Carrier control module

Abstract

We provide a carrier control module. [Solution] The system comprises a carrier and an operating mechanism. The carrier is installed to be coupled to a mobile carrier and has a level sensor. The operating mechanism is installed below the carrier and is connected to or coupled to the first and second areas of the carrier. The level sensor is installed to sense the tilt angle of the carrier, and if the tilt angle of the carrier is not 0 or is a predetermined value other than 0, the operating mechanism is activated and adjusts the attitude of the carrier to reduce or eliminate the tilt angle of the carrier.

Description

Technical Field

[0001] The present invention relates to a carrier control module, and more particularly to a carrier control module that adjusts the attitude of a carrier to reduce or zero its tilt angle.

Background Art

[0002] When a moving carrier loaded with goods travels on an uphill or downhill slope, the goods may tip over due to the shift of the center of gravity. Therefore, there is a need for a new control module to solve the above problems.

[0003] The present invention has been made by the intensive research of the inventor in view of the above problems, and its purpose is to provide a carrier control module.

Summary of the Invention

Means for Solving the Problems

[0004] To solve the above problems, a carrier control module according to an aspect of the present invention includes a carrier and an operating mechanism. The carrier is installed so as to be coupled to a moving carrier and has a level sensor. The operating mechanism is installed below the carrier and is connected or coupled to a first area and a second area of the carrier. The level sensor is installed to sense the tilt angle of the carrier. When the tilt angle of the carrier is not 0 or is a predetermined value other than 0, the operating mechanism operates to adjust the attitude of the carrier, thereby reducing or zeroing the tilt angle of the carrier.

[0005] Furthermore, in the carrier control module according to the present invention, the carrier has a pivotally connected first part and a second part, the second part partially or completely enclosing the first part, and the first area and the second area of ​​the carrier are located in the first part and the second part, respectively. The first part has a first pivot end facing the first area, and the second part has a second pivot end and a third pivot end facing each other. The second area is interposed between the second pivot end and the third pivot end, and the first pivot end and the second pivot end are pivotally connected. The first area is interposed between the second area and the third pivot end, and the operating mechanism includes a first actuator and a second actuator connected to or coupled to the first area and the second area, respectively.

[0006] Furthermore, in the carrier control module according to the present invention, the first pivot end and the first area are located at opposite ends of the first portion, respectively, and the second pivot end and the third pivot end are located at opposite ends of the second portion, respectively.

[0007] Furthermore, in the carrier control module according to the present invention, the carrier further comprises a connection portion that spans a portion of the first part and is connected to a second area, and the second actuator is connected to or coupled to the second area by the connection portion.

[0008] Furthermore, in the carrier control module according to the present invention, the first actuator is pivotally attached to the first area, and the second actuator is pivotally attached to the connection part.

[0009] Furthermore, in the carrier control module according to the present invention, the first actuator is installed to lift the first area when it is operated, and the second actuator is installed to lift the second area and the aforementioned portion of the first part when it is operated.

[0010] Furthermore, in the carrier control module according to the present invention, the third pivot end is installed to be pivotally attached to the mobile carrier, while the first pivot end and the second pivot end are not pivotally attached to the mobile carrier.

[0011] Furthermore, in the carrier control module according to the present invention, the first pivot end and the second pivot end are located at the edge of the first part and the edge of the second part, respectively.

[0012] Furthermore, in the carrier control module according to the present invention, when the operating mechanism is activated, the carrier's attitude is returned to its original position by a real-time adjustment method.

[0013] Furthermore, in the carrier control module according to the present invention, the operating mechanism includes two lock / unlock kits connected to or coupled to a first area and a second area of ​​the carrier, respectively, and an actuator to which the two lock / unlock kits are pivotally attached at both ends. The level sensor is installed such that, when the tilt angle of the carrier is not 0 or is a predetermined value other than 0, it unlocks one of the two lock / unlock kits and locks the other, pushes the actuator toward the unlocked one of the two lock / unlock kits, and lifts the first or second area to which it is connected or coupled.

