KR102595933B1 - Unmanned transport vehicle capable of transshipment using a swing locking frame - Google Patents

Abstract

This technology is about an unmanned transport vehicle that facilitates the transfer of transshipped containers and saves energy and time for transfer without creating an ineffective space depending on the volume of the container. More specifically, the container is transshipped and moved. In the unmanned guided vehicle, the unmanned guided vehicle includes a driving unit that moves along the rail through a control signal from a control unit, and a rotary seating unit that locks the container in a detachable manner and is installed to be rotatable with the driving unit. Depending on the volume of the container, it is arranged in pairs so that there is a gap between them on both sides of the lower part to move the container, and each of the rotating seating parts is characterized in that the rotation direction is controlled so that the corners of both sides of the container can be seated in accordance with the shape.

Description

Unmanned transport vehicle capable of transshipment using a swing locking frame}

This technology is about an unmanned guided vehicle that can easily transport transshipped containers while saving energy and transport time without creating an ineffective space depending on the volume of the container.

In general, trains are one of the important means of transportation such as passenger trains, freight trains, and electric trains that run on tracks by connecting multiple railroad cars in succession. They can run in a safe condition by connecting multiple railroad cars in series. It has the advantage of being able to carry approximately hundreds to thousands of passengers, as well as transporting large amounts of cargo at once.

In such a conventional train, multiple vehicles are connected as proposed in Publication Patent No. 10-2010-0045932, Registered Patent No. 10-1229348, etc.

That is, in the case of general passenger trains, electric trains, and subways for transporting passengers, the passenger trains have a structure in which passenger cars are continuously connected, and in the case of freight trains, the cargo cars capable of loading cargo are structured in a continuous connection.

Meanwhile, in order to improve the economic feasibility and efficiency of railway vehicles, the key is to maximize space for passenger or cargo loading and minimize the weight and void space of railway vehicles.

Figure 1 is a diagram showing a container freight car as an example of a conventional conventional bogie.

According to this, a general railway vehicle has a car body (20) placed on two bogies (10), and the bogies (10) are equipped with components such as wheels, axles, suspension devices, basic braking devices, and support frames to safely keep the railroad cars. It guides along the track rail, cushions vibration, and supports the car body 20.

In order to transship a container (C) using the above-described conventional bogie, not only is there a division between the front and rear, but a separate space (U-turn space) is provided where the cargo ship can be turned according to the direction in which the transshipped container is to be transported. There is a problem that needs to be resolved.

In addition, in order to move containers with different volumes, conventional carts have the inconvenience of having to transship and transfer small volume containers according to the container with the largest volume.

In other words, as shown in FIG. 2, a problem arises in that the bogie for transporting a 20-foot (fit) container (C) must use a bogie that can transport 40 feet, resulting in the formation of a void space (S). Loss (waste of energy and time) occurs due to movement.

Domestic registered patent No. 10-1654896 (announcement date: 2016.09.08.) Domestic Public Service No. 20-1988-12065 (Publication date: 1988.08.26.) Domestic registration utility No. 20-0137572 (announcement date: 1999.03.20.) Domestic registration utility No. 20-0388140 (announcement date: 2005.06.17.)

In order to solve the above-described conventional problems, the purpose of the present invention is to provide a transport vehicle that can transport the container without creating a separate space for the cart to rotate according to the direction of movement after transshipment.

In addition, in order to solve the conventional problems, the present invention seeks to provide a transport vehicle that can prevent loss of energy as well as time by preventing void space from being formed when transporting containers with different volumes. There is another purpose.

As a means of solving the problems of the prior art described above, the unmanned transport vehicle capable of transshipment using the swing locking frame according to the present invention is an unmanned transport vehicle for transshipping and moving a container (C). The car has a driving unit 10 that moves along the rail R through a control signal from the control unit 30, and a rotating seat 20 in which the container C is detachably locked and rotatable with the driving unit 10. Including, the unmanned guided vehicle is arranged in a pair so as to have a gap (D1, D2) on both sides of the lower part according to the volume of the container (C) to move the container (C), and each of the rotating seating parts (20) The direction of rotation is controlled so that the corners of both sides of the container (C) can be seated in accordance with the shape.

In addition, the rotary seating portion 20 is rotatably coupled to a seating member 21 and a lower portion of the seating member 21 so that the lower portion of the container C can be locked or unlocked. It is preferable to include a swing frame member 26 that absorbs the shock of the container C that is supported and seated on the driving unit 10.

