Wheel

Abstract

The present invention relates to a wheel having a rim portion configured to be rotatable about a rotation axis of the wheel, the wheel comprising: a plurality of roller members rotatably coupled to the rim portion and arranged to surround the rotation axis; and a plurality of complementary members coupled to the rim portion and arranged around the rotation axis, in which an uneven portion is formed on an outer peripheral surface defined by the plurality of roller members when the wheel is viewed from a position spaced apart from the wheel in a direction in which the rotation axis extends, a curvature characteristic of the uneven portion is different from a curvature characteristic of another region adjacent to the uneven portion in a circumferential direction of the wheel, and wherein the complementary member is provided to overlap with the uneven portion.

Description

[0001] Cross-references to related applications

[0002] This application claims priority and benefit to Korean Patent Application No. 10-2024-0059945, filed with the Korean Intellectual Property Office on May 7, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This invention relates to a wheel that can be applied to movable bodies such as vehicles. Background Technology

[0004] A mecanum wheel is a wheel with multiple rollers that are tilted and rotatably arranged on the outside of a rim, allowing the wheel to move not only in the forward and backward direction, but also in various directions such as left and right and diagonal directions. In particular, mecanum wheels are advantageous because they can move in all directions simply by rotating the rim using a drive component such as a motor, without requiring the wheel to be turned separately.

[0005] Since a Mecanum wheel is also a type of wheel, it is generally circular or cylindrical in shape. However, in the relevant prior art, because multiple rollers of a Mecanum wheel are arranged circumferentially, an uneven section deviating from the circular or cylindrical shape is formed between adjacent rollers. When this section contacts the ground, it not only exerts an impact on the wheel but also generates noise, thus degrading the ride quality of movable bodies (such as vehicles) equipped with Mecanum wheels.

[0006] The statements in this section are provided only as background information in relation to the present invention and do not constitute prior art. Summary of the Invention

[0007] This invention improves the ride quality of movable bodies, such as vehicles, that use Mecanum wheels by eliminating or reducing unevenness formed between the multiple rollers of the Mecanum wheel.

[0008] In one aspect of the present application, a wheel includes a rim portion configured to be rotatable about a rotation axis "X" of the wheel, a plurality of roller members rotatably coupled to the rim portion and arranged to surround the rotation axis X, and a plurality of complementary members coupled to the rim portion and arranged to surround the rotation axis X. When the wheel is viewed from a position spaced apart from the wheel in a direction in which the rotation axis X extends, an uneven portion is formed on an outer circumferential surface defined by the plurality of roller members, the uneven portion has a curvature characteristic different from that of another region adjacent to the uneven portion in a circumferential direction "A" of the wheel, and the complementary members are disposed to overlap the uneven portion in the direction in which the rotation axis X extends.

[0009] The uneven portion has a shape recessed more inwardly of a radial direction "R" of the wheel than the other region adjacent to the uneven portion in the circumferential direction A of the wheel.

[0010] Each of the plurality of complementary members has a size smaller than that of each of the plurality of roller members.

[0011] Each of the plurality of complementary members has a size smaller than that of each of the plurality of roller members.

[0012] Each of the roller members has a first center axis of rotation Y1 having a predetermined angle with respect to the rotation axis X.

[0013] The first center axis of rotation Y1 of the roller member has an angle in the range of 40 to 50 degrees with respect to the rotation axis X.

[0014] The rim portion includes a first side rim disposed at a first side of the plurality of roller members in the direction of extension of the rotation axis and configured such that the first side of the plurality of roller members is rotatably coupled to the first side rim, and a second side rim disposed at a second side of the plurality of roller members in the direction of extension of the rotation axis and configured such that the second side of the plurality of roller members is rotatably coupled to the second side rim. In particular, the plurality of complementary members are disposed on at least one of the first side rim and the second side rim.

[0015] The plurality of complementary members are disposed only on the first side rim or the second side rim.

[0016] Each of the plurality of complementary members is rotatably coupled to the rim portion and has a second center axis of rotation Y2 having a predetermined angle with respect to the rotation axis X with respect to the rim portion.

[0017] The size of the angle defined between the first center axis of rotation of the roller member and the rotation axis of the wheel is substantially equal to or corresponds to the size of the angle defined between the second center axis of rotation Y2 of the complementary member and the rotation axis X of the wheel.

[0018] At least a part of the ball region protrudes more than the plurality of roller members in the radial direction R in a state where the external force is removed.

[0019] The angle defined between the first rotational center axis Y1 of the plurality of roller members and the rotational axis X corresponds in size to each other.

[0020] The region to which any one of the plurality of roller members is rotatably coupled to the first side rim is spaced apart in one of two directions in the circumferential direction A of the wheel from the region to which another roller member is rotatably coupled to the second side rim.

[0021] The plurality of complementary members can correspond one-to-one to the plurality of roller members.

[0022] A part of the complementary member is disposed to face each other in the circumferential direction A of the wheel with the roller member corresponding to the complementary member.

[0023] Another part of the complementary member is spaced apart in the direction in which the rotational axis X extends from the roller member corresponding to the complementary member.

[0024] The complementary member can be disposed to face each other in the direction in which the rotational axis X extends from the central region of the roller member corresponding to the complementary member.

[0025] The roller member can have a shape in which a diameter thereof decreases in a direction away from the central region of the roller member in the direction in which the first rotational center axis Y1 extends with respect to the rim portion.

[0026] A curved surface region can be formed on the roller member and formed at an outer end of the wheel in the direction in which the rotational axis X extends and have a curved shape protruding outward.

[0027] When the roller member is cut in a direction perpendicular to the direction in which the rotational axis X extends, an outer periphery of each roller member in the radial direction of the wheel has a shape of a part of a circle having the rotational axis X as a center and having the radius R of the wheel as a radius.

