KR20220150635A - Wheel unit having a plurality of dividable rotatable blocks - Google Patents

Abstract

A wheel unit for overcoming an obstacle having a multi-segment rotation block comprises a hub unit, a plurality of unit blocks, and a support body. The hub unit is rotated by receiving rotating force. The unit blocks are spaced from the hub unit at a predetermined interval, and form an outer shape of the wheel unit. The support body connects the hub unit and the unit blocks or is filled between the hub unit and the unit blocks. The unit block is rotated in relative to the adjacent unit blocks to be closely attached to each other or to be segmented to be detached since the wheel unit moves on a ground surface or overcomes an obstacle.

Description

Wheel unit for overcoming obstacles including a multi-segment rotation block {WHEEL UNIT HAVING A PLURALITY OF DIVIDABLE ROTATABLE BLOCKS}

The present invention relates to a wheel unit for overcoming obstacles, and more particularly, to a deformable structure using a surface tension mechanism of water droplets and a multi-segment rotation block to easily overcome obstacles such as stairs as well as running on level ground. In particular, it relates to a wheel unit for overcoming obstacles including a multi-segment rotation block in which stable deformation is implemented in an obstacle overcoming process.

Recently, a number of technologies related to wheels that can be driven while freely passing through obstacles or stairs have been developed.

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

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

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

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

In particular, as continuous obstacle overcoming is performed, stable deformation and structural recovery of the wheel structure are very important. In a form in which a part of the wheel structure is deformed in a conventional integrated structure, such stable deformation and structural recovery cannot be realized. there is

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

Therefore, the technical problem of the present invention is focused on this point, and the object of the present invention is to minimize and maintain the change in the shape of the wheel during driving on the ground by using the principle that the water droplet maintains the shape of the water droplet through surface tension, and the wheel When an obstacle collides with the side, it easily overcomes the obstacle through structural change. In particular, in the case of obstacle overcoming, it is possible to overcome the obstacle through easy segmentation of multi-segment rotation blocks, and immediate recovery after overcoming the obstacle is possible. However, it relates to a wheel unit for overcoming obstacles including a multi-segment rotation block in which such segmentation and restoration can be performed more stably.

A wheel unit for overcoming obstacles according to an embodiment for realizing the object of the present invention described above includes a hub portion, a plurality of unit blocks, and a support body. The hub portion receives rotational driving force and rotates. The unit blocks are spaced apart from the hub part by a predetermined distance and form the outer shape of the wheel unit. The support connects between the hub part and the unit blocks or is filled between the hub part and the unit blocks. As the wheel unit moves on the ground or overcomes an obstacle, the unit block rotates relative to an adjacent unit block and adheres to or is segmented and detached from each other.

In one embodiment, when the wheel unit passes through a flat ground, the unit blocks are in close contact with each other, and the support body applies tension to the unit blocks in the direction of the hub portion to simulate the surface tension of water droplets It can be.

In one embodiment, when the wheel unit overcomes an obstacle, unit blocks adjacent to each other relatively rotate and maintain contact with each other in a contact portion contacting the obstacle, and unit blocks adjacent to each other in an adjacent portion spaced from the contact portion. The adhesion is released and they can be segmented from each other.

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

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

In one embodiment, each of the unit blocks includes a body portion having a predetermined width and forming a rounded outer surface, and a connection portion extending from the body portion and forming an insertion space into which the body portions of adjacent unit blocks are inserted. can do.

In one embodiment, the connection part, a first connection surface extending from one side of the body portion, a second connection surface extending from the other side of the body portion and forming the insertion space together with the first connection surface, and the It connects between the first connection surface and the second connection surface, and may include a contact surface having a concavely rounded shape to contact the outer surface of the body.

In one embodiment, the connection part may further include a groove formed by being recessed between the other side of the body and the second connection surface, into which the second connection surface of an adjacent unit block is inserted.

In one embodiment, when the wheel unit overcomes an obstacle, the second connection surface of the unit block is inserted into the groove of an adjacent unit block at a contact portion where the obstacle is contacted, so that adjacent unit blocks are separated from each other. can be attached.

In one embodiment, as the adjacent unit blocks are brought into close contact, the distance between the centers of the body parts of the adjacent unit blocks may be maintained constant.

