KR102664855B1 - Autonomy mobility - Google Patents

Abstract

An invention for autonomous mobility is disclosed. The disclosed mobility for autonomous driving includes: an electric motor provided in a frame, an electric gear unit equipped in the frame and having an electric gear assembly that rotates by receiving rotational force from the electric motor, and a plurality of units arranged along a set trajectory on one side of the frame and a driven gear. A driven gear unit having an assembly, a lifting block that is equipped to be raised and lowered on each driven gear unit and whose axial movement is guided by the operation of the corresponding driven gear assembly, and an upper part that is supported by a plurality of individual lifting blocks and moves together with the lifting block. It is characterized by comprising a power linkage transmission unit that connects the plate and the plurality of individual driven gear assemblies to guide the plurality of individual lifting blocks to be linked in the same direction and at the same speed by the driving force of the electric motor.

Description

Autonomous driving mobility {AUTONOMY MOBILITY}

The present invention relates to mobility for autonomous driving, and more specifically, by equipping a frame with a plurality of lifting blocks that can be raised and lowered, the use area of mobility is expanded by raising and lowering the upper plate through the lifting blocks, and a plurality of lifting blocks are provided on the frame. This relates to mobility for autonomous driving that prevents tilting of the upper plate by providing a power linkage transmission unit to guide the personal lifting block to rise and fall simultaneously in the same direction, at the same speed, and at the same height.

Name of Ministry: Daegu Metropolitan City

Name of project management (professional) organization: Daegu Mechanical Parts Research Institute

Research project name: 2023 robot industry value chain expansion and win-win system construction project

Demonstration/dissemination project name: Demonstration of an automatic logistics transport system based on self-driving robots

Contribution rate: 1/1

Name of project carrying out organization: iM Robotics Co., Ltd.

Research period: 2022.08.11 ~ 2023.10.31

In general, autonomous driving mobility that transports logistics in factories has been developed along with the development of factory automation and smart factories.

Among mobility, Automated Guided Vehicle (AGV) refers to a vehicle that automatically transports luggage without direct human operation, and is being used for various purposes as industrial technology develops.

An unmanned truck refers to a transfer device used to automatically transfer various parts or products when used in industrial sites.

Among mobility, autonomous mobile robots (AMR; Autonomous Mobile Robots) utilize mounted cameras, lidar, sensors, GPS, and deep learning to detect the surrounding environment, avoid obstacles, find the destination, and automatically transport luggage. This indicates that it is more suitable for small logistics warehouses, hotels, and hospitals where work flow changes frequently and it is difficult to have autonomous vehicle (AGV) infrastructure.

Related technologies include Republic of Korea Patent Publication No. 10-2181423 (title of the invention: autonomous AMR mobility using LiDAR) and Republic of Korea Patent Publication No. 10-2019-0106843 (title of the invention: multi-purpose autonomous vehicle control device and method) has been proposed.

The above-described technical configuration is background technology to aid understanding of the present invention, and does not mean that it is widely known prior art in the technical field to which the present invention belongs.

Existing mobility for autonomous driving installs lifters at multiple points on the upper plate and individually guides the operation of each lifter that raises and lowers the upper plate, causing the goods loaded on the upper plate to fall as the upper plate is tilted and raised and lowered. There is a problem that the durability of the lifter deteriorates as more load is applied to the lifter on the inclined side of the upper plate.

Therefore, there is a need to improve this.

The present invention was devised to improve the problems described above, and is designed to expand the use area of mobility by equipping a frame with a plurality of lifting blocks that can be raised and lowered, thereby raising and lowering the upper plate through the lifting blocks. The purpose is to provide driving mobility.

The purpose of the present invention is to provide mobility for autonomous driving that prevents tilting of the upper plate by providing a power linkage transmission unit to guide a plurality of individual lifting blocks to rise and fall simultaneously in the same direction, at the same speed, and at the same height.

