KR102595302B1 - omnidirectional driving apparatus - Google Patents

Abstract

The present invention includes a frame body (50); A first motor 10 disposed on the front left side of the frame body 50; a second motor 20 disposed on the front right side of the frame body 50; a third motor 30 disposed on the rear left side of the frame body 50, and a fourth motor 40 disposed on the rear right side of the frame body 50; A first wheel 110 coupled to the first motor 10 and rotated; a second wheel 120 coupled to the second motor 20 and rotated; a third wheel 130 coupled to the third motor 30 and rotated; a fourth wheel 140 coupled to the fourth motor 40 and rotated; Includes a control box 500 that controls the first motor 10, the second motor 20, the third motor 30, and the fourth motor 40, and the first wheel 110 and the fourth motor 40. An omnidirectional traveling device is provided including a roll 240 twisted at a roll axis inclination angle (A) on the second wheel 120, the third wheel 130, and the fourth wheel 140, respectively.
The present invention has the feature of being able to implement various movements through forward rotation, backward rotation, or stopping of each wheel because the rolls placed on each wheel are twisted when forming a roll axis inclination angle (A) with respect to the wheel axis.

Description

omnidirectional driving apparatus}

The present invention relates to a traveling device that can move in all directions.

In general, when moving heavy objects, most people use electric forklifts or portable manual lifts. That is, after the driver boards the vehicle, he or she adjusts the electric forklift or mobile manual lift.

Such electric forklifts or mobile manual lifts are manually loaded and transported by operators, and there is a risk of time and/or safety accidents depending on the operator's skill level when transporting heavy objects.

Typically, technologies related to directional autonomous driving include an endless track method, a hydraulic rotation method using a vehicle body elevation device, and a two-wheel steering method.

A conventional device capable of side running and stationary rotation enables forward and backward travel, side driving, and stationary rotation by independent motors on each of the four wheels, and each of the four wheels is controlled by each motor. The wheels can move forward and backward, and the driving device can rotate in place and run sideways by adjusting the angle of the wheels using the motor in the center.

The conventional technology related to mobile driving is “Traveling device capable of side driving and in-place rotation” in Domestic Patent Publication No. 10-2003-0013016 (February 14, 2003), which includes a rotation motor and a rotation guide rod. When the sliding plate is pulled and extended by the linear motion guide groove by operating the guide groove, each guide groove and the rotating guide rod operate, enabling side travel and rotation in place.

The conventional side traveling device operates the rotating guide rod, guide groove, and sliding plate using a single rotating motor, and thus has the problem of a significant decrease in torque and speed.

In addition, there was a problem that accurate control (steering angle for each wheel) was difficult when switching between diagonal driving and lateral driving.

Republic of Korea Patent Publication No. 10-2003-0013016 Republic of Korea Patent Publication No. 10-0849413 Republic of Korea Patent Publication No. 10-1004957

The present invention was developed to solve the above-described conventional problems, and its purpose is to provide a traveling device including a driving robot capable of forward and backward travel, side travel, diagonal travel, and rotation in place.

The present invention includes a frame body (50); A first motor 10 disposed on the front left side of the frame body 50; a second motor 20 disposed on the front right side of the frame body 50; a third motor 30 disposed on the rear left side of the frame body 50, and a fourth motor 40 disposed on the rear right side of the frame body 50; A first wheel 110 coupled to the first motor 10 and rotated; a second wheel 120 coupled to the second motor 20 and rotated; A third wheel 130 coupled to the third motor 30 and rotated; a fourth wheel 140 coupled to the fourth motor 40 and rotated; Includes a control box 500 that controls the first motor 10, the second motor 20, the third motor 30, and the fourth motor 40, and the first wheel 110 and the fourth motor 40. An omnidirectional traveling device is provided including a roll 240 twisted at a roll axis inclination angle (A) on the second wheel 120, the third wheel 130, and the fourth wheel 140, respectively.

Each of the first wheel, second wheel, third wheel, and fourth wheel is disposed parallel to the inner plate 300 and the inner plate 300 disposed on the frame body 50 side, and the inner An outer plate 400 disposed outside the plate 300, a plurality of roll axes 230 connecting the inner plate 300 and the outer plate 400, and the roll rotatably assembled to each roll axle. It may include (240) and a hub 250 that is assembled to the rotation center of the inner plate 300 and the outer plate 400 and is assembled with the motor to receive driving force.

The inner plate 300 and the outer plate 400 are formed in the shape of a disk, and a wheel axis 201 forming the rotation center of the wheel 200 is formed at the center of the circle, and the roll axis 230 is the wheel axis. It may intersect with (201) at 45 to 50 degrees to form a roll axis inclination angle (A).

The inner plate 300 includes an inner body 310, an inner motor shaft hole 320 disposed at the rotation center of the inner body 310, and formed to penetrate the inner body 310, and the inner motor. A plurality of inner hub coupling holes 330 are disposed radially outside the shaft hole 320, are disposed to penetrate the inner body 310, and into which a fastening member for fastening with the hub 250 is inserted. and a plurality of inner roll shaft coupling holes 340 disposed radially outside the inner motor shaft hole 320 and penetrating the inner body 310, into which the roll shaft 230 is assembled. And, the inner roll shaft coupling hole 340 can form the roll shaft inclination angle (A).

The outer plate 400 includes an outer body 410, an outer motor shaft hole 420 disposed at the rotation center of the outer body 410 and formed through the outer body 410, and the outer motor. A plurality of outer hub coupling holes 430 are disposed radially outside the shaft hole 420, are arranged to penetrate the outer body 410, and into which a fastening member for fastening with the hub 250 is inserted. and a plurality of outer roll shaft coupling holes 440 disposed radially outside the outer motor shaft hole 420 and penetrating the outer body 410, into which the roll shaft 230 is assembled. And, the outer roll shaft coupling hole 440 can form the roll shaft inclination angle (A).

First, the present invention has the feature of being able to implement various movements through forward rotation, backward rotation, or stopping of each wheel because the rolls placed on each wheel are twisted when they form a roll axis inclination angle (A) with respect to the wheel axis. .

Second, the present invention has the advantage of providing solid support against external shocks because a plurality of roll axes are installed to penetrate the inner plate and the outer plate.

Third, in the present invention, when each roll axis is installed twisted with the wheel axis, one end of the roll is inserted into the inner inner groove and the other end of the roll is inserted into the outer inner groove, thereby securing the rotation space of the roll and the inner inner groove. It has the advantage of minimizing the gap between the plate and outer plate.

Third, in the present invention, since the inner support groove is formed perpendicular to the roll axis, the inner roll shaft coupling hole can be easily formed even if the roll axis inclination angle (A) is disposed at a twist angle with respect to the inner or outer surface of the inner body. It has the advantage of being able to be processed.

Fourth, in the present invention, since the outer support groove is formed perpendicular to the roll axis, the outer roll shaft coupling hole is easily formed even if the roll axis inclination angle (A) is disposed at a twist angle with respect to the inner or outer surface of the outer body. It has the advantage of being able to be processed.

