Patent ID: 12202348

It may be understood that the appended drawings are not necessarily to scale, presenting a somewhat simplified representation of various features illustrative of the basic principles of the present invention. The specific design features of the present invention as included herein, including, for example, specific dimensions, orientations, locations, and shapes will be determined in part by the particularly intended application and use environment.

In the figures, reference numbers refer to the same or equivalent parts of the present invention throughout the several figures of the drawing.

DETAILED DESCRIPTION

Reference will now be made in detail to various embodiments of the present invention(s), examples of which are illustrated in the accompanying drawings and described below. While the present invention(s) will be described in conjunction with exemplary embodiments of the present invention, it will be understood that the present description is not intended to limit the present invention(s) to those exemplary embodiments. On the other hand, the present invention(s) is/are intended to cover not only the exemplary embodiments of the present invention, but also various alternatives, modifications, equivalents and other embodiments, which may be included within the spirit and scope of the present invention as defined by the appended claims.

Hereinafter, a 360-degree rotating wheel apparatus according to various exemplary embodiments of the present invention and a multi-wheel drive mobility using the same will be described with reference to the accompanying drawings.

FIG.1is a view exemplarily illustrating a 360-degree rotating wheel apparatus according to various exemplary embodiments of the present invention,FIG.2is a top plan view of the 360-degree rotating wheel apparatus illustrated inFIG.1,FIG.3is a cross-sectional view of the 360-degree rotating wheel apparatus illustrated inFIG.1, andFIG.4is a view of the 360-degree rotating wheel apparatus illustrated inFIG.1in the state of being mounted to a mobility.FIG.5is a view exemplarily illustrating an in-wheel drive unit and an angle adjustment unit according to various exemplary embodiments of the present invention,FIG.6is a view for describing the angle adjustment unit of the present invention.FIG.7is a view for describing linear traveling of a multi-wheel drive mobility according to various exemplary embodiments of the present invention,FIG.8is a view for describing turning traveling of the multi-wheel drive mobility according to various exemplary embodiments of the present invention,FIG.9is a view for describing lateral traveling of the multi-wheel drive mobility according to various exemplary embodiments of the present invention, andFIG.10is a view for describing in-situ rotation of the multi-wheel drive mobility according to various exemplary embodiments of the present invention.

As illustrated inFIG.1,FIG.2, andFIG.3, a 360-degree rotating wheel apparatus according to various exemplary embodiments of the present invention includes: a cap unit100defining a driving space S1at the lower side thereof; an in-wheel driving unit200provided in the driving space S1in the cap unit100and configured to generate a driving force during operation thereof; and an angle adjustment unit300connecting the in-wheel driving unit200and the cap unit100to each other and configured to cause the in-wheel driving unit200to rotate in a circumferential direction of the cap unit100so that a traveling direction determined according to operation of the in-wheel driving unit200is changed by 360 degrees around a vertical axis of the 360-degree rotating wheel apparatus.

The cap unit100has a semicircular shape to define the driving space S1at the lower side thereof, and the in-wheel driving unit200is provided in the driving space S1.

The in-wheel driving unit200generates a driving force during operation, and may include a motor unit that generates power and a wheel unit which is rotated using the power from the motor unit. The in-wheel driving unit200is variously known as an in-wheel motor generally, and a detailed description thereof will be omitted.

Meanwhile, the angle adjustment unit300is provided on the internal surface of the cap unit100, and the in-wheel driving unit200is connected to the cap unit100via the angle adjustment unit300. The angle adjustment unit300rotates the in-wheel driving unit200in the circumferential direction of the cap unit100so that the traveling direction determined according to the operation of the in-wheel driving unit200is changed by 360 degrees. That is, when the in-wheel driving unit200is rotated by 360 degrees about the vertical axis in the driving space S1of the cap unit100by the angle adjustment unit300, the direction of the driving force generated by the operation of the in-wheel driving unit200is changed by 360 degrees. As a result, when the 360-degree rotating wheel apparatus according to various exemplary embodiments of the present invention is applied to a mobility, the movement range of the mobility is increased.

