the technical problem of the present invention is focused on this point, and the object of the present invention is to minimize and maintain the change in the shape of the wheel during driving on the ground by using the principle that the water droplet maintains the shape of the water droplet through surface tension, and the wheel When an obstacle collides with the side, it easily overcomes the obstacle through structural changes. In particular, in the case of obstacle overcoming, it is possible to effectively overcome obstacles through relative movement of chain-type rotating blocks, and immediate recovery after overcoming obstacles is possible. However, it relates to a wheel unit for overcoming obstacles including a chain-type rotation block capable of more stably fixing between adjacent rotation blocks.

A wheel unit for overcoming obstacles including a chain-type rotary block according to an embodiment for realizing the object of the present invention described above includes a hub portion, a plurality of unit blocks, and a support body. The hub portion receives rotational driving force and rotates. The unit blocks are spaced apart from the hub by a predetermined distance and form the outer shape of the wheel unit, and adjacent unit blocks are connected to each other. The support connects between the hub part and the unit blocks or is filled between the hub part and the unit blocks. In the case of overcoming an obstacle, at a contact portion in contact with an obstacle, unit blocks adjacent to each other relatively rotate in a state in which the outer surfaces of the unit blocks are in contact with the obstacle.

In one embodiment, when overcoming an obstacle, outer surfaces of a pair of unit blocks adjacent to each other may overcome the obstacle while contacting the outer surface formed by the obstacle, respectively, in the contact part.

In one embodiment, when overcoming an obstacle, outer surfaces of a pair of adjacent unit blocks form the same angle as the angle of the outer surface formed by the obstacle in the contact portion and are close to each other, and the center point between the adjacent unit blocks The distance between them may be kept constant.

In one embodiment, when an obstacle is overcome, in an adjacent portion spaced apart from the contact portion, inner surfaces of unit blocks adjacent to each other form an obtuse angle, and the distance between center points between adjacent unit blocks increases. can

In one embodiment, each of the unit blocks includes a body portion including an inner surface facing the hub portion and an outer surface facing the outside, a rotating portion connected to a front end of the body portion and rotatably coupled to an adjacent unit block, and the body portion. It may include a coupling portion extending from both side surfaces and rotatably coupled to the rotating portion of an adjacent unit block.

In one embodiment, each of the unit blocks may further include a pin extending through the rotation unit, movable within a predetermined range and coupling the rotation unit and the coupling unit to be rotatable with each other.

In one embodiment, a central opening is formed at the center of the rotation unit, a coupling opening is formed at the center of the coupling unit, the pin unit penetrates the central opening and the coupling opening, and the pin unit passes through the central opening and the coupling unit. It may be movable within a predetermined range on the opening.

In one embodiment, the body portion, a contact surface extending in a recessed shape between the inner surface and the outer surface, an end portion extending from the outer surface and formed to protrude from the outer end of the contact surface, and extending from the inner surface, the hub It may include an inclined protrusion protruding while being inclined in a direction toward the portion.

In one embodiment, each of the unit blocks is an extended curved surface extending in a circumferential shape along the outer surface of the coupling block of the coupling part and a plane shape extending in a plane shape while forming a predetermined angle with the outer surface of the body part, so that the extended curved surface It may further include a groove portion including an extended vertical surface forming a support groove between the.

In one embodiment, when an obstacle is overcome, an end of a unit block in the contact part moves along the extended curved surface of an adjacent unit block and is inserted into the support groove, so that adjacent unit blocks may be brought into close contact with each other.

In one embodiment, in the case of overcoming an obstacle, in an adjacent portion spaced apart from the contact portion, unit blocks adjacent to each other are connected to the contact portion until a protrusion protruding from the rotation portion of a unit block adheres to the inclined protrusion portion of an adjacent unit block. It can rotate in the opposite direction to the direction of rotation in

In one embodiment, an elastic wire extending along the outside of the unit blocks and applying an adhesive force between the unit blocks may be further included.

In one embodiment, the elastic wire may be fixed and extended by a fixing part formed on a side surface of each of the unit blocks.

In one embodiment, when passing through the ground, the unit blocks are in close contact with each other, and the support applies tension to the unit blocks in the direction of the hub portion, so that the surface tension of water droplets can be simulated.

According to the embodiments of the present invention, based on the principle that water droplets maintain their appearance through surface tension, the tension applied by the support and the adhesion force between unit blocks applied by the elastic wire are similar to the surface tension of water droplets. By simulating the force, the wheel unit can effectively pass through the ground while maintaining its overall shape.

On the other hand, by applying the principle that the outer shape collapses when a force exceeding the deformation critical angle is applied to the water droplet, when the wheel unit contacts an obstacle, the unit blocks are in close contact at the contact part, so that the separation distance is fixed. In the adjacent portion adjacent to the contact portion, close contact between unit blocks is released, thereby enabling effective overcoming of obstacles.

In this case, even if the close contact between the unit blocks is released and collapsed at the adjacent part, the unit blocks adjacent to each other maintain a state of being coupled to each other through the pin part, thereby overcoming the obstacle and stabilizing the relationship between the unit blocks. By maintaining the coupled state, the overall shape of the wheel unit can be stably maintained.

Through this, even if the close contact of the unit blocks in the adjacent part is released, a stable coupling state between them is maintained, and furthermore, the state of the released unit blocks can be easily restored through the elastic force provided through the elastic wire. The circular shape can be maintained again, and through this, overcoming obstacles and running on the ground can be performed smoothly.

That is, each of the unit blocks includes a rotating part formed with a central opening and a coupling part formed with a coupling opening so that adjacent unit blocks are stably coupled to each other through a pin, and through this, it is stable in overcoming an obstacle or running on the ground. Effective driving can be maintained.

In particular, in the case of the obstacle overcoming state, the contact part rotates outward toward the obstacle while contacting the outer surface of the obstacle in a state in which the distance between the center points of adjacent unit blocks is kept constant, while the outer surface contacts the outer surface of the obstacle, and the end of the body part A stable support structure can be implemented in a form in which the part is fixed on the support groove of the groove part of the adjacent unit block. Unlike this, in the adjacent part, the unit blocks adjacent to each other are rotated inward so as to have a segmented structure, but the inclined protrusion formed on the body restricts the additional movement of the rotating part of the adjacent unit block, resulting in excessive segmentation and rotation. Unbalanced or unstable uncoupling between blocks may not occur. Thus, it is possible to stably overcome obstacles in the coupling state between different unit blocks in the contact portion and the adjacent portion.

