KR20120133504A - Road surface adaptive adjustable driving wheel and adjustable driving assembly having the same - Google Patents

Abstract

PURPOSE: A road adaptive type variable driving wheel and a variable driving assembly with the same are provided to automatically unfold a blade portion of the wheel when reaching rough roads by automatically sensing road conditions without a control part and a road condition sensor. CONSTITUTION: A road adaptive type variable driving wheel comprises a main driving part(10), multiple first auxiliary driving parts(20), multiple second auxiliary driving parts(30), and multiple variable driving parts(40). The main driving part is allowed to rotate. The first auxiliary driving parts are rotated in an engaged state with the main driving part. The second auxiliary driving parts are separated from the main driving part and rotated in an engaged state with the first auxiliary driving parts. The variable driving parts are respectively connected to the second auxiliary driving parts and rotated to be folded according to the rotation of the second auxiliary driving parts. The variable driving parts are composed of a head portion and a blade portion stretched and extended from the head portion. The variable driving parts vary in a first mode and a second mode.

Description

ROAD SURFACE ADAPTIVE ADJUSTABLE DRIVING WHEEL AND ADJUSTABLE DRIVING ASSEMBLY HAVING THE SAME}

The present invention relates to a road surface-adaptive variable driving wheel and a variable driving assembly including the same, and more particularly, to a road-compliant variable driving wheel and a variable driving assembly including the same, in which the shape of the wheel can be varied according to the state of the road surface. It is about.

In general, the rotating body driven by the driving device uses a lot of circular wheels that have advantages of fast driving speed, but the rotating body of the circular wheel has a difficulty in sliding when moving a rough road or a staircase, such as a slope 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 fast running speed is to be secured, a variable driving wheel and a variable driving assembly including the same may be required, rather than an infinitely slow track type.

That is, while a structure such as a reconnaissance robot travels on a flat surface using a rotating body in the form of a wheel, and when driving on a slope or a rough terrain where an obstacle is placed, the structure of the wheel is constantly changed so that the structure smoothly overcomes the rough ground. There is an increasing need for variable drive assemblies.

As described above, the variable drive assembly is configured in a circular shape to change the mode of the driving wheel or the diameter of the rotating body is variable. However, since the surface of the rotating body is integrated, the surface of the rotor is driven without changing. Therefore, there is no problem when advancing the flat, but the surface of the rotating body is slippery when advancing the inclined surface such as stairs, it is not easy to move forward.

In addition, since the conventional variable drive assembly uses a method of changing the shape of the wheel by issuing an artificial variable command, a controller that additionally detects a ground condition and a controller that detects a signal from the sensor and instructs a variable operation. Additional configuration was needed. However, the variable drive assembly by the artificial manipulation command by this sensitive operation frequently malfunctions, and the efficiency is reduced.

In addition, a method of folding the wings of the variable drive assembly by converting the rotational direction of the rotating shaft in the reverse direction has been proposed. However, this may occur when the rotational axis is converted so that the moving direction cannot be smoothly progressed.

The present invention has been conceived based on these points, and the problem to be solved by the present invention is to automatically sense according to the road surface condition without the need for a separate wheel variable, such as road surface detection sensor and control unit To achieve a road surface adaptive variable drive wheel that automatically expands the wing of the wheel and to provide a variable drive assembly comprising the same.

Another problem to be solved by the present invention is to automatically respond to the road surface to reach the rough terrain, when the wing of the wheel is automatically unfolded after driving the flat surface again can be folded automatically the wing portion of the wheel It is to provide a variable drive wheel and a variable drive assembly comprising the same.

Another problem to be solved by the present invention is a road surface adaptive variable drive wheel and a variable drive assembly including the same that can be maintained in the running direction of the wheel as it is automatically folded in the unfolded state of the wheel It is to provide.

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

In order to solve this problem, the road adaptable variable driving wheel according to the present invention includes a main drive part rotatably formed, a plurality of first auxiliary drive parts rotatably engaged with the main drive part, and spaced apart from the main drive part, And a plurality of second auxiliary driving parts which are rotatably engaged with the first auxiliary driving parts, respectively, and connected to the plurality of second auxiliary driving parts, respectively, to pivotally rotate in response to the rotation of the plurality of second auxiliary driving parts. A first mode or the wing that includes a plurality of variable driving portion consisting of a wing extending extending from the head portion, wherein the plurality of variable driving portion is in close contact with the head of the other variable driving portion adjacent to the wing portion to form a circle An additional portion is changed to a second mode that is spread outward in a rotational direction of the plurality of second auxiliary driving units.

