WO2017193802A1

WO2017193802A1 - Moving platform and suitcase comprising same

Info

Publication number: WO2017193802A1
Application number: PCT/CN2017/081563
Authority: WO
Inventors: 李溱; 何弢; 黄定; 赵磊; 乔磊; 张建飞; 王强; 刘力源; 高晓斌; 苏延全
Original assignee: 安徽酷哇机器人有限公司
Priority date: 2016-05-13
Filing date: 2017-04-24
Publication date: 2017-11-16
Also published as: CN106037197A

Abstract

A moving platform, as well as a suitcase comprising the same, comprises a power wheel module (902). The power wheel module (902) includes a driving wheel (2). The driving wheel (2) is movable between a raised position and a lowered position. When the driving wheel (2) is in the raised position, the driving wheel (2) is brought out of contact with the plane (904) on which a driven wheel module rolls. When the driving wheel (2) is in the lowered position, the driving wheel (2) is brought into contact with the plane (904) on which the driven wheel module rolls. The driving wheel (2) can be raised and lowered, so that the propulsion mode of the moving platform can be timely and conveniently switched on and off. When the driving wheel (2) is lowered, the moving platform can drive itself to move without an external force. By means of differential control between two of the driving wheels (2), the moving direction and speed of the moving platform can be controlled.

Description

Mobile platform and trunk containing mobile platform

Technical field

The present invention relates to the field of mobile devices, and in particular to a mobile platform and a trunk including a mobile platform.

Background technique

In airports, train stations and other places, people often need to carry a large number of bags to and from multiple locations. In order to save physical strength and handling efficiency, the bags are generally transported on a platform without self-driving. However, the prior art platforms suffer from a lack of self-driving power and the inability to switch power sources (human/self-driven) in time. Therefore, it is necessary to introduce a lifting device into the platform so that the driving wheel can be lowered or raised as needed to change the power driving mode.

Further, with regard to the lifting device, in the conventional lifting device, the lifting device is mainly applied to the lifting of some large-scale engineering equipment, and for some miniaturized intelligent mobile devices, there is rarely an application lifting mechanism for active or passive lifting.

After searching the prior art, it was found that the application number is 201120311977.7, which is a utility model patent of an unmanned transport vehicle with an automatic lifting mechanism, an automatic lifting mechanism in the automated guided vehicle, and the automatic lifting wheel mechanism mainly The motor, the motor seat, the screw rod, the directional wheel, the lifting frame and the limit switch thereof are arranged, and the motor is fixed on the vehicle body through the motor seat, and the directional wheel, the limit switch and the screw sleeve are mounted on the lifting frame, and one end of the screw rod The motor is connected, and the other end is screwed into the screw sleeve of the lifting frame. The limit switch defines the range of the stroke of the lifting frame, and the microprocessor, the limit switch and the motor are electrically connected.

However, the automatic lifting mechanism adopting the above design principle still has the following disadvantages: the rising mechanism is arranged on the passive wheel, and the active and passive switching cannot be realized. The use of the screw structure is complicated in design, and the vertical lifting cost is higher. Non-modular design, only suitable for unloading truck lift applications, can not be applied to other mobile devices. In addition, there is no use of the automatic lifting wheel device in the design of the existing smart luggage structure.

Since the obstacle avoidance technology has not reached the level of complete obstacle avoidance, it is necessary to drive the trunk by external force when there are many obstacles, that is, the person pulls the trunk, and when the obstacle is small, the obstacle avoidance technology can be used to make the luggage move autonomously according to a certain route. If the suitcase automatically follows people walking. Therefore, it is necessary to realize the driving wheel lifting by the automatic lifting wheel mechanism.

Summary of the invention

In view of the deficiencies in the prior art, it is an object of the present invention to provide a mobile platform and a luggage case including the mobile platform.