Furthermore, since the elastic wire generally fixes adjacent unit blocks to each other with a predetermined elastic force, even if the force is concentrated on a specific unit block, it can be dispersed as a whole, and the degree of segmentation between unit blocks that are segmented from each other can be set within a certain range. It is possible to effectively overcome obstacles while maintaining a stable wheel structure.

1 is a front view showing a wheel unit for overcoming an obstacle according to an embodiment of the present invention.
Figure 2a is a schematic diagram showing the application state of the surface tension of water droplets, Figure 2b is a schematic diagram illustrating the change state of the contact angle of the water droplets according to the size of the surface tension.
3A is a front view showing a state in which the wheel unit of FIG. 1 passes through the ground, and FIG. 3B is a schematic view comparing the state in which the wheel unit passes through the ground in FIG. 3A with a state of water droplets.
4a is a front view showing a state in which the wheel unit of FIG. 1 overcomes an obstacle, and FIG. 4b is a schematic view comparing the state in which the obstacle is overcome in FIG. 4a with a state of water droplets.
5A and 5B are perspective views illustrating unit blocks of the wheel unit of FIG. 1 .
FIG. 6 is a perspective view illustrating a state in which a pair of unit blocks of FIG. 5A are coupled to each other.
7A to 7C are front views illustrating a state in which the unit blocks are deformed at a contact portion A in a state in which the wheel unit of FIG. 4A overcomes an obstacle.
FIG. 8 is a perspective view illustrating a final deformation state of unit blocks at the contact portion A in a state in which the wheel unit of FIG. 4A overcomes an obstacle.
FIG. 9 is a front view illustrating a final deformation state of unit blocks in an adjacent portion B in a state in which the wheel unit of FIG. 4A overcomes an obstacle.
10A is an image illustrating a state in which the wheel unit of FIG. 1 passes through an actual flat ground, and FIG. 10B is an image illustrating a state in which the wheel unit in FIG. 1 passes through an obstacle.

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

These terms are only used for the purpose of distinguishing one component from another. Terms used in this application are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise.

In this application, the terms "comprise" or "consisting of" are intended to designate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or more other features It should 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 the present 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 unless explicitly defined in the present application, they should not be interpreted in an ideal or excessively formal meaning. don't

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

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

Referring to FIG. 1, a wheel unit (10, hereinafter referred to as a wheel unit) for overcoming obstacles according to the present embodiment includes a plurality of unit blocks 100, a support body 200, a hub unit 300, and a control unit 400. and an elastic wire 600.

The hub part 300 is located at the center of the wheel unit 10, and although not shown, rotates around the center point by receiving rotational driving force from the outside.

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

The unit blocks 100 are arranged so that a plurality of individual unit blocks 100 are in close contact with each other or can be released from being in close contact with each other, as a whole, the outer appearance of the wheel unit 10 form

Although described in detail later, the unit blocks 100 are designed to maintain adhesion to each other or to partially release the adhesion while maintaining a coupled state between adjacent unit blocks. As shown in 1, the outer shape of the wheel unit 10 is formed through the unit blocks 100.

Each of the unit blocks 100 is arranged along a radial direction based on the center point of the hub part 300, and each of the unit blocks 100 may be formed to have a predetermined thickness T, It may be formed to have a predetermined width in the depth direction of FIG. 1 . In this case, it is obvious that the thickness and width of each of the unit blocks 100 can be modified and designed in various ways.

However, it is sufficient for the thickness T of each of the unit blocks 100 to have a minimum thickness sufficient to maintain the outer shape of the wheel unit 10 through the surface tension mechanism of water molecules described below.

In addition, each of the unit blocks 100 has the same shape, and a specific shape will be described in detail through drawings to be described later.

In this case, the unit blocks 100 in a close contact state are released from the close contact state shown in FIG. 1 according to contact with an obstacle or the like, that is, a separated state in which they are spaced apart from each other within a predetermined range, as will be described later. It can be changed, and obstacles are overcome through adhesion and separation between these unit blocks 100.

Meanwhile, in the present embodiment, the elastic wire 600 extends along the outside of the unit blocks 100 and provides adhesion so that the unit blocks 100 come into close contact with each other.

In this case, the elastic wire 600 is an elastic body having a predetermined tension, and it is obvious that the elastic force of the elastic wire 600 can be variously changed.

In addition, although described in detail later, the elastic wire 600 extends along the side surfaces 114 and 115 (see FIG. 5A) of the unit blocks 100, and has a circular shape as a whole and is connected.

That is, since the elastic wire 600 has a circular shape as a whole and fixes the unit blocks to each other, the unit blocks 100 as a whole receive a force directed toward the hub part 300, and thus the unit blocks Adhesion force to adhere to each other may be provided.

Of course, in the case of the elastic wire 600, a predetermined elastic force is provided to maintain a circular shape as a whole, but as the relative coupling state of the unit blocks 100 changes, the extension state can be transformed into a variable state. there is.

That is, although the elastic wire 600 provides a predetermined elastic force, it does not necessarily provide an elastic force sufficient to maintain the overall adhesion of the unit blocks 100, and the unit blocks 100 overcome obstacles or Depending on the state of driving on the ground, the coupling state may be varied, and accordingly, the extension state of the elastic wire 600 may also be varied.

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

A plurality of supports 200 have one end fixed along the circumferential surface of the hub part 300 and the other end fixed to the unit blocks 100 .

In this case, the support body 200 may be connected to each of the unit blocks 100 one by one, through which a predetermined tension may be applied to each of the unit blocks 100 .

Unlike this, although not shown, in the case of the present embodiment, considering that adjacent unit blocks 100 are coupled to each other, the support 200 has one spoke connected to each of the unit blocks 100 It may not be, and may be connected only to unit blocks 100 spaced apart at regular intervals.

The support body 200 has a predetermined tension, and thus maintains the position of the unit blocks 100 by applying tension, which is a pulling force, between the hub part 300 and the unit blocks 100. and prevent the unit blocks 100 from escaping to the outside.

In addition, in the case of this embodiment, the support body 200 applies a constant tension to all of the unit blocks 100 as a whole, except for the case where the wheel unit 10 passes through an obstacle, which will be described later. When the water droplets maintain their outer appearance, the attraction between the water molecules inside the water droplets is simulated to form the attraction inside the wheel unit 10.

