Unmanned ground vehicle capable of skid steering

Abstract

The present invention relates to an unmanned ground vehicle capable of skid steering, and the unmanned ground vehicle may comprise: a main body part having a space formed therein; a motor part provided inside the main body part and connected to a driving part; wheel parts provided on both outer sides of the main body part and connected to the driving part which extends to the outer side of the main body part; and a control part that is provided inside the main body part and controls the motor part.

Description

Skid-driven unmanned ground vehicle

[0001] The present invention relates to an unmanned ground vehicle.

[0002] Recently, there has been a growing interest in unmanned vehicles across various fields, including firefighting, transportation, manufacturing, agriculture, and the military.

[0003] Unmanned vehicles are a general term for vehicles that are operated remotely or automatically without a human operator. Types of unmanned vehicles include unmanned aerial vehicles (UAVs), unmanned surface vehicles (USVs), unmanned underwater vehicles (UUVs), and unmanned ground vehicles (UGVs).

[0004] In particular, the demand for UGVs is gradually increasing as they can be utilized in various fields closely related to daily life, such as agriculture (plowing fields and spraying pesticides) and transportation (parcel delivery). Furthermore, UGVs are suitable for operation in environments that are difficult for humans to access, such as in military fields like reconnaissance and mine clearing, as well as in firefighting.

[0005] To operate UGVs efficiently in rough and open terrain that is difficult for humans to access, they need to be able to quickly change direction, turn even in narrow spaces, and possess high durability. In addition, UGVs need to be designed to withstand unexpected external impacts from the surface of rough and open terrain.

[0006] The present invention aims to provide an unmanned ground vehicle capable of skid driving and rotation in place without a steering device, and having a simple internal structure.

[0007] The objectives to be achieved by the present invention are not limited to those mentioned above, and other unmentioned objectives can be clearly understood by those skilled in the art to which the present invention belongs from the description below.

[0008] An unmanned ground vehicle capable of skid driving according to a preferred embodiment of the present invention for achieving the above-mentioned purpose is characterized by comprising: a main body portion having an internal space formed therein; a motor portion provided inside the main body portion and connected to a driving portion; a wheel portion provided on both outer sides of the main body portion and connected to the driving portion extending to the outside of the main body portion; and a control portion provided inside the main body portion and controlling the motor portion.

[0009] In addition, the motor unit is provided inside the main body and is characterized by including a first motor that transmits power to a first drive unit through a first motor shaft to rotate a wheel unit provided on one side of the main body, and a second motor that is provided inside the main body and transmits power to a second drive unit to rotate a wheel unit provided on the other side of the main body.

[0010] In addition, the first drive unit is provided at the lower part of the first motor shaft and is characterized by including a first drive shaft provided at the front and rear of one side of the main body so as to be spaced apart by a preset distance; a first outer plate fixedly coupled to the inner surface of one side of the main body and through which the first motor shaft and the first drive shaft are coupled; a first inner plate provided at a position spaced apart by a preset distance from the first outer plate in the inner direction of the main body and through which the first motor shaft and the first drive shaft are coupled; a first chain that connects the first gear provided on the first motor shaft and the third gear provided on the first drive shaft between the first outer plate and the first inner plate and transmits the rotational force of the first motor shaft to the first drive shaft; and a first chain tensioner provided between the third gear located at the front and rear of one side of the main body and adjusting the tension of the first chain.

[0011] In addition, the first chain tensioner is characterized by having its position determined by a plurality of first tension holes formed symmetrically to the first outer plate and the first inner plate, thereby maintaining the tension of the first chain.

[0012] In addition, the first driving member is provided on the outer surface of the first outer plate at a position corresponding to the position through which the first driving shaft penetrates, and includes a first bearing support having a third bearing inside, and a second bearing support having a fourth bearing inside, provided on the inner surface of the first inner plate at a position corresponding to the position through which the first driving shaft penetrates, and the first outer plate, the first inner plate, the first bearing support, and the second bearing support are characterized by supporting the first driving shaft, which is joined by penetrating one end.

[0013] In addition, the first drive shaft is characterized by having a first coupling plate to which the wheel part is fixedly coupled at the other end extending to one side of the main body part.

[0014] In addition, the second driving unit is characterized by being formed with the same structure as the first driving unit.

