KR100290082B1 - Carriage - Google Patents

Carriage Download PDF

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Publication number
KR100290082B1
KR100290082B1 KR1019980010788A KR19980010788A KR100290082B1 KR 100290082 B1 KR100290082 B1 KR 100290082B1 KR 1019980010788 A KR1019980010788 A KR 1019980010788A KR 19980010788 A KR19980010788 A KR 19980010788A KR 100290082 B1 KR100290082 B1 KR 100290082B1
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KR
South Korea
Prior art keywords
wheel steering
front wheel
motor
pulley
rear wheels
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KR1019980010788A
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Korean (ko)
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KR19990076103A (en
Inventor
조현수
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삼성중공업 주식회사
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Priority to KR1019980010788A priority Critical patent/KR100290082B1/en
Publication of KR19990076103A publication Critical patent/KR19990076103A/en
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Publication of KR100290082B1 publication Critical patent/KR100290082B1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0294—Transport carriages or vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0282—Carriages forming part of a welding unit

Abstract

PURPOSE: A moving transfer car which simplifies structure of steering system by forming steering of front and rear wheels using belt and pulley and improves steering performance by preventing backlash generated in case of using gear is provided. CONSTITUTION: In a moving transfer car comprising a main body(21) capable of loading a transfer object, a front wheel(25) and a pair of rear wheels(23) which support the main body and are hinge connected to certain positions of the bottom side of the main body to enable steering, speed reducers(28,29) and driving motors(26,27) respectively installed inwardly to the pair of rear wheels facing each other to rotate the respective rear wheels, and front wheel steering means and rear wheel steering means for steering driving the front wheel and pair of rear wheels in desired directions, the moving transfer car is characterized in that the front wheel steering means comprises a front wheel steering motor(33) fixed to one side of the main body, a speed reducer(67) for reducing speed of the front wheel steering motor, a motor pulley(61) coaxially installed on rotation shaft of the front wheel steering motor and speed reducer, a supporter pulley(63) installed on the upper part of the front wheel, and a front wheel steering belt(65) connected between the motor pulley and supporter pulley, and the rear wheel steering means comprises a rear wheel steering motor(31) fixed to the central position between both rear wheels of the main body, a speed reducer for reducing speed of the rear wheel steering motor, upper and lower pulleys(48a,48b) coaxially installed on rotation shaft of the rear wheel steering motor and speed reducer, side pulleys(42,44) installed on the upper part of the pair of rear wheels in a height corresponding to the upper and lower pulleys(48a,48b), and rear wheel steering belts(52,54) connected between the upper and lower pulleys and the respective side pulleys corresponding to the upper and lower pulleys.

Description

이동대차{Carriage}Mobile Carriage {Carriage}

본 발명은 이동대차에 관한 것으로서, 상세하게는 후륜의 조향 구조가 개선된 이동대차에 관한 것이다.The present invention relates to a mobile trolley, and more particularly, to a mobile trolley having an improved steering structure of a rear wheel.

일반적으로 조선 산업의 용접공정은 그 열악한 작업 환경으로 인해 용접 인력의 감소와 고임금의 구조로 인하여 공장 자동화가 이루어지고 있다. 그 일환의 하나로서 조선업계는 용접용 로봇을 그 상부에 설치하여 이 용접용 로봇이 원하는 작업 영역까지 도달할 수 있도록 이동시켜 주는 용접용 자동 이동대차를 사용하고 있다.In general, the welding process of shipbuilding industry is factory automation due to the reduction of welding manpower and high wage structure due to its poor working environment. As part of this, the shipbuilding industry uses an automatic welding trolley for welding, which installs a welding robot on the upper part and moves the welding robot to reach a desired work area.