A mobile platform according to the present invention includes a platform base, a passive wheel module, a passive wheel module mounted on the platform base, and a power wheel module; the power wheel module includes a drive wheel; the drive wheel can be in a raised position Moving between the lowering position; when the driving wheel is in the raised position, the driving wheel is out of contact with the plane of the passive wheel module; when the driving wheel is in the lowered position, the driving wheel is in contact with the traveling plane of the passive wheel module.

Preferably, the number of drive wheels is one or more.

Preferably, the power wheel module further comprises a lifting module; the driving wheel is mounted on the platform base by the lifting module, and the driving wheel is moved between the raised position and the lowered position by the driving of the lifting module.

Preferably, an electronic module is further included; the electronic module is configured to control the rotational speed of the driving wheel.

Preferably, the electronic module is used to control the rotational speed of the plurality of drive wheels, respectively.

Preferably, when the drive wheel is in the lowered position, the drive wheel abuts against the plane on which the passive wheel module is driven, ie the drive wheel applies a positive pressure to the plane on which the passive wheel module travels.

Preferably, there are two axially parallel drive wheels.

Preferably, the lifting module comprises an automatic lifting wheel mechanism, wherein the automatic lifting wheel mechanism comprises a partition plate, a reduction motor, a worm wheel, a worm, a crank and a connecting rod;

Wherein the geared motor and the worm wheel are disposed on the baffle; the geared motor drives the crank to rotate through a worm and a worm wheel; one end of the crank hinges one end of the link; the connecting rod The other end drives the drive wheel;

When the geared motor rotates in the forward direction, the crank rotates downward, thereby driving the drive wheel to move downward; when the speed reducer rotates in the reverse direction, the crank rotates upward, thereby driving the drive wheel upward motion.

Preferably, the power wheel module further includes a mounting base, a power module, a power module, and a shock absorbing module;

Wherein the power module, the shock absorbing module and the automatic lifting wheel mechanism are disposed on the mounting base;

The automatic lifting mechanism is connected to the damping module; the power module is connected to the damping module;

The automatic lifting mechanism drives the power module to be lifted or lowered by the damping module; the damping module is used for damping of the power module; and the power module is used for supplying power to the power module and the automatic lifting wheel mechanism.

Preferably, the power module includes a power source and a transmission mechanism;

Wherein the power source drives the drive wheel through the transmission mechanism;

The power source uses a drive motor;

The transmission mechanism uses a transmission gear or a transmission belt.

Preferably, the shock absorbing module comprises a damper base and an elastic element; the damper base is connected to the power module by an elastic element on the one hand, and to the automatic lifting wheel mechanism, the mounting base and the driving wheel on the other hand;

The elastic element is used to float the drive wheel for damping.

Preferably, the damper base is a damper plate; the elastic element is a tension spring.

Preferably, the electronic module is disposed on an inner side or an outer side of the mounting base;

Or the electronic module includes a control portion and a driving portion that are electrically connected; the driving portion is electrically connected to the power module of the automatic lifting wheel mechanism; the driving portion is disposed inside the mounting base, and the control portion is disposed at The outer side of the mounting base.

Preferably, the method further includes a first protection module and a second protection module;

Wherein the first protection module is disposed on an outer side of the driving wheel and extends along a circumferential direction of the driving wheel; the second protection module is disposed on the mounting base and disposed on the driving wheel Both sides;

The first protection module is used for dustproofing; the second protection module is used for waterproofing.

Preferably, the automatic lifting wheel mechanism further includes a first gear, a second gear, a main shaft, a cam, a grooved connecting rod, and a lower pressing torsion spring;

The geared motor is coupled to the first gear; the first gear meshes with the second gear; the second gear is coaxially coupled to the worm; the main shaft is coupled to the cam; one end of the slotted link is hinged to the mounting base, and the other end is disposed a sliding groove; one end of the crank is matched with the main shaft, and the sliding shaft at the other end is disposed in the sliding groove; one end of the connecting rod is hinged to the other end of the grooved connecting rod, and the other end is hinged to the damping plate; a lower pressing torsion spring is disposed on the mounting base, and one end of the lower pressing torsion spring is connected to the damping plate;