Of course, by controlling the tension provided from the support 200 in various ways, it is possible to change the state of maintaining the outer shape of the water droplet.

That is, when a relatively large tension is provided, a state in which the surface tension of water molecules is high is simulated between the unit blocks 100, and a state in which a circular shape is maintained as a whole is strengthened. In contrast, when the tension is relatively reduced, a state in which the surface tension is reduced is simulated, and the surface may be implemented in a state in which the surface is deformed according to the shape of the ground or obstacle as a whole.

As described above, in the present embodiment, through the tension provided by the support 200 and the adhesion between the unit blocks 100 by the connection of the elastic wire 600, when the water droplets maintain their appearance Surface tension can be effectively simulated.

Figure 2a is a schematic diagram showing the application state of the surface tension of water droplets, Figure 2b is a schematic diagram illustrating the change state of the contact angle of the water droplets according to the size of the surface tension.

Prior to explaining how the wheel unit 10 in the present embodiment described above simulates the surface tension of water droplets, the application state of the surface tension of water droplets and the change state according to the contact angle are described with reference to FIGS. 2A and 2B. do.

When a water droplet maintains a spherical state due to surface tension while in contact with the surface, the water molecules inside the water drop receive the same force from the surrounding molecules, but the water molecules on the surface exert force only in a specific direction as shown. You will receive.

The balance of forces inside and on the surface of these water molecules is as shown in FIG. As a result, it maintains a more stable spherical water molecule shape.

That is, as shown in FIG. 2B, as the attractive force between water molecules decreases, the surface tension with the surface decreases, and accordingly, the contact angle θ of water droplets decreases.

In other words, surface tension increases as attraction between water molecules of water droplets increases, and through this, the contact angle of water droplets increases and water droplets are formed in a more spherical shape.

That is, in the case of the wheel unit 10 in this embodiment, the generation of surface tension according to the application of attraction between these water molecules is simulated, and as described above, the tension provided by the support 200 And through the adhesion between the unit blocks 100 by the elastic wire 600, it is possible to effectively simulate the surface tension when the water droplet maintains its outer shape.

As a result, the wheel unit 10 simulates the appearance of water molecules by applying a surface tension mechanism by locating molecules that are incompressible or difficult to compress beyond a certain level on the outer surface of the water droplet, thereby maintaining the unit blocks 100. And through the above-described connection relationship and connection structure of the support 200, this surface tension mechanism can be applied.

Meanwhile, referring back to FIG. 1 , the wheel unit 10 includes the control unit 400, and the control unit 400 controls the tension provided by the support body 200.

That is, when the tension provided by the support 200 is increased through the control unit 400, it is simulated that the attraction between the water molecules of the water droplet increases, and accordingly, the wheel unit 10 moves with the ground. The contact angle of contact increases, and a state of maintaining a more spherical or circular shape is formed.

In contrast, when the tension provided by the support 200 is reduced through the control unit 400, it is simulated that the attractive force between water molecules of water droplets is eventually reduced, and accordingly, the wheel unit 10 moves to the ground. A state in which the contact angle in contact with the ground decreases and the area of the contact portion with the ground increases is formed.

Furthermore, the control unit 400 can also control the tension of the elastic wire 600, and when the tension of the elastic wire 600 increases, the same as the tension provided by the support 200, the wheel unit ( 10) can form a state in which the contact angle in contact with the ground increases and a more spherical or circular shape is maintained. In contrast, when the tension of the elastic wire 600 decreases, a state in which the contact angle of the wheel unit 10 in contact with the ground decreases and the area of the contact portion with the ground increases may be formed.

As such, it is possible to control the tension provided by the support body 200 and the tension of the elastic wire 600 through the control unit 400, and the tension is controlled according to the shape of the ground on which the wheel unit 10 travels. control can be performed.

For example, if the wheel unit 10 passes through a relatively constant, that is, flat ground, the reaction force applied to the wheel unit 10 is constant, so that the relative deformation of the wheel unit 10 is minimized. Since stable passage is possible, the magnitude of the tension can be relatively increased.

In contrast, when the wheel unit 10 passes through a relatively irregular ground, the reaction force applied to the wheel unit 10 becomes irregular, so the wheel unit 10 is slightly deformed while effectively absorbing the impact and passing through the wheel unit 10. Since it is advantageous to do so, it is possible to relatively reduce the magnitude of the tension.

As described above, the applied tension of the support 200 can be controlled through the control unit 400 in consideration of various driving environments.

Meanwhile, it will be described how the shape maintenance state according to the surface tension of water droplets in FIGS. 2A and 2B is applied to the wheel unit 10 of the present embodiment.

3A is a front view showing a state in which the wheel unit of FIG. 1 passes through the ground, and FIG. 3B is a schematic view comparing the state in which the wheel unit passes through the ground in FIG. 3A with a state of water droplets.

Referring to FIG. 3A, when the wheel unit 10 passes through the ground 1, the unit blocks 100 are more closely coupled to each other by a structure described later, and at the same time, the support ( 200) applies tension to the unit blocks 100 in the direction of the hub portion 300, and the elastic wire 600 also applies tension to the unit blocks 100 in the direction of the hub portion 300. Applying is as described above.

In this state, when the wheel unit 10 passes through the ground, as shown in FIG. 3A, the lower side of the wheel unit 10 in contact with the ground 1 may be deformed in a slightly compressed form. However, the overall appearance of the wheel unit 10 can be maintained.

In this case, the degree of compression may be controlled by the controller 400 according to the amount of tension applied to the support 200 or the elastic wire 600 .

The state of the wheel unit 10 passing through the ground 1 can be simulated as a case where water droplets contact the ground, as shown in FIG. If simulated, it can be interpreted that the wheel unit 10 passes through the ground while maintaining a contact state with the surface 1 at a predetermined contact angle θ.

In this case, the contact angle θ should maintain an obtuse angle, and as the contact angle increases, a shape closer to a circular or spherical shape is obtained.

Unlike this, the surface tension of the water droplets in FIGS. 2A and 2B collapses and the water droplets lose their shape is applied to the wheel unit 10 of the present embodiment as follows.

