A single-actuator-based integrated driving and morphing mechanism for expandable wheels

Abstract

The present invention relates to a single actuator-based driving and deformation integrated mechanism for an extendable wheel, and more specifically, to a single actuator-based driving and deformation integrated mechanism for an extendable wheel having a structure that expands outward from a wheel shape for general road driving to overcome obstacles and drive on rough terrain, which can control driving or variable movements more accurately and simply. This invention is the result of a project carried out with support from the Gyeongsangbuk-do Regional Innovation Center University Support System (RISE)-(Specialized University) in 2025.

Description

Technology Field

[0001] The present invention relates to a single actuator-based driving and deformation integrated mechanism for an extendable wheel, and more specifically, to a single actuator-based driving and deformation integrated mechanism for an extendable wheel having a structure that expands outward from a wheel shape for general road driving to overcome obstacles and drive on rough terrain, which can control driving or variable movements more accurately and simply. Background Technology

[0003] Generally, wheeled vehicles and robots are configured to drive using circular wheels, which has the disadvantage of not being suitable for overcoming obstacles.

[0005] Various technologies are being developed to overcome obstacles, and walking robots using articulated legs are being developed, but there were problems such as a very complex configuration and low driving speed.

[0007] Although a technology has been developed to overcome rough terrain by deforming the shape from a general wheel shape, such as Korean Published Patent No. 10-2018-0089938 "Variable Wheel," the conventional expansion structure is implemented in such a way that when a difference in the magnitude of the vertical force occurs while the rotating member (101) rotated by the drive shaft is driving as shown in FIG. 11, the variable member (102) expands while rotating from the protective member (103). Consequently, there was a problem in that the user could not expand or contract the variable member (102) when no difference in the magnitude of the vertical force occurred.

[0009] In other words, the user could not select the expand or collapse action.

[0011] Subsequently, a technology was developed to expand or contract the expansion part (114) by adding a separate control motor (113) to the wheel body (112) of each wheel, as described in Korean Published Patent No. 10-2025-0032138 "Wheel for overcoming stairs having a slide expansion structure" shown in FIG. 12, and generating a difference in rotational force from the wheel body (112) which rotates by the drive shaft (111) through each control motor (113).

[0012] On the other hand, as each wheel must be separately equipped with a control motor (113), the wheel mass increases, and as structures such as slip rings for supplying control signals and power to the control motor (113) must be added, there was a problem that the structure was complex and maintenance was difficult.

[0014] Accordingly, there is a need to develop a new variable control structure that can be controlled more accurately and simply. Prior art literature

[0016] Korean Published Patent No. 10-2018-0089938 "Variable Wheel" Korean Published Patent No. 10-2025-0032138 "Stair-climbing Wheel with Slide Extension Structure" The problem to be solved

[0017] The objective of the present invention is to provide a single actuator-based integrated drive and deformation mechanism for an expandable wheel, which is devised to solve the problems described above and provides a structure capable of controlling the driving or variable movements of the expandable wheel more accurately and simply. means of solving the problem

[0019] To achieve the above objective, the single actuator-based driving and deformation integrated mechanism for an expansion wheel according to the present invention is a single actuator-based driving and deformation integrated mechanism for an expansion wheel that can perform expansion or contraction operations of an expansion wheel, which can be varied from a wheel shape in which the outer surface is in close contact with the ground for driving, to a form in which an expansion structure is expanded outwardly, or perform driving operations through the rotation of the wheel, and comprises a plurality of variable shafts disposed on the vehicle body to receive rotational force from a driving motor and transmit it to each expansion wheel, a support plate disposed so that the variable shaft penetrates the central part, a plurality of expansion structures disposed on the support plate, a driving plate to receive rotational force from the variable shaft and expand or contract the expansion structures, and a driving suppression part disposed on the vehicle body to control the rotation of the support plate so that only the driving plate rotates when the variable shaft rotates, and is characterized by expanding or contracting the expansion structures based on the difference in the amount of rotation between the support plate fixed by the driving suppression part and the driving plate rotated by the variable shaft.

