Level adjustment device for transport robot

Abstract

The present invention relates to a level adjustment device for a transport robot, more specifically to a level adjustment device comprising a level adjustment unit structured with links, the level adjustment unit being attached between the body of the transport robot and a carrier being towed thereby to adjust the difference in height between the wheels of the transport robot and the wheels of the carrier.

Description

Leveling device for transport robots

[0001] The present invention relates to a level control device for a transport robot, and more specifically, to a level control device characterized by a configuration including a level control unit formed of a link structure that is coupled between the body of the transport robot and a transporter towed by the transport robot and adjusts the height difference between the wheels of the transport robot and the wheels of the transporter.

[0002] In general, transport robots are used to transport objects with a certain load in factories, hospitals, restaurants, etc., and examples of such transport robots include electric carts, AGVs (Automatic Guided Vehicles), and serving robots.

[0003] These transport robots are often used not only to transport specific objects themselves, but also to connect a separate transporter specifically designed to transport specific objects to the body of the transport robot and to tow the connected transporter.

[0004] However, since there is a difference in height between the wheels of the transporter connected to the transport robot and the driving wheels of the transporter robot depending on the size and structure of the wheels, there is a concern that when the transporter goes over an obstacle or hill or drives on an incline, the wheels of the transporter may not touch the ground, making it difficult to tow the transporter. Therefore, there is an urgent need to develop technology to resolve this problem.

[0005] Meanwhile, as a prior art related to a transport robot, the technology of a transport assistance robot is known in Korean Patent Publication No. 10-1924493.

[0006] The present invention was created to solve the above-mentioned problems of the related art, and provides a configuration of a level control device for a transport robot that eliminates limitations due to differences in height according to the size or structure of wheels of a transporter connected to a transport robot, and overcomes the height difference between the transporter robot and the transporter when driving on an obstacle, hill, or slope, thereby enabling stable driving of the transporter robot and the transporter.

[0007] The configuration of a level control device for a transport robot of the present invention for achieving the above technical task is characterized by a configuration including a level control unit formed of a link structure that is connected between the body of the transport robot and a transport object towed by the transport robot and adjusts the height difference between the wheels of the transport robot and the wheels of the transport object.

[0008] The level control device for the transport robot of the present invention having the above configuration automatically controls the height difference between the right-hand robot and the transport object, thereby enabling the transport robot to stably tow the transport object in an uneven ground environment.

[0009] In addition, since the height difference that appears differently depending on the type of carrier can be easily overcome, the type of carrier that the carrier robot can tow can be expanded, thereby obtaining the advantage of enabling more universal operation of the carrier robot.

[0010] Figure 1 is a perspective view of a level control device for a transport robot of the present invention.

[0011] Figure 2 is a side view of the level control unit of the level control device for the transport robot of the present invention.

[0012] Figure 3 is an exploded perspective view of the level control unit of the level control device for the transport robot of the present invention.

[0013] Figures 4a and 4b are operation status diagrams of the level control unit of the level control device for the transport robot of the present invention.

[0014] Figures 5a and 5b are usage diagrams of a level control device for a transport robot of the present invention.

[0015] Hereinafter, the configuration of the level control device for the transport robot of the present invention will be described in detail with reference to the drawings.

[0016] However, the disclosed drawings are provided as examples to ensure that those skilled in the art can sufficiently convey the spirit of the present invention. Therefore, the present invention is not limited to the drawings presented below and may be embodied in other aspects.

[0017] In addition, unless otherwise defined, terms used in the specification of the present invention have meanings commonly understood by a person of ordinary skill in the art to which the present invention pertains, and detailed descriptions of known functions and configurations that may unnecessarily obscure the gist of the present invention in the following description and accompanying drawings are omitted.

[0018]

[0019] Figure 1 is a perspective view of a level control device for a transport robot of the present invention.

[0020] Referring to the drawing, the level adjustment device (1) for the transport robot of the present invention (hereinafter, abbreviated as “level adjustment device”) is a device that is coupled between the transport robot (10) and the transport object towed by the transport robot (10) and operates to eliminate the height difference between the wheel (20) of the transport robot (10) and the wheel of the transport object, thereby enabling the transport robot (10) to stably tow the transport object.

