Driving module and moving body including the same

Abstract

To provide a drive module capable of efficiently performing attitude control of a moving body, and a moving body including the same.SOLUTION: According to an aspect of the present invention, there is provided a driving module including a wheel configured to rotate about a first rotation axis that is a virtual straight line extending in a first direction, a first frame having a fixed height relative to the wheel, a second frame configured to move relative to the first frame, a link unit configured to connect the first frame and the second frame, and a posture adjuster configured to adjust a posture of the driving module by controlling a movement of the link unit to change a position of the second frame relative to the first frame.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a drive module and a moving body including the same. [Background technology]

[0002] A PnD (Plug and Drive) module is a driving module that is connected to the body of a moving object to give the body mobility. Such a PnD module is manufactured to include wheels, a steering device, a motor, an attitude control device, etc. Among these, the attitude control device prevents the body from tilting relative to the ground so that the attitude of the moving object body can be stabilized.

[0003] The attitude control device provided in the conventional PnD module has been a hydraulic pump or the like, which has a relatively large volume. Such an attitude control device has a problem of reducing the space utilization of the vehicle.

[0004] Therefore, there has been an increasing demand for PnD modules that are manufactured to minimize size and that are equipped with attitude control devices that can efficiently control the attitude of a moving object. Summary of the Invention [Problem to be solved by the invention]

[0005] An object of the present invention is to provide a drive module having a structure that can efficiently control the attitude of a moving body. [Means for solving the problem]

[0006] The drive module according to the present invention is characterized in that it includes a wheel configured to rotate around a first rotation axis which is a virtual straight line extending in a first direction, a first frame having a fixed height relative to the wheel, a second frame configured to move relative to the first frame, a link unit connecting the first frame and the second frame, and an attitude adjustment unit configured to adjust the attitude of the drive module by controlling the movement of the link unit so that the position of the second frame relative to the first frame is changed.

[0007] In addition, the link unit includes a first link including a 1-1 end rotatably connected to the upper part of the first frame and a 1-2 end rotatably connected to the upper part of the second frame, and a second link including a 2-1 end rotatably connected to the lower part of the first frame and a 2-2 end rotatably connected to the lower part of the second frame, and a first link length, which is a distance between the first end and the 1-2 end, and a second link length, which is a distance between the 2-1 end and the 2-2 end, may be different from each other.

[0008] The attitude adjustment unit may provide a driving module including an attitude adjustment motor having a shaft fixed to any one of the 1-1 end, the 1-2 end, the 2-1 end, and the 2-2 end.

[0009] In addition, a driving module can be provided in which the link unit further includes a third link having one end rotatably connected to an upper portion of one of the first frame and the second frame and the other end rotatably connected to a lower portion of the other of the first frame and the second frame, and the third link is configured such that a distance between the one end of the third link and the other end of the third link is variable when one of the first frame and the second frame moves relative to the other.

[0010] In addition, a drive module can be provided in which the third link includes a first link member that forms one end of the third link, a second link member that forms the other end of the third link, and an elastic member that has one end that is in close contact with the first link member and the other end that is in close contact with the second link member and is configured to compress or expand by elastic force.

[0011] In addition, a drive module can be provided in which the first link member has a cylindrical shape that forms a cylinder space into which the second link member can be inserted, the second link member has a piston shape that is arranged to be inserted into the cylinder space, and the elastic member has a coil spring shape that is arranged in the cylinder space.

[0012] In addition, a drive module can be provided in which the third link is disposed at a distance from the shaft, the first link member is rotatably connected to an upper part of the second frame, and the second link member is rotatably connected to a lower part of the first frame.

[0013] In addition, when the direction in which the center of rotation of the first link member relative to the upper part of the second frame extends is defined as the link direction, the third link can be oriented to cross the space surrounded by the first frame, the second frame, the first link, and the second link based on the view of one side of the link direction of the first frame parallel to the link direction.

[0014] Furthermore, a drive module can be provided in which, when a direction in which the rotation center of the first link member relative to the upper part of the second frame extends is defined as a link direction, a virtual line passing through the center of the 1-2 end and extending in the link direction is defined as a first link rotation axis, and a virtual line passing through the center of the 2-1 end and extending in the link direction is defined as a second link rotation axis, the link unit includes a first link shaft that forms the first link rotation axis and a second link shaft that forms the second link rotation axis, the 1-2 end and the first link member are coupled to the first link shaft and configured to rotate around the first link rotation axis, and the 2-1 end and the second link member are coupled to the second link shaft and configured to rotate around the second link rotation axis.