[0028] According to the present application, unevenness formed between the plurality of rollers of a Mecanum wheel provided with a structure of a plurality of rollers is eliminated or reduced, which can improve the ride quality of a movable body to which the Mecanum wheel is applied. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 is a perspective view of a wheel according to a first embodiment of the present application;

[0030] Figure 2 is a front view of a wheel according to a first embodiment of the present application;

[0031] Figure 3 is a side view of a wheel according to a first embodiment of the present application;

[0032] Figure 4 A perspective view of a wheel according to a second embodiment of the present invention;

[0033] Figure 5 This is a front view of a wheel according to a second embodiment of the present invention;

[0034] Figure 6 This is a side view of a wheel according to a second embodiment of the present invention;

[0035] Figure 7 The view is provided to illustrate, in a wheel according to a first embodiment of the present invention, a state in which the axis of rotation of the wheel and the axis of rotation of the roller member define a predetermined angle, and the axis of rotation of the wheel and the axis of rotation of the complementary member define a predetermined angle.

[0036] Figure 8 A view showing the shape of the roller member when viewed from a position spaced apart from the wheel, according to the first embodiment of the present invention, in a direction extending along the axis of rotation;

[0037] Figure 9 A perspective view of a wheel according to a third embodiment of the present invention;

[0038] Figure 10 This is a perspective view of a wheel according to a third embodiment of the present invention, showing a state in which some roller components have been removed;

[0039] Figure 11 This is a front view of a wheel according to a third embodiment of the present invention;

[0040] Figure 12 This is a side view according to a third embodiment of the present invention;

[0041] Figure 13 The view is provided to illustrate, in a wheel according to a third embodiment of the present invention, a state in which the axis of rotation of the wheel and the axis of rotation of the roller member define a predetermined angle, and the axis of rotation of the wheel and the axis of rotation of the complementary member define a predetermined angle.

[0042] Figure 14 A view showing the shape of the roller member when viewed from a position spaced apart from the wheel according to the third embodiment of the present invention, in a direction extending along the axis of rotation;

[0043] Figure 15 This is a perspective view of a wheel according to a fourth embodiment of the present invention.

[0044] The accompanying drawings described herein are for illustrative purposes only and are not intended to limit the scope of the invention in any way, wherein:

[0045] 10: Wheels

[0046] 10a: uneven portion

[0047] 100: rim portion

[0048] 110: first side rim

[0049] 111: first side rim body

[0050] 112: first side joining region

[0051] 120: second side rim

[0052] 121: second side rim body

[0053] 122: second side joining region

[0054] 130: central rim

[0055] 132: central rim body

[0056] 134: first central joining region

[0057] 136: second central joining region

[0058] 200: roller member

[0059] 200a: curved region

[0060] 210: first roller member

[0061] 220: second roller member

[0062] 300: complementary member

[0063] 310: spherical region

[0064] 320: accommodating region

[0065] X: rotational axis of the wheel

[0066] Y1: rotational center axis of the roller member

[0067] Y2: rotational center axis of the complementary member

[0068] R: radial direction of the wheel

[0069] A: circumferential direction of the wheel. DETAILED DESCRIPTION

[0070] The following description is merely exemplary in nature and is not intended to limit the present disclosure, application, or uses. It should be understood that throughout the drawings, corresponding reference numerals indicate like or corresponding parts and features.

[0071] When components, devices, elements, etc. of the present application are described as having a particular purpose or performing an operation, function, etc., that component, device, or element should be considered "configured to" fulfill that purpose or perform that operation or function herein.

[0072] In the present application, each of the phrases such as "A or B", "at least one of A and B", "at least one of A or B", "A, B, or C", "at least one of A, B, and C", "at least one of A, B, or C", and "at least one of A, B, or C, or a combination thereof" can include any one or all possible combinations of the items listed together in the corresponding phrase.

[0073] Hereinafter, a wheel according to an embodiment of the present application is described with reference to the accompanying drawings.

[0074] The wheel can be installed on a movable body (for example, a vehicle) and configured to enable movement of the movable body. In particular, the wheel according to the present application can not only allow the movable body equipped with the wheel according to the present application to move in a forward and backward direction, but also allow the movable body to move in a left and right direction without turning the wheel, in a form similar to so-called crab walking. The wheel according to the present application can be a kind of a Mecanum wheel, that is, a Mecanum wheel having a new shape different from that in the related art.

[0075] Wheel

[0076] Figure 1 is a perspective view of a wheel according to a first embodiment of the present application, Figure 2 is a front view of the wheel according to the first embodiment of the present application. Figure 3 is a side view of the wheel according to the first embodiment of the present application.

[0077] In addition, Figure 4 is a perspective view of a wheel according to a second embodiment of the present application, Figure 5 is a front view of the wheel according to the second embodiment of the present application. Figure 6 is a side view of the wheel according to the second embodiment of the present application.

[0078] Referring to Figures 1 to 6 , the wheel 10 according to the present application can include a rim portion 100 configured to be rotatable about a rotation axis X. More specifically, in the case where the wheel 10 is installed on a movable body such as a vehicle, the wheel 10 can be rotatable about the rotation axis X. Hereinafter, in the present specification, the rotation axis X is referred to as a rotation axis of the wheel 10.

[0079] In one embodiment of the present application, the wheel 10 can further include a plurality of roller members 200 rotatably coupled to the rim portion 100 and disposed in a direction of the plurality of roller members 200 about the rotation axis X. In other words, the roller members 200 are arranged about the rotation axis, and the roller members 200 are rotatably coupled to an outer region of the rim portion 100 in a radial direction R. The radial direction R extends perpendicular to the rotation axis X. More specifically, the plurality of roller members 200 can be coupled to one side of the rim portion 100 and configured to rotate in a state in which the plurality of roller members 200 are coupled to the rim portion 100. Hereinafter, in the present application, an axis of rotation of the roller members 200 when the roller members 200 rotate is referred to as a first rotation center axis Y1 of the roller members 200.

