KR101863738B1 - Automated Guided Vehicle with lifting type tow traction device - Google Patents

Abstract

The present invention relates to an automated guided vehicle with a lifting type bogie traction device. More specifically, the present invention relates to an automated guided vehicle with a lifting type bogie traction device, in which it is possible to trail a bogie to be towed in a flexible and quick manner by recognizing the current position, the traveling speed and the traveling route of the automated guided vehicle being travelled through a QR code, a first obstacle detection unit is provided to detect obstacles located around the travelling path of the automated guided vehicle, a second obstacle detection unit detects a collision of the automated guided vehicle with an obstacle when the automated guided vehicle collides with an obstacle which is not detected by the first obstacle detection unit to allow the automated guided vehicle to normally travel while avoiding the collision with the obstacle, it is possible to move forward and backward and horizontally by means of a mecanum wheel, and the automated guided vehicle can be easily combined with the bogie to be towed from the bottom of the bogie to be towed. The automated guided vehicle according to the present invention includes: a rotating plate connected to a traction drive motor and rotated by receiving a rotational force from the traction drive motor; a push rod having one end connected to an edge of the rotating plate to move up and down according to rotation of the rotating plate; a bogie coupling rod which is connected to the other end of the push rod and moves up and down together with the push rod so as to be coupled to or decoupled from a coupling portion provided in the bogie; a guide block provided at one side of the bogie coupling rod and moving up and down together with the bogie coupling rod as the bogie coupling rod moves up and down; and a support bracket having a guide rail arranged in the vertical direction for guiding and supporting the up/down movement of the guide block having one side coupled to the guide rail.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an automated guided vehicle with lifting type tow traction device,

The present invention relates to an unmanned conveyance vehicle equipped with a lifting and towing device. More specifically, the present invention can recognize a current position, a traveling speed, and a traveling route of an unmanned conveyance vehicle running on a vehicle through a QR code, and can flexibly and quickly pull a bogie to be towed. When an obstacle not detected by the first obstacle detection unit and an unmanned vehicle collide with each other, the second obstacle detection unit detects a collision with the obstacle and avoids the collided obstacle It is possible to carry it forward and backward and horizontally by means of a mechanical hookwheel, and the unmanned vehicle can easily pull up the bogie to be towed from below the bogie to be towed, The present invention relates to an unmanned conveyance vehicle equipped with a bogie traction mechanism.

Recently, a variety of AGV (Automatic Guided Vehicle), that is, an unmanned conveyance vehicle, has been applied to industrial fields according to industrial automation and unmanned tendency.

Among them, a guided line tracking AGV that repeatedly travels along a guide line along a guide line can be used for transporting parts loaded on a carriage to a predetermined position in the production process, and the demand thereof is increasing.

On the other hand, the guided line tracking AGV used in the conventional field mainly uses a one-dimensional scanning method through a magnetic sensor. In such a guided line tracking method based on a magnetic sensor, it is difficult to analyze a guided line having a complex structure such as a branching or joining point of a guiding line due to the use of a one-dimensional narrow searching and sensing area, and it is also vulnerable to damage to a magnetic guiding line There is a drawback.

 In addition, there is a method in which a paint or color tape is painted or attached to the bottom of a traveling path of an unmanned vehicle, and the camera recognizes the painted or colored tape. However, this method is also vulnerable to workplace contamination and damage to painters and color tapes. There is a problem that it is difficult to move the bogie quickly by avoiding the obstacles accurately in the above-described conventional method in order to avoid obstacles located on the traveling path.

Conventionally, in the coupling between the unmanned vehicle and the bogie, a method is employed in which the unmanned bogie car is automatically passed from the rear to the front of the towed bogie so that the means for engaging the unmanned vehicle is caught by the bogie of the bogie. There is a constraint that the operation route of the unmanned vehicle must be constant for towing the bogie, and the structure for connecting and separating the unmanned bogie to the bogie is complicated.

Accordingly, it is possible to avoid obstacles more quickly and accurately, to improve the driving efficiency of the unmanned vehicle, and to provide a new means for quick and easy coupling or disconnection between the unmanned vehicle and the vehicle when the unmanned vehicle pulls the vehicle .