[0020] In addition, a single actuator-based drive and deformation integrated mechanism for an expandable wheel, which can perform expansion or contraction operations of an expandable wheel that can be varied from a wheel shape in which the outer surface is in close contact with the ground for driving, to a form in which an expansion structure is expanded outwardly, and which performs driving operations through the rotation of the wheel, comprises a plurality of variable shafts disposed on a vehicle body to receive rotational force from a drive motor and transmit it to each expandable wheel, a support plate disposed such that the variable shaft penetrates the central part, a plurality of expansion structures disposed on the support plate, a drive plate to receive rotational force from the variable shaft and expand or contract the expansion structures, and a variable part to move the variable shaft in the axial direction, wherein the variable shaft is configured to be fixed to the support plate or released from fixation by axial movement, and the expansion structures are expanded or contracted based on the difference in the amount of rotation between the fixed plate and the support plate rotated by the variable shaft while the fixation between the variable shaft and the support plate is released.

[0021] In addition, the variable shaft is characterized by being configured to include a first protruding end protruding outwardly to span across the support plate and a second protruding end protruding outwardly to span across the driving plate.

[0022] In addition, the variable shaft is configured to include a first protruding end protruding outwardly to span across the support plate and a second protruding end protruding outwardly to span across the driving plate, and the support plate is characterized by having a fixing groove with an open side formed therein so that the first protruding end can be inserted and fixed or detached and released from fixation by axial movement of the variable shaft.

[0023] Additionally, the structure is configured to include a first protruding end protruding outwardly to span across the support plate and a second protruding end protruding outwardly to span across the driving plate; the support plate is provided with a plurality of fixing grooves with open sides spaced apart by a predetermined distance so that the first protruding end can be inserted and fixed or detached and released from fixation by axial movement of the variable axis; and the structure is characterized by fixing the expansion structure in an expanded state or a contracted state in such a manner that the first protruding end is detached from one of the fixing grooves by horizontal movement of the variable axis, the variable axis rotates by a predetermined angle, and then the first protruding end is fixed to another fixing groove by horizontal movement of the variable axis.

[0024] In addition, the driving plate is characterized by having a slide groove corresponding to a second protruding end formed therein, so that even with axial movement of the variable axis, the second protruding end slides along the slide groove, and the driving plate is maintained in a fixed state so that it rotates by the rotation of the variable axis. Effects of the invention

[0026] As described above, the single actuator-based driving and deformation integrated mechanism for an extendable wheel according to the present invention has the effect of enabling more accurate and simple control of the driving or variable movement of the extendable wheel by mechanically generating a difference in the amount of rotation of the variable axis. Brief explanation of the drawing

[0028] FIG. 1 is a drawing illustrating an embodiment in which a single actuator-based driving and deformation integrated mechanism for an extension wheel according to the present invention is applied. FIG. 2 is a diagram illustrating the rotation suppression operation of an embodiment to which a single actuator-based driving and deformation integrated mechanism for an extended wheel according to the present invention is applied. FIG. 3 is a diagram illustrating a drive inhibition part of a single actuator-based drive and deformation integrated mechanism for an extended wheel according to the present invention. FIG. 4 is a drawing illustrating the reduction operation of an expandable wheel to which a single actuator-based driving and deformation integrated mechanism for an expandable wheel according to the present invention is applied. FIG. 5 is a drawing illustrating the expansion operation of an expandable wheel to which a single actuator-based driving and deformation integrated mechanism for an expandable wheel according to the present invention is applied. FIG. 6 is a diagram illustrating the variable operation of a variable axis of a single actuator-based driving and deformation integrated mechanism for an extended wheel according to the present invention. FIG. 7 is a drawing illustrating a variable axis of a single actuator-based driving and deformation integrated mechanism for an extended wheel according to the present invention. FIG. 8 is a drawing illustrating another embodiment of a variable axis of a single actuator-based driving and deformation integrated mechanism for an extended wheel according to the present invention. FIG. 9 is a drawing illustrating a driving plate of a single actuator-based driving and deformation integrated mechanism for an extended wheel according to the present invention. FIG. 10 is a drawing showing the state in which the driving plate of a single actuator-based driving and deformation integrated mechanism for an extension wheel according to the present invention is rotated. FIG. 11 is a drawing illustrating a conventional variable wheel. FIG. 12 is a drawing illustrating another conventional variable wheel. Specific details for implementing the invention

