KR102559714B1 - Mobile platform with track driving apparatus - Google Patents

Abstract

The present invention relates to a mobile platform equipped with a track driving apparatus, the mobile platform which is equipped with a pair of track driving apparatuses capable of independently operating, so as to move back and forth and rotate, to be used for movement, and to be connected to an agricultural working machine and used as an agricultural traveling device. The mobile platform comprises the pair of track drive apparatuses which move back and forth by rotating a track using a drive motor; a bare chassis which connects the track driving apparatuses on both sides; and a battery frame installed on the upper part of the bare chassis and having one or more batteries mounted thereon for supplying power to the drive motor of the track driving apparatuses.

Description

Mobile platform equipped with a track driving device {MOBILE PLATFORM WITH TRACK DRIVING APPARATUS}

The present invention relates to a movable platform equipped with a track drive device, and more particularly, to a mobile platform equipped with a track drive device which is provided with a pair of track drive devices capable of independent action, capable of forward and backward movement and turning, and which can be used for movement and utilized as an agricultural traveling device by connecting to an agricultural work machine.

In general, traveling devices configured to move on the ground using rotational power such as a motor or an engine are largely divided into a method using a track and a method using a wheel.

Here, the method using the caterpillar (sometimes referred to as a caterpillar) has a slower driving speed than the method using wheels, but has a large area in contact with the ground, so it is possible to freely drive even on heavily uneven roads or mud floors. There is an advantage in that it is possible to freely change the driving direction by adjusting the left and right rotational speeds.

Therefore, it is mainly used for vehicles used in poor driving conditions such as tanks, tractors, and heavy equipment.

Recently, endless tracks are also widely used for remotely controlled unmanned robots (or self-propelled robots) used for civil purposes such as situation identification at fire sites, unmanned monitoring inside buildings, exploration and data collection of hazardous areas where nuclear reactors or hazardous materials exist, and military purposes such as exploration of enemy sites or mine detection and removal.

However, there is a problem in that the conventional traveling device using the caterpillar is not self-propelled and cannot operate independently because the caterpillar is rotated by a combination of other components.

On the other hand, Korean Patent Publication No. 10-2020-0097440 discloses a driving pulley member driven by driving of the driving unit, a driven pulley member driven by driving of the driving pulley member, a continuously variable transmission unit including a belt member connecting the driven pulley member and the driving pulley member, a driven pulley speed detector and a driven pulley speed detector provided in the driven pulley member and detecting the rotational speed of the driven pulley member. It includes a control unit that controls the driving speed of the drive unit according to the detected value, and can achieve cost reduction as well as satisfy light, thin and small size without applying a high-capacity electric motor, and can implement an automatic continuously variable speed change function. A driving device for a mobile platform is proposed and disclosed,

Korean Patent Registration No. 10-0901311 discloses a main body having wheels to move on the ground; a first scanner generating first information by scanning up to a predetermined distance in front of the main body; a camera for capturing a front image of the main body and generating second information; a mount on which the first scanner and the camera are mounted, and which rotates and drives the first scanner and the camera so that directing directions of the first scanner and the camera can be adjusted; And a control unit for controlling the autonomous movement of the main body based on the first and second information, and rotationally driving the first scanner and the camera to exhibit the same effect as applying a large number of sensors even with a small number of sensors, Based on this, an autonomous movement platform capable of optimal space modeling is proposed and disclosed.

Korean Patent Laid-Open Publication No. 10-2010-0037293 discloses a fuselage frame having grooves on both sides, two pairs of front/rear driving tracks installed in parallel at both front and rear ends of the fuselage frame, a driving motor unit installed in the fuselage frame to simultaneously drive the pair of front/rear driving tracks, and a freewheel unit installed in the fuselage frame to be located between the front driving track and the rear driving track and operating integrally with the front driving track; It is installed in the fuselage frame and includes a transformation motor that simultaneously rotates the two pairs of front/rear driving track parts and freewheel parts, and rotates the front driving track part and the rear driving track part symmetrically with each other. The drive track parts installed at the front/rear end of the body frame of the traveling robot are deformed at symmetrical angles to improve obstacle climbing and drivability, and a freewheel part installed between the front and rear driving tracks to prevent insertion of obstacles between the front and rear driving tracks A double-track driving robot is proposed and disclosed,

Korean Patent Publication No. 10-2012-0099964 discloses a support frame, a main shaft installed at the center of the support frame and connected to a power means, a drive shaft installed at one end of the support frame and driven by being connected to the main shaft by a belt or chain, a drive wheel connected to the drive shaft, teeth protruding in the circumferential direction and laterally on both sides of the drive wheel, and a freewheel installed at the other end of the support frame to be spaced apart from the drive wheel. Including, it is possible to install and separate the track belt of the track belt, and it is used as a means of transportation, and it is possible to run stably even when the track belt is installed or not.

