Wheel and movable object including the same

Abstract

The present invention relates to a wheel and a moving body including the same, wherein the wheel comprises a frame rotatably provided about an axial direction, a cushioning member coupled to a radially outer side of the frame, and a connecting member connecting the cushioning member and the frame, wherein a portion of the connecting member may be formed to be movable along the radially outer and radially inner directions of the frame, and another portion may be formed to be rotatable about the axial direction.

Description

Technology Field

[0001] The present invention relates to a wheel and a moving body including the same. Background Technology

[0002] A wheel generally refers to a round object connected to an axle for the purpose of rotation. Conventional wheels were used as a means of moving on flat ground, but recently, wheels are being developed to climb non-flat surfaces such as stairs.

[0003] To climb stairs continuously, the shape of the tires must be modified to adapt to the slope. However, tires made of rubber lacking flexibility have low shock absorption; while they can overcome minor obstacles like small ledges, they struggle to overcome continuous obstacles such as stairs. Therefore, to climb stairs continuously, tires made of rubber with sufficient flexibility must be used.

[0004] However, when using rubber tires with such flexibility, there was a problem where the tires would bend due to torsional forces during cornering. To solve this, a structure was conventionally utilized in which a beam structure was connected to a plate to prevent wheel bending; however, this structure had issues such as bolt loosening and wear caused by surface friction between the beam and the plate.

[0005] In addition, to resolve the friction between the beam and the plate, oil had to be injected, which resulted in a problem of oil splashing. The problem to be solved

[0006] The objective of the present invention is to provide a wheel that does not generate surface friction and does not require oil injection for lubrication, and a moving body including the same. means of solving the problem

[0007] In one example, the wheel includes a frame that is rotatably provided around an axial direction, a cushioning member coupled to a radially outer side of the frame, and a connecting member connecting the cushioning member and the frame, wherein a portion of the connecting member is formed to be movable along the radially outer and radially inner directions of the frame, and another portion is formed to be rotatable on a plane intersecting the axial direction.

[0008] In another example, the connecting portion may include a first connecting member rotatably connected to the frame, which includes a first opening that opens toward the radially outer direction, and a guide member that is provided to have a portion inserted into the first opening, extends along the radially outer direction, has its radially outer end connected to the buffer portion, and is movable along the radially outer direction and the radially inner direction.

[0009] In another example, the first connecting member may include a first-1 portion formed orthogonally to the outer radius direction and having the first opening formed therein, and a first-2 portion orthogonal to the first-1 portion and rotatably connected to the frame.

[0010] In another example, the above connecting portion may further include a second connecting member that is coupled to the radius-inner surface of the above 1-1 portion and formed to allow the guide member to pass through.

[0011] In another example, the connecting portion may further include a first axis that extends in the axial direction, is rotatably coupled to the first-second portion, and penetrates the frame, the buffer portion, and the first-second portion.

[0012] In another example, the guide member comprises a guide member body extending toward a radially outward direction and an insertion hole formed at the radially outward side end of the guide member body, and the connecting member may further comprise a second axis extending in the axial direction, rotatably inserted into the insertion hole, and penetrating the radially outward end of the buffer member.

[0013] In another example, the connecting portion may further include a first spacer inserted between the buffer portion and the first axis to support the first axis, and a second spacer inserted between the buffer portion and the second axis to support the second axis.

[0014] In another example, the wheel may further include at least one of a first bearing that surrounds the second axis and is positioned between the buffer member and the guide member, and a second bearing that surrounds the second axis and is positioned between the end of the second axis opposite to the axial direction and the buffer member.

[0015] In another example, the buffer may include a circular first buffer member connected to the frame, a circular second buffer member spaced apart from the first buffer member in the radially outward direction, and a third buffer member connecting a point on the first buffer member and a point on the second buffer member.

[0016] In another example, the third buffer member can elastically support the second buffer member with respect to the first buffer member.

