KR101206255B1 - Door type cable guiding device and tendon controlled mobile platform system with it - Google Patents

Abstract

Disclosed are a double door cable guide device and an autonomous mobile system having the same. According to an embodiment of the present invention, a support frame coupled to the mobile platform, a pair of bidirectional elastic hinges respectively coupled to the support frame and disposed on both sides of the mobile platform, and a pair of bidirectional elastic hinges respectively coupled to the mobile platform And a pair of door frames that are opened when pressurized by a moving device arranged in a double door shape on the door, and when the pair of door frames is closed, a cable guide region for guiding the cable is formed between the pair of door frames. A double door cable guide device may be provided.

Description

DOOR TYPE CABLE GUIDING DEVICE AND TENDON CONTROLLED MOBILE PLATFORM SYSTEM WITH IT}

The present invention relates to a double door type cable guide device and an autonomous moving system having the same, and a double door type cable guide device for guiding a cable of a work device mounted in the autonomous moving system and an autonomous moving system having the same.

In general, large vessels are being built in such a way that assembling raw materials to form blocks for forming each part of the hull, and assembling these blocks with each other to complete the hull.

During the construction of such a large ship, welding, blasting, painting, collecting of grits used for blasting, drying of coating after painting, inspection, coating measurement, etc. Various operations are performed.

1 illustrates the inside of the block.

Referring to FIG. 1, a plurality of reinforcing materials 15 and 16 are installed in the block 10. In addition, the inside of the block 10 may also be partitioned into a plurality of work areas 11 by a structure such as a partition wall 13, and such a partition wall 13 may include an access hole, which may be used as a passage of an operator. 17) is formed.

When the above operations are performed inside the block 10, a complicated structure such as the partition 13 and the reinforcing materials 15 and 16 acts as an obstacle, and thus work efficiency may be reduced.

Therefore, in order to improve the work efficiency in such a block, various automation equipments for performing various tasks such as welding, painting, and inspection have been steadily developed, and as a part of this, research and development on autonomous mobile systems have been steadily progressing. .

2 shows a state in which a work device is mounted on the autonomous mobile system.

The autonomous mobile system 50 connects the radial wires 40 to the moving platform 30 and winds the plurality of wires 40 into the plurality of winches 32 installed on the main body 31 of the moving platform 30. It is a device to move the moving platform 30 to the desired position in the work area 11 by adjusting the length of each of the loosen or loosen.

Therefore, when the work device 60 performing the necessary work in the work area 11 is mounted on the mobile platform 30, various operations can be efficiently performed in the block 10.

3 shows a state in which a work device mounted on the autonomous mobile system is transferred to an adjacent work area. It demonstrates with reference to FIG.

The movable platform 30 is provided with a guide rail 33, the working device 60 includes a base 61 and a working robot 62. The base 61 may be guided by the guide rail 33 to slide. In other words, the work device 60 is mounted on the movable platform 30 so as to be slidable.

Accordingly, when work in one work area (see 11 in FIG. 2) is completed, the work device 60 is moved to another moving platform 30a installed in another work area (not shown) adjacent through the access hole 17. You can move it.

The work device 60 is connected with a hose or cable (hereinafter referred to as a "cable") 63 for supplying or discharging elements necessary for work such as paint, compressed air, grit, and electric power. However, when the cable 63 is in contact with the coating film which is not sufficiently dried according to the operation of the moving platform 30 or is caught between the guide rail 33 and the working robot 62, work may be delayed or stopped. Can be.

Therefore, there is a need for a method capable of guiding the cable 63 not to be moved to a region other than a predetermined range in the work using the autonomous mobile system (50 of FIG. 2).

Embodiments of the present invention are intended to guide a cable of a work device mounted on a mobile platform so that work performed in a block is not delayed or interrupted.

According to an aspect of the present invention, the mobile device is installed in the autonomous mobile system including a mobile platform for moving the movable platform and the mobile platform in the work area slide-mounted to guide the cable connected to the working device An apparatus comprising: a support frame coupled to the movable platform, a pair of bidirectional elastic hinges coupled to the support frame and disposed on both sides of the movable platform, and coupled to the pair of bidirectional elastic hinges, respectively; And a pair of door frames that are opened when pressed by the work device, which is disposed on both doors and moved on the door, and the cable is guided between the pair of door frames when the pair of door frames is closed. Double door type cable, characterized in that the guide area is formed A device id can be provided.

