Wheel module having tension unit and moving apparatus including the same

Abstract

According to one embodiment of the present invention, a wheel module and a moving device including the same are provided, comprising: a hub portion that rotates by receiving a rotational driving force; a wheel portion disposed on the outer circumference of the hub portion and rotatable together with the hub portion; a tension support portion connecting the hub portion and the wheel portion; and a tension adjustment portion embedded in the hub portion that maintains the shape of the wheel portion or enables deformation of the wheel portion by adjusting the tension of the tension support portion to change the rigidity of the outer surface of the wheel portion.

Description

Technology Field

[0001] The present invention relates to a wheel module for overcoming obstacles in which a tension adjustment unit is built-in. Background Technology

[0002] In modern society, wheels are widely used as indispensable components and are applied to various devices for daily convenience, such as wheelchairs, strollers, carts, and robots.

[0003] Generally, when we speak of wheels, one example is one with an internal tube that adjusts external elasticity using air pressure; however, in the case of small-diameter wheels, they are made of urethane or rubber material installed on the outer surface.

[0004] Wheeled locomotion is efficient and relatively fast, and because the contact surface with the ground is wide, it can drive stably.

[0005] When wheels roll on the ground or road surface, it can be seen that the wheels are directly affected by the ground depending on the shape of the ground.

[0006] However, while conventional circular wheels are very efficient for driving on flat terrain, they have difficulty climbing obstacles with uneven surfaces, such as steps and stairs, or passing through various other obstacles.

[0007] When people with disabilities use wheelchairs to climb obstacles with uneven surfaces, such as steps and stairs, they find it difficult to ascend easily on their own and must rely on the assistance of others or exert tremendous effort to move, which has caused problems such as inconvenience in daily life and restrictions on mobility. The problem to be solved

[0008] The present invention provides an obstacle-overcoming wheel module having a built-in tension adjustment unit that enables stable driving by minimizing wheel deformation when driving on flat terrain, and enables easy and stable obstacle overcoming by deforming the wheel when overcoming obstacles.

[0009] In addition, the present invention provides an obstacle-overcoming wheel module having an embedded tension adjustment unit that allows for easy disassembly and assembly and improves maintainability by embedding the tension adjustment unit in the wheel module. means of solving the problem

[0010] According to one embodiment of the present invention, a wheel module having an embedded tension adjustment member is provided, comprising: a hub portion that rotates by receiving a rotational driving force; a wheel portion disposed on the outer circumference of the hub portion and rotatable together with the hub portion; a tension support portion connecting the hub portion and the wheel portion; and a tension adjustment portion embedded in the hub portion that maintains the shape of the wheel portion or enables deformation of the wheel portion by adjusting the tension of the tension support portion to change the rigidity of the outer surface of the wheel portion.

[0011] In an obstacle-overcoming wheel module having a tension adjustment unit built into the above-described portion, the wheel portion may include: a deformation portion disposed on the outer circumference of the hub portion; and a plurality of unit blocks disposed in close contact with each other in a continuous manner along the outer circumference of the deformation portion.

[0012] In the obstacle-overcoming wheel module in which the above-described tension adjustment part is built-in, the deformation part may be formed of a material capable of being deformed by an external force.

[0013] In an obstacle-overcoming wheel module in which the above-described tension adjustment unit is built-in, the plurality of unit blocks are individually connected to the tension support unit, and the stiffness against external force can be changed according to the tension of the tension support unit.

[0014] In the obstacle-overcoming wheel module in which the above-described tension adjustment part is built-in, the tension support part may be a wire capable of elastic deformation.

[0015] In an obstacle-overcoming wheel module incorporating the above-described tension adjustment unit, the tension adjustment unit may include: a tension driving motor having a driving shaft for adjusting the tension of the tension support unit and a connecting shaft disposed on the opposite side of the driving shaft; a brake disposed on the outer circumference of the connecting shaft; an encoder coupled to the end of the connecting shaft; and a driver disposed on the outer circumference of the encoder.

[0016] In an obstacle-overcoming wheel module having the above-described tension adjustment unit built-in, a busbar connecting the tension driving motor and the driver may be further included, and the driver may be electrically connected to the tension driving motor through the busbar.

[0017] In the obstacle-overcoming wheel module in which the above-described tension adjustment unit is built-in, the busbar is provided in multiple numbers, and the multiple busbars may be spaced apart at a predetermined angle along the outer circumference of the connecting shaft with respect to the rotational center axis of the tension drive motor.

[0018] In the obstacle-overcoming wheel module having the above-described tension adjustment unit built-in, it may further include a ring plate having a central hole through which the busbar and the encoder pass, and on which the driver is stacked and installed.

[0019] In an obstacle-overcoming wheel module having the above-described tension adjustment unit built-in, a wheel drive unit connected to the hub unit and transmitting rotational driving force to the hub unit may be included.

