360-degree rotating wheel device and multi-wheel drive mobile body using the same

Abstract

A 360-degree rotary wheel device includes a cover unit having a driving space formed on a lower side thereof, an in-wheel driving unit disposed in the driving space of the cover unit and generating a driving force upon operation, and an angle adjustment unit connecting the in-wheel driving unit and the cover unit to each other and rotating the in-wheel driving unit in a circumferential direction of the cover unit such that a driving direction of the 360-degree rotary wheel device determined according to operation of the in-wheel driving unit is converted by 360 degrees about a vertical axis. The 360-degree rotary wheel device expands a travel range and can be easily applied to a mobile body, thereby improving usability thereof.

Description

Technical Field

[0001] This invention relates to a 360-degree rotating wheel device that rotates the wheel 360 degrees to increase the driving range, and a multi-wheel drive mobile body using the device. Background Technology

[0002] Recently, there has been a need for driving wheels for moving objects. However, traditional wheels only allow left or right turns, and their turning radius is fixed.

[0003] Recently, research has been conducted to increase the movement radius of mobile objects in order to improve their usability.

[0004] Therefore, ball tire systems were developed, especially ball tire systems using magnetic levitation systems.

[0005] However, due to the limitations of using only the magnetic force of a magnetic levitation system to lift a moving body, the ball tire system is limited to applications for small moving bodies.

[0006] In other words, when using 360-degree rotating wheels configured with a magnetic levitation system for heavy mobile bodies, such as vehicles, the required magnetic strength is extremely high. Therefore, it is difficult to apply such wheels to heavy mobile bodies.

[0007] The content in this background section is only intended to enhance the understanding of the general background of the invention and should not be construed as an admission of prior art known to those skilled in the art or any form of implication. Summary of the Invention

[0008] Various aspects of the present invention aim to provide a 360-degree rotating wheel device in which the wheels are rotated 360 degrees to expand the driving range, and the 360-degree rotating wheel device can be easily applied to mobile bodies to improve usability. Various aspects of the present invention aim to provide a multi-wheel drive mobile body utilizing the 360-degree rotating wheel device.

[0009] In view of the foregoing, a 360-degree rotating wheel device according to various exemplary embodiments of the present invention includes: a cover unit having a drive space formed on its lower side; an in-wheel drive unit disposed in the drive space of the cover unit and generating a driving force during operation; and an angle adjustment unit connecting the in-wheel drive unit and the cover unit to each other and causing the in-wheel drive unit to rotate in the circumferential direction of the cover unit, such that the drive direction of the 360-degree rotating wheel device determined according to the operation of the in-wheel drive unit is changed by 360 degrees around the vertical axis of the 360-degree rotating wheel device.

[0010] The 360-degree rotating wheel device further includes a housing having a receiving space formed therein to accommodate a cover unit, and the housing and the cover unit are connected to each other by at least one suspension.

[0011] The suspension includes: a first suspension disposed in the central portion of the cover unit and connected to the housing, wherein the first suspension is configured to dampen vibrations caused by the vertical movement of the 360-degree rotating wheel device; and a second suspension spaced apart from the first suspension and connected to the cover unit and the housing, wherein the second suspension is configured to dampen vibrations caused by the longitudinal and lateral movements of the 360-degree rotating wheel device.

[0012] The mounting portion for electrical connection and fixation is provided on the vehicle body, and the 360-degree rotating wheel device further includes a fastening portion provided on the outer surface of the housing to fasten to the mounting portion of the vehicle body, such that when the fastening portion is fastened to the mounting portion, the housing is fixed and electrically connected to the vehicle body.

[0013] A cushioning rubber is attached to the outer surface of the cover unit to eliminate vibrations transmitted through the drive unit inside the wheel.

[0014] The angle adjustment unit includes: a ring unit disposed in the drive space of the cover unit and extending in a circular shape along the circumference of the cover unit, wherein a drive shaft extending from the in-wheel drive unit is connected to the ring unit; and a power transmission unit installed in the cover unit and connected to the ring unit to rotate the ring unit depending on whether the power transmission unit is operated.

[0015] The ring unit is formed in an annular shape and has a connecting gear formed in its extending direction, and the power transmission unit includes a rotary drive unit mounted in the cover unit and generating a rotational force, and a gear unit connected to the rotary drive unit to rotate by receiving the rotational force and meshing with the connecting gear of the ring unit.

[0016] The guide unit is disposed on the inner surface of the cover unit, and the ring unit is disposed on the guide unit.