The present invention configures a suspension function on the driven wheel to guide the entire multi-axis wheel, including a pair of driving wheels, to always be in contact with the ground, thereby preventing unstable mobility due to poor grounding of the wheel on an uneven floor for autonomous driving. The purpose is to provide mobility.

The mobility for autonomous driving according to the present invention includes: a frame; An electric motor provided in the frame; an electric gear unit provided on the frame and having an electric gear assembly that rotates by receiving rotational force from the electric motor; a plurality of driven gear units arranged along a set trajectory on one side of the frame and having a driven gear assembly; A lifting block provided to be capable of being raised and lowered at each of the driven gear units, and guided in axial movement by the operation of the corresponding driven gear assembly; A plurality of upper plates supported by the lifting blocks and moved together with the lifting blocks; And a power linkage transmission unit that connects the plurality of driven gear assemblies and guides the plurality of lifting blocks to move in the same direction and at the same speed by the driving force of the electric motor.

The frame is characterized by having a plurality of reinforcing bars on the inside that are open toward the top.

The electric motor, the electric gear unit, the driven gear unit, and the power linkage transmission unit are supported on the corresponding reinforcement bars.

The power linkage transmission unit transmits power by connecting the driven gear assemblies arranged in pairs, and the driven ball is arranged side by side in the frame and guides the lifting blocks connected to both sides along the axial direction to move up and down. screw; A joint gear unit including a joint gear assembly geared to each of the driven ballscrews and rotating the corresponding driven ballscrews; It is connected to one side of the electric gear unit disposed between the corresponding pair of joint gear units and receives rotational force from the electric motor, one side is gear-coupled with the electric gear assembly along the axial direction, and the other side is corresponding. A one-side electric ball screw that is gear-coupled with the driven gear assembly and transmits rotational force to the corresponding driven ball screw; and is connected to the other side of the electric gear unit to receive rotational force from the electric motor together with the one-side electric ball screw, where one side is gear-coupled with the electric gear assembly along the axial direction and the other side is gear-coupled with the corresponding driven gear assembly. and includes a second electric ballscrew that transmits rotational force to the corresponding driven ballscrew.

The frame is characterized by having a plurality of obstacle detection units that detect obstacles while moving.

As described above, unlike the prior art, the mobility for autonomous driving according to the present invention has a plurality of lifting blocks on the frame that can be raised and lowered, thereby increasing and lowering the upper plate through the lifting blocks, thereby expanding the use area of mobility. It can be expanded.

The present invention can prevent tilting of the upper plate by providing a power linkage transmission unit to guide a plurality of individual lifting blocks to rise and fall simultaneously in the same direction, at the same speed, and at the same height.

The present invention provides a suspension function to the driven wheel, thereby guiding the entire multi-axis wheel, including a pair of driving wheels, to always be in contact with the ground, thereby preventing unstable mobility due to poor grounding of the wheel on an uneven floor.

1 is a perspective view of mobility for autonomous driving according to an embodiment of the present invention.
Figure 2 is an exploded perspective view with the upper plate removed from the autonomous driving mobility according to an embodiment of the present invention.
Figure 3 is an exploded perspective view of the configuration of the power linkage transmission unit in autonomous driving mobility according to an embodiment of the present invention.
Figure 4 is a cross-sectional view taken along line AA of Figure 1.
Figure 5 is a cross-sectional view taken along line BB of Figure 1.
Figure 6 is a cross-sectional view taken along line CC of Figure 1.
Figure 7 is a bottom view of mobility for autonomous driving according to an embodiment of the present invention.
Figure 8 is a side view of mobility for autonomous driving according to an embodiment of the present invention.
Figure 9 is a side cross-sectional view of mobility for autonomous driving according to an embodiment of the present invention.
Figure 10 is an exploded perspective view of a driven module for autonomous driving mobility according to an embodiment of the present invention.

