WO2023249364A1

WO2023249364A1 - Load transport apparatus

Info

Publication number: WO2023249364A1
Application number: PCT/KR2023/008498
Authority: WO
Inventors: 이종찬; 안승욱; 양병호; 강유신
Original assignee: 주식회사 모션디바이스
Priority date: 2022-06-20
Filing date: 2023-06-20
Publication date: 2023-12-28
Also published as: KR20230174154A

Abstract

A load transport apparatus according to an embodiment comprises: a load plate on which an object to be loaded is seated; a first lever member which is coupled to be rotatable relative to the load plate on the basis of a first rotary shaft that is connected to the lower portion of one side of the load plate and is arranged in a first axis direction, has a certain length in a second axis direction that is perpendicular to the first axis, and has both ends, in the second axis, supporting wheels, respectively; a second lever member which is coupled to be rotatable relative to the load plate on the basis of a second rotary shaft that is connected to the lower portion of the other side of the load plate and arranged in the first axis direction, has a certain length in the second axis direction, and has both ends, in the second axis direction, supporting the wheels, respectively; and a third lever member which is coupled to be rotatable relative to the load plate on the basis of a third rotary shaft that is connected to the lower portion of the rear end of the load plate and arranged in the second axis direction, has a certain length in the first axis direction, and has both ends, in the first axis direction, supporting the wheels, respectively.

Description

load transport device

The present invention relates to a load transport device, and more specifically, to a load transport device that can transport a load to another location.

Recently, as the logistics industry has developed rapidly, various types of logistics systems are being developed. For example, the use of logistics transfer robots is increasing productivity by increasing the efficiency of logistics management.

Such a logistics transport robot travels in a straight line using a travel motor in a loaded state and transports the cargo to a set location.

Prior art related to conventional logistics transport robots is disclosed in Republic of Korea Patent No. 10-1772631. In addition, Republic of Korea Patent No. 10-1642728 has been disclosed as a logistics transport system using a robot.

A loading plate is provided on the upper part of the robot of the above-described logistics transfer system, and the robot moves by driving the driving wheels while loading the goods to be transferred on the upper part of the loading plate. A pair of driving wheels is provided on the left and right sides of the robot, and casters are provided as driven wheels at the lower front and rear sides.

In this way, when driving by rotating the driving wheels, if the floor becomes uneven, some of the driving wheels and driven wheels cannot remain in contact with the ground and are separated from the ground, so there is a problem in that driving stability during driving is reduced.

Meanwhile, the rocker-bogie structure is known as a link structure for driving on uneven ground. The rocker-bogie structure is applied to various fields because it is suitable for driving in places with large changes in height, such as uneven roads or stairs.

This rocker-bogey structure has the problem of being difficult to apply to logistics transport robots that transport large loads or have a narrow space for installing the driving part.

Republic of Korea Patent Publication No. 10-2022-0079064 is disclosed as a prior art regarding a robot with a rocker-bogey structure.

Therefore, there is an emerging need to develop a link structure that maintains the wheels in contact with the ground and is suitable for logistics transport robots that have a large load and a limited space for installing the driving unit.

The present invention was developed to solve the above-mentioned problems, and improves driving stability by enabling all wheels to always remain in contact with the ground when driving even when the ground is uneven in a transport device for transporting loads. The purpose is to provide a load transport device.

The load transport device of the present invention for realizing the above-described object includes a loading plate on which a loading object is placed; It is connected to the lower part of one side of the loading plate and is coupled to enable relative rotation with respect to the loading plate about a first rotation axis disposed in the first axis direction, and has a predetermined length in the second axis direction orthogonal to the first axis. First lever members each having wheels supported at both ends in the second axis direction; It is connected to the lower part of the other side of the loading plate and is coupled to enable relative rotation with respect to the loading plate about a second rotation axis disposed in the first axis direction, has a predetermined length in the second axis direction, and has a predetermined length in the second axis direction. Second lever members each supported by wheels at both ends of the ; And it is connected to the lower part of the rear end of the loading plate and is coupled to enable relative rotation with respect to the loading plate about a third rotation axis disposed in the second axis direction, has a predetermined length in the first axis direction, and has a predetermined length in the first axis direction. At both ends in the axial direction, a third lever member each having a wheel supported thereon is included.

The first rotation shaft is connected to the longitudinal middle portion of the first lever member, and both ends of the first rotation shaft are supported by a first rotation shaft support member coupled to a bottom surface of one side of the loading plate. The second rotation shaft is connected to the longitudinal middle portion of the second lever member, both ends of the second rotation shaft are supported by a second rotation shaft support member coupled to the bottom surface of the other side of the loading plate, and the third rotation shaft is connected to the longitudinal middle portion of the third lever member, and both ends of the third rotation shaft may be supported by a third rotation shaft support member coupled to the lower portion of the rear end of the loading plate.

