KR101889288B1 - Vehicle and vehicle system having the same - Google Patents

Abstract

A transport truck and a transport truck system having the same are disclosed. The conveyance truck according to the embodiment of the present invention is selectively guided to any one of the first and second branch travel guides provided on one side of the trajectory for the conveyance truck in the curve connection section or the branch section of the trajectory for the conveyance truck, A plurality of steering wheels disposed on both sides of the first and second branch travel guides with the first and second branch travel guides interposed therebetween; And a linear motion wheel drive unit connected to the plurality of steering wheels and guiding the steering wheel in a linear motion manner so as to approach or separate from the first and second branch travel guides in which a plurality of steering wheels are disposed therebetween.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a transportation vehicle,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a conveyance truck and a conveyance truck system having the same, and more particularly, to a conveyance truck system that linearly moves a steering wheel in a new concept different from conventional ones, And a conveyance truck system having the same.

Overhead shuttles (OHS) and overhead hoist transport (OHT) systems are installed in large hospitals, semiconductor and flat panel display production plants where there are many small objects to be transported.

Such a conveyance and delivery system includes a conveyance vehicle for conveying an object and a trajectory for a conveyance truck including a trajectory and a branch trajectory branched from the trajectory, which are installed on the ceiling so that the conveyance truck can run.

For example, in a case where the feed truck system is installed in a semiconductor or display flat panel production line, a running track and a branch track branched from a running track are installed in a ceiling space in a clean room. The object is transported along the trajectory and the branch trajectory.

As described above, the conveying bogie carries the conveyance, that is, the conveyance of the conveying object, through the control for the conveyance trajectory installed on the ceiling.

At this time, when the traverse vehicle travels in the straight section of the trajectory trajectory, the vehicle runs straight on the basis of only the main wheel and the support wheel. However, in a curve section such as a curve connection section or a branch section, the steering wheel is used to curve in accordance with the direction. At this time, the steering wheel is guided and supported by the first and second branch travel guides disposed at the upper portion of the traveling track and the branch orbit, so that the traveling carriage can be curved.

In such a curve connecting section or a section having a curve like the branch section, the steering wheel is operated and contacted with the corresponding first and second branch travel guides. In order to operate the steering wheel, a seesaw motion providing section is applied . The seesaw motion providing unit operates the steering wheel in a seesaw motion manner so as to support the steering wheel in contact with the branch driving guide.

However, in the case of the prior art in which the steering wheel is driven by the seesaw motion method, since it is vulnerable to the structural rigidity as compared with the linear motion method, an error occurs frequently during operation, and the structure is relatively complicated. ) Is increased, the weight is increased and control is not easy.

Therefore, as described in Korean Patent Registration No. B1-0103075, a steering control member, that is, a steering wheel is provided between the branching / merging guide member, i.e., the first and second branching travel guides, So as to move the steering wheel freely in the left and right direction.

However, in the case of the prior art disclosed in the above document, the steering wheel is moved left and right between the first and second branch travel guides, that is, the first and second branch traveling The rigid structure is inevitably weak due to the selective contact support of the guide, which causes frequent occurrence of errors during operation.

Korea Intellectual Property Office Registered Patent Bulletin (B1) Registration No. 10-0753072

SUMMARY OF THE INVENTION Accordingly, the present invention has been made in view of the above problems, and it is an object of the present invention to provide a steering apparatus for a vehicle, which is capable of linearly moving the steering wheel in a new concept different from conventional ones, Since it is feasible to reduce the error rate, it is possible to reduce the cost as well as reduce the cost because the structure is relatively simple. In addition, the setting can be simplified and the control can be facilitated. And a conveyance truck system having the same.

According to an aspect of the present invention, there is provided a control apparatus for a vehicle, which is selectively guided on any one of first and second branch travel guides provided on one side of a traverse track for a curb connection section or a branch section of a traverse track, A plurality of steering wheels disposed on both sides of the first and second branch travel guides with first and second branch travel guides interposed therebetween; And a linear motion wheel drive unit connected to the plurality of steering wheels and guiding the steering wheel in a linear motion manner so as to approach or separate from the first and second branch travel guides disposed between the plurality of steering wheels, And a conveying bogie which is characterized in that the conveying bogie can be provided.

The linear motion type wheel driving unit includes: a pair of wheel supports supporting the steering wheels in a plurality; And a linear guide module connected to the pair of wheel supports and guiding the pair of wheel supports to linearly move.