Hereinafter, an embodiment of autonomous driving mobility according to the present invention will be described with reference to the attached drawings. In this process, the thickness of lines or sizes of components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, the terms described below are terms defined in consideration of functions in the present invention, and may vary depending on the intention or custom of the user or operator. Therefore, definitions of these terms should be made based on the content throughout this specification.

Figure 1 is a perspective view of mobility for autonomous driving according to an embodiment of the present invention, Figure 2 is an exploded perspective view of the mobility for autonomous driving according to an embodiment of the present invention with the upper plate separated, and Figure 3 is a perspective view of mobility for autonomous driving according to an embodiment of the present invention. This is an exploded perspective view of the configuration of the power transmission unit in autonomous driving mobility according to an embodiment.

FIG. 4 is a cross-sectional view taken along line A-A of FIG. 1, FIG. 5 is a cross-sectional view taken along line B-B of FIG. 1, and FIG. 6 is a cross-sectional view taken along line C-C of FIG. 1.

Figure 7 is a bottom view of mobility for autonomous driving according to an embodiment of the present invention, and Figure 8 is a side view of mobility for autonomous driving according to an embodiment of the present invention.

FIG. 9 is a side cross-sectional view of mobility for autonomous driving according to an embodiment of the present invention, and FIG. 10 is an exploded perspective view of a driven module of mobility for autonomous driving according to an embodiment of the present invention.

1 to 10, the autonomous driving mobility 100 according to an embodiment of the present invention includes a frame 200, an electric motor 610, an electric gear unit 620, a driven gear unit 630, It includes a lifting block 640, an upper plate 650, and a power linkage transmission unit 660.

At this time, mobility 100 according to the present invention can be applied to automated guided vehicles (AGVs) or autonomous mobile robots (AMRs).

In particular, the frame 200 forms the entire or partial outline of the mobility 100 and can be applied in various shapes and materials. At this time, the frame 200 may have a hexahedral frame shape, and in this case, may include a side plate that blocks the open peripheral surface.

In addition, the frame 200 has edge protrusions 242 protruding continuously or discontinuously along the circumferential surface, and the bumper 244 is covered with the corresponding edge protrusions 242. The bumper 244 serves to protect the frame 200 from external obstacles. Accordingly, the bumper 244 is made of a material capable of cushioning.

Of course, the edge protrusion 242 and the bumper 244 can be applied in various shapes.

Additionally, the electric motor 610 is fixedly installed on the frame 200 and generates driving force when power is applied from the outside. At this time, at least one electric motor 610 is provided.

And, the electric gear unit 620 is installed on the frame 200 and has an electric gear assembly 622 that receives rotational force from the electric motor 610 and rotates. Therefore, the electric gear unit 620 is assumed to be a gearbox. Of course, the electric gear assembly 622 may be made of an assembly of various gears, such as worm gears or bevel gears, and the electric gear unit 620 may be made of various power transmission means other than gears.

In addition, a plurality of driven gear units 630 are disposed on one side of the frame 200 along a set trajectory. At this time, the driven gear unit 630 is disposed on the same plane as the electric gear unit 620 or at a similar height to the electric gear unit 620.

For convenience, the frame 200 is assumed to have a square shape in plan, and the driven gear unit 630 is located at each corner of the frame 200. Therefore, the mobility 100 according to the present invention is provided with four driven gear units 630 along a square trajectory.

Additionally, each driven gear unit 630 includes a driven gear assembly 632. Therefore, the driven gear unit 630 is assumed to be a gearbox. Of course, the driven gear assembly 632 may be made of an assembly of various gears, such as worm gears or bevel gears, and the driven gear unit 630 may be made of various power transmission means other than gears.

In addition, the lifting block 640 is provided to be able to raise and lower each driven gear unit 630, and the axial movement is guided by the rotational operation of the corresponding driven gear assembly 632. At this time, the lifting block 640 can be applied in various shapes and materials. Of course, the lifting block 640 is gear-coupled with the corresponding driven gear assembly 632 by forming gear teeth on at least a portion of the peripheral surface, so that it can move in the axial direction when the driven gear assembly 632 is operated.