A more detailed example of a road compliant variable drive wheel and a variable drive assembly including the same according to the present invention will be described later in the embodiments.

According to the present invention, the variable wheel according to the present invention has the same speed as the general wheels while acclimatizing to the road condition as in the endless track method, and automatically responds according to the road condition, and the variable drive unit automatically reaches the rough terrain. Since it is unfolded, it can adapt effectively to the road regardless of the condition of the road surface.

In addition, since a component necessary for changing wheels, such as a road surface condition sensor and a controller, is unnecessary, production costs may be reduced, and malfunctions by the sensor or the controller may be prevented.

In addition, when arriving at the rough land rotates the same as the rotation direction that was rotated on the existing flat land so that the direction can be reached in a short time without changing the direction.

In addition, even if the variable driving unit is folded back after passing through the rough ground, the direction of rotation of the variable driving assembly is maintained, so that the driving can be continued.

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 is a schematic plan view of a variable driving wheel in a first mode state constituting a road-compliant adaptive drive assembly according to an embodiment of the present invention.
2 is a perspective view of the variable driving wheel of FIG. 1.
3 is a perspective view illustrating a connection state of a second auxiliary driving unit and a variable driving unit constituting the variable driving wheel of FIG. 1.
4 is a diagram illustrating a relationship between a force applied to the variable driving wheel of FIG. 1 and a normal force.
5 is a perspective view of a circular rotating part is added to the variable driving wheel of FIG.
FIG. 6 is a schematic plan view of a variable driving wheel in a second mode state constituting a road-compliant adaptive drive assembly according to an embodiment of the present invention.
FIG. 7 is a diagram illustrating a relationship between a force applied to the variable driving wheel of FIG. 6 and a vertical drag.
FIG. 8 is a diagram illustrating a relationship between the force applied to the variable driving wheel and the vertical force when the variable driving wheel of FIG. 7 is changed from the second mode to the first mode.
9A to 9E are schematic views sequentially illustrating changes in rough terrain driving of a road adaptive wheel according to one embodiment of the present invention.
10 is a schematic perspective view of a variable drive assembly including one or more road-compliant variable drive wheels according to an embodiment of the present invention.

Advantages and features of the present invention, and methods of achieving the same will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Is provided to fully convey the scope of the invention to those skilled in the art, and the invention is only defined 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, it goes without saying that these components are not limited by these terms. These terms are used only to distinguish one component from another. Therefore, of course, the first component mentioned below may be the second component within the technical spirit of the present invention.

1 to 5, a road-compliant variable driving wheel in a first mode state according to an embodiment of the present invention will be described. 1 is a schematic plan view of a variable driving wheel in a first mode state constituting a road-compliant adaptive variable drive assembly according to an embodiment of the present invention, FIG. 2 is a perspective view of the variable driving wheel of FIG. 1, and FIG. 1 is a perspective view illustrating a connection state between a second auxiliary driving unit and a variable driving unit constituting the variable driving wheel of FIG. 1, and FIG. 4 is a view illustrating a relationship between a force applied to the variable driving wheel of FIG. Figure 2 is a perspective view of the circular rotating portion is added to the variable drive wheel.

According to an embodiment of the present invention, the road-compliant variable driving wheel may include a main driving unit 10 rotatably formed, a plurality of first auxiliary driving units 20 rotatably engaged with the main driving unit 10, and the Spaced apart from the main drive unit 10, the second auxiliary drive unit 30 and the plurality of second auxiliary drive unit 30 and rotatably coupled to each of the plurality of first auxiliary drive unit 20, respectively, are connected to each other A plurality of variable driving parts including a head part 41 and a wing part 42 extending from the head part 41 so as to be foldable according to rotation of the plurality of second auxiliary driving parts 30 ( Including a 40, wherein the plurality of the variable drive unit 40 is the first mode or the wing that is in full contact with the head portion 41 of the other variable drive unit 40 adjacent to the wing 42 to form a circle The part 42 moves outward in the rotational direction of the plurality of second auxiliary drive units 30. The second mode is expanded.

In the present specification, the first mode and the second mode are determined according to positions and folding of the plurality of variable driving units 40, and may be used as terms describing the states of the plurality of variable driving units 40. It can also be used to describe the condition of the entire wheel. That is, the first mode may mean a state in which the wing 42 of the variable driving unit 40 is folded and a state of the variable driving wheel having the folded variable driving unit 40.