The first rotation axis support member has a gap between the first lever member and the loading plate in a third axis direction orthogonal to the first axis and the second axis, based on when the first lever member is in a horizontal state. The first rotation shaft is supported so as to be formed, and the second rotation shaft support member forms a gap in the third axis direction between the second lever member and the loading plate based on when the second lever member is in a horizontal state. The second rotation shaft is supported as much as possible, and the third rotation shaft support member is such that a gap is formed in the third axis direction between the third lever member and the loading plate based on when the third lever member is in a horizontal state. The third rotation axis can be supported.

In one embodiment, a first driving wheel and a first driven wheel are supported at both ends of the first lever member in the second axis direction, and a second driving wheel is supported at both ends of the second lever member in the second axis direction. and a second driven wheel are supported, and a third driven wheel and a fourth driven wheel may be supported at both ends of the third lever member in the first axis direction.

The first driving wheel is connected to a first motor and a first reducer and driven to rotate around the first driving wheel rotation axis in the first axis direction, and the second driving wheel is connected to a second motor and a second reducer. It may be driven to rotate around a second driving wheel rotation axis in the first axis direction.

The first driven wheel, the second driven wheel, the third driven wheel, and the fourth driven wheel have a first rotation support and a second rotation rotatable about a third axis orthogonal to the first axis and the second axis, respectively. It may be connected to the support part, the third rotation support part, and the fourth rotation support part, and be rotatable about the third axis.

The first driving wheel is rotatable about a first driving wheel rotation axis disposed in the first axis direction, and is positioned between the first driven wheel and the third driven wheel based on the second axis direction. The second driving wheel is rotatable about a second driving wheel rotation axis disposed in the first axis direction, and the second driven wheel and the fourth driven wheel are provided based on the second axis direction. It can be provided between the wheels.

In another embodiment, a fifth driven wheel and a sixth driven wheel are supported at both ends of the first lever member in the second axis direction, and a third driving wheel is supported at both ends of the second lever member in the second axis direction. and a seventh driven wheel are supported, and a fourth driving wheel and an eighth driven wheel may be supported at both ends of the third lever member in the first axis direction.

The third driving wheel is driven forward and backward around the first axis as the rotation center by driving the third motor, and has the third axis orthogonal to the first and second axes as the rotation center by driving the first steering motor. It is steered and driven, and the fourth drive wheel is driven forward and backward about the first axis as the rotation center by driving the fourth motor, and is perpendicular to the first axis and the second axis by driving the second steering motor. The steering can be driven around the third axis as the center of rotation.

A first fixed gear is coupled to the bottom of the front side of the loading plate where the third driving wheel is located, and the third motor and the third driving wheel are supported on the lower part of the first fixed gear, and the third driving wheel is supported. The first fixing member and a first support member capable of relative rotation are coupled around an axis, a first pinion gear is coupled to the axis of the first steering motor, and the first pinion gear is gear-coupled with the first fixed gear. A second fixed gear is coupled to the bottom of the other rear side of the loading plate where the fourth driving wheel is located, and the fourth motor and the fourth driving wheel are supported at the lower part of the second fixed gear. The third fixed member and a second support member capable of relative rotation are coupled around a third axis, and a second pinion gear is coupled to the axis of the second steering motor, and the second pinion gear is coupled to the second fixed gear. Can be geared.

According to the load transport device according to the present invention, even when the ground is uneven in the transport device for transporting the load, both the driving wheels and the driven wheels are always in contact with the ground by the seesaw action of the first to third lever members. By maintaining the condition, driving stability can be improved.

In addition, the first lever member and the second lever member are configured to rotate relative to the loading plate about the All wheels can be in contact with the ground in any situation, and smooth rotation is possible even when turning, maintaining driving stability.

In addition, the driving wheel provided on one front side of the loading plate and the driving wheel provided on the other rear side of the loading plate are configured to enable forward and backward and steering operation, respectively, so that the forward and backward and steering operations of the load transport device are stable. You can control it.

1 is a perspective view of a load transport device according to a first embodiment of the present invention as seen from above;

Figure 2 is a perspective view from below of the load transport device according to the first embodiment of the present invention;

Figure 3 is a bottom view of the load transport device according to the first embodiment of the present invention;

Figure 4 is a right side view of the load transport device according to the first embodiment of the present invention;

Figure 5 is a rear view of the load transport device according to the first embodiment of the present invention;

Figure 6 is a bottom view of a load transport device according to a second embodiment of the present invention;

Figure 7 is a perspective view of the load transport device according to the second embodiment of the present invention as seen from the lower rear side;

Figure 8 is a front view for explaining the drive structure for forward and backward and steering of the third drive wheel of the load transport device according to the second embodiment of the present invention;

Figure 9 is a front view for explaining the drive structure for forward and backward and steering of the third drive wheel of the load transport device according to the second embodiment of the present invention.