Meanwhile, as may be seen fromFIG.3, the 360-degree rotating wheel apparatus further includes a housing400having an accommodation space S2defined therein to accommodate the cap unit100, and the housing400and the cap unit100are interconnected via a suspension500.

The housing400, which has the accommodation space S2, may have a spherical shape with an open lower side thereof. Furthermore, since the cap unit100is connected to the housing400via the suspension500, vibration transmitted via the in-wheel driving unit200is damped by the suspension500.

Here, the suspension includes: a main suspension510provided on a central side of the cap unit100and connected to the housing400, wherein the main suspension510is configured to damp vibration caused according to a vertical movement of the 360-degree rotating wheel apparatus; and an auxiliary suspension520spaced from the main suspension510and connected to the cap unit100and the housing400, wherein the auxiliary suspension520is configured to damp vibration caused according to longitudinal and lateral movements.

In the present way, the cap unit100is connected to the housing400via the main suspension510and the auxiliary suspension520, and the vibration transmitted via the in-wheel driving unit200provided in the cap unit100is damped.

One side of the main suspension510is provided in the center portion of the external surface of the cap unit100, and the other side of the main suspension510is provided in the center portion of the internal surface of the housing400, so that the vibration caused according to the vertical movement is damped.

One side of the auxiliary suspension520is provided on the external surface of the cap unit100to be spaced from the main suspension510, and the other side of the auxiliary suspension520is provided on the internal surface of the housing400to be spaced from the main suspension510, whereby the auxiliary suspension520is disposed diagonally.

Furthermore, a plurality of auxiliary suspensions520may be provided. Accordingly, with reference to the main suspension510, when an auxiliary suspension520is disposed in front of or behind the main suspension510, the auxiliary suspension520damps the vibration caused according to the longitudinal movement. Furthermore, with reference to the main suspension510, when an auxiliary suspension520is disposed at the left or right side of the main suspension510, the auxiliary suspension520damps the vibration caused according to the lateral movement.

The installation positions and number of auxiliary suspensions520may be determined depending on vibration characteristics transmitted via the in-wheel driving unit200.

Meanwhile, a bump rubber110may be coupled to the external surface of the cap unit100to cancel the vibration transmitted through the in-wheel driving unit200. For the present reason, when the vibration transmitted via the in-wheel driving unit200is transmitted to the cap unit100, the bump rubber110damps and buffers the vibration.

Specifications according to the number and size of bump rubbers110may be determined depending on vibration characteristics transmitted to the cap unit100.

Meanwhile, as illustrated inFIG.4, a mounting portion11is provided on a vehicle body10for electrical connection and fixing, and a fastening portion410is provided on the external surface of the housing400to be fastened to the mounting portion11in the vehicle body10. Thus, when the fastening portion410is fastened to the mounting portion11, the housing400is fixed and electrically connected to the vehicle body10.

That is, the vehicle body10is configured such that the housing400is mounted thereon, and the mounting portion11is provided in a mounting area of the housing400. Accordingly, when the fastening portion410provided on the housing400is connected to the mounting portion11of the vehicle body10during mounting of the housing400on the vehicle body10, the fastening portion410and the mounting portion11are fixedly fastened to each other. In the instant case, the mounting portion11and the fastening portion410may be bolted to each other.

Furthermore, since the mounting portion11and the fastening portion410are each made to be electrically connected, when the fastening portion410of the housing400is mounted to the mounting portion11of the vehicle body10, various command signals transmitted from a controller provided in the vehicle body10may be transmitted to electric devices in the housing400.

For the present reason, since it is easy to assemble and replace the housing400including the cap unit100, the in-wheel driving unit200, and the angle adjustment unit300to the vehicle body10, the housing400may be replaced according to the requirements of the mobility. Furthermore, it is possible to freely replace the housing400with respect to another vehicle through mounting and dismounting.

Meanwhile, as illustrated inFIG.5andFIG.6, the angle adjustment unit300includes: a ring unit310provided in the driving space S1of the cap unit100and extending in a circular shape along the circumference of the cap unit100, wherein a driveshaft210extending from the in-wheel driving unit200is rotatably connected to the ring unit310; and a power transmission unit320provided in the cap unit100and connected to the ring unit310to rotate the ring unit310depending on whether the power transmission unit320operates.