[0015] The present invention allows for independent control of one side and the other side of the wheels through motors that transmit power to the front and rear wheels on both sides, thereby enabling the effect of turning and rotating in place even when the steering device is removed.

[0016] In addition, the present invention can have the effect of reducing manufacturing costs by eliminating the steering device and lowering the failure rate due to the simplified internal structure.

[0017] In addition, the present invention is provided with a chain tensioner inside the body and inner and outer plates on both sides of the chain tensioner, thereby acting as a support for the motor and drive unit, and preventing sagging and deformation of the chain caused by the high load generated during skid driving, which can have the effect of preventing the chain from coming off.

[0018] In addition, the present invention provides a plurality of tension holes in the inner plate and the outer plate, thereby allowing the position of the chain tensioner to be adjusted according to the tension and length of the chain, so that the chain can have appropriate tension.

[0019] FIG. 1 is a perspective view of an unmanned ground vehicle capable of skid driving according to the present invention.

[0020] FIG. 2 is a perspective view with the panel and wheel part of FIG. 1 removed.

[0021] FIG. 3 is a perspective view of a first driving unit and a second driving unit according to the present invention.

[0022] FIG. 4 is a perspective view with the outer plate and inner plate of FIG. 3 removed.

[0023] Figure 5 is a perspective view with the bearing support of Figure 4 removed.

[0024] FIG. 6 is a different perspective view of a first driving unit connected to a first motor according to the present invention.

[0025] The present invention is capable of various modifications and may have various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the detailed description. However, this is not intended to limit the present invention to specific embodiments, and it should be understood that it includes all modifications, equivalents, and substitutions that fall within the spirit and scope of the invention.

[0026] In describing each drawing, similar reference numerals have been used for similar components. In describing the present invention, detailed descriptions of related prior art are omitted if it is determined that such detailed descriptions could obscure the essence of the invention.

[0027] Terms such as "first," "second," etc., may be used to describe various components, but said components should not be limited by said terms. Such terms are used solely for the purpose of distinguishing one component from another.

[0028] For example, without departing from the scope of the rights of the present invention, the first component may be named the second component, and similarly, the second component may be named the first component.

[0029] The term "and / or" includes a combination of multiple related listed items or any of the multiple related listed items.

[0030] The terms used in this application are used merely to describe specific embodiments and are not intended to limit the invention.

[0031] The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, terms such as "comprising" or "having" are intended to specify the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0032] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by those skilled in the art to which this invention pertains.

[0033] Terms such as those defined in commonly used dictionaries should be interpreted as having meanings consistent with their meanings in the context of the relevant technology, and should not be interpreted in an ideal or overly formal sense unless explicitly defined in this application.

[0034]

[0035] Hereinafter, an unmanned ground vehicle capable of skidding drive according to a preferred embodiment of the present invention will be described in detail with reference to the drawings. FIG. 1 is a perspective view of an unmanned ground vehicle capable of skidding drive according to the present invention. FIG. 2 is a perspective view with the panel and wheel assembly of FIG. 1 removed. FIG. 3 is a perspective view of a first drive unit and a second drive unit according to the present invention. FIG. 4 is a perspective view with the outer plate and inner plate of FIG. 3 removed. FIG. 5 is a perspective view with the bearing support of FIG. 4 removed. FIG. 6 is a perspective view of FIG. 5 in a different direction. In the following descriptions of conventionally known matters, they are omitted or simplified to clarify the gist of the present invention.

[0036]

[0037] Referring to FIGS. 1 to 6, the unmanned ground vehicle (1) capable of skidding according to the present invention can independently control the wheel unit (200) on one side and the other side through a motor unit (300) that transmits power to the front and rear wheels on both sides, and can change direction and rotate in place even if the steering device is removed. The unmanned ground vehicle (1) capable of skidding may include a main body unit (100), a wheel unit (200), a motor unit (300), a first driving unit (400), a second driving unit (500), and a control unit (600).

[0038] The main body (100) may form a space inside, and the motor part (300), the first driving part (400), the second driving part (500), and the control part (600) may be provided in the internal space. Wheel parts (200) may be provided on both outer sides of the main body (100), and each wheel part (200) may be coupled with the first driving part (400) and the second driving part (500) extending from the inside to the outside of the main body (100).

[0039] The main body (100) may include a frame (120) and a panel (110) coupled to the outer surface of the frame (120), and shock-absorbing protrusions (130) that absorb shock upon collision may be provided on the outer surfaces of the front panel (110) and the rear panel (110).

