KR102393745B1 - Automated guided vehicle for transporting rolltainer - Google Patents

Abstract

Disclosed is an unmanned transport vehicle for transporting a rolltainer that can automate and operate the work of transporting a rolltainer loaded with loadings. The unmanned transport vehicle for transporting a rolltainer may comprise: a box-shaped main body; a driving unit provided with a driving means and wheels to move the main body; an obstacle detecting unit having multiple sensors installed at an outer portion of the main body to detect obstacles around the main body; and clamps protruding to face both sides of an upper portion of the main body to grip both sides of a pallet of the rolltainer.

Description

Unmanned vehicle for transporting roll container {AUTOMATED GUIDED VEHICLE FOR TRANSPORTING ROLLTAINER}

The present invention relates to an unmanned transport vehicle for transporting roll containers, and more specifically, it is possible to automate and operate the operation of transporting roll containers loaded with loads arranged in a distribution warehouse, and use a small torque. Unmanned transport for roll container transport that can transport the roll container to reduce power loss and lower the failure rate. It's about cars.

In general, direct manpower is input to transport the logistics of the warehouse to the transport vehicle, and the operation of transporting from the warehouse location to the transport vehicle is performed using a roll container, which is a transport cart. In this case, there is a problem that requires a lot of manpower, there is a risk of muscle loss of workers, and there is a problem that the efficiency of the work is lowered.

In this way, in transporting the logistics, a system has been developed to solve various problems in which a human resource is input using a roll container to perform a transport operation.

Recently, an unmanned transport vehicle has been introduced into a logistics system, and a system that automatically transports logistics without human intervention is being operated. Unmanned trucks are blowing the wind of change in the logistics field, and reflecting this trend, logistics automation using unmanned trucks is spreading like a fad overseas, mainly in the United States and China, and in Korea, unmanned transportation centering on online logistics centers. We are looking for innovation in logistics using cars.

Examples of such an unmanned transport vehicle include an automated guided vehicle (AGV), an unmanned forklift, and a parking robot. Among them, for the movement of the unmanned vehicle, a specific mark is installed on the floor of the distribution warehouse, and the unmanned vehicle is equipped with a recognizer for recognizing this mark, and a system for moving objects while recognizing the mark is becoming common.

On the other hand, among unmanned vehicles, AGV is a vehicle that transports objects such as workpieces, tools, and fixtures while exchanging signals with a transportation path painted with magnetic paint on the factory floor or an induction wire installed under the floor. AGV is fundamentally different from general track bogies in that rails are not installed on the factory floor. The AGV is in contact with the floor surface with rubber tires and runs by using a battery as a power source. In other words, it is a dedicated vehicle that can be controlled externally. In the past, it was difficult to change the transport route because the induction wire was installed under the floor of the factory. became AGV has the highest transport flexibility among various transport patterns.

On the other hand, depending on the driving method of the AGV, it can be divided into a fixed route method and an open route method.

Fixed route method is divided into active (electromagnetic induction, magnetic induction, fluorescence induction) and passive (optical induction, magnetic induction), and open route method is ground-supported (laser, ultrasonic satellite, stereo vision, It can be divided into D-GPS, pseudo-satellite) and autonomous driving (gyro, GPS).

Electromagnetic induction is a method that tracks the induction signal by filtering only the natural frequency determined by the pickup coil of the driverless vehicle when a wire is planted on the road surface of the driving path and a low-frequency constant current of 2 to 10KHz flows to generate a magnetic field. It is an induction method and is suitable for transporting heavy goods and has high reliability due to its strong durability. The disadvantage is that the cable construction for laying the guide line is complicated, the installation cost is high, and the guide wave is generated, so it can become a source of disturbance to other devices around and it is difficult to change the layout compared to the optical type.