In Korean Patent Registration No. 10-1109545, in a variable track-type moving system having a main shaft and a supporting shaft rotatably installed at a certain distance from a frame, a driving motor generating rotational force, and a transforming motor, a first wheel and a first sprocket installed on both sides of the main shaft and rotating by the rotational force of the traveling motor, a second wheel and a second sprocket installed on both sides of the auxiliary shaft, and infinite installed on the first and second sprockets. A track, a transforming means for transforming the shape of the endless track by rotating by the rotational force of the transforming motor, and a control unit for controlling the driving of the driving motor and the transforming motor based on the state of the driving path, A variable track-type movement system has been proposed and disclosed, which enables speedy travel using wheels when driving on flat ground and climbing obstacles using caterpillars when driving on rough terrain with stairs or obstacles.

In Korea Patent Patent No. 10-2006-0032373, a frame formed with a skeleton, a driving motor installed in a frame, a deformation motor installed in the frame, and a pair of infinite tracks placed parallel to both sides of the frame at a predetermined interval, and a plurality of rollers that support the inner surface of the infinite orbit 2 It includes a plurality of deformed blocks that support each other in a fixed state, rotates the transformation motor, rotates in a parallel direction, and rotates in a frame, and rotates in a frame, and transmits the rotational force of the driving motor to one roller, and supports the unlimited orbital trajectory. By changing the position, the infinite orbit of the front of the staircase is formed by the inclined surface, and the variable track -type shift system is proposed and disclosed that can configure the system at a minimum height and to modify the upper and lower shapes of the infinite orbit.

Publication No. 10-2020-0097440 Registered Patent Publication No. 10-0901311 Publication No. 10-2010-0037293 Publication No. 10-2012-0099964 Registered Patent Publication No. 10-1109545 Publication No. 10-2006-0032373

The present invention has been devised in view of the above-mentioned problems and these, and is provided with a pair of track driving devices capable of independent action, capable of forward and backward movement and turning, used for movement, and connected to an agricultural working machine. Its purpose is to provide a mobile platform equipped with a track driving device that can be used as an agricultural driving device.

A moving platform equipped with a track driving device of the present invention for achieving the above object includes a pair of track driving devices that move in the forward and backward directions by rotating a track using a driving motor; A bare chassis connecting both side track driving devices; It is characterized in that it includes; a battery frame in which one or more batteries supplying power to the driving motor of the track driving device are seated and installed on the top of the bare chassis.

Here, the track drive device includes a drive motor including a speed reducer, a drive frame on which the drive motor is seated and a plurality of lower guide rollers rotatably installed on the lower side, a track that is rotated by the drive motor and moved forward and backward in close contact with the road surface, a drive gear unit disposed perpendicular to the drive frame to convert the power of the drive motor into rotational force of the track, and front guide rollers disposed in front and rear of the drive frame to guide the movement of the track, and at least one of which is elastically supported by a travel tensioner installed on the drive frame. And it may include a rear guide roller and a track guide installed obliquely on the front upper side of the driving frame to guide the movement of the track.

Here, the drive gear unit may include a chain that generates a driving force for the track while being rotated by the drive motor, a chain drive sprocket that drives the chain by being rotated by the drive motor, a chain drive sprocket that is integrally connected to the track drive gear that rotates the track and coupled to the chain, and a chain tensioner that applies tension to the chain using a chain tension sprocket that is coupled to the outside of the chain.

Here, the bare chassis may include one or more crossbars connecting both side track driving devices and supporting the battery frame, and a connection frame installed in the rearward crossbar for connection with other devices in the front and rear directions and equipped with connection brackets.

Here, the bare chassis may further include a front frame installed in front of the frontmost crossbar to support the controller unit installed in the front portion of the battery frame.

