KR102595936B1 - Unmanned guided vehicle equipped with a foldable locking device and control method of the unmanned guided vehicle - Google Patents

Abstract

This technology allows transportation by one or more unmanned transport vehicles without a separate rotation section in response to the container volume, but can be transported by minimizing ineffective space depending on whether or not the folding locking member rotates to secure the container during transportation. Regarding cars, and more specifically, in an unmanned guided vehicle that can be loaded with containers and move along rails, the unmanned guided vehicle has a control unit connected to a control server and a communication network, and a moving means equipped with the control unit and controlled. A plurality of foldable locking members are provided to be rotatable with both corners of the driving unit under the control of a driving unit and a control unit that move by receiving power and are detachably fastened to both sides of the lower part of the container by rotation, wherein the moving means is It is characterized by being symmetrically disposed on both sides of the driving unit.

Description

Unmanned guided vehicle equipped with a foldable locking device and control method of the unmanned guided vehicle}

This technology allows transportation by one or more unmanned transport vehicles without a separate rotation section in response to the container volume, but can be transported by minimizing ineffective space depending on whether or not the folding locking member rotates to secure the container during transportation. It's about cars.

In general, trains are one of the important means of transportation such as passenger trains, freight trains, and electric trains that run on tracks by connecting multiple railroad cars in succession. They can run in a safe condition by connecting multiple railroad cars in series. It has the advantage of being able to carry approximately hundreds to thousands of passengers, as well as transporting large amounts of cargo at once.

In such a conventional train, multiple vehicles are connected as proposed in Publication Patent No. 10-2010-0045932, Registered Patent No. 10-1229348, etc.

That is, in the case of general passenger trains, electric trains, and subways for transporting passengers, the passenger trains have a structure in which passenger cars are continuously connected, and in the case of freight trains, the cargo cars capable of loading cargo are structured in a continuous connection.

Meanwhile, in order to improve the economic feasibility and efficiency of railway vehicles, the key is to maximize space for passenger or cargo loading and minimize the weight and void space of railway vehicles.

Figure 1 is a diagram showing a container freight car as an example of a conventional conventional bogie.

According to this, a general railway vehicle has a car body (20) placed on two bogies (10), and the bogies (10) are equipped with components such as wheels, axles, suspension devices, basic braking devices, and support frames to safely keep the railroad cars. It guides along the track rail, cushions vibration, and supports the car body 20.

In order to transship a container (C) using the above-described conventional bogie, not only is there a division between the front and rear, but a separate space (U-turn space) is provided where the cargo ship can be turned according to the direction in which the transshipped container is to be transported. There is a problem that needs to be resolved.

In addition, in order to move containers with different volumes, conventional carts have the inconvenience of having to transship and transfer small volume containers according to the container with the largest volume.

In other words, as shown in FIG. 2, a problem arises in that the bogie for transporting a 20-foot (fit) container (C) must use a bogie that can transport 40 feet, resulting in the formation of a void space (S). Loss (waste of energy and time) occurs due to movement.

Domestic registered patent No. 10-1654896 (announcement date: 2016.09.08.) Domestic Public Service No. 20-1988-12065 (Publication date: 1988.08.26.) Domestic registration utility No. 20-0137572 (announcement date: 1999.03.20.) Domestic registration utility No. 20-0388140 (announcement date: 2005.06.17.)

In order to solve the above-described conventional problems, the purpose of the present invention is to provide a transport vehicle that can transport the container to a desired point without creating a separate space for the cart to rotate according to the direction of movement after transshipment has occurred. There is.

In addition, in order to solve the conventional problems, the present invention seeks to provide a transport vehicle that can prevent loss of energy as well as time by preventing void space from being formed when transporting containers with different volumes. There is another purpose.