The upper plate 650 is simultaneously supported by a plurality of individual lifting blocks 640 and moves up and down together with the lifting blocks 640. Therefore, the mobility 100 according to the present invention can guide the loading and unloading of products or goods, and can transport the products or goods.

The upper plate 650 can be applied in various materials and shapes.

Meanwhile, all lifting blocks 640, especially four lifting blocks 640, must rise and fall at the same speed and at the same height so that the upper plate 650 does not tilt when rising and falling.

When a plurality of individual lifting blocks 640 rise and fall at different speeds and different heights, products or articles loaded on the upper plate 650 may fall, and a specific lifting block 640 is subject to a concentrated load. This may reduce durability.

To prevent this, a power linkage transmission unit 660 is provided to guide the plurality of individual lifting blocks 640 to rise and fall at the same speed and at the same height.

That is, the power linkage transmission unit 660 connects a plurality of individual driven gear assemblies 632 and guides the plurality of individual lifting blocks 640 to move in the same direction and at the same speed by the driving force of the electric motor 610. It plays a role.

At this time, the frame 200 forms an upper opening 210 that opens one side, especially part or the entire upper surface, to open the internal space.

Additionally, the frame 200 is provided with reinforcing bars 230 of various shapes inside for reinforcement.

In addition, in order to minimize the initial height of the mobility 100 according to the present invention, the electric motor 610, the electric gear unit 620, the driven gear unit 630, and the power linkage transmission unit 660 are installed in a frame ( 200) is installed inside. In this case, the electric motor 610, the electric gear unit 620, the driven gear unit 630, and the power linkage transmission unit 660 are exposed to the upper side of the frame 200 through the upper opening 210.

At this time, the electric motor 610, the electric gear unit 620, the driven gear unit 630, and the power linkage transmission unit 660 are fixed to the reinforcement bar 230 installed inside the frame 200.

In addition, in the initial state in which all the lifting blocks 640 are lowered, the upper plate 650, which is in a standby state, exerts a force pressing the lifting blocks 640 due to its own weight, thereby causing the lifting blocks 640 and the electric gear assembly ( The durability of the 622) and driven gear assembly 632 may be reduced due to increased internal stress.

To improve this, the frame 200 may have a flange 220 protruding along the edge of the upper opening 210. Therefore, the upper plate 650, which is in a standby state, can minimize its own weight transferred to the lifting block 640, the electric gear assembly 622, and the driven gear assembly 632 as it contacts the flange 220.

Of course, the flange 220 can be modified into various shapes and can be integrally or separably coupled to the frame 200.

Meanwhile, the power linkage transmission unit 660 may include a driven ball screw 661, a joint gear unit 662, one side electric ball screw 664, and the other side electric ball screw 665.

The driven ballscrew 661 is connected to a pair of driven gear units 630 whose central axis corresponds to the moving direction of the frame 200. That is, the driven ballscrew 661 transmits power by connecting the driven gear assemblies 632 arranged in pairs.

And, the driven ballscrews 661 are arranged side by side inside the frame 200.

In particular, the driven ballscrew 661 forms gear teeth on the circumferential surface, and one side and the other side are gear-coupled with the driven gear assembly 632 of the corresponding driven gear unit 630 along the axial direction. Therefore, the driven ballscrew 661 guides the corresponding lifting block 640 to move upward or downward by guiding the operation of the corresponding driven gear assembly 632 when rotating in one direction or the other direction.

In addition, the joint gear unit 662 includes a joint gear assembly 663 geared to each of the parallel driven ballscrews 661, and rotates the driven ballscrews 661 by external force.

In particular, the joint gear unit 662 is assumed to be a gearbox. Of course, the joint gear assembly 663 may be made of an assembly of various gears such as worm gears or bevel gears, and the joint gear unit 662 may be made of various power transmission means other than gears.

