KR101982302B1 - Automated Guided Vehicle having Stand-alone type Wheel Drive Unit for Lateral Movement - Google Patents

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a side-running unmanned bogie equipped with a stand-alone wheel drive unit, wherein a side-running unmanned bogie equipped with the independent wheel drive unit according to the present invention forms an overall appearance, A loading vehicle body frame having a plurality of auxiliary wheels on both sides of the inner side of the plane; And a stand-alone wheel drive unit disposed at a lower portion of the main body frame and having a pair of traveling wheels, the stand-alone wheel drive unit being rotatable independently of the main body frame.
Therefore, the present invention provides a stand-alone wheel drive unit that is capable of rotating a pair of traveling wheels formed in a freestanding wheel drive unit around a rotary shaft housing fixed to a main body of a load car using a rotary shaft fixed clamp module, There is an effect of providing a unmanned bogie for side running equipped with a wheel drive unit.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an automatic guided vehicle having a stand-alone wheel drive unit,

The present invention relates to a side-running unmanned bogie equipped with a freestanding wheel drive unit, and more particularly, to a pair of free-wheeling bogie brakes mounted on a freestanding wheel drive unit, And more particularly to a side carriage unmanned bogie equipped with a stand-alone wheel drive unit capable of rotating the traveling wheels in normal and reverse directions and enabling lateral travel.

Generally, an AGV (Automated Guided Vehicle) refers to a vehicle that carries a load automatically without human manipulation, and has been used for various purposes due to the development of industrial technology.

Unmanned bogie refers to a transfer device used for automatically transferring various parts or products when used in an industrial field.

The unmanned bogie may be configured to detect a trajectory along the ground and to move toward a desired destination while moving in a predetermined orbit direction. Usually, a magnetic guide is attached to the bottom surface, and the magnetic guidance of the magnetic guide is recognized, .

In order to solve this problem, most of the unmanned bogie according to the related art is designed to travel in a straight line and a curve with respect to the front and rear of the main body of the loading vehicle, There has been a problem in that when the vehicle is designed to be turned in the horizontal direction, the main body of the loaded vehicle deviates from the track and does not normally operate.

In addition, when a steering device is added to the driving wheels of the main body of the vehicle for the purpose of solving such a problem, the structure of the vehicle is complicated, and components are added to increase the manufacturing cost and productivity.

Therefore, there is an urgent need for a practical and applicable technology capable of increasing the productivity and preventing the manufacturing cost from being increased while allowing horizontal movement of the unmanned bogie.

A public utility model publication No. KR 20-1997-0023340 (published on June 18, 1997)

SUMMARY OF THE INVENTION The present invention has been conceived to solve the problems described above, and it is an object of the present invention to provide a method and apparatus for driving a pair of traveling wheels formed in a freestanding wheel drive unit around a rotating shaft housing fixed to a main body of a loading vehicle, And which is capable of rotating and allowing lateral travel, is provided.

A side carriage unmanned bogie equipped with a freestanding wheel drive unit according to an embodiment of the present invention includes a loading vehicle body frame having an outer appearance as a whole and forming a loading plate on the upper side and a plurality of auxiliary wheels on both inner and lower sides of a lower surface, ; And a stand-alone wheel drive unit disposed at a lower portion of the main body frame and having a pair of traveling wheels, the stand-alone wheel drive unit being rotatable independently of the main body frame.

The independent wheel drive unit includes: a cylindrical rotary shaft housing rotatably formed; A plurality of traveling wheel units connected to the body side of the rotary shaft housing; A rotary shaft fixing clamp module for controlling rotation of the rotary shaft housing in contact with a rotary part of the rotary shaft housing; An upper plate coupled to a lower portion of the car body frame in a combined state with the rotary shaft fixing clamp module to support a rotary motion of the rotary shaft housing; And a lower plate supporting and supporting the lower end of the rotary shaft housing and the traveling wheel unit and having a plane shape of 'I'.

The plurality of traveling wheel units include: a traveling wheel; A drive motor capable of driving the traveling wheels in normal and reverse directions; A speed reducer for transmitting the rotation torque transmitted from the driving motor to the traveling wheels at a constant reduction ratio; A plurality of suspensions disposed at front and rear sides in the traveling direction of the traveling wheels to mitigate shocks during traveling; And a driving motor bracket fixing the driving motor and the speed reducer to the lower plate and extending downward to support and fix the suspension unit.

