Provided is a robot. The robot includes a main body in which an opening portion is defined in a top surface thereof, a seat configured to cover an upper side of the opening portion, a traveling wheel protruding downward from a bottom surface of the main body, a backrest connected to the seat, an opening defined in a front surface of the main body, a foot supporter protruding forward from the main body through the opening, and a pair of arm supporters connected to both sides of the seat, respectively.

A support device includes a wheel, a base member, a leg coupled to the wheel and the base member, the leg including an upper leg segment, a lower leg segment positioned below the upper leg segment, a joint positioned between the upper leg segment and the lower leg segment, the joint including a cam defining a non-circular perimeter, and an actuator coupled to one of the upper leg segment and the lower leg segment, the actuator including an engagement member that is engaged with the non-circular perimeter of the of the cam of the joint, where the actuator selectively moves the engagement member to move the cam and the upper leg segment and the lower leg segment about the joint.

The present invention discloses a driving device capable of walking and stair-climbing by electric power which adopts a combination of a walking mechanism and a climbing carrier to create inventive planetary gear transmission principles. When walking on a flat ground, a driving part drives a sun gear to rotate in a positive direction, two walking wheels are in contact with the ground at the same time, the sun gear drives a planet gear to rotate in a negative direction around a planet shaft, and inner teeth and outer teeth of a gear ring rotate in the negative direction synchronously with the planet gear, thereby a transmission gear drives the walking wheel to rotate in the positive direction to realize rotation of walking. When climbing stairs, the sun gear rotates in the positive direction, the walking wheel is obstructed by stair, the transmission gear, the inner and outer teeth of the gear ring stop rotating, and the sun gear drives the planet gear to revolute along the inner teeth in the positive direction, thereby the planet shaft drives the climbing carrier to rotate in the positive direction to realize climbing cross obstacles. Thus, the present invention solves the problem of the known planetary wheel structure that the climbing carrier is driven to rotate in opposite direction when the walking wheel cannot rotate such and thus is difficult to realize the function of stair-climbing, and has advantages of simple structure and safe and reliable use.

The present invention discloses a driving device capable of walking and stair-climbing by electric power which adopts a combination of a walking mechanism and a climbing carrier to create inventive planetary gear transmission principles. When walking on a flat ground, a driving part drives a sun gear to rotate in a positive direction, two walking wheels are in contact with the ground at the same time, the sun gear drives a planet gear to rotate in a negative direction around a planet shaft, and inner teeth and outer teeth of a gear ring rotate in the negative direction synchronously with the planet gear, thereby a transmission gear drives the walking wheel to rotate in the positive direction to realize rotation of walking. When climbing stairs, the sun gear rotates in the positive direction, the walking wheel is obstructed by stair, the transmission gear, the inner and outer teeth of the gear ring stop rotating, and the sun gear drives the planet gear to revolute along the inner teeth in the positive direction, thereby the planet shaft drives the climbing carrier to rotate in the positive direction to realize climbing cross obstacles. Thus, the present invention solves the problem of the known planetary wheel structure that the climbing carrier is driven to rotate in opposite direction when the walking wheel cannot rotate such and thus is difficult to realize the function of stair-climbing, and has advantages of simple structure and safe and reliable use.

A towing module of a personal mobility includes: a main body provided to extend in a vertical direction and in which a battery is mounted: a driving wheel installed on a lower portion of the main body and having a driving motor: a steering handle installed on an upper portion of the main body; and a connector provided in the main body to selectively connect one of various types of modules to be towed. The main body is maintained in a standing state while driving by the connection to the module to be towed. A personal mobility and a control method thereof utilize the towing module.

A driving wheel includes: a first disc provided to be rotatable with respect to a rotary shaft; a second disc provided to be rotatable with respect to the rotary shaft; a plurality of spokes each protruding outward and each having a first side rotatably coupled to the first disc and a second side rotatably coupled to the second disc; a first motor to rotate the first disc; and a second motor to rotate the second disc.

A driving wheel includes: a first disc provided to be rotatable with respect to a rotary shaft; a second disc provided to be rotatable with respect to the rotary shaft; a plurality of spokes each protruding outward and each having a first side rotatably coupled to the first disc and a second side rotatably coupled to the second disc; a first motor to rotate the first disc; and a second motor to rotate the second disc.

A small electric vehicle includes: left and right motors connected respectively to the left and right driving wheels in an individually power-transmissible manner; an operation unit that includes a joystick-type operation element; a control unit that controls the left and right motors according to an amount of operation on the operation element; and a travel permission switch that permits control of the left and right motors through the operation element, and is configured: to control the left and right motors, based on a target vehicle speed provided by an operation position of the operation element in an on state of the travel permission switch, and to activate a control parameter selection mode and allow at least one control parameter including a maximum speed to be changed when the operation element is subjected to a tilting operation for a predetermined time period in an off state of the travel permission switch.

A small electric vehicle includes: left and right motors connected respectively to the left and right driving wheels in an individually power-transmissible manner; an operation unit that includes a joystick-type operation element; a control unit that controls the left and right motors according to an amount of operation on the operation element; and a travel permission switch that permits control of the left and right motors through the operation element, and is configured: to control the left and right motors, based on a target vehicle speed provided by an operation position of the operation element in an on state of the travel permission switch, and to activate a control parameter selection mode and allow at least one control parameter including a maximum speed to be changed when the operation element is subjected to a tilting operation for a predetermined time period in an off state of the travel permission switch.

A mobile apparatus includes a motion action portion. The motion action portion including a frame portion, at least part of the frame portion including a structural battery, the structural battery including one or more energy storage devices. Each of the one or more energy storage devices having at least one anode core of a continuous carbon fiber, an electrolyte arranged on the at least one continuous carbon fiber core, and a cathode layer arranged to the at least one continuous carbon fiber core on the electrolyte, and at least one interface electrically connected to the structural battery, the interface for inputting power for charging the structural battery and for outputting power.