As a means of solving the problem of solving the above-described conventional problems, the unmanned guided vehicle equipped with a folding locking frame according to the present invention is an unmanned guided vehicle capable of moving along a rail (R) while loading a container (C), The unmanned guided vehicle is equipped with a control unit 30 connected to a control server 40 and a communication network, and a driving unit 10 and a control unit 30 that move by receiving power from a moving means 31 that is equipped with the control unit 30 and is controlled. It includes a plurality of foldable locking members 20 that are rotatable with the corners of both sides of the driving unit 10 under the control of ) and are detachably fastened to both sides of the lower part of the container C by rotation, and the moving means ( 31) is characterized in that it is arranged symmetrically on both sides of the driving unit 10.

In addition, the unmanned guided vehicle is preferably capable of loading a container (C) with a volume of 20 feet (fit) when the plurality of folding locking members (20) are rotated parallel to the rail (R). .

In addition, the foldable locking member 20 includes a seating frame 21 on one side of which is rotatably coupled to the driving unit 10, and is provided on the upper surface of the seating frame 21 to lock or unlock the container C. It consists of a guide 23 provided symmetrically on both sides of the seating frame 21 so that the locking 22 and the corner of the container C can be fitted in a shape-matched manner, and a joint structure that is free to bend, but one side is A link (25) rotatably coupled to the outer surface of the seating frame (21), the other side of which is rotatably coupled to the driving unit (10), and a rod (25) of which one side is rotatably coupled to the driving unit (10) and whose length is variable ( 27) preferably includes a cylinder member 26 rotatably coupled to the link 25.

In addition, the control unit 30 includes a transmission and reception unit 33 for remotely controlling the unmanned guided vehicle by transmitting and receiving information with the controller 34, and a driving gear 31b that engages with the driving unit 10. A driving motor 31a equipped with a sensor installed on the driving unit 10 to be activated or deactivated in accordance with the direction of travel of the unmanned guided vehicle, a control unit 30, and a control server 50 are connected via a communication network. It includes a battery 31c that provides the necessary power for the communication unit 32 and the control unit 30 to be connected to each other, and the sensor is a proximity sensor that detects obstacles in the direction of travel of the unmanned guided vehicle. (35), it is preferable to include a marker sensor 36 that is installed below the driving unit 10 and recognizes a number of stop markers 37 arranged adjacent to each other in the longitudinal direction of the rail R.
In addition, the driving unit 10 is formed in the shape of a rectangular strip, with a shuttle body 11 fastened to the inside, and a side frame 17 on which the folding locking member 20 is rotatably installed at the front and rear corners. And a pair of wheel members 12 installed on the shuttle body 11 symmetrically at the front and rear inside the side frame 17 so as to be rotatably seated on the rail R, wherein the shuttle body (11) is provided with a pair of moving means 31 that are individually controlled by the control unit 30 to enable individual control of each wheel member 12, and the wheel member 12 is configured to operate the shuttle. A pair of driven gears (16) are disposed at the front and rear of the body (11) and engage with the drive motor (31a) constituting the moving means (31) on the outer surface to receive the power necessary for rotation. The crankshaft 13 preferably includes a pair of wheels 14 provided on both sides of each crankshaft 13 and seated on a rail R.

delete

delete

According to the present invention, differently from the prior art, a plurality of folding locking members are provided on both sides of the driving unit to match the corners on both sides of the lower part of the container based on the rail, so that it can be used not only for 20 feet, but also for 40 feet volume using a plurality of unmanned guided vehicles. Containers can also be transported, which has the effect of making it possible to transport containers of different volumes without creating a separate space for the unmanned guided vehicle to rotate.

In addition, unlike in the past, it is expected that the spacing can be adjusted to minimize ineffective space when loading a 40-foot container on a pair of unmanned guided vehicles.

