Moving body

Abstract

To provide a movable body having a new structure which has various degrees of freedom and can deal with change of external factors such as an environment of a ground surface.SOLUTION: A movable body of the invention includes wheels, drive parts each of which is coupled at one end to the wheel, and a body part to which one side of the drive part is coupled. The drive part comprises: a first motor which includes a first rotary shaft and rotates the wheel around the first rotary shaft; a second motor which includes a second rotary shaft which is spaced apart from the first rotary shaft in a radial direction of the wheel and rotates the wheel around the second rotary shaft; and a third motor which includes a third rotary shaft extending in a direction intersecting with the first rotary shaft and the second rotary shaft and is provided so as to steer the wheel around the third rotary shaft.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a moving body, and more particularly to a moving body including wheels.

Background Art

[0002] As the paradigm has changed from an internal combustion engine vehicle powered by an internal combustion engine to an electric vehicle powered by an electric motor, and as the demand for mobility equipped with an autonomous driving function has increased, research on mobility powered by an electric motor has been actively conducted. In the case of such mobility, it can be used in various fields. For example, mobility can be used not only in the field of transporting people but also in the field of delivering goods. However, according to the prior art, there is a problem that there is a limit to the mobility running depending on the environment of the ground on which it runs, and this has acted as an obstacle factor in the development of mobility.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Therefore, an object of the present invention is to provide a mobility having a novel structure that has various degrees of freedom and can cope with changes in external factors such as the environment of the ground as compared with the prior art.

Means for Solving the Problems

[0005] The moving body according to the present invention includes a wheel, a driving unit having one side coupled to the wheel, and a body unit to which one side of the driving unit is coupled. The driving unit includes a first rotation axis, a first motor that rotates the wheel about the first rotation axis, a second rotation axis spaced apart from the first rotation axis in the radial direction of the wheel, a second motor that rotates the wheel about the second rotation axis, a third rotation axis extending in a direction intersecting the first rotation axis and the second rotation axis, and a third motor provided to steer the wheel about the third rotation axis.

[0006] The wheel includes a first wheel provided on the front right side of the body unit, a second wheel provided on the front left side of the body unit, a third wheel provided on the rear right side of the body unit, and a fourth wheel provided on the rear left side of the body unit. The driving unit includes a first driving unit coupled to the first wheel, a second driving unit coupled to the second wheel, a third driving unit coupled to the third wheel, and a fourth driving unit coupled to the fourth wheel.

[0007] At any rotation angle of the second rotation axis provided on the first wheel and the third wheel, the first wheel and the third wheel are provided to be spaced apart from each other.

[0008] At any rotation angle of the second rotation axis provided on the second wheel and the fourth wheel, the second wheel and the fourth wheel are provided to be spaced apart from each other.

[0009] The second motor provided in the first driving unit and the second motor provided in the third driving unit are driven such that the first wheel and the third wheel are located at the lowermost end compared to the body unit, respectively. The second motor provided in the second driving unit and the second motor provided in the fourth driving unit are driven such that the second wheel and the fourth wheel are located at the uppermost end compared to the body unit, respectively.

[0010] The second motors provided in the first driving part and the second motors provided in the second driving part are each driven to be located at the most forward position compared with the body part, and the second motors provided in the third driving part and the second motors provided in the fourth driving part are each driven to be located at the rearmost position compared with the body part.

[0011] The second motors provided in the first driving part and the second motors provided in the second driving part are each driven to be located at the rearmost position compared with the body part, and the second motors provided in the third driving part and the second motors provided in the fourth driving part are each driven to be located at the most forward position compared with the body part.

[0012] The first rotating shaft is arranged at the center of the wheel in the radial direction, and the first motor rotates the wheel around the first rotating shaft.

[0013] The second motor revolves the wheel around the second rotating shaft.

[0014] The first rotating shaft and the second rotating shaft are provided in parallel with each other.

[0015] The distance between the first rotating shaft and the second rotating shaft is smaller than the radius of the wheel.

[0016] The third rotating shaft is provided perpendicular to the first rotating shaft and the second rotating shaft respectively.

[0017] When the second rotating shaft has a predetermined rotation angle, the extension line of the first rotating shaft and the extension line of the third rotating shaft are provided to be perpendicular to each other.

[0018] The extension line of the second rotating shaft and the extension line of the third rotating shaft are provided so as to be orthogonal to each other.

[0019] The wheel includes an outer region including an outer circumferential surface in the radial direction of the wheel, an inner region provided inside the outer region in the radial direction, and a connecting region provided between the inner region and the outer region and connecting the outer region and the inner region. The second motor is provided so as to face the connecting region.

