Wheel

Abstract

The present invention relates to a wheel having a rim portion provided 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, in which the plurality of roller members comprise: a plurality of first roller members arranged to surround the rotation axis; and a plurality of second roller members spaced apart from the plurality of first roller members in a direction in which the rotation axis extends, the plurality of second roller members being arranged around the rotation axis, and wherein the first roller members of the plurality of first roller members and the second roller members of the plurality of second roller members are alternately disposed in a circumferential direction of the wheel.

Description

[0001] Cross-references to related applications

[0002] This application claims priority and benefit to Korean Patent Application No. 10-2024-0059946, 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] The present invention is proposed to improve the ride quality of a movable body applied to a Mecanum wheel by eliminating or reducing unevenness formed between the multiple rollers of the Mecanum wheel.

[0008] In one aspect of the invention, a wheel includes: a rim portion configured to rotate about a rotation axis X; and a plurality of roller members rotatably coupled to the rim portion and arranged about the rotation axis X. The wheel further includes: a plurality of first roller members arranged about the rotation axis X; and a plurality of second roller members spaced apart from the first roller members in a direction extending from the rotation axis X, the second roller members being arranged about the rotation axis X. Specifically, the first roller members and second roller members are alternately arranged in the circumferential direction "A" of the wheel.

[0009] The outer end of the rim portion in the direction of extension of the rotation axis X is arranged closer to the inner side in the direction of extension of the rotation axis X than the outer end of the plurality of roller members in the direction of extension of the rotation axis X.

[0010] The rotation center axis Y1 of the roller members has a predetermined angle with respect to the rotation axis X of the rim portion.

[0011] The rotation center axis Y1 of the roller members has an angle in the range of 40 to 50 degrees with respect to the rotation axis X.

[0012] The rim portion can include a first side rim disposed on a first side of the plurality of roller members in the direction of extension of the rotation axis X and configured such that the first side of the first roller members is rotatably coupled to the first side rim, a second side rim disposed on a second side of the plurality of roller members in the direction of extension of the rotation axis X and configured such that the first side of the second roller members is rotatably coupled to the second side rim, and a central rim disposed between the first side rim and the second side rim in the direction of extension of the rotation axis X and configured such that the second side of the first roller members and the second side of the second roller members are rotatably coupled to the central rim. In another embodiment, the central rim includes a central rim body configured to define a body of the central rim, a first central coupling region protruding from the central rim body and configured such that the second side of the first roller members is rotatably coupled to the first central coupling region, and a second central coupling region protruding from the central rim body and configured such that the second side of the second roller members is rotatably coupled to the second central coupling region.

[0013] The first central coupling region and the second central coupling region disposed adjacent to the first central coupling region can be separately disposed.

[0014] The first central coupling region and the second central coupling region disposed adjacent to the first central coupling region can be at least partially spaced apart from each other in the direction in which the rotation center axis Y1 of the plurality of roller members extends with respect to the rim portion.

[0015] The first central coupling region and the second central coupling region disposed adjacent to the first central coupling region can be at least partially spaced apart from each other in a direction crossing the direction in which the rotation center axis Y1 of the plurality of roller members extends with respect to the rim portion.

[0016] The angles defined between the rotation center axis Y1 of the plurality of roller members and the rotation axis X can correspond to each other in size.

[0017] The rotation center axis Y1 of the plurality of first roller members and the rotation center axis Y1 of the plurality of second roller members are spaced apart from each other in a direction crossing the direction in which the rotation center axis Y1 extends with respect to the rim portion.

[0018] The curved surface region can be formed on the first roller member or the second roller member, and formed at an outer end of the wheel in the direction of the extension of the rotation axis X, and the curved surface region can have a curved shape that protrudes outward.

[0019] The first roller member or the second roller member includes a portion having a circular cross section taken in a direction perpendicular to a rotation center axis Y1 of the roller member with respect to the rim portion.

[0020] The first roller member or the second roller member can include a portion having a size of a cross section taken in a direction perpendicular to a rotation center axis Y1 of the roller member with respect to the rim portion that decreases toward an outer end of the wheel in the direction of the extension of the rotation axis X.

