Wheel device and mobile robot device comprising same

A mobile robot device comprising:

• a base;
• and
• at least three wheel devices installed on a lower portion of the base,
• wherein a wheel device from among the at least three wheel devices comprises:
• a wheel member;
• a tire disposed on the outside of the wheel member, the tire comprising an inner layer, an outer layer, and a plurality of hollow pipes disposed between the inner layer and the outer layer, wherein an inner circumferential surface of the inner layer comprises at least one groove;
• a plurality of support members each having a circular arc shape;
• and
• a plurality of spoke members respectively connecting the wheel member to the plurality of support members,
• wherein the plurality of spoke members are configured to move the plurality of support members, relative to the at least one groove, between a first position and a second position,
• wherein, in the first position, each of the plurality of support members are disposed in the at least one groove, and
• wherein, in the second position, each of the plurality of support members are disposed closer to a central axis of the tire than when the plurality of support members are in the first position,
• wherein the wheel member comprises a deforming device configured to move the plurality of spoke members in a radial direction of the tire,
• wherein the deforming device further comprises a guide plate comprising a plurality of guide rails into which the plurality of spoke members are respectively inserted,
• wherein each of the plurality of spoke members comprises a pin passing through one end thereof,
• wherein the deforming device further comprises a cam member configured to rotate about the central axis of the tire, the cam member comprising a plurality of slits, each of the plurality of slits having a spiral shape,
• wherein the pin of each of the plurality of spoke members is respectively inserted into each of the plurality of slits,
• wherein the cam member comprises:
• a first cam member disposed on a first side of the guide plate,
• a second cam member disposed on a second side of the guide plate, and
• a connecting member connecting the first cam member and the second cam member to each other through the guide plate;
• and
• wherein the deforming device comprises:
• a camshaft connected to the cam member, and
• a first motor configured to rotate the camshaft to move the pin along each of the plurality of slits.