KR20120075035A - Driving assembly having wing-type wheels - Google Patents

Driving assembly having wing-type wheels Download PDF

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Publication number
KR20120075035A
KR20120075035A KR1020100137053A KR20100137053A KR20120075035A KR 20120075035 A KR20120075035 A KR 20120075035A KR 1020100137053 A KR1020100137053 A KR 1020100137053A KR 20100137053 A KR20100137053 A KR 20100137053A KR 20120075035 A KR20120075035 A KR 20120075035A
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KR
South Korea
Prior art keywords
wheel
wing
drive
ground support
driving
Prior art date
Application number
KR1020100137053A
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Korean (ko)
Inventor
조자연
Original Assignee
(주)아이엠테크놀로지
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Priority to KR1020100137053A priority Critical patent/KR20120075035A/en
Publication of KR20120075035A publication Critical patent/KR20120075035A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B25/00—Rims built-up of several main parts ; Locking means for the rim parts
    • B60B25/002—Rims split in circumferential direction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B2900/00—Purpose of invention
    • B60B2900/50—Improvement of
    • B60B2900/551—Handling of obstacles or difficult terrains

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Toys (AREA)

Abstract

A vane wheel drive assembly is provided. According to the present invention, there is provided a wing wheel driving assembly including a driving motor, a housing accommodating the driving motor, a driving wheel having a plurality of frames connected to a rotation shaft of the driving motor and extending in a radial direction about the rotation shaft. It includes, but each end of the plurality of frames is formed with an arc-shaped ground support, the ground support is generated by the rotation of the drive motor to sequentially generate contact with the ground to generate a forward force.

Description

DRIVING ASSEMBLY HAVING WING-TYPE WHEELS}

The present invention relates to a vane wheel drive assembly, and more particularly to a vane wheel drive assembly with improved rough terrain capability.

In general, the driving assembly driven by the driving device uses a lot of circular wheels, which have advantages of fast driving speed. However, since the rotating body of the circular wheel has a difficulty in sliding when moving a rough road or a staircase, such as an inclined surface or a staircase As a rotating body driven by a driving device for moving a rough path, a caterpillar system is widely used.

The caterpillar has no difficulty in moving a rough road such as a slope or a stairway, but when rotating on a flat surface, it has a disadvantage of slower moving speed and difficulty in manufacturing than a method of rotating a rotating body such as a circular wheel. In the case of a structure in which a high traveling speed is to be secured, various types of rough driving wheel drive assemblies are required rather than a slow track type.

The problem to be solved by the present invention is to provide a wing type wheel drive assembly with improved rough terrain capability.

Another problem to be solved by the present invention is to provide a wing-type wheel drive assembly that can travel quickly and stably regardless of the flat or rough terrain exists.

The objects of the present invention are not limited to the above-mentioned objects, and other objects that are not mentioned will be clearly understood by those skilled in the art from the following description.

In order to solve this problem, a wing type wheel drive assembly according to the present invention includes a drive motor, a housing accommodating the drive motor, a plurality of frames connected to a rotation shaft of the drive motor and extending in a radial direction about the rotation shaft. It includes a driving wheel, wherein each end of the plurality of frames is formed with an arc-shaped ground support, the ground support is generated by the rotation of the drive motor in order to generate a forward thrust forward.

A more detailed example of the vane wheel drive assembly according to the present invention will be described later in the embodiment section with reference to the drawings.

Wing wheel drive assembly according to the present invention has a circular drive wheel can be driven quickly irrespective of the flat terrain or rough terrain exists, the circular drive wheel is provided to be spaced apart from each other by obstacles or steps The vehicle can stably travel in a form of moving up and down a space such as a formed staircase.

The effects according to the present invention are not limited by the contents exemplified above, and more various effects are included in the present specification.

