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.

    A wheel device includes: a plurality of wing members configured to rotate around a central axis, wherein each wing member of the plurality of wing members may include an outer circumferential surface and each wing member of the plurality of wing members is configured to be movable to a first position in which the respective outer circumferential surfaces combine to form a circle, and to a second position in which an end of each outer circumferential surface is rotated away from the central axis of the wheel device; a deforming device configured to move each wing member of the plurality of wing members to the first position or the second position; a plurality of rollers provided on the respective outer circumferential surfaces of the plurality of wing members, wherein each roller of the plurality of rollers has a rotation axis that is not parallel to the central axis; and a braking device including a brake pad configured to contact one or more rollers of the plurality of rollers when the plurality of wing members are in the second position and to separate from the plurality of rollers when the plurality of wing members are in the first position.


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    Title :

    WHEEL APPARATUS AND MOVING ROBOT APPARATUS COMPRISING THE SAME


    Additional title:

    바퀴 장치 및 이를 포함하는 이동 로봇 장치


    Contributors:

    Publication date :

    2022-06-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

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



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