Sturdy star-shaped deformation wheels for overcoming rough terrain

Abstract

The present invention relates to a robust star-shaped deformable wheel for overcoming rough terrain, and more specifically, to a robust star-shaped deformable wheel for overcoming rough terrain having a structure capable of transforming into a circular wheel shape for driving on flat terrain and a star-shaped wheel shape for driving on rough terrain. This invention is the result of a project carried out with support from the Gyeongsangbuk-do Regional Innovation Center University Support System (RISE)-(Specialized University) in 2025.

Description

Technology Field

[0001] The present invention relates to a robust star-shaped deformable wheel for overcoming rough terrain, and more specifically, to a robust star-shaped deformable wheel for overcoming rough terrain having a structure capable of transforming into a circular wheel shape for driving on flat terrain and a star-shaped wheel shape for driving on rough terrain. Background Technology

[0003] Generally, wheeled vehicles and robots are configured to drive using circular wheels, which has the disadvantage of not being suitable for overcoming obstacles.

[0005] Various technologies are being developed to overcome obstacles, and walking robots using articulated legs are being developed, but there were problems such as a very complex configuration and low driving speed.

[0007] Accordingly, technology is being developed to overcome rough terrain by deforming the shape from a general wheel shape, such as Korean Patent Publication No. 10-2018-0089938 "Variable Wheel," but there were problems such as reduced structural stability due to the expansion into a cantilever structure and changes in driving characteristics due to changes in the diameter of the wheel.

[0009] Accordingly, there is a need to develop a wheel with a new variable structure that can ensure structurally stable driving. Prior art literature

[0011] Korean Patent Publication No. 10-2018-0089938 "Variable Wheel" The problem to be solved

[0012] The objective of the present invention is to provide a robust star-shaped deformable wheel for overcoming rough terrain that can provide a stable driving environment by improving structural stability against loads or external forces, which is devised to solve the problems described above. means of solving the problem

[0014] To achieve the above objective, the robust star-shaped deformable wheel for overcoming rough terrain according to the present invention comprises a star-shaped frame having a plurality of extensions arranged radially, a first link rotatably arranged on at least two of the extensions of the frame, a second link arranged between two first links in a manner that is rotatably arranged in the opposite direction to the first link and connected to the first link rotatably arranged on another extension, and a driving unit for performing a driving operation such that the first link and the second link alternately rotate the first link at a predetermined angle to form a ring-shaped circle, or performing a deformable operation such that the first link and the second link form a star shape.

[0015] In addition, either of the first link and the second link further includes a pin-shaped connecting member, and the other of the first link and the second link is characterized by having a slot formed with a predetermined length so that the pin-shaped connecting member can pass through and be transported along the longitudinal direction.

[0016] In addition, the first link and the second link have slots formed along the longitudinal direction having a predetermined length, and further include a connecting member that is connected by penetrating the slot of the first link and the slot of the second link and can slide along each slot.

[0017] In addition, the above frame is characterized by further comprising a guide slot through which a connecting member slides.

[0018] In addition, the frame is characterized by being configured to include a plurality of first extension parts to which a first link and a second link are axially fixed, and a second extension part disposed between the first extension parts and having a guide slot formed therein through which a connecting member slides.

[0019] In addition, the above-described driving unit is characterized by rotating the first link and the second link at a predetermined angle through the rotation of a driving plate in which a plurality of spiral-shaped driving slots are formed, through which each connecting member passes and slides.