Wherein the plurality of traveling wheel units are interlocked with a rotary shaft fixed clamp module for controlling rotation of the rotary shaft housing to drive the pair of traveling wheels in different directions when the independent wheel drive unit is rotated in place, The pair of traveling wheels can be driven in the same direction when the unit is traveling.

The rotary shaft housing includes: a center shaft having a circular housing head fixedly coupled to a central portion of a lower surface of the upper plate; and a housing center shaft having a rod shape in a lower vertical direction of the housing head; And a cylindrical housing body portion having a rod-shaped housing space for accommodating the center shaft of the center shaft and having a rhombic bearing holder portion for contacting the rotation shaft fixing clamp module on the upper side.

 The rotary shaft fixing clamp module includes a rotary shaft locking part formed at both sides of the upper plate in the longitudinal direction of the upper plate with the bearing holder part interposed therebetween to control the rotary operation of the bearing holder part; And a rotation axis sensor disposed on both sides of the upper plate in the width direction of the upper plate with the bearing holder interposed therebetween to sense a rotation angle of the rotation axis housing.

Wherein the rotation shaft locking portion includes a clamper whose ends are formed in a "> " shape so as to be in surface contact with both diagonal faces of the bearing holder portion in one direction; A clamper guide rail for guiding a moving path of the clamper; And an electric cylinder for controlling the operation of the clamper.

In the unmanned bogie for side running equipped with the independent wheel drive unit according to another embodiment of the present invention, the rotary shaft fixed clamp module includes a pair of upper and lower ends fixedly coupled to the upper plate, A clamp body formed in a "? &Quot; Wherein when the independent wheel drive unit rotates to rotate, the locating pin is inserted into the locating groove formed on the upper side of the rotary shaft housing through the side surface of the clamp body during driving, ; And a rotation angle sensor formed on one side of the clamp body to sense a rotation range of the rotation axis housing.

In the unmanned bogie for side driving equipped with the independent wheel drive unit according to another embodiment of the present invention, the suspension unit constituting the plurality of traveling wheel units includes a first suspension module using a spring system; And a second suspension module using a linear bushing method.

The first suspension module includes a support frame disposed at a lower side of the second suspension module and having one end connected to an upper end of the drive motor bracket and having four support points; And four driving compression spring portions formed at an upper vertical direction at four support points formed on the support frame.

The second suspension module includes: a suspension plate formed of a plate member having a rectangular shape and disposed at an upper end of the four driving compression spring units; And four linear bushes disposed on the suspension plate and having a shaft that is formed corresponding to a position where the four driving and compression spring portions are positioned and which is vertically expanded and contracted.

The linear bushing may be fixed to an 'X' -shaped coupling panel having a metal washer at the upper end thereof and coupled to a frame of the vehicle body.

The truck main body frame constituting the unmanned bogie for side running equipped with the independent wheel drive unit according to the embodiment of the present invention is formed into a one-stage one-row structure or a two-stage two-row structure when the loading plate is formed on the upper side can do.

The car body frame may include a plurality of accommodating spaces for coupling the battery pack box and the electric box to each other in a longitudinal direction of the body constituting the car body frame.

As described above, according to the present invention, a pair of traveling wheels formed on a freestanding wheel driving unit are rotated in the forward and reverse directions around a rotating shaft housing fixed to a main body of a loading vehicle by using a rotary shaft fixing clamp module, There is an effect of providing a unmanned bogie for side running equipped with a freestanding wheel drive unit.

In addition, since the present invention is equipped with a freestanding wheel drive unit that operates independently of the truck main frame, it is possible to perform side travel, so that even if the distance between the trajectory on which the unmanned truck travels and the equipment There is no need for a belt-like transport system, resulting in increased productivity and reduced installation costs.

Further, the present invention provides a rotary shaft fixing clamp module for controlling the rotary operation of the rotary shaft housing, so that it is possible to easily change the travel between the side running and the forward running, and firmly fix the rotary shaft housing while it is not moving.

In addition, according to the present invention, the suspension unit constituting the traveling wheel unit can be constituted by a double suspension module, thereby improving the shock-absorbing effect and maintaining a stable running state even when the load of the load carrying member is large.