The steering wheel may be provided on each of the pair of wheel supports, and the first and second branch travel guides may be disposed between the pair of wheel supports.

The pair of wheel supports may be connected by a support connection for synchronous drive of the pair of wheel supports.

Wherein the linear motion wheel drive unit comprises: a power supplier for providing power for linear motion of the pair of wheel supports; And a motion transmission unit that converts the power provided by the power supply into a linear motion of the pair of wheel supports and transmits the rectilinear motion.

The power supply unit may include: a servo motor that can be controlled; And a speed reducer which is connected to the servo motor and decelerates the output of the servo motor to transfer the decelerated output to the motion transmission unit.

Wherein the motion transmitting portion includes: a gear-type block coupled to the support link and having a plurality of gear grooves arranged in a horizontal direction; A rotating plate connected to the power supplier and rotated in the normal direction; And a plurality of gear pins coupled to the rotating plate and selectively engaged with the gear grooves to linearly move the gear block when the rotating plate is rotated by the power supplier.

The gear pin may be a cam follower for particle reduction.

One side of the rotation plate forms an arc-shaped curved surface portion, and the cam followers are arranged at equal intervals along the line of the curved surface portion of the rotation plate, and can be rotatably coupled by the pin fixing portion.

The linear guide module may be coupled to a wheel support that supports the traveling wheel as an LM guide. The linear guide module may include a stopping portion formed at an end of the LM guide to have a size larger than the volume of the LM guide, Wherein the stopping block is screwed to the wheel support and the wheel support is formed in a stepped shape to prevent the stopping block from being pushed, A stepped portion can be formed.

The stopping block and the wheel support may be respectively coupled to a shock absorbing pad for buffering a collision.

According to another aspect of the present invention, there is provided a trajectory for a conveyance vehicle, the trajectory having a straight section, a curve connection section or a branch section, in which first and second branch travel guides are disposed on one side; And a transport bogie for transporting an object while traveling along each section of the transport bogie trajectory, wherein the transport bogie is installed in any one of the first and second branch travel guides in the curve connecting section or the branch section A plurality of steering wheels that are selectively guided and disposed on both sides of the first and second branch travel guides with the first and second branch travel guides interposed therebetween; And a linear motion wheel drive unit connected to the plurality of steering wheels and guiding the steering wheel in a linear motion manner so as to approach or separate from the first and second branch travel guides disposed between the plurality of steering wheels, And a control unit for controlling the conveyance of the conveyance truck.

The linear motion type wheel driving unit includes: a pair of wheel supports supporting the steering wheels in a plurality; A linear guide module connected to the pair of wheel supports and guiding the pair of wheel supports to linearly move; And a support link connecting the pair of wheel supports for synchronous driving of the pair of wheel supports.

Wherein the linear motion wheel drive unit comprises: a power supplier for providing power for linear motion of the wheel support; And a motion transmission unit for converting the power provided in the power supply into a linear motion of the wheel support and transmitting the rectilinear motion.

Wherein the motion transmitting portion includes: a gear-type block coupled to the support link and having a plurality of gear grooves arranged in a horizontal direction; A rotating plate connected to the power supplier and rotated in the normal direction; And a plurality of gear pins coupled to the rotating plate and selectively engaged with the gear grooves to linearly move the gear block when the rotating plate is rotated by the power supplier.

The gear pin may be a cam follower for reducing particles, and one side of the rotation plate forms an arc-shaped curved surface portion, and the cam followers are arranged at a plurality of equal intervals along a line of the curved surface portion of the rotation plate, And may be rotatably coupled by a gantry.

The linear guide module may be coupled to a wheel support that supports the traveling wheel as an LM guide. The linear guide module may include a stopping portion formed at an end of the LM guide to have a size larger than the volume of the LM guide, Wherein the stopping block is screwed to the wheel support and the wheel support is formed in a stepped shape to prevent the stopping block from being pushed, A stepped portion can be formed.

The stopping block and the wheel support may be respectively coupled to a shock absorbing pad for buffering a collision.