[0080] According to the present application, the rotation axis X of the wheel 10 and the first rotation center axis Y1 of the roller members 200 can define a predetermined angle but are not parallel to each other. For example, the first rotation center axis Y1 of the roller members 200 can have an angle of 40 degrees or more and 50 degrees or less (i.e., in a range of 40-50 degrees) with respect to the rotation axis X of the wheel 10. In particular, the first rotation center axis Y1 of the roller members 200 can have an angle of 45 degrees with respect to the rotation axis X of the wheel 10.

[0081] Continuing to refer to Figures 1 to 6 According to a first embodiment of the present application, the wheel 10 can further include a plurality of complementary members 300 coupled to the rim portion 100 and disposed in a direction of the plurality of complementary members 300 about the rotation axis X. In other words, the complementary members 300 are arranged in a direction about the rotation axis, and the complementary members 300 are rotatably coupled to an outer region of the rim portion 100 in a radial direction R of the wheel 10.

[0082] According to the present application, both the roller members 200 and the complementary members 300 can be coupled to the outer region in the radial direction R of the rim portion 100. However, the roller members 200 and the complementary members 300 can perform different functions.

[0083] More specifically, the roller members 200 can be configured to define an overall outer surface of a peripheral region of the wheel 10 and to define a region that is primarily in contact with the ground when the wheel 10 travels on the ground. Accordingly, the roller members 200 can be configured to support a load of the wheel 10 and a load of a movable body equipped with the wheel 10, such as a vehicle. Accordingly, the plurality of roller members 200 can define an overall shape of the peripheral region of the wheel 10.

[0084] According to the present application, the uneven portion 10a can be formed on the outer surface of the wheel 10 defined by the plurality of roller members 200 when the wheel 10 is viewed from a position spaced apart from the wheel 10 in a direction extending along the rotational axis X. The curvature characteristic of the uneven portion 10a can be different from that of another region adjacent to the uneven portion 10a in the circumferential direction "A" of the wheel 10. In this case, the configuration in which the uneven portion 10a and the other region have different curvature characteristics can be understood as a configuration in which the curved shape of the uneven portion 10a is different from that of the other region adjacent to the uneven portion 10a. For example, the uneven portion 10a can have a shape that is concave inward in the radial direction R of the wheel 10 from the other region adjacent to the uneven portion 10a in the circumferential direction A of the wheel 10. For example, the uneven portion 10a can be formed in a region in which two adjacent roller members 200 overlap each other when the wheel 10 is viewed from a position spaced apart from the wheel 10 in a direction extending along the rotational axis X.

[0085] In the case where the cross section of the outer surface of the wheel 10 in the radial direction R has an approximately circular shape, the uneven portion 10a can be a portion spaced apart from the circular shape. In this case, the complementary member 300 according to the present application can be disposed to overlap the uneven portion and to be complementary to the uneven portion. Accordingly, according to the present application, since the complementary member 300 covers the uneven portion 10a formed in the outer surface of the wheel 10 in the radial direction R, it is possible to reduce noise and impact caused by the uneven portion 10a during the travel of the wheel 10 on the ground. At the same time, since the complementary member 300 is configured to be geometrically complementary to the outer region shape of the peripheral region of the wheel 10 defined by the roller members 200, the size of the complementary member 300 can be smaller than that of the roller members 200.

[0086] At the same time, according to the first embodiment of the present application, the rim portion 100 can be divided into a plurality of regions. More specifically, referring to Figures 1 to 6 , the rim portion 100 can include a first side rim 110 and a second side rim 120. The first side rim 110 is disposed at one side of the roller member 200 with reference to the extension direction of the rotational axis X, and is configured such that one side of the roller member 200 is rotatably coupled to the first side rim 110. The second side rim 120 is disposed at the other side of the roller member 200 with reference to the extension direction of the rotational axis X, and is configured such that the other side of the roller member 200 is rotatably coupled to the second side rim 120. In other words, the first side rim 110 and the second side rim 120 can define two opposite surfaces in the direction of the rotational axis X of the wheel 10.

[0087] In this case, according to the present application, the complementary member 300 can be provided on one or both of the first side rim 110 and the second side rim 120. In one embodiment, the complementary member 300 can be provided on both the first side rim 110 and the second side rim 120. In another embodiment, the complementary member 300 can be provided on only the first side rim 110 or the second side rim 120. For example, Figures 1 to 6 A state in which the complementary member 300 is provided on only the first side rim 110 is shown.

[0088] When the wheel 10 according to the present application is mounted on a movable body such as a vehicle, the first side rim 110 can be located in an outer region of the movable body, and the second side rim 120 can be located in an inner region of the movable body. In this case, in a case in which the complementary member 300 is provided on the first side rim 110, when the movable body equipped with the wheel 10 moves in a direction (for example, a left-right direction of the movable body) that intersects the direction of rotation of the wheel, the complementary member 300 of the first side rim 110 located in the outer region of the movable body can come into contact with the ground or an obstacle on the ground. Thus, compared to a case in which the complementary member 300 is not provided on the first side rim 110, the movable body can move more smoothly in the left-right direction. For example, in a case in which the wheel 10 is provided in a left-side region of the movable body, the first side rim 110 can be located in an outer region of the left side of the movable body, such that when the movable body moves to the left, the complementary member 300 provided on the first side rim 110 can pass over the ground or an obstacle on the ground located to the left of the movable body after coming into contact with the ground or the obstacle on the ground located to the left of the movable body.

[0089] Reference Figures 1 to 3 The complementary member 300 provided on the wheel 10 according to the first embodiment of the present application is rotatably coupled to the rim portion 100. According to the first embodiment of the present application, similarly to the roller member 200, the complementary member 300 can rotate about a center axis of rotation in a state in which the complementary member 300 is coupled to the rim portion 100. Hereinafter, in the present application, the axis of rotation of the complementary member 300 when the complementary member 300 rotates is referred to as a second center axis of rotation Y2 of the complementary member 300.

