Transformable wheel module

Patent metadata

Field	Value
Publication number	US-12522018-B2
Application number	US-202118028922-A
Country	US
Kind code	B2
Filing date	Aug 23, 2021
Priority date	Sep 29, 2020
Publication date	Jan 13, 2026
Grant date	Jan 13, 2026

Abstract

A transformable wheel module is disclosed. The transformable wheel module comprises: a plurality of lobes; and a mode switching unit for switching modes between a first traveling mode in which the lobes are coupled in a ring shape and a second traveling mode in which the lobes are separated from each other, wherein the mode switching unit can include: a first rotary link; a second rotary link positioned on the same rotational axis as the first rotary link; a plurality of first connecting links for individually connecting the first rotary link and the lobes; a plurality of second connecting links for individually connecting the second rotary link and the lobes; a first driving motor for rotating the first rotary link; and a second driving motor for rotating the second rotary link.

First claim

The invention claimed is:

1 . A transformable wheel module comprising:
a plurality of lobes; and a mode switching unit for switching modes between a first traveling mode in which the lobes are coupled in a ring shape and a second traveling mode in which the lobes are separated from each other, wherein the mode switching unit includes: a first rotary link; a plurality of first connecting links for individually connecting the first rotary link and the lobes; a first driving motor for rotating the first rotary link; a first guide block coupled to a housing of the first driving motor and formed therein with a first guide groove; and a first guide link having one end pin-coupled to the lobe and inserted into the first guide groove.

2 . The transformable wheel module of claim 1 , wherein the mode switching unit further includes:
a second rotary link positioned on a same rotational axis as the first rotary link; a plurality of second connecting links for individually connecting the second rotary link and the lobes; a second driving motor for rotating the second rotary link; a second guide block coupled to a housing of the second driving motor and formed therein with a second guide groove; and a second guide link having one end pin-coupled to the lobe and inserted into the second guide groove.

3 . The transformable wheel module of claim 2 , wherein each of the first guide block, the second guide block, the first guide link, and the second guide link is provided in a same number as the lobes, and each of the first guide link and the second guide link is coupled one-to-one to the lobe.

4 . The transformable wheel module of claim 2 , wherein the first guide links are arranged at an angle of an identical size, and the second guide links are arranged at an angle of an identical size.

5 . The transformable wheel module of claim 2 , wherein the first rotary link includes:
a disc-shaped first rotary plate; and a plurality of first link areas protruding in a radial direction of the first rotary plate and having an identical angle, wherein each of the first connecting links has one end pin-coupled to the first link area and an opposite end pin-connected to a first joint area formed inside the lobe.

6 . The transformable wheel module of claim 5 , wherein the second rotary link includes:
a disc-shaped second rotary plate; and a plurality of second link areas protruding in a radial direction of the second rotary plate and having an identical angle, wherein each of the second connecting links has one end pin-coupled to the second link area and an opposite end pin-connected to a second joint area formed inside the lobe, and an area in which the first guide link is pin-connected to the lobe is positioned between the first joint area and the second joint area.

7 . The transformable wheel module of claim 5 , wherein the first connecting link is formed with a hole in a length direction thereof, and a protrusion inserted into the hole is formed on one side of the first link area facing the first connecting link.

8 . The transformable wheel module of claim 2 , wherein the opposite end of the first guide link protrudes to an outside of the first guide block, and the opposite end of the second guide link protrudes to an outside of the second guide block.

Assignees

• Iucf Hyu
• Univ Kyonggi Ind & Acad Coop Found

Inventors

• Seo Taewon
• Lee Yun Hyuk
• Ryu Sijun
• Kim Hwa Soo

Classifications

• B60B2900/551

  Handling of obstacles or difficult terrains · CPC title

• B60B2900/311

  Rigidity or stiffness · CPC title

• F16H37/12

  Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types (gearings with cranks, eccentrics, or like members fixed to one rotary member and guided along tracks on the other F16H21/14; crank or eccentric gearings with cams or additional guides, or with members having rolling contact F16H21/28, F16H21/30) · CPC title

• B60B15/16

  involving gearing, e.g. gear pinions acting upon threaded shafts on the spade lugs · CPC title

• B60B15/12

  involving cams or eccentric hoops · CPC title