Carrying table control module

Abstract

A platform deck control module comprises a platform deck and an actuating mechanism. The stage is configured to couple a mobile carrier and has a level sensor. The actuating mechanism is arranged below the carrying table and is connected or coupled with the first area and the second area of the carrying table, the horizontal sensor is used for sensing the inclination angle of the carrying table, and when the inclination angle of the carrying table is non-zero or reaches a non-zero preset value, the actuating mechanism acts to adjust the posture of the carrying table, so that the carrying table can be adjusted. And the inclination angle of the carrying platform is reduced or is zero.

Description

Technical Field

[0001] This invention relates to a stage control module, and more particularly to a stage control module capable of adjusting the stage posture to reduce or eliminate its tilt angle. Background Technology

[0002] When a mobile vehicle carrying an object travels uphill or downhill, the object may tip over due to a shift in the center of gravity. Therefore, there is a need for a novel control module to solve this problem. Summary of the Invention

[0003] The purpose of this invention is to provide a platform control module to solve at least one of the above-mentioned problems.

[0004] This invention provides a platform control module, which includes a platform and an actuation mechanism. The platform is configured to be coupled to a moving vehicle and has a level sensor. The actuation mechanism is disposed below the platform and connected to or coupled to a first region and a second region of the platform. The level sensor is configured to sense the tilt angle of the platform, and when the tilt angle of the platform is non-zero or reaches a non-zero preset value, the actuation mechanism is activated to adjust the posture of the platform, so that the tilt angle of the platform is reduced or becomes zero.

[0005] In some embodiments of the present invention, the stage has a first portion and a second portion pivotally connected together, the second portion partially or completely surrounding the first portion, a first region and a second region of the stage located in the first portion and the second portion respectively, the first portion having a first pivot end opposite to the first region, the second portion having a second pivot end and a third pivot end opposite to each other, the second region being located between the second pivot end and the third pivot end, the first pivot end and the second pivot end being pivotally connected together, the first region being located between the second region and the third pivot end, and the actuation mechanism including a first actuator and a second actuator respectively connected to or coupled to the first region and the second region.

[0006] In some embodiments of the present invention, the first pivot end and the first region are located at opposite ends of the first part, and the second pivot end and the third pivot end are located at opposite ends of the second part.

[0007] In some embodiments of the invention, the stage further includes a connecting portion that spans a portion of the first portion and connects to the second region, and the second actuator is connected to or coupled to the second region via the connecting portion.

[0008] In some embodiments of the present invention, a first actuator is pivotally connected to a first region, and a second actuator is pivotally connected to a connecting portion.

[0009] In some embodiments of the invention, a first actuator is configured to lift a first region when it is actuated, and a second actuator is configured to lift a second region and a portion of the first portion when it is actuated.

[0010] In some embodiments of the present invention, the third pivot end is provided for pivoting a moving vehicle, while the first pivot end and the second pivot end are not pivoted to the moving vehicle.

[0011] In some embodiments of the present invention, the first pivot end and the second pivot end are located at the edge of the first portion and the edge of the second portion, respectively.

[0012] In some embodiments of the present invention, the actuation mechanism is activated to restore the posture of the stage in a real-time adjustment manner.

[0013] In some embodiments of the present invention, the actuation mechanism includes: two locking / unlocking components, respectively connected to or coupled to a first region and a second region of the stage; and an actuator, the two ends of which are pivotally connected to the two locking / unlocking components, wherein a horizontal sensor is configured to, when the tilt angle of the stage is non-zero or reaches a non-zero preset value, cause one of the two locking / unlocking components to be in an unlocked state and the other to be in a locked state, and cause the actuator to push the one of the two locking / unlocking components to lift it connected to or coupled to the first region or the second region.

[0014] In some embodiments of the present invention, the actuation mechanism includes: a first rotating shaft with a first pivot hole for pivoting or depivoting one end of the stage; a second rotating shaft with a second pivot hole for pivoting or depivoting the other end of the stage; a V-shaped member located between the first and second rotating shafts, with both ends of the V-shaped member contacting a first region and a second region of the stage, respectively; and an actuator pivotally connected to the V-shaped member, wherein a horizontal sensor is configured to, when the tilt angle of the stage is non-zero or reaches a non-zero preset value, cause one of the first and second rotating shafts to be in a pivoted state and the other to be in a depivoted state, and cause the actuator to rotate the V-shaped member to drive the stage to rotate about the first and second rotating shafts as an axis. Attached Figure Description

[0015] The invention will be best understood from the following description, which is taken in conjunction with the accompanying drawings. However, it should be understood that, according to industry practice, the various features are not necessarily drawn to scale. In fact, for clarity, the shapes of the various features may be appropriately adjusted, and the dimensions of the various features may be arbitrarily increased or decreased.