[0014] Furthermore, in the carrier control module according to the present invention, the operating mechanism includes a first shaft installed to pivot to or release from a first pivot hole at one end of the carrier, a second shaft installed to pivot to or release from a second pivot hole at the other end of the carrier, a V-shaped member interposed between the first shaft and the second shaft, the ends of which of the V-shaped member are in contact with the first area and the second area of ​​the carrier, respectively, and an actuator pivotally attached to the V-shaped member. The level sensor is installed to pivot one of the first and second shafts and release the other when the inclination angle of the carrier is not 0 or is a predetermined value other than 0, and the actuator rotates the V-shaped member, causing the carrier to rotate around the pivoted one of the first and second shafts.

[0015] The following information will become clear from the description in the specification and drawings described later. [Brief explanation of the drawing]

[0016] [Figure 1] This is a schematic diagram showing a carrier control module according to one embodiment of the present invention. [Figure 2] Figure 1 is a schematic exploded view showing the carriers. [Figure 3] This is a schematic diagram showing a carrier control module and mobile carrier operating on terrain with different slopes according to one embodiment of the present invention. [Figure 4] This is a schematic side view showing a carrier control module, mobile carrier, and base operating on terrain with different slopes according to one embodiment of the present invention. [Figure 5] This is a schematic diagram showing a carrier control module according to another embodiment of the present invention. [Figure 6] Figure 5 is a schematic diagram showing the carrier control module. [Figure 7] This is a schematic diagram showing a carrier control module according to yet another embodiment of the present invention. [Modes for carrying out the invention]

[0017] Embodiments of the present invention will be described in detail below. However, the present invention is not limited thereto, and various modifications are possible within the scope described. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included within the technical scope of the present invention.

[0018] In this specification, terms related to space, such as "down" and "up," are used to describe the relative relationship between members and features in the drawings and other members and features. The actual meaning of these spatial terms also includes other orientations. For example, if the drawing is flipped 180 degrees, the relationship between one member and another changes from "down" to "up." The spatial descriptions used in this specification should be interpreted similarly.

[0019] In the prior art, when a mobile carrier carrying an article travels on an uphill or downhill slope, the article may tip over due to the shift of the center of gravity. Taking an autonomous mobile robot (AMR) as an example, the inventor has found that many of them have an integrated fixed structure and cannot autonomously adjust their posture, making it easier for the robot and the articles it carries to tip over when traveling on an uphill or downhill slope. Therefore, the carrier control module according to the present invention includes a carrier and an operating mechanism. The carrier has a level sensor and is installed so as to be coupled to the mobile carrier (located below the carrier). The mobile carrier is, for example, an autonomous mobile carrier such as a robot chassis or an automated guided vehicle (AGV). The level sensor can sense the tilt angle of the carrier. When the tilt angle of the carrier is not 0 or is a predetermined value other than 0, the operating mechanism operates to adjust the posture of the carrier (for example, return the posture of the carrier in a real-time adjustment manner), reducing the tilt angle of the carrier to 0 or making the carrier and / or the articles loaded above the carrier not tip over. Hereinafter, various embodiments of the carrier control module according to the present invention will be described in detail.

[0020] FIG. 1 is a schematic configuration diagram showing a carrier control module according to an embodiment of the present invention. FIG. 2 is a schematic exploded view showing the carrier shown in FIG. 1. FIG. 3 is a schematic configuration diagram showing a carrier control module and a mobile carrier operating on terrains with different slopes according to an embodiment of the present invention. The carrier control module includes a carrier 110 and an operating mechanism 120 (see FIGS. 1 and 2).

[0021] As shown in FIG. 3, the carrier 110 is installed so as to be coupled to the mobile carrier 210 located below it. As shown in FIGS. 1 and 2, the carrier 110 has a level sensor 110s. In some embodiments, the level sensor 110s is installed on the lower surface of the carrier 110 (see FIG. 1) or embedded in the carrier 110 (not shown).