Here, it can be coupled to the main frame of an agricultural working machine to configure an agricultural traveling device.

Since the moving platform equipped with the track driving device of the present invention has a pair of track driving devices capable of independent action, it is possible to achieve useful effects capable of forward and backward movement and turning.

According to the present invention, as the track is rotated by the drive motor of the track drive device, it is possible to independently operate the track drive device on both sides and change the arrangement of the drive gear part that transmits the power of the drive motor to the track. A useful effect can be achieved that can be transformed into various structures.

According to the present invention, as the driving tensioner installed on the drive frame elastically supports the front guide roller or the rear guide roller, the tension of the track is kept constant, and the track guide is installed on the upper side of the drive frame, so that the track does not deflect. It is possible to achieve a useful effect.

According to the present invention, as the driving gear unit transmits the power of the driving motor to the track driving gear using a chain, the position of the track driving gear can be freely adjusted to diversify the structure, and a chain tensioner for adjusting the tension of the chain is provided. As a result, useful effects of keeping the tension of the chain constant can be achieved.

According to the present invention, it is possible to achieve a useful effect of being provided in an agricultural working machine to configure an agricultural traveling device.

1 is a perspective view showing a mobile platform equipped with a track driving device according to the present invention.
Figure 2 is an exploded perspective view showing a moving platform equipped with a track driving device according to the present invention.
3 is a side view of a mobile platform equipped with a track driving device according to the present invention.
4 is a perspective view showing a track driving device according to the present invention.
5A and 5B are perspective views showing a driving unit of a track driving device according to the present invention.
6 is a reference diagram for explaining an agricultural traveling device using a mobile platform equipped with a track driving device according to the present invention.

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

The terms used in the present invention are terms defined in consideration of functions in the present invention, which may vary according to the intention or custom of the user or operator, so the definitions of these terms are consistent with the technical details of the present invention. It should be interpreted as meaning and concept.

1 to 6 of the accompanying drawings are views shown to explain a moving platform equipped with a track driving device according to the present invention.

As shown in FIGS. 1 to 3 , a mobile platform equipped with a track driving device according to an embodiment of the present invention includes a pair of track driving devices 10, a bare chassis 20, and a battery frame 30.

The track drive device 10 has a configuration in which a track 15 is rotated using a drive motor 11 to move forward and backward, and includes a drive motor 11, a drive frame 12, a drive gear unit 13, a lower guide roller 14, a track 15, a running tensioner 16, a front guide roller 17 and a rear guide roller 18, and a track guide 19.

The driving motor 11 generates a driving force for rotating the track 15, and is composed of a reducer integrated structure. In addition, a harness connected to the battery frame 30 to be described later is provided to receive power from the battery 35.

In this way, as the driving motor 11 is mounted, the power transmission method required for driving the aircraft is simplified, and the structure can be configured in various ways through sub-unitization.

The driving frame 12 is a central part of the track driving device 10, the driving motor 11 is seated on the upper part, and a plurality of lower guide rollers 14 are rotatably installed on the lower part.

The driving gear unit 13 is for converting the power of the driving motor 11 into rotational force of the track 15 and is disposed perpendicular to the driving frame 12 .

Specifically, as shown in FIGS. 4 and 5, the drive gear unit 13 is integrally connected with a chain 13b that generates a driving force for the track 15 while being rotated by the drive motor 11, a chain drive sprocket 13a that drives the chain 13b by being rotated by the drive motor 11, and a track drive gear 13d that rotates the track 15. It includes a sprocket 13c and a chain tensioner 13f for applying tension to the chain 13b using a chain tension sprocket 13e coupled to the outside of the chain 13b.

The drive motor 11 and the chain drive sprocket 13a are connected by an orthogonal transmission device such as a bevel gear, and the chain 13b is arranged to circulate between the chain drive sprocket 13a and the chain driven sprocket 13c.

However, since contraction and relaxation may occur in the chain 13b according to the rotation direction of the drive motor 11 when the chain drive sprocket 13a rotates, the chain tensioner 13f is used to keep the tension of the chain 13b constant.

In order to keep the tension of the chain 13b constant, it is ideal to configure both tension devices on both sides of the chain 13b, but opposite chain tensioners 13f may be mounted on both ends of the chain tension sprocket 13e.