[0040] The wheel unit (200) may be provided on both outer sides of the main body (100) and may be coupled with a first drive unit (400) and a second drive unit (500) extending from the inner side to the outer side of the main body (100). The wheel unit (200) may rotate by the first drive unit (400) and the second drive unit (500) which operate by the operation of the motor unit (300), and may be coupled to first and second coupling plates (411, 511) provided at the other ends of the first drive unit (400) and the second drive unit (500). The wheel unit (200) may include a wheel (210) and a tire (220) coupled to the outer surface of the wheel (210).

[0041] Here, the wheel section (200) of the present invention is described as being composed of four wheels, but this is not limited thereto, and the number of wheels can be increased to replace it with six wheels, eight wheels, etc. However, for the structural explanation of the present invention, the description is based on the wheel section (200) being composed of four wheels.

[0042] The motor unit (300) may be provided inside the main body unit (100) and may be provided at the front and rear respectively inside the main body unit (100). The motor unit (300) may be operated by the control of the control unit (600), and the direction of rotation may be determined according to a signal received from the control unit (600). The motor unit (300) may include a first motor (310) and a second motor (320), and the first motor (310) and the second motor (320) may transmit power to a first driving unit (400) and a second driving unit (500) provided on both sides of the main body unit (100).

[0043] The first motor (310) may be provided with a first motor shaft (311) in one direction, and the first motor shaft (311) may be formed to penetrate the first inner plate (430) and the first outer plate (420). One end of the first motor shaft (311) may be connected to the first motor (310), and the other end may penetrate the first inner plate (430) and the first outer plate (420). The other end of the first motor shaft (311) may be located between the first outer plate (420) and the panel (110), and a first bearing (312) may be provided at the other end. The first bearing (312) may support the first motor shaft (311) and assist in the rotation of the first motor shaft (311). The first motor shaft (311) may be provided with a first gear (313) between the first inner plate (430) and the first outer plate (420), and the first gear (313) may be organically connected to the third gear (412) of the first drive unit (400) by the first chain (440). Accordingly, when the first motor (310) is operated, the first motor shaft (311) can rotate the first gear (313) and the third gear (412) connected to the first gear (313) through rotational force, and the first drive unit (400) can be operated by the rotation of the third gear (412) so that the wheel provided on one side of the main body (100) can rotate.

[0044] The second motor (320) may be provided with a second motor shaft (not shown) in the other direction, and the second motor shaft may be formed to penetrate the second inner plate (530) and the second outer plate (520). One end of the second motor shaft may be connected to the second motor (320), and the other end may penetrate the second inner plate (530) and the second outer plate (520). The other end of the second motor shaft may be located between the second outer plate (520) and the panel (110), and a second bearing (322) may be provided at the other end. A second motor shaft may be provided with a second gear (not shown) between the second inner plate (530) and the second outer plate (520), and the second gear may be organically connected to the fourth gear (512) of the second drive unit (500) by a second chain (540). Accordingly, when the second motor (320) is operated, the second motor shaft can rotate the second gear and the fourth gear (512) connected to the second gear through rotational force, and the second drive unit (500) can be operated by the rotation of the fourth gear (512) so that the wheel provided on the other side of the main body (100) can rotate.

[0045] According to the above description, the first motor (310) and the second motor (320) may be formed in a symmetrical shape, and the first motor (310) and the second motor (320) may be placed at the front and rear, respectively, to efficiently use the internal space of the main body (100). At this time, although the second motor shaft and the second gear are not shown in the drawing, they may be formed identically to the structure of the first motor shaft (311) and the first gear by the first motor (310) and the second motor (320) being formed in a symmetrical shape.

[0046] The first motor (310) and the second motor (320) can be operated by the control of the control unit (600), and the first motor (310) and the second motor (320) can operate independently. That is, when the first motor (310) rotates in one direction, the second motor (320) can operate in one of the same direction, the other direction, or stop, and thereby the unmanned ground vehicle (1) can perform skid driving and rotation in place.

