KR102859190B1 - Automatic release apparatus for automation of manual movement devices - Google Patents

Abstract

The present invention relates to an automatic mounting and dismounting device for automating a manual moving device. According to one embodiment of the present invention, the automatic mounting and dismounting device for automating a manual moving device includes: a gripping module for gripping one side of a manual moving device to be coupled; and an adjustment module connected to the gripping module for adjusting the vertical height of the gripping module.

Description

Automatic release apparatus for automation of manual movement devices

The present invention relates to an automatic mounting and dismounting device for automating a manual moving device, and more particularly, to an automatic mounting and dismounting device for automating a manual moving device that is attached to a manual moving device and can change the manual moving device into an automated form.

Previously, manually operated mobile devices such as carts and pulleys were widely used in hospitals, restaurants, and factories. These manual devices are now being electrified into forms such as electric transport carts and electric hand carts.

However, the existing manual transport devices differ in structure from the newly introduced electric transport carts, making them difficult to upgrade to automated versions. Consequently, once electrification is complete, existing manual transport devices will inevitably be discarded.

The present invention provides an automatic mounting and dismounting device for automation of a manual moving device, which is attached to a manual moving device and can change the manual moving device into an automated form.

In addition, the present invention provides an automatic detachment device for automation of a manual moving device, which is firmly coupled to the manual moving device and prevents it from being arbitrarily detached.

According to one aspect of the present invention, an automatic mounting and dismounting device for automating a manual moving device may be provided, comprising: a gripping module for gripping one side of a manual moving device to be coupled; and an adjustment module connected to the gripping module for adjusting the vertical height of the gripping module.

In addition, the grip module may include a grip housing having a predetermined length in the vertical direction; an upper grip portion positioned at the front upper portion of the grip housing and extending forward with a predetermined width in the front-back direction; and a lower grip member positioned below the upper grip portion and movably connected to the grip housing in the vertical direction.

In addition, the above-mentioned phage module comprises: a first actuator located inside the phage housing;

The gripper drive shaft is further included, which is connected to the first actuator and has a longitudinal direction provided in an up-down direction, and the lower gripper member can be connected to the gripper drive shaft so as to be able to move up and down according to the rotation of the gripper drive shaft.

Additionally, the grip module may further include a balance sensor located at the front of the grip housing to detect a distance to an object located in front.

Additionally, the control module may include an control housing having a predetermined length in the vertical direction; a front region of which is coupled to the gripping module; and an control connecting member that is movably connected to the control housing in the vertical direction.

In addition, the control module further includes a second actuator positioned inside the control housing; an adjustment drive shaft connected to the second actuator and having a longitudinal direction provided in an up-and-down direction; and the control connecting member can be connected to the adjustment drive shaft so as to be able to move up and down according to the rotation of the adjustment drive shaft.

According to one embodiment of the present invention, an automatic mounting and dismounting device for automation of a manual moving device can be provided, which can change a manual moving device into an automated form.

In addition, according to one embodiment of the present invention, an automatic detachment device for automation of a manual moving device can be provided that is firmly coupled to the manual moving device and prevents it from being arbitrarily detached.

FIG. 1 is a drawing showing an automatic mounting and dismounting device for automation of a manual moving device according to one embodiment of the present invention.
Fig. 2 is a longitudinal cross-sectional view of an automatic dismounting device for automation of the manual moving device of Fig. 1.
Figure 3 is a drawing showing the phage auxiliary module package of Figure 1.
Figure 4 is a cross-sectional view of the phage auxiliary module of Figure 3.
Figures 5 to 7 are drawings showing a grip assistant module package in a state of gripping different objects, respectively.
Figure 8 is a block diagram showing the control relationship of an automatic dismounting device for manual movement device automation.
Figures 9 to 12 are drawings showing a method for an automatic detachment device for a manual moving device to grip a gripping target object that is a manual moving device.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. However, the technical concept of the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided to ensure that the disclosed content is thorough and complete and to sufficiently convey the spirit of the present invention to those skilled in the art.

In this specification, when a component is referred to as being on another component, it means that it can be formed directly on the other component, or a third component may be interposed between them. In addition, in the drawings, the thicknesses of films and regions are exaggerated for the purpose of effectively explaining the technical contents.

