Transformable wheel and robot including same

Abstract

Disclosed is a robot. The robot comprises: a body that has an insertion hole formed in a sidewall and has an inner space; an outer shaft located in the inner space of the body; an inner shaft that is inserted in the outer shaft and can move relative to the outer shaft; spokes that are made of a flexible material and have one region coupled to the outer shaft and another region coupled to the inner shaft; a first driving unit for linearly moving the outer shaft, the inner shaft, and the spokes toward the insertion hole; and a second driving unit for rotating the outer shaft, the inner shaft, and the spokes, wherein, when the first driving unit is operated, the outer shaft is restricted in movement by the sidewall of the body, the inner shaft moves out from the body via the interior of the outer shaft, and the spokes are switched to an unfolded state.

Description

Deformable wheel and robot including the same

[0001] The present invention relates to a deformable wheel and a robot including the same, and more specifically, to a deformable wheel that is camouflaged in a folded state and movable in an unfolded state, and a robot including the same.

[0002] Research on small robots capable of overcoming obstacles is actively being conducted in operational situations, environments that must overcome rough terrain, and places where it is dangerous for humans to approach or where their identity must not be detected. Representative robots that require functions suited to a given environment include robots with articulated leg structures and robots with spoke wheel structures.

[0003] Robots with articulated leg structures utilize multiple joints to move each leg independently, enabling effective navigation across various terrains. Additionally, they possess the advantages of a relatively simple structure and easy camouflage. The Casecrawler robot is a small robot primarily designed for exploring confined spaces or complex terrain; it features a linkage-based articulated structure for high payload capacity, while the Orumbot structure is equipped with flexible modules and a multi-joint design. Since each module can operate independently, it can follow complex paths or maintain various postures.

[0004] However, Casecrawler robots are limited in the height of obstacles due to the limited range of motion of their joints, and precise steering is difficult due to insufficient friction caused by the narrow contact area with the ground. The Orumbot structure has the problem of increased mechanical complexity due to the many link connections and is prone to mechanical defects caused by continuous impact from the rotation of hard materials.

[0005] A spoke wheel robot is a robot that moves by adopting a spoke-shaped wheel structure. It has advantages in mobility as it can efficiently drive on special terrains, such as uneven ground or environments with many obstacles, through the rigid spoke structure. In addition, due to the efficient weight distribution, load stability, and high maneuverability of the spoke structure, it can stably move heavy payloads.

[0006] However, when a spoke wheel robot is deformed, the overall height of the body increases, making it easily noticeable, and the contact area with the ground is small, resulting in insufficient friction. In particular, on slippery terrain such as wetlands or ice, stable movement is difficult due to a lack of traction, and mechanical failures may occur.

[0007] Accordingly, research is required to resolve the aforementioned problems.

[0008] The present invention provides a deformable wheel that is accommodated within a body and can be deployed outside the body.

[0009] In addition, the present invention provides a deformation wheel capable of changing its shape from the outside of the body.

[0010] In addition, the present invention provides a robot capable of camouflage through the deformation and movement of a deformation wheel.

[0011] In addition, the present invention provides a robot that is portable in a small size when camouflaged and whose wheel size increases when the transforming wheel is deployed.

[0012] A modified wheel according to the present invention comprises: a body having an insertion opening formed in a side wall and an internal space; an outer shaft located in the internal space of the body; an inner shaft inserted into the inner side of the outer shaft and capable of relative movement with respect to the outer shaft; a spoke made of a flexible material, one area of ​​which is coupled to the outer shaft and another area of ​​which is coupled to the inner shaft; a first driving unit that moves the outer shaft, the inner shaft, and the spoke linearly toward the insertion opening; and a second driving unit that rotates the outer shaft, the inner shaft, and the spoke, wherein when the first driving unit is driven, the movement of the outer shaft is restricted by the side wall of the body, the inner shaft moves to the outside of the body through the inner side of the outer shaft, and the spoke can be switched to an unfolded state.

