WO2022103028A1

WO2022103028A1 - Variable-stiffness wheel and movement device comprising same

Info

Publication number: WO2022103028A1
Application number: PCT/KR2021/015251
Authority: WO
Inventors: 김윤성
Original assignee: 삼성전자 주식회사
Priority date: 2020-11-11
Filing date: 2021-10-27
Publication date: 2022-05-19

Abstract

A variable-stiffness wheel according to one embodiment of the present invention comprises: a tire; and a tire support module which includes a plurality of composite loops, each having a stiff region and a ductile region and positioned inside the tire, and which can be switched to a stiff mode in which the load of the tire is supported by means of the stiff regions of the composite loops and a flexible mode in which the load of the tire is supported by means of the ductile regions so that the tire can be modified, wherein, in each of the plurality of composite loops, the stiff region includes a first stiff region disposed to face the inner peripheral surface of the tire, and the ductile region can include a first ductile region, which is disposed at one end portion of the first stiff region and has a stiffness lower than that of the first stiff region, and a second ductile region, which is disposed at the other end portion of the first stiff region and has a stiffness lower than that of the first stiff region.

Description

Variable rigidity wheel and moving device including same

The present disclosure relates to a variable rigidity wheel capable of moving in various terrains and a moving device including the same.

Conventional wheels can move objects with minimal effort. However, the existing wheels do not have very good mobility on uneven terrain. In consideration of this point, in order to be able to move not only on flat land but also on various terrain areas such as unpaved roads, cliffs, and stairs, a means of transportation in the form of caterpillar, bipedal or quadrupedal walking has been developed.

However, in the case of a caterpillar or bipedal or quadrupedal walking robot, it can move on a variety of terrain compared to the existing wheels, but basically it does not keep up with the fast movement efficiency of the existing wheels.

In the case of caterpillars, it takes a lot of time to prepare for climbing stairs, such as changing the shape to fit the stairs, and the friction area is high on flat ground, so movement efficiency is low.

In the case of a biped or quadruped robot, it can move most of the various terrain that a human can go, but it has a problem in that it has a high level of technology and requires a large number of actuators to be commercialized, so the manufacturing cost is high.

An object of the present disclosure is to provide a wheel with high movement efficiency while passing through various terrain features, and a mobile device including the same.

The variable stiffness wheel according to an embodiment,

tire; and

and a plurality of compound loops having a rigid region and a flexible region and positioned inside the tire, wherein a rigid mode in which the load of the tire is supported by the rigid region of the compound loop and the load of the tire in the flexible region and a tire support module supported by the

Each of the plurality of composite loops includes a first rigid region disposed such that the rigid region faces an inner circumferential surface of the tire, wherein the flexible region is disposed at one end of the first rigid region and the first rigid region It may include a first flexible region having a lower rigidity, and a second flexible region disposed at the other end of the first rigid region and having a lower rigidity than the first rigid region.

The tire support module may include: a first roof clamp supporting one end of the composite roof and movable to a pressing position and a releasing position; a second loop clamp supporting the other end of the composite loop; and in response to movement of the first roof clamp to the pressing position or the releasing position, pressing the composite roof outward so that the tire supporting module is switched to the rigid mode, wherein the tire supporting module is in the flexible mode and a loop link convertible to a state that allows the contraction of the composite loop to be converted to .

The rigid region includes a second rigid region disposed at an end of the first flexible region and having a higher rigidity than the first flexible region and supported by the first loop clamp, and disposed at an end of the second flexible region, A third rigid region having a higher rigidity than the second flexible region and supported by the second loop clamp may be further included.

In the rigid mode, the load of the tire may be supported by the first rigid region, and in the flexible mode, the load of the tire may be supported by the first flexible region.

The rigidity of the first rigid region may be 4 to 5 times the rigidity of the first flexible region.

A radius of curvature of the first flexible region may be smaller than a radius of curvature of the first rigid region.

The plurality of composite loops may be arranged to partially overlap in a width direction of the wheel.

Each of the plurality of composite loops may include a fiber-reinforced plastic.

The tire support module further includes a tire link connecting the second roof clamp and the tire, wherein the second flexible region is disposed adjacent to the second roof clamp, and the length of the second flexible region is equal to the length of the second flexible region. 1 It may be shorter than the length of the flexible region.

In the flexible mode, the tire link may be tilted in a predetermined range around a radial direction.

The first loop clamp is movable along a radial direction of the tire, and the second loop clamp is movable in a radial direction of the tire and a direction inclined with respect to the radial direction.

The loop link may have a collapsible link structure, and in the rigid mode, the loop link may be in an unfolded state, and in the flexible mode, the loop link may be in a folded state.

The plurality of composite loops may be arranged in a circumferential direction and a width direction of the tire.

a wheel plate for movably supporting the first roof clamp and the second roof clamp; and a first direction and a second direction opposite to the first direction with respect to the wheel plate and disposed at the center of the wheel plate The rotatable wheel hub may further include a wheel link having one end rotatably connected to the wheel hub and the other end rotatably connected to the first roof clamp.

When the wheel hub rotates in the first direction, the wheel link moves away from the center of the wheel, the first roof clamp moves to the pressurized position approaching the inner circumferential surface of the tire, and the wheel hub When is rotated in the second direction, the wheel link may move closer to the center of the wheel, and the first loop clamp may move to the release position away from the inner circumferential surface of the tire.

when converting the tire from the flexible mode to the rigid mode, transmit power to rotate the wheel hub in the first direction, and when converting the tire from the rigid mode to the flexible mode, the wheel hub may include; a hub module transmitting power to rotate in the second direction.

The tire may include a flexible airless tire.

A mobile device according to another embodiment,

Base;

It is installed in the lower part of the base, a plurality of the above-described rigidity variable wheel; and

It may include; a drive motor for driving the plurality of variable stiffness wheels.

The variable stiffness wheel includes a first variable wheel disposed at the front and a second variable wheel disposed at the rear, and the base is configured to adjust a wheel base length between the first variable wheel and the second variable wheel. can be configured.

The base includes a first base frame on which the first variable wheels are installed, a second base frame on which the second variable wheels are installed and movable with respect to the first base frame, and the second base frame on the first It may include a wheelbase motor for relative movement with respect to the base frame.