Fifth, the present invention has the advantage of being able to remotely control the driving device through a remote device.

1 is a plan view of an omni-directional traveling device according to a first embodiment of the present invention.
FIG. 2 is a plan view of the remote device shown in FIG. 1.
Figure 3 is a perspective view of the wheel shown in Figure 1.
Figure 4 is a plan view of Figure 3.
Figure 5 is a perspective view of the inner plate shown in Figure 3.
Figure 6 is a left side view of the inner plate shown in Figure 3.
Figure 7 is a right side view of the inner plate shown in Figure 3.
Figure 8 is a front view of the inner plate shown in Figure 5.
Figure 9 is a left side view of the outer plate shown in Figure 3.
Figure 10 is a right side view of the outer plate shown in Figure 3.
FIG. 11 is a plan view showing the assembled state of the roll shaft shown in FIG. 3.
Figure 12 is a perspective view of the hub shown in Figure 3.
Figure 13 is an assembled perspective view of the roll axis and roll shown in Figure 3.
Figure 14 is a schematic configuration diagram showing a control method of an omni-directional traveling device according to the first embodiment of the present invention.

Since the present invention can make various changes and have various embodiments, specific embodiments will be illustrated in the drawings and described in detail in the detailed description. However, this is not intended to limit the present invention to specific embodiments, and should be understood to include all changes, equivalents, and substitutes included in the spirit and technical scope of the present invention. While describing each drawing, similar reference numerals are used for similar components.

Terms such as first, second, A, B, etc. may be used to describe various components, but the components should not be limited by the terms. The above terms are used only for the purpose of distinguishing one component from another. For example, a first component may be named a second component, and similarly, the second component may also be named a first component without departing from the scope of the present invention. The term “and/or” includes any of a plurality of related stated items or a combination of a plurality of related stated items.

When a component is said to be "connected" or "connected" to another component, it is understood that it may be directly connected to or connected to the other component, but that other components may exist in between. It should be. On the other hand, when it is mentioned that a component is “directly connected” or “directly connected” to another component, it should be understood that there are no other components in between.

The terms used in this application are only used to describe specific embodiments and are not intended to limit the invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, terms such as “comprise” or “have” are intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the technical field to which the present invention pertains. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and unless explicitly defined in the present application, should not be interpreted in an ideal or excessively formal sense. No.

In this document, “configured to” means “suitable for,” “having the ability to,” or “changed to,” depending on the situation, for example, in terms of hardware or software. ," can be used interchangeably with "made to," "capable of," or "designed to." In some contexts, the expression “a device configured to” may mean that the device is “capable of” working with other devices or components.

Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the attached drawings. In order to facilitate overall understanding when describing the present invention, the same reference numerals are used for the same components in the drawings, and duplicate descriptions for the same components are omitted.

Figure 1 is a plan view of an omni-directional traveling device according to a first embodiment of the present invention, Figure 2 is a plan view of the remote device shown in Figure 1, Figure 3 is a perspective view of the wheel shown in Figure 1, and Figure 4 is a It is a plan view of Figure 3, Figure 5 is a perspective view of the inner plate shown in Figure 3, Figure 6 is a left side view of the inner plate shown in Figure 3, and Figure 7 is a right side view of the inner plate shown in Figure 3, Figure 8 is a front view of the inner plate shown in Figure 5, Figure 9 is a left side view of the outer plate shown in Figure 3, Figure 10 is a right side view of the outer plate shown in Figure 3, and Figure 11 is a side view of the outer plate shown in Figure 3. It is a plan view showing the assembled state of the roll axis, FIG. 12 is a perspective view of the hub shown in FIG. 3, and FIG. 13 is an assembled perspective view of the roll axis and the roll shown in FIG. 3.

The traveling device according to this embodiment includes a frame body 50, a first motor 10 disposed on the front left side of the frame body 50, and a second motor 10 disposed on the front right side of the frame body 50. A motor 20, a third motor 30 disposed on the rear left side of the frame body 50, a fourth motor 40 disposed on the rear right side of the frame body 50, and the first motor A first wheel 110 coupled to (10) to rotate, a second wheel 120 coupled to the second motor 20 to rotate, and a third wheel coupled to the third motor 30 to rotate. A wheel 130, a fourth wheel 140 coupled to and rotated by the fourth motor 40, the first motor 10, the second motor 20, the third motor 30, and the fourth It includes a control box 500 that controls the motor 40.

The traveling device according to this embodiment may further include a remote device 600 that wirelessly provides a control signal to the control box 500.

When viewed from the top, the frame body 50 has a square shape.

The first motor 10 is disposed on the front left side of the frame body 50, the second motor 20 is disposed on the front right side of the frame body 50, and the third motor 30 is It is disposed on the rear left side of the frame body 50, and the fourth motor 40 is disposed on the rear right side of the frame body 50.

The motor shaft of the first motor 10 is called the first motor shaft 11, the motor shaft of the second motor 20 is called the second motor shaft 21, and the motor shaft of the third motor 30 is called the second motor shaft 21. It is called the third motor shaft 31, and the motor shaft of the fourth motor 40 is called the fourth motor shaft 41.

The first wheel 110, second wheel 120, third wheel 130, and fourth wheel 140 have the same configuration, but are installed to have different directions. The installation directions of the first wheel 110 and the fourth wheel 140 are the same, and the installation directions of the second wheel 120 and the third wheel 130 are the same.

The configuration of the first wheel 110, the second wheel 120, the third wheel 130, and the fourth wheel 140 will be described collectively as the wheel 200.

The wheel 200 includes an inner plate 300 disposed on the frame body 50 side, an outer plate disposed parallel to the inner plate 300, and disposed outside the inner plate 300. 400), a plurality of roll axes 230 connecting the inner plate 300 and the outer plate 400, a roll 240 rotatably assembled to each roll axle, the inner plate 300 and the outer It is assembled at the rotation center of the plate 400 and includes a hub 250 that is assembled with the motor and receives driving force.

The inner plate 300 and the outer plate 400 are formed in the shape of a disk, and a wheel axis 201 that forms the rotation center of the wheel 200 is formed at the center of the circle.

The axial direction of the roll 240 is arranged to intersect the wheel axis 201 to form a roll axis inclination angle A.

Since the roll 240 is installed twisted at the roll axis inclination angle A, when the wheel 200 rotates forward or backward, slip may occur with the ground, and each wheel can move forward, backward, or stop. Various movements can be implemented by controlling at least one of the following.

In this embodiment, eight roll axes are arranged. It is arranged radially and equiangularly around the wheel axis 201.

When dividing the roll axis, the first roll axis 231, the second roll axis 232, the third roll axis 233, the fourth roll axis 234, the fifth roll axis 235, and the sixth roll axis 236 ), the seventh roll axis 237, and the eighth roll axis 238.

The roll 240 includes a first roller 241 disposed on the first roll shaft 231, a second roller 242 disposed on the second roll shaft 232, and a third roll shaft 233. a third roller 243 disposed on, a fourth roller 244 disposed on the fourth roll axis 234, a fifth roller 245 disposed on the fifth roll shaft 235, and the sixth roller 245 disposed on the fourth roll axis 234. A sixth roller 246 disposed on the roll axis 236, a seventh roller 247 disposed on the seventh roll shaft 237, and an eighth roller 248 disposed on the eighth roll shaft 238. Includes.