Prior Art Document: KR Patent Registration No. 10-1163310 (issued on July 5, 2012)

SUMMARY OF THE INVENTION The present invention has been conceived in order to solve the above problems, and it is an object of the present invention to recognize a current position, a traveling speed, and a traveling route of an unmanned conveyance vehicle traveling through a QR code, A first obstacle detection unit is provided to detect obstacles located on all sides of the path of the unmanned vehicle, and when an obstacle not detected by the first obstacle detection unit collides with an unmanned conveyance vehicle, The collision obstacle can be avoided and normal traveling can be carried out. Also, it is possible to carry out the forward / backward traveling and the horizontal travel by the mechanical hookwheel, and the unmanned vehicle can be towed from the lower part of the truck, The present invention has been made in view of the above problems, and it is an object of the present invention to provide an unmanned transportation vehicle provided with a lifting type vehicle towing device capable of towing a vehicle.

In order to achieve the above object, an unmanned conveyance vehicle equipped with a lifting vehicle pulling mechanism according to the present invention is connected to a traction drive motor, and is rotated by receiving a rotational force from a traction drive motor. A push rod having one end connected to an edge of the rotating plate and moving up and down as the rotating plate rotates; A bogie coupling rod connected to the other end of the push rod and engaged or disengaged with the engaging portion provided on the bogie while moving up and down together with the push rod moving up and down; A guide block provided at one side of the bogie coupling rod and moving together with the bogie coupling rod as the bogie coupling rod moves up and down; And a support bracket having a guide rail coupled to one side of the guide block and guiding and supporting the elevation movement of the guide block in the height direction.

Further, the bogie coupling rod senses the up / down state of the guide block that moves together with the upward / downward movement of the bogie coupling rod, and transmits a signal related to the up / down state of the bogie coupling rod to the drive control unit And may further include a plurality of proximity sensors.

Further, there is further provided a connection bracket having a "? &Quot; -shaped shape in which an insertion hole into which an insertion protrusion formed at an end of a push rod engaging with the brake coupling rod is formed at the lower side and an upper surface is engaged with a lower surface of the brake coupling rod .

According to the present invention, it is possible to improve the driving performance of the unmanned vehicle through the QR code recognition and the sequential obstacle avoidance, and to combine the unmanned vehicle with the towing vehicle quickly and safely, .

In addition, the operation and maintenance of the unmanned transport vehicle are easy, and the article can be transported at an economical cost.

1 is a perspective view illustrating an unmanned vehicle according to a preferred embodiment of the present invention,
FIG. 2 is an internal configuration view of an unmanned conveyance vehicle equipped with a lifting /
3 is an exploded perspective view of an unmanned vehicle with a lifting /
Fig. 4 is a side view of Fig. 1,
5 is a block diagram illustrating sensor signal flow,
FIG. 6 is a perspective view showing a bill pulling mechanism,
7 is a view showing the installation state of the bill traction mechanism,
8 is a view showing the elevation state of the bill traction mechanism,
9 is a view showing the lowering state of the truck pulling mechanism.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals are used to designate the same or similar components throughout the drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. In addition, the preferred embodiments of the present invention will be described below, but it is needless to say that the technical idea of the present invention is not limited thereto and can be variously modified by those skilled in the art.

FIG. 1 is a perspective view of an unmanned conveyance vehicle equipped with a lifting / lowering vehicle pulling mechanism according to a preferred embodiment of the present invention, FIG. 2 is an internal construction view of an unmanned vehicle with a lifting / Fig. 4 is a side view of Fig. 1, Fig. 5 is a block diagram showing a sensor signal flow, Fig. 6 is a perspective view showing a bill pulling mechanism, Fig. 7 is a perspective view of a bogie traction Fig. 8 is a view showing the elevation state of the truck pulling mechanism, and Fig. 9 is a diagram showing the descending state of the truck pulling mechanism.

Referring to FIGS. 1 to 9, an automatic guided vehicle having a lifting vehicle pulling mechanism according to a preferred embodiment of the present invention includes a body frame 10, a primary obstacle detection unit 20, a secondary obstacle detection unit 30, a QR code recognition unit 40, a towing cart signal transmitting unit 50, a towing cart signal receiving unit 60, a driving control unit 70, a mechanical hookwheel 80, a driving state light emitting unit 90, A quick switch 110, a rotating plate 220 connected to the traction drive motor 210 constituting the driving battery 120 and the truck towing mechanism 200, the push rod 230, the truck coupling rod 240, A guide block 250 and a support bracket 270 having a guide rail 260. The proximity sensor 280 includes a rod end bearing 290 and a connection bracket 300.

First, the unmanned conveyance vehicle equipped with the elevating truck traction device according to the present invention is mounted on a floor of a traveling path of an unmanned conveyance vehicle that trains a bogie, which is equipped with a QR code at a predetermined interval, The recognizing unit 40 recognizes the attached QR code and recognizes the current position, traveling speed, and traveling route of the traveling unmanned conveying vehicle, thereby flexibly and promptly transporting the carriage.