When the electronic module issues a lifting command, the geared motor rotates, and the first gear, the second gear, the worm, the worm wheel, and the spindle drive cam rotate counterclockwise in turn, and the driving step of the cam drives the crank to rotate upward, and the crank drives the slotted connection in turn. a rod, a connecting rod, a damper plate and a driving wheel are raised, wherein the damper plate drives the lower pressing torsion spring to rotate upward, so that the lower pressing torsion spring is in a compressed state;

When the electronic module issues a falling command, the speed reducing motor rotates, and sequentially rotates clockwise through the first gear, the second gear, the worm, the worm wheel, and the spindle driving cam; the lower pressing torsion spring drives the damping plate, the driving wheel, and the connecting The rod, the grooved connecting rod and the crank move downward; the cam rotates into contact with the damping plate, and the damping plate is pressed down, so that the tension spring is stretched.

Preferably, when the lifting is completed, the worm gear forms a self-locking mechanism;

When the lowering is completed, the cam distal resting surface and the plane of the damper plate form a self-locking mechanism.

According to the present invention, a luggage case includes a case, and further includes the above-mentioned mobile platform, and the mobile platform is disposed at the bottom of the case.

Compared with the prior art, the present invention has the following beneficial effects:

1. The driving wheel can be raised and lowered, so that the power mode of the mobile platform can be conveniently switched in time.

2. When the drive wheel is lowered, no external force is required, and the mobile platform can be driven by itself.

3. The differential direction between the two drive wheels can control the moving direction and speed of the mobile platform.

4. Through the shock absorption module, the shock absorption during the movement of the mobile platform can be realized, and the luggage of the mobile platform can be smoothly operated;

5. The first protection module and the second protection module are provided, which can realize dustproof and waterproof of the driving wheel.

6. The power module is realized in a small space (154mm*70mm*44mm), especially the automatic lifting and lowering of a large distance (about 33mm) of the driving wheel, compact structure, small weight, and The drive mode conversion of the autonomous mobile platform of this drive wheel is of great significance.

DRAWINGS

Other features, objects, and advantages of the present invention will become apparent from the Detailed Description of Description

1 is a schematic structural view showing a descending state of a lifting module of a power wheel module of a mobile platform according to the present invention;

2 is a schematic structural view showing a lifting state of a lifting module of a power wheel module of a mobile platform according to the present invention;

3, FIG. 4 and FIG. 5 together show a schematic structural view of a lifting module of a power wheel module of a mobile platform according to the present invention;

6 is a schematic view showing a state of use of a lifting module of a power wheel module of a mobile platform according to the present invention;

Figure 7 is a schematic structural view of the driving platform in the lowering position of the mobile platform according to the present invention;

Figure 8 is a schematic view showing the structure of the driving wheel in the raised position in the mobile platform of the present invention.

In the figure: 1 is the drive motor; 2 is the drive wheel; 3 is the transmission mechanism; 7 is the lifting mechanism; 8 is the first protection module; 9 is the second protection module; 10 is the electronic module; 11 is the installation base; Shock absorbing base; 19 is the main shaft; 20 is the worm gear, 21 is the box; 22 is the pull rod; 23 is the driven wheel; 24 is the automatic lifting wheel mechanism; 25 is the battery; 26 is the geared motor; 27 is the first gear; For the worm; 28 for the second gear; 41 for the grooved link; 42 for the link; 43 for the crank; 44 for the cam; 47 for the elastic element; 48 for the lower compression torsion spring; 901 for the platform base; Wheel module; 903 is a passive wheel module; 904 is a plane on which the passive wheel module travels.

detailed description

The invention will now be described in detail in connection with specific embodiments. The following examples are intended to further understand the invention, but are not intended to limit the invention in any way. It should be noted that a number of changes and modifications may be made by those skilled in the art without departing from the inventive concept. These are all within the scope of protection of the present invention.