According to the present invention, since the steering wheel is linearly moved in a new concept different from the conventional one and is guided and supported by the first and second branch travel guides, rigidity can be higher than that of the prior art, it is possible to reduce the rate of occurrence of errors and relatively simplify the structure, so that the cost can be reduced, the weight can be reduced, and the setting can be simplified and control can be facilitated.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic view showing a delivery truck system according to an embodiment of the present invention; FIG.
Fig. 2 is an enlarged view of a portion A in Fig. 1, showing a traveling state of a transportation bogie in a branch section. Fig.
3 is a partial cross-sectional structural view of the conveyance truck.
Fig. 4 is a structural view of a gripping unit, a gripper transferring unit, and a fall preventing unit which can be applied to a bogie body of a transfer bogie.
5 is a perspective view of the wheel supporter and the steering wheel region;
6 is an enlarged view of the main part of Fig.
7 is an enlarged view of the area A in Fig.
8 to 10 are views showing the operation of the steering wheel corresponding to the positions P1, P2, and P3 in Fig. 2, respectively.
11 is a control block diagram of a transport bogie system according to an embodiment of the present invention.

In order to fully understand the present invention, operational advantages of the present invention, and objects achieved by the practice of the present invention, reference should be made to the accompanying drawings and the accompanying drawings which illustrate preferred embodiments of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Like reference symbols in the drawings denote like elements.

Fig. 1 is a schematic view of a conveyance truck system according to an embodiment of the present invention. Fig. 2 is an enlarged view of a portion A in Fig. 1, showing a running state of a conveyance truck in a branch section, Fig. 5 is a perspective view of the wheel supporter and the steering wheel region, Fig. 6 is a perspective view of the wheel supporter and the steering wheel region, Fig. 6 is a perspective view of the wheel supporter and the steering wheel region, FIG. 7 is an enlarged view of the region A in FIG. 6, and FIGS. 8 to 10 are views showing the operation of the steering wheel corresponding to the positions P1, P2, and P3 in FIG. 11 is a control block diagram of a transport bogie system according to an embodiment of the present invention.

Referring to these drawings, the conveyance truck system according to the present embodiment linearly moves the steering wheel 323 (refer to Figs. 3 and 5) in a new concept different from the conventional one to guide the first and second branch travel guides 171 and 172 And a conveyance truck 200 for conveying the object M while traveling along the trajectory 100 for the conveyance truck. 5 and 6) for guiding the steering wheel 323 in a linear motion manner, as will be described later in detail, the transfer bogie 200 includes a steering wheel 323 (see Figs. 3 and 5) ).

Referring first to FIG. 1 and FIG. 2, the trajectory track 100 is a trajectory for guiding the traverse track 200 to travel.

The trajectory trajectory 100 may include a straight section S1, a curve connection section S2 and a branch section S3 (or a branch and a junction section). A transfer port P (see FIG. 1) in which the object M is loaded and unloaded adjacent to the trajectory 100 for the traverse bogie can be disposed.

The curve connecting section S2 is a section in which a part of the continuous rectilinear section S1 has a certain curvature and the branch section S3 is a section in which the conveying carriage 200 can travel in a straight line. Quot; refers to a section that is arranged side by side and interconnects the mutually spaced rectilinear sections S1.

 Since the traverse bogie trajectory 100 includes the straight section S1, the curve connecting section S2 and the branch section S3, the traverse bogie 200 is capable of traveling along the curve M, .

The traveling track 110 may be disposed in the straight section S1 and the curve connecting section S2 and the branch section S3 may be provided in the traveling track 110 so as to interconnect the plurality of traveling orbits 110, The branching trajectory 130 can be arranged.

The traveling trajectory 110 and the branch trajectory 130 have the same structure except for their functions. A rail (not shown) is provided on the traveling track 110 and the branch track 130 so that the main wheel 321 and the support wheel 322 of the conveying carriage 200 are in rolling contact with each other.

2, a straight line travel guide 150 for guiding the conveying carriage 200 so as to continue to run straight along the traveling orbit 110, First and second branch travel guides 171 and 172 for guiding the vehicle 200 to travel along a branch orbit 130 are provided. The linear travel guide 150 and the first and second branch travel guides 171 and 172 are disposed opposite to each other on the upper portion of the transporting carriage 200 and interact with the steering wheel 323 provided on the transporting carriage 200 .

In the structure of FIG. 2, for example, when the conveyance truck 200 wants to continue straight running along the trajectory 110 in the branch section S3, the conveyance truck 200 travels along the straight travel guide 150 And when the transporting truck 200 tries to branch off along the branching trajectory 130 in the branching section S3, the transporting truck 200 can travel along the first and second branching travel guides 171 and 172 have.

At this time, when the conveying carriage 200, which is running straight as shown in FIG. 2, branches off along the branch trajectory 130 in the branching section S3, the steering wheel 323 provided on the conveying carriage 200, And the first and second branch travel guides 171 and 172 are sequentially contacted and supported such that the P2 and P3 positions of the conveyance truck 200 are curved.