[0017] In another example, the third buffer member may be extended in a diagonal direction such that an angle is formed with the radially outward direction between the first buffer member and the second buffer member.

[0018] In another example, the third buffer member may be extended in a curved shape.

[0019] In another example, the first to third buffer members may be formed integrally.

[0020] In another example, the frame may include a first frame member connected to the axial side of the buffer, a second frame member connected to the side opposite to the axial direction of the buffer, and a third frame member extending in the axial direction and connecting the first frame member and the second frame member.

[0021] In another example, the third frame member can connect the radius-inner end of the first frame member and the radius-inner end of the second frame member to each other.

[0022] In another example, the connecting member may further include a first axis extending in the axial direction and penetrating the frame and the buffer member, and may include at least one of a third bearing disposed between the first frame member and the connecting member and surrounding the first axis, and a fourth bearing disposed between the end of the first axis opposite to the axial direction and the second frame member and surrounding the first axis.

[0023] In another example, the first connecting member and the guide member may be spaced apart from the frame in the axial direction.

[0024] In one example, the moving body includes a body including an axis and a wheel rotatably coupled to the axis, and the wheel includes a frame rotatably coupled to the axis, a cushioning member coupled to the radially outer side of the frame, and a connecting member connecting the cushioning member and the frame, wherein a portion of the connecting member is formed to be movable along the radially outer and radially inner directions of the frame, and another portion is formed to be rotatably on a plane intersecting the axial direction in which the axis extends. Effects of the invention

[0025] According to the present invention, as the connecting part connecting the frame and the cushioning part is rotatably coupled to the frame and the cushioning part, the occurrence of surface friction can be reduced, and oil for lubrication can be eliminated. Brief explanation of the drawing

[0026] FIG. 1 is a drawing illustrating a wheel according to one embodiment of the present invention. Figure 2 is a drawing of Figure 1 viewed from a different direction. FIG. 3 is a drawing illustrating a wheel passing over a flat surface according to one embodiment of the present invention. FIG. 4 is a drawing illustrating a wheel passing over stairs according to one embodiment of the present invention. Fig. 5 is a cutaway perspective view of Fig. 1. FIGS. 6 and FIGS. 7 are drawings illustrating a connecting part of a wheel according to an embodiment of the present invention. FIG. 8 is a drawing illustrating a shock absorber of a wheel according to one embodiment of the present invention. FIG. 9 is an enlarged view of a first frame member of a wheel according to one embodiment of the present invention. FIG. 10 is a drawing illustrating a moving body including wheels according to one embodiment of the present invention. Specific details for implementing the invention

[0027] Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. In assigning reference numerals to the components of each drawing, the same components are given the same reference numeral whenever possible, even if they are shown in different drawings. Furthermore, in describing the embodiments of the present invention, if it is determined that a detailed description of related known components or functions would hinder understanding of the embodiments of the present invention, such detailed description is omitted.

[0028] FIG. 1 is a drawing illustrating a wheel according to an embodiment of the present invention. FIG. 2 is a drawing of FIG. 1 viewed from a different direction. FIG. 3 is a drawing illustrating a wheel according to an embodiment of the present invention passing over a flat surface. FIG. 4 is a drawing illustrating a wheel according to an embodiment of the present invention passing over stairs.

[0029] Wheel

[0030] A wheel according to one embodiment of the present invention is a wheel capable of moving on surfaces other than flat ground, such as stairs. As illustrated in FIG. 1, a wheel according to one embodiment of the present invention may include a frame (100), a cushioning member (200), and a connecting member (300). The frame (100) may be provided to rotate about an axial direction (D1). The cushioning member (200) may be coupled to the radially outer direction (D2) side of the frame (100). The cushioning member (200) may be a tire. The connecting member (300) may connect the cushioning member (200) and the frame (100). Details regarding the axial direction (D1), the radially outer direction (D2), and the radially inner direction (D3) are illustrated in FIG. 2, etc.