[0020] In addition, the first link is formed with a rotational gear having a rotational center axis as its center point, and the driving unit is characterized by rotating the rotational gear of the first link based on rotational force transmitted through at least one driving gear to rotate the first link at a predetermined angle. Effects of the invention

[0022] As described above, according to the robust star-shaped deformable wheel for overcoming rough terrain according to the present invention, when performing a driving motion that forms a ring shape or a deformed motion that forms a star shape, the radially arranged star-shaped frame is supported on the ground, thereby improving structural stability against loads or external forces, and based on this, it has the effect of providing a stable driving environment. Brief explanation of the drawing

[0024] FIG. 1 is a perspective view illustrating a rigid star-shaped deformable wheel for overcoming rough terrain according to the present invention. FIG. 2 is a perspective view illustrating the deformation operation of a rigid star-shaped deformable wheel for overcoming rough terrain according to the present invention. FIG. 3 is a drawing illustrating the position of the second link during the deformation operation of a rigid star-shaped deformable wheel for overcoming rough terrain according to the present invention. FIG. 4 is a drawing illustrating the position of the first link during the deformation operation of a rigid star-shaped deformable wheel for overcoming rough terrain according to the present invention. FIG. 5 is a side view of a rigid star-shaped deformable wheel for overcoming rough terrain according to the present invention. FIG. 6 is a drawing illustrating another embodiment of a rigid star-shaped deformable wheel for overcoming rough terrain according to the present invention. FIG. 7 is a drawing illustrating a driving operation according to another embodiment of a rigid star-shaped deformable wheel for overcoming rough terrain according to the present invention. FIG. 8 is a drawing illustrating a deformation operation according to another embodiment of a rigid star-shaped deformation wheel for overcoming rough terrain according to the present invention. FIG. 9 is a drawing illustrating a driving operation according to another embodiment of a rigid star-shaped deformable wheel for overcoming rough terrain according to the present invention. FIG. 10 is a drawing illustrating a deformation operation according to another embodiment of a rigid star-shaped deformable wheel for overcoming rough terrain according to the present invention. FIG. 11 is a drawing illustrating a connecting member according to an embodiment of a rigid star-shaped deformable wheel for overcoming rough terrain according to the present invention. FIG. 12 is a drawing illustrating another embodiment of a rigid star-shaped deformable wheel for overcoming rough terrain according to the present invention. FIG. 13 is a drawing illustrating a driving operation according to another embodiment of a rigid star-shaped deformable wheel for overcoming rough terrain according to the present invention. FIG. 14 is a drawing illustrating a deformation operation according to another embodiment of a rigid star-shaped deformable wheel for overcoming rough terrain according to the present invention. FIG. 15 is a drawing illustrating a connecting member according to another embodiment of a rigid star-shaped deformable wheel for overcoming rough terrain according to the present invention. Specific details for implementing the invention

[0025] Specific structural or functional descriptions of embodiments according to the concept of the present invention disclosed herein are provided merely for the purpose of explaining embodiments according to the concept of the present invention, and embodiments according to the concept of the present invention may be implemented in various forms and are not limited to the embodiments described herein.

[0026] Embodiments according to the concept of the present invention may be subject to various modifications and may take various forms; therefore, embodiments are illustrated in the drawings and described in detail in this specification. However, this is not intended to limit the embodiments according to the concept of the present invention to specific disclosed forms, and includes all modifications, equivalents, or substitutions that fall within the spirit and scope of the present invention.

[0028] Hereinafter, preferred embodiments of the present invention will be described with reference to the attached drawings.

[0030] As illustrated in FIGS. 1 to 5, the rigid star-shaped deformable wheel for overcoming rough terrain according to the present invention is configured based on a frame (3) in which a plurality of extension parts (10) are arranged radially to form a star shape, wherein the extension parts (10) are implemented in two or more.

[0032] In addition, the structure comprises a first link (1) positioned so as to be rotatable on at least two of the extensions (10) of the frame (3), a second link (2) positioned between the first links (1) on both sides in a manner that is rotatable in the opposite direction to the first link (1) and connected to the first link (1) that is rotatable on the other extension (10), and a driving unit (4) for performing a driving operation such that the first link (1) and the second link (2) alternately rotate the first link (1) at a predetermined angle to form a ring shape as shown in FIG. 1, or performing a deformation operation such that the first link (1) and the second link (2) rotate to form a star shape as shown in FIG. 2.