The optical induction method is a method in which a reflective tape is attached to the road surface and light is emitted there through the beam sensor of an unmanned vehicle. The advantage of this method is that the incidental cost for route installation is low and the layout change is easy. However, since the reflective tape is likely to be damaged and reliability is a problem, special management is required. Therefore, it is mainly applied to the transport of electronic parts and light goods. The reflective tape should be aluminum coated with vinyl, and if the road surface is dark, paint can be used and the width is about 60mm. The light detection method can be broadly divided into two types depending on the structure of the sensor. A point light source formula and path detection, which receive information that a junction has been reached using a reflective tape for path and a reflective tape for position detection, and select according to a predetermined command here There is a linear light source type that has several sensors for use and allows the sensors to immediately recognize a branch point to select a direction according to a predetermined command, and there are other methods that compromise the two. The point light source method is economical because the number of sensors is small, but there are many difficulties in path installation when there are many branch points.

On the other hand, research on ground-supported and autonomous driving intelligent AGVs of the open route method, which communicates with the server and detects and avoids obstacles by various sensors, unlike the fixed route method, is being actively conducted, and more and more Several methods have been proposed as a way to process and save the soaring labor cost, and among them, intelligent AGV is emerging as an alternative.

On the other hand, in the prior art, a system for transporting a roll container for loading logistics using an unmanned transport vehicle (unmanned transport vehicle transport system and logistics warehouse system through QR code recognition, Republic of Korea Patent Publication No. 10-2020-0141852) has been proposed. there is.

The conventional unmanned transport vehicle transport system and logistics warehouse system through QR code recognition includes a roll container with a QR code installed at the bottom, and a QR code recognizer for recognizing the QR code, and an unmanned transport vehicle carrying the roll container And, the unmanned transport vehicle is a system that transports the roll container using the logistics information obtained by recognizing the QR code through the QR code recognizer.

Here, the unmanned transport vehicle moves to the lower part of the roll container and has a structure in which the tray is raised and lowered to support the pallet under the roll container.

However, such an unmanned transport vehicle is a method in which the tray is raised and lowered while the tray supports the pallet at the bottom of the center of the roll container and the roll container is transported away from the floor. there is.

1 is a view showing examples of when a general folding roll container is used and when not in use.

Referring to FIG. 1 , a general roll container is made of a folding method in which the entire volume is reduced as the lower pallet is folded in order to increase space utilization when not in use while being unfolded when in use.

However, the conventional unmanned transport vehicle has a structural problem that is difficult to use in such a foldable roll container. That is, the conventional unmanned transport vehicle lifts the pallet part of the roll container while the tray rises and transports the roll container in a state that is spaced apart from the floor. Thus, when the conventional unmanned transport vehicle is applied to a foldable roll container, a problem occurs in which the load loaded on the pallet falls.

Therefore, there is a problem that is not suitable as an unmanned vehicle for transporting a general folding roll container.

In addition, since the conventional unmanned transport vehicle transports the entire roll container in a loaded state so as to be separated from the floor, it requires a lot of driving force and thus a lot of load is generated, resulting in power loss as well as driving. There is a problem that the failure rate of the system (eg, motor, etc.) increases.

Republic of Korea Patent Publication 10-2020-0141852

An object of the present invention is to solve this problem, and it is possible to automate and operate the operation of transporting the roll container loaded with the load disposed in the distribution warehouse, and to transfer the roll container using a small torque. It is possible to reduce power loss and lower the failure rate, and to provide an unmanned transport vehicle for roll container transport that can stably transport the load so that it does not fall while the load is loaded in a foldable roll container that is folded and stored when not in use. .

An unmanned transport vehicle for transporting a roll container according to an embodiment of the technical idea of the present invention for achieving the above object is an unmanned transport vehicle for moving a roll container, comprising: a box-shaped body; a driving unit provided with driving means and wheels to move the body; an obstacle detecting unit having multiple sensors installed at the outer portion of the main body to detect obstacles around the main body; and clamps protruding to face both sides of the upper part of the main body in order to grip both sides of the pallet of the roll retainer.