[0031] The connecting part (300) may be formed such that a portion of its components is movable along the radially outer direction (D2) and the radially inner direction (D3) of the frame (100). The aforementioned portion may correspond to the guide member (320) to be described later.

[0032] For example, when the cushioning part (200) comes into contact with the ground, a portion having a reduced length along the outer radius direction (D2) may occur due to pressure from the ground, and accordingly, a part of the connecting part (300) is formed to be movable so as to allow such deformation. That is, due to this shape, the wheel according to one embodiment of the present invention can move on a surface other than flat ground, as shown in FIG. 4. Of course, it can move on flat ground, as shown in FIG. 3.

[0033] Additionally, another part of the connecting portion (300) may be formed to be rotatable on a plane intersecting the axial direction (D1). More preferably, another part of the connecting portion (300) may be formed to be rotatable on a plane perpendicular to the axial direction (D1). The rotation may be a rotation around the first axis (340) to be described later.

[0034] This other part may correspond to the first connecting member (310) described later, more specifically to the first-2 part (312). As another part of the connecting part (300) is formed to be rotatable, a bearing can be utilized, and accordingly, the wheel according to one embodiment of the present invention may have reduced wear due to surface friction or the need for oil to prevent surface friction. A detailed explanation of this will be provided in the section regarding the first to fourth bearings (410, 420, 430, 440) described later.

[0035] Hereinafter, the detailed shape of the connecting part (300) will be described in detail with reference to FIGS. 5 to 7. FIG. 5 is a cutaway perspective view of FIG. 1. FIGS. 6 and 7 are drawings illustrating the connecting part (300) of a wheel according to an embodiment of the present invention.

[0036] <First connecting member (310)>

[0037] The connecting portion (300) may include a first connecting member (310). As illustrated in FIG. 6, the first connecting member (310) may include a first opening (313). The first opening (313) may be opened toward the radially outward direction (D2). A guide member (320), which will be described later, may be inserted into the first opening (313). The first connecting member (310) may be rotatably connected to the frame (100). The connection here does not necessarily mean only a direct contact connection, but is a concept that includes an indirect connection through other members.

[0038] As illustrated in FIG. 1, the first connecting member (310) may be spaced apart from the frame (100) in the axial direction (D1). A third bearing (430), to be described later, may be inserted between the first connecting member (310) and the frame (100). As a result, surface friction between the first connecting member (310) and the frame (100) can be minimized.

[0039] The first connecting member (310) may include a first-1 portion (311) and a first-2 portion (312). The first-1 portion (311) may be formed orthogonally to the radially outer direction (D2) and may have a first opening (313) formed therein. The first-2 portion (312) may be orthogonal to the first-1 portion (311) and may be rotatably connected to the frame (100).

[0040] <Guide Absence (320)>

[0041] Additionally, the connecting portion (300) may include a guide member (320). The guide member (320) may be provided so that a portion of it is inserted into the first opening (313). The guide member (320) extends along the radially outer direction (D2), and the end of the radially outer direction (D2) may be connected to the buffer portion (200). The guide member (320) may be movable along the radially outer direction (D2) and the radially inner direction (D3). Thus, the guide member (320) may move in response to a change in the shape of the buffer portion (200). FIG. 6 shows the guide member (320) moved in the radially outer direction (D2), and FIG. 7 shows the guide member (320) moved in the radially inner direction (D3).

[0042] As illustrated in FIG. 5, the guide member (320) may include a guide member body (321) and an insertion hole (322). The guide member body (321) may extend toward the radially outward direction (D2). The insertion hole (322) may be formed at the radially outward direction (D2) end of the guide member body (321). A second shaft (350), which will be described later, may be inserted into the insertion hole (322).