4a is a front view showing a state in which the wheel unit of FIG. 1 overcomes an obstacle, and FIG. 4b is a schematic view comparing the state in which the obstacle is overcome in FIG. 4a with a state of water droplets.

Referring to FIG. 4A , when one side of the lower part of the wheel unit 10 collides with an obstacle 6 such as a staircase located on the ground 1, the wheel unit 10 ) starts to deform at the impact location.

That is, referring to the simulation of this collision situation as the collision state of water droplets as shown in FIG. 4B, when the wheel unit 10 collides with the obstacle 6, the contact portion A with the obstacle 6 , the contact angle θ of the outer shape of the wheel unit 10 sharply exceeds the so-called deformation critical angle (eg, 180 degrees).

As such, at the moment when the deformation critical angle is exceeded, the shape of the water drop is rapidly deformed and the shape of the water drop collapses, similarly to the collapse of the shape of the water drop. ), the relative closeness of the unit blocks 100 collapses.

However, in this case, since the hub part 300 of the wheel unit 10 continuously rotates, even if the contacting state between the unit blocks 100 in the contact part A is collapsed, the contact part As the hub part 300 rotates around (A), the wheel unit 10 overcomes the obstacle 6.

As described above, the wheel unit 10 in this embodiment has a circular or spherical shape as a whole in the same way that water droplets maintain their shape through surface tension when simply passing through the flat ground 1 It passes through the ground 1 while maintaining, but when it collides with the obstacle 6, the close contact state of the unit blocks 100 is collapsed around the collision location, and the external shape of the obstacle 6 is reflected, so that the local area The shape of the wheel unit 10 is deformed, through which the obstacle 6 is overcome.

On the other hand, as described above, even if the contacting state of the unit blocks 100 is released from the contact portion A, the outer circumferential surfaces of the unit blocks 100 are attracted by the elastic wire 600. ), the interval is maintained within a predetermined range, and when the obstacle 6 is overcome, the close contact state of the unit blocks 100 can be restored again by the gravitational force.

On the other hand, in the adjacent part B located a predetermined distance forward or backward from the contact part A, the unit blocks are combined in a pattern different from the collapsing state of the unit blocks in the contact part A.

That is, in the contact portion (A), since the unit blocks adjacent to each other maintain their outer surfaces in contact with the outer surface of the obstacle 6 and overcome the obstacle, the unit blocks are directed toward the outer surface, that is, the obstacle ( 6), it rotates relatively in the direction toward and is deformed into a bent state.

In contrast, in the adjacent portion (B), in order to compensate for the large deformation of the positions of the outer surfaces of the unit blocks in the contact portion (A), the distance between the outer surfaces of the unit blocks is relatively increased, and accordingly, the unit blocks The spacing between the inner surfaces of the fields is reduced.

That is, in the adjacent portion (B), unlike the contact portion (A), unit blocks adjacent to each other rotate relatively in a direction toward the inner surface, that is, in a direction toward the hub portion 300, and are deformed into a bent state.

The relative deformation state between the unit blocks at the contact portion (A) and the adjacent portion (B) will be further described in detail after the description of the detailed structure of the unit block.

5A and 5B are perspective views illustrating unit blocks of the wheel unit of FIG. 1 .

Referring to FIGS. 5A and 5B , a detailed structure of each of the unit blocks 100 and a connection state between adjacent unit blocks will be described.

Each of the unit blocks 100 includes a body portion 110, a coupling portion 120, a groove portion 130, a rotating portion 140, and a pin portion 150.

The body portion 110 forms the central body of the unit block 100, and as shown in FIGS. 5A and 5B, has a rectangular block shape as a whole, and the front end of the body portion 110 (description In the drawings, the rotation part 140 is coupled to the right side of the body part 110, and the left direction is called the rear end, but is not limited thereto), and the side of the rear end of the body part 110 has one A pair of coupling parts 120 are coupled.

In addition, the body portion 110 has a predetermined width, and the width of the body portion 110 may be designed in various ways.

Specifically, the body portion 110 has an inner surface 111, which is a surface facing the hub portion 300, an outer surface 117, which is a surface facing the obstacle 6 or the ground in the opposite direction to the inner surface 111, and It includes a pair of side surfaces 114 and 115 connecting the outer surface 117 and the inner surface 111 to each other, and includes an inclined protrusion 112, a contact surface 113, and an end portion 116.

The inclined protrusion 112 extends from the inner surface 111 and forms a protruding surface inclined in a direction toward the hub part 300 at the rear end of the inner surface 111 . That is, compared to the inner surface 111, the slanted protruding part 112 is formed to protrude more in the direction toward the hub part 300, and the protruding state gradually becomes inclined as the distance from the inner surface 111 increases. can be extruded.

The contact surface 113 is a surface extending between the inner surface 111 and the outer surface 117, and has a concave surface, that is, a curved surface corresponding to the outer circumferential surface of the cylinder and extending to be recessed.

In the case of the contact surface 113, since the outer surface of the rotating part 140, which will be described later, is contacted, since the rotating part 140 has a cylindrical shape as a whole, the contact surface 113 is the cylindrical rotating part 140 It has a curved surface shape that is indented to be in close contact with.

On the other hand, at the lower end of the contact surface 113, that is, the part where the contact surface 113 and the bottom surface 117 are connected to each other, the end portion 116 is formed, and the end portion 116 is as shown. Similarly, it has a sharp protruding shape.

The coupling part 120 extends from both sides of the rear end of the body part 110 and is formed as a pair, except that the pair of coupling parts 120 are formed in a shape symmetrical to each other. Since I have the same shape, only the coupling part 120 on one side confirmed through the drawing as shown in FIGS. 5A and 5B will be described.

The coupling part 120 extends from the side surface 114 side of the body part 110 toward the rear end and is formed integrally with the body part 110 as a whole. In this case, the coupling portion 120 has a predetermined width W1 as a whole, and the width W1 of the coupling portion 120 may be smaller than the width W2 of the inclined protrusion 112 . That is, the sum (2*W1) of the widths of the pair of coupling parts 120 may be smaller than the width W2 of the inclined protrusion 112 .

The coupling part 120 has a cylindrical shape having the width W1 and includes a coupling block 121 extending from one side of the body portion 110 and upper and lower fixing parts 123 and 124. .

The coupling block 121 is formed to pass through a coupling opening 122 opened in the center, and in this case, a pin unit 150 to be described later is inserted into the coupling opening 122.