** Explanation of symbols **

1,2: Load transport device 10,20: Loading plate

100: first transfer support 110: first motor

111: first reducer 120: first driving wheel

121: First driving wheel rotating shaft 122: First driving wheel rotating shaft support member

130: 1st driven wheel 131: 1st driven wheel rotation axis

132: First driven wheel rotation shaft support member 133: First rotation support member

134: first fixing member 140: first lever member

150: first rotation axis 160: first rotation axis support member

200: second transfer support 210: second motor

211: second reducer 220: second driving wheel

221: Second driving wheel rotation shaft 222: Second driving wheel rotation shaft support member

230: 2nd driven wheel 231: 2nd driven wheel rotation axis

232: Second driven wheel rotation shaft support member 233: Second rotation support member

234: second fixing member 240: second lever member

250: second rotation axis 260: second rotation axis support member

300: Third transfer support 310: Third driven wheel

311: Third driven wheel rotation shaft 312: Third driven wheel rotation shaft support member

313: Third rotation support 314: Third fixing member

320: 4th driven wheel 321: 4th driven wheel rotation axis

322: Fourth driven wheel rotation shaft support member 323: Fourth rotation support member

324: Fourth fixing member 330: Third lever member

340: Third rotation axis 350: Third rotation axis support member

G1, G2, G3: Clearance 2: Load transport device

20: Loading plate 400: Fourth transfer support unit

410: 5th driven wheel 411: 5th driven wheel rotation axis

412: 5th driven wheel rotation axis support member 413: 5th rotation support member

414: 5th fixing member 420: 6th driven wheel

421: 6th driven wheel rotation shaft 422: 6th driven wheel rotation shaft support member

423: 6th rotation support 424: 6th fixing member

430: first lever member 440: first rotation axis

450: 1st rotation axis support member 500: 5th transfer support member

510: 3rd driving wheel 520: 7th driven wheel

521: 7th driven wheel rotation shaft 522: 7th driven wheel rotation shaft support member

523: 7th rotation support 524: 7th fixing member

530: Second lever member 540: Second rotation axis

550: Second rotation shaft support member 560: Third motor

570: 1st brake 580: 1st steering motor

581: first pinion gear 590: first support member

591: 1st fixed gear 600: 6th transfer support unit

610: 4th driving wheel 620: 8th driven wheel

621: 8th driven wheel rotation shaft 622: 8th driven wheel rotation shaft support member

623: 8th rotation support 624: 8th fixing member

630: Third lever member 640: Third rotation axis

650: Third rotation shaft support member 660: Fourth motor

670: 2nd brake 680: 2nd steering motor

681: second pinion gear 690: second support member

691: Second fixed gear

Hereinafter, the structure and operation of a preferred embodiment of the present invention will be described in detail with reference to the attached drawings. When referring to direction in this specification, the do. In addition, the X-axis will be used interchangeably as the first axis, the Y-axis as the second axis, and the Z-axis as the third axis.

Referring to Figures 1 to 5, the load transport device 1 according to the first embodiment of the present invention includes a loading plate 10 on which the loading object is placed, and the loading plate 10 on the ground (not shown). In order to support and transfer from above, it includes a first transfer support part 100, a second transfer support part 200, and a third transfer support part 300 provided at the lower part of one side, the lower part of the other side, and the lower part of the rear end of the loading plate 10. It is composed.

The load to be transported may be placed directly on the upper surface of the loading plate 10, or other control devices, driving devices, etc. may also be placed together.

The first transfer support unit 100 is provided at the lower part of one side of the loading plate 10, and includes a first driving wheel 120 that is rotated by driving the first motor 110, and the first driving wheel. A first driven wheel 130 provided on the front side in the Y-axis (second axis) direction of (120), and the first driving wheel 120 and the first driven wheel 130 are supported at both ends in the Y-axis direction. A first lever member 140 having a predetermined length in the Y-axis direction, and a first rotation shaft 150 that penetrates and supports the longitudinal middle portion of the first lever member 140 in the X-axis (first axis) direction. , and a first rotation axis support member 160 that supports the first rotation axis 150 and is coupled to a lower portion of one side of the support plate 10.

A bogie structure is provided at the lower part of one side of the loading plate 10 by this first transfer support unit 100.

The first lever member 140 is coupled to the loading plate 10 so that it can rotate relative to the first rotation axis 150.

The rotational force of the first motor 110 is decelerated through the first reducer 111 and then transmitted to the first drive wheel rotation shaft 121, which is the rotation center of the first drive wheel 120.

