KR100894423B1 - Mobile platform - Google Patents

Abstract

A mobile platform is provided to move a device of specific purpose efficiently while preventing the distortion of the wheel axle by lessening the vertical impact acting on the wheel and the circumferential impact on the axle. A mobile platform(100) comprises a base plate(110), a pair of left and right drive wheel modules(140,150) installed on the base plate opposite to each other, a control drive(145) which is mounted on the base plate and controls the left and right drive wheel modules, a drive wheel module buffer(160) buffering the external force acting on the left and right drive wheel modules, a front wheel caster(170) which is pivotally installed in the base plate tip on the center line of the left and right drive wheel modules via a caster supporting plate(171), and a mounting plate(120) which is supported above the top of the base plate with a plurality of profiles(130). The drive wheel module buffer includes a plurality of linear bushes(161) installed on the left and right drive wheel modules, a linear bush shaft(165), and a pressure spring(167) inserted into the linear bush shaft.

Description

Mobile platform {MOBILE PLATFORM}

The present invention relates to a mobile platform, and more particularly, an object, for example, a specific object or device is mounted to transport or transport to a desired location, or a device such as a robot that performs a specific task, the device is to perform the task A mobile platform for moving to perform.

In general, a manual conveying device has been mainly used to convey a predetermined item such as an object or a product, and the manual conveying device is used to convey a package through a narrow length or a curved road that a large power transport device cannot pass through. Useful.

Such a conventional conveying device is a situation that is currently provided a lot of various forms, of which the typical type of the conventional conveying device is provided with four wheels on the lower surface of the main body of the flat plate to load the package, the wheel Are installed spaced apart from each other so that they are arranged in a rectangular shape, two of the wheels are fixed wheels that cannot change the direction of travel, the other two wheels are configured to be rotatable to change the direction of travel Has a configuration consisting of.

However, such a conventional transportation device has a lot of manual methods that are directly driven by the user, which requires a great deal of inconvenience, and there are some electric ones, but it is economical and technical in terms of price and handling. Due to the problem, there were a lot of restrictions in production.

Korean Patent Laid-Open Publication No. 2006-0133733 entitled 'Multipurpose Cart' as a name of the present invention is disclosed as a conventional technology for overcoming these problems. Hereinafter, with reference to the accompanying drawings, a brief description of the multi-purpose cart. 1 and 2 are a side view and a plan view showing the structure of the multi-purpose cart, respectively.

The multi-purpose cart has a handle 10 for the change of direction, a front wheel 11 that can be rotated left and right while operating in conjunction with the handle 10 and at least two rear wheels 12 having a layout configuration of this and a triangle, The cart body 13 of a plate assembly type having a top plate of a predetermined area, the battery 14 and the driving motor 15 mounted inside the cart body 13, and the power of the driving motor 15 are rear wheels. It comprises a gear device 16 for delivery to the side (12) and two auxiliary wheels 17 for more stable movement of the cart.

The multi-purpose cart also has a shock absorber 19 and a link 20 for mitigating a vertical impact due to a load or an external force acting on the rear wheel 12 and the auxiliary wheel 17.

However, the above-mentioned multi-purpose cart also has the following problems.

First, the driving force required to move the multi-purpose cart is provided by the driving motor 15, but the direction in which the rear wheel 12 rotates by the driving force by the driving motor 15 is left and right rear wheels 12 Since they are all the same, the redirection still has a cumbersome problem in that the user must move with the utility cart because the user must manually operate the handle 10.

Second, when the multi-purpose cart is moved, the rear wheel 12 and the auxiliary wheel 17 have a circumferential direction on an axis supporting the rear wheel 12 and the auxiliary wheel 17 as well as a vertical impact caused by a load or an external force. External forces also work. However, the shock absorber 19 can only mitigate only the impact in the vertical direction acting on the rear wheel 12 and the auxiliary wheel 17, and does not alleviate the circumferential external force acting on the above-described shaft. There is a problem that the damage of the shaft 12 and the auxiliary wheels 17, such as twisting occurs and the movement of the multi-purpose cart is not made smoothly.