[0021] When the first roller member and the second roller member are cut in a direction perpendicular to the direction of the extension of the rotation axis X, the outer periphery of the first roller member and the second roller member in the radial direction R of the wheel, respectively, includes a shape of a portion of a circle having the rotation axis X as a center and having a radius of the wheel as a radius.

[0022] The wheel further includes a plurality of complementary members coupled to the rim portion and disposed in a direction of the plurality of complementary members around the rotation axis X, wherein, when the wheel is viewed from a position spaced apart from the wheel in the direction of the extension of the rotation axis X, an uneven portion having a shape of being concave inward in the radial direction R of the wheel is formed on the wheel, and wherein the plurality of complementary members are disposed to overlap the uneven portion.

[0023] The rim portion further includes a first side rim disposed at one side of the plurality of roller members in the direction of the extension of the rotation axis X and configured such that one side of the first roller member is rotatably coupled to the first side rim, and a second side rim disposed at the other side of the plurality of roller members in the direction of the extension of the rotation axis X and configured such that one side of the second roller member is rotatably coupled to the second side rim. The plurality of complementary members are disposed on at least one of the first side rim and the second side rim.

[0024] In another embodiment, the plurality of complementary members are disposed only on the first side rim or the second side rim.

[0025] According to the present application, an uneven portion formed between the plurality of rollers of a Mecanum wheel having a structure in which the plurality of rollers are disposed is eliminated or reduced, which can improve ride quality of a movable body to which the Mecanum wheel is applied. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 is a perspective view of a wheel according to a first embodiment of the present application;

[0027] Figure 2 is a front view of a wheel according to a first embodiment of the present application;

[0028] Figure 3 is a side view of a wheel according to the first embodiment of the present application;

[0029] Figure 4 is a perspective view of a wheel according to the second embodiment of the present application;

[0030] Figure 5 is a front view of a wheel according to the second embodiment of the present application;

[0031] Figure 6 is a side view of a wheel according to the second embodiment of the present application;

[0032] Figure 7 is a view schematically showing a state in which the rotational axis of the wheel and the rotational center axis of the roller member define a predetermined angle, and the rotational axis of the wheel and the rotational center axis of the complementary member define a predetermined angle, in a wheel according to the first embodiment of the present application;

[0033] Figure 8 is a view showing 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 extending along the rotational axis;

[0034] Figure 9 is a perspective view of a wheel according to the third embodiment of the present application;

[0035] 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 in which some roller members are removed;

[0036] Figure 11 is a front view of a wheel according to the third embodiment of the present application;

[0037] Figure 12 is a side view according to the third embodiment of the present application;

[0038] Figure 13 is a view schematically showing a state in which the rotational axis of the wheel and the rotational center axis of the roller member define a predetermined angle, and the rotational axis of the wheel and the rotational center axis of the complementary member define a predetermined angle, in a wheel according to the third embodiment of the present application;

[0039] Figure 14 is a view showing the shape of the roller member when the wheel according to the third embodiment of the present application is viewed from a position spaced apart from the wheel in a direction extending along the rotational axis;

[0040] Figure 15 is a perspective view of a wheel according to the fourth embodiment of the present application.

[0041] The drawings described herein are for illustrative purposes only and are not intended to limit the scope of the present application in any way.

[0042] Reference Signs List:

[0043] 10: wheel

[0044] 10a: uneven portion

[0045] 100: rim portion

[0046] 110: first side rim

[0047] 111: first side rim body

[0048] 112: first side coupling region

[0049] 120: second side rim

[0050] 121: second side rim body

[0051] 122: second side coupling region

[0052] 130: central rim

[0053] 132: central rim body

[0054] 134: first central coupling region

[0055] 136: second central coupling region

[0056] 200: roller member

[0057] 200a: curved surface region

[0058] 210: first roller member

[0059] 220: second roller member

[0060] 300: complementary member

[0061] 310: spherical region

[0062] 320: accommodating region

[0063] X: rotational axis of the wheel

[0064] Y1: rotational center axis of the roller member

[0065] Y2: rotational center axis of the complementary member

[0066] R: radial direction of the wheel

[0067] A: circumferential direction of the wheel. DETAILED DESCRIPTION

[0068] 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.