At this time, the driven ballscrews 661 arranged in parallel connect the joint gear units 662, and the electric gear unit 620 is disposed between the corresponding pair of joint gear units 662. In addition, the corresponding pair of joint gear units 662 and electric gear units 620 are arranged in a straight line.

Meanwhile, the one-side electric ballscrew 664 is connected to one side of the electric gear unit 620 and receives rotational force from the electric motor 610.

That is, one side of the one-side electric ballscrew 664 is gear-coupled with the electric gear assembly 622 of the electric gear unit 620 along the axial direction, and the other side is gear-coupled with the driven gear assembly 632 of the corresponding driven gear unit 630. ) is connected to the gear.

Therefore, when the electric motor 610 operates, the electric gear assembly 622 of the electric gear unit 620 receives rotational force from the electric motor 610 and rotates the one-side electric ball screw 664. The one-side electric ball screw 664 rotates the joint gear assembly 663 of the corresponding joint gear unit 662, and this joint gear assembly 663 rotates the corresponding driven ball screw 661. Afterwards, the driven ballscrew 661 rotates the driven gear assembly 632 of the driven gear unit 630 connected to both sides along the axial direction, and this driven gear assembly 632 is connected to the corresponding pair of lifting blocks. (640) is raised or lowered simultaneously.

In addition, the other electric ball screw 665 is connected to the other side of the electric gear unit 620 and receives rotational force from the electric motor 610.

So, when the electric motor 610 operates, the electric gear assembly 622 of the electric gear unit 620 receives rotational force from the electric motor 610, and the electric ball screw 664 on one side and the electric ball screw 665 on the other side ) rotate. The other electric ball screw 665 rotates the joint gear assembly 663 of the corresponding joint gear unit 662, and this joint gear assembly 663 rotates the corresponding driven ball screw 661. Afterwards, the driven ballscrew 661 rotates the driven gear assembly 632 of the driven gear unit 630 connected to both sides along the axial direction, and this driven gear assembly 632 is connected to the corresponding pair of lifting blocks. (640) is raised or lowered simultaneously.

Therefore, according to this embodiment, the four lifting blocks 640 are simultaneously raised or lowered along the same direction at the same speed and to the same height.

In addition, when the mobility 100 according to this embodiment is an autonomous mobile robot (AMR), the frame 200 may be provided with a plurality of obstacle detection units 700 that detect obstacles while moving.

At this time, the obstacle detection unit 700 can be applied to various applications such as LiDAR.

The obstacle detection unit 700 is installed on the upper surface of the frame 200 and exposed to the outside to ensure reliability of obstacle detection.

Accordingly, in order to protect the obstacle detection unit 700, the upper plate 650 is in contact with the flange 220 in the standby state and blocks the upper side of the obstacle detection unit 700 to prevent exposure.

In addition, when the mobility 100 moves and the obstacle detection unit 700 detects an obstacle, the mobility 100 must be controlled to change the driving direction.

In particular, the mobility 100 for autonomous driving according to an embodiment of the present invention includes a driving module 300 and a driven module 400.

The drive module 300 is connected to one side and the other side of the frame 200, and includes a drive wheel 330 that rotates in one direction and the other direction simultaneously or separately by power transmitted from the outside to move the frame 200. Equipped with

At this time, the drive module 300 is provided on one side and the other side of the frame 200 along the traveling direction. In addition, the drive module 300 is shown as being located at an approximately central position along one edge of the frame 200, and is shown as being positioned at an approximately central position along the other edge.

And, each drive module 300 is provided with a drive wheel 330. In this case, each driving wheel 330 may be connected to each other and transmit rotational force to rotate in the same direction at the same time, but the rotational force may be transmitted individually and applied to rotate in the same direction or in a different direction. When each drive wheel 330 rolls and rotates in a different direction, the frame 200 may rotate in place in a plane. Of course, the driving wheel 330 can be applied in various shapes and materials capable of rolling rotation.