In one embodiment, when the wheel unit overcomes an obstacle, the body part of the unit block may rotate while being spaced apart from the contact surface of the unit block adjacent to the obstacle.

In one embodiment, as the adjacent unit blocks are spaced apart and relatively rotated, a distance between centers of body parts of adjacent unit blocks may increase.

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

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

In this case, the collapsed part can be easily restored through the tension after passing through the obstacle, the structure of the unit blocks, and the elastic force of the elastic wire to maintain the original shape of the wheel again, through which the obstacle can be overcome and the ground You can drive smoothly.

In particular, each of the unit blocks includes a body portion having a round and protruding outer surface shape and a connection portion having a round recessed shape, in a state where the body portion of an adjacent unit block is inserted into the connection portion and positioned, relative to each other. It is formed to be able to rotate, and through this, stable and effective driving can be maintained in a state of overcoming an obstacle or a state of driving on the ground.

That is, in the case of an obstacle overcoming state, in the contact part, between adjacent unit blocks, the body part and the connection part relatively rotate and have a structure in close contact with each other, and in particular, since the relative rotation amount is limited by the groove part, a stable support structure can be implemented. have. Unlike this, in the adjacent part, since the body part and the connection part are segmented from each other between adjacent unit blocks and their relative positions can be freely changed within a predetermined range, the applied force is distributed to maintain the structure of the entire wheel unit.

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

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

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

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

In this application, the terms "comprise" or "consisting of" are intended to designate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or more other features It should be understood that it does not preclude the possibility of the presence or addition of numbers, steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and unless explicitly defined in the present application, they should not be interpreted in an ideal or excessively formal meaning. don't

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

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

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

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

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

The unit blocks 100 are arranged in close contact with each other, as shown in a plurality of individual unit blocks 100, and form the outer shape of the wheel unit 10 as a whole.

As will be described later, the unit blocks 100 are designed to maintain adhesion to each other, and accordingly, as shown in FIG. 1, the unit blocks 100 form the outer shape of the wheel unit 10 and maintain close contact with each other. can

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

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

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

In this case, as will be described later, the close contact state shown in FIG. 1 can be released, that is, detached, according to contact with an obstacle, etc., and these unit blocks 100 Obstacles are overcome through adhesion and detachment between them.

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

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

In addition, although described in detail later, the elastic wire 600 extends along the side surfaces 112 and 113 (see FIG. 5A) of the unit blocks 100, and is connected in a circular shape as a whole.

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

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

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

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

Unlike this, although not shown, considering that the unit blocks 100 are in close contact with each other, the support 200 may not have one spoke connected to each of the unit blocks 100, , may be connected only to unit blocks 100 spaced apart at regular intervals.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Referring to FIG. 3A , when the wheel unit 10 passes through the ground 1, the unit blocks 100 are in close contact with each other by a structure described later, and at the same time, the support body 200 is the unit Applying tension in the direction of the hub portion 300 to the blocks 100, and applying tension in the direction of the hub portion 300 to the unit blocks 100 with the elastic wire 600 as described above. As explained.

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

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

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

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

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

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

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

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

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

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

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

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

FIG. 5A is a perspective view showing a unit block of the wheel unit of FIG. 1, and FIG. 5B is a perspective view showing a state in which the unit blocks of FIG. 5A are connected to each other.

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

Each of the unit blocks 100 includes a body portion 110, a connection portion 120, a groove portion 130, and a fixing portion 140.

The body part 110 forms the central body of the unit block 100, and as shown in FIGS. 5A and 5B, it has a cylindrical shape as a whole, and the connection part 120 is extended on one side. has a structure that

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

The body portion 110 forms a cylindrical shape in the center, a rotating body 111 having a rounded outer circumferential surface, and first and second side surfaces forming both side surfaces of the rotating body 111 ( 112 and 113), and an extension surface 114 extending from one side of the rotating body 111 and connected to the connecting portion 120 to be described later.

The rotating body 111 has a cylindrical shape as a whole, and the connection part 120 is connected and extended to one side. In particular, the upper side of the rotating body 111 ('upper side' in the shape shown in FIG. 5a, so it is described as 'upper side' for convenience of description, but it may be substantially 'lower side', which is the same as 'lower side' described later) It may be 'upper side') extends upward and extends to the extension surface 114 whose outer surface forms a curved surface.