[0043] The guide member (320) may be positioned spaced apart from the frame (100) in the axial direction (D1). Since the guide member (320) is inserted into the first opening (313) and the first connecting member (310) is spaced apart from the frame (100) in the axial direction (D1), the guide member (320) is also spaced apart from the frame (100) in the axial direction (D1). Meanwhile, the guide member (320) is connected to the cushioning member (200), and a first bearing (410), which will be described later, may be inserted between the guide member (320) and the cushioning member (200).

[0044] <Second connecting member (330)>

[0045] The connecting portion (300) may further include a second connecting member (330). The second connecting member (330) may be coupled to the radially inner direction (D3) surface of the first-1 portion (311) and formed to allow the guide member (320) to pass through. The second connecting member (330) may be understood as a component for guiding the movement of the guide member (320) in the radially outer direction (D2) and the radially inner direction (D3).

[0046] <1st axis (340), 2nd axis (350)>

[0047] As illustrated in FIG. 5, the connecting portion (300) may further include a first axis (340) and a second axis (350). The first axis (340) extends in the axial direction (D1) and may be rotatably coupled to the first-second portion (312). The first axis (340) may penetrate the frame (100), the buffer portion (200), and the first-second portion (312). The second axis (350) extends in the axial direction (D1), is rotatably inserted into the insertion hole (322), and may penetrate the radially outward end (D2) of the buffer portion (200). The second axis (350) may have a longer length along the axial direction (D1) compared to the first axis (340). This may be due to the positional difference between the first-second portion (312) and the guide member (320).

[0048] <1st spacer (360), 2nd spacer (370)>

[0049] The connecting portion (300) may further include a first spacer (360) and a second spacer (370). The first spacer (360) may be inserted between the buffer portion (200) and the first shaft (340) to support the first shaft (340). The first spacer (360) may be positioned to surround the first shaft (340). The second spacer (370) may be inserted between the buffer portion (200) and the second shaft (350) to support the second shaft (350). The second spacer (370) may be positioned to surround the second shaft (350).

[0050] The connecting portion (300) may further include a third spacer (380). The third spacer (380) may be positioned on the axial direction (D1) side of the second spacer (370). The axial direction (D1) end of the third spacer (380) may contact the guide member (320).

[0051] <1st to 4th bearings (410, 420, 430, 440)>

[0052] Meanwhile, a wheel according to one embodiment of the present invention may include at least one of the first to fourth bearings (410, 420, 430, 440). The first to fourth bearings (410, 420, 430, 440) may be arranged to reduce friction between two objects in contact at their respective positions. The first to fourth bearings (410, 420, 430, 440) may be thrust bearings.

[0053] The first bearing (410) is positioned between the cushioning member (200) and the guide member (320) and can surround the second shaft (350). More specifically, the first bearing (410) can be positioned to contact each of the cushioning member (200) and the third spacer (380). Due to the first bearing (410), surface friction between the cushioning member (200) and the third spacer (380) can be minimized.

[0054] The second bearing (420) is positioned between the end of the second shaft (350) opposite the axial direction (D1) and the buffer (200), and can wrap around the second shaft (350). Due to the second bearing (420), surface friction between the end of the second shaft (350) opposite the axial direction (D1) and the buffer (200) can be minimized.

[0055] The third bearing (430) is positioned between the first frame member (110) and the connecting part (300) and can wrap around the first shaft (340). Due to the third bearing (430), surface friction between the first frame member (110) and the connecting part (300) can be minimized.

[0056] The fourth bearing (440) is positioned between the end of the first shaft (340) opposite the axial direction (D1) and the second frame member (120) and can wrap around the first shaft (340). Due to the fourth bearing (440), surface friction between the end of the first shaft (340) opposite the axial direction (D1) and the second frame member (120) can be minimized.

