Wheel module and driving device comprising same

Abstract

An embodiment of the present invention provides a wheel module comprising: a main body; a connection part rotatably coupled to the main body in a first direction; a wheel part provided with a wheel main body coupled to the connection part so as to be rotatable in a second direction, and an auxiliary ground contact part; and an auxiliary grounding part which is separated from the wheel main body and is used for selectively adjusting the internal pressure.

Description

Technical Field

[0001] The present invention relates to a device, and more particularly to a wheel module and a driving device comprising the same. Background Art

[0002] Around the world, smart city development projects are being carried out to improve environmental pollution and living environments caused by overpopulation and high industrialization. Smart cities refer to small town environments that are designed to solve housing, environmental and traffic problems in cities and improve the quality of life by building urban ecosystems and advanced infrastructure in environments that are currently difficult for humans to survive, such as tropical rainforests, deserts or the sea. In this smart city, an efficient drive system that can turn and move freely in a small urban environment of about 2 km is required.

[0003] However, the round wheels currently used in vehicles have a turning radius of several meters that must be ensured for turning or changing lanes, and the tires are easily worn due to the continuous friction during rotation and turning. In addition, the drive system or wheels installed in each vehicle have a disadvantage that they cannot be used in various usage environments because they are fixedly installed with tires of a specific size according to the vehicle body specifications. Therefore, in order to solve this problem, there is a need for a drive system that can be used in a small area and in various usage environments. Summary of the invention

[0004] Technical problem to be solved by the invention

[0005] The technical problem to be solved by the present invention is to provide a wheel module and a driving device comprising the same, which can turn with only a small turning radius through multi-axis rotational movement, can quickly and easily perform emergency braking in an emergency, and can be suitable for various usage environments (or platforms) through a detachable coupling structure.

[0006] The technical problems to be solved by the present invention are not limited to the problems described above, and other technical problems not mentioned will be clearly understood by ordinary technicians in the technical field to which the present invention belongs from the following description.

[0007] Technical solutions to solve problems

[0008] In order to solve the technical problem, a wheel module according to an embodiment of the present invention includes: a main body; a connecting part rotatably connected to the main body in a first direction; a wheel part, which is provided with a wheel main body and an auxiliary grounding part, wherein the wheel main body is rotatably connected to the connecting part in a second direction; and the auxiliary grounding part is separated from the wheel main body and selectively adjusts the pressure resistance.

[0009] According to an embodiment of the present invention, the main body has a through hole penetrating through both ends in the up-down direction, and the connecting portion is arranged inside the through hole and can be rotatably arranged along the inner circumference direction of the through hole.

[0010] According to an embodiment of the present invention, the connection portion is disposed inside the through hole so as to be rotatable in a third direction around the rotation axis.

[0011] According to an embodiment of the present invention, the connection portion is provided with a connection body, which includes: a pair of curved portions, which are curved and opposite to each other to correspond to the inner shape of the through hole; and a pair of straight portions, which are arranged between the pair of curved portions and extend side by side.

[0012] According to the embodiment of the present invention, the auxiliary grounding portion is a pair, and the pair of auxiliary grounding portions are arranged opposite to each other on two side surfaces of the wheel body.

[0013] For an embodiment of the present invention, it also includes: a first driving unit, which is arranged in the main body, generating a driving force to rotate the connecting part in the first direction; a second driving unit, which is arranged inside the wheel body, generating a driving force to rotate the wheel part in the second direction; and a third driving unit, which is arranged in the main body, generating a driving force to rotate the connecting part in the third direction.

[0014] The embodiment of the present invention further includes: a sensor unit for measuring the rotation angle of the wheel unit and the rotation angle of the connection unit.

[0015] The embodiment of the present invention further includes: a shock absorber, which is arranged at the upper end of the main body and absorbs external impact to provide buffering.

