Disclosed is a wheel device. The wheel device comprises: a plurality of wing members that are movable to a first position in which the respective outer circumferential surfaces thereof are arranged so as to be combined and form a circle, and a second position in which one end of the respective outer circumferential surfaces is rotated away from a central axis of a wheel so that the wing members are divided from each other; a deforming device for moving the plurality of wing members to the first position or the second position; a plurality of rollers that are arranged along the outer circumferential surfaces of the wing members and have an axis of rotation that is not parallel to the central axis; and a braking device comprising a brake pad that selectively contacts the rollers, wherein the braking device spaces the brake pad apart from the rollers when the wing members are in the first position, and moves the brake pad so as to contact the rollers and limit rotation of the rollers when the wing members are in the second position.
Est divulgué un dispositif de roue. Le dispositif de roue comprend : une pluralité d'éléments ailes qui sont mobiles vers une première position dans laquelle les surfaces circonférentielles externes respectives associées sont agencées de sorte à être combinées et former un cercle et une seconde position dans laquelle une extrémité des surfaces circonférentielles externes respectives est tournée à l'opposé d'un axe central d'une roue de sorte que les éléments ailes soient séparés les uns des autres ; un dispositif de déformation pour déplacer la pluralité d'éléments ailes vers la première position ou la seconde position ; une pluralité de rouleaux qui sont agencés le long des surfaces circonférentielles externes des éléments ailes et ont un axe de rotation qui n'est pas parallèle à l'axe central ; et un dispositif de freinage comprenant un patin de frein qui entre sélectivement en contact avec les rouleaux, le dispositif de freinage séparant le patin de frein des rouleaux lorsque les éléments ailes se trouvent dans la première position et déplaçant le patin de frein de sorte à venir en contact avec les rouleaux et à limiter la rotation des rouleaux lorsque les éléments ailes se trouvent dans la seconde position.
바퀴 장치가 개시된다. 본 바퀴 장치는 각각의 외주면이 조합되어 원형을 이루도록 배치되는 제1 위치 및 외주면의 일단이 바퀴의 중심축으로부터 멀어지도록 회전하여 서로 분할되는 제2 위치로 이동 가능한 복수의 날개 부재, 복수의 날개 부재를 제1 위치 또는 제2 위치로 이동시키는 변형 장치, 날개 부재의 외주면을 따라서 배치되고, 중심축과 나란하지 않는 회전축을 갖는 복수의 롤러 및 롤러와 선택적으로 접하는 제동 패드를 포함하고, 날개 부재가 제1 위치에 있으면 제동 패드를 롤러로부터 이격시키고, 날개 부재가 제2 위치에 있으면 제동 패드를 롤러와 접하도록 이동시켜서 롤러의 회전을 제한하는 제동 장치를 포함한다.
WHEEL DEVICE AND MOBILE ROBOT DEVICE COMPRISING SAME
DISPOSITIF DE ROUE ET DISPOSITIF DE ROBOT MOBILE COMPRENANT CELUI-CI
바퀴 장치 및 이를 포함하는 이동 로봇 장치
2022-06-02
Patent
Electronic Resource
Korean
MOBILE ROBOT DRIVING WHEEL DEFORMING DEVICE AND MOBILE ROBOT COMPRISING SAME
European Patent Office | 2024
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