[0020] From the surface looking at the second motor, the connecting region is recessed outward from the outer region and the inner region.

[0021] The third motor drives the third rotating shaft to rotate the second rotating shaft around the third rotating shaft, thereby steering the wheel.

[0022] It is provided so as to protrude from the connecting region toward the second motor, and further includes an extension portion into which the second rotating shaft is inserted. The third rotating shaft is coupled to the extension portion.

[0023] The extension portion includes an extension body having one side coupled to the wheel and protruding from the wheel toward the body portion, and an extension plate protruding from the upper surface of the extension body toward the body portion and into which the third rotating shaft is inserted.

[0024] At any rotation angle of the second rotating shaft, the bottom surface of the body portion is located above the bottom surface of the wheel.

Advantages of the Invention

[0025] According to the present invention, compared with the prior art, by having various degrees of freedom, it is possible to provide a mobility with a novel structure that can cope with changes in external factors such as the ground environment.

Brief Description of the Drawings

[0026]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Mode for Carrying Out the Invention

[0027] Hereinafter, with reference to the drawings, embodiments of the moving body according to the present invention will be described in detail.

[0028] FIG. 1 is a perspective view showing the structure of the moving body according to the present invention, and FIG. 2 is a perspective view showing the coupling structure of the wheel and the drive unit provided in the moving body according to the present invention. FIG. 3 is a front view showing the coupling structure of the wheel and the drive unit provided in the moving body according to the present invention.

[0029] Referring to FIGS. 1 to 3, the moving body 10 according to the present invention includes a wheel 100, a driving unit 200 having one side coupled to the wheel 100, and a body unit 300 to which one side of the driving unit 200 is coupled. According to the present invention, the moving body 10 can travel by the rotational movement of the wheel 100, and power for rotating the wheel 100 is provided from the driving unit 200. Moreover, as will be described later, according to the present invention, the driving unit 200 can also provide power so that the moving body 10 can have various postures.

[0030] Also, according to the present invention, a plurality of the wheels 100 and the driving units 200 can be provided in the moving body 10 respectively. As an example, as shown in FIG. 1, the wheel 100 includes a first wheel 100a provided on the front right side of the body unit 300, a second wheel 100b provided on the front left side of the body unit 300, a third wheel 100c provided on the rear right side of the body unit 300, and a fourth wheel 100d provided on the rear left side of the body unit 300.

[0031] The driving unit 200 can include a first driving unit 200a having one side coupled to the first wheel 100a and the other side coupled to the body unit 300, a second driving unit 200b having one side coupled to the second wheel 100b and the other side coupled to the body unit 300, a third driving unit 200c having one side coupled to the third wheel 100c and the other side coupled to the body unit 300, and a fourth driving unit 200d having one side coupled to the fourth wheel 100d and the other side coupled to the body unit 300.

[0032] On the one hand, according to the present invention, each drive unit 200 can include a plurality of motors that perform different functions. More specifically, each drive unit 200 includes a first rotating shaft, a first motor (not shown) that rotates the wheel 100 around the first rotating shaft, a second rotating shaft that is separated from the first rotating shaft in the radial direction of the wheel 100, and a second motor 220 that rotates the wheel 100 around the second rotating shaft, and a third rotating shaft that extends in a direction intersecting the first rotating shaft and the second rotating shaft, and a third motor 230 that is provided to steer the wheel 100 around the third rotating shaft. Since the first to third rotating shafts provided in the first to third motors are configured to be provided inside, they are not explicitly shown in FIGS. 1 to 3. However, FIGS. 2 and 3 show a first extension line L1 that is a virtual extension line extending the first rotating shaft, a second extension line L2 that is a virtual extension line extending the second rotating shaft, and a third extension line L3 that is a virtual extension line extending the third rotating shaft. Hereinafter, in this specification, the first to third rotating shafts will be described based on the first to third extension lines L1, L2, and L3.

[0033] More specifically, referring to FIGS. 2 and 3, the first rotating shaft can be arranged at the radial center of the wheel 100. Therefore, according to the present invention, the first motor can rotate the wheel 100 around the first rotating shaft. As an example, the first motor may be an in-wheel motor arranged inside the wheel 100. FIGS. 2 and 3 show a state in which the first extension line L1 penetrates the radial center of the wheel 100.