종래의 용접용 이동대차는 도 1에 도시된 바와 같이, 전륜(2) 및 한 쌍의 후륜(3,4)을 가진 본체(1)와, 각각의 후륜(3,4)에 설치되어 그 후륜(3,4)을 구동시키기 위한 한 쌍의 구동모터(5,6)를 구비한다. 또한, 본체(1)에는 전륜(2)을 조향하기 위한 전륜조향모터(7)와 후륜을 조향하기 위한 후륜조향모터(11)가 각각 설치된다. 상기 전륜조향모터(7)와 전륜(2) 사이에는 한 쌍의 베벨기어(8,9)가 설치되어 상기 전륜(2)을 조향한다. 한편, 후륜조향모터(11)의 회전축에는 피니언(12)이 설치되고, 이 피니언(12)에는 상기 후륜(3,4)가 연결되는 랙(13)이 결합된다. 따라서, 상기 피니언(12)의 회전력은 상기 랙(13)으로 전달되어 그 랙(13)이 좌우로 이동되고, 상기 랙(13)의 양단은 각 후륜(3,4)의 축과 힌지(16)로 결합된 후륜지지대(15)와 각각 연결되어 상기 랙(13)의 좌우운동시 평형사변형 구조를 유지하며 후륜(3,4)을 조향한다. 후륜지지대(15)는 본체(1)에 설치된다.As shown in FIG. 1, a conventional mobile trolley for welding is provided on a main body 1 having a front wheel 2 and a pair of rear wheels 3 and 4, and installed on each rear wheel 3 and 4, respectively. A pair of drive motors 5, 6 for driving (3, 4) is provided. In addition, the main body 1 is provided with a front wheel steering motor 7 for steering the front wheels 2 and a rear wheel steering motor 11 for steering the rear wheels, respectively. A pair of bevel gears 8 and 9 are installed between the front wheel steering motor 7 and the front wheel 2 to steer the front wheel 2. On the other hand, the pinion 12 is installed on the rotary shaft of the rear wheel steering motor 11, the rack 13 is coupled to the pinion 12 is connected to the rear wheels (3, 4). Therefore, the rotational force of the pinion 12 is transmitted to the rack 13 so that the rack 13 is moved left and right, and both ends of the rack 13 are the shaft and hinge 16 of each rear wheel (3, 4) Are connected to the rear wheel support 15 coupled to each other to maintain a balanced quadrangle structure during left and right movement of the rack 13 to steer the rear wheels 3 and 4. The rear wheel support 15 is installed in the main body 1.

상기한 바와 같은 구성의 종래의 이동대차의 전륜(2) 및 후륜(3,4)의 조향에대해서 설명하면 다음과 같다.The steering of the front wheels 2 and the rear wheels 3 and 4 of the conventional mobile trolley having the above-described configuration will be described as follows.

이동대차가 원하는 위치로 이동하기 위해 전륜조향모터(7)를 구동시키면, 전륜조향모터(7)에 연결되며 전륜(2)의 회전축에 각각 설치된 한 쌍의 베벨기어(8,9)가 맞물려 회전하게 되고, 베벨기어(9)에 연결된 전륜(2)의 회전축은 좌우로 움직이게 되어 결국 전륜(2)의 좌우 조향이 이루어지게 된다.When the moving cart drives the front wheel steering motor 7 to move to a desired position, a pair of bevel gears 8 and 9 connected to the front wheel steering motor 7 and respectively installed on the rotating shaft of the front wheel 2 are engaged. Then, the rotating shaft of the front wheels 2 connected to the bevel gear 9 is moved left and right, and thus the left and right steering of the front wheels 2 is made.