In this case, the outer surface of the rotating body 111 has a protruding cylindrical outer surface shape, but the extension surface 114 has a concave curved surface and extends.

A pair of the fixing part 140 is formed to protrude from each of the first and second side surfaces 112 and 113 . That is, the upper fixing part 141 and the lower fixing part 142 are formed to protrude from the first side surface 112, and the upper and lower fixing parts 141 and 142 are spaced apart at a predetermined interval so as to be fixed. A space 143 is formed.

Likewise, although not shown, the upper and lower fixing parts protrude from the second side surface 113 at a predetermined interval to form the same fixing space.

Through the fixing space 143, the elastic wire 600 described above is extended and fixed, and the spacing of the fixing space 143 is variously designed in consideration of the thickness of the elastic wire 600. can

That is, as the elastic wire 600 is fixed along the fixing space 143 and extends throughout the inter-unit blocks 100, the elastic force of the elastic wire 600 is directed toward the hub portion 300 for the unit block. It can be provided to the blocks 100, and can also provide adhesion between the unit blocks 100.

The connection part 120 extends from one side of the body part 110 and has a structure in close contact with the body part of the adjacent unit block.

That is, the connection part 120 includes a first connection surface 121 , a second connection surface 122 , a contact surface 123 , a first side surface 125 and a second side surface 126 .

The first connection surface 121 extends from the extension surface 114, and the outer surface forms a plane that extends flat, and becomes sharper and protrudes as it moves away from the body portion 110.

The second connection surface 122 extends from the opposite side of the extension surface 114, and the outer surface of the second connection surface 122 also forms a plane extending flat, and is away from the body portion 110. The more pointed it is, the more it protrudes.

In this case, the groove part 130 to be described below is formed on the lower side of the rotating body 111 where the second connecting surface 122 extends, and therefore, the second connecting surface 122 is formed on the rotating body ( 111) has a form extending flat after a predetermined groove is formed from the lower side.

The second connection surface 122 extends to have a flat outer surface like the first connection surface 121, but the outer surfaces of the first connection surface 121 and the second connection surface 122 are parallel to each other. It doesn't have to be designed.

In addition, as the first and second connection surfaces 121 and 122 extend to become sharper towards the end, the contact surface 123 is formed to have a concave curved surface shape.

That is, the contact surface 123 extends from the end of the first connection surface 121 to the end of the second connection surface 122, and extends as a curved surface having a concave recess. At this time, the curvature of the recessed shape of the contact surface 123 is substantially the same as the curvature of the protruding shape of the rotating body 111 .

That is, the contact surface 123 has a curved surface that is recessed to correspond to the outer circumferential surface of the cylindrical shape as a whole. Thus, as shown in FIG. 5B, the outer surface of the rotating body 111 of the adjacent unit block may be in close contact with the contact surface 123.

In other words, the first connection surface 121, the second connection surface 122, and the contact surface 123 form an insertion space 124 therein, and an adjacent body portion on the insertion space 124 ( 110) is inserted and adhered.

Thus, the plurality of unit blocks 100 maintain a coupled state in close contact with each other.

The first side surface 125 and the second side surface 126 of the connection part 120 extend from the first side surface 112 and the second side surface 113 of the body part 110, respectively, and the unit block ( 100) form both sides.

The groove part 130 extends from the lower side of the rotating body 111 (as described above, it does not matter if it is the upper side), and the second connecting surface 122 of the rotating body 111 and the connecting part 120 formed between

The groove part 130 extends from the lower side of the rotating body 111, and has an extended curved surface 131 extending with the same curvature as that of the rotating body 111, and a flat plane from the end of the extended curved surface 131. It forms and includes an extending vertical surface 132 extending downward.

In this case, it is obvious that if the groove part 130 is formed on the upper side of the rotating body 111, the extending vertical surface 132 may extend upward from the extending curved surface 131.

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

The curvature of the extended curved surface 131 is the same as that of the rotating body 111, and as described above, the curvature of the contact surface 123 is also the same as the curvature of the rotating body 111. Since it is formed to do so, the end of the second connection surface 122 can be naturally inserted into the support groove 133.

That is, as shown in FIG. 5B, when unit blocks 100 adjacent to each other are coupled to each other, the body portion 110 is located in a state inserted on the connection portion 120, and the body portion When the body part 110 rotates relative to the connection part 120 in a state in which the body part 110 is inserted into the insertion space 124 of the connection part 120, the end of the second connection surface 122 It may be inserted into the support groove 133 while moving along the lower side of the rotating body 111 .