[0016] Figure 1 This is a perspective view of a platform control module according to an embodiment of the present invention.

[0017] Figure 2 for Figure 1 An exploded view of the platform.

[0018] Figure 3This is a three-dimensional schematic diagram of a platform control module and a mobile vehicle operating on terrain with different slopes according to an embodiment of the present invention.

[0019] Figure 4 This is a side view schematic diagram of a platform control module, a mobile vehicle, and a base operating on terrain with different slopes according to an embodiment of the present invention.

[0020] Figure 5 This is a perspective view of a platform control module according to another embodiment of the present invention.

[0021] Figure 6 for Figure 5 A 3D schematic diagram of the platform control module after it has been in operation.

[0022] Figure 7 This is a perspective view of a platform control module according to another embodiment of the present invention.

[0023] The attached figures are labeled as follows:

[0024] 110: Platform

[0025] 110a: First pivot hole

[0026] 110b: Second pivot hole

[0027] 110s: Horizontal sensor

[0028] 1101: Area 1

[0029] 1102: Second Zone

[0030] 111: Part One

[0031] 1111: First pivot point

[0032] 112: Part Two

[0033] 1121: Second pivot point

[0034] 1122: Third pivot point

[0035] 113: Connecting part

[0036] 120: Actuation mechanism

[0037] 121: First Actuator

[0038] 122: Second actuator

[0039] 123a, 123b: Lock / Unlock Components

[0040] 124: Actuator

[0041] 125: First pivot

[0042] 126: Second pivot

[0043] 127: V-shaped parts

[0044] 128: Actuator

[0045] 210: Mobile Vehicle

[0046] 220: Base Detailed Implementation

[0047] The advantages and features of the present invention will be more readily understood by referring to the exemplary embodiments and accompanying drawings in a more detailed description. However, the present invention may be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments provided will enable those skilled in the art to more thoroughly and completely convey the scope of the invention.

[0048] The spatial relative terms used in this document, such as "down" and "up," are for the convenience of describing the relative relationship between one element or feature and another in the accompanying drawings. The true meaning of these spatial relative terms includes other orientations. For example, when the accompanying drawings are rotated 180 degrees vertically, the relationship between one element and another may change from "down" to "up." The spatial relative descriptions used in this document should be interpreted in the same way.

[0049] As described in the prior art, when a mobile vehicle carrying an object travels uphill or downhill, the object may tip over due to a shift in the center of gravity. The inventors have found that, taking autonomous mobile robots (AMRs) as an example, because they are mostly one-piece fixed structures and cannot autonomously adjust their posture, they are prone to tipping over, along with the object they carry, when traveling uphill or downhill. Accordingly, this invention provides a platform control module, which includes a platform and an actuation mechanism. The platform has a level sensor and is configured to couple to a mobile vehicle (located below the platform). The mobile vehicle can be, for example, an autonomous mobile vehicle, such as a robot chassis or an automated guided vehicle (AGV). The level sensor can detect the tilt angle of the platform. When the tilt angle of the platform is non-zero or reaches a non-zero preset value, the actuation mechanism is activated to adjust the posture of the platform (e.g., to restore the posture of the platform in real time), so that the tilt angle of the platform is reduced or becomes zero, thereby effectively preventing the platform and / or the objects carried on the platform from tipping over. Various embodiments of the platform control module of the present invention will be described in detail below.

[0050] Figure 1 This is a perspective view of a platform control module according to an embodiment of the present invention. Figure 2 for Figure 1 A schematic diagram of its breakdown. Figure 3 This is a three-dimensional schematic diagram illustrating the operation of a platform control module and a mobile vehicle on terrain with different slopes, according to an embodiment of the present invention. Figure 1 and Figure 2 As shown, the stage control module includes a stage 110 and an actuation mechanism 120.

[0051] like Figure 3 As shown, the platform 110 is configured to couple to the mobile vehicle 210 located below it. Figure 1 and 2 As shown, the stage 110 has a level sensor 110s. In some embodiments, the level sensor 110s is disposed on the lower surface of the stage 110 (e.g., Figure 1 (as shown) or embedded in the platform 110 (not shown).