[0017] The inverter and power module controller are installed in the cover unit, and the power module that controls the drive of the in-wheel drive unit and regenerative braking is embedded in the inverter and power module controller.

[0018] Furthermore, a multi-wheel drive mobile body according to various exemplary embodiments of the present invention includes: at least one rotating wheel device, each rotating wheel device including: a cover unit forming a drive space on its underside; an in-wheel drive unit disposed in the drive space of the cover unit and generating a driving force during operation; and an angle adjustment unit connecting the in-wheel drive unit and the cover unit to each other and causing the in-wheel drive unit to rotate in the circumferential direction of the cover unit, such that the drive direction of the 360-degree rotating wheel device determined according to the operation of the in-wheel drive unit changes by 360 degrees about a vertical axis; and a controller configured to control the in-wheel drive unit and the angle adjustment unit of each of the at least one rotating wheel device according to a desired driving speed and a desired driving direction.

[0019] When the desired driving direction corresponds to straight driving, the controller is configured to control each angle adjustment unit to arrange the in-wheel drive unit of at least one rotating wheel device corresponding to the front and rear wheels of the multi-wheel drive vehicle to face forward.

[0020] When the desired driving direction corresponds to turning, the controller is configured to control each angle adjustment unit to arrange the in-wheel drive unit of the rotating wheel device corresponding to the front wheel of the multi-wheel drive vehicle in at least one rotating wheel device to face the turning direction and to arrange the in-wheel drive unit of the rotating wheel device corresponding to the rear wheel of the multi-wheel drive vehicle in at least one rotating wheel device to face the opposite direction to the turning direction.

[0021] When the desired driving direction corresponds to the lateral travel of the multi-wheel drive vehicle, the controller is configured to control each angle adjustment unit to arrange the in-wheel drive units of the rotating wheel devices corresponding to the front and rear wheels of the multi-wheel drive vehicle toward the lateral side of the multi-wheel drive vehicle, and to control such that the driving directions of the in-wheel drive units corresponding to the front and rear wheels are the same.

[0022] When the desired driving direction corresponds to rotation in place, the controller is configured to control each angle adjustment unit to rotate the left front rotating wheel device and the right rear rotating wheel device in a predetermined direction and to rotate the right front rotating wheel device and the left rear rotating wheel device in the opposite direction to the predetermined direction, so that each rotating wheel device is diagonally arranged, and the left wheel inner drive unit drives in the forward direction while the right wheel inner drive unit drives in the reverse direction.

[0023] In the 360-degree rotating wheel device constructed as described above and the multi-wheel drive mobile body using the 360-degree rotating wheel device, the wheels rotate 360 ​​degrees, expanding the travel range of the mobile body and making it easy to apply to the mobile body, thereby improving usability.

[0024] The methods and apparatus of the present invention have other features and advantages, which will become apparent from the accompanying drawings and the following detailed description, which together serve to explain certain principles of the invention, or will be set forth in more detail in the drawings and detailed description. Attached Figure Description

[0025] Figure 1 This is an exemplary view illustrating a 360-degree rotating wheel device according to various exemplary embodiments of the present invention;

[0026] Figure 2 yes Figure 1 A top view of the 360-degree rotating wheel device shown;

[0027] Figure 3 yes Figure 1 A cross-sectional view of the 360-degree rotating device shown;

[0028] Figure 4 It is in a state of being installed on a moving body. Figure 1 A view of the 360-degree rotating wheel device shown;

[0029] Figure 5 This is an illustrative view showing an in-wheel drive unit and an angle adjustment unit according to various exemplary embodiments of the present invention;

[0030] Figure 6 This is a view used to describe the angle adjustment unit of the present invention;

[0031] Figure 7 This is a view used to describe the linear movement of a multi-wheel drive vehicle according to various exemplary embodiments of the present invention;

[0032] Figure 8 This is a view used to describe the turning motion of a multi-wheel drive mobile body according to various exemplary embodiments of the present invention;

[0033] Figure 9 This is a view used to describe the lateral movement of a multi-wheel drive vehicle according to various exemplary embodiments of the present invention; and

[0034] Figure 10 This is a view used to describe the in-situ rotation of a multi-wheeled driven moving body according to various exemplary embodiments of the present invention.

[0035] It is understood that the accompanying drawings are not necessarily drawn to scale, but rather present a slightly simplified representation of various features illustrating the basic principles of the invention. Specific design features of the invention included herein, including, for example, specific dimensions, orientations, positions, and shapes, will be determined in part by the particular intended application and environment of use.

