KR100292849B1 - Automatic Position Correction Transfer Device of Unmanned Carrier - Google Patents

Abstract

Disclosed is an automatic position correction type transfer device of an unmanned truck capable of automatically loading a conveyed article at a set correct position. When the transfer device is located at a predetermined setting position, the transfer device transfers a conveyed object on a conveying load table automatically, a sensor device which detects whether the conveyed object conveying unit is located at the predetermined setting position, and the conveyed object conveying unit is predetermined. It is connected to the conveying unit driving device for moving the conveying material conveying unit in the moving direction or the reverse direction of the unmanned vehicle to be located at the set position of the and the conveying material conveying unit, the sensor device and the conveying unit driving device, the signal input from the sensor Accordingly, the controller is provided to operate the conveying unit driving device and the conveying object conveying unit by transmitting an electric signal to the conveying unit driving means and the conveying object conveying unit. The transfer device can improve the workability of the parts requiring precision because the transfer material can be transferred to the exact position set, and the flexibility of the system can be improved since there is no need to install a separate device. .

Description

Automatic Position Correction Transfer Device of Unmanned Carrier

The present invention relates to an unmanned transport vehicle, and more particularly, an automatic position correction type transfer device of an unmanned transport vehicle capable of automatically correcting a position error and automatically loading / unloading a conveyed object at a set correct position. It is about.

In general, an automatic guided vehicle is a vehicle that automatically performs material, mold return, automatic loading and unloading, product take-back and recovery as part of factory automation. The unmanned transport vehicle is equipped with a loading / unloading machine. The transfer device is a device that transfers conveyed materials and the like to components of a flexible production system, for example, a processing machine, an inspection and measurement device, or an automatic warehouse.

1 and 2 show an unmanned transport vehicle 1 on which such a general transfer device 2 is mounted. 1 is a front view of the unmanned transport vehicle 1, and FIG. 2 is a side view of the unmanned transport vehicle 1.

As shown in FIG. 1 and FIG. 2, a conveyance transfer device 2 is installed on one side of the unmanned transport vehicle 1, and a conveyance 3 to be loaded is mounted on an upper portion of the conveyance transfer device 2. do.

The positioning accuracy of the unmanned vehicle 1, that is, the stop position determination of the unmanned vehicle 1 is determined by the combination of the deceleration speed, the load torque of the conveyed object, the torque of the brake, the state of the detector and the response characteristics of the controller. In general, the error range of the positioning accuracy is ± 10 to 20mm, when the error range is small is about ± 5mm. However, when there is a positioning error in such a range, it is impossible to carry out work requiring a precise position, for example, a center machining machine (preferable position error range: ± 2 mm or less). In order to solve this problem, an unmanned truck 1 of a type employing an auxiliary positioning mechanism has been proposed.

3 and 4 show an unmanned carriage 1 employing an auxiliary positioning mechanism. As shown, a centering jack 4 is installed at one side of the unmanned vehicle 1, and a movable centering cone 5 is integrally formed at the free end of the centering jack 4. It is provided. As shown in detail in FIG. 4, the movable centering cone 5 is engaged with the fixed centering cone 6 which is installed at a predetermined position on the ground bottom side as the unmanned vehicle 1 moves. It serves to stop the car 1 at the correct position.

However, the unmanned truck 1 of the above structure is not only inconvenient to install the fixed centering cone 6 on the ground floor side, but also needs to be removed and relocated to the positioning mechanism when the layout of the system is changed. Because of this, there is a disadvantage that reduces the flexibility of the system.

Meanwhile, Korean Unexamined Patent Publication No. 96-24796 (Applicant: Daewoo Heavy Industries Co., Ltd.) discloses a stop position determining apparatus for an unmanned transport vehicle. In the device, a stop position block is installed at the bottom of the transport destination, and brackets and plates are installed at a lower portion of the unmanned truck body at regular intervals. In addition, guide rollers are installed at both ends of the plate, and the guide rollers are compressed on both sides of the block to stop the driverless transport vehicle. Thus, the unmanned vehicle can always stop at the adjusted stop position regardless of the state of the floor or wheels.