[0013] Additionally, the spoke may include a first plate having one end connected to the outer shaft and provided with a predetermined length; and a second plate arranged parallel to the first plate, having one end connected to the inner shaft and the other end connected to the other end of the first plate.

[0014] In addition, the second plate may have a longer length than the first plate.

[0015] In addition, in the unfolded state of the spoke, the first plate and the second plate are deformed into a predetermined curve, and in the folded state of the spoke, the first plate and the first plate can be arranged side by side with each other.

[0016] In addition, in the unfolded state of the spokes, the curvature of the first plate may be greater than the curvature of the second plate.

[0017] Additionally, the outer shaft may include a first outer region having an outer diameter smaller than the inner diameter of the insertion opening and a through space formed on the inner side; and a second outer region provided at the rear end of the first outer region and having an outer diameter larger than the insertion opening.

[0018] In addition, the above-mentioned penetrating space is a polygonal space, and the above-mentioned inner axis may have an outer surface corresponding to the above-mentioned polygonal space.

[0019] In addition, the inner axis may have a longer length than the outer axis.

[0020] In addition, in the unfolded state, the other end of the first plate and the other end of the second plate may be located on a rotation path larger than the insertion opening.

[0021] Additionally, the first drive unit may include a motor; a guide rail provided with a predetermined length and coupled to the body; a lead screw arranged parallel to the guide rail; a plurality of gears that transmit the rotational force of the motor to the lead screw; and a slider that moves linearly along the guide rail by the rotation of the lead screw and coupled to the inner shaft.

[0022] A deformable wheel according to the present invention may include an outer shaft; an inner shaft inserted into the inner side of the outer shaft and capable of relative movement with respect to the outer shaft; and spokes made of a flexible material, one region of which is coupled to the outer shaft and another region of which is coupled to the inner shaft.

[0023] Additionally, the spoke may include a first plate having one end connected to the outer shaft and provided with a predetermined length; and a second plate arranged parallel to the first plate, having one end connected to the inner shaft and the other end connected to the other end of the first plate.

[0024] In addition, the second plate may have a longer length than the first plate.

[0025] In addition, in the unfolded state of the spoke, the first plate and the second plate are deformed into a predetermined curve, and in the folded state of the spoke, the first plate and the first plate can be arranged side by side with each other.

[0026] In addition, in the unfolded state, the curvature of the second plate may be greater than the curvature of the first plate.

[0027] Additionally, the outer shaft has an outer diameter of a predetermined size and a first outer region having a through space formed on the inner side; and is provided at the rear end of the first outer region and may have an outer diameter larger than that of the first outer region.

[0028] In addition, the above-mentioned penetrating space is a polygonal space, and the above-mentioned inner axis may have an outer surface corresponding to the above-mentioned polygonal space.

[0029] In addition, the inner axis may have a longer length than the outer axis.

[0030] According to the present invention, since the deformation wheel is deformed into a folded state through the driving unit, the robot can be concealed and / or camouflaged.

[0031] In addition, according to the present invention, since the deformation wheel is received inside the body in a folded state, the robot can be miniaturized.

[0032] In addition, according to the present invention, since the deformation wheel rotates through the driving unit in the unfolded state of the deformation wheel, the robot can move.

[0033] FIG. 1 is a perspective view of a robot according to an embodiment of the present invention.

[0034] Figure 2 is a plan view showing a robot in a folded state of a deformation wheel.

[0035] FIG. 3 is a drawing showing the deformation wheel, the first driving unit, and the second driving unit of FIG. 2.

[0036] Figure 4 is a drawing showing the first driving unit of Figure 3.

[0037] Figure 5 is a perspective view showing the folded state of the deformation wheel.

[0038] Figure 6 is a disassembled view of the deformation wheel of Figure 5.

[0039] Figure 7 is a view of the inner axis of Figure 4 from the rear.

[0040] Figure 8 is a partially enlarged view of the spokes in Figure 4.