[0015] Also, a drive module can be provided, further including a support part that forms the first rotation axis and supports the wheel, and a steering motor that is configured to rotate the support part about a second rotation axis that is an imaginary straight line extending in a second direction intersecting the first direction in order to steer the wheel, the steering motor being disposed on an upper part of the support part, and the first frame being fixed to the steering motor.

[0016] Furthermore, when a virtual line passing through the center of the first-2 end and the center of the second-2 end is taken as a reference line, the drive module is arranged to be placed in a first position in which the second rotation axis and the reference line are parallel, and in a second position in which the first frame is lowered relative to the second frame from the first position, and when the drive module is in the second position, the second rotation axis and the reference line are formed non-parallel.

[0017] Also, a drive module can be provided in which the first link length is shorter than the second link length.

[0018] Also, a drive module can be provided in which the 2-1 end is disposed above the support portion.

[0019] A drive module can be provided in which the support portion is provided with a suspension connecting the lower portion of the support portion and the upper portion of the support portion, the first frame is fixed to the horizontal side of the steering motor, and when the drive module is viewed from above, the first frame is arranged so that at least a portion of the first frame overlaps with the suspension of the support portion.

[0020] The moving body according to the present invention includes a body and a drive module configured to move the body, wherein the drive module includes a wheel configured to rotate around a first rotation axis that is a virtual straight line extending in a first direction, a first frame having a fixed height relative to the wheel, a second frame configured to move relative to the first frame, a link unit connecting the first frame and the second frame, and an attitude adjustment unit configured to adjust the attitude of the drive module by controlling the movement of the link unit so that the position of the second frame relative to the first frame is changed.

[0021] The link unit includes a first link including a 1-1 end rotatably connected to the upper part of the first frame and a 1-2 end rotatably connected to the upper part of the second frame, and a second link including a 2-1 end rotatably connected to the lower part of the first frame and a 2-2 end rotatably connected to the lower part of the second frame, and a moving body can be provided in which a first link length, which is a distance between the 1-1 end and the 1-2 end, and a second link length, which is a distance between the 2-1 end and the 2-2 end, are different from each other.

[0022] The attitude adjustment unit may provide a moving body including an attitude adjustment motor having a shaft fixed to any one of the 1-1 end, the 1-2 end, the 2-1 end, and the 2-2 end.

[0023] In addition, a moving body can be provided in which the second frame is attached to the lower part of the body, and the wheels are configured to move horizontally toward or away from the body when the attitude of the drive module is controlled by the attitude adjustment unit.

[0024] Furthermore, a moving body can be provided in which the first rotation axis intersects with the ground when the wheel is at its maximum distance from the body. [Effects of the Invention]

[0025] The drive module according to the present invention has the effect of efficiently controlling the attitude of a moving body. [Brief explanation of the drawings]

[0026] [Figure 1] FIG. 2 is a perspective view of a drive module in a first position according to an embodiment of the present invention. [Figure 2] FIG. 2 is a front view of a drive module in a first position according to an embodiment of the present invention. [Figure 3] This is an enlarged view of "A" in Figure 2. [Figure 4] FIG. 10 is a perspective view of a drive module in a second position according to an embodiment of the present invention. [Figure 5] FIG. 10 is a front view of a drive module in a second position according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0027] Hereinafter, an embodiment of the present invention will be described. The same reference numerals are used to designate the same components in the drawings. Explanations that may impede understanding of the present invention will be omitted.

[0028] Hereinafter, a moving body and a driving module including the same according to the present invention will be described with reference to the drawings.

[0029] FIG. 1 is a perspective view of a drive module placed in a first position according to one embodiment of the present invention, FIG. 2 is a front view of a drive module placed in a first position according to one embodiment of the present invention, and FIG. 3 is an enlarged view of "A" in FIG. 2.

[0030] A mobile body refers to a structure that can move using wheels, propellers, etc. Such mobile bodies are variously provided, for example, in vehicles, drones, etc. Such mobile bodies include a body and a drive module 10. The body provides a space in which a user or an object is accommodated. The body is moved by the drive module 10.