First, referring to FIG. 1, the main driving unit 10 is located at the center of the variable driving wheel. The main driving unit 10 is a power unit connected to the main driving unit 10, for example, when the motor (not shown) is rotated, the rotational force generated by the motor is transmitted to the main driving unit 10 to rotate the main driving unit 10 The variable drive wheels provide power to move forward or backward.

When the main driving unit 10 rotates, the first and second auxiliary driving units 20 and 30 rotatably engaged with the main driving unit 10 also rotate together. That is, the rotational force generated by the rotation of the main driving unit 10 may be transmitted to the first auxiliary driving unit 20, and the rotational force may be transmitted from the first auxiliary driving unit 20 to the second auxiliary driving unit 30.

In the present exemplary embodiment, the configuration in which the first and second auxiliary driving units 20 and 30 are sequentially provided with respect to the main driving unit 10 is not limited thereto, and the third auxiliary driving unit is not limited thereto. And it may further comprise more auxiliary drive unit.

As shown in FIG. 1, the second auxiliary driving part 30 may be formed to be spaced apart from the main driving part 10. That is, the first auxiliary driver 20 may be rotated by the main driver 10, and the second auxiliary driver 30 may be sequentially rotated by the first auxiliary driver 20.

The first auxiliary driving unit 20 provided between the main driving unit 10 and the second auxiliary driving unit 30 serves as a buffer, so that the variable driving wheel can be smoothly rotated and the respective rotation ratio is adjusted. The acceleration and deceleration of the second auxiliary drive unit 30 can be adjusted. In addition, the folding of the variable drive unit 40 to be described later can be made smoothly.

As described above, an additional auxiliary driver may be added between the main driver 10 and the second auxiliary driver 30.

In FIG. 1, three first auxiliary driving units 20 are provided around the main driving unit 10, and three second auxiliary driving units 30 engaged with each of the plurality of first auxiliary driving units 20 are provided. Although illustrated as an example, the present invention is not limited thereto, and the number of the first and second auxiliary driving units 20 and 30 may be appropriately changed. For example, four or more first and second auxiliary driving units 20 and 30 may be provided. If the number of the first and second auxiliary driving units 20 and 30 is different, the arrangement interval may be changed accordingly, and the length of the arc of the wing 42 of the variable driving unit 40 connected to the second auxiliary driving unit 30 is also different. Can vary.

In the example illustrated in FIG. 1, the main driving unit 10 and the second auxiliary driving unit 30 have the same size and rotation diameter, and the first auxiliary driving unit 20 has a relatively small size, but is not limited thereto. The sizes of the driving units 10, 20, and 30 may be the same, or the sizes of the driving units 10, 20, and 30 may all be different. Moreover, in order to adjust rotation ratio or reduction ratio (acceleration ratio) suitably, the relative magnitude | size of each drive part 10, 20, 30 can be increased or decreased suitably.

For example, when the rotation diameter of the second auxiliary driving unit 30 is reduced, the shift of the variable driving unit 40 connected thereto is quickly performed, but the moving speed of the variable driving wheel is reduced.

There is no restriction on the type of each of the driving units 10, 20, and 30 sequentially transmitting rotational force. For example, the main driving unit 10 and the first auxiliary driving unit 20 may be constituted by a pair of spur gears having gear teeth formed on the outer circumferential surface thereof, respectively, and the first auxiliary driving unit 20 and the second auxiliary driving unit 30. Each may be composed of a pair of spur gears formed with gear teeth on the outer circumferential surface.

Alternatively, the main drive unit 10 is composed of a sun gear, the first auxiliary drive unit 20 may be composed of a plurality of planetary gears of a small diameter to rotate in engagement with the sun gear, the second auxiliary drive unit 30 is a plurality of It may be composed of a spur gear that rotates in engagement with the planetary gear.

Alternatively, the main driving unit 10 and the first auxiliary driving unit 20 and / or the second auxiliary driving unit 30 may be a method in which rotation forces are transmitted to each other by a friction drum method. For example, the main driving unit 10 and the first auxiliary driving unit 20 may be connected by a pair of spur gears, and the first auxiliary driving unit 20 and the second auxiliary driving unit 30 may be connected in a friction drum manner.

In addition, the main driving unit 10 and the first auxiliary driving unit 20 and / or the second auxiliary driving unit 30 may be a method of receiving a rotational force by a belt connecting each other in a closed loop.

As described above, the main driving unit 10 and the first and second auxiliary driving units 20 and 30 may have different shapes or diameters to cross-sectional shapes of the outer circumferential surface.