한편, 한 쌍의 후륜(3,4)에 각각 설치된 구동모터(5,6)는 그 후륜(3,4)을 회전시켜 이동대차를 구동시키게 된다. 이 과정에서 좌우로 이동대차를 조향하기 위해서는 후륜조향모터(11)를 구동시켜 피니언(12)을 회전시키면, 그 피니언(12)에 맞물린 랙(13)이 좌우로 운동한다. 그러면, 랙(13)의 양단에 설치된 한 쌍의 후륜지지대(15)가 힌지(16)를 중심으로 좌우로 움직인다. 그러면, 각각의 후륜지지대(15)에 설치된 후륜(3,4) 및 그 후륜(3,4)에 설치된 구동모터(5,6)가 함께 좌우로 움직이면서 이동대차의 후륜 조향이 이루어지게 된다.On the other hand, the driving motors 5 and 6 installed on the pair of rear wheels 3 and 4 respectively rotate the rear wheels 3 and 4 to drive the moving carts. In this process, in order to steer the moving trolley from side to side, the rear wheel steering motor 11 is driven to rotate the pinion 12, and the rack 13 engaged with the pinion 12 moves left and right. Then, the pair of rear wheel supports 15 provided at both ends of the rack 13 move left and right about the hinge 16. Then, the rear wheels 3 and 4 installed on each rear wheel support 15 and the driving motors 5 and 6 installed on the rear wheels 3 and 4 move left and right together, and rear wheel steering of the moving cart is achieved.

그런데, 상술한 구성의 종래 이동대차는 전륜(2)의 조향을 위한 한 쌍의 베벨기어(8,9)와, 후륜(3,4)의 조향을 위한 랙(13)과 피니언(12)이 각각 설치되어야 하므로 그 구조가 복잡하며, 전체 공간을 많이 차지할 뿐만 아니라 기어간에 백래쉬(Backlash ; 기어간 간극으로 인해 발생하는 역행현상)가 발생되어 조향 효율이 좋지 않은 문제점이 있다.However, the conventional mobile trolley having the above-described configuration includes a pair of bevel gears 8 and 9 for steering the front wheels 2 and a rack 13 and pinion 12 for steering the rear wheels 3 and 4. Since each structure must be installed, the structure is complicated, not only occupies a large amount of space, but also has a problem of poor steering efficiency due to a backlash between the gears.

본 발명은 상기한 문제점을 해결하기 위해 안출된 것으로서, 조향 구조가 간단하며, 조향 효율이 개선된 이동대차를 제공하는데 그 목적이 있다.SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and its object is to provide a mobile bogie with a simple steering structure and improved steering efficiency.

상기한 목적을 달성하기 위하여 본 발명에 따른 이동대차는, 이송 대상물을 적재할 수 있는 본체와, 이 본체를 지지함과 아울러 조향 가능하도록 그 저면측 소정위치에 각각 힌지결합된 전륜 및 한 쌍의 후륜과, 상기 마주보는 한 쌍의 후륜에 내향되도록 각각 설치되어 상기 각 후륜을 감속 회전시켜주는 감속기 및 구동모터와, 상기 전륜 및 한 쌍의 후륜을 각각 소망방향으로 각각 조향 구동시켜주는 전륜조향수단 및 후륜조향수단이 구비된 이동대차에 있어서, 상기 전륜조향수단은, 상기 본체의 일측에 고정된 전륜조향모터와, 상기 전륜조향모터의 속도를 감속시켜주는 감속기와, 상기 전륜조향모터 및 감속기의 회전축에 동축상으로 설치된 모터풀리와, 상기 전륜의 상부에 설치된 지지대풀리와, 상기 모터풀리와 지지대풀리 간에 체결된 전륜조향벨트를 포함하여 구성되고; 상기 후륜조향수단은, 상기 본체의 양 후륜간 중앙위치에 고정된 후륜조향모터와, 상기 후륜조향모터의 속도를 감속시켜주는 감속기와, 상기 후륜조향모터 및 감속기의 회전축에 동축상으로 설치된 상, 하부풀리와, 상기 상, 하부풀리에 각각 대응하는 높이로 상기 한 쌍의 후륜 상부에 각각 설치된 사이드풀리와, 상기 상, 하부풀리와 이에 대응하는 각 사이드풀리 간에 각각 체결된 후륜조향벨트를 포함하여 구성됨을 특징으로 한다.In order to achieve the above object, a mobile truck according to the present invention includes a main body capable of loading a transfer object, a front wheel and a pair of hinges respectively coupled to a predetermined position on the bottom side thereof to support the main body and to be steerable. A rear wheel, a reducer and a driving motor which are respectively installed inwardly to the opposite pair of rear wheels to decelerate and rotate the rear wheels, and front wheel steering means for respectively steering the front wheel and the pair of rear wheels in a desired direction. And a rear wheel steering means, wherein the front wheel steering means includes a front wheel steering motor fixed to one side of the main body, a speed reducer for reducing the speed of the front wheel steering motor, and a front wheel steering motor and a speed reducer. Motor pulley coaxially installed on the rotating shaft, support pulley installed on the upper part of the front wheel, front wheel steering fastened between the motor pulley and the support pulley Including a belt; The rear wheel steering means may include: a rear wheel steering motor fixed at a center position between both rear wheels of the main body, a speed reducer for reducing the speed of the rear wheel steering motor, and installed coaxially with a rotation shaft of the rear wheel steering motor and the reducer; Including a lower pulley, side pulleys respectively installed on the upper pair of rear wheels at a height corresponding to the upper and lower pulleys, and rear wheel steering belts respectively fastened between the upper and lower pulleys and the corresponding side pulleys. Characterized in that configured.