Also, although terms such as first, second, and third have been used to describe various components in various embodiments of this specification, these components should not be limited by these terms. These terms are only used to distinguish one component from another. Thus, what is referred to as a first component in one embodiment may be referred to as a second component in another embodiment. Each embodiment described and illustrated herein also includes its complementary embodiments. Also, the term "and/or" has been used herein to mean including at least one of the components listed before and after.

In the specification, singular expressions include plural expressions unless the context clearly dictates otherwise. In addition, terms such as "comprise" or "have" are intended to specify the presence of a feature, number, step, component, or combination thereof described in the specification, and should not be construed as excluding the presence or addition of one or more other features, numbers, steps, components, or combinations thereof. In addition, the term "connection" is used in the present specification to mean both indirectly connecting multiple components and directly connecting them.

In addition, when describing the present invention below, if it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the gist of the present invention, the detailed description will be omitted.

FIG. 1 is a drawing showing an automatic mounting and dismounting device for automation of a manual moving device according to one embodiment of the present invention, and FIG. 2 is a longitudinal cross-sectional view of the automatic mounting and dismounting device for automation of a manual moving device of FIG. 1.

Referring to FIGS. 1 and 2, an automatic dismounting device (1) for manual movement device automation includes a gripping module (10) and a control module (20).

An automatic mounting and dismounting device (1) for automation of a manual transport device is used by being attached to a manual transport device such as a cart or a wheelbarrow. At this time, the manual transport device does not have its own power source and must be moved by a person directly operating it. Accordingly, a driving mechanism having a power source such as a motor, a wheel driven by the power provided by the power source, etc. is attached to one side of the automatic mounting and dismounting device (1) for automation of a manual transport device, thereby changing the structure of the manual transport device to one in which it can be driven without human power.

Hereinafter, the direction in which the automatic detachment device (1) for manual movement device automation is coupled to the manual movement device is referred to as the front.

The gripping module (10) grips one side of a manual moving device to be coupled, thereby allowing an automatic detachment device (1) for automating the manual moving device to be coupled to the manual moving device. The gripping module (10) includes a gripping part housing (100), an upper gripping part (105), a lower gripping member (106), and a first driver (120).

The gripper housing (100) has a preset length in the vertical direction. A gripper lifting slit (101) is formed on at least one of the left and right outer surfaces of the gripper housing (100). The gripper lifting slit (101) is provided to have a preset length in the vertical direction.

The upper grip section (105) is located at the upper front portion of the grip section housing (100). The upper grip section (105) is provided to extend forward with a preset width in the left and right directions.

A balance sensor (107) is positioned on the front of the gripper housing (100). The balance sensor (107) is positioned adjacent to the upper gripper (105) in the vertical direction. The balance sensor (107) is provided to detect whether there is an object in front and the distance to the object.

The lower gripping member (106) is positioned below the upper gripping member (105). The lower gripping member (106) is connected to the gripping member housing (100) so as to be movable in the vertical direction. The front region of the lower gripping member (106) is provided so that at least a portion thereof overlaps vertically with the upper gripping member (105). Accordingly, by the elevation of the lower gripping member (106), an object positioned between the upper gripping member (105) and the lower gripping member (106) is gripped.

The rear region of the lower grip member (106) may be provided with a shape corresponding to the outer circumference of the front region of the grip unit housing (100), so as to surround the outer side of the grip unit housing (100). A grip lifting connection part (106a) is formed at the rear end of the lower grip member (106) so as to extend toward the grip unit housing (100) and be inserted into a grip lifting slit (101). For example, the grip lifting slit (101) may be formed on both left and right sides of the grip unit housing (100), and the grip lifting connection part (106a) may be positioned in the grip lifting slit (101) in a form that penetrates the grip unit housing (100). A plurality of grip lifting connection parts (106a) may be provided vertically.

A grip assistant module package (110) can be coupled to the upper portion of the lower grip member (106). The grip assistant module (1000) increases the force for gripping an object.

The first actuator (120) is positioned inside the gripper housing (100) and connected to the lower gripper member (106). The first actuator (120) provides power for the lower gripper member (106) to move up and down. For example, the first actuator (120) is provided as a motor and is positioned at the inner lower part of the gripper housing (100). A gripper drive shaft (121) is connected to the first actuator (120). The gripper drive shaft (121) is provided such that its length direction faces the up and down direction. The lower end of the gripper drive shaft (121) is rotatably inserted into the lower support (122). A bearing structure may be positioned between the lower support (122) and the gripper drive shaft (121). The lower support (122) is fixed to the inner surface of the gripper housing (100). The upper end of the gripper drive shaft (121) is rotatably connected to the upper support (123). A bearing structure may be positioned between the upper support (123) and the gripper drive shaft (121). The upper support (123) is fixed to the inner surface of the gripper housing (100).

The gripper drive shaft (121) is inserted through the screw fastening member (106b). The screw fastening member (106b) rises or falls according to the rotation of the gripper drive shaft (121). The screw fastening member (106b) is connected to the gripper lifting connection member (106a). The screw fastening members (106b) may be provided in multiple numbers spaced apart from each other vertically in correspondence with the gripper lifting connection member (106a).

The control module (20) is connected to the phage module (10) and adjusts the vertical height of the phage module (10).

The control module (20) includes a control housing (200), a control connection member (206), a second actuator (220), and a transfer unit mounting member (230).

The adjustment housing (200) has a preset length in the vertical direction. The adjustment housing (200) is positioned adjacent to the rear of the gripping module (10). An adjustable lifting slit (201) is formed on at least one of the left and right outer surfaces of the adjustment housing (200). The adjustable lifting slit (201) is provided to have a preset length in the vertical direction.

The adjusting connecting member (206) is connected to the front region of the gripper housing (100). The adjusting connecting member (206) is movably connected to the adjusting housing (200) in the vertical direction.

The rear region of the adjusting connecting member (206) may be provided with a shape corresponding to the outer circumference of the front region of the adjusting housing (200), so as to surround the outer side of the adjusting housing (200). An adjusting lifting connecting portion (206a) is formed at the rear end of the adjusting connecting member (206) so as to extend toward the adjusting housing (200) and be inserted into an adjusting lifting slit (201). For example, the adjusting lifting slit (201) may be formed on both left and right sides of the adjusting housing (200), and the adjusting lifting connecting portion (206a) may be positioned in the adjusting lifting slit (201) so as to penetrate the adjusting housing (200). A plurality of adjusting lifting connecting portions (206a) may be provided vertically.

The second actuator (220) is positioned inside the control housing (200) and connected to the control connecting member (206). The second actuator (220) provides power for the control connecting member (206) to move up and down. For example, the second actuator (220) is provided as a motor and is positioned at the inner lower portion of the control housing (200). An adjustment drive shaft (221) is connected to the second actuator (220). The control drive shaft (221) is provided such that its length direction faces the up and down direction. The lower end of the control drive shaft (221) is rotatably inserted into the control lower support (222). A bearing structure may be positioned between the control lower support (222) and the control drive shaft (221). The control lower support (222) is fixed to the inner surface of the control housing (200). The upper end of the control unit drive shaft (221) is rotatably connected to the control upper support (223). A bearing structure may be positioned between the control upper support (223) and the control unit drive shaft (221). The control upper support (223) is fixed to the inner surface of the control housing (200).

The control unit drive shaft (221) is inserted through the control screw fastening member (206b). The control screw fastening member (206b) rises or falls according to the rotation of the control unit drive shaft (221). The control screw fastening member (206b) is connected to the control elevation connecting member (206a). The control screw fastening members (206b) may be provided in multiple numbers spaced apart from each other vertically in correspondence with the control elevation connecting member (206a).

The transport mounting portion (230) is located at the lower end of the control housing (200). The transport mounting portion (230) extends outward from the outer surface of the control housing (200) by a preset length. A driving mechanism having wheels or the like may be attached to the transport mounting portion (230).

An automatic mounting/demounting device for manual movement device automation is provided at the bottom of the control module (20). At least two sensors (231) for automatic mounting/demounting device for manual movement device automation are provided and are positioned spaced apart from each other. For example, at least one sensor (231) for automatic mounting/demounting device for manual movement device automation may be positioned at the bottom of the control housing (200) and at least one sensor (231) may be positioned at the bottom of the transport unit mounting unit (230).

Fig. 3 is a drawing showing the phage auxiliary module package of Fig. 1, and Fig. 4 is a longitudinal cross-sectional view of the phage auxiliary module of Fig. 3.

Referring to FIGS. 3 and 4, the phage auxiliary module package (110) is provided in a state in which at least two phage auxiliary modules (1000) are combined. For example, the phage auxiliary module package (110) may be configured such that the phage auxiliary modules (1000) are arranged in the form of two or more rows and two or more columns. FIG. 3 illustrates an example in which the phage auxiliary module package (110) is configured with 5*5 phage auxiliary modules (1000).

The phage auxiliary module (1000) includes a cylinder member (1100), a piston member (1200), an upper magnet (1501), and a lower magnet (1502).

The cylinder member (1100) has a preset length in the vertical direction. A piston insertion space that is open upward is formed on the inside of the cylinder member (1100).

The piston member (1200) is inserted into the piston insertion space of the cylinder member (1100) at the lower end. The piston member (1200) may be provided with a larger cross-sectional area at the upper end than at the lower end. In the piston insertion space, an elastic member (1400) is positioned in the lower lower region of the piston member (1200).

A guide hole (1201) is formed in the lower part of the piston member (1200) in an up-down direction and open toward the bottom. A guide rod (1300) is slidably inserted into the guide hole (1201). The guide rod (1300) is coupled to the cylinder member (1100).

An upper magnet insertion space (1202) is formed at the upper portion of the piston member (1200). An upper magnet (1501) is positioned in the upper magnet insertion space (1202). The upper magnet insertion space (1202) may be provided to be open toward the outside. Accordingly, after the upper magnet (1501) is inserted into the upper magnet insertion space (1202), an upper magnet fixing member (1601) is inserted into a hole formed at the upper portion of the piston member (1200) and the upper magnet (1501), so that the upper magnet (1501) can be fixed.

A lower magnet insertion space (1101) is formed at the bottom of the cylinder member (1100). A lower magnet (1502) is positioned in the lower magnet insertion space (1101). The lower magnet insertion space (1101) may be provided to be open toward the outside. Accordingly, after the lower magnet (1502) is inserted into the lower magnet insertion space (1101), a guide rod (1300) is inserted into a hole formed in the lower portion of the cylinder member (1100) and the lower magnet (1502), so that the lower magnet (1502) can be fixed. The lower magnet (1502) is provided so that the direction facing the upper magnet (1501) has the same polarity, thereby generating a repulsive force.

Figures 5 to 7 are drawings showing a grip assistant module package in a state of gripping different objects, respectively.

Referring to FIGS. 5 to 7, the automatic detachment device (1) for manual movement device automation can more effectively grip the gripping target object through the gripping auxiliary module package (110). That is, when the bottom surface of the gripping target object is flat, as shown in FIG. 5, the piston member (1200) of the gripping auxiliary module (1000) is moved downward by the force applied by the gripping target object. At this time, the elastic member (1400) and the magnet strongly push the piston member (1200) upward, thereby firmly gripping the gripping target object. In addition, when the bottom surface of the gripping target object is not flat, such as in the case of a square or lattice shape, at least two or more of the gripping auxiliary modules (1000) have different degrees of downward movement of the piston member (1200) correspondingly. Accordingly, the upper surface of the phage auxiliary module package (110) has a shape corresponding to the shape of the bottom surface of the phage target object, thereby firmly phage-placing the phage target object.

Figure 8 is a block diagram showing the control relationship of an automatic dismounting device for manual movement device automation.

Referring to Fig. 8, the controller (30) controls the components of the automatic mounting and dismounting device (1) for automation of a manual moving device. The controller (30) detects whether there is an object in front of the gripping module (10) and the distance to the object through the cart sensor (107). The controller (30) operates the first driver (120) to move the lower gripping member (106) up and down. The controller (30) operates the second driver (220) to move the gripping module (10) up and down with respect to the control module (20). The controller (30) detects the inclination of the control module (20) with respect to the vertical direction through the deviation of the signal detected by the sensor (231) of each of the automatic mounting and dismounting devices for automation of a manual moving device.

Figures 9 to 12 are drawings showing a method for an automatic detachment device for a manual moving device to grip a gripping target object that is a manual moving device.

Hereinafter, with reference to FIGS. 9 to 12, a method for an automatic detachment device (1) for manual movement device automation to grip a gripping target object will be described.

First, as shown in Fig. 9, the controller (30) detects the distance between the gripping target object and the gripping module (10) through the balance sensor (107).

Thereafter, as shown in FIG. 10, the controller (30) operates the second actuator (220) to raise the gripping module (10), and at the same time, detects the distance to the gripping target object through the cart sensor (107). Accordingly, the height of the bottom of the gripping target object is detected through the point in time when the distance to the gripping target object detected through the cart sensor (107) becomes shorter.

Thereafter, as shown in FIG. 11, the controller (30) operates the second driver (220) to raise the gripping module (10), and at the same time, detects the distance to the gripping target object through the cart sensor (107). Accordingly, the height of the upper surface of the gripping target object is detected through the point in time when the distance to the gripping target object detected through the cart sensor (107) increases. Thereafter, the controller (30) operates the second driver (220) so that the lower surface of the upper gripping part (105) is positioned corresponding to the upper surface of the gripping target object.

Thereafter, as shown in FIG. 12, the automatic detachment device (1) for automation of a manual moving device moves so that a gripping target object is positioned between the upper grip part (105) and the lower gripping member (106) through a driving mechanism, and the controller (30) operates the first driver (120) to grip the gripping target object. The controller (30) is provided so as to be able to detect a load acting on the first driver (120), and when the load becomes a preset value or more, the position of the lower gripping member (106) can be fixed. In addition, the controller (30) can fix the position of the lower gripping member (106) when the deviation of the measured value detected by each sensor (231) of the automatic detachment device for automation of a manual moving device becomes a preset value or less, and when the load of the first driver (120) becomes a preset value or more.

According to the automatic mounting and dismounting device (1) for automating a manually operated moving device of the present invention, a manually operated moving device that was previously used in a human-pulled manner can be effectively coupled with a driving mechanism having a power source. Accordingly, a conventional manually operated moving device can be converted into an automated device and used by simply connecting it to a driving mechanism.

While the present invention has been described in detail using preferred embodiments, the scope of the present invention is not limited to the specific embodiments described above, and should be interpreted in accordance with the appended claims. Furthermore, those skilled in the art will appreciate that numerous modifications and variations are possible without departing from the scope of the present invention.

10: Phage module 20: Control module
100: gripper housing 105: upper gripper
106: Lower grip member 120: First actuator
200: Adjusting housing 206: Adjusting connecting member
220: Second actuator 230: Transfer unit mounting unit

Claims (6)

delete A gripping module for gripping one side of a manual moving device to be coupled; and an adjustment module connected to the gripping module for adjusting the vertical height of the gripping module.
The above phage module,
A gripper housing having a vertically set length;
An upper grip portion positioned at the front upper portion of the above grip portion housing and extending forward with a preset width in the front-back direction; and
An automatic detachment device for automation of a manual moving device, comprising a lower grip member positioned below the upper grip member and movably connected to the grip member housing in the vertical direction. In the second paragraph,
The above phage module,
A first actuator located inside the above-mentioned phasing unit housing;
Further comprising a gripper drive shaft connected to the first drive unit and having a longitudinal direction provided in an up-down direction,
An automatic detachment device for automation of a manual moving device connected to the grip part drive shaft, wherein the lower grip member can move up and down according to the rotation of the grip part drive shaft. In the second paragraph,
The above phage module,
An automatic dismounting device for automated manual movement, further comprising a cart sensor positioned at the front of the above-mentioned gripper housing for detecting a distance to an object positioned in front. A gripping module for gripping one side of a manual moving device to be coupled; and an adjustment module connected to the gripping module for adjusting the vertical height of the gripping module.
The above phage module,
A gripper housing having a vertically set length;
An upper grip portion positioned at the front upper portion of the above grip portion housing and extending forward with a preset width in the front-back direction; and
A lower grip member is positioned below the upper grip section and is connected to the grip section housing so as to be movable in the vertical direction,
The above control module,
An adjustable housing having a vertically adjustable length;
An automatic dismounting device for automated manual movement, the front region being coupled to the above-mentioned phage module and including an adjustable connecting member movably connected to the above-mentioned adjustment housing in the vertical direction. In paragraph 5,
The above control module,
A second actuator positioned inside the above control housing;
Further comprising a control unit drive shaft connected to the second drive unit and having a longitudinal direction provided in an up-down direction,
An automatic detachable device for automating a manual movement device connected to the driving shaft of the controlling unit, wherein the above-mentioned adjusting connecting member is capable of moving up and down according to the rotation of the driving shaft of the controlling unit.