The variable stiffness wheel according to the above-described embodiments can pass through various features without control by a complicated algorithm through mechanical conversion of the tire support module using a plurality of roof structures.

1 and 2 are perspective views illustrating a variable stiffness wheel according to an embodiment of the present disclosure.

3 is an exploded perspective view of the variable stiffness wheel of FIG. 1 .

FIG. 4 is a view for explaining when the tire support module is in the rigidity mode in the rigidity variable wheel of FIG. 1 .

FIG. 5 is a view for explaining when the tire support module is in a flexible mode in the variable stiffness wheel of FIG. 1 .

6 is an enlarged view of a composite loop according to an embodiment.

7 is a view for explaining the operation of the composite roof when the tire support module is in the rigid mode.

8 is a view for explaining the operation of the composite roof when the tire support module is in a flexible mode.

9 is a view for explaining the operation of the composite roof when the tire support module is in a flexible mode.

10 is a view for explaining a hub module and a wheel module.

11 is a diagram conceptually illustrating a mobile device according to an embodiment.

12 is a view for explaining a mobile device according to an embodiment.

13 is a view for explaining a mobile device according to an embodiment.

14 is a diagram for conceptually explaining a process in which the mobile device climbs the stairs according to the embodiment.

15 is a diagram for conceptually explaining a process in which the mobile device climbs the stairs according to the embodiment.

16 is a view for explaining the wheel base length of the mobile device according to the embodiment.

17 is a view showing the process of climbing the stairs of the mobile device according to the first embodiment.

Hereinafter, exemplary embodiments according to the present invention will be described in detail with reference to the contents described in the accompanying drawings. The same reference numbers or reference numerals in each figure indicate parts or components that perform substantially the same functions.

Terms including an ordinal number such as “first” and “second” may be used to describe various elements, but the elements are not limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, a first component may be referred to as a second component, and similarly, a second component may also be referred to as a first component. The term “and/or” includes a combination of a plurality of related items or any one of a plurality of related items.

The terms used in this application are used to describe the embodiments, and are not intended to limit and/or limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. In the present application, terms such as “comprise” or “have” are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features It should be understood that this does not preclude the existence or addition of numbers, steps, operations, components, parts, or combinations thereof. The same reference numerals provided in the respective drawings indicate members that perform substantially the same functions.

1 and 2 are perspective views illustrating a variable stiffness wheel according to an embodiment of the present disclosure. 3 is an exploded perspective view of the variable stiffness wheel of FIG. 1 .

1 to 3 , the variable stiffness wheel 1 according to an embodiment of the present disclosure may include a tire 100 , a tire support module 200 , a hub module 400 , and a wheel module 300 . can

A drive motor 500 providing a driving force may be installed on the variable stiffness wheel 1 . The driving motor 500 may include a wheel motor 502 for rotating the wheel and a hub motor 501 for changing the structural rigidity of the wheel.

The tire 100 forms the outer circumferential surface of the variable stiffness wheel 1 , and unlike a conventional pneumatic tire, it can act as a buffer without injecting air. That is, the tire 100 may be formed of a flexible airless tire.

To this end, the tire 100 is formed of an elastic material such as rubber or silicone to be deformable into various shapes. Also, the tire 100 may be formed in a circular mesh structure.

For example, the tire 100 may include an inner shell 110 and an outer shell 120 . The endothelium 110 may have a circular band shape. The shell 120 may have a circular band shape. The outer shell 120 is located on the outside of the endothelium 110 .

The shell 120 is in contact with the ground. A plurality of protrusions 121 may be formed on the outer peripheral surface of the outer shell 120 . In the present embodiment, the plurality of protrusions 121 are formed in a rectangular parallelepiped extending in the width direction of the outer shell, but the shape of the plurality of protrusions 121 is not limited thereto. The plurality of protrusions 121 may be formed in various shapes as long as they can increase friction with the ground.

A plurality of projections 111 may be formed on the inner peripheral surface of the endothelium 110 . The plurality of protrusions 111 may have a structure extending in the width direction of the endothelium, but the shape is not limited thereto. The plurality of protrusions 111 may be formed in various shapes as long as they are capable of contacting the complex loop.

The endothelium 110 is provided with a plurality of penetrating

portions

130 and 160 . The plurality of penetrating

portions

130 and 160 may be formed to penetrate in the width direction of the endothelium 110 . The plurality of through

portions

130 and 160 may be formed to be in contact with the inner circumferential surface of the shell 120 , and may be spaced apart from the inner circumferential surface of the shell 120 . The shapes of the plurality of through

portions

130 and 160 may vary. For example, the through portion 130 may have a circular cross-section. The through portion 160 may have a rectangular cross-section. As an example, the plurality of through portions 160 may be formed at a position adjacent to the outer shell 120 and adjacent to an inner circumferential surface of the endothelium 110 based on the thickness direction of the tire 100 . The plurality of through portions 160 formed at a position adjacent to the outer skin 120 may be in contact with the inner circumferential surface of the outer skin 120 . In other words, one surface of the square cross-section of the through part 160 may be the inner peripheral surface of the outer shell 120 . The plurality of through portions 130 may be formed between the plurality of through portions 160 based on the thickness direction of the tire 100 . As an example, a plurality of through portions 130 are formed between the plurality of through portions 160 arranged in a circumferential direction at a position adjacent to the outer skin 120 , and a position adjacent to the inner circumferential surface of the endothelium 110 in the circumferential direction. A plurality of through portions 130 may be formed between the arranged plurality of through portions 160 . The shape, size, and arrangement of the plurality of through

portions

130 and 160 are not limited to the examples shown in the drawings. An interval between the plurality of through portions 130 and an interval between the plurality of through portions 160 may be constant or irregular. As an example, the tire 100 may include an endothelium 110 , an outer skin 120 , and an intermediate skin 150 between the endothelium 110 and the outer skin 120 . In this case, the plurality of through-portions (130, 160) described above may be formed in the middle blood (150).