1 illustrates a vane wheel drive assembly according to one embodiment of the invention.
2 is a view showing a drive wheel of the wing-type wheel drive assembly according to an embodiment of the present invention.
3A to 3D are views sequentially illustrating a rough terrain driving method of a vane wheel drive assembly according to an embodiment of the present invention.
Figure 4 is a view showing a drive wheel of the wing type wheel drive assembly according to another embodiment of the present invention.

Advantages and features of the present invention and methods for achieving them will be apparent with reference to the embodiments described below in detail with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in various forms, and only the present embodiments are intended to complete the disclosure of the present invention, and the general knowledge in the art to which the present invention pertains. It is provided to fully convey the scope of the invention to those skilled in the art, and the present invention is defined only by the scope of the claims.

DETAILED DESCRIPTION Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. &Quot; and / or "include each and every combination of one or more of the mentioned items. ≪ RTI ID = 0.0 >

Although the first, second, etc. are used to describe various components, these components are of course not limited by these terms. These terms are used only to distinguish one component from another. Therefore, it goes without saying that the first component mentioned below may be the second component within the technical scope of the present invention.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. As used herein, "comprises" and / or "comprising" does not exclude the presence or addition of one or more other components in addition to the mentioned components.

Unless otherwise defined, all terms (including technical and scientific terms) used in the present specification may be used in a sense that can be commonly understood by those skilled in the art. In addition, the terms defined in the commonly used dictionaries are not ideally or excessively interpreted unless they are specifically defined clearly.

The spatially relative terms " below ", " beneath ", " lower ", " above ", " upper " It may be used to easily describe the correlation of a component with other components. Spatially relative terms are to be understood as including terms in different directions of components in use or operation in addition to the directions shown in the figures. For example, when inverting an element shown in the figures, an element described as "below" or "beneath" of another element may be placed "above" another element . Thus, the exemplary term "below" can include both downward and upward directions.

Hereinafter, an embodiment of the present invention will be described with reference to FIGS. 1 to 3D. 1 is a view showing a wing wheel drive assembly according to an embodiment of the present invention, Figure 2 is a view showing a drive wheel of the wing wheel drive assembly according to an embodiment of the present invention, Figure 3a to FIG. 3D is a view sequentially illustrating a rough terrain driving method of a vane wheel drive assembly according to an embodiment of the present invention. FIG.

Referring to FIG. 1, a vane wheel drive assembly according to an embodiment of the present invention is connected to a drive motor, a housing 20 accommodating the drive motor, and a rotation shaft of the drive motor, with respect to the rotation shaft. And a driving wheel 10 having a plurality of wheel frames 13 extending in a radial direction, wherein each end of the plurality of wheel frames 13 is formed with an arc-shaped ground support part 14 and the ground support part. 14 generates a driving force forward while sequentially contacting the ground by the rotation of the drive motor.

The drive motor (not shown) generates power by receiving power from the outside, and the generated power is transmitted to the drive wheel 10 through the rotating shaft. There is no restriction on the type of drive motor, and a BLDC (Brushless DC) motor or a servo motor can be used that is easy to control and quick to change direction.

The drive motor is housed in the housing 20 so as not to be exposed to the outside. The housing 20 is supported by being spaced apart from the ground by a plurality of drive wheels 10, as will be described later.

In addition to the drive motor, the housing 20 may include a power supply unit, a drive control unit, a signal transmission / reception unit, etc. for constituting the wheel drive assembly. The power supply unit supplies power for driving the drive motor, and the drive control unit controls the direction, speed, and the like so that the wheel drive assembly according to the present embodiment can be driven along a path or a destination according to an embedded program. The signal transmission and reception unit transmits and receives necessary data to the outside, and in the case of driving the wheel drive assembly from the outside, receives a signal transmitted from an external controller and transfers it to the drive control unit. The image providing unit may further include an image providing unit including a camera module, an encoder, a memory, etc. for providing an exploration image to the outside when the wheel driving assembly according to the present embodiment is applied to an robot for exploration purposes.