[0041] FIGS. 9 to 11 are drawings sequentially illustrating the movement and deformation process of a deformation wheel according to an embodiment of the present invention.

[0042] Figure 12 is a diagram showing a robot moving forward.

[0043] Figure 13 is a diagram showing a robot moving backward in a second direction.

[0044] A modified wheel according to the present invention comprises: a body having an insertion opening formed in a side wall and an internal space; an outer shaft located in the internal space of the body; an inner shaft inserted into the inner side of the outer shaft and capable of relative movement with respect to the outer shaft; a spoke made of a flexible material, one area of ​​which is coupled to the outer shaft and another area of ​​which is coupled to the inner shaft; a first driving unit that moves the outer shaft, the inner shaft, and the spoke linearly toward the insertion opening; and a second driving unit that rotates the outer shaft, the inner shaft, and the spoke, wherein when the first driving unit is driven, the movement of the outer shaft is restricted by the side wall of the body, the inner shaft moves to the outside of the body through the inner side of the outer shaft, and the spoke can be switched to an unfolded state.

[0045] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. However, the technical concept of the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided to ensure that the disclosed content is thorough and complete and to ensure that the concept of the present invention is sufficiently conveyed to those skilled in the art.

[0046] In this specification, when a component is described as being on another component, it means that it may be formed directly on the other component or that a third component may be interposed between them. Additionally, in the drawings, the thicknesses of the films and regions are exaggerated for the effective description of the technical content.

[0047] Additionally, although terms such as first, second, third, etc., have been used to describe various components in the various embodiments of this specification, these components should not be limited by such terms. These terms are used merely to distinguish one component from another. Accordingly, what is referred to as the first component in one embodiment may be referred to as the second component in another embodiment. Each embodiment described and illustrated herein also includes its complementary embodiment. Furthermore, in this specification, "and / or" is used to mean including at least one of the components listed before and after it.

[0048] In the specification, singular expressions include plural expressions unless the context clearly indicates otherwise. Furthermore, terms such as "include" or "have" are intended to specify the existence of the features, numbers, steps, components, or combinations thereof described in the specification, and should not be understood as excluding the existence or addition of one or more other features, numbers, steps, components, or combinations thereof. Additionally, in this specification, "connection" is used to include both indirectly connecting multiple components and directly connecting them.

[0049] In addition, in describing the present invention below, if it is determined that a detailed description of related known functions or configurations could unnecessarily obscure the essence of the invention, such detailed description will be omitted.

[0050]

[0051] FIG. 1 is a perspective view of a robot (10) according to an embodiment of the present invention, FIG. 2 is a plan view showing the robot (10) in a folded state of a deformable wheel (200), FIG. 3 is a drawing showing the deformable wheel (200), the first driving unit (300), and the second driving unit (400) of FIG. 2, FIG. 4 is a drawing showing the first driving unit (300) of FIG. 3, FIG. 5 is a perspective view showing the folded state of the deformable wheel (200), FIG. 6 is a disassembled drawing of the deformable wheel (200) of FIG. 5, FIG. 7 is a rear view of the inner shaft (220) of FIG. 4, and FIG. 8 is a partially enlarged drawing of the spoke (230) of FIG. 4.

[0052] Referring to FIGS. 1 to 8, a robot (10) according to an embodiment of the present invention is provided with a deformable wheel (200) that can be stored inside a body (100) and is provided with a shape that can be deformed and moved outside the body (100). For convenience of explanation below, the state in which the deformable wheel (200) is stored inside the body (100) is referred to as the folded state, and the state in which the shape is deformed outside the body (100) is referred to as the unfolded state.

[0053] A robot (10) according to an embodiment of the present invention includes a body (100), a deformation wheel (200), a first driving unit (300), and a second driving unit (400).