In addition, the seating member 21 includes a seating frame 22 rotatably coupled to the swing frame member 26, and is provided on both sides of the upper portion of the seating frame 22 to lock or unlock the container C. It is preferable to include guides 24 provided symmetrically on both sides of the seating frame 22 so that the locking 23 and the corner portion of the container C can be fitted with the seating frame 22 in a shape-matched manner.

In addition, the swing frame member 26 is capable of elastic restoration on both sides of the rotation frame 27 and the rotation frame 27 provided with a rotation motor 28 that provides power to rotate the seating frame 22. The upper part is supported by the rotating frame 27, and the lower part is supported by the driving unit 10 and includes a plurality of elastic bodies 29 to absorb the shock of the container C being transshipped, and the rotating frame ( 27) is preferably inserted into the driving unit 10 so that the lower part of the elastic body 29 can be supported by the driving unit 10.

In addition, the driving unit 10 includes a shuttle body 11 provided with a control unit 30, and a rail R rotatably mounted on both sides of the lower portion of the shuttle body 11 so as to be controllable by the control unit 30. A pair of wheel members (12) and a container (C) are combined with the wheel member (12) so that the control unit (30) can be protected when transshipping the container (C), but the side where the rotary seat part (20) is inserted so that it can be elastically restored It is desirable to include a frame (17).

In addition, the wheel member 12 is rotatably coupled to the shuttle body 11, and has a crankshaft 13 on its outer surface provided with a driven gear 16 that engages with the drive motor 31 and each other. , a connector provided on both sides of the crankshaft 13 so that it can be detachably coupled to a wheel 14 mounted on the rail R and the side frame 17 ( It is desirable to include 15).

According to the present invention, differently from the conventional method, the container can be seated and moved after rotating the seating member in the desired direction through the swing frame member installed on each of the pair of unmanned trucks according to the direction in which the container is to be transported. The effect of being able to quickly transport containers without creating a separate rotation space is expected.

In addition, unlike in the past, the distance between a pair of unmanned trucks can be varied depending on the volume of the container to be loaded, which is expected to prevent energy waste due to non-creation of ineffective space.

Figure 1 is a diagram showing a conventional bogie.
FIG. 2 is a diagram illustrating whether an invalid space is formed on a cart depending on the volume of the container in FIG. 1.
Figure 3 is a diagram showing an unmanned transport vehicle capable of transshipment using a swing locking frame according to the present invention.
Figure 4 is an exploded perspective view of Figure 3.
Figure 5 is an exploded perspective view showing the driving part of Figure 3.
Figure 6 is an exploded perspective view showing the rotational seating portion of Figure 3.
Figure 7 is a plan view of Figure 3.
Figure 8 is a cross-sectional view taken along line AA of Figure 7;
Figure 9 is a cross-sectional view taken along line BB of Figure 7.
Figures 10 and 11 are diagrams showing the operation of the rotating seat for an unmanned guided vehicle capable of transshipment using a swing locking frame according to the present invention.
Figure 12 is an operational relationship diagram showing the state in which containers of different volumes are loaded on an unmanned guided vehicle capable of transshipment using the swing locking frame according to the present invention.

Hereinafter, various embodiments will be described in more detail with reference to the attached drawings. The embodiments described herein may be modified in various ways. Specific embodiments may be depicted in the drawings and described in detail in the detailed description. However, the specific embodiments disclosed in the attached drawings are only intended to facilitate understanding of the various embodiments. Therefore, the technical idea is not limited to the specific embodiments disclosed in the attached drawings, and it should be understood that all equivalents or substitutes included in the spirit and technical scope of the invention are included.

Terms containing ordinal numbers, such as first, second, etc., may be used to describe various components, but these components are not limited by the above-mentioned terms. The above-mentioned terms are used only for the purpose of distinguishing one component from another.

In this specification, terms such as “comprise” or “have” are intended to indicate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof. When a component is said to be "connected" or "connected" to another component, it is understood that it may be directly connected to or connected to the other component, but that other components may exist in between. It should be. On the other hand, when it is mentioned that a component is “directly connected” or “directly connected” to another component, it should be understood that there are no other components in between.

In addition, when describing the present invention, 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 thereof is abbreviated or omitted.

Hereinafter, with reference to the attached drawings, an unmanned guided vehicle capable of transshipment using a swing locking frame according to the present invention (hereinafter simply referred to as an 'unmanned truck') will be described in detail.

First, as shown in FIGS. 3, 4, and 7, the unmanned vehicle 1 according to the present invention largely includes a driving unit 10, a rotating seating unit 20, and at least one of these components is a controller (not shown). ) and a control unit 30 that can be remotely controlled.

In more detail, as shown in FIGS. 4 and 5, the driving unit 10 remotely moves the container C transshipped through the rotational seating unit 20, which will be described later, through the control of the control unit 30. It is configured to be transported along the rail (R) in a desired direction by, etc., and includes a shuttle body (11), a wheel member (12), and a side frame (17).

For example, the shuttle body 11 is equipped with a control unit 30 that is remotely operated by a controller on the inside, a wheel member 12 is installed on the lower part, and a side frame 17 is installed on the outside to transfer the container C. Ensure that the installed components are protected from damage that may occur during operation.

For this purpose, the shuttle body 11 has a drive motor 31 for rotating the drive gear 32, which is tooth-coupled with the driven gear 16 constituting the wheel member 12 to form the wheel member 12. to provide power for operation.

Meanwhile, inside the shuttle body 11 in the present invention, a drive motor 31 and a rotation motor 28 as well as a rechargeable battery 33 for applying the power required to operate the control unit 30 are detachable. Possibly installed.

In addition, the wheel member 12 is configured to allow the container C to be transported along the rail R by receiving power through the drive motor 31 described above, and includes a crankshaft 13 and a wheel 14. and a connecting body (15).

At this time, it is preferable that the wheel members 12 are installed in pairs symmetrically at the front and rear, respectively, with respect to the rotating seating portion 20, which will be described later, to enable stable transportation of the container C, and for this purpose, the wheel members 12 are driven. The motor 31 is also preferably installed inside the shuttle body 11 so that it can be individually operated through a single control unit 30 (see FIG. 7).

As shown, the crankshaft 13 is arranged in a column shape at the front and rear lower portions of the shuttle body 11, and is provided with a driven gear 16 on the outer surface that engages with the drive gear 32 to drive the drive motor ( 31) so that the power can be transmitted to the crankshaft 13 through the driven gear 16.

The wheels 14 are formed on both sides of each crankshaft 13 and have a structure that can rotate according to the rotational direction of the crankshaft 13, and are provided on the circumferential surface to be inserted in shape matching with the rail R. A groove is formed.

As shown, the connecting body 15 is fixedly installed on both ends of the crankshaft 13 to prevent interference with the wheel 14 described above, and the side frame 17 on the outer surface can be separated by fastening means such as bolts. Combine so that

At this time, the end of the crankshaft 13 can be rotatably inserted into the connector 15 through a bearing, etc., and through this, the side frame 17 coupled to the outer surface of the connector 15 is maintained in a fixed state. A structure in which only the crankshaft 13 rotates is satisfied.

In addition, as shown, the side frame 17 is made entirely of metal and is formed to have an overall square strip shape, and the lower part is fastened to a plurality of lower parts through a fastening means to form the shuttle body 11 as well as the above. Components installed on the shuttle body 11 can be protected from external shocks, etc.

Here, as shown, the side frame 17 satisfies the structure in which both sides of the rotating frame 27, which includes elastic bodies 29 to be described later on both sides facing each other, are inserted into the through hole 18, and is vertically moved. Stress, such as an applied load, can be reinforced by elastic force, and this will be explained in more detail below.

And, as shown in FIGS. 4 and 6, the rotary seating part 20 is rotatably mounted on the driving part 10 described above, and the front and rear sides of the lower side of the container C are supported, respectively, so that it can be operated in two directions (front and rear). It is configured to enable stable transport to the rear and includes a seating member 21 and a swing frame member 26.

For example, as shown, the seating member 21 rotates in the forward (clockwise) or reverse direction by the swing frame member 26 installed at the bottom, and is configured to ensure that the lower part of the container (C) is fixedly seated, and includes a seating frame ( 22), locking (23) and guide (24).

As shown, the seating frame 22 can be formed into the shape of a plate with a predetermined length, and its lower part is rotatably coupled to the rotation motor 28.

The seating frame 22 is arranged to be located in the center of the inner space of the side frame 17, and this prevents the unmanned truck 1 of the present invention from being tilted in one direction due to the load when the container C is seated. Through this, when the brake (not shown) for stopping the unmanned vehicle 1 is activated, stress applied to the brake is minimized (see FIGS. 8 and 9).

Locking frames 23 and guides 24 are formed on both sides of the seating frame 22, respectively, to help secure the container C as well as to seat the container C in a shape-matched manner on the seating frame 22. give.

Here, the locking 23 is formed at a position opposite to the insertion hole (not shown) formed in the container C.

Through this, when the locking 23 and the container C are fastened to each other, the control unit 30 controls a motor (not shown) provided inside the seating frame 22 so that the locking 23 can be inserted into the insertion hole. When it is determined that the locking 23 is inserted into the insertion hole, the control unit 30 rotates the locking 23 in the reverse direction so that the container C and the seating frame 22 are fixed to each other. make it possible to maintain it.

In this process, for stable coupling between the container (C) and the locking (23), one or more guides (24) are placed on both sides of the seating frame (22) to support the corners of the container (C) in a shape-matched manner.

At this time, the upper surface of each guide 24 is formed with an inclined surface 25 having an inclination in the direction of the locking 23, so that when the container C is transferred to the unmanned truck 1 according to the present invention, the container C is It is desirable to slide as if guided by the inclined surface 25 so that insertion between the insertion hole and the locking 23 can be implemented more easily.

In addition, the swing frame member 26 rotates the seating member 21 in accordance with the direction of the edge of the container C, that is, the transfer direction, when the container C is transshipped to the seating member 21 described above. At the same time, it is configured to absorb shock and prevent the durability of the unmanned vehicle 1 of the present invention from being deteriorated and includes a rotating frame 27 and an elastic body 29.

As shown, the rotating frame 27 is made of metal to have the shape of a plate with a predetermined length, similar to the seating frame 22 described above, and is provided with elastic bodies 29 on both sides.

At the center of the length of the rotation frame 27, a rotation motor 28 is fastened to the lower part of the seating frame 22 and provides power to rotate the seating frame 22 (up to 180 degrees) to be controlled by the control unit 30. It is provided so that

At this time, both sides of the rotating frame 27 are arranged so that they can be inserted into the through-holes 18 formed to face each other in the above-described side frame 17, and through this, elastic bodies provided on both sides of the rotating frame 27 ( 29) It is desirable to allow the lower part to be supported on the side frame 17.

In addition, the rotation frame 27 is further provided with an encoder sensor or a proximity sensor controlled by the control unit 30 so that the rotation angle of the rotation motor 28 can be adjusted by the control unit 30.

Of course, although not shown, the rotation frame 27 may be separately equipped with a brake (not shown) to fix the seating frame 22 after the seating frame 22 is rotated by the rotation motor 28. there is.

Therefore, when a shock due to a load applied in the vertical direction occurs in the process of transshipment of the container C to be seated on the seating frame 22, the elastic force of the elastic body 29 absorbs this shock and 1) It is possible to prevent the durability of the device from deteriorating.

For this purpose, the width of the through hole 18 is formed so that the inserted rotating frame 27 can be raised and lowered by the elastic body 29, and the lower surface of the seating frame 22 is formed so that the rotating frame 27 can be raised and lowered. They are arranged adjacent to each other in the vertical direction with the upper surface of the side frame 17 so that there is a sufficient gap between them.

Meanwhile, the operation of the unmanned vehicle 1 according to the present invention will be described as follows.

First, as shown in FIG. 12, the operator checks the volume of the container (C) to be transshipped and then remotely controls one of a pair of unmanned trucks (1) placed on the rail (R) to load the corresponding container. Control the distances (D1, D2) between each other to match the volume of (C).

At this time, the distance between the pair of unmanned carts (1) is determined by the control unit recognizing a marker sensor (not shown) installed adjacent to the floor so that it is located between the rails (R), and adjusting the pair of unmanned carts (1) to have the desired distance. It is desirable to place it.

To this end, one of the pair of unmanned trucks (1), that is, the unmanned truck (1) in a fixed state to secure the distance, is positioned at the top of the marker sensor when the other unmanned truck (1) is in a fixed state. As it moves, the distance set by the operator can be formed.

Afterwards, the worker controls each rotation motor 28 so that the lower two corners of the container C on each unmanned truck 1 can be supported on the guide 24 and stably inserted into the locking 23. After individually rotating the seating frame 22, the seating frame 22 is fixed with a brake (see FIGS. 10 and 11).

At this time, it is desirable for the control unit 30 to check whether the rotation of the seating frame 22 has been completed through detection information such as an encoder sensor and a proximity sensor.

When the rotation of the above-described seating frame 22 is completed, the container C is loaded so that the locking 23 provided in plurality on the pair of unmanned trucks 1 can be inserted into the insertion hole, and then the locking 23 is installed. Rotate it so that the container (C) is in a fixed state.

In this state, the operator drives the drive motor 31 in the direction in which the container is to be moved so that the plurality of wheel members 12 rotate along the rail R to allow transport.

As described above, the unmanned truck (1) according to the present invention is different from the conventional one by moving the container (C) through the swing frame member (26) installed on each pair of unmanned truck (1) according to the direction in which the container (C) is to be transported. After rotating the seating member 21 in the desired direction, the container C is seated and can be moved, so the effect of quickly transporting the container C without forming a separate rotation space is expected.

In addition, differently from the conventional method, the distance (D1, D2) between a pair of unmanned carts (1) can be varied depending on the volume of the container (C) to be loaded, thereby reducing the risk of non-creation of void space (S). The effect of preventing energy waste is expected.

As described above, the present invention has been described with specific details such as specific components and limited embodiments and drawings, but this is only provided to facilitate a more general understanding of the present invention, and the present invention is not limited to the above embodiments. , those skilled in the art can make various modifications and variations from this description.

Therefore, the spirit of the present invention should not be limited to the described embodiments, and the scope of the patent claims described later as well as all things that are equivalent or equivalent to the scope of this patent claim shall fall within the scope of the spirit of the present invention. .

1: Unmanned transport vehicle capable of transshipment using the swing locking frame according to the present invention
10: driving part
11: shuttle body 12: wheel member
13: Crankshaft 14: Wheel
15: Connector 16: Driven gear
17: Side frame 18: Through hole
20: Rotating seat
21: Seating member 22: Seating frame
23: Locking 24: Guide
25: slope 26: swing frame member
27: Rotation frame 28: Rotation motor
29: elastic body
30: control unit
31: drive motor 32: drive gear
33: battery
C: container
R: rail

Claims (6)

In the unmanned transport vehicle for transshipping and moving the container (C),
The unmanned guided vehicle is
A driving unit 10 that moves along the rail R through a control signal from the control unit 30; and
The container (C) is detachably locked, and includes a rotary seating unit (20) installed to be rotatable with the driving unit (10),
The unmanned guided vehicle is arranged in a pair so as to have a gap (D1, D2) on both sides of the lower part according to the volume of the container (C) to move the container (C), and each of the rotary seating units (20) moves the container (C). An unmanned transport vehicle capable of transshipment using a swing locking frame in which the direction of rotation is controlled so that the corners on both sides can be seated in accordance with the shape.
According to paragraph 1,
The rotating seating part 20 is
A seating member 21 that is seated so that the lower part of the container C can be locked or unlocked; and
A swing locking frame comprising a swing frame member 26 that is rotatably coupled to the lower part of the seating member 21 and absorbs the shock of the container C seated while being supported by the driving unit 10. An unmanned transport vehicle that can be used for transshipment.
According to paragraph 2,
The seating member 21 is
A seating frame (22) rotatably coupled to the swing frame member (26);
Locking (23) provided on both sides of the upper part of the seating frame (22) to lock or unlock the container (C); and
An unmanned transport capable of transshipment using a swing locking frame, characterized in that it includes guides (24) provided symmetrically on both sides of the seating frame (22) so that the corners of the container (C) can be fitted and joined in accordance with the shape. car.
According to paragraph 2,
The swing frame member 26 is
A rotating frame (27) provided with a rotating motor (28) that provides power to rotate the seating member (21); and
The rotating frame 27 is provided on both sides to enable elastic recovery, the upper part is supported by the rotating frame 27, and the lower part is supported by the driving unit 10 to absorb the shock of the container C being transshipped. Including an elastic body (29);
The rotating frame (27) is an unmanned guided vehicle capable of transshipment using a swing locking frame, characterized in that the lower part of the elastic body (29) is inserted and installed in the driving unit (10).
According to paragraph 1,
The driving unit 10 is
Shuttle body 11 provided with a control unit 30;
A pair of wheel members 12 rotatably mounted on rails R on both sides of the lower portion of the shuttle body 11 so as to be controllable by the control unit 30; and
A side frame (17) coupled to the wheel member (12) so that the control unit (30) can be protected when transshipping the container (C) and inserted so that the rotary seating unit (20) can be elastically restored. An unmanned transport vehicle capable of transshipment using a featured swing locking frame.
According to clause 5,
The wheel member 12 is
A crankshaft (13) rotatably coupled to the shuttle body (11) and provided with a driven gear (16) on its outer surface that engages with the drive motor (31) by teeth;
Wheels 14 provided on both sides of the crankshaft 13 and seated on the rail R; and
An unmanned guided vehicle capable of transshipment using a swing locking frame, comprising: a connecting body (15) provided on both sides of the crankshaft (13) so as to be detachably coupled to the side frame (17).

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