Figure 1 is a diagram showing a conventional bogie.
FIG. 2 is a diagram illustrating whether an invalid space is formed on a cart depending on the volume of the container in FIG. 1.
Figure 3 is a perspective view of an unmanned guided vehicle equipped with a foldable locking frame according to the present invention.
Figure 4 is an exploded perspective view of Figure 3.
Figure 5 is a plan view of Figure 3.
Figure 6 is a perspective view showing a foldable locking member for an unmanned guided vehicle equipped with a foldable locking frame according to the present invention in Figure 3.
Figure 7 is a diagram illustrating the operational relationship of the foldable locking member in Figure 6.
Figure 8 is a view showing a loaded container with a volume of 20 feet relative to Figure 7.
Figure 9 is a flow chart of a method for controlling an unmanned guided vehicle equipped with a foldable locking frame according to the present invention.
Figure 10 is a conceptual diagram of a control unit for a method of controlling an unmanned guided vehicle equipped with a foldable locking frame according to the present invention.
FIG. 11 is a diagram illustrating the spacing of a pair of unmanned guided vehicles being adjusted to load a container with a volume of 40 feet relative to FIG. 9.
FIG. 12 shows a 40-foot volume container loaded on a pair of automated guided vehicles with adjusted spacing relative to FIG. 11.

Hereinafter, various embodiments will be described in more detail with reference to the attached drawings. The embodiments described herein may be modified in various ways. Specific embodiments may be depicted in the drawings and described in detail in the detailed description. However, the specific embodiments disclosed in the attached drawings are only intended to facilitate understanding of the various embodiments. Therefore, the technical idea is not limited to the specific embodiments disclosed in the attached drawings, and it should be understood that all equivalents or substitutes included in the spirit and technical scope of the invention are included.

Terms containing ordinal numbers, such as first, second, etc., may be used to describe various components, but these components are not limited by the above-mentioned terms. The above-mentioned terms are used only for the purpose of distinguishing one component from another.

In this specification, terms such as “comprise” or “have” are intended to indicate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof. When a component is said to be "connected" or "connected" to another component, it is understood that it may be directly connected to or connected to the other component, but that other components may exist in between. It should be. On the other hand, when it is mentioned that a component is “directly connected” or “directly connected” to another component, it should be understood that there are no other components in between.

In addition, when describing the present invention, if it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the gist of the present invention, the detailed description thereof is abbreviated or omitted.

Hereinafter, an unmanned guided vehicle equipped with a foldable locking frame according to the present invention (hereinafter simply referred to as an 'unmanned guided vehicle') will be described in detail with reference to the attached drawings.

First, as shown in FIGS. 3 to 6, the unmanned guided vehicle (D/T) according to the present invention largely includes a driving unit 10, a folding locking member 20, and a control unit for controlling one or more of these components ( 30) may be included.

In more detail, the driving unit 10 provides power for the unmanned guided vehicle 1 of the present invention to move along the rail R, as shown, but the folding locking member 20, which will be described later, is provided by the control unit. It is configured to be installed so that it can rotate under the control of (30) and includes a shuttle body (11), a wheel member (12), and a side frame (17).

For example, the shuttle body 11 is equipped with a control unit 30 that is remotely operated by a controller 34 on the inside, a wheel member 12 is installed on the lower part, and a side frame 17 is installed on the outer surface to form a container (C ) to protect the installed components from damage that may occur during transshipment.

For this purpose, the shuttle body 11 has a drive motor 31a for rotating the drive gear 31b, which is tooth-coupled with the driven gear 16 constituting the wheel member 12 to form the wheel member 12. to provide power for operation.

Meanwhile, in the present invention, a rechargeable battery 31c for applying power necessary for the operation of the control unit 30, like the drive motor 31a, may be removably mounted inside the shuttle body 11.

In addition, the wheel member 12 receives power through the above-described drive motor 31a so that a container C with a volume of 20 feet (fit) or 40 (fit) can be transported along the rail (R). It includes a crankshaft 13 and a wheel 14.

At this time, it is preferable that the wheel members 12 are installed in pairs so that they are symmetrical on the shuttle body 11 to enable individual control through a single control unit 30 to enable stable transport of the container C. For this purpose, it is preferable that a plurality of drive motors 31a are installed so that each can be individually operated through a pair of control units 30 provided inside the shuttle body 11.