[0036] In the accompanying drawings, reference numerals refer to the same or equivalent parts of the invention. Detailed Implementation

[0037] Reference will now be made in detail to various exemplary embodiments of the invention illustrated in the accompanying drawings and described below. Although the invention will be described in conjunction with exemplary embodiments thereof, it will be understood that this disclosure is not intended to limit the invention to those exemplary embodiments. On the other hand, the invention is intended to cover not only the exemplary embodiments thereof, but also various alternatives, modifications, equivalents and other embodiments that may be included within the spirit and scope of the invention as defined in the appended claims.

[0038] In the following description, a 360-degree rotating wheel device and a multi-wheel drive mobile body using the device according to various exemplary embodiments of the present invention will be described with reference to the accompanying drawings.

[0039] Figure 1 This is an exemplary view illustrating a 360-degree rotating wheel device according to various exemplary embodiments of the present invention. Figure 2 yes Figure 1 The top view of the 360-degree rotating wheel device shown. Figure 3 yes Figure 1 The 360-degree rotating device shown in the cross-sectional view, and Figure 4 It is in a state of being installed on a moving body. Figure 1 A view of the 360-degree rotating wheel device shown. Figure 5 These are views exemplarily illustrating an in-wheel drive unit and an angle adjustment unit according to various exemplary embodiments of the present invention. Figure 6 This is a view used to describe the angle adjustment unit of the present invention. Figure 7 This is a view used to describe the linear movement of a multi-wheel drive vehicle according to various exemplary embodiments of the present invention. Figure 8 This is a view used to describe the turning motion of a multi-wheel drive vehicle according to various exemplary embodiments of the present invention. Figure 9 This is a view used to describe the lateral movement of a multi-wheel drive vehicle according to various exemplary embodiments of the present invention, and Figure 10 This is a view used to describe the in-situ rotation of a multi-wheeled driven moving body according to various exemplary embodiments of the present invention.

[0040] like Figure 1 , Figure 2 and Figure 3As shown, a 360-degree rotating wheel device according to various exemplary embodiments of the present invention includes: a cover unit 100, on which a driving space S1 is formed on its lower side; an in-wheel driving unit 200, disposed in the driving space S1 of the cover unit 100 and generating a driving force during operation; and an angle adjustment unit 300, which connects the in-wheel driving unit 200 and the cover unit 100 to each other and rotates the in-wheel driving unit 200 in the circumferential direction of the cover unit 100, such that the driving direction determined according to the operation of the in-wheel driving unit 200 is rotated 360 degrees around the vertical axis of the 360-degree rotating wheel device.

[0041] The cover unit 100 has a semi-circular shape to form a drive space S1 on its lower side, and the in-wheel drive unit 200 is disposed in the drive space S1.

[0042] The in-wheel drive unit 200 generates driving force during operation and may include a motor unit that generates power and a wheel unit that rotates using the power from the motor unit. The in-wheel drive unit 200 is generally referred to as an in-wheel motor, and its detailed description will be omitted.

[0043] Meanwhile, an angle adjustment unit 300 is disposed on the inner surface of the cover unit 100, and the in-wheel drive unit 200 is connected to the cover unit 100 via the angle adjustment unit 300. The angle adjustment unit 300 rotates the in-wheel drive unit 200 along the circumferential direction of the cover unit 100, causing the driving direction determined by the operation of the in-wheel drive unit 200 to change by 360 degrees. That is, when the in-wheel drive unit 200 rotates 360 degrees about the vertical axis in the drive space S1 of the cover unit 100 via the angle adjustment unit 300, the direction of the driving force generated by the operation of the in-wheel drive unit 200 changes by 360 degrees. Therefore, when the 360-degree rotating wheel device according to various exemplary embodiments of the present invention is applied to a moving body, the range of motion of the moving body is expanded.

[0044] At the same time, from Figure 3 As can be seen from the diagram, the 360-degree rotating wheel device also includes a housing 400, which forms a receiving space S2 to accommodate the cover unit 100, and the housing 400 and the cover unit 100 are connected to each other by a suspension 500.

[0045] The housing 400, which has a accommodating space S2, can have a spherical shape with an opening on its lower side. Furthermore, since the cover unit 100 is connected to the housing 400 via the suspension 500, vibrations transmitted through the in-wheel drive unit 200 are attenuated by the suspension 500.