[0022] As shown in FIG. 1, the actuating mechanism 120 is installed below the carrier 110 and is connected or coupled to the first area 1101 and the second area 1102 of the carrier 110. The level sensor 110s is installed to sense the inclination angle of the carrier 110. When the inclination angle of the carrier 110 is not 0 or is a predetermined value other than 0, the actuating mechanism 120 operates to adjust the posture of the carrier 110, thereby reducing the inclination angle of the carrier 110 or making it 0. In some embodiments, when the actuating mechanism 120 operates, the posture of the carrier 110 is restored in a real-time adjustment manner. In some embodiments, the carrier control module further includes a controller (not shown) used to receive the inclination angle of the carrier 110 sensed by the level sensor 110s. When the inclination angle of the carrier 110 is not 0 or is a predetermined value other than 0, the controller drives the actuating mechanism 120 to operate to adjust the posture of the carrier 110.

[0023] In some embodiments, as shown in FIGS. 1 and 2, the carrier 110 has a first part 111 and a second part 112 that are pivotally attached, and the second part 112 partially or completely encloses the first part 111. In some embodiments, the second part 112 is U-shaped (see FIG. 2) or square (not shown). In some embodiments, the thickness of the first part 111 is thinner than the thickness of the second part 112.

[0024] In some embodiments, as shown in FIG. 1, the first area 1101 and the second area 1102 of the carrier 110 are respectively located in the first part 111 and the second part 112. The first part 111 has a first pivot end 1111 that faces the first area 1101. The second part 112 has a second pivot end 1121 and a third pivot end 1122 that face each other. The second area 1102 is interposed 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 attached, and the first area 1101 is interposed between the second area 1102 and the third pivot end 1122.

[0025] In some embodiments, as shown in Figure 1, the operating mechanism 120 includes a first actuator 121 and a second actuator 122 connected to or coupled to a first area 1101 and a second area 1102, respectively. In some embodiments, as shown in Figures 1 to 3, a third pivot end 1122 is installed to pivotally attach to the mobile carrier 210, while the first pivot end 1111 and the second pivot end 1121 are not pivotally attached to the mobile carrier 210.

[0026] In some embodiments, as shown in Figure 1, the carrier 110 further includes a connection portion 113 that spans a portion of the first portion 111 and is connected to a second area 1102, and the second actuator 122 is connected to or coupled to the second area 1102 by the connection portion 113. In some embodiments, the first actuator 121 is pivotally attached to the first area 1101, and the second actuator 122 is pivotally attached to the connection portion 113.

[0027] In some embodiments, the level sensor 110s is installed on the underside of the first section 111 (see Figures 1 and 2) or embedded within the first section 111 (not shown). In some embodiments, referring to Figures 1 to 1, if the forward direction of the mobile carrier 210 is to the left, when the mobile carrier 210 encounters a downhill terrain, the first actuator 121 is driven to act, and if the first actuator 121 is set to act, the first section 111 rotates around the first pivot end 1111, lifting the first area 1101 and reducing or eliminating the tilt angle of the first section 111 (see left side of Figure 3). In this way, the items on the first section 111 of the carrier 110 do not tilt. When the mobile carrier 210 encounters an uphill terrain, the second actuator 122 is driven to act. If the second actuator 122 is set to act, the second section 112 rotates around the third pivot end 1122, lifting the second area 1102 and the aforementioned portion of the first section 111, thereby reducing or eliminating the tilt angle of the carrier 110 (including the first section 111 and the second section 112) (see the right side of Figure 3). In this way, the items in the first section 111 of the carrier 110 do not tip over.

[0028] In some embodiments, as shown in Figure 1, the first pivot end 1111 and the first area 1101 are located at opposite ends of the first portion 111, respectively, and the second pivot end 1121 and the third pivot end 1122 are located at opposite ends of the second portion 112, respectively. In some embodiments, the first pivot end 1111 and the second pivot end 1121 are located at the edges of the first portion 111 and the second portion 112, respectively. In this way, when the first portion 111 rotates around the first pivot end 1111 and lifts the first area 1101 (see left side of Figure 3), articles (not shown) that exceed the edge of the carrier 110 are less likely to come into contact with the mobile carrier 210. However, the present invention is not limited thereto, and in other embodiments, the first and second pivot ends do not have to be located at the edges of the first portion 111 and the second portion 112.