The variable driving unit 40 may be provided in plurality, and may be provided in the same number as the plurality of second auxiliary driving units 30 so as to correspond one-to-one with the plurality of second auxiliary driving units 30. In the example shown in FIG. 1, it is assumed that three auxiliary driving units 30 and three variable driving units 40 are provided. However, the present invention is not limited thereto, and the second auxiliary driving unit 30 and the variable driving unit 40 are not limited thereto. The numbers may be different.

The variable driving unit 40 may be connected to the second auxiliary driving unit 30 and pivotally rotate as the second auxiliary driving unit 30 rotates. 1 illustrates a first mode in which the outer surface of the variable driver 40 is folded to form a circle.

Referring to FIG. 2, the variable driving unit 40 is inserted into, for example, a joint part 31 in which a rotation axis of the second auxiliary driving unit 30 extends to one side, and thus, in the rotation direction of the second auxiliary driving unit 30. Can be transmitted according to the rotational force.

Referring to FIG. 3, the variable driving part 40 may include a head part 41 directly connected to the second auxiliary driving part 30, and a wing part 42 extending from the head part 41. The part 41 and the wing part 42 may be configured as one body, or may be separately manufactured and combined or attached.

The head 41 may be generally circular in shape so that the rotational axis of the second auxiliary driving part 30 may be inserted into the joint part 31 extending from the second auxiliary driving part 30 so as to be smoothly rotated concentrically with the second auxiliary driving part 30. It may not have a shape and may have a different shape.

As shown in FIG. 3, in the first mode in which the wing portion 42 is folded inward of the variable driving wheel, the wing portion 42 has an arc shape so that the outer circumferential surface of the wing portion 42 may have a circular shape. It can be formed as. Specifically, the outer surface of the wing 42 may form an arc shape, the inner surface of the wing 42 may be provided in another shape, for example in a straight form.

An arc-shaped length of the wing 42 may be determined according to the number of the variable driving units 40. That is, since the outer circumferential surfaces of the plurality of variable driving units 40 integrally form a circular wheel, the length of the wing unit 42 may be shorter as the number of the variable driving units 40 increases.

As shown in FIG. 3, when the variable driving wheel runs on a flat surface, the outer surface of the wing 42 directly touches the ground to generate a driving force, thereby appropriately controlling the friction force between the wing 42 and the ground. In order to do so, predetermined irregularities 43 may be formed on the outer surface of the wing 42.

In addition, as shown in Figures 1 to 3, the head 41 of the variable drive portion 40 is formed with a recess 44 that can be in close contact with the wing portion 42 of the other variable drive portion 40 adjacent. Can be. That is, the end of the wing portion 42 is accommodated in the concave portion 44 formed in the head portion 41 of the adjacent variable drive portion 40 to form a smooth circular rotating body without protruding outer peripheral surface as shown in FIG. Can be. In the illustrated example, the concave portion 44 is formed in a semicircle shape, but is not limited thereto, and may be formed in another shape to correspond to the shape of the distal end portion of the wing portion 42.

Referring to FIG. 4, the driving principle of the variable driving unit 40 and the driving of the variable driving wheel will be described. First, when the main drive unit 10 rotates counterclockwise on FIG. 1 by a motor (not shown), the first auxiliary drive unit 20 which is directly engaged with the main drive unit 10 sequentially rotates clockwise. Then, the second auxiliary driving unit 30 which rotates in engagement with the first auxiliary driving unit 20 is rotated in the counterclockwise direction. When the second auxiliary driving unit 30 receives the rotational force, the variable driving unit 40 connected to the second auxiliary driving unit 30 receives the force in the counterclockwise direction. When the head 41 of the variable driving part 40 is subjected to a counterclockwise force in FIG. 1, the force to unfold the wing 42 acts. At this time, when the variable driving wheel is driving on a flat surface, since the force F applied to the variable driving part 40 is smaller than the reaction force (vertical drag force) received from the ground by the weight of the wheel itself, the wing part 42 is unfolded. The whole of the variable drive wheel is counterclockwise due to the frictional force (Fx ') in which the direction is opposite to the horizontal component (Fx) by the horizontal component (Fx) among the force components (Fx, Fy) applied by the variable driving unit (40). Rotate in the direction to receive the driving force to the left in FIG. That is, the entire variable drive assembly starts and maintains running while maintaining the circular rotating body in which the wings 42 are gathered inwardly and overlapped.