[0021] To this end, the level control device (1) of the present invention includes a level control unit (100) coupled to the body (60) of a transport robot (10), and a transport body connecting unit (200) of which one end is coupled to the level control unit (100) and the other end is coupled to a transport body (300) (see FIGS. 5a and 5b) towed by the transport robot (10).

[0022] A transport robot (10) of an embodiment of the present invention is composed of a lower plate (30) equipped with wheels (20) on the lower side, a body (60) coupled to the upper side of the lower plate (30), an upper plate (40) coupled to the upper side of the body (60), and a head (50) coupled to the upper side of the upper plate (40).

[0023] At this time, the level control unit (100) of the embodiment of the present invention is coupled to the side plate (61) attached to the side of the body (60).

[0024] Inside the above body (60), a motor that provides a power source for the transport robot (10), a drive system that transmits the rotational force of the motor to the wheels (20), and a battery that supplies power to the motor are installed, and inside the above head (50), a control system for controlling the operation of the motor of the transport robot (10) is built in, and the configuration and operation of the motor, drive system, control system, and battery of the transport robot (10) are performed by a conventionally known technology, so a detailed description thereof is omitted in the description of the present invention.

[0025] In addition, a fixing member (62) protruding upward from the side plate (61) is formed to attach the cover panel (130, 140) of the level adjustment unit (100) to be described later on the side plate (61). The fixing member (62) is manufactured using a conventional metallic chassis member.

[0026] Additionally, a stopper (70) is attached to the side plate (61) of the body (60). The above stopper (70) is installed between the first link (110) and the second link (120) of the level control unit (100) to be described later, and when the first link (110) and the second link (120) of the level control unit (100) are rotated upward, one side of the second link (120) at the bottom comes into contact with the lower part of the stopper (70), thereby preventing the second link (120) from rotating upward any further. Conversely, when the first link (110) and the second link (120) are rotated downward, one side of the first link (110) at the top comes into contact with the upper part of the stopper (70), thereby preventing the first link (110) from rotating downward any further.

[0027] Preferably, the material of the stopper (70) is manufactured using a material having appropriate elasticity, such as rubber or urethane resin.

[0028] Specifically, the level control unit (100) includes a first link (110) in the shape of a bar, which has an inner joint (111) formed at one end to be coupled to the transport robot (10) and an outer joint (112) formed at the other end to be coupled to a support (151) of a base (150) attached to a transport body connection unit (200).

[0029] In addition, the level adjustment unit (100) includes a second link (120) in the shape of a bar, which is located on the lower side of the first link (110) and installed parallel to the first link (110), has an inner joint (121) formed at one end to be coupled to the transport robot (10), and has an outer joint (122) formed at the other end to be coupled to a support (151) of a base (150) attached to the transport body connection unit (200).

[0030] Meanwhile, the unexplained symbol 31 is a wheel bracket (31) extended downward from the side of the lower plate (30) to assemble the wheel (20) of the transport robot (10).

[0031]

[0032] Next, the configuration of the level control unit (100) of the level control device of the present invention as described above will be described in more detail.

[0033] Fig. 2 is a side view of a level control unit of a level control device for a transport robot of the present invention, and Fig. 3 is an exploded perspective view of a level control unit of a level control device for a transport robot of the present invention.

[0034] Referring to each drawing, the level control unit (100) of the present invention is configured to connect a transport robot (10) and a transporter (300) with a link structure.

[0035] Specifically, the level control unit (100) includes a first link (110) in the shape of a bar, which has an inner joint (111) formed at one end to be coupled to the transport robot (10) and an outer joint (112) formed at the other end to be coupled to a support (151) of a base (150) attached to a transport body connection unit (200).

[0036] In addition, the level adjustment unit (100) includes a second link (120) in the shape of a bar, which is located on the lower side of the first link (110) and installed parallel to the first link (110), has an inner joint (121) formed at one end to be coupled to the transport robot (10), and has an outer joint (122) formed at the other end to be coupled to a support (151) of a base (150) attached to the transport body connection unit (200).

[0037] An inner rotation axis (113) is formed by a pin (160) inserted into the center of the inner joint (111) of the first link (110), and the inner joint (111) of the first link (110) is connected to the body (60) of the transport robot (10) so as to be rotatable in the up-and-down direction about the inner rotation axis (113).

[0038] An outer rotation axis (114) is formed by a pin (160) inserted into the center of the outer joint (112) of the first link (110), and the outer joint (112) of the first link (110) is connected to a support (151) of the base (150) so as to be rotatable in the up-and-down direction about the outer rotation axis (114).