[0046] Here, the suspension 500 includes: a main suspension 510 disposed on the central side of the cover unit 100 and connected to the housing 400, wherein the main suspension 510 is configured to dampen vibrations caused by the vertical movement of the 360-degree rotating wheel device; and an auxiliary suspension 520 spaced apart from the main suspension 510 and connected to the cover unit 100 and the housing 400, wherein the auxiliary suspension 520 is configured to dampen vibrations caused by longitudinal and lateral movements.

[0047] In this embodiment, the cover unit 100 is connected to the housing 400 via the main suspension 510 and the auxiliary suspension 520, and vibrations transmitted by the in-wheel drive unit 200 disposed in the cover unit 100 are attenuated.

[0048] One side of the main suspension 510 is mounted in the central portion of the outer surface of the cover unit 100, and the other side of the main suspension 510 is mounted in the central portion of the inner surface of the housing 400, thereby damping vibrations caused by vertical movement.

[0049] One side of the auxiliary suspension 520 is mounted on the outer surface of the cover unit 100 to be spaced apart from the main suspension 510, and the other side of the auxiliary suspension 520 is mounted on the inner surface of the housing 400 to be spaced apart from the main suspension 510, so that the auxiliary suspension 520 is arranged diagonally.

[0050] Furthermore, multiple auxiliary suspensions 520 can be provided. Therefore, with the main suspension 510 as the center, when the auxiliary suspension 520 is positioned in front of or behind the main suspension 510, the auxiliary suspension 520 dampens vibrations caused by longitudinal movement. Furthermore, with the main suspension 510 as the center, when the auxiliary suspension 520 is positioned to the left or right of the main suspension 510, the auxiliary suspension 520 dampens vibrations caused by lateral movement.

[0051] The installation position and number of auxiliary suspension 520 can be determined based on the vibration characteristics transmitted through the in-wheel drive unit 200.

[0052] Meanwhile, the buffer rubber 110 can be attached to the outer surface of the cover unit 100 to eliminate vibrations transmitted through the in-wheel drive unit 200. Therefore, when vibrations transmitted through the in-wheel drive unit 200 are transmitted to the cover unit 100, the buffer rubber 110 dampens and buffers the vibrations.

[0053] The specifications regarding the quantity and size of the cushioning rubber 110 can be determined based on the vibration characteristics transmitted to the cover unit 100.

[0054] At the same time, such as Figure 4As shown, a mounting portion 11 for electrical connection and fixation is provided on the vehicle body 10, and a fastening portion 410 is provided on the outer surface of the housing 400 to fasten to the mounting portion 11 of the vehicle body 10. Therefore, when the fastening portion 410 is fastened to the mounting portion 11, the housing 400 is fixed and electrically connected to the vehicle body 10.

[0055] That is, the vehicle body 10 is configured such that the housing 400 is mounted on the vehicle body 10, and the mounting portion 11 is provided in the mounting area of ​​the housing 400. Therefore, when the housing 400 is mounted to the vehicle body 10, when the fastening portion 410 provided on the housing 400 is connected to the mounting portion 11 of the vehicle body 10, the fastening portion 410 and the mounting portion 11 are fastened to each other to secure them. In this case, the mounting portion 11 and the fastening portion 410 can be bolted to each other.

[0056] Furthermore, since both the mounting portion 11 and the fastening portion 410 are configured to be electrically connected, when the fastening portion 410 of the housing 400 is mounted to the mounting portion 11 of the vehicle body 10, various command signals sent from the controller provided in the vehicle body 10 can be sent to the electronic equipment in the housing 400.

[0057] Therefore, the housing 400, including the cover unit 100, the in-wheel drive unit 200, and the angle adjustment unit 300, can be easily assembled and replaced onto the vehicle body 10, and the housing 400 can be replaced according to the requirements of the moving body. Furthermore, the housing 400 can be freely replaced by installing and removing it from another vehicle.

[0058] At the same time, such as Figure 5 and Figure 6 As shown, the angle adjustment unit 300 includes: a ring unit 310 disposed in the drive space S1 of the cover unit 100 and extending in a circular shape along the circumference of the cover unit 100, wherein a drive shaft 210 extending from the in-wheel drive unit 200 is rotatably connected to the ring unit 310; and a power transmission unit 320 installed in the cover unit 100 and connected to the ring unit 310 to rotate the ring unit 310 depending on whether the power transmission unit 320 is operated.