In addition, the present invention can form the loading plate in various forms such as a one-stage one-row structure and a two-stage two-row structure, and thus it is possible to cope with various kinds of facilities depending on facility facilities to which the enemy material is transferred.

BRIEF DESCRIPTION OF DRAWINGS FIG. 1 is an overall configuration diagram of a side-running unmanned bogie equipped with a stand-alone wheel drive unit according to an embodiment of the present invention;
FIG. 2 is a structural view seen from the lower portion of the unmanned bogie for side driving shown in FIG. 1. FIG.
FIGS. 3 to 5 are schematic diagrams for explaining a structure in which a rotary shaft housing and a rotary shaft fixing clamp module, which constitute a side driving running vehicle according to a first embodiment of the present invention, are coupled in an electric cylinder manner.
6 is an exploded view of the independent wheel drive unit according to the first embodiment of the present invention.
7 to 8 are views showing a bearing holder and a center shaft constituting a rotating shaft housing to explain the operation of the rotating shaft fixing clamp of the electric cylinder type according to the first embodiment of the present invention.
9 is a view for explaining the operation of the fixing clamp according to the first embodiment of the present invention.
FIG. 10 is a view showing a state of the independent wheel drive unit shown in FIG. 4 according to the first embodiment of the present invention.
FIGS. 11 to 12 are views for explaining a structure in which a rotary shaft housing and a rotary shaft fixing clamp, which constitute a side-running unmanned bogie according to a second embodiment of the present invention, are combined using locate pins.
13 to 14 are views for explaining a traveling wheel unit of a freestanding wheel drive unit according to a third embodiment of the present invention.
FIG. 15 is a view for comparing the unmanned bogie according to the prior art and the unmanned bogie for side driving according to the embodiment of the present invention.
FIG. 16 is a diagram for further illustrating a driving process of the unmanned bogie for side driving according to the embodiment of the present invention.
17 is a view showing that the loading plate of the unmanned bogie for side driving has a one-row single-row structure according to the embodiment of the present invention.
18 is a view showing that the loading plate of the unmanned bogie for side driving has a two-stage two-row structure according to the embodiment of the present invention.

The description of the present invention is merely an example for structural or functional explanation, and the scope of the present invention should not be construed as being limited by the embodiments described in the text. That is, the embodiments are to be construed as being variously embodied and having various forms, so that the scope of the present invention should be understood to include equivalents capable of realizing technical ideas.

Meanwhile, the meaning of the terms described in the present invention should be understood as follows.

The terms " first ", " second ", and the like are intended to distinguish one element from another, and the scope of the right should not be limited by these terms. For example, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

It is to be understood that when an element is referred to as being "connected" to another element, it may be directly connected to the other element, but there may be other elements in between. On the other hand, when an element is referred to as being "directly connected" to another element, it should be understood that there are no other elements in between. On the other hand, other expressions that describe the relationship between components, such as "between" and "between" or "neighboring to" and "directly adjacent to" should be interpreted as well.

It is to be understood that the singular " include " or " have " are to be construed as including the stated feature, number, step, operation, It is to be understood that the combination is intended to specify that it does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

In each step, the identification code (e.g., a, b, c, etc.) is used for convenience of explanation, the identification code does not describe the order of each step, Unless otherwise stated, it may occur differently from the stated order. That is, each step may occur in the same order as described, may be performed substantially concurrently, or may be performed in reverse order.

All terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. Commonly used predefined terms should be interpreted to be consistent with the meanings in the context of the related art and can not be interpreted as having ideal or overly formal meaning unless explicitly defined in the present invention.

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

FIG. 1 is a diagram illustrating the entire configuration of a side-running unmanned bogie equipped with a stand-alone wheel drive unit according to an embodiment of the present invention, and FIG. 2 is a configuration diagram viewed from a lower portion of the side-running unmanned bogie shown in FIG.

As shown in the drawing, a side-running unmanned bogie equipped with a stand-alone wheel drive unit according to an embodiment of the present invention may include a loaded vehicle body frame 100 and a stand-alone wheel drive unit 200.