In addition, the force transmitted to the variable driving unit 40 by the second auxiliary driving unit 30 overcomes the weight of the variable driving unit 40 itself and rotates the wings 42 of the variable driving unit 40 in the unfolding direction. If it is not sufficient, that is, there is no reaction force received from the ground, the variable drive unit 40 can maintain the first mode. For example, when the force generated by the motor connected to the main drive unit 10 is not sufficient, even when the variable drive unit 40 is spaced apart from the ground, the wing unit 42 may not be unfolded. In this way, even if the force is not enough to rotate in the direction of spreading the wing 42, there is no problem in traveling on the flat, so the maximum running distance based on the minimum power consumption by adjusting the number of revolutions of the motor appropriately It can be set to ensure that.

The state in which the wing portion 42 is unfolded by the vertical drag is suppressed by only one variable driving portion 40 which is in contact with the ground at a certain time, among the plurality of variable driving portions 40 forming a circular rotating body. The plurality of variable driving units 40 are all controlled by the second auxiliary driving unit 30 which rotates in the same rotational direction and rotational speed by the main driving unit 10 which is the center, so that one variable driving unit 40 is placed on the ground. Even if it is in contact with each other, the variable driving part 40 can maintain the folded state inward.

In addition, by further comprising a recess 44 formed at the end of the head 41, as described above, the adjacent variable drive unit 40 to press each other to maintain the first mode state more stable wings on the flat The part 42 can be prevented from being unfolded.

Accordingly, the variable driving wheel according to the present embodiment may be driven in a desired direction by reaction and frictional force generated by the rotation by being in close contact with the road surface in the first mode while maintaining the same circular shape as other general circular wheels on a flat surface. have.

In addition, a special coating process may be applied to the outer surface of the variable driving part 40 as necessary to improve durability and improve product life. For example, when the variable driving unit 40 forms a circular rotating body, a rubber coating may be applied to an outer circumferential surface in contact with the ground to increase the frictional force to improve the moving speed.

Subsequently, referring to FIG. 5, a plurality of grooves are formed to accommodate the rotation axes of the plurality of second auxiliary driving units 30, and further include a circular rotating unit 50 rotatably formed independently of the main driving unit 10. It may include.

The circular rotating part 50 may be connected to the second auxiliary driving part 30 and may be simultaneously connected to the first and second auxiliary driving parts 20 and 30. On one surface of the circular rotating portion 50 is formed a groove for receiving the rotation axis of the first and second auxiliary drive unit (20, 30) rotatably, while the rotation axis of the main drive unit 10 is larger than the diameter of the rotating shaft A large hole may be provided in the center.

Therefore, the circular rotating part 50 is not directly affected by the rotation of the main driving part 10, but is rotated by the first and / or second auxiliary driving parts 20 and 30 that are rotated by the main driving part 10. It can rotate under the influence of the variable driving unit 40 to generate.

As shown in FIG. 5, the circular rotating unit 50 may simultaneously serve as a housing for accommodating the main driving unit 10 and the plurality of first and second auxiliary driving units 20 and 30 therein.

Since the main driving unit 10 and the first and second auxiliary driving units 20 and 30 are accommodated in the circular rotary unit 50, the main driving unit 10 and / or each auxiliary driving unit are disconnected from the outside and foreign matters are separated from the outside. No penetration or insertion into (20, 30).

The variable driving wheel and the variable driving assembly including the same according to the present exemplary embodiment may travel on a rough road having many obstacles such as gravel and sand as well as flat ground. In this case, when the main driving unit 10 and the first and second auxiliary driving units 20 and 30 are exposed to the outside, foreign substances, for example, sand and rock fragments, may be penetrated while traveling. When foreign matter is inserted into the wheel, the variable drive assembly is not smoothly driven, and when the size of the foreign matter is large, the gears are engaged between the teeth to block rotational power transmission between the main drive unit 10 and the auxiliary drive units 20 and 30. It may cause malfunction or failure.

Accordingly, the variable driving wheel according to the present exemplary embodiment includes a circular rotating part 50, and rotates in the advancing direction irrespective of the folding direction of the variable driving part 40 to generate propulsion force, and at the same time, transfers actual power to the main driving part ( 10) and the first and second auxiliary driving units 20 and 30 can be accommodated therein to protect from foreign matters. The rotational relationship between the circular rotating unit 50 and the variable driving unit 40 will be described later in detail with reference to other drawings.