The drive shaft 30 protruding outward is provided at the side of the housing 20. The drive shaft 30 is connected to the rotation shaft of the drive motor in the housing 20, the drive shaft 30 also rotates in accordance with the rotation of the drive motor. The drive shaft 30 may be provided in plurality at positions corresponding to both sides of the housing 20, and the driving wheel 10 is coupled to each drive shaft 30 as described below. In the example illustrated in FIG. 1, the case in which the driving shaft 30 and the driving wheel 10 are four is illustrated as an example, but is not limited thereto.

Referring to FIG. 2, the driving wheel 10 includes a driving center 11 in the center, a driving groove 12 through which the driving shaft 30 penetrates in the center of the driving center 11, and the driving center 11. It comprises a plurality of wheel frame 13 extending in the radial direction from the) and the arcuate ground support portion 14 formed at each end of the wheel frame (13). As described above, the driving wheel 10 may be provided in plurality in corresponding positions on both sides of the housing 20.

The drive center 11 is located at the center of rotation of the drive wheel 10, the drive groove 12 is formed in the center thereof. The drive shaft 30 connected to the rotation shaft of the drive motor inside the housing 20 is inserted into the drive groove 12. For this reason, when the driving motor rotates, the rotational force may be transmitted to the driving wheel 10.

The plurality of wheel frames 13 extend in a radial direction away from the center of the driving center 11 and / or the driving groove 12 and the driving wheel 10 driven by the rotation of the plurality of wheel frames 13. In order to smoothly drive, the lengths of the plurality of wheel frames 13 may be the same. In addition, the plurality of ground support parts 14 formed at the ends of the plurality of wheel frames 13 provided in one driving wheel 10 may be located on the same circumference. That is, the plurality of ground support portions 14 may be configured to form a circumference to perform the function of a circular wheel.

Referring to FIG. 2, an example in which a plurality of wheel frames 13 are provided for each driving wheel 10 is illustrated, but the present invention is not limited thereto, and the wheel frames 13 may be stably driven. The number may be three or more. However, when the plurality of wheel frames 13 are provided in the same manner as the general circular wheels, the number of the plurality of wheel frames 13 may be adjusted within a range that does not reduce the rough terrain capability.

An arc-shaped ground support 14 is provided at each end of the plurality of wheel frames 13, specifically, at the distal end with respect to the driving center 11. The ground support part 14 may be integrally formed with the wheel frame 13, and may be separately formed and then coupled with the wheel frame 13.

The ground support part 14 is a part which comes into contact with the actual ground when the driving shaft 30 is rotated by the rotation of the driving motor and the driving wheel 10 rotates. Since the ground support portion 14 is formed at the end of each wheel frame 13, each ground support portion 14 sequentially generates a propulsive force in contact with the ground in the rotational direction.

Since the arc-shaped radius of each ground support 14 is equal to the length of the wheel frame 13 extending in the radial direction from the driving center 11, even if different ground supports 14 are in contact with the ground sequentially, Due to this, the height of the supported housing 20 can be kept uniform.

The surface coating layer 15 may be further added to the outer surface of the ground support 14, that is, the surface contacting the ground. The ground support part 14 may further include a surface coating layer 15 made of a material such as rubber so as to increase friction with the ground because the ground supporting portion 14 obtains a driving force forward by friction with the ground while rotating about the rotation axis. .

Next, the driving principle of the vane wheel drive assembly according to the present embodiment will be described with reference to FIGS. 3A to 3D.

When the plurality of drive wheels 10 provided in the wing type wheel drive assembly 100 according to the present embodiment receives rotational force by the drive motor, the wheel frame 13 and the wheel frame 13 constituting the drive wheel 10 ( The ground support 14 formed at the end of 13 rotates so that the wheel drive assembly 100 faces forward.