The first driving wheel rotating shaft 121 is rotatably coupled to the first driving wheel rotating shaft support member 122, and the first driving wheel rotating shaft supporting member 122 moves in the Y-axis direction of the first lever member 140. It is connected to the rear end.

The first driven wheel 130 is coupled to the first driven wheel rotation shaft 131 disposed in the X-axis direction. Both ends of the first driven wheel rotation shaft 131 are supported by a first driven wheel rotation shaft support member 132, and a first rotating shaft rotatable about the Z axis is provided at the top of the first driven wheel rotation shaft support member 132. The support part 133 is coupled, and the first rotation support part 133 is rotatably coupled to the first fixing member 134. The first fixing member 134 is coupled to the front end portion of the first lever member 140 in the Y-axis direction.

The second transfer support unit 200 is provided at the lower part of the other side of the loading plate 10, and is provided in a structure symmetrical to the first transfer support unit 100 with respect to the Y axis.

The second transfer support unit 200 includes a second drive wheel 220 that is rotationally driven by the second motor 210, and a second drive wheel 220 provided on the front side of the second drive wheel 220 in the Y-axis direction. A second driven wheel 230, a second lever member 240 supporting the second driving wheel 220 and the second driven wheel 230 at both ends in the Y-axis direction and having a predetermined length in the Y-axis direction, A second rotation shaft 250 that passes through and supports the longitudinal middle portion of the second lever member 240 in the Includes a second rotation axis support member 260.

Another bogie structure is provided at the lower part of the other side of the loading plate 10 by this second transfer support unit 200.

The second lever member 240 is coupled to the loading plate 10 so that it can rotate relative to the second rotation axis 250.

The rotational force of the second motor 210 is decelerated through the second reducer 211 and then transmitted to the second drive wheel rotation shaft 221, which is the rotation center of the second drive wheel 220.

The second driving wheel rotating shaft 221 is rotatably coupled to the second driving wheel rotating shaft support member 222, and the second driving wheel rotating shaft supporting member 222 moves in the Y-axis direction of the second lever member 240. It is connected to the rear end.

The second driven wheel 230 is coupled to the second driven wheel rotation shaft 231 disposed in the X-axis direction. Both ends of the second driven wheel rotation shaft 231 are supported by a second driven wheel rotation shaft support member 232, and a second rotating shaft rotatable about the Z axis is provided at the top of the second driven wheel rotation shaft support member 232. The support part 233 is coupled, and the second rotation support part 233 is rotatably coupled to the second fixing member 234. The second fixing member 234 is coupled to the front end portion of the second lever member 240 in the Y-axis direction.

The third transfer support unit 300 is provided at the lower part of the rear end in the Y-axis direction of the loading plate 10, and includes a third driven wheel 310 and a fourth driven wheel 320 provided on both sides in the X-axis direction. , a third lever member 330 that supports the third driven wheel 310 and the fourth driven wheel 320 at both ends in the X-axis direction and has a predetermined length in the X-axis direction, the third lever member 330 A third rotation shaft 340 that penetrates and supports the longitudinal middle part in the Y-axis direction, and a third rotation shaft support member ( 350).

Another bogie whose axis direction is perpendicular to the bogie structures provided on one side and the other lower part of the loading plate 10 is provided at the lower part of the rear end of the loading plate 10 by this third transfer support portion 300. (bogie) structure is provided.

The third lever member 330 is coupled to the loading plate 10 so that it can rotate relative to the third rotation axis 340.

The third driven wheel 310 is coupled to the third driven wheel rotation shaft 311 disposed in the X-axis direction. Both ends of the third driven wheel rotation shaft 311 are supported by a third driven wheel rotation shaft support member 312, and a third rotating shaft rotatable about the Z axis is provided at the top of the third driven wheel rotation shaft support member 312. The support part 313 is coupled, and the third rotation support part 313 is rotatably coupled to the third fixing member 314. The third fixing member 314 is coupled to one side of the third lever member 330 in the X-axis direction.

The fourth driven wheel 320 is coupled to the fourth driven wheel rotation shaft 321 disposed in the X-axis direction. Both ends of the fourth driven wheel rotation shaft 321 are supported by the fourth driven wheel rotation shaft support member 322, and the fourth driven wheel rotation shaft support member 322 has a fourth rotation shaft rotatable around the Z axis at the top of the fourth driven wheel rotation shaft support member 322. The support part 323 is coupled, and the fourth rotation support part 323 is rotatably coupled to the fourth fixing member 324. The fourth fixing member 324 is coupled to the other side of the third lever member 330 in the X-axis direction.

The first to fourth driven wheels (130, 230, 310, 320), the first driving wheel 120, and the second driving wheel 220 are aligned so that they travel in the Y-axis direction, which is the second axis, when traveling in a straight line.