More specifically, the car body frame 100 forms the overall appearance of the unmanned bogie for side driving according to the embodiment of the present invention. The car body frame 100 forms the loading plate 110 on the upper side, A plurality of auxiliary wheels 120 and a plurality of accommodating spaces 130 for coupling the battery mounting box and the electric box to each other in a longitudinal direction of the body constituting the loaded vehicle body frame 100 ).

In the case where the unmanned bogie according to the embodiment of the present invention travels forward and backward before side driving, when the driving wheels 221 to be described later are driven, the driving wheels of the plurality of auxiliary wheels 120 move out of the trajectory It is possible to perform a function of assisting the driver to drive without driving.

As shown in the figure, the independent wheel drive unit 200 includes a pair of traveling wheels 221 disposed at a lower portion of the car body frame 100, 100 of the first embodiment.

According to the embodiment of the present invention, the independent wheel drive unit 200 includes the rotation shaft housings 300 and 800, the plurality of traveling wheel units 200, the rotation axis fixing clamp modules 600 and 700, the upper plate 230, (Not shown).

First, the rotary shaft housings 300 and 800 may be formed into a cylindrical shape and rotate.

The plurality of traveling wheel units 200 may be connected to the body side of the rotary shaft housings 300 and 800 so as to rotate together with the rotary shaft housings 300 and 800 when the direction is changed.

According to an embodiment of the present invention, the rotary shaft fixing clamp module 600, 700 is a device capable of controlling the rotation operation of the rotary shaft housings 300, 800 in contact with the rotary parts of the rotary shaft housings 300, When the independent wheel drive unit 200 is rotated independently from the load car body frame 100 in order to maintain the locked state for fixing the upper side of the rotary shaft housings 300 and 800 at the time of side travel, The rotation shaft housing 300 and the rotation shaft housing 300 can be released from the locked state, and the detailed description thereof will be described with reference to the first embodiment and the second embodiment in the following drawings.

The upper plate 230 may be coupled to a lower portion of the truck body frame 100 while being coupled with the rotary shaft fixing clamp modules 600 and 700 to support the rotary motion of the rotary shaft housings 300 and 800.

In addition, the lower plate 210 supports and supports the traveling wheel unit 200 and the lower end of the rotating shaft housing 300, 800, and may have an I-shaped plane.

3 to 10, the independent wheel drive unit constituting the unmanned bogie for side driving according to the first embodiment of the present invention will be described in detail as follows.

FIGS. 3 to 5 are schematic diagrams for explaining a structure in which a rotary shaft housing and a rotary shaft fixing clamp are coupled to an independent type wheel drive unit constituting a side-running unmanned bogie according to a first embodiment of the present invention in an electric cylinder manner, 6 is an exploded view of the independent wheel drive unit according to the first embodiment of the present invention.

The independent wheel drive unit according to the first embodiment of the present invention includes a rotary shaft housing 300, a plurality of traveling wheel units 200, a rotary shaft fixing clamp module 600, an upper plate 230, , And a lower plate (210).

The upper plate 230 and the lower plate 210 may be integrally formed with the frame body 100 while being coupled with the rotary shaft fixing clamp module 600, And the lower plate 210 supports the lower end of the rotary shaft housing 300 and the traveling wheel unit 200 so as to support and support the rotary shaft housing 300. [ And the rotational torque of the rotating shaft housing 300 can be transmitted to the traveling wheel unit 200. [0050] As shown in FIG.

The lower plate 210 includes a travel guide sensor 211 for determining the presence or absence of a trajectory (reflector) attached to the bottom surface on which the unmanned bogie runs, An RS232-type communication connector 212 used as an interface, and a barcode reader attaching bracket 213 for reading the barcode attached to the running floor.

On the other hand, when the unmanned bogie can travel in both the front and rear directions, the travel guide sensor 211, the communication connector 212, and the barcode reader attaching bracket 213 can be disposed on both sides. As shown in FIG.

The plurality of traveling wheel units 220 may be coupled to the lower body side of the rotary shaft housing 300 so as to face each other. As shown in the drawing, the traveling wheels 221, the driving motor 222, a speed reducer 223, a drive motor shaft 224, a suspension unit 225, and a drive motor bracket 226.

More specifically, the driving motor 222 may provide a driving force for driving the traveling wheels 221 in the forward and reverse directions.