The linear travel guide 150 and the first and second branch travel guides 171 and 172 are supported by a support or the like in a ceiling space (not shown) in the clean room when the transportation truck system according to an embodiment of the present invention is installed in a semiconductor or display flat panel production line. The rails of the traveling track 110 and the branch trajectory 130 may be disposed below the linear traveling guide 150 and the first and second branch traveling guides 171 and 172. [ Therefore, the rails of the traveling track 110 and the branch trajectory 130 correspond to the main wheel 321 and the support wheel 322 of the conveyance truck 200, and the linear travel guide 150 and the first and second The branch travel guides 171 and 172 can act in correspondence with the steering wheel 323 of the conveyance truck 200. [

Hereinafter, a description will be made of a conveyance carriage 200 that conveys an object M while traveling along the trajectory 100 for the conveyance carriage described with reference to Figs.

The transporting truck 200 transports the object M while traveling along the straight section S1, the curve connecting section S2 and the branching section S3 of the above-described trajectory 100 for traction.

The conveyance truck 200 includes a wheel supporter 310 to which a plurality of wheels 321 to 323 are coupled, a truck main body 210, a coupling bar 232 coupled to the truck main body 210 and the wheel supporter 310 ).

Before describing the wheel supporter 310, the bogie body 210 will be described first with reference to Figs. 3 and 4. Fig. The truck main body 210 forms a place where the object M is seated inside.

A gripping unit 250 for gripping the object M and a gripping unit 250 connected to the gripping unit 250 to move the gripping unit 250 to the main body 210 And a fall prevention unit 290 for supporting the object M and preventing the object M from dropping during transportation.

It is needless to say that the gripping unit 250, the gripper transferring unit 270 and the fall preventing unit 290 are not necessarily provided in the bogie body 210 but if they are equipped, M can be prevented from dropping during transportation, and the like can be provided. However, as described above, the gripping unit 250, the gripper transferring unit 270, and the drop preventing unit 290 may be omitted, or a structure different from that of this embodiment may be applied.

The object M is loaded into the bogie body 210 at the transfer port P (see Fig. 1) by the gripping unit 250 or unloaded from the bogie body 210 to the transfer ports P Thus, the gripping unit 250 may include a gripper 251 that grips the object M.

The gripper 251 grips the object M placed on the transport ports P or grips the object M placed on the truck body 210. In order to grip the object M seated on the conveyance ports P or grip the object M seated on the conveyance ports P and to seat the object M on the carriage body 210, The transport truck system of the present embodiment may include a gripper transport unit 270 that reciprocates the gripper 251 between the transport body P and the inside and outside of the truck body 210, .

The object M gripped by the gripper 251 is transported to the inside of the truck body 210 and is mounted on the truck body 210. The gripping unit 250 transports the object M to the truck body 210 210 may include a gripper driving module 253 for moving the gripper 251 up and down. In other words, the gripper driving module 253 is connected to the gripper 251 and serves to lift and rotate the gripper 251.

The drop prevention unit 290 provides a stable transport structure for the object M to prevent the object M that is seated on the truck body 210 from shaking in the transport and falling from the truck body 210. [ That is, in this embodiment, the drop prevention unit 290 includes a support member 291 disposed at a lower portion of the truck main body 210 and supporting the lower portion of the object M, And a support member driving unit 293 connected to the member 291 for causing the support member 291 to come into contact with and contact with the lower portion of the object M. [

The support member 291 is in contact with the lower portion of the object M to stably support the object M with respect to the bogie body 210. At least one pair of the support members 291 is provided so as to face the lower portion of the truck main body 210 so as to support the lower portion of the object M. [ That is, the object M is stably supported by at least one pair of the support members 291 in the lower portion of the truck main body 210.

The supporting member driving unit 293 serves to bring the supporting member 291 into contact with and disengage from the lower portion of the object M. [ The support member driver 293 includes a rotation link 294 having one end connected to the support member 291 and the other end rotatably connected to the bogie main body 210 and one end connected to the bogie main body 210 A support link 295 rotatably connected to the rotary link 294 and slidably connected to the rotary link 294 at the other end and a support link 293 disposed at a lower portion of the link body 210 and connected to the rotary link 294, And a rotary link driver 296 for rotating the support member 291 to contact and release the contact with the lower portion of the object M.