In addition, the driving unit, a plurality of auxiliary wheels installed in four places near the corner of the lower body; and driving wheels installed to face both sides of the central portion of the lower body.

In addition, the driving wheel, each installed on both sides of the lower body, a wheel motor that is horizontally disposed to generate a rotational driving force; a driving gear installed on the rotating shaft of the wheel motor; a driven gear installed to be spaced apart from the driving gear so that a rotation shaft is disposed on the same horizontal line as the driving gear, and having a pitch circle size larger than a pitch circle size of the driving gear; a belt connecting the driving gear and the driven gear to allow the driven gear to rotate by rotation of the driving gear; and a main wheel installed on the rotation shaft of the driven gear and supported on the floor to roll.

In addition, on both sides of the main wheel, a buffer for buffering the impact of the main wheel may be further provided.

In addition, the buffer unit, a horizontal bar installed on the rotating shaft of the main wheel; and a buffer member in which two springs are installed on both sides of the horizontal bar, respectively.

In addition, the obstacle detecting unit may be at least one of a LiDAR sensor and a laser sensor installed on the outer part of the main body.

In addition, the LiDAR sensor may be installed on one side of the front of the outer shell of the main body, and the laser sensor may be installed on two diagonal corners of the outer shell of the main body.

In addition, on one side of the front side of the main body, a first sensor guard formed to protrude more than the LiDAR sensor is further provided to protect the LiDAR sensor, and a diagonal position among the outer shells of the main body is further provided. A second sensor guard installed to surround the outside of the laser sensor may be further provided at two corner portions.

In addition, the obstacle detecting unit may further include a bumper sensor installed on the side of the main body to detect when a physical contact with an obstacle occurs while the unmanned transport vehicle is moving.

In addition, the clamp may include: a horizontal moving part in which a part for gripping both sides of the pallet of the roll container moves horizontally on a horizontal plane; a vertical moving part in which the part holding both sides of the pallet of the roll container moves vertically on the vertical; and a holding unit installed on one side of the vertical moving unit and in contact with both sides of the pallet of the roll container.

In addition, the horizontal moving part is configured as one set on both sides of the main body to face both sides of the main body, and each set comprises a first rack gear installed opposite to both sides of the main body. ; and a horizontal motor including a pinion gear horizontally moved by a rotational force on the first rack gear and disposed vertically.

Also, first rails arranged horizontally so as to be stably guided and horizontally moved by the horizontal moving part at a predetermined position may be further provided on both outer sides of the first rack gear.

In addition, the vertical moving part, the body is composed of two on both sides of the main body opposite to both sides, the plate of the plate-shaped structure is installed on top of each horizontal moving part so as to move horizontally in conjunction with the horizontal movement of the horizontal moving part; a second rack gear installed on the plate and disposed vertically; and a vertical motor that generates a rotational force and is horizontally disposed including a pinion gear that is engaged with the second rack gear and vertically moves the second rack gear by the rotational force.

In addition, at both sides of the pinion gear, second rails vertically disposed so that the second rack gear of the vertical movement unit is stably guided and vertically moved at a predetermined position in meshing with the pinion gear may be further provided.

In addition, the holding unit, each part in contact with one side and the other side of the pallet of the roll container, a transmitting unit for transmitting a signal is installed on one side, and a receiving unit for receiving a signal from the transmitting unit is installed on the other side, the A distance between one side of the gripping unit and the other side may be measured through the transmitting unit and the receiving unit.

In addition, the upper portion of the main body, it may further include a pallet position measuring unit for measuring the center position of the pallet of the roll container.

In addition, the driving unit and the clamp are installed on the main body, and when the driving unit and the clamp configuration from the center to the outer shell of one side with respect to the center of the main body are referred to as one set configuration, the set configuration is the center of the body It may be disposed at positions opposite to each other on both sides based on the .