When the independent wheel drive unit 200 is driven to rotate in place, the driving motor 222 transmits driving forces to the traveling wheels 221 at different positions in opposite directions to each other, (221).

That is, the pair of traveling wheels 221 constituting the independent wheel drive unit 200 are driven by the independent wheel drive unit 200, which is rotated independently of the vehicle body frame 100, It is possible to enable the rotation in place.

The speed reducer 223 can transmit the rotation torque transmitted from the driving motor 222 to the traveling wheel 221 at a constant reduction ratio.

The driving motor shaft 224 may be connected to the driving motor 222 with a brake (not shown) mounted thereon.

In addition, the plurality of suspensions 225 can be disposed in front of and behind the traveling wheels 221, thereby alleviating impact during traveling.

The driving motor bracket 226 may support the driving motor 222 and the speed reducer 223 to the lower plate and extend downward to support the suspension unit 226.

That is, in the embodiment of the present invention, the plurality of traveling wheel units constituting the independent wheel drive unit 200 are interlocked with the rotary shaft fixed clamp module 600 for controlling the rotary operation of the rotary shaft housing 300, When the drive unit 200 rotates in place, the pair of traveling wheels may be driven in different directions and the pair of traveling wheels may be driven in the same direction when the independent wheel drive unit 200 is traveling.

 FIG. 7 is a view for explaining a rotary shaft fixing clamp module according to the first embodiment of the present invention. FIG. 8 is a perspective view illustrating a bearing holder and a center shaft constituting a rotary shaft housing according to a first embodiment of the present invention. Fig.

Referring to FIGS. 7 to 8, the rotary shaft housing and the rotary shaft fixing clamp module according to the first embodiment of the present invention are described as follows.

As shown in the figure, the rotary shaft housing 300 according to the first embodiment of the present invention may include a center shaft 310 and a housing body portion 320.

More specifically, the center shaft 310 includes a circular housing head 311 fixedly coupled to a central portion of a lower surface of the upper plate 230, and a rod- And may have a housing center axis 312 formed therein.

The housing body 320 has a rod-like shaft accommodating space 321 for accommodating the housing center shaft 312 of the center shaft 310. The housing body 320 includes a shaft fixing clamp module 600, And a bearing holder portion 322 in the form of a rhombus for contact.

In addition, the rotary shaft fixing clamp module 600 according to the first embodiment of the present invention may include a rotary shaft locking part 610 and a rotation angle detection sensor 620.

The rotation shaft locking portion 610 is formed on both sides in the longitudinal direction of the upper surface of the upper plate 230 with the bearing holder portion 322 interposed therebetween to control the rotation operation of the bearing holder portion 322 .

The rotation shaft locking portion 610 includes a clamper 611 having an end formed in a " " ' ' ' shape so as to be in surface contact with both diagonal faces of the bearing holder portion 322, A clamper guide rail 612 for guiding the movement path, and an electric cylinder 613 for controlling the operation of the clamper 612.

The rotation angle detection sensor 620 is disposed on both sides in the width direction of the upper surface of the upper plate 230 with the bearing holder 322 therebetween to detect the rotation angle of the rotation axis housing 300 .

FIG. 9 is a view for explaining the operation of the rotary shaft fixing clamp module according to the first embodiment of the present invention, and FIG. 10 is a view for explaining the operation of the rotary shaft fixing clamp module according to the first embodiment of the present invention, Fig.

As shown in the drawing, according to the first embodiment of the present invention, the clamper 611 is separated from the bearing holder portion 322 by the electric cylinder 613 constituting the rotary shaft fixing clamp module during the rotation operation of the rotary shaft housing The clamper 611 is rotated by the transmission cylinder 613 constituting the rotary shaft fixing clamp module 600 to fix the operation of the rotary shaft housing 300 to the bearing holder 300. [ (322) so as to maintain the locked state of the rotary shaft housing.

Next, referring to Figs. 11 to 12, a side-running unmanned bogie according to a second embodiment of the present invention will be described.

11 to 12 are views for explaining a structure in which a rotating shaft housing and a rotating shaft fixing clamp module constituting a side driving running vehicle according to a second embodiment of the present invention are combined using a locating pin.

Here, the detailed description of the same constituent elements that constitute the independent drive unit described above with reference to Figs. 1 to 10 will be omitted.