The door frame may include at least one guide roller rotatably installed at an edge of the cable guide region. In this case, the support frame may include a support roller disposed on the lower end of the cable guide region and rotatably installed on the support frame.

Alternatively, the moving platform may be disposed at the lower end of the cable guide region and may include a support roller rotatably installed on the moving platform.

Alternatively, the bidirectional elastic hinge includes a main bracket having rotation shafts formed on one side and the other side, a first rotation bracket hinged to the rotation shaft on one side, and a second rotation bracket hinged to the rotation shaft on the other side. The first pivot bracket may be coupled to the support frame, and the second pivot bracket may be coupled to the door frame.

The guide roller may be formed to have a diameter longer than the diameter of the door frame.

According to another aspect of the present invention, a moving platform on which the work device is slidably mounted, a plurality of wires for moving the moving platform within the work area, and a cable coupled to the work platform connected to the work device An autonomous mobile system having the two-door cable guide device for guiding may be provided.

According to an embodiment of the present invention, the quality and efficiency of the work performed in the block can be improved by passing the work device mounted on the mobile platform and guiding only the cable.

1 illustrates the interior of a block;
Figure 2 is a view showing a working device mounted on the autonomous mobile system.
3 is a view showing a state in which a work device mounted on an autonomous mobile system is transferred to an adjacent work area.
Figure 4 is a view showing an autonomous mobile system having a double door type cable guide device according to an embodiment of the present invention.
5 is a view showing a double door type cable guide device according to an embodiment of the present invention.
6 is a cross-sectional view taken along the line VI-VI of FIG. 5.
7 and 8 are views for explaining the operation of the two-way elastic hinge applied to the two-door cable guide device according to an embodiment of the present invention.
9 is a view showing a double door cable guide device according to another embodiment of the present invention.
10 is a view showing an autonomous mobile system having a double door type cable guide device according to another embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the detailed description. It is to be understood, however, that the invention is not to be limited to the specific embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Figure 4 shows an autonomous mobile system having a double door type cable guide device according to an embodiment of the present invention.

Referring to FIG. 4, the autonomous mobile system 300 having a double door type cable guide device according to an embodiment of the present invention may include a mobile platform 330 and a wire 340. The moving platform 330 may include a main body 331, a winch 332, and a guide rail 333.

A double door type cable guide device 100 according to an embodiment of the present invention will be described in detail with reference to FIG. 5. The main body 331, the winch 332, the guide rail 333, the moving platform 330, and the wire 340 of the autonomous mobile system 300 having a double door type cable guide device according to an embodiment of the present invention are provided in the front. Main body (31 in FIG. 2), winch (32 in FIG. 2), guide rail (33 in FIG. 3), moving platform (30 in FIG. 2) and wire (in FIG. 2) of the described autonomous mobile system (50 in FIG. 2). Since each is similar to 40), redundant descriptions are omitted.

However, as shown in the main body 331 of the autonomous mobile system 300 having a double door type cable guide device according to an embodiment of the present invention, the double door type cable guide device 100 according to an embodiment of the present invention is Coupling grooves 335 and 336 to be coupled may be formed.

Alternatively, the above-described coupling grooves 335 and 336 are not formed in the main body 331, and the cable guide is provided by a fixing bracket (not shown) that fixes the cable guide device 100 to a predetermined position of the main body 331. The device 100 and the body 331 may be combined.

Figure 5 shows a double door cable guide device according to an embodiment of the present invention.

Referring to FIG. 5, a double door type cable guide device 100 according to an embodiment of the present invention includes a support frame 101, a first door frame 130, a second door frame 140, and a first bidirectional elastic hinge ( 150 and the second bidirectional elastic hinge 160 may be included.

The support frame 101 may be coupled to the main body (331 of FIG. 4) of the mobile platform (330 of FIG. 4). Guide rail seating portions 111 and 121 may be formed in the support frame 101. When the support frame 101 is coupled to the main body 331 of FIG. 4, the guide rails 333 of FIG. 4 are guide rails. It may be coupled to be disposed on the seating portion (111, 121).

That is, when the support frame 101 is coupled to the coupling grooves 335 and 336 of FIG. 4, lower portions of the pair of guide rails 333 of FIG. 4 may be disposed on the guide rail seating portions 111 and 121, respectively. Can be.