This is to restrain excessive operation for excessive tension and contraction on the side of the chain 13b to which the chain tension sprocket 13e is coupled.
Here, referring to FIG. 5, in the chain tensioner 13f, the bent portion of the hinge body 13f-1 bent in a “L” shape is hinged to the side plate frame 13′ on which the drive gear unit 13 is formed, and one side thereof is connected to the chain tension sprocket 13e, and the other side is connected to the elastic spring 13f-2 formed on the drive frame 12.

In this way, by limiting the displacement of the chain tension sprocket 13e and inducing a tension action within a certain range, it is possible to suppress the chain 13b from breaking away and from abnormal breakage.

The lower guide roller 14 is rotatably installed at the bottom of the driving frame 12, and the number of installations varies depending on the length of the track and the like. For reference, in the embodiment, four lower guide rollers 14 are installed on the driving frame 12 .

The track 15 is rotationally operated by the drive motor 11, and adheres to the road surface so that the aircraft moves forward and backward.

Specifically, the track 15 has a gear portion to which the track driving gear 13d is meshed along the inner central portion, and at the same time, the lower guide roller 14, the front guide roller 17, and the rear guide roller 18 are coupled. The portion is also provided on the inner surface. In addition, the track 15 is arranged in a substantially triangular shape, and the front side may be arranged with a low inclination angle and the rear side may be arranged with a high inclination angle.

At this time, a track guide 19 may be provided to prevent sagging of the track in the front part and guide the movement of the track 15.

The track guide 19 is preferably installed obliquely on the upper front side of the driving frame 12 .
Here, referring to FIG. 5, the track guide 19 is composed of a long vertical bracket 19-1, a short vertical bracket 19-2, and a linear guard body 19-3 connecting them, and the inclination of the guard body 19-3 is determined using the height difference between the long vertical bracket 19-1 and the short vertical bracket 19-2.

In addition, in order to keep the tension of the track 15 constant, at least one of the front guide roller 17 and the rear guide roller 18 is elastically supported by the driving tensioner 16 installed on the driving frame 12. It is preferable.

For reference, in the embodiment of the present invention, the front guide roller 17 is supported by the traveling tensioner 16, and the rear guide roller 18 instead of the front guide roller 17 is elastically supported by the traveling tensioner 16, or both sides may be elastically supported by the traveling tensioner 16.

The traveling tensioner 16 maintains the tension of the track 15 using the principle of tension and contraction of the cylinder, and connects the tension and contraction line of the cylinder to a relief valve and an accumulator, and in the direction of tension of the cylinder. It is preferable to supply hydraulic oil, but to install a check valve on the branch to prevent malfunction due to reverse flow of hydraulic oil.

The bare chassis 20 connects and integrates the track driving devices 10 on both sides, and supports the battery frame 30 at the top.

Specifically, the bare chassis 20 includes one or more crossbars 21 connecting the driving frames 11 of both track driving devices 10 to each other and supporting the upper battery frame 30, a connection frame 22 installed in the rearward crossbar 21 in the front and rear directions and equipped with connection brackets 23 for connection with other devices, and a front crossbar 21 to support the controller unit installed in the front of the battery frame 30. It is made including a front frame 24 installed in the front.

At this time, it is preferable that 2 to 5 crossbars 21 are installed to stably connect both track driving devices, and in the embodiment, 3 crossbars 21 are installed.

In the battery frame 30, one or more batteries 35 that supply power to the driving motor 11 of the track driving device 10 are seated and installed on the top of the bare chassis 20, and a controller unit for controlling the driving motor 11 may be provided at the front.

In addition, the mobile platform equipped with the track driving device of the present invention may be used by itself, but as shown in FIG. 6, the mobile platform is coupled to the main frame 65 of the agricultural work machine 60. By using it, it can be used as an agricultural traveling device.

At this time, instead of the track driving device 10, a wheel driving device may be coupled to the bare chassis 20 and used.

In addition, a cabin for boarding may be installed so that a passenger may drive, or a communication unit may be provided to enable unmanned driving.

Accordingly, the operation of the mobile platform equipped with the track driving device according to the present invention having the above configuration will be described as follows.

When the drive motor 11 is operated, power is transmitted to the drive gear unit 13 and the chain drive sprocket 13a is rotated.