[0016] In order to solve the technical problem, a driving device according to another embodiment of the present invention includes: a wheel module; a driving body, a lower end of which is provided for combining with at least one of the wheel modules, wherein the wheel module includes a body; a connecting part, rotatably combined with the body in a first direction; a wheel part, which is provided with a wheel body and an auxiliary grounding part, wherein the wheel body is rotatably combined with the connecting part in a second direction; and an auxiliary grounding part, which is separated from the wheel body and selectively adjusts the internal pressure.

[0017] According to an embodiment of the present invention, the driving body has a setting groove recessed inward from the bottom, the wheel module is combined with the inside of the setting groove, and a part of the wheel part is protruded outward of the setting groove.

[0018] According to the embodiment of the present invention, the wheel module is detachably combined with the setting groove, and when the wheel module is set and combined with the driving body, the arrangement pattern of the plurality of wheel modules can be changed.

[0019] According to an embodiment of the present invention, the main body includes a through hole penetrating both ends in the up-down direction, and the connecting portion is arranged inside the through hole and can rotate along the inner circumference direction of the through hole.

[0020] According to the embodiment of the present invention, the connection portion may be configured to rotate in a third direction around the rotation axis inside the through hole.

[0021] According to an embodiment of the present invention, the connection portion includes a connection body, which includes: a pair of curved portions, which are curved and opposite to each other to correspond to the inner shape of the through hole; and a pair of straight portions, which are arranged between the pair of curved portions and extend side by side.

[0022] According to the embodiment of the present invention, the auxiliary ground contacting portion is a pair, and the pair of auxiliary ground contacting portions are arranged opposite to each other on two side surfaces of the wheel body.

[0023] For an embodiment of the present invention, the wheel module also includes: a first driving unit, which is arranged in the main body and generates a driving force for rotating the connecting part in the first direction; a second driving unit, which is arranged inside the wheel body and generates a driving force for rotating the wheel part in the second direction; and a third driving unit, which is arranged in the main body and generates a driving force for rotating the connecting part in the third direction.

[0024] According to an embodiment of the present invention, the wheel module further includes: a sensor portion for measuring a rotation angle of the wheel portion and a rotation angle of the connection portion.

[0025] According to the embodiment of the present invention, the wheel module further comprises: a shock absorber, which is arranged at the upper end of the main body and absorbs external impact to provide buffering.

[0026] Effects of the Invention

[0027] The wheel module and the drive device including the same according to the embodiment of the present invention can move forward and backward by changing the rotation direction of the wheel portion without rotating the drive device itself through the three-axis rotation of the wheel portion. The drive device and the vehicle can rotate with a small turning radius, so it is not only easy to change direction in a narrow space, but also can reduce tire wear when the vehicle rotates. In addition, the grip can be adjusted by simply adjusting the air pressure and changing the contact area between the auxiliary contact portion and the ground, so that rapid braking can be achieved in an emergency.

[0028] The effects of the present invention are not limited to the above effects, but should be understood to include all effects inferred from the configuration of the invention described in the description of the present invention or the scope of claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1FIG. 1 is a perspective view showing a wheel module according to an embodiment of the present invention.

[0030] Figure 2 To show Figure 1 A perspective view of a portion of a wheel module.

[0031] Figure 3 Shown from one direction Figure 2 The status of the wheel module.

[0032] Figure 4 Shown from another direction Figure 2 The status of the wheel module.

[0033] Figure 5 Shown from another direction Figure 2 The status of the wheel module.

[0034] Figure 6 It is a perspective view showing a wheel portion according to an embodiment of the present invention.

[0035] Figure 7 To show Figure 6 A cross-sectional view of the wheel portion.

[0036] Figure 8 (a) shows Figure 6 A state of the wheel portion, Figure 8 (b) shows Figure 6 Another state of the wheel portion.

[0037] Fig. 9 The present invention is a perspective view showing a state where a wheel portion and a connecting portion are connected to each other according to an embodiment of the present invention.

[0038] Fig.10 It is a perspective view showing a driving device according to an embodiment of the present invention.