As shown in FIG. 5, the diameter of the circular circle formed by the circular rotation unit 50 and the outer circumferential surface of the plurality of variable driving units 40 in the first mode may be set to be the same. Therefore, when the variable driving wheel rotates in the first mode, the outer peripheral surface of the wing portion 42 of the variable driving portion 40 and the outer circumferential surface of the circular rotating portion 50 simultaneously touch the ground to generate a driving force, so that more stable driving may be possible. Can be.

In addition, as shown in FIG. 5, the main driving unit 10 and the first and second auxiliary driving units 20 and 30 may be accommodated in the circular rotating unit 50, while the variable driving unit 40 may have a circular rotating unit. It may be provided on the outside of the (50). Accordingly, in order to transmit the power transmitted to the second auxiliary driver 30 to the variable driver 40 in contact with the actual road surface, as described above, the second auxiliary driver 30 extends in the rotation axis direction and the circular rotary part 50. As described above, it may further include a joint part 31 rotatably coupled to the head part 41 of the plurality of variable driving parts 40 mounted on the outer surface of the circular rotation part 50 by passing through.

The type and size of the joint part 31 are not limited, and any configuration capable of transmitting the rotational force of the second auxiliary driving part 30 to the variable driving part 40 may be applied to the variable driving assembly according to the present embodiment without limitation.

That is, the joint part 31 is provided to be rotatable, one end of the joint part 31 is coupled to the head 41 which becomes the rotational center axis of the variable driving part 40, and the joint part 31 rotates. The rotation of the variable drive part 40 including the head part 41 is controlled according to the direction.

To this end, a groove corresponding to the shape of the insertion end of the joint part 31 may be formed in the head part 41 of the variable driving part 40 so that the joint part 31 may be inserted. Therefore, the variable driving part 40 is coupled to the joint part 31, and when the joint part 31 rotates by the second auxiliary driving part 30, the rotational force is also transmitted to the variable driving part 40 engaged therewith. In addition, the head 41 and the blade 42 of the variable driving unit 40 also swing together around the axis of rotation of the second auxiliary driving unit 30.

6 to 8, a variable drive wheel in a second mode state constituting a road-compliant adaptive drive assembly according to an embodiment of the present invention will be described. FIG. 6 is a schematic plan view of a variable driving wheel in a second mode state constituting a compliant variable drive assembly according to an embodiment of the present invention, and FIG. 7 is a vertical force and force applied to the variable driving wheel of FIG. 6. 8 is a view showing a relationship between the force applied to the variable driving wheel and the vertical drag when the variable driving wheel of FIG. 7 is changed from the second mode to the first mode.

If the road surface is not flat, that is, mountain roads with many obstacles or irregular road surface, the circular wheel in the first mode state as shown in FIG. 1 is difficult to proceed. In particular, in the case where a step is formed, for example, when driving a block between a road and a sidewalk, a circular rotating body is momentarily separated from the ground, and thus the force for driving cannot be exerted.

In this case, as shown in Figure 6, the variable drive unit 40 is unfolded to form a wing-shaped rotating body. That is, the wing 42 of the variable driving unit 40 is extended while extending in a direction away from the head 41 of another adjacent variable driving unit 40 to form a wing-shaped rotating body. The blade-shaped rotating body is larger in diameter than the circular rotating body, and is stable in driving a path over which an obstacle is formed or a step is formed by a plurality of blades. In detail, in the second mode, the wing parts 42 of the plurality of variable driving parts 40 may extend outward from the outer circumferential surface of the circular rotation part 50.

The variable drive assembly according to the present embodiment is variable according to the road surface by forming a circular rotating body or a wing-shaped rotating body according to the state of the road surface, the sensor or sensor for detecting a separate road surface state in this variable process The configuration corresponding to the control unit which analyzes the state of the road surface captured by the controller and electronically controls the variable process is unnecessary. That is, according to the state of the road surface, it can be automatically changed to the first mode, which is a circular rotating body, and the second mode, which is a vane rotating body.

Referring to FIG. 7, the principle of changing from the first mode to the second mode of the variable driving wheel according to the present embodiment will be described.

In the first mode, when the variable driving wheel meets an obstacle or encounters an obstacle or a step formed with a step, that is, a rough ground, the driving speed is loaded in a direction in which the driving speed decreases momentarily. Therefore, a larger rotational force may be applied to the main drive unit 10 to escape the rough land. Such increase in rotational force may be achieved by a user controlling the variable driving wheel directly increasing the number of rotations of the motor, or may be set such that a larger force is generated by a control circuit provided in the variable driving wheel itself. In addition, the generated load may be reacted in the opposite direction to the traveling direction and combined with the force to act as a greater force.

