KR102350196B1 - Transfer apparatus - Google Patents

Abstract

The present invention provides a conveying device. The present invention includes a base body, a support body disposed under the base body, a rotation plate rotatably installed on an upper portion of the base body, a support frame connected to the rotation plate, and is mounted on the base body, a first driving unit for pushing the support body downward, and a second driving unit connected to the support frame and linearly moving the support frame.

Description

Transfer apparatus

The present invention relates to a transfer device that can be used as an end effector of a robot platform.

Manpower was needed to help transport people who could not move autonomously from the accident site, battlefield, and hospital, and it took a relatively long time. Recently, research and development on a robot platform that can quickly and safely transfer a patient or a transfer subject with reduced mobility while minimizing human intervention is being actively researched and developed.

In the past, multi-joint robots were mainly studied as a platform that carries out the task of transferring a transferee. The articulated robot can implement various movements due to its high degree of freedom, but it is difficult to precisely control the actuator to realize the high degree of freedom. In addition, since the articulated robot needs to calculate a large amount of data in order to control the actuator, there is a limitation in quickly performing various movements.

Therefore, there is a need to develop a robot platform capable of quickly and accurately performing the required transfer operation at a low price in comparison to the existing robot platform having an articulated arm.

Korean Patent Publication No. 10-2019-0013930 (published on February 11, 2019)

The present invention provides a transport device that can safely and quickly transport an object. However, these problems are exemplary, and the scope of the present invention is not limited thereto.

One aspect of the present invention includes a base body, a support body disposed under the base body, a rotation plate rotatably installed on an upper portion of the base body, a support frame connected to the rotation plate, and the base There is provided a transport device including a first driving unit mounted on the body and pushing the support body downward, and a second driving unit connected to the support frame and linearly moving the support frame.

In addition, the support body may include a first opening into which a part of the support frame is inserted, and an inclined surface disposed in front of the first opening and contacting the base body to slide.

In addition, the rotation plate is a first rotation pin that is rotatably inserted into the base body, and a second rotation pin inserted into the guide slot of the support frame, and moves along the guide slot when the second driving unit is driven. can be provided.

In addition, the first driving unit may be connected to the support body to have a preset angle, and may rotate the base body during driving.

In addition, it is installed on one side of the base body, the sensor unit for sensing the position of the patient in the base body, and connected to the sensor unit, further comprising a controller for controlling the first driving unit and the second driving unit can do.

In addition, when the sensor unit detects that the patient is positioned in the first position, the controller drives the first driving unit to form an inclination on the base body, and moves the patient to a preset second position , when the sensor unit detects that the patient is positioned at the second position, the second driving unit may be driven to rotate the rotation plate.

Other aspects, features and advantages other than those described above will become apparent from the following detailed description, claims and drawings for carrying out the invention.

The transport apparatus according to an embodiment of the present invention can move an object simply and quickly. The transfer device is mounted on the robot platform, so that the object can be easily loaded and moved. When the object is a patient, the patient can be loaded on the transport device only by moving the robot platform, and the patient can be safely moved to a preset position only by rotating the transport device.

The transport apparatus according to an embodiment of the present invention can safely transport an object. When the patient is placed in a preset position, the rotation plate may be driven to guide the patient to maintain a safe state. The rotating plate can prevent a patient from falling even if a large vibration occurs during the movement of the conveying device.

Of course, the scope of the present invention is not limited by these effects.

1 is a perspective view showing a transport device according to an embodiment of the present invention.
FIG. 2 is a perspective view showing a partial configuration of the transfer device of FIG. 1 .
FIG. 3 is a block diagram showing a partial configuration of the transfer device of FIG. 1 .
4A to 4C are views showing driving of the conveying device of FIG. 1 .
5A and 5B are diagrams illustrating driving of the rotation plate and the support frame of FIG. 2 .

Hereinafter, various embodiments of the present disclosure are described in connection with the accompanying drawings. Various embodiments of the present disclosure are capable of various changes and may have various embodiments, specific embodiments are illustrated in the drawings and the related detailed description is described. However, this is not intended to limit the various embodiments of the present disclosure to specific embodiments, and it should be understood to include all modifications and/or equivalents or substitutes included in the spirit and scope of the various embodiments of the present disclosure. In connection with the description of the drawings, like reference numerals have been used for like elements.