[0039] Fig.11 An example of a vehicle in which a drive device according to an embodiment of the present invention is mounted is shown.

[0040] Fig.12 (a) shows the setting Fig.11 A state of the lower end of the driving device of the vehicle, Fig.12 (b) shows the setting Fig.11 Another state of the lower end of the vehicle of the driving device. DETAILED DESCRIPTION

[0041] The present invention is described below with reference to the accompanying drawings. However, the present invention can be implemented in various forms and is not limited to the embodiments described herein. In addition, in order to clearly illustrate the present invention, parts not related to the description are omitted in the accompanying drawings, and similar parts are given similar reference numerals throughout the specification.

[0042] Throughout the specification, when any part is said to be "connected (connected, in contact with, combined)" to other parts, it includes the case of "direct connection" and the case of "indirect connection" with other parts arranged in between. In addition, when any part is said to "include" any constituent element, unless otherwise specified, it does not exclude other constituent elements and also includes other constituent elements.

[0043] The terms used in this specification are only used to illustrate specific embodiments and are not intended to limit the present invention. Unless otherwise clearly defined in the text, singular expressions include plural expressions. In this specification, it should be understood that the terms "including" or "having" specify the existence of features, numbers, steps, actions, constituent elements, parts or combinations thereof recorded in the specification, and do not exclude in advance the existence or additional possibility of one or more other features, numbers, steps, actions, constituent elements, parts or combinations thereof.

[0044] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0045] Figure 1 FIG. 1 is a perspective view showing a wheel module according to an embodiment of the present invention. Figure 2 To show Figure 1 A perspective view of a portion of a wheel module. Figure 3 Shown from one direction Figure 2 The status of the wheel module. Figure 4 Shown from another direction Figure 2 The status of the wheel module. Figure 5 Shown from another direction Figure 2 The status of the wheel module. Figure 6 It is a perspective view showing a wheel portion according to an embodiment of the present invention. Figure 7 To show Figure 6 A cross-sectional view of the wheel portion. Figure 8 (a) shows Figure 6 A state of the wheel portion, Figure 8 (b) shows Figure 6 The wheel portion is in another state. And, Fig. 9 The present invention is a perspective view showing a state where a wheel portion and a connecting portion are connected to each other according to an embodiment of the present invention.

[0046] Reference Figures 1 to 9 The wheel module 10 moves the driving device 20 on which the wheel module 10 is installed through multi-axis rotation. At this time, the wheel module 10 includes a main body 100, a connecting part 200, a wheel part 300, and a driving part 400. In addition, the wheel module 10 also includes a shock absorber S10 and an intermediate connecting part S20.

[0047] The body 100 is a part where other structures of the wheel module 10 are arranged, and includes a support portion 110 and a through hole 120. At this time, as shown in the drawings, the support portion 110 is cylindrical, but the present invention is not limited thereto.

[0048] The through hole 120 is disposed in the support portion 110. More specifically, the through hole 120 extends from the upper end of the support portion 110 to the lower end in the vertical direction (eg, the Z-axis direction). Thus, the through hole 120 is formed through the support portion 110 in the vertical direction (Z-axis direction).

[0049] The through hole 120 is provided with a rotating part G10 and a connecting protruding part G20. In this case, the rotating part G10 is provided at the lower end of the through hole 120, and extends along the circumferential direction (R1 direction) of the through hole 120, and is in a ring shape with two ends intersecting. At this time, the rotating part G10 can be configured to rotate along the first direction (R1 direction). The rotating part G10 can be rotated by the rotational driving force generated by the first driving part 410.

[0050] According to one embodiment, the connection protrusion member G20 is formed to protrude downward (in the -Z axis direction) from the bottom of the rotating part G10. As described above, the connection protrusion member G20 rotates together with the rotating part G10 when the rotating part G10 rotates in the first direction (R1 direction). At this time, the connection protrusion member G20 is relatively symmetrically arranged with the third driving part 430 arranged under the rotating part G10.