As shown, the crankshaft 13 is arranged in a column shape at the front and rear lower portions of the shuttle body 11, and is provided with a driven gear 16 on the outer surface that engages with the drive gear 31b to drive the drive motor ( The power of 31a) can be transmitted to the crankshaft 13 through the driven gear 16.

The wheels 14 are formed on both sides of each crankshaft 13 and have a structure that can rotate according to the rotational direction of the crankshaft 13, and are provided on the circumferential surface to be inserted in shape matching with the rail R. A groove is formed.

In addition, as shown, the side frame 17 is made entirely of metal and is formed to have an overall square strip shape, and the lower part is fastened to a plurality of lower parts through a fastening means to form the shuttle body 11 as well as the above. Components installed on the shuttle body 11 can be protected from external shocks, etc.

Foldable locking members 20 are rotatably mounted on each front and rear corner of the side frame 17 so that the container C can be detachably mounted.

And, as shown in FIGS. 5 and 6, the foldable locking member 20 is rotatably attached to the driving unit 10 described above and is transported at the same time as the lower surface of the container C is seated together with the driving unit 10. It is a configuration for fixing or releasing the container (C) to prevent it from leaving during the process, and includes a seating frame (21), locking (22), guide (23), link (25), and cylinder member (26). do.

For example, the seating frame 21 is formed using a metal material to have the shape of a plate with a predetermined thickness, and a plurality of side frames 17, each of which has a square strip shape on one side, are rotatable by the corners and hinges. It is installed.

For this purpose, a first rotating piece 21a is formed on the lower part of the seating frame 21 for rotatably mounting the link 25, and a locking 22 and a plurality of guides 23 are formed on the upper surface.

At this time, after the seating frame 21 rotates in the side frame 17, the upper surface of the seating frame 21 rotates so that the upper surface of the seating frame 21 has a flat surface with the upper surface of the side frame 17, so that the lower surface of the container C is stably seated. It is desirable to be able to do so.

In addition, the locking 22 provided on the upper surface of the seating frame 21 is an insertion hole (not shown) formed in the container C after the seating frame 21 is rotated to have a flat surface with the side frame 17. ) is formed in a position that can be opposite.

Through this, when the locking 22 and the container C are fastened to each other, the control unit 30 controls a motor (not shown) provided inside the seating frame 21 so that the locking 22 can be inserted into the insertion hole. When it is determined that the locking 22 is inserted into the insertion hole, the control unit 30 rotates the locking 22 in the reverse direction so that the container C and the seating frame 21 are fixed to each other. so that it can be maintained (see Figures 7 and 8).

In this process, for stable coupling between the container (C) and the locking (22), one or more guides (23) are placed on both sides of the seating frame (21) to support the corners of the container (C) in a shape-matched manner.

At this time, the upper surface of each guide 23 is formed with an inclined surface 23a having an inclination in the direction of the locking 22, so that when loading the container C on the unmanned guided vehicle 1 according to the present invention, the container C It is desirable that the lower surface slides as if guided by the inclined surface 23a so that insertion between the insertion hole and the locking 22 can be implemented more easily.

In addition, the link 25 is configured to transmit power to rotate the above-described seating frame 21 by being unfolded or folded by the cylinder member 26 whose length is variable, and includes a first link 25a, It includes a second link (25b) and a rotation shaft (25c).

As shown, the first link 25a and the second link 25b are coupled to each other to have a structure that allows them to rotate by the rotation axis 25c.

At this time, the outer surface of the rotation shaft 25c, which allows the first link 25a and the second link 25b to rotate with each other, is rotatably coupled to the cylinder member 26, which will be described later, so that the length of the rod 27 is variable. It is desirable to satisfy a structure in which the link 25 can be folded or unfolded based on the rotation axis 25c.