[0029] Specific structural or functional descriptions of embodiments according to the concept of the present invention disclosed herein are provided merely for the purpose of explaining embodiments according to the concept of the present invention, and embodiments according to the concept of the present invention may be implemented in various forms and are not limited to the embodiments described herein.

[0030] Embodiments according to the concept of the present invention may be subject to various modifications and may take various forms; therefore, embodiments are illustrated in the drawings and described in detail in this specification. However, this is not intended to limit the embodiments according to the concept of the present invention to specific disclosed forms, and includes all modifications, equivalents, or substitutions that fall within the spirit and scope of the present invention.

[0032] Hereinafter, preferred embodiments of the present invention will be described with reference to the attached drawings.

[0034] FIG. 1 is a diagram illustrating an embodiment to which a single actuator-based drive and deformation integrated mechanism for an expandable wheel according to the present invention is applied; FIG. 2 is a diagram illustrating the rotation suppression operation of an embodiment to which a single actuator-based drive and deformation integrated mechanism for an expandable wheel according to the present invention is applied; FIG. 3 is a diagram illustrating a drive suppression part of a single actuator-based drive and deformation integrated mechanism for an expandable wheel according to the present invention; FIG. 4 is a diagram illustrating the contraction operation of an expandable wheel to which a single actuator-based drive and deformation integrated mechanism for an expandable wheel according to the present invention is applied; FIG. 5 is a diagram illustrating the expansion operation of an expandable wheel to which a single actuator-based drive and deformation integrated mechanism for an expandable wheel according to the present invention is applied; FIG. 6 is a diagram illustrating the variable operation of a variable axis of a single actuator-based drive and deformation integrated mechanism for an expandable wheel according to the present invention; FIG. 7 is a diagram illustrating a variable axis of a single actuator-based drive and deformation integrated mechanism for an expandable wheel according to the present invention; and FIG. 8 is a diagram according to the present invention FIG. 9 is a drawing illustrating another embodiment of a variable axis of a single actuator-based driving and deformation integrated mechanism for an expansion wheel according to the present invention, FIG. 10 is a drawing illustrating a driving plate of a single actuator-based driving and deformation integrated mechanism for an expansion wheel according to the present invention, and FIG. 10 is a drawing illustrating a state in which the driving plate of a single actuator-based driving and deformation integrated mechanism for an expansion wheel according to the present invention is rotated.

[0036] The single actuator-based driving and deformation integrated mechanism for an expandable wheel according to the present invention is intended to perform expansion or contraction operations of an expandable wheel that can be varied from a wheel shape in which the outer surface is in close contact with the ground while driving, to a form in which the expansion structure is expanded outwardly, or to perform driving operations through the rotation of the wheel.

[0038] More specifically, as in the embodiment illustrated in FIGS. 1 to 5, the apparatus comprises a plurality of variable shafts (5) disposed in the vehicle body to receive rotational force from a drive motor (8) and transmit it to each expandable wheel (10), a support plate (2) disposed so that the variable shafts (5) penetrate the central part, a plurality of expandable structures (3) disposed on the support plate (2), a drive plate (1) to receive rotational force from the variable shafts (5) and rotate at a predetermined angle to expand or contract the expandable structures (3), and a drive suppression part (6) disposed in the vehicle body to control the rotation of the support plate (2) so that only the drive plate (1) rotates when the variable shafts (5) rotate.

