CN106037197A - Mobile platform and luggage box comprising same - Google Patents
Mobile platform and luggage box comprising same Download PDFInfo
- Publication number
- CN106037197A CN106037197A CN201610325208.XA CN201610325208A CN106037197A CN 106037197 A CN106037197 A CN 106037197A CN 201610325208 A CN201610325208 A CN 201610325208A CN 106037197 A CN106037197 A CN 106037197A
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- CN
- China
- Prior art keywords
- module
- driving wheel
- mobile platform
- wheel
- power
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- A—HUMAN NECESSITIES
- A45—HAND OR TRAVELLING ARTICLES
- A45C—PURSES; LUGGAGE; HAND CARRIED BAGS
- A45C5/00—Rigid or semi-rigid luggage
- A45C5/04—Trunks; Travelling baskets
-
- A—HUMAN NECESSITIES
- A45—HAND OR TRAVELLING ARTICLES
- A45C—PURSES; LUGGAGE; HAND CARRIED BAGS
- A45C13/00—Details; Accessories
- A45C13/38—Luggage carriers
-
- A—HUMAN NECESSITIES
- A45—HAND OR TRAVELLING ARTICLES
- A45C—PURSES; LUGGAGE; HAND CARRIED BAGS
- A45C13/00—Details; Accessories
- A45C13/38—Luggage carriers
- A45C13/385—Luggage carriers with rolling means
-
- A—HUMAN NECESSITIES
- A45—HAND OR TRAVELLING ARTICLES
- A45C—PURSES; LUGGAGE; HAND CARRIED BAGS
- A45C5/00—Rigid or semi-rigid luggage
- A45C5/04—Trunks; Travelling baskets
- A45C5/045—Travelling baskets
-
- A—HUMAN NECESSITIES
- A45—HAND OR TRAVELLING ARTICLES
- A45C—PURSES; LUGGAGE; HAND CARRIED BAGS
- A45C5/00—Rigid or semi-rigid luggage
- A45C5/14—Rigid or semi-rigid luggage with built-in rolling means
Landscapes
- Handcart (AREA)
Abstract
The invention provides a mobile platform and a luggage box comprising the mobile platform. The mobile platform comprises a power wheel module, wherein the power wheel module comprises drive wheels; the drive wheels can move between a lifting position and a falling position; when the drive wheels are in the lifting position, the drive wheels do not contact a running plane of a driven wheel module; when the drive wheels are in the falling position, the drive wheels contact the running plane of the driven wheel module. The mobile platform and the luggage box have the beneficial effects that the drive wheels can lift and fall, so that the power mode of the mobile platform can be conveniently switched timely; when the drive wheels fall, no external force is needed, and the mobile platform can realize the self-driving movement; by controlling the differential speed between the two drive wheels, the moving direction and speed of the mobile platform can be controlled.
Description
Technical field
The present invention relates to mobile device field, in particular it relates to mobile platform and comprise the luggage case of mobile platform.
Background technology
In the place such as airport, railway station, people often need to carry numerous case and bag and travel to and fro between multiple place, in order to save body
Case and bag are typically placed in without transporting on self-driven platform by power and handling efficiency.But, platform of the prior art exists
Lack self-driven power and the weak point of power source (manpower/self-driven) can not be switched in time.Therefore, it is necessary at platform
Middle introducing lowering or hoisting gear, so that driving wheel can put down as required or rise, to change power drive mode.
Further, about lowering or hoisting gear, in the most traditional lowering or hoisting gear, it is big that lowering or hoisting gear is mainly used in some
Above, and the intelligent mobile device for some miniaturizations seldom has application elevating mechanism to realize actively in the lifting of type engineering equipment
Or passive type lifting.
Through the retrieval to prior art, find Application No. 201120311977.7, entitled a kind of band automatic lifting
The utility model patent of the automatic guided vehicle of mechanism, the automatic hoisting mechanism in this automatic guided vehicle, described automatic lifting turbine
Structure is mainly made up of motor, motor cabinet, screw mandrel, directional wheel, crane and limit switch thereof, and motor is fixed on car by motor cabinet
With, crane is provided with directional wheel, limit switch and screw rod bushing, one end of screw mandrel connects motor, and the other end is threaded into liter
In the screw rod bushing of fall frame, limit switch limits the stroke section scope of crane, between microprocessor, limit switch and motor is
It is electrically connected with.