In addition, the other side of the first link 25a coupled by the rotating shaft 25c is rotatably coupled to the first rotating piece 21a formed on the lower surface of the seating frame 21, and the second linked by the rotating shaft 25c. The other side of the link 25b is rotatably coupled to the second rotating piece 17a provided on the side frame 17.

In addition, the cylinder member 26 refers to a normal cylinder in which the length of the rod 27 can be varied by hydraulic pressure or air pressure supplied through control of the control unit 30, and as shown, one side is a side frame. It is rotatably coupled to the third rotating piece (17b) of (17), and the end of the rod (27) is rotatably coupled to the rotating shaft (25c).

Accordingly, power is generated to fold or unfold the link 25 according to the variable length of the rod 27, and this power is transmitted to the seating frame 21 connected to the link 25 and the seating frame 21 ) is used as power for rotation.

And, as shown in FIGS. 3 and 10, the control unit 30 controls the above-described foldable locking member 20 based on the arrival location information transmitted from the control server 40 to store containers with different volumes. (C) is configured to ensure that it is safely transported to the correct destination and includes a moving means (31), a communication unit (32), a transmitting and receiving unit (33), a controller (34), a proximity sensor (35), and a marker sensor (36). ) and a stop marker (37).

Prior to explanation, the arrival location information transmitted from the control server 40 to the control unit 30 includes the destination of the container C to be transported using at least one unmanned guided vehicle 1 of the present invention, as well as the corresponding container ( C) can include volume information.

For example, the moving means 31 is configured to provide power for the unmanned guided vehicle 1 to move and includes a driving motor 31a and a battery 31c.

As shown, the drive motor 31a has the shape of a box, and is equipped with a plurality of gears inside and a brake that can stop the running unmanned guided vehicle by applying physical force to the gears in the form of a module. A motor drive may be installed on the shuttle body 11 so that it can be rotatably connected to the drive motor 31a.

Here, the drive motor 31a is installed with a driven gear 16 formed on the crankshaft 13 and a drive gear 31b that engages with each other, so that the power of the drive motor 31a is transmitted to the crankshaft 13. Power for driving the wheel member 12 is transmitted.

The battery 31c is provided to be detachable from the shuttle body 11 and is charged with external power so that necessary power can be applied to all electrical components constituting the control unit 30.

In addition, the communication unit 32 is connected to the control unit 30 and the control server 40 through wireless communication, so that information detected by the sensor, which will be described later, is transmitted to the control server 40 through the control unit 30 and the control server 40. The control unit 30 is able to receive the arrival location information transmitted from (40).

In addition, it is desirable for the operator to check the information transmitted from the control server 40 through a display provided in the controller 34, if necessary, so that the operator can control the unmanned guided vehicle remotely.

In addition, the transmitting and receiving unit 33 enables data to be transmitted and received so that mutual short-range wireless communication can be achieved between the controller 34 and the control unit 30 carried by the worker.

At this time, the controller 34 in the present invention is preferably formed so that at least one pair of unmanned guided vehicles 1 can be individually controlled through one controller 34.

In addition, the proximity sensor 35 is installed at the front and rear of the side frame 17, respectively, so that it can be electrically connected to the control unit 30, and is activated or deactivated in accordance with the driving direction of the unmanned guided vehicle.

The activated proximity sensor 35 detects other obstacles (including another unmanned guided vehicle) located in the direction in which the unmanned guided vehicle is traveling, and transmits the detection information to the control unit 30 to communicate with the obstacle without operator intervention. Ensure that collisions are prevented.

In addition, the marker sensor 36 is located at the bottom of the shuttle body 11, that is, at a position opposite to a number of stop markers 37 arranged adjacent to each other in the longitudinal direction of the rail (R) so that it can be electrically connected to the control unit 30. It is installed to accurately determine the exact position of the unmanned guided vehicle (1), especially the stopping position of the unmanned guided vehicle.

