# US 12,179,602 B2 · Modular driving apparatus > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,179,602 B2 - Document ID: US12179602B2 - Status: Granted - Kind: B2 - Application number: 18/354,157 - Filed: 2023-07-18 - Published: 2023-11-09 - Granted: 2024-12-31 - Earliest claimed: 2021-01-22 - Assignees: Hankook Tire & Technology Co., Ltd. - Applicants: Hankook Tire & Technology Co., Ltd. - Inventors: Myung Joong Lee; Ji Eun Yeo; Hee Sung Jang - Web page: https://patentgrep.com/patent/US12179602B2 ## CPC - B60K 7/0007: {the motor being electric} - B62D 63/025: {Modular vehicles (superstructures for busses having modular sections B62D31/025)} - B62D 21/12: assembled from readily detachable parts - B62D 24/00: Connections between vehicle body and vehicle frame (B62D23/00, B62D33/077 take precedence) - B62D 61/10: with more than four wheels {(tractors of the low ground pressure type B62D49/002)} - B62D 63/04: Component parts or accessories - B60K 2007/0092: {the motor axle being coaxial to the wheel axle} - B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) ## Abstract Proposed is a modular driving apparatus which is driven in combination with at least one ride module or is driven independently by being combined with or separated from the ride module. The modular driving apparatus includes: a main body including a coupling space in which the ride module is mounted, and wheel modules which surrounds both sides of the ride module mounted in the coupling space and operates to run together with the mounted ride module or operates to run autonomously; and coupling guide blades which are respectively fastened to both sides of the main body and respectively include wheel module coupling holes for exposing the outer surfaces of the wheel modules. ## Claims ### Claim 1 A modular driving apparatus configured to be driven in combination with a ride module or be driven independently by being combined with or separated from the ride module, the modular driving apparatus comprising: a main body including a coupling space in which the ride module is mountable, and wheel modules which support both sides of the ride module when the ride module is mounted in the coupling space and operate to run together with the mounted ride module or operate to run autonomously; and coupling guide blades which are respectively fastened to both sides of the main body and include wheel module coupling holes for exposing outer surfaces of the wheel modules. ### Claim 2 (depends on 1) The modular driving apparatus according to claim 1, wherein each of the coupling guide blades further includes a combination determining sensor which is configured to determine combinability with the ride module by sensing a position of the driving apparatus with respect to the ride module while the ride module is mounted in the coupling space. ### Claim 3 (depends on 2) The modular driving apparatus according to claim 2, wherein the combination determining sensor is a lidar sensor. ### Claim 4 (depends on 2) The modular driving apparatus according to claim 2, wherein the combination determining sensor is configured to determine combinability with the ride module by sensing whether a portion of each of the coupling guide blades is positioned at a predetermined reference position with respect to the ride module. ### Claim 5 (depends on 1) The modular driving apparatus according to claim 1, wherein the modular driving apparatus is combined with the ride module or another modular driving apparatus of an outside, or is simultaneously combined with the ride module and another modular driving apparatus of the outside. ### Claim 6 (depends on 5) The modular driving apparatus according to claim 5, wherein the main body further includes: a first coupling unit formed on a first side, which is an area different from both sides in which the wheel modules are respectively located, and inserted into another modular driving apparatus of the outside so as to be combined with the another modular driving apparatus of the outside; and a second coupling unit formed on a second side, which is an area different from both sides in which the wheel modules are respectively located, and into which a coupling unit of another modular driving apparatus of the outside is inserted so that the main body is combined with the another modular driving apparatus of the outside. ### Claim 7 (depends on 1) The modular driving apparatus according to claim 1, wherein the main body further includes a connector module disposed on an upper surface thereof providing the coupling space in which the ride module is mounted for connection with the ride module. ### Claim 8 (depends on 1) The modular driving apparatus of claim 1, wherein each of the wheel modules comprises an in-wheel motor including at least one of a driving motor, a brake device, and a shock-absorbing device therein.