According to the present invention, a luggage case includes a case, and further includes a mobile platform, and the mobile platform is disposed at the bottom of the case. The mobile platform includes a platform base, a passive wheel module, the passive wheel module is mounted on the platform base, and further includes a power wheel module; the power wheel module includes a driving wheel; the driving wheel can be between the raised position and the lowered position Moving; when the driving wheel is in the raised position, the driving wheel is out of contact with the plane of the passive wheel module; when the driving wheel is in the lowered position, the driving wheel is in contact with the traveling plane of the passive wheel module. The number of drive wheels is one or more. In a preferred example, the number of driving wheels is two. By the differential control between the two driving wheels, the moving direction and speed of the moving platform can be controlled, thereby obtaining different motion trajectories of the mobile platform, specifically, differential control. The algorithm can drive any one or more of the motors used in DC, PMSM, BLDC, stepper motors, and can provide odometer functionality.

The power wheel module further includes a lifting module; the driving wheel is mounted on the platform base by the lifting module, and the driving wheel is moved between the raised position and the lowered position by the driving of the lifting module. When the drive wheel is in the lowered position, the drive wheel abuts against the plane on which the passive wheel module is driven, that is, the drive wheel applies a positive pressure to the plane on which the passive wheel module travels. The mobile platform preferably has two axially parallel drive wheels. The mobile platform further includes an electronic module; the electronic module is configured to control the rotational speed of the driving wheel. The electronic module is used to separately control the rotational speeds of the plurality of drive wheels. The number of passive wheels included in the passive wheel module. In a preferred example, the number may be four or three, or five or more passive wheels may be provided as needed.

The lifting module includes an automatic lifting wheel mechanism, wherein the automatic lifting wheel mechanism comprises a partition plate, a reduction motor, a worm wheel, a worm, a crank, and a connecting rod; wherein the geared motor and the worm wheel are disposed on the partition plate; The geared motor drives the crank to rotate by a worm and a worm wheel; one end of the crank hinges one end of the connecting rod; the other end of the connecting rod drives the driving wheel; when the speed reducing motor rotates in the forward direction The crank rotates downward, thereby driving the driving wheel to move downward; when the speed reducing motor rotates in the reverse direction, the crank rotates upward, thereby driving the driving wheel to move upward. The power wheel module further includes a mounting base, a power module, a power module, and a shock absorbing module; wherein the power module, the shock absorbing module, and the automatic lifting wheel mechanism are disposed on the mounting base; the automatic lifting mechanism Connecting the damper module; the power module is connected to the damper module; the automatic hoisting mechanism drives the power module to be lifted or lowered by the damper module; and the damper module is used for dampering the power module ; The power module is used to supply power to the power module and the automatic lifting wheel mechanism.

When the lifting is completed, the worm gear forms a self-locking mechanism; when the lowering is completed, the cam distal resting surface and the plane of the damper plate form a self-locking mechanism. Due to the need for self-locking, the worm gear and the cam are used in the composite transmission mode. After the lifting is completed, the worm gear and the worm are self-locking to ensure that the power module cannot be lowered; after the descent is completed, the cam is the self-locking of the far rest surface and the damping plate plane. It ensures that the driving wheel maintains the pressure on the moving plane through the tension spring while being subjected to the upward force. Since the driving wheel has a certain pressure on the ground, the connecting rod cannot directly give the downward pressure (intensity is insufficient), so the cam transmission is required.

When the lifting module of the power wheel module of the mobile platform provided by the invention is used, after the power module issues a command, the gear motor rotates to drive the first gear to rotate, and then the second gear rotates, and the second gear is fixed with the worm to drive the worm to rotate. The worm drives the worm wheel to rotate, realizes the vertical transmission of the power, the worm wheel drives the spindle to rotate, the main shaft and the cam are fixed, and the cam rotates counterclockwise. The cam has a step on the top, and the movement to a certain angle can drive the crank to rotate upward together, and the crank is connected with the grooved connecting rod. , and then drive the slotted connecting rod to rotate, the slotted connecting rod is connected with the curved connecting rod, and the curved connecting rod is connected with the shock absorbing base, so the curved connecting rod drives the shock absorbing base to move upward, the shock absorbing base and The power module is connected by a tension spring, and the shock absorbing base drives the power module to rise to a certain position.