[0090] According to the first embodiment of the present application, the complementary member 300 can have a predetermined angle with respect to the rotational axis X with respect to the second rotational center axis Y2 of the rim portion 100. Further, more particularly, the size of the angle defined between the first rotational center axis Y1 of the roller member 200 and the rotational axis X of the wheel 10 can be substantially equal to or correspond to the size of the angle defined between the second rotational center axis Y2 of the complementary member 300 and the rotational axis X of the wheel 10. Thus, during the operation of the wheel 10, the rotational directions of the roller member 200 and the complementary member 300 are consistent with each other, which can minimize the frictional force generated on the wheel 10. This configuration can be understood as a configuration in which the two rotational center axes Y1 and Y2 of the roller member 200 and the complementary member 300, which are adjacent to each other, are disposed substantially in parallel.

[0091] Conversely, at least a portion of the complementary member 300 provided on the wheel 10 according to the second embodiment of the present application can be configured to perform a reversible translational motion.

[0092] More particularly, referring to Figures 4 to 6 , the complementary member 300 provided on the wheel 10 according to the second embodiment of the present application can further include a ball region 310 configured to be movable in the radial direction R of the wheel 10, and an accommodation region 320 fixedly coupled to the rim portion 100 and configured to accommodate at least a portion of the ball region 310. More particularly, the ball region 310 can be configured to perform a reversible translational motion, such that, when an external force is applied, the ball region 310 can move into the accommodation region 320, and, when the external force is removed, the ball region 310 can again protrude outward. An elastic member (e.g., a spring) can be provided in the accommodation region 320 and press the ball region 310 outward, to enable the ball region 310 to perform the above-described motion. More particularly, as shown in Figures 4 to 6 , according to the second embodiment of the present application, at least a portion of the ball region 310 can protrude more outward in the radial direction R of the wheel 10 than the roller member 200 in a state in which the external force is removed.

[0093] According to the first and second embodiments of the present application, the size of the angle defined between the rotational axis X of the wheel 10 and the first rotational center axis Y1 of the plurality of roller members 200 provided on the wheel 10 can be substantially equal to or correspond to each other. In this case, in a state in which any one of the plurality of roller members 200 is in contact with the ground, the size of the angle defined between the roller member 200 and the rotational axis X and the direction in which the roller member 200 is aligned can always be constant. Thus, the wheel 10 can have the same running characteristics (e.g., the running direction of the wheel) regardless of whether any one of the plurality of roller members 200 is in contact with the ground, which can ensure driving stability and ease of control.

[0094] Continuing with referenceFigures 1 to 6 In the wheel 10 according to the first and second embodiments of the present application, the regions at which any one of the plurality of roller members 200 is rotatably coupled to the first side rim 110 can be spaced apart from the regions at which any one of the roller members 200 is rotatably coupled to the second side rim 120 on one of the two circumferential directions A of the wheel 10. This configuration can be understood as a configuration in which, when the wheel 10 is viewed from a position spaced apart from the wheel 10 in a direction extending along the rotational axis X of the wheel 10, the set of regions at which the plurality of roller members 200 are rotatably coupled to the second side rim 120 is located at a position rotated by a predetermined angle about the rotational axis X of the wheel 10 from the set of regions at which the plurality of roller members 200 are rotatably coupled to the first side rim 110. In the present application, the circumferential direction A of the wheel 10 is defined as a direction that, in the vertical direction, surrounds the rotational axis X of the wheel 10.

[0095] According to the first and second embodiments of the present application, the number of roller members 200 provided on the wheel 10 can correspond to the number of complementary members 300. For example, the complementary members 300 can be provided in a one-to-one manner corresponding to the roller members 200, such that each complementary member 300 corresponds to one roller member 200.

[0096] In this case, the complementary members 300 can be provided so as to partially overlap the roller members 200 corresponding to the complementary members. More specifically, referring to Figures 1 to 6 , a portion of the complementary members 300 can be provided so as to face the roller members 200 corresponding to the complementary members 300 in the circumferential direction A of the wheel 10, and another portion of the complementary members 300 can be spaced apart from the roller members 200 corresponding to the complementary members 300 in a direction extending along the rotational axis X. This configuration can be understood as a configuration in which a portion of the complementary members 300 is arranged closer to the inner side of the wheel 10 than the outer end of the roller members 200 in the direction along the rotational axis X, and another portion of the complementary members 300 is arranged closer to the outer side of the wheel 10 than the outer end of the roller members 200 in the direction along the rotational axis X.

[0097] Further, according to the first and second embodiments of the present application, the complementary members 300 can be provided so as to face the central regions of the roller members 200 corresponding to the complementary members 300 in a direction extending along the rotational axis X. This configuration can be understood as a configuration in which at least a portion of the complementary members 300 is provided so as to overlap the central regions of the roller members 200 in the circumferential direction A of the wheel 10. Meanwhile, the central regions of the roller members 200 can refer to central portions of the roller members 200 in a direction extending along the first rotational center axis Y1 of the roller members 200.

[0098] According to the first and second embodiments of the present application, the roller member 200 can have a shape in which the diameter thereof decreases in a direction in which the first rotation center axis Yl extends, away from a central region of the roller member 200. More particularly, an entirety of the roller member 200 can have a shape in which the diameter thereof decreases in a direction in which the first rotation center axis Yl extends, away from the central region. The entirety of the roller member 200 can have a shape in which the diameter thereof at least does not increase.

[0099] Although not explicitly shown in the drawings, according to the first and second embodiments of the present application, a curved surface region can be formed on the roller member 200, and the curved surface region can be formed at an outer end of the wheel 10 in a direction in which the rotation axis X of the wheel 10 extends. The curved surface region can have a curved shape that protrudes outward. In a case in which the wheel 10 moves in a direction parallel to the rotation axis X (i.e., the wheel 10 moves in a left-right direction without needing to turn alone like a crab), the outer end of the roller member 200, which is determined with reference to the direction of the rotation axis X, can be a region with which the roller member 200 first comes into contact with the ground or an obstacle. Therefore, in a case in which the curved surface region is formed at the outer end of the roller member 200, it is possible to reduce or minimize an impact that occurs when the roller member 200 comes into contact with the ground or an obstacle during movement of the wheel 10 in a direction parallel to the rotation axis X.