[0031] 1 to 3, a drive module 10 is detachably attached to the body. This drive module 10 is called a PnD module (Plug and Drive module). This drive module 10 moves the body and controls the attitude of the body. A plurality of such drive modules 10 are provided. Each of the plurality of drive modules 10 is attached to the lower part of the body so as to be spaced apart from each other. The drive module 10 includes a wheel 100, a frame 200, a link unit 300, an attitude adjustment unit 400, a support unit 500, and a steering motor 600.

[0032] The wheel 100 is a rotating body including a rim, a tire, etc. The wheel 100 rotates around a first rotation axis X1, which is an imaginary straight line extending in a first direction. The wheel 100 is rotatably connected to a support part 500. An in-wheel motor, which is a motor for rotating the wheel 100, is inserted inside the wheel 100.

[0033] The frame 200 connects the body and the steering motor 600. The frame 200 includes a first frame 210 and a second frame 220. The first frame 210 is fixed to the steering motor 600. The first frame 210 connects the link unit 300 and the steering motor 600 to each other. More specifically, the first frame 210 is fixed to a horizontal side of the steering motor 600.

[0034] The second frame 220 is fixed to the body. The second frame 200 connects the body and the first frame 210. The second frame 220 also supports the attitude adjustment unit 400. For example, the attitude adjustment unit 400 is disposed below the second frame 220.

[0035] In addition, one of the first frame 210 and the second frame 220 moves relative to the other. For example, the first frame 210 may be configured to move vertically or horizontally relative to the second frame 220 based on the movement of the link unit 300. As a detailed example, when the first frame 210 descends (or ascends) relative to the second frame 220, the height of the body relative to the ground may become lower (or higher).

[0036] The link unit 300 connects the first frame 210 and the second frame 220 to each other. The movement of the link unit 300 is controlled by the posture adjustment unit 400. The link unit 300 includes a first link 310, a second link 320, a third link 330, a first link shaft 340, and a second link shaft 350.

[0037] The first link 310 connects the upper portion of the first frame 210 and the upper portion of the second frame 220 to each other. The first link 310 includes a 1-1 end 311 and a 1-2 end 312. The 1-1 end 311 forms one end of the first link 310. The one end of the first link 310 refers to the end of the first link 310 facing inward. The inward direction of the first link 310 refers to the direction in which the first frame 210 faces the second frame 220.

[0038] The 1-1 end 311 is rotatably connected to the upper part of the first frame 210. The 1-1 end 311 rotates around an imaginary line that passes through the center of the 1-1 end 311 and extends in the link direction. The link direction is defined as a direction parallel to the front-rear direction of the moving object.

[0039] The first-second end 312 forms the other end of the first link 310. The other end of the first link 310 refers to the end of the first link 310 facing outward. The outward direction of the first link 310 refers to the direction opposite to the inward direction of the first link 310.

[0040] The first and second ends 312 are rotatably connected to the upper part of the second frame 220. The first-second end 312 rotates around a first link rotation axis, which is an imaginary line that passes through the center of the first-second end 312 and extends in the link direction. The distance between the center of the first-first end 311 and the center of the first-second end 312 is called the first link length.

[0041] The second link 320 connects the lower portion of the first frame 210 and the lower portion of the second frame 220. The second link 320 includes a 2-1 end 321 and a 2-2 end 322. The 2-1 end 321 forms one end of the second link 320. The one end of the second link 320 refers to the end of the second link 320 facing inward.

[0042] The 2-1 end 321 is rotatably connected to the lower part of the first frame 210. The 2-1 end 321 rotates around a second link rotation axis, which is an imaginary line that passes through the center of the 2-1 end 321 and extends in the link direction.

[0043] The 2-2 end 322 forms the other end of the second link 320. The other end of the second link 320 refers to the end of the second link 320 facing outward.

[0044] The 2-2 end 322 is rotatably connected to the lower part of the second frame 220. The 2-2 end 322 rotates around an imaginary line that passes through the center of the 2-2 end 322 and extends in the link direction. The distance between the center of the 2-1 end 321 and the center of the 2-2 end 322 is called the second link length.