[0039] An inner rotation axis (123) is formed by a pin (160) inserted into the center of the inner joint (121) of the second link (120), and the inner joint (121) of the second link (110) is connected to the body (60) of the transport robot (10) so as to be rotatable in the up-and-down direction about the inner rotation axis (123).

[0040] An outer rotation axis (124) is formed by a pin (160) inserted into the center of the outer joint (122) of the second link (120), and the outer joint (122) of the second link (120) is connected to a support (151) of the base (150) so as to be rotatable in the up-and-down direction about the outer rotation axis (124).

[0041] Preferably, the base (150) is in the shape of a flat plate, and the support (151) is formed in the shape of a rib extending vertically upward from the bottom surface of the base (150), and a through hole (152) is formed in the support (151) into which a pin (160) entering the center of each outer joint (112, 122) of the first link (110) and the second link (120) is inserted, and the bottom surface of the base (150) is perforated with joint holes (153, 154) into which a fixing bolt (213) for fastening with a joint plate (210) of a carrier connecting part (200) is inserted.

[0042] In addition, a plate-shaped inner cover panel (130) is fastened to the upper side of the inner joint (111) of the first link (110) and the inner joint (121) of the second link (120), thereby more firmly finishing the connection state of the first link (110) and the second link (120).

[0043] That is, a pin (160) is inserted into an inner hole (133) formed on the upper portion of the inner cover panel (130), and the inserted pin (160) is inserted into the center of the inner joint (111) of the first link (110).

[0044] Then, a pin (160) is inserted into the inner hole (132) formed at the bottom of the inner cover panel (130), and the inserted pin (160) is inserted into the center of the inner joint (121) of the second link (120).

[0045] Afterwards, a fixing screw (not shown) is inserted into a joining hole (131) formed in the center of the body of the inner cover panel (130), and the fixing screw is combined with a fixing fixture (62) formed in a side plate (61) of the body (60) of the transport robot (10), thereby firmly attaching the inner cover panel (130) to the body (60) of the transport robot (10).

[0046] Accordingly, the inner cover panel (130) combined as described above supports the inner joints (111, 121) of the first link (110) and the second link (120) so that the first link (110) and the second link (120) can rotate stably in the up-and-down direction.

[0047] In addition, a plate-shaped outer cover panel (140) is fastened to the upper side of the outer joint (112) of the first link (110) and the outer joint (122) of the second link (120), thereby more firmly finishing the connection between the first link (110) and the second link (120).

[0048] That is, a pin (160) is inserted into an internal hole (143) formed on the upper portion of the outer cover panel (140), and the inserted pin (160) is inserted into the center of the outer joint (112) of the first link (110).

[0049] Then, a pin (160) is inserted into the internal hole (142) formed at the lower part of the outer cover panel (140), and the inserted pin (160) is inserted into the center of the outer joint (122) of the second link (120).

[0050] Afterwards, a fixing screw (not shown) is inserted into a joining hole (141) formed in the center of the body of the outer cover panel (140), and the fixing screw is combined with a fixing fixture (155) formed in a support (151) of the base (150) to firmly attach the outer cover panel (130) to the base (150).

[0051] The above fixed fixture (155) is formed to protrude upward from the support (151) and is manufactured using a conventional metallic chassis member.

[0052] Accordingly, the outer cover panel (140) combined as described above supports the outer joints (112, 122) of the first link (110) and the second link (120) so that the first link (110) and the second link (120) can rotate stably in the up-and-down direction.

[0053] Next, the configuration of the carrier connecting portion (200) of the present invention will be described.

[0054] The carrier connecting part (200) of the level control device of the present invention includes a flat-shaped connecting plate (210) to which the base (150) of the level control part (100) is attached on one side and a stand (230) is attached on the other side, and at least one clamp (220) installed on the stand (230) to connect the carrier (300).

[0055] The above-mentioned joining plate (210) has joining holes (211, 212) perforated for joining with the base (150) of the level adjustment unit (100), and a fixing bolt (213) for fixing the joining plate (210) is inserted into the joining holes (211, 212).

[0056] The above-mentioned stand (230) is a flat-shaped member that protrudes vertically from the lower portion of the joining plate (210) and extends to the joining plate (210).