However, the apparatus also has a problem in that the stationary position block must be fixedly installed on the floor, and thus, when the layout of the system is changed, the stationary position block must be newly installed, thereby reducing the flexibility of the system.

The present invention has been made to solve the above-described problems, an object of the present invention is to automatically correct the position error of the unmanned vehicle, automatic position correction of the unmanned vehicle that can automatically load the cargo to the set accurate position It is to provide a mold transfer device.

1 is a front view of a general driverless carriage.

FIG. 2 is a side view of the driverless carriage shown in FIG. 1. FIG.

3 is a side view of a conventional unmanned transport vehicle equipped with an auxiliary positioning mechanism.

4 is an operational state diagram showing the positioning principle of the unmanned carriage shown in FIG.

5 is a front view of a transfer device according to an embodiment of the present invention.

Figure 6 is a side view of the transfer device according to an embodiment of the present invention.

7 is a plan view of a slide portion of the transfer device according to an embodiment of the present invention.

FIG. 8 is a plan view showing a state in which an unmanned transport vehicle having a transfer device according to an embodiment of the present invention is stopped past a load loading position.

Figure 9 is a plan view showing a state in which an unmanned transport vehicle having a transfer device according to an embodiment of the present invention is stopped without reaching the conveyed load position.

<Explanation of symbols for main parts of drawing>

1: unmanned truck 50: cargo loading table

100: transfer device 200: conveying material transfer unit

205: base 210: drive unit

220: drive shaft assembly 230: sensor

240: roller 300: sliding portion

310 frame 320 geared motor

330 coupling device 340 warm screw assembly

350: power transmission member 360: linear motion guide

In order to achieve the above object, the present invention provides a transfer device for supplying a conveyed object to a conveyed goods stacker mounted on an unmanned transport vehicle and disposed at a position orthogonal to the moving direction of the unmanned transport vehicle, wherein the transfer device is located at a predetermined setting position. In the case, the conveying material conveying unit for automatically conveying the conveyed goods on the conveyed goods loading table; A sensor device for detecting whether the conveyed material conveying unit is located at the predetermined setting position; A conveying unit driving device coupled to the conveying object conveying unit and moving the conveying object conveying unit in a moving direction or the reverse direction of the unmanned conveying vehicle so that the conveying object conveying unit can be located at a predetermined setting position; And a controller connected to the conveying material conveying part, the sensor device, and the conveying part driving device, the controller driving the conveying part driving device and the conveying material conveying part by transmitting an electric signal to the conveying part driving device and the conveying material conveying part according to a signal input from the sensor. Provided is a conveyance transfer device for an unmanned transport vehicle, characterized in that.

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

5 and 6 are shown the transfer device 100 of the unmanned transport vehicle according to an embodiment of the present invention. 5 is a front view of the transfer device 100, and FIG. 6 is a side view of the transfer device 100. As described above, the transfer device 100 is mounted on the unmanned transport vehicle.

Referring to the drawings, the conveying material transfer device 100 according to an embodiment of the present invention is a pallet 110 on the conveying load table 50 (see Fig. 8) disposed at a position orthogonal to the moving direction of the unmanned truck. Coupled to the conveyed material conveying unit 200 for automatically conveying the conveyed goods, such as a sensor, 230 for detecting whether the conveyed material conveying unit 200 is located at a predetermined setting position, the conveyed object conveying unit 200, Transfer unit driving unit 300 and the conveyance unit 200, the sensor unit for moving the conveying material 200 in the moving direction or the reverse direction of the unmanned vehicle so that the conveying unit 200 is located in a predetermined setting position It is connected to the 230 and the conveying unit driving device 300, the conveying unit by transmitting an electrical signal to the conveying unit driving device 300 and the conveyed material conveying unit 200 according to the signal input from the sensor 230 And a controller 400 for operating the same unit 300 and the transferred object transfer part 200.

The conveyed material conveying part 200 includes a base 205 which is slidably disposed on an upper portion of the conveying part driving device 300. The upper part of the base 205 is provided with a plurality of rollers 240 arranged in rows in pairs. The conveyed object 110 is placed on the upper surface of the roller 240. According to another embodiment of the present invention, a push-pull method or a fork-lifting method may be employed instead of the roller conveyor method.