[0051] The connecting portion 200 connects the wheel portion 300 to the main body 100. At this time, the connecting portion 200 is arranged on the main body 100. More specifically, the connecting portion 200 is arranged in the through hole 120. The connecting portion 200 is rotatably coupled to the main body 100 in a first direction (R1 direction). Here, when viewed in a direction parallel to the XY plane, the first direction (R1 direction) refers to the same direction as the circumferential direction of the through hole 120 [or the circumferential direction of the main body 100]. At this time, the connecting portion 200 has a connecting main body 210 and a first connecting shaft 220.

[0052] The connecting body 210 is a part directly connected to the wheel part 300 described below, and is formed by a single frame or a plurality of frames connected together. At this time, the connecting body 210 is configured to be accommodated in the through hole 120 .

[0053] As an embodiment, the connecting body 210 has a pair of curved portions 211 and a pair of straight portions 212. At this time, the pair of curved portions 211 are relatively symmetrically arranged. At this time, the curved portion 211 is bent into a shape corresponding to the inner shape of the through hole 120. In addition, the pair of straight portions 212 are arranged to extend side by side and be separated between the pair of curved portions 211. At this time, one end of each straight portion 212 is connected to one end of any one of the pair of curved portions 211, and the other end of each straight portion 212 is connected to one end of the other of the pair of curved portions 211.

[0054] The first connection shaft 220 connects the connection body 210 to the main body 100. The first connection shaft 220 rotates the connection body 210 in a third direction (R3 direction) by a driving force generated by a third driving unit 430 described below.

[0055] As an embodiment, the first connecting shaft 220 is a pair. In this case, one end of any one of the pair of first connecting shafts 220 (hereinafter, the first rotating shaft) is combined with one end of the connecting body 210. At this time, the end of the connecting body 210 combined with the first connecting shaft 220 is any one of the pair of curved portions 211. The other end of the first connecting shaft 220 can be rotatably connected to the connecting protruding part G20. And, one end of the remaining one of the pair of first connecting shafts 220 (hereinafter, the second rotating shaft) is combined with the other end of the connecting body 210. At this time, the end of the connecting body 210 combined with the second first connecting shaft 220 is the remaining one of the pair of curved portions 211. The other end of the second first connecting shaft 220 is connected to the third driving part 430.

[0056] Thus, the first connecting shaft 220 rotates in the third direction (R3 direction) by the rotational driving force generated by the third driving unit 430, and the connecting body 210 and the first connecting shaft 220 rotate in the same direction (R3 direction). In addition, as described above, the connecting body 210 is connected to the rotating part G10 through the connecting protruding member G20 and the third driving unit 430, and thus, it rotates in the first direction (R1 direction) together with the rotating part G10 as it rotates.

[0057] The wheel unit 300 moves the wheel module 10 and the driving device 2 on which the wheel module 10 is mounted by multi-axis rotation. At this time, the wheel unit 300 includes a wheel body 310 and an auxiliary grounding portion 320 .

[0058] The tire part is arranged outside the wheel body 310, and the second driving part 420 is arranged in the accommodation space provided inside the tire part. In this case, the wheel body 310 is composed of, for example, an in-wheel motor system. In addition, the main tread part of the main tire part provided in the wheel body 310 is shown in the drawings as not forming grooves, but the present invention is not limited to this, and it is natural that grooves of various forms are formed on the contact surface of the tire part.

[0059] A portion of the wheel body 310 is disposed inside the through hole 120. More specifically, the upper end of the wheel body 310 is disposed inside the through hole 120. At this time, the lower end of the wheel body 310 is disposed outside the through hole 120 and protrudes to the lower side of the body 100, thereby getting in contact with the ground when the wheel module 10 is driven.