The unmanned transport vehicle for transporting roll containers according to the present invention can automate and operate the operation of transporting roll containers loaded with loads arranged in a logistics warehouse, and the roll containers are not completely separated from the floor and the wheels are on the floor The roll container can be easily transported using a small torque without a load as it is in contact with the roller, reducing power loss and lowering the failure rate. It has the effect of stably transporting the load so that it does not fall while the load is loaded in the foldable roll container, which is stored when folded.

1 is a view showing an example of the use and non-use of a general folding roll container.
2 to 3 are perspective views of an unmanned transport vehicle for transporting a roll container according to an embodiment of the present invention.
4 is a side view of an unmanned transport vehicle for transporting a roll container according to an embodiment of the present invention.
5 to 6 are plan views of an unmanned transport vehicle for transporting a roll container according to an embodiment of the present invention.
7 is a main part view of the horizontal moving part of the unmanned transport vehicle according to the present invention.
8 is a main part view of the vertical moving part of the unmanned transport vehicle according to the present invention.
9 is a view of the main part of the buffer of the unmanned transport vehicle according to the present invention.
10 is an operation state diagram of an unmanned transport vehicle according to the present invention.

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

Hereinafter, the present invention will be described in detail by describing preferred embodiments of the present invention with reference to the accompanying drawings. Like reference numerals in each figure indicate like elements.

The unmanned transport vehicle for transporting roll containers according to an embodiment of the technical idea of the present invention can automate and operate the operation of transporting the roll containers loaded with loads arranged in the logistics warehouse, and using a small torque Unmanned transport vehicle for roll container transport that can transport the roll container to reduce power loss and lower the failure rate is about

2 to 3 are perspective views of an unmanned transport vehicle for transporting roll containers according to an embodiment of the present invention, and FIG. 4 is a side view of an unmanned transport vehicle for transporting roll containers according to an embodiment of the present invention, and FIGS. 5 to 6 . is a plan view of an unmanned transport vehicle for transporting a roll container according to an embodiment of the present invention.

2 to 6 , the unmanned transport vehicle (hereinafter, unmanned transport vehicle, 100) for transporting a roll container according to an embodiment of the present invention is largely a main body 110 , a driving unit 120 , and an obstacle detecting unit 130 . and a clamp 140 .

First, the main body 110 is a box-shaped housing part in which the components of the unmanned transport vehicle 100 of the present invention are embedded, and is basically a rectangular parallelepiped shape, and the corner part may be partially chamfered.

On the other hand, the upper portion of the main body 110, as shown in FIG. 5, may further include a pallet position measuring unit 111 for measuring the central position of the pallet 2 of the roll retainer (1).

The pallet position measuring unit 111 is a part for determining whether the roll retainer 1 is positioned at the correct position in the center of the main body 110 when the roll retainer 1 is positioned on the main body 110, The pallet position measuring unit 111 may be applied without any limitation as long as it is a method capable of recognizing the shape of an object, such as an infrared method or an optical method. For example, when the main body 110 enters the lower part of the pallet 2 of the roll container 1 through the pallet position measuring unit 111, the shape and size of the entire surface of the pallet 2 are measured and the When the central position is determined, the movement of the main body 110 may be stopped at a position coincident with the center of the main body 110 .

Next, the driving unit 120 is a part provided with a driving means (eg, a driving force providing device, etc.) and wheels for the main body 110 to move.

The driving unit 120 includes a plurality of auxiliary wheels 121 installed in four places near the corners of the lower part of the main body 110 and driving wheels 122 installed to face both sides of the central part of the lower part of the main body 110 . can do.

As shown in the drawing, the auxiliary wheel 121 may further include an auxiliary wheel 121 between the auxiliary wheels 121 in addition to four places near the corner.

