Wheel structure and moving body using the same to overcome obstacles

摘要

The present invention relates to a wheel structure and a moving body using the same for overcoming obstacles within a certain range in indoor and outdoor movement of a space such as an urban environment, and for overcoming obstacles in which agile horizontal movement such as direction change is easy. The movable body according to the present invention includes a main body and a joint disposed on both sides of the main body, respectively extending forward and rearward toward the ground with respect to the main body, and rotating around the main body, and one end of the front side of the joint A pair of bogie-type wheels including a first wheel installed on the part and a second wheel installed on the other end of the joint, coupled to the main body from the rear of the pair of bogie-type wheels, and one for steering It includes; a wheel structure including a steering wheel body including a pair of third wheels, and a control unit for controlling the wheel structure.