[0034] As an example, referring to FIGS. 2 and 3, the wheel 100 may include an outer region 110 including the outer circumferential surface in the radial direction of the wheel 100, an inner region 120 provided radially inward of the outer region 110, and a connecting region 130 provided between the inner region 120 and the outer region 110 and connecting the outer region 110 and the inner region 120. At this time, the second motor 220 may be provided to face the connecting region 130. Further, when the first motor is an in-wheel motor, the first motor may be provided in the internal space of the inner region 120. More specifically, when the first motor is driven, the outer region 110 and the connecting region 130 of the wheel 100 rotate about the first rotation axis, but the inner region 120 may be fixed without rotating.

[0035] On the other hand, as shown in FIGS. 2 and 3, the connecting region 130 may have a shape that curves outward from the outer region 110 and the inner region 120 when viewed from the surface looking at the second motor 220. In this case, the distance between the wheel 100 and the body part 300 is minimized.

[0036] As described above, the second rotation axis can be separated from the first rotation axis in the radial direction of the wheel 100. Therefore, according to the present invention, the second motor 220 can revolve the wheel 100 about the second rotation axis by driving the second rotation axis. The second motor 220 provided in the moving body 10 according to the present invention can change the posture of the moving body 10 by changing the relative position between the wheel 100 and the body part 300. More preferably, the first rotation axis and the second rotation axis can be provided parallel to each other. FIGS. 2 and 3 show a state in which the first extension line L1 and the second extension line L2 are separated in a parallel state. Further, according to the present invention, the distance between the first rotation axis and the second rotation axis may be smaller than the radius of the wheel 100. FIGS. 2 and 3 show a state in which the distance between the first extension line L1 and the second extension line L2 is smaller than the radius of the wheel 100.

[0037] On the one hand, as described above, the third rotation axis can intersect the first rotation axis and the second rotation axis. More preferably, the third rotation axis can be provided perpendicular to the first rotation axis and the second rotation axis respectively. FIGS. 2 and 3 show a state in which the third extension line L3 is perpendicular to the first extension line L1 and the second extension line L2 respectively.

[0038] Also, according to the present invention, the second extension line L2, which is the extension line of the second rotation axis, and the third extension line L3, which is the extension line of the third rotation axis, can be provided to be perpendicular to each other. Further, according to the present invention, when the second rotation axis has a predetermined rotation angle, the first extension line L1, which is the extension line of the first rotation axis, and the third extension line L3, which is the extension line of the third rotation axis, can be provided to be perpendicular to each other. FIGS. 2 and 3 show a state in which the second extension line L2 and the third extension line L3 are perpendicular to each other when the second rotation axis rotates so that the second motor 220 is located at the lowermost end compared to the wheel 100. Similarly, according to the present invention, in a state where the second rotation axis rotates so that the second motor 220 is located at the uppermost end compared to the wheel 100, the second extension line L2 and the third extension line L3 can be perpendicular to each other.

[0039] On the other hand, the moving body 10 according to the present invention can be provided so as to protrude from the connecting region 130 toward the second motor 220, and can further include an extension portion 400 into which the second rotation axis is inserted. At this time, the third rotation axis can be coupled to the extension portion 400.

[0040] More specifically, as shown in FIGS. 1 to 3, one side of the extension part 400 is fixedly coupled to the inner region 120 of the wheel 100 and includes an extension body 410 protruding from the wheel 100 toward the body part 300, and an extension plate 420 protruding from the upper surface of the extension body 410 toward the body part 300 and into which the third rotation shaft is inserted and coupled. For example, the second rotation shaft can be coupled to the outside of the extension body 410. Thus, when the second rotation shaft is driven by the second motor 220, the extension body 410 can also rotate together. However, differently, an empty space may be formed inside the extension body 410, and at least a part of the second rotation shaft may be inserted into the extension body 410.

[0041] Therefore, according to the present invention, the third motor 230 can drive the third rotation shaft to steer the wheel 100. That is, when the third rotation shaft makes a rotational movement by the third motor 230, the extension plate 420 into which the third rotation shaft is inserted and coupled rotates horizontally, whereby the extension body 410 and the second rotation shaft also rotate, and thereby the wheel 100 can be steered horizontally.

[0042] On the other hand, according to the present invention, when the second rotation shaft is fixedly coupled to the extension body 410, the second rotation shaft can rotate together with the extension body 410 when the second rotation shaft is rotated by the second motor 220. However, apart from the second rotation shaft being rotated by the second motor 220 and the extension body 410 rotating together, the second rotation shaft can be coupled to the extension body 410 so as to be rotatable horizontally. For this purpose, the second rotation shaft and the extension body 410 can have a predetermined joint structure such that the second rotation shaft and the extension body 410 can make a relative rotational movement horizontally.