As shown in the drawing, the rotary shaft fixing clamp module 700 of the unmanned bogie for side driving equipped with the independent wheel drive unit according to the second embodiment of the present invention, unlike the electric cylinder type of the first embodiment, The locating pin 720 can be inserted into the locating groove formed on the upper side of the rotary shaft to fix the rotary shaft.

More specifically, the rotary shaft fixing clamp module 700 is coupled to the upper plate 230, which is coupled to the upper plate 230 fixed to the lower portion of the car body frame 100 described in FIGS. 1 and 2 So that the upper side of the rotary shaft housing 800 can be fixed.

That is, in the second embodiment of the present invention, the rotary shaft fixing clamp module 700 maintains a locked state in which the upper side of the rotary shaft housing 800 is fixed at the front and rear travel and side travel, as in the first embodiment, When the independent wheel drive unit 200 is rotated independently of the loaded vehicle body frame 100, the rotation shaft housing 800 can be released from the locked state so that the rotary shaft housing 800 can rotate.

As shown in the figure, the rotary shaft fixing clamp module 800 may include a clamp body 710, a locate pin 720, and a rotation angle detection sensor 730.

The configuration of the rotary shaft fixing clamp module 700 will be described in more detail with reference to the drawings.

The clamp main body 710 may be formed in a '?' Shape so as to surround a certain range of the upper circumference of the rotation axis housing 800.

The locating pin 720 is fixed to the side surface of the clamp main body 710 during driving and inserted and fixed into the locating groove 801 formed on the upper side of the rotary shaft housing 300, And can be drawn out from the locating groove 801 when the independent wheel drive unit 200 is rotated in place to change the direction.

At this time, the locating pin 720 is fixed to the locating groove 801 so as to be fixed to the clamping body 710, though not shown in the figure.

The rotation angle detection sensor 730 is formed on one side of the clamp body 710 and detects the rotation range of the rotation axis housing 800 to detect the rotation angle of the independent wheel drive unit 200 The rotation state can be detected.

13 to 14 are views for explaining a traveling wheel unit of a freestanding wheel drive unit according to a third embodiment of the present invention.

In the third embodiment of the present invention, detailed description of the same constitution as described above for constructing the traveling wheel unit 220 except for the suspension part 225 will be omitted.

As shown in the drawing, according to the third embodiment of the present invention, the suspension unit 225 is coupled to the upper end of the driving motor bracket 223 and disposed on the upper side of the traveling wheel 221, It can serve to buffer the impact of the frame.

As shown in the drawing, the suspension unit 225 includes a first suspension module 10 using a spring system and a second suspension system 20 using a linear bushing system. have.

The first suspension module 10 may include a support frame 11 and a driving compression spring portion 12 disposed below the second suspension module 20 as shown in the drawing .

The support frame 11 is coupled to one end of the upper end of the drive motor bracket 223 to have four support points and the drive compression spring 12 is supported by four Four support points may be formed to correspond to the upper vertical direction.

The second suspension module 20 may include a suspension plate 21 and a linear bush 22.

More specifically, the suspension plate 22 may be formed of a plate member having a rectangular shape disposed at an upper end of the four driving compression spring portions 12. [

The linear bush 22 is provided on the upper side of the suspension plate 22 and corresponds to a position where the four driving compression spring parts 12 are located and is provided with a shaft 22-2 ) Can be formed.

At this time, the linear bush 22 may be fixed to an 'X' -shaped coupling panel 23 having a metal washer 22-1 at an upper end thereof and coupled to the car body frame 100.

FIG. 15 is a view for comparing the unmanned bogie according to the prior art and the unmanned bogie for side driving according to the embodiment of the present invention.

As shown in the drawing, the unmanned bogie according to the related art is incapable of independently rotating the drive unit in place because the truck body frame and the drive unit are fixed, while the unmanned bogie according to the embodiment of the present invention, As described above, since the load-bearing vehicle body frame 100 and the independent wheel drive unit 200 are rotatably connected to the rotary shaft housings 300 and 800 in place so that the load vehicle body can be rotated So that lateral travel is also possible.

In other words, when the distance between the unmanned bogie and the equipment to be unloaded is long, conventionally, a separate conveyor belt or the like needs to be additionally installed between the trajectory on which the unmanned bogie runs and the equipment, However, in the case of the unmanned bogie according to the present invention, only the independent wheel drive unit can be temporarily rotated by 90 degrees to travel side by side, so that a conveying system such as a separate conveyor belt is not required, thereby increasing productivity and reducing installation cost .

FIG. 16 is a diagram for further illustrating the driving process of the unmanned bogie for side driving according to the embodiment of the present invention shown in FIG.

As shown in the drawing, the operation process of the side lane of the unmanned bogie for side driving according to the embodiment of the present invention will be described as follows.

First, the unmanned bogie stops at a position to travel on the side when traveling forward and backward.

Next, the locked state can be released by the unlocking operation of the rotary shaft fixing clamp modules 600 and 700 described above.

Next, one of the pair of traveling wheels 221 constituting the independent wheel drive unit 200 is rotated counterclockwise, the other traveling wheel is rotated forward, and the independent wheel drive unit 200 is rotated 90 degrees have.

Next, the lock state is maintained by the lock operation of the rotation shaft fixing clamp modules 600 and 700 described above, and the side travel of the unmanned bogie according to the embodiment of the present invention can be performed.

17 is a view showing that the loading plate of the unmanned bogie for side driving has a one-row single-row structure according to the embodiment of the present invention, and Fig. 18 is a view showing the loading plate of the unmanned bogie for side driving according to the embodiment of the present invention Stage two-column structure. Fig.

As shown in the drawings, the unmanned bogie for side driving according to the present invention can be manufactured in a one-stage single-row structure or a two-stage double-row structure in correspondence with a facility for loading a product.

Here, although not shown in the drawing, the loading plate may be mounted on a conveyor-type driving belt in order to automatically transfer an article to be loaded in conjunction with the loading equipment.

As described above, according to the present invention, it is possible to rotate a pair of traveling wheels formed in the independent wheel drive unit around the rotating shaft housing fixed to the main body of the loading vehicle using the rotating shaft fixing clamp module, respectively, There is provided an advantageous effect that it is possible to provide a side-running unmanned bogie equipped with a stand-alone wheel drive unit.

In addition, since the present invention is equipped with a freestanding wheel drive unit that operates independently of the truck main frame, it is possible to perform side travel, so that even if the distance between the trajectory on which the unmanned truck travels and the equipment There is no need for a belt-like transport system, resulting in increased productivity and reduced installation costs.

Further, the present invention provides a rotary shaft fixing clamp module for controlling the rotary operation of the rotary shaft housing, so that it is possible to easily change the travel between the side running and the forward running, and firmly fix the rotary shaft housing while it is not moving.

In addition, according to the present invention, the suspension unit constituting the traveling wheel unit can be constituted by a double suspension module, thereby improving the shock-absorbing effect and maintaining a stable running state even when the load of the load carrying member is large.

In addition, the present invention can form the loading plate in various forms such as a one-stage one-row structure and a two-stage two-row structure, and thus it is possible to cope with various kinds of equipment depending on facility facilities to which the material is transferred.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of limitation, It is within the scope of the present invention that component changes to such an extent that they can be coped evenly within a range that does not deviate from the scope of the present invention.

100: car body frame 110: cargo plate
120: Auxiliary wheel 130: Capacity space
200: independent wheel drive unit 210: lower plate
211: travel guide sensor 212: communication connector part
213: Bracket with bar code reader 220: Traveling wheel unit
221: Driving wheel 222: Driving motor
223: Reducer 224: Drive motor shaft
225: Suspension part 226: Driving motor bracket
230: upper plate
300,800: rotation shaft housing 310: center shaft
311: housing head 312: housing center axis
320: housing body part 321: shaft accommodating space
322: Bearing holder part 600,700: Rotary shaft fixing clamp module
610: rotation shaft locking part 611: clamper
612: Clamper guide rail 613: Electric cylinder
620, 730: rotation angle sensor 710: clamp body
720: Locate pin 801: Locate groove

Claims (13)

