In accordance with the present invention, provided is an omnidirectional driving apparatus including: a frame body (50); a first motor (10) disposed on a front left side of the frame body (50); a second motor (20) disposed on a front right side of the frame body (50); a third motor (30) disposed on a rear left side of the frame body (50); a fourth motor (40) disposed on a rear right side of the frame body (50); a first wheel (110) coupled to the first motor (10) to be rotated; a second wheel (120) coupled to the second motor (20) to be rotated; a third wheel (130) coupled to the third motor (30) to be rotated; a fourth wheel (140) coupled to the fourth motor (40) to be rotated; and a control box (500) controlling the first motor (10), the second motor (20), the third motor (30), and the fourth motor (40), wherein the omnidirectional driving apparatus further includes a roll (240) installed to be twisted by a roll axis inclination angle (A) on each of the first wheel (110), the second wheel (120), the third wheel (130), and the fourth wheel (140). In accordance with the present invention, since the omnidirectional driving apparatus can be installed in a twisted form as the roll disposed on each wheel forms the roll axis inclination angle (A) with respect to the wheel axis, the omnidirectional driving apparatus can implement various motions through the forward rotation, backward rotation or stoppage of each wheel.

    본 발명은 프레임바디(50); 상기 프레임바디(50)의 전방 좌측에 배치되는 제 1 모터(10); 상기 프레임바디(50)의 전방 우측에 배치되는 제 2 모터(20); 상기 프레임바디(50)의 후방 좌측에 배치되는 제 3 모터(30)와, 상기 프레임바디(50)의 후방 우측에 배치되는 제 4 모터(40); 상기 제 1 모터(10)에 결합되어 회전되는 제 1 휠(110); 상기 제 2 모터(20)에 결합되어 회전되는 제 2 휠(120); 상기 제 3 모터(30)에 결합되어 회전되는 제 3 휠(130); 상기 제 4 모터(40)에 결합되어 회전되는 제 4 휠(140); 상기 제 1 모터(10), 제 2 모터(20), 제 3 모터(30) 및 제 4 모터(40)를 제어하는 컨트롤박스(500);를 포함하고, 상기 제 1 휠(110), 제 2 휠(120), 제 3 휠(130) 및 제 4 휠(140)에 각각 롤축경사각(A)으로 비틀리게 설치된 롤(240)을 포함하는 전방향 주행장치를 제공한다. 본 발명은 각 휠에 배치된 롤이 휠축에 대하여 롤축경사각(A)을 형성하면 비틀려 설치되기 때문에, 각 휠의 전방회전, 후방회전 또는 정지를 통해 다양한 움직임을 구현할 수 있는 특징이 있다.


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    Title :

    omnidirectional driving apparatus


    Additional title:

    전방향 주행장치


    Contributors:

    Publication date :

    2023-10-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60B VEHICLE WHEELS , Räder für Fahrzeuge / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES



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