At this time, the extending vertical surface 132 of the groove part 130 extends in a flat shape, and when the end of the second connection surface 122 is inserted into the support groove 133, the extending vertical surface ( 132) restricts further movement. Therefore, the relative degree of rotation between adjacent unit blocks 100 may be limited.

Furthermore, as shown, the protruding rotating body 111 of the cylindrical shape of the body part 110 is in close contact with the insertion space 124 of the cylindrical shape of the connection part 120, adjacent units. Since the blocks 100 are relatively rotatable, the adhesion of the unit blocks 100 as a whole is maintained so that the outer appearance of the wheel unit 10 is not greatly collapsed, and in detail, each unit block 100 The relative positional relationship of can be varied in various ways and can be segmented, so that the ease of overcoming obstacles and the like is improved.

Hereinafter, the relative coupling relationship of the unit blocks 100 when overcoming such an obstacle will be described.

FIG. 6 is a front view illustrating a deformation state of unit blocks at the contact portion A in a state in which the wheel unit of FIG. 4A overcomes an obstacle.

Referring to FIG. 6, in a state in which the wheel unit 10 according to the present embodiment overcomes the obstacle 6, the unit blocks 101 and 102 adjacent to each other in the contact portion A are coupled while being bent in reverse directions. The binding state is varied so as to be possible.

In general, in order to pass through an obstacle, the unit blocks 101 and 102 must be fixed and rotated around the contact point at the contact point with the obstacle 6, and for this rotation, the unit blocks 101 , the inner side of 102) should be able to be deformed relatively freely. Thus, the unit blocks 101 and 102 can easily overcome the obstacle 6 by rotating around the contact point.

In this aspect, the coupling relationship between the adjacent unit blocks 101 and 102 in the contact portion A is reviewed with reference to FIG. 6 as follows.

That is, when the unit blocks 101 and 102 come into contact with the obstacle 6 in a state in which the unit blocks 101 and 102 are in close contact with each other as shown in FIG. The unit blocks 101 and 102 are relatively rotated in an outward bending direction.

Thus, the second connection surface 122 of the unit block 101 located at the bottom moves along the outer surface of the rotating body 111 of the unit block 102 located at the top and supports the upper unit block 102. It is inserted into the groove 133 and positioned.

Thus, the plane, which is the outer surface of the second connection surface 122 of the lower unit block 101, comes into contact with the vertical surface of the obstacle 6, and at the same time, the second connection surface of the front unit block 102 ( 122) may be positioned to contact the plane of the obstacle 6.

In this case, it is not necessary to maintain a state in which the two adjacent second connection surfaces 122 are in contact with both vertical surfaces of the vertical obstacle 6, and the state of the two surfaces of the obstacle 6 The contact state may be variably changed, such as sequential contact in consideration of the like.

However, the support groove 133 and the end of the second connection surface 122 inserted therein substantially coincide with the contact point 7 with the obstacle 6, and the wheel unit 10 as a whole Since rotation driving force is provided in a clockwise direction, the unit blocks 101 and 102 adjacent to each other rotate around the contact point 7 to overcome the obstacle 6 .

On the other hand, in order to overcome the obstacle 6 centered on the contact point 7 as described above, the inside of the unit blocks 101 and 102 in contact with the obstacle 6 must be freely deformable. In the case of yes, since the rotating body 111 of the upper unit block 102 is inserted into the insertion space 124 of the lower unit block 101 and in close contact with it, free relative rotation is possible. Free deformation of the inner side can be implemented.

In particular, in a state in which the adjacent unit blocks 101 and 102 are in close contact with each other, the center distance between the center C of the lower unit block 101 and the center C' of the upper unit block 102 (CC´) remains constant, and no change in distance occurs. Therefore, the unit blocks in contact with the obstacle 6 maintain a relatively stable posture, and thus, the external force generated in the process of contacting the obstacle 6 can be stably absorbed and the obstacle can be overcome.

