Drive module and movable object including the same

A movable object, comprising:

• a body;
• and
• a drive module configured to move the body, wherein the drive module comprises:
• a wheel configured to rotate about a first rotation axis extending in a first direction;
• a first frame coupled to the wheel;
• a second frame coupled to the body, wherein the first frame is configured to move relative to the second frame;
• a link unit configured to connect the first frame and the second frame;
• and
• a posture adjustment part configured to adjust a posture of the drive module by controlling a motion of the link unit to change a position of the first frame with respect to the second frame,
• wherein the link unit comprises:
• a first link comprising a first-first end rotatably connected to a first-frame upper portion of the first frame, and a first-second end rotatably connected to a second-frame upper portion of the second frame via a first link shaft that penetrates the second-frame upper portion;
• a second link comprising a second-first end rotatably connected to a first-frame lower portion of the first frame, and a second-second end rotatably connected to a second frame lower portion of the second frame;
• and
• a third link comprising a third-first end connected to the second-frame upper portion of the second frame at a location at which the first link shaft penetrates the second-frame upper portion, and
• wherein the posture adjustment part comprises a posture adjustment motor having a shaft fixed to any one of the first-first end, the first-second end, the second-first end, and the second-second end.

A modular drive device configured to attach to a body, the modular drive device comprising:

• a wheel comprising a wheel motor therein;
• a support part, wherein the wheel is rotatably coupled to a lower portion of the support part such that the wheel is configured to rotate about a first rotation axis extending in a first direction, wherein the support part includes a suspension system configured dampen a vertical movement of the wheel relative to the support part, wherein the wheel motor is configured to provide rotational power and rotation of the wheel relative to the support part;
• a steering motor rotatably coupled to an upper portion of the support part configured to rotate the support part about a second rotation axis extending in a second direction non-parallel with the first direction, and wherein the steering motor configured to steer the wheel via rotation of the support part;
• a first frame attached to the steering motor;
• a second frame configured to attach to the body;
• a link unit configured to couple the first frame and the second frame such that first frame is configured to move relative to the second frame;
• and
• a posture adjustment part configured to adjust a posture of the modular drive device by controlling a motion of the link unit to change a position of the first frame with respect to the second frame,
• wherein the link unit comprises:
• a first link comprising a first-first end rotatably connected to a first-frame upper portion of the first frame, and a first-second end rotatably connected to a second-frame upper portion of the second frame via a first link shaft that penetrates the second-frame upper portion;
• a second link comprising a second-first end rotatably connected to a first-frame lower portion of the first frame, and a second-second end rotatably connected to a second frame lower portion of the second frame;
• and
• a third link unit comprising a third-first end connected to the second-frame upper portion of the second frame at a location at which the first link shaft penetrates the second-frame upper portion, and
• wherein the posture adjustment part includes a posture adjustment motor having a motor shaft fixed to a link of the link unit and configured to pivot the link and the first frame via the link relative to the second frame, and thereby being configured to adjust a height of the body relative to the wheel.