[0020] In an obstacle-overcoming wheel module having a tension adjustment unit built into the above-described unit, the wheel drive unit may include: a wheel drive motor having a drive shaft corresponding to the rotational center axis of the hub unit; and a power transmission member disposed between the wheel drive motor and the hub unit to transmit the rotational driving force of the drive shaft of the wheel drive motor to the hub unit.

[0021] In an obstacle-overcoming wheel module having the above-described tension adjustment unit built-in, a slip ring disposed in the wheel drive unit and preventing twisting of a power connection line that supplies power to the tension adjustment unit may be further included.

[0022] According to another embodiment of the present invention, a moving device is provided comprising: a main body capable of being ridden or loaded; and a wheel module connected to the main body and providing power to enable the main body to move; wherein the wheel module comprises: a hub portion that rotates by receiving rotational driving force; a wheel portion disposed on the outer circumference of the hub portion and forming the outer shape of the wheel module; a tension support portion connected between the hub portion and the wheel portion; and a tension adjustment portion embedded in the hub portion and capable of maintaining the outer shape of the wheel portion or deforming the wheel portion by adjusting the tension of the tension support portion to change the rigidity of the outer surface of the wheel portion.

[0023] In the moving device described above, the tension adjustment unit may include: a tension driving motor having a driving shaft for adjusting the tension of the tension support unit and a connecting shaft disposed on the opposite side of the driving shaft; a brake disposed on the outer circumference of the connecting shaft; an encoder coupled to the end of the connecting shaft; and a driver disposed on the outer circumference of the encoder.

[0024] The above-described moving device further includes a busbar connecting the tension drive motor and the driver, and the driver can be electrically connected to the tension drive motor through the busbar. Effects of the invention

[0025] An obstacle-overcoming wheel module equipped with a tension adjustment unit according to one embodiment of the present invention enables stable driving by minimizing wheel deformation when driving on flat ground, and enables easy and stable overcoming of obstacles by deforming the wheel when overcoming obstacles.

[0026] In addition, the obstacle-overcoming wheel module equipped with a tension adjustment unit according to one embodiment of the present invention is modularized so that the tension adjustment unit, which includes a tension driving motor, a brake, an encoder, and a driver that are driving devices for adjusting the tension of the wheel part, is embedded in the wheel module, thereby enabling easy disassembly and assembly and thus improving maintainability.

[0027] Of course, the scope of the present invention is not limited by these effects. Brief explanation of the drawing

[0028] FIG. 1 is a system block diagram illustrating a wheel module according to one embodiment of the present invention. FIG. 2 is a cross-sectional diagram schematically illustrating a wheel module according to one embodiment of the present invention. FIG. 3 is a perspective view illustrating the tension adjustment unit of FIG. 2. Figure 4 is a cross-sectional view schematically illustrating the tension control unit of Figure 3. Fig. 5 is a right-side view of Fig. 3. FIG. 6 is a perspective view of FIG. 3 with the driver mounting part and the driving driver removed. Specific details for implementing the invention

[0029] The present invention is capable of various modifications and may have various embodiments; specific embodiments are illustrated in the drawings and described in detail in the detailed description. The effects and features of the present invention, and the methods for achieving them, will become clear by referring to the embodiments described below in detail together with the drawings. However, the present invention is not limited to the embodiments disclosed below but can be implemented in various forms.

[0030] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings. When describing with reference to the drawings, identical or corresponding components are given the same reference numerals, and redundant descriptions thereof will be omitted.

[0031] In the following examples, singular expressions include plural expressions unless the context clearly indicates otherwise.

[0032] In the following embodiments, terms such as "include" or "have" mean that the features or components described in the specification are present, and do not preclude the possibility that one or more other features or components may be added.

[0033] Where an embodiment can be implemented differently, a specific process sequence may be performed differently from the order described. For example, two processes described consecutively may be performed substantially simultaneously or proceed in the reverse order of the description.

[0034] In the drawings, the size of components may be exaggerated or reduced for convenience of explanation. For example, the size and thickness of each component shown in the drawings are depicted arbitrarily for convenience of explanation, so the following embodiments are not necessarily limited to those illustrated.

[0035] FIG. 1 is a system block diagram illustrating a wheel module according to an embodiment of the present invention. FIG. 2 is a cross-sectional view schematically illustrating a wheel module according to an embodiment of the present invention. FIG. 3 is a perspective view illustrating the tension adjustment unit of FIG. 2. FIG. 4 is a longitudinal cross-sectional view schematically illustrating the tension adjustment unit of FIG. 3. FIG. 5 is a right side view of FIG. 3. FIG. 6 is a perspective view of FIG. 3 with the driver mounting unit and the driving driver removed.

[0036] Referring to FIGS. 1 and 2, a wheel module (10) according to one embodiment of the present invention may include a hub part (100), a wheel part (200), a tension support part (300), a tension adjustment part (400), and a wheel driving part (500).

[0037] A wheel module (10) according to one embodiment of the present invention may be applied as a wheel to a mobility device capable of carrying a person, such as a bicycle or automobile, as well as a personal mobility device or a mobility aid for the disabled such as a wheelchair, but is not limited thereto and may also be applied as a wheel for movement to a mobility device or robot for loading and transporting goods.