[0060] The wheel body 310 is rotatably connected to the connecting part 200 in the second direction (R2 direction). More specifically, the wheel body 310 is accommodated between a pair of straight portions 212 provided on the connecting body 210. In this case, the second driving part 420 is provided with a pair of second connecting shafts 421, and the pair of second connecting shafts 421 extend from the second driving part 420 in opposite directions along the left-right direction (Y-axis direction or -Y-axis direction) and are inserted through the connecting holes 212a respectively formed in the pair of straight portions 212, thereby the wheel body 310 is connected to the connecting body 210. At this time, the second connecting shaft 421 is rotatably connected to the connecting hole 212a in the second direction (R2 direction). In addition, the ends of the pair of second connecting shafts 421 protrude to the outside of the adjacent straight portions 212 in the left-right direction (Y-axis direction or -Y-axis direction).

[0061] The auxiliary grounding portion 320 is a portion that selectively contacts the ground as the wheel module 10 performs multi-axis rotational motion. An auxiliary tire portion is provided outside the auxiliary grounding portion 320. At this time, the auxiliary tread portion of the auxiliary tire portion is made of a material different from that of the main tread portion and has a higher grip than the wheel body 310.

[0062] The auxiliary grounding parts 320 are a pair. In this case, any one of the pair of auxiliary grounding parts 320 is connected to any end of the pair of second connecting shafts 421. And the other one of the pair of auxiliary grounding parts 320 is connected to the other end of the pair of second connecting shafts 421. Thus, the pair of auxiliary grounding parts 320 are arranged opposite to each other on both sides of the wheel body 310. More specifically, the pair of auxiliary grounding parts 320 are arranged symmetrically with the wheel body 310 as the center. At this time, a separation space P is formed between each auxiliary grounding part 320 and the wheel body 310.

[0063] The auxiliary grounding portion 320 can selectively adjust the internal pressure. As an embodiment, the auxiliary grounding portion 320 is composed of a pneumatic tire. In this case, the internal air pressure of the auxiliary grounding portion 320 can be adjusted by adjusting the amount of air inside the auxiliary grounding portion 320. For example, an air injection / inhalation device (not shown) can be configured in the accommodation space or the main body 100 inside the wheel body 310. The air injection / inhalation device injects air into the auxiliary grounding portion 320, or inhales the internal air to increase or decrease the air pressure. In this way, the internal air pressure of the auxiliary grounding portion 320 is adjusted.

[0064] When the wheel module 10 and the driving device 1 move, the wheel portion 300 rotates so that one of the pair of auxiliary grounding portions 320 contacts the ground. Figure 8 As shown in the example (a), the auxiliary grounding portion 320 contains (or is injected with) a sufficient amount of air to maintain a relatively high internal air pressure. This air pressure can prevent the auxiliary grounding portion 320 from changing in volume or shape even when the auxiliary grounding portion 320 is pressed by the load of the wheel module 10 or the drive device 1 as the auxiliary grounding portion 320 contacts the ground. As a result, the wheel portion 300 can maintain a spherical shape during driving, thereby preventing the driving performance from being reduced.

[0065] Moreover, if Figure 8 As shown in the example (b), when the wheel module 10 or the drive device 1 is parked, the wheel portion 300 rotates in a state where one of the pair of auxiliary grounding portions 320 is in contact with the ground. At this time, air is sucked in and discharged from the inside of the auxiliary grounding portion 320, thereby reducing the internal pressure. As a result, under a relatively low internal pressure state, the auxiliary grounding portion 320 in contact with the ground is pressurized by the load of the wheel module 10 and the drive device 1, and at least a portion (for example, the portion in contact with the ground) becomes flat. As a result, the grip is increased by increasing the contact area between the auxiliary grounding portion 320 and the ground, thereby improving the stability of parking.