The driving wheel 122 is a part that provides a driving force for moving the main body 110, and is installed on both sides of the lower side of the main body 110, and is horizontally disposed to generate a rotational driving force. A wheel motor 123, the The driving gear 124 installed on the rotating shaft of the wheel motor 123, is installed to be spaced apart from the driving gear 124 so that the rotating shaft is arranged on the same horizontal line as the driving gear 124, The driven gear 125 having a pitch circle size larger than the pitch circle size, the driven gear 125 is rotated by the rotation of the driving gear 124 by connecting the driving gear 124 and the driven gear 125 It may include a belt 126 and a main wheel 127 installed on the rotation shaft of the driven gear 125 and supported on the floor to roll.

That is, the driving wheel 123 is installed opposite to the two lower parts of the main body 110, and when the driving force is generated through the wheel motor 123 and the driving gear 124 rotates, the driven gear ( As the 125 rotates, the main wheel 127 finally rotates in contact with the ground, so that the main body 110 can move.

At this time, since the size of the pitch circle of the driven gear 125 is larger than that of the driving gear 124 , the driven gear 125 can rotate at a lower rotational speed than the rotational speed of the initial driving gear 124 and the driving gear 124 .

On the other hand, on both sides of the main wheel 127, a buffer unit 128 for buffering the impact of the main wheel 127 may be further provided.

9 is a view of the main part of the buffer of the unmanned transport vehicle according to the present invention.

9, the buffer unit 128 is a horizontal bar (128a) installed on the rotation shaft of the main wheel (127) and a buffer member (128b) in which two springs are installed on both sides of the horizontal bar (128a), respectively. may include

That is, when the main wheel 127 moves along the floor, when it passes the curved surface of the floor, it is possible to cushion the impact and to act as a buffer while being flexibly twisted along the curved surface of the floor.

Next, the obstacle detecting unit 130 is a part in which various sensors are installed in the outer portion of the main body 110 to detect obstacles around the main body 110 .

The obstacle detecting unit 130 may be at least one of a lidar sensor 131 (LiDAR Sensor) and a laser sensor 133 installed on the outer portion of the body. That is, the obstacle detecting unit 130 may selectively apply a lidar sensor 131 or a laser sensor 133 according to the characteristics of an object to be recognized, or both of them may be applied. In addition, although not shown in the drawings, a configuration for recognizing an object through a camera having an optical configuration may be added.

On the other hand, the lidar sensor (131, LiDAR Sensor) is installed on one side of the front of the outer shell of the main body 110, and the laser sensor (133, laser sensor) is located at two diagonal corners of the outer shell of the main body 110. can be installed.

At this time, on one side of the front side of the main body 110, in case of contact with an object while driving, it is for recognizing it before contact with an object in preparation for impact or damage, and to protect the lidar sensor 131 (LiDAR Sensor) (131, LiDAR Sensor) A first sensor guard 132 that is formed to protrude more than the sensor may be further provided.

In addition, a second sensor guard 134 installed to surround the outside of the laser sensor 133 may be further provided at two diagonally positioned corners of the outer shell of the body 110 .

On the other hand, the obstacle detecting unit 130 is installed on the side of the main body 110 to further include a bumper sensor 135 for detecting when a physical contact occurs with an obstacle while the unmanned transport vehicle 100 is moving. can

The bumper sensor 135 is provided with a buffer member (eg, urethane, sponge, rubber, etc.) capable of absorbing shock on the outside, and a sensor capable of measuring the pressure for impact is installed inside the buffer member, First, it serves as a bumper to protect against strong external shocks, and at the same time detects when an impact is applied above a set pressure, so that the main body 110 stops the operation without further driving.

Accordingly, the bumper sensor 135 is preferably installed on the entire side of the body except for one side of the front where the first sensor guard 132 is installed.

Finally, the clamp 140 is a portion protruding to face both sides of the upper portion of the main body 110 in order to grip both sides of the pallet 2 of the roll container 1 .