The first to fourth driven wheels (130, 230, 310, 320) are provided at four corner points of the rectangular loading plate (10), and the first driving wheels (120) and second driving wheels (220) are provided at the loading plate (10). ) may be provided at approximately the center of the long side.

The first driving wheel 120 is provided at a position deviating from the straight line connecting the first driven wheel 130 and the third driven wheel 310 in the outer direction of the loading plate 10, and the second driving wheel The wheel 220 may be provided at a position deviating from the straight line connecting the second driven wheel 230 and the fourth driven wheel 320 in the outer direction of the loading plate 10. When provided in this way, it is possible to prevent the load transport device 1 from being tilted and overturned even when the load object enters through the lateral direction of the long side of the loading plate 10 and is loaded.

Referring to Figures 4 and 5, the first rotation axis support member 160 is connected to the first lever member 140 and the loading plate 10 based on when the first lever member 140 is in a horizontal state. The first rotation axis 150 is supported so that a gap G1 is formed in the Z-axis (third axis) direction orthogonal to the X-axis (first axis) and the Y-axis (second axis).

Likewise, the second rotation axis support member 260 is located between the second lever member 240 and the loading plate 10 based on the time when the second lever member 240 is in a horizontal state. The second rotation axis 250 is supported so that a gap G2 is formed in the third axis) direction.

The third rotation axis support member 350 is located between the third lever member 330 and the loading plate 10 based on when the third lever member 330 is in a horizontal state. The third rotation axis 340 can be supported so that a gap G3 is formed in the ) direction.

According to this configuration, when the load transport device 1 is traveling, if the ground is not flat and has curves or steps, for example, if the ground is not flat along the Y-axis direction, the first driving wheel 120 and the first driven wheel 130, and the second driving wheel 220 and the second driven wheel 230 are always maintained in contact with the ground, and the first lever member 140 and the second lever member 240 rotates to one side in response to the ground condition around the first rotation axis 150 and the second rotation axis 250, respectively.

As another example, when the ground is not flat along the It rotates to one side around the rotation axis 340 in response to the ground condition.

In this way, the first lever member 140, the second lever member 240, and the third lever member 330 rotate in a seesaw action according to the curvature of the ground, and accordingly, the first driving wheel 120 , the first driven wheel 130, the second driving wheel 220, the second driven wheel 230, the third driven wheel 310, and the fourth driven wheel 320 are all maintained in contact with the ground at all times. This can improve the driving stability of the load transport device (1).

In addition, the first driving wheel 120 is provided to be rotatable about the first driving wheel rotation axis 121 in the X-axis direction, and the first driven wheel 130 and It is provided between the third driven wheels 310, and the second driving wheel 220 is rotatable about the second driving wheel rotation axis 221 in the X-axis direction and rotates in the Y-axis direction. As a standard, it is provided between the second driven wheel 230 and the fourth driven wheel 320.

According to this configuration, the first driving wheel 120 and the second driving wheel 220 are located in the middle of the Y-axis direction, and the front of the first driving wheel 120 and the second driving wheel 220 in the Y-axis direction A first driven wheel 130 and a second driven wheel 230 are located on the side, and a third driven wheel 310 is located on the rear side of the first driving wheel 120 and the second driving wheel 220 in the Y-axis direction. and the fourth driven wheel 320 are located, and the first driven wheel 130, the second driven wheel 230, the third driven wheel 310, and the fourth driven wheel 320 are each centered on the Z axis. Since it is connected to the rotatable first rotation support 133, the second rotation support 233, the third rotation support 313, and the fourth rotation support 323 and can rotate around the Z axis, the load transport device (1) When driving, direction changes can be made smoothly, which can further improve driving stability.

In addition, by providing a pair of bogie structures in the axial direction and a bogie structure in an axial direction perpendicular to the pair of bogie structures, the load of the load is large and it is necessary to install the driving unit. A link structure suitable for logistics transport robots with limited space can be implemented.

Hereinafter, the configuration of the load transport device 2 according to the second embodiment of the present invention will be described with reference to FIGS. 6 to 9.

The load transport device 2 according to the second embodiment of the present invention includes a loading plate 20 on which the loading object is seated, and a loading plate (20) for supporting and transporting the loading plate 20 on the ground (not shown). It is configured to include a fourth transfer support unit 400, a fifth transfer support unit 500, and a sixth transfer support unit 600 provided at the lower part of one side, the lower part of the other side, and the lower part of the rear end of 10).