A support roller shaft portion 103 is formed in the middle region of the support frame 101, and the support roller 102 may be rotatably coupled thereto. Both ends of the support frame 101 may be formed such that the first door support 110 and the second door support 120 protrude to both sides on the main body 331 of FIG. 4.

A first bidirectional elastic hinge 150 and a second bidirectional elastic hinge 160 may be coupled to the first door support 110 and the second door support 120 of the support frame 101. At this time, the interval between the first door support 110 and the second door support 120 is passed through the working device (see 60 of FIG. 3) between the first bidirectional elastic hinge 150 and the second bidirectional elastic hinge 160. It may be formed to be spaced apart as much as possible.

The first door frame 130 may be coupled to the first bidirectional elastic hinge 150, and the second door frame 140 may be coupled to the second bidirectional elastic hinge 160.

The first door frame 130 may include a main frame 131, a hinge coupling bar 132, an upper guide roller 134, and a lateral guide roller 136.

One end of the hinge coupling bar 132 may be coupled to one end of the main frame 131. One end of the hinge coupling bar 132 may be coupled to the main frame 131, and the other end may be coupled to the first bidirectional elastic hinge 150.

The other end of the main frame 131 may be formed with an upper guide roller support 133 and a transverse guide roller support 135. Here, the upper guide roller support 133 may be formed in a shape extending along the longitudinal direction of the main frame 131, the transverse guide roller support 135 may protrude downward.

The upper guide roller 134 may be rotatably coupled to the upper guide roller support 133, and the lateral side guide roller 136 may be rotatably coupled to the lateral guide roller support 135.

The second door frame 140 may include a main frame 141, a hinge coupling bar 142, an upper guide roller 144, and a lateral guide roller 146. In addition, an upper guide roller support 143 and a horizontal guide roller support 145 may protrude from the main frame 141.

Here, the shape and structure of the main frame 141, the hinge coupling bar 142, the upper guide roller support 143, the upper guide roller 144, the lateral guide roller support 145 and the lateral guide roller 146 is 1 main frame 131 of the door frame 130, the hinge coupling bar 132, the upper guide roller support 133, the upper guide roller 134, the transverse guide roller support 135 and the transverse guide roller 136 and Since they are the same, duplicate descriptions are omitted.

However, the hinge coupling bar 142 is coupled to the second bidirectional elastic hinge 160.

The first bidirectional elastic hinge 150 and the second bidirectional elastic hinge 160 will be described with reference to FIGS. 6 to 8.

FIG. 6 is a cross section taken along the line VI-VI of FIG. 5.

Referring to FIG. 6, the second bidirectional elastic hinge 160 may include a main bracket 161, a first pivot bracket 164, and a second pivot bracket 165.

First and second rotation shaft portions 162 and 163 may be formed on both sides of the main bracket 161, respectively. The first rotation bracket 164 may be hinged to the first rotation shaft 162, and the second rotation bracket 165 may be hinged to the second rotation shaft 163.

Although not shown, an elastic member such as a torsion spring for elastically supporting the first rotation bracket 164 is installed on the first rotation shaft 162, and the second rotation shaft 163 is also rotated on the second rotation shaft 163. An elastic member for elastically supporting the bracket 165 may be installed.

That is, the first rotation bracket 164 may be elastically hinged to the first rotation shaft portion 162, and the second rotation bracket 165 may be elastically hinged to the second rotation shaft portion.

Here, the elastic hinge coupling, when an external force is applied, the first rotation bracket 164 and the second rotation bracket 165 are rotated around the first rotation shaft portion 162 and the second rotation shaft portion 163, respectively, When the applied external force is released, it returns to its original position.

The second door support part 120 is coupled to the first pivot bracket 164 by the fastening member 168, and the hinge coupling bar 142 is coupled to the second pivot bracket 165 by the fastening member 169. Can be.

7 and 8 are diagrams for explaining the operation of the two-way elastic hinge applied to the two-door cable guide device according to an embodiment of the present invention.

First, referring to FIG. 7, the second rotation bracket 165 is rotated around the second rotation shaft 163 with respect to the main bracket 161.