[0045] The first link length and the second link length may be different from each other. For example, the first link length may be shorter than the second link length. By configuring the first link length and the second link length to be different in this manner, when the link unit 300 moves, the first frame 210 can move not only up and down but also left and right relative to the second frame 220. As a detailed example, when the first frame 210 moves relative to the second frame 220 due to the movement of the link unit 300, the first frame 210 can move up and down and left and right relative to the second frame 220. As a more detailed example, when the first frame 210 moves up and down relative to the second frame 220, the first frame 210 can move away from the body. In summary, when the first frame 210 moves up and down relative to the second frame 220, the first frame 210 moves away from the body, which may increase the left-right distance (wheelbase) between the multiple wheels 100. As another example, when the first frame 210 descends relative to the second frame 220, the first frame 210 can move closer to the body.

[0046] The third link 330 connects the lower part (or upper part) of the first frame 210 and the upper part (or lower part) of the second frame 220. For example, one end of the third link 330 is rotatably connected to the lower part of the first frame 210, and the other end of the third link 330 is rotatably connected to the upper part of the second frame 220.

[0047] In addition, the third link length, which is the distance between both ends of the third link 330, is configured to be variable when one of the first frame 210 and the second frame 220 moves relative to the other. For example, when the first frame 210 moves down relative to the second frame 220, the third link length may be longer. As another example, when the first frame 210 moves up and down relative to the second frame 220, the third link length may be shorter.

[0048] When one side of the link direction of the third link 330 is viewed parallel to the link direction, the third link 330 is oriented to cross a space surrounded by the first frame 210, the second frame 220, the first link 310, and the second link 320. In other words, the third link 330 may be oriented in a direction intersecting the direction in which the first frame 210, the second frame 220, the first link 310, and the second link 320 are oriented. The third link 330 may include a first link member 331, a second link member 332, and an elastic member 333.

[0049] The first link member 331 forms one end of the third link 330. One end of the third link 330 is rotatably connected to an upper portion of the second frame 220. One example of such a first link member 331 has a cylindrical shape. For example, the first link member 331 may be formed with a cylindrical space into which the second link member 332 can be inserted.

[0050] The second link member 332 forms the other end of the third link 330. The other end of the third link 330 may be rotatably connected to a lower portion of the first frame 210. For example, the second link member 332 has a piston shape that is inserted into a cylinder space.

[0051] The elastic member 333 is provided so as to be compressed or expanded by an elastic force. As an example, the elastic member 333 may be a compression coil spring. One end of the elastic member 333 may be in close contact with the first link member 331. The other end of the elastic member 333 may be in close contact with the second link member 332. For example, when the elastic member 333 is compressed, the degree to which the second link member 332 is inserted into the cylinder space may increase. When the elastic member 333 is expanded, the degree to which the second link member 332 is inserted into the cylinder space may decrease.

[0052] For example, when the elastic member 333 is in a compressed state due to an external force (for example, the posture adjustment motor 410 described later) applied to the elastic member 333, if the external force applied to the elastic member 333 is released, the third link length may increase due to the restoring force of the elastic member 333.

[0053] The first link shaft 340 is a shaft that forms the first link rotation axis. The first link shaft 340 is disposed to pass through the upper part of the second frame 220. The first link shaft 340 is oriented parallel to the link direction. The first-second end 312 and the first link member 331 are coupled to the first link shaft 340. In other words, the rotation axes of the first-second end 312 and the first link member 331 are formed to be the same.

[0054] The second link shaft 350 is a shaft that forms the second link rotation axis. The second link shaft 350 is disposed to penetrate the lower part of the first frame 210. The second link shaft 350 is oriented parallel to the link direction. The second-1 end 321 and the second link member 332 are coupled to the second link shaft 350. In other words, the rotation axes of the second-1 end 321 and the second link member 332 are formed to be the same.

[0055] FIG. 4 is a perspective view of a drive module placed in a second position according to one embodiment of the present invention, and FIG. 5 is a front view of a drive module placed in a second position according to one embodiment of the present invention.

[0056] 4 and 5, the attitude adjustment unit 400 adjusts the attitude of the drive module 10. For example, the attitude adjustment unit 400 can control the movement of the link unit 300. The position of the second frame 220 relative to the first frame 210 is changed via the attitude adjustment unit 400. The attitude adjustment unit 400 includes an attitude adjustment motor 410 and a controller.