In addition, the conveyance transfer unit 200 is connected to the drive unit 210 and the drive unit 210 and the first chain 215 for generating a driving force, and to the roller 240 and the second chain 235 It further comprises a drive shaft assembly 220 connected by. The drive unit 210 includes a power generating device such as a motor, and is configured to operate as a signal is input from the controller 400. The drive shaft assembly 220 serves to rotate the roller 240 by transmitting the driving force of the drive unit 210 to the roller 240.

The plurality of rollers 240 arranged in a row in the pair are arranged in a direction orthogonal to the conveying direction of the unmanned transport vehicle so as to convey the conveyed object 110 in the conveyed object loading table 50 direction.

The sensor device 230 includes two contact sensors protruding from both sides of the upper portion of the base 205. The two contact sensors are elastically formed, and elastically contact the in-position sensing plate 55 provided on the conveying load table 50 during the movement of the unmanned transportation vehicle to transmit the data to the controller 400. To be sent). The controller 400 detects whether the conveyed material conveying unit 200 of the transfer device 100 is stopped at a set position based on the data input from the sensor device 230, and the conveyed object conveying unit 200. If is not stopped at the correct position, the conveying unit driving device 300 is driven to move the conveyed material conveying unit 200 to the set position.

On the other hand, Figure 7 is a plan view of the transfer unit driving device 300.

Referring to FIG. 7, the transfer unit driving device 300 is provided at both ends of the frame 310 disposed below the base 205 and the upper end of the frame 310 to guide the sliding movement of the base 205. A pair of linear motion guide 360, which is provided at a predetermined position in the frame 310, the geared motor 320 and the coupling device for outputting a reduced rotational force as a signal is input from the controller 400 ( It includes a worm-screw assembly 340 receives the rotational force from the geared motor 320 through the 330 to change it into a linear motion. A power transmission member 350 is disposed between the worm-screw assembly 340 and the base 205, which is coupled to the base 205 and the worm-screw assembly 340. By transmitting the kinetic force of) to the base 205 serves to move the base 205 in a straight line. Unexplained reference numeral 322 is a motor bracket for protecting the geared motor 320.

As shown, the worm-screw assembly 340 has a screw bar 342 and a worm 344. The rotation axis of the worm 344 and the rotation axis of the geared motor 320 are orthogonal to each other. Accordingly, the rotational force of the geared motor 320 is switched at an angle of 90 degrees through the bevel gear assembly 346 to the worm ( 344).

However, according to another embodiment of the present invention, the axis of rotation of the worm 344 and the axis of rotation of the geared motor 320 are arranged in a straight line. In this case, the bevel gear assembly 346 is not necessary.

Operation of the transfer device 100 according to an embodiment of the present invention having such a configuration will be described with reference to FIGS. 8 and 9.

As shown in FIG. 8, when the unmanned transport vehicle 1 moves beyond the correct position, the sensor 230 is bent in contact with the exact position detecting plate 55. At the same time, the controller 400 receives the displacement value of the sensor 230 and determines the current position of the transfer device 100 based on the input displacement value.

Subsequently, the controller 400 operates the geared motor 320 to move the transfer device 100 in the reverse direction of the arrow 52 based on the identified current position. The rotational force of the geared motor 320 is transmitted to the screw-worm assembly 340 through the coupling 330 and the bevel gear assembly 346, thus, the screw bar 342 of the screw-worm assembly 340 ) Is moved in the reverse direction of the arrow 52.

The movement of the screw bar 342 is transmitted to the base 205 of the conveying material 200 through the power transmission member 350, so that the base 205 rides on the linear guide 360 of the arrow 52. It is moved in the reverse direction.

During this movement process, if the displacement value input from the sensor 230 is within a set value, the controller 400 stops the operation of the geared motor 320 to stop the movement of the conveyed material 200. Subsequently, the controller 400 drives the driving unit 210 of the conveyed material transporting unit 200. The driving force of the driving unit 210 is transmitted to the roller 240 through the first chain 215, the drive shaft assembly 220, and the second chain 235 so that the roller 240 rotates.