[0059] That is, the drive shaft 210 extends horizontally from the axis of rotation of the in-wheel drive unit 200. The drive shaft 210 can extend from the housing of the in-wheel drive unit 200 or the central part of the motor. Thus, for the in-wheel drive unit 200, the drive shaft 210 is connected to the ring unit 310, and the ring unit 310 rotates via the power transmission unit 320 mounted in the cover unit 100, so that the in-wheel drive unit 200 can rotate 360 ​​degrees about the vertical axis.

[0060] The ring unit 310 is formed as a ring and has a connecting gear 310a formed in its extending direction, and the power transmission unit 320 includes a rotary drive unit 321 mounted in the cover unit 100 and generating a rotational force, and a gear unit 322 connected to the rotary drive unit 321 to rotate by receiving the rotational force and meshing with the connecting gear 310a of the ring unit 310.

[0061] As described above, the ring unit 310 is formed in a ring shape and has a connecting gear 310a that is repeatedly formed along its extending direction. The ring unit 310 is disposed in the drive space S1 of the cover unit 100.

[0062] The power transmission unit 320 may include a rotary drive unit 321 and a gear unit 322. The rotary drive unit 321 may be mounted on the outer surface of the cover unit 100, and the gear unit 322 may be located on the inner surface of the cover unit 100, thereby minimizing interference between the components. Since the gear unit 322 meshes with the ring unit 310, the ring unit 310 rotates together with the gear unit 322 when the rotary drive unit 321 operates. The meshing method between the gear unit 322 and the ring unit 310 can be determined based on the design of worm gears, bevel gears, helical gears, spur gears, etc.

[0063] Therefore, the in-wheel drive unit 200 rotates together with the ring unit 310, so that the drive direction determined by the operation of the in-wheel drive unit 200 can be changed.

[0064] Meanwhile, a guide unit 120 for mounting the ring unit 310 is provided on the inner surface of the cover unit 100. Here, the guide unit 120 can be configured as a recessed groove from the inner surface of the cover unit 100, and the ring unit 310 can be inserted into the guide unit 120, or the guide unit 120 can protrude from the inner surface of the cover unit 100 such that the ring unit 310 is mounted on its upper end. Figure 5 An exemplary embodiment is shown in which the guide unit 120 protrudes to the underside of the ring unit 310 and the ring unit 310 is disposed on the upper end of the guide unit 120. Furthermore, to ensure smooth rotation of the ring unit 310 on the guide unit 120, a bearing structure or a friction-reducing structure may be applied.

[0065] Therefore, the position of the ring unit 310 can be fixed in the driving space S1 of the cover unit 100 by the guide unit 120, and a stable rotation operation can be performed.

[0066] Simultaneously, the inverter and power module controller 600 can be installed in the cover unit 100, and the power module configured to control the drive and regenerative braking of the in-wheel drive unit 200 is embedded in the inverter and power module controller 600. Since the inverter and power module controller 600 are installed in the cover unit 100, they are protected from shocks, and it is easy to electrically connect them to the in-wheel drive unit 200.

[0067] Therefore, the inverter and power module controller 600 is responsible for driving the in-wheel drive unit 200, and since each inverter and power module controller is linked with the control of the moving body when applied to various different moving bodies, it can be easily applied to various moving bodies.

[0068] Meanwhile, the present invention is applied to multi-wheel drive mobile bodies.

[0069] That is, the multi-wheel drive mobile body according to various exemplary embodiments of the present invention includes: a rotating wheel device 1000, each rotating wheel device 1000 including a cover unit 100 forming a space on its lower side, an in-wheel drive unit 200 disposed in the space of the cover unit 100 and generating driving force during operation, and an angle adjustment unit 300 connecting the in-wheel drive unit 200 to the cover unit 100 such that the in-wheel drive unit 200 rotates along the circumferential direction of the cover unit 100 to change the driving direction determined according to the operation of the in-wheel drive unit 200 by 360 degrees about a vertical axis; and a controller 2000 configured to control the in-wheel drive unit 200 and the angle adjustment unit 300 of each rotating wheel device 1000 according to the desired driving speed and the desired driving direction.

[0070] As described above, the rotating wheel device 1000 includes a cover unit 100, an in-wheel drive unit 200, and an angle adjustment unit 300.

[0071] That is, the cover unit 100 is formed in a semi-circular shape to form a drive space S1 on its lower side, and the in-wheel drive unit 200 is disposed in the drive space S1.

[0072] The in-wheel drive unit 200 generates driving force during operation and may include a motor unit that generates power and a wheel unit that rotates by the power of the motor unit. The in-wheel drive unit 200 is generally referred to as an in-wheel motor, and its detailed description will be omitted.