[0043] FIG. 4 is a perspective view showing a first driving example of the moving body according to the present invention, and FIG. 5 is a front view showing the first driving example of the moving body according to the present invention. Further, FIG. 6 is a perspective view showing a second driving example of the moving body according to the present invention, and FIG. 7 is a side view showing the second driving example of the moving body according to the present invention. Further, FIG. 8 is a perspective view showing a third driving example of the moving body according to the present invention, and FIG. 9 is a side view showing the third driving example of the moving body according to the present invention.

[0044] As shown in FIGS. 4 to 9, since the moving body 10 according to the present invention can achieve various postures, it can flexibly respond to changes in the ground on which the moving body 10 travels.

[0045] That is, as a first driving example, when the second motor 220 is driven so that the first wheel 100a and the third wheel 100c are located at the lowermost end compared to the body portion 300, and the second wheel 100b and the fourth wheel 100d are located at the uppermost end compared to the body portion 300, the moving body 10 can achieve the postures as shown in FIGS. 4 and 5.

[0046] More specifically, referring to FIGS. 1, 2, 4, and 5, in the first driving example, the second motors provided in the first driving unit 200a and the second motors provided in the third driving unit 200c are respectively driven so that the first wheel 100a and the third wheel 100c are located at the lowermost end compared to the body portion 300, and the second motors provided in the second driving unit 200b and the second motors provided in the fourth driving unit 200d can be respectively driven so that the second wheel 100b and the fourth wheel 100d are located at the uppermost end compared to the body portion 300.

[0047] Also, as a second driving example, when the second motor 220 is driven so that the distance between the first wheel 100a and the third wheel 100c is located farthest, and the distance between the second wheel 100b and the fourth wheel 100d is located farthest, the moving body 10 can achieve the postures as shown in FIGS. 6 and 7.

[0048] More specifically, referring to FIGS. 1, 2, 6, and 7, in the second driving example, the second motors provided in the first driving unit 200a and the second motors provided in the second driving unit 200b are each driven to be positioned at the most forward position compared to the body portion 300, and the second motors provided in the third driving unit 200c and the second motors provided in the fourth driving unit 200d can each be driven to be positioned at the most rearward position compared to the body portion 300.

[0049] Also, as a third driving example, when the second motor 220 is driven such that the distance between the first wheel 100a and the third wheel 100c is positioned closest and the distance between the second wheel 100b and the fourth wheel 100d is positioned closest, the moving body 10 can achieve the postures as shown in FIGS. 8 and 9.

[0050] More specifically, referring to FIGS. 1, 2, 8, and 9, in the third driving example, the second motors provided in the first driving unit 200a and the second motors provided in the second driving unit 200b are each driven to be positioned at the most rearward position compared to the body portion 300, and the second motors provided in the third driving unit 200c and the second motors provided in the fourth driving unit 200d can each be driven to be positioned at the most forward position compared to the body portion 300.

[0051] On the other hand, in order for the second wheel 100b and the fourth wheel 100d of the moving body 10 according to the present invention to be positioned at the lowermost end compared to the body portion 300 as shown in FIGS. 4 and 5, according to the present invention, at any rotation angle of the second rotation axis, the bottom surface of the body portion 300 can be positioned above the bottom surface of the wheel 100. This can be understood as the radius of the wheel 100 being sufficiently large compared to the vertical height of the body portion 300.

[0052] Also, so that the moving body 10 according to the present invention can have the postures shown in FIGS. 8 and 9, at any rotation angle of the second rotation shafts provided on the first wheel 100a and the third wheel 100c, the first wheel 100a and the third wheel 100c can be provided so as to be separated from each other, and at any rotation angle of the second rotation shafts provided on the second wheel 100b and the fourth wheel 100d, the second wheel 100b and the fourth wheel 100d can be provided so as to be separated from each other. It can be understood that the intervals between the first wheel 100a and the third wheel 100c and between the second wheel 100b and the fourth wheel 100d are sufficiently large as compared with the length of the body portion 300 in the front-rear direction.

[0053] As described above, the present invention has been described with reference to the limited embodiments and the drawings, but the present invention is not limited thereto. Needless to say, various implementations are possible based on the technical idea of the present invention.

