WO2014003512A1

WO2014003512A1 - Wheel structure

Info

Publication number: WO2014003512A1
Application number: PCT/KR2013/005818
Authority: WO
Inventors: 김인호; 양현석
Original assignee: 인텔렉추얼디스커버리 주식회사
Priority date: 2012-06-29
Filing date: 2013-07-01
Publication date: 2014-01-03
Also published as: KR101322995B1

Abstract

A wheel structure is disclosed. The wheel structure, according to one aspect of the present invention, comprises: a body including a plurality of spokes, which stretch out in a radial direction from the central part of a wheel and of which each one end can be elongated to the outer side of the wheel; a pair of a plurality of split frames of which each one side is rotationally combined to the elongated ends of the plurality of spokes, and which are rotated to the inner side of the wheel at a combined location during elongation so as to be symmetrical with each of the plurality of spokes; a plurality of supports which include guide bodies that contact the inner lateral sides of the plurality of split frames, and support shafts respectively having one side that is combined to the guide bodies and the other side that is rotationally combined to the body, wherein the supports guide the rotation of the plurality of split frames and support the plurality of split frames; and a plurality of contact-maintaining means for maintaining the contact between the plurality of split frames and the guide bodies. Thus, since the shape of the wheel structure can be transformed, the wheel structure can stably and efficiently travel on both flat land and on rough terrains.

Description

Wheel structure

The following description relates to a wheel structure, and more particularly, to a wheel structure that is mounted to a moving body, the shape of which is deformed when driving on uneven terrain.

Mobile robots, including mobile robots, are stable and efficient when moving on flat lands, while their stability or efficiency is poor when moving on uneven terrain. Also, circular wheels generally cannot travel on terrain with steps greater than the radius of the wheel for dynamic reasons. However, the mobile body should be able to travel on uneven terrain where the height of the ground is not constant, or on a terrain that changes rapidly.

For this reason, wheels for uneven terrain are being researched, but they are designed with a focus on unsteady terrain, and thus, their stability and efficiency are inferior in flat driving.

Therefore, there is a need for a study on a wheel structure that can guarantee a high level of driving performance even on flat terrain while driving effectively on uneven terrain.

To this end, according to one side, the wheel structure extends radially from the center of the wheel and one end of the body including a plurality of spokes extendable to the outside of the wheel, one side is rotatable to the extendable end of the plurality of spokes A plurality of divided frames which are coupled, rotated to the inside of the wheel about the binding point when stretched, and provided as a pair symmetrical with respect to each of the plurality of spokes, and guides in contact with inner surfaces of the plurality of divided frames And one side is coupled to the guide body and the other side includes a support shaft rotatably coupled to the body to guide the rotation of the plurality of divided frames and to support the plurality of divided frames and the plurality of divided parts. It may include a plurality of contact holding means for maintaining contact between the frame and the guide.

At this time, the contact holding means is an elastic body, one end of the elastic body is connected to the plurality of divided frames, the other end is connected to the body to pull the plurality of divided frames into the wheel, or the elastic body is It may be provided between a pair of symmetrical of a plurality of divided frames to pull the pair of divided frames to the inside of the wheel.

In addition, the contact holding means may be a long hole, the long hole is formed in the plurality of divided frames, the guide body may be inserted into the long hole to move while contacting the inner surface of the long hole.

In addition, the plurality of spokes described above may be configured as either a pneumatic actuator or a hydraulic actuator.

In addition, the guide may be any one of a ball, a roller, or a sliding member.

In addition, a friction member may be padded at the vertex portion of the wheel when the plurality of spokes are extended, and a cushioning member may be padded on the inner surface of the guide and / or the plurality of split frames.

The wheel structure may further include a sensor configured to detect a curve of the front terrain and a controller configured to extend one end of the plurality of spokes when a curve of a predetermined level or more is detected from the sensor. The shape can be modified.

In addition, a pair of symmetrical pairs of the plurality of divided frames may be separated from and bound to one side and the other side of the stretchable end of the plurality of spokes.

1A and 1B are schematic diagrams illustrating shapes of a wheel structure when driving on a flat surface and when driving on a terrain, respectively, according to an exemplary embodiment.

2 is a schematic view showing the wheel structure traveling on flat and uneven terrain.

3 is a schematic view showing a pair of symmetrical split frames separated from each other and bound to spokes.

4 is a schematic view showing the form of the wheel structure according to another embodiment when the driving is illegal.

5 is a schematic diagram showing the shape of the wheel structure when driving on a flat according to another embodiment.

Hereinafter, various embodiments of the wheel structure will be described in detail with reference to the accompanying drawings.