[0073] Meanwhile, an angle adjustment unit 300 is disposed on the inner surface of the cover unit 100, and the in-wheel drive unit 200 is connected to the cover unit 100 via the angle adjustment unit 300. The angle adjustment unit 300 rotates the in-wheel drive unit 200 along the circumferential direction of the cover unit 100, thereby changing the driving direction determined by the operation of the in-wheel drive unit 200 by 360 degrees. That is, when the in-wheel drive unit 200 rotates 360 degrees about the vertical axis in the drive space S1 of the cover unit 100 via the angle adjustment unit 300, the direction of the driving force generated by the operation of the in-wheel drive unit 200 changes by 360 degrees. Therefore, when the 360-degree rotating wheel device 1000 according to various exemplary embodiments of the present invention is applied to a moving body, the moving radius of the moving body can be expanded.

[0074] A rotating wheel assembly 1000, including a cover unit 100, an in-wheel drive unit 200, and an angle adjustment unit 300, is provided on each of the front and rear wheels. Therefore, the mobile body can be four-wheel driven. Of course, depending on the number of rotating wheel assemblies 1000, the mobile body can be configured for multi-wheel drive in addition to four wheels.

[0075] In the following text, to aid in understanding the invention, it is assumed that the moving body is four-wheel drive.

[0076] Each rotating wheel device 1000 is controlled by a controller 2000. That is, the controller 2000 controls the in-wheel drive unit 200 and the angle adjustment unit 300 of each rotating wheel device 1000 according to the driver's control or according to the required driving speed and required driving direction to move to the set destination.

[0077] As an example, such as Figure 7 As shown, when the desired driving direction corresponds to straight-line travel, the controller 2000 controls each angle adjustment unit 300 to arrange the in-wheel drive units 200 of the rotating wheel devices 1000 corresponding to the front and rear wheels facing forward. Furthermore, the controller 2000 controls the in-wheel drive units 200 corresponding to the front and rear wheels to have the same driving direction, thereby enabling the moving body to travel forward in a straight line via the corresponding rotating wheel devices 1000 of the front and rear wheels.

[0078] At the same time, such as Figure 8 As shown, when the desired driving direction corresponds to turning, the controller 2000 controls each angle adjustment unit 300 to arrange the in-wheel drive unit 200 of the rotating wheel device 1000 corresponding to the front wheels toward the turning direction and arrange the in-wheel drive unit 200 of the rotating wheel device 1000 corresponding to the rear wheels toward the opposite direction of turning. Furthermore, the controller 2000 controls the in-wheel drive units 200 corresponding to the front and rear wheels to have the same driving direction, enabling the moving body to turn via the corresponding rotating wheel devices 1000 of the front and rear wheels.

[0079] In addition, such as Figure 9 As shown, when the desired travel direction corresponds to the lateral travel of the multi-wheel drive vehicle, the controller 2000 controls each angle adjustment unit 300 to arrange the in-wheel drive units 200 of the rotating wheel devices 1000 corresponding to the front and rear wheels toward the lateral side of the multi-wheel drive vehicle, and controls them so that the driving directions of the in-wheel drive units 200 corresponding to the front and rear wheels are the same. That is, by using the angle adjustment units 300 of each rotating wheel device 1000 to arrange each in-wheel drive unit 200 toward the same side and making the driving directions of the in-wheel drive units 200 corresponding to the front and rear wheels the same, the vehicle can travel laterally.

[0080] In addition, such as Figure 10 As shown, when the desired driving direction corresponds to rotation in place, the controller 2000 controls each angle adjustment unit 300 to rotate the left front rotating wheel device 1000a and the right rear rotating wheel device 1000b clockwise and the right front rotating wheel device 1000c and the left rear rotating wheel device 1000d counterclockwise, so that each rotating wheel device 1000 is diagonally arranged, and the left wheel inner drive unit drives in the forward direction while the right wheel inner drive unit 200 drives in the reverse direction.

[0081] That is, through the angle adjustment units 300 of each rotating wheel device 1000, the left front rotating wheel device 1000a and the right rear rotating wheel device 1000b rotate clockwise, while the right front rotating wheel device 1000c and the left rear rotating wheel device 1000d rotate counterclockwise. Therefore, each rotating wheel device 1000 is arranged diagonally, so that each rotating wheel device 1000 of the moving body is arranged to draw a circle around the vertical axis. Furthermore, the left wheel inner drive unit 200 drives in the forward direction, while the right wheel inner drive unit 200 drives in the reverse direction, allowing the moving body to rotate 360 ​​degrees clockwise. Here, when the left wheel inner drive unit 200 and the right wheel inner drive unit 200 are driven in opposite directions, the moving body can rotate 360 ​​degrees counterclockwise.