In this case, as described above, since the second pivot bracket 165 is elastically hinged to the second rotation shaft 163, when the external force transmitted to the second bidirectional elastic hinge 160 is released, the second bidirectional elastic hinge 160 is released. ) May be returned to the state shown in FIG. 6.

Referring to FIG. 8, the main bracket 161 is rotated about the first rotation bracket 164 about the first rotation shaft 162.

At this time, since the first rotation bracket 164 is elastically hinged to the first rotation shaft portion 162 as described above, when the external force transmitted to the main bracket 161 is released, the second bidirectional elastic hinge 160 is shown in FIG. The state shown in 6 can be returned.

As described above, the hinge coupling bar 142 by the second bidirectional elastic hinge 160 is bidirectional with respect to the second door support part 120 with respect to the first rotating shaft portion 162 and the second rotating shaft portion 163. Can be rotated to.

Since the first bidirectional elastic hinge (see 150 of FIG. 5) has the same structure and effect as the second bidirectional elastic hinge 160, overlapping description thereof will be omitted.

Referring back to FIG. 5, the first door frame 130 may be rotatably supported in both directions about the first door support 110 of the support frame 101 by the first bidirectional elastic hinge 150. . The second door frame 140 may also be rotatably supported in both directions about the second door support part 120 of the support frame 101 by the second bidirectional elastic hinge 160.

Therefore, referring to FIG. 4, the first door frame 130 and the second door frame 140 may be disposed in a double door type on the main body 331 of the mobile platform 330. That is, when the first door frame 130 and the second door frame 140 are pressurized by the work device (see 60 in FIG. 3) that slides on the main body 331, the first door frame 130 and the second door frame 140 are rotated and interposed therebetween. May be opened for passage.

After the work device (see 60 in FIG. 3) passes between the first door frame 130 and the second door frame 140, the first door frame 130 and the second door frame 140 are the work device. It can be arranged in a shape that is no longer pressurized by (see 60 in Fig. 3) is returned to its original position and closed.

In particular, since the first door frame 130 and the second door frame 140 may be rotated in both directions, the work window (see 60 in FIG. 3) is opened and closed regardless of the direction in which the slide is moved with respect to the moving platform 330. Can be.

Referring to FIG. 5 again, the upper guide roller 134 and the lateral guide roller 136 of the first door frame 130 and the upper guide roller 144 of the second door frame 140 symmetrically disposed thereon, respectively. ) And the cable guide region 109 is formed between the lateral guide roller 146.

The cable guide area 109 is an area in which a cable (see 63 in FIG. 3) connected to the work device (see 60 in FIG. 3) is guided. A plurality of guide rollers, i.e., upper guide rollers 134 and 144 and lateral guide rollers 136 and 146, are provided at the edge of the cable guide region 109, so that when the cable (see 63 in FIG. 3) comes into contact with them, Friction forces acting on the cable (see 63 in FIG. 3) can be minimized.

In addition, as described above, the support roller 102 provided in the support frame 101 is disposed at the lower end of the cable guide region 109 to guide the cable (see 63 in FIG. 3). At this time, the length of the support frame 101 may be formed corresponding to the interval between the lateral guide rollers (136, 146).

The cable guide area 109 is in a state where the first door frame 130 and the second door frame 140 are not rotated with respect to the support frame 101, that is, the first door frame 130 and the second door frame 140. ) May be formed in a closed state.

Therefore, while the work device (see 60 in FIG. 3) slides with respect to the moving platform (330 in FIG. 4), the first door frame 130 and the second door frame 140 may be connected to the work device (FIG. 3 in FIG. 3). Cable (see 63 in FIG. 3) is placed between the first door frame 130 and the second door frame 140 when pressed and opened by the working device (see 60 in FIG. 3). When the first door frame 130 and the second door frame 140 are closed to move, the cable (63 of FIG. 3) may be disposed and guided in the cable guide area 109.

As described above, the double door type cable guide device 100 according to an embodiment of the present invention and the autonomous mobile system (300 in FIG. 4) having the same have a cable (see 60 in FIG. 3) connected to the cable guide area 109. Since the guide is not guided out of the outside, the work using the work device (see 60 of FIG. 3) can be prevented from being delayed or stopped.

On the other hand, when the first door frame 130 and the second door frame 140 are frequently pressed by the work device (see 60 in FIG. 3), the contact surface may be damaged. To prevent this, a cushioning material (not shown) may be attached to a point where the first door frame 130 and the second door frame 140 contact the working device (see 60 of FIG. 3).