As a result, the force F due to the rotation of the variable driving unit 40 is increased. When the vertical component Fy of the increased force F is greater than the vertical drag N, the variable driving unit 40 is vertical. Overcoming the drag force (N), the wing 42 is erected while extending in a direction away from the head 41 of another adjacent variable drive portion 40 to form a wing-shaped rotating body.

Therefore, even without separate electronic control, the state is changed from the first mode (circular rotating body) state to the second mode (wing-shaped rotating body) state according to the state of the road surface to overcome the rough terrain and continue to maintain stable running.

Even if a larger rotational force is not applied to the main drive unit 10, even when irregularities are formed on the road surface being driven and the variable driving wheel is momentarily spaced apart from the ground, the vertical drag force is applied so that the wing unit 42 does not spread. Since it does not act momentarily, the wing 42 can be unfolded and driven in the second mode. At this time, however, as described above, when the rotational force generated by the main drive unit 10 is not sufficient to withstand the load of the variable drive unit 40 itself and to rotate the wing unit 42 in the unfolding direction, the variable drive wheel is Even if spaced apart from the ground momentarily, the wing 42 may not be spread.

Even after the wing section 42 is changed to the second mode, the wing section 42 travels in the left direction in FIG. 7 in response to the horizontal component Fx of the force F that strikes the ground as in the first mode. Can continue. Therefore, even when the wing portion 42 is changed from the folded state to the unfolded state, it is possible to continue running along the driving direction.

In the second mode, the plurality of variable driving units 40 may include a locking part (not shown) to prevent the wing 42 from being unfolded at a predetermined angle or more, and may be configured to not be flipped over the maximum angle.

Referring to FIG. 8, the driving principle of the variable driving wheel according to the present embodiment is changed from the second mode back to the first mode when the flat ground is overcome and the flat ground is overcome again.

When the variable driving wheel which is running in the second mode enters the flat land, the rotational force of the main driving unit 10 is reduced because a higher rotational force is not required compared to the rough terrain. As described above, the rotational force control may be directly controlled by the user or may be controlled by a controller of a motor provided in the variable driving wheel.

When the rotational force by the main driving unit 10 is reduced, the force F generated by the rotational force finally transmitted to the variable driving unit 40 through the first and second auxiliary driving units 20 and 30 is thereby reduced. The vertical and horizontal components Fy and Fx of the force F decrease.

The vertical force N applied to the variable drive wheel is constant. Since the vertical component Fy of the force F is reduced, the variable drive wheel is rotated in the direction of being folded back by the vertical force N.

In this process, since the main drive unit 10 generates the rotational force continuously, the variable drive unit 40 is changed to the second mode due to the horizontal component Fx of the force F generated by the variable drive unit 40. The entire variable drive wheel can continue to run in the left direction of FIG.

According to the above principle, a variable drive assembly is provided which is driven in the form of road adaptation, in which the state of the wheel is automatically changed according to the state of the road without a separate sensor and control device, and in particular, despite the state change of the road conformable variable drive assembly. The same driving direction can be maintained.

Next, with reference to Figures 9a to 9e, the shift during the road surface driving of the road adaptive wheel according to an embodiment of the present invention will be described in sequence. 9A to 9E are schematic views sequentially illustrating changes in rough terrain driving of a road adaptive wheel according to one embodiment of the present invention.

Referring to FIG. 9A, when the variable driving wheel runs on a flat surface, the variable driving unit 40 maintains a first mode state. In the first mode state, the vertical component of the force by the variable driver 40 is balanced with the vertical drag.

Referring to FIG. 9B, when entering the rough ground formed in the front of the driving direction of the variable driving wheel, a large rotational force is generated in the main driving unit 10 of the variable driving wheel, and the vertical component of the force by the variable driving unit 40 is If greater than the vertical drag, the wing of the variable drive unit 40 begins to spread outward. While the wing is unfolded, the driving in the traveling direction is continued by the reaction (friction force) to the horizontal component of the force.

Referring to FIG. 9C, the driving continues in the second mode in which the variable driving unit 40 is extended until it leaves the rough ground. In this case, the unfolded angle of the variable driving part 40 may be less than or equal to a predetermined maximum angle determined by a locking part (not shown) provided so that the wing part 42 does not unfold beyond a predetermined angle in the second mode. Even in the state where the wing portion of the variable drive portion 40 is fully extended, the driving in the traveling direction can be continued by the reaction (friction force) to the horizontal component of the force generated by the wing portion. In addition, since the wing portion of the variable driving unit 40 is expanded to be larger than the diameter of the circular rotation unit 50, it is very easy to overcome the rough terrain compared to the first mode in the circular state.