[0040] At this time, the shape and number of the drive plate (1) and the support plate (2), the shape and number of each expansion structure (3), and the form in which the multiple expansion structures (3) are expanded can be changed in various ways, and the expansion and contraction movements of each expansion wheel (10) are controlled based on the operation of the variable shaft (5).

[0042] Additionally, the drive suppression part (6) is in close contact with the side of the support plate (2) to suppress the rotation of the support plate (2), and a receiving groove (6a) in which the drive suppression part (6) can be received may be formed on the side of the support plate (2).

[0044] Through this structure, the expansion structure (3) is expanded or contracted based on the difference in the amount of rotation between the support plate (2) fixed by the drive suppression part (6) and the drive plate (1) rotated by the variable axis (5).

[0046] In addition, the above variable shaft (5) may be further provided with a variable part (7) for axially moving the variable shaft (5) to fix it to a support plate or to release the fixation.

[0048] The above variable part (7) is intended to move the variable axis (5) axially from the rotation axis of the drive motor (8), and may be implemented to move only each variable axis (5) horizontally, or to move all of the multiple drive motors (8) horizontally.

[0050] In one embodiment, as shown in FIG. 1, each driving motor (8) is arranged together with a driving suppression part (6) in the variable part (7), and as shown in FIG. 2, each driving motor (8) is horizontally moved toward each extended wheel (10) according to the operation of the variable driving member (9), thereby moving the variable shaft (8) axially, and the driving suppression part (6) is pressed against the support plate (2) to suppress the rotation of the support plate (2).

[0052] Additionally, as shown in FIG. 6 or FIG. 7, the variable axis (5) is configured to include a first protruding end (31) that protrudes outwardly to span across the support plate (2) and a second protruding end (32) that protrudes outwardly to span across the driving plate (1).

[0054] Additionally, the support plate (2) has a fixing groove (34) with an open side so that the first protruding end (31) can be inserted and fixed or detached and released from fixation by axial movement of the variable axis (5).

[0056] Through this, when the first protruding end (31) is inserted into the fixed groove (34), the support plate (2) rotates by the rotation of the variable shaft (5), and when the first protruding end (31) is detached from the fixed groove (34) by the axial horizontal movement of the variable shaft (5), the support plate (2) is not constrained by the rotation of the variable shaft (5).

[0058] At this time, the above fixed grooves (34) may be spaced apart by a predetermined distance.

[0059] More specifically, a plurality of fixing grooves (34) are arranged along the outer surface of the variable shaft (5), and the first protruding end (31) is detached from one of the fixing grooves (34) by horizontal movement of the variable shaft (5), and then the variable shaft (5) is rotated by a predetermined angle, and then the first protruding end (31) is fixed to another fixing groove (34) by horizontal movement of the variable shaft (5), thereby fixing the expansion structure in an expanded state or a contracted state.

[0061] On the other hand, a slide groove (32a) corresponding to a second protruding end (32) is formed in the driving plate (1), and the second protruding end (32) is implemented to have a predetermined length along the longitudinal direction of the variable shaft (5), so that even when the variable shaft (5) moves in the axial direction, the second protruding end (32) slides along the slide groove (32a) and is maintained in a fixed state so that the driving plate (1) rotates by the rotation of the variable shaft (5).

[0063] At this time, the second protruding end (32) may be implemented in the form of a column penetrating the driving plate (1) as shown in FIG. 8, and the slide groove (32a) may be implemented in the form of a hole penetrating the second protruding end (32) in the form of a column.

[0065] Through this structure, the driving inhibition part (6) fixes the support plate (2) by the operation of the variable part (7), and the first protruding end (31) is disengaged from the fixed groove (34) by the axial horizontal movement of the variable shaft (5). Then, the driving plate (1) is rotated relative to the support plate (2) by the rotation of the variable shaft (5), thereby creating a difference in the amount of rotation, so that the expansion or contraction operation of the expansion wheel (10) is performed.