Alternatively, when the first door frame 130 and the second door frame 140 are pressed by the work device (see 60 in FIG. 3), the portion pressed by the work device (see 60 in FIG. 3) is the upper guide. When the rollers 134, 144 or the lateral guide rollers 136, 146 are made of a material having high impact resistance and abrasion resistance, the first door frame 130 and the second guide rollers 136, 146 are manufactured. The door frame 140 may be prevented from being damaged.

Here, the upper guide rollers 134 and 144 or the transverse side may be used as a method in which the portion pressurized by the work device (see 60 in FIG. 3) becomes the upper guide rollers 134 and 144 or the transverse guide rollers 136 and 146. For example, the guide rollers 136 and 146 may protrude to both sides of the first door frame 130 and the second door frame 140.

That is, when the diameter of the upper guide rollers 134, 144 or the diameter of the lateral guide rollers 136, 146 is formed to be longer than the diameter of the first door frame 130 and the diameter of the second door frame 140, the upper guide The rollers 134 and 144 or the lateral guide rollers 136 and 146 may protrude to both sides of the first door frame 130 and the second door frame 140 to be brought into contact with the work tool (see 50 in FIG. 3). have.

FIG. 9 shows a double door cable guide device according to another embodiment of the present invention, and FIG. 10 shows an autonomous mobile system having a double door cable guide device according to another embodiment of the present invention. It demonstrates with reference to FIG. 9 and FIG. 10 together.

9, a double door type cable guide device 200 according to another embodiment of the present invention includes a first support frame 201, a second support frame 202, a first door frame 230, and a second door frame. 240, a first bidirectional elastic hinge 250, and a second bidirectional elastic hinge 260 may be included.

As illustrated in FIG. 10, the first support frame 201 and the second support frame 202 may be coupled to coupling grooves 435 and 436 formed in the main body 431 of the mobile platform 400. Guide rail seating parts 211 and 221 may be formed in the first support frame 201 and the second support frame 202, respectively, and the first support frame 201 and the second support frame 202 may be moved platforms. When coupled to the main body 431 of the 400, respectively, the guide rail 433 may be coupled to be disposed on the guide rail seating portion (211, 221), respectively.

A first door support 210 may be formed in the first support frame 201, and a first bidirectional elastic hinge 250 may be coupled to the first door support 210. A second door support part 220 may be formed in the second support frame 202, and a second bidirectional elastic hinge 260 may be coupled to the second door support part 220.

In this case, the first support frame 201 and the second support frame 202 may have a working device (see 60 of FIG. 3) passing between the first bidirectional elastic hinge 250 and the second bidirectional elastic hinge 260. Can be spaced apart.

The first bidirectional elastic hinge 250 and the second bidirectional elastic hinge 260 are the first bidirectional elastic hinge (150 of FIG. 5) and the first bidirectional cable guide device (100 of FIG. 5) according to an embodiment of the present invention. Since the structure and the effect are the same as the two-way elastic hinge (160 of FIG. 5), overlapping description is omitted.

The first door frame 230 may include a main frame 237, a hinge coupling block 232, a reinforcing frame 231, an upper guide roller 234, and a lateral guide roller 236.

The hinge coupling block 232 may be coupled to the first bidirectional elastic hinge 250, and one end of the main frame 237 may be coupled to the hinge coupling block 232. The other end of the main frame 237 may be formed with an upper guide roller support 233 and a transverse guide roller support 235.

The upper guide roller 234 and the lateral guide roller 236 may be rotatably coupled to the upper guide roller support 233 and the lateral guide roller support 235, respectively.

In addition, the reinforcing frame 231 connects between the lower end of the lateral guide roller support 235 and the hinge coupling block 232, thereby improving the strength of the first door frame 230.

The second door frame 240 has a main frame 247, a hinge coupling block 242, a reinforcing frame 241, an upper guide roller support 243, an upper guide roller 244, a lateral guide roller support 245, and Lateral guide roller 246 may be included. These are the main frame 237, the hinge block 232, the reinforcing frame 231, the upper guide roller support 233, the upper guide roller 234, the transverse guide roller support (233) of the first door frame 230 described above ( Since the structure and the effect of the 235 and the transverse guide roller 246 are the same, the overlapping description is omitted.

The first door frame 230 and the second door frame 240 may be disposed on the moving platform 430 in a double door shape, and may be installed to be opened when pressed by the working device (see 60 of FIG. 3).

A cable guide region 209 may be formed between the first door frame 230 and the second door frame 240. At this time, the lower end of the cable guide region 209 is open, which may be closed by a portion of the upper portion of the mobile platform 430.

In this case, in order to prevent the cable (see 63 of FIG. 3) from being damaged, the supporting roller 439 may be rotatably installed on the above-mentioned portion of the moving platform 430. Since the support roller 439 does not interfere with the moving work device (see 60 in FIG. 3), the support roller 439 may be installed in the roller installation groove 437 formed in the main body 431 of the moving platform 430 as shown. Can be.

Or, although not shown, instead of the support roller 439 is installed on the body 431 of the mobile platform 430, the upper edge portion of the mobile platform 430 is rounded to form a curved surface (63 of FIG. 3). May be prevented from being damaged.

Reference numerals are the winch 432 for winding or unwinding the wire 440 and the wire 440 to adjust the length, and the same description as the wire 340 and the winch 332 described with reference to FIG. Omit.

As described above, the autonomous mobile system 400 having the double door type cable guide device according to another embodiment of the present invention passes the work device mounted on the mobile platform 430 (see 60 in FIG. 3) and passes the cable ( By guiding only 63 of FIG. 3, the quality and work efficiency of various jobs can be improved.

Although the above has been described with a double door type cable guide device and an autonomous mobile system having the same, the spirit of the present invention is not limited to the embodiments presented herein, those skilled in the art to understand the spirit of the present invention Within the scope of the same idea, it will be able to easily propose another embodiment by the addition, change, deletion, addition, etc. of the components, but it will also be said to fall within the scope of the invention.

60: work tool 61: base
62: working robot 63: cable
100, 200: Double door cable guide device
101, 201, 202: support frame 102: support roller
110, 210: first door support 120, 220: second door support
111, 121, 211, 221: Guide rail seat
130, 230: first door frame
131, 141, 237, 247: mainframe
231, 241: reinforcement frame
134, 144, 234, 244: upper guide roller
136, 146, 236, 246: transverse guide roller
140, 240: second door frame
150, 250: first bidirectional elastic hinge
160, 260: second bidirectional elastic hinge
300, 400: autonomous mobile system 331, 431: main body
332, 432: winch 333, 433: guide rail
335, 336, 435, 436: coupling groove

Claims (8)

An apparatus for guiding a cable connected to the work device is installed in the autonomous mobile system including a mobile platform that is mounted to the work device slide-movable and a wire for moving the mobile platform in the work area,
A support frame coupled to the moving platform;
A pair of bidirectional elastic hinges coupled to the support frame and disposed at both sides of the moving platform; And
A pair of door frames coupled to the pair of bidirectional elastic hinges, respectively, and disposed in a double door shape on the moving platform, and open when pressed by the moving work device.
And a cable guide region in which the cable is guided between the pair of door frames when the pair of door frames is closed.
The method of claim 1,
The door frame,
And at least one guide roller rotatably installed at an edge of the cable guide region.
The method of claim 2,
The support frame,
And a support roller disposed on the lower end of the cable guide region and rotatably installed on the support frame.
The method of claim 2,
The mobile platform,
And a support roller disposed on the lower end of the cable guide region, the support roller rotatably installed on the moving platform.
The method of claim 2,
The bidirectional elastic hinge,
A main bracket having rotation shafts formed on one side and the other side, respectively;
A first pivot bracket hinged to the rotation shaft of one side; And
It includes a second rotation bracket hinged to the rotating shaft portion of the other side,
And the first pivot bracket is coupled to the support frame, and the second pivot bracket is coupled to the door frame.
6. The method according to any one of claims 2 to 5,
The guide roller is a double door type cable guide device, characterized in that formed to have a diameter longer than the diameter of the door frame.
A moving platform on which a work device is mounted to be slidably movable;
A plurality of wires for moving the moving platform within a work area; And
Autonomous mobile system having a double door type cable guide device according to any one of claims 2 to 5 coupled to the moving platform to guide the cable connected to the work device.
The method of claim 7, wherein
And the guide roller is formed to have a diameter longer than the diameter of the door frame.

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