[0047] The first drive unit (400) may be provided inside the main body (100) and may be provided on one side inside the main body (100). One end of the first drive unit (400) may be connected to the first motor (310), and the other end may be extended to the outside of the main body (100). The first drive unit (400) may be operated by the first motor (310) and may be connected to a wheel provided on one side of the main body (100) to rotate the wheel. The first drive unit (400) may include a first drive shaft (410), a first outer plate (420), a first inner plate (430), a first chain (440), and a first chain tensioner (450).

[0048] The first drive shaft (410) may be provided at the lower part of the first motor shaft (311) and may be provided at the front and rear of one side of the main body (100) so as to be spaced apart by a preset distance. The first drive shaft (410) may penetrate the first inner plate (430), the first outer plate (420), and the panel (110), and one end may be fixedly coupled to the fourth bearing (432) of the second bearing support (431) coupled to the inner plate. The other end of the first drive shaft (410) may extend to the outside of the panel (110), and a first coupling plate (411) to which the wheel (210) of the wheel part (200) is fixedly coupled may be provided at the other end. The first drive shaft (410) may be supported by a third bearing (422) provided on the inner side of a first bearing support (421) coupled to the inner side of the first inner plate (430) and a fourth bearing (432) provided on the inner side of a second bearing support (431) coupled to the outer side of the first outer plate (420), and the third and fourth bearings (432) may assist in the smooth rotation of the first drive shaft (410). The first drive shaft (410) may be provided with a third gear (412) between the first inner plate (430) and the first outer plate (420), and a first chain (440) may be connected. Accordingly, when the first motor (310) operates to rotate the first gear (313), the third gear (412) can also rotate together by the first chain (440). At this time, the gear connected by the first chain (440) may be the first gear (313) provided on the first motor shaft (311), the third gear (412) of the first drive shaft (410) provided on one side front of the main body (100), and the third gear (412) of the first drive shaft (410) provided on one side rear of the main body (100), and the first chain tensioner (450) may be connected between the third gear (412) at the front and the third gear (412) at the rear.

[0049] The first outer plate (420) can be fixedly coupled to one side inner surface of the frame (120) of the main body (100), and the first motor shaft (311) and the first drive shaft (410) can be coupled through it. The first bearing support (421) can be coupled to the outer surface of the first outer plate (420) corresponding to the position where the first drive shaft (410) penetrates, and the first bearing support (421) can be provided at a position corresponding to the front and rear positions of one side of the main body (100) through which the first drive shaft (410) penetrates. The first bearing support (421) can be provided with a third bearing (422) inside, and can prevent the third bearing (422) from moving out of position. The first bearing support (421) can prevent deformation and damage to the suspension and the first drive shaft (410) from external shocks and vibrations by firmly supporting the third bearing (422), thereby preventing the directional orientation of the wheel part (200) from being twisted and causing errors in the direction of travel. The first outer plate (420) may have a plurality of first tension holes (423) with different heights and positions formed between the first drive shafts (410) which are coupled to the front and rear sides of the main body part (100), and a first tension bolt (451) for fixing the first chain tensioner (450) may pass through the first tension holes (423). By doing so, the first chain tensioner (450) can be fixed, and the tension of the first chain (440) can be adjusted by the first chain tensioner (450).

[0050] The first inner plate (430) may be provided at a position spaced apart from the first outer plate (420) by a predetermined distance in the inner direction of the main body (100), and the first motor shaft (311) and the first drive shaft (410) may be connected through it. The first inner plate (430) may have a second bearing support (431) connected to the inner surface corresponding to the position through which the first drive shaft (410) passes, and the second bearing support (431) may be provided at a position corresponding to the front and rear positions on one side of the main body (100) through which the first drive shaft (410) passes. The second bearing support (431) may have a fourth bearing (432) provided inside, and may prevent the fourth bearing (432) from moving out of position. The second bearing support (431) can prevent deformation and damage to the suspension and the first drive shaft (410) from external shocks and vibrations by firmly supporting the fourth bearing (432), thereby preventing the directional orientation of the wheel part (200) from being twisted and causing errors in the direction of travel. The first inner plate (430) may have a plurality of second tension holes (not shown) with different heights and positions formed at positions corresponding to the first tension hole (423) provided in the first outer plate (420) between the first drive shaft (410) which is coupled to the front and rear of one side of the main body part (100), and a first tension bolt (451) for fixing the first chain tensioner (450) may pass through the second tension holes. By doing so, the first chain tensioner (450) can be fixed, and the tension of the first chain (440) can be adjusted by the first chain tensioner (450). At this time, the second tension hole can be formed symmetrically with respect to the first tension hole (423).