1A and 1B are schematic views illustrating shapes of a wheel structure 10 when driving on a flat surface and an unsteady terrain, respectively, according to an exemplary embodiment.

As shown in FIG. 1A, the wheel structure 10 according to the present embodiment may include a body 100 including a plurality of spokes 110. The body 100 may be configured to accommodate the spoke 110 therein as in this embodiment, but is not limited thereto, and may be provided in the form of a disc at the center of the wheel and coupled to the plurality of spokes. In addition, a plurality of spokes may be coupled to each other at the center of the wheel to form a body itself.

In the case of the spoke 110, the wheel structure 10 may be deformed into a shape suitable for driving in an unfavorable terrain by being manufactured to be able to extend to the outside of the wheel. Methods of stretching one end of the spoke 110 out of the wheel may vary. For example, various actuators may be used, and a driving means such as a motor may also be used, but is not limited thereto. When the actuator is used as the spoke 110, the piston rod of the actuator can extend to the outside of the wheel, so that the split frame 120 to be described later may be coupled to the end of the piston rod. In particular, if a pneumatic or hydraulic actuator is used, the impact on the wheel structure 10 due to the resistance of air or fluid as well as the above-described morphological functions can be alleviated to increase the durability and life of the wheel.

Next, the wheel structure 10 may include a plurality of split frames 120. Since the plurality of split frames 120 all have the shape of an arc having the same curvature, the overall shape of the wheel structure 10 when driving on a flat surface is circular as shown in FIG. 1A. Through this, it is possible to ensure stable and efficient running performance when driving on the flat. In addition, one side of each split frame 120 is bound to be rotatable by hinge coupling to the extensible end of the spoke 110, etc., the inner side of the wheel around the binding point 1 when the spoke 110 is extended. Can rotate In addition, the split frame 120 is provided with a pair symmetrically on both sides with respect to each spoke (110).

In addition, the wheel structure 10 may include a plurality of supports 130, the support 130 may be configured to include a guide 131 and the support shaft 132. The guide member 131 guides the rotation of the split frame 120 by moving in contact with the inner surface of the split frame 120 when the spoke 110 is extended. To this end, a ball, a roller, or a sliding member may be used as the guide body 131, but is not limited thereto. In the case of the ball and roller can be rotated on the inner surface of the split frame 120 to guide the rotation of the split frame 120, the efficiency is high, the sliding member can be a cube shape having a predetermined height The curved area is curved to have the same curvature as the curvature of the dividing frame 120 and slides in contact with the inner surface of the dividing frame 120, thereby guiding the dividing frame 120 stably since a larger area contacts the dividing frame 120. I can support it. The user may select the guide body 131 having various shapes according to the material, the weight of the split frame 120, the guide body 131, the support shaft 132, and the environment in which the wheel structure 10 is used. The support shaft 132 supports the split frame 120 from the inside to the outside so that the split frame 120 does not rotate to the inside of the wheel more than an appropriate level. As shown, one side of the support shaft 132 is coupled to the guide 131, the other side is rotatably coupled to the body 100 of the wheel structure 10 is divided frame due to the elongation of the spoke 110 The rotation angle of the guide 120 changes the angle and guides the rotation and supports the split frame 120.

Finally, since the split frame 120 can rotate to the outside of the wheel about the binding point 1 when the entire wheel structure 10 rotates, the wheel structure 10 is coupled to the plurality of split frames 120. It may include a plurality of contact holding means 140 that can maintain the contact between the guide body 131 to fix the overall shape of the wheel. In this embodiment, the contact holding means 140 is implemented as an elastic body, one end of the elastic body 140 is connected to the split frame 120, the other end is connected to the body 100 to the split frame 120 inside the wheel Pulled. The tensile force of the elastic body 140 may be balanced with the force supporting the split frame 120 to the outside of the support body 130 so that the overall shape of the wheel structure 10 may be maintained. As the elastic body, spring, polyurethane, silicone, rubber, etc. may be used, but is not limited thereto.

Referring to FIG. 1B, the wheel structure 10 during driving in indeterminate terrain will be described. As shown, one end of the spoke 110 extends to the outside of the wheel, whereby the split frame 120 rotates inside the wheel about the binding point 1. At this time, the guide member 131 included in the support 130 guides the rotation by contacting the inner surface of the split frame 120, and the support shaft 132 guides the split frame 120 from the inside to the outside. A pair of split frames 120 which are supported and symmetrical form an angle. At the same time, the elastic body 140 pulls the split frame 120 into the wheel to maintain contact with the guide body 131 so that the entire shape of the wheel structure 10 can be fixed.