That is, the driveshaft210extends from a rotation center portion axis of the in-wheel driving unit200in the horizontal direction thereof. The driveshaft210may extend from the case of the in-wheel driving unit200or the center portion of the motor. Through this, as for the in-wheel driving unit200, the driveshaft210is connected to the ring unit310, and the ring unit310is rotated by the power transmission unit320provided in the cap unit100, whereby the in-wheel driving unit200may be rotated by 360 degrees around the vertical axis.

The ring unit310is formed in an annular shape and has a connecting gear310aformed in the extension direction thereof, and the power transmission unit320includes a rotational driving unit321provided in the cap unit100and configured to generate a rotational force and a gear unit322connected to the rotational driving unit321to be rotated by receiving the rotational force and engaged with the connecting gear310aof the ring unit310.

Accordingly, the ring unit310is formed in an annular shape and has connecting gears310arepeatedly provided in the extension direction thereof. The ring unit310is provided in the driving space S1of the cap unit100.

The power transmission unit320may include a rotational driving unit321and a gear unit322, the rotational driving unit321may be provided on the external surface of the cap unit100, and the gear unit322may be located on the internal surface of the cap unit100so that the interference between components may be minimized. Since the gear unit322is engaged with the ring unit310, when the rotational driving unit321operates, the ring unit310is rotated together the gear unit322. As for the engagement method between the gear unit322and the ring unit310, a gear connection method may be determined according to a design of, a worm gear, a bevel gear, a helical gear, a spur gear, or the like.

For the present reason, the in-wheel driving unit200is rotated together with the ring unit310so that the traveling direction determined according to the operation of the in-wheel driving unit200is changed.

Meanwhile, a guide unit120on which the ring unit310is accommodated is provided on the internal surface of the cap unit100. Here, the guide unit120may be configured in a form of a groove recessed from the internal surface of the cap unit100and the ring unit310may be inserted into the guide unit120, or the guide unit120may protrude from the internal surface of the cap unit100such that the ring unit310is accommodated on the upper end portion thereof.FIG.5illustrates an exemplary embodiment in which the guide unit120protrudes to the lower side of the ring unit310and the ring unit310is accommodated on the upper end portion of the guide unit120. Furthermore, to ensure that the ring unit310rotates smoothly on the guide unit120, a bearing structure or a friction reduction structure may be applied.

Through this, the position of the ring unit310may be fixed in the driving space S1of the cap unit100by the guide unit120, and a stable rotation operation may be performed.

Meanwhile, an inverter and power module controller600in which a power module configured to control driving and regenerative braking of the in-wheel driving unit200is embedded may be provided in the cap unit100. Since the inverter and power module controller600is provided in the cap unit100, it is possible to protect the inverter and power module controller600from impact, and it is easy to electrically connect the inverter and power module controller600to the in-wheel driving unit200.

For the present reason, the inverter and power module controller600is responsible for driving of the in-wheel drive unit200, and is easily applicable to various mobilities since each inverter and power module controller is interlocked with control of respective different mobilities when applied to various mobilities.

Meanwhile, the present invention is applicable to a multi-wheel drive mobility.

That is, the multi-wheel drive mobility according to various exemplary embodiments of the present invention includes: rotating wheel apparatuses1000, each including a cap unit100defining a space at a lower side thereof, an in-wheel driving unit200provided in the space in the cap portion100to generate a driving force during operation, and an angle adjustment unit300connecting the in-wheel driving unit200to the cap unit100such that the in-wheel driving unit200is rotated in the circumferential direction of the cap unit100to cause the traveling direction determined according to the operation of the in-wheel driving portion200to be changed by 360 degrees around the vertical axis; and a controller2000configured to control the in-wheel driving unit200and the angle adjustment unit300of each of the rotating wheel apparatuses1000according to a requested traveling speed and a requested traveling direction thereof.

