According to an embodiment of the present invention, provided are a variable hardness wheel capable of overcoming an obstacle and a driving control method thereof, wherein the variable hardness wheel includes a power delivery part, a flexible support part, a hardness changing part, a flexible separation part, a first flexible tire part, a regulating part, an impact sensing part, and a control part. The flexible support part delivers power while rotating in integration with the power delivery part connected to an axle to rotate. A plurality of hardness changing parts are provided to rotate in integration with the flexible support part, are transformed in response to an external force and are independently regulated in hardness. The flexible separation part divides each of the hardness changing parts by section. The first flexible tire part is coupled to the outer circumference surface of the hardness changing parts and is connected with each flexible separation part. The regulating part is connected with each of the hardness changing parts and regulates pressure in the hardness changing parts to regulate the hardness of the hardness changing parts by section. Based on the size of an impact applied to the first flexible tire part, which is sensed by the impact sensing part, the control part controls the operation of the regulating part so as to regulate the hardness of a hardness changing part prepared in a section to which the impact is applied.

    본 발명의 일실시예는 장애물 극복이 가능한 가변강성 바퀴 및 이의 구동제어방법을 제공한다. 여기서, 가변강성 바퀴는 동력전달부, 유연지지부, 강성가변부, 유연분리부, 제1유연타이어부, 조절부, 충격감지부 그리고 제어부를 포함한다. 유연지지부는 차축과 연결되어 회전하는 동력전달부와 일체로 회전하면서 동력을 전달한다. 강성가변부는 복수로 구비되어 유연지지부와 일체로 회전하고, 외력에 대응되게 변형되며, 독립적으로 강성이 조절된다. 유연분리부는 각각의 강성가변부를 섹션별로 구획한다. 제1유연타이어부는 강성가변부의 외주면에 결합되고 각각의 유연분리부와 연결된다. 조절부는 각각의 강성가변부에 연결되고 강성가변부 내부의 압력을 조절하여 섹션별로 강성가변부의 강성을 조절한다. 제어부는 충격감지부에 의해 감지되는 제1유연타이어부에 가해지는 충격의 크기를 기초로 해당 충격이 가해지는 섹션에 마련되는 강성가변부의 강성이 조절되도록 조절부의 작동을 제어한다.


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    Title :

    VARIABLE STIFFNESS WHEEL AND DRIVE CONTROL METHOD THEREOF


    Additional title:

    가변강성 바퀴 및 이의 구동제어방법


    Contributors:
    SONG SUNG HYUK (author) / KIM HWI SU (author) / PARK DONG IL (author) / KIM SE YOUNG (author) / PARK CHEOL HOON (author) / PARK CHAN HUN (author)

    Publication date :

    2020-06-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    B60B VEHICLE WHEELS , Räder für Fahrzeuge



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