KR-102965074-B1 - STAIR DRIVING VEHICLE

Abstract

The present invention comprises a vehicle body; a plurality of drive wheels arranged along the front-rear direction of the vehicle body so as to be rotatable and movable relative to the vehicle body; a wheel positioning device provided to actively move the rotation axis of the drive wheels relative to the vehicle body; and a drive source installed to continuously supply driving force to the drive wheels while the drive wheels are moved by the wheel positioning device.

Inventors

• 박종술
• 박종찬

Assignees

• 현대자동차주식회사
• 기아 주식회사

Dates

Publication Date

20260513

Application Date

20220928

Claims (20)

1. Body; A plurality of drive wheels arranged along the front-rear direction of the vehicle body so as to be rotatable and movable relative to the vehicle body; A wheel position shifting device that moves the rotation axis of the drive wheel while preventing the drive wheel from coming into contact with the vertical surface of the stairs; A driving source installed to supply driving force to the above-mentioned driving wheel; Composed of including, The above drive wheels are arranged so that two of them can simultaneously contact the same horizontal step plane along the front-rear direction of the vehicle body, and Two drive wheels each arranged on the vehicle body to simultaneously contact the same horizontal step plane are arranged such that they are spaced at different distances in the direction of the axis of rotation from the front-rear centerline of the vehicle body. A stair-driving vehicle featuring
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4. In claim 1, Two drive wheels each arranged on the vehicle body to simultaneously contact the same horizontal step plane are arranged so that, when viewed from the lateral direction of the vehicle body, at least a portion of them overlap each other. A stair-driving vehicle featuring
5. In claim 1, Two drive wheels arranged on the vehicle body to simultaneously contact the same horizontal step plane are arranged in at least two pairs along the front-rear direction of the vehicle body. A stair-driving vehicle featuring
6. In claim 1, The above wheel position shifting device is configured to independently move the rotation axes of the drive wheels. A stair-driving vehicle featuring
7. In claim 1, The above-mentioned drive wheels are symmetrically provided on both sides with respect to the front-rear centerline of the vehicle body. A stair-driving vehicle featuring
8. In claim 1, The above driving source consists of a motor positioned on the driving wheel. A stair-driving vehicle featuring
9. In claim 1, The above driving source consists of a motor mounted on the vehicle body. A stair-driving vehicle featuring
10. Body; A plurality of drive wheels arranged along the front-rear direction of the vehicle body so as to be rotatable and movable relative to the vehicle body; A wheel position shifting device that moves the rotation axis of the drive wheel while preventing the drive wheel from coming into contact with the vertical surface of the stairs; A driving source installed to supply driving force to the above-mentioned driving wheel; Composed of including, The wheel position shifting device is connected to a wheel support device that supports the drive wheel so that the power of the drive source can be continuously transmitted to the drive wheel while the rotation axis of the drive wheel is moved. The above wheel support device is, A ring gear installed concentrically on the above-mentioned drive wheel; A sun gear installed within the ring gear to receive power from the above driving source; A gear train configured to allow relative motion between the rotation axes of the sun gear and the ring gear and to form a continuous power transmission state between the sun gear and the ring gear; A carrier that forms the gear train and supports the rotational axis position of the final pinion meshing with the ring gear at a constant position relative to the rotational axis position of the ring gear; A stair-climbing vehicle characterized by being composed including
11. In claim 10, The above gear train is provided through a plurality of links whose angles change according to the relative motion between the rotation axes of the sun gear and the ring gear, and The plurality of links above consists of a first link connected to the rotation axis of the sun gear and a second link connected to the first link; A joint pinion having the same number of teeth as the sun gear is installed at the connection portion of the first link and the second link. A stair-driving vehicle featuring
12. In claim 11, The second link is provided with the final pinion that meshes with the ring gear; The above final pinion has the same number of teeth as the above sun gear; The above final pinion is configured to transmit power to the ring gear by means of a series of gears passing from the sun gear through the joint pinion. A stair-driving vehicle featuring
13. In claim 12, The above gear train is provided in multiple numbers along the circumferential direction of the above sun gear. A stair-driving vehicle featuring
14. In claim 10, The above gear train is provided through a plurality of links whose angles change according to the relative motion between the rotation axes of the sun gear and the ring gear, and The plurality of links above consists of a first link connected to the rotation axis of the sun gear and a second link connected to the first link; The first and second links are equipped with a series of gear rotation shafts capable of transmitting power from the sun gear to the ring gear. A stair-driving vehicle featuring
15. In claim 14, Among the series of gears constituting the above gear train, the gears located at even positions from the sun gear have the same number of teeth as the sun gear. A stair-driving vehicle featuring
16. In claim 15, The gear located second from the above-mentioned sun gear is a joint pinion installed concentrically with the rotation axes of the first and second links; The gear located fourth from the sun gear is the final pinion that meshes with the ring gear. A stair-driving vehicle featuring
17. In claim 16, A first intermediate pinion, having a rotation axis installed on the first link, is engaged with the above-mentioned sun gear and joint pinion; A second mediating pinion, having a rotation axis installed in the second link, is engaged with the joint pinion and the final pinion. A stair-driving vehicle featuring
18. In claim 10, The above gear train is provided in multiple numbers along the circumferential direction of the sun gear; Each final pinion of the above gear trains is supported on the carrier such that their relative positions are maintained constant and only rotation is allowed. A stair-driving vehicle featuring
19. In claim 10, The above gear train is configured such that the relative phase between the sun gear and the ring gear is maintained constant with respect to the relative motion of the rotation axes of the sun gear and the ring gear. A stair-driving vehicle featuring
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Description