In addition, one or more driven modules 400 are connected to one side and the other side of the frame 200, and each includes a driven wheel 430.

At this time, one or more driven modules 400 are provided along one edge of the frame 200 on which the drive module 300 is mounted, and one or more driven modules 400 are provided along the other edge of the frame 200 on which the other drive module 300 is mounted. More than is provided.

In an embodiment, the frame 200 is provided with a driven module 400 on one side and a driven module 400 on the other side with the driving module 300 at one edge along the moving direction.

Likewise, the frame 200 is provided with a driven module 400 on one side and a driven module 400 on the other side with the driving module 300 at the other edge along the direction of travel.

Therefore, the mobility 100 according to the present invention is provided with multiple axes, especially 6-axis wheels.

In particular, each driven module 400 includes a driven wheel 430, and each driven wheel 430 is assumed to naturally rotate. Of course, the specific driven wheel 430 may be driven by receiving a rotational force from the outside to correspond to the rotational force of the driving wheel 330.

Meanwhile, each drive module 300 includes a drive bracket 310 and a drive motor 320.

The driving bracket 310 rotatably connects the corresponding driving wheel 330. The driving bracket 310 can be made of various materials with rigidity and can be transformed into various shapes.

Additionally, the drive motor 320 is fixedly installed on each of the drive brackets 310 or the frame 200 and serves to transmit rotational force to the corresponding drive wheel 330. Therefore, the drive wheel 330 receives rotational force from the corresponding drive motor 320 and can rotate in one direction and the other direction.

Additionally, each driven module 400 includes a driven bracket 410 and a rotation guide bracket 420.

The driven bracket 410 is disposed at least one of the front and rear sides of the driving bracket 310 corresponding to the moving direction of the frame 200. For convenience, the driven bracket 410 is disposed on the front side (one side) and the rear side (the other side) of the driving bracket 310 corresponding to the moving direction of the frame 200.

Of course, the driven bracket 410 can be made of various materials with durability and rigidity, and can be applied in various shapes.

In addition, the rotation guide bracket 420 is provided to be rotatable in a plane on the corresponding driven bracket 410. For this purpose, although not shown, a bearing may be provided between the corresponding driven bracket 410 and the rotation guide bracket 420. Therefore, the mobility 100 is capable of changing direction while driving.

The rotation guide bracket 420 can be applied in various shapes and materials.

In particular, the driving bracket 310 and the driven bracket 410 may be directly or indirectly connected to the frame 200 in various ways.

And, when the obstacle detection unit 700 detects an obstacle during forward movement, at least one of the pair of drive motors 320 controls the corresponding drive wheel 330 to stop, reduce the rotation speed, or rotate in reverse. do.

In addition, each driven module 400 may include a wheel height variable portion 440.

At this time, the wheel height variable part 440 is connected to the rotation guide bracket 420 and connects the corresponding driven wheel 430, and serves to guide the height variation of the driven wheel 430 within the setting range.

To this end, the wheel height variable part 440 may include a side wing 441, a rotary shaft 442, a pivot pin 443, a suspension pad 444, and an insertion hole 445.

The side wing 441 is disposed on one side and the other side of the corresponding driven wheel 430, respectively. Therefore, the side wings 441 are provided in pairs to be disposed on both sides of each driven wheel 430, and the pair of side wings 441 are formed in the shape of plates arranged to face each other. Of course, the side wing 441 can be made of various materials having rigidity and can be applied in various shapes.

And, the rotary shaft 442 rotatably connects the same side of the pair of opposing side wings 441 to the corresponding driven wheel 430. Therefore, the rotary shaft 442 remains axially inserted into one side of the corresponding pair of side wings 441 and the center of the driven wheel 430. Because of this, each of the driven wheels 430 rotates relative to the rotary shaft 442.

