Wheel device and mobile robot device comprising same

Patent metadata

Field	Value
Publication number	US-12594785-B2
Application number	US-202318129518-A
Country	US
Kind code	B2
Filing date	Mar 31, 2023
Priority date	Dec 21, 2020
Publication date	Apr 7, 2026
Grant date	Apr 7, 2026

Abstract

A wheel device includes: a wheel member; a tire disposed on the outside of the wheel member, the tire comprising an inner layer, an outer layer, and a plurality of hollow pipes disposed between the inner layer and the outer layer, wherein an inner circumferential surface of the inner layer comprises grooves; a plurality of support members each having a circular arc shape; and a plurality of spoke members respectively connecting the wheel member to the plurality of support members. The plurality of spoke members are configured to move the plurality of support members between a first position and a second position. In the first position, each of the support members are disposed in the grooves. In the second position, each of the support members are disposed closer to a central axis of the tire than when the support members are in the first position.

First claim

The invention claimed is:

1 . A wheel device comprising:
a wheel member; a tire disposed on the outside of the wheel member, the tire comprising an inner layer, an outer layer, and a plurality of hollow pipes disposed between the inner layer and the outer layer, wherein an inner circumferential surface of the inner layer comprises at least one groove; a plurality of support members each having a circular arc shape; and a plurality of spoke members respectively connecting the wheel member to the plurality of support members relative to the at least one groove, wherein the plurality of spoke members are configured to move the plurality of support members between a first position and a second position, wherein, in the first position, each of the plurality of support members are disposed in the at least one groove, and wherein, in the second position, each of the plurality of support members are disposed closer to a central axis of the tire than when the plurality of support members are in the first position, wherein the wheel member comprises a deforming device configured to move the plurality of spoke members in a radial direction of the tire, wherein the deforming device further comprises a guide plate comprising a plurality of guide rails into which the plurality of spoke members are respectively inserted, wherein each of the plurality of spoke members comprises a pin passing through one end thereof, and wherein the deforming device further comprises a cam member configured to rotate about the central axis of the tire, the cam member comprising a plurality of slits, each of the plurality of slits having a spiral shape, wherein the pin of each of the plurality of spoke members is respectively inserted into each of the plurality of slits, and wherein the cam member comprises:
a first cam member disposed on a first side of the guide plate,
a second cam member disposed on a second side of the guide plate, and
a connecting member connecting the first cam member and the second cam member to each other through the guide plate.

2 . The wheel device of claim 1 , wherein the deforming device comprises:
a camshaft connected to the cam member, and a first motor configured to rotate the camshaft to move the pin along each of the plurality of slits.

3 . The wheel device of claim 1 , wherein each of the plurality of support members comprise:
a protrusion region convexly protruding from a first end of each of the plurality of support members and a concave region positioned at a second end of each of the plurality of support members wherein the concave region has a shape configured to engage with the protrusion region.

4 . The wheel device of claim 1 , wherein the plurality of hollow pipes are arranged staggered in a zigzag pattern in the radial direction of the tire.

5 . The wheel device of claim 1 , wherein each of the plurality of hollow pipes has a rectangular parallelepiped shape.

6 . The wheel device of claim 1 , wherein the wheel member comprises a rim member supporting the inner layer of the tire that is configured to rotate integrally with the tire.

7 . The wheel device of claim 6 , wherein the rim member comprises:
a first rim member disposed on a first side of the plurality of spoke members, and a second rim member disposed on a second side of the plurality of spoke members.

8 . The wheel device of claim 6 , wherein the wheel member further comprises:
a wheel shaft connected to the rim member, and a second motor configured to rotate the wheel shaft.

9 . The wheel device of claim 1 , wherein, in the second position, an outer surface of the at least one of the plurality of support members is spaced apart from the inner layer.

10 . The wheel device of claim 9 , wherein, in the first position, the outer surface of the at least one of the plurality of support members is spaced apart from the inner layer.

11 . The wheel device of claim 9 , wherein, in the second position, the outer surface of the at least one of the plurality of support members is outside of the at least one groove.

12 . A mobile robot device comprising:
a base; and at least three wheel devices installed on a lower portion of the base, wherein a wheel device from among the at least three wheel devices comprises:
a wheel member;
a tire disposed on the outside of the wheel member, the tire comprising an inner layer, an outer layer, and a plurality of hollow pipes disposed between the inner layer and the outer layer, wherein an inner circumferential surface of the inner layer comprises at least one groove;
a plurality of support members each having a circular arc shape; and
a plurality of spoke members respectively connecting the wheel member to the plurality of support members,
wherein the plurality of spoke members are configured to move the plurality of support members, relative to the at least one groove, between a first position and a second position, wherein, in the first position, each of the plurality of support members are disposed in the at least one groove, and wherein, in the second position, each of the plurality of support members are disposed closer to a central axis of the tire than when the plurality of support members are in the first position, wherein the wheel member comprises a deforming device configured to move the plurality of spoke members in a radial direction of the tire, wherein the deforming device further comprises a guide plate comprising a plurality of guide rails into which the plurality of spoke members are respectively inserted, wherein each of the plurality of spoke members comprises a pin passing through one end thereof, wherein the deforming device further comprises a cam member configured to rotate about the central axis of the tire, the cam member comprising a plurality of slits, each of the plurality of slits having a spiral shape, wherein the pin of each of the plurality of spoke members is respectively inserted into each of the plurality of slits, wherein the cam member comprises:
a first cam member disposed on a first side of the guide plate,
a second cam member disposed on a second side of the guide plate, and
a connecting member connecting the first cam member and the second cam member to each other through the guide plate; and
wherein the deforming device comprises:
a camshaft connected to the cam member, and
a first motor configured to rotate the camshaft to move the pin along each of the plurality of slits.

13 . The mobile robot device of claim 12 , further comprising:
an obstacle detection sensor configured to detect an obstacle around the mobile robot device; and a processor disposed in electronic communication with the obstacle detection sensor, the processor being configured to control the deforming device to move the plurality of support members to the second position when the processor determines that the obstacle exists in front of the mobile robot device based on a sensing value received by the obstacle detection sensor.

14 . The mobile robot device of claim 12 , wherein each of the plurality of support members comprise:
a protrusion region convexly protruding from a first end of each of the plurality of support members and a concave region positioned at a second end of each of the plurality of support members wherein the concave region has a shape configured to engage with the protrusion region.

15 . The mobile robot device of claim 12 ,
wherein the wheel member comprises:
a rim member supporting the inner layer of the tire that is configured to rotate integrally with the tire,
a wheel shaft

Assignees

• Samsung Electronics Co Ltd

Inventors

• Koo Donghan
• Lee Minhee
• Ko Soonheum
• Kwak Hyunsuk
• Hwang Cheoggyu

Classifications

• B60C7/18 Primary

  disposed radially relative to wheel axis · CPC title

• B60B2900/551

  Handling of obstacles or difficult terrains · CPC title

• B60B25/006

  Rims split symmetrically · CPC title

• B60B2900/131

  Vibrations · CPC title

• B60B21/06

  characterised by means for attaching spokes {, i.e. spoke seats} · CPC title