The first roller 241, second roller 242, third roller 243, fourth roller 244, fifth roller 245, sixth roller 246, seventh roller 247, The shape of the eighth roller 248 is the same.

The hub 250 is disposed between the inner plate 300 and the outer plate 400.

An inner motor shaft hole 211 into which each motor shaft is inserted is formed in the wheel shaft 201 of the inner plate 300, and an outer motor shaft hole into which each motor shaft is inserted into the wheel shaft 201 of the outer plate 400 ( 221) is formed.

The inner plate 300 and the outer plate 400 are formed left and right symmetrically.

The inner plate 300 is disposed on the inner body 310 and the rotation center (wheel axis in this embodiment) of the inner body 310, and has an inner motor shaft hole formed through the inner body 310. 320) and a plurality of devices disposed radially outside the inner motor shaft hole 320, arranged to penetrate the inner body 310, and into which a fastening member for fastening with the hub 250 is inserted. A plurality of inner roll shafts are disposed radially outside the inner hub coupling hole 330 and the inner motor shaft hole 320, are disposed to penetrate the inner body 310, and are assembled with the roll shaft 230. Includes a coupling hole 340.

The inner body 310 is formed in the shape of a disk, and the wheel axis 201 is disposed at the center of the circle. The inner motor shaft hole 320 is formed at the center of the circle of the inner body 310.

The inner motor shaft hole 320 is formed in a circular shape.

The inner plate 300 further includes an inner hub installation portion 315 protruding in the direction of the outer plate 400, and the inner hub coupling hole 330 is formed in the inner hub installation portion 315. When viewed from the side, the inner hub installation portion 315 is formed in a circular shape.

The inner roll shaft coupling hole 340 is disposed radially outer than the inner hub coupling hole 330. The inner roll shaft coupling hole 340 is disposed radially outer than the inner hub installation portion 315.

One side or the other side of the hub 250 is supported on the inner hub installation portion 315.

The wheel shaft 201 and the inner motor shaft hole 320 are disposed at the center of the inner hub installation portion 315.

In the inner body 310, the surface on which the inner hub installation part 315 is disposed is referred to as the inner surface 311, and the opposite surface is referred to as the outer surface 312. The inner surface 311 is disposed to face the outer plate 400, and the outer surface 312 is disposed to face the frame body 50.

A plurality of inner hub coupling holes 330 are disposed, and a plurality of inner hub coupling holes 330 are disposed at equal angles radially outward from the inner motor shaft hole 320.

In this embodiment, eight inner hub coupling holes 330 are arranged, and they are arranged at equal angles at 45-degree intervals.

The inner hub coupling hole 330 includes a first hub coupling hole 331, a second hub coupling hole 332, a third hub coupling hole 333, and a fourth hub coupling hole in a clockwise direction with respect to one of the inner hub coupling holes 330. (334), the 5th hub coupling hole (335), the 6th hub coupling hole (336), the 7th hub coupling hole (337), and the 8th hub coupling hole (338).

The first hub coupling hole 331, the second hub coupling hole 332, the third hub coupling hole 333, the fourth hub coupling hole 334, the fifth hub coupling hole 335, and the sixth hub coupling hole. The hole 336, the seventh hub coupling hole 337, and the eighth hub coupling hole 338 are arranged parallel to the wheel axis 201.

The inner roll shaft coupling holes 340 are formed to correspond to the number of roll shafts 230. In this embodiment, eight inner roll shaft coupling holes 340 are arranged at equal angles with respect to the wheel axis 201.

The inner roll shaft coupling hole 340 has a first inner roll shaft coupling hole 341, a second inner roll shaft coupling hole 342, a third inner roll shaft coupling hole 343, and a fourth inner roll shaft coupling hole 340 in a clockwise direction. They are called the inner roll shaft coupling hole 344, the 5th inner roll shaft coupling hole 345, the 6th inner roll shaft coupling hole 346, the 7th inner roll shaft coupling hole 347, and the 8th inner roll shaft coupling hole 348.

In this embodiment, the first inner roll shaft coupling hole 341, the second inner roll shaft coupling hole 342, the third inner roll shaft coupling hole 343, the fourth inner roll shaft coupling hole 344, and the fifth inner roll shaft coupling hole. Each axial direction of the hole 345, the sixth inner roll shaft coupling hole 346, the seventh inner roll shaft coupling hole 347, and the eighth inner roll shaft coupling hole 348 is arranged to be twisted with the wheel axis 201.

When viewed from the top, the axial direction of the inner roll shaft coupling hole 340 intersects the wheel axis 201 at 45 to 50 degrees to form a roll axis inclination angle A.

Even when viewed from the side, the axial direction of the inner roll shaft coupling hole 340 is arranged to intersect the wheel axis 201.

The inner plate 300 is concavely formed on the outer surface 312 of the inner body 310, has an inner outer groove 350 through which the roll axis 230 passes, and an inner outer surface 350 of the inner body 310. It is formed concavely on the side surface 311 and further includes an inner groove 360 through which the roll axis 230 passes.

The inner groove 360 is concavely formed in the direction of the outer surface 312, and the inner outer groove 350 is formed concavely in the direction of the inner surface 311.

Since each roll axis is arranged to be twisted with the wheel axis 201, the rotation space of the roll 240 can be secured through the inner groove 360, and through this, the inner plate 300 and the outer plate ( 400) has the feature of minimizing the gap between them.

The inner groove 360 is connected to the first inner roll shaft coupling hole 341, and includes a first inner groove 361 into which the first roller 241 is inserted, and the second inner roll shaft coupling hole. It is connected to (342), and connected to the second inner groove 362, into which the second roller 242 is inserted, and the third inner roll shaft coupling hole 343, into which the third roller 243 is inserted. a third inner groove 363 connected to the fourth inner roll shaft coupling hole 344 and a fourth inner groove 364 into which the fourth roller 244 is inserted, and the fifth inner roll shaft It is connected to the coupling hole 345, and connected to the fifth inner groove 365 into which the fifth roller 245 is inserted, and the sixth inner roll shaft coupling hole 346, and the sixth roller 246 A sixth inner groove 366 into which is inserted, a seventh inner groove 367 connected to the seventh inner roll shaft coupling hole 347 and into which the seventh roller 247 is inserted, and the eighth It is connected to the inner roll shaft coupling hole 348 and includes an eighth inner groove 368 into which the eighth roller 248 is inserted.

The first inner groove 361, the second inner groove 362, the third inner groove 363, the fourth inner groove 364, the fifth inner groove 365, and the sixth inner groove The shapes of the groove 366, the seventh inner groove 367, and the eighth inner groove 368 are the same.

Specifically, the first inner groove 361 is connected to a first inner support groove 361a formed perpendicular to the first roll axis 231 and an edge of the first inner support groove 361a, and the It includes a first inner round groove (361b) surrounding a portion of the outer surface of the first roller (241).