[0066] In another embodiment, the auxiliary grounding portion 320 may be formed of a solid tire. In this case, the auxiliary grounding portion 320 is deformed by mechanical means. For example, the auxiliary grounding portion 320 has a center (C2) along a direction (for example, Figure 8 In this case, the pressurizing portion moves in a direction toward the inner side of the auxiliary grounding portion 320 (in the Z-axis direction). Figure 8 The auxiliary tread around the pressurized portion simultaneously sinks inward, thereby deforming into a flat shape. Figure 8When the auxiliary tread moves in the direction of the center-Z axis, the pressurized state generated by the pressurizing portion is released, and the auxiliary tread is restored to the hemispherical shape before the pressurization. However, the present invention is not limited to the above-mentioned embodiment.

[0067] The driving unit 400 generates a driving force for the wheel module 10 to rotate. The driving unit 400 includes a first driving unit 410, a second driving unit 420, and a third driving unit 430. At this time, since the rotation of the wheel unit 300 through the second driving unit 420 and the rotation of the connecting unit 200 through the third driving unit 430 are the same as above, repeated descriptions thereof are omitted.

[0068] The first driving unit 410 is disposed on the main body 100, and generates a rotational driving force for rotating the connecting unit 200 in the first direction (R1 direction). More specifically, the first driving unit 410 uses a direction conversion component to convert the rotation direction into the first direction (R1 direction), thereby rotating the rotating unit G10 in the first direction (R1 direction). As a result, the connecting unit 200 coupled to the rotating unit G10 can perform a rotational motion in the first direction (R1 direction).

[0069] Therefore, the wheel part 300 can not only rotate in the first direction (R1 direction) through the rotational movement of the rotating part G10 and rotate in the second direction (R2 direction) through the rotational movement of the wheel body 310, but also can rotate in the third direction (R3 direction) through the rotational movement of the connecting part 200, thereby enabling three-axis rotational movement.

[0070] Fig.10 It is a perspective view showing a driving device according to an embodiment of the present invention.

[0071] Reference Fig.10 The driving device 1 includes a wheel module 10 and a driving body 20. At this time, the specific content of the wheel module 10 is the same as or similar to the above, so the description will be centered around the differences.

[0072] The wheel module 10 further includes an illumination unit (not shown). In this case, the illumination units are multiple and emit different lights. In this case, the multiple illumination units are arranged at different positions of the main body 100 to display the driving or braking state of the drive device 2 and warnings such as tire abnormality to the outside.

[0073] The driving body 20 is a portion for mounting at least one wheel module 10 , and is formed by connecting a plurality of plates or by a single structure.

[0074] The driving body 20 is provided at the lower end with a setting groove (not shown) that is recessed from the lower surface of the driving body 20 to the inner side or the upper side (Z-axis direction). The wheel module 10 can be installed in the setting groove. At this time, the upper end of the wheel module 10 is combined in a state of being accommodated in the setting groove, and the lower end of the wheel module 10, that is, a part of the wheel part 300, is protruded to the lower side of the setting groove and is grounded.

[0075] There is at least one installation groove. As an embodiment, when only one wheel module 10 is installed in the driving device 2, one installation groove is correspondingly provided. As another example, when multiple wheel modules 10 are installed in the driving device 2, multiple installation grooves are correspondingly provided.

[0076] The wheel module 10 is detachably connected to the installation groove. Thus, the drive device 2 is matched with the specification or purpose, and the number of wheel modules 10 and / or the installation position of the wheel modules 10 are changed, thereby changing the arrangement mode of the plurality of wheel modules 10.

[0077] Refer to Figure 1 The shock absorber S10 can absorb the impact in the upward and downward directions (Z-axis direction or -Z-axis direction) that occurs when the drive device 2 is driven because the wheel module 10 is installed in the drive device 2. At this time, the shock absorber S10 is arranged at the upper end of the main body 100. Therefore, when the wheel module 10 is installed in the drive device 2, the shock absorber S10 can be arranged between the wheel module 10 and the drive body 20 described below. The shock absorber S10 is, for example, a suspension. The shock absorber S10 prevents damage and improves the grip with the ground by performing a buffering effect between the wheel module 10 and the ground when the drive device 2 stops urgently or rotates at high speed.