But the automatic hoisting mechanism using above design principle still has following deficiency: lifting mechanism is arranged on follower,
Active and passive switching cannot be realized.Use screw structure design complexity, carry out vertical-lift cost higher.Non-modularization
Design, be suitable only for the lifting application of automatic guided vehicle, it is impossible to be applied to other mobile device.The most existing Intelligent luggage carrier
There is not use automatic lifting wheel apparatus in structure design.
Owing to avoidance technology not yet reaches the degree of complete avoidance, so needing to be driven row by external force obstacle is many when
Lee's case, i.e. people draw luggage case, avoidance technology can be relied on to allow and draw luggage case to be routed autonomous obstacle is few when, as
Luggage case follows people's walking automatically.Lift it is thus desirable to realize driving wheel by automatic lifting wheel mechanism.
Summary of the invention
For defect of the prior art, it is an object of the invention to provide a kind of mobile platform and the row comprising mobile platform
Lee's case.
A kind of mobile platform provided according to the present invention, including platform base, follower module, follower module is installed on
Platform base, also includes power wheel module；Power wheel module includes driving wheel；Described driving wheel can raised position with fall
Move between position；When driving wheel is positioned at raised position, driving wheel plane travelled with follower module disengages；When driving
Driving wheel is positioned at when falling position, driving wheel and the travelled plane contact of follower module.
Preferably, the quantity of driving wheel is one or more.
Preferably, power wheel module also includes lifting module；Driving wheel is installed on platform base by lifting module, drives
Take turns and move between position at raised position and falling under the driving of lifting module.
Preferably, electronic module is also included；Electronic module is for controlling the rotating speed of described driving wheel.
Preferably, electronic module is for controlling the rotating speed of multiple driving wheel respectively.
Preferably, when driving wheel is positioned at and falls position, driving wheel is close to extrude the travelled plane of follower module, i.e. drives
Driving wheel applies normal pressure to the travelled plane of follower module.
Preferably, there are two axially in parallel driving wheels.
Preferably, described lifting module includes automatic lifting wheel mechanism, and wherein, automatic lifting wheel mechanism includes dividing plate, subtracts
Speed motor, worm gear, worm screw, crank, connecting rod；
Wherein, described reducing motor and described worm gear are arranged on described dividing plate；Described reducing motor pass sequentially through worm screw,
Crank described in worm-gear driven rotates；One end of the hinged described connecting rod in one end of described crank；The other end of described connecting rod drives institute
State driving wheel；
When described reducing motor rotates forward, described crank rotates down, and then drives described driving wheel to move downward；
When described reducing motor rotates backward, described crank is rotated up, and then drives described driving wheel to move upward.
Preferably, described power wheel module also includes installing pedestal, power module, power plant module, damping module；
Wherein, described power plant module, damping module and automatic lifting wheel mechanism are arranged on described installation pedestal；
Described automatic hoisting mechanism connects described damping module；Described power plant module connects described damping module；
Described automatic hoisting mechanism is promoted by power plant module described in described damping module drive or falls；Described damping mould
Block is for the damping of power plant module；Described power module is for providing electric energy to power plant module, automatic lifting wheel mechanism.
Preferably, described power plant module includes power source, drive mechanism；
Wherein, described power source drives described driving wheel by described drive mechanism；
Described power source uses and drives motor；
Described drive mechanism uses travelling gear or transmission band.
Preferably, described damping module includes damping base and flexible member；On the one hand damping base passes through flexible member
It is connected with power plant module, on the other hand hinged with automatic lifting wheel mechanism, installation pedestal and driving wheel；
Described flexible member is used for making driving wheel float and carries out damping.
Preferably, damping base uses vibration damper plate；Described flexible member uses extension spring.
Preferably, described electronic module is arranged on inner side or the outside of described installation pedestal；
Or, described electronic module includes control portion and the drive division of electrical connection；Described drive division electrically connects described automatic liter
Fall wheel mechanism and power plant module；Described drive division is arranged on inside described installation pedestal, and control portion is arranged on described installation base
The outside of seat.
Preferably, the first protection module and the second protection module are also included；
Wherein, described first protection module is arranged on the outside of described driving wheel, circumferentially extending along described driving wheel；Institute
State the second protection module to be arranged on described installation pedestal, and be arranged on the both sides of described driving wheel；
Described first protection module is for dust-proof；Described second protection module is for waterproof.
Preferably, described automatic lifting wheel mechanism also include the first gear, the second gear, main shaft, cam, trough of belt connecting rod,
Under press torsion spring；
Described reducing motor connects described first gear；First gear engages the second gear；Described second gear coaxially connects
Connect worm screw；Main shaft connects described cam；One end of trough of belt connecting rod is hinged with installation pedestal, and the other end is provided with chute；Described song
One end of handle coordinates with described gap of main reinforcement, and the slide-bar of the other end is arranged in described chute；One end of connecting rod and trough of belt connecting rod
The other end hinged, the hinged vibration damper plate of the other end；Lower pressure torsion spring is arranged on installation pedestal, presses down one end of torsion spring to connect described
Vibration damper plate；
When electronic module send lifting instruction after, reducing motor rotate, pass sequentially through the first gear, the second gear, worm screw,
Worm gear, main shaft drives cam rotate counterclockwise, and the driving step of cam drives crank to be rotated up, and described crank drives band successively
Groove connecting rod, connecting rod, vibration damper plate, driving wheel rise, wherein, vibration damper plate drive described down pressure torsion spring be rotated up, make described under press
Torsion spring is compressive state；
When electronic module send decline instruction after, reducing motor rotate, pass sequentially through the first gear, the second gear, worm screw,
Worm gear, main shaft drives cam rotate clockwise；Described down pressure torsion spring drive described vibration damper plate, driving wheel, connecting rod, trough of belt connecting rod,
Crank moves downward；Cam rotation, to contacting with vibration damper plate, is pressed under vibration damper plate, thus described extension spring is extended state.
Preferably, after lifting completes, described worm and gear forms self-locking mechanism；
After decline completes, far the stop plane of face and vibration damper plate of described cam forms self-locking mechanism.
A kind of luggage case provided according to the present invention, including casing, also includes described mobile platform, and mobile platform sets
It is placed in box bottom.
Compared with prior art, the present invention has a following beneficial effect:
1, driving wheel can rise and fall so that the power mode of mobile platform can facilitate switching timely.
2, when driving wheel is fallen, it is not necessary to external force, mobile platform both can be with self-driven movement.
3, by the differential control between two driving wheels, it is possible to control moving direction and the speed of mobile platform.
4, by damping module, it is possible to realize the damping in mobile platform motor process, it is achieved the row of application mobile platform
Lee's case even running；
5, the first protection module and the second protection module it are provided with, it is possible to realize the dust-proof, waterproof of driving wheel.
6, in a less space (154mm*70mm*44mm), power plant module is achieved, especially the one of driving wheel
The automatic lifting of individual relatively large distance (about 33mm) and decline, compact conformation, weight is less, to the autonomous shifting equipped with this driving wheel
The type of drive conversion of moving platform is significant.
Accompanying drawing explanation
By the detailed description non-limiting example made with reference to the following drawings of reading, the further feature of the present invention,
Purpose and advantage will become more apparent upon:
Fig. 1 is the structural representation of the lifting module decline state of the power wheel module of mobile platform in the present invention；
Fig. 2 is the structural representation of the lifting module raises state of the power wheel module of mobile platform in the present invention；
Fig. 3, Fig. 4, Fig. 5 collectively illustrate the structural representation of the lifting module of the power wheel module of mobile platform in the present invention
Figure；
Fig. 6 is that the lifting module of the power wheel module of mobile platform in the present invention uses view；
Fig. 7 is that in the present invention, in mobile platform, driving wheel is positioned at structural representation when falling position；
Structural representation when Fig. 8 is that in the present invention, in mobile platform, driving wheel is positioned at raised position.