The inner shell 110 and the outer shell 120 may be formed of an elastic material such as rubber or silicone. As an example, the material of the inner shell 110 and the outer shell 120 may be silicon having a Shore A hardness of 20. The thickness of the inner shell 110 and the outer shell 120 is not particularly limited. The endothelium 110 may be thicker than the outer skin 120 , and vice versa. When an external force is applied to the outer skin 120 , the tire 100 may be deformed according to the external force.

When the tire 100 is manufactured by injecting rubber or silicone, it is possible to increase the rigidity of the tire 100 and reduce the weight by adding glass microballoons to the silicone or rubber molding liquid.

The tire support module 200 is disposed inside the tire 100 and may support a load applied to the tire 100 . A plurality of tire support modules 200 may be arranged along the width direction of the wheel.

The tire support module 200 may be configured to change the structural characteristics of the variable stiffness wheel 1 according to the embodiment. The tire support module 200 may include a plurality of composite loops 210 having a rigid region 211 and a flexible region 212 and positioned inside the tire 100 . The tire support module 200 has a rigid mode in which the load of the tire 100 is supported by the rigid region 211 of the composite roof 210 and the load of the tire 100 is supported by the flexible region 212 of the tire ( 100) can be converted into a flexible mode that can be deformed. For example, the tire support module 200 may include first and second roof clamps 221 and 222 and a roof link 230 .

The plurality of composite loops 210 are disposed inside the tire 100 to face the inner circumferential surface of the tire 100 . The plurality of composite loops 210 may be arranged along the circumferential direction and the width direction of the wheel. The plurality of composite loops 210 may partially overlap in the width direction of the wheel.

Each of the plurality of complex loops 210 may have a region having different rigidity. In the complex loop 210 , a portion of the region may be a rigid region 211 having a predetermined size of rigidity, and another region may be a flexible region 212 having lower rigidity than the rigid region 211 .

The composite loop 210 may have high rigidity relative to mass and high elastic restoring force without plastic deformation. For example, the composite roof 210 may include fiber reinforced plastic. As examples of fiber-reinforced plastics, carbon fiber-reinforced plastics, glass fiber-reinforced plastics, and the like can be used.

The composite loop 210 may have regions having different radii of curvature. For example, in the composite loop 210 , the radius of curvature of the rigid region 211 may be different from that of the flexible region 212 . For example, in the composite loop 210 , the radius of curvature of the rigid region 211 may be greater than the radius of curvature of the flexible region 212 .

The first and second loop clamps 221 and 222 may support both ends of the composite loop 210 , respectively. The first loop clamp 221 may support one end of the composite loop 210 . The first loop clamp 221 may be moved to a pressing position and a releasing position. The second loop clamp 222 may support the other end of the composite loop 210 .

The other ends of the two composite loops 210 adjacent to each other may be supported by the same second loop clamp 222 . In other words, one second loop clamp 222 may support the other end of the two composite loops 210 adjacent to each other.

The tire support module 200 may further include a tire link 240 connecting the second roof clamp 222 and the tire 100 . One end of the tire link 240 may be connected to the tire 100 , and the other end may be connected to the second roof clamp 222 .

The tire link 240 may be rotatably connected to the tire 100 . Accordingly, when the tire 100 is deformed, the tire link 240 may naturally rotate according to the shape of the tire 100 .

The roof link 230 supports a portion of the composite roof 210 , and may be configured to selectively press the composite roof 210 to the inner circumferential surface of the tire 100 . The roof link 230 is configured to press the composite roof 210 outward so that the tire support module 200 switches to the rigid mode 202 , and to cause the tire support module 200 to switch to the flexible mode 201 . It may be switched to a state allowing the contraction of the loop 210 . For example, the loop link 230 permits the state of pressing the composite loop 210 outward and the contraction of the composite loop 210 by interlocking the movement to the pressing position and the releasing position of the first loop clamp 221 . can be converted to a state of In flexible mode 201 , rigid region 211 of composite roof 210 may be spaced apart from tire 100 .

For example, the loop link 230 may be a foldable structure, for example, a pair of link structures connected by a joint part. When the roof link 230 is unfolded, the composite roof 210 may be pressed outwardly by the roof link 230 to contact and press the inner circumferential surface of the tire 100 . On the other hand, when the roof link 230 is folded, the composite roof 210 may be separated from the inner circumferential surface of the tire 100 by releasing the pressure by the roof link 230 . In other words, when the roof link 230 is folded, the tire 100 is partially capable of shrinkage deformation in the radial direction.

In the tire support module 200 , as the first and second roof clamps 221 and 222 supporting both ends of the composite roof 210 are moved, the position and shape of the composite roof 210 in the radial direction is variable. do. Accordingly, the tire support module 200 is configured in a rigid mode 202 (see FIG. 4) in which the variable stiffness wheel 1 has high stiffness and a flexible mode 201 in which the variable stiffness wheel 1 has low stiffness (see FIG. 5). ) can be converted to

4 is a view for explaining when the tire support module 200 is in the stiffness mode 202 in the variable stiffness wheel 1 of FIG. 1 , and FIG. 5 is a tire support module in the variable stiffness wheel 1 of FIG. 1 . It is a figure for demonstrating when 200 is a flexible mode (201).

Referring to FIG. 4 , when the tire support module 200 is in the rigid mode 202 , the shape of the tire 100 is maintained, for example, in a circular shape by the tire support module 200 . The plurality of composite loops 210 contact and support the inner circumferential surface of the tire 100 . The composite loop 210 is in direct contact with the inner circumferential surface of the tire 100 or through the protrusions 111 formed on the inner circumferential surface of the tire 100 .

The first loop clamp 221 is pressurized by the wheel module 300 and fixed at the pressurizing position. Due to the roof mount 360 on which the roof link 230 is installed, the rotation of the first roof clamp 221 is restricted. The roof link 230 is pressed by the first roof clamp 221 to be in an unfolded state. As the roof link 230 unfolds, it presses the rigid area 211 of the composite roof 210 outward. The inner circumferential surface of the tire 100 is supported by the rigid region 211 of the composite roof 210 and pressed outward. Since the rigid region 211 of the composite roof 210 has a high rigidity, the tire 100 supported by the rigid region 211 of the composite roof 210 is maintained in its shape, for example, circular.