[0069] 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" satisfy that purpose or perform that operation or function herein.

[0070] 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.

[0071] Hereinafter, a wheel according to an embodiment of the present application is described with reference to the accompanying drawings.

[0072] 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 front-rear direction, but also allow the movable body to move in a left-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.

[0073] Wheel

[0074] 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.

[0075] 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.

[0076] 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 a 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.

[0077] 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 X, 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, when the roller members 200 rotate, the rotation axis of the roller members 200 is referred to as a first rotation center axis Y1 of the roller members 200 ("first rotation center axis").

[0078] 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.

[0079] 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 about the rotation axis X, and can be rotatably coupled to an outer region of the rim portion 100 in a radial direction R of the wheel 10.

[0080] 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.

[0081] 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.

[0082] According to the present application, the uneven portion 10a can be formed on an 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.

[0083] 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. Thus, 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 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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 the center axis of rotation Y2 of the complementary member 300 (i.e., the “second center axis of rotation”).

[0088] 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.

[0089] In contrast, 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.

[0090] 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.

[0091] 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.

[0092] Continuing to refer toFigures 1 to 6 In the wheel 10 according to the first and second embodiments of the present application, the regions where 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 where the other roller members 200 are 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 where 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 where 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 a vertical direction, surrounds the rotational axis X of the wheel 10.

[0093] 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.

[0094] In this case, the complementary members 300 can be provided 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 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 of 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 of the rotational axis X.

[0095] Further, according to the first and second embodiments of the present application, the complementary members 300 can be provided 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 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.

[0096] According to the first and second embodiments of the present application, the roller member 200 can include a shape in which a 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 a 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 a diameter thereof is at least not increasing.

[0097] 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 wheel 10 extends along the rotation axis X. 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), an outer end of the roller member 200 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.

[0098] 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 a shape of the roller member when the wheel according to the first embodiment of the present application is observed from a position spaced apart from the wheel in a direction in which the rotation axis extends.

[0099] 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. 6, the outer surface of the wheel 10 in the radial direction R can include a portion of a circular or cylindrical shape. Figure 7 and 8 As shown in FIG. 6, 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. 6), 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. 6). Figure 7 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.

[0100] 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 a 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 a third embodiment of the present application, and Figure 12 is a side view of a wheel according to a third embodiment of the present application.

[0101] 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 those 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.

[0102] 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.

[0103] 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. Like the first roller members 210, the plurality of second roller members 220 are disposed in a direction in which the plurality of second roller members 220 surround the rotation axis X. In other words, the plurality of first roller members 210 and the plurality of second roller members 220 are both arranged to surround the rotation axis X while being spaced apart from each other in the direction of the rotation axis. With this arrangement, 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 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.

[0104] 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.

[0105] 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.

[0106] Like 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 Yl of the rim portion 100 and the rotation axis X of the wheel 10. More specifically, the rotation center axis Yl of the first roller member 210 and the rotation center axis Yl of the second roller member 220 can have a predetermined angle with respect to the rotation axis X of the wheel 10, respectively. For example, the rotation center axis Yl of the first roller member 210 and the rotation center axis Yl of the second roller member 220 can have an angle of 40 degrees or more and 50 degrees or less (i.e., within 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 Yl of the first roller member 210 and the rotation center axis Yl of the second roller member 220 can have an angle of 45 degrees with respect to the rotation axis X of the wheel 10, respectively.

[0107] According to the 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 members 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 members 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.

[0108] 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 separately provided. In this case, the configuration in which two components are separately provided 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 disposed closest to the first central coupling region 134 among the plurality of second central coupling regions 136.