[0051] According to the above, the first motor shaft (311) and the first drive shaft (410) are joined by penetrating the first outer plate (420) and the first inner plate (430), and at the same time, a bearing support is joined to the outer surface of the first outer plate (420) and the inner surface of the first inner plate (430) through which the first drive shaft (410) passes, so that the first outer plate (420) and the first inner plate (430) act as supports for the first motor shaft (311) and the first drive shaft (410), thereby preventing bending caused by external impact, vibration, and load.

[0052] The first chain (440) can connect the first gear (313) and the third gear (412) and can transmit the rotational force of the first motor shaft (311) to the first drive shaft (410). By doing so, the first coupling plate (411) provided at the other end of the first drive shaft (410) can rotate, and the wheel part (200) coupled with the first coupling plate (411) can rotate. The tension of the first chain (440) can be adjusted by a first chain tensioner (450) provided between a third gear (412) located at the front of one side of the main body (100) and a third gear (412) located at the rear of one side of the main body (100), and as a result, sagging of the first chain (440) is prevented so that the rotational force of the first motor shaft (311) can be smoothly transmitted to the first drive shaft (410).

[0053] The first chain tensioner (450) may be provided between the third gear (412) located at the front of one side of the main body (100) and the third gear (412) located at the rear of one side of the main body (100), and may adjust the tension of the first chain (440). The position of the first chain tensioner (450) may be determined by a first tension bolt (451) that passes through the first tension hole (423) and the second tension hole, and may be fixed to the first outer plate (420) and the first inner plate (430) by the first tension bolt (451). At this time, the position of the first chain tensioner (450) determined by the first tension bolt (451) may be determined by the tension of the chain or the length of the chain, and accordingly, it may be able to respond to the length of the chain that increases due to the load. According to the above description, even if a high load is applied to the first chain (440), the first outer plate (420) and the first inner plate (430) can act as supports to maintain the position firmly and prevent sagging of the first chain (440). The first tension bolt (451) can be inserted from either the first outer plate (420) or the first inner plate (430), and the end can be secured by a nut.

[0054] The second drive unit (500) may be provided inside the main body (100) or on the other side inside the main body (100). One end of the second drive unit (500) may be connected to the second motor (320), and the other end may extend to the outside of the main body (100). The second drive unit (500) may be operated by the second motor (320) and may be connected to a wheel provided on the other side of the main body (100) to rotate the wheel. The second drive unit (500) may include a second drive shaft (510), a second outer plate (520), a second inner plate (530), a second chain (540), and a second chain tensioner (550).

[0055] The second drive shaft (510) may be provided at the lower part of the second motor shaft and may be provided at the front and rear of the other side of the main body (100) so as to be spaced apart by a preset distance. The second drive shaft (510) may penetrate the second inner plate (530), the second outer plate (520), and the panel (110), and one end may be fixedly coupled to the sixth bearing (532) of the fourth bearing support (531) coupled to the inner plate. The other end of the second drive shaft (510) may extend to the outside of the panel (110), and a second coupling plate (511) to which the wheel (210) of the wheel part (200) is fixedly coupled may be provided at the other end. The second drive shaft (510) may be supported by a fifth bearing (522) provided on the inner side of a third bearing support (521) coupled to the inner side of the second inner plate (530) and a sixth bearing (532) provided on the inner side of a fourth bearing support (531) coupled to the outer side of the second outer plate (520), and the fifth and sixth bearings (532) may assist in the smooth rotation of the second drive shaft (510). The second drive shaft (510) may be provided with a fourth gear (512) between the second inner plate (530) and the second outer plate (520), and a second chain (540) may be connected. Accordingly, when the second motor (320) operates to rotate the second gear, the fourth gear (512) can also rotate together by the second chain (540). At this time, the gear connected by the second chain (540) may be the second gear provided on the second motor shaft, the fourth gear (512) of the second drive shaft (510) provided on the other front side of the main body (100), and the fourth gear (512) of the second drive shaft (510) provided on the other rear side of the main body (100), and the second chain tensioner (550) may be connected between the front fourth gear (512) and the rear fourth gear (512).