The fourth transfer support unit 400 is provided at the lower part of one side of the loading plate 20, and includes a fifth driven wheel 410 provided on the front side in the Y-axis (second axis) direction, and the Y-axis (second axis). 2 axis), the sixth driven wheel 420 provided on the rear side, and the fifth driven wheel 410 and sixth driven wheel 420 are supported at both ends in the Y-axis direction and extend a predetermined length in the Y-axis direction. A first lever member 430 having a first lever member 430, a first rotation axis 440 passing through and supporting the longitudinal middle portion of the first lever member 430 in the X-axis (first axis) direction, and the first rotation axis 440 ) and includes a first rotation axis support member 450 coupled to the lower part of one side of the support plate 20.

A bogie structure is provided on one lower side of the loading plate 20 by this fourth transfer support portion 400.

The first lever member 430 is coupled to the loading plate 20 so that it can rotate relative to the first rotation axis 440.

The fifth driven wheel 410 is coupled to the fifth driven wheel rotation shaft 411 disposed in the X-axis direction. Both ends of the fifth driven wheel rotation shaft 411 are supported by the fifth driven wheel rotation shaft support member 412, and the fifth driven wheel rotation shaft support member 412 has a fifth rotary shaft rotatable around the Z axis at the top of the fifth driven wheel rotation shaft support member 412. The support part 413 is coupled, and the fifth rotation support part 413 is rotatably coupled to the fifth fixing member 414. The fifth fixing member 414 is coupled to the front end portion of the first lever member 430 in the Y-axis direction.

The sixth driven wheel 420 is coupled to the sixth driven wheel rotation shaft 421 disposed in the X-axis direction. Both ends of the sixth driven wheel rotation shaft 421 are supported by a sixth driven wheel rotation shaft support member 422, and a sixth rotation shaft rotatable about the Z axis is provided at the top of the sixth driven wheel rotation shaft support member 422. The support part 423 is coupled, and the sixth rotation support part 423 is rotatably coupled to the sixth fixing member 424. The sixth fixing member 424 is coupled to the rear end of the first lever member 430 in the Y-axis direction.

The fifth transfer support unit 500 is rotationally driven by the third motor 560 and includes a third driving wheel 510 provided on the front side in the Y-axis direction, and a Y axis of the third driving wheel 510. The seventh driven wheel 520, which is provided on the rear axial side, and the third driving wheel 510 and the seventh driven wheel 520 are supported at both ends in the Y-axis direction and have a predetermined length in the Y-axis direction. A second lever member 530, a second rotation shaft 540 that penetrates and supports the longitudinal middle portion of the second lever member 530 in the X-axis direction, and a support plate 20 that supports the second rotation shaft 540. ) includes a second rotation axis support member 550 coupled to the lower part of the other side.

Another bogie structure is provided at the lower part of the other side of the loading plate 20 by this fifth transfer support portion 500.

The second lever member 530 is coupled to the loading plate 20 so that it can rotate relative to the second rotation axis 540.

The third driving wheel 510 is driven by the third motor 560 to rotate around the first axis (X-axis) passing through the center of the third driving wheel 510 and move forward and backward. , By driving the first steering motor 580, the steering wheel is rotated in both directions about the third axis (Z-axis) direction passing through the center of the third driving wheel 510 in the vertical direction.

The fifth to eighth driven wheels (410, 420, 520, 620), the third driving wheel 510, and the fourth driving wheel 610 are aligned so that they travel in the Y-axis direction, which is the second axis, when traveling in a straight line.

The fifth driven wheel 410 and the eighth driven wheel 620 are respectively provided at two corner points in the diagonal direction (first diagonal direction) of the rectangular loading plate 20, and the third driving wheel 510 ) and the fourth driving wheel 610 are respectively provided at two corner points in the other diagonal direction (second diagonal direction) of the loading plate 20, and the sixth driven wheel 420 and the seventh driven wheel 520 ) may be provided at approximately the center of the long side of the loading plate 20.

Referring to FIGS. 8 and 9, a first fixed gear 591 is coupled to the bottom of one front side of the loading plate 20 where the third driving wheel 510 is located, and the first fixed gear 591 ), a first support member ( 590) is coupled, and a first pinion gear 581 is coupled to the axis of the first steering motor 580, and the first pinion gear 581 is gear coupled with the first fixed gear 591. .

On the other side of the third driving wheel 510, a first brake 570 is provided to brake the third driving wheel 510 when the power supply is cut off.

The first fixed gear 591 is fixedly coupled to the bottom of the loading plate 20 so as not to rotate, and the rotation axis (not shown) of the first support member 590 is the first fixed gear. It is connected to (591) to enable relative rotation, and the first steering motor (580) is coupled to the first support member (590). Therefore, when the first pinion gear 581 rotates by driving the first steering motor 580, the first pinion gear 581 moves the gear-coupled first fixed gear 591 along the circumference. And in conjunction with this, the first steering motor 580, the first support member 590, the third motor 560, the third drive wheel 510, and the first brake 570 all rotate together. Therefore, the steering operation of the third drive wheel 510 is performed according to the rotation direction and rotation amount of the first steering motor 580.