Referring to FIG. 5 , when the tire support module 200 is in the flexible mode 201 , the first roof clamp 221 supporting one end of the composite roof 210 is, by the wheel module 300 , the wheel is located in the released position shifted toward the center of As the first loop clamp 221 moves to the release position, the pressing force applied to the roof link 230 by the first loop clamp 221 is released, and the roof link 230 is convertible to a folded state. As the composite roof 210 contracts toward the center of the wheel, the roof link 230 is converted from an unfolded state to a folded state. Accordingly, at least some of the plurality of composite roofs 210 are spaced apart from the tire 100 , and a space exists between the composite roof 210 and the inner circumferential surface of the tire 100 . Due to the space between the composite roof 210 and the inner circumferential surface of the tire 100 , the tire 100 may be easily deformed in shape.

When a load is applied to the tire 100 , the load is transmitted to the tire link 240 connected to the tire 100 . The load transmitted to the tire link 240 is transmitted to the composite roof 210 via the second roof clamp 222 .

The load transferred to the composite roof 210 through the tire link 240 is concentrated in the

flexible regions

212 and 213 with relatively low stiffness in the composite roof 210, and accordingly, the flexible regions of the composite roof 210 ( 212, 213) may be bent. A load applied to the tire 100 may be absorbed while the

flexible regions

212 and 213 of the composite roof 210 are bent. As the

flexible regions

212 and 213 of the composite roof 210 are bent, the second roof clamp 222 and the tire link 240 are moved in the radial direction and inclined with respect to the radial direction, and the shape is deformed.

6 is an enlarged view of the composite loop 210 according to the embodiment. 7 is a view for explaining the operation of the composite roof 210 when the tire support module 200 is in the rigid mode 202, and FIGS. 8 and 9 are the tire support module 200 in the flexible mode 201 When , it is a diagram for explaining the operation of the complex loop 210 .

6 and 7 , the composite loop 210 includes a rigid region and a flexible region. The rigid region may include a first rigid region 211 . The flexible region may include a first flexible region 212 disposed at one end of the first rigid region 211 and a second flexible region 213 disposed at the other end of the first rigid region 211 . . The rigid region may further include a second rigid region 214 disposed at an end of the first flexible region 212 and a third rigid region 215 disposed at an end of the second flexible region 213 .

The first rigid region 211 is disposed to face the inner circumferential surface of the tire 100 . The first rigid region 211 may have a rigidity greater than or equal to a predetermined size. For example, the first rigid region 211 may include a fiber-reinforced plastic having high rigidity. For example, the first rigid region 211 may include a plurality of first carbon fiber reinforced plastic layers 2101 having a first rigidity and a plurality of second carbon fiber reinforced plastic layers 2102 having a second rigidity. can For example, the first rigid region 211 includes two first carbon fiber reinforced plastic layers 2101 each having a stiffness of 300 g/m ² and two second carbon layers having a stiffness of 200 g/m ² , respectively. A fiber reinforced plastic layer 2102 may be included. However, the structure and material of the first rigid region 211 is not limited thereto, and may be variously deformed as long as it has a high rigidity and a high elastic restoring force without plastic deformation.

The first flexible region 212 may have a lower stiffness than the first rigid region 211 . The first flexible region 212 may be 1/2 times to 1/5 times the stiffness of the first rigid region 211 . That is, the rigidity of the first rigid region 211 may be 2 to 5 times the rigidity of the first flexible region 212 . For example, the rigidity of the first flexible region 212 may be 1/4 to 1/5 times that of the first rigid region 211 . That is, the rigidity of the first rigid region 211 may be 4 to 5 times the rigidity of the first flexible region 212 .

The first flexible region 212 includes a first carbon fiber reinforced plastic layer 2101 having a first rigidity and a second carbon fiber reinforced plastic layer 2102 having a second rigidity, and is disposed between the first rigidity and The resin layer 2103 having a rigidity smaller than the second rigidity may be included. For example, the first flexible region 212 includes a first carbon fiber reinforced plastic layer 2101 having a stiffness of 300 g/m ² and a second carbon fiber reinforced plastic layer 2102 having a stiffness of 200 g/m ² . ) and an epoxy resin layer 2103 disposed between them. The structure and material of the first flexible region 212 are not limited thereto, and may be variously modified as long as the structure and material have a lower rigidity than that of the first rigid region 211 while having high rigidity and high elastic restoring force. .

The length of the first flexible region 212 may be shorter than the length of the first rigid region 211 . The length of the first flexible region 212 may be longer than that of the second flexible region 213 to be described later.

A radius of curvature of the first flexible region 212 may be smaller than a radius of curvature of the first rigid region 211 .

The second flexible region 213 may have a lower stiffness than the first rigid region 211 . The second flexible region 213 may be 1/2 times to 1/5 times the stiffness of the first rigid region 211 . That is, the rigidity of the first rigid region 211 may be 2 to 5 times the rigidity of the second flexible region 213 . For example, the rigidity of the second flexible region 213 may be 1/4 to 1/5 times that of the first rigid region 211 . That is, the rigidity of the first rigid region 211 may be 4 to 5 times the rigidity of the second flexible region 213 .

The second flexible region 213 includes a first carbon fiber reinforced plastic layer 2101 having a first rigidity and a second carbon fiber reinforced plastic layer 2102 having a second rigidity, and disposed therebetween, the first rigidity and The resin layer 2103 having a rigidity smaller than the second rigidity may be included. For example, the second flexible region 213 may include a first carbon fiber reinforced plastic layer 2101 having a stiffness of 300 g/m ² and a second carbon fiber reinforced plastic layer 2102 having a stiffness of 200 g/m ² . ) and an epoxy resin layer 2103 disposed between them. The layer structure and material of the second flexible region 213 may be the same as the layer structure and material of the first flexible region 212 . However, the layer structure and material of the second flexible region 213 are not limited thereto, and as long as it has a structure and material having a lower rigidity than that of the first rigid region 211 while having high rigidity and high elastic restoring force, various modifications are made. can be

The length of the second flexible region 213 may be shorter than the length of the first rigid region 211 . The length of the second flexible region 213 may be shorter than the length of the first flexible region 212 .

