PASSIVE TRANSFORMABLE WHEEL AND ROBOT HAVING THE WHEEL
First Claim
Patent Images
1. A passive transformable wheel, comprising:
- a wheel base including a centrally positioned transmitter rotation shaft, a trigger leg rotation shaft positioned in an outer periphery of the wheel base and one or more passive leg rotation shafts positioned in the outer periphery of the wheel base;
a force transmitter rotatably coupled to an end of the transmitter rotation shaft, the force transmitter including a trigger slide and one or more passive leg joints spaced apart from one another;
a trigger leg arranged between the wheel base and the force transmitter and rotatably coupled to the trigger leg rotation shaft, the trigger leg including a trigger joint fitted to the trigger slide; and
one or more passive legs arranged between the wheel base and the force transmitter so as not to interfere with the trigger leg and rotatably coupled to the passive leg rotation shafts, the passive legs including one or more passive leg slides engaging with the passive leg joints of the force transmitter.
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Abstract
A passively transformable wheel includes a wheel base including a centrally positioned transmitter rotation shaft and one or more passive leg rotation shafts positioned in the outer periphery; a force transmitter rotatably coupled to an end of the transmitter rotation shaft, the force transmitter including a trigger slide and one or more passive leg joints spaced apart from one another; a trigger leg arranged between the wheel base and the force transmitter and rotatably coupled to the trigger leg rotation shaft, the trigger leg including a trigger joint fitted to the trigger slide; and
- one or more passive legs arranged between the wheel base and the force transmitter so as not to interfere with the trigger leg and rotatably coupled to the passive leg rotation shafts, the passive legs including one or more passive leg slides engaging with the passive leg joints of the force transmitter.
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Citations
20 Claims
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1. A passive transformable wheel, comprising:
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a wheel base including a centrally positioned transmitter rotation shaft, a trigger leg rotation shaft positioned in an outer periphery of the wheel base and one or more passive leg rotation shafts positioned in the outer periphery of the wheel base; a force transmitter rotatably coupled to an end of the transmitter rotation shaft, the force transmitter including a trigger slide and one or more passive leg joints spaced apart from one another; a trigger leg arranged between the wheel base and the force transmitter and rotatably coupled to the trigger leg rotation shaft, the trigger leg including a trigger joint fitted to the trigger slide; and one or more passive legs arranged between the wheel base and the force transmitter so as not to interfere with the trigger leg and rotatably coupled to the passive leg rotation shafts, the passive legs including one or more passive leg slides engaging with the passive leg joints of the force transmitter. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 13, 14, 15, 16)
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11. A passive transformable wheel, comprising:
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a plurality of joints and a plurality of slides asymmetrically installed in a trigger leg, a plurality of passive legs and a force transmitter, wherein one of the joints is provided in the trigger leg, the remaining joints provided in the force transmitter, one of the slides provided in the force transmitter, and the remaining slides respectively provided in the passive legs, and wherein, when the trigger leg is unfolded by the frictional contact with a road surface, one of the trigger joints is configured to rotate the force transmitter through the slide of the force transmitter, and upon rotation of the force transmitter, the remaining joints of the force transmitter are configured to rotate and unfold the passive legs through the slides of the passive legs. - View Dependent Claims (12, 17, 18, 19, 20)
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Specification