When the power module issues a command, the geared motor rotates to drive the first gear to rotate, and then the second gear rotates. The second gear is fixed with the worm to drive the worm to rotate, and the worm drives the worm wheel to rotate, realizing the vertical transmission of power, and the worm wheel drives the spindle to rotate. The main shaft and the cam are fixed to drive the cam to rotate clockwise, and at the same time, the torsion spring is pressed down, the power module and the damping plate are lowered together, the curved connecting rod is driven, and the grooved connecting rod is driven, and finally the crank is moved downward. Until the driving wheel hits the moving plane, the power module does not descend, but the geared motor continues to rotate, causing the cam to continue to rotate clockwise to a certain position, the cam contacts the damper plate, the damper plate is pressed down, and the tension spring is stretched to A certain length, which provides the driving wheel to the ground pressure, while playing the role of shock absorption.

In the present embodiment, the present invention can realize automatic lifting of the driving wheel, and the invention is applied to the trunk The invention can realize the switching between manual and automatic; the invention is provided with a shock absorbing module, which can realize the shock absorption during the movement of the driving wheel, and realize the smooth operation of the luggage box of the application; the invention is provided with the first protection module and the second protection module The drive wheel can be made dustproof and waterproof. The invention realizes the power module in a small space (154mm*70mm*44mm), especially the automatic lifting and lowering of a large distance (about 33mm) of the driving wheel, the structure is compact, the weight is small, and the pair is installed The drive mode conversion of the autonomous mobile platform of this drive wheel is of great significance.

The specific embodiments of the present invention have been described above. It is to be understood that the invention is not limited to the specific embodiments described above, and various changes or modifications may be made by those skilled in the art without departing from the scope of the invention. The features of the embodiments and the embodiments of the present application may be combined with each other arbitrarily without conflict.

Claims

A mobile platform includes a platform base and a passive wheel module, and the passive wheel module is mounted on the platform base, and is characterized in that the power wheel module is further included;

The power wheel module includes a drive wheel;

The drive wheel is movable between a raised position and a lowered position;

When the driving wheel is in the raised position, the driving wheel is out of contact with the plane of the passive wheel module;

When the drive wheel is in the lowered position, the drive wheel is in contact with the plane on which the passive wheel module travels.
The mobile platform of claim 1 wherein the number of drive wheels is one or more.
The mobile platform according to claim 1, wherein the power wheel module further comprises a lifting module;

The driving wheel is mounted on the platform base by the lifting module, and the driving wheel is moved between the raised position and the lowered position by the driving of the lifting module.
The mobile platform of claim 1 further comprising an electronic module;

The electronic module is used to control the rotational speed of the drive wheel and/or to control the lifting movement of the drive wheel.
The mobile platform according to claim 4, wherein the electronic module is configured to separately control the rotational speeds of the plurality of drive wheels.
The mobile platform of claim 1 wherein the drive wheel is in close contact with the plane on which the passive wheel module is driven when the drive wheel is in the lowered position.
The mobile platform of claim 1 having two axially parallel drive wheels.
The mobile platform according to claim 3, wherein the lifting module comprises an automatic lifting wheel mechanism, and the power wheel module further comprises a mounting base, a power module, a power module, and a damping module;

Wherein the power module, the shock absorbing module and the automatic lifting wheel mechanism are disposed on the mounting base;

The automatic lifting mechanism is connected to the damping module; the power module is connected to the damping module;

The automatic lifting mechanism drives the power module to be lifted or lowered by the damping module; the damping module is used for damping of the power module; and the power module is used for supplying power to the power module and the automatic lifting wheel mechanism.
The mobile platform of claim 1 wherein said power wheel module includes a self-locking mechanism that mechanically maintains the drive wheel in a raised or lowered position.
A luggage case comprising a box body, characterized by further comprising the mobile platform according to any one of claims 1 to 9, the mobile platform being disposed at the bottom of the box body.