[0057] <Buffer section (200)>

[0058] FIG. 8 is a drawing illustrating a shock absorber (200) of a wheel according to an embodiment of the present invention. Hereinafter, the specific shape of the shock absorber (200) will be described in detail. The shock absorber (200) may include first to third shock absorbers (210, 220, 230). The first shock absorber (210) may be a circular member connected to the frame (100). The second shock absorber (220) may be a circular member spaced outward in a radially outer direction (D2) from the first shock absorber (210). The third shock absorber (230) may connect a point of the first shock absorber (210) and a point of the second shock absorber (220) to each other. For convenience of explanation, the names first to third buffer members (210, 220, 230) are used, but the first to third buffer members (210, 220, 230) may be formed as a single unit.

[0059] The third cushioning member (230) may be provided to elastically support the second cushioning member (220) with respect to the first cushioning member (210). For example, the third cushioning member (230) may be provided with an elastic material capable of reversibly changing shape. As the third cushioning member (230) is provided to elastically support the second cushioning member (220) with respect to the first cushioning member (210), even after the second cushioning member (220) is deformed by pressure from the ground, when the pressure from the ground is removed, the third cushioning member (230) can restore the second cushioning member (220) to its original state by means of a restoring force.

[0060] Additionally, the third buffer member (230) may be extended diagonally so as to form an angle with the radially outward direction (D2) between the first buffer member (210) and the second buffer member (220). For example, as shown in FIG. 8, the third buffer member (230) may be extended in a curved shape.

[0061] Meanwhile, considering the cushioning member (200) having the shape described above, a phenomenon in which the cushioning member (200) twists during turning may occur. However, according to one embodiment of the present invention, the connecting member (300) located in the axial direction (D1) of the wheel supports the twisting of the cushioning member (200) that may occur during turning, so there is an effect that driving can be performed without problems even during turning.

[0062] <Frame(100)>

[0063] As illustrated in FIG. 1, the frame (100) may include first to third frame members (110, 120, 130). The first frame member (110) may be connected to the axial direction (D1) side of the buffer (200). The second frame member (120) may be connected to the side opposite to the axial direction (D1) of the buffer (200). That is, the buffer (200) may be positioned between the first frame member (110) and the second frame member (120). The first frame member (110) and the second frame member (120) may have shapes corresponding to each other.

[0064] FIG. 9 is an enlarged view of a first frame member of a wheel according to an embodiment of the present invention. As shown in FIG. 9, a bearing groove (111) may be formed in the first frame member (110). A third bearing (430) may be seated in the bearing groove (111).

[0065] Similar to the first frame member (110), the second frame member (120) may additionally have a bearing groove (not shown) formed therein in which a fourth bearing (440) can be seated.

[0066] The third frame member (130) extends in the axial direction (D1) and can connect the first frame member (110) and the second frame member (120). For example, the third frame member (130) can connect the radially inner end (D3) of the first frame member (110) and the radially inner end (D3) of the second frame member (120) to each other.

[0067] The movement of the wheel

[0068] Hereinafter, the movement of a wheel according to an embodiment of the present invention is described in detail with reference to the aforementioned components and drawings. The movement of a wheel according to an embodiment of the present invention may be described with reference to FIG. 3. For convenience of explanation, based on the case where the second cushioning member (220) rotates on the ground and a part thereof comes into contact with the ground, the area of ​​the second cushioning member (220) that comes into contact with the ground due to the self-weight of the frame (100) is called the contact area (AR1), and the area of ​​the second cushioning member (220) that does not come into contact with the ground is called the non-contact area (AR2).

[0069] As the wheel moves by rotating in contact with the ground, the first cushioning member (210) moves adjacent to the contact area (AR1). At this time, the guide member (320) of the connecting part (300) positioned adjacent to the contact area (AR1) moves in the radially inner direction (D3). Additionally, depending on the situation, the first-2 part (312) may rotate around the first axis (340).

[0070] Additionally, the non-contact area (AR2), which is an area of ​​the second buffer member (220) that does not come into contact with the ground, is separated from the first buffer member (210) by the restoring force of the third buffer member (230). At this time, the guide member (320) of the connecting part (300) that is positioned adjacent to the non-contact area (AR2) moves in the radially outward direction (D2).