[0057] The attitude adjustment motor 410 includes a motor housing, a rotor, a stator, a shaft, a reducer, and an inverter. The shaft of the attitude adjustment motor 410 is fixed to one of the 1-1 end 311, the 1-2 end 312, the 2-1 end 321, and the 2-2 end 322. For example, the shaft of the attitude adjustment motor 410 is fixed to the 2-2 end 322 and rotates the 2-2 end 322.

[0058] The process by which the link unit 300 moves due to the rotational power generated by the attitude adjustment motor 410 will be described below.

[0059] Among the processes by which the link unit 300 moves due to the rotational power generated by the attitude adjustment motor 410, a process by which the first frame 210 moves up and down relative to the second frame 220 will be described as an example. The rotational power generated by the attitude adjustment motor 410 causes the 2-2 end 322 to rotate, and the rotation of the 2-2 end 322 causes the 2-1 end 321 to revolve so as to move upward. As the 2-1 end 321 moves upward, the first frame 210 moves upward. As the first frame 210 moves upward, the 1-1 end 311 rotates due to the movement of the first frame 210. As the 1-1 end 311 rotates, the 1-2 end 312 revolves so as to move downward. In addition, as the 2-1 end 321 moves upward and the 1-2 end 312 moves downward, the first link member 331 and the second link member 332 move closer to each other, and the elastic member 333 is compressed. Through this process, the driving module 10 is placed in the second posture.

[0060] Furthermore, when the attitude adjustment motor 410 stops supplying power to the 2-2 end 322 to maintain the 2-2 end 322 in a rotating state, the elastic member 333 expands. When the elastic member 333 expands, the first link member 331 and the second link member 332 move away from each other, and the third link length may increase. In this case, the second link member 332 may move downward relative to the first link member 331. At this time, the second link shaft 350 moves downward due to the first link member 331, and the 2-1 end 321 connected to the second link shaft 350 revolves downward relative to the 2-2 end 322. Through this process, the driving module 10 is switched from the second attitude to the first attitude.

[0061] The controller is electrically coupled to the attitude adjustment motor 410 and is realized by a process having the function of decoding and executing commands based on input information.

[0062] The support part 500 supports the wheel 100. The wheel 100 is rotatably connected to a lower part of the support part 500. The support part 500 forms a first rotation axis X1, which is the center of rotation of the wheel 100.

[0063] An upper portion of the support unit 500 is rotatably connected to the steering motor 600. The support unit 500 is provided with a suspension that connects the upper portion and lower portion of the support unit 500. The suspension may include, for example, a spring or a shock absorber for absorbing shock generated between the wheel 100 and the steering motor 600. For example, the suspension may have a telescopic structure, and the length of the telescopic structure may be variable depending on the condition of the road surface on which the wheel 100 travels. Meanwhile, as an example of the present invention, as shown in FIG. 5, when the drive module 10 is viewed from above, the first frame 210 may at least partially overlap the suspension of the support unit 500.

[0064] Such a support part 500 is disposed below the 2-1 end part 321. For example, by disposing the support part 500 below the 2-1 end part 321, the support part 500 does not interfere with the first frame 210 when rotating around the second rotation axis X2 described below.

[0065] The steering motor 600 rotates the support unit 500 about a second rotation axis X2 to steer the wheel 100. The second rotation axis X2 is defined as an imaginary line extending in a second direction intersecting the first direction. When an imaginary line passing through the center of the first-second end 312 and the center of the second-second end 322 is defined as a reference line CL, the second rotation axis X2 and the reference line are formed to be parallel to or intersect each other depending on the attitude of the driving module 10. Meanwhile, the steering motor 600 is configured to enable the wheel 100 to continuously rotate 360 ​​degrees or more. More specifically, a slip ring structure is applied to the steering motor 600. By applying the slip ring structure to the steering motor 600, problems such as twisting of the electric wires in the steering motor 600 do not occur even when the wheel 100 rotates 360 degrees or more.

[0066] The drive module 10 is placed in a first position (see FIGS. 1 and 2) in which the second rotation axis X2 and the reference line are parallel, and in a second position (see FIGS. 4 and 5) in which the second rotation axis X2 and the reference line are non-parallel. When the drive module 10 is in the first position, the first frame 210 is placed in a state where it is raised and lowered to the maximum relative to the second frame 220.