A radius of curvature of the second flexible region 213 may be smaller than a radius of curvature of the first rigid region 211 . A radius of curvature of the second flexible region 213 may be smaller than a radius of curvature of the first flexible region 212 .

The second rigid region 214 is disposed at one end of the first flexible region 212 , and may have a higher stiffness than the first flexible region 212 . The second rigid region 214 may have a lower rigidity than the first rigid region 211 . For example, the second rigid region 214 is disposed between a first carbon fiber reinforced plastic layer 2101 having a first rigidity and a second carbon fiber reinforced plastic layer 2102 having a second rigidity, and between them. and a glass fiber reinforced plastic layer 2104 having a stiffness less than the first stiffness and the second stiffness. However, the material and rigidity of the second rigid region 214 are not limited thereto, and may be variously modified. For example, the second rigid region 214 may have the same rigidity as the first rigid region 211 . An end of the second rigid region 214 may be supported by the first loop clamp 221 .

The third rigid region 215 is disposed at one end of the second flexible region 213 , and may have a higher rigidity than the second flexible region 213 . The third rigid region 215 includes a first carbon fiber reinforced plastic layer 2101 having a first rigidity and a second carbon fiber reinforced plastic layer 2102 having a second rigidity, and disposed between them, the first rigidity and and a glass fiber reinforced plastic layer 2104 having a stiffness less than the second stiffness. However, the material and rigidity of the third rigid region 215 are not limited thereto, and may be variously modified. For example, the third rigid region 215 may have the same rigidity as the first rigid region 211 . The third rigid region 215 may be supported by the second loop clamp 222 .

A length of the third rigid region 215 may be shorter than a length of the second rigid region 214 .

6 and 7 , when the tire support module 200 is switched from the flexible mode 201 to the rigid mode 202 , the first roof clamp 221 moves to the pressing position toward the outside of the wheel. do. In the process, the first loop clamp 221 interferes with the loop link 230 and converts the loop link 230 from a folded counterpart to an unfolded state. The roof link 230 pushes the composite roof 210 toward the inner circumferential surface of the tire 100 while unfolding. Accordingly, the first rigid region 211 of the composite roof 210 is in contact with the inner circumferential surface of the tire 100 and presses the inner circumferential surface of the tire 100 outward, thereby forming the tire 100 in its original shape, for example, a circular shape. restore it to

When the tire support module 200 is in the rigid mode 202 , the load of the tire 100 is supported by the first rigid region 211 . Accordingly, the variable stiffness wheel has a relatively high rigidity and maintains the shape of the tire 100 .

Referring to FIG. 8 , when the tire support module 200 is switched from the rigid mode 202 to the flexible mode 201 , the first roof clamp 221 moves toward the center of the wheel to the released position. In the process, the pressing force applied to the roof link 230 by the first loop clamp 221 is released, and the roof link 230 is in a state that can be converted to a folded position.

Referring to FIG. 9 , when the tire support module 200 is in the flexible mode 201 , the load applied to the tire 100 is transmitted to the tire link 240 . The load transmitted to the tire link 240 is transmitted to the composite roof 210 through the second roof clamp 222 . The load transferred to the composite loop 210 may be concentrated on the first and second

flexible regions

212 and 213 having relatively low rigidity, and the first and second

flexible regions

212 and 213 may be bent.

As the first flexible region 212 is bent, the tire link 240 is movable in the radial direction, and as the second flexible region 213, which is relatively short in length, is bent, the tire link 240 is moved in the radial direction. It may be moved to be inclined in a direction forming a predetermined angle. As the first flexible region 212 and the second flexible region 213 of the composite roof 210 are bent, the tire link 240 can move in a radial direction as well as tilt in a predetermined range with respect to the radial direction. Do. For example, the tire link 240 may be tilted in a range of 10 degrees or less with respect to the radial direction. Through this, the tire link 240 can be flexibly moved in the radial direction according to the external terrain. Accordingly, the tire 100 may freely change its shape according to the external terrain, and the traction may be improved.

Referring back to FIGS. 3 to 5 , the wheel module 300 transmits the power transmitted from the hub module 400 to the tire support module 200 , and the wheel plate 310 , the wheel hub 320 and the wheel link 330 .

The wheel plate 310 may support the first roof clamp 221 and the second roof clamp 222 to be movable. The wheel plate 310 includes a guide long hole 311 for guiding movement of the first roof clamp 221 in the radial direction, and an elliptical opening 312 for allowing movement of the second roof clamp 222 . The guide long hole 311 may extend in a radial direction, and the elliptical opening 312 may have a long side disposed in the radial direction.

The wheel hub 320 is disposed at the center of the wheel plate 310 and may rotate with respect to the wheel plate 310 . The wheel hub 320 may rotate in a first direction and in a second direction opposite to the first direction.

One end of the wheel link 330 is rotatably connected to the wheel hub 320 , and the other end is rotatably connected to the first roof clamp 221 .

The wheel link 330 and the first roof clamp 221 may be connected by a shoulder bolt 313 extending along the width direction of the wheel. The shoulder bolt 313 may move along the guide long hole 311 .

Referring to FIG. 4 , when the wheel hub 320 rotates in the first direction, for example, counterclockwise, the wheel link 330 moves away from the center of the wheel. At this time, the first roof clamp 221 connected to the wheel link 330 moves in a direction approaching the inner circumferential surface of the tire 100 . Accordingly, the tire support module 200 may be switched from the flexible mode 201 to the rigid mode 202 .

Referring to FIG. 5 , when the wheel hub 320 rotates in the second direction, for example, clockwise, the wheel link 330 moves closer to the center of the wheel. At this time, the first roof clamp 221 connected to the wheel link 330 moves in a direction away from the inner circumferential surface of the tire 100 . Accordingly, the tire support module 200 may be switched from the rigid mode 202 to the flexible mode 201 .

10 is a diagram for explaining the hub module 400 and the wheel module 300 . Referring to FIG. 10 , the hub module 400 is disposed at the rotation center of the tire 100 and is configured to transmit power to the wheel module 300 .

When the tire support module 200 is converted from the flexible mode 201 to the rigid mode 202 , the hub module 400 may transmit power to rotate the wheel hub 320 in the first direction. When the tire support module 200 is converted from the rigid mode 202 to the flexible mode 201 , the hub module 400 may transmit power to rotate the wheel hub 320 in the second direction.