The seventh driven wheel 520 is coupled to the seventh driven wheel rotation shaft 521 disposed in the X-axis direction. Both ends of the seventh driven wheel rotation shaft 521 are supported by the seventh driven wheel rotation shaft support member 522, and the seventh driven wheel rotation shaft support member 522 has a seventh rotating shaft rotatable around the Z axis at the top of the seventh driven wheel rotation shaft support member 522. The support part 523 is coupled, and the seventh rotation support part 523 is rotatably coupled to the seventh fixing member 524. The seventh fixing member 524 is coupled to the rear end of the second lever member 530 in the Y-axis direction.

The sixth transfer unit 600 is provided at the lower part of the rear end in the Y-axis direction of the loading plate 20, and includes a fourth driving wheel 610 and an eighth driven wheel 620 provided on both sides of the X-axis direction, A third lever member 630 that supports the fourth driving wheel 610 and the eighth driven wheel 620 at both ends in the X-axis direction and has a predetermined length in the X-axis direction, the third lever member 630 A third rotation shaft 640 that penetrates and supports the longitudinal middle portion in the Y-axis direction, and a third rotation shaft support member 650 that supports both ends of the third rotation shaft 640 and is coupled to the lower portion of the rear end of the loading plate 20. ) includes.

Another bogie whose axis direction is perpendicular to the bogie structures provided on one side and the other lower part of the loading plate 20 is provided at the lower part of the rear end of the loading plate 20 by the sixth transfer support portion 600. (bogie) structure is provided.

The fourth driving wheel 610 is driven forward and backward about a first axis (X-axis) that passes horizontally through the center of the fourth driving wheel 610 by driving the fourth motor 660, By driving the second steering motor 680, the steering wheel is rotated in both directions about the third axis (Z-axis), which passes through the center of the fourth driving wheel 610 in the vertical direction.

A second fixed gear 691 is coupled to the bottom of the other rear side of the loading plate 20 where the fourth driving wheel 610 is located, and the fourth motor ( 660) and a second support member 690 that supports the fourth driving wheel 610 and is capable of relative rotation about the second fixed gear 691 and the third axis (Z axis) is coupled, and the second A second pinion gear 681 is coupled to the shaft of the steering motor 680, and the second pinion gear 681 is coupled to the second fixed gear 691.

On the other side of the fourth driving wheel 610, a second brake 670 is provided to brake the fourth driving wheel 610 when the power supply is cut off.

The second fixed gear 691 is fixedly coupled to the bottom of the loading plate 20 so as not to rotate, and the rotation axis (not shown) of the second support member 690 is connected to the second fixed gear. It is connected to (691) to enable relative rotation, and the second steering motor (680) is coupled to the second support member (690). Therefore, when the second pinion gear 681 rotates by driving the second steering motor 680, the second pinion gear 681 moves the second fixed gear 691 to which it is coupled along the circumference. And in conjunction with this, the second steering motor 680, the second support member 690, the fourth motor 660, the fourth drive wheel 610, and the second brake 670 all rotate together. Therefore, the steering operation of the fourth drive wheel 610 is performed according to the rotation direction and rotation amount of the second steering motor 680.

The eighth driven wheel 620 is coupled to the eighth driven wheel rotation shaft 621 disposed in the X-axis direction. Both ends of the eighth driven wheel rotation shaft 621 are supported by an eighth driven wheel rotation shaft support member 622, and an eighth rotating shaft rotatable about the Z axis is provided at the top of the eighth driven wheel rotation shaft support member 622. The support part 623 is coupled, and the eighth rotation support part 623 is rotatably coupled to the eighth fixing member 624. The eighth fixing member 624 is coupled to the other side of the third lever member 630 in the X-axis direction.

According to the configuration of this embodiment, the third driving wheel 510 provided on one front side of the loading plate 20 and the fourth driving wheel 610 provided on the other rear side of the loading plate 20 are moved forward and backward, respectively. By configuring forward and steering operation to be possible, the forward and backward and steering operations of the load transport device 2 can be stably controlled.

As described above, the present invention is not limited to the above-described embodiments, and obvious modifications can be made by those skilled in the art without departing from the technical spirit of the present invention as claimed in the claims. It is possible, and such modifications fall within the scope of the present invention.