In addition, the pivot pin 443 rotatably connects the same other side of the pair of opposing side wings 441 to the corresponding rotation guide bracket 420. Therefore, the pivot pin 443 remains axially inserted into the other side of the corresponding pair of side wings 441 and the rotation guide bracket 420.

As a result, the pair of opposing side wings 441 are eccentrically rotated based on the pivot pin 443 and can move up and down, and the driven wheel 430 can move up and down together with the corresponding side wing 441. I do it.

Therefore, even when the floor surface is uneven, each of the driven wheels 430 can move up and down in response to the shape of the road surface and maintain a state in contact with the floor.

Meanwhile, each driven wheel 430 must maintain grip on the floor even when moving up and down in response to the shape of the road surface, and may be provided with a suspension function.

Therefore, a suspension pad 444 and an insertion hole 445 are provided.

One or more suspension pads 444 are fixed to the rotation guide bracket 420 and have elastic compression and elastic recovery properties. That is, the suspension pad 444 is elastically compressed by an external force, and is elastically restored to its initial state when the external force is removed. The suspension pad 444 can be made of various materials.

In addition, the insertion hole 445 is formed on a pair of opposing side wings 441 so that the side wings 441 are cushioned and rotated based on the corresponding pivot pin 443, so that the suspension pad 444 is one-to-one or one-to-one. It is formed to be inserted. At this time, the insertion hole 445 is formed in the shape of a hole or groove in each of the side wings 441 to insert a part of the corresponding suspension pad 444.

Therefore, depending on the road surface condition, when the side wing 441 is lowered based on the corresponding pivot pin 443, the lower side of the corresponding suspension pad 444 is compressed upward, and the side wing 441 moves downward. When the suspension pad 444 is moved upward relative to the pivot pin 443, the upper side of the corresponding suspension pad 444 is compressed downward.

Afterwards, depending on the road surface condition, when the side wing 441 returns upward to its initial position while being lowered based on the corresponding pivot pin 443, the corresponding suspension pad 444 is elastically restored to its initial state. The force generates an auxiliary force for rapid movement of the side wing 441.

Likewise, depending on the road surface condition, when the side wing 441 returns downward to its initial position from being raised relative to the corresponding pivot pin 443, the corresponding suspension pad 444 has the force to elastically restore to its initial state. An auxiliary force is generated for rapid movement of the side wing 441.

In particular, the suspension pad 444 can be fixed to the corresponding rotation guide bracket 420 in various ways and can be transformed into various shapes.

Therefore, depending on the direction of movement of the frame 200, even if only the driven wheel 430 on the front side relative to the driving wheel 330 is located on a relatively high road surface of the floor, all driving wheels 330 and all driven wheels 430 ) can remain in contact with the corresponding road surface on the floor.

In addition, with the stopper pin 446 in contact with the inner surface of the stopper groove 447 of the arc trajectory, when the side wing 441 rotates relative to the pivot pin 443, the side wing 441 is in contact with the stopper pin. The meeting may be guided along the arc trajectory while maintaining contact with (446).

In particular, when the stopper pin 446 is in contact with the upper side of the corresponding side wing 441, all driving wheels 330 and the corresponding driven wheels 430 can be set to be at the same height.

In this case, the suspension pad 444 maintains its initial state. Therefore, the side wing 441 is in contact with the corresponding stopper pin 446, so that the entire drive wheel 330 and driven wheel 430 are in contact with the flat floor, and the suspension pad 444 is connected to the side wing 441. Elastic deformation is prevented by this. Accordingly, the durability of the suspension pad 444 can be increased.

In addition, at least one of the pair of opposing side wings 441 may form a stopper groove 447 to prevent shaking by accommodating the stopper pin 446 in contact with it. The stopper groove 447 can be modified into various shapes. For convenience, the stopper groove 447 is formed in an arc shape to guide the movement while the stopper pin 446 is in contact with it.