[0052] like Figure 1 As shown, an actuation mechanism 120 is disposed below the stage 110 and is connected to or coupled to a first region 1101 and a second region 1102 of the stage 110. A horizontal sensor 110s is configured to sense the tilt angle of the stage 110. When the tilt angle of the stage 110 is non-zero or reaches a non-zero preset value, the actuation mechanism 120 is activated to adjust the attitude of the stage 110, making the tilt angle of the stage 110 smaller or zero. In some embodiments, the actuation mechanism 120 is activated to restore the attitude of the stage 110 in a real-time adjustment manner. In some embodiments, the stage control module further includes a controller (not shown), which is configured to receive the tilt angle of the stage 110 sensed by the horizontal sensor 110s, and when the tilt angle of the stage 110 is non-zero or reaches a non-zero preset value, the controller drives the actuation mechanism 120 to activate, thereby adjusting the attitude of the stage 110.

[0053] In some embodiments, such as Figure 1 and Figure 2 As shown, the stage 110 has a first portion 111 and a second portion 112 pivotally connected together, the second portion 112 partially or completely surrounding the first portion 111. In some embodiments, the second portion 112 is U-shaped (e.g., Figure 2 (as shown) or a box shape (not shown). In some embodiments, the thickness of the first portion 111 is less than the thickness of the second portion 112.

[0054] In some embodiments, such as Figure 1As shown, the first region 1101 and the second region 1102 of the platform 110 are located in the first part 111 and the second part 112, respectively. The first part 111 has a first pivot end 1111, which is opposite to the first region 1101. The second part 112 has a second pivot end 1121 and a third pivot end 1122, which are opposite to each other. The second region 1102 is located between the second pivot end 1121 and the third pivot end 1122. The first pivot end 1111 and the second pivot end 1121 are pivotally connected together. The first region 1101 is located between the second region 1102 and the third pivot end 1122.

[0055] In some embodiments, such as Figure 1 As shown, the actuation mechanism 120 includes a first actuator 121 and a second actuator 122, which are respectively connected to or coupled to the first region 1101 and the second region 1102. In some embodiments, such as Figures 1 to 3 As shown, the third pivot end 1122 is provided for pivoting the mobile vehicle 210, while the first pivot end 1111 and the second pivot end 1121 are not pivoted to the mobile vehicle 210.

[0056] In some embodiments, such as Figure 1 As shown, the stage 110 also includes a connecting portion 113 that spans a portion of the first portion 111 and connects to the second region 1102. The second actuator 122 is connected to or coupled to the second region 1102 via the connecting portion 113. In some embodiments, the first actuator 121 is pivotally connected to the first region 1101, and the second actuator 122 is pivotally connected to the connecting portion 113.

[0057] In some embodiments, the horizontal sensor 110s is disposed on the lower surface of the first portion 111 (e.g., Figure 1 and 2 (as shown) or embedded within the first portion 111 (not shown). In some embodiments, reference is made to... Figures 1 to 3 Assuming the moving vehicle 210 is moving to the left, when the moving vehicle 210 encounters downhill terrain, the first actuator 121 is driven to operate. The first actuator 121 is configured to, when operated, cause the first part 111 to rotate about the first pivot end 1111 as an axis, thereby lifting the first region 1101, so that the tilt angle of the first part 111 becomes smaller or zero (e.g., ...). Figure 3 (As shown on the left), in this way, the object on the first part 111 of the platform 110 will not tip over; when the moving vehicle 210 encounters uphill terrain, the second actuator 122 is driven to operate. The second actuator 122 is configured to rotate the second part 112 about the third pivot end 1122 when it is operated, thereby lifting the second region 1102 and that part of the first part 111, so that the tilt angle of the platform 110 (including the first part 111 and the second part 112) becomes smaller or zero (e.g., Figure 3(As shown on the right), in this way, the objects on the first part 111 of the platform 110 will not tip over.