In the case of the coupling opening 122, the length of the opening in the height direction (Z direction) may be substantially the same as the diameter of the pin part 150 (in this case, the pin part 150 may be inserted and inserted In the state in which the pin 150 is relatively rotatable, the diameter of the pin 150 should be larger than the diameter of the pin 150), and the length of the opening in the longitudinal direction (X direction) (L1 in FIG. 6) is the pin It should be formed larger than the diameter of (150).

Thus, in a state where the pin part 150 is inserted into the coupling opening 122, the position of the pin part 150 is restricted in the height direction, but the pin part 150 moves freely within a predetermined range in the longitudinal direction. It could be possible.

The upper and lower fixing parts 123 and 124 protrude from the side of the coupling block 121, and the upper fixing part 123 is located on the upper side of the coupling opening 122 to have a block shape with a predetermined length. Protruding, the lower fixing part 124 is located on the lower side of the coupling opening 122 and protrudes in a block shape with a predetermined length.

Thus, a fixing space 125 is formed between the upper and lower fixing parts 123 and 124, and the elastic wire 600 described above is extended and fixed through the fixing space 125. , The spacing of the fixing space 125 can be designed in various ways in consideration of the thickness of the elastic wire 600 and the like.

That is, as the elastic wire 600 is fixed along the fixing space 125 and extends throughout the inter-unit blocks 100, the elastic force of the elastic wire 600 is directed toward the hub portion 300 for the unit It can be provided to the blocks 100, and can also provide adhesion between the unit blocks 100.

The groove part 130 is the lower part where the coupling part 120 and the body part 110 are connected (in this case, it is described as 'lower side' based on the drawing for convenience of explanation, but the unit block is switched up and down as a whole In this case, 'lower side' may correspond to 'upper side' because it is located in a state and may be coupled. However, hereinafter, for convenience of explanation, it will be described as 'lower side' based on the drawings, and furthermore, the 'lower side' is substantially It is formed on the 'outside' facing the obstacle or the ground), and specifically corresponds to the part where the outer surface of the coupling block 121 and the outer surface 117 of the body portion 110 are connected to each other.

Specifically, the groove part 130 extends from the outer circumferential surface of the coupling block 121 (circumferential surface since it is the outer circumferential surface of the cylinder) and extends with the same curvature as the curvature of the outer circumferential surface of the coupling block 121 Extended curved surface 131, and an extending vertical surface 132 extending from the edge of the outer surface 117 to form a flat plane.

In this case, the extending vertical surface 132 may extend while intersecting with the outer surface 117, and the crossing angle may be variable or may be perpendicular to each other.

As described above, as the extended curved surface 131 and the extended vertical surface 132 extend while having different curvatures, a support groove 133 is formed therebetween, and the recessed shape of the support groove 133 is sharp. can have a shape.

The curvature of the extended curved surface 131 is the same as that of the coupling block 121 and, as will be described later, is substantially the same as the curvature of the contact surface 113 . Accordingly, the end 116, which is the end of the contact surface 113, can be naturally inserted into the support groove 133.

The rotating part 140 is integrally formed at the front end of the body part 110, and specifically includes a rotating block 141 and a protruding part 144.

The rotation block 141 has a cylindrical shape as a whole, and the width (ie, the length in the Y-axis direction) of the rotation block 141 is substantially equal to the width W2 of the inclined protrusion 112 as a whole.

In addition, the rotating block 141 is formed such that the curvature of the outer rotating surface 143 is substantially the same as the curvature of the contact surface 113, so that the outer rotating surface 143 is in close contact with the contact surface 113. formed so that

In this case, the width W2 of the rotation block 141 is smaller than the total width W1 + W1 + W2 formed by the body portion 110, and eventually, as shown, the rotation block ( 141) has a width that is omitted from both sides by the width of the coupling part 120 from the width of the entire body part 110.

Thus, side spaces 151 are formed on both sides of the rotation block 141 so that the contact surfaces 113 are exposed to the outside, and on the side spaces 151, as will be described later, coupling parts 120 of adjacent unit blocks ) is located.

Meanwhile, a central opening 142 that is also opened to the rotation block 141 is formed to pass through the center, and the pin portion 150 to be described later passes through the central opening 142. In this case, the shape of the central opening 142 may be substantially the same as that of the coupling opening 122 described above.

That is, in the case of the central opening 142, the length of the opening in the height direction (Z direction) may be substantially the same as the diameter of the pin part 150 (in this case, the pin part 150 may be inserted). and should be formed a predetermined amount larger than the diameter of the pin part 150 so that the pin part 150 is relatively rotatable in the inserted state), the length of the opening in the longitudinal direction (X direction) (L2 in FIG. 6) It should be formed larger than the diameter of the pin part 150.

Thus, in a state where the pin part 150 is inserted into the coupling opening 122, the position of the pin part 150 is restricted in the height direction, but the pin part 150 moves freely within a predetermined range in the longitudinal direction. It could be possible.

The protruding part 144 protrudes in an inward direction from the rotation block 141, that is, in a direction toward the hub part 300, and the protruding part 144 extends from the inner surface 111 of the body part 110. to be formed

In this case, the protrusion 144 has the same width as the width of the rotary block 141 as a whole, and has a cross section in which the width decreases toward the inside, so that the cross section shape (cross section shape along the XZ plane) is generally a triangular shape. can have

However, in the case of the surface formed by the protrusion 144, the surface extending from the inner surface 111 may have a flat shape, but the support surface 145 as the opposite surface, that is, a surface connected to the rotational outer surface 143. ), it may be a curved surface that is indented inward. That is, the support surface 145 may be a curved surface that has a predetermined curvature and is recessed and extended.

As described above, the pin part 150 has a pin shape having a predetermined diameter and extending in the Y-axis direction, penetrates the central opening 142, and, as will be described later, a pair of adjacent unit blocks. The coupling openings 122 of are also passed through.

Thus, through the pin part 150, a pair of unit blocks adjacent to each other are coupled to each other.

One unit block 100 having the above shape and structure is combined with an adjacent unit block. Referring to FIG. 6, the coupling state of the pair of unit blocks will be described.

FIG. 6 is a perspective view illustrating a state in which a pair of unit blocks of FIG. 5A are coupled to each other.