Hereinafter, a method for controlling an unmanned guided vehicle equipped with a foldable locking frame according to the present invention (hereinafter, briefly referred to as 'control method') will be described in detail with reference to the attached drawings.

Prior to the description, in order to clearly understand each configuration provided in the unmanned guided vehicle (1) of the present invention described above, a container (C) with a volume of 40 feet (fit) is used using a pair of the unmanned guided vehicle (1). ) I would like to explain the control for transferring ) in terms of work.

First, as shown in Figures 9 and 10, the control method (2) according to the present invention is largely 1) a pair located on the rail (R) based on the arrival location information transmitted from the control server (40). Arranging the unmanned guided vehicles adjacent to each other to match the volume of the container (C) (S100), 2) rotating the seating frame 21 provided on a pair of unmanned guided vehicles to rotate the seating frame 21 ), a step of arranging the locking 22 so that it faces upward (S200), 3) a step of loading the container C on a pair of unmanned guided vehicles so that it can be fixed by the locking 22 (S300) ) and 4) Controlled by the control unit 30 so that the mobile means 31 located in the traveling direction among the mobile means 31 installed on the pair of unmanned guided vehicles 1 can operate based on the arrival location information. It includes a step (S400) of transferring the container (C).

To explain in more detail, in order to execute step 1), the control server 40 transmits the arrival location information for the container (C) through the communication unit 32, and the control unit that receives this arrival location information is a transmitter and receiver. (33) allows the operator holding the controller (34) to check.

The worker who confirmed the arrival location information by the controller (0) ensures that the container (C) with a volume of 40 feet can be loaded stably. As shown, the lower two corners of the container (C) are connected to a pair of unmanned guided vehicles ( One of the unmanned guided vehicles 1 is moved so that it can be seated on 1).

Then, through recognition between the marker sensor 36 provided on the moving unmanned transport vehicle 1 and the stationary markers 37 arranged adjacent to each other on the rail R, a pair of unmanned transport vehicles 1 Step 1) is completed by placing the container (C) on the rail (R) with an interval matching the volume (see FIG. 11).

Thereafter, as shown, the worker uses a plurality of folding locking members 20 corresponding to the lower corners of the container C, excluding the plurality of folding locking members 20 arranged opposite to each other in the pair of unmanned guided vehicles 1. Step 2) is performed by rotating the locking member 20 to enable loading of the corresponding container (C).

Afterwards, step 3) is performed in which the container (C) is loaded onto the pair of unmanned guided vehicles (1) using a crane (not shown), etc. (see FIG. 12).

In this process, the operator rotates the locking 22 in the forward direction in advance so that the protruding locking 22 can be inserted through the insertion hole formed in the container C through the control unit 30, and the locking 22 is inserted into the insertion hole. ) is inserted, it is controlled to rotate in the reverse direction so that the container (C) can be fixedly loaded on the pair of unmanned guided vehicles (1).

At this time, it is preferable that the container C descending in the direction of the locking 22 is guided by the inclined surface 23a formed on the outer surface of the guide 23 so that insertion between the insertion hole and the locking can be performed more easily.

Finally, when the loading of the container (C) into the pair of unmanned transport vehicles (1) is completed through the execution of step 3), the operator moves each unmanned transport located in the direction of movement of the container (C) through the controller (34). 4) which controls the movement means (31) provided in the car (1) to operate so that the power for transporting the container (C) is transmitted to the wheel member (12) to enable transport along the rail (R) The steps are executed.

At this time, the container (C) transported along the rail (R) is recognized by the unmanned guided vehicle (1) through recognition between the stop marker (37) present at the arrival location and the marker sensor (36) provided on the unmanned guided vehicle (1). It is desirable to ensure that the arrival location of ) can be determined.

As described above, the unmanned guided vehicle (1) according to the present invention is different from the conventional one by having a plurality of foldable locking members on both sides of the driving unit (10) to match the corners on both sides of the lower part of the container (C) based on the rail (R). Equipped with (20), it is possible to transport not only a 20-foot container (C) but also a 40-foot container (C) using multiple unmanned guided vehicles, allowing different volumes to be transported without creating a separate space for the unmanned guided vehicle to rotate. This has the effect of making transport of the container (C) possible.

In addition, unlike in the past, it is expected that the spacing can be adjusted so that the void space can be minimized when loading a 40-foot container (C) on a pair of unmanned guided vehicles.

As described above, the present invention has been described with specific details such as specific components and limited embodiments and drawings, but this is only provided to facilitate a more general understanding of the present invention, and the present invention is not limited to the above embodiments. , those skilled in the art can make various modifications and variations from this description.

Therefore, the spirit of the present invention should not be limited to the described embodiments, and the scope of the patent claims described later as well as all things that are equivalent or equivalent to the scope of this patent claim shall fall within the scope of the spirit of the present invention. .

1: Unmanned guided vehicle equipped with a folding locking frame according to the present invention
2: Method for controlling an unmanned guided vehicle equipped with a foldable locking frame according to the present invention
10: driving part
11: shuttle body 12: wheel member
13: Crankshaft 14: Wheel
16: driven gear 17: side frame
20: Foldable locking member
21: Seating frame 22: Locking
23: Guide 25: Link
26: cylinder member 27: rod
30: control unit
31: means of transportation 32: communication department
33: Transmitter and receiver 34: Controller
35: Proximity sensor 36: Marker sensor
37: Stop marker
40: Control server

Claims (10)