[0082] In the 360-degree rotating wheel device 1000 constructed as described above and the multi-wheel drive mobile body using the 360-degree rotating wheel device 1000, the wheels rotate 360 ​​degrees, expanding the travel range of the mobile body and making it easy to apply to the mobile body, thereby improving usability.

[0083] Additionally, terms related to control devices, such as "controller," "control unit," "control device," or "control module," refer to hardware devices including a memory and a processor configured to execute one or more steps interpreted as an algorithmic structure. The memory stores algorithmic steps, and the processor executes these steps to perform one or more processes of methods according to various exemplary embodiments of the invention. A control device according to exemplary embodiments of the invention can be implemented using a non-volatile memory configured to store algorithms for controlling the operation of various components of a vehicle or data regarding software commands for executing the algorithms, and a processor configured to perform the aforementioned operations using the data stored in the memory. The memory and processor can be separate chips. Alternatively, the memory and processor can be integrated into a single chip. The processor can be implemented as one or more processors. The processor can include various logic and arithmetic circuits, can process data using programs provided by the memory, and can generate control signals based on the processing results.

[0084] The control device may be at least one microprocessor operated by a predetermined program, which may include a series of commands for performing the methods disclosed in the various exemplary embodiments of the present invention described above.

[0085] The present invention can also be embodied as computer-readable code on a computer-readable recording medium. A computer-readable recording medium is any data storage device that can store data that can subsequently be read by a computer system. Examples of computer-readable recording media include hard disk drives (HDDs), solid-state drives (SSDs), silicon disk drives (SDDs), read-only memory (ROM), random access memory (RAM), CD-ROMs, magnetic tapes, floppy disks, optical data storage devices, and implementations as carrier waves (e.g., transmitted over the Internet).

[0086] In an exemplary embodiment of the present invention, each of the above operations may be performed by a control device, and the control device may be configured by multiple control devices or an integrated single control device.

[0087] In an exemplary embodiment of the present invention, the control device may be implemented in hardware or software, or in a combination of hardware and software.

[0088] For ease of interpretation and precise definition of the appended claims, the features are described using the terms “upper,” “lower,” “inner,” “outer,” “up,” “lower,” “upward,” “downward,” “front,” “back,” “behind,” “inner side,” “outer side,” “inward,” “outer,” “within,” “outside,” “forward,” and “backward”, with reference to the positions of the features in the figures of the exemplary embodiments. It will be further understood that the term “connection” or its derivatives refer to both direct and indirect connections.

[0089] For illustrative and descriptive purposes, the foregoing description of specific exemplary embodiments of the invention has been disclosed. These descriptions are not intended to be exhaustive or to limit the invention to the specific forms disclosed, and it will be apparent that many modifications and variations are possible in light of the foregoing teachings. The exemplary embodiments selected and described are intended to explain certain principles of the invention and its practical application, enabling others skilled in the art to implement and utilize various exemplary embodiments of the invention, as well as various alternatives and modifications thereof. The scope of the invention is intended to be defined by the appended claims and their equivalents.

Claims

1. A 360-degree rotating wheel device, comprising: The cover unit forms a driving space on its lower side; An in-wheel drive unit is disposed in the drive space of the cover unit and generates driving force during operation; as well as An angle adjustment unit connects the in-wheel drive unit and the cover unit to each other and rotates the in-wheel drive unit in the circumferential direction of the cover unit, so that the driving direction of the 360-degree rotating wheel device, determined by the operation of the in-wheel drive unit, changes by 360 degrees around the vertical axis of the 360-degree rotating wheel device. The angle adjustment unit includes: A ring unit, disposed in the drive space of the cover unit and extending in a circular shape along the circumference of the cover unit, wherein a drive shaft extending from the in-wheel drive unit is connected to the ring unit; and A power transmission unit is installed in the cover unit and connected to the ring unit to rotate the ring unit depending on whether the power transmission unit is operated.

2. The 360-degree rotating wheel device according to claim 1, further comprising: The housing has a receiving space to accommodate the cover unit. The housing and the cover unit are connected to each other by at least one suspension.