[0029] Figure 4 is a schematic side view showing a carrier control module, mobile carrier, and base operating on terrain of different inclines according to one embodiment of the present invention. As shown in Figure 4, the carrier 110 is positioned to load the base 220, which may be, for example, a base for loading goods. In some embodiments, as shown in Figures 3 and 4, the base 220 is fixed only to the first part 111 and not to the second part 112.

[0030] Figure 5 is a schematic diagram showing a carrier control module according to another embodiment of the present invention. Figure 6 is a schematic diagram showing the carrier control module shown in Figure 5. As shown in Figures 5 and 6, the operating mechanism comprises two lock / unlock kits 123a and 123b and an actuator 124.

[0031] Two lock / unlock kits 123a and 123b are connected to or coupled to a first area (not shown) and a second area (not shown) of the carrier 110, respectively. Both ends of the actuator 124 are pivotally attached to the two lock / unlock kits 123a and 123b, respectively. The level sensor 110s is configured to, when the tilt angle of the carrier 110 is not zero or a predetermined value other than zero, to unlock one of the two lock / unlock kits 123a and 123b and lock the other, and to push the actuator 124 toward the unlocked lock / unlock kit (i.e., the unlocked lock / unlock kit), thereby lifting the first or second area to which it is connected or coupled. For example, as shown in Figures 5 and 6, if the tilt angle of the carrier 110 is not zero or is a predetermined value other than zero (not shown), the lock / unlock kit 123a is unlocked, the lock / unlock kit 123b is locked, the actuator 124 is pushed toward the lock / unlock kit 123a, lifting the first area to which it is connected or coupled, thereby reducing the tilt angle of the carrier 110 or keeping it horizontal (see Figure 6).

[0032] In some embodiments, each of the lock / unlock kits 123a and 123b is a pivot kit comprising two sets of pivot members (not shown), a pivot shaft (not shown) pivoted between the two sets of pivot members, and a stopper (not shown) having a hole. Both ends of each set of pivot members are pivoted to the carrier 110 and a bottom member (not shown), respectively, the bottom member is connected to a mobile carrier (e.g., the mobile carrier 210 shown in Figure 3), and the pivot shaft is further pivoted to one end of the actuator 124. In some embodiments, when a plug (not shown) is inserted into the hole of the stopper of the lock / unlock kit 123a or 123b, it becomes locked. When the plug is withdrawn from the hole of the stopper of the lock / unlock kit 123a or 123b, it becomes unlocked.

[0033] Figure 7 is a schematic diagram showing a carrier control module according to yet another embodiment of the present invention. In some embodiments, the operating mechanism comprises a first shaft 125, a second shaft 126, a V-shaped member 127, and an actuator 128. The first shaft 125 is positioned to pivot to or dispatch from a first pivot hole 110a at one end of the carrier 110. The second shaft 126 is positioned to pivot to or dispatch from a second pivot hole 110b at the other end of the carrier 110. The V-shaped member 127 is interposed between the first shaft 125 and the second shaft 126, with both ends of the V-shaped member 127 in contact with a first area (not shown) and a second area (not shown) of the carrier 110, respectively. The actuator 128 is pivotally attached to the V-shaped member 127. The level sensor 110s, when the tilt angle of the carrier 110 is not zero or is a predetermined value other than zero, pivots one of the first shaft 125 and the second shaft 126 and disengages the other, causing the actuator 128 to rotate the V-shaped member 127, linking the carrier to rotate around the pivoted one of the first shaft 125 and the second shaft 126 (i.e., the pivoted first shaft 125 or second shaft 126), and is installed such that one end of the V-shaped member 127 lifts the first or second area it contacts, thereby reducing the tilt angle of the carrier 110 or maintaining it horizontal.

[0034] In some embodiments, both ends of the first shaft 125 are pivotally attached to two first pivot holes 110a, respectively (only one first pivot hole 110a is shown in Figure 7). Both ends of the second shaft 126 are pivotally attached to two second pivot holes 110b, respectively (only one second pivot hole 110b is shown in Figure 7). In some embodiments, the operating mechanism comprises two V-shaped members 127, and the actuator 128 is interposed between the two V-shaped members 127 and pivotally attached to the two V-shaped members 127.