Expressions such as “comprises” or “may include” that may be used in various embodiments of the present disclosure indicate the existence of a disclosed function, operation, or component, and may include one or more additional functions, operations, or Components, etc. are not limited. Also, in various embodiments of the present disclosure, terms such as “comprise” or “have” are intended to designate that a feature, number, step, action, component, part, or combination thereof described in the specification is present, It should be understood that this does not preclude the possibility of addition or existence of one or more other features or numbers, steps, operations, components, parts, or combinations thereof.

In various embodiments of the present disclosure, expressions such as “or” include any and all combinations of words listed together. For example, "A or B" may include A, may include B, or may include both A and B.

Expressions such as “first”, “second”, “first”, or “second” used in various embodiments of the present disclosure may modify various components of various embodiments, but do not limit the components. does not For example, the above expressions do not limit the order and/or importance of corresponding components. The above expressions may be used to distinguish one component from another. For example, both the first user device and the second user device are user devices, and represent different user devices. For example, without departing from the scope of the various embodiments of the present disclosure, a first component may be referred to as a second component, and similarly, a second component may also be referred to as a first component.

When a component is referred to as being “connected” or “connected” to another component, the component may be directly connected to or connected to the other component, but the component and It should be understood that other new components may exist between the other components. On the other hand, when an element is referred to as being “directly connected” or “directly connected” to another element, it will be understood that no new element exists between the element and the other element. should be able to

Terms used in various embodiments of the present disclosure are only used to describe one specific embodiment, and are not intended to limit the various embodiments of the present disclosure. The singular expression includes the plural expression unless the context clearly dictates otherwise.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the present disclosure pertain.

Terms such as those defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related art, and unless explicitly defined in various embodiments of the present disclosure, ideal or excessively formal terms not interpreted as meaning

1 is a perspective view showing a transport device 100 according to an embodiment of the present invention, FIG. 2 is a perspective view showing a partial configuration of the transport device 100 of FIG. 1 , and FIG. 3 is the transport device of FIG. It is a block diagram showing a partial structure of (100).

1 to 3 , the transfer device 100 may be mounted on an external device, load an object, and move the object by movement of the external device.

The object to be moved by the transfer device 100 is not specified as any one. For example, the object may be variously set, such as a cargo, a person, or an animal. However, hereinafter, for convenience of explanation, the case where the subject is the patient (O) will be mainly described.

The transfer device 100 may be mounted on an end of a robot platform (not shown), and the robot platform may move to move the object. The transfer device 100 may operate as an end effector in a robot platform such as an articulated robot. In another embodiment, the transport device 100 may be mounted on an end of the driving device to move the object according to the movement of the driving device.

The transfer device 100 includes a base body 110 , a support body 120 , a rotation plate 130 , a support frame 140 , a first driving unit 150 , a second driving unit 160 , and a sensor unit 170 . ) and a controller 180 may be provided.

The base body 110 forms the exterior of the transfer device 100 , and the patient O may be placed thereon. The front end 111 of the base body 110 may be formed to be curved so that the patient O can be easily introduced therein.

The base body 110 has a flat portion 112 , and the patient O may be placed on the flat portion 112 . The rotation plate 130 and the sensor unit 170 may be disposed on the flat part 112 . The support wall 113 is disposed behind the flat portion 112 . The support wall 113 protrudes in the height direction from the flat portion 112 so that the patient O can lean on it. In addition, the first driving unit 150 may be installed on the support wall 113 .

The base body 110 may include a balance weight 114 . The balance weight 114 is disposed behind the support wall 113 and has a predetermined weight, so that when the patient O is placed on the flat part 112 , it is possible to form a balance in the entire transport device 100 . .

A connecting shaft may be disposed at the rear end 115 of the base body 110 . Since the connecting shaft is rotatably connected to the external robot platform, the base body 110 may rotate at a predetermined angle about the connecting axis.

A mounting space 116 may be formed under the base body 110 . The support body 120 and the support frame 140 may be installed in the mounting space 116 . The front of the mounting space 116 is formed to be inclined, so that the support body 120 can slide and move.

The support body 120 may be disposed under the base body 110 . The support body 120 may be connected to the first driving unit 150 and rotate the base body 110 by a predetermined angle while supporting the ground. The support body 120 may have a first opening 121 and an inclined surface 122 .

A portion of the support frame 140 may be inserted into the first opening 121 . That is, the support frame 140 is inserted into the first opening 121 and allows the support frame 140 to move linearly.

The inclined surface 122 is disposed in front of the first opening 121 and may be in contact with the base body 110 to slide. That is, the inclined surface 122 is in contact with the front of the mounting space 116 , but is disposed to have an inclination with respect to the ground. Since the inclined surface 122 slides in the mounting space 116 , the support body 120 may move smoothly in FIG. 4C .

The rotation plate 130 may be rotatably installed on the base body 110 . The rotation plate 130 is installed on the front end 111 of the base body 110 , and may be rotated to an upper portion of the base body 110 by driving the second driving unit 160 . The rotation plate 130 has a front end 130a formed to be curved, so that the patient O can easily enter the base body 110 .

The rotation plate 130 may include a first rotation pin 131 rotatably inserted into the base body 110 and a second rotation pin 132 inserted into the support frame 140 . The first rotation pin 131 and the second rotation pin 132 are disposed to be spaced apart from each other by a predetermined distance.

The first rotation pin 131 rotates only at a preset position of the base body 110 . However, the second rotation pin 132 is inserted into the guide slot 143 of the support frame 140 , and may move along the guide slot when the second driving unit 160 is driven. When the second driving unit 160 moves the support frame 140 forward, the second rotation pin 132 moves downward along the guide slot 143 . When the support frame 140 returns to its original position, the second rotation pin 132 moves upward along the guide slot 143 .

The support frame 140 is connected to the rotation plate 130 . The support frame 140 is disposed in the mounting space 116 of the base body 110 , and is connected to the rotation plate 130 and the second driving unit 160 .

The support frame 140 may include a first frame 141 extending in the longitudinal direction of the base body 110 and a second frame 142 extending downward from the first frame 141 .

In addition, a guide slot 143 is disposed in the second frame 142 , and a second rotation pin 132 may be inserted into the guide slot 143 . The guide slot 143 extends in the height direction, and the length of the guide slot 143 depends on the rotation angle of the rotating plate 130 .

The first driving unit 150 is connected to the support body 120 and may move the support body 120 downward. The first driving unit 150 may include a first driving unit 151 and a first driving shaft 152 .

The first driving unit 151 is a device for generating driving force, and is not limited to a specific device. The first driving unit 151 may transmit a driving force to the first driving shaft 152 to push the support body 120 downward.

The first driving unit 150 is connected to the support body 120 to have a preset angle, and may rotate the base body 110 when driven. As shown in FIG. 2 , the first driving unit 150 is disposed to have an inclination with respect to the ground. When the first driving unit 150 drives and pushes the support body 120 , the base body 110 may rotate at a predetermined angle about the connection axis.

The second driving unit 160 is connected to the support frame 140 , and may move the support frame 140 in the front-rear direction. When the second driving unit 160 pushes the support frame 140 forward, the rotation plate 130 rotates, and when the support frame 140 is pushed backward, the rotation plate 130 returns to its original position.

The second driving unit 160 may include a second driving unit 161 and a second driving shaft 162 . The second driving unit 161 is a device for generating a driving force like the first driving unit 151 . The second driving unit 161 may transmit a driving force to the second driving shaft 162 to move the support frame 140 .

The sensor unit 170 is installed on one side of the base body 110 , and may sense the position of the patient in the base body 110 . The sensor unit 170 may sense the position of the patient and transmit the signal to the controller 180 . The sensor unit 170 may be provided with various types of sensors capable of detecting the presence or absence of an object. For example, it may be formed of an infrared sensor, a laser sensor, a touch sensor, or the like.

A plurality of sensor units 170 may be provided according to the number of preset positions. For example, the sensor unit 170 may include a first sensor 171 and a second sensor 172 . The first sensor 171 is disposed on the front side of the base body 110 , and the second sensor 172 is disposed on the rear side of the base body 110 . The first sensor 171 may detect whether the patient is located at the first position P1 , and the second sensor 172 may detect whether the patient is located at the second position P2 . The first driving unit 150 or the second driving unit 160 may be driven according to the position of the patient detected by the sensor unit 170 .

The controller 180 may be connected to the first driving unit 150 and the second driving unit 160 to generate and transmit a driving signal. In addition, the controller 180 may be connected to the sensor unit 170 to receive the patient's location information. For example, the controller 180 may be connected to the first sensor 171 to drive the first driving unit 150 when the patient is in the first position P1 . Also, the controller 180 may be connected to the second sensor 172 to drive the second driving unit 160 when the patient is in the second position P2 .

4A to 4C are diagrams illustrating the operation of the transfer device 100 of FIG. 1 , and FIGS. 5A and 5B are diagrams illustrating the operation of the rotation plate 130 and the support frame 140 of FIG. 2 .

The transfer device 100 is rotatably mounted to an external structure, that is, an end of the robot platform 10 . When the robot platform 10 moves, the transfer device 100 may also move together.

Referring to FIG. 4A , when the robot platform 10 moves forward, the patient O is placed on the transfer device 100 . The patient O may be gently introduced into the flat portion 112 through the front end 111 of the base body 110 .

Referring to FIG. 4B , it is confirmed through the first sensor 171 that the patient O is placed on the transfer device 100 . When the first sensor 171 senses that the patient O is placed at the preset first position P1 , the controller 180 drives the first driving unit 150 .

The first driving unit 150 is disposed to be inclined with respect to the ground, and when the first driving unit 151 drives and a driving force is transmitted to the first driving shaft 152 , the support body 120 applies the ground to the base body (110) is rotated at a predetermined angle about the connecting shaft. At this time, the patient O naturally moves to the second position P2 by the inclination of the base body 110 .

Referring to FIG. 4C , when the second sensor 172 detects that the patient O is positioned at the second position P2 , the controller 180 returns the first driving unit 150 to its previous state. Thereafter, the controller 180 drives the second driving unit 160 to rotate the rotation plate 130 .

5A and 5B , when the second driving unit 160 is driven, the support frame 140 moves forward by a predetermined distance. At this time, the second rotation pin 132 moves along the guide slot (143). When the second rotation pin 132 moves downward, the rotation plate 130 rotates upward around the first rotation pin 131 as shown in FIG. 4C .

The rotation plate 130 may guide the patient O to a specific position. The rotation plate 130 may prevent the patient O from being separated from the base body 110 , and may be safely positioned on the transfer device 100 when the robot platform 10 moves.

The articulated robot can precisely change the position of the end effector, but it requires a high computational speed to accurately control it. In addition, a large amount of actuators are required to secure a high degree of freedom of the end effector, and it is difficult to precisely control the actuators.

The transport apparatus 100 according to an embodiment of the present invention can move an object simply and quickly. The transfer device 100 is mounted on the robot platform, so that the object can be easily loaded and moved. When the object is a patient, the patient can be loaded on the transport device 100 only by moving the robot platform, and the patient can be safely moved to a preset position only by rotating the transport device 100 .

The transport apparatus 100 according to an embodiment of the present invention can safely transport an object. When the patient O is placed in a preset position, the rotation plate 130 may be driven to guide the patient to maintain a safe state. The rotation plate 130 may prevent the patient O from falling even if a large vibration occurs during the movement of the transport device 100 .

As such, the present invention has been described with reference to the embodiment shown in the drawings, which is merely exemplary, and those skilled in the art will understand that various modifications and equivalent other embodiments are possible therefrom. . Therefore, the true technical protection scope of the present invention should be determined by the technical spirit of the appended claims.

100: transfer device
110: base body
120: support body
130: rotation plate
140: support frame
150: first driving unit
160: second driving unit
170: sensor unit
180: controller

Claims (6)

a base body having a flat portion on which an object to be transferred is placed;
a support body disposed under the base body to support the ground;
a rotation plate rotatably installed on an upper portion of the base body;
a support frame connected to the rotation plate;
a first driving unit mounted on the base body and configured to push the support body downward; and
a second driving unit connected to the support frame and linearly moving the support frame;
The first driving unit is
Connected to have a predetermined angle with the support body, the transfer device for rotating the base body in a flat state when driving. According to claim 1,
The support body is
a first opening into which a portion of the support frame is inserted; and
disposed in front of the first opening, an inclined surface in contact with the base body to slide; and a transport device. According to claim 1,
The rotating plate is
a first rotation pin rotatably inserted into the base body; and
A second rotation pin inserted into the guide slot of the support frame and moved along the guide slot when the second drive unit is driven; delete According to claim 1,
a sensor unit installed on one side of the base body and configured to sense a patient's position in the base body; and
Further comprising; a controller connected to the sensor unit and controlling the first driving unit and the second driving unit. 6. The method of claim 5,
the controller is
When the sensor unit detects that the patient is located in the first position, by driving the first driving unit to form an inclination to the base body, to move the patient to a preset second position,
When the sensor unit detects that the patient is positioned at the second position, the second driving unit is driven to rotate the rotation plate.

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