Therefore, the conveyed object 110 mounted on the roller 240 is transported onto the conveyed object loading table 50 by riding on the roller 240. According to the present invention, the position error of the transfer device 100 corrected in this manner is set to within ± 1mm, thus enabling the transfer work of the ultra-precision machine or machine parts.

Meanwhile, as shown in FIG. 9, when the unmanned vehicle 1 stops because it does not reach the correct position, the controller 400 determines that the displacement value input from the sensor 230 is smaller than the set value. Down, figure out your current location. Subsequently, the controller 400 operates the geared motor 320 to move the transfer device 100 in the direction of the arrow 52 based on the identified current position. The motor mounted on the geared motor 320 is a reversible motor capable of forward and reverse rotation, and rotates in the opposite direction as in FIG. 8.

As the driving force of the geared motor 320 is transmitted to the base 205 through the above-described process, the base 205 is moved in the direction of the arrow 52 to correct the position error of the unmanned vehicle 1. . The operation process of the conveyed material conveying unit 200 is the same as described above with reference to FIG.

As described above, the transfer device of the present invention has the advantage that can be easily carried out the transfer operation of the ultra-precision machine or parts because it can be transported to the correct position by correcting the position error of the unmanned carrier.

In addition, it is possible to improve the flexibility of the system because it is not necessary to install a separate device on the floor or employ an auxiliary device to stop the unmanned carriage in place.

Although the present invention has been described based on the preferred embodiments, various modifications and improvements can be made within the scope of the technical idea of the present invention, and those skilled in the art will recognize that such variations and improvements also belong to the present invention. .

Claims (6)

In the transfer device which is mounted on an unmanned truck and supplies the conveyed goods with the conveyed goods loading stand arranged at the position orthogonal to the moving direction of an unmanned conveying vehicle, when it is located in a predetermined setting position, the conveyed goods are automatically loaded on the said conveyed goods loading stand. A base slidably disposed for transport to the base; A plurality of rollers arranged in pairs on the upper portion of the base to support the conveyed material on an upper surface thereof; A driving unit generating a driving force to the roller; And a drive shaft assembly for transmitting a driving force of the drive unit to the roller through an indirect power transmission means; A sensor device for detecting whether the conveyed material conveying unit is located at the predetermined setting position; A conveying unit driving means coupled to the conveying object conveying unit and moving the conveying object conveying unit in a moving direction or the reverse direction of the unmanned conveying vehicle so that the conveying object conveying unit can be located at a predetermined setting position; And a controller connected to the conveying material conveying part, the sensor device, and the conveying part driving means and operating the conveying part driving means and the conveying material conveying part by transmitting an electric signal to the conveying part driving means and the conveying material conveying part according to a signal input from the sensor. Carrying material transfer device for an unmanned transport vehicle, characterized in that. 2. The conveyance transfer device for an unmanned truck according to claim 1, wherein the plurality of rollers arranged in rows in the pair rotate in a direction orthogonal to a conveying direction of the unmanned transport vehicle. The method of claim 1, wherein the sensor device comprises two contact sensors protruding on both sides of the upper portion of the base, the two contact sensors are formed elastically, the conveyed goods during the movement of the unmanned truck And a fixed position of the transfer device is detected by elastic contact with the position detection plate provided on the loading table. According to claim 3, The conveying unit driving means is provided in a frame disposed below the base, a predetermined position of the frame, a geared motor for outputting a reduced rotational force as a signal is input from the controller, from the geared motor Worm-screw assembly for receiving the rotational force to change the linear motion, and a power transmission member disposed between the worm-screw assembly and the base to move the base linearly by transmitting the kinetic force of the worm-screw assembly to the base Carrier goods transfer device for an unmanned carrier, comprising a. The rotating shaft of the worm of the worm-screw assembly and the rotational axis of the geared motor are orthogonal to each other, and the rotational force of the geared motor is switched at an angle of 90 degrees through the bevel gear assembly and transmitted to the worm. Carrying material transfer device for an unmanned carriage. 6. The transfer device of claim 4 or 5, further comprising a linear motion guide provided at both ends of the upper part of the frame to guide the sliding motion of the base. 7.