Referring to FIG. 6 , a pair of unit blocks 100 and 101 adjacent to each other may extend along the X-axis direction and be coupled to each other. That is, in the case of the present embodiment, the unit blocks 100 and 101 adjacent to each other basically maintain a coupled state as shown, and relatively rotate to overcome obstacles, so that a stable coupled state can be maintained even through the obstacle overcoming process. can

Specifically, the pin part 150 extending through the central opening 142 of the first unit block 100 (for convenience of description, a pair of unit blocks will be described as first and second unit blocks) , the coupling openings 122 respectively formed in the pair of coupling parts 120 of the adjacent second unit block 101 also penetrate and extend at the same time.

In addition, the pair of coupling parts 120 of the second unit block 101 are positioned on a pair of side spaces 151 formed in the first unit block 100 .

Thus, as shown in FIG. 6, a pair of unit blocks 100 and 101 adjacent to each other have a rotation unit 140 in the center and coupling units 120 on both sides through the pin unit 150. Positioned, they are connected to each other.

Furthermore, although not further illustrated, unit blocks are coupled to another side of the first unit block 100 in the same coupling state, and unit blocks are coupled to another side of the second unit block 101 in the same coupling state. So, as a whole, a plurality of unit blocks are connected to each other in a coupled state.

On the other hand, as shown in FIG. 6, when the first and second unit blocks 100 and 101 are horizontally coupled along the X direction, the shape of the central opening 142 described above and the combination Due to the shape of the opening 122, the pin unit 150 can be freely moved within a predetermined distance along the X direction.

Therefore, the distances between the first and second unit blocks 100 and 101 can be freely changed within a predetermined range within the range in which the pin unit 150 is moved, which will be described later. ), an effective action is performed.

7A to 7C are front views illustrating deformed states of the unit blocks at the contact portion A in a state in which the wheel unit of FIG. 4A overcomes an obstacle. In this case, although not shown, the obstacle 6 is placed in contact with the lower side of the unit blocks 100 and 101 on the drawing.

Referring to FIGS. 7A to 7C , in a state in which the wheel unit 10 according to the present embodiment overcomes the obstacle 6, the unit blocks 100 and 101 adjacent to each other in the contact portion A move in the opposite direction, That is, the coupling state is varied so that the outer surfaces 117 are coupled while being bent in a direction approaching each other.

According to the variation of the coupling state, in a state in which the outer surface of the coupling block 121 of the second unit block 101 is in contact with the contact surface 113 of the first unit block 100, the first unit The end 116 of the block 100 moves along the extended curved surface 131 of the second unit block 101, and is eventually positioned on the support groove 133.

In addition, since the position of the pin part 150 can be freely changed within a predetermined range, the position of the unit blocks 100 and 101 can also be changed relatively, and through this relative position change, the obstacle 6 ), the optimal relative position is secured according to the shape of

However, as the angle at which the unit blocks 100 and 101 extend from each other in a horizontally extended state decreases (ie, from 180 degrees to 90 degrees), the longitudinal direction of the central opening 142 and the coupling The angle formed by the longitudinal direction of the opening 122 also decreases, and accordingly, the relatively movable range of the pin part 150 decreases.

Thus, if the unit blocks 100 and 101 adjacent to each other form a right angle and extend to each other, the movement of the pin part 150 is restricted and is located on the central opening 142 and the coupling opening 122. It is fixed in a state where it cannot be moved. This state is shown in FIG. 8 .

That is, the state of the unit blocks 100 and 101 in the contact portion A in the state in which the wheel unit 10 finally overcomes the obstacle 6 will be described below with reference to FIG. 8 . .

FIG. 8 is a perspective view illustrating a final deformation state of unit blocks at the contact portion A in a state in which the wheel unit of FIG. 4A overcomes an obstacle.

In general, in order to pass through an obstacle, the unit blocks 100 and 101 must be fixed and rotated around the contact point at the contact point ('P' in FIG. 8) that comes into contact with the obstacle 6, and this rotation Through this, the obstacle 6 can be easily overcome.

In this respect, as described above with reference to FIGS. 7A to 7C, when the adjacent unit blocks 100 and 101 come into contact with the obstacle 6, they are relatively rotated in an outward bending direction, Finally, as shown in FIG. 8, unit blocks 100 and 101 adjacent to each other are located.

That is, the end 116 of the first unit block 100 moves along the extended curved surface 131 of the second unit block 101, and is finally inserted into the support groove 133 to be positioned. .

Thus, the outer surface 117 of the first unit block 100 and the outer surface 117 of the second unit block 101 are positioned perpendicular to each other, and these outer surfaces are eventually formed of the obstacle 6. It comes into contact with the outer surfaces.

For example, if the obstacle 6 includes vertical surfaces such as stairs, the vertical outer surfaces 117 are positioned and fixed on the surfaces of the obstacle 6 .

However, it is not necessary to keep the outer surfaces 117 of the two adjacent unit blocks in contact with both vertical surfaces of the vertical obstacle 6, and the state of the two surfaces of the obstacle 6, etc. The contact state may be variably changed, such as sequentially contacting in consideration of .

Furthermore, if the two surfaces formed by the obstacle 6 are not vertical, the outer surfaces 117 may also not be vertical. It can be positioned in an inserted state only up to an appropriate range.

However, in any of the above circumstances, since the outer surfaces 117 of the unit blocks 100 and 101 adjacent to each other remain in contact with the contact point P with the obstacle 6, the wheel unit 10 as a whole is maintained. If rotational driving force is provided in one direction, the unit blocks 100 and 101 adjacent to each other rotate around the contact point P to overcome the obstacle 6 .

On the other hand, in order to overcome the obstacle 6 centered on the contact point P as described above, the inside of the unit blocks 100 and 101 in contact with the obstacle 6 must be freely deformable. In the case of an example, as shown, the unit blocks 100 and 101 are moved in a direction in which the inner surfaces 111 are away from each other until the additional movement of the end portion 116 is restricted by the support groove 133. Because of rotation, free relative rotation is possible, so free deformation of the inner side of these unit blocks can be implemented.

In particular, in a state in which the unit blocks 100 and 101 adjacent to each other are in close contact with each other, there is a gap between the center C of the first unit block 100 and the center C' of the second unit block 101. The center distance (CC') remains constant, and no change in distance occurs. As described above, this is because the coupling opening 122 and the central opening 142 extend in directions crossing each other, thereby limiting the movement range of the pin unit 150 located therein.