In order to avoid the obstacles sequentially, the primary obstacle sensing portion 20 is provided in the diagonal direction on the body frame 10 of the unmanned vehicle, so that an obstacle located in the forward path of the unmanned vehicle is sensed and avoided Drive.

In addition, when an unmanned vehicle collides with an obstacle not detected by the primary obstacle sensing unit 20, the collision obstacle is detected after the collision with the obstacle is detected in the secondary obstacle sensing unit 30, .

In addition, there is a mechanical hook-and-loop wheel 80 provided on both sides of the body frame 10 with no restriction on the turning radius, so that the vehicle body can be moved forward and backward and horizontally.

Further, the bill trailing mechanism is raised and lowered below the bogie to be towed, and can be coupled with or separated from the bogie to be towed, so that the bogie can be pulled quickly and safely.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, constituent elements of an unmanned vehicle having a lifting vehicle pulling mechanism according to a preferred embodiment of the present invention will be described in detail.

The body frame 10 is modularized according to the positions at which the components described below are mounted to facilitate detachment and maintenance of the components located inside.

The mechanical hook-and-loop wheel 80 provided in the body frame 10 is a wheel which can be driven forward and backward and horizontally and horizontally. Therefore, no separate steering device is required for the mechanism, and the mechanical drive wheel is not limited to the rotational driving radius of the wheel. Therefore, the body frame 10 according to the present invention has a merit that the weight of the driving wheels can be reduced, and various electric parts can be mounted in a modular fashion so that the maintenance and repair of the unmanned vehicle can be easily performed.

A plurality of the cover panels 12 are connected in series from the upper side of the modular body frame 10 to protect the components located inside the body frame 10. [

The primary obstacle sensing unit 20 is a sensor for recognizing an obstacle at a predetermined distance, including an infrared sensor and a laser sensor. The sensor detects an obstacle located on the path of the unmanned vehicle, And a plurality of pairs are arranged at corner portions in the diagonal direction.

The primary obstacle control portion of one of the pair of primary obstacle detecting portions 20 provided at the corner of the body frame 10 can provide a wide viewing angle of about 270 degrees to the left and right in the diagonal direction, The plurality of primary obstacle detection units 20 provided in the diagonal direction of the automatic guided vehicle 10 detect an obstacle located 360 degrees in all directions with respect to the traveling direction of the automatic guided vehicle.

The secondary obstacle detecting unit 30 is provided along the periphery of the body frame 10 on the outside of the slope of the body frame 10. [ The second obstacle sensing unit 30 transmits the collision signal to the drive control unit 70 described below when an obstacle out of the sensing range of the primary obstacle sensing unit 20 collides with an unmanned vehicle, A signal for avoiding the collided obstacle is transmitted to the mechanical hook-up wheel 80 to avoid the collided obstacle so that the unmanned vehicle can be driven along the original course.

Here, the components constituting the secondary obstacle detecting unit 30 and their operation will be described in detail as follows.

The secondary obstacle detecting portion 30 includes a bumper 32, a linear bush 34, a linear shaft 36, and a limit switch.

If the obstacle located on the path of the automatic guided vehicle collides with any one bumper surrounding the outer frame of the body frame 10, the bumper pushes the linear shaft located inside the linear bushing connected to the bumper.

At this time, the linear shaft is pushed rearward to actuate the limit switch. The limit switch transmits a collision signal to the drive control unit 70, and the drive control unit 70 transmits an avoidance drive signal for avoiding the collided obstacle to the mechanical hook- 80).

The unmanned conveyance vehicle of the present invention is a point-to-point moving method in which a QR code is attached to the bottom of a path through which an unmanned conveyance vehicle travels, and recognizes and determines a traveling path, Code, and recognizes the current position, traveling speed, and traveling direction of the unmanned vehicle.

The QR code method according to the present invention can be flexibly changed to a form suitable for a factory environment and can respond immediately when the QR code is damaged.

The QR code recognizing unit 40 is a vision sensor including a scan camera. When the QR code recognizing unit 40 recognizes the QR code attached to the floor on the traveling path on which the unmanned vehicle travels and transmits the recognized information to the driving control unit 70, 70) recognizes the current position, traveling speed and traveling path of the unmanned vehicle in the traveling direction, determines the traveling direction, and traveling speed.