[0078] The intermediate connection part S20 is a part for combining the wheel module 10 with the driving body 20, and is arranged at the upper end of the shock absorber S10. More specifically, the intermediate connection part S20 may be provided with a combination structure (e.g., a combination groove or a combination protrusion) for combining with the driving body 20 at its upper end or side. At this time, the driving body 20 is provided with a combination structure that can be combined with the combination structure of the intermediate connection part S20. In this way, the wheel module 10 can be selectively disassembled from the driving body 20 through the combination and separation between the combination structure of the driving body 20 and the combination structure of the intermediate connection part S20.

[0079] In addition, a sensor unit for measuring the rotation angle of the wheel unit 300 and / or the rotation angle of the connection unit 200 is provided in the wheel module 10 or the driving body 20. Through the sensor unit, when the wheel module 10 performs multi-axis rotational motion, the degree of rotation of the wheel unit 300, the position of the auxiliary grounding unit 320, and the rotation angle of the connection body 210 can be grasped.

[0080] Fig.11 An example of a vehicle in which a drive device according to an embodiment of the present invention is mounted is shown. Fig.12 (a) shows the setting Fig.11 A state of the lower end of the driving device of the vehicle, Fig.12 (b) shows the setting Fig.11 Another state of the lower end of the vehicle of the driving device.

[0081] The driving device 1 including the wheel module 10 is mounted on various vehicles, mobile robots, etc. to drive the vehicle, and is thus applied to various platforms.

[0082] like Fig.11 As shown, the drive device 1 is installed at the lower end of a vehicle 2 such as a bus instead of a vehicle drive system. At this time, as described above, based on the size, weight and other specifications of the vehicle 2 using the drive device 1, the number and / or installation position of the wheel modules 10 installed in the drive device 1 can be appropriately changed.

[0083] Reference Fig.12 When the vehicle 2 is running, the driving device 2 increases the air pressure of the auxiliary grounding portion 320 and forms the overall shape of the wheel portion 300 into a spherical shape, thereby minimizing the contact area between the ground and the wheel portion 300 and reducing the friction. On the contrary, when the driving device 2 stops the running of the vehicle 2 for parking, the connecting portion 200 is rotated so that the auxiliary grounding portion 320 contacts the ground, and the air pressure of the auxiliary grounding portion 320 is reduced to change the shape, thereby maximizing the contact area between the ground and the wheel portion 300, thereby improving the grip between the ground and the wheel portion 300. Thereafter, when resuming the running of the vehicle 2, the air pressure of the auxiliary grounding portion 320 is increased again, and the vehicle 2 is moved.

[0084] The wheel module 10 and the driving device 2 of the embodiment of the present invention described above can move forward and backward by changing the rotation direction of the wheel part 300 through the three-axis rotation of the wheel part 300 without rotating the driving device 2 itself, and the driving device 2 and the vehicle 2 can rotate with only a small turning radius, so that it is not only easy to change the direction in a small space, but also can reduce the wear of the tires when the vehicle 2 rotates. In addition, the grip is adjusted by simply adjusting the air pressure and changing the contact area between the auxiliary contact part 320 and the ground, so that braking can be performed quickly and easily in an emergency.

[0085] It should be understood that the above description of the present invention is for illustration, and those skilled in the art of the art to which the present invention belongs can easily transform it into other specific forms without changing the technical ideas or essential features of the present invention. Therefore, it should only be understood that the above embodiments are only for illustration in all aspects and are not limiting. For example, each component described in a single type can also be implemented in a dispersed manner, and the components described in a dispersed manner can also be implemented in a combined form.

[0086] The scope of the present invention is shown by the appended claims, and all changes or modifications derived from the meaning and scope of the claims and equivalent concepts are included in the scope of the present invention.