The wing wheel drive assembly 100 according to the present embodiment may be used for various purposes. For example, it may be driven for the purpose of searching for areas where it is difficult for a person to search directly. In this case, the area is rarely composed of flat plains. Rather, there are many rough areas such as obstacles or gravel or rocks. There is a high possibility that the terrain is difficult to drive because there are a large number, and in addition, there is a high possibility that it is an area in which a step is difficult to drive with a general circular wheel.

Therefore, in this case, the drive assembly having a general circular wheel cannot reach the desired area, and the user cannot accurately obtain the desired information.

On the other hand, in the case of the wing-shaped wheel drive assembly 100 according to the present embodiment, a circular wheel is formed in the overall appearance to be smoothly driven on a flat surface, formed at the end of each wheel frame 13 to be a predetermined distance from each other It is possible to easily pass the step or obstacle formed in the rough terrain by a plurality of ground support 14 spaced apart.

Referring to FIG. 3A, when the vane wheel drive assembly 100 according to the present embodiment travels in the right direction on the drawing, it is assumed that a step R is formed in front of the vane wheel drive assembly 100. do. This shows an example of one of the various obstacles or driving impediment of the rough land, it is obvious that it can be replaced by other obstacles than step (R).

Referring to FIG. 3B, the vane wheel driving assembly 100 according to the present embodiment is driven in the advancing direction and shows a state in which the step R is reached. In the case of the circular wheel drive assembly, when the step R is reached, the step R cannot be exceeded unless a predetermined friction force and a predetermined torque applied to the wheel are not applied. In particular, when the height of the step R is higher than the radius of the circular wheel, no matter how much torque is applied, it cannot be exceeded.

On the other hand, since the wing-type wheel drive assembly 100 according to the present embodiment can be seated on the upper surface of the step (R) while the wheel frame 13 and ground support portion 14 formed independently of each other, the wheel frame ( The length of 13), that is, may exceed the step (R) higher than the radius of the drive wheel 10 according to the present embodiment.

Specifically, as shown in FIG. 3B, when the driving wheel 10 rotates in the clockwise direction and the entire wing type wheel driving assembly 100 proceeds in the right direction, the driving wheel 10 approaching the step R is Different wheel frames 13 rotate sequentially in a clockwise direction, and then a predetermined wheel frame 13 rotates in a clockwise direction and is blocked by an upper surface of the step R, so that the wheels no longer rotate clockwise.

Subsequently, referring to FIG. 3C, when the rotational force of the driving motor continuously rotating in the clockwise direction is transmitted to the wheel frame 13 and the ground support part 14 caught on the upper surface of the step R, the upper part of the step R. Reaction by the force of the ground support 14 applied against the face causes a portion of the entire winged wheel drive assembly 100 to rise to the top surface of the step R as shown.

This same process is equally applied to the wheel frame 13 and the ground support 14 of the rear axle, and by the reaction applied to the vane wheel drive assembly 100 from the upper surface of the step R, FIG. As shown, the entire vane wheel drive assembly 100 is located on the upper surface of the step R.

Wing-wheel drive assembly 100 according to the present embodiment is the drive wheel 10 is composed of a wing-shaped wheel frame 13 and the ground support 14, it can easily exceed this when encountering a step or obstacle. Because of this, it is possible to travel from the rough to the destination quickly and stably.

Next, the driving wheel 10 constituting the vane wheel driving assembly 100 according to another embodiment of the present invention will be described with reference to FIG. 4. 4 is a view showing the drive wheel 10 of the wing wheel drive assembly 100 according to another embodiment of the present invention.

The wing wheel driving assembly 100 according to another embodiment of the present invention is connected to a drive motor, a housing 20 accommodating the drive motor, and a rotation shaft of the drive motor, in a radial direction about the rotation shaft. And a driving wheel 10 having a plurality of extending wheel frames 13, wherein each end of the plurality of wheel frames 13 is formed with an arc-shaped ground support 14, and the ground support 14. Is generated by the rotation of the drive motor in order to sequentially contact the ground forward propulsion force, the ground support 14 is formed on the outer surface of the irregularities, the wheel frame 13 of the ground support 14 It is connected to the center part.