도 1은 종래 기술에 따른 이동대차의 개략적인 장치구성을 도시한 평면도.1 is a plan view showing a schematic configuration of a mobile truck according to the prior art.

도 2는 본 발명에 따른 이동대차의 개략적인 장치구성을 도시한 사시도.Figure 2 is a perspective view showing a schematic device configuration of a mobile truck according to the present invention.

도 3은 도 2의 후륜조향 부위를 도시한 개략적인 측면도.FIG. 3 is a schematic side view of the rear wheel steering portion of FIG. 2; FIG.

도 4는 도 2의 전륜조향 부위를 도시한 개략적인 측면도.4 is a schematic side view showing the front wheel steering portion of FIG.

<도면의 주요 부분에 대한 부호의 설명><Explanation of symbols for main parts of the drawings>

21...본체23...후륜21 ... body 23 ... rear wheel

25...전륜22.24...후륜지지대25.Front wheel 22.24 ... Rear wheel support

26.27...구동모터28.29...감속기26.27 Drive motor 28.29 Reducer

31...후륜조향모터33...전륜조향모터31 Rear-wheel steering motor 33 Front-wheel steering motor

34...전륜지지대42.44...사이드풀리34.Front wheel support 42.44 ... Side pulley

48...중앙풀리48a...상부풀리48 ... center pulley 48a ... top pulley

48b...하부풀리52.54...후륜조향벨트48b ... lower pulley 52.54 ... rear-wheel steering belt

61...모터풀리63...지지대풀리61 ... motor pulley 63 ... support pulley

65...전륜조향벨트67...전륜감속기65 ... front wheel steering belt 67 ... front wheel reducer

이하, 첨부된 도면을 참조하여 본 발명에 따른 바람직한 실시예를 상세히 설명한다.Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

도 2는 본 발명에 따른 이동대차의 개략적인 장치구성을 도시한 사시도이고, 도 3은 도 2의 후륜조향 부위를 도시한 개략적인 측면도이며, 도 4는 도 2의 전륜조향 부위를 도시한 개략적인 측면도이다.Figure 2 is a perspective view showing a schematic configuration of the mobile truck according to the invention, Figure 3 is a schematic side view showing the rear wheel steering portion of Figure 2, Figure 4 is a schematic diagram showing the front wheel steering portion of Figure 2 It is a side view.

도면을 참조하면, 본 발명에 따른 이동대차의 본체(21)에는 용접 장비가 설치되며, 상기 본체(21)에는 전륜(25) 및 한 쌍의 후륜(23)과, 전륜조향수단 및 후륜조향수단이 구비된다.Referring to the drawings, the main body 21 of the mobile trolley according to the present invention is provided with welding equipment, the main body 21, the front wheel 25 and a pair of rear wheels 23, front wheel steering means and rear wheel steering means Is provided.