Accordingly, while the chain 13b coupled to the chain drive sprocket 13a rotates, the chain driven sprocket 13c rotates, and the track drive gear 13d integrally connected with the chain driven sprocket 13c rotates.

At this time, tension is increased in the chain 13b by the chain tension sprocket 14e and the chain tensioner 14f provided outside the chain 13b, and the tension of the chain 13b is maintained constant.

When the track drive gear 13d is rotated, the track 15 engaged therewith rotates along the track drive gear 13d and the front guide roller 17 and the rear guide roller 18.

At this time, since the rotation direction of the track 15 changes according to the rotation direction of the drive motor 11, the track drive device 10 can be moved forward and backward by adjusting the rotation direction of the drive motor 11. At this time, the running tensioner 16 may provide tension to the track 15 .

Therefore, by adjusting the direction in which the track 15 of the track driving device 10 rotates, the aircraft can move forward or backward.

In addition, the body may be turned by decelerating or stopping the track driving device 10 on one side or rotating in the opposite direction to that of the other side track driving device.

In addition, the aircraft can be moved or turned wirelessly using a controller unit installed in front of the battery frame 30 .

In addition, an agricultural traveling device may be configured by combining the main frame 65 of the agricultural work machine 60, or a cabin for riding may be installed and directly controlled.

The embodiments described above are merely the preferred embodiments of the present invention, and are not extremely limited to these embodiments, and various modifications and variations may be made by those skilled in the art within the technical spirit and claims of the present invention. It will be said that it belongs to the technical scope of the present invention.

10: track drive device 11: drive motor
12: drive frame 13: drive gear unit
13a: chain drive sprocket 13b: drive chain
13c: chain driven sprocket 13d: track driving gear
13e: chain tension sprocket 13f: chain tensioner
14: lower guide roller 15: track
16: running tensioner 17: front guide roller
18: rear guide roller 19: track guide
20: bare chassis 21: crossbar
22: extension frame 23: connection bracket
24: front frame 30: battery frame
35: battery 60: agricultural work machine
65: mainframe

Claims (6)

A pair of track driving devices that move in the forward and backward directions by rotating the track using a driving motor;
A bare chassis connecting both side track driving devices;
A battery frame in which one or more batteries supplying power to the driving motor of the track driving device are seated and installed on the top of the bare chassis;
The track drive device includes a drive motor including a reducer, a drive frame on which the drive motor is seated and a plurality of lower guide rollers rotatably installed on the lower side, a track that is rotated by the drive motor and moved forward and backward in close contact with the road surface, a drive gear unit disposed perpendicular to the drive frame to convert the power of the drive motor into rotational force of the track, a front guide roller and a rear guide roller respectively disposed in front and rear of the drive frame to guide the movement of the track, and an inclined track installed on the front upper side of the drive frame. On the other hand, including a track guide for guiding the movement of
The track guide is composed of long vertical brackets and short vertical brackets protruding at intervals perpendicular to the upper side of the traveling frame and a straight-shaped guard body connecting them,
The drive gear unit includes a chain that generates driving force for the track while being rotated by the drive motor, a chain drive sprocket that drives the chain by being rotated by the drive motor, a chain driven sprocket integrally connected to the track drive gear that rotates the track and coupled to the chain, and a chain tensioner that applies tension to the chain using a chain tension sprocket coupled to the outside of the chain,
The chain tensioner is hinged to the side plate frame on which the drive gear part is formed, and the bent part of the hinge body bent in the shape of "L" is hinged, one side is connected to the chain tension sprocket, and the other side is connected to the elastic spring formed on the drive frame. Mobile platform equipped with a track drive device, characterized in that connected.
The method of claim 1,
At least one of the front guide roller and the rear guide roller is elastically supported by a travel tensioner installed on the drive frame to impart tension to the track.
delete The method of claim 1,
The bare chassis includes one or more crossbars connecting the track driving devices on both sides and supporting the battery frame, and a connecting frame installed on the rearmost crossbar in the front and rear directions for connection with other devices and equipped with connecting brackets. A mobile platform with a track driving device, characterized in that it includes.
The method of claim 4,
The bare chassis further includes a front frame installed in front of the foremost crossbar to support the controller unit installed in the front of the battery frame.
delete

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