Therefore, the unit blocks in contact with the obstacle 6 maintain a relatively stable posture, and thus, the external force generated in the process of contacting the obstacle 6 can be stably absorbed and the obstacle can be overcome.

Of course, in this case, the elastic wire 600 that penetrates the fixed spaces 125 and connects the adjacent unit blocks 100 and 101 maintains adhesion between the unit blocks and enables stable obstacle overcoming. will do

As described above, when the unit blocks coupled to each other come into contact with an obstacle, the inner side is induced to freely rotate, but the outer side is fixed so as to be rotatable around the contact point P, so that the wheel unit 10 is free from the obstacle. It does not cause a problem such as being in contact with and bounces off, sufficiently absorbs external force due to contact with the obstacle, and effectively overcomes the obstacle.

FIG. 9 is a front view illustrating a final deformation state of unit blocks in an adjacent portion B in a state in which the wheel unit of FIG. 4A overcomes an obstacle.

In the state in which the wheel unit 10 overcomes the obstacle 6, unlike the close contact and relative rotation of the unit blocks 100 and 101 in the contact part A, a different aspect in the adjacent part B As a result, the relative positions of unit blocks 102 and 103 adjacent to each other are changed.

That is, referring to FIG. 9 , in the adjacent portion (B), the unit blocks 102 and 103 adjacent to each other are deformed so that the outer portions are separated from each other due to a tensile force, but the inner portions are separated from each other due to a compressive force. deformed to get closer. Accordingly, the adjacent unit blocks 102 and 103 in close contact with each other relatively rotate in a direction opposite to the relative rotation of the contact portion A.

That is, both of the pair of unit blocks 102 and 103 relatively rotate in an inward direction, that is, in a direction toward the hub part 300, and accordingly, the end of the third unit block 102 ( 116 moves along the circumferential surface of the coupling block 121 in a direction away from the support groove 133 of the adjacent fourth unit block 103. In addition, the support surface 145 of the third unit block 102 moves in a direction toward the inclined protrusion 112 of the fourth unit block 103 .

In addition, the distance (CC′) between the centers of the unit blocks 102 and 103 adjacent to each other increases according to the separation, and the rotation part 140 and the coupling part 120 of the unit blocks 102 and 103 adjacent to each other increase. ) is also increased to a maximum.

However, since the rotating part 140 and the coupling part 120 are maintained in a coupled state by the pin part 150, the central opening 142 of the third unit block 102 is at the right end of the pin part 150. ) is located, the pin part 150 is located at the left end of the coupling opening 122 of the fourth unit block 103, and an increase in the distance between the unit blocks 102 and 103 is restricted.

In addition, even when the unit blocks 102 and 103 adjacent to each other rotate in an inward direction, the supporting surface 145 of the third unit block 102 is maintained by the inclined protrusion 112 of the fourth unit block 103. Since additional movement is restricted, the amount of rotation of the unit blocks 102 and 103 adjacent to each other is also limited.

Therefore, even if the outer surfaces 117 of the unit blocks 102 and 103 adjacent to each other are spaced apart from each other and segmented, the segmentation to a completely separated state of contact with each other can be blocked. In particular, in the case of this embodiment, since the elastic wire 600 maintains the adhesion between the unit blocks 102 and 103 adjacent to each other, the outer surfaces 117 of the unit blocks 102 and 103 are A state in which the outer shape of the wheel unit 10 as a whole collapses due to being completely separated does not occur.

As described above, in the adjacent portion (B), the tensile force applied to the outer portion of the unit blocks 102 and 103 is absorbed through the elastic wire 600, and the inner portion of the unit blocks 102 and 103 The compressive force acting as a part is absorbed through the support surface 145 and the inclined protrusion 112 . Also, in the process, the coupled state of the unit blocks 102 and 103 can be stably maintained through the pin part 150 .

Accordingly, the unit blocks 102 and 103 are not displaced or their relative positions are not irregularly changed, and the overall shape of the wheel unit 10 can be maintained constant.

That is, when the wheel unit 10 overcomes the obstacle 6, unit blocks adjacent to each other in each of the contact portion A and the adjacent portion B maintain different coupling relationships and change their relative positions, but overall It is possible to stably overcome an obstacle without collapsing the shape of the wheel unit 10 .

In particular, due to the characteristic structure of the unit block 100 in this embodiment, in the process of the unit block 100 overcoming the obstacle 6, the contact portion A or the adjacent portion B Regardless of where it is located, it can be closely attached to or freely segmented from adjacent unit blocks while maintaining a stable coupling relationship, and furthermore, it is possible to limit relative positional changes, thereby enabling effective overcoming of obstacles.

10A is an image illustrating a state in which the wheel unit of FIG. 1 passes through an actual flat ground, and FIG. 10B is an image illustrating a state in which the wheel unit in FIG. 1 passes through an obstacle.

Referring to FIG. 10A, when the wheel unit 10 described in FIG. 1 passes through the flat ground 1, the unit blocks 100 are in closer contact with the ground 1. state can be maintained.

In this case, as described above, as the tension provided through the support 200 increases, a state in which the surface tension of water droplets increases is realized, maintaining the outer shape of the wheel unit 10 in a circular shape, and the ground 1 On the other hand, as the tension is reduced, a state in which the surface tension is relatively reduced is implemented, so that the outer shape of the wheel unit 10 moves to a state in contact with the ground 1 with a larger area It can be.

On the other hand, referring to FIG. 10B, when the wheel unit 10 described in FIG. 1 passes through an obstacle 6 such as a stairway, at the contact portion A with the obstacle 6, as described above, the unit The outer parts of the blocks adhere to each other, but the inner parts are segmented, simulating the collapse of the surface tension of water droplets.

In addition, in the front or rear adjacent part (B) adjacent to the contact part (A), the unit blocks come into close contact with each other as a compressive force is applied to the inner side. As the unit blocks effectively absorb this compressive force, the wheel unit 10 as a whole While maintaining the shape of, it is rotated around the contact portion (A) to enable effective obstacle overcoming.

According to the embodiments of the present invention as described above, based on the principle that a water droplet maintains its appearance through surface tension, the surface of the water droplet through the tension applied by the support and the adhesion between the unit blocks applied by the elastic wire By simulating a force similar to tension, the wheel unit can effectively pass through the ground while maintaining its overall shape.