[0067] Furthermore, when the drive module 10 is switched from the first position to the second position, the first frame 210 is lowered relative to the second frame 220, as compared to when the drive module 10 is in the first position. Furthermore, when the drive module 10 is in the second position, the wheel spacing between the plurality of wheels 100 is larger than when the drive module 10 is in the first position. In this way, when the drive module 10 is in the second position, the height of the body from the ground is lowered and the wheel spacing between the plurality of wheels 100 is larger, which can improve the running stability of the vehicle. Furthermore, when the drive module 10 is in the second position, the area of ​​the wheels 100 in contact with the ground is smaller than when the drive module 10 is in the first position.

[0068] In addition, when the driving module 10 is placed in the second posture, the first rotation axis X1 can intersect with the ground. In other words, when the driving module 10 is placed in the first posture, the first rotation axis X1 is formed parallel to the ground.

[0069] Although all components constituting the embodiments of the present invention have been described above as being combined or operating in combination, the present invention is not necessarily limited to such an embodiment. That is, all components may be selectively combined and operate in combination with one another within the scope of the present invention. Furthermore, unless otherwise specified, the terms "comprise," "comprise," "have," and the like used above mean that the component in question may be inherently present, and therefore should be interpreted as including other components without excluding other components. Unless otherwise defined, all terms, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the art to which the present invention pertains. Commonly used terms, such as dictionary-defined terms, should be interpreted as consistent with the contextual meaning of the relevant art and should not be interpreted in an idealized or overly formal sense unless expressly defined in the present invention.

[0070] The above description merely exemplifies the technical concept of the present invention, and various modifications and variations are possible within the scope of the essential characteristics of the present invention, if one skilled in the art to which the present invention pertains. Therefore, the embodiments disclosed in the present invention are for illustrative purposes only, and are not intended to limit the technical concept of the present invention. The scope of the present invention should be interpreted by the following claims, and all technical concepts within the scope of the claims should be interpreted as being within the scope of the present invention. [Explanation of symbols]

[0071] 10 Drive Module 100 wheels 200 frames 210 1st Frame 220 2nd Frame 300 Link Unit 310 Link 1 311 1st-1 end 312 1st-2nd end 320 Second Link 321 2nd-1 end 322 2nd-2nd end 330 Third Link 331 First link member 332 Second link member 333 Elastic Members 340 First link shaft 350 2nd link shaft 400 Posture adjustment section 410 Attitude adjustment motor 500 Support part 600 steering motor

Claims

1. A drive module comprising: a wheel provided to rotate about a first rotation axis that is an imaginary straight line extending in a first direction; a first frame having a fixed height relative to the wheel; a second frame disposed to move relative to the first frame; a link unit connecting the first frame and the second frame; a posture adjustment unit configured to adjust the posture of the drive module by controlling the movement of the link unit so that the position of the second frame relative to the first frame is changed.

2. The link unit includes: a first link including a first-1 end rotatably connected to an upper portion of the first frame and a first-2 end rotatably connected to an upper portion of the second frame; a second link including a second-1 end rotatably connected to a lower portion of the first frame and a second-2 end rotatably connected to a lower portion of the second frame, The driving module of claim 1, wherein a first link length, which is the distance between the 1-1 end and the 1-2 end, and a second link length, which is the distance between the 2-1 end and the 2-2 end, are different from each other.

3. The attitude adjustment unit is 3. The driving module of claim 2, further comprising an attitude adjustment motor having a shaft fixed to any one of the first-1 end, the first-2 end, the second-1 end, and the second-2 end.

4. The link unit includes: a third link having one end rotatably connected to an upper portion of one of the first frame and the second frame and the other end rotatably connected to a lower portion of the other of the first frame and the second frame, The third link is 4. The driving module according to claim 3, wherein when one of the first frame and the second frame moves relative to the other, the distance between the one end of the third link and the other end of the third link is variable.

5. The third link is a first link member forming the one end of the third link; a second link member forming the other end of the third link; The drive module according to claim 4, further comprising an elastic member having one end in close contact with the first link member and the other end in close contact with the second link member, the elastic member being configured to be compressed or expanded by elastic force.