[0054] The body (100) is provided as the body of the robot (10) and has a predetermined size and shape. According to an embodiment, the body (100) has a rectangular shape and an internal space of a predetermined area is formed. The deformation wheel (200), the first drive unit (300), and the second drive unit (400) are accommodated in the internal space. For convenience of explanation, the upper surface of the body (100) is shown as open, but it can be sealed by a cover. The body (100) can be provided with a material having lightness, excellent strength, and durability. According to an embodiment, the body (100) is provided with an aluminum material.

[0055] When viewed from above, insertion openings (101) are formed on both side walls of the body (100). Multiple insertion openings (101) are formed on each of the two side walls with a predetermined size. According to an embodiment, at least two insertion openings (101) are formed on each side wall. In the present invention, two insertion openings (101) are formed on each of the two side walls, as an example. The insertion openings (101) are spaced apart at a predetermined distance. The insertion openings (101) are arranged facing each other on both side walls.

[0056] A plurality of deformation wheels (200) are provided and are placed in each of the insertion ports (101). According to an embodiment, four deformation wheels (200) are provided and are individually placed in four insertion ports (101). The deformation wheels (200) have the same structure. For convenience of explanation, one deformation wheel (200) will be described as an example below.

[0057] The deformed wheel (200) includes an outer shaft (210), an inner shaft (220), and spokes (230).

[0058] The outer shaft (210) has a predetermined shape and size, and its center axis is positioned on the same straight line as the center of the insertion opening (101). The outer shaft (210) includes a first outer region (211) and a second outer region (212).

[0059] The first outer region (211) is a front region of the outer axis (210) and has a polygonal outer surface. According to an embodiment, the outer surface of the first outer region (211) has a hexagonal shape. The circumference of the outer surface of the first outer region (211) is provided to be smaller than the inner diameter of the insertion opening (101). A polygonal through-space is formed on the inner side of the first outer region (211). According to an embodiment, the through-space may be formed as a hexagonal space. Preferably, the first outer region (211) has a hexagonal outer surface and a hollow. A fastening hole (211a) is formed along the outer surface of the first outer region (211). According to an embodiment, six fastening holes (211a) are formed on the outer surface of the first outer region (211).

[0060] The second outer region (212) is provided at the rear end of the first outer region (211) and has an outer diameter of a predetermined size. According to an embodiment, the outer diameter of the second outer region (212) is provided to be larger than the inner diameter of the insertion opening (101). The through space extends into the inner side of the second outer region (212).

[0061] The inner shaft (220) has a polygonal column shape and has a longer length than the outer shaft (210). According to an embodiment, the inner shaft (220) has a hexagonal column shape. The inner shaft (220) is inserted into the through space and is provided to be movable relative to the outer shaft (210). The inner shaft (220) has a cross-sectional area corresponding to or smaller than the through space. The inner shaft (220) includes a first inner region (221) and a second inner region (222).

[0062] The first inner region (221) is the front region of the inner shaft (220) and has a cross-sectional area smaller than the through space. A plurality of fastening holes (221a) are formed on each of the outer surfaces of the first inner region (221). According to an embodiment, a pair of fastening holes (221a) are formed on each of the outer surfaces of the first inner region (221).

[0063] The second inner region (222) extends from the first inner region (221) and has a size corresponding to or smaller than the through space. A fastening hole (222b) is formed along the perimeter of the second inner region (222).

[0064] One portion of the spoke (230) is connected to the outer shaft (210), and another portion is connected to the inner shaft (220). The spoke (230) is provided in the form of a plate having a predetermined width, thickness, and length. The spoke (230) may be provided in a steel material having excellent hardness, durability, and elasticity. According to an embodiment, the spoke (230) is provided in SK-5 material.

[0065] Multiple spokes (230) are provided along the circumference of the outer shaft (210) and the inner shaft (220). The spokes (230) are provided in the same number as the outer surface of the outer shaft (210). According to an embodiment, six spokes (230) are provided, one on each of the six outer surfaces of the outer shaft (210). The spokes (230) are provided in the same structure.