2 is a schematic view showing the wheel structure 10 traveling on flat and uneven terrain. When driving on a flat, stable and efficient driving in a circular form (see FIG. 1A), as in a general wheel, and driving in a modified terrain (see FIG. 1B) when driving on uneven terrain. Specifically, the split frame 120 positioned above the step of the stairs, etc., climbs on the upper surface of the step, and at the same time, one end of the split frame 120 and the spoke 110 positioned below the step supports the entire wheel structure 10. do. When driving on uneven terrain, the wheel structure 10 has a triangular shape as a whole, and has symmetry, so that the wheel structure 10 can more stably and efficiently overcome the step.

Although not shown, a friction member may be padded at the vertex portion of the wheel when the plurality of spokes 110 are extended, that is, at one end of the spokes 110 extending or the split frame 120 near the binding point 1. In the process of moving the ground plane from the split frame 120 to the vertex portion, slippage that may occur due to the reduction of the ground area may be prevented through the friction member, and the driving stability may be improved. Rubber or felt may be used as the friction member, but is not limited thereto, and pads having a plurality of protrusions may be used. In addition to the effect of preventing the friction member from slipping, the friction member also has an effect of preventing damage that may occur due to concentration of all loads at the vertex portion having a small ground area.

In addition, a buffer member may be padded on the inner surface of the guide body 131 and / or the plurality of split frames 120. This prevents scratches, depressions, deformation, breakage, and the like, which may occur in the process of the guide body 131 supporting the split frame 120, thereby improving durability. Sponges, springs, silicones, etc. may be used as the buffer member, but the present invention is not limited thereto, and the above-described effects may also be achieved through thin film coating of chemicals.

In addition, the wheel structure 10 can automatically change its shape. That is, the wheel structure 10 further includes a sensor and a controller, the sensor detects the degree of curvature of the front terrain and transmits it to the controller, and the controller receives the detected signal and compares it with a predetermined curvature value or more to a predetermined level. When the bending is detected, the shape of the wheel structure 10 can be automatically changed for indefinite terrain driving. The reverse is also true.

3 is a schematic diagram illustrating a state in which a pair of symmetric split frames 120 are separated from each other and bound to the spokes 110. That is, unlike the above-described example, one of the pair of symmetrical split frames 120 is bound to one side of the spokes 110, and the other is bound to the other side of the opposite side, resulting in the wheel structure 10. The overall width of can be doubled. Through this, the stability of the wheel structure 10 during driving can be further increased, and mutual interference that may occur during rotation of a pair of symmetrical split frames 120 can be prevented in advance, thereby improving driving efficiency. have.

4 is a schematic view showing the form of the wheel structure 20 when driving in a wrong manner according to another embodiment. The wheel structure 20 according to the present embodiment may include a body 200 including a plurality of spokes 210. The body 200 may be configured to accommodate the spokes 210 therein as in the present embodiment, but the present invention is not limited thereto and may be provided in the form of a disc at the center of the wheel and coupled to the plurality of spokes. In addition, a plurality of spokes may be coupled to each other at the center of the wheel to form a body itself.

In the case of the spoke 210, the wheel structure 20 may be deformed into a shape suitable for driving on the unfavorable terrain by being manufactured to be able to extend to the outside of the wheel. The method of stretching one end of the spoke 210 to the outside of the wheel may be various, and various actuators may be used as in the embodiment of FIG. 1 described above.

Next, the wheel structure 20 may include a plurality of split frames 220. The plurality of split frames 220 all have the shape of an arc having the same curvature, and thus the overall shape of the wheel structure 20 when driving on a flat surface is circular. Through this, it is possible to ensure stable and efficient running performance when driving on the flat. In addition, one side of each split frame 220 is bound to be rotatable by hinge coupling to the extensible end of the spoke 210, etc., the inner side of the wheel around the binding point (2) when the spoke 210 is extended. Can rotate In addition, the split frame 220 is provided with a pair symmetrically on both sides with respect to each spoke (210).

In addition, the wheel structure 20 may include a plurality of supports 230, the support 230 may be configured to include a guide 231 and the support shaft 232. The guide member 231 guides the rotation of the split frame 220 by moving in contact with the inner surface of the split frame 220 when the spoke 210 is extended. To this end, a ball, roller or sliding member may be used as the guide 231 as in the embodiment of FIG. 1 described above. The support shaft 232 supports the split frame 220 from the inside to the outside so that the split frame 220 does not rotate to the inside of the wheel more than an appropriate level. As shown, one side of the support shaft 232 is coupled to the guide body 231, the other side is rotatably coupled to the body 200 of the wheel structure 20 is divided frame due to the extension of the spoke 210 The rotation of the 220 changes the angle while guiding the rotation and supports the split frame 220.