On the other hand, by applying the principle that the outer shape collapses when a force exceeding the deformation critical angle is applied to the water droplet, when the wheel unit contacts an obstacle, the unit blocks are in close contact at the contact part, so that the separation distance is fixed. In the adjacent portion adjacent to the contact portion, close contact between unit blocks is released, thereby enabling effective overcoming of obstacles.

In this case, even if the close contact between the unit blocks is released and collapsed at the adjacent part, the unit blocks adjacent to each other maintain a state of being coupled to each other through the pin part, thereby overcoming the obstacle and stabilizing the relationship between the unit blocks. By maintaining the coupled state, the overall shape of the wheel unit can be stably maintained.

Through this, even if the close contact of the unit blocks in the adjacent part is released, a stable coupling state between them is maintained, and furthermore, the state of the released unit blocks can be easily restored through the elastic force provided through the elastic wire. The circular shape can be maintained again, and through this, overcoming obstacles and running on the ground can be performed smoothly.

That is, each of the unit blocks includes a rotating part formed with a central opening and a coupling part formed with a coupling opening so that adjacent unit blocks are stably coupled to each other through a pin, and through this, it is stable in overcoming an obstacle or running on the ground. Effective driving can be maintained.

In particular, in the case of the obstacle overcoming state, the contact part rotates outward toward the obstacle while contacting the outer surface of the obstacle in a state in which the distance between the center points of adjacent unit blocks is kept constant, while the outer surface contacts the outer surface of the obstacle, and the end of the body part A stable support structure can be implemented in a form in which the part is fixed on the support groove of the groove part of the adjacent unit block. Unlike this, in the adjacent part, the unit blocks adjacent to each other are rotated inward so as to have a segmented structure, but the inclined protrusion formed on the body restricts the additional movement of the rotating part of the adjacent unit block, resulting in excessive segmentation and rotation. Unbalanced or unstable uncoupling between blocks may not occur. Thus, it is possible to stably overcome obstacles in the coupling state between different unit blocks in the contact portion and the adjacent portion.

Furthermore, since the elastic wire generally fixes adjacent unit blocks to each other with a predetermined elastic force, even if the force is concentrated on a specific unit block, it can be dispersed as a whole, and the degree of segmentation between unit blocks that are segmented from each other can be set within a certain range. It is possible to effectively overcome obstacles while maintaining a stable wheel structure.

Although the above has been described with reference to 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 described in the claims below. You will understand that you can.

10: wheel unit 100, 101, 102, 103: unit block
110: body part 120: coupling part
130: groove part 140: rotation part
150: pin part 200: support
300: hub part 400: control part
500: space part 600: elastic wire
A: Contact B: Adjacent

Claims (14)

A hub portion that rotates by receiving rotational driving force;
a plurality of unit blocks spaced apart from the hub by a predetermined distance and forming the outer shape of the wheel unit, and having adjacent unit blocks connected to each other; and
A support body connected between the hub part and the unit blocks or filled between the hub part and the unit blocks,
In the case of overcoming an obstacle, in a contact portion in contact with an obstacle, unit blocks adjacent to each other rotate relatively in a state in which the outer surfaces of the unit blocks are in contact with the obstacle, and in an adjacent portion spaced from the contact portion, unit blocks adjacent to each other are adjacent to each other. The inner surfaces of the wheel units are close to each other forming an obtuse angle, and the distance between the center points between adjacent unit blocks increases. The method of claim 1, when overcoming obstacles,
The wheel unit, characterized in that in the contact portion, the outer surfaces of the pair of unit blocks adjacent to each other overcome the obstacle while contacting the outer surface formed by the obstacle, respectively. The method of claim 2, when overcoming obstacles,
In the contact portion, the outer surfaces of the pair of unit blocks adjacent to each other form the same angle as the angle of the outer surface formed by the obstacle and are close to each other, and the distance between the center points between the unit blocks adjacent to each other is maintained constant. wheel unit. delete The method of claim 1, wherein each of the unit blocks,
a body portion including an inner surface facing the hub and an outer surface facing the outside;
a rotation unit connected to the front end of the body unit and rotatably coupled to an adjacent unit block; and
The wheel unit, characterized in that it comprises a coupling portion that extends from both sides of the body portion and is rotatably coupled to the rotating portion of an adjacent unit block. The method of claim 5, wherein each of the unit blocks,
The wheel unit further comprises a pin extending through the rotating part, movable within a predetermined range and coupling the rotating part and the coupling part to be rotatable with each other. According to claim 6,
A central opening is formed at the center of the rotation unit, a coupling opening is formed at the center of the coupling unit, and the pin unit passes through the central opening and the coupling opening,
The wheel unit, characterized in that the pin portion is movable within a predetermined range on the central opening and the coupling opening. The method of claim 5, wherein the body portion,
a contact surface extending in a recessed shape between the inner surface and the outer surface;
an end portion extending from the outer surface and protruding from an outer end of the contact surface; and
A wheel unit comprising an inclined protrusion extending from the inner surface and inclined in a direction toward the hub portion and protruding. The method of claim 8, wherein each of the unit blocks,
An extended curved surface extending in a circumferential shape along the outer surface of the coupling block of the coupling part, and an extended vertical surface extending in a flat shape and forming a predetermined angle with the outer surface of the body portion to form a support groove between the extended curved surface and the A wheel unit further comprising a groove to do. The method of claim 9, when overcoming obstacles,
In the contact part, the end of the unit block moves along the extended curved surface of the adjacent unit block and is inserted into the support groove, so that adjacent unit blocks are in close contact with each other. The method of claim 8, when overcoming obstacles,
In the adjacent portion spaced apart from the contact portion, adjacent unit blocks are rotated in a direction opposite to the rotation direction of the contact portion until the protruding portion protruding from the rotating portion of the unit block comes into close contact with the inclined protrusion portion of the adjacent unit block. Characteristic wheel unit. According to claim 1,
The wheel unit further comprises an elastic wire extending along the outside of the unit blocks and applying an adhesive force between the unit blocks. The method of claim 12, wherein the elastic wire,
A wheel unit, characterized in that it is fixed and extended by a fixing part formed on the side surface of each of the unit blocks. The method of claim 1, when passing through the ground,
The unit blocks are in close contact with each other, and the support body applies tension to the unit blocks in the direction of the hub portion to simulate the surface tension of water droplets.

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