One end of the rotation link 294 is connected to the support member 291 so that the support member 291 can rotate relative to the truck main body 210. The rotation link 294 causes the support member 291 to come into contact with the lower portion of the object M or the support member 291 to be disengaged from the lower portion of the object M.

The rotary link 294 is also supported by a support link 295 rotatably connected to the truck body 210. That is, one end of the support link 295 is rotatably connected to the bogie body 210 and the other end of the support link 295 is slidably connected to the rotation link 294 to support the rotation link 294.

The other end of the supporting link 295 is slid on the rotating link 294 when the supporting member 291 is brought into contact with the lower portion of the object M by rotating one end of the rotating link 294 Thereby supporting the rotating link 294 firmly. The rotary link drive unit 296 is provided below the bogie body 210 so that the support member 291 is brought into contact with and released from the lower portion of the object M by the rotation of the rotary link 294. [

The rotary link driver 296 according to the present embodiment includes an actuator 296 connected to the rotary link 294 and rotating the rotary link 294 as it extends and contracts. The rotation link 294 is rotated in the direction in which the support member 291 contacts the lower portion of the object M when the rod 298 of the actuator is pulled into the body 297 of the actuator. Conversely, when the rod 298 of the actuator is pulled out of the body 297 of the actuator, the rotary link 294 is rotated in such a direction that the support member 291 is disengaged from the lower portion of the object M.

The wheel supporter 310 is a structure in which a plurality of wheels 321 to 323, that is, a main wheel 321, a support wheel 322 and a steering wheel 323 are rotatably connected, To the bogie body 210 described above. A plurality of main wheels 321, a support wheel 322 and a steering wheel 323 are provided for stable running.

The main wheel 321 is used as a power source when the conveyance carriage 200 is running straight or curved on the trajectory track 100 and the support wheel 322 is operated together with the main wheel 321.

On the other hand, the steering wheel 323 acts when the conveying carriage 200 travels while being guided in the curve connecting section S2 and the branching section S3 in Figs. 1 and 2. That is, when the conveyance truck 200, which is traveling straight as shown in FIG. 2, travels along the branch trajectory 130 in the branching section S3, the steering wheel 323 moves to the first position P2 And the second branch travel guides 171 and 172, respectively, so that the conveying carriage 200 is caused to curve.

9 and 10, a plurality of steering wheels 323 are provided in the first and second branch travel guides 171 and 172 with the first and second branch travel guides 171 and 172 interposed therebetween, And is guided in a linear motion manner so as to approach or separate the first and second branch travel guides 171 and 172 by the linear motion wheel drive unit 330.

8 to 10, a plurality of steering wheels 323 are provided on both sides of the first and second branch travel guides 171 and 172 by the action of the linear motion wheel drive unit 330, And the second branch travel guides 171 and 172. The operation of the second branch travel guides 171 and 172 can correspond to the curve connecting section S2 and the branch section S3 of FIGS.

When the steering wheel 323 is linearly moved so as to approach or separate from the first and second branch travel guides 171 and 172 by the action of the linear motion wheel drive unit 330 as in the present embodiment, The stiffness can be higher than that of the method of the registration number (B1) No. 10-0753072, and it is possible to realize a stable structure, thereby reducing the error occurrence rate. Since the structure is relatively simple, cost can be reduced, weight can be reduced, and the setting can be simplified and control can be facilitated.

The linear motion type wheel drive unit 330 will be described in detail with reference to FIGS. 5 to 10. FIG. The linear motion type wheel drive unit 330 is connected to the steering wheel 330 as described above and when the steering wheel 330 is disposed in the curve connection section S2 and the branching section S3 in FIGS. And serves to guide the steering wheel 330 in a linear motion manner. In particular, a plurality of steering wheels 323 guide the first and second branch travel guides 171 and 172 in a linear motion manner so as to approach or separate the first and second branch travel guides 171 and 172 from both sides of the first and second branch travel guides 171 and 172.

The linear motion wheel drive unit 330 may include a wheel support 340 and a linear guide module 350 connected to the wheel support 340 and guiding the wheel support 340 to linearly move.

The wheel support 340 rotatably supports the steering wheel 330. The wheel support 340 can be applied as a plate-like structure, in which a pair of steering wheels 330 can be rotatably coupled to one wheel support 340. 9 and 10, the first and second branch travel guides 171 and 172 are disposed between the pair of wheel supports 340. The first and second branch travel guides 171 and 172 are disposed on the straight guide module 350, do. The pair of wheel supports 340 may be connected by a support connection 345. Accordingly, the pair of wheel supports 340 can be synchronously driven.

As the present embodiment, the wheel support 340 is provided on the linear guide module 350 in a pair, while the pair of steering wheels 330 are rotatably engaged with one wheel support 340, Even if the bogie 200 travels in the curve connecting section S2 and the branching section S3 in Figs. 1 and 2, the bogie 200 can stably travel without inclination.

As shown in FIGS. 8 to 10, the linear motion type wheel driving unit 330 includes a power providing unit 360 and a motion transmitting unit 370 for linear motion of the steering wheel 330.

As shown in more detail in FIG. 7, the power supply 360 serves to provide power for rectilinear motion of the wheel support 340. The power supplier 360 includes a servomotor 361 that can be controlled by the controller 400 and a servo motor 361 that is connected to the servo motor 361 and decelerates the output of the servo motor 361 to be transmitted to the motion transmitting unit 370 A speed reducer 362 may be provided.

The reduction gear 362 is connected to and supported by a plate support plate 374 and the plate support plate 374 can be fixed to the wheel supporter 310 through a plurality of fixed bridges 375.

Meanwhile, the motion transmission unit 370 converts the power provided by the power supply unit 360 into linear motion of the wheel support 340, i.e., linear motion of the steering wheel 323 as shown in FIGS. 8 to 10 . The movement transmitting portion 370 may include a gear type block 371, a rotating plate 372, and a gear pin 373. [

The gear type block 371 is a structure that is coupled to the support connection portion 345. A plurality of gear grooves 371a are horizontally arranged on one surface of the gear type block 371 facing the rotation plate 372. [ The gear grooves 371a are arranged at regular intervals.

The rotary plate 372 is connected to the power supply unit 360 and can be rotated in the forward and reverse directions by the power supply unit 360. When the rotary plate 372 is rotated in the forward direction, the operation of the steering wheel 323 can be led out as shown in FIG. 9 to FIG. 10, and when the rotary plate 372 is rotated in the reverse direction, ). ≪ / RTI > The rotation plate 372 is rotatably provided on a plate support plate 374 connected to the power supply unit 360.

The gear pin 373 is coupled to the rotary plate 372 and selectively inserted into the gear groove 371a when the rotary plate 372 is rotated by the power distributing unit 360 to be engaged with the gear- It plays a role.

In this embodiment, the gear pin 373 is applied as a cam follower 373 for particle reduction. One side of the rotation plate 372 forms an arc-shaped curved surface portion, and the cam followers 373 can be arranged at a plurality of intervals at regular intervals along the line of the curved surface portion of the rotation plate 372. At this time, each of the cam followers 373 can be coupled to the rotary plate 372 by the pin fixing portion 373a.

5, the linear guide module 350 may be applied to the LM guide 350 and may be coupled to the wheel support 310 in the present embodiment.

At this time, a stopping block 351 is formed at an end of the LM guide 350, which is larger than the volume of the LM guide 350 and blocks movement of the wheel support 340 in the allowable range. Since the stopping block 351 is screwed to the wheel support 310, it is possible to prevent the wheel support 340 from being moved beyond the allowable range.

However, considering the fact that the conveying carriage 200 is heavy, the stopping block 351 may be pushed by the screwing of the stopping block 351 only when the wheel support 340 is collided. Accordingly, in this embodiment, the stepped portion 315 for blocking the block is used to prevent the block. The block stepping stopping step 315 is provided in the wheel support 310 and is provided with a stepping block 351 to prevent the stopping block 351 from being pushed in operation of the wheel support 340 for the operation of the steering wheel 323. [ And serves to mechanically support the stopping block 351.

At this time, buffer pads 351a and 340a for buffering the collision can be coupled to the stopping block 351 and the wheel support 340, respectively. The buffer pads 351a and 340a may be urethane pads.

Meanwhile, as shown in FIG. 11, the conveyance truck 200 according to the present embodiment may further include an interval sensing unit 450 and a controller 400.

The section detecting unit 450 detects whether the traverse track 100 is a curve connecting section S2 or a branch section S3 when the traverse bogie 200 travels on the traverse bogie orbit 100 .

The controller 400 controls the operation of the power supply 360 based on the sensing information of the section sensing unit 450. That is, if the section sensing unit 450 senses this before the conveyance truck 200 enters the curve connecting section S2 or the branch section S3 on the trajectory trajectory 100, the controller 400 outputs power 360 so as to vary the position of the steering wheel 323 in accordance with the curve connecting section S2 or the branching section S3 so that the conveying carriage 200 can run smoothly without tilting.