[0066] The spoke (230) includes a first plate (231) and a second plate (232).

[0067] The first plate (231) has a predetermined length, and fastening holes (231a, 231b) are formed at one end and the other end, respectively. One end of the first plate (231) is placed on the outer surface of the first outer region (211). A fastening member is inserted into the fastening hole (231a) of the first plate (231) and the fastening hole (211a) of the first outer region (211), and the one end of the first plate (231) is fixedly coupled to the first outer shaft (210) by the fastening member.

[0068] The second plate (232) is arranged parallel to the first plate (231) and has a longer length than the first plate (231). Two fastening holes (231a) are formed at one end of the second plate (232). The fastening holes (231a) are formed at the same interval as the fastening holes (221a) formed in the first inner region (221), and a fastening member is inserted into each fastening hole (231a). One end of the second plate (232) is fixedly coupled to the inner shaft (220) by the fastening member.

[0069] The other end of the second plate (232) is positioned to face the other end of the first plate (231). A fastening hole (232b) is formed in the other end of the second plate (232). The fastening hole (232b) formed in the other end of the second plate (232) and the fastening hole (231b) formed in the other end of the first plate (231) are fastened by a fastening member.

[0070] The first driving unit (300) moves the deformation wheel (200) in a straight line toward the insertion opening (101). The first driving unit (300) is provided in a number corresponding to the deformation wheel (200), and each moves the deformation wheel (200) in a straight line. According to an embodiment, four first driving units (300) are provided, all having the same configuration. For convenience of explanation, one first driving unit (300) will be described as an example below.

[0071] The first drive unit (300) includes a motor (310), a guide rail (320) (320), a lead screw (330), a compression spring (340), a plurality of gears (350), and a slider (360).

[0072] The motor (310) is located in the internal space of the body (100) at a position adjacent to the insertion opening (101). The motor (310) provides power to move the deformation wheel (200) in a straight line. The motor (310) may be provided as a DC motor.

[0073] The guide rail (320) has a predetermined length and guides the linear movement of the deformation wheel (200). The guide rail (320) is provided parallel to the longitudinal direction of the deformation wheel (200) and is coupled to the side wall of the body (100). The guide rail (320) is positioned so that its longitudinal direction is parallel to the longitudinal direction of the deformation wheel (200).

[0074] The lead screw (330) is positioned adjacent to the motor (310). The lead screw (330) is positioned parallel to the guide rail (320) with the deformation wheel (200) in between. The lead screw (330) has a length corresponding to that of the guide rail (320).

[0075] The compression spring (340) is located on one side of the motor (310), and the tip of the lead screw (330) is inserted into it.

[0076] Multiple gears (350) transmit the rotational force of the motor (310) to the lead screw (330) to rotate the lead screw (330). One gear (350) is coupled to the rotation axis of the motor (310), and another gear (350) is coupled to the lead screw (330). The teeth of the multiple gears (350) mesh with each other and rotate. The rotational force of the motor (310) is transmitted sequentially to the multiple gears (350) and finally to the lead screw (330).

[0077] The slider (360) has a predetermined shape and is connected to the lead screw (330) and the guide rail (320). According to an embodiment, one side of the slider (360) is connected to the lead screw (330), the other side is connected to the guide rail (320), and the center area is connected to the inner shaft (220). The slider (360) moves along the longitudinal direction of the lead screw (330) by the rotation of the lead screw (330), and linear movement is guided by the guide rail (320). When the lead screw (330) rotates in the forward direction, the slider (360) moves linearly in the outer direction of the body (100) together with the deformation wheel (200), and when the lead screw (330) rotates in the reverse direction, it moves linearly in the inner direction of the body (100) together with the deformation wheel (200).

[0078] The second drive unit (400) is fixedly coupled to the slider (360) and can move together with the slider (360). The second drive unit (400) is coupled to the inner shaft (220) and rotates the inner shaft (220).

[0079] The second drive unit (400) includes a motor (410) and a plurality of gears (420).

[0080] The motor (410) generates rotational force. According to an embodiment, a DC motor may be used for the motor (410).

[0081] A plurality of gears (420) are provided between the motor (410) and the inner shaft (220). Each of the gears (420) is arranged so that their teeth mesh with each other. One gear (420) is coupled to the rotation axis of the motor (410), and another gear (420) is coupled to the inner shaft (220). The rotational force generated by the motor (410) is transmitted to the inner shaft (220) through the plurality of gears (420). The deformation wheel (200) can rotate due to the rotation of the inner shaft (220).

[0082] The first drive unit (300) and the second drive unit (400) described above may be provided with a lithium polymer battery and a main board of an 8-channel H-bridge. The lithium polymer battery provides power to the motors (310, 410) of the first drive unit (300) and the second drive unit (400), and the main board of the 8-channel H-bridge can control the rotation direction and speed of the motors (310, 410).

[0083]

[0084] Below, the operation process of the robot (10) described above is explained in detail.

[0085]

[0086] FIGS. 9 to 11 are drawings sequentially illustrating the movement and deformation process of a deformation wheel (200) according to an embodiment of the present invention.

[0087] Referring to FIG. 9, the deformable wheel (200) is located inside the body (100) in a folded state. In this case, the first plate (231) and the second plate (232) of the spoke (230) are arranged side by side, the first inner region (221) is located in the through space of the first outer region (211), and the second inner region (222) is located behind the second outer region (212). In this state, the first driving unit (300) is driven.

[0088] Referring to FIG. 10, the motor (310) operates, and the rotational force of the motor (310) is sequentially transmitted to the gear (350) coupled to the rotation axis of the motor (310) and to a plurality of gears (350) meshed with it, and finally to the lead screw (330), causing the lead screw (330) to rotate in the forward direction. Due to the rotation of the lead screw (330), the slider (360) moves linearly toward the outside of the body (100) along the guide rail (320) together with the deformation wheel (200).

[0089] During the movement of the slider (360) and the deformation wheel (200), the first outer region (211) is inserted into the insertion opening (101). Since the outer surface of the second outer region (212) has a diameter larger than the inner diameter of the insertion opening (101), movement into the insertion opening (101) is restricted. As a result, the movement of the outer shaft (210) is stopped and its position is fixed.

[0090] In this case, the other end of the first plate (231) and the other end of the second plate (232) are located outside the body (100), the first outer region (211) and one end of the first plate (231) and the first inner region (221) and one end of the second plate (232) are located within the insertion opening (101), and the second inner region is located behind the second outer region (212).

[0091] Referring to FIG. 11, with the movement of the outer shaft (210) stopped and its position fixed, the slider (360) moves in a straight line, and the inner shaft (220) moves in a straight line together with the slider (360). The inner shaft (220) has the second inner region (222) inserted into the through space of the first outer region (211), and the first inner region (221) protrudes to the outside of the body (100). With the first plate (231) of the spoke (230) fixed within the insertion opening (101) by the outer shaft (210), as the second inner region (222) moves, the second plate (232) is pushed and begins to bend and deform in an outward direction. Then, a moment is generated in the area where the other ends of the second plate (232) and the first plate (231) are joined, and the first plate (231) is bent outward and deformed together with the deformation of the second plate (232). At this time, the second plate (232) is deformed with a greater curvature than the first plate (231).

[0092] By the process described above, the deformable wheel (200) is deformed into an unfolded state outside the body (100). In the unfolded state of the deformable wheel (200), the spokes (230) have a radial structure, and the other end of the second plate (232) and the other end of the first plate (231) are positioned on a rotational path larger than the insertion opening (101). When the deformable wheel (200) is in the unfolded state, the body (100) is spaced apart from the ground and positioned at a predetermined height.

[0093]

[0094] FIG. 12 is a drawing showing the robot (10) moving forward, and FIG. 13 is a drawing showing the robot (10) moving backward in a second direction.

[0095] Referring to FIGS. 12 and 13, the robot (10) can move by driving the second drive unit (400) in the unfolded state of the deformation wheel (200).

[0096] When the motor (410) rotates in the forward direction by driving the second drive unit (400) in the unfolded state of the deformed wheel (200), the rotational force of the motor (410) is sequentially transmitted to a plurality of gears (420) that mesh with the gear (420) coupled to the rotation axis of the motor (410), and finally transmitted to the inner shaft (220). When the inner shaft (220) rotates in the forward direction, the outer shaft (210) coupled in a polygonal structure rotates together. With the rotation of the inner shaft (220) and the outer shaft (210), the spoke (230) rotates, allowing the robot (10) to move forward.

[0097] When the motor (410) rotates in the reverse direction due to the driving of the second drive unit (400), the rotational force of the motor (410) is transmitted sequentially to a plurality of gears (420) that mesh with the gear (420) coupled to the rotation axis of the motor (410), and finally to the inner shaft (220). When the inner shaft (220) rotates in the reverse direction, the outer shaft (210) coupled in a polygonal structure rotates together. With the rotation of the inner shaft (220) and the outer shaft (210), the spoke (230) rotates, allowing the robot (10) to move backward.

[0098] When the driving direction of the robot (10) is to be changed to the right, the rotational speed of the front left deformation wheel (200) is increased through the second drive unit (400) connected to the front left deformation wheel (200), and the rotational speed of each deformation wheel (200) is individually adjusted through the second drive unit (400) of each of the remaining deformation wheels (200) to change the driving direction to the right.

[0099] When the driving direction of the robot (10) is to be changed to the left, the rotational speed of the front right deformation wheel (200) is increased through the second drive unit (400) connected to the front right deformation wheel (200), and the rotational speed of each deformation wheel (200) is individually adjusted through the second drive unit (400) of each of the remaining deformation wheels (200) to change the driving direction to the left.

[0100] The robot (10) can adjust the driving direction by individually adjusting and controlling the deformation wheels (200) through the second drive unit (400) of each deformation wheel (200).

[0101] When the driving of the robot (10) is completed, the driving of the second drive unit (400) is stopped, and the first drive unit (300) is driven. The motor (310) operates, and the rotational force of the motor (310) is sequentially transmitted to the gear (350) coupled to the rotation axis of the motor (310) and to a plurality of gears (350) meshed with it, and finally to the lead screw (330), causing the lead screw (330) to rotate in the reverse direction. Due to the rotation of the lead screw (330), the slider (360) retracts along the guide of the guide rail (320) together with the inner axis (220).

[0102] During the rearward movement of the slider (360) and the inner shaft (220), the second inner region (222) inserted into the through space of the first outer region (211) moves to the rear of the second outer region (212), and during this process, the curved surface of the second plate (232) begins to unfold. Then, as the second plate (232) deforms, the first plate (231) unfolds together with it, and the first plate (231) and the second plate (232) are aligned side by side, and the deformation wheel (200) becomes folded.

[0103] As the slider (360) continues to move backward, the inner axis (220), the outer axis (210), and the spoke (230) retract together.

[0104] When the slider (360) moves to the point shown in FIG. 9, the driving of the first driving unit (300) is stopped.

[0105] Through the process described above, the deformation wheel (200) is deformed into a folded state outside the body (100) and stored in the inner space of the body (100). Since the deformation wheel (200) is stored in the inner space of the body (100) in a folded state, the robot (10) can be concealed and / or camouflaged and can be miniaturized.

[0106]

[0107] Although the present invention has been described in detail using preferred embodiments, the scope of the invention is not limited to specific embodiments and should be interpreted by the appended claims. Furthermore, those skilled in the art will understand that many modifications and variations are possible without departing from the scope of the invention.