In the method of the present invention for recognizing the QR code, the RFID tag or the magnetic tape attached to the bottom of the traveling path of the conventional unmanned transportation vehicle on the travel path, the RFID reader or camera attached to the unmanned vehicle recognize the color tape The present invention is advantageous in terms of economical efficiency and running efficiency as compared with a method of recognizing a traveling route, a present route, and a current position, and is easy to maintain and repair.

The traction trajectory signal transmitting unit 50 may be an RFID sensor or the like and may be a traction trailer to transmit the signal to the outside so as to distinguish whether the trailer is an object on which the object is mounted or an object And the signal is transmitted downward.

The traction trajectory signal receiving unit 60 receives the signal transmitted from the traction trajectory transmission unit installed below the traction trajectory so as to look upward from the manned vehicle, and outputs a signal for identifying the trajectory to be towed to the drive control unit 70, The drive control unit 70 determines whether or not the vehicle is a towing vehicle.

The drive control unit 70 includes a primary obstacle detecting unit 20, a secondary obstacle detecting unit 30, a QR code recognizing unit, and a towing cart signal receiving unit 60, And performs an operation in a central processing unit such as an MCU, and controls the entire driving device including the traction of the bogie and the driving signal transmission.

The mechanical hookwheel 80 is connected to the independent driving motors before and after the both sides of the body frame 10 and is driven by the driving signal of the driving control unit 70 to travel horizontally in the left- Respectively, so that the rotation speed and the rotation direction can be different from each other.

On the other hand, most of the operation lines operated by the unmanned vehicle have a considerable difficulty in confirming the operation status of the unmanned vehicle due to the generation of various noises.

In order to solve the above-mentioned difficulties, the present invention is provided with a driving-state light emitting unit 90 capable of emitting a color capable of displaying a corresponding driving state according to the driving state of the unmanned vehicle.

LEDs of various colors may be used as the driving state light emitting unit 90. In order to visually check the driving state of the unmanned vehicle including the traveling state, rotation, stop, running state, and charging state of the unmanned vehicle And is provided outside the body frame 10.

The touch panel 100 is provided in the form of a touch pad on the upper side of the front portion of the automatic guided vehicle so that the user can directly operate the driving of the automatic guided vehicle through the setting of the drive control portion 70.

The quick switch 110 is provided on the rear side of the touch panel 100 in the form of a shortened switch so as to quickly perform a basic function in driving including the on / off operation of the unmanned vehicle.

The driving battery 120 supplies power to the components requiring electricity, and is located at the center of the body frame 10 in consideration of the position of the components and the center of gravity of the unmanned vehicle.

Meanwhile, the unmanned vehicle according to the present invention is provided with a bogie traction mechanism 200 as shown in Fig. 7 so as to be able to pull the bogie in combination with a bogie to be towed from below the bogie to be towed.

The traction traction mechanism receives the signal transmitted from the traction traction signal transmission unit 50 provided on the traction object, to the traction traction signal reception unit 60 provided in the automatic guided vehicle, and transmits the signal to the drive control unit 70 The drive control unit 70 transmits a drive signal to the bill traction mechanism to drive the bill traction mechanism.

The bogie traction mechanism 200 includes a support bracket 250 provided with a rotary plate 220 connected to the traction drive motor 210, a push rod 230, a bogie coupling rod 240, a guide block 250, and a guide rail 260 270, a proximity sensor 280, a rod end bearing 290, and a connection bracket 300.

Here, as shown in FIG. 7, at least one cart pulling mechanism including the above-described configuration is provided at a predetermined interval in the automatic guided vehicle.

The rotation plate 220 is connected to the traction drive motor 210 and receives a rotational force from the traction drive motor 210 to perform a rotation operation by 180 degrees.

One end of the push rod 230 is connected to the edge of the rotary plate 220, and the push rod 230 is moved up and down in the vertical direction as the rotary plate 220 rotates by 180 degrees.

The bogie coupling rod 240 is connected to the other end of the push rod 230 and moves up and down together through the through hole formed in the body frame as the push rod 230 moves up and down. Connected to or disconnected from the vehicle, and connected to or separated from the towing vehicle.

The guide block 250 is provided at one side of the bogie coupling rod 240 and moves together with the bogie coupling rod 240 as it ascends and descends to guide the bogie coupling rod 240, The position of the proximity sensor 280 described below is detected for detecting the ascending / descending state of the proximity sensor 280. [

The support bracket 270 supports the bogie coupling rod 240 to which the guide block 250 is coupled and the other side of the guide block 250 is coupled to the support bracket to guide the movement of the guide block 250 A guide rail 260 is provided in the height direction.

