Payload transportation device
Disclosed is a payload transportation device for transporting a payload, which has a low height and in which driving wheels are configured to come into constant contact with a ground surface even when the ground surface is uneven. The payload transportation device includes a loading plate above which a payload is loaded, a lift-driving portion configured to generate a driving force to vertically lift the loading plate, a first assembly configured to support a bottom of one side of the loading plate and in which some components included in the lift-driving portion are provided, a second assembly configured to support a bottom of the other side of the loading plate and in which other components included in the lift-driving portion are provided, hinge portions configured to connect the first assembly to the second assembly in a hinge structure, at least a pair of driving wheels coupled to both sides of a bottom of any one of the first assembly and the second assembly, and a driving unit configured to rotate the driving wheels.
1. A payload transportation device comprising:
a loading plate ( 110 ) above which a payload is loaded;
a lift-driving portion ( 200 ) configured to generate a driving force to vertically lift the loading plate;
a first assembly ( 1 ) configured to support a bottom of one side of the loading plate and in which some components included in the lift-driving portion ( 200 ) are provided;
a second assembly ( 2 ) configured to support a bottom of the other side of the loading plate and in which other components included in the lift-driving portion ( 200 ) are provided;
hinge portions ( 3 a , 3 b ) configured to connect the first assembly ( 1 ) to the second assembly ( 2 ) in a hinge structure;
at least a pair of driving wheels ( 341 , 342 ) coupled to both sides of a bottom of any one of the first assembly ( 1 ) and the second assembly ( 2 ); and
a driving unit configured to rotate the driving wheels ( 341 , 342 ),
wherein a first assembly housing configured to support the some components included in the lift-driving portion ( 200 ) is provided in the first assembly ( 1 ),
wherein a second assembly housing configured to support the other components included in the lift-driving portion ( 200 ) is provided in the second assembly ( 2 ), and
wherein the hinge portions ( 3 a , 3 b ) hinge-connect the first assembly housing to the second assembly housing to be relatively rotatable.
2. The payload transportation device of claim 1 , wherein the lift-driving portion ( 200 ) comprises:
a lift-driving unit ( 210 ) configured to generate a driving force to vertically lift the loading plate;
a first power transmission portion ( 230 ) configured to transmit the driving force of the lift-driving unit ( 210 ) to apply a vertical lifting force to one side of the bottom of the loading plate; and
a second power transmission portion ( 250 ) configured to transmit the driving force of the lift-driving unit ( 210 ) to apply a vertical lifting force to the other side of the bottom of the loading plate.
3. The payload transportation device of claim 2 , wherein the first power transmission portion comprises rotational shafts ( 231 - 1 , 231 - 2 ) rotated by the driving force of the lift-driving unit ( 210 ), cam members ( 232 , 233 ) rotated by the rotational shafts ( 231 - 1 , 231 - 2 ), and lifting members ( 235 , 236 ) configured to linearly move upward or downward due to rotations of the cam members ( 232 , 233 ), and
wherein the second power transmission portion comprises rotational shafts ( 251 - 1 , 251 - 2 ) rotated by the driving force of the lift-driving unit ( 210 ), cam members ( 252 , 253 ) rotated by the rotational shafts ( 251 - 1 , 251 - 2 ), and lifting members ( 255 , 256 ) configured to linearly move upward or downward due to rotations of the cam members ( 252 , 253 ).
4. The payload transportation device of claim 2 , wherein a deceleration portion ( 220 ) configured to reduce a rotation speed of the lift-driving unit ( 210 ) is provided, and
wherein the deceleration portion ( 220 ), the first power transmission portion ( 230 ), and the second power transmission portion ( 250 ) are formed in a shape of the letter H so that four edges of the loading plate are lifted by the driving force of the lift-driving unit ( 210 ).
5. The payload transportation device of claim 4 , wherein the deceleration portion ( 220 ) comprises:
a first decelerator ( 221 ) connected to a motor shaft of the lifting motor and configured to transmit rotation of the lifting motor to rotational shafts ( 226 - 1 , 226 - 2 , 226 - 3 ) which meet the motor shaft at a right angle;
a second decelerator ( 222 ) connected to one end of the rotational shafts ( 226 - 1 , 226 - 2 , 226 - 3 ) and configured to transmit rotations of the rotational shafts ( 226 - 1 , 226 - 2 , 226 - 3 ) to rotational shafts ( 231 - 1 , 231 - 2 ) of the first power transmission portion ( 230 ), which meet the rotational shafts ( 226 - 1 , 226 - 2 , 226 - 3 ) at a right angle; and
a third decelerator ( 223 ) connected to the other end of the rotational shafts ( 226 - 1 , 226 - 2 , 226 - 3 ) and configured to transmit the rotations of the rotational shafts ( 226 - 1 , 226 - 2 , 226 - 3 ) to rotational shafts ( 251 - 1 , 251 - 2 ) which meet the rotational shafts ( 226 - 1 , 226 - 2 , 226 - 3 ) at a right angle and are provided, to be parallel, at positions facing the rotational shafts ( 231 - 1 , 231 - 2 ).
6. The payload transportation device of claim 2 , wherein the lift-driving portion ( 200 ) further comprises a deceleration portion ( 220 ) having one end, to which the first power transmission portion ( 230 ) is connected, and having the other end, to which the second power transmission portion ( 250 ) is connected, and configured to reduce a rotational speed of the lift-driving unit ( 210 ),
wherein the deceleration portion ( 220 ) and the first power transmission portion ( 230 ) are provided in the first assembly ( 1 ), and
wherein the second power transmission portion ( 250 ) is provided in the second assembly ( 2 ).