[0108] A robot according to an embodiment of the present invention can be used to overcome obstacles in operational situations or environments where rough terrain must be overcome, and in places where it is dangerous for humans to approach or where the identity must not be discovered.

Claims

1. A body having an insertion opening formed in a side wall and an internal space; An outer shaft located in the internal space of the above body; An inner shaft inserted into the inner side of the outer shaft and capable of relative movement with respect to the outer shaft; A spoke made of a flexible material, one portion of which is coupled to the outer shaft and another portion of which is coupled to the inner shaft; A first driving unit that linearly moves the outer shaft, the inner shaft, and the spoke toward the insertion opening; and It includes the outer shaft, the inner shaft, and a second drive unit that rotates the spoke, A robot in which, when the first driving unit is driven, the outer axis is restricted in movement by the side wall of the body, the inner axis moves to the outside of the body through the inner side of the outer side, and the spoke is switched to an unfolded state.

2. In Paragraph 1, The above spoke is A first plate material provided with a predetermined length, having one end coupled to the outer axis; and A deformable robot comprising a second plate that is arranged parallel to the first plate, with one end coupled to the inner shaft and the other end fixedly coupled to the other end of the first plate.

3. In Paragraph 2, The robot having a longer length than the first plate.

4. In Paragraph 2, In the unfolded state of the spokes, the first plate and the second plate are deformed into a predetermined curve, and A robot in which the first plate and the second plate are arranged side by side in the folded state of the spokes.

5. In Paragraph 4, A robot in which, in the unfolded state of the spokes, the curvature of the second plate is greater than the curvature of the first plate.

6. In Paragraph 1, The above outer axis is A first outer region having an outer surface smaller than the insertion opening and a through space formed on the inner side; A robot comprising a second outer region provided at the rear end of the first outer region and having an outer diameter larger than the insertion opening.

7. In Paragraph 6, The above penetrating space is a polygonal space, and The above inner axis is a robot having an outer surface corresponding to the above polygonal space.

8. In Paragraph 1, A robot in which the inner axis has a longer length than the outer axis.

9. In Paragraph 5, A robot in which, in the unfolded state, the other end of the first plate and the other end of the second plate are located on a rotation path larger than the insertion opening.

10. In Paragraph 1, The above first driving unit motor; A guide rail provided with a predetermined length and coupled to the body; A lead screw positioned parallel to the above guide rail; A plurality of gears that transmit the rotational force of the above motor to the lead screw; and A robot comprising a slider that moves linearly along the guide rail by the rotation of the lead screw and engages with the inner axis.

11. Outer axis; An inner axis inserted into the inner side of the outer and capable of relative movement with respect to the outer; and A deformed wheel comprising spokes of a flexible material, one region of which is coupled to the outer axis and another region of which is coupled to the inner axis.

12. In Paragraph 11, The above spoke is A first plate material provided with a predetermined length, having one end coupled to the outer axis; and A deformation wheel comprising a second plate that is arranged parallel to the first plate, with one end coupled to the inner shaft and the other end fixedly coupled to the other end of the first plate.

13. In Paragraph 12, The second plate above is a deformed wheel having a longer length than the first plate.

14. In Paragraph 12, In the unfolded state of the spokes, the first plate and the second plate are deformed into a predetermined curve, and A deformed wheel in which the first plate and the first plate are arranged parallel to each other in the folded state of the spokes.

15. In Paragraph 14, A deformation wheel in which, in the above unfolded state, the curvature of the second plate is greater than the curvature of the first plate.

16. In Paragraph 11, The above outer axis is A first outer region having an outer surface of a predetermined size and a through space formed on the inner side; A deformation wheel comprising a second outer region provided at the rear end of the first outer region and having an outer diameter larger than that of the first outer region.

17. In Paragraph 11, The above penetrating space is a polygonal space, and The inner shaft is a deformed wheel having an outer surface corresponding to the polygonal space.

18. In Paragraph 11, The above inner shaft is a deformed wheel having a longer length than the above outer shaft.

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