On the other hand, robots for special purpose have recently been developed for industrial use and used as part of factory automation, or widely used to collect information or collect specific samples on behalf of humans in extreme environments that humans cannot tolerate. In recent years, the field of robotics has developed human-friendly home robots such as nursing robots and cleaning robots. Therefore, there is an urgent need for the development of a moving means for moving the robot according to its purpose by mounting the robot developed to perform such a special purpose.

The present invention has been made to overcome the disadvantages of the prior art as described above, and does not require the user's operation, and is equipped with a device such as a robot for carrying a specific object or performing a specific purpose, and according to the purpose Can be efficiently moved, and the shock in the vertical direction acting on the wheel provided as a driving means for the movement and the circumferential impact on the shaft can be effectively alleviated, thereby preventing damage such as torsion of the wheel shaft. The technical challenge is to provide a mobile platform that facilitates smooth movement.

Mobile platform according to the present invention for achieving the above technical problem and the base plate; A pair of left and right driving wheel modules installed on the base plate to face each other; A control drive mounted to the base plate to control each of the left and right driving wheel modules; A driving wheel module shock absorber for buffering an external force acting on each of the left and right driving wheel modules; A front wheel caster rotatably installed at the tip of the base plate on the center line of the left and right driving wheel modules via a caster support plate; And a mounting plate supported on the base plate spaced apart from the base plate through a plurality of profiles.

In one embodiment of the present invention preferably the left and right drive wheel modules each of the drive wheel support bracket is installed on the base plate; A motor mounted to the drive wheel support bracket and controlled by the control drive; And a driving wheel that receives and rotates the rotational force of the motor through a timing belt.

In one embodiment of the present invention preferably the control drive stops any one of the drive wheels of the left and right drive wheel module, or change the rotational speed of each of the drive wheels of the left and right drive wheel module, By controlling the rotation direction of each of the drive wheels of the left and right drive wheel module differently, the direction of the mobile platform is made.

Preferably, the driving wheel module shock absorber includes a plurality of linear bushes installed on each of the left and right driving wheel modules; A linear bush shaft having one end movably inserted into the linear bush and the other end fixed to the mounting plate; And a compression spring inserted into the linear bush shaft, one end of which is supported by an upper end of the linear bush, and the other end of which is supported by a spring support provided on the linear bush shaft.

In one embodiment of the present invention preferably a plurality of ball bearings in contact with the linear bush shaft rotatably installed on the inner circumferential surface of the linear bush is applied to the axial and circumferential external force acting on the linear bush shaft through its rotational movement. Buffer.

In one embodiment of the present invention is preferably further provided with a front wheel caster shock absorber for buffering the external force acting on the front wheel caster, the front wheel caster shock absorber is a plurality of linear bush is installed on the caster support plate; A linear bush shaft having one end movably inserted into the linear bush and the other end fixed to the mounting plate; And a compression spring inserted into the linear bush shaft, one end of which is supported by an upper end of the linear bush, and the other end of which is supported by a spring support provided on the linear bush shaft.

In one embodiment of the present invention is preferably further provided with a rear wheel caster installed on the rear end of the base plate on the center line of the left and right drive wheel module.

In one embodiment of the present invention is preferably further provided with a battery mounted to the base plate for supplying power to the control drive and the left and right drive wheel module.

In one embodiment of the present invention preferably the mounting plate is further provided with a carrying rod fastener formed to fasten the carrying rod for carrying the mobile platform.

In one embodiment of the present invention, preferably, the mounting plate is further provided with an obstacle detecting sensor for detecting an obstacle near the movement of the mobile platform to transfer the information to the control drive. The obstacle detecting sensor may be an infrared sensor or an ultrasonic sensor, and a plurality of obstacle detecting sensors may be disposed radially at equal intervals along the outer circumferential surface of the mounting plate.

According to the mobile platform according to the present invention having the configuration as described above, it does not require the user's operation, it is equipped with a device such as a robot for carrying a specific object or to perform a specific purpose to efficiently fit the device to that purpose It can be moved to the wheel, and effectively alleviates the vertical shock acting on the wheel provided as the driving means for the movement and the circumferential impact on the shaft, thereby preventing damage such as torsion of the wheel shaft. There is an advantage that can be achieved.

Hereinafter, with reference to the accompanying drawings will be described in detail a preferred embodiment of a mobile platform according to the present invention. Figure 3 is an exploded perspective view of the mobile platform according to the present invention, Figure 4 is a perspective view of the mobile platform according to the present invention with a robot mounted as a carrying object, Figure 5 is a cross-sectional view and longitudinal section of the linear bush shown in FIG. It is also.

3 to 5, the mobile platform 100 according to the present invention includes a base plate 110. The base plate 110 serves as a reference base on which each component to be described below is mounted or installed.

The base plate 110 is provided with a pair of left and right driving wheel modules 140 and 150 installed to face each other. The left and right driving wheel modules 140 and 150 are main driving devices for the movement of the mobile platform 100 according to the present invention, and are made of the same components. The description of the right driving wheel module 150 will be omitted.

Each of the left and right driving wheel modules 140 and 150 is mounted to the driving wheel support bracket 141 installed on the base plate 110 and the driving wheel support bracket 141 to be described later. It is configured to include a motor 142 controlled by the, and a driving wheel 144 is rotated by receiving the rotational force of the motor 142 through the timing belt 143.

In the embodiment of the present invention as shown in FIG. 3, the driving wheel support bracket 141 is first fastened to the linear bush 161 of the driving wheel module shock absorber 160, which will be described later, and the linear bush ( 161 is fastened to the base plate 110 so that each of the left and right drive wheel modules 140 and 150 may be fastened to the base plate 110, but the drive wheel support bracket 141 first. A linear bush (not shown) that is fastened to the base plate 110 and whose structure is deformed may be fastened to the driving wheel support bracket 141.

On the other hand, the base plate 110 is also equipped with a control drive (145, 155) for controlling each of the left and right driving wheel module (140, 150). The control drive (145, 155) of the mobile platform 100 according to the present invention by controlling the rotational direction and the rotational speed of the motor (142, 152) provided in each of the left and right driving wheel module (140, 150) Controls the rotational movement for straight movement or direction change. The change of direction of the mobile platform 100 stops any one of the driving wheels 144 and 154 of the left and right driving wheel modules 140 and 150, or the left and right driving wheel modules 140 and 150. By varying the rotational speed of each of the driving wheels (144, 154), or by controlling the rotation direction of each of the driving wheels (144, 154) of the left and right driving wheel module (140, 150) differently.

The control drive (145, 155) is basically a moving route for various purposes to be performed by the mobile platform 100, the left and right driving wheel module (140, 150) respectively according to the movement route To control. In addition, the left and right driving wheel module 140 is received from the obstacle detection sensor 125 to be described later to receive information about the obstacle near the movement of the mobile platform 100 so that the mobile platform 100 does not collide with the obstacle. 150) to control each.

The base plate 110 may further include batteries 147 and 157 for supplying power to the control drives 145 and 155 and the left and right driving wheel modules 140 and 150, respectively.

The front wheel caster 170 is rotatably installed at the front end of the base plate 110 on the center line of the left and right driving wheel modules 140 and 150 through the caster support plate 171. The front wheel caster 170 is rotatably coupled to the base plate 110 to enable the direction of the mobile platform 100. Reference numeral 172 denotes a spacer inserted into the caster support plate 171 and the front wheel caster 170, and reference numeral 173 denotes a fastening for fastening the front wheel caster 170 to the caster support plate 171. Represents a sphere.

In an embodiment of the present invention as shown in FIG. 3, the front wheel caster 170 is specifically fastened to the caster support plate 171 first, and the caster support plate 171 may be described below with the front wheel caster shock absorber ( After being fastened to the linear bush 181 of 180, the linear bush 181 is fastened to the base plate 110 is configured to fasten the front wheel caster 170 to the base plate 110, The caster support plate 171 fastened to the front wheel caster 170 is first fastened to the base plate 110, and a linear bush (not shown) of which the structure is modified is fastened to the caster support plate 171. It can also be configured.

Meanwhile, a rear wheel caster 190 may be additionally installed at the rear end of the base plate 110 on the center line of the left and right driving wheel modules 140 and 150. The rear wheel caster 190 supports the mobile platform 100 more stably, and distributes the load due to the object mounted on the mobile platform 100 so that the mobile platform 100 can move more stably. It plays a supporting role. Thus, unlike the front wheel caster 170 is configured not to be rotatable relative to the base plate (110).

The mounting plate 120 is installed on the base plate 110 to be supported and fixed in a state spaced apart from the base plate 110 through a plurality of profiles 130 acting as a support. The mounting plate 120 is a part on which an object mounted on the mobile platform 100 as its name, for example, an object or a production part, or a robot 200 for performing a specific purpose as shown in FIG. 4 is mounted. As, for example, a plurality of fastening holes or cradles (not shown) for fastening the object may be provided.

The mounting plate 120 may also be provided with a plurality of carrying rod fasteners 122 into which a carrying rod (not shown) for carrying the mobile platform 100 is inserted and fastened.

The mounting plate 120 may further include an obstacle detecting sensor 125 that detects an obstacle near the movement of the mobile platform 100 and transmits the information to the control drives 145 and 155. . An infrared sensor or an ultrasonic sensor may be used as the obstacle detecting sensor 125, and a plurality of radial sensors may be disposed radially at equal intervals along the outer circumferential surface of the mounting plate 120.

On the other hand, each of the left and right driving wheel module (140, 150) is provided with a drive wheel module shock absorber 160 for buffering the external force acting on it. The driving wheel module shock absorber 160 includes a plurality of linear bushes 161 installed on the driving wheel support brackets 141 and 151 of the left and right driving wheel modules 140 and 150; A linear bush shaft 165 having one end movably inserted into the linear bush 161 and the other end fixed to the mounting plate 120; And a compression spring 167 inserted into the linear bush shaft 165 so that one end thereof is supported by the upper end of the linear bush 161, and the other end is supported by a spring support 166 installed in the linear bush shaft 165. It is configured to include).

The driving wheel module shock absorber 160 primarily buffers the impact caused by the load of the object mounted on the mounting plate 120 through the compression spring 167. In addition, as shown in FIG. 5, the linear bush 161 has a plurality of ball bearings 163 in contact with the linear bush shaft 165 on its inner circumferential surface so as to be rotatable, and through the rotational movement thereof, the mobile platform. Absorbs the axial and circumferential external forces acting on the left and right drive wheel modules 140 and 150 indirectly by buffering the axial and circumferential external forces acting on the linear bush shaft 165 during the movement of 100. Let's do it. Reference numeral 162 denotes a bolt fastening hole.

On the other hand, the front wheel caster shock absorber 180 is provided on the caster support plate 171 to buffer the external force acting on the front wheel caster 170 is provided. The front wheel caster shock absorber 180 includes a plurality of linear bushes 181 mounted to the caster support plate 171; A linear bush shaft 185 having one end movably inserted into the linear bush 181 and the other end fixed to the mounting plate 120; And a compression spring 187 inserted into the linear bush shaft 185 and having one end supported by the upper end of the linear bush 181 and the other end supported by a spring support 186 installed in the linear bush shaft 185. It is configured to include. The front wheel caster shock absorber 180 and the linear bush 181 provided therein have the same configuration and operation as the above-described driving wheel module shock absorber 160 and the linear bush 161 provided therein. Replace with one explanation.