Referring to FIG. 9D, after passing through the rough ground, the variable driving portion 40 of the variable driving wheel is reduced in rotational force, which causes the vertical component of the force to be smaller than the vertical drag, thereby rotating in the direction in which the wings are folded again. Can be. Even in this case, the traveling in the traveling direction can be continued by the reaction (friction force) to the horizontal component of the force generated by the wing portion.

Referring to FIG. 9E, when the rough terrain is completely passed and the flat land is driven again, the variable driving unit 40 returns to the first mode again, and may continue driving in the form of a circular wheel.

Next, a variable drive assembly according to an embodiment of the present invention will be described with reference to FIG. 10. 10 is a schematic perspective view of a variable drive assembly including one or more road-compliant variable drive wheels according to an embodiment of the present invention.

The variable drive assembly including one or more road-compliant variable drive wheels described with reference to FIGS. 1 to 9E automatically switches between the first mode and the second mode according to the road condition. In addition, the rough terrain can easily be overcome without a separate road surface detection device.

In the example shown in FIG. 10, the variable driving assembly having four variable driving wheels is illustrated, but is not limited thereto. The number of the variable driving wheels constituting the variable driving assembly may be varied as necessary.

Since the variable driving assembly according to the present embodiment is easy to overcome the rough terrain and has a low probability of malfunction, the variable driving assembly may be equipped with a detection module, for example, a camera device and a transmission / reception module, to search for remote land or rough terrain where it is difficult for a person to directly explore.

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: main drive unit 20: first auxiliary drive unit
30: second auxiliary drive part 31: joint part
40: variable drive 41: head
42: wing 43: irregularities
44: recess 50: circular rotation

Claims (13)

A main drive unit rotatably formed;
A plurality of first auxiliary driving parts rotatably engaged with the main driving parts;
A plurality of second auxiliary driving parts spaced apart from the main driving part and rotatably formed in engagement with the plurality of first auxiliary driving parts, respectively; And
Is connected to each of the plurality of second auxiliary drive unit and pivotally pivotable in accordance with the rotation of the plurality of second auxiliary drive unit, and includes a plurality of variable driving portion consisting of a head portion and a wing extending from the head portion ,
The plurality of variable driving parts may be in close contact with the head of another variable driving part adjacent to the wing part, and may be formed in a first circular shape, or a second portion of the wing parts may be extended outward in a rotational direction of the plurality of second auxiliary drive parts. Road-adaptive variable drive wheel that is variable in mode. The method of claim 1,
A plurality of grooves are formed to accommodate the rotational axis of the plurality of second auxiliary drive portion, road surface compliant variable driving wheel further comprising a circular rotating portion formed to be rotatable independently of the main drive. The method of claim 2,
The circular rotation part is a road surface adaptive variable driving wheel that is rotated by the plurality of second auxiliary drive unit. The method of claim 2,
A road surface adaptive variable driving wheel having the same circular diameter as the circular driving unit and the plurality of variable driving units in the first mode. The method of claim 2,
The wing portion of the variable driving portion in the second mode is a road surface adaptive variable driving wheel that extends outwardly than the outer peripheral surface of the circular rotating portion. The method of claim 2,
The circular rotating part is a road adaptable variable driving wheel for accommodating the main driving part, the plurality of first and second auxiliary driving parts inside. The method of claim 1,
The wing portion of the plurality of variable driving unit is a road surface adaptive variable driving wheel having an arc shape. The method of claim 1,
And the main driving part and the plurality of first auxiliary driving parts are connected to each other by one of a spur gear, a sun gear and a planetary gear, a friction drum, and a belt. 9. The method of claim 8,
And the plurality of first auxiliary driving parts and the plurality of second auxiliary driving parts are connected to each other by one of a spur gear, a sun gear and a planetary gear, a friction drum, and a belt. The method of claim 1,
A road surface adaptive variable driving wheel having irregularities formed on outer surfaces of the wing portions of the plurality of variable driving units. The method of claim 1,
The head of the plurality of variable driving portion, the road surface adaptive variable driving wheel formed with a concave portion that can be in close contact with the wing portion of the adjacent variable driving portion. The method of claim 1,
The plurality of variable driving part is a road surface adaptive variable driving wheel formed with a locking portion so that the wing portion does not spread more than a predetermined angle in the second mode. 13. A variable drive assembly comprising at least one road compliant variable drive wheel according to claim 1.

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