Unlike the winged wheel drive assembly according to the previous embodiment, the drive wheel 10 constituting the winged wheel drive assembly according to the present embodiment has a different structure of the ground support (14). That is, as shown in the structure of the ground support part 14 according to the previous embodiment, it is extended to one side with respect to the wheel frame 13 so that the ground support part 14 having an arc shape is not formed, but is based on the wheel frame 13. By extending to both sides to form an arc-shaped ground support portion 14, the wheel frame 13 that is vertically connected to the ground support portion 14 is connected to the center portion of the ground support portion (14). However, this corresponds to an exemplary configuration, and the point at which the ground support 14 and the wheel frame 13 are connected to each other may be a point other than the center portion.

In addition, since the irregularities are formed on the surface of the ground support portion 14 in contact with the ground, the driving force of the ground support 14 may be improved.

Although the embodiments of the present invention have been described with reference to the accompanying drawings, the present invention is not limited to the above embodiments, and may be manufactured in various forms within the scope of the present invention, and the present invention Those skilled in the art will understand that it can be implemented in other specific forms without changing the technical spirit or essential features of the present invention, the embodiments described above are exemplary in all respects and limited It is not limited to form.

10: driving wheel 11: driving center
12: drive groove 13: wheel frame
14: ground support 15: surface coating layer
20: housing 30: drive shaft

Claims (8)

Drive motor;
A housing accommodating the drive motor;
It includes a drive wheel connected to the rotation axis of the drive motor, having a plurality of frames extending in the radial direction about the rotation axis,
An arc-shaped ground support is formed at each end of the plurality of frames, and the ground support is wing-type wheel drive assembly generating forward thrust while sequentially contacting the ground by the rotation of the drive motor. The method of claim 1,
The ground support is wing-shaped wheel drive assembly surface-treated on its outer surface. The method of claim 1,
The ground support is wing-shaped wheel drive assembly is formed on the outer surface. The method of claim 1,
The housing is wing-shaped wheel drive assembly spaced apart from the ground by the drive wheel. The method of claim 1,
The drive wheel is a plurality of wing-shaped wheel drive assembly provided in a corresponding position on both sides of the housing. The method of claim 1,
The housing is wing-shaped wheel drive assembly for maintaining a predetermined height from the ground when the drive wheel is rotated. The method of claim 1,
And a ground support part provided in the plurality of frames is located on the same circumference. The method of claim 1,
The plurality of frames are wing-shaped wheel drive assembly connected to the central portion of each of the ground support.
KR1020100137053A 2010-12-28 2010-12-28 Driving assembly having wing-type wheels KR20120075035A (en)

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KR1020100137053A KR20120075035A (en) 2010-12-28 2010-12-28 Driving assembly having wing-type wheels

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Application Number Priority Date Filing Date Title
KR1020100137053A KR20120075035A (en) 2010-12-28 2010-12-28 Driving assembly having wing-type wheels

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101386011B1 (en) * 2012-12-07 2014-04-16 서울대학교산학협력단 Passive transformable wheel and robot having the wheel
KR20200012524A (en) * 2018-07-27 2020-02-05 이소민 Drone
CN112937216A (en) * 2021-03-26 2021-06-11 吉林大学 Corn inter-row operation robot and inter-row driving control method thereof

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101386011B1 (en) * 2012-12-07 2014-04-16 서울대학교산학협력단 Passive transformable wheel and robot having the wheel
KR20200012524A (en) * 2018-07-27 2020-02-05 이소민 Drone
CN112937216A (en) * 2021-03-26 2021-06-11 吉林大学 Corn inter-row operation robot and inter-row driving control method thereof
CN112937216B (en) * 2021-03-26 2024-01-23 吉林大学 Corn interline operation robot and interline running control method thereof

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