As described above, the rotating wheel apparatus1000includes a cap unit100, an in-wheel driving unit200, and an angle adjustment unit300.

That is, the cap unit100is formed in a semicircular shape such that the driving space S1is formed at the lower side thereof, and the in-wheel driving unit200is provided in the driving space S1.

The in-wheel driving unit200generates a driving force during operation, and may include a motor unit that generates power and a wheel unit which is rotated by the power of the motor unit. The in-wheel driving unit200is variously known as an in-wheel motor generally, and a detailed description thereof will be omitted.

Meanwhile, the angle adjustment unit300is provided on the internal surface of the cap unit100, and the in-wheel driving unit200is connected to the cap unit100via the angle adjustment unit300. The angle adjustment unit300rotates the in-wheel driving unit200in the circumferential direction of the cap unit100so that the traveling direction determined according to the operation of the in-wheel driving unit200is changed by 360 degrees. That is, when the in-wheel driving unit200is rotated by 360 degrees about the perpendicular axis in the driving space S1of the cap unit100by the angle adjustment unit300, the direction of the driving force generated by the operation of the in-wheel driving unit200is changed by 360 degrees. As a result, when the 360-degree rotating wheel apparatus1000according to various exemplary embodiments of the present invention is applied to a mobility, the movement radius of the mobility may be increased.

The rotating wheel apparatus1000including the cap portion100, the in-wheel driving unit200, and the angle adjustment unit300is provided on each of the front and the rear wheels. Thus, the mobility is capable of being driven by four wheels. of course, the mobility may be configured to be driven by a plurality of wheels other than four wheels depending on the number of components of the rotating wheel apparatus1000.

In the following, to help the understanding of the present invention, it is assumed that the mobility is driven by four wheels.

Each rotating wheel apparatus1000is controlled by a controller2000. That is, the controller2000controls the in-wheel driving unit200and the angle adjustment unit300of each rotating wheel apparatus1000according to a driver's control or the requested traveling speed and the requested traveling direction according to the movement to a set destination.

As an example, as illustrated inFIG.7, when the requested traveling direction corresponds to straight forward traveling, the controller2000controls each angle adjustment unit300to be arranged such that the in-wheel driving units200of the rotating wheel apparatuses1000corresponding to the front and rear wheels are directed forward thereof. Furthermore, the controller2000controls the in-wheel driving units200corresponding to the front and rear wheels to be driven in the same direction thereof, so that the mobility is able to travel straight forwards by the respective rotating wheel apparatuses1000of the front and rear wheels.

Meanwhile, as illustrated inFIG.8, when the requested traveling direction corresponds to turning traveling, the controller2000controls each angle adjustment unit300to be disposed such that the in-wheel driving units200of the rotating wheel apparatuses1000corresponding to the front wheels are directed toward the turning direction and the in-wheel driving units200of the rotating wheel apparatuses1000corresponding to the rear wheels are directed toward the direction opposite to the turning direction thereof. Furthermore, the controller2000controls the in-wheel driving units200corresponding to the front and rear wheels to be driven in the same direction thereof, so that the mobility is able to perform turning-traveling by the respective rotating wheel apparatuses1000of the front and rear wheels.

Furthermore, as illustrated inFIG.9, when the requested traveling direction corresponds to lateral traveling of the multi-wheel drive mobility, the controller2000controls each angle adjustment unit300to be arranged such that the in-wheel driving units200of the rotating wheel apparatuses1000corresponding to the front and rear wheels are directed towards a lateral side of the multi-wheel drive mobility, and controls the in-wheel driving units200corresponding to the front and rear wheels to be driven in the same direction thereof. That is, it is possible for the mobility to travel to the lateral side by arranging respective in-wheel driving units200to be directed toward the same side using the angle adjustment units300of respective rotating wheel apparatuses1000and causing the in-wheel driving units200corresponding to the front and rear wheels to be driven in the same direction thereof.