[0038] In addition, although a single wheel module (10) according to one embodiment of the present invention is exemplified, when applied to a mobile device capable of riding or loading, a plurality of wheel modules (10) can be connected through a separate drive shaft or connecting shaft, etc., to enable more stable movement.

[0039] The wheel module (10) can adjust the tension of the tension support member (300) through the tension adjustment member (400), and by adjusting the tension of the tension support member (300), the rigidity of the wheel member (200) can be adjusted, and by adjusting the rigidity of the wheel member (200), driving on flat ground and overcoming obstacles can be easily performed.

[0040] That is, the wheel module (10) increases the tension of the tension support member (300) on flat ground to increase the rigidity of the wheel part (200), thereby maintaining the shape of the wheel part (200) firmly so that it can drive quickly and easily on flat ground.

[0041] Additionally, when the wheel module (10) intends to overcome an obstacle, it reduces the tension of the tension support member (300) to reduce the rigidity of the wheel part (200), thereby allowing the outer shape of the wheel part (200) to be deformed so that it can easily and flexibly pass over the obstacle.

[0042] According to one embodiment of the present invention, the wheel module (10) can reduce the size of the wheel module (10) along the rotational center axis (AX) of the wheel part (200) by embedding the tension adjustment part (400) in the hub part (100) to make it modular.

[0043] Therefore, the wheel module (10) can be miniaturized, and the miniaturization and turning radius of the mobile device including it can be reduced, thereby improving the driving range and driving performance of the mobile device.

[0044] In addition, the wheel module (10) can be modularized by having a tension adjustment part (400), which corresponds to a driving device for adjusting the tension of the wheel part (200), built into the hub part (100), thereby improving assembly and facilitating disassembly, thereby improving maintenance.

[0045] Meanwhile, a wheel module (10) according to one embodiment of the present invention can supply power from a power supply unit (900) to a tension adjustment unit (400) and a wheel driving unit (500) under the control of a control unit (800), and the tension adjustment unit (400) and the wheel driving unit (500) can be operated by receiving power from the power supply unit (900).

[0046] Referring to FIGS. 1 and FIGS. 2, a hub portion (100) according to one embodiment of the present invention can be rotated by receiving rotational driving force from a wheel drive portion (500).

[0047] The hub (100) may have a rotational center axis (AX) aligned with the drive shaft (511) of the wheel drive unit (500), and may rotate around the rotational center axis (AX) by receiving rotational force from the wheel drive unit (500) when the wheel drive unit (500) is driven.

[0048] As the hub part (100) rotates around the rotation center axis (AX), the wheel part (200) rotates simultaneously, and as the wheel part (200) rotates while in contact with the ground or obstacles, the wheel module (10) and the moving device including it can travel on flat ground or go over obstacles.

[0049] The hub portion (100) may have a circular cross-section, such as a cylindrical shape, and the wheel portion (200) placed on the outer circumference of the hub portion (100) may also have a circular shape similar to a general wheel overall.

[0050] In addition, the hub portion (100) can be driven by the tension adjustment portion (400) to pull or release the tension support portion (300) in a radial direction relative to the rotational center axis (AX) of the hub portion (100).

[0051] When the hub part (100) pulls the tension support part (300) from the wheel part (200) by driving the tension adjustment part (400), the tension of the tension support part (300) increases, and when the tension of the tension support part (300) increases, the multiple unit blocks (220) of the wheel part (200) described later come into close contact with each other, so that the rigidity of the wheel part (200) against external force can be increased.

[0052] As a result, when the rigidity of the wheel part (200) is increased, the outer shape of the wheel part (200), that is, the circular shape, is firmly maintained and contacts the ground, so that the wheel part (200) can drive smoothly on flat ground.

[0053] When the hub part (100) releases the tension of the tension support part (300) through reverse driving of the tension adjustment part (400), the tension of the tension support part (300) decreases, and when the tension of the tension support part (300) decreases, the contact force of the plurality of unit blocks (200) of the wheel part (200) described later decreases, and the rigidity of the wheel part (200) against external force can be reduced.

[0054] As a result, when the wheel part (200) comes into contact with an obstacle while the rigidity of the wheel part (200) is reduced, the outer shape of the wheel part (200), that is, the circular shape, is deformed, and the contact area with the obstacle increases, and the wheel part (200) can easily pass over the obstacle while continuing to rotate in this state.

[0055] Referring to FIGS. 1 and 2, a wheel portion (200) according to one embodiment of the present invention is positioned on the outer circumference of a hub portion (100) and can rotate together with the rotation of the hub portion (100), and if the wheel portion (200) continues to rotate while in contact with the ground, the wheel module (10) and the moving device including the same can drive.

[0056] That is, the wheel part (200) can form the outer shape of the wheel module (10) and enables the wheel module (10) and the moving device including it to move while rotating in contact with the ground.

[0057] The wheel part (200) may have increased rigidity as the tension of the tension support part (300) increases, or decreased rigidity as the tension of the tension support part (300) decreases.