[0058] In some embodiments, such as Figure 1 As shown, the first pivot end 1111 and the first region 1101 are located at opposite ends of the first portion 111, and the second pivot end 1121 and the third pivot end 1122 are located at opposite ends of the second portion 112. In some embodiments, the first pivot end 1111 and the second pivot end 1121 are located at the edge of the first portion 111 and the edge of the second portion 112, respectively. In this way, when the first portion 111 rotates about the first pivot end 1111 as an axis to lift the first region 1101 (e.g. Figure 3 As shown on the left), objects (not shown) extending beyond the edge of the platform 110 are less likely to touch the moving vehicle 210. However, the invention is not limited to this; in other embodiments, the first pivot end and the second pivot end may not be located at the edge of the first portion 111 and the edge of the second portion 112.

[0059] Figure 4 This is a side view schematic diagram illustrating the operation of a platform control module, a mobile vehicle, and a base according to an embodiment of the present invention on terrain with different slopes. Figure 4 As shown, the platform 110 is configured to support the base 220, which may be, for example, a base for carrying objects. In some embodiments, such as Figure 3 and Figure 4 As shown, the base 220 is fixed only to the first part 111, and not to the second part 112.

[0060] Figure 5 This is a perspective view of a platform control module according to another embodiment of the present invention. Figure 6 for Figure 5 A 3D schematic diagram of the platform control module after it has been operating. (See diagram below.) Figure 5 and Figure 6 As shown, the actuation mechanism includes two locking / unlocking components 123a and 123b and an actuator 124.

[0061] Two locking / unlocking components 123a and 123b are respectively connected to or coupled to a first region (not shown) and a second region (not shown) of the stage 110. The actuator 124 is pivotally connected to the two locking / unlocking components 123a and 123b at both ends. A horizontal sensor 110s is configured to, when the tilt angle of the stage 110 is non-zero or reaches a non-zero preset value, cause one of the two locking / unlocking components 123a and 123b to be unlocked and the other to be locked, and to push the actuator 124 towards that unlocked component (i.e., the one in the unlocked state) to lift its connection to or coupling to the first or second region. For example, please refer to... Figure 5and Figure 6 When the tilt angle of the stage 110 is non-zero or reaches a non-zero preset value (not shown), the locking / unlocking component 123a is in the unlocked state, the locking / unlocking component 123b is in the locked state, and the actuator 124 is pushed towards the locking / unlocking component 123a to lift its connection or coupling to the first area, thereby reducing the tilt angle of the stage 110 or maintaining it horizontally (e.g., Figure 6 (As shown).

[0062] In some embodiments, each of the locking / unlocking components 123a and 123b is a pivot component, having two sets of pivot members (not shown), a pivot shaft (not shown) pivotally connected between the two sets of pivot members, and a stop block (not shown) with a hole; each set of pivot members is pivotally connected at both ends to a platform 110 and a base member (not shown), and the base member can be connected to a mobile vehicle (e.g., Figure 3 The mobile carrier 210 shown is fixedly connected, and the pivot shaft is also pivotally connected to one end of the actuator 124. In some embodiments, when the pin (not shown) is inserted into the hole of the stop of the locking / unlocking assembly 123a or 123b, it is in a locked state; when the pin is removed from the hole of the stop of the locking / unlocking assembly 123a or 123b, it is in an unlocked state.

[0063] Figure 7 This is a perspective view of a stage control module according to another embodiment of the present invention. In some embodiments, the actuation mechanism includes a first rotating shaft 125, a second rotating shaft 126, a V-shaped member 127, and an actuator 128. The first rotating shaft 125 is provided with a first pivot hole 110a for pivoting or depivoting one end of the stage 110. The second rotating shaft 126 is provided with a second pivot hole 110b for pivoting or depivoting the other end of the stage 110. The V-shaped member 127 is located between the first rotating shaft 125 and the second rotating shaft 126, and both ends of the V-shaped member 127 contact a first region (not shown) and a second region (not shown) of the stage 110, respectively. The actuator 128 is pivotally connected to the V-shaped member 127. The level sensor 110s is configured to, when the tilt angle of the stage 110 is non-zero or reaches a non-zero preset value, cause one of the first rotating shaft 125 and the second rotating shaft 126 to be in a pivoted state and the other to be in a depivoted state, and cause the actuator 128 to rotate the V-shaped member 127 to drive the stage to rotate about the first rotating shaft 125 and the second rotating shaft 126 (i.e. the first rotating shaft 125 or the second rotating shaft 126 in the pivoted state) as the axis, so that one end of the V-shaped member 127 lifts the first or second area it contacts, so that the stage 110 reduces the tilt angle or maintains a level position.