Claims

A loading plate on which the loading object is placed;

It is connected to the lower part of one side of the loading plate and is coupled to enable relative rotation with respect to the loading plate about a first rotation axis disposed in the first axis direction, and has a predetermined length in the second axis direction orthogonal to the first axis. First lever members each having wheels supported at both ends in the second axis direction;

It is connected to the lower part of the other side of the loading plate and is coupled to enable relative rotation with respect to the loading plate about a second rotation axis disposed in the first axis direction, has a predetermined length in the second axis direction, and has a predetermined length in the second axis direction. Second lever members each supported by wheels at both ends of the ; and

It is connected to the lower part of the rear end of the loading plate and is coupled to enable relative rotation with respect to the loading plate about a third rotation axis disposed in the second axis direction, has a predetermined length in the first axis direction, and is connected to the first axis. Third lever members each supporting wheels at both ends of the direction;

A load transport device including a.
According to paragraph 1,

The first rotation shaft is connected to the longitudinal middle portion of the first lever member, and both ends of the first rotation shaft are supported by a first rotation shaft support member coupled to the bottom of one side of the loading plate,

The second rotation shaft is connected to the longitudinal middle portion of the second lever member, and both ends of the second rotation shaft are supported by a second rotation shaft support member coupled to the bottom surface of the other side of the loading plate,

The third rotation shaft is connected to the longitudinal middle portion of the third lever member, and both ends of the third rotation shaft are supported by a third rotation shaft support member coupled to the lower portion of the rear end of the loading plate. A load transport device.
According to paragraph 2,

The first rotation axis support member has a gap between the first lever member and the loading plate in a third axis direction orthogonal to the first axis and the second axis, based on when the first lever member is in a horizontal state. Supporting the first rotation axis to form,

The second rotation shaft support member supports the second rotation shaft so that a gap is formed in the third axis direction between the second lever member and the loading plate based on when the second lever member is in a horizontal state,

The third rotation shaft support member supports the third rotation shaft so that a gap is formed in the third axis direction between the third lever member and the loading plate based on when the third lever member is in a horizontal state. A load transport device that uses
According to paragraph 1,

A first driving wheel and a first driven wheel are supported at both ends of the first lever member in the second axis direction,

A second driving wheel and a second driven wheel are supported at both ends of the second lever member in the second axis direction,

A load transport device, characterized in that a third driven wheel and a fourth driven wheel are supported on both ends of the third lever member in the first axis direction.
According to clause 4,

The first driving wheel is connected to a first motor and a first reducer and is driven to rotate around the first driving wheel rotation axis in the first axis direction,

The second driving wheel is connected to a second motor and a second reducer and is driven to rotate around the second driving wheel rotation axis in the first axis direction.
According to clause 4,

The first driven wheel, the second driven wheel, the third driven wheel, and the fourth driven wheel have a first rotation support and a second rotation rotatable about a third axis orthogonal to the first axis and the second axis, respectively. A load transport device, characterized in that it is connected to a support part, a third rotation support part, and a fourth rotation support part, and is rotatable about the third axis.
According to clause 4,

The first driving wheel is rotatable about a first driving wheel rotation axis disposed in the first axis direction, and is positioned between the first driven wheel and the third driven wheel based on the second axis direction. It is provided,

The second driving wheel is rotatable about a second driving wheel rotation axis disposed in the first axis direction, and is positioned between the second driven wheel and the fourth driven wheel based on the second axis direction. A load transport device, characterized in that it is provided.
According to paragraph 1,

A fifth driven wheel and a sixth driven wheel are supported at both ends of the first lever member in the second axis direction,

A third driving wheel and a seventh driven wheel are supported at both ends of the second lever member in the second axis direction,

A load transport device, characterized in that a fourth driving wheel and an eighth driven wheel are supported at both ends of the third lever member in the first axis direction.
According to clause 8,

The third driving wheel is driven forward and backward around the first axis as the rotation center by driving the third motor, and has the third axis orthogonal to the first and second axes as the rotation center by driving the first steering motor. It is steered and driven by

The fourth driving wheel is driven forward and backward about the first axis as the rotation center by driving the fourth motor, and the third axis orthogonal to the first and second axes is driven by the second steering motor as the rotation center. A load transport device characterized in that it is steered and driven.
According to clause 9,

A first fixed gear is coupled to the bottom of the front side of the loading plate where the third driving wheel is located, and the third motor and the third driving wheel are supported on the lower part of the first fixed gear, and the third driving wheel is supported. The first fixing member and a first support member capable of relative rotation are coupled around an axis, a first pinion gear is coupled to the axis of the first steering motor, and the first pinion gear is gear-coupled with the first fixed gear. And

A second fixed gear is coupled to the bottom of the other rear side of the loading plate where the fourth driving wheel is located, and the lower part of the second fixed gear supports the fourth motor and the fourth driving wheel, and the third The third fixing member and a second support member capable of relative rotation are coupled around an axis, a second pinion gear is coupled to the axis of the second steering motor, and the second pinion gear is gear-coupled with the second fixed gear. A load transport device characterized in that: