KR20250024034A - transporter for goods or carrier for child for using sit down mode easily - Google Patents

Abstract

The present invention provides a transport device including: a support for supporting an infant or an article; a leg part in the form of a leg, which is connected to the support part in both directions at the upper side and is connected to a floor surface at the lower side; a knee joint part in the form of a knee, one side of which is connected to the upper leg part so as to be angle-adjustable according to a moving state, and the other side of which is connected to the lower leg part; first and second support links which are connected to the left and right sides of the leg part through first and second wires and are configured symmetrically on both sides, one end of which is fixed to a support substrate through a fixed hinge axis and connects the wire to one side to perform a lever function; and first and second spring parts which are configured symmetrically on both sides and are connected to the first and second support links through the first and second link hinge axes to provide elasticity.

Description

Wearable transporter for goods or carrier for child for using sit down mode easily

The present invention relates to a wearable transportation device, and more specifically, to a wearable transportation device that can freely switch between a walking mode and a sitting mode when moving while supporting an infant or transporting a heavy object such as a parcel.

Amid the spread of COVID-19, the need for a non-face-to-face environment has increased, and courier services have played a major role in this.

Along with the rapid growth of the courier market, there have been a series of deaths of courier workers presumed to be due to overwork since 2020, leading to calls for preventing overwork and improving the working environment of courier workers.

For example, most delivery workers suffer from back pain during the process of delivering many packages to consumers, and this needs to be addressed. This back pain can occur not only when delivery workers climb up and down stairs or move while carrying heavy loads, but also when they lift heavy loads in an awkward posture in a short period of time.

Currently, delivery workers are solving the aforementioned problem by transporting parcels using transport devices such as small carts, but this still causes inconvenience to users as it cannot be used when lifting heavy loads and the transport devices are turned off.

Recently, portable transport devices that can be used for various purposes such as carrying parcels or as infant carriers with wearable mechanisms have been provided.

In addition, when transporting items for delivery, lifting and lowering of items frequently occurs, so the need for free switching between walking and sitting modes is increasing.

Korean Patent No. 10-1829876 United States Patent Publication No. US2018/00020843

The present invention reflects the above-mentioned needs, and the purpose of the present invention is to provide a transportation device that can freely switch between walking mode and sitting mode with a small force when supporting an infant or transporting a heavy object such as a parcel by using a wire that is wearable and connected to a leg portion and one or more support links having one side connected to the wire, so that the support links function as a lever and amplify force.

In addition, the purpose is to provide a transport device that provides user convenience by allowing the user to freely switch between walking mode and sitting mode while supporting the weight of an infant or an item to be transported through a cam follower structure and a wire connection.

To this end, a transport device is provided, which includes: a support section for supporting an infant or an article; a leg section in the form of a leg, which is connected to the support section in both directions at the upper side and is connected to the floor surface at the lower side; a knee joint section in the form of a knee, one side of which is connected to the upper leg section so as to be angle-adjustable according to a moving state, and the other side of which is connected to the lower leg section; first and second support links which are connected to the left and right sides of the leg section through first and second wires and are configured symmetrically on both sides, one end of which is fixed to a support substrate through a fixed hinge axis and connects the wire to one side to perform a lever function; and first and second spring sections which are configured symmetrically on both sides and are connected to the first and second support links through the first and second link hinge axes to provide elasticity.

In addition, it may include: a first and second cam configured to be symmetrical left and right; a first and second motor connected to the first and second cams through the first and second cam rotation axes as drive shafts and driving the first and second cam rotation axes to rotate the first and second cams; a first and second cam follower that moves linearly in the direction of gravity according to the rotational motion of the first and second cams; and a control unit that controls the driving of the first and second motors to control a walking mode and a sitting mode according to the operations of the first and second cam followers.

In addition, the first and second cam followers are composed of the first and second support links and the first and second spring portions, the first and second support links support the first and second cams while in contact with each other, and the first and second spring portions are connected to the first and second support links through the first and second link hinge axes to provide a restoring force in a direction opposite to the movement of the first and second cam followers.

In addition, the control unit may use any one of the diameter size of the cam, the position at which the wire is connected to the support link, and the installation position of the link hinge axis to which the cam and the spring are connected when controlling the motor.

In addition, the wire tension can be increased and the output value of the motor can be decreased by increasing the diameter size of the cam, keeping the diameter size of the cam the same but shifting the position where the wire is connected to the support link from the horizontal direction to the right, or shifting the installation position of the link hinge axis where the cam and the spring are connected from the horizontal direction to the right.

Additionally, the invention may further include an encoder for measuring a rotation angle of the wire in the current walking or sitting motion of the user.

In addition, the device further includes a mode input section for allowing a user to select a walking mode or a sitting mode, and the control section compares a set value in the mode selected through the mode input section with a rotation angle value measured by the encoder, and controls the operation of the cam follower through the motor control so that the measured rotation angle value is within a range less than or equal to the set value in the selected mode.

The major problem-solving means of the present invention as described above will be explained more specifically and clearly through examples such as the 'specific contents for implementing the invention' described below or the attached 'drawings', and at this time, in addition to the major problem-solving means as described above, various problem-solving means according to the present invention will be additionally presented and explained.

The present invention provides convenience to the user by making it easy to switch between a walking mode and a sitting mode for moving an item while wearing an infant carrier or an item transport device, thereby making it easy to freely switch when walking while supporting a considerable weight such as an item load or lifting or putting down an item as needed.

In addition, in the present invention, the control unit can be applied to cases where the output value of the motor is small, such as when the wire acts as a lever, through the motor and cam follower operation in the mode conversion unit connected to the bridge unit through the wire, so that it can be implemented as a compact small device and the output value can be reduced, so that the battery as a power supply device has the advantage of being sufficient even with a low rated power.

Figure 1 is a schematic diagram showing a wearable transport device (100) in its basic form.
Figure 2 is a schematic diagram showing a transport device (200) according to a preferred embodiment of the present invention.
Figure 3 is a flow chart showing the control process of the walking mode (mode1) and the sitting mode (mode2) in the transport device (200) of Figure 2.
FIG. 4 is a drawing explaining the walking mode (mode 1) of the transport device (200) of FIG. 2.
Figure 5 is a diagram showing the limb phase in the walking mode (mode 1) of Figure 4.
FIGS. 6 and 7 are drawings explaining the sitting mode (mode 2) of the transport device (200) of FIG. 2.
Figure 8 is a drawing showing the rim state in the sitting mode (mode 2) of Figures 6 and 7.

The advantages and features of the present invention, and the method for achieving them, will become clear with reference to the embodiments described in detail below together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and these embodiments are provided only to make the disclosure of the present invention complete and to fully inform a person having ordinary skill in the art to which the present invention belongs of the scope of the invention, and the present invention is defined only by the scope of the claims.

Although the terms first, second, etc. are used to describe various components, it is to be understood that these components are not limited by these terms. These terms are merely used to distinguish one component from another. Accordingly, it is to be understood that the first component referred to below may also be the second component within the technical concept of the present invention.

Throughout the specification, identical reference numerals refer to identical components.

The size and thickness of each component shown in the drawings are illustrated for convenience of explanation, and the present invention is not necessarily limited to the size and thickness of the illustrated components.

The individual features of the various embodiments of the present invention may be partially or wholly combined or combined with each other, and as can be fully understood by those skilled in the art, various technical connections and operations are possible, and each embodiment may be implemented independently of each other or may be implemented together in a related relationship.

Hereinafter, preferred embodiments of the present invention will be described with reference to the attached drawings.

FIG. 1 is a drawing showing a wearable transport device (100) in its basic form, showing the basic structure or skeletal structure of the entire device. An external housing covering it may be added to add an aesthetic or decorative design, but this will be omitted and explained mainly with the basic structure.

Referring to FIG. 1, a material transport device (100) comprises a support member (110) for supporting a part of an infant's body (mainly an infant's buttocks), such as an infant's legs or buttocks, or for supporting an item to be transported, such as a parcel, a movement assistance member (120) that is connected to the support member (110) in both directions on the left and right sides and adjusts an angle according to a walking or driving state while distributing the weight of the infant or the load of the item on the support member (110) according to the user's movement state, thereby facilitating movement, and a leg member (150) that is connected to the movement assistance member (120) and a floor contact member (140) and connects an uppermost support member (110) and a lowermost floor support member (140) in the form of a leg overall.

In addition, in the form of a knee, one side is combined with an upper movement assistance part (120) so that the angle can be adjusted according to the movement state, and the other side includes a knee joint part (130) that is combined with a lower leg part (150). That is, the upper movement assistance part (120) and the lower leg part (150) are connected through the knee-type knee joint part (130).

This transport device (100) can be utilized as a baby carrier or a device for transporting various types of items, and the following description focuses on transporting items.

At this time, the transport device (100) is a wearable mechanism, and the wearing form is configured in various forms. For example, the leg part (150) may form a first shin support (not shown) or a second shin support (not shown) as a housing. In addition, the first shin support may be used as a support on the upper thigh so as to be able to move up and down, and may be connected to the transport device (100) on the shin or thigh through a string or a tightening belt.

The leg part (150) is formed as a pair of two symmetrically formed legs on the left and right sides, connected to the bottom surface support part (140) so as to be supported on the bottom surface, and connected to the support part (110) that supports the load of the object at the top. At this time, the leg part (150) is a skeleton-shaped connecting structure, and since it is a support structure composed of a rod as a rod-type structure, a material such as metal or rigid plastic can be used.

In addition, the leg part (150) can easily form a stable support structure by supporting the upper load of an item through the support part (110) and distributing the force received from the load of the item to the floor surface by the bottom surface contact part (140).

In addition, the leg part (150) is adjustable in length, that is, depending on whether the user is sitting or standing, the length needs to be adjusted to the user's height when maintaining a standing state or according to the height of the supporting body part such as the user's thigh, hip, or waist. In addition, the length needs to be adjusted according to the height when the user is sitting. In addition, the leg part (150) can be implemented as an elastic structure capable of absorbing shock.

In addition, the leg part (150) is connected to the support part (110) in both directions on the left and right sides at the top, and a movement assistance part (120) is formed to adjust the angle according to the walking or driving state while distributing the load of the goods on the support part (110) according to the user's movement state in a wearable manner to facilitate movement. At this time, the transport device (100) according to the present invention is a wearable structure that supports a considerable weight, such as the load of the goods, through the movement assistance part (120) and distributes the load of the goods according to the user's movement state when walking or driving, thereby reducing the weight burden (the weight of the infant's weight or the load of the goods) of approximately 20 kg or more when the user moves.

In addition, it has a floor contact portion (140) that is combined with one side of the leg portion (150) to come into contact with a floor surface such as the ground and stably supports the floor surface. At this time, the floor contact portion (140) may further include a bottom plate (not shown) at the bottom, and an ankle joint portion (not shown) at the connection portion between the leg portion (150) and the bottom plate. In addition, the ankle joint portion allows the bottom plate to rotate at a predetermined angle on the ground so as to freely move up and down or left and right. In addition, the floor contact portion may be formed as a footrest structure that supports the user's feet. In addition, it may be formed as an arch-shaped structure, etc. to disperse the force of the weight of an infant or the load of an item transmitted by the leg portion (150).

In addition, the support part (110) is a part that can support a baby while the baby is placed in the carrier, and can be configured in various ways depending on the implementation conditions, including a plate-shaped structure that can raise the baby's legs, and a chair structure that the baby can sit in. In addition, the support part (110) can be configured by adding a cushion material or a similar structure to the part that the baby's body touches, such as the feet or buttocks. In addition, the support part (110) can additionally be configured with a safety wearable item, such as a belt, that can be worn by the baby to prevent the baby from falling.

In addition, if the support (110) is for transporting goods, a frame surrounding the entire body may be formed to prevent falling when transporting goods, or additionally, a string bundling structure or a box structure for transporting goods may be added to secure the goods to the support. This support (110) may basically be composed of a hard synthetic resin or a lightweight metal material capable of supporting and transmitting a load, and it is preferable that a cushion material is added to the part that mainly touches the buttocks of an infant or the buttocks or waist of a user.

In particular, the present invention provides convenience to the user by facilitating mode switching between walking mode (mode 1) and sitting mode (mode 2) when lifting a heavy load for transporting goods or putting down a heavy load at a delivery location while using the wearable transport device of FIG. 1 in its basic form, which will be described in detail below.

Figure 2 is a schematic diagram showing a transport device (200) according to a preferred embodiment of the present invention.

Referring to FIG. 2, a transport device (200) according to a preferred embodiment of the present invention comprises: a support section for supporting an infant or an article; a leg section including first and second wire jigs that are connected in both directions to the support section at the upper portion in the form of a leg and connected to a bottom surface at the lower portion and connected through first and second wires (218) to fix the wires; a knee joint section having one side coupled to the upper leg section and capable of adjusting an angle according to a moving state and the other side coupled to the lower leg section; first and second support links that are connected to the left and right sides (220) of the leg section through the first and second wires (218), are fixed to the second wire jig (222b), penetrate the first wire jig (222a), are configured symmetrically on both sides, and have one end fixed to a support substrate through a fixed hinge axis and have the wire connected to one side to perform a lever function; It may include first and second spring sections configured symmetrically left and right and connected through the first and second support links and the first and second link axes to provide elastic force.

In particular, it can be composed of a mode conversion unit (210) attached to the user's back, and a leg unit (220) connected to the mode conversion unit (210) on both sides by wires.

As shown in Fig. 2a, the mode conversion unit (210) is a pair of structures configured symmetrically on the left and right, and includes a cam (211) and a motor (213) that is connected to the cam (211) through a cam rotation shaft (212) as a driving shaft and drives the cam rotation shaft (212) to rotate the cam (211).

In addition, the support link (214) is fixed to the support substrate through the fixed hinge axis (214a) at the right edge, and the wires connected to the leg portion (220) on both sides are connected to one side, so that the support link (214) can perform the role of a lever. That is, since the support link (214) can perform the lever function, if the force of the wire is 100 kg, the gas spring can perform with a force of about 50 kg. In addition, by installing a plurality of support links (214) or adjusting the plate length of the support link (214), the force required for the gas spring as a lever function can be reduced by 1/2, 1/3, .... 1/10, etc. in proportion to the force of the wire. Through this, the gas spring can be implemented in a compact and small size or with a low capacity, so that the same function can be performed at a low cost.

Here, the cam (211) has a disc shape as a cam structure and has a cam rotation axis (212) within the circular cross-section of the cam, and since the cam (211) from the lower part makes cross-sectional line contact or surface contact with the support link (214) and the gas spring (215) to which the wire (218) is connected on one side, and presses the gas spring, the tension of the taut wire can be relieved. The operating principle of the disc cam and the follower is as follows. That is, the disc cam (211) that rotates clockwise through the cam rotation axis (212) according to the driving control of the motor (213), and the follower of the disc cam that moves linearly in the direction of gravity according to the predetermined angular rotational movement of the disc cam (211) in the counterclockwise direction are provided. This follower is provided with a support link (214) that supports while in contact with the above-described disc cam (211), and a gas spring (215) that is connected to the support link (214) through a link hinge shaft (216) to provide a restoring force in the opposite direction to the cam follower movement. At this time, the upper part of the gas spring (215) is connected to the support link (214) through the link shaft (216), and the lower part is fixed through the support shaft (217). The support shaft (217) does not rotate, but serves as a support shaft to fix and support the gas spring (215) at a predetermined position.

In addition, it provides switching between walking mode (mode 1) and sitting mode (mode 2) depending on the operation of the cam follower. For example, when a user lifts or puts down an object, there is a preload of a gas spring transmitted through a wire from a transport device, so there is a stiff feeling due to the taut wire tension. At this time, by pressing the gas spring through the operation of the cam follower, the first and second wires on the left and right sides connected to the support link are loosely connected from the previous taut wire tension state, thereby removing the reaction force of the gas spring.

In addition, in the mode conversion unit (210), the cam follower operation can be configured such that the first and second wires (218a, 218b) on the left and right sides and the left and right leg parts (220) connected to the first and second wires, respectively, are mutually symmetrically configured.

In addition, the mode conversion unit (210) can be configured such that the cam follower operation is symmetrically configured with the first and second wires (218a, 218b) on the left and right sides and the left and right leg parts (220) connected to the first and second wires, respectively.

Meanwhile, as illustrated in FIG. 2b, the leg part (220) is connected to a support part (not illustrated) that supports an item to be transported and is connected to a floor contact part (not illustrated), and connects the uppermost support part and the lowermost floor support part in the overall leg shape. At this time, the leg part (220) can be divided into an upper leg part and a lower leg part by separating the leg part (220) through a knee-type knee joint part (211). That is, the upper leg part can perform the role of a thigh at the upper part, and the lower leg part can perform the role of a shin at the lower part, so that the upper leg part and the lower leg part are connected through the knee joint part (221), and can be rotated at a predetermined angle so that the user can bend the body or implement a sitting mode, etc., to improve the convenience of the user.

As described in Fig. 1, the above support member can support a part of the infant's body (mainly the infant's buttocks), such as the infant's legs or buttocks, or can support an item to be transported, such as a delivery item.

In addition, the upper and lower leg parts connected to the knee joint part (221) may be configured with the same configuration in a symmetrical structure. For example, the upper and lower leg parts are hollow rod-type structures having an upper load part (224) and a lower load part (225). Here, the upper and lower load parts (224, 225) may be made of metal or a rigid plastic material. Next, the upper load part (224) and the lower load part (225) are connected through the knee joint part (221), and at this time, the knee joint part (221) may have an upper hinge axis (226a) connected to the upper load part (224) and a lower hinge axis (226b) connected to the lower load part (225). That is, it can rotate at a predetermined angle within a range of 0 to 180° through the upper/lower hinge axes (226a, 226b) connecting the knee joint (2121) and the leg (220).

Alternatively, the upper hinge axis (226a) connected to the upper load portion (224) of the knee joint portion (221) is connected to the first joint connection portion (227a) and supported by being connected to the upper leg portion, and the lower hinge axis (226b) connected to the lower load portion (225) is connected to the second joint connection portion (227b) and supported by being connected to the lower leg portion.

At this time, first and second hinge holes of predetermined diameters are formed at the centers of the upper and lower hinge axes (226a, 226b), and the upper hinge axis (226a) of the first joint connecting portion (227a) is connected by penetrating through the first hinge hole and is combined, and the lower hinge axis (226b) of the second joint connecting portion (227) is connected by penetrating through the second hinge hole.

In addition, the upper rod part (224) connected to the upper hinge axis (226a) may further have an external housing added to form a through hole on one side through punching, insert a headless bolt into the through hole, and connect it to the upper rod part (224) through the headless bolt. In addition, the second joint connection part (227b) may further have an external housing added to form a through hole on one side through punching, insert a headless bolt into the through hole, and connect it to the lower rod part (225) through the headless bolt.

In addition, the amount of rotation of the upper and lower hinge axes (226a, 226b) of the knee joint (221) is set to correspond to the variable length of the upper load part (224) of the upper leg part depending on the user's walking state, so that the amount of rotation can be adjusted according to the variable length of the hinge axes.

In addition, the leg section (220) is connected to the upper mode conversion section (210) through the first and second wires (218a, 218b), and may be provided with first and second wire jigs (222a, 222b) that fix the first or second wires (218a, 218b) to the upper leg section and the lower leg section, respectively. At this time, the mode conversion section (210) controls the tension of the first and second wires (218a, 218b) through the operation of the cam follower, and thereby controls the generation of a reaction force.

In addition, the upper part of the leg part (220) may further include a movement assistance part (120) that is connected in both directions on the left and right sides of the support part (110) and adjusts the angle according to the walking or driving state while distributing the weight of the infant or the load of the object on the support part (110) according to the user's movement state, thereby facilitating movement.

FIG. 3 is a flow chart showing a control process of a walking mode (mode 1) and a sitting mode (mode 2) in the transport device (200) of FIG. 2, FIG. 4 is a drawing explaining a walking mode (mode 1) in the transport device (200) of FIG. 2, FIG. 5 is a drawing explaining a limb phase in the walking mode (mode 1) of FIG. 4, FIGS. 6 and 7 are drawings explaining a sitting mode (mode 2) in the transport device (200) of FIG. 2, and FIG. 8 is a drawing explaining a limb phase in the sitting mode (mode 2) of FIGS. 6 and 7.

Referring to FIGS. 3 to 8, the control operations of the walking mode and the sitting mode in the transport device (200) according to a preferred embodiment of the present invention will be examined.

First, a transport device (200) according to a preferred embodiment of the present invention includes a mode input unit (not shown) that allows a user to select a walking mode or a sitting mode, an encoder (not shown) that measures a rotation angle of the wire in the user's current walking or sitting motion, and a control unit that compares a set value in the selected mode with a rotation angle value measured by the encoder and controls the operation of the cam follower through the motor control loop so that the measured rotation angle value is maintained below the set value.

Referring to FIGS. 3 to 5, when the user first selects the walking mode (S101), the initial value of the user's walking mode is θ _mode1 ≤ 90°, and at the initial value θ _mode1 , the gas spring is initially preloaded and does not stretch, but is stiff, and a reaction force is generated when the user is in the walking mode, so that a lot of force is applied to the user when transporting an object using the transport device. Accordingly, as illustrated in FIG. 5, the wire setting value θ _knee1 ≤ 35° at the knee joint part (211) is used so that the reaction force of the gas spring of the cam follower is not generated. At this time, the setting value means the rotation angle generated by the wire movement according to the user's walking motion in the vertical line of the direction of gravity as the knee angle, and when the setting value as the knee angle is θ _knee1 , that is, 35° or less, there is no wire tension, the gas spring reaction force is not generated, and the walking mode can be easily implemented without preheating the gas spring.

Then, when the user starts walking, the current knee angle (wire rotation amount) while the user is walking is measured through the encoder, and the wire rotation angle is received as the measured knee angle. If the currently received wire rotation angle exceeds 35°, the control unit drives the motor to rotate the cam counterclockwise by θ _mode1, and maintains the wire rotation angle to be less than θ _knee1 (≤ 35°) at which no tension is generated through cam follower operation (S102, S103, S104).

For example, referring to FIG. 4a, when the motor rotates the disc cam (211) counterclockwise by θ _mode1 so that no reaction force is generated from the gas spring in the user walking mode, the support link (214) in direct contact with the disc cam (211) is inclined more upwardly in the direction of gravity (vertical direction from the ground) to pull the wire (215), and according to the rotation of the link hinge axis (216) connected to the support link (214), the gas spring (215) is tensioned in the opposite direction of the cam follower movement (downward in the direction of gravity) so that no reaction force is generated. Accordingly, the wire state is relaxed from a state where the mutual tensile force is tight, and the wire is somewhat loosened, thereby reducing the load on the gas spring. In this loosened state, the wire makes it easy to walk in the walking motion in the user walking mode.

Referring to FIGS. 3 and 6 to 8, when the user selects the sitting mode, the initial value of the user sitting mode is θ _mode2 ≤ 90°, and at the initial value θ _mode2 , the initial gas spring is preloaded and does not stretch, and is stiff, so that a reaction force is generated when the user is in the sitting mode, and therefore, when the user performs the sitting mode to lift an object using a transport device, a lot of force is applied to the user, making it difficult to bend the knees. Accordingly, as illustrated in FIG. 8, the wire setting value θ _knee2 ≤ 45° at the knee joint part (211) is used so that the reaction force of the gas spring of the cam follower is not generated. At this time, the setting value means the rotation angle generated by the wire movement according to the user's sitting motion in the vertical line of the direction of gravity as the knee angle, and when the setting value as the knee angle is θ _knee2 , that is, 45° or less, there is no wire tension and the gas spring reaction force is not generated, so that a comfortable sitting angle can be maintained without preheating the gas spring. Next, the user starts a sitting motion, and the knee angle (wire rotation amount) in the current user sitting motion is measured through an encoder, and the wire rotation angle is received as the measured knee angle.

Next, if the current wire rotation angle exceeds 45°, the control unit drives the motor to rotate the cam counterclockwise by θ _mode2 and maintains the wire rotation angle to a value less than or equal to θ _knee2 (≤ 45°) at which no tension is generated through cam follower operation (S202, S203, S204, S205, S206).

For example, referring to FIG. 6A, when the motor rotates the disc cam (211) counterclockwise by θ _mode2 so that no reaction force is generated from the gas spring in the user sitting mode, the support link (214) in direct contact with the disc cam (211) is tilted more upward in the direction of gravity (vertical direction from the ground) to pull the wire (215), and the gas spring (215) is tensioned in the opposite direction of the cam follower movement (downward in the direction of gravity) according to the rotation of the link hinge axis (216) connected to the support link (214) so that no reaction force is generated. Accordingly, the wire state is relaxed from a state where the mutual tensile force is tight, and the wire is somewhat loosened, thereby reducing the load on the gas spring. In this loosened state, the sitting motion is made easy in the user sitting mode.

Here, in FIGS. 7 and 8, θ _end refers to a state of a complete sitting motion such as a squat posture, and has a range of θ _end ≤ 60°. When the knee angle is greater than or equal to θ _knee2 (≤ 45°) and less than or equal to θ _end ≤ 60°, the wire tension increases as the knee angle increases. Accordingly, it is necessary to increase the cam follower motion to maintain the rotation angle to a value less than or equal to θ _knee2 (≤ 45°) at which tension is not generated.

In this way, in the present invention, the control unit can amplify the force by having at least one support link connected to one side of the wire in the mode conversion unit connected to the bridge unit through the wire, thereby reducing the force borne by the gas spring by the amount of the lever effect. Through this, the gas spring can be implemented as a compact small device, or the same function can be performed with a low-function product, resulting in a cost reduction effect.

In addition, by applying a cam follower structure, the taut wire state due to the preload of the gas spring can be loosened, thereby reducing the motor driving force in walking mode or sitting mode, so that it can be implemented even with a low output motor, and as a power supply device, there is an advantage in that a battery with a low rated power is sufficient.

In addition, when controlling the motor drive, if the diameter value of the cam from the center of the cam's rotation axis to the follower in line contact is increased, the momentum increases and a small output (the applied input voltage or input power can be set small) can be achieved for the cam motor, so that it can be implemented as a low-power device. In addition, by keeping the diameter value of the cam as it is and changing the position (contact point) at which the wire is connected to the support link, which is the cam follower, from the horizontal direction to the right, or changing the installation position of the link hinge axis where the cam and the gas spring are connected from the horizontal direction to the right, the wire tension can be increased, so that it can be implemented as a compact small device using a small-output motor (i.e., setting the applied input voltage or input power small).

In addition, since the mode conversion section has a cam follower operation structure that is symmetrical left and right, the first cam follower operation of the left cam and the second cam follower operation of the right cam rotate and operate symmetrically with respect to the central axis.

As described above, the technical ideas described in the embodiments of the present invention can be implemented independently, and can be implemented in combination with each other. In addition, although the present invention has been described through the embodiments described in the drawings and the detailed description of the invention, these are merely exemplary, and those with ordinary knowledge in the technical field to which the present invention belongs can make various modifications and equivalent other embodiments. Therefore, the technical protection scope of the present invention should be defined by the appended claims.

100, 200: Transport device
110: Support
120: Movement Assistance Unit
130: Knee joint
140: Bottom surface contact area
150, 220: Legs
210: Mode converter

Claims (8)

A support for supporting a child or an object;
A mode conversion unit that controls the driving of the first and second motors to control the walking mode and the sitting mode according to the operation of the first and second cam followers;
A leg section having an upper leg section connected to the support section in both directions at the upper part in the form of a leg section, and a lower leg section connected to the bottom surface at the lower part, and including first and second wire jigs connected to the mode conversion section and the first and second wires to fix the wires;
In the form of a knee, one side is connected to the upper leg part so that the angle can be adjusted according to the moving state, and the other side includes a knee joint part connected to the lower leg part;
The above first and second camp followers,
As a pair of structures composed of left and right symmetry,
First and second cam structures that rotate clockwise through the first cam rotation shaft and the second cam rotation shaft according to the driving control of the first motor and the second motor;
A transport device including a follower of a first cam structure and a follower of a second cam structure that cause the first and second cam structures to move in a linear direction in the direction of gravity according to a predetermined angular rotational motion in a counterclockwise direction. In paragraph 1.
The followers of the first and second cam structures above are,
As a pair of structures composed of left and right symmetry,
First and second support links, which are fixed to a second wire jig through first and second wires on both left and right sides of the above leg section, respectively, and are configured symmetrically left and right by penetrating the first wire jig, one end of which is fixed to a support substrate through a fixed hinge axis, and which support the first and second cam structures while contacting them, and connect the first and second wires to one side to perform a lever function;
A transport device further comprising first and second spring sections, the upper part being connected to the first and second support links and the first link shaft and the second link shaft, and the lower part being fixed to the support substrate through the first and second support shafts, to provide a restoring force in the opposite direction of the movement in the cam follower operation. In the second paragraph,
The above mode conversion unit is,
A mode input section through which the user can select the above walking mode or sitting mode,
An encoder for measuring the rotation angle values of the first wire and the second wire in the current walking or sitting motion of the user,
A transport device, comprising a control unit that compares a set value in a mode selected through the mode input unit with a rotation angle value measured from the encoder and controls the operations of the first and second cam followers through the first and second motor controls so that the measured rotation angle value is maintained below the set value. In the third paragraph,
When the user selects the walking mode through the above mode input section,
The initial value of the above walking mode is θ _mode1 ≤ 90°,
In the above knee joint, the first and second wire setting values θ _knee1 ≤ 35°,
A transport device in which the above first and second wire setting values are knee angles, which represent rotation angles generated by the first and second wire movements according to the user's walking motion from a vertical line in the direction of gravity. In paragraph 4,
When the user starts walking and the first and second wire rotation amounts during the current user's walking are measured through the encoder and the first and second wire rotation angles are received as the measured rotation amounts,
A transport device, wherein the control unit drives the first motor and the second motor to rotate the first and second cam structures counterclockwise by θ _mode1 when the received first and second wire rotation angles exceed 35°, and maintains the first and second wire rotation angles to have a value equal to or less than θ _knee1 (≤ 35°) at which no tension is generated through the first and second cam follower operations. In the third paragraph,
If the user selects the sitting mode through the above mode input section,
The initial value of the above sitting mode is θ _mode2 ≤ 90°,
In the above knee joint, the first and second wire setting values θ _knee2 ≤ 45°,
A transport device in which the above first and second wire setting values are knee angles, which are rotation angles generated by the first and second wire movements according to the user's sitting motion from a vertical line in the direction of gravity. In Article 6,
When the user starts a sitting motion and the encoder measures the first and second wire rotation amounts in the current user sitting motion and receives the first and second wire rotation angles as the measured rotation amounts,
A transport device, wherein the control unit drives the first and second motors to rotate the first cam structure and the second cam structure counterclockwise by θ _mode2 when the received first and second wire rotation angles exceed 45°, and maintains the first and second wire rotation angles to have a value equal to or less than θ _knee2 (≤ 45°) at which no tension is generated through the first and second cam follower operations. In the first paragraph,
The upper and lower leg parts are hollow rod-type structures having an upper load part and a lower load part,
The upper and lower load parts are connected through the knee joint,
A transport device wherein the upper hinge axis connected to the upper load section is connected to the first joint connecting section and is supported by being connected to the upper leg section, and the lower hinge axis connected to the lower load section is connected to the second joint connecting section and is supported by being connected to the lower leg section.