Finally, since the split frame 220 can rotate to the outside of the wheel about the binding point 2 when the entire wheel structure 20 rotates, the wheel structure 20 may be divided into a plurality of split frames 220. It may include a plurality of contact holding means 240 that can maintain the contact between the guide body 231 to fix the overall shape of the wheel. In this embodiment, the contact holding means 240 is implemented as an elastic body, the elastic body 240 is provided between the symmetrical pair of the plurality of split frame 220 to the pair of split frame 220 of the wheel Pulled inward. The tensile force of the elastic body 240 may be balanced with the force supporting the split frame 220 to the outside of the support 230, so that the overall shape of the wheel structure 20 may be maintained.

As shown in FIG. 4, one end of the spoke 210 extends to the outside of the wheel during the uneven terrain driving, whereby the split frame 220 rotates inside the wheel around the binding point 2. At this time, the guide member 231 included in the support 230 guides the rotation by contacting the inner surface of the split frame 220, and the support shaft 232 moves the split frame 220 from the inside to the outside. A pair of split frames 220 which are supported and symmetrical are at an angle. At the same time, the elastic body 240 pulls the split frame 220 into the wheel to maintain contact with the guide body 231 so that the entire shape of the wheel structure 20 can be fixed.

When the plurality of spokes 210 are stretched, a friction member is applied to the vertex portion of the wheel, that is, the one end of the spokes 210 extending or the split frame 220 near the binding point 2 to prevent slippage when driving in an irregular manner. Points that can prevent the breakage of the vertex portion, the inner surface of the guide 231 and / or the plurality of split frame 220, the cushioning member is added to improve the durability, the front terrain bend detection sensor and As described above, the controller may further include a controller configured to automatically change the shape of the wheel structure 20 to the indefinite terrain when the bending of the predetermined level or more is detected.

FIG. 5 is a schematic view showing the shape of the wheel structure 30 during flat driving according to another embodiment. The wheel structure 30 according to the present embodiment may include a body 300 including a plurality of spokes 310. The body 300 may be configured to accommodate the spoke 310 therein as in the present embodiment, but is not limited thereto, and may be provided in the form of a disc at the center of the wheel and coupled to the plurality of spokes. In addition, a plurality of spokes may be coupled to each other at the center of the wheel to form a body itself.

In the case of the spoke 310, the wheel structure 30 may be deformed into a shape suitable for driving on the unfavorable terrain by being manufactured to be able to extend to the outside of the wheel. The method of stretching one end of the spoke 310 to the outside of the wheel may be various, and various actuators may be used as in the embodiment of FIG. 1 described above.

Next, the wheel structure 30 may include a plurality of split frames 320. The plurality of split frames 320 all have the shape of an arc having the same curvature, and thus the overall shape of the wheel structure 30 when driving on a flat surface is circular. Through this, it is possible to ensure stable and efficient running performance when driving on the flat. In addition, one side of each split frame 320 is bound to be rotatable by hinge coupling to the extensible end of the spoke 310, etc., the inner side of the wheel around the binding point (3) when the spoke 310 is extended. Can rotate In addition, the split frame 320 is provided with a pair symmetrically on both sides with respect to each spoke (310).

In addition, the wheel structure 30 may include a plurality of supports 330, and the support 330 may include a guide 331 and a support shaft 332. The guide member 331 guides the rotation of the split frame 320 by moving in contact with the split frame 320 when the spoke 310 is extended. To this end, a ball, roller or sliding member may be used as the guide 331 as in the embodiment of FIG. 1 described above. The support shaft 332 supports the split frame 320 from the inside to the outside so that the split frame 320 does not rotate to the inside of the wheel more than an appropriate level. As shown, one side of the support shaft 332 is coupled to the guide body 331, the other side is rotatably coupled to the body 300 of the wheel structure 30 is divided frame due to the extension of the spoke 310 The rotation angle of the 320 is changed while guiding the rotation and supporting the split frame 320.

Finally, since the split frame 320 can rotate to the outside of the wheel about the binding point 3 when the entire wheel structure 30 rotates, the wheel structure 30 is coupled to the plurality of split frames 320. It may include a plurality of contact holding means 340 that can maintain the contact between the guides 331 to fix the overall shape of the wheel. In this embodiment, the contact holding means 240 is implemented as a long hole. The long hole 340 is formed to penetrate through the side surfaces of the plurality of split frames 320, and the guide body 331 is inserted into the long hole 340 and moves while contacting the inner surface of the long hole 340. As the guide body 331 guides the rotation while contacting the inner surface of the long hole 340 as a result, the contact between the guide body 331 and the dividing frame 320 is maintained as a result, so that the whole of the wheel structure 30 The shape can be maintained.