In figure: 1 for driving motor；2 is driving wheel；3 is drive mechanism；7 is hoisting mechanism；8 is the first protection module；9
It it is the second protection module；10 is electronic module；11 for installing pedestal；17 is damping base；19 is main shaft；20 is worm gear, and 21 are
Casing；22 is pull bar；23 is driven pulley；24 is automatic lifting wheel mechanism；25 is battery；26 is reducing motor；27 is the first tooth
Wheel；29 is worm screw；28 is the second gear；41 is trough of belt connecting rod；42 is connecting rod；43 is crank；44 is cam；47 is elastic unit
Part；48 under press torsion spring；901 is platform base；902 is power wheel module；903 is follower module；904 is follower module
Travelled plane.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following example will assist in the technology of this area
Personnel are further appreciated by the present invention, but limit the present invention the most in any form.It should be pointed out that, the ordinary skill to this area
For personnel, without departing from the inventive concept of the premise, it is also possible to make some changes and improvements.These broadly fall into the present invention
Protection domain.
A kind of luggage case provided according to the present invention, including casing, also includes mobile platform, and mobile platform is arranged at casing
Bottom.Described mobile platform, including platform base, follower module, follower module is installed on platform base, also includes power
Wheel module；Power wheel module includes driving wheel；Described driving wheel can move between position at raised position and falling；Work as driving
When wheel is positioned at raised position, driving wheel plane travelled with follower module disengages；When driving wheel is positioned at and falls position,
Driving wheel and the travelled plane contact of follower module.The quantity of driving wheel is one or more.In preference, driving wheel
Quantity is two, by the differential control between two driving wheels, it is possible to control moving direction and the speed of mobile platform, thus
Obtaining the movement locus that mobile platform is different, specifically, differential control algorithm can drive in DC, PMSM, BLDC, motor
Any one or more motor used, it is possible to speedometer function is provided.
Power wheel module also includes lifting module；Driving wheel is installed on platform base by lifting module, and driving wheel is rising
Move between position at raised position and falling under the driving of fall module.When driving wheel is positioned at and falls position, driving wheel is close to
Extruding the travelled plane of follower module, i.e. driving wheel apply normal pressure to the travelled plane of follower module.Described movement is put down
Platform preferably has two axially in parallel driving wheels.Described mobile platform also includes electronic module；Electronic module is used for controlling
The rotating speed of described driving wheel.Electronic module is for controlling the rotating speed of multiple driving wheel respectively.Contained by follower module passively
The quantity of wheel, in preference, this quantity can use 4, it is also possible to is 3, or can arrange more than 5 as required
Follower.
Described lifting module includes automatic lifting wheel mechanism, wherein, automatic lifting wheel mechanism include dividing plate, reducing motor,
Worm gear, worm screw, crank, connecting rod；Wherein, described reducing motor and described worm gear are arranged on described dividing plate；Described reducing motor
Pass sequentially through crank described in worm screw, worm-gear driven to rotate；One end of the hinged described connecting rod in one end of described crank；Described connecting rod
The other end drives described driving wheel；When described reducing motor rotates forward, described crank rotates down, and then drives described in drive
Driving wheel moves downward；When described reducing motor rotates backward, described crank is rotated up, and then drives described driving wheel upwards
Motion.Described power wheel module also includes installing pedestal, power module, power plant module, damping module；Wherein, described power mould
Block, damping module and automatic lifting wheel mechanism are arranged on described installation pedestal；Described automatic hoisting mechanism connects described damping
Module；Described power plant module connects described damping module；Described automatic hoisting mechanism is by dynamic described in described damping module drive
Power module raises or fall；Described damping module is for the damping of power plant module；Described power module for power plant module, from
Dynamic lifting wheel mechanism provides electric energy.
When electronic module send lifting instruction after, reducing motor rotate, pass sequentially through the first gear, the second gear, worm screw,
Worm gear, main shaft drives cam rotate counterclockwise, and the driving step of cam drives crank to be rotated up, and described crank drives band successively
Groove connecting rod, connecting rod, vibration damper plate, driving wheel rise, wherein, vibration damper plate drive described down pressure torsion spring be rotated up, make described under press
Torsion spring is compressive state；
When electronic module send decline instruction after, reducing motor rotate, pass sequentially through the first gear, the second gear, worm screw,
Worm gear, main shaft drives cam rotate clockwise；Described down pressure torsion spring drive described vibration damper plate, driving wheel, connecting rod, trough of belt connecting rod,
Crank moves downward；Cam rotation, to contacting with vibration damper plate, is pressed under vibration damper plate, thus described extension spring is extended state.
After lifting completes, described worm and gear forms self-locking mechanism；After decline completes, described cam far stop face with
The plane of vibration damper plate forms self-locking mechanism.Due to needs self-locking, so selecting worm and gear and the Composite Transmission mode of cam,
After lifting completes, worm and gear self-locking, it is ensured that power plant module can not be fallen；After decline completes, cam is far to stop face and subtract
Shake board plane forms self-locking, it is ensured that driving wheel keeps the pressure to plane of movement yet by extension spring by upward force when.By
In driving wheel ground to be had certain pressure, thus decline process connecting rod can not directly to downforce (insufficient strength), so
Need cam drive.
When the lifting module of the power wheel module of the mobile platform using the present invention to provide, power plant module sends instruction
After, reducing motor rotates, and drives the first pinion rotation, then drives the second pinion rotation, the second gear to fix with worm screw, drives snail
Bar rotates, and worm screw drives worm gear wheel, it is achieved power vertical transmission, and worm gear drives main axis, and main shaft is fixed with cam, drives
Cam rotates counterclockwise, and has step above cam, moves to certain angle and crank can be driven to rotate the most together, crank and band
Groove connecting rod is connected, and then drives trough of belt link rotatable, and trough of belt connecting rod is connected with bending connecting rod again, bending connecting rod and damping base phase
Even, therefore bending connecting rod drives damping base to move upward, and damping base is connected by extension spring with power plant module, and damping base drives dynamic
Power module rises to certain position.
After power plant module sends instruction, reducing motor rotates, and drives the first pinion rotation, then drives the second gear to turn
Dynamic, the second gear is fixed with worm screw, drives worm screw to rotate, and worm screw drives worm gear wheel, it is achieved power vertical transmission, and worm gear drives
Main axis, main shaft fixes with cam, and band moving cam rotates clockwise, with pressure torsion spring effect, power plant module and vibration damper plate the most at present
Fall in the lump, drive bending connecting rod, then drive trough of belt connecting rod, finally drive crank to move downward.Until driving wheel encounters motion
After plane, power plant module is not declining, but reducing motor continues to rotate, and band moving cam continues to rotate to a location clockwise
Putting, cam contacts with vibration damper plate, presses under vibration damper plate, and extension spring is stretched to certain length, thus provides driving wheel to ground
Downforce, plays the effect of damping simultaneously.
In the present embodiment, the present invention is capable of the automatic lifting of driving wheel, and the present invention applies energy on luggage case
Switching between enough realizations manually and automatically；The present invention is provided with damping module, it is possible to realize subtracting in driving wheel motor process
Shake, it is achieved the luggage case even running of application；The present invention is provided with the first protection module and the second protection module, it is possible to realize driving
Driving wheel dust-proof, waterproof.The present invention achieves power plant module, especially in a less space (154mm*70mm*44mm)
Being automatic lifting and decline, the compact conformation of a relatively large distance (about 33mm) of driving wheel, weight is less, drives equipped with this
The type of drive conversion of the autonomous mobile platform of driving wheel is significant.
Above the specific embodiment of the present invention is described.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make a variety of changes within the scope of the claims or revise, this not shadow
Ring the flesh and blood of the present invention.In the case of not conflicting, the feature in embodiments herein and embodiment can any phase
Combination mutually.
Claims (10)
1. a mobile platform, including platform base, follower module, follower module is installed on platform base, and its feature exists
In, also include power wheel module；
Power wheel module includes driving wheel；
Described driving wheel can move between position at raised position and falling；
When driving wheel is positioned at raised position, driving wheel plane travelled with follower module disengages；
When driving wheel is positioned at and falls position, driving wheel and the travelled plane contact of follower module.
Mobile platform the most according to claim 1, it is characterised in that the quantity of driving wheel is one or more.
Mobile platform the most according to claim 1, it is characterised in that power wheel module also includes lifting module；
Driving wheel by lifting module be installed on platform base, driving wheel lifting module driving under raised position with fall
Move between position.
Mobile platform the most according to claim 1, it is characterised in that also include electronic module；
Electronic module is for controlling the rotating speed of described driving wheel and/or controlling the lifting moving of driving wheel.
Mobile platform the most according to claim 4, it is characterised in that electronic module is for controlling multiple driving wheel respectively
Rotating speed.
Mobile platform the most according to claim 1, it is characterised in that when driving wheel is positioned at and falls position, driving wheel is tight
Patch extruding the travelled plane of follower module.
Mobile platform the most according to claim 1, it is characterised in that there are two axially in parallel driving wheels.
Mobile platform the most according to claim 3, it is characterised in that described lifting module includes automatic lifting wheel mechanism,
Power wheel module also includes installing pedestal, power module, power plant module, damping module；
Wherein, described power plant module, damping module and automatic lifting wheel mechanism are arranged on described installation pedestal；
Described automatic hoisting mechanism connects described damping module；Described power plant module connects described damping module；
Described automatic hoisting mechanism is promoted by power plant module described in described damping module drive or falls；Described damping module is used
Damping in power plant module；Described power module is for providing electric energy to power plant module, automatic lifting wheel mechanism.
Mobile platform the most according to claim 1, it is characterised in that described power wheel module includes self-locking mechanism, self-locking
Mechanism mechanically makes driving wheel be maintained at raised position or fall position.
10. a luggage case, including casing, it is characterised in that also include that the movement according to any one of claim 1 to 9 is put down
Platform, mobile platform is arranged at box bottom.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610325208.XA CN106037197A (en) | 2016-05-13 | 2016-05-13 | Mobile platform and luggage box comprising same |
| PCT/CN2017/081563 WO2017193802A1 (en) | 2016-05-13 | 2017-04-24 | Moving platform and suitcase comprising same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610325208.XA CN106037197A (en) | 2016-05-13 | 2016-05-13 | Mobile platform and luggage box comprising same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106037197A true CN106037197A (en) | 2016-10-26 |
Family
ID=57177117
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610325208.XA Pending CN106037197A (en) | 2016-05-13 | 2016-05-13 | Mobile platform and luggage box comprising same |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106037197A (en) |
| WO (1) | WO2017193802A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017193802A1 (en) * | 2016-05-13 | 2017-11-16 | 安徽酷哇机器人有限公司 | Moving platform and suitcase comprising same |
| CN108143065A (en) * | 2017-12-23 | 2018-06-12 | 常州摩本智能科技有限公司 | Intelligent luggage carrier |
| CN109008128A (en) * | 2018-09-30 | 2018-12-18 | 张家港天筑基业仪器设备有限公司 | A kind of manual-automatic integral luggage case |
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| US10589940B2 (en) | 2017-12-05 | 2020-03-17 | Metal Industries Research & Development Centre | Power wheel and cooperative carrying method thereof |
| CN108508766A (en) * | 2017-12-29 | 2018-09-07 | 黎明职业大学 | A kind of Multifunctional mobile platform |
| CN110239646A (en) * | 2019-07-24 | 2019-09-17 | 上海库康科技有限公司 | Wheel transmission with clutch shock-absorbing function |
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Also Published As
| Publication number | Publication date |
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| WO2017193802A1 (en) | 2017-11-16 |
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Address after: 241000 Anhui city of Wuhu province Jiujiang Electronic Industrial Park Building 7 floor, room 7004 Applicant after: Anhui cool robot Co., Ltd. Address before: 200233 Shanghai, Xuhui District Rainbow Road, No. 64, building 502, room 5, room 421 Applicant before: SHANGHAI KUWA ROBOT CO., LTD. |
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Application publication date: 20161026 |
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| RJ01 | Rejection of invention patent application after publication |