상기 본체(21)에는 한 쌍의 후륜지지대(24) 및 전륜지지대(34)가 회동 가능하게 설치된다. 전륜지지대(34)의 내측에는 전륜(25)이 설치되어 회전하며, 각 후륜지지대(22,24)에는 후륜(23)이 설치된다. 한편, 한 쌍의 후륜(23) 각각에는 구동모터(26,27)가 설치되어 각 후륜(23)을 독립적으로 구동시킨다. 이러한 구동모터(26,27)는 서보모터의 일종이며, 양쪽 후륜(23)의 마주보는 내측으로 설치하는 것이 바람직하다. 여기서, 구동모터(26,27)와 후륜(23) 사이에는 감속기(28,29)를 설치하여 구동모터(26,27)의 회전력을 감속시켜 후륜(23)에 전달되도록 하는 것이 바람직하다.The main body 21 is provided with a pair of rear wheel support 24 and the front wheel support 34 to be rotatable. The front wheel 25 is installed and rotated inside the front wheel support 34, and the rear wheel 23 is installed at each rear wheel support 22, 24. On the other hand, driving motors 26 and 27 are installed in each of the pair of rear wheels 23 to drive each rear wheel 23 independently. These drive motors 26 and 27 are a kind of servomotor, and are preferably provided inwardly facing both rear wheels 23. Here, it is preferable to install the reduction gears 28 and 29 between the driving motors 26 and 27 and the rear wheels 23 so as to reduce the rotational force of the driving motors 26 and 27 to be transmitted to the rear wheels 23.

상기 후륜조향수단은 본체(21) 저면측에 설치된 후륜조향모터(31)와, 이 후륜조향모터(31)의 회전축에 동축상으로 설치된 2단의 중앙풀리(48)와, 각 후륜지지대(22,24)에 각각 설치된 사이드풀리(42,44) 및 상기 중앙풀리(48)와 사이드풀리(42,44)를 각각 연결하는 한 쌍의 후륜조향벨트(52,54)를 포함한다.The rear wheel steering means includes a rear wheel steering motor 31 provided on the bottom surface side of the main body 21, a two-stage central pulley 48 coaxially installed on a rotation shaft of the rear wheel steering motor 31, and each rear wheel support 22. And a pair of rear wheel steering belts 52 and 54 connecting the central pulleys 48 and the side pulleys 42 and 44, respectively.

상기 후륜조향모터(31)는 서보모터의 일종으로 본체(21)에 대해 수직되도록 설치되며, 후륜지지대(22,24)를 본체(21)에 대해 회동시켜 그 후륜지지대(22,24)에 설치된 후륜(23)을 좌우로 동시 조향하기 위한 모터이다.The rear wheel steering motor 31 is a kind of servo motor, and is installed to be perpendicular to the main body 21. The rear wheel supports 22 and 24 are rotated with respect to the main body 21 to be installed on the rear wheel supports 22 and 24. It is a motor for simultaneously steering the rear wheels 23 from side to side.

상기 각 사이드풀리(42,44)는 후륜지지대(22,24)의 선단부에 설치된다. 또한, 상기 중앙풀리(48)는 후륜조향모터(31)의 회전축에 동축상으로 설치되는 상부풀리(48a) 및 하부풀리(48b)를 포함하는 2단의 풀리이다. 즉, 하부풀리(48a)는 도면상 좌측 사이드풀리(42)와 평행하고, 상부풀리(48b)는 도면상 우측 사이드풀리(44)와 평행하게 위치되도록 설치한다.Each of the side pulleys 42 and 44 is installed at the front end of the rear wheel supports 22 and 24. In addition, the central pulley 48 is a two-stage pulley including an upper pulley 48a and a lower pulley 48b that are coaxially installed on a rotation shaft of the rear wheel steering motor 31. That is, the lower pulley 48a is installed to be parallel to the left side pulley 42 in the drawing, and the upper pulley 48b is installed to be positioned parallel to the right side pulley 44 in the drawing.

상기 한 쌍의 후륜조향벨트(52,54)는 각각 중앙풀리(48)와 양 사이드풀리(42,44)를 연결하는 것으로서, 상기 후륜조향모터(31)의 회전력을 그에 대응되는 후륜지지대(22,24)에 전달하기 위한 수단으로 사용된다.The pair of rear wheel steering belts 52 and 54 connects the central pulley 48 and both side pulleys 42 and 44, respectively, and the rear wheel support 22 corresponds to the rotational force of the rear wheel steering motor 31. , 24).

상기 전륜조향수단은 도 4에 도시된 바와 같이, 본체(21)에 설치된 전륜조향모터(33)와, 이 전륜조향모터(33)의 회전축에 동축상으로 설치된 모터풀리(61)와, 전륜지지대(34)의 일측에 설치된 지지대풀리(63) 및 상기 모터풀리(61)와 지지대풀리(63)를 연결하는 전륜조향벨트(65)를 포함한다.As shown in FIG. 4, the front wheel steering means includes a front wheel steering motor 33 installed on the main body 21, a motor pulley 61 coaxially installed on the rotation shaft of the front wheel steering motor 33, and a front wheel support. A support pulley 63 installed on one side of the 34 and the front wheel steering belt 65 for connecting the motor pulley 61 and the support pulley 63.

상기 전륜조향모터(33)은 후륜조향모터(31)와 같이 서보모터의 일종이며, 전륜 조향시 그 동력을 제공하기 위한 것이다. 한편, 전륜조향모터(33)와 모터풀리(61)사이에는 전륜감속기(67)가 설치되어 전륜조향모터(33)의 회전력을 감속시켜 모터풀리(61)에 전달하게 하는 것이 바람직하다.The front wheel steering motor 33 is a kind of servomotor like the rear wheel steering motor 31, and is intended to provide its power during front wheel steering. On the other hand, the front wheel reducer 67 is installed between the front wheel steering motor 33 and the motor pulley 61 to reduce the rotational force of the front wheel steering motor 33 to be transmitted to the motor pulley 61.

상기한 바와 같은 구성의 이동대차의 작용을 설명하면 다음과 같다.Referring to the operation of the mobile balance of the above configuration is as follows.

먼저, 한 쌍의 구동모터(26,27)를 구동시키게 되면 그 회전력에 의해 후륜(23)이 회전하게되어 이동대차의 본체(21)는 원하는 위치로 전후진할 수 있다. 여기서, 구동모터(26,27)의 회전 속도는 감속기(28,29)에 의해 감속되어 후륜(23)에 전달된다.First, when the pair of driving motors 26 and 27 are driven, the rear wheel 23 is rotated by the rotational force so that the main body 21 of the moving cart can move forward and backward to a desired position. Here, the rotation speeds of the drive motors 26 and 27 are decelerated by the reducers 28 and 29 and transmitted to the rear wheels 23.

이때, 조선용접 부재를 수직다관절 로봇이 용접할 수 있도록 수직 다관절 로봇을 상기 부재에 접근 시키기 위해 후륜조향모터(31)를 작동시키게 되면, 이동대차의 후륜(23)이 좌우방향으로 동시 조향되면서 전후로 이동하게 된다. 즉, 상기 후륜조향모터(31)의 회전축에 동축상으로 설치된 중앙풀리(48)가 회전하게 되고, 그 회전력은 각각 후륜조향벨트(52,54)를 통해 양 사이드풀리(42,44)에 전달된다. 따라서, 이 사이드풀리(42,44)에 전달된 회전력은 후륜지지대(22,24)를 본체(21)에 대해 소정 각도만큼 좌 또는 우측으로 회동시키게 되며, 그러한 후륜지지대(22,24)의 회동운동에 의해 후륜(23)이 좌우로 동시 회동되어 원하는 위치로 조향이 이루어 진다. 이 과정에서 후륜(23)이 소정 각도로 좌우로 움직이게 되면 그 후륜(23)에 설치된 구동모터(26,27)도 동일한 각도로 운동하기 때문에 후륜(23)의 회전 구동에는 전혀 간섭되지 않는다.At this time, when the rear wheel steering motor 31 is operated to bring the vertical articulated robot closer to the member so that the vertical articulated robot can weld the ship welding member, the rear wheels 23 of the moving cart simultaneously steer in the left and right directions. As you move back and forth. That is, the central pulley 48 coaxially installed on the rotation shaft of the rear wheel steering motor 31 is rotated, the rotational force is transmitted to both side pulleys (42, 44) through the rear wheel steering belt (52, 54), respectively. do. Accordingly, the rotational force transmitted to the side pulleys 42 and 44 causes the rear wheel supports 22 and 24 to rotate left or right with respect to the main body 21 by a predetermined angle, and the rotation of the rear wheel supports 22 and 24 is performed. By the movement, the rear wheel 23 is simultaneously rotated to the left and right to steer to the desired position. In this process, when the rear wheel 23 moves left and right at a predetermined angle, the driving motors 26 and 27 installed in the rear wheel 23 also move at the same angle, so that they do not interfere with the rotational driving of the rear wheel 23 at all.

전륜조향 역시 상술한 후륜조향과 동일한 원리에 의해 전륜조향모터(33)를 구동시켜 전륜감속기(67)에 의한 적정 감속상태로 모터풀리(61)를 회전시키고, 이 모터풀리(61)에 연결된 전륜조향벨트(65)를 통해 지지대풀리(63)를 회전시키게 된다. 이 지지대풀리(63)의 회전에 의해 전륜지지대(34)가 본체(21)에 대해 회동하게 되며, 결과적으로 전륜이 좌우로 소정 각도만큼 회전하면서 조향된다.Front wheel steering also drives the front wheel steering motor 33 according to the same principle as the rear wheel steering described above, thereby rotating the motor pulley 61 at an appropriate deceleration state by the front wheel reducer 67, and the front wheel connected to the motor pulley 61. The support belt pulley 63 is rotated through the steering belt 65. The rotation of the support pulley 63 causes the front wheel support 34 to rotate with respect to the main body 21, and as a result, the front wheel is steered while rotating at a predetermined angle from side to side.

상술한 바와 같이 본 발명에 따른 이동대차는 벨트와 풀리를 이용해 전후륜의 조향을 이루어지기 때문에 조향 장치의 구조가 간단해지며, 기어를 사용하였을 경우에 발생하는 백래쉬를 방지하여 조향 성능을 향상시킬 수 있는 효과가 있다.As described above, the moving trolley according to the present invention uses the belt and the pulley to steer the front and rear wheels, thereby simplifying the structure of the steering apparatus, and improving the steering performance by preventing backlash generated when the gear is used. It can be effective.

Claims (1)

이송 대상물을 적재할 수 있는 본체와, 이 본체를 지지함과 아울러 조향 가능하도록 그 저면측 소정위치에 각각 힌지결합된 전륜 및 한 쌍의 후륜과, 상기 마주보는 한 쌍의 후륜에 내향되도록 각각 설치되어 상기 각 후륜을 감속 회전시켜주는 감속기 및 구동모터와, 상기 전륜 및 한 쌍의 후륜을 각각 소망방향으로 각각 조향 구동시켜주는 전륜조향수단 및 후륜조향수단이 구비된 이동대차에 있어서,A main body capable of loading the object to be transported, a front wheel and a pair of rear wheels hinged to a predetermined position on the bottom side thereof to support the main body and to be steerable, and to be installed inward to the pair of rear wheels facing each other; In the mobile truck having a reducer and a drive motor for decelerating and rotating the respective rear wheels, and a front wheel steering means and a rear wheel steering means for steering the front wheel and the pair of rear wheels respectively in a desired direction. 상기 전륜조향수단은, 상기 본체의 일측에 고정된 전륜조향모터와, 상기 전륜조향모터의 속도를 감속시켜주는 감속기와, 상기 전륜조향모터 및 감속기의 회전축에 동축상으로 설치된 모터풀리와, 상기 전륜의 상부에 설치된 지지대풀리와, 상기 모터풀리와 지지대풀리 간에 체결된 전륜조향벨트를 포함하여 구성되고;The front wheel steering means includes a front wheel steering motor fixed to one side of the main body, a speed reducer for reducing the speed of the front wheel steering motor, a motor pulley coaxially installed on a rotation shaft of the front wheel steering motor and the reducer, and the front wheels. And a front wheel steering belt fastened between the support pulley and the motor pulley and the support pulley. 상기 후륜조향수단은, 상기 본체의 양 후륜간 중앙위치에 고정된 후륜조향모터와, 상기 후륜조향모터의 속도를 감속시켜주는 감속기와, 상기 후륜조향모터 및 감속기의 회전축에 동축상으로 설치된 상, 하부풀리와, 상기 상, 하부풀리에 각각 대응하는 높이로 상기 한 쌍의 후륜 상부에 각각 설치된 사이드풀리와, 상기 상, 하부풀리와 이에 대응하는 각 사이드풀리 간에 각각 체결된 후륜조향벨트를 포함하여 구성됨을 특징으로 하는 이동대차.The rear wheel steering means may include: a rear wheel steering motor fixed at a center position between both rear wheels of the main body, a speed reducer for reducing the speed of the rear wheel steering motor, and installed coaxially with a rotation shaft of the rear wheel steering motor and the reducer; Including a lower pulley, side pulleys respectively installed on the upper pair of rear wheels at a height corresponding to the upper and lower pulleys, and rear wheel steering belts respectively fastened between the upper and lower pulleys and the corresponding side pulleys. Mobile cart, characterized in that configured.
KR1019980010788A 1998-03-27 1998-03-27 Carriage KR100290082B1 (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100824206B1 (en) 2003-12-23 2008-04-21 현대중공업 주식회사 The power transmission structure of the carriage using a pipe rail that has 3-dimensional curve radius for travel motion
KR100908277B1 (en) 2007-12-12 2009-07-17 에스티엑스조선주식회사 Fully automatic welding robot for submerged arc welding
KR101313338B1 (en) * 2011-12-08 2013-09-30 에스아이에스 주식회사 Laser Cutting Automation System
CN104476045A (en) * 2014-11-28 2015-04-01 柳州振业焊接机电设备制造有限公司 Supporting leg of supporting seat

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101252619B1 (en) * 2011-05-31 2013-04-09 대우조선해양 주식회사 Diffetential traveling robot having all directional autonomous traveling funciton
KR101430807B1 (en) * 2012-06-26 2014-08-14 구용석 The weld bead cutting device of Joints perpendicular
KR102243555B1 (en) * 2020-01-03 2021-04-22 신중태 OHT having belt type steering unit

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100824206B1 (en) 2003-12-23 2008-04-21 현대중공업 주식회사 The power transmission structure of the carriage using a pipe rail that has 3-dimensional curve radius for travel motion
KR100908277B1 (en) 2007-12-12 2009-07-17 에스티엑스조선주식회사 Fully automatic welding robot for submerged arc welding
KR101313338B1 (en) * 2011-12-08 2013-09-30 에스아이에스 주식회사 Laser Cutting Automation System
CN104476045A (en) * 2014-11-28 2015-04-01 柳州振业焊接机电设备制造有限公司 Supporting leg of supporting seat

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