[0071] A wheel according to one embodiment of the present invention can move by repeating this process.

[0072] Mobile body

[0073] FIG. 10 is a drawing illustrating a moving body including a wheel according to an embodiment of the present invention. Hereinafter, a moving body including a wheel according to an embodiment of the present invention will be described in detail with reference to FIG. 10 and the drawings described above. In particular, the description of the wheel according to an embodiment of the present invention may be made by referring to the foregoing content.

[0074] A moving body according to one embodiment of the present invention may include a body (10) and a wheel (20). The body (10) may include an axle. The wheel may be rotatably coupled to the axle. As illustrated in FIG. 1, the wheel (20, FIG. 10) may include a frame (100), a cushioning member (200), and a connecting member (300). The frame (100) may be rotatably coupled to the axle. The cushioning member (200) may be coupled to the radially outer direction (D2) side of the frame (100). The connecting member (300) may connect the cushioning member (200) and the frame (100). A portion of the connecting member (300) may be formed to be movable along the radially outer direction (D2) and the radially inner direction (D3) of the frame (100), and another portion may be formed to be rotatable around the axial direction (D1) where the axle extends.

[0075] As shown in FIG. 10, the moving body according to one embodiment of the present invention can be applied in various ways within a range that a person skilled in the art can modify and apply, such as having two wheels, one wheel, or three or more wheels.

[0076] The foregoing description is merely an illustrative explanation of the technical concept of the present invention, and those skilled in the art to which the present invention pertains will be able to make various modifications and variations within the scope of the essential characteristics of the present invention. Accordingly, the embodiments disclosed in the present invention are intended to explain, not limit, the technical concept of the present invention, and the scope of the technical concept of the present invention is not limited by these embodiments. The scope of protection of the present invention shall be interpreted by the claims below, and all technical concepts within an equivalent scope shall be interpreted as being included within the scope of rights of the present invention. Explanation of the symbols

[0077] 10: Body 20: Wheels 100: Frame 110: First frame member 111: Bearing groove 120: Second frame member 130: Third frame member 200: Buffer 210: First buffer member 220: Second buffer member 230: Third buffer member 300: Connection 310: First connecting member 311: Part 1-1 312: Part 1-2 313: First opening 320: No guide 321: Guide-less body 322: Insertion hole 330: Second connecting member 340: 1st Axis 350: 2nd Axis 360: 1st Spacer 370: 2nd Spacer 380: 3rd Spacer 410: First bearing 420: Second bearing 430: 3rd bearing 440: 4th bearing AR1: Contact area AR2: Non-contact area D1: Axial direction D2: Radius outer direction D3: Radius inner direction