The clamp 140 largely grips both sides of the pallet 2 of the roll retainer 1, and a horizontal moving part 140a in which a portion gripping both sides of the pallet 2 of the roll retainer 1 moves horizontally on a horizontal level. The part to be installed on one side of the vertical moving part 140b and the vertical moving part 140b that moves vertically in the vertical direction, and includes a holding part 140c in contact with both sides of the pallet 2 of the roll container 1 can

7 is a main part view of the horizontal moving part of the unmanned transport vehicle according to the present invention.

Referring to FIG. 7 , the horizontal moving part 140a is configured in two sets on both sides of the main body 110 in one set configuration to be opposed to both sides inside the body 110, each one set configuration, A horizontal motor 142 including a first rack gear 141 installed opposite to each other on both sides of the main body 110 and a pinion gear 142a horizontally moved by a rotational force on the first rack gear 141 and disposed vertically. ) may be included.

In this case, first rails 143 arranged horizontally so that the horizontal moving part 140a is stably guided and horizontally moved at a predetermined position may be further provided on both sides of the outer side of the first rack gear 141 .

That is, the horizontal moving part 140a is adjusted while moving horizontally according to the width of the pallet 2 of the roll container 1, and has the advantage of being applicable to the roll container 1 of various standards.

8 is a main part view of the vertical moving part of the unmanned transport vehicle according to the present invention.

Referring to FIG. 8 , the vertical moving part 140b is composed of two on both sides of the main body 110 opposite to the inner side of the main body 110 , and is horizontally moved in conjunction with the horizontal movement of the horizontal moving part 140a. A plate-shaped plate 144 installed on each of the horizontal moving parts 140a to move, a second rack gear 145 installed on the plate 144 and vertically arranged to generate a rotational force, and It may include a pinion gear 146a that is engaged with the second rack gear 145 and vertically moves the second rack gear 145 by rotational force, and a vertical motor 146 disposed horizontally.

At this time, on both sides of the pinion gear 146a, the second rack gear 145 of the vertical moving part 140b is stably guided at a predetermined position in meshing with the pinion gear 146a and vertically disposed so as to move vertically. A second rail 147 may be further provided.

That is, the vertical movement unit 140b is adjusted while moving vertically according to the height of the pallet 2 of the roll container 1, and has the advantage of being applicable to the roll container 1 of various standards.

On the other hand, the gripper 140c is provided with a transmitter (not shown) that transmits a signal on one side of each part in contact with one side and the other side of the pallet 2 of the roll container 1, and the transmitting unit on the other side A receiving unit (not shown) for receiving a signal transmitted from , may be installed to measure a distance between one side and the other side of the gripping unit 140c through the transmitting unit and the receiving unit.

That is, the distance between the grippers 140c on both sides can be measured through the transmitter and the receiver, so that it is not narrowed to less than a certain diameter based on the standard information about the width of the pallet 2 of the roll container 1 can be set. Through this, it is possible to prevent an overload of the horizontal motor 142 from being excessively narrowed between the gripping parts 140c.

On the other hand, the driving unit 120 and the clamp 140 are installed on the main body 110, the driving unit 120 and the clamp 140 from the center to one outer shell part based on the center of the main body 110. When the configuration is referred to as one set configuration, the set configuration may be disposed at opposite positions on both sides with respect to the center of the body 110 .

That is, when the driving unit 120 and the clamp 140 are disposed on the main body 110 , the driving unit 120 and the clamp 140 are basically arranged in a structure to face each other and face each other. However, in consideration of space efficiency, for example, when viewed from the same direction, one side is horizontally arranged and the other side is vertically arranged, or the same configuration can be configured to face in opposite directions so as not to interfere with each other. there is.

Hereinafter, an operation in which the unmanned transport vehicle 100 according to the present invention transports the roll retainer 1 will be described.

10 is an operation state diagram of an unmanned transport vehicle according to the present invention.