[0100] Figure 7 To schematically show a view of a state in which the rotation axis of the wheel and the rotation center axis of the roller member define a predetermined angle, and the rotation axis of the wheel and the rotation center axis of the complementary member define a predetermined angle, in the wheel according to the first embodiment of the present application, and Figure 8 To show a view of the shape of the roller member when the wheel according to the first embodiment of the present application is viewed from a position spaced apart from the wheel in a direction in which the rotation axis extends.

[0101] In one embodiment, the outer surface of the wheel 10 in the radial direction R can have an approximately circular or cylindrical shape. Therefore, as shown in FIG. 10, according to the present application, the outer surface of the roller member 200 (which defines a majority of the outer surface of the wheel 10 in the radial direction R) can include a portion of a circular or cylindrical shape. More particularly, according to the present application, when the roller member 200 is cut in a direction perpendicular to the direction in which the rotation axis X extends (based on the up-down direction in FIG. 10), the outer periphery of the roller member 200 in the radial direction R of the wheel 10 can include a portion of a circular shape that is centered on the rotation axis X and has a radius that is the radius of the wheel 10 (see FIG. 11). Figure 7 and 8 To schematically show a view of a state in which the rotation axis of the wheel and the rotation center axis of the roller member define a predetermined angle, and the rotation axis of the wheel and the rotation center axis of the complementary member define a predetermined angle, in the wheel according to the first embodiment of the present application, and Figure 7 More particularly, according to the present application, when the roller member 200 is cut in a direction perpendicular to the direction in which the rotation axis X extends (based on the up-down direction in FIG. 10), the outer periphery of the roller member 200 in the radial direction R of the wheel 10 can include a portion of a circular shape that is centered on the rotation axis X and has a radius that is the radius of the wheel 10 (see FIG. 11). Figure 8). More specifically, the cross-sectional shape of the roller member 200 can be applied to all of the plurality of roller members 200 provided on the wheel 10. Thus, the cross-sectional shapes of the plurality of roller members 200 overlap each other, thereby defining a majority of the outer surface of the wheel 10 in the radial direction R. However, the uneven portion 10a (see Figure 3 and 6 , etc.) can be formed in a portion of the area where two adjacent roller members 200 overlap each other. According to the first and second embodiments of the present application, the uneven portion can be filled with the complementary member 300 (see Figures 1 to 6 ). Meanwhile, the description of the wheel 10 according to the first embodiment of the present application described with reference to Figure 7 and 8 can be equally applied to the second embodiment of the present application.

[0102] Figure 9 is a perspective view of a wheel according to a third embodiment of the present application, Figure 10 is a perspective view of a wheel according to the third embodiment of the present application, i.e., a view showing a state where some of the roller members are removed. Figure 11 is a front view of a wheel according to the third embodiment of the present application, and Figure 12 is a side view of a wheel according to the third embodiment of the present application.

[0103] Like the wheels according to the first and second embodiments of the present application, the wheel according to the third embodiment of the present application can be a kind of a Mecanum wheel, i.e., a Mecanum wheel having a new shape different from that in the related art. However, as described below, some of the plurality of roller members provided on the wheel according to the third embodiment of the present application and some portions of the remaining roller members can be disposed to be spaced apart from each other in the direction in which the rotational axis of the wheel extends.

[0104] More specifically, with reference to Figures 9 to 12 , the wheel 10 according to the third embodiment of the present application can be a wheel including a rim portion 100 configured to be rotatable about a rotational axis X. Further, the wheel 10 can include a plurality of roller members 200 rotatably coupled to the rim portion 100 and disposed in the direction in which the plurality of roller members 200 surround the rotational axis X.

[0105] In this case, according to the third embodiment of the present application, the plurality of roller members 200 can include first roller members and second roller members. More specifically, the plurality of roller members 200 can include a plurality of first roller members 210 disposed in a direction in which the plurality of first roller members 210 surround the rotation axis X, and a plurality of second roller members 220 spaced apart from the plurality of first roller members 210 in a direction in which the rotation axis X extends, the plurality of second roller members 220 being disposed in a direction in which the plurality of second roller members 220 surround the rotation axis X. More specifically, the plurality of first roller members 210 can be disposed to be biased toward one side of the wheel 10 in the direction in which the rotation axis X extends, and the plurality of second roller members 220 can be disposed to be biased toward the other side of the wheel 10 in the direction in which the rotation axis X extends.

[0106] In this case, according to the third embodiment of the present application, the first roller members 210 and the second roller members 220 can be alternately disposed on the outer surface of the wheel 10 in the radial direction R. More specifically, the first roller members 210 and the second roller members 220 can be alternately disposed in sequence on the circumferential direction A of the wheel 10.

[0107] According to the third embodiment of the present application, the wheel 10 can have a structure in which the plurality of roller members 200 disposed on the circumferential direction A are divided into two types of roller members disposed on opposite sides of the wheel 10 with reference to the direction in which the rotation axis X extends, and the roller members disposed on the opposite sides are alternately disposed on the circumferential direction A. In this case, compared to when the roller members are not divided into two types of roller members (i.e., the roller members are not arranged on opposite sides of the wheel) but are disposed as a single roller member on the circumferential direction of the wheel 10, the unevenness formed on the outer surface of the wheel 10 with reference to the radial direction R can be reduced. In particular, the third embodiment of the present application can have a technical feature capable of improving the uniformity of the outer surface of the wheel 10 without including the complementary member according to the first and second embodiments of the present application.