[0034] At this time, the first link (1) and the second link (2) are arranged to have the same pivot center axis on a single extension (1), and when the first link (1) is arranged to pivot on one side of the extension (1), the second link (2) is arranged to pivot on the other side of the extension (1), each in a different direction.

[0036] In addition, to provide higher structural stability, it is preferable that the first link (1) be placed on one side of the frame (3) and the second link (2) be placed on the other side, so that they are divided into two sides.

[0037] In addition, the first link (1) and the second link (2), which rotate at different extensions (10), have a structure in which they are connected through a connecting member (5).

[0039] For example, either of the first link (1) and the second link (2) may be implemented in a fixed form with a pin-shaped connecting member, and the other of the first link and the second link may have a slot (23) having a predetermined length formed so that the pin-shaped connecting member (5) can pass through and be transported along the longitudinal direction.

[0040] FIG. 4 is illustrated as an embodiment in which a slot (23) is formed in the first link (1) and a connecting member (5) is fixed to the second link (2), but it may also be implemented in which a slot (23) is formed in the second link (2) and a connecting member (5) is fixed to the first link (1).

[0042] Additionally, the frame (1) may be implemented to further include a guide slot (13) for more stably supporting the connecting member (5) and forming a space into which the connecting member (5) can be inserted when the first link (1) and the second link (2) rotate.

[0044] Additionally, the first link (1) may be integrally formed with a rotation gear (21) having a rotation center axis as the center point, and the driving unit (4) may be implemented to rotate the rotation gear (21) of the first link (1) based on rotational force transmitted through at least one driving gear (22) to rotate the first link (1) at a predetermined angle.

[0046] At this time, it is preferable that each gear of the drive unit (4) be spaced apart from the frame (3) by a predetermined distance so that a rotational space for the first link (1) is provided.

[0048] In another embodiment, as shown in FIG. 6 or FIG. 7, the driving unit (4) may be implemented to rotate the first link (1) and the second link (2) at a predetermined angle as shown in FIG. 8 by rotating a driving plate (30) having a plurality of spiral-shaped driving slots (31) through which each connecting member (5) passes and slides.

[0050] In another embodiment, as shown in FIG. 9 or FIG. 10, a slot (23) having a predetermined length along the longitudinal direction is formed in each of the first link (1) and the second link (2), and the connecting member (5) may be connected by passing through the slot (23) of the first link (1) and the slot (23) of the second link (2) so as to slide along each slot (23).

[0052] Each embodiment described above and each embodiment described below may be implemented in a combined form.

[0054] For example, although the configuration of the driving unit is omitted in FIGS. 9 and 10, the first link (1) may be formed integrally with a rotating gear having a rotational center axis as the center point, and the driving unit may be implemented in such a way that the rotating gear of the first link (1) is rotated based on rotational force transmitted through at least one driving gear (22) to rotate the first link (1) at a predetermined angle.

[0056] Alternatively, as described in FIGS. 9 to 10, the first link (1) and the second link (2) may each be configured to have a slot (23), and a connecting member (5) connected through each slot (23) may be operated in a manner that slides along the driving slot (31) of the driving unit (4) having a spiral-shaped driving slot (31) as described in FIGS. 6 to 8.

[0058] However, if the above connecting member (5) is not fixed to either the first link (1) or the second link (2) and has a structure that slides along the slot (23) of the first link (1) and the slot (23) of the second link (2), as shown in FIG. 11, it is preferable that the connecting member (5) be implemented so that it slides along the slot (23) while maintaining a state perpendicular to the first link (1) and the second link (2) through a plurality of flanges (5a).

[0060] Additionally, as illustrated in FIGS. 12 to 14, the frame (3) may be further implemented to include a guide slot (13) through which a connecting member (5) slides.

[0062] More specifically, the frame (3) may be implemented to include a plurality of first extension parts (11) which are pivotally fixed so that the first link (1) and the second link (2) can rotate, and a second extension part (12) which is disposed between the first extension parts (11) and has a guide slot (13) formed therein through which a connecting member (5) slides.