Referring to FIG. 10 , first, the unmanned transport vehicle 100 moves toward the position of the roll retainer 1. (1)

Then, the unmanned transport vehicle 100 enters the lower part of the pallet 2 of the roll container 1 and stops at the center of the pallet 2 . (2)

Then, the vertical moving part 140b of the clamp 140 moves vertically to protrude upward from the main body 110. (3)

Then, the horizontal moving part 140a of the clamp 140 is fixed by gripping both sides of the pallet 2 while horizontally moving toward both sides of the pallet 2 of the roll container 1 (4).

In this state, the unmanned transport vehicle 100 moves to a predetermined position through autonomous driving, and at this time, the wheel of the roll retainer 1 is supported on the floor and the roll is easily loaded with a load using a small torque. It becomes possible to transport the container 1 .

The unmanned transport vehicle 10 for transporting roll containers according to various embodiments according to the technical idea of the present invention automatically automates and operates the operation of transporting the roll containers 1 on which the loads placed in the logistics warehouse are loaded. As the roll retainer 1 is not completely separated from the floor and the wheels are in contact with the floor, the roll retainer 1 can be easily transported using a small torque without a load, thereby reducing power loss and lowering the failure rate. In addition, by using a method of fixing both sides of the pallet (2) rather than lifting the pallet (2) of the roll container (1), the load does not fall while the load is loaded in the foldable roll container that is folded and stored when not in use. It has the effect of stably transporting it.

As described above, the best embodiment has been disclosed in the drawings and the specification. Although specific terms are used herein, they are used only for the purpose of describing the present invention and are not used to limit the meaning or limit the scope of the present invention described in the claims. Therefore, it will be understood by those skilled in the art that various modifications and equivalent other embodiments are possible therefrom. Accordingly, the true technical protection scope of the present invention should be determined by the technical spirit of the appended claims.

1: roll container 2: pallet
3: Roll bar 100: Unmanned vehicle
110: body 111: pallet positioning unit
120: driving unit 121: auxiliary wheel
122: drive wheel 123: wheel motor
124: drive gear 125: driven gear
126: belt 127: main wheel
128: buffer unit 128a: horizontal bar
128b: buffer member 130: obstacle detection unit
131: lidar sensor (LiDAR Sensor) 132: first sensor guard
133: laser sensor 134: second sensor guard
135: bumper sensor 140: clamp
140a: horizontal moving unit 141: first rack gear
142: horizontal motor 142a: pinion gear
143: first rail 140b: vertical moving part
144: plate 145: second rack gear
146: vertical motor 146a: pinion gear
147: second rail 140c: grip portion

Claims (17)