As a result, the mobility 100 according to the present invention configures the driven wheel 430 with a suspension function to guide the entire multi-axis wheel, including a pair of driving wheels 330, to always be in contact with the ground, thereby providing protection against uneven floors. Prevents unstable mobility due to poor grounding of the wheels, and prevents excessive tilt or shaking of the upper plate 650 due to the stable grounding of the wheels 330 and 430 and the stable raising and lowering movement of the upper plate 650, thereby preventing the upper plate ( 650), it is possible to prevent products or articles placed on it from falling.

The present invention has been described with reference to the embodiments shown in the drawings, but these are merely exemplary, and those skilled in the art will recognize that various modifications and other equivalent embodiments are possible therefrom. You will understand. Therefore, the true technical protection scope of the present invention should be determined by the claims below.

100: Mobility 200: Frame
210: upper opening 220: flange
230: reinforcement 242: edge protrusion
300: Driving module 310: Driving bracket
320: Drive motor 330: Drive wheel
400: Driven module 410: Driven bracket
420: Rotation guide bracket 430: Driven wheel
440: Variable wheel height 441: Side wing
442: Rotary shaft 443: Pivot pin
444: suspension pad 445: insertion hole
446: Stopper pin 447: Stopper groove
610: electric motor 620: electric gear unit
622: Electric gear assembly 630: Driven gear unit
632: Driven gear assembly 640: Lifting block
650: Upper plate 660: Power linkage transmission unit
661: Driven ball screw 662: Joint gear unit
663: Joint gear assembly 664: One-side electric ball screw
665: Other side electric ball screw 700: Obstacle detection unit

Claims (4)

frame;
An electric motor provided in the frame;
an electric gear unit provided on the frame and having an electric gear assembly that rotates by receiving rotational force from the electric motor;
a plurality of driven gear units arranged along a set trajectory on one side of the frame and having a driven gear assembly;
A lifting block provided to be capable of being raised and lowered at each of the driven gear units, and guided in axial movement by the operation of the corresponding driven gear assembly;
A plurality of upper plates supported by the lifting blocks and moved together with the lifting blocks; and
A power linkage transmission unit that connects the plurality of driven gear assemblies and guides the plurality of lifting blocks to move in the same direction and at the same speed by the driving force of the electric motor,
The frame forms an upper opening that opens a portion of the upper surface to open the internal space, and has a plurality of obstacle detection units on the upper surface to detect obstacles during movement,
The frame has a flange protruding along the edge of the upper opening,
The upper plate in a standby state is supported in contact with the flange, and the obstacle detection unit is protected by preventing exposure in the upward direction by the upper plate in contact with the flange.
According to clause 1,
The frame has a plurality of reinforcing bars on the inside that open upward,
Mobility for autonomous driving, characterized in that the electric motor, the electric gear unit, the driven gear unit, and the power linkage transmission unit are supported on the corresponding reinforcement bar.
The method of claim 1 or 2, wherein the power linkage transmission unit,
a driven ball screw that transmits power by connecting the driven gear assemblies arranged in pairs, and guides the lifting blocks arranged in parallel on the frame and connected to both sides along the axial direction to move up and down;
A joint gear unit including a joint gear assembly geared to each of the driven ballscrews and rotating the corresponding driven ballscrews;
It is connected to one side of the electric gear unit disposed between the corresponding pair of joint gear units and receives rotational force from the electric motor, one side is gear-coupled with the electric gear assembly along the axial direction, and the other side is corresponding. A one-side electric ball screw that is gear-coupled with the driven gear assembly and transmits rotational force to the corresponding driven ball screw; and
It is connected to the other side of the electric gear unit and receives rotational force from the electric motor together with the one-side electric ball screw, one side is gear-coupled with the electric gear assembly along the axial direction, and the other side is gear-coupled with the corresponding driven gear assembly. Mobility for autonomous driving, characterized in that it includes a second electric ball screw that transmits rotational force to the corresponding driven ball screw.
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