[0064] In some embodiments, the two ends of the first rotating shaft 125 are respectively pivotally connected to two first pivot holes 110a. Figure 7Only one first pivot hole 110a is shown; the two ends of the second rotating shaft 126 are respectively pivotally connected to two second pivot holes 110b. Figure 7 Only a single second pivot hole 110b is shown. In some embodiments, the actuation mechanism includes two V-shaped members 127, with an actuator 128 located between and pivotally connected to the two V-shaped members 127.

[0065] However, the above description is merely a preferred embodiment of the present invention and should not be construed as limiting the scope of the invention. Any simple equivalent changes and modifications made in accordance with the claims and description of the invention are still within the scope of this patent. Furthermore, no embodiment or claim of the present invention needs to achieve all the objectives, advantages, or features disclosed in the invention. In addition, the abstract and headings are merely for assisting in patent document searches and are not intended to limit the scope of the invention.

Claims

1. A platform control module, comprising: A platform, configured to couple a mobile vehicle, and having a level sensor; An actuation mechanism is disposed below the platform and connected or coupled to a first region and a second region of the platform. The horizontal sensor is configured to sense a tilt angle of the platform. When the tilt angle of the platform is non-zero or reaches a non-zero preset value, the actuation mechanism is activated to adjust the posture of the platform so that the tilt angle of the platform becomes smaller or zero.

2. The platform control module of claim 1, wherein the platform has a first portion and a second portion pivotally connected together, the second portion partially or completely surrounding the first portion, the first region and the second region of the platform being located in the first portion and the second portion respectively, the first portion having a first pivot end opposite to the first region, the second portion having a second pivot end and a third pivot end opposite to each other, the second region being located between the second pivot end and the third pivot end, the first pivot end and the second pivot end being pivotally connected together, the first region being located between the second region and the third pivot end, and the actuation mechanism including a first actuator and a second actuator respectively connected to or coupled to the first region and the second region.

3. The platform control module as claimed in claim 2, wherein the first pivot end and the first region are located at opposite ends of the first part, and the second pivot end and the third pivot end are located at opposite ends of the second part.

4. The stage control module as claimed in claim 2, wherein the stage further includes a connecting portion that spans a part of the first portion and connects to the second region, and the second actuator is connected to or coupled to the second region through the connecting portion.

5. The platform control module as claimed in claim 4, wherein the first actuator is pivotally connected to the first region, and the second actuator is pivotally connected to the connecting portion.

6. The platform control module as claimed in claim 4, wherein the first actuator is configured to lift the first region when it is actuated, and the second actuator is configured to lift the second region and the portion of the first portion when it is actuated.

7. The platform control module as claimed in claim 2, wherein the third pivot end is configured to pivotally connect to the mobile vehicle, and the first pivot end and the second pivot end are not pivotally connected to the mobile vehicle.

8. The platform control module as claimed in claim 2, wherein the first pivot end and the second pivot end are respectively located at an edge of the first portion and an edge of the second portion.

9. The stage control module as claimed in claim 1, wherein the actuation mechanism is activated to restore the posture of the stage in a real-time adjustment manner.

10. The stage control module as claimed in claim 1, wherein the actuation mechanism comprises: Two locking / unlocking components are respectively connected to or coupled to the first area and the second area of ​​the platform; as well as An actuator is pivotally connected to the two locking / unlocking components at both ends. The level sensor is configured to, when the tilt angle of the platform is non-zero or reaches a non-zero preset value, cause one of the two locking / unlocking components to be unlocked and the other to be locked, and cause the actuator to push the one of the two locking / unlocking components to lift it to connect or couple to the first region or the second region.

11. The stage control module as claimed in claim 1, wherein the actuation mechanism comprises: A first rotating shaft is provided with a first pivot hole for pivoting or unpivoting one end of the platform; A second pivot shaft is provided with a second pivot hole for pivoting or unpivoting the other end of the platform opposite to that end; A V-shaped component is positioned between the first and second rotating shafts, with both ends of the V-shaped component contacting the first and second regions of the stage, respectively; and An actuator is pivotally connected to the V-shaped member, wherein the level sensor is configured to, when the tilt angle of the platform is non-zero or reaches a non-zero preset value, cause one of the first rotating shaft and the second rotating shaft to be in a pivoted state and the other to be in an unpivoted state, and cause the actuator to rotate the V-shaped member to drive the platform to rotate about the first rotating shaft and the second rotating shaft as an axis.

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