Omni-directional rotation driving device

Abstract

An omnidirectional rotary driving device includes a knuckle connected to a vehicle body, a wheel body configured to rotate about the knuckle, a plurality of sub-wheel units rotatably supported on the wheel body, and a bevel gear located in the wheel body and configured to rotate about the knuckle. The plurality of sub-wheel units rotate according to a difference between an angular velocity of the wheel body and an angular velocity of the bevel gear.

Description

Technical Field

[0001] The present invention relates to an omnidirectional rotary drive device, and more particularly, to an omnidirectional rotary drive device, comprising a plurality of sub-wheel units formed in two rows on the outer surface of a wheel body rotating in a first direction and configured to rotate in a second direction. Background Art

[0002] Recently, in the electric vehicle (EV) industry, omnidirectional wheel structures that can travel on a flat surface without changing the steering angle have been developed. Omnidirectional wheels are also called omnidirectional mobile wheels. In other words, omnidirectional wheels refer to wheels that can move in all directions. The structure of omnidirectional wheels can achieve various types of movement that ordinary wheels cannot achieve. For example, omnidirectional wheels can enable a transport device to rotate in place, move horizontally to the left, and move horizontally to the right.

[0003] However, the conventionally developed omnidirectional wheel structure has the problem that such omnidirectional wheel may not be applicable to vehicles using existing suspension structures due to the structure of discontinuous sub-wheel units and low power transmission efficiency.

[0004] The above information recorded in this Background section is only for enhancing understanding of the background of the present invention. Therefore, the Background section may contain information that does not constitute prior art known to a person of ordinary skill in the art. Summary of the invention

[0005] The present invention aims to solve the above problems associated with the prior art. The object of the present invention is to provide an omnidirectional rotary drive device configured to enable a vehicle to move in a first direction through a wheel body and to enable the vehicle to move in a second direction by selectively driving a sub-wheel unit.

[0006] In addition, the present invention provides an omnidirectional rotation driving device configured to selectively drive a sub-wheel unit by providing a bevel gear located in a wheel body connected to a first motor and combined with a second motor.

[0007] The purpose of the present invention is not limited to the above-mentioned purpose. Other technical purposes not mentioned herein should be more clearly understood by reading the following description, and should be more clearly understood by considering the embodiments of the present invention. In addition, the purpose of the present invention can be achieved by embodiments and combinations thereof falling within the scope of the claims.

[0008] In one aspect, the present invention provides an omnidirectional rotation drive device, comprising a steering knuckle connected to a vehicle body, a wheel body configured to rotate around the steering knuckle, a plurality of sub-wheel units rotatably supported on the wheel body, and a bevel gear located in the wheel body, the bevel gear being configured to rotate around the steering knuckle, wherein the plurality of sub-wheel units rotate according to a difference between an angular velocity of the wheel body and an angular velocity of the bevel gear.

[0009] In one embodiment, the rotational center axes of the plurality of sub-wheel units may be perpendicular to the rotational center axis of the wheel body.

[0010] In another embodiment, the omnidirectional rotation driving device may further include a first motor configured to rotatably drive the wheel body and a second motor configured to rotatably drive the bevel gear.

[0011] In yet another embodiment, the omnidirectional rotation drive device may further include a plurality of drive shafts, which are rotatably supported on the wheel body and are configured to connect the bevel gear with the plurality of sub-wheel units.

[0012] In yet another embodiment, one end of each of the plurality of drive shafts may be constituted by a driving bevel gear meshing with the bevel gear, and the other end of each of the plurality of drive shafts may be constituted by a driving worm gear meshing with the sub-wheel worm gear of each of the plurality of sub-wheel units.

[0013] In yet another embodiment, one end of each of the plurality of drive shafts may be meshed with a corresponding one of the opposite side surfaces of the bevel gear. The other end of each of the plurality of drive shafts may be meshed with a corresponding one of the plurality of sub-wheel units formed in two rows on the opposite side surfaces of the bevel gear.

[0014] In another embodiment, the wheel body can rotate in a first direction, and the plurality of sub-wheel units can rotate in a second direction. The speed in the first direction can be calculated by the mathematical formula Vx=R×W1. The speed in the second direction can be calculated by the mathematical formula Vy=n1×n2×r×W1-n1×n2×r×W2. Wherein, W1 is the angular velocity of the wheel body, R is the radius from the center axis of the wheel body to the sub-wheel unit, W2 is the angular velocity of the bevel gear, n1 is the gear ratio of the bevel gear to the driving bevel gear, and n2 is the gear ratio of the sub-wheel worm gear to the driving worm gear.

[0015] In yet another embodiment, the wheel body may include a central portion surrounding the steering knuckle and a bridge portion formed to extend outwardly from the central portion. The bridge portion may form the sub-wheel units into two rows and be located in the bridge portion.

[0016] In yet another embodiment, when the first motor and the second motor rotate at the same angular velocity, only the wheel body can be rotatably driven. When the first motor rotates and the second motor stops, the wheel body and the plurality of sub-wheel units can be rotatably driven simultaneously. When the first motor stops and the second motor rotates, only the plurality of sub-wheel units can be rotatably driven.

[0017] In another aspect, the present invention provides an omnidirectional rotary drive device, comprising a steering knuckle connected to a vehicle body and a wheel body configured to rotate around the steering knuckle. The drive device also includes a plurality of sub-wheel units rotatably supported on the wheel body, a bevel gear located in the wheel body and configured to rotate around the steering knuckle, and a plurality of drive shafts. The drive shaft is rotatably supported on the wheel body and configured to connect the bevel gear to the plurality of sub-wheel units. The plurality of drive shafts are configured not to be parallel to the bevel gears.

[0018] In one embodiment, the rotational center axes of the plurality of sub-wheel units may be perpendicular to the rotational center axis of the wheel body.

[0019] In another embodiment, the omnidirectional rotation driving device may further include a first motor configured to rotatably drive the wheel body and a second motor configured to rotatably drive the bevel gear.

[0020] In another embodiment, one end of each of the plurality of drive shafts may be composed of a driving bevel gear meshing with the bevel gear, and the other end of each of the plurality of drive shafts may be composed of a driving worm gear meshing with the sub-wheel worm gear of each of the plurality of sub-wheel units.

[0021] In yet another embodiment, one end of each of the plurality of drive shafts may be meshed with a corresponding one of the opposite side surfaces of the bevel gear. The other end of each of the plurality of drive shafts may be meshed with a corresponding one of the plurality of sub-wheel units formed in two rows on the opposite side surfaces of the bevel gear.

[0022] In another embodiment, the wheel body can rotate in a first direction, and the plurality of sub-wheel units can rotate in a second direction. The speed in the first direction can be calculated by the mathematical formula Vx=R×W1. The speed in the second direction can be calculated by the mathematical formula Vy=n1×n2×r×W1-n1×n2×r×W2. Wherein, W1 is the angular velocity of the wheel body, R is the radius from the central axis of the wheel body to the sub-wheel unit, W2 is the angular velocity of the bevel gear, n1 is the gear ratio of the bevel gear to the driving bevel gear, and n2 is the gear ratio of the sub-wheel worm gear to the driving worm gear.

[0023] In another embodiment, the wheel body may include a central portion surrounding the steering knuckle and a bridge portion formed to extend outward from the central portion. The bridge portion may form the sub-wheel units into two rows and be located in the bridge portion.

[0024] In yet another embodiment, the plurality of sub-wheel units may rotate according to a difference between an angular velocity of the wheel body and an angular velocity of the bevel gear.

[0025] Other aspects and embodiments of the invention are discussed below.

[0026] It should be understood that the terms "vehicle," "vehicle-like," and other similar terms used herein generally include motor vehicles. Such motor vehicles may include passenger vehicles including sport utility vehicles (SUVs), buses, trucks, various commercial vehicles, watercraft including various boats and ships, aircraft, etc. Such motor vehicles may also include hybrid vehicles, electric vehicles, plug-in hybrid electric vehicles, hydrogen-powered vehicles, and other alternative fuel vehicles (e.g., fuels obtained from resources other than petroleum). As referred to herein, a hybrid vehicle is a vehicle having two or more power sources, such as a vehicle powered by both gasoline and electricity.

[0027] The above and other features of the invention are discussed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The above and other features of the invention are described in detail with reference to certain embodiments of the invention shown in the accompanying drawings, which are given hereinafter by way of illustration only and therefore do not limit the invention, and in which:

[0029] Figure 1 is a front cross-sectional view of an omnidirectional rotation drive device according to an embodiment of the present invention;

[0030] Figure 2 is a side cross-sectional view of an omnidirectional rotation drive device according to an embodiment of the present invention;

[0031] Figure 3 is a diagram showing a coupling relationship between a bevel gear and a drive shaft of an omnidirectional rotation drive device according to an embodiment of the present invention;

[0032] Figure 4A is a diagram showing a movable area of ​​the driving device when the maximum driving RPM of the second motor is higher than the maximum driving RPM of the first motor according to an embodiment of the present invention; and

[0033] Figure 4B is a diagram illustrating a movable region of a driving device when a maximum driving RPM of a first motor is the same as a maximum driving RPM of a second motor according to another embodiment of the present invention.

[0034] The reference numerals set forth in the drawings include reference to the following elements as further described below:

[0035] 10: Steering knuckle 20: Wheel body

[0036] 21: Center 22: Bridge

[0037] 23: Wheel drive shaft bearing 30: First motor

[0038] 100: sub-wheel unit 110: sub-wheel

[0039] 120: worm gear 200: drive unit

[0040] 210: Bevel gear 220: Second motor

[0041] 230: Drive shaft 231: Drive shaft bearing

[0042] 232: driving worm gear 233: driving bevel gear.

[0043] It should be understood that the accompanying drawings are not necessarily drawn to scale, but rather present somewhat simplified representations of various features illustrating the basic principles of the invention. The specific design features of the present invention disclosed herein, including, for example, specific dimensions, orientations, locations, and shapes, will be determined in part by the specific intended application and use environment.

[0044] In the drawings, like reference numbers refer to the same or equivalent parts of the present invention throughout the several views. DETAILED DESCRIPTION

[0045] Below, reference is made in detail to various embodiments of the present invention, examples of which are shown in the accompanying drawings and described below. Although the technical concept of the present invention is described in conjunction with various embodiments, it should be understood that this description is not intended to limit the present invention to the embodiments described herein. On the contrary, the present invention is intended to cover not only the disclosed embodiments, but also various alternatives, modifications, equivalents and other embodiments that may be included in the concept and scope of the present invention as defined by the appended claims. The present embodiment is provided to more fully illustrate the present invention to those of ordinary skill in the art.

[0046] Terms such as "portion", "unit" and "module" recorded in this specification mean a unit configured to process at least one function or operation, and the unit can be implemented by hardware or software or a combination of hardware and software. When a component, device, element, etc. of the present invention is described as having a purpose or performing an operation, function, etc., the component, device or element should be considered as "configured to" meet the purpose or perform the operation or function in this article. In addition, the device may include one or more controllers or be controlled by one or more controllers, and the one or more controllers have one or more processors and one or more memories (e.g., non-transitory memories) to store and execute instructions as described herein.

[0047] The terms used in this application are only used to describe specific embodiments and are not intended to limit the present invention. Singular forms are intended to include plural forms as well, unless the context clearly indicates otherwise.

[0048] Meanwhile, in this specification, terms such as "first" and "second" are used to describe various components having the same name, and these terms are only used for the purpose of distinguishing one component from other components. The components are not limited by these terms in the following description.

[0049] In this specification, the first direction refers to the front-rear direction of the vehicle. In addition, the width direction of the vehicle perpendicular to the first direction is referred to as the second direction hereinafter. In addition, when one of the first direction and the second direction is referred to as the positive direction, the negative direction may be interpreted as the direction opposite or reverse to the positive direction.

[0050] Hereinafter, the embodiments are described in detail with reference to the accompanying drawings. When describing the embodiments with reference to the accompanying drawings, the same or corresponding components are denoted by the same reference numerals, and repeated description thereof is omitted.

[0051] The present invention generally relates to an omnidirectional rotary drive device, and more particularly to an omnidirectional structural drive device capable of moving in all directions by providing a wheel body 20 rotatable in a first direction and a sub-wheel unit 100 rotatable in a second direction.

[0052] like Figure 1 and Figure 2 As shown, the omnidirectional rotation drive device of the present invention includes a steering knuckle 10. At least a portion of the steering knuckle 10 is disposed in a vehicle. The drive device further includes a first motor 30, which is located on the steering knuckle 10, takes the steering knuckle 10 as a central axis, and is configured to rotate the wheel body 20. In one example, the wheel body 20 is located around the outer peripheral surface of the steering knuckle 10 and is formed to extend outward from the outer peripheral surface of the steering knuckle 10. The first motor 30 has a stator located at the steering knuckle 10 and a rotor that rotates integrally with the wheel body 20.

[0053] In addition, when the stator of the first motor 30 is fixed to the steering knuckle 10 and current is applied to rotate the rotor, the rotor and the wheel body 20 are configured to rotate integrally. In addition, the wheel body 20 is configured to rotate in a first direction, and the driving force in the front-rear direction of the vehicle is configured to be applied by the first motor 30. As an embodiment of the present invention, the wheel body 20 and the rotor of the first motor 30 are understood as the same concept.

[0054] The wheel body 20 is configured to rotate in a first direction relative to the center portion 21, and the steering knuckle 10 is positioned through the center portion 21. The wheel body 20 is also formed to extend outward from the center portion 21 in the radial direction of the steering knuckle 10, and is configured to combine the sub-wheel unit 100 therewith. In an embodiment of the present invention, the bridge portion 22 is formed to extend in two rows along the outer side of the center portion 21, that is, the radial outer side in the side section, and the sub-wheels 110 are respectively combined to the outer side or the end of the bridge portion 22. In one embodiment, two adjacent sub-wheels 110 may be located in each row of the sub-wheel units 100 arranged in two rows to have the same central axis. In addition, the rotational central axis of each sub-wheel 110 formed in two rows is formed in a direction perpendicular to the rotational central axis of the wheel body 20.

[0055] The knuckle 10 passes through one side of the wheel body 20, and one end thereof is coupled to a wheel drive shaft bearing 23 located at the other side of the wheel body 20. Here, the wheel drive shaft bearing 23 is configured to fix one end of the knuckle 10 corresponding to the rotation of the wheel body 20.

[0056] The bridge portion 22 of the wheel body 20 each includes at least two rows of sub-wheel units 100 arranged on its outer circumference and located in the second direction. The sub-wheel units 100 are located at the outer end or periphery of the wheel body 20. Here, two rows of sub-wheel units 100 are located at the end of the wheel body 20 along the second direction. In addition, the sub-wheel units 100 are respectively located inside (i.e., inside) and outside (i.e., outside) of the wheel body 20, and are configured to have overlapping intervals on each side of the wheel body 20. In addition, each sub-wheel unit 100 located in each row includes two sub-wheels 110 adjacent to each other. Here, the two sub-wheels 110 constituting one sub-wheel unit 100 are constrained on the same axis by a driving unit 200 and rotate simultaneously. The sub-wheel unit 100 including the sub-wheel 110 defines the outer contact surface of the wheel body 20.

[0057] In other words, the sub-wheel unit 100 includes two sub-wheels 110 having the same central axis. Here, the two sub-wheels 110 are arranged in two rows on the bridge portion 22. Two adjacent sub-wheels 110 rotated by one drive shaft 230 constitute a first row on the inner side of the wheel body 20. In addition, two adjacent sub-wheels 110 rotated by another adjacent drive shaft 230 constitute a second row on the outer side of the wheel body 20. In other words, each drive shaft 230 is positioned to mesh between the bevel gear 210 and the paired sub-wheels 110 so that the number thereof is equal to the number of two adjacent sub-wheels 110.

[0058] Figure 1 is a front sectional view of the rotary drive device. Figure 1 In the embodiment, two sub-wheels 110 are coupled to both ends of a driving shaft 230. In other words, Figure 1It is shown that two sub-wheels 110 constituting one row of the sub-wheel unit 100 and having their central axes constrained to one driving shaft 230 are located in the sub-wheel unit 100 .

[0059] in addition, Figure 2 It is a side sectional view of the rotary drive device. Figure 2 The configuration of the sub-wheel unit 100 formed in two rows at the outer end of the wheel body 20 is shown. The driving unit 200 is configured to rotate the sub-wheel unit 100. Here, the driving unit 200 includes a second motor 220 whose stator is coupled to the steering knuckle 10, a bevel gear 210 configured to correspond to the stator, and a driving shaft 230 configured to connect the bevel gear 210 with the sub-wheel unit 100.

[0060] In addition, each driving shaft 230 is configured to be coupled to the outer surface of the bevel gear 210. In other words, the sub-wheel units 100 formed in two rows are configured to be coupled to two driving shafts 230 coupled to the outer surface of the bevel gear 210 at a predetermined angle, respectively.

[0061] Therefore, each sub-wheel unit 100 of the present invention has a configuration in which the central axes of a pair of adjacent sub-wheels 110 are coupled to the end of one driving shaft 230. The sub-wheel units 100 are formed in two rows in the second direction.

[0062] The driving unit 200 coupled to the sub-wheel unit 100 is configured to transmit the driving force from the second motor 220 located at the steering knuckle 10 to the sub-wheel unit 100. In one embodiment, the second motor 220 is fixed to the wheel body 20 and includes a bevel gear 210, and the rotational force of the second motor 220 is applied to the bevel gear 210. A driving shaft 230 that contacts the outer surface of the bevel gear 210 and transmits the rotational force of the bevel gear 210 is provided between the bevel gear 210 and the sub-wheel unit 100. The driving shaft 230 is configured to apply the rotational force to each of the plurality of sub-wheel units 100.

[0063] The bevel gear 210 is formed in a circular shape to surround the knuckle 10. When viewed from the side, the bevel gear 210 is configured to have a conical shape, thereby having a predetermined cone angle. Here, the bevel gear 210 is formed with a predetermined angle as it moves away from the knuckle 10 from the position contacting the knuckle 10. In one embodiment, both side surfaces of the bevel gear 210 close to the end or circumferential edge, that is, both side surfaces facing one end of the drive shaft 230, respectively, may be formed to have a narrower cross-sectional width than the area where the bevel gear 210 contacts the knuckle 10.

[0064] The sub-wheel unit 100 receiving the driving force from the second motor 220 is configured to calculate the second direction moving speed according to the angular velocity W1 of the wheel body 20 and the angular velocity W2 of the bevel gear 210 rotated by the second motor 220. In other words, the second motor 220 includes a stator coupled to the steering knuckle 10, and the bevel gear 210 is provided as a rotor. Therefore, the wheel body 20 rotates according to the rotation angular velocity of the first motor 30. Here, when the second motor 220 rotates at the same rotation angular velocity as the first motor 30, the sub-wheel 110 is converted to a non-rotating state. Therefore, the rotation of the wheel body 20 is applied to perform the first direction movement of the vehicle.

[0065] In addition, the moving speed of the sub-wheel unit 100 is set according to the driving force (angular velocity) of the first motor 30 and the second motor 220 .

[0066] In other words, the stator of the first motor 30 is arranged at the knuckle 10. The drive shaft 230 rotates according to the difference between the rotational angular velocity of the wheel body 20 driven by the first motor 30 and the rotational angular velocity of the bevel gear 210 driven by the second motor 220. Therefore, the sub-wheel unit 100 rotates in the second direction according to whether the drive shaft 230 rotates. Here, when the wheel body 20 rotates in a state where the first motor 30 and the second motor 220 are coupled to the knuckle 10, the second motor 220 needs to be driven at a speed higher or lower than the rotational angular velocity of the wheel body 20, so as to generate a difference in the angular velocity of the wheel body 20 and the bevel gear 210, so that the sub-wheel unit 100 can rotate. In other words, the rotational speed of the sub-wheel unit 100 is set according to the difference between the angular velocity of the wheel body 20 and the angular velocity of the bevel gear 210.

[0067] One end of the driving shaft 230 is coupled to the side surface of the bevel gear 210, and the other end is coupled to the sub-wheel worm gear 120 located on the central axis of the two sub-wheels 110. In one embodiment, each driving shaft 230 includes a driving worm gear 232, which is located at one end of the driving shaft 230 and coupled to the sub-wheel worm gear 120 located on the central axis of the plurality of sub-wheels 110. Each driving shaft 230 also includes a driving bevel gear 233, which is located at the other end of the driving shaft 230 and coupled to the bevel gear 210.

[0068] In addition, the drive shafts 230 are arranged on both sides of the bevel gear 210 in a state of being inclined at a predetermined angle relative to the height direction in the first direction. In other words, each drive shaft 230 is configured not parallel to the first direction and is arranged not parallel to the rotation axis of the bevel gear.

[0069] Therefore, the sub-wheel units 100 arranged in two rows can be composed of the drive shaft 230 coupled to one bevel gear 210. Moreover, the sub-wheel units 100 are arranged in two rows along the second direction to couple the drive shaft 230 so that the drive shaft is arranged to be inclined to the left and right sides, that is, the inside and outside of the wheel body 20.

[0070] In this way, each drive shaft 230 is fixed to the drive shaft bearing 231 located in the wheel body 20, and each drive shaft 230 rotates according to the rotational angular velocity difference between the bevel gear 210 and the wheel body 20. In other words, the drive shaft 230 rotates according to the rotational angular velocity difference between the bevel gear 210 and the wheel body 20, and the drive shaft 230 is configured to apply a rotational force to the sub-wheel unit 100.

[0071] Figure 3 FIG. 2 shows the connection relationship between the bevel gear 210 and the drive shaft 230 according to an embodiment of the present invention. Figure 3 In FIG. 1 , the moving speeds of the wheel body 20 and the sub-wheel unit 100 are plotted according to the rotational angular velocity difference between the bevel gear 210 and the wheel body 20 .

[0072] The bevel gear 210 is driven as a rotor of the second motor 220 and is configured to rotate in the first direction inside the wheel body 20. The drive shaft 230 is coupled to the outer surface of the bevel gear 210 so as to have a predetermined angle. In one embodiment, each drive shaft 230 is coupled to the side surface of the bevel gear 210 relative to the height direction in the first direction, and is angled so that one end thereof coupled to the sub-wheel 110 is spaced apart from the outside of the central axis of the wheel body 20.

[0073] In other words, the position of the sub-wheel 110 coupled to one end of the driving shaft 230 is set according to the angle formed by the driving bevel gears 233 respectively coupled to the bevel gears 210. In one embodiment, the angle between the driving shafts 230 respectively coupled to opposite surfaces of the bevel gears 210 and arranged to face each other is set so that the sub-wheels 110 located in each row of the bridge portion 22 formed in two rows are prevented from interfering with each other.

[0074] The drive shaft 230 is coupled to the bevel gear 210 located at the center portion 21 and coupled to the sub-wheel unit 100 located at the bridge portion 22. In one embodiment, one end of each drive shaft 230 includes a driving worm gear 232 coupled to the sub-wheel unit 100 located at the bridge portion 22, and the other end includes a driving bevel gear 233 coupled to the bevel gear 210 located at the center portion 21.

[0075] In the figure, the bottom of the wheel body 20 can rotate in the direction of entry relative to the drawing. Then the bevel gear 210 rotates in the same direction. When the bevel gear 210 rotates at an angular velocity relatively faster than the angular velocity of the wheel body 20, the driving bevel gears 233 on the driving shaft 230 at the same height in the first direction rotate in a direction away from each other. Then, the sub-wheel unit 100 rotates in the counterclockwise direction in the figure.

[0076] On the contrary, the top of the wheel body 20 can rotate in the approaching direction relative to the drawing. When the angular velocity of the bevel gear 210 is greater than the angular velocity of the wheel body 20, the drive shafts 230 located at the corresponding positions on both sides of the bevel gear 210 rotate in the direction of approaching each other. Thus, the sub-wheel unit 100 is driven to rotate in the clockwise direction in the drawing.

[0077] In other words, based on the mathematical formula or equation shown below, when the angular velocity of the bevel gear 210 driven by the second motor 220 is greater than the angular velocity of the wheel body 20 rotated by the first motor 30, the sub-wheel unit 100 is configured to have a negative velocity in the second direction. Thus, the sub-wheel unit 100 rotates in the negative direction of Vy. In addition, when the angular velocity of the bevel gear 210 is less than the angular velocity of the wheel body 20, the sub-wheel unit 100 is configured to have a positive velocity in the second direction. Thus, the sub-wheel unit 100 is configured to have a moving velocity in the positive direction of Vy.

[0078] According to an embodiment of the present invention, in the case of the moving speed in the first direction, the calculation is performed based on the angular velocity of the wheel body 20. In addition, Vx is calculated by the distance R from the central axis of the knuckle 10 to the end of the sub-wheel 110 and the angular velocity W1 of the wheel body 20 as follows.

[0079] The first direction movement speed is calculated according to the mathematical formula or equation shown below:

[0080] =X1

[0081] In addition, the second direction speed of the sub-wheel 110 is calculated based on the rotational angular velocity of the wheel body 20, taking into account the rotation amount of the drive shaft 230. In other words, the second direction speed is calculated by multiplying the gear ratio N (where n1 is the gear ratio of the bevel gear to the driving bevel gear, and n2 is the gear ratio of the sub-wheel worm gear to the driving worm gear) at both ends of the drive shaft 230 and r (the radius of the sub-wheel 110) by the difference between the angular velocity W1 of the wheel body 20 and the angular velocity W2 of the bevel gear 210.

[0082] The second direction speed is calculated according to the mathematical formula or equation shown below:

[0083] =n1×n2XyXW1-nl×n2Xr×W2

[0084] In other words, the second direction speed is calculated by the bevel gear 210 that rotates integrally with the wheel body 20 based on the difference between the angular velocity of the wheel body 20 and the angular velocity of the bevel gear 210 .

[0085] Here, when the absolute value of the angular velocity of the wheel body 20 is greater than 0, the driving device moves in the first front-to-back direction when the difference between the angular velocity of the wheel body 20 and the angular velocity of the bevel gear 210 is 0. In addition, when the absolute value of the angular velocity of the bevel gear 210 is greater than 0, the driving device moves in the second front-to-back direction when the angular velocity of the wheel body 20 is 0.

[0086] Meanwhile, in a state where the angular velocity of the wheel body 20 is greater than 0, when the difference between the angular velocity of the wheel body 20 and the angular velocity of the bevel gear 210 is greater than 0, the driving device moves in a direction having positive values ​​of the first direction and the second direction. In a state where the angular velocity of the wheel body 20 is greater than 0, when the difference between the angular velocity of the wheel body 20 and the angular velocity of the bevel gear 210 is less than 0, the driving device moves in a direction having a positive value of the first direction and a negative value of the second direction.

[0087] Furthermore, when the difference between the angular velocity of the wheel body 20 and the angular velocity of the bevel gear 210 is greater than 0 in a state where the angular velocity of the wheel body 20 is less than 0, the driving device moves in a direction having a negative value in the first direction and a positive value in the second direction.

[0088] In other words, by controlling the angular velocity of the wheel body 20 and the angular velocity of the bevel gear 210 , omnidirectional movement of the wheel in the first direction and / or the second direction can be performed.

[0089] In addition, when the angular velocity of the wheel body 20 is less than 0, when the difference between the angular velocity of the wheel body 20 and the angular velocity of the bevel gear 210 is less than 0, the driving device moves in a direction having a negative value of the first direction and a negative value of the second direction.

[0090] Here, the front direction in each of the first direction and the second direction is represented as a positive value, and the rear direction in each of the first direction and the second direction is represented as a negative value, but the directions are not limited thereto.

[0091] In addition, if Figure 4A and Figure 4B As shown, the driving radius of the rotary driving device may vary according to the application of the first motor 30 and the second motor 220 of the present invention.

[0092] Figure 4A The area in which the driving device according to an embodiment of the present invention can move in the first direction and the second direction is shown. As an example, the first motor 30 can be configured as a hollow type, an external type and a large diameter type, and can be configured as a low RPM type and a high torque (wheel-side drive) type. In addition, the second motor 220 can be composed of a hollow external type motor so that a brake can be installed therein. In addition, a motor that can be driven at a relatively high RPM compared to the first motor 30 can be applied to the second motor 220.

[0093] In other words, W2 can be configured to have a relatively high RPM compared to W1, and the speed of W2 can be relatively large in a state where the speed of Vx is constant. Figure 4A As shown, in the embodiment of the present invention, the moving speed is configured so that the maximum speed in the first direction and the second direction has a relatively wide area.

[0094] In contrast, Figure 4B The moving directions of the driving devices are shown in the case where motors having the same driving RPM are applied to the first motor 30 and the second motor 220 , respectively.

[0095] like Figure 4B As shown, W2 has the same maximum RPM as W1. Therefore, the angular velocity of W1 decreases, while the velocity of W2 remains constant. Therefore, Figure 4B As shown, the moving speed is configured as Figure 4A Compared to the .

[0096] In other words, according to another embodiment of the present invention, when the first motor 30 and the second motor 220 are identical, control is performed such that the first motor 30 is decelerated corresponding to the oblique movement of the driving device, and the driving device moves in the second direction.

[0097] As is apparent from the above description, the present invention can achieve the following effects through the combination, combination and use relationship of the embodiments with the above-mentioned configurations.

[0098] The present invention has the effect of providing an omnidirectional rotation drive device having a bevel gear coupled to the inside of a wheel body and a drive unit arranged to have a predetermined angle with the bevel gear and configured to apply a driving force to sub-wheel units formed in two rows.

[0099] In addition, the present invention has an effect of freely and selectively setting the driving direction of the vehicle by the omnidirectional rotation driving device including the omnidirectional wheel structure capable of driving in the first direction and / or the second direction.

[0100] Furthermore, the present invention provides a driving condition of the sub-wheel unit using the bevel gear, thereby having the effect of compactly designing the size of the driving device.

[0101] The technical concept of the present invention has been described in detail with reference to various embodiments of the present invention. However, the present invention can be used in various other combinations, modifications and environments. Therefore, it should be understood by those skilled in the art that these embodiments can be changed without departing from the principles and ideas of the present invention, and the scope of the present invention is defined by the attached claims and their equivalents. The embodiments illustrate examples of implementing the technical concept of the present invention, and various changes required in the specific application fields and uses of the present invention are also possible. Therefore, the detailed description of the present invention is not intended to limit the present invention to the disclosed embodiments. In addition, the scope of the attached claims should be interpreted as also including other embodiments.

Claims

1. An omnidirectional rotation drive device, comprising: a steering knuckle connected to the vehicle body; a wheel body configured to rotate about the steering knuckle; A plurality of sub-wheel units are rotatably supported on the wheel body; as well as a bevel gear located in the wheel body and configured to rotate about the steering knuckle, Wherein, the plurality of sub-wheel units are configured to rotate according to a difference between an angular velocity of the wheel body and an angular velocity of the bevel gear.

2. The omnidirectional rotation drive device according to claim 1, wherein: The rotation center axes of the plurality of sub-wheel units are perpendicular to the rotation center axis of the wheel body. 3 . The omnidirectional rotation driving device according to claim 1 , further comprising a plurality of driving shafts rotatably supported on the wheel body and configured to connect the bevel gear with the plurality of sub-wheel units.

4. The omnidirectional rotation drive device according to claim 3, wherein: One end of each of the multiple drive shafts is meshed with a corresponding one of the opposite side surfaces of the bevel gear, and wherein the other end of each of the multiple drive shafts is meshed with a corresponding one of the multiple sub-wheel units formed in two rows on the opposite side surfaces of the bevel gear.

5. The omnidirectional rotation drive device according to claim 3, wherein: One end of each of the plurality of drive shafts is constituted by a driving bevel gear meshing with the bevel gear, and the other end of each of the plurality of drive shafts is constituted by a driving worm gear meshing with the sub-wheel worm gear of each of the plurality of sub-wheel units.

6. The omnidirectional rotation drive device according to claim 5, wherein: The wheel body is configured to rotate in a first direction; The plurality of sub-wheel units are configured to rotate in a second direction; The speed in the first direction is calculated as Vx=R×W1; and The velocity in the second direction is calculated as Vy=n1×n2×r×W1-n1×n2×r×W2, Among them, W1 is the angular velocity of the wheel body, R is the radius from the central axis of the wheel body to the sub-wheel unit, W2 is the angular velocity of the bevel gear, n1 is the tooth ratio of the bevel gear to the driving bevel gear, and n2 is the tooth ratio of the sub-wheel worm gear to the driving worm gear.

7. The omnidirectional rotation drive device according to claim 1, wherein: The wheel body comprises: around a central portion of the knuckle; and The bridge portion is formed to extend outward from the central portion, wherein the bridge portion enables the sub-wheel units to be formed into two rows and are located in the bridge portion.

8. The omnidirectional rotation driving device according to claim 1, further comprising: A first motor configured to rotatably drive the wheel body; as well as The second motor is configured to rotatably drive the bevel gear.

9. The omnidirectional rotation drive device according to claim 8, wherein: When the first motor and the second motor rotate at the same angular velocity, only the wheel body is rotatably driven; When the first motor rotates and the second motor stops, the wheel body and the plurality of sub-wheel units are rotatably driven simultaneously; and When the first motor stops and the second motor rotates, only the plurality of sub-wheel units are rotatably driven.

10. An omnidirectional rotation drive device, comprising: a steering knuckle connected to the vehicle body; a wheel body configured to rotate about the steering knuckle; A plurality of sub-wheel units are rotatably supported on the wheel body; a bevel gear located in the wheel body and configured to rotate about the steering knuckle; as well as A plurality of drive shafts are rotatably supported on the wheel body and are configured to connect the bevel gear with the plurality of sub-wheel units. Wherein, the plurality of driving shafts are constructed and arranged not to be parallel to the bevel gear.

11. The omnidirectional rotation driving device according to claim 10, wherein: The rotation center axes of the plurality of sub-wheel units are perpendicular to the rotation center axis of the wheel body.

12. The omnidirectional rotation driving device according to claim 10, further comprising: A first motor configured to rotatably drive the wheel body; as well as The second motor is configured to rotatably drive the bevel gear.

13. The omnidirectional rotation driving device according to claim 10, wherein: One end of each of the multiple drive shafts is meshed with a corresponding one of the opposite side surfaces of the bevel gear, and wherein the other end of each of the multiple drive shafts is meshed with a corresponding one of the multiple sub-wheel units formed in two rows on the opposite side surfaces of the bevel gear.

14. The omnidirectional rotation driving device according to claim 10, wherein: One end of each of the plurality of drive shafts is constituted by a driving bevel gear meshing with the bevel gear, and the other end of each of the plurality of drive shafts is constituted by a driving worm gear meshing with the sub-wheel worm gear of each of the plurality of sub-wheel units.

15. The omnidirectional rotation drive device according to claim 14, wherein: The wheel body rotates along a first direction; Each of the plurality of sub-wheel units rotates in a second direction; The speed in the first direction is calculated as Vx=R×W1; and The velocity in the second direction is calculated as Vy=n1×n2×r×W1-n1×n2×r×W2, Among them, W1 is the angular velocity of the wheel body, R is the radius from the central axis of the wheel body to the sub-wheel unit, W2 is the angular velocity of the bevel gear, n1 is the tooth ratio of the bevel gear to the driving bevel gear, and n2 is the tooth ratio of the sub-wheel worm gear to the driving worm gear.

16. The omnidirectional rotation driving device according to claim 10, wherein: The wheel body comprises: around a central portion of the knuckle; and The bridge portion is formed to extend outward from the central portion, wherein the bridge portion enables the sub-wheel units to be formed into two rows and are located in the bridge portion.

17. The omnidirectional rotation driving device according to claim 10, wherein: The plurality of sub-wheel units rotate according to a difference between an angular velocity of the wheel body and an angular velocity of the bevel gear.

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