[0108] Similar to the first and second embodiments of the present application, in the wheel 10 according to the third embodiment of the present application, the roller members 200 have a predetermined angle with respect to the first rotation center axis Y1 of the rim portion 100 and the rotation axis X of the wheel 10. More specifically, the rotation center axis Y1 of the first roller members 210 and the rotation center axis Y1 of the second roller members 220 can have predetermined angles with respect to the rotation axis X of the wheel 10, respectively. For example, the rotation center axis Y1 of the first roller members 210 and the rotation center axis Y1 of the second roller members 220 can have angles of 40 degrees or more and 50 degrees or less (i.e., in an angle range of 40 to 50 degrees) with respect to the rotation axis X of the wheel 10, respectively. In particular, the rotation center axis Y1 of the first roller members 210 and the rotation center axis Y1 of the second roller members 220 can have angles of 45 degrees with respect to the rotation axis X of the wheel 10, respectively.

[0109] According to a third embodiment of the present application, the rim portion 100 provided on the wheel 10 can be divided into a plurality of regions. More specifically, the rim portion 100 can include a first side rim 110 provided on one side of the roller member 200 in the extension direction of the rotation axis X and configured such that one side of the first roller member 210 is rotatably coupled to the first side rim 110, a second side rim 120 provided on the other side of the roller member 200 in the extension direction of the rotation axis X and configured such that one side of the second roller member 220 is rotatably coupled to the second side rim 120, and a central rim 130 provided between the first side rim 110 and the second side rim 120 in the extension direction of the rotation axis X and configured such that the other side of the first roller member 210 and the other side of the second roller member 220 are rotatably coupled to the central rim 130.

[0110] With continued reference to Figures 9 to 12 , the first side rim 110 can include a first side rim body 111 configured to define a body of the first side rim, and a first side coupling region 112 protruding from the first side rim body 111 and configured such that one side of the first roller member 210 is rotatably coupled to the first side coupling region 112. The second side rim 120 can include a second side rim body 121 configured to define a body of the second side rim, and a second side coupling region 122 protruding from the second side rim body 121 and configured such that one side of the second roller member 220 is rotatably coupled to the second side coupling region 122. Further, the central rim 130 can include a central rim body 132 configured to define a body of the central rim 130, a plurality of first central coupling regions 134 protruding from the central rim body 132 and configured such that the other side of the first roller member 210 is rotatably coupled to each of the plurality of first central coupling regions 134, and a plurality of second central coupling regions 136 protruding from the central rim body 132 and configured such that the other side of the second roller member 220 is rotatably coupled to each of the plurality of second central coupling regions 136. That is, according to the third embodiment of the present application, the first central coupling regions 134 and the second central coupling regions 136 can be provided separately. In this case, the configuration in which two components are provided separately can be understood as a configuration in which the two components are indirectly connected to each other by means of the central rim body 132 without being directly connected to each other or in contact with each other. However, the first central coupling regions 134 and the second central coupling regions 136 can correspond to each other in a one-to-one manner. In this case, the second central coupling region 136 corresponding to the first central coupling region 134 can refer to the second central coupling region 136 provided closest to the first central coupling region 134 among the plurality of second central coupling regions 136.

[0111] In particular, according to the third embodiment of the present application, the first central bonding region 134 and the second central bonding region 136 adjacent to the first central bonding region can be separately provided. In this case, in a case where one of the first central bonding region 134 and the second central bonding region 136 adjacent to each other is damaged and the first roller member 210 or the second roller member 220 bonded to the damaged central bonding region 134 or 136 cannot function, the other roller member 210 or 220 can continue to function, which can improve the safety of the wheel 10.

[0112] With continued reference to Figures 9 to 12 , the first central bonding region 134 and the second central bonding region 136 adjacent to the first central bonding region can be at least partially spaced apart from each other in a direction in which the first rotational center axis Y1 of the roller member 200 extends with respect to the rim portion 100. In addition, the first central bonding region 134 and the second central bonding region 136 adjacent to the first central bonding region can be at least partially spaced apart from each other even in a direction crossing the direction in which the first rotational center axis Y1 of the roller member 200 extends with respect to the rim portion 100.

[0113] According to the third embodiment of the present application, the magnitude of the angle defined between the rotational axis X of the wheel 10 and the first rotational center axis Y1 of the plurality of roller members 200 provided on the wheel 10 can be substantially equal to or correspond to each other. More specifically, the magnitude of the angle defined between the rotational axis X of the wheel 10 and the rotational center axis Y1 of the plurality of first roller members 210 can be equal to or correspond to each other, and the magnitude of the angle defined between the rotational axis X of the wheel 10 and the rotational center axis Y1 of the second roller member 220 can be equal to or correspond to each other. In addition, the magnitude of the angle defined between the rotational center axis Y1 of any one of the first roller members 210 and the rotational axis X of the wheel 10 and the magnitude of the angle defined between the rotational center axis Y1 of any one of the second roller members 220 and the rotational axis X of the wheel 10 can be substantially equal to or correspond to each other.

[0114] As described above, the first central bonding region 134 and the second central bonding region 136 adjacent to the first central bonding region can be at least partially spaced apart from each other in a direction crossing the direction in which the rotational center axis Y1 of the roller member 200 extends with respect to the rim portion 100. Accordingly, the rotational center axis Y1 of the first roller member 210 rotatably bonded to the first central bonding region 134 and the rotational center axis Y1 of the second roller member 220 rotatably bonded to the second central bonding region 136 can be spaced apart from each other in a direction crossing the direction in which the rotational center axis Y1 extends.

[0115] With continued reference to Figures 9 to 12According to a third embodiment of the present application, the first roller member 210 or the second roller member 220 can include a portion having a circular cross-section formed by cutting the roller member in a direction perpendicular to the first rotational center axis Y1 with respect to the rim portion 100. More particularly, the first roller member 210 and the second roller member 220 can respectively have a portion having a circular cross-section formed by cutting the roller member in a direction perpendicular to the rotational center axis Y1.

[0116] In this case, the size of the cross-section of the first roller member 210 or the second roller member 220 can decrease toward the outer end of the wheel 10. More particularly, the first roller member 210 or the second roller member 220 can include a portion in which the size of the cross-section taken in a direction perpendicular to the first rotational center axis Y1 decreases toward the outer end of the wheel 10 in the direction of extension of the rotational axis X. More particularly, the first roller member 210 and the second roller member 220 can respectively have a portion in which the size of the cross-section decreases or at least does not increase toward the outer end of the wheel 10 in the direction of extension of the rotational axis X.