Of course, in this case, the elastic wire 600 that penetrates the fixed spaces 143 and connects the adjacent unit blocks 101 and 102 maintains adhesion between the unit blocks and enables stable overcoming of obstacles. will do

As described above, when the unit blocks coupled to each other come into contact with an obstacle, the inner side is segmented and free rotation is induced, but the outer side is fixed so as to be rotatable around the contact point, so that the wheel unit 10 It does not cause a problem such as bouncing out of contact with an obstacle, sufficiently absorbs an external force due to contact with the obstacle, and effectively overcomes the obstacle.

FIG. 7 is a front view illustrating a deformation state of unit blocks at an adjacent portion B in a state in which the wheel unit of FIG. 4A overcomes an obstacle.

On the other hand, as described with reference to FIG. 6, in a state in which the wheel unit 10 overcomes the obstacle 6, unlike the close contact and relative rotation of the unit blocks 101 and 102 in the contact portion A, , the relative positions of the unit blocks 103 and 104 are changed in a different manner in the false neighborhood B.

Referring to FIG. 7, in the adjacent portion (B), the unit blocks 103 and 104 adjacent to each other are deformed so that the outer portions are far apart due to the tensile force, but the inner portions are so close to each other due to the compressive force. Transformed. Accordingly, the adjacent unit blocks 103 and 104 in close contact with each other become segmented around the inner side.

That is, with respect to the rear unit block 103, the front unit block 104 is rotated as a whole in an inward direction, that is, in a direction toward the hub portion 300, and accordingly, the body of the front unit block 104 The part 110 is separated from the insertion space 124 of the rear unit block 103, and the first connection surface 121 of the rear unit block 103 is the extended surface of the front unit block 104 ( 114) will follow.

Accordingly, the distance CC' between the centers of the body parts 110 of the adjacent unit blocks 103 and 104 increases according to the separation.

However, in this case, the extension surface 114 has a curvature of a concavely inserted shape, and when the first connection surface 121 of the rear unit block 103 moves along the extension surface 114 Even in this case, movement exceeding a predetermined distance is restricted, and accordingly, unit blocks 103 and 104 adjacent to each other maintain a segmented state to the degree shown in FIG. 7 .

That is, even if the unit blocks 103 and 104 adjacent to each other are segmented from each other, segmentation to a state in which the mutual contact state is completely separated can be blocked. In particular, in the case of this embodiment, since the elastic wire 600 maintains the adhesion between the unit blocks 103 and 104 adjacent to each other, the unit blocks 103 and 104 are completely spaced apart, so that the wheel as a whole A state in which the outer shape of the unit 10 collapses does not occur.

As described above, in the adjacent portion (B), the tensile force applied to the outer portion of the unit blocks 103 and 104 is absorbed through the elastic wire 600, and the inner portion of the unit blocks 103 and 104 The compressive force acting as a part is absorbed through the expansion surface 114 and the first connection surface 121 fixed thereto.

Therefore, the unit blocks 103 and 104 are not displaced or their relative positions are not irregularly changed, and the overall shape of the wheel unit 10 can be maintained constant.

That is, as reviewed through FIGS. 6 and 7, when the wheel unit 10 overcomes the obstacle 6, the unit blocks adjacent to each other in the contact portion A and the adjacent portion B are different from each other. Although the relative position is deformed while maintaining the coupling relationship, it is possible to stably overcome obstacles without collapsing the shape of the wheel unit 10 as a whole.

In particular, due to the characteristic structure of the unit block 100 in this embodiment, in the process of the unit block 100 overcoming the obstacle 6, the contact portion A or the adjacent portion B Regardless of where it is located, it adheres closely to adjacent unit blocks or is freely segmented, and furthermore, it is possible to limit relative position changes, and through this, effective obstacle overcoming is possible.

8A is an image illustrating a state in which the wheel unit of FIG. 1 passes through an actual flat ground, and FIG. 8B is an image illustrating a state in which the wheel unit in FIG. 1 passes through an obstacle.

Referring to FIG. 8A, when the wheel unit 10 described in FIG. 1 passes through the flat ground 1, the unit blocks 100 are in closer contact with the ground 1. one state can be maintained.

In addition, the support 200 connecting the ground 1, the unit blocks 100, and the hub portion 300 may maintain a loosely connected state.

On the other hand, referring to FIG. 8B, when the wheel unit 10 described in FIG. 1 passes through an obstacle 6 such as a stairway, at the contact portion A with the obstacle 6, as described above, the unit The outer parts of the blocks adhere to each other, but the inner parts are segmented, simulating the collapse of the surface tension of water droplets.

