The present invention relates to driving on stepped terrain and, more particularly, to an omni-wheel device capable of driving on both flat and stepped terrains, and a driving device including same. For this, provided is an omni-wheel device capable of driving on stepped terrain, the omni-wheel device comprising: an omni-wheel segment (210) of which an area in contact with the ground includes a portion of an omni-wheel; an actuator (160) capable of moving the omni-wheel segment (210) in the radial direction; and a wheel drum (140) to which one end of the actuator (160) is fixed and in which a rotation shaft (130) is assembled at the center thereof.

    La présente invention concerne la conduite sur un terrain en gradins et, plus particulièrement, un dispositif de roue omnidirectionnelle capable de rouler à la fois sur des terrains plats et en gradins, et un dispositif d'entraînement le comprenant. A cet effet, l'invention concerne un dispositif de roue omnidirectionnelle capable de rouler sur un terrain en gradins, le dispositif de roue omnidirectionnelle comprenant: un segment de roue omnidirectionnelle (210) dont une zone en contact avec le sol comprend une partie d'une roue omnidirectionnelle; un actionneur (160) apte à déplacer le segment de roue omnidirectionnelle (210) dans la direction radiale; et un tambour de roue (140) auquel une extrémité de l'actionneur (160) est fixée et dans laquelle un arbre de rotation (130) est assemblé au centre de celui-ci.

    본 발명은 단차 주행에 관한 것으로, 보다 상세하게는 평지와 단차주행이 가능한 옴니휠 바퀴장치 및 이를 포함하는 주행장치에 관한 것이다. 이를 위해, 지 면과 접촉되는 영역이 옴니휠의 일부를 포함하는 옴니휠 세그먼트(210); 옴니휠 세 그먼트(210)를 반경방향으로 이동시킬 수 있는 액츄에이터(160); 및 액츄에이터 (160)의 일단이 고정되고, 중심으로 회전축(130)이 조립되는 휠드럼(140);을 포함 하는 것을 특징으로 하는 단차 주행이 가능한 옴니휠 바퀴장치가 제공된다.


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    Title :

    WHEEL DEVICE FOR MOBILE ROBOT CAPABLE OF DRIVING ON ROUGH TERRAIN AND OVERCOMING OBSTACLES, AND MOBILE ROBOT INCLUDING SAME


    Additional title:

    DISPOSITIF DE ROUE POUR ROBOT MOBILE CAPABLE DE ROULER SUR TERRAIN ACCIDENTÉ ET DE SURMONTER DES OBSTACLES, ET ROBOT MOBILE LE COMPRENANT
    험지 주행 및 장애물 극복이 가능한 모바일 로봇의 바퀴 장치 및 이를 포함 하는 모바일 로봇


    Contributors:

    Publication date :

    2022-09-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B60B VEHICLE WHEELS , Räder für Fahrzeuge





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