The hub module 400 includes a hub housing 410 and a hub shaft 420 rotatably installed in the hub housing 410 . The hub shaft 420 is connected to the hub motor 501 (refer to FIG. 2 ), and is rotated by the rotation of the hub motor 501 .

The hub shaft 420 may be coupled to the wheel shaft 340 . When the wheel shaft 340 rotates by the rotation of the hub shaft 420 , the planet gear 352 and the gear carrier 353 rotate. The wheel hub 320 may be coupled to the gear carrier 353 . Accordingly, by the rotation of the gear carrier 353, the wheel hub 320 is rotated, and the wheel link 330 connected to the wheel hub 320 moves away from the center of the wheel or close to the center of the wheel. . Accordingly, while the first loop clamp 221 connected to the wheel link 330 by the shoulder bolt 313 moves, the arrangement of the composite roof 210 is changed.

Meanwhile, the hub module 400 may transmit the power of the wheel motor 502 (refer to FIG. 2 ) to the wheel module 300 or the tire support module 200 . For example, the hub module 400 further includes a hub gear 421 rotatable with respect to the hub housing 410 and a hub plate 430 coupled to the hub gear 421 via a hub gear mount 422 . can do. A slidable hub mount slide 442 may be installed on the hub plate 430 . A shoulder bolt 313 disposed on the first loop clamp 221 is coupled to the hub mount slide 442 .

The power of the wheel motor 502 is transmitted to the hub gear 421 through the hub gear transfer 450, and accordingly, the hub plate 430 and the hub mount slide 442 coupled to the hub gear 421 rotate. . As the hub mount slide 442 rotates, the shoulder bolt 313 connected to the hub mount slide 442 rotates. By rotation of the shoulder bolt 313, the wheel plate 310 rotates, and the variable stiffness wheel 1 rotates. At this time, the hub motor 501 is coupled to the hub gear 421 through the hub motor mount 441 , and rotates together with the variable stiffness wheel 1 . The hub shaft 420 is coupled to the hub motor 501 through a coupling 411 , and is rotatably coupled to the hub gear mount 422 through a bearing 412 .

In the above-described embodiment, an exemplary configuration of the hub module 400 has been described, but is not limited thereto. The configuration of the hub module 400 may be variously modified as long as it is a structure for transmitting power from the wheel motor 502 and the hub motor 501 .

11 is a diagram conceptually illustrating the mobile device 1000 according to an embodiment, and FIGS. 12 and 13 are diagrams for explaining the mobile device 1000 according to an embodiment. 12 and 13, the illustration of the sensor 3 and the processor 4 is omitted for convenience.

Referring to FIG. 11 , the mobile device 1000 includes a base 2 , a plurality of variable stiffness wheels 1 , and a driving motor 500 . The moving device 1000 may further include a processor 4 for controlling the driving motor 500 and a sensor 3 for detecting a ground state or a horizontal state.

11 to 13 , a plurality of variable stiffness wheels 1 may be installed on the base 2 . The plurality of variable stiffness wheels 1 may be the variable stiffness wheels 1 according to the above-described embodiments. The plurality of stiffness variable wheels 1 may include a pair of first variable wheels 11 disposed at the front and a pair of second variable wheels 12 disposed at the rear. The plurality of variable stiffness wheels 1 may be four, but is not limited thereto, and if there are three or more, they may be freely deformed.

The driving motor 500 is electrically connected to the processor 4 , and may control the operation of the variable stiffness wheel 1 according to the control of the processor 4 . The driving motor 500 may include a wheel motor 502 providing power for rotating the variable stiffness wheel 1 and a hub motor 501 controlling the stiffness of the variable stiffness wheel 1 . The wheel motor 502 may rotate at a higher speed than the hub motor 501 . The hub motor 501 may provide a higher torque than the wheel motor 502 .

The sensor 3 is electrically connected to the processor 4 . The sensor 3 may detect the state of the ground on which the variable stiffness wheel 1 travels and transmit the state information of the ground to the processor 4 . The sensor 3 may use a vision sensor.

The processor 4 may control the wheel motor 502 among the driving motors 500 to rotate or stop the variable wheel 1 . Also, the processor 4 may control the hub motor 501 of the driving motor 500 according to the ground state information input from the sensor 3 to control the rigidity of the variable wheel.

For example, when the ground state information input from the sensor 3 is a flat road, the processor 4 controls the hub motor 501 of the driving motor 500 so that the tire 100 maintains a circular state. . When the tire 100 is not in a circular state, the processor 4 controls the hub motor 501 of the driving motor 500 to rotate the wheel module 300 in the first direction, thereby causing the tire support module 200 to rotate. can be switched to the rigid mode 202 . When the tire 100 is in a circular state, the processor 4 controls only the wheel motor 502 of the drive motor 500 to rotate the variable stiffness wheel 1 .

When the ground state information input from the sensor 3 is a step, the processor 4 controls the hub motor 501 of the driving motor 500 so that the tire 100 can be deformed in response to the step. That is, the processor 4 controls the hub motor 501 to switch the tire support module 200 to the flexible mode 201 , thereby lowering the structural rigidity of the variable stiffness wheel 1 . Then, the shape of the tire 100 may be deformed according to the shape of the step.

In this state, if the processor 4 operates the wheel motor 502 of the drive motor 500 , the variable wheel 1 may rotate while climbing the stairs.

The processor 4 may be electrically connected to the four driving motors 500 to control the operation of the four variable stiffness wheels 1 .

When the processor 4 controls the wheel motors 502 of the four driving motors 500 , the moving device 1000 may be moved or stopped. Also, when the processor 4 controls the hub motor 501 of the four wheels 1 with variable stiffness, the moving device 1000 may change the stiffness of the wheels 1 with variable stiffness according to the condition of the ground. When the four driving motors 500 are operated in a state where the rigidity of the four variable stiffness wheels 1 is low, the moving device 1000 can easily move various terrain features such as unpaved roads, barriers, and stairs.