[0109] In particular, according to the third embodiment of the present application, the first central coupling regions 134 and the second central coupling regions 136 adjacent to the first central coupling regions can be separately provided. In this case, in the event that one of the first central coupling regions 134 and the second central coupling regions 136 adjacent to each other is damaged and the first roller member 210 or the second roller member 220 coupled to the damaged central coupling region 134 or 136 cannot perform its function, the other roller member 210 or 220 can continue to perform its function, which can improve the safety of the wheel 10.

[0110] With continued reference to Figures 9 to 12, the first central coupling region 134 and the second central coupling region 136 adjacent to the first central coupling region can be at least partially spaced apart from each other in a direction in which the first central axis of rotation Yl of the roller member 200 extends with respect to the rim portion 100. Also, the first central coupling region 134 and the second central coupling region 136 adjacent to the first central coupling region can be at least partially spaced apart from each other even in a direction crossing the direction in which the first central axis of rotation Yl of the roller member 200 extends with respect to the rim portion 100.

[0111] 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 central axis of rotation Yl of the plurality of roller members 200 provided on the wheel 10 can be substantially equal to or correspond to each other. More particularly, the magnitude of the angle defined between the rotational axis X of the wheel 10 and the central axis of rotation Yl 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 central axis of rotation Yl of the second roller member 220 can be equal to or correspond to each other. Also, the magnitude of the angle defined between the central axis of rotation Yl 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 central axis of rotation Yl 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.

[0112] As described above, the first central coupling region 134 and the second central coupling region 136 adjacent to the first central coupling region can be at least partially spaced apart from each other in a direction crossing the direction in which the central axis of rotation Yl of the roller member 200 extends with respect to the rim portion 100. Accordingly, the central axis of rotation Yl of the first roller member 210 rotatably coupled to the first central coupling region 134 and the central axis of rotation Yl of the second roller member 220 rotatably coupled to the second central coupling region 136 can be spaced apart from each other in a direction crossing the direction in which the central axis of rotation Yl extends.

[0113] Continuing with reference to Figures 9 to 12 According to the 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 central axis of rotation Yl with respect to the rim portion 100. More particularly, the first roller member 210 and the second roller member 220 can have a portion having a circular cross-section formed by cutting the roller member in a direction perpendicular to the central axis of rotation Yl, respectively.

[0114] 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 specifically, 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 rotation center axis Y1 decreases toward the outer end of the wheel 10 in the direction in which the rotation axis X extends. More particularly, the first roller member 210 and the second roller member 220 can have portions 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 in which the rotation axis X extends, respectively.

[0115] Meanwhile, according to the present application, a curved surface region can be formed at the outer end of the roller member 200. More specifically, 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 in which the rotation axis X of the wheel 10 extends. 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 rotation 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 rotation 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 the 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 rotation axis X.

[0116] 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 in which the rotation axis X extends. More specifically, although the rim portion 100 is disposed on the outer side of the roller member 200 in the direction in which the rotation axis X extends in the first embodiment, the rim portion 100 can be disposed on the inner side of the roller member 200 in the direction in which the rotation axis X extends 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, interference with the ground or obstacles by the rim portion 100 during the movement of the wheel 10 along the rotation axis X is avoided or prevented, thereby physically protecting the rim portion 100 from external influences.

[0117] 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.

[0118] 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 circle centered on the rotation axis X and with the radius of the wheel 10 as the radius of the wheel 10 along the outer periphery of 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.

[0119] 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 having a shape corresponding 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.

[0120] Figure 15 A perspective view of a wheel according to a fourth embodiment of the present application.

[0121] 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 the configuration 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.

[0122] 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 in which the plurality of complementary members 300 surround the rotation axis X. In this case, according to the fourth embodiment of the present application, when the wheel 10 is observed from a position spaced apart from the wheel 10 in an extension direction of the rotation axis X, an uneven portion having a shape recessed inward in a 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

[0123] ​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.