The controller 400 in charge of such a function may include a central processing unit 410, a memory 420, and a support circuit 430. [

The central processing unit 410 may be one of various computer processors that can be industrially applied to control the operation of the power providing unit 360 based on the sensing information of the section sensing unit 450 in the present embodiment.

The memory 420 (MEMORY) is connected to the central processing unit 410. The memory 420 may be a computer readable recording medium and may be located locally or remotely and may be any of various types of storage devices such as, for example, random access memory (RAM), ROM, floppy disk, hard disk, May be at least one or more memories.

A support circuit 430 (SUPPORT CIRCUIT) is coupled with the central processing unit 410 to support the typical operation of the processor. Such a support circuit 430 may include a cache, a power supply, a clock circuit, an input / output circuit, a subsystem, and the like.

In this embodiment, the controller 400 controls the operation of the power supply 360 based on the sensing information of the section sensing unit 450. At this time, a series of processes or the like in which the controller 400 controls the operation of the power supply 360 based on the sensing information of the section sensing unit 450 may be stored in the memory 420. Typically, a software routine may be stored in memory 420. The software routines may also be stored or executed by other central processing units (not shown).

Although processes according to the present invention are described as being performed by software routines, it is also possible that at least some of the processes of the present invention may be performed by hardware. As such, the processes of the present invention may be implemented in software executed on a computer system, or in hardware such as an integrated circuit, or in combination of software and hardware.

The operation of the conveyance truck 200 having such a configuration will be described.

When the conveying bogie 200 in the straight traveling state reaches the branching section S3 and branches and travels along the branch trajectory 130 as shown in Fig. 2 (see Fig. 8), the steering wheel 323 Are linearly moved by the action of the linear motion wheel drive unit 330 and sequentially contacted and supported by the first and second branch travel guides 171 and 172, respectively.

First, when the conveying carriage 200 in a straight traveling state reaches the P2 position (see FIG. 9) in FIG. 2 as in the P1 position of FIG. 2 (see FIG. 8), the steering wheel 323 Is linearly moved to one side to be contacted with and supported by the first branch travel guide 171, thereby curving the conveyance carriage 200.

Next, when the conveying carriage 200 reaches the P3 position (see Fig. 10) in Fig. 2 at the P2 position (see Fig. 9) in Fig. 2, the steering wheel 323 is moved And is contacted with and supported by the second branch travel guide 172, thereby curving the conveyance carriage 200 in a different direction. Thereafter, the conveyance carriage 200 can be retreated to the straight main axis.

According to the present embodiment having the structure and function as described above, the steering wheel 323 is linearly moved in a new concept different from the conventional one so as to be guided and guided by the first and second branch travel guides 171 and 172, The stiffness can be increased, and a stable structure can be realized. As a result, it is possible to reduce the error occurrence rate and the structure is relatively simple, so that the cost can be reduced and the weight can be reduced The setting becomes simple and the control becomes easy.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. It is therefore intended that such modifications or alterations be within the scope of the claims appended hereto.

100: Trajectory trajectory 110: Running trajectory
130: branch orbit 150: straight travel guide
171: First quarter travel guide 172: Second quarter travel guide
200: conveying truck 210: truck body
310: Wheel supporter 315: Block stepping prevention step
321: main wheel 322: support wheel
323: Steering wheel 330: Linear motion type wheel drive unit
340: wheel support 345: support connection
350: Linear guide module 351: Stopping block
360: Power supplier 361: Servo motor
362: Speed reducer 370:
371: Gear block 371a: Gear groove
372: spindle 373: gear pin (cam follower)
373a: pin fixing portion 374: plate supporting plate
375: fixed bridge 400: controller
450:

Claims (18)