The wheel structure 30 of the present embodiment is modified in the form of indeterminate terrain driving is similar to the embodiments described above. That is, one end of the spoke 310 is extended to the outside of the wheel, whereby the split frame 320 is rotated to the inside of the wheel around the binding point (3). At this time, the guide body 331 included in the support 330 guides the rotation by contacting the inner surface of the long hole 340 formed in the split frame 320, the support shaft 332 is divided frame 320 ) Is supported from the inside to the outside to make a pair of symmetrical split frame 320 to form a certain angle. At this time, since the guide body 331 is in contact with the inner surface of the long hole 340, the contact between the guide member 331 and the split frame 320 can be maintained in the end to fix the entire shape of the wheel structure 30.

When the plurality of spokes 310 are stretched, a friction member is applied to a vertex portion of the wheel, that is, one end of the spokes 310 extending or a split frame 320 near the binding point 3 to prevent slippage when driving in an irregular manner. The point that can prevent the breakage of the vertex portion, the inner surface of the long hole 340 formed in the guide body 331 and / or the plurality of split frame 320, the cushioning member is padded to improve the durability, It may further include a front terrain curve detection sensor and a controller configured to automatically change the shape of the wheel structure 30 for the uneven terrain when a curve of a predetermined level or more is detected, a pair of symmetric split frames ( One side of the 320 is bound to one side of the spoke 310 and the other side is bound to the other side of the other side to increase the stability and efficiency of the driving is the same as in the above-described embodiment.

The embodiments described above are merely described some embodiments of the present invention, the scope of the present invention is not limited to the described embodiments, the technical spirit and patents of the present invention by those skilled in the art Various modifications, variations or substitutions may be made within the scope of the claims, and such embodiments should be considered to be within the scope of the present invention.

For example, although the above-described embodiments are all described as having three spokes, the number of spokes is not limited thereto, but may be four. In the case of three spokes, the shape of the spokes is a hollow triangle, which is advantageous in overcoming the high step, and in the case of the four wheels, the shape of the wheel structure is closer to the circle than in the case of three, thus overcoming the relatively low step. It is suitable for the following and the stability of the driving can be further improved. As such, the user may vary the number of spokes according to the environment and purpose of use of the wheel structure.

In addition, even when a certain number of spokes is provided, the user may adjust the extension length of the spokes, and as a result, may vary the shape of the entire wheel structure according to the use environment and purpose.

Claims

A body including a plurality of spokes extending radially from a center of the wheel and one end of the wheel extending outwardly of the wheel;

A plurality of partitions, one side of which is pivotally coupled to the extensible one end of the plurality of spokes, the plurality of segments provided to rotate inwardly of the wheel around the binding point and are symmetrical with respect to each of the plurality of spokes frame;

A guide body and one side that is in contact with the inner surface of the plurality of divided frames and a support shaft coupled to the guide body and the other side is rotatably coupled to the body, to guide the rotation of the plurality of divided frames and the plurality of A plurality of supports for supporting the split frame; And

A plurality of contact holding means for maintaining contact between the plurality of divided frames and the guide body;

Wheel structure comprising a.
The method of claim 1,

The contact holding means is an elastic body, one end of the elastic body is connected to the plurality of divided frames, the other end is connected to the body to pull the plurality of divided frames to the inside of the wheel.
The method of claim 1,

The contact holding means is an elastic body, the elastic body is provided between a pair of symmetrical of the plurality of divided frames to pull the pair of divided frames to the inside of the wheel.
The method of claim 1,

The contact holding means is a long hole, the long hole is formed in the plurality of split frames, the guide body is inserted into the long hole to move while contacting the inner surface of the long hole.
The method of claim 1,

The plurality of spokes are wheel structure consisting of any one of a pneumatic actuator or a hydraulic actuator.
The method of claim 1,

The guide body is any one of a ball, roller or sliding member.
The method of claim 1,

Wheel structure, the friction member is padded on the vertex portion of the wheel when the plurality of spokes are extended.
The method of claim 1,

Wheel structure is padded on the inner surface of the guide and / or the plurality of split frame padded member.
The method of claim 1,

A sensor for detecting the curvature of the front terrain; And

A controller configured to extend one end of the plurality of spokes when a bending is detected from the sensor to a predetermined level;

Including more

Wheel structure that automatically deforms according to the curvature of the terrain ahead.
The method of claim 1,

A pair of symmetrical pairs of the plurality of split frames are separated from each other and bound to one side and the other side of the stretchable end of the plurality of spokes.