4 shows a combined state of the mobile platform 100 according to the present invention described above, the mounting plate 120 of the mobile platform 100 is equipped with a robot 200 for performing a specific purpose. As described above, the mobile platform 100 according to the present invention can be used as a moving means of the robot 200, in addition to the mounting plate 120 by mounting a means such as a cradle (not shown) It can also be used to transport certain goods or products.

The mobile platform 100 according to the present invention basically drives the left and right driving wheel modules 140 and 150 through the control of the control drives 145 and 155 in which the movement route is input for a specific work purpose. An object such as an object, a product, or a robot mounted on the 100 is moved. In addition, the obstacle detection sensor 125 is additionally mounted on the mobile platform 100 to detect an obstacle near the movement of the mobile platform 100 and control the control drives 145 and 155 based on the information. This can prevent collisions with obstacles.

As described above, in the detailed description of the present invention, a preferred embodiment of the present invention has been described, but those skilled in the art to which the present invention pertains various modifications can be made without departing from the scope of the present invention. Of course. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be defined not only by the claims below, but also by the equivalents of the claims.

1 and 2 are a side view and a plan view showing the structure of a multi-purpose cart according to the prior art,

3 is an exploded perspective view of a mobile platform according to the present invention;

4 is a perspective view of a mobile platform according to the present invention with a robot mounted as a carrying object;

5 is a cross sectional view and a longitudinal sectional view of the linear bush shown in FIG. 3.

** Description of the symbols for the main parts of the drawings **

110: base plate 120: mounting plate

122: rod fastener 125: obstacle detection sensor

130: Profile 140: left drive wheel module

141: drive wheel support bracket 142: motor

143: timing belt 144: driving wheel

145: control drive 147: battery

150: right drive wheel module 160: drive wheel module shock absorber

161: linear bush 163: ball bearing

165: linear bush shaft 166: spring support

167: compression spring 170: front wheel caster

171: caster support plate 172: spacer

180: front wheel caster shock absorber 190: rear wheel caster

Claims (8)

Base plate; A pair of left and right driving wheel modules installed on the base plate to face each other; A control drive mounted to the base plate to control each of the left and right driving wheel modules; A driving wheel module shock absorber for buffering an external force acting on each of the left and right driving wheel modules; A front wheel caster rotatably installed at the tip of the base plate on the center line of the left and right driving wheel modules via a caster support plate; And a mounting plate supported on the base plate while being spaced apart from the base plate through a plurality of profiles. The drive wheel module shock absorber, A plurality of linear bushes installed on each of the left and right driving wheel modules; A linear bush shaft having one end movably inserted into the linear bush and the other end fixed to the mounting plate; And a compression spring inserted into the linear bush shaft and having one end supported on an upper end of the linear bush and the other end supported by a spring support installed on the linear bush shaft. The method of claim 1, Each of the left and right driving wheel modules includes a driving wheel support bracket installed on the base plate; A motor mounted to the drive wheel support bracket and controlled by the control drive; And a driving wheel that receives the rotational force of the motor through a timing belt and rotates the driving wheel. delete The method of claim 1, And a plurality of ball bearings rotatably installed on the inner circumferential surface of the linear bush to cushion axial and circumferential external forces acting on the linear bush shaft through the rotational movement thereof. The method of claim 1, Further provided is a front wheel caster shock absorber for buffering the external force acting on the front wheel caster, The front wheel caster shock absorber and a plurality of linear bush is installed on the caster support plate; A linear bush shaft having one end movably inserted into the linear bush and the other end fixed to the mounting plate; And a compression spring inserted into the linear bush shaft and having one end supported on an upper end of the linear bush and the other end supported by a spring support installed on the linear bush shaft. The method of claim 5, wherein And a plurality of ball bearings rotatably installed on the inner circumferential surface of the linear bush to cushion axial and circumferential external forces acting on the linear bush shaft through the rotational movement thereof. The method of claim 1, And a rear wheel caster installed at a rear end of the base plate on the center line of the left and right driving wheel modules. The method of claim 1, And a battery mounted to the base plate to supply power to the control drive and the left and right driving wheel modules.

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