Explanation of Reference Numerals

[0054] 10 Moving body 100 Wheel 100a First wheel 100b Second wheel 100c Third wheel 100d Fourth wheel 110 Outer region 120 Inner region 130 Connecting region 200 Driving unit 200a First driving unit 200b Second driving unit 200c Third driving unit 200d Fourth driving unit 220 Second motor 230 Third motor 300 Body portion 400 Extension 410 Extension body 420 Extension plate L1 First extension line L2 Second extension line L3 Third Extension Line

Claims

1. A wheel, a driving unit having one side coupled to the wheel, and a body unit to which one side of the driving unit is coupled, and includes: The driving unit includes a first rotating shaft and a first motor that rotates the wheel about the first rotating shaft, includes a second rotating shaft spaced apart from the first rotating shaft in the radial direction of the wheel, and a second motor that rotates the wheel about the second rotating shaft, and includes a third rotating shaft extending in a direction intersecting the first rotating shaft and the second rotating shaft, and a third motor provided to steer the wheel about the third rotating shaft. A moving body characterized by comprising:

2. The wheel includes a first wheel provided on the front right side of the body unit, a second wheel provided on the front left side of the body unit, a third wheel provided on the rear right side of the body unit, and a fourth wheel provided on the rear left side of the body unit, and The driving unit includes a first driving unit coupled to the first wheel, a second driving unit coupled to the second wheel, a third driving unit coupled to the third wheel, and a fourth driving unit coupled to the fourth wheel. The moving body according to claim 1, characterized by comprising:

3. At any rotation angle of the second rotating shaft provided on the first wheel and the third wheel, the first wheel and the third wheel are provided to be spaced apart from each other. The moving body according to claim 2, characterized by:

4. At any rotation angle of the second rotating shaft provided on the second wheel and the fourth wheel, the second wheel and the fourth wheel are provided to be spaced apart from each other. The moving body according to claim 2, characterized by:

5. The second motor provided in the first driving unit and the second motor provided in the third driving unit are each driven so that the first wheel and the third wheel are positioned at the lowermost end compared to the body unit, The second motor provided in the second driving unit and the second motor provided in the fourth driving unit are each driven so that the second wheel and the fourth wheel are positioned at the uppermost end compared to the body unit. The moving body according to claim 2, characterized by:

6. The second motor provided in the first driving unit and the second motor provided in the second driving unit are each driven so as to be positioned at the forefront compared to the body unit, The second motor provided in the third drive unit and the second motor provided in the fourth drive unit are each driven so as to be located at the rearmost position compared to the body part, and the moving body according to claim 2 is characterized in that.

7. The second motor provided in the first drive unit and the second motor provided in the second drive unit are each driven so as to be located at the rearmost position compared to the body part, The second motor provided in the third drive unit and the second motor provided in the fourth drive unit are each driven so as to be located at the foremost position compared to the body part, and the moving body according to claim 2 is characterized in that.

8. The first rotation axis is arranged at the center in the radial direction of the wheel, The first motor rotates the wheel about the first rotation axis, and the moving body according to claim 1 is characterized in that.

9. The second motor revolves the wheel about the second rotation axis, and the moving body according to claim 1 is characterized in that.

10. The first rotation axis and the second rotation axis are provided parallel to each other, and the moving body according to claim 9 is characterized in that.

11. The distance between the first rotation axis and the second rotation axis is smaller than the radius of the wheel, and the moving body according to claim 1 is characterized in that.

12. The third rotation axis is provided perpendicular to the first rotation axis and the second rotation axis respectively, and the moving body according to claim 1 is characterized in that.

13. When the second rotation axis has a predetermined rotation angle, the extension line of the first rotation axis and the extension line of the third rotation axis are provided perpendicular to each other, and the moving body according to claim 1 is characterized in that.

14. The extension line of the second rotation axis and the extension line of the third rotation axis are provided perpendicular to each other, and the moving body according to claim 1 is characterized in that.

15. The wheel includes an outer region including the outer circumferential surface in the radial direction of the wheel, an inner region provided inside the outer region in the radial direction, and a connecting region provided between the inner region and the outer region and connecting the outer region and the inner region, The second motor is provided so as to face the connecting region, and the moving body according to claim 1 is characterized in that.

16. The mobile body according to claim 15, wherein the connecting region is recessed outward from the outer region and the inner region when viewed from the side looking at the second motor.

17. The third motor drives the third rotating shaft to rotate the second rotating shaft about the third rotating shaft, thereby steering the wheel. The mobile body according to claim 15.

18. is provided so as to protrude from the connecting region toward the second motor, and further includes an extension portion into which the second rotating shaft is inserted. The mobile body according to claim 17, wherein the third rotating shaft is coupled to the extension portion.

19. The extension portion includes an extension body having one side coupled to the wheel and protruding from the wheel toward the body portion, and an extension plate protruding from the upper surface of the extension body toward the body portion and into which the third rotating shaft is inserted. The mobile body according to claim 18.

20. The mobile body according to claim 1, wherein the bottom surface of the body portion is located above the bottom surface of the wheel at any rotation angle of the second rotating shaft.

Images