Claims

Claim 1 A wheel comprising: a frame configured to rotate about an axial direction; a cushioning member coupled to the radially outer side of the frame; and a connecting member connecting the cushioning member and the frame, wherein the connecting member comprises: a first connecting member rotatably connected to the frame, wherein a portion thereof is formed to be movable along the radially outer and radially inner directions of the frame, and another portion thereof is formed to be rotatable on a plane intersecting the axial direction, and includes a first opening that opens toward the radially outer direction; and a guide member provided to be partially inserted into the first opening, extending along the radially outer direction, wherein the radially outer end thereof is connected to the cushioning member, and is movable along the radially outer and radially inner directions. Claim 2 delete Claim 3 A wheel according to claim 1, wherein the first connecting member comprises: a first-1 portion formed orthogonally to the radially outer direction and having the first opening formed therein; and a first-2 portion orthogonal to the first-1 portion and rotatably connected to a frame. Claim 4 A wheel according to claim 3, wherein the connecting portion further comprises a second connecting member that is coupled to the radius-inner surface of the first-1 portion and formed to allow the guide member to pass through. Claim 5 A wheel according to claim 4, wherein the connecting portion extends in the axial direction and is rotatably coupled to the first-2 portions, and further comprises a first axis penetrating the frame, the buffer portions, and the first-2 portions. Claim 6 A wheel according to claim 5, wherein the guide member comprises: a guide member body extending toward a radially outer direction; and an insertion hole formed at the radially outer end of the guide member body, and the connecting portion further comprises a second axis extending in the axial direction, rotatably inserted into the insertion hole, and penetrating the radially outer end of the cushioning portion. Claim 7 The wheel according to claim 6, wherein the connecting portion further comprises: a first spacer inserted between the buffer portion and the first shaft to support the first shaft; and a second spacer inserted between the buffer portion and the second shaft to support the second shaft. Claim 8 A wheel according to claim 7, further comprising at least one of: a first bearing disposed between the buffer portion and the guide member and surrounding the second axis; and a second bearing disposed between the end of the second axis opposite to the axial direction and the buffer portion and surrounding the second axis. Claim 9 The wheel according to claim 1, wherein the cushioning member comprises: a circular first cushioning member connected to the frame; a circular second cushioning member spaced apart from the first cushioning member in the radially outward direction; and a third cushioning member connecting a point of the first cushioning member and a point of the second cushioning member. Claim 10 In claim 9, the third cushioning member is a wheel arranged to elastically support the second cushioning member with respect to the first cushioning member. Claim 11 In claim 9, the third cushioning member is a wheel extending diagonally such that an angle is formed with the radially outer direction between the first cushioning member and the second cushioning member. Claim 12 In claim 11, the third cushioning member is a wheel that extends in a curved shape. Claim 13 In claim 11, the wheel, wherein the first to third cushioning members are formed integrally. Claim 14 The wheel according to claim 1, wherein the frame comprises: a first frame member connected to the axial side of the cushioning member; a second frame member connected to the side opposite to the axial direction of the cushioning member; and a third frame member extending in the axial direction and connecting the first frame member and the second frame member. Claim 15 In claim 14, the third frame member is a wheel that connects the radius-inner end of the first frame member and the radius-inner end of the second frame member. Claim 16 A wheel comprising: a frame configured to rotate about an axial direction; a cushioning member coupled to the radially outer side of the frame; and a connecting member connecting the cushioning member and the frame, wherein a portion of the connecting member is formed to be movable along the radially outer and radially inner directions of the frame, and another portion is formed to be rotatable on a plane intersecting the axial direction, and the frame comprises: a first frame member connected to the axial side of the cushioning member; a second frame member connected to the side opposite to the axial direction of the cushioning member; a third frame member extending in the axial direction and connecting the first frame member and the second frame member, and the connecting member further comprises a first axis extending in the axial direction and penetrating the frame and the cushioning member, a third bearing disposed between the first frame member and the connecting member and surrounding the first axis, and at least one of a fourth bearing disposed between the end of the first axis opposite to the axial direction and the second frame member and surrounding the first axis. Claim 17 A wheel according to claim 1, wherein the first connecting member and the guide member are spaced apart from the frame in the axial direction. Claim 18 A movable body comprising: a body including an axle; and a wheel rotatably coupled to the axle, wherein the wheel comprises: a frame rotatably coupled to the axle; a cushioning member coupled to the radially outer direction side of the frame; and a connecting member connecting the cushioning member and the frame, wherein the connecting member comprises a first connecting member rotatably connected to the frame, wherein a portion thereof is formed to be movable along the radially outer direction and the radially inner direction of the frame, and another portion thereof is formed to be rotatably on a plane intersecting the axial direction in which the axle extends, and includes a first opening that opens toward the radially outer direction; and a guide member provided to be partially inserted into the first opening, extending along the radially outer direction, wherein the radially outer end thereof is connected to the cushioning member, and is movable along the radially outer direction and the radially inner direction.

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