The first inner support groove 361a is arranged perpendicular to the first roll axis 231.

The first inner groove 361 may further include a first inner border 361c in contact with the outer edge of the inner body 310. The first inner border 361c may be formed in the first inner support groove 361a and the first inner round groove 361b, respectively.

The first inner support groove 361a has a semicircular shape, and the first roll shaft 231 is formed through the center of the semicircle. The first inner round groove 361b is formed to intersect at the edge of the first inner support groove 361a.

Only half of the first roll axis 231 is located in the first inner support groove 361a.

Likewise, the second inner groove 362 is connected to a second inner support groove 362a formed perpendicular to the second roll axis 232 and an edge of the second inner support groove 362a, and the It includes a second inner round groove (362b) surrounding a portion of the outer surface of the second roller (242).

The second inner support groove 362a is arranged perpendicular to the second roll axis 232.

The second inner groove 362 may further include a second inner border 362c in contact with the outer edge of the inner body 310. The second inner border 362c may be formed in the second inner support groove 362a and the second inner round groove 362b, respectively.

Hereinafter, the third inner groove 363, the fourth inner groove 364, the fifth inner groove 365, the sixth inner groove 366, the seventh inner groove 367, and the eighth inner groove 367. The inner groove 368 is also formed in the same shape.

Since the roll axis 230 must be installed twisted to form the roll axis inclination angle A, the inner roll shaft coupling hole 340 must also be formed by twisting the roll axis inclination angle A correspondingly.

Since the inner support groove is formed perpendicular to the roll axis 230, the inner roll shaft coupling hole 340 is easy to process.

That is, after forming the inner support groove, the inner roll shaft coupling hole can be drilled perpendicular to the inner support groove, and as a result, the roll axis inclination angle (A) is adjusted to the inner surface 311 or the outer surface of the inner body 310. Even if it is arranged at a twist angle with respect to the side surface 312, the inner roll shaft coupling hole can be easily processed.

The inner outer groove 350 is connected to the first inner roll shaft coupling hole 341, and includes a first inner outer groove 351 through which the first roll shaft 231 passes, and the second inner roll shaft coupling hole. A second inner outer groove 352 is connected to (342) and passes through the second roll shaft 232, and is connected to the third inner roll shaft coupling hole 343, through which the third roll shaft 233 passes. a third inner outer groove 353, a fourth inner outer groove 354 connected to the fourth inner roll shaft coupling hole 344 and through which the fourth roll shaft 234 passes, and a fifth inner roll shaft. A fifth inner outer groove 355 connected to the coupling hole 345 and through which the fifth roll axis 235 passes, and connected to the sixth inner roll axis coupling hole 346, the sixth roll axis 236 A sixth inner outer groove 356 passing through this, a seventh inner outer groove 357 connected to the seventh inner roll shaft coupling hole 347 and through which the seventh roll shaft 237 passes, and a seventh inner outer groove 357 passing through the seventh inner roll shaft coupling hole 347, It is connected to the inner roll shaft coupling hole 348 and includes an eighth inner outer groove 358 through which the eighth roll shaft 238 passes.

The twisted roll axis 230 is positioned to protrude into the inner outer groove 350, and can avoid interference with the inner body 310 through the inner outer groove 350, and the roll axis 230 When rotating, resistance due to interference with the inner body 310 can be minimized.

In particular, by forming the inner outer groove 350, the first inner roll shaft coupling hole 341, the second inner roll shaft coupling hole 342, and the third inner roll shaft coupling hole must be formed by twisting at the roll axis inclination angle (A). (343), 4th inner roll shaft coupling hole (344), 5th inner roll shaft coupling hole (345), 6th inner roll shaft coupling hole (346), 7th inner roll shaft coupling hole (347), 8th inner roll shaft coupling hole (348) has the characteristic of being easy to process.

1st inner roll shaft coupling hole (341), 2nd inner roll shaft coupling hole (342), 3rd inner roll shaft coupling hole (343), 4th inner roll shaft coupling hole (344), 5th inner roll shaft coupling hole (345), 6th inner roll shaft coupling hole (346), 7th inner roll shaft coupling hole (347), 8th inner roll shaft coupling hole (348)

Only half of the first roll axis 231 is located in the first inner outer groove 351.

The first inner outer groove 351 includes a first inner outer support groove formed perpendicular to the first roll axis 231, and a first inner outer round groove connected to an edge of the first inner outer support groove. do.

The first inner outer support groove is formed in a 1/4 circle.

The first inner outer support groove and the first inner support groove 361a are parallel and arranged to face each other.

The outer plate 400 is disposed on the outer body 410 and the rotation center (wheel axis in this embodiment) of the outer body 410, and has an outer motor shaft hole formed through the outer body 410. 420) and a plurality of devices disposed radially outside the outer motor shaft hole 420, arranged to penetrate the outer body 410, and into which a fastening member for fastening with the hub 250 is inserted. A plurality of outer roll shafts are disposed radially outside the outer hub coupling hole 430 and the outer motor shaft hole 420, are disposed to penetrate the outer body 410, and on which the roll shaft 230 is assembled. Includes a coupling hole 440.

The outer body 410 is formed in the shape of a disk, and the wheel axis 201 is disposed at the center of the circle. The outer motor shaft hole 420 is formed at the center of the circle of the outer body 410.

The outer motor shaft hole 420 is formed in a circular shape.

The outer plate 400 further includes an outer hub installation portion 415 protruding in the direction of the inner plate 300, and the outer hub coupling hole 430 is formed in the outer hub installation portion 415. When viewed from the side, the outer hub installation portion 415 is formed in a circular shape.

One side or the other side of the hub 250 is supported on the outer hub installation portion 415.

The wheel shaft 201 and the outer motor shaft hole 420 are disposed at the center of the outer hub installation portion 415.

In the outer body 410, the surface on which the outer hub installation part 415 is disposed is referred to as the inner surface 411, and the opposite surface is referred to as the outer surface 412. The inner surface 411 is disposed to face the outer plate 400, and the outer surface 412 is disposed to face the frame body 50.

A plurality of outer hub coupling holes 430 are disposed, and a plurality of outer hub coupling holes 430 are disposed at an equal angle radially outward from the outer motor shaft hole 420.

In this embodiment, eight outer hub coupling holes 430 are arranged, and they are arranged at equal angles at 45-degree intervals.

The outer hub coupling hole 430 includes a first hub coupling hole 431, a second hub coupling hole 432, a third hub coupling hole 433, and a fourth hub coupling hole in a clockwise direction with respect to one of the outer hub coupling holes 430. (434), the 5th hub coupling hole (435), the 5th hub coupling hole (435), the 6th hub coupling hole (436), the 7th hub coupling hole (437), and the 8th hub coupling hole (438). .

The first hub coupling hole 431, the second hub coupling hole 432, the third hub coupling hole 433, the fourth hub coupling hole 434, the fifth hub coupling hole 435, and the fifth hub coupling hole. The hole 435, the sixth hub coupling hole 436, the seventh hub coupling hole 437, and the eighth hub coupling hole 438 are arranged parallel to the wheel axis 201.