A loading vehicle body frame forming an overall appearance and forming a loading plate on an upper side and a plurality of auxiliary wheels on both inner and lower sides of a lower surface; And
And a stand-alone wheel drive unit disposed at a lower portion of the main body frame and having a pair of traveling wheels, the stand-alone wheel drive unit being able to rotate in place independently of the car body frame,
The independent wheel drive unit includes:
A cylindrical rotary shaft housing rotatably formed;
A plurality of traveling wheel units connected to the body side of the rotary shaft housing;
A rotary shaft fixing clamp module for controlling rotation of the rotary shaft housing in contact with a rotary part of the rotary shaft housing;
An upper plate coupled to a lower portion of the car body frame in a combined state with the rotary shaft fixing clamp module to support a rotary motion of the rotary shaft housing; And
And a lower plate having a plane shape formed in an 'I' shape to support the lower end of the rotary shaft housing and the traveling wheel unit.
delete The traveling vehicle according to claim 1, wherein the plurality of traveling wheel units comprise:
Driving wheel;
A drive motor capable of driving the traveling wheels in normal and reverse directions;
A speed reducer for transmitting the rotation torque transmitted from the driving motor to the traveling wheels at a constant reduction ratio;
A plurality of suspensions disposed at front and rear sides in the traveling direction of the traveling wheels to mitigate shocks during traveling; And
And a driving motor bracket for fixing the driving motor and the speed reducer to the lower plate and extending downward to support and fix the suspension unit.
4. The hybrid vehicle according to claim 3,
Wherein the independent wheel drive unit drives the pair of traveling wheels in different directions when the independent wheel drive unit rotates in place and the pair of traveling wheels of the independent wheel drive unit is driven by a pair of traveling wheels And the wheels are driven in the same direction with each other.
[5] The apparatus of claim 4,
A center shaft having a circular housing head portion fixedly coupled to a center portion of a lower surface of the upper plate and a housing center shaft formed to have a bar shape in a lower vertical direction of the housing head portion; And
And a cylindrical housing body portion having a rod-shaped receiving space for accommodating the central shaft of the central shaft and having a rhombic bearing holder portion for contacting the rotating shaft fixing clamp module on the upper side thereof. Side carriage unattended carriage equipped with wheel drive unit
[7] The apparatus of claim 5,
A rotation shaft locking part formed on both sides in the longitudinal direction of the upper surface of the upper plate with the bearing holder part interposed therebetween to control the rotation operation of the bearing holder part; And
And a rotation axis angle sensor disposed on both sides of the upper plate in the width direction of the upper plate with the bearing holder interposed therebetween to sense a rotation angle of the rotation axis housing. Unmanned bogie
7. The apparatus of claim 6,
A clamper whose ends are formed in a ">" shape so as to be in surface contact with both diagonal faces of the bearing holder part;
A clamper guide rail for guiding a moving path of the clamper; And
And an electric cylinder for controlling the operation of the clamper.
[5] The apparatus of claim 4,
A clamp body having a lower end fixedly coupled to the upper plate so as to surround a predetermined circumference of the rotary shaft housing;
Wherein when the independent wheel drive unit rotates to rotate, the locating pin is inserted into the locating groove formed on the upper side of the rotary shaft housing through the side surface of the clamp body during driving, ; And
And a rotation angle sensor formed on one side of the clamp body to sense a rotation range of the rotation shaft housing.
The suspension unit according to claim 4, wherein the suspension unit constituting the plurality of traveling wheel units comprises:
A first suspension module using a spring system; And
And a second suspension module using a linear bushing method. [5] The sliding suspension system according to claim 1,
[Claim 11] The method of claim 9,
A second suspension module disposed below the second suspension module,
A support frame having one end connected to the upper end of the drive motor bracket and having four support points; And
And four driving compression spring portions formed at an upper vertical direction at four supporting points formed on the supporting frame. The sliding driving method according to claim 1,
[10] The apparatus of claim 10,
A suspension plate formed of a plate member having a rectangular shape and arranged at an upper end of the four driving compression spring units;
And four linear bushes disposed on the suspension plate and having a shaft that is formed corresponding to a position where the four drive compression spring portions are positioned and which is vertically and vertically expanded and contracted, Possible side carriage unmanned bogie
12. The linear bushing of claim 11,
And a metal washer at an upper end thereof to be fixed to an 'X' -shaped coupling panel coupled to the frame of the car body of the loading vehicle.
The vehicle according to claim 1,
Wherein the side plate is formed as a one-stage single-row structure or a two-stage double-row structure when the loading plate is formed on the upper side.

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