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

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

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

In this case, the collapsed part can be easily restored through the tension after passing through the obstacle, the structure of the unit blocks, and the elastic force of the elastic wire to maintain the original shape of the wheel again, through which the obstacle can be overcome and the ground You can drive smoothly.

In particular, each of the unit blocks includes a body portion having a round and protruding outer surface shape and a connection portion having a round recessed shape, in a state where the body portion of an adjacent unit block is inserted into the connection portion and positioned, relative to each other. It is formed to be able to rotate, and through this, stable and effective driving can be maintained in a state of overcoming an obstacle or a state of driving on the ground.

That is, in the case of an obstacle overcoming state, in the contact part, between adjacent unit blocks, the body part and the connection part relatively rotate and have a structure in close contact with each other, and in particular, since the relative rotation amount is limited by the groove part, a stable support structure can be implemented. have. Unlike this, in the adjacent part, since the body part and the connection part are segmented from each other between adjacent unit blocks and their relative positions can be freely changed within a predetermined range, the applied force is distributed to maintain the structure of the entire wheel unit.

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

Although the above has been described with reference to preferred embodiments of the present invention, those skilled in the art can variously modify and change the present invention without departing from the spirit and scope of the present invention described in the claims below. You will understand that you can.

10: wheel unit 100: unit block
110: body part 120: connection part
130: groove part 140: fixing part
200: support 300: hub
400: control unit 500: space unit
600: elastic wire A: contact
B: proximal part

Claims (12)

A hub portion that rotates by receiving rotational driving force;
A plurality of unit blocks spaced apart from the hub by a predetermined distance and forming the outer shape of the wheel unit; and
A support body connected between the hub part and the unit blocks or filled between the hub part and the unit blocks,
The unit block is characterized in that the wheel unit is in close contact with each other or segmented and detached while rotating relative to the adjacent unit block as the wheel unit moves on the ground or overcomes an obstacle. The method of claim 1, when the wheel unit passes through the flat ground,
The unit blocks are in close contact with each other, and the support body applies tension to the unit blocks in the direction of the hub portion to simulate the surface tension of water droplets. The method of claim 1, when the wheel unit overcomes the obstacle,
In the contact portion contacting the obstacle, unit blocks adjacent to each other relatively rotate and maintain contact,
In the adjacent part spaced apart from the contact part, the unit blocks adjacent to each other are released from close contact and are segmented from each other. According to claim 1,
The wheel unit further comprises an elastic wire extending along the outside of the unit blocks and applying an adhesive force between the unit blocks. The method of claim 4, wherein the elastic wire,
A wheel unit, characterized in that it is fixed and extended by a fixing part formed on the side surface of each of the unit blocks. The method of claim 1, wherein each of the unit blocks,
A body portion having a predetermined width and forming a rounded outer surface; and
A wheel unit comprising a connecting portion extending from the body portion and forming an insertion space into which the body portion of an adjacent unit block is inserted. The method of claim 6, wherein the connection unit,
a first connection surface extending from one side of the body;
a second connection surface extending from the other side of the body and forming the insertion space together with the first connection surface; and
The wheel unit comprising a contact surface connecting between the first connection surface and the second connection surface and having a concavely rounded shape to contact the outer surface of the body portion. The method of claim 7, wherein the connection part,
The wheel unit further comprises a groove formed by being recessed between the other side of the body and the second connection surface, into which the second connection surface of an adjacent unit block is inserted. The method of claim 8, when the wheel unit overcomes the obstacle,
The wheel unit, characterized in that in the contact portion where the obstacle is in contact, the second connection surface of the unit block is inserted into the groove portion of the adjacent unit block, so that adjacent unit blocks are in close contact with each other. According to claim 9,
As the adjacent unit blocks are brought into close contact, the wheel unit characterized in that the distance between the centers of the body parts of the adjacent unit blocks is maintained constant. The method of claim 8, when the wheel unit overcomes the obstacle,
The wheel unit, characterized in that the body part of the unit block is spaced apart from the contact surface of the adjacent unit block and rotates in an adjacent part spaced from the contact part where the obstacle is in contact. According to claim 11,
The wheel unit, characterized in that as the adjacent unit blocks are spaced apart and relatively rotated, the distance between the centers of the body parts of the adjacent unit blocks increases.

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