[0057] The above clamp (220) is for connecting a carrier (300) (see FIGS. 5a and 5b) towed by a transport robot (10), and the embodiment of the present invention is configured to include a bracket (221) having a body in the shape of the letter “ㄷ” overall, a presser (222) attached to the upper end of a connecting rod (223) inserted through the upper surface (221b) of the bracket (221), and a pressing plate (224) attached to the lower end of the connecting rod (223).

[0058] In the clamp (220) of the embodiment of the present invention as described above, when the presser (222) is pressed downward while the bottom surface (221a) is attached to the stand (230), the connecting rod (223) attached to the bottom surface of the presser (222) is lowered and the pressing plate (224) attached to the lower end of the connecting rod (223) is lowered toward the bottom surface (221a) of the bracket (221), so that the connecting portion of the carrier (300) is placed between the pressing plate (224) and the bottom surface (221a) of the bracket (221), and the pressing plate (224) is lowered so that the pressing plate (224) engages with the connecting portion of the carrier (300), thereby connecting the connecting portions of the clamp (220) and the carrier (300).

[0059] Preferably, the connecting portion of the carrier (300) includes a space having a shape in which the pressing plate (224) can be inserted and engaged.

[0060]

[0061] Next, the operation of the level control device of the present invention configured as described above will be described.

[0062] Figures 4a and 4b are operation status diagrams of the level control unit of the level control device for the transport robot of the present invention.

[0063] The level control unit (100) of the level control device (1) of the present invention is coupled between the transport robot (10) and the transporter (300) and operates to eliminate the height difference between the wheel (20) of the transport robot (10) and the wheel of the transporter (300).

[0064] Specifically, as illustrated in FIG. 4a, when the carrier (300) coupled to the base (150) of the level control unit (100) rises upward, the outer joint (112) of the first link (110) and the outer joint (122) of the second link (120) attached to the base (150) connected to the carrier (300) both rise upward along the carrier (300), and at the same time, the first link (110) rotates upward about the inner rotation axis (113) of the inner joint (111) in accordance with the rise of the outer joint (112), and the second link (120) also rotates upward about the inner rotation axis (123) of the inner joint (121) in accordance with the rise of the outer joint (122).

[0065] In addition, as illustrated in FIG. 4b, when the carrier (300) coupled to the base (150) of the level control unit (100) descends downward, the outer joint (112) of the first link (110) and the outer joint (122) of the second link (120) attached to the base (150) connected to the carrier (300) both descend downward along the carrier (300), and at the same time, the first link (110) rotates downward about the inner rotation axis (113) of the inner joint (111) according to the lowering of the outer joint (112), and the second link (120) also rotates downward about the inner rotation axis (123) of the inner joint (121) according to the lowering of the outer joint (122).

[0066] Meanwhile, as shown, when the first link (110) and the second link (120) rotate, a stopper (70) installed between the first link (110) and the second link (120) limits the rotation of the first link (110) and the second link (120).

[0067] That is, when the first link (110) and the second link (120) are rotated upward, one side of the second link (120) at the bottom comes into contact with the lower part of the stopper (70), thereby preventing the second link (120) from rotating upward any further, and when the first link (110) and the second link (120) are rotated downward, one side of the first link (110) at the top comes into contact with the upper part of the stopper (70), thereby preventing the first link (110) from rotating downward any further.

[0068]

[0069] Figures 5a and 5b are usage diagrams of a level control device for a transport robot of the present invention.

[0070] As described above, the level control unit (100) of the level control device of the present invention is coupled between the transport robot (10) and the transporter (300) to eliminate the height difference between the wheel (20) of the transport robot (10) and the wheel of the transporter (300), and FIGS. 5a and 5b illustrate the state of use of the level control device of the present invention operated in this manner.

[0071] That is, as illustrated in FIG. 5a, when the base (150) of the level control unit (100) is coupled to the body (310) of the carrier (300) and the carrier (300) moves along the ground (G) having an upwardly inclined angle (α), the outer joint (112) of the first link (110) and the outer joint (122) of the second link (120) of the carrier robot (10) connected to the carrier (300) traveling on the slope having the corresponding angle (α) both rise upward along the carrier (300).

[0072] At the same time, the first link (110) rotates upward around the inner rotation axis (113) of the inner joint (111) as the outer joint (112) rises, and the second link (120) also rotates upward around the inner rotation axis (123) of the inner joint (121) as the outer joint (122) rises, thereby operating to eliminate the height difference between the wheel (20) of the transport robot (10) and the wheel (320) of the transporter (300).