In an unmanned guided vehicle that can be loaded with containers (C) and move along rails (R),
The unmanned guided vehicle is
A control unit 30 connected to the control server 40 and a communication network;
A driving unit (10) on which the control unit (30) is mounted and moves by receiving power from a controlled moving means (31); and
A plurality of foldable locking members 20 are provided to be rotatable with both corners of the driving unit 10 under the control of the control unit 30 and are detachably fastened to both sides of the lower part of the container C by rotation,
The moving means 31 are arranged symmetrically on both sides of the driving unit 10,
The foldable locking member 20 includes a seating frame 21 on one side of which is rotatably coupled to the driving unit 10, and a locking mechanism provided on the upper surface of the seating frame 21 to lock or unlock the container C. 22), guides 23 provided symmetrically on both sides of the seating frame 21 so that the corners of the container C can be fitted and joined in accordance with the shape, and a joint structure that is free to bend, one side of which is the seating frame (21) A link (25) rotatably coupled to the outer surface, the other side of which is rotatably coupled to the driving unit (10), and a rod (27) of which one side is rotatably coupled to the driving unit (10) and whose length is variable. is an unmanned guided vehicle equipped with a folding locking frame, characterized in that it includes a cylinder member (26) rotatably coupled to the link (25).
According to paragraph 1,
The unmanned guided vehicle is
A foldable locking frame is provided that allows a container (C) with a volume of 20 feet (fit) to be loaded when the plurality of foldable locking members (20) are rotated parallel to the rail (R). unmanned guided vehicle.
delete According to paragraph 1,
The control unit 30 is
A transceiver unit 33 for remotely controlling the unmanned guided vehicle by transmitting and receiving information with the controller 34;
A drive motor (31a) provided with a drive gear (31b) engaged with the drive unit (10);
A sensor installed on the driving unit 10 to be activated or deactivated in accordance with the direction of travel of the unmanned guided vehicle;
A communication unit 32 provided so that the control unit 30 and the control server 40 can be connected to each other through a communication network; and
Includes a battery (31c) that provides the necessary power for the control unit (30) to operate,
The sensor recognizes a proximity sensor 35 that detects obstacles in the direction of travel of the unmanned guided vehicle, and a stop marker 37 installed below the driving unit 10 and arranged adjacent to a number of people in the longitudinal direction of the rail R. An unmanned guided vehicle equipped with a folding locking frame, characterized in that it includes a marker sensor (36).
According to paragraph 1,
The driving unit 10 is
A side frame (17) in the shape of a square strip, to which the shuttle body (11) is fastened on the inside, and on which the foldable locking member (20) is rotatably installed at the front and rear corners; and
It includes a wheel member (12) installed on the shuttle body (11) in a pair symmetrical at the front and rear inside the side frame (17) so that it can be rotatably seated on the rail (R),
The shuttle body 11 is provided with a pair of moving means 31 that are individually controlled by a control unit 30 to enable individual control of each wheel member 12,
The wheel member 12 is disposed at the front and rear of the shuttle body 11, and is provided with a driven gear 16 on its outer surface that engages with the drive motor 31a constituting the moving means 31. A foldable type comprising a pair of crankshafts (13) that receive the power necessary for rotation, and a pair of wheels (14) provided on both sides of each crankshaft (13) and seated on a rail (R). Unmanned guided vehicle equipped with a locking frame.
delete In order to transport a container (C) with a volume of 40 feet (fit) along the rail (R), a control unit (30) connected to the control server (40) and a communication network, a moving means equipped with and controlled by the control unit (30) ( A driving unit 10 that moves by receiving power from 31) is provided to be rotatable with both corners of the driving unit 10 under the control of the control unit 30, and can be separated from both sides of the lower part of the container C by rotation. A seating frame 21 that is fastened and one side of which is rotatably coupled to the driving unit 10, a locking frame 22 provided on the upper surface of the seating frame 21 to lock or unlock the container C, and a container (C) Guides 23 are provided symmetrically on both sides of the seating frame 21 so that the corner portions can be fitted and joined in accordance with the shape, and are composed of a joint structure that is free to bend, and one side is connected to the outer surface of the seating frame 21. A link 25 rotatably coupled to the drive unit 10 on the other side, and a rod 27 of a variable length rotatably coupled to the drive unit 10 on one side are connected to the link 25. ) In the control method of an unmanned guided vehicle including a plurality of foldable locking members (20) made of a cylinder member (26) rotatably coupled to,
1) Arranging a pair of unmanned guided vehicles located on the rail (R) adjacent to each other to match the volume of the container (C) based on the arrival location information transmitted from the control server (40);
2) rotating the seating frame 21 provided on a pair of unmanned guided vehicles and arranging the locking 22 provided on the rotated seating frame 21 to face upward;
3) loading the container (C) onto a pair of unmanned guided vehicles so that it can be fixed by the locking device (22); and
4) Based on the arrival location information, the control unit 30 controls the mobile means 31 located in the direction of travel among the mobile means 31 installed on the pair of unmanned guided vehicles 1 to operate. A method of controlling an unmanned guided vehicle equipped with a foldable locking frame, comprising the step of transferring a container (C).
In clause 7,
In step 2), the control unit 30
Except for the seating frames 21 arranged to face each other on a pair of neighboring unmanned guided vehicles, only the seating frames 21 present at positions corresponding to both corners of the lower part of the container C can be rotated. A method of controlling an unmanned guided vehicle equipped with a foldable locking frame, characterized in that control.
In clause 7,
In step 2), the control unit 30
The gap is adjusted by a sensor so that the gap between the pair of unmanned guided vehicles can be adjusted to match the volume of the container (C), and the marker sensor 36 and the marker sensor 36 provided on the unmanned guided vehicle are recognized. A method of controlling an unmanned guided vehicle equipped with a foldable locking frame, characterized in that the spacing can be adjusted by a plurality of stop markers (37) installed in the longitudinal direction of the rail (R).
In clause 7,
In step 4), the control unit 30
The unmanned guided vehicle can stop at the arrival location through the marker sensor 36 provided on the unmanned guided vehicle and a number of stop markers 37 installed in the longitudinal direction of the rail (R) to recognize the marker sensor 36. A method of controlling an unmanned guided vehicle equipped with a foldable locking frame, characterized in that:

Images