KR102332149B1 - Movable platform - Google Patents

Abstract

Disclosed is a movable platform which can be utilized as an unmanned transport vehicle or the like. The present invention provides the movable platform comprising: a main body; a plurality of ball assemblies arranged at an interval on a plane surface on the main body; a link assembly which transfers driving force to each of the ball assemblies between a pair of corresponding ball assemblies among the plurality of ball assemblies; and a driving unit which provides rotational driving force to the link assembly. The movable platform of the present invention implements movement in all directions and rotation of the platform by controlling a rotational speed of each driving unit.

Description

mobile platform {MOVABLE PLATFORM}

The present invention relates to a mobile platform that can be used in an unmanned vehicle or the like.

In recent years, due to changes in consumption patterns, products that were manufactured with an emphasis on uniformity and mass production in the past are gradually changing into multi-variety, small-volume items. Accordingly, the automated process system, which was previously designed with a focus on mass production of small types, is being sought to be converted into a form suitable for small quantity production of various types. In this context, Automated Guided Vehicles (AGVs) that can be used for automated processes or logistics transport in a multi-variety small-volume production system are being actively researched and developed.

Various methods of unmanned transport vehicles are being developed and utilized. As an example, registered patent No. 10-2225464 (title of invention: loader centering device of unmanned transport vehicle), and registered patent No. 10-1884825 (title of invention: automated warehouse system using unmanned transport vehicle) are known. Recently, unmanned vehicles that enable more diverse motions using an omni wheel or a mecanum wheel are also attracting attention. In particular, mechanisms that can move in all directions, such as the omni wheel, are being tried to be combined with transportation means such as wheelchairs and vehicles, etc.

Registered Patent No. 10-2225464 (Registered on July 27, 2018) Registered Patent No. 10-1884825 ((2018.07.27. Registered)

An object of the present invention is to provide a mobile platform capable of more effective movement or direction change and improving power transmission efficiency.

According to one aspect of the present invention, the body; a plurality of ball assemblies disposed to be spaced apart on a plane on the body; a link assembly for transmitting a driving force to each ball assembly between a pair of corresponding ball assemblies among the plurality of ball assemblies; and a driving unit for providing a rotational driving force to the link assembly; may be provided with a movable platform comprising.

According to another aspect of the present invention, the body; first to fourth ball assemblies spaced apart from each other in a plane on the main body; first to fourth link assemblies for transmitting driving force to each ball assembly between a pair of corresponding ball assemblies among the first to fourth ball assemblies; and first to fourth driving units each providing rotational driving force to the first to fourth link assemblies, wherein the first and third link assemblies rotate about the first to fourth ball assemblies in the front-rear direction as an axis. It is formed to provide a driving force, and the second and fourth link assemblies may be provided with a movable platform formed to provide a rotational driving force about the first to fourth ball assemblies in a left and right direction orthogonal to the front-rear direction as an axis. .

The movable platform according to the embodiments of the present invention may control the rotation speed of each drive unit to implement omnidirectional movement and rotation of the platform.

In addition, the movable platform according to the embodiments of the present invention can implement a high degree of freedom movement and rotation operation equivalent to a conventional omni wheel and the like while minimizing power loss by using a method of rotationally driving each ball assembly through an omnidirectional wheel.

1 is a perspective view schematically showing a movable platform according to an embodiment of the present invention.
FIG. 2 is a perspective view illustrating the mobile platform of FIG. 1 with the main body omitted.
3 is an exploded perspective view illustrating the ball assembly shown in FIG. 1 on an enlarged scale.
4 is an exploded perspective view illustrating the link assembly shown in FIG. 1 on an enlarged scale.
Fig. 5 is a front view of the mobile platform shown in Fig. 1;
Figure 6 is an operation example of the mobile platform shown in Figure 1;
7 is a modification of the mobile platform shown in FIG. 1 .

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. However, the following examples are provided to help the understanding of the present invention, and the scope of the present invention is not limited to the following examples. The following embodiments are provided to more fully explain the present invention to those of ordinary skill in the art, and detailed descriptions of known configurations that may obscure the technical gist of the present invention will be omitted. do it with

1 is a perspective view schematically showing a movable platform according to an embodiment of the present invention. FIG. 2 is a perspective view illustrating the mobile platform of FIG. 1 with the main body omitted.

1 and 2 , the movable platform of the present embodiment (hereinafter, referred to as “platform 100 ”) may include a body 110 .

The body 110 may form the overall appearance or support structure of the platform 100 . Components of the platform 100 such as the ball assembly 120 to be described later may be mounted and installed via the main body 110 .

The main body 110 may have a predetermined structure or shape and may be provided as long as it can appropriately provide a support structure for the platform 100 or a mounting space for other components, and the structure or shape is not particularly limited. In the case of this embodiment, the main body 110 is exemplified as having an outline of a substantially rectangular panel.

Various additional means may be mounted on the main body 110 according to the purpose or function of the platform 100 . In addition, depending on the additional means mounted on the main body 110, the platform 100 of this embodiment can be used with various uses or possibilities. That is, the platform 100 of this embodiment is moved on the ground and can be variously applied to a device of a type that requires an appropriate change of direction or steering. For example, the platform 100 is equipped with an appropriate additional means and can be used to implement an automated guided vehicle (AGV), an autonomous driving robot, etc. used in logistics or industrial fields, and furthermore, a vehicle in the form of which a person can ride. etc. can be applied.

Meanwhile, the platform 100 of this embodiment may include a ball assembly 120 .

The ball assembly 120 may be installed on the main body 110 to implement the movement of the platform 100 .

A plurality of ball assemblies 120 may be provided. For example, 3 to 5 ball assemblies 120 may be provided. In addition, the plurality of ball assemblies 120 may be disposed to be spaced apart from each other on a plane. In this embodiment, the body 110 is provided with four ball assemblies 120a to 120d, and each ball assembly 120a to 120d is disposed at each vertex (vertex) portion of the main body 110 It is exemplified. . However, each of the ball assemblies 120a to 120d may be formed similarly to each other. For convenience, in this description, the ball assembly 120a disposed on the front left side of the main body 110 according to the position of each ball assembly 120a to 120d is referred to as "the first ball assembly 120a", and counterclockwise based on this Each of the ball assemblies 120b to 120d arranged in the direction will be sequentially referred to as a second ball assembly 120b, a third ball assembly 120c, and a fourth ball assembly 120d.

3 is an exploded perspective view illustrating the ball assembly shown in FIG. 1 on an enlarged scale.

Since the first to fourth ball assemblies 120a to 120d may be formed to be similar to each other, the detailed configuration will be described in more detail focusing on the first ball assembly 120a for convenience.

Referring to FIG. 3 , the first ball assembly 120a may include a ball housing 121 . The ball housing 121 may form an accommodating space 122 in which the ball 123 can be mounted and accommodated. The accommodation space 122 may be formed by a housing side portion 121a surrounding the accommodation space 122 and a housing upper portion 121b shielding the upper portion of the accommodation space 122 . The lower portion of the accommodation space 122 may be formed open, and the ball 123 may be exposed to the outside of the accommodation space 122 through the open lower portion as described above and roll in contact with the ground.

The ball housing 121 may include a housing fixing part 121c. The housing fixing part 121c is fastened to the main body 110 so that the ball housing 121 and the first ball assembly 120a including the same can be installed in the main body 110 . Also, the housing fixing part 121c allows the first ball assembly 120a or each of the ball assemblies 120a to 120d to be independently separated from the main body 110 . Accordingly, each of the ball assemblies 120a to 120d may be separated from the main body 110 and reorganized to have a new combination or arrangement. This has advantages in terms of replacement, compatibility, and maintenance of components.

The ball housing 121 may include an access hole 121d. The access hole 121d may be formed through the ball housing 121 so that the forward wheel 131 can access the accommodation space 122 . In the present embodiment, the access hole 121d is exemplified as being formed through a corner portion where the housing upper portion 121b and the housing side portion 121a meet. However, the access hole 121d may be any position or shape that allows the omnidirectional wheel 131 to properly approach the receiving space 122, and is not necessarily limited to the illustrated bar.

A plurality of access holes 121d may be provided to correspond to the number of omnidirectional wheels 131 coupled to the balls 123 . Also, the plurality of access holes 121d may be spaced apart from each other at a predetermined interval or an angle according to the arrangement of the omnidirectional wheel 131 . For example, in this embodiment, it is exemplified that two forward wheels 131 are coupled to one ball 123 , and thus, two access holes 121d are formed in the ball housing 121 . In addition, the two access holes 121d are spaced apart from each other at intervals of approximately 90 degrees according to the arrangement of each forward wheel 131 .

Meanwhile, the first ball assembly 120a may include a ball 123 . The ball 123 has the shape of a circular sphere, and may be mounted and disposed in the receiving space 122 . A lower portion of the ball 123 may be exposed to the lower portion of the receiving space 122 and seated on the ground. The ball housing 121 or the accommodating space 122 may have an appropriate support structure so that the ball 123 does not dislodge downward. For example, the ball housing 121 may have a shape that becomes narrower toward the bottom so that the departure of the ball 123 is restricted.

In some cases, the surface of the ball 123 may include a mechanical shape or material that can increase frictional force in part or all of it.

Referring back to FIGS. 1 and 2 , the platform 100 of this embodiment may include a link assembly 130 .

The link assembly 130 may transmit the driving force of the driving unit 140 to the ball assembly 120 . In this embodiment, the link assembly 130 is configured to transmit the driving force provided from one driving unit 140 to the corresponding two ball assemblies 120 . However, in some cases, a form in which each link assembly 130 corresponding to each ball assembly 120a to 120d is provided may also be considered.

A plurality of link assemblies 130 may be provided to correspond to the plurality of ball assemblies 120 . In the present embodiment, a case in which four link assemblies 130a to 130d are provided to correspond to the first to fourth ball assemblies 120a to 120d is exemplified. Each of the link assemblies 130a to 130d may transmit the driving force of the driving unit 140 between the two corresponding ball assemblies 120 to each of the ball assemblies 120a to 120d. For convenience, in this description, the link assembly 130a that transmits the driving force between the first ball assembly 120a and the second ball assembly 120b is referred to as "the first link assembly 130a", and a counterclockwise direction based on this Each arranged link assembly (130b ~ 130d) is to be referred to as a second link assembly (130b), a third link assembly (130c) and a fourth link assembly (130d) in order. However, the first to fourth link assemblies (130a to 130d) may be formed to be similar to each other except that their arrangement positions are different, respectively.

4 is an exploded perspective view illustrating the link assembly shown in FIG. 1 on an enlarged scale.

Since the first to fourth link assemblies 130a to 130d may be formed to be similar to each other, the detailed configuration will be described in more detail with reference to the first link assembly 130a for convenience.

Referring to FIG. 4 , the first link assembly 130a may be divided into two parts again based on the first driving unit 140a. That is, the first link assembly 130a includes a 1-1 link unit 130aa that transmits a driving force to the first ball assembly 120a, and a 1-2 link that transmits a driving force to the second ball assembly 120b. It may be composed of a unit 130ab. The 1-1 link unit (130aa) and the 1-2 link unit (130ab) may be formed to be similar to each other only different from their positions.

In the same manner as described above, the second to fourth link assemblies 130b to 130d may be divided into two parts, respectively. The second link assembly 130b may be divided into a front 2-1 link unit 130ba and a rear 2-2 link unit 130bb, and the third link assembly 130c is the third on the left. The -1 link unit 130ca and the right 3-2 link unit 130cb may be dividedly formed, and the fourth link assembly 130d is a front 4-1 link unit 130da and a rear fourth link unit 130d. - Can be divided into two link units (130db). Since each of the link units 130aa to 130da may be formed to be similar to each other, the description of the 1-1 link unit 130aa will be substituted therefor.

The 1-1 link unit (130aa) may be provided with an omnidirectional wheel 131 that is rolled in contact with the outer surface of the ball (123). The forward wheel 131 may be rotated in contact with the outer surface of the ball 123 to transmit a rotational driving force to the ball 123 .

In the 1-1 link unit (130aa), the forward wheel 131 may have a rotational axis in approximately the front-rear direction, which is a 1-2 link unit (130ab) or a similar arrangement to the first link assembly (130a). The orientation of the third link assembly 130c (that is, the 3-1 link unit 130ca and the 3-2 link unit 130cb) may be similarly configured. However, the second link assembly 130b (that is, the 2-1 link unit 130ba and the 2-2 link unit 130bb) having a different arrangement direction, or the fourth link assembly 130d (ie, the fourth In the case of the -1 link unit (130da) and the 4-2 link unit (130db)), the omnidirectional wheel may have a rotational axis of approximately left and right directions.

The forward wheel 131 may include a rim wheel and a plurality of rollers disposed along the outer periphery of the rim wheel. Each of the rollers may be rotatably formed with respect to the rim wheel having a rotation axis that forms approximately 90 degrees with the rotation axis of the forward wheel 131 . The omnidirectional wheel 131 is known by names such as an omni wheel, an omni directional wheel, and the like.

In some cases, the forward wheel 131 may be replaced with another type of wheel or a rotating body having a similar function. For example, the forward wheel 131 may be replaced with a general wheel part of a type that allows a part of slip, or a mecanum wheel.

The 1-1 link unit 130aa may include a driven pulley 132 and a driving pulley 133 . The driven pulley 132 and the driving pulley 133 may be rotatably supported with respective rotation shafts in the front and rear directions. The driven pulley 132 is axially coupled to the forward wheel 131 to rotate the forward wheel 131 in an interlocking manner, and the driving pulley 133 is spaced apart from the driven pulley 132 laterally by a predetermined distance to be a driving unit. Rotational driving force may be provided from 140 .

The 1-1 link unit 130aa may include a driving belt 134 connected and installed between the driven pulley 132 and the driving pulley 133 . The driving belt 134 may transmit a driving force from the driving pulley 133 to the driven pulley 132 .

In the 1-1 link unit (130aa), the drive belt 134 may be generally arranged in the left and right direction. This is a 1-2 link unit (130ab), or a third link assembly 130c (ie, a 3-1 link unit 130ca) and a 3-2 link having a similar arrangement direction as the first link assembly 130a. The unit 130cb) may be similarly configured. However, the second link assembly 130b (that is, the 2-1 link unit 130ba and the 2-2 link unit 130bb) having a different arrangement direction, or the fourth link assembly 130d (ie, the fourth In the case of the -1 link unit (130da) and the 4-2 link unit (130db)), the drive belt may be disposed to extend approximately in the front-rear direction.

The 1-1 link unit 130aa may include a tension pulley 135 and a tension spring 136 . The tension pulley 135 may be fastened to the driving belt 134 between the driven pulley 132 and the driving pulley 133 . The tension spring 136 may be fastened to the tension pulley 135 to elastically support the tension pulley 135 upward. In this embodiment, the tension spring 136 is exemplified as a tension coil spring 136 installed between the lower portion of the body 110 and the tension pulley 135 . The tension pulley 135 to the tension spring 136 may have a function of preventing the drive belt 134 from sagging.

The 1-2 link unit 130ab may be formed similarly to the first 1-1 link unit 130aa as described above, and may be formed in the 1-1 link unit 130aa with the first driving unit 140a as the center. It is disposed on the opposite side (in the drawing, on the right side) to correspond thereto, and may constitute a first link assembly 130a that transmits a driving force between the first and second ball assemblies 120a and 120b. Similarly, the second link assembly 130b may be formed to transmit a driving force between the second and third ball assemblies 120b and 120c, and the third link assembly 130c includes the third and fourth ball assemblies 120c, 120d) may be formed to transmit a driving force between, and the fourth link assembly 130d may be formed to transmit a driving force between the first and fourth ball assemblies 120a and 120d. Accordingly, the first to fourth ball assemblies 120a to 120d are rotationally driven to have a predetermined rotational direction by the driving of the first to fourth link assemblies 130a to 130d, respectively, to implement the driving or direction change of the platform 100 . can

On the other hand, in the above example, the first to fourth link assemblies (130a to 130d) have a power transmission structure using a pulley and a belt, but the first to fourth link assemblies (130a to 130d) are not necessarily limited thereto, In some cases, it may be appropriately replaced by means of performing the same or similar functions. For example, the first to fourth link assemblies 130a to 130d may be replaced with chains and sprockets.

Referring back to FIGS. 1 and 2 , the platform 100 of the present embodiment may include a driving unit 140 .

The driving unit 140 may implement movement or rotation of the platform 100 by rotating each ball assembly 120a to 120d in a predetermined direction and speed. Each of the above-described link assemblies 130a to 130d may transmit the rotational driving force of the driving unit 140 to each ball assembly 120a to 120d.

A plurality of driving units 140 may be provided corresponding to the number of ball assemblies 120 . In the present embodiment, a case in which four driving units 140a to 140d are provided to correspond to the four ball assemblies 120a to 120d is exemplified. Each of the driving units 140a to 140d may be formed to be similar to each other. For convenience, in this description, the driving unit 140a disposed approximately in the front portion of the main body 110 according to the position of each driving unit 140a to 140d is referred to as a “first driving unit 140a”, and half based on this Each of the driving units 140b to 140d arranged in a clockwise direction will be referred to as a second driving unit 140b, a third driving unit 140c, and a fourth driving unit 140d in order.

The first driving unit 140a is connected to the first link assembly 130a to provide rotational driving force to the first and second ball assemblies 120a and 120b, and the second driving unit 140b is the second link assembly. It may be connected to the 130b to provide rotational driving force to the second and third ball assemblies 120b and 120c. In addition, the third driving unit 140c is connected to the third link assembly 130c to provide rotational driving force to the third and fourth ball assemblies 120c and 120d, and the fourth driving unit 140d is the fourth link. It may be connected to the assembly 130d to provide rotational driving force to the first and fourth ball assemblies 120a and 120d. Depending on the direction or arrangement of each of the ball assemblies 120a to 120d and the link assemblies 130a to 130d, the first and third driving units 140a and 140c apply rotational driving force about the left and right axes to each of the ball assemblies 120a to 120d. ), and the second and fourth driving units 140b and 140d may provide rotational driving force about the front and rear axes to each of the ball assemblies 120a to 120d.

Since the first to fourth driving units 140a to 140d may be formed to be similar to each other, the detailed configuration of the first to fourth driving units 140a to 140d will be described in more detail focusing on the first driving unit 140a for convenience.

Referring to FIG. 4 , the first driving unit 140a may include a driving motor 141 . The driving motor 141 may be disposed to have a driving shaft in a front-rear direction. Alternatively, the drive shaft of the drive motor 141 may be disposed to be substantially perpendicular to the drive belt 134 of the first link assembly 130a. This facilitates power transmission between the first driving unit 140a and the first link assembly 130a, and may contribute to reducing loss. A driving gear 142 may be coupled to the driving shaft of the driving motor 141 .

The first driving unit 140a may include first and second transmission gears 143a and 143b for transmitting the driving force of the driving motor 141 to both sides, respectively. In the first driving unit 140a, the first and second transmission gears 143a and 143b may each have a rotation shaft in the front and rear directions and may be disposed left and right with the driving gear 142 as the center. The first and second transmission gears 143a and 143b may be rotated at speeds and directions corresponding to each other according to the rotation of the driving gear 142 .

The first transmission gear 143a may be engaged with the driving pulley 133 of the 1-1 link unit 130aa. Alternatively, the first transmission gear 143a may be connected to the driving pulley 133 of the 1-1 link unit 130aa through a predetermined coupling structure or a power transmission structure to rotate the driving pulley 133 . Similarly, the second transmission gear 143b may be engaged with the driving pulley of the 1-2 link unit 130ab. Accordingly, when the first driving unit 140a is rotationally driven, the first ball assembly 120a may be rotationally driven in a predetermined direction and speed through the first transmission gear 143a and the 1-1 link unit 130aa. At the same time, the second ball assembly 120b may be rotationally driven in the corresponding direction and speed through the second transmission gear 143b and the 1-2 link unit 130ab.

The driving gear 142 and the first and second transmission gears 143a and 143b may be as long as they can appropriately transmit the driving force of the first driving unit 140a to each driving pulley, and gear parts of various known types or methods may be used. can be used In this embodiment, a spur gear having a predetermined gear ratio is exemplified in a relatively simple form.

In this embodiment, each of the driving units 140a to 140d may provide rotational driving force to the two ball assemblies 120 through each link assembly 130 . That is, the first driving unit 140a may provide rotational driving force in a predetermined direction to the first and second ball assemblies 120a and 120b through the first link assembly 130a, and similarly the second to fourth driving units. (140b ~ 140d) may provide rotational driving force to the two ball assemblies 120, respectively. Accordingly, the number of driving motors 141 for driving the entire ball assembly 120 can be reduced.

Fig. 5 is a front view of the mobile platform shown in Fig. 1;

Referring to FIG. 5 , in the platform 100 of this embodiment, the rotation shaft R1 of each drive unit 140a to 140d is the same as the rotation shaft R2 of each omnidirectional wheel 131 receiving power therefrom and the same line L1 ) can be placed on This makes it possible to improve the efficiency of power transmission.

Specifically, looking at the exemplified first drive unit 140a, the drive shaft of the first drive unit 140a may have a rotation shaft R1 at a predetermined height from the ground, and each of the left and right drive pulleys receiving power therefrom ( 133 may have a rotation shaft R3 of a height corresponding thereto. In addition, each driven pulley 132 corresponding to each driving pulley 133, the omnidirectional wheel 131 fastened to each driven pulley 132, and a rotation shaft R2 disposed at a height corresponding to the rotation shaft R1 of the drive shaft , R4). Accordingly, the rotation shaft R3 of the drive pulley 133 on the left and right around the rotation shaft R1 of the first drive unit 140a, the rotation shaft R4 of the driven pulley 132, and the rotation shaft of the forward wheel 131 ( R2) may be disposed on the same line L1.

The same line L1 may be vertically spaced apart from the rotation center C1 of the first ball assembly 120a or the rotation center C2 of the second ball assembly 120b by a predetermined interval. However, in some cases, the same line L1 may be disposed at a height corresponding to the respective rotation centers C1 and C2 in order to realize improved transmission efficiency.

The platform 100 of the present embodiment as described above controls the rotational speed of each driving unit 140a to 140d so that the omnidirectional movement and rotation of the platform 100 can be implemented. In particular, the platform 100 of this embodiment uses a method of rotationally driving each ball assembly 120a to 120d via the omnidirectional wheel 131 to minimize power loss while moving and rotating with a higher degree of freedom compared to the conventional omni wheel, etc. action can be implemented.

Figure 6 is an operation example of the mobile platform shown in Figure 1;

Referring to FIG. 6 , the forward and backward movement of the platform 100 may be implemented through the control of the second and fourth driving units 140b and 140d. That is, the second driving unit 140b rotates the second and third ball assemblies 120b and 120c about the left and right axes, and the fourth driving unit 140d moves the first and fourth ball assemblies 120a and 120d to the left and right. By rotating about the axis, the forward and backward movement may be implemented. In some cases, steering or direction change may be implemented through rotation speed control between the second driving unit 140b and the fourth driving unit 140d.

In addition, movement in the left and right sides may be implemented through the control of the first and third driving units 140a and 140c. That is, the platform 100 of the present embodiment can function as a movable platform that does not substantially distinguish between front and rear or sides. Accordingly, it can be effectively used for movement in a narrow space in an unmanned vehicle or the like. In addition, the first to fourth driving units 140a to 140d are complexly controlled, so that movement or rotation in a wide variety of directions or postures can be implemented.

In the platform 100 of this embodiment, in the movement or rotation operation as described above, each movement is implemented in a state in which each ball assembly 120a - 120d is rolled in contact with the ground and friction or interference between the ground is reduced. One feature put Accordingly, the efficiency of the platform 100 may be improved, and various obstacles or conditions of the ground may be more effectively responded to.

In addition, in the platform 100 of this embodiment, a plurality of ball assemblies 120a to 120d are disposed to be spaced apart on a plane to support the body 110 and to travel on the ground. Accordingly, the main body 110 or the superstructure mounted on the main body 110 can be moved with high running stability, and the running performance can also be improved according to the stable support structure.

7 is a modification of the mobile platform shown in FIG. 1 .

The platform 100 of the embodiment to be described above includes four ball assemblies 120a to 120d, and each driving unit 140a to 140d is disposed with an interval of approximately 90 degrees to each ball assembly 120a to 120d. That is, the first link assembly 130a and the fourth link assembly 130d are disposed with an interval of approximately 90 degrees on the plane based on the first ball assembly 120a, and the first link assembly 130a is the first The ball assembly 120a provides rotational driving force about the front and rear axes, and the fourth link assembly 130d provides rotational driving force about the left and right axes to the first ball assembly 120a. This arrangement has an advantage in that it is easy to transmit driving force to the ball assemblies 120a to 120d or to control the rotational direction.

However, in some cases, it is also possible to implement the ball assembly 120 in a number other than four. 7 illustrates a case in which three ball assemblies 220a to 220c are provided as such an example.

Referring to FIG. 7 , the movable platform (hereinafter, referred to as “platform 200”) of the present modification may include three ball assemblies 220a to 220c disposed at intervals of approximately 120 degrees on a plane. For convenience, each of the ball assemblies 220a to 220c will be referred to as first to third ball assemblies 220a to 220c.

The platform 200 of this modification may include first to third link assemblies 230a to 230c and first to third driving units 240a to 240c. The first to third driving units 240a to 240c may provide rotational driving force to the first to third link assemblies 230a to 230c, respectively, and the first to third link assemblies 230a to 230c are the first to third balls. The assemblies 220a to 220c may be rotationally driven in a predetermined direction. This is similar to the platform 100 of the embodiment described above.

However, in the platform 200 of this modified example, the first to third link assemblies 230a to 230c are arranged at intervals of approximately 60 degrees on a plane, respectively, to provide rotational driving force to the first to third ball assemblies 220a to 220c. can do. That is, the first and third link assemblies 230a and 230c are disposed at intervals of approximately 60 degrees to provide rotational driving force to the first ball assembly 220a, and the second and third link assemblies 230b and 230c are approximately It is arranged at intervals of 60 degrees to provide rotational driving force to the second ball assembly 220b, and the second and third ball assemblies 220b and 220c are arranged at intervals of about 60 degrees and rotate with the third ball assembly 220c. It can provide driving force.

The platform 200 as described above may be operated with a similar operating principle to the platform 100 of the above-described embodiment. That is, through the first to third link assemblies 230a to 230c, each of the first to third ball assemblies 220a to 220c is rotationally driven in a predetermined direction and speed, and accordingly movement, direction control, etc. can be implemented. .

Although the embodiments of the present invention have been described above, those of ordinary skill in the art can add, change, delete or The present invention may be variously modified or changed by addition, etc., and this will also be included in the scope of the present invention.

100: mobile platform 110: main body
120: ball assembly 120a ~ 120d: first to fourth ball assembly
121: ball housing 122: accommodation space
123: ball 130: link assembly
130a~130d: first to fourth link assembly 131: forward wheel
132: driven pulley 133: driven pulley
134: drive belt 135: tension pulley
136: tension spring 140: drive unit
140a to 140d: first to fourth drive units 141: drive motor
142: drive gears 143a, 143b: first and second transmission gears

Claims (8)

body 110;
a plurality of ball assemblies 120 spaced apart from each other on the main body 110 in plan view;
a link assembly 130 that transmits a driving force to each ball assembly 120 between a pair of corresponding ball assemblies 120 among the plurality of ball assemblies 120 ; and
and a driving unit 140 for providing a rotational driving force to the link assembly 130.
The ball assembly 120,
a ball housing 121 having an open lower portion to form a receiving space 122 and fastened to the main body 110; and
Includes; ball 123 accommodated in the ball housing 121 and rotated in contact with the ground;
The link assembly 130,
It includes a pair of link units (130aa, 130ab) arranged to correspond to each other around the driving unit (140),
The link unit (130aa, 130ab) is,
an omnidirectional wheel 131 installed in contact with the upper portion of the outer surface of the ball 123 of the ball assembly 120 and rotationally driven by the driving unit 140 to rotate the ball 123 in a predetermined direction and speed;
a driven pulley 132 fastened to the rotation shaft of the forward wheel 131;
a driving pulley 133 that is spaced apart from the driven pulley 132, is coupled to the driven pulley 132 through a driving belt 134, and is rotationally driven by the driving unit 140;
a tension pulley 135 fastened to the drive belt 134 between the driven pulley 132 and the drive pulley 133; and
A movable platform comprising a; a tension spring 136 for elastically supporting the tension pulley 135 upward. delete delete The method according to claim 1,
The rotation shaft R1 of the drive unit 140, the rotation shaft R3 of the driving pulley 133, the rotation shaft R4 of the driven pulley 132, and the rotation shaft R2 of the omnidirectional wheel 131 are, A movable platform spaced from the ground by a predetermined height and disposed on the same line (L1). delete The method according to claim 1,
The ball assembly 120,
It includes first to fourth ball assemblies 120a to 120d disposed in front and rear left and right on the main body 110,
The link assembly 130,
The first to fourth link assemblies 130a to 130d that transmit driving force to each ball assembly 120a to 120d between a pair of corresponding ball assemblies 120 among the first to fourth ball assemblies 120a to 120d. including,
The driving unit 140 is
and first to fourth driving units 140a to 140d for providing rotational driving force to the first to fourth link assemblies 130a to 130d, respectively,
The first and third link assemblies (130a, 130c) are,
It is formed to provide a rotational driving force about the front-rear direction to the first to fourth ball assemblies (120a to 120d),
The second and fourth link assemblies (130b, 130c) are,
A movable platform formed to provide a rotational driving force about the first to fourth ball assemblies 120a to 120d in a left-right direction orthogonal to the front-rear direction as an axis 7. The method of claim 6,
The first link assembly 130a,
a 1-1 link unit (130aa) that transmits a driving force from the first driving unit (140a) to the first ball assembly (120a) to rotate the first ball assembly (120a) in the front-rear direction as an axis; and
The first driving unit 140a is disposed to correspond to the 1-1 link unit 130aa, and a driving force is transmitted from the first driving unit 140a to the second ball assembly 120b to transmit the first driving force to the second ball assembly 120b. Including;;
The second link assembly 130b,
a 2-1 link unit (130ba) that transmits a driving force from the second driving unit (140b) to the second ball assembly (120b) to rotate the second ball assembly (120b) in the left-right direction as an axis; and
It is disposed to correspond to the second-first link unit 130ba around the second driving unit 140b, and transmits a driving force from the second driving unit 140b to the third ball assembly 120c to transfer the driving force to the third ball assembly 120c. A movable platform comprising a; a 2-2 link unit (130bb) for rotating the three-ball assembly (120c) in the left-right direction as an axis. 7. The method of claim 6,
The first link assembly 130a,
a 1-1 link unit (130aa) for transmitting a driving force from the first driving unit (140a) to the first ball assembly (120a); and
The first driving unit 140a is disposed to correspond to the 1-1 link unit 130aa, and the first driving force is transmitted from the first driving unit 140a to the second ball assembly 120b. 1-2 link unit (130ab); including,
The first driving unit 140a,
driving motor 141;
a driving gear 142 coupled to the driving shaft of the driving motor 141; and
First and second transmission gears 143a that are spaced apart from the driving gear 142 and transmit rotational driving force to the 1-1 link unit 130aa or the 1-2 link unit 130ab, respectively; 143b); a mobile platform comprising;

Images