[0056] The second outer plate (520) can be fixedly coupled to the other inner surface of the frame (120) of the main body (100), and the second motor shaft and the second drive shaft (510) can be coupled through it. The second outer plate (520) can have a third bearing support (521) coupled to the outer surface corresponding to the position where the second drive shaft (510) penetrates, and the third bearing support (521) can be provided at a position corresponding to the other front and rear positions of the main body (100) through which the second drive shaft (510) penetrates. The third bearing support (521) can have a fifth bearing (522) provided inside, and can prevent the fifth bearing (522) from moving out of position. The third bearing support (521) can prevent deformation and damage to the suspension and the second drive shaft (510) from external shocks and vibrations by firmly supporting the fifth bearing (522), thereby preventing the directional orientation of the wheel part (200) from being twisted and causing errors in the direction of travel. The second outer plate (520) may have a plurality of third tension holes (523) with different heights and positions formed between the second drive shafts (510) which are coupled to the front and rear sides of the main body part (100), and a second tension bolt (551) for fixing the second chain tensioner (550) may pass through the third tension holes (523). By doing so, the second chain tensioner (550) can be fixed, and the tension of the second chain (540) can be adjusted by the second chain tensioner (550).

[0057] The second inner plate (530) may be provided at a position spaced apart from the second outer plate (520) by a predetermined distance in the inner direction of the main body (100), and the second motor shaft and the second drive shaft (510) may be connected through it. The second inner plate (530) may have a fourth bearing support (531) connected to the inner surface corresponding to the position where the second drive shaft (510) passes through, and the fourth bearing support (531) may be provided at a position corresponding to the other front and rear positions of the main body (100) through which the second drive shaft (510) passes. The fourth bearing support (531) may have a sixth bearing (532) provided inside, and may prevent the sixth bearing (532) from moving out of position. The fourth bearing support (531) can prevent deformation and damage to the suspension and the second drive shaft (510) from external shocks and vibrations by firmly supporting the sixth bearing (532), thereby preventing the directional orientation of the wheel part (200) from being twisted and causing errors in the direction of travel. The second inner plate (530) may have a plurality of fourth tension holes (533) with different heights and positions formed at positions corresponding to the third tension holes (523) provided in the second outer plate (520) between the second drive shafts (510) coupled to the other front and rear of the main body part (100), and a second tension bolt (551) for fixing the second chain tensioner (550) may pass through the fourth tension holes (533). By doing so, the second chain tensioner (550) can be fixed, and the tension of the second chain (540) can be adjusted by the second chain tensioner (550). At this time, the fourth tension hole (533) can be formed symmetrically with respect to the third tension hole (523).

[0058] According to the above, the second motor shaft and the second drive shaft (510) are joined by penetrating the second outer plate (520) and the second inner plate (530), and at the same time, a bearing support is joined to the outer surface of the second outer plate (520) and the inner surface of the second inner plate (530) through which the second drive shaft (510) passes, so that the second outer plate (520) and the second inner plate (530) act as supports for the second motor shaft and the second drive shaft (510), thereby preventing bending caused by external impact, vibration, and load.

[0059] The second chain (540) can connect the second gear and the fourth gear (512) and can transmit the rotational force of the second motor shaft to the second drive shaft (510). By doing so, the second coupling plate (511) provided at the other end of the second drive shaft (510) can rotate, and the wheel part (200) coupled with the second coupling plate (511) can rotate. The tension of the second chain (540) can be adjusted by a second chain tensioner (550) provided between the fourth gear (512) located at the front of the other side of the main body (100) and the fourth gear (512) located at the rear of the other side of the main body (100), and as a result, sagging of the second chain (540) is prevented so that the rotational force of the second motor shaft can be smoothly transmitted to the second drive shaft (510).

[0060] The second chain tensioner (550) may be provided between the fourth gear (512) located at the front of the other side of the main body (100) and the fourth gear (512) located at the rear of the other side of the main body (100), and may adjust the tension of the second chain (540). The position of the second chain tensioner (550) may be determined by a second tension bolt (551) that passes through the third tension hole (523) and the fourth tension hole (533), and may be fixed to the second outer plate (520) and the second inner plate (530) by the second tension bolt (551). At this time, the position of the second chain tensioner (550) determined by the second tension bolt (551) may be determined by the tension of the chain or the length of the chain, and accordingly, it may be able to respond to the length of the chain that increases due to the load. According to the above description, even if a high load is applied to the second chain (540), the second outer plate (520) and the second inner plate (530) can perform the role of supports to maintain the position firmly and prevent sagging of the second chain (540). The second tension bolt (551) can be inserted from either the direction of the second outer plate (520) or the second inner plate (530), and the end can be secured by a nut.