[0117] Meanwhile, according to the present application, a curved surface region can be formed at the outer end of the roller member 200. More particularly, a curved surface region 200a can be formed on the first roller member 210 or the second roller member 220, and at the outer end of the wheel in the direction of extension of the rotational axis X of the wheel 10. The curved surface region 200a can have a curved shape that protrudes outward. More particularly, the curved surface region 200a can be formed on the first roller member 210 and the second roller member 220, respectively. The outer end of the first roller member 210 and the second roller member 220 in the direction of the rotational axis X can be a region that first comes into contact with the ground or an obstacle on the first roller member 210 and the second roller member 220 in the case where the wheel 10 moves in a direction parallel to the rotational axis X, i.e., the wheel 10 moves in the left-right direction without turning alone like a crab. Therefore, in the case where the curved surface region 200a is formed at the outer end of the first roller member 210 and / or the outer end of the second roller member 220, it is possible to minimize impact that occurs when the roller member 200 comes into contact with the ground or an obstacle in the process in which the wheel 10 moves in a direction parallel to the rotational axis X.

[0118] According to a third embodiment of the present application, the rim portion 100 provided on the wheel 10 can be disposed inside the roller member 200 in the direction of extension of the rotational axis X. More particularly, although the rim portion 100 is disposed outside the roller member 200 in the direction of extension of the rotational axis X in the first embodiment and the second embodiment, the rim portion 100 can be disposed inside the roller member 200 in the direction of extension of the rotational axis X in the third embodiment. Figures 9 to 12Although not directly shown, the outer end of the rim portion 100 extending along the rotation axis X can be positioned closer to the inner side extending along the rotation axis X than the outer end of the roller member 200 extending along the rotation axis X. More specifically, one outer end of the rim portion 100 extending along the rotation axis X can be positioned inside the outer end of the first roller member 210 extending along the rotation axis X, and the other outer end of the rim portion 100 extending along the rotation axis X can be positioned inside the outer end of the second roller member 220 extending along the rotation axis X. In this case, at least a portion of the first side engagement region 112 can protrude outward from the outer surface of the first side rim body 111 in the direction of rotation axis X, and at least a portion of the second side engagement region 122 can protrude outward from the outer surface of the second side rim body 121 in the direction of rotation axis X. According to the above structure, the rim portion 100 can be prevented from interfering with the ground or obstacles during the movement of the wheel 10 along the rotation axis X, thereby physically protecting the rim portion 100 from external influences.

[0119] Figure 13 The view is provided to schematically illustrate a state in which the rotation axis of the wheel and the rotation center axis of the roller member define a predetermined angle, and the rotation axis of the wheel and the rotation center axis of the complementary member also define a predetermined angle in a wheel according to a third embodiment of the present invention. Figure 14 This is a view showing the shape of the roller member when viewed from a position spaced apart from the wheel according to the third embodiment of the present invention, along the direction of rotation.

[0120] Similar to the first and second embodiments of the present invention, the outer surface of the wheel 10 in the radial direction R of the third embodiment of the present invention may also have an approximately circular or cylindrical shape. Therefore, as... Figure 13 and 14 As shown, according to a third embodiment of the invention, the outer surface of the roller member 200 (which defines a large portion of the outer surface of the wheel 10 along the radial direction R) may include a portion of a circular or cylindrical shape. More specifically, according to a third embodiment of the invention, when extending in a direction perpendicular to the axis of rotation X (based on...) Figure 13 When the cutting roller assembly 200 is in the vertical direction, the first roller assembly 210 and the second roller assembly 220 may each include a portion of a circular shape centered on the rotation axis X and with the radius of the wheel 10 as the radius of the outer periphery along the radial direction R of the wheel 10 (see [link]). Figure 14 More specifically, the cross-sectional shapes of the first roller member 210 and the second roller member 220 can be applied to all the plurality of first roller members 210 and the plurality of second roller members 220 disposed on the wheel 10. Thus, the cross-sectional shapes of the first roller member 210 and the second roller member 220 overlap each other, thereby defining the outer surface of the wheel 10 along the radial direction R.

[0121] refer toFigures 9 to 15 The assembly formed by combining the first side rim 110 and the first roller member 210 (hereinafter, referred to as "first assembly") and the assembly formed by combining the second side rim 120 and the second roller member 220 (hereinafter, referred to as "second assembly") can be manufactured separately and then combined with each other. For example, a first concavo-convex structure can be formed on one side of the first assembly in a width direction of the first side rim 110, a second concavo-convex structure corresponding in shape to the first concavo-convex structure can be formed on one side of the second assembly in a width direction of the second side rim 120, and the wheel 10 according to the present application can be manufactured by combining the first assembly and the second assembly by combining the first concavo-convex structure and the second concavo-convex structure.

[0122] Figure 15 A perspective view of a wheel according to a fourth embodiment of the present application.

[0123] According to the fourth embodiment of the present application, the wheel 10 can have a structure further including the complementary member 300 added to the wheel according to the third embodiment of the present application. Hereinafter, the fourth embodiment of the present application is described in detail with reference to a configuration different from that defined in the third embodiment of the present application. Hereinafter, the description of the wheel according to the fourth embodiment of the present application can be replaced with the description of the wheel according to the third embodiment of the present application except for the above configuration.

[0124] More specifically, with reference to Figure 15 , the wheel 10 according to the fourth embodiment of the present application can further include a plurality of complementary members 300 combined to the rim portion 100 and disposed in a direction of the plurality of complementary members 300 around the rotation axis X. In this case, according to the fourth embodiment of the present application, when the wheel 10 is viewed from a position spaced apart from the wheel 10 in an extension direction of the rotation axis X, the uneven portion having a shape recessed inward in the radial direction R of the wheel 10 can be formed on an outer surface of the wheel 10 in the radial direction R. The uneven portion according to the fourth embodiment of the present application can correspond to the uneven portion 10a disposed in the wheel 10 according to the first and second embodiments of the present application described above with reference to Figures 1 to 6 .