[0058] Specifically, the wheel portion (200) may include a deformation portion (210) disposed on the outer circumference of the hub portion (100) and a plurality of unit blocks (220) disposed in close contact with each other in a continuous manner along the outer circumference of the deformation portion (210).

[0059] The deformation part (210) can be formed of a material capable of being deformed by an external force, and, for example, can be formed of an elastic material having a predetermined strength.

[0060] That is, the deformation part (210) can be deformed when an external force is applied and restored when the applied external force is released.

[0061] Additionally, the deformation part (210) may be formed in a honeycomb shape, for example, and can be effectively deformed when an external force is applied to it and can be quickly restored when the applied external force is removed.

[0062] The deformation part (210) can maintain its original shape without being affected by external forces when the mutual adhesion force between the multiple unit blocks (220) is increased and the outer shape of the multiple unit blocks (220) is firmly maintained.

[0063] As a result, the entire shape of the deformation part (210) and the plurality of unit blocks (220), that is, the wheel part (200), can be maintained firmly, and if the wheel part (200) continues to rotate in this state, the wheel module (10) and the moving device including it can travel smoothly on flat ground.

[0064] Additionally, if the mutual adhesion force between the multiple unit blocks (220) of the deformation part (210) is reduced and the rigidity of the multiple unit blocks (220) is reduced, the outer shape of the multiple unit blocks (220) may collapse and be deformed under the influence of an external force.

[0065] As a result, the entire shape of the deformation part (210) and the plurality of unit blocks (220), that is, the wheel part (200), is deformed, and the contact area between the ground and the plurality of unit blocks (220) increases, and if the wheel part (200) continues to rotate in this state, the wheel module (10) and the moving device including it can easily overcome, that is, go over, obstacles.

[0066] A plurality of unit blocks (220) according to one embodiment of the present invention are arranged in close contact with each other along the outer circumference of the deformation part (210) so as to form the overall shape of a wheel, and can be in continuous contact with the ground when the wheel module (10) and the moving device are driven.

[0067] Each of the multiple unit blocks (220) may have the same shape, and may have various shapes if they are structured to be joined and closely attached to adjacent unit blocks, for example.

[0068] Each of the multiple unit blocks (220) may be connected in a one-to-one correspondence with an elastic wire, for example, a tension support member (300), but is not limited thereto, and an elastic wire may be connected to each of the multiple unit blocks along the outer circumference of the deformation member (210).

[0069] Ultimately, when the tension of the tension support member (300) increases, the multiple unit blocks (220) are pulled toward the rotational center axis (AX) of the hub member (100), and the mutual contact force can be increased, and when the mutual contact force is increased, the rigidity of the entire multiple unit blocks (220) against external force can be increased.

[0070] Accordingly, the multiple unit blocks (220) have increased rigidity against external forces, so the shape of the wheel can be maintained firmly, and when rotated in this state, it can drive smoothly on flat ground.

[0071] Additionally, when the tension of the tension support part (300) of the multiple unit blocks (220) decreases, the force pulling toward the rotational center axis (AX) of the hub part (100) decreases, and the mutual contact force may decrease.

[0072] That is, if the mutual adhesion force between multiple unit blocks (220) is reduced, the rigidity against external force of the entire multiple unit blocks (220) may be reduced.

[0073] Accordingly, the multiple unit blocks (220) can be deformed as the rigidity against external force is reduced and the original state of the part in contact with the obstacle is released, and as the multiple unit blocks (220) are deformed toward the deformation part (210), the corresponding deformation part (210) can be deformed together.

[0074] When the hub part (100) rotates in this state, the contact area between the multiple unit blocks (220) and the ground and obstacles becomes significantly larger, and as a result, the wheel module (10) and the moving device including it can smoothly overcome obstacles and move over.

[0075] Referring to FIGS. 1 and 2, a tension support member (300) according to one embodiment of the present invention can be connected between a hub member (100) and a wheel member (200).

[0076] Specifically, one side of the tension support member (300) can be connected to a plurality of unit blocks (220) of the wheel member (200), and the other side can be connected to the hub member (100).

[0077] For example, the tension support member (300) may be composed of multiple wires capable of elastic deformation, and the tension support member (300) may be formed by connecting each of the multiple unit blocks (220) and the hub member (100) with each of the multiple wires.

[0078] That is, the tension support member (300) can be pulled through the hub member (100) to the rotational center axis (AX) of the hub member (100) by the operation of the tension adjustment member (400), thereby increasing the tension, or the tension can be reduced as the pulling is released.

[0079] When the tension of the tension support member (300) is increased and the multiple unit blocks (220) move to the rotational center axis (AX) of the hub member (100), the mutual contact force of the multiple unit blocks (220) is increased, and the rigidity against external forces can be increased.

[0080] Additionally, if the tension of the tension support member (300) is reduced, the force moving the multiple unit blocks (220) to the rotational center axis (AX) of the hub member (100) may be weakened, and the mutual contact force of the multiple unit blocks (220) may be reduced, thereby reducing the rigidity against external forces.

[0081] Ultimately, when the tension of the tension support member (300) increases, the rigidity of the multiple unit blocks (220) against external forces increases, allowing the outer shape of the wheel to be maintained firmly, and when the hub member (100) rotates in this state, the wheel module (10) and the moving device including it can travel smoothly on flat ground.

[0082] Additionally, when the tension of the tension support member (300) is reduced, the multiple unit blocks (220) may be deformed as their rigidity against external force is reduced, and the original state of the part in contact with the obstacle, i.e., the part to which the external force is applied, is released, and the deformed part (210) may also be deformed together.

[0083] When the hub part (100) rotates in this state, the contact area between the multiple unit blocks (220) and the ground and obstacles increases, and as a result, the wheel (10) and the moving device including it can smoothly pass over obstacles.

[0084] Referring to FIGS. 1 to 4, a tension adjustment unit (400) according to one embodiment of the present invention may be placed, i.e., embedded, inside the hub unit (100), and by adjusting the tension of the tension support unit (300), the rigidity of the outer surface of the wheel unit (200), specifically the rigidity of a plurality of unit blocks (220), can be changed.

[0085] For example, when the tension adjustment unit (440) is driven, the hub unit (100) can increase the tension of the tension support unit (300) by pulling the tension support unit (300) toward the rotational center axis (AX), and when the tension adjustment unit (440) is driven in reverse, the hub unit (100) can decrease the tension of the tension support unit (300) by releasing the pull of the tension support unit (300).

[0086] As a result, the tension adjustment unit (440) increases the tension of the tension support unit (300), thereby increasing the rigidity of the multiple unit blocks (220) of the wheel unit (200) and maintaining the circular shape of the wheel unit (200) firmly, so that the wheel module (10) and the moving device including it can drive smoothly on flat ground.

[0087] Additionally, the tension adjustment unit (440) reduces the tension of the tension support unit (300) to reduce the rigidity of the plurality of unit blocks (220) of the wheel unit (200) and deforms the wheel unit (200) upon contact with an obstacle, thereby enabling the wheel module (10) and the moving device including it to smoothly overcome the obstacle.

[0088] Specifically, a tension control unit (400) according to one embodiment of the present invention may include a tension driving motor (410), a brake (420), an encoder (430), and a driver (440).

[0089] Referring to FIG. 1 and FIG. 2, a tension drive motor (410) according to one embodiment of the present invention may be placed inside a hub portion (100) and connected to a power supply portion (900) through a wire (700) to receive power and drive.

[0090] For example, the tension drive motor (410) may include an electric motor including a coil and a magnet, but is not limited thereto, and various motors having an output capable of operating the hub part (100) to adjust the tension of the tension support part (300) may be applied.

[0091] The tension drive motor (410) may have a drive shaft (411) and a connecting shaft (412) on both sides having a rotational center axis (AX) on the same line along the direction of the rotational center axis (AX) of the hub part (100).

[0092] Here, the drive shaft (411) is connected to the hub (100) to adjust the tension of the tension support member (300), and the tension of the tension support member (300) can be adjusted through the hub (100).

[0093] That is, when the tension drive motor (410) is driven, the drive shaft (411) rotates to move the hub part (100) and pull the tension support part (300) to increase the tension of the tension support part (30).

[0094] Additionally, when the tension drive motor (410) is reverse-driven, the drive shaft (411) is reverse-rotated to return the hub portion (100) to release the tension of the tension support portion (300), thereby reducing the tension of the tension support portion (300).

[0095] Referring to FIGS. 2 to 4, a connecting shaft (412) according to one embodiment of the present invention may be positioned on the opposite side of the driving shaft (411) to have a rotation axis aligned with the driving shaft (411).

[0096] A brake (420) may be disposed on the outer circumference of the connecting shaft (412), an encoder (430) may be axially coupled to the end of the connecting shaft (412), and a driver (440) may be disposed on the outer circumference of the encoder (430).

[0097] As such, the tension adjustment unit (400) of the present embodiment may have a drive shaft (411) and a connecting shaft (412) on both sides of a tension drive motor (410) disposed inside the hub unit (100).

[0098] A tension adjustment unit (400) according to one embodiment of the present invention can provide a driving force for tension adjustment of a tension support unit (300) via a driving shaft (411), and can arrange a brake (420), an encoder (430), and a driver (440) on the side of a connecting shaft (412).

[0099] The tension control unit (400) can be modularized into an integrated structure with the brake (420), encoder (430), and driver (440) along with tension control of the tension support unit (300) through the drive shaft (411) and connecting shaft (412) of the tension drive motor (410).

[0100] A wheel module (10) according to one embodiment of the present invention can reduce its size along the rotational center axis (AX) of the hub (100) by integrating and modularizing the tension adjustment part (400) and embedding it in the hub part (100).

[0101] That is, by embedding and modularizing a tension control unit (400), which is a driving device that controls the tension of the wheel unit (200) and includes a tension drive motor (410), a brake (420), an encoder (430), and a driver (440), into the wheel module (10), the wheel module (10) can be miniaturized, and by reducing the turning radius of the moving device including it, the driving range and driving performance of the moving device can be improved.

[0102] Referring to FIGS. 2 and FIGS. 4, a brake (420) according to one embodiment of the present invention is positioned on the outer circumference of a connecting shaft (412) to limit the driving of the connecting shaft (412), and consequently, to limit the movement for tension control of the hub part (100) through the driving shaft (411).

[0103] For example, the brake (420) can restrict the movement for tension adjustment of the hub part (100) to keep the tension applied to the tension support part (300) constant.

[0104] That is, the movement of the hub part (100) is restricted by the brake (420), so that the pulling or releasing state applied to the tension support part (300) can be maintained at a constant level.

[0105] Referring to FIGS. 2 and FIGS. 4, an encoder (430) according to one embodiment of the present invention is axially coupled to the end of a connecting shaft (412) and can rotate together with the connecting shaft (412).

[0106] The encoder (430) can detect information regarding the rotational movement of the tension drive motor (410), such as rotational speed or positional displacement, and output it as an electrical signal to provide to the control unit (800).

[0107] Accordingly, the control unit (800) receives information about the tension drive motor (410) from the encoder (430) and can use this information to control the tension drive motor (410) more efficiently.

[0108] For example, a rotary encoder may be applied as the encoder (430), but is not limited thereto, and various types of encoders capable of measuring the position, speed, rotation angle, etc. of the tension drive motor (410) or measuring the rotation speed and rotation amount of the tension drive motor (410) may be applied.

[0109] The encoder (430) is installed together with the brake (420) via the connecting shaft (412), thereby allowing for more accurate measurement of whether the brake (420) is operating on the tension drive motor (410).

[0110] Referring to FIGS. 2 to 4, a driver (440) according to one embodiment of the present invention can be used to efficiently control a tension drive motor (410) by mediating power, i.e., current and voltage, supplied to the tension drive motor (410).

[0111] Specifically, the driver (440) can be positioned on the outer circumference of the encoder (430) and can be installed by stacking on the ring plate (460).

[0112] At this time, the ring plate (460) may be formed in the shape of a thin plate having a central hole, and a driver (440) may be installed stacked on one side opposite the tension drive motor (410) (right side in FIG. 4).

[0113] For example, the driver (440) may be made of a ring-shaped substrate corresponding to the ring plate (460).

[0114] Additionally, the driver (440) can be electrically connected to the tension drive motor (410) through a busbar (450).

[0115] Specifically, the bus bar (450) has its left end (based on FIG. 4) connected to a tension drive motor (410) and its right end (based on FIG. 4) connected to a driver (440) by passing through the center hole of a ring plate (460).

[0116] At this time, with reference to FIGS. 5 and 6, the bus bar (450) can be arranged in multiple numbers spaced apart at a preset angle (α) along the outer circumference of the connecting shaft (412), specifically along the circumferential direction of the encoder (430), with respect to the rotational center axis (AX) of the tension drive motor (410).

[0117] For example, the bus bar (450) can be arranged in three parts with a 120-degree phase difference along the circumferential direction of the encoder (430), and thus the UVW terminal of the tension drive motor (410) can be electrically connected to the driver (440) through the bus bar (450).

[0118] That is, the driver (440) can be electrically connected to the tension drive motor (410) through a bus bar (450) having a phase difference of a preset angle along the circumferential direction of the encoder (430).

[0119] As a result, the driver (440) according to one embodiment of the present invention can more efficiently drive and control the tension drive motor (410) and the encoder (430) while receiving power through the bus bar (450).

[0120] Meanwhile, the busbar (450) may be formed in the shape of a metal bar that acts as a conductor for current and voltage, and may be formed from a highly conductive material such as copper or aluminum, for example, but is not limited thereto.

[0121] Additionally, in one embodiment of the present invention, the busbar (450) is disclosed to be in the form of a cylindrical rod, but is not limited thereto and can be applied in various shapes such as a flat rod shape, a rectangular rod shape, etc.

[0122] Additionally, the exposed portion of the busbar (450) may be coated with an insulating material to prevent electrical short circuits and increase safety.

[0123] Referring to FIGS. 1 and FIGS. 2, a wheel drive unit (500) according to one embodiment of the present invention is connected to a hub unit (100) and can transmit rotational driving force to the hub unit (100).

[0124] Specifically, the wheel drive unit (500) may include a wheel drive motor (510) and a power transmission member (520).

[0125] A wheel drive motor (510) according to one embodiment of the present invention may include a drive shaft (511) having a rotation axis (AX) aligned with the rotation center axis (AX) of the hub portion (100), and may rotate the drive shaft (511) by receiving power from a power supply portion (900).

[0126] When the drive shaft (511) of the wheel drive motor (510) rotates, the power transmission member (520) can transmit the rotational driving force of the drive shaft (511) to the hub part (100), and as a result, the wheel part (200) rotates due to the rotation of the hub part (100), thereby allowing the wheel module (10) and the moving device including the same to drive.

[0127] A power transmission member (520) according to one embodiment of the present invention may be composed of a plurality of members that are stacked and coupled in multiple stages between a wheel drive member (510) and a hub member (100) along the rotational center axis (AX) of a hub member (100).

[0128] For example, the power transmission member (520) may be composed of a one-sided member that is coupled to the drive shaft (511) and rotates as a whole, a other-sided member that is coupled to the hub part (100) and rotates as a whole, and a connecting member that is connected between the one-sided member and the other-sided member and rotates as a whole.

[0129] That is, the power transmission member (520) may be formed to cover the drive shaft (511) of the wheel drive motor (510) and the encoder (430) and driver (440) of the tension adjustment unit (400), but is not limited thereto.

[0130] Accordingly, the power transmission member (520) can rapidly transmit the rotational driving force generated from the drive shaft (511) of the wheel drive motor (510) to the hub part (100) while protecting the drive shaft (511) of the wheel drive motor (510) and the encoder (430) and driver (440) of the tension adjustment part (400).

[0131] Meanwhile, referring to FIGS. 1 and FIGS. 2, a wheel module (10) according to one embodiment of the present invention may further include a slip ring (600) disposed in a wheel drive unit (500).

[0132] The slip ring (600) can be provided on a power connection line (700) that supplies power, i.e., current, and voltage from a power supply unit (900) to a tension control unit (400), and can prevent twisting from occurring relative to the power connection line (700) on the power supply unit (900) side as the power connection line (700) on the tension control unit (400) side rotates.

[0133] Although not illustrated in detail, the slip ring (600) may consist of a rotor to which the power connection line (700) on the tension adjustment unit (400) side is connected, and a stator to which the power connection line (700) on the power supply unit (900) side is connected.

[0134] For example, the slip ring (600) may be fixed to a power connection line (700) that is electrically connected to a tension control unit (400) on the rotor, and may be fixed to a power connection line (700) that is electrically connected to a power supply unit (900) on the stator, and the electric connection between the rotor and the stator may be maintained even when the rotor rotates.

[0135] Therefore, even if the power connection line (700) connected to the rotor side of the slip ring (600) rotates, it can be prevented from twisting relative to the power connection line (700) connected to the stator side.

[0136] Hereinafter, the process of driving on flat ground and overcoming obstacles of a wheel module (10) according to one embodiment of the present invention will be described.

[0137] Referring to FIGS. 1 to 4, when the tension adjustment unit (400) is driven, the hub unit (100) operates to pull the tension support unit (300) away from the wheel unit (200) and increase the tension of the tension support unit (300).

[0138] When the tension of the tension support member (300) increases, the multiple unit blocks (220) move toward the rotational center axis (AX) of the hub member (100), and the mutual contact force increases, thereby increasing the rigidity against external forces.

[0139] When the rigidity of the multiple unit blocks (220) is increased, the outer shape, i.e., the circular shape, of the multiple unit blocks (220) can be maintained firmly, and in this state, when the hub part (100) rotates by the driving of the wheel drive part (500), the circular wheel part (200) can drive smoothly on flat ground.

[0140] If there is an obstacle on the flat ground, the tension adjustment unit (400) can be driven in reverse, and the hub unit (100) releases the tension of the tension support unit (300) to reduce the tension of the tension support unit (300).

[0141] When the tension of the tension support member (300) is reduced, the mutual adhesion of the plurality of unit blocks (220) is reduced, and the rigidity against external forces may be reduced.

[0142] When the rigidity of the multiple unit blocks (220) is reduced, the multiple unit blocks (220) can be deformed as the original state of the part in contact with the obstacle, that is, the part to which an external force is applied, is released.

[0143] As a plurality of unit blocks (220) are deformed, the corresponding deformed part (210) can also be deformed together, and in this state, when the hub part (100) is rotated by the driving of the wheel drive part (500), the contact area between the plurality of unit blocks (220) and the ground and obstacles increases, allowing them to smoothly pass over obstacles.

[0144] A wheel module (10) and a moving device including the same according to one embodiment of the present invention can have a tension driving motor (410), a brake (420), an encoder (430), and a driver (440) constituting a tension adjustment unit (400) modularized into an integrated structure and embedded in a hub unit (100).

[0145] As a result, the size of the wheel module (10) can be reduced along the rotational center axis (AX) of the hub part (100), thereby making the wheel module (10) smaller, and also reducing the turning radius of the moving device including the wheel module (10) can improve the driving range and driving performance of the moving device.

[0146] In addition, the tension adjustment unit (400), which is a driving device for adjusting the tension of the wheel unit (200) and includes a tension drive motor (410), a brake (420), an encoder (430), and a driver (440), is built into and modularized in the wheel module (10), thereby improving the compatibility and usability of the wheel module (10) and improving maintainability by making disassembly and assembly easy.

[0147] The scope of the present invention is not limited to the described embodiments, and all scopes equivalent to or equivalently modified from the claims set forth below, as well as the claims set forth below, shall be considered to fall within the scope of the concept of the present invention.

[0148] Although the present invention has been described above by limited embodiments and drawings, the present invention is not limited thereto, and it is obvious that various modifications and variations are possible within the scope of the technical spirit of the present invention and the equivalent scope of the claims described below by those skilled in the art to which the present invention belongs. Explanation of the symbols

[0149] 10: Wheel Module 100: Hub 200: Wheel section 210: Transformation part 220: Multiple unit blocks 300: Tension support 400: Tension adjustment unit 410: Tension drive motor 411: Drive shaft 412: Connecting shaft 420: Brake 430: Encoder 440: Driver 450: Busbar 460: Ring plate 500: Wheel drive unit 510: Wheel drive motor 511: Wheel drive shaft 520: Power transmission member 600: Slip ring 700: Power connection cable 800: Control unit 900: Power supply

Claims

Claim 1 A wheel module having a built-in tension adjustment unit, comprising: a hub portion that rotates by receiving rotational driving force; a wheel portion disposed on the outer circumference of the hub portion and rotatable together with the hub portion; a tension support portion connecting the hub portion and the wheel portion; and a tension adjustment portion built into the hub portion and capable of maintaining the shape of the wheel portion or deforming the wheel portion by adjusting the tension of the tension support portion to change the rigidity of the outer surface of the wheel portion. Claim 2 A wheel module having an embedded tension adjustment unit, wherein the wheel portion comprises: a deformation portion disposed on the outer circumference of the hub portion; and a plurality of unit blocks disposed in close contact with each other in a continuous manner along the outer circumference of the deformation portion. Claim 3 In paragraph 2, the above-mentioned deformation part is formed of a material capable of being deformed by an external force, and the wheel module has a built-in tension adjustment part. Claim 4 In paragraph 2, the plurality of unit blocks are individually connected to the tension support member, and the wheel module has a built-in tension adjustment member in which the stiffness against external force changes according to the tension of the tension support member. Claim 5 In claim 1, the tension support is a wheel module in which a tension adjustment part, which is an elastically deformable wire, is embedded. Claim 6 A wheel module having a tension adjustment unit embedded therein, wherein the tension adjustment unit comprises: a tension driving motor having a driving shaft for adjusting the tension of the tension support unit and a connecting shaft disposed on the opposite side of the driving shaft; a brake disposed on the outer circumference of the connecting shaft; an encoder coupled to the end of the connecting shaft; and a driver disposed on the outer circumference of the encoder. Claim 7 In claim 6, a wheel module having a built-in tension control unit, further comprising a busbar connecting the tension drive motor and the driver, wherein the driver is electrically connected to the tension drive motor through the busbar. Claim 8 A wheel module having a tension adjustment unit built therein, wherein the busbars are provided in plurality, and the plurality of busbars are spaced apart at a predetermined angle along the outer circumference of the connecting shaft with respect to the rotational center axis of the tension drive motor. Claim 9 A wheel module having a built-in tension adjustment unit, further comprising: a ring plate having a central hole through which the busbar and the encoder pass, and on which the driver is stacked and installed in the same manner as in claim 7. Claim 10 A wheel module having a built-in tension adjustment unit, comprising: a wheel drive unit connected to the hub unit and transmitting rotational driving force to the hub unit in claim 1. Claim 11 In claim 10, the wheel drive unit comprises: a wheel drive motor having a drive shaft corresponding to the rotational center axis of the hub unit; and a power transmission member disposed between the wheel drive motor and the hub unit to transmit the rotational driving force of the drive shaft of the wheel drive motor to the hub unit; a wheel module having a built-in tension adjustment unit. Claim 12 A wheel module having an embedded tension adjustment unit, further comprising: a slip ring disposed in the wheel drive unit and preventing twisting of a power connection line that supplies power to the tension adjustment unit. Claim 13 A moving device comprising: a main body capable of being ridden or loaded; and a wheel module connected to the main body and providing power to enable the main body to move; wherein the wheel module comprises: a hub portion that rotates by receiving rotational driving force; a wheel portion disposed on the outer circumference of the hub portion and forming the outer shape of the wheel module; a tension support portion connected between the hub portion and the wheel portion; and a tension adjustment portion embedded in the hub portion and capable of maintaining the outer shape of the wheel portion or enabling deformation of the wheel portion by adjusting the tension of the tension support portion to change the rigidity of the outer surface of the wheel portion. Claim 14 In claim 13, the tension adjustment unit comprises: a tension driving motor having a driving shaft for adjusting the tension of the tension support unit and a connecting shaft disposed on the opposite side of the driving shaft; a brake disposed on the outer circumference of the connecting shaft; an encoder coupled to the end of the connecting shaft; and a driver disposed on the outer circumference of the encoder; a moving device. Claim 15 A moving device according to claim 14, further comprising a busbar connecting the tension drive motor and the driver, wherein the driver is electrically connected to the tension drive motor through the busbar.

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