[0067] For example, the expansion or contraction operation of the expansion wheel (10) is performed by the operation of the variable part (7) as shown in FIG. 9 or FIG. 10, so that the drive suppression part (6) fixes the support plate (2), and the first protruding end (31) is released from the fixing groove (34) by the axial horizontal movement of the variable shaft (5), thereby releasing the fixation of the variable shaft (5) and the support plate (2), and as the drive plate (1) is rotated by the variable shaft (5) at a predetermined angle, the pin (22) of each expansion structure (3) is moved along the spiral slot (11) of the drive plate (1), and the expansion structure (3) rotates around the fixing shaft (21) on the support plate (2), thereby performing the expansion operation or the contraction operation.

[0069] As described above, although the present invention has been described with reference to preferred embodiments with reference to the accompanying drawings, it is evident to those skilled in the art that many obvious variations are possible from this description without departing from the scope of the invention. Accordingly, the scope of the invention should be interpreted by the claims described to include examples of such many variations. Explanation of the symbols

[0071] 1 : Drive plate 2 : Support plate 2a: First support plate 2b: Second support plate 3 : Extension structure 3a : First extension structure 3b : Second extension structure 5 : Variable axis 6 : Driving inhibition unit 7 : Variable part 8 : Drive motor 9 : Variable drive member 10: Extendable wheel 11: Spiral slot 12 : Empty space 21 : Fixed axis 22 : Pin 31: First protruding section 32: Second protruding section 33 : Block 34 : Fixed groove

Claims

Claim 1 delete Claim 2 A single actuator-based integrated drive and deformation mechanism for an expandable wheel, which performs expansion or contraction movements of an expandable wheel capable of varying from a wheel shape in which the outer surface is in close contact with the ground for driving to a form in which an expansion structure expands outwardly, or performs driving movements through wheel rotation, comprising: a plurality of variable shafts disposed on a vehicle body to receive rotational force from a drive motor and transmit it to each expandable wheel; a support plate disposed such that the variable shaft penetrates the central part; a plurality of expansion structures disposed on the support plate; a drive plate to receive rotational force from the variable shaft and expand or contract the expansion structures; and a variable part for axially moving the variable shaft, wherein the variable shaft is configured to be fixed to the support plate or released from fixation by axial movement, and the expansion structures are expanded or contracted based on the difference in the amount of rotation between the fixed plate and the support plate rotated by the variable shaft while the fixation between the variable shaft and the support plate is released, wherein the variable shaft comprises a first protruding end protruding outwardly to span across the support plate; and a drive plate to span across A single actuator-based drive and deformation integrated mechanism for an extended wheel, characterized by being configured to include a second protruding end protruding outward. Claim 3 delete Claim 4 A single actuator-based drive and deformation integrated mechanism for an expansion wheel according to claim 2, characterized in that the support plate has a fixing groove with an open side formed therein so that a first protruding end can be inserted and fixed or detached and released from fixation by axial movement of a variable axis. Claim 5 In claim 2, the support plate has a plurality of fixing grooves with open sides spaced apart by a predetermined distance so that a first protruding end can be inserted and fixed or detached and released from fixation by axial movement of a variable axis, and the expansion structure is fixed in an expanded state or fixed in a contracted state in such a manner that the first protruding end detaches from one of the fixing grooves by horizontal movement of the variable axis, then the variable axis rotates by a predetermined angle, and then the first protruding end is fixed to another fixing groove by horizontal movement of the variable axis. Claim 6 A single actuator-based drive and deformation integrated mechanism for an extended wheel, characterized in that, in claim 4 or 5, a slide groove corresponding to a second protruding end is formed in the drive plate, and the second protruding end slides along the slide groove even during axial movement of the variable axis, thereby maintaining a fixed state so that the drive plate rotates by the rotation of the variable axis.

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