The outer roll shaft coupling holes 440 are formed to correspond to the number of roll shafts 230. In this embodiment, eight outer roll shaft coupling holes 440 are arranged at equal angles with respect to the wheel axis 201.

The outer roll shaft coupling hole 440 has a first outer roll shaft coupling hole 441, a second outer roll shaft coupling hole 442, a third outer roll shaft coupling hole 443, and a fourth outer roll shaft coupling hole 440 in a clockwise direction. They are called the outer roll shaft coupling hole 444, the 5th outer roll shaft coupling hole 445, the 6th outer roll shaft coupling hole 446, the 7th outer roll shaft coupling hole 447, and the 8th outer roll shaft coupling hole 448.

In this embodiment, the first outer roll shaft coupling hole 441, the second outer roll shaft coupling hole 442, the third outer roll shaft coupling hole 443, the fourth outer roll shaft coupling hole 444, and the fifth outer roll shaft coupling Each axial direction of the hole 445, the sixth outer roll shaft coupling hole 446, the seventh outer roll shaft coupling hole 447, and the eighth outer roll shaft coupling hole 448 is arranged to be twisted with the wheel axis 201.

When viewed from the top, the axial direction of the outer roll shaft coupling hole 440 intersects the wheel axis 201 at 45 to 50 degrees to form a roll axis inclination angle A. Even when viewed from the side, the axial direction of the outer roll shaft coupling hole 440 is arranged to intersect the wheel axis 201.

The outer plate 400 is concavely formed on the outer surface 412 of the outer body 410, has an outer outer groove 450 through which the roll axis 230 passes, and an inner surface of the outer body 410. It is formed concavely on the side surface 411 and further includes an outer inner groove 460 through which the roll axis 230 passes.

The outer inner groove 460 is formed concavely in the direction of the outer surface 412, and the outer outer groove 450 is formed concavely in the direction of the inner surface 411.

Since each roll axis is arranged to be twisted with the wheel axis 201, the rotation space of the roll 240 can be secured through the outer inner groove 460, and through this, the outer plate 400 and the outer plate ( 400) has the feature of minimizing the gap between them.

The outer inner groove 460 is connected to the first outer roll shaft coupling hole 441, and includes a first outer inner groove 461 into which the first roller 241 is inserted, and the second outer roll shaft coupling hole. It is connected to (442), the second outer inner groove 462 into which the second roller 242 is inserted, and the third outer roll shaft coupling hole 443, into which the third roller 243 is inserted. a third outer inner groove 463, a fourth outer inner groove 464 connected to the fourth outer roll shaft coupling hole 444 and into which the fourth roller 244 is inserted, and a fifth outer roll shaft. It is connected to the coupling hole 445, the fifth outer inner groove 465 into which the fifth roller 245 is inserted, and the sixth outer roll shaft coupling hole 446, and the sixth roller 246 A sixth outer inner groove 466 into which is inserted, a seventh outer inner groove 467 connected to the seventh outer roll shaft coupling hole 447 and into which the seventh roller 247 is inserted, and the eighth It is connected to the outer roll shaft coupling hole 448 and includes an eighth outer inner groove 468 into which the eighth roller 248 is inserted.

The first outer inner groove 461, the second outer inner groove 462, the third outer inner groove 463, the fourth outer inner groove 464, the fifth outer inner groove 465, and the sixth outer inner groove The shapes of the groove 466, the seventh outer inner groove 467, and the eighth outer inner groove 468 are the same.

The first outer inner groove 461 is connected to a first outer support groove formed perpendicular to the first roll axis 231 and an edge of the first outer support groove, and is connected to the outside of the first roller 241. It includes a first outer round groove that surrounds a portion of the side surface.

The first outer support groove has a semicircular shape, and the first roll shaft 231 is formed through the center of the semicircle. The first outer round groove is formed to intersect at the edge of the first outer support groove.

Only half of the first roll axis 231 is located in the first outer support groove.

The third outer inner groove 463, the fourth outer inner groove 464, the fifth outer inner groove 465, the sixth outer inner groove 466, the seventh outer inner groove 467, and the eighth outer inner groove The groove 468 is also formed in the same shape.

Since the roll axis 230 must be installed twisted to form the roll axis inclination angle A, the outer roll shaft coupling hole 440 must also be formed by twisting the roll axis inclination angle A correspondingly.

Since the outer support groove is formed perpendicular to the roll axis 230, the outer roll shaft coupling hole 440 is easy to process.

That is, after forming the outer support groove, the outer roll shaft coupling hole can be drilled perpendicular to the outer support groove, and as a result, the roll axis inclination angle (A) is adjusted to the inner surface 411 and the outer surface of the outer body 410. Even if it is arranged at a twist angle with respect to the side surface 412, the outer roll shaft coupling hole can be easily processed.

The outer outer groove 450 is connected to the first outer roll shaft coupling hole 441, and includes a first outer outer groove 451 through which the first roll shaft 231 passes, and the second outer roll shaft coupling hole. A second outer outer groove 452 is connected to (442) and passes through the second roll shaft 232, and is connected to the third outer roll shaft coupling hole 443, through which the third roll shaft 233 passes. a third outer outer groove 453, a fourth outer outer groove 454 connected to the fourth outer roll shaft coupling hole 444 and through which the fourth roll shaft 234 passes, and a fifth outer roll shaft. It is connected to the coupling hole 445, and connected to the fifth outer outer groove 455 through which the fifth roll axis 235 passes, and the sixth outer roll axis coupling hole 446, and connected to the sixth roll axis 236. A sixth outer outer groove 456 passing through this, a seventh outer outer groove 457 connected to the seventh outer roll shaft coupling hole 447 and through which the seventh roll shaft 237 passes, and the eighth It is connected to the outer roll shaft coupling hole 448 and includes an eighth outer outer groove 458 through which the eighth roll shaft 238 passes.

The twisted roll axis 230 is positioned to protrude into the outer outer groove 450, and can avoid interference with the outer body 410 through the outer outer groove 450, and the roll axis 230 When rotating, resistance due to interference with the outer body 410 can be minimized.

Only half of the first roll axis 231 is located in the first outer groove 451.

The first outer outer groove 451 includes a first outer outer support groove formed perpendicular to the first roll axis 231, and a first outer outer round groove connected to an edge of the first outer outer support groove. do.

The first outer outer support groove is formed in a 1/4 circle.

The first outer support groove and the first outer support groove 461a are parallel and arranged to face each other.

The first roller 241, second roller 242, third roller 243, fourth roller 244, fifth roller 245, sixth roller 246, seventh roller 247, Each of the eighth rollers 248 is formed as a whole into a rugby ball shape.

The roll 240 has an outer surface 240c formed in the shape of a spheroid, and one end 240a and the other end 240b are flat and perpendicular to the roll axis 230.

One end 240a of the roll 240 is disposed to face each of the inner support grooves, the other end 240b is disposed to face each of the outer support grooves, and a portion of the outer surface 240c is disposed to face each of the outer support grooves. It can be inserted into the inner round groove and outer round groove.