7. The payload transportation device of claim 1 , wherein the lift-driving portion comprises a lift-driving unit ( 210 ) configured to generate a rotational force to vertically lift the loading plate,
wherein at least one pair of rotational shafts ( 226 - 1 , 226 - 2 ) configured to transmit a rotational force of the lift-driving unit ( 210 ) to the components included in the lift-driving portion ( 200 ) provided in the second assembly ( 2 ) are provided in the first assembly ( 1 ), and
wherein a first coupler ( 227 ) configured to allow a position of the loading plate being lifted by the first assembly ( 1 ) to coincide with a position of the loading plate being lifted by the second assembly ( 2 ) and then to couple the pair of rotational shafts ( 226 - 1 , 226 - 2 ) is connected between the pair of rotational shafts.
8. The payload transportation device of claim 7 , wherein the first coupler ( 227 ) comprises:
a plurality of internal pressurizing members ( 227 - 5 , 227 - 6 ) configured to come into contact with outer surfaces of the pair of rotational shafts ( 226 - 1 , 226 - 2 ) and to each have a wedge-shaped outer surface; and
a plurality of external pressurizing members ( 227 - 3 , 227 - 4 ) having wedge-shaped inner surfaces to come into contact with the wedge-shaped outer surfaces of the internal pressurizing members ( 227 - 5 , 227 - 6 ), and
wherein when the external pressurizing members ( 227 - 3 , 227 - 4 ) are moved in an axial direction of the rotational shafts ( 226 - 1 , 226 - 2 ), the internal pressurizing members ( 227 - 5 , 227 - 6 ) pressurize the rotational shafts ( 226 - 1 , 226 - 2 ) in a radial direction so that the pair of rotational shafts ( 226 - 1 , 226 - 2 ) are coupled.
9. The payload transportation device of claim 1 , wherein the lift-driving portion comprises a lift-driving unit ( 210 ) configured to generate a rotational force to vertically lift the loading plate,
wherein at least one pair of rotational shafts ( 226 - 2 , 226 - 3 ) configured to transmit the rotational force of the lift-driving unit ( 210 ) to the components included in the lift-driving portion ( 200 ) provided in the second assembly ( 2 ) are provided in the first assembly ( 1 ); and
wherein a second coupler ( 228 ) configured to absorb a deviation angle at which the pair of rotational shafts ( 226 - 2 , 226 - 3 ) deviate from an axial direction while absorbing eccentricity of the pair of rotational shafts ( 226 - 2 , 226 - 3 ) in a lateral direction perpendicular to the axial direction is connected between the pair of rotational shafts ( 226 - 2 , 226 - 3 ).
10. The payload transportation device of claim 1 , wherein the lift-driving portion comprises a lift-driving unit ( 210 ) configured to generate a rotational force to vertically lift the loading plate,
wherein rotational shafts ( 226 - 1 , 226 - 2 , 226 - 3 ) configured to transmit the rotational force of the lift-driving unit ( 210 ) to the components included in the lift-driving portion ( 200 ) provided in the second assembly ( 2 ) are provided in the first assembly ( 1 ),
wherein a decelerator ( 223 ) configured to reduce a rotational speed transmitted from the rotational shafts ( 226 - 1 , 226 - 2 , 226 - 3 ) is provided in the second assembly ( 2 ), and
wherein the rotational shafts ( 226 - 1 , 226 - 2 , 226 - 3 ) are connected to a slide groove ( 223 a ) of the decelerator ( 2230 ) to transmit the rotational force while sliding in an axial direction.
11. The payload transportation device of claim 1 , wherein the lift-driving portion comprises:
a lift-driving unit ( 210 ) configured to generate a rotational force to vertically lift the loading plate;
a first power transmission portion ( 230 ) in which cam members ( 232 , 233 ) rotated by the rotational force of the lift-driving unit ( 210 ) and each including a cam protruding portion protruding from a position eccentric from a center and a guide groove in which the cam protruding portion is inserted are formed to apply a vertical lifting force to one side of a bottom of the loading plate due to lifting members ( 235 , 236 ) linearly moving upward or downward when the cam members ( 232 , 233 ) rotate and which is provided in the first assembly ( 1 ); and
a second power transmission portion ( 250 ) in which cam members ( 252 , 253 ) rotated by the rotational force of the lift-driving unit ( 210 ) and each including a cam protruding portion protruding from a position eccentric from a center and a guide groove in which the cam protruding portion is inserted are formed to apply a vertical lifting force to the other side of the bottom of the loading plate due to lifting members ( 255 , 256 ) linearly moving upward or downward when the cam members ( 252 , 253 ) rotate and which is provided in the second assembly, and
wherein when the cam members ( 232 , 233 ) and the cam members ( 252 , 253 ) rotate 360 degrees, positions of the cam protruding portions of in the guide grooves vary.
12. The payload transportation device of claim 1 , wherein a pair of first driven wheels ( 343 a , 343 b ) are coupled to a bottom surface of the first assembly ( 1 ),
wherein a pair of second driven wheels ( 344 a , 344 b ) are coupled to a bottom surface of the second assembly ( 2 ),
wherein the driven wheel ( 343 a ) on one side and the driven wheel ( 343 b ) on the other side, which are included in the pair of first driven wheels ( 343 a , 344 b ), are pivotable about a driven wheel central shaft ( 345 ) having a length in a direction perpendicular to hinge shafts ( 350 a , 350 b ), and
wherein the driven wheel ( 344 a ) on one side and the driven wheel ( 344 b ) on the other side, which are included in the pair of second driven wheels ( 344 a , 344 b ), are pivotable about a driven wheel central shaft ( 346 ) having a length in a direction perpendicular to the hinge shafts ( 350 a , 350 b ).