[0073] In addition, as illustrated in FIG. 5b, when the base (150) of the level control unit (100) is coupled to the body (310) of the carrier (300) and the carrier (300) moves along the ground (G) having a downward slope angle (α), the outer joint (112) of the first link (110) and the outer joint (122) of the second link (120) of the carrier robot (10) connected to the carrier (300) traveling on the slope having the corresponding slope angle (α) are lowered downward along the carrier (300).

[0074] At the same time, the first link (110) rotates downward around the inner rotation axis (113) of the inner joint (111) as the outer joint (112) descends, and the second link (120) also rotates downward around the inner rotation axis (123) of the inner joint (121) as the outer joint (122) descends, thereby eliminating the height difference between the wheel (20) of the transport robot (10) and the wheel (320) of the transporter (300).

[0075] Accordingly, by means of the level control device of the present invention, which operates as described above, the difference in height between the wheels of the transport robot and the wheels of the transporter is automatically adjusted, thereby enabling the transport robot to stably tow the transporter in an uneven ground environment.

Claims

1. Connected between the body (60) of the transport robot (10) and the transporter (300) towed by the transport robot (10), A level adjustment device characterized by a configuration including a level adjustment unit (100) formed of a link structure that adjusts the height difference between the wheel (20) of the transport robot (10) and the wheel (320) of the transporter (300).

2. In paragraph 1, A level control device characterized by a configuration further including a carrier connection part (200) one end of which is coupled to the level control part (100) and the other end of which is coupled to the carrier (300).

3. In the second paragraph, the level control unit (100) A first link (110) having an inner joint (111) coupled to the transport robot (10) at one end and an outer joint (112) coupled to a base (150) attached to the transport body connecting part (200) at the other end, A level control device characterized by a configuration including a second link (120) positioned below the first link (110) and installed parallel to the first link (110), having an inner joint (121) formed at one end to be coupled to the transport robot (10) and an outer joint (122) formed at the other end to be coupled to a base (150) attached to the transport body connecting portion (200).

4. In paragraph 3, The first link (110) rotates up and down around the inner rotation axis (113) located at the center of the inner joint (111) of the first link (110). The first link (110) rotates up and down around the outer rotation axis (114) located at the center of the outer joint (112) of the first link (110), The second link (120) rotates up and down around the inner rotation axis (123) located at the center of the inner joint (121) of the second link (120), A level adjustment device characterized by a configuration in which the second link (120) rotates up and down around an outer rotation axis (124) located at the center of the outer joint (122) of the second link (120).

5. In paragraph 4, A stopper (70) is installed between the first link (110) and the second link (120) on the body (60) of the transport robot (10). When the first link (110) and the second link (120) rotate upward, one side of the second link (120) at the bottom comes into contact with the lower part of the stopper (70). A level control device characterized by a configuration in which one side of the upper first link (110) comes into contact with the upper portion of the stopper (70) when the first link (110) and the second link (120) are rotated downward.

6. In paragraph 3, The above base (150) is in the shape of a flat plate, and a rib-shaped support (151) is formed extending vertically upward from the bottom surface of the base (150). The other end of the first link (110) is connected to a support (151) formed on the base (150), A level control device characterized in that the other end of the second link (120) is connected to a support (151) formed on the base (150).

7. In paragraph 4, An inner cover panel (130) in the shape of a plate is fastened to the upper side of the inner joint (111) of the first link (110) and the inner joint (121) of the second link (120). A level adjustment device characterized by a configuration in which a plate-shaped outer cover panel (140) is fastened to the upper side of the outer joint (112) of the first link (110) and the outer joint (122) of the second link (120).

8. In the third paragraph, the carrier connecting part (200) is A flat-shaped joining plate (210) with a base (150) of a level adjustment unit (100) attached to one side and a stand (230) attached to the other side, A level control device characterized by a configuration including at least one clamp (220) installed on the above-mentioned stand (230) and connecting a carrier (300).

9. In paragraph 8, The above clamp (220) is a level control device characterized in that it comprises a bracket (221) having a body in the shape of the letter “ㄷ”, a presser (222) attached to the upper end of a connecting rod (223) inserted through the upper surface (221b) of the bracket (221), and a pressing plate (224) attached to the lower end of the connecting rod (223).

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