[0064] Through this, as shown in FIG. 14, when the first link (1) and the second link (2) are rotated by the driving unit (4) and a star-shaped deformation operation is performed, the second extension (12) between the first extension (11) can stably support the load when overcoming rough terrain.

[0066] In addition, the guide slot (13) of the second extension part (12) supports the load transmitted in the longitudinal direction of the first link (1) and the second link (2) through the inner surface, thereby reducing shaking and creating a more stable driving environment.

[0068] At this time, the shape of the guide slot (13) formed in the second extension part (12) may vary depending on the embodiment.

[0070] For example, when a slot (23) is formed in each of the first link (1) and the second link (2), the guide slot (13) has a straight radial structure; however, when implemented in a form where a connecting member (5) is fixed to either the first link (1) or the second link (2) as described above, the guide slot (13) is implemented to have a spiral shape along the movement path of the connecting member (5) according to rotation.

[0072] In addition, the shape of the connecting member (5) may also be combined in various shapes, such as having a shape in which flanges (5a) are formed on both sides of the frame (3) as shown in FIG. 15, or having a shape in which flanges (5b) are formed only on the outer side of the first link (1) and the outer side of the second link (2).

[0074] As described above, although the present invention has been described with reference to preferred embodiments with reference to the accompanying drawings, it is evident to those skilled in the art that many obvious variations are possible from this description without departing from the scope of the invention. Accordingly, the scope of the invention should be interpreted by the claims described to include examples of such many variations. Explanation of the symbols

[0076] 1 : First link 2 : Second link 3 : Frame 4 : Driving unit 5 : Connecting member 10: Extension part 11: First extension part 12: Second extension 13: Guide slot 21 : Rotating gear 22 : Drive gear 23 : Slot 30: Driving plate 31: Drive slot

Claims

Claim 1 A robust star-shaped deformable wheel for overcoming rough terrain, characterized by comprising: a star-shaped frame having a plurality of extensions arranged radially; a first link rotatably disposed on at least two of the extensions of the frame; a second link disposed between two first links in a manner that is rotatably disposed in the opposite direction to the first link and connected to the first link rotating on the other extension; and a driving unit for performing a driving operation such that the first link and the second link alternately rotate the first link at a predetermined angle to form a ring-shaped circle, or performing a deformation operation such that the first link and the second link form a star shape. Claim 2 A robust star-shaped deformable wheel for overcoming rough terrain according to claim 1, wherein either of the first link and the second link further includes a pin-shaped connecting member, and the other of the first link and the second link has a slot formed having a predetermined length so that the pin-shaped connecting member can pass through and be transported along the longitudinal direction. Claim 3 A robust star-shaped deformable wheel for overcoming rough terrain, characterized in that, in claim 1, the first link and the second link have slots formed along the longitudinal direction having a predetermined length, and further include a connecting member that is connected by penetrating the slot of the first link and the slot of the second link and can be slid along each slot. Claim 4 A rigid star-shaped deformable wheel for overcoming rough terrain, characterized in that, in claim 2 or 3, the frame further comprises a guide slot through which a connecting member slides. Claim 5 A robust star-shaped deformable wheel for overcoming rough terrain, characterized in that, in claim 2 or 3, the frame comprises a plurality of first extension parts to which a first link and a second link are axially fixed; and a second extension part disposed between the first extension parts and having a guide slot formed therein through which a connecting member is slidably transported. Claim 6 A robust star-shaped deformable wheel for overcoming rough terrain, characterized in that, in claim 2 or 3, the driving unit rotates the first link and the second link at a predetermined angle through the rotation of a driving plate in which a plurality of spiral-shaped driving slots are formed, through which each connecting member passes and slides. Claim 7 A robust star-shaped deformable wheel for overcoming rough terrain, characterized in that, in claim 1, the first link has a rotating gear formed with a rotational center axis as the center point, and the driving unit rotates the rotating gear of the first link based on rotational force transmitted through at least one driving gear to rotate the first link at a predetermined angle.

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