6. the first link member has a cylindrical shape that defines a cylindrical space into which the second link member can be inserted, the second link member has a piston shape that is inserted into the cylinder space, The drive module according to claim 5 , wherein the elastic member has a coil spring shape and is disposed in the cylinder space.

7. The third link is A shaft is provided at a distance from the shaft. The first link member is a second frame rotatably connected to an upper portion of the second frame; The second link member is The driving module according to claim 5 , wherein the driving module is rotatably connected to a lower portion of the first frame.

8. When a direction in which the center of rotation of the first link member relative to the upper part of the second frame extends is defined as a link direction, When one side of the first frame in the link direction is viewed parallel to the link direction, the third link is The drive module of claim 7 , wherein the drive module is oriented to cross a space enclosed by the first frame, the second frame, the first link, and the second link.

9. a direction in which a rotation center of the first link member relative to an upper portion of the second frame extends is defined as a link direction; a virtual line passing through the center of the first-second end and extending in the link direction is defined as a first link rotation axis; When a virtual line passing through the center of the 2-1 end portion and extending in the link direction is defined as a second link rotation axis, The link unit includes: a first link shaft forming the first link rotation axis; a second link shaft forming the second link rotation axis, The first-second end portion and the first link member are a first link shaft coupled to the first link shaft and configured to rotate about the first link rotation axis; The second-1 end portion and the second link member are The drive module of claim 7 , wherein the drive module is coupled to the second link shaft and configured to rotate about the second link axis of rotation.

10. a support portion that forms the first rotation axis and supports the wheel; a steering motor configured to rotate the support unit about a second rotation axis that is an imaginary straight line extending in a second direction intersecting the first direction in order to steer the wheel; the steering motor is disposed on an upper portion of the support portion, The drive module according to claim 2 , wherein the first frame is fixed to the steering motor.

11. When a virtual line passing through the center of the first-2 end portion and the center of the second-2 end portion is set as a reference line, The drive module includes: a first attitude in which the second rotation axis and the reference line are parallel to each other, and a second attitude in which the first frame is lowered relative to the second frame from the first attitude; The driving module according to claim 10, wherein when the driving module is in the second posture, the second rotation axis and the reference line are non-parallel.

12. The first link length is:

12. The drive module of claim 11, wherein the length of the second link is less than the length of the second link.

13. The second-1 end portion is The drive module according to claim 10, wherein the drive module is disposed above the support portion.

14. the support portion is provided with a suspension connecting a lower portion of the support portion and an upper portion of the support portion, the first frame is fixed to a horizontal side portion of the steering motor; The drive module according to claim 10 , wherein the first frame is disposed so as to at least partially overlap a suspension of the support portion when the drive module is viewed from above.

15. Body and a drive module configured to move the body; The drive module includes: a wheel provided to rotate about a first rotation axis that is an imaginary straight line extending in a first direction; a first frame having a fixed height relative to the wheel; a second frame disposed to move relative to the first frame; a link unit connecting the first frame and the second frame; and an attitude adjustment unit configured to adjust the attitude of the drive module by controlling the movement of the link unit so that the position of the second frame relative to the first frame is changed.

16. The link unit includes: a first link including a first-1 end rotatably connected to an upper portion of the first frame and a first-2 end rotatably connected to an upper portion of the second frame; a second link including a second-1 end rotatably connected to a lower portion of the first frame and a second-2 end rotatably connected to a lower portion of the second frame, The moving body of claim 15, wherein a first link length, which is the distance between the 1-1 end and the 1-2 end, and a second link length, which is the distance between the 2-1 end and the 2-2 end, are different from each other.

17. The attitude adjustment unit is 17. The moving body of claim 16, further comprising an attitude adjustment motor having a shaft fixed to any one of the first-1 end, the first-2 end, the second-1 end, and the second-2 end.

18. the second frame is attached to a lower portion of the body, The wheel is 16. The moving body according to claim 15, wherein the drive module is disposed so as to move toward or away from the body in a horizontal direction when the attitude of the drive module is controlled by the attitude adjustment unit.

19. 19. The vehicle according to claim 18, wherein the first rotation axis intersects with the ground when the wheel is at a maximum distance from the body.

Images