The proximity sensor 280 is provided on the support bracket 270 at a predetermined distance from the support bracket 270. The guide block 250 may be moved upward or downward as the bogie coupling rod 240 moves up and down, The control unit 70 senses the up / down state including the down state and transmits a signal related to the up / down state of the bogie coupling rod 240 to the drive control unit 70 so that the drive control unit 70 controls the drive of the traction drive motor 210.

The rod end bearing 290 includes a rotary plate 220 that performs different motions when the rotary motion of the rotary plate 220 is converted into a push rod 230 and a lift motion of the bogie pulling rod, a push rod 230, Are provided at both ends of the push rod 230 to reduce the kinetic resistance that may occur with each other.

The connection bracket 300 is formed as a connection member in a shape of a letter "A" connecting the push rod 230 and the bogie coupling rod 240 to be inserted into the end portion of the push rod 230 which engages with the bogie coupling rod 240 An insertion hole is formed in the lower side where the projection is inserted and can be rotated at a predetermined angle, and the upper surface is engaged with the lower surface of the brake coupling rod 240.

The connection bracket 300 may be configured such that when the push rod 230 and the bogie coupling rod 240 are engaged, if the height of the bogie coupling rod 240 needs to be adjusted, The height of the bogie coupling rod 240 can be easily adjusted by replacing the connection bracket 300 with the connection bracket 300, thereby facilitating the maintenance of the entire bogie traction mechanism.

It will be apparent to those skilled in the art that various modifications, substitutions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims. will be. Therefore, the embodiments disclosed in the present invention and the accompanying drawings are intended to illustrate and not to limit the technical spirit of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments and the accompanying drawings . The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

10 - Body frame 20 - Primary obstacle
30 - Secondary obstacle detection section 40 - QR code recognition section
50 - traction trailer signal transmitter 60 - traction trailer signal receiver
70 - drive control unit 80 - mechanical drive wheel
90 - driving state light emitting part 100 - touch panel
110 - Quick switch 120 - Drive battery
200 - Bogie traction device 210 - Traction drive motor
220 - Spindle 230 - Push rod
240 - Bogie coupling rod 250 - Guide block
260 - Guide rail 270 - Support bracket
280 - Proximity sensor 290 - Rod end bearing
300 - Connection bracket

Claims (3)

A plurality of primary obstacle detectors positioned at corners of the body frame in a diagonal direction for detecting an obstacle located on a traveling path;
A secondary obstacle detection unit including a bumper, a linear bush, a linear shaft, and a limit switch on the outside of a slope of the body frame, and transmitting a collision signal when the obstacle is out of the detection range of the primary obstacle detection unit;
A QR code recognizing unit recognizing a QR code attached to a floor on a traveling path and recognizing a current position and a traveling path in a traveling direction;
A towing vehicle signal transmission unit for attaching the towing vehicle to a lower side of a towing vehicle to distinguish whether the towing vehicle is loaded with goods or not, and to transmit a corresponding signal;
A traction trajectory signal receiving unit for receiving a signal transmitted from the traction trajectory signal transmitting unit and transmitting a signal for identifying a trajectory to be towed;
The sensor receives signals transmitted from a sensor including a primary obstacle detection unit, a secondary obstacle detection unit, a QR code recognition unit, a towing vehicle signal transmission unit, and a towing vehicle signal reception unit to perform calculation, A driving control unit for controlling the driving device;
A mechanical hook-and-loop motor connected to the independent driving motors before and after both sides of the body frame and independently driven by a driving signal of the driving control unit;
A rotating plate connected to the traction drive motor and rotated by receiving a rotational force from the traction drive motor;
A push rod having one end connected to an edge of the rotating plate and moving up and down as the rotating plate rotates;
A bogie coupling rod connected to the other end of the push rod and engaged or disengaged with the engaging portion provided on the bogie while moving up and down together with the push rod moving up and down;
A guide block provided at one side of the bogie coupling rod and moving together with the bogie coupling rod as the bogie coupling rod moves up and down;
A support bracket having a guide rail coupled to one side of the guide block and guiding and supporting the guide block in a height direction;
The bogie coupling rod senses the up / down state of the guide block that moves up and down together with the upward / downward movement of the bogie coupling rod and is spaced apart from the support bracket by a predetermined distance in order to transmit a signal related to the up / down state of the bogie coupling rod to the drive control unit A plurality of proximity sensors; And
An insertion hole into which an insertion protrusion formed at an end of the push rod to be engaged with the brake coupling rod is formed on the lower side and an upper side is formed with a connection bracket &
And an elevator car towing mechanism. delete delete

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