For example, when the tire support module 200 is in the flexible mode 201 , the tread area of the tire 100 is increased than when the tire support module 200 is in the rigid mode 202 . For example, when the tire support module 200 is in the flexible mode 201 , the tread area of the tire 100 may be 10 times or more greater than the tread area when the tire support module 200 is in the rigid mode 202 . . Accordingly, since the traction with the floor is increased, it is possible to reduce slippage due to the lack of traction of the wheels even when passing through a steep slope.

In addition, the variable stiffness wheel 1 deforms the shape of the tire 100 to increase the tread area of the tire 100, so that even when driving on an unpaved road in which gravel or sand exists, the wheel falls into the sand or falls into a crevice of rocks. This can prevent problems such as jamming.

14 and 15 are diagrams for conceptually explaining a process in which the mobile device 1000 climbs stairs according to an embodiment.

14 and 15 , as the moving device 1000 approaches the stairs O, the processor 4 controls the hub motor 501 of the driving motor 500 to control the tire support module 200 . to the flexible mode (201). Through this, the rigidity of the first variable wheel 11 and the second variable wheel 12 is lowered. The shape of the first variable wheel 11 and the second variable wheel 12 is variable according to the external shape. The processor 4 controls the wheel motor 502 to rotate the first variable wheel 11 and the second variable wheel 12 .

As the first and second

variable wheels

11 and 12 rotate in a deformed state, the first and second

variable wheels

11 and 12 increase the contact area with the step O. A force acts on (O).

Referring to FIG. 14 , the second variable wheel 12 provides a pushing force to the first variable wheel 11 through the base 2 . The first variable wheel 11 may provide a pushing force to the first variable wheel 11 through the base 2 until the second variable wheel 12 climbs the stairs O to secure a sufficient area. there is. Accordingly, the first variable wheel 11 of the mobile device 1000 can easily climb the stairs O.

Referring to FIG. 15 , the first variable wheel 11 climbing the step O may secure a sufficient contact area with the step O. The first variable wheel 11 provides a pulling force to the second variable wheel 12 through the base 2 . The first variable wheel 11 may provide a pulling force to the second variable wheel 12 through the base 2 until the second variable wheel 12 climbs the stairs O to secure a sufficient area. there is. Accordingly, the second variable wheel 12 of the mobile device 1000 can also easily climb the stairs O.

Although not shown in the drawing, the process in which the mobile device 1000 descends the stairs O is performed in a state in which the first and second

variable wheels

11 and 12 have a deformed shape and an increased contact area with the stairs O. ) will go down. Since the process of the mobile device 1000 going down the stairs O is similar to the process of climbing the stairs O, a detailed description thereof will be omitted.

The mobile device 1000 according to the embodiment may be designed to be suitable for climbing the stairs O.

12 and 13 again, the base 2 of the moving device 1000 may be configured to adjust the wheel base length W between the first variable wheel 11 and the second variable wheel 12 . there is. Through this, the wheel base length W may be adjusted by adjusting the moving device 1000 to the step O.

For example, the base 2 includes a first base frame 21 , a second base frame 22 movable in the front-rear direction with respect to the first base frame 21 , and a second base frame 22 . 1 It includes a wheelbase motor 23 for relative movement with respect to the base frame (21).

The first variable wheel 11 is installed on the first base frame 21 , and the second variable wheel 12 is installed on the second base frame 22 . By the wheel base motor 23 , the positions of the first base frame 21 and the second base frame 22 in the front and rear directions are changed, and the wheel base length W is adjusted.

The sensor 3 may detect the height and depth of the stairs. The moving device 1000 may adjust the wheel base length W in consideration of the height and length of the stairs detected through the sensor 3 . Referring to FIG. 16 , when the recognized height of the step O is H, the depth is L, and the radius of the first and second

variable wheels

11 and 12 is R, the wheel base length W is expressed in Equation 1 below. can be adjusted to match.

Wheelbase Length (W)

... Equation 1

The processor 4 may adjust the wheel base length W in consideration of the height and depth of the stairs.

The size and amount of deformation of the variable stiffness wheel 1 may be designed so that the variable stiffness wheel 1 is suitable for climbing stairs.

For example, the diameter 2R of the variable stiffness wheel 1 may be 150% or more of the height H of the step O. For example, when the depth L of the step O is 260 mm and the height H is 180 mm, the diameter 2R of the variable stiffness wheel 1 may be designed to be 280 mm.

For example, when the stiffness of the variable stiffness wheel 1 is low, the deformation amount of the variable stiffness wheel 1 may be 20% or more of the radius R of the variable stiffness wheel 1 .

In addition, the mobile device 1000 may be configured to keep the load loaded on the mobile device 1000 level while climbing the stairs. For example, the mobile device 1000 may further include a loading unit 25 on which a load is loaded, and a leveling motor 26 for keeping the loading unit 25 horizontal.

Even if the base 2 is tilted while the mobile device 1000 climbs the stairs, the loading unit 25 may be leveled by the leveling motor 26 . Accordingly, it is possible to prevent the load from falling out of the mobile device 1000 while the mobile device 1000 climbs the stairs.

The variable stiffness wheel 1 according to an embodiment of the present disclosure as described above may be applied to various mobile devices, such as a mobile robot, a personal mobility platform, and the like.

Hereinafter, the present invention will be described in more detail with reference to Example 1, but the present invention is not limited to these Examples.

Example 1

As an embodiment of the mobile device 1000 of the present invention, the variable stiffness wheel 1 according to the above-described embodiment was used. When the tire support module 200 is in the stiffness mode 202 , the variable stiffness wheel 1 has a diameter of 280 mm and a width of 70 mm, and a wheelbase distance of 470 mm to 580 mm, used in the moving device 1000 . The battery was loaded with a lithium ion battery weighing 17 kg, 25.2 V, and 40 Ah, and the weight of the load loaded in the mobile device 1000 was 12 kg.

17 is a view showing a process of climbing the stairs of the mobile device 1000 according to the first embodiment. Referring to FIG. 17 , the mobile device 1000 entered the stairs in a state where the shape of the variable stiffness wheel 1 was deformable. Since the variable stiffness wheel 1 can be deformed in shape, the contact area between the tire 100 and the stairs is increased, and it is possible to climb the stairs based on sufficient grip. In addition, it was confirmed that the mobile device 1000 can stably climb the stairs without dropping the load on the loading unit 25 by adjusting the wheel base length and adjusting the angle of the loading unit 25 .