The outermost end of the outer surface 240c of the roll 240 in the radial direction is disposed to protrude outward from the inner body 310 and the outer body 410.

In this embodiment, the first roll shaft 231 is disposed to pass through the first inner roll shaft coupling hole 341 and the first outer roll shaft coupling hole 441, and the second inner roll shaft coupling hole 342 and the first The second roll shaft 232 is disposed to pass through the 2 outer roll shaft coupling hole 442, and the third roll shaft (232) is disposed to penetrate the third inner roll shaft coupling hole 343 and the third outer roll shaft coupling hole 443. 233) is disposed, the fourth roll shaft 234 is disposed to pass through the fourth inner roll shaft coupling hole 344 and the fourth outer roll shaft coupling hole 444, and the fifth inner roll shaft coupling hole 345 and the fifth roll shaft 235 is disposed to penetrate the fifth outer roll shaft coupling hole 445, and the sixth roll shaft 235 is disposed to penetrate the sixth inner roll shaft coupling hole 346 and the sixth outer roll shaft coupling hole 446. A roll shaft 236 is disposed, and the seventh roll shaft 237 is disposed to pass through the seventh inner roll shaft coupling hole 347 and the seventh outer roll shaft coupling hole 447, and the eighth inner roll shaft coupling hole ( The eighth roll shaft 238 is disposed to pass through the eighth roll shaft coupling hole 348) and the eighth outer roll shaft coupling hole 448.

The roll 240 is assembled in a twisted state with the wheel axis 201, one end 240a of the roll 240 is inserted into each inner groove, and the other end 240b is inserted into each outer inner groove. Because it can be rotated, the gap between the inner plate 300 and the outer plate 400 can be made as close as possible.

The hub 250 includes a hub body 255 formed in a cylindrical shape, a first hub insertion portion 251 extending to one side from the hub body 255 and inserted into the inner motor shaft hole 320, and the A second hub insertion portion 252 extends from the hub body 255 to the other side and is inserted into the outer motor shaft hole 420, extends radially outward from one side of the hub body 255, and the inner hub A first hub flange 253 in close contact with the installation portion 315, and a second hub flange 254 extending radially outward from the other side of the hub body 255 and in close contact with the inner hub installation portion 315. ) and a first hub fastening hole 257 that is formed to penetrate the first hub flange 253 and communicates with the inner hub coupling hole 330, and is formed to penetrate the second hub flange 254. and includes a second hub coupling hole 258 that communicates with the outer hub coupling hole 430.

Meanwhile, since each roll 240 is arranged to be twisted with the wheel axis 201 while forming a roll axis inclination angle A, various movements can be implemented by moving each wheel forward, backward, or stopped.

Figure 14 is a schematic configuration diagram showing a control method of an omni-directional traveling device according to the first embodiment of the present invention. In Figure 14, the direction of the arrow indicates the rotation direction of each wheel.

Specifically, the control method of the traveling device according to this embodiment is to move the frame body 50 forward, by controlling the first wheel 110, the second wheel 120, the third wheel 130, and the fourth wheel. Each wheel 140 is rotated forward.

The control method of the traveling device according to this embodiment is to move the frame body 50 backward, using the first wheel 110, the second wheel 120, the third wheel 130, and the fourth wheel 140. ) are rotated backwards, respectively.

The control method of the traveling device according to this embodiment rotates the first wheel 110 and the fourth wheel 140 forward, respectively, in order to move the frame body 50 to the right, and the second wheel 120 ) and the third wheel 130 are each rotated rearward.

The rightward movement means that the frame body 50 is moved to the right without moving forward.

The control method of the traveling device according to this embodiment is to rotate the first wheel 110 and the fourth wheel 140 backward, respectively, in order to move the frame body 50 to the left, and the second wheel ( 120) and the third wheel 130 are each rotated forward.

The left movement means that the frame body 50 is moved to the left without moving forward.

The control method of the traveling device according to this embodiment is to rotate the first wheel 110 and the fourth wheel 140 forward, respectively, in order to advance the frame body 50 at a right angle, and the second wheel 120 and the third wheel 130 are respectively stopped.

The preferential angle advancement means that the frame body 50 advances straight in the right diagonal direction without turning.

The control method of the traveling device according to this embodiment is to stop the first wheel 110 and the fourth wheel 140, respectively, in order to advance the frame body 50 diagonally to the left, and the second wheel 120 ) and the third wheel 130 are each rotated forward.

The left diagonal advancement means that the frame body 50 advances straight in the left diagonal direction without turning.

The control method of the traveling device according to this embodiment is to rotate the first wheel 110 and the fourth wheel 140 backward, respectively, in order to move the frame body 50 backward at a right angle, and the second wheel 120 and the third wheel 130 are respectively stopped.

The right angle backward movement means that the frame body 50 moves backward straight diagonally to the right without turning.

The control method of the traveling device according to this embodiment is to stop the first wheel 110 and the fourth wheel 140, respectively, in order to move the frame body 50 diagonally backward to the left, and the second wheel 120 ) and the third wheel 130 are rotated backward, respectively.

The left diagonal forward movement means that the frame body 50 moves straight backward in the left diagonal direction without turning.

The control method of the traveling device according to this embodiment rotates the first wheel 110 forward, rotates the second wheel 120 backward, and rotates the frame body 50 forward and to the right. The third wheel 130 and the fourth wheel 140 are respectively stopped.

The control method of the traveling device according to this embodiment is to rotate the frame body 50 forward and left, rotating the first wheel 110 backward, rotating the second wheel 120 forward, and rotating the frame body 50 forward and left. The third wheel 130 and the fourth wheel 140 are respectively stopped.

The control method of the traveling device according to this embodiment is to stop the first wheel 110 and the second wheel 120, respectively, in order to turn the frame body 50 backward and right, and the third wheel 130 rotates backward, and rotates the fourth wheel 140 forward.

The control method of the traveling device according to this embodiment is to stop the first wheel 110 and the second wheel 120, respectively, in order to rotate the frame body 50 backward and left, and the third wheel 130 Rotates forward and rotates the fourth wheel 140 backward.

The control method of the traveling device according to this embodiment rotates the first wheel 110 and the third wheel 130 forward, respectively, in order to turn the frame body 50 to the right, and the second wheel 120 ) and the fourth wheel 140 are rotated backward, respectively.

The control method of the traveling device according to this embodiment is to rotate the first wheel 110 and the third wheel 130 backward, respectively, in order to rotate the frame body 50 to the left, and the second wheel 120 ) and the fourth wheel 140 are rotated forward, respectively.

In addition to the above-described control method, various movements can be performed through forward rotation, backward rotation, or stopping of at least one of the first wheel 110, second wheel 120, third wheel 130, or fourth wheel 140. It can be implemented.

The remote device 600 includes a box 650, a first stick 610 that is tiltably disposed in the box 650 and generates a control signal for diagonal movement, and a first stick 610 that is tiltable in the box 650. A second stick 620 that is arranged to generate control signals for forward, backward, left and right movement, a plurality of buttons 630 that are placed in the box 650 and receive a user's operation signal, and the first stick ( 610), and a remote control unit (not shown) that processes signals generated from the second stick 620 or button 630 and communicates wirelessly with the control box 500.