[0061] As described above, the second drive unit (500) can be formed with the same structure as the first drive unit (400) and can be connected to the first motor shaft (311) or the second motor shaft depending on the position of the first motor (310) and the second motor (320).

[0062] The control unit (600) may be provided in the internal space of the main body (100) and may control the motor unit (300). The control unit (600) may control the motor unit (300) to move the unmanned ground vehicle (1) forward, backward, and curve, and may control the first motor (310) and the second motor (320) in opposite directions to rotate the unmanned ground vehicle (1) in place. That is, by controlling the operation of the first motor (310) and the second motor (320) respectively, the control unit (600) can perform not only forward and backward movement but also skid driving and rotation in place without a steering device, and may change direction without limitations on the movement and rotation angle of the unmanned ground vehicle (1).

[0063] The control unit (600) can communicate with a user terminal and can control the unmanned ground vehicle (1) by receiving signals and information from the user terminal. The information received by the control unit (600) from the user terminal may be information regarding driving signals and movement paths, and the unmanned ground vehicle (1) may be operated by the control of the control unit (600).

[0064] The control unit (600) can transmit images captured through a camera provided on the outside of the main body (100) to a user terminal, and can identify terrain, possible movement paths, and surrounding conditions based on the transmitted images.

[0065]

[0066] The present invention is not limited to the specific preferred embodiments described above, and any person skilled in the art to which the invention pertains can make various modifications without departing from the essence of the invention as claimed in the claims, and such modifications will be within the scope of the claims.

Claims

1. A main body part in which a space is formed internally; A motor part provided inside the main body and connected to the driving part; A wheel portion provided on both outer sides of the main body portion and connected to the driving portion extending to the outside of the main body portion; and An unmanned ground vehicle capable of skid driving, characterized by including a control unit provided inside the main body and controlling the motor unit.

2. In Paragraph 1, The above motor part A first motor provided inside the main body and transmitting power to a first drive unit through a first motor shaft to rotate a wheel unit provided on one side of the main body, and An unmanned ground vehicle capable of skid driving, characterized by including a second motor provided inside the main body and transmitting power to a second drive unit to rotate a wheel unit provided on the other side of the main body.

3. In Paragraph 2, The first driving unit above A first drive shaft provided at the lower part of the first motor shaft and spaced apart by a preset distance at the front and rear of one side of the main body, A first outer plate fixedly coupled to one inner surface of the main body, through which the first motor shaft and the first drive shaft are coupled, A first inner plate provided at a position spaced apart from the first outer plate by a predetermined distance in the inner direction of the main body, through which the first motor shaft and the first drive shaft are connected. A first chain connecting a first gear provided on the first motor shaft and a third gear provided on the first drive shaft between the first outer plate and the first inner plate, and transmitting the rotational force of the first motor shaft to the first drive shaft; An unmanned ground vehicle capable of skid driving, characterized by including a first chain tensioner that is provided between the third gears located at the front and rear of one side of the main body and adjusts the tension of the first chain.

4. In Paragraph 3, An unmanned ground vehicle capable of skid driving, characterized in that the first chain tensioner is positioned by a plurality of first tension holes formed symmetrically to the first outer plate and the first inner plate to maintain the tension of the first chain.

5. In Paragraph 3, The first driving unit above A first bearing support provided on the outer surface of the first outer plate at a position corresponding to the position through which the first drive shaft penetrates, and having a third bearing provided inside; It includes a second bearing support provided on the inner surface of the first inner plate at a position corresponding to the position where the first drive shaft penetrates, and having a fourth bearing provided inside. An unmanned ground vehicle capable of skid driving, characterized in that the first outer plate, the first inner plate, the first bearing support, and the second bearing support support the first drive shaft, with one end of which is joined through.

6. In Paragraph 3, An unmanned ground vehicle capable of skid driving, characterized in that the first drive shaft is provided with a first coupling plate to which the wheel part is fixedly coupled at the other end extending to one side of the main body part.

7. In Paragraph 2, An unmanned ground vehicle capable of skid driving, characterized in that the second drive unit is formed with the same structure as the first drive unit.

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