For an understanding of the invention, reference signs have been given in the preferred embodiments shown in the drawings, and specific terms are used to describe the embodiments, but the invention is not limited by the specific terms, and the invention is not limited to those skilled in the art. Therefore, it can include all the components that can be considered in general.

The specific implementations described in the invention are only examples, and do not limit the scope of the invention in any way. For brevity of the specification, descriptions of conventional electronic components, control systems, software, and other functional aspects of the systems may be omitted. In addition, the connection or connection members of lines between the components shown in the drawings illustratively represent functional connections and/or physical or circuit connections, and in an actual device, various functional connections, physical connections that are replaceable or additional may be referred to as connections, or circuit connections. In addition, unless there is a specific reference such as “essential” or “importantly”, it may not be a necessary component for the application of the invention. As used herein, expressions such as “comprising”, “including” and the like are used to be understood as terms of an open end of the description.

In the specification of the invention (especially in the claims), the use of the term “above” and similar referential terms may be used in both the singular and the plural. In addition, when a range is described in the invention, it includes the invention to which individual values belonging to the range are applied (unless there is a description to the contrary), and each individual value constituting the range is described in the detailed description of the invention. . Finally, the steps constituting the method according to the present invention may be performed in an appropriate order unless there is an explicit order or description to the contrary. The present invention is not necessarily limited to the order in which the steps are described. The use of all examples or exemplary terms (eg, etc.) in the present invention is merely for the purpose of describing the present invention in detail, and the scope of the present invention is limited by the examples or exemplary terms unless defined by the claims. it's not going to be In addition, those of ordinary skill in the art can clearly see that various modifications and changes can be easily made without departing from the scope and spirit of the invention.

Claims

tire; and

and a plurality of compound loops having a rigid region and a flexible region and positioned inside the tire, wherein a rigid mode in which the load of the tire is supported by the rigid region of the compound loop and the load of the tire in the flexible region and a tire support module supported by the

Each of the plurality of complex loops,

and a first rigid region disposed so that the rigid region faces an inner circumferential surface of the tire;

the flexible region,

a first flexible region disposed at one end of the first rigid region and having a lower rigidity than the first rigid region;

The variable stiffness wheel is disposed at the other end of the first rigid region and includes a second flexible region having a lower rigidity than the first rigid region.
According to claim 1,

The tire support module comprises:

a first loop clamp supporting one end of the composite loop and movable to a pressing position and a releasing position;

a second loop clamp supporting the other end of the composite loop; and

a state in which the composite roof is pressed outwardly so that the tire support module is switched to the rigid mode in response to movement of the first roof clamp to the pressing position or the released position; a loop link convertible into a state that permits retraction of the composite loop to transition;

The loop link has a foldable link structure,

When in the rigid mode, the roof link is in an unfolded state,

The variable stiffness wheel in which the roof link is in a folded state when in the flexible mode.
3. The method of claim 2,

The rigid region is

a second rigid region disposed at an end of the first flexible region, the second rigid region having a higher rigidity than the first flexible region, and supported by the first loop clamp;

and a third rigidity region disposed at an end of the second flexible region, the third rigid region being supported by the second loop clamp, the third rigid region having a higher rigidity than the second flexible region.
According to claim 1,

When in the rigid mode, the load of the tire is supported by the first rigid region,

When in the flexible mode, the load of the tire is supported by the first flexible region,

The rigidity of the first rigid region is 4 to 5 times the rigidity of the first flexible region, the stiffness variable wheel.
According to claim 1,

and a radius of curvature of the first flexible region is smaller than a radius of curvature of the first rigid region.
According to claim 1,

The plurality of composite loops are arranged to partially overlap along the width direction of the wheel,

wherein each of the plurality of composite loops comprises a fiber reinforced plastic.
3. The method of claim 2,

The tire support module further includes a tire link connecting the second roof clamp and the tire;

the second flexible region is disposed adjacent to the second loop clamp;

The length of the second flexible region is shorter than the length of the first flexible region, the stiffness variable wheel.
8. The method of claim 7,

In the flexible mode, the tire link is capable of tilting in a predetermined range about a radial direction, the stiffness variable wheel.
8. The method of claim 7,

the first roof clamp is movable along a radial direction of the tire;

and the second roof clamp is movable in a radial direction of the tire and a direction inclined with respect to the radial direction.
According to claim 1,

wherein the plurality of compound loops are arranged in a circumferential direction and a width direction of the tire.
3. The method of claim 2,

a wheel plate for movably supporting the first and second roof clamps;

a wheel hub disposed at the center of the wheel plate and rotatable in a first direction and a second direction opposite to the first direction with respect to the wheel plate;

Further comprising; a wheel link having one end rotatably connected to the wheel hub and the other end rotatably connected to the first roof clamp,

when the wheel hub rotates in the first direction, the wheel link moves away from the center of the wheel, and the first loop clamp moves to the pressurized position approaching the inner circumferential surface of the tire;

When the wheel hub rotates in the second direction, the wheel link moves closer to the center of the wheel, and the first loop clamp moves to the release position away from the inner circumferential surface of the tire.
12. The method of claim 11,

transmit power to rotate the wheel hub in the first direction when converting the tire from the flexible mode to the rigid mode, and when converting the tire from the rigid mode to the flexible mode, the wheel hub A hub module that transmits power to rotate the wheel in the second direction; including, a variable stiffness wheel.
According to claim 1,

wherein the tire comprises a flexible airless tire.
Base;

A plurality of rigidity variable wheels according to any one of claims 1 to 17, which is installed in the lower part of the base; and

A moving device comprising a; a drive motor for driving the plurality of variable stiffness wheels.
15. The method of claim 14,

The variable stiffness wheel includes a first variable wheel disposed at the front and a second variable wheel disposed at the rear,

the base adjusts a wheel base length between the first variable wheel and the second variable wheel;

a first base frame on which the first variable wheel is installed;

a second base frame on which the second variable wheel is installed and movable with respect to the first base frame;

and a wheelbase motor for moving the second base frame relative to the first base frame.