In the unmanned transport vehicle for moving the roll container,
box-shaped body;
a driving unit provided with driving means and wheels to move the body;
an obstacle detecting unit having multiple sensors installed at the outer portion of the main body to detect obstacles around the main body; and
Including a; clamp formed to protrude opposite to both sides of the upper body of the main body to grip both sides of the pallet of the roll container;
The driving unit,
A plurality of auxiliary wheels installed in four places near the edge of the lower body; and
Including; and a drive wheel installed to face both sides of the central portion of the lower body;
The driving wheel is
Doedoe installed on both sides of the lower body,
a wheel motor disposed horizontally to generate rotational driving force;
a driving gear installed on the rotating shaft of the wheel motor;
a driven gear installed to be spaced apart from the driving gear so that a rotation shaft is disposed on the same horizontal line as the driving gear, and having a pitch circle size larger than a pitch circle size of the driving gear;
a belt connecting the driving gear and the driven gear to allow the driven gear to rotate by rotation of the driving gear; and
and a main wheel installed on the rotation shaft of the driven gear and supported on the floor to roll;
On both sides of the main wheel,
A buffer part for buffering the impact of the main wheel is further provided,
The buffer unit,
a horizontal bar installed on the rotating shaft of the main wheel; and
The unmanned transport vehicle for transporting a roll container, characterized in that it comprises a; buffer members each having two springs installed on both sides of the horizontal bar. delete delete delete delete The method of claim 1,
The obstacle detection unit,
An unmanned transport vehicle for transporting a roll container, characterized in that it is at least one of a lidar sensor and a laser sensor installed on the outer part of the body. 7. The method of claim 6,
The lidar sensor (LiDAR sensor),
It is installed on one side of the front of the outer shell of the body,
The laser sensor,
An unmanned transport vehicle for transporting a roll container, characterized in that it is installed at two diagonal corners of the outer shell of the main body. 8. The method of claim 7,
On one side of the front of the body,
A first sensor guard formed to protrude more than the LiDAR sensor is further provided to protect the LiDAR sensor,
Among the outer shells of the body, at two diagonal corners,
An unmanned transport vehicle for transporting a roll container, characterized in that it further comprises a second sensor guard installed to surround the outside of the laser sensor. 8. The method of claim 7,
The obstacle detection unit,
The unmanned transport vehicle for roll container transport, characterized in that it further comprises a bumper sensor installed on the side of the main body to detect when a physical contact with an obstacle occurs while the unmanned transport vehicle is moving. The method of claim 1,
The clamp is
a horizontal moving part in which a part holding both sides of the pallet of the roll container moves horizontally on a horizontal plane;
a vertical moving part in which the part holding both sides of the pallet of the roll container moves vertically on the vertical; and
Installed on one side of the vertical moving part, the holding part in contact with both sides of the pallet of the roll container; Unmanned carriage for transporting the roll container, characterized in that it comprises a. 11. The method of claim 10,
The horizontal moving unit,
Doedoe composed of two sets on both sides of the main body in a single set configuration to be opposed to both sides of the inner body,
Each set consists of:
a first rack gear installed to face both sides of the inside of the main body; and
and a horizontal motor disposed vertically and including a pinion gear horizontally moved by rotational force on the first rack gear. 12. The method of claim 11,
On both sides of the outer side of the first rack gear,
The unmanned transport vehicle for transporting a roll container, characterized in that the horizontal moving part is further provided with a first rail that is horizontally disposed so that the horizontal moving part is stably guided on a predetermined position to move horizontally. 11. The method of claim 10,
The vertical movement unit,
Doedoe composed of two on both sides of the main body opposite to the inner side of the main body,
a plate having a plate-like structure installed on each of the horizontal moving units to move horizontally in conjunction with the horizontal movement of the horizontal moving unit;
a second rack gear installed on the plate and disposed vertically; and
and a vertical motor that generates a rotational force, is engaged with the second rack gear, includes a pinion gear that vertically moves the second rack gear by the rotational force, and is horizontally disposed. 14. The method of claim 13,
On both sides of the pinion gear,
and a second rail disposed vertically so that the second rack gear of the vertical movement unit is stably guided at a predetermined position in a state of meshing with the pinion gear and vertically moved. 11. The method of claim 10,
The grip part,
On each part in contact with one side and the other side of the pallet of the roll container,
A transmitter for transmitting a signal is installed on one side, and a receiver for receiving a signal from the transmitter is installed on the other side,
The unmanned transport vehicle for transporting a roll container, characterized in that it is possible to measure the distance between one side and the other side of the gripping unit through the transmitting unit and the receiving unit. 16. The method of claim 15,
On the upper part of the body,
Unmanned transport vehicle for transporting a roll container, characterized in that it further comprises a pallet position measuring unit for measuring the center position of the pallet of the roll retainer. The method of claim 1,
The driving unit and the clamp,
When installed in the main body, the drive unit and the clamp configuration from the center to the outer shell of one side with respect to the center of the body as a set configuration,
The set configuration is an unmanned transport vehicle for transporting a roll container, characterized in that it is disposed at opposite positions on both sides with respect to the center of the main body.

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