The remote control unit is placed inside the box 650 and includes a wireless transmission/reception module.

The buttons 630 include a power on button 631, a power off button 632, a down button 633, and an up button 634.

The power of the traveling device can be turned on/off through the power on button 631 and the power off button 632.

The up/down of the lift device (not shown) can be controlled through the down button 633 and up button 634. The lift device is a device installed on the upper part of the frame body 50 and may have the structure of a forklift.

Buttons 635 to 642 are function buttons.

The first stick 610 is placed on the left, and the second stick 620 is placed on the right.

The first stick 610 can only implement tilting in the diagonal direction, and steering in the remaining directions is limited, and the second stick 620 can only implement tilting in the forward, backward, left, and right directions, and steering in the remaining directions is limited. Steering is limited.

Referring to FIG. 14, forward, backward, right movement, and left movement can be implemented independently through the second stick 620, and right diagonal forward, left diagonal forward, right diagonal backward, and left diagonal backward are performed using the first stick. It can be implemented alone through (610).

Forward right turn, forward left turn, backward right turn, or backward left turn can be implemented through a combination of the first stick 610 and the second stick 620.

The in-place right turn or in-place left turn can be implemented through the function button. The function buttons may include speed up and speed down.

In the detailed description of the present invention, specific embodiments have been described, but of course, various modifications are possible without departing from the scope of the present invention. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined not only by the scope of the patent claims described later, but also by the scope of this patent claim and equivalents.

10: first motor 20: second motor
30: third motor 40: fourth motor
50: frame body 110: first wheel
120: 2nd wheel 130: 3rd wheel
140: fourth wheel 200: wheel
230: roll axis 240: roll
250: hub 300: inner plate
310: Inner body 320: Inner motor shaft hole
330: Inner hub coupling hole 340: Inner roll shaft coupling hole
350: Inner outer groove 360: Inner inner groove
400: Outer plate 410: Outer body
420: Outer motor shaft hole 430: Outer hub coupling hole
440: Outer roll shaft coupling hole 450: Outer outer groove
460: Outer inner groove

Claims (5)

