Driving module and robot including the same

Paddle-type driving module with drag optimization via self-rotating driving legs

This technology is a driving module and a robot incorporating it, where multiple driving legs rotating around a central axis simultaneously self-rotate to control drag based on the direction of travel.

Existing paddle-structured robots suffer from reduced propulsion efficiency because the direction of drag is fixed during rotation, causing drag to act against the direction of movement.

By utilizing a gear structure between a central plate and satellite plates, this technology is designed to allow the paddle sections to self-rotate along their rotational trajectory, thereby maximizing forward drag and minimizing reverse drag. It can be applied to off-road robots, amphibious mobile platforms, and agricultural robots to achieve higher propulsion efficiency with the same power input.

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Key Features:

• Driving legs positioned at a predetermined radius from a rotation axis of a predetermined length
• Driving legs that rotate along a trajectory centered on the rotation axis while self-rotating about their own longitudinal central axis
• A power transmission unit that connects the rotation axis to the driving legs, causing the driving legs to self-rotate as the rotation axis turns
• A central plate located in the inner region of the trajectory where the driving legs rotate, and satellite plates fixed to the upper ends of the driving legs

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This invention was developed with the support of the Ministry of Science and ICT for research on environment-adaptive smart wheel-based robot systems.