[0124] 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. 10, the complementary member 300 can include a ball region accommodated at least partially in an accommodation region fixed to the rim portion 100 and configured to be movable in the radial direction R of the wheel 10. Figure 15

[0125] 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, wherein the plurality of roller members includes: a plurality of first roller members arranged to surround the rotation axis; and a plurality of second roller members spaced apart from the plurality of first roller members in a direction in which the rotation axis extends, the plurality of second roller members being arranged to surround the rotation axis, and wherein first roller members of the plurality of first roller members and second roller members of the plurality of second roller members are alternately arranged in a circumferential direction of the wheel.

2. The wheel of claim 1, wherein, An outer end of the rim portion in a direction in which the rotation axis extends is arranged closer to an inner side in the direction in which the rotation axis extends than an outer end of the plurality of roller members in the direction in which the rotation axis extends.

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

4. The wheel of claim 3, wherein, The rotation center axis of the plurality of roller members has an angle in a range of 40 to 50 degrees with respect to the rotation axis.

5. The wheel of claim 1, wherein, The rim portion includes: a first side rim provided on a first side of the plurality of roller members in the direction in which the rotation axis extends and configured such that a first side of the first roller members is rotatably coupled to the first side rim; a second side rim provided on a second side of the plurality of roller members in the direction in which the rotation axis extends and configured such that a first side of the second roller members is rotatably coupled to the second side rim; and a central rim provided between the first side rim and the second side rim in the direction in which the rotation axis extends and configured such that a second side of the first roller members and a second side of the second roller members are rotatably coupled to the central rim, and wherein the central rim includes: a central rim body configured to define a body of the central rim; a first central coupling region protruding from the central rim body and configured such that the second side of the first roller members is rotatably coupled to the first central coupling region; and a second central coupling region protruding from the central rim body and configured such that the second side of the second roller members is rotatably coupled to the second central coupling region.

6. The wheel of claim 5, wherein, The first central coupling region and the second central coupling region adjacent to the first central coupling region are separately arranged.

7. The wheel of claim 6, wherein, The first central coupling region and the second central coupling region are at least partially spaced apart from each other in a direction in which a rotation center axis of the plurality of roller members extends with respect to the rim portion.

8. The wheel of claim 6, wherein, The first central coupling region and the second central coupling region are at least partially spaced apart from each other in a direction intersecting the direction in which the rotation center axis of the plurality of roller members extends with respect to the rim portion.

9. The wheel of claim 1, wherein, Magnitudes of angles defined between the rotation center axis of the plurality of roller members and the rotation axis correspond to each other.

10. The wheel of claim 8, wherein, The first roller member and the second roller member are spaced apart from each other in a direction intersecting with a direction in which the rotation center axis of the rim portion extends.

11. The wheel of claim 1, wherein, A curved surface region is formed on the first roller member or the second roller member at an outer end of the wheel in an extension direction of the rotation axis, and the curved surface region has a curved shape protruding outward.

12. The wheel of claim 1, wherein, The first roller member or the second roller member includes a portion having a circular cross section taken in a direction perpendicular to the rotation center axis of the plurality of roller members with respect to the rim portion.

13. The wheel of claim 1, wherein, The first roller member or the second roller member includes a portion in which a size of a cross section taken in a direction perpendicular to the rotation center axis of the plurality of roller members with respect to the rim portion decreases toward an outer end of the wheel in an extension direction of the rotation axis.

14. The wheel of claim 1, wherein, When the first roller member and the second roller member are cut in a direction perpendicular to the extension direction of the rotation axis, an outer periphery of the first roller member and the second roller member in a radial direction of the wheel, respectively, includes a shape of a portion of a circle having the rotation axis as a center and having a radius of the wheel as a radius.

15. The wheel of claim 1, further comprising: a plurality of complementary members coupled to the rim portion and disposed in a direction of the plurality of complementary members around 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 having a shape recessed inward in a radial direction of the wheel is formed on the wheel, and wherein the plurality of complementary members are disposed to overlap the uneven portion.

16. The wheel of claim 15, wherein, The rim portion further includes: 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 a first side of the first roller member 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 a first side of the second roller member 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.

17. The wheel of claim 16, wherein, The plurality of complementary members are disposed on only the first side rim or the second side rim. The plurality of complementary members are disposed on only the first side rim or the second side rim.

Images