Claims

1. A wheel module, characterized in that: include: main body; A connecting portion, rotatably coupled to the main body in a first direction; and The wheel portion comprises a wheel body, which is rotatably connected to the connecting portion in a second direction; and an auxiliary grounding portion, which is separated from the wheel body and selectively adjusts the internal pressure.

2. The wheel module according to claim 1, characterized in that: The main body has a through hole that passes through both ends in the up-down direction. The connection portion is disposed inside the through hole and is rotatably disposed along an inner circumferential direction of the through hole.

3. The wheel module according to claim 2, characterized in that: The connection portion is disposed inside the through hole so as to be rotatable in a third direction around the rotation axis.

4. The wheel module according to claim 2, characterized in that: The connecting part is provided with a connecting body, which comprises: A pair of curved portions are curved corresponding to the inner shape of the through hole and face each other; and a pair of straight portions are arranged between the pair of curved portions and extend side by side.

5. The wheel module according to claim 1, characterized in that: The auxiliary grounding portion is a pair, The pair of auxiliary ground contact portions are disposed opposite to each other on both side surfaces of the wheel body.

6. The wheel module according to claim 3, characterized in that: Also includes: a first driving part, disposed on the main body, generating a driving force for rotating the connecting part in the first direction; a second driving unit, disposed inside the wheel body, and generating a driving force for rotating the wheel in the second direction; and The third driving part is disposed on the main body and generates a driving force for rotating the connecting part in the third direction.

7. The wheel module according to claim 1, characterized in that: Also includes: The sensor unit measures the rotation angle of the wheel unit and the rotation angle of the connection unit.

8. The wheel module according to claim 1, characterized in that: Also includes: The shock absorber is arranged at the upper end of the main body and absorbs external impact to provide buffering.

9. A driving device, characterized in that: include: Wheel modules; and The driving body has at least one wheel module connected to its lower end. The wheel module comprises: main body; a connecting portion rotatably coupled to the main body in a first direction; and The wheel part is provided with: a wheel body rotatably connected to the connecting part in a second direction; and an auxiliary grounding part separated from the wheel body and selectively adjusting the internal pressure.

10. The driving device according to claim 9, characterized in that: The driving body has a setting groove recessed inward from the bottom. The wheel module is coupled to the interior of the installation groove, and a portion of the wheel portion is configured to protrude to the outside of the installation groove.

11. The driving device according to claim 10, characterized in that: The wheel module is detachably combined with the setting groove, The wheel module is provided, and when combined with the driving body, the arrangement pattern of the plurality of wheel modules can be changed.

12. The driving device according to claim 9, characterized in that: The main body is provided with through holes penetrating through both ends in the up-down direction. The connection portion is disposed inside the through hole and rotates along an inner circumferential direction of the through hole.

13. The driving device according to claim 12, characterized in that: The connection portion is rotatably arranged in the through hole about the rotation axis in a third direction.

14. The driving device according to claim 12, characterized in that: The connecting portion is provided with a connecting body, The connecting body comprises: a pair of curved portions, which are curved corresponding to the inner shape of the through hole and face each other; and a pair of straight portions, which are arranged between the pair of curved portions and extend side by side.

15. The driving device according to claim 9, characterized in that: The auxiliary grounding portion is a pair, The pair of auxiliary ground contact portions are disposed opposite to each other on both side surfaces of the wheel body.

16. The driving device according to claim 13, characterized in that: The wheel module further comprises: A first driving part, disposed on the main body, generating a driving force to rotate the connecting part in the first direction; A second driving unit is disposed inside the wheel body and generates a driving force for rotating the wheel in the second direction; and The third driving part is disposed on the main body and generates a driving force for rotating the connecting part in the third direction.

17. The driving device according to claim 9, characterized in that: The wheel module further comprises: The sensor unit measures the rotation angle of the wheel unit and the rotation angle of the connection unit.

18. The driving device according to claim 9, characterized in that: The wheel module further comprises: The shock absorber is arranged at the upper end of the main body and absorbs external impact to provide buffering.

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