Furthermore, as illustrated inFIG.10, when the requested traveling direction corresponds to in-situ rotation, the controller2000controls respective angle adjustment units300such that the front left and rear right rotating wheel apparatuses1000aand1000bare rotated clockwise and the front right and rear left rotating wheel apparatuses1000cand1000dare rotated counterclockwise to cause each rotating wheel apparatus1000to be disposed diagonally, and such that the left in-wheel driving units are driven in a forward direction and the right in-wheel driving units200are driven in a reverse direction thereof.

That is, by the angle adjustment units300of respective rotating wheel apparatus1000, the front left and rear right rotating wheel apparatuses1000aand1000band rear right are rotated clockwise and the front right and rear left rotating wheel apparatuses1000cand1000dare rotated counterclockwise. As a result, the rotating wheel apparatuses1000are arranged diagonally such that each rotating wheel apparatus1000of the mobility is arranged to draw a circle around the vertical axis. Furthermore, the left in-wheel driving units200are driven in the forward direction thereof, and the right in-wheel driving units200are driven in the reverse direction thereof, whereby the mobility may be rotated 360 degrees clockwise. Here, when the left in-wheel driving units200and the right in-wheel driving units200are driven in opposite directions, the mobility may be rotated 360 degrees counterclockwise.

In a 360-degree rotating wheel apparatus1000configured as described above and a multi-wheel drive mobility using the same, wheels are rotated 360 degrees, increasing the traveling range of the mobility. Furthermore, the wheel apparatus is easily applicable to a mobility, so that the usability thereof is improved.

In addition, the term related to a control device such as “controller”, “control unit”, “control device” or “control module”, etc refers to a hardware device including a memory and a processor configured to execute one or more steps interpreted as an algorithm structure. The memory stores algorithm steps, and the processor executes the algorithm steps to perform one or more processes of a method in accordance with various exemplary embodiments of the present invention. The control device according to exemplary embodiments of the present invention may be implemented through a nonvolatile memory configured to store algorithms for controlling operation of various components of a vehicle or data about software commands for executing the algorithms, and a processor configured to perform operation to be described above using the data stored in the memory. The memory and the processor may be individual chips. Alternatively, the memory and the processor may be integrated in a single chip. The processor may be implemented as one or more processors. The processor may include various logic circuits and operation circuits, may process data according to a program provided from the memory, and may generate a control signal according to the processing result.

The control device may be at least one microprocessor operated by a predetermined program which may include a series of commands for carrying out the method disclosed in the aforementioned various exemplary embodiments of the present invention.

The aforementioned invention can also be embodied as computer readable codes on a computer readable recording medium. The computer readable recording medium is any data storage device that can store data which can be thereafter read by a computer system. Examples of the computer readable recording medium include hard disk drive (HDD), solid state disk (SSD), silicon disk drive (SDD), read-only memory (ROM), random-access memory (RAM), CD-ROMs, magnetic tapes, floppy discs, optical data storage devices, etc. and implementation as carrier waves (e.g., transmission over the Internet).

In an exemplary embodiment of the present invention, each operation described above may be performed by a control device, and the control device may be configured by multiple control devices, or an integrated single control device.

In an exemplary embodiment of the present invention, the control device may be implemented in a form of hardware or software, or may be implemented in a combination of hardware and software.

For convenience in explanation and accurate definition in the appended claims, the terms “upper”, “lower”, “inner”, “outer”, “up”, “down”, “upwards”, “downwards”, “front”, “rear”, “back”, “inside”, “outside”, “inwardly”, “outwardly”, “interior”, “exterior”, “internal”, “external”, “forwards”, and “backwards” are used to describe features of the exemplary embodiments with reference to the positions of such features as displayed in the figures. It will be further understood that the term “connect” or its derivatives refer both to direct and indirect connection.

The foregoing descriptions of specific exemplary embodiments of the present invention have been presented for purposes of illustration and description. They are not intended to be exhaustive or to limit the present invention to the precise forms disclosed, and obviously many modifications and variations are possible in light of the above teachings. The exemplary embodiments were chosen and described to explain certain principles of the present invention and their practical application, to enable others skilled in the art to make and utilize various exemplary embodiments of the present invention, as well as various alternatives and modifications thereof. It is intended that the scope of the present invention be defined by the Claims appended hereto and their equivalents.