[0125] In this case, according to a fourth embodiment of the present application, the complementary member 300 can be provided to overlap the uneven portion. More specifically, the rim portion 100 can include a first side rim 110 provided at one side of the roller member 200 in the direction of extension of the rotation axis X and configured such that one side of the first roller member 210 is rotatably coupled to the first side rim 110, and a second side rim 120 provided at the other side of the roller member 200 in the direction of extension of the rotation axis X and configured such that one side of the second roller member 220 is rotatably coupled to the second side rim 120. In addition, the complementary member 300 can be provided on one or both of the first side rim 110 and the second side rim 120. More particularly, the complementary member 300 can be provided on only the first side rim 110 or the second side rim 120. For example, Figure 15 A state in which the complementary member 300 is provided on only the first side rim 110 is shown.

[0126] Figure 15 A state in which the complementary member 300 is coupled to the rim portion 100 so as to be rotatable about a second rotation center axis Y2 is shown. However, unlike the configuration shown in FIG. 6, the complementary member 300 can include a receiving region fixed to the rim portion 100, and a ball region at least partially received in the receiving region and configured to be movable in the radial direction R of the wheel 10. Figure 15

[0127] The present application has been described above with reference to limited embodiments and drawings, but the present application is not limited thereto. The present application can be implemented in various forms by those of ordinary skill in the art to which the present application pertains within the technical spirit of the present application and the scope equivalent thereto.​

Claims

1. A wheel having a rim portion configured to be rotatable about a rotation axis of the wheel, the wheel comprising: a plurality of roller members rotatably coupled to the rim portion and arranged to surround the rotation axis; and a plurality of complementary members coupled to the rim portion and arranged to surround the rotation axis, wherein, when the wheel is viewed from a position spaced apart from the wheel in a direction extending along the rotation axis, an uneven portion is formed on an outer circumferential surface defined by the plurality of roller members, a curvature characteristic of the uneven portion is different from a curvature characteristic of another region adjacent to the uneven portion in a circumferential direction of the wheel, and wherein the complementary members are disposed to overlap the uneven portion. The uneven portion has a shape recessed more to a radially inner side of the wheel than another region adjacent to the uneven portion in the circumferential direction of the wheel.

2. The wheel of claim 1, wherein, Each of the plurality of complementary members has a size smaller than each of the plurality of roller members.

3. The wheel of claim 1, wherein, Each of the plurality of roller members has a predetermined angle with respect to a first center axis of rotation of the rim portion and the rotation axis.

4. The wheel of claim 1, wherein, The first center axis of rotation has an angle in a range of 40 to 50 degrees with respect to the rotation axis.

5. The wheel of claim 4, wherein, The rim portion includes:

6. The wheel of claim 1, wherein, a first side rim disposed on a first side of the plurality of roller members in an extension direction of the rotation axis and configured such that the first side of the plurality of roller members is rotatably coupled to the first side rim; and a second side rim disposed on a second side of the plurality of roller members in the extension direction of the rotation axis and configured such that the second side of the plurality of roller members is rotatably coupled to the second side rim, and wherein the plurality of complementary members are disposed on at least one of the first side rim and the second side rim. The plurality of complementary members are disposed on only the first side rim or the second side rim.

7. The wheel of claim 6, wherein, Each of the plurality of complementary members is rotatably coupled to the rim portion and has a predetermined angle with respect to a second center axis of rotation of the rim portion and the rotation axis.

8. The wheel of claim 4, wherein, Magnitudes of angles defined between the first center axis of rotation and the rotation axis of the wheel and between the second center axis of rotation and the rotation axis of the wheel are substantially equal to or correspond to each other.

9. The wheel of claim 8, wherein, Each of the plurality of complementary members includes:

10. The wheel of claim 1, wherein, a ball region configured to be movable in a radial direction intersecting the rotation axis; and a receiving region fixedly coupled to the rim portion and configured to receive at least a portion of the ball region. At least a portion of the ball region protrudes more in the radial direction than the plurality of roller members in a state where an external force is removed.

11. The wheel of claim 10, wherein, Magnitudes of angles defined between the first center axis of rotation and the rotation axis of the wheel and between the second center axis of rotation and the rotation axis of the wheel correspond to each other.

12. The wheel of claim 4, wherein, Regions in which any one of the plurality of roller members is rotatably coupled to the first side rim and another roller member is rotatably coupled to the second side rim are spaced apart in one of two directions in the circumferential direction of the wheel.

13. The wheel of claim 6, wherein, The plurality of complementary members correspond one-to-one to the plurality of roller members.

14. The wheel of claim 1, wherein, ​ 15. The wheel of claim 14, wherein, A portion of the complementary members is disposed to face each other in a circumferential direction of the wheel with respect to the roller members corresponding to the complementary members.

16. The wheel of claim 15, wherein, Another portion of the complementary members is spaced apart in a direction in which the rotation axis extends with respect to the roller members corresponding to the complementary members.

17. The wheel of claim 14, wherein, The complementary members are disposed to face each other in a direction in which the rotation axis extends with respect to central regions of the roller members corresponding to the complementary members.

18. The wheel of claim 17, wherein, The roller members have a shape in which a diameter thereof decreases in a direction away from a central region of each of the plurality of roller members with respect to a direction in which a rim portion extends.

19. The wheel of claim 1, wherein, A curved surface region is formed on each of the plurality of roller members, the curved surface region being disposed at an outer end of the wheel in the direction in which the rotation axis extends and having a curved shape that protrudes outward.

20. The wheel of claim 1, wherein, When each of the plurality of roller members is cut in a direction perpendicular to the direction in which the rotation axis extends, an outer periphery of each roller member in a radial direction of the wheel has a shape of a portion of a circle having a rotation axis as a center and a radius of the wheel as a radius.

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