Wherein the first and second branch travel guides are selectively guided in any one of first and second branch travel guides provided on one side of the traverse track for a curved connection section or a branch section of the traverse bogie trajectory, A plurality of steering wheels disposed on both sides of the first and second branch travel guides with a space therebetween; And
A linear motion wheel drive unit connected to the plurality of steering wheels and guiding the steering wheel in a linear motion manner so as to approach or separate from the first and second branch travel guides disposed between the plurality of steering wheels, ≪ / RTI &
The linear motion type wheel drive unit includes:
A pair of wheel supports for supporting the steering wheels in a plurality;
A linear guide module connected to the pair of wheel supports and guiding the pair of wheel supports to linearly move;
A support link connecting the pair of wheel supports for synchronous driving of the pair of wheel supports;
A power supplier for providing power for linear motion of the pair of wheel supports; And
And a motion transmitting portion for converting the power provided by the power providing portion into linear motion of the pair of wheel supports and transmitting the linear motion,
Wherein the motion transmission unit comprises:
A gear block coupled to the support link and having a plurality of gear grooves arranged in a horizontal direction;
A rotating plate connected to the power supplier and rotated in the normal direction; And
And a plurality of gear pins coupled to the rotating plate and selectively engaged with the gear grooves to linearly move the gear block when the rotating plate is rotated by the power supplier. delete The method according to claim 1,
A pair of steering wheels each being provided on the pair of wheel supports,
Wherein the first and second branch travel guides are disposed between the pair of wheel supports. delete delete The method according to claim 1,
The power supply unit,
Servo motor that can be controlled; And
And a speed reducer connected to the servomotor and configured to decelerate the output of the servo motor and transmit the decelerated output to the motion transmission unit. delete The method according to claim 1,
Wherein the gear pin is a cam follower for reducing particles. 9. The method of claim 8,
Wherein one side of the rotating plate forms an arc-shaped curved surface portion, and a plurality of the cam followers are arranged at regular intervals along a line of a curved surface portion of the rotating plate, and are rotatably coupled by a pin fixing portion. . The method according to claim 1,
The linear guide module is coupled to a wheel support that supports a traveling wheel as an LM guide,
Wherein a stopping block is formed at an end of the LM guide to have a volume larger than a volume of the LM guide and blocks movement of the wheel support in an allowable range,
The stopping block is screwed to the wheel support, and the wheel support is provided with stepped blocks for blocking the block so that the stopping block is stepped to prevent the stopping block from being pushed and mechanically supporting the stopping block To be transported. 11. The method of claim 10,
Wherein the stopping block and the wheel support are each coupled with a shock absorbing pad for buffering a collision. A trajectory for a conveyance truck having a straight section, a curve connection section, or a branch section, the first and second branch travel guides being disposed on one side; And
And a conveying carriage for conveying the object while traveling along each section of the trajectory for the conveyance carriage,
The conveyance truck
Wherein the first and second branch travel guides are selectively guided in one of the first and second branch travel guides in the curve connection section or the branch section, A plurality of steering wheels disposed on both sides of the guide; And
A linear motion wheel drive unit connected to the plurality of steering wheels and guiding the steering wheel in a linear motion manner so as to approach or separate from the first and second branch travel guides disposed between the plurality of steering wheels, ≪ / RTI &
The linear motion type wheel drive unit includes:
A pair of wheel supports for supporting the steering wheels in a plurality;
A linear guide module connected to the pair of wheel supports and guiding the pair of wheel supports to linearly move;
A support link connecting the pair of wheel supports for synchronous driving of the pair of wheel supports;
A power supplier for providing power for linear motion of the pair of wheel supports; And
And a motion transmitting portion for converting the power provided by the power providing portion into linear motion of the pair of wheel supports and transmitting the linear motion,
Wherein the motion transmission unit comprises:
A gear block coupled to the support link and having a plurality of gear grooves arranged in a horizontal direction;
A rotating plate connected to the power supplier and rotated in the normal direction; And
And a plurality of gear pins coupled to the rotating plate and selectively engaged with the gear grooves to linearly move the gear block when the rotating plate is rotated by the power supplier. delete delete delete 13. The method of claim 12,
The gear pin is a cam follower for reducing particles,
Wherein one side of the rotating plate forms an arc-shaped curved surface portion, and a plurality of the cam followers are arranged at regular intervals along a line of a curved surface portion of the rotating plate, and are rotatably coupled by a pin fixing portion. system. 13. The method of claim 12,
The linear guide module is coupled to a wheel support that supports a traveling wheel as an LM guide,
Wherein a stopping block is formed at an end of the LM guide to have a volume larger than a volume of the LM guide and blocks movement of the wheel support in an allowable range,
The stopping block is screwed to the wheel support, and the wheel support is provided with stepped blocks for blocking the block so that the stopping block is stepped to prevent the stopping block from being pushed and mechanically supporting the stopping block . 18. The method of claim 17,
Wherein the stopping block and the wheel support are each coupled with a shock absorbing pad for buffering a collision.

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