3. The 360-degree rotating wheel device according to claim 2, wherein, The at least one suspension includes: A first suspension, disposed in the central portion of the cover unit and connected to the housing, wherein the first suspension dampens vibrations caused by the vertical movement of the 360-degree rotating wheel assembly; and A second suspension, spaced apart from the first suspension and connected to the cover unit and the housing, wherein the second suspension dampens vibrations caused by the longitudinal and lateral movements of the 360-degree rotating wheel assembly.

4. The 360-degree rotating wheel device according to claim 2, wherein, Mounting parts for electrical connection and fixation are located on the vehicle body, and The 360-degree rotating wheel device further includes a fastening part disposed on the outer surface of the housing to fasten to the mounting part of the vehicle body, such that when the fastening part is fastened to the mounting part, the housing is fixed and electrically connected to the vehicle body.

5. The 360-degree rotating wheel device according to claim 1, further comprising: A cushioning rubber is attached to the outer surface of the cover unit to eliminate vibrations transmitted through the in-wheel drive unit.

6. The 360-degree rotating wheel device according to claim 1, wherein, The ring unit has a connecting gear formed in the extending direction of the ring unit, and The power transmission unit includes a rotary drive unit installed in the cover unit and generating rotational force, and a gear unit connected to the rotary drive unit to rotate by receiving the rotational force and meshing with a connecting gear of the ring unit.

7. The 360-degree rotating wheel device according to claim 1, further comprising: A guide unit is disposed on the inner surface of the cover unit, and the ring unit is disposed on the guide unit.

8. The 360-degree rotating wheel device according to claim 1, further comprising: An inverter and a power module controller are installed in the cover unit, and a power module that controls the drive and regenerative braking of the in-wheel drive unit is embedded in the inverter and the power module controller.

9. A multi-wheel drive mobile body, comprising: At least one rotating wheel device, each rotating wheel device comprising: The cover unit forms a driving space on its lower side; An in-wheel drive unit is disposed in the drive space of the cover unit and generates driving force during operation; and An angle adjustment unit connects the in-wheel drive unit and the cover unit to each other and rotates the in-wheel drive unit in the circumferential direction of the cover unit, such that the driving direction of the 360-degree rotating wheel device, determined by the operation of the in-wheel drive unit, is changed 360 degrees around the vertical axis of the corresponding rotating wheel device; and The controller controls the in-wheel drive unit and angle adjustment unit of each of the at least one rotating wheel device according to the required driving speed and direction. The angle adjustment unit includes: A ring unit, disposed in the drive space of the cover unit and extending in a circular shape along the circumference of the cover unit, wherein a drive shaft extending from the in-wheel drive unit is connected to the ring unit; and A power transmission unit is installed in the cover unit and connected to the ring unit to rotate the ring unit depending on whether the power transmission unit is operated.

10. The multi-wheel drive mobile body according to claim 9, wherein, When the desired driving direction corresponds to straight driving, the controller controls each angle adjustment unit to arrange the in-wheel drive units of the at least one rotating wheel device corresponding to the front and rear wheels of the multi-wheel drive vehicle to face forward.

11. The multi-wheel drive mobile body according to claim 9, wherein, When the desired driving direction corresponds to turning, the controller controls each angle adjustment unit to arrange the in-wheel drive unit of the at least one rotating wheel device corresponding to the front wheel of the multi-wheel drive vehicle toward the turning direction and to arrange the in-wheel drive unit of the at least one rotating wheel device corresponding to the rear wheel of the multi-wheel drive vehicle toward the opposite direction to the turning direction.

12. The multi-wheel drive mobile body according to claim 9, wherein, When the desired driving direction corresponds to the lateral movement of the multi-wheel drive vehicle, the controller controls each angle adjustment unit to arrange the in-wheel drive units of the rotating wheel devices corresponding to the front and rear wheels of the multi-wheel drive vehicle toward the lateral side of the multi-wheel drive vehicle, and controls them so that the driving directions of the in-wheel drive units corresponding to the front and rear wheels are the same.

13. The multi-wheel drive mobile body according to claim 9, wherein, When the desired driving direction corresponds to rotation in place, the controller controls each angle adjustment unit to cause the left front rotating wheel device and the right rear rotating wheel device in the at least one rotating wheel device to rotate in a predetermined direction and to cause the right front rotating wheel device and the left rear rotating wheel device in the at least one rotating wheel device to rotate in the opposite direction to the predetermined direction, so that each rotating wheel device is diagonally arranged, and the drive unit inside the left wheel drives in the forward direction while the drive unit inside the right wheel drives in the reverse direction.

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