Stair Driving Vehicle The present invention relates to a vehicle capable of traveling up and down stairs. Roads and various buildings designed for human pedestrian use are often equipped with stairs. It is desirable for various modern vehicles not only to drive on simple roads but, if possible, to be able to drive up stairs. In other words, it is desirable for vehicles for the disabled, such as wheelchairs, as well as Last Mile Mobile vehicles and Last Mile Delivery Vehicles capable of delivering goods to the recipient's doorstep, to be able to navigate stairs smoothly and seamlessly. The matters described as the background technology of the above invention are intended only to enhance understanding of the background of the invention and should not be construed as an acknowledgment that they constitute prior art already known to those skilled in the art. FIG. 1 is a drawing illustrating a situation in which a stair-climbing vehicle according to the present invention climbs a staircase. FIG. 2 is an observation of the direction II of FIG. 1, Fig. 3 is an observation of the direction III of Fig. 1, FIG. 4 is a drawing illustrating a wheel position shifting device, FIG. 5 is a drawing illustrating a wheel support device, FIG. 6 is a diagram explaining the change in the wheel support device when the drive wheel is lowered relatively by the wheel position shifting device. FIG. 7 is a diagram explaining the change in the wheel support device when the drive wheel is relatively raised by the wheel position shifting device. FIG. 8 is a conceptual diagram illustrating the main configuration when the driving source in the present invention is a motor. Hereinafter, embodiments disclosed in this specification will be described in detail with reference to the attached drawings. Identical or similar components regardless of drawing symbols are given the same reference number, and redundant descriptions thereof will be omitted. The suffixes "module" and "part" used for components in the following description are assigned or used interchangeably solely for the ease of drafting the specification, and do not inherently possess distinct meanings or roles. In describing the embodiments disclosed in this specification, if it is determined that a detailed description of related prior art may obscure the essence of the embodiments disclosed in this specification, such detailed description is omitted. Furthermore, the attached drawings are intended only to facilitate understanding of the embodiments disclosed in this specification, and the technical concept disclosed in this specification is not limited by the attached drawings; it should be understood that they include all modifications, equivalents, and substitutions that fall within the spirit and technical scope of the present invention. Terms including ordinal numbers, such as first, second, etc., may be used to describe various components, but said components are not limited by said terms. These terms are used solely for the purpose of distinguishing one component from another. When it is stated that one component is "connected" or "connected" to another component, it should be understood that while it may be directly connected or connected to that other component, there may also be other components in between. On the other hand, when it is stated that one component is "directly connected" or "directly connected" to another component, it should be understood that there are no other components in between. A singular expression includes a plural expression unless the context clearly indicates otherwise. In this specification, terms such as “comprising” or “having” are intended to indicate the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not excluding in advance the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof. Furthermore, the terms "Unit" or "Control Unit" included in names such as Motor Control Unit (MCU) and Hybrid Control Unit (HCU) are merely widely used terms for naming controllers that control specific vehicle functions, and do not refer to generic function units. A controller may include a communication device that communicates with other controllers or sensors to control the function it is responsible for, a memory that stores an operating system, logic instructions, and input/output information, and one or more processors that perform judgments, calculations, decisions, etc., necessary for controlling the function it is responsible for. Referring to FIGS. 1 to 3, an embodiment of the stair-driving vehicle of the present invention comprises: a vehicle body (BD); a plurality of drive wheels (W) arranged along the front and rear directions of the vehicle body (BD) so as to be rotatable and movable relative to the vehicle body (BD); a wheel positioning device (WM) provided to actively move