[0035] The present invention is not limited to the embodiments described above, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present invention. [Explanation of Symbols]

[0036] 110 Carriers 110a 1st pivot hole 110b 2nd pivot hole 110s level sensor 1101 Area 1 1102 Area 2 111 Part 1 1111 1st pivot end 112 Part 2 1121 2nd pivot end 1122 3rd pivot end 113 Connection part 120 Operating mechanism 121 First Actuator 122 Second actuator 123a Lock / Unlock Kit 123b Lock / Unlock Kit 124 Actuators 125 1st axis 126 2nd axis 127 V-shaped member 128 Actuators 210 Mobile Carriers 220 base

Claims

1. A carrier that is mounted to be coupled to a mobile carrier and has a level sensor, A carrier control module characterized by comprising: an operating mechanism installed below the carrier and connected to or coupled to a first area and a second area of ​​the carrier, wherein the level sensor is installed to sense the inclination angle of the carrier, and when the inclination angle of the carrier is not zero or reaches a predetermined value other than zero, the operating mechanism is activated to adjust the posture of the carrier, thereby reducing or eliminating the inclination angle of the carrier.

2. The carrier control module according to claim 1, characterized in that the carrier has a pivotally connected first part and a second part, the second part partially or completely encloses the first part, the first area and the second area of ​​the carrier are located in the first part and the second part, the first part has a first pivot end facing the first area, the second part has a second pivot end and a third pivot end facing each other, the second area is interposed between the second pivot end and the third pivot end, the first pivot end and the second pivot end are pivotally connected, the first area is interposed between the second area and the third pivot end, and the operating mechanism comprises a first actuator and a second actuator connected to or coupled to the first area and the second area, respectively.

3. The carrier control module according to claim 2, characterized in that the first pivot end and the first area are located at opposite ends of the first portion, and the second pivot end and the third pivot end are located at opposite ends of the second portion.

4. The carrier control module according to claim 2, wherein the carrier further comprises a connection portion that spans a portion of the first part and is connected to the second area, and the second actuator is connected to or coupled to the second area by the connection portion.

5. The carrier control module according to claim 4, characterized in that the first actuator is pivotally attached to the first area and the second actuator is pivotally attached to the connection portion.

6. The carrier control module according to claim 4, characterized in that the first actuator is installed to lift the first area when operated, and the second actuator is installed to lift the second area and a portion of the first portion when operated.

7. The carrier control module according to claim 2, characterized in that the third pivot end is installed to be pivotally attached to the mobile carrier, and the first pivot end and the second pivot end are not pivotally attached to the mobile carrier.

8. The carrier control module according to claim 2, characterized in that 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.

9. The carrier control module according to claim 1, characterized in that when the operating mechanism is activated, the attitude of the carrier is returned to its original position by a real-time adjustment method.

10. The aforementioned operating mechanism is Two lock / unlock kits connected to or coupled to the first area and the second area of ​​the carrier, respectively. The carrier control module according to claim 1, comprising: an actuator having two of the lock / unlock kits pivotally attached to each end, wherein the level sensor is configured to, when the tilt angle of the carrier is not zero or has reached a predetermined value other than zero, to unlock one of the two lock / unlock kits and lock the other, and to push the actuator toward the unlocked of the two lock / unlock kits, thereby lifting the first or second area to which it is connected or coupled.

11. The aforementioned operating mechanism is A first shaft is installed to pivotally attach to or release from a first pivot hole at one end of the carrier, A second shaft is installed to pivotally engage with or disengage from a second pivot hole at the other end of the carrier relative to one end, A V-shaped member interposed between the first shaft and the second shaft, wherein both ends of the V-shaped member are in contact with the first area and the second area of ​​the carrier, respectively. The carrier control module according to claim 1, comprising: an actuator pivotally attached to the V-shaped member, wherein the level sensor is configured to pivot one of the first and second axes and release the other when the tilt angle of the carrier is not zero or reaches a predetermined value other than zero, causing the actuator to rotate the V-shaped member and the carrier to rotate around the pivoted one of the first and second axes as the axis.

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