In the control method of the omni-directional travel device,
frame body (50); A first motor 10 disposed on the front left side of the frame body 50; a second motor 20 disposed on the front right side of the frame body 50; a third motor 30 disposed on the rear left side of the frame body 50, and a fourth motor 40 disposed on the rear right side of the frame body 50; A first wheel 110 coupled to the first motor 10 and rotated; a second wheel 120 coupled to the second motor 20 and rotated; A third wheel 130 coupled to the third motor 30 and rotated; a fourth wheel 140 coupled to the fourth motor 40 and rotated; A control box 500 that controls the first motor 10, the second motor 20, the third motor 30, and the fourth motor 40; It includes a remote device 600 that wirelessly provides a control signal to the control box 500,
Includes a roll 240 twisted at the roll axis inclination angle A on each of the first wheel 110, the second wheel 120, the third wheel 130, and the fourth wheel 140,
Each of the first wheel, second wheel, third wheel and fourth wheel,
An inner plate 300 disposed on the frame body 50 side, an outer plate 400 disposed parallel to the inner plate 300 and disposed outside the inner plate 300, and the inner plate Rotation of a plurality of roll axes 230 connecting the 300 and the outer plate 400, the roll 240 rotatably assembled to each roll axle, and the inner plate 300 and the outer plate 400 It includes a hub 250 assembled at the center and assembled with the motor to provide driving force, the inner plate 300 and the outer plate 400 are formed in a disk shape, and the first wheel is located at the center of the circle, A wheel axis 201 forming the rotation center of each of the second, third, and fourth wheels is formed,
The roll axis 230 intersects the wheel axis 201 at 45 to 50 degrees to form a roll axis inclination angle A,
The inner plate 300 is,
An inner body 310, an inner motor shaft hole 320 disposed at the rotation center of the inner body 310 and formed to penetrate the inner body 310, and a radius based on the inner motor shaft hole 320. A plurality of inner hub coupling holes 330 arranged on the outer side and penetrating the inner body 310 and into which fastening members for fastening with the hub 250 are inserted, and the inner motor shaft hole 320 ), a plurality of inner roll shaft coupling holes 340 arranged radially outside the inner body 310 and penetrating the inner body 310, into which the roll shaft 230 is assembled, and It includes an inner hub installation portion 315 protruding in the direction of the outer plate 400,
The inner roll shaft coupling hole 340 forms the roll shaft inclination angle (A),
The outer plate 400 is,
An outer body 410, an outer motor shaft hole 420 disposed at the rotation center of the outer body 410 and formed to penetrate the outer body 410, and a radius based on the outer motor shaft hole 420. A plurality of outer hub coupling holes 430 arranged on the outer side and penetrating the outer body 410 and into which fastening members for fastening with the hub 250 are inserted, and the outer motor shaft hole 420 ), a plurality of outer roll shaft coupling holes 440 disposed on the radial outer side, disposed to penetrate the outer body 410, and into which the roll shaft 230 is assembled, and It includes an outer hub installation portion 415 protruding in the direction of the inner plate 300,
The outer roll shaft coupling hole 440 forms the roll shaft inclination angle (A),
The hub 250 is,
A hub body 255 formed in a cylindrical shape, a first hub insertion portion 251 extending to one side from the hub body 255 and inserted into the inner motor shaft hole 320, and another hub body 255 in the hub body 255. A second hub insertion portion 252 extends to the side and is inserted into the outer motor shaft hole 420, and extends radially outward from one side of the hub body 255 and is in close contact with the inner hub installation portion 315. a first hub flange 253, a second hub flange 254 extending radially outward from the other side of the hub body 255 and in close contact with the inner hub installation portion 315, and the first hub A first hub fastening hole 257 formed to penetrate the flange 253 and communicated with the inner hub coupling hole 330, and a first hub coupling hole 257 formed to penetrate the second hub flange 254, and the outer hub coupling hole It includes a second hub fastening hole (258) in communication with (430),
The roll axis 230 includes a first roll axis 231, a second roll axis 232, a third roll axis 233, a fourth roll axis 234, a fifth roll axis 235, and a sixth roll axis ( 236), a 7th roll axis 237, and an 8th roll axis 238,
The roll 240 includes a first roller 241 disposed on the first roll shaft 231, a second roller 242 disposed on the second roll shaft 232, and a third roll shaft 233. a third roller 243 disposed on, a fourth roller 244 disposed on the fourth roll axis 234, a fifth roller 245 disposed on the fifth roll axis 235, and the sixth roller 245 disposed on the fourth roll axis 234. A sixth roller 246 disposed on the roll axis 236, a seventh roller 247 disposed on the seventh roll shaft 237, and an eighth roller 248 disposed on the eighth roll shaft 238. Contains,
The inner plate 300 is,
an inner outer groove 350 formed concavely on the outer surface 312 of the inner body 310 and through which the roll axis 230 passes; It further includes an inner groove 360 that is concavely formed on the inner surface 311 of the inner body 310 and through which the roll axis 230 passes,
The inner roll shaft coupling hole 340 is,
A first inner roll shaft coupling hole (341), a second inner roll shaft coupling hole (342), a third inner roll shaft coupling hole (343), and a fourth inner roll shaft coupling hole (344) arranged in a clockwise direction based on one of the It includes a 5th inner roll shaft coupling hole 345, a 6th inner roll shaft coupling hole 346, a 7th inner roll shaft coupling hole 347, and an 8th inner roll shaft coupling hole 348,
The inner outer groove 350 is,
It is connected to the first inner roll shaft coupling hole 341, a first inner outer groove 351 through which the first roll axis 231 passes, and the second inner roll shaft coupling hole 342, and the first 2 A second inner outer groove 352 through which the roll shaft 232 passes, and a third inner outer groove 353 connected to the third inner roll shaft coupling hole 343 and through which the third roll shaft 233 passes. and, connected to the fourth inner roll shaft coupling hole 344, a fourth inner outer groove 354 through which the fourth roll axis 234 passes, and connected to the fifth inner roll shaft coupling hole 345, A fifth inner outer groove 355 through which the fifth roll shaft 235 passes, connected to the sixth inner roll shaft coupling hole 346, and a sixth inner outer groove through which the sixth roll shaft 236 passes ( 356), a seventh inner outer groove 357 connected to the seventh inner roll shaft coupling hole 347 and through which the seventh roll axis 237 passes, and connected to the eighth inner roll shaft coupling hole 348. and includes an eighth inner outer groove 358 through which the eighth roll axis 238 passes,
The inner groove 360 is connected to the first inner roll shaft coupling hole 341, and includes a first inner groove 361 into which the first roller 241 is inserted, and the second inner roll shaft coupling hole. It is connected to (342), and connected to the second inner groove 362, into which the second roller 242 is inserted, and the third inner roll shaft coupling hole 343, into which the third roller 243 is inserted. a third inner groove 363 connected to the fourth inner roll shaft coupling hole 344 and a fourth inner groove 364 into which the fourth roller 244 is inserted, and the fifth inner roll shaft It is connected to the coupling hole 345, and connected to the fifth inner groove 365 into which the fifth roller 245 is inserted, and the sixth inner roll shaft coupling hole 346, and the sixth roller 246 A sixth inner groove 366 into which is inserted, a seventh inner groove 367 connected to the seventh inner roll shaft coupling hole 347 and into which the seventh roller 247 is inserted, and the eighth It is connected to the inner roll shaft coupling hole 348 and includes an eighth inner groove 368 into which the eighth roller 248 is inserted,
The first inner groove 361 is,
a first inner support groove (361a) formed perpendicular to the first roll axis (231); a first inner round groove (361b) connected to the edge of the first inner support groove (361a) and surrounding a portion of the outer surface of the first roller (241); It includes a first inner border (361c) in contact with the outer edge of the inner body (310),
The first inner support groove 361a is disposed perpendicular to the first roll axis 231, and the first inner border 361c is formed by the first inner support groove 361a and the first inner round groove 361b. Each is formed in,
The first inner support groove 361a has a semicircular shape, and the first roll shaft 231 is formed through the center of the semicircle,
The first inner round groove (361b) is formed to intersect at the edge of the first inner support groove (361a),
Only half of the first roll axis 231 is located in the first inner support groove 361a,
The remote device 600,
box(650);
a first stick 610 that is tiltably disposed in the box 650 and generates a control signal for diagonal movement;
a second stick 620 that is tiltably disposed in the box 650 and generates control signals for forward, backward, left, and right movements;
A plurality of buttons 630 arranged in the box 650 and receiving a user's operation signal;
It includes a remote control unit that processes signals generated from the first stick 610, second stick 620, or button 630 and communicates wirelessly with the control box 500,
The remote control unit is disposed inside the box 650 and includes a wireless transmission/reception module,
The button 630 includes a power on button 631, a power off button 632, a down button 633, an up button 634, and function buttons 635 to 642,
In order to move the frame body 50 forward, the first wheel 110, the second wheel 120, the third wheel 130, and the fourth wheel 140 are each rotated forward,
In order to move the frame body 50 backward, the first wheel 110, the second wheel 120, the third wheel 130, and the fourth wheel 140 are each rotated rearward,
In order to move the frame body 50 to the right, the first wheel 110 and the fourth wheel 140 are rotated forward, and the second wheel 120 and the third wheel 130 are respectively rotated rearward. Rotate it,
In order to move the frame body 50 to the left, the first wheel 110 and the fourth wheel 140 are rotated rearward, and the second wheel 120 and the third wheel 130 are rotated forward, respectively. Rotate it to
In order to advance the frame body 50 at a right angle, the first wheel 110 and the fourth wheel 140 are rotated forward, and the second wheel 120 and the third wheel 130 are respectively rotated forward. stop it,
In order to advance the frame body 50 diagonally to the left, the first wheel 110 and the fourth wheel 140 are stopped, and the second wheel 120 and the third wheel 130 are rotated forward, respectively. order,
In order to move the frame body 50 backward at a right angle, the first wheel 110 and the fourth wheel 140 are rotated rearward, and the second wheel 120 and the third wheel 130 are respectively rotated rearward. stop it,
In order to move the frame body 50 diagonally backward, the first wheel 110 and the fourth wheel 140 are respectively stopped, and the second wheel 120 and the third wheel 130 are respectively rotated backward. order,
To rotate the frame body 50 forward and to the right, the first wheel 110 rotates forward, the second wheel 120 rotates backward, and the third wheel 130 and fourth wheel 140 stop each,
In order to rotate the frame body 50 forward and left, the first wheel 110 is rotated backward, the second wheel 120 is rotated forward, and the third wheel 130 and fourth wheel 140 are rotated forward. stop each,
In order to turn the frame body 50 backward and to the right, the first wheel 110 and the second wheel 120 are respectively stopped, the third wheel 130 is rotated backward, and the fourth wheel 140 is rotated backward. Rotate forward,
In order to rotate the frame body 50 backward and left, the first wheel 110 and the second wheel 120 are stopped, the third wheel 130 is rotated forward, and the fourth wheel 140 is rotated forward. rotate backwards,
In order to rotate the frame body 50 to the right, the first wheel 110 and the third wheel 130 are rotated forward, and the second wheel 120 and the fourth wheel 140 are rotated backward, respectively. order,
In order to rotate the frame body 50 to the left, the first wheel 110 and the third wheel 130 are rotated backward, and the second wheel 120 and the fourth wheel 140 are rotated forward, respectively. order,
Forward, backward, right movement, and left movement are implemented independently through the second stick 620,
Right diagonal forward, left diagonal forward, right diagonal backward and left diagonal backward are implemented solely through the first stick 610,
Forward right turn, forward left turn, backward right turn, or backward left turn is implemented through a combination of the first stick 610 and the second stick 620,
A control method for an omni-directional travel device in which the turning right or turning left is implemented through the function button. delete delete delete delete

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