KR200161952Y1 - Unmanned carrier - Google Patents

Abstract

The present invention relates to an unmanned transport vehicle, in particular a body frame 10 is equipped with a plurality of casters 24 on the bottom, the rotary table 12 and the rotating shaft 14 is rotatably coupled to the body frame 10 And a braking means 16 for controlling the rotational operation of the rotary shaft 14, a pair of drive wheels 20a and 20b for selectively rotating the rotary table 12 and the rotary shaft 14, It is characterized by including a pair of motors 18a, 18b for driving the drive wheels 20a, 20b in one direction or in opposite directions, respectively.

Therefore, in the present invention, when the driving wheel is rotated in the opposite direction, the rotating table and the rotating shaft can be rotated at 360 ° angles, so that steering and driving in all directions are made. Productivity is increased and work space is further minimized.

Description

Unmanned carriage

The present invention relates to an unmanned transport vehicle, and more particularly, to an unmanned transport vehicle that is capable of steering in all directions such as longitudinal, transverse and oblique directions, and traveling forward and backward.

In general, an unmanned truck is a means of transporting or supplying parts by unmanned vehicles. In an automated production line for assembling an unmanned plant or electronic parts, the unmanned transport vehicle delivers the transported parts such as parts to each process or supplies finished products. It is applied to transfer for goods receipt.

Conventionally, as shown in FIG. 1, the unmanned vehicle 1 performs work forward and backward on a predetermined track 2, from the current position to the position of the working position (A) or (B). When it moves, it moves forward or backward along the curve C or D of the track 2 which has an arc shape, and reaches a working position.

However, such a conventional unmanned vehicle 1 does not travel in the transverse or oblique direction through (a) or (b) at the current position and bypasses through the curved portion C or (D), thereby transferring time. Many problems have been inherent, such as the need for a large working space, as well as a reduction in transfer efficiency and productivity.

The present invention has been made to solve the problems of the prior art as described above, the object of the present invention is to enable the steering and traveling in all directions by the rotation of the drive wheel to significantly shorten the feed equation to transfer efficiency And to increase the productivity and at the same time provide an unmanned transport vehicle that can minimize the work space.

1 is a schematic diagram showing a traveling track of a conventional unmanned truck.

2 is a side view of a portion of the unmanned transport vehicle according to the present invention.

3 is a bottom view of the driverless vehicle according to the present invention.

Figure 4 is a side view of a part of the driverless vehicle according to the present invention.

5 to 7 is a schematic view showing the running state of the unmanned vehicle according to the present invention,

5 is a view showing the forward and reverse time of the unmanned vehicle,

6 is a view showing the transverse driving of the unmanned vehicle,

7 is a diagram illustrating oblique driving of the unmanned vehicle.

* Explanation of symbols for main parts of the drawings

10 body frame 12 rotation table

14: shaft 16: braking means

18a, 18b: motor 20a, 20b: drive wheel

22a, 22b: encoder

Unmanned vehicle according to the present invention made to achieve the above object, the body frame is equipped with a plurality of casters on the bottom, the rotary table and the rotary shaft rotatably coupled to the body frame, the rotary shaft controls the rotation operation And a pair of motors for selectively rotating the rotary table and the rotary shaft.

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

FIG. 2 is a side view of a partially cutaway state showing an unmanned vehicle according to the present invention, FIG. 3 is a bottom view of FIG. 2, and FIG. 4 is a side view showing the main portion of the disclaimer vehicle according to the present invention. ) Denotes a body frame.

The rotary table 12 capable of rotating 360 ° is coupled to a substantially central portion of the body frame 10, and a rotary shaft 14 which is integrally rotated with the rotary table 12 is coupled to an upper side thereof. Outside the rotary shaft 14 is mounted to the body frame 10, the braking means 16 for controlling the rotation operation of the rotary shaft 14 is mounted.

The braking means 16 is more preferably composed of an electromagnetic brake in which the rotating shaft 14 prevents rotational operation as power is applied.

On the other hand, the lower surface of the rotary table 12 is coupled to the drive wheels 20a, 20b which are rotated forward and reverse according to the driving of the motors 18a, 18b so as to be rotatable, and the motor 18a, Encoder 22a, 22b which controls the rotation angle of the drive wheel 20a, 20b is couple | bonded with 18b, respectively.

A plurality of casters 24 are coupled to the bottom of the body frame 10.

In the unmanned vehicle according to the present invention configured as described above, as shown in FIG. 5, the driving wheels 20a and 20b are driven by the driving of the motors 18a and 18b in a state where the turntable 12 is horizontally positioned. ) Is rotated forward and backward to allow driving in the forward and backward directions.

At this time, the driving table 12 maintains the horizontal state by maintaining the fixed state of the rotating shaft 16 by the braking force of the braking means (16).

On the other hand, if the brake table 16 is released in the state where the rotary table 12 is positioned horizontally and the driving directions of the motors 18a and 18b are operated in opposite directions, respectively, they are driven in opposite directions. By the operation of the drive wheels 20a and 20b, the rotary table 12 and the rotary shaft 14 are positioned vertically in the 90 ° direction, so that traveling in the lateral direction is possible as shown in FIG. .

At this time, when the braking means 16 is operated after the rotary table 12 and the rotary shaft 14 are rotated at an angle of 90 °, the rotary shaft 14 and the rotary table 12 remain fixed. When the motors 18a and 18b are driven, both of the driving wheels 20a and 20b rotate in one direction, so that traveling in the lateral direction is possible.

The rotation angles of the motors 18a and 18b can be rotated at a predetermined angle by signals sent from the respective encoders 22a and 22b.

In addition, in the state where the rotary table 12 is positioned horizontally or vertically, the operation of the braking means 16 is canceled as in the transverse direction described above, and the driving directions of the motors 18a and 18b are reversed. Operation, the rotary table 12 and the rotary shaft 14 are rotated clockwise or counterclockwise by the operation of the driving wheels 20a and 20b which are driven in opposite directions, as shown in FIG. By being positioned in the oblique direction, it is possible to travel in the oblique direction.

At this time, the motors 18a and 18b are rotated at a predetermined rotational angle, that is, a steering angle, by signals sent from the respective encoders 22a and 22b, and the rotary table 12 and the rotary shaft 14 are rotated. When the braking means 16 is operated after the rotation of the motor 14 rotates in the diagonal direction, the rotating shaft 14 and the rotary table 12 are fixed. When the two motors 18a and 18b are driven, both driving When the wheels 20a0 and 20b rotate in one direction, the wheels 20a0 and 20b can travel in the diagonal direction.

In this embodiment, the rotary table 12 is rotated in the horizontal, vertical and oblique directions, but the steering table 12 is steered in all directions, i.e., 360 ° in accordance with the driving of the motors 18a and 18b. Of course, you can drive.

As described above, in the unmanned vehicle according to the present invention, when the driving wheel is rotated in the opposite direction, the rotating table and the rotating shaft can be rotated at an angle of 360 °, so that steering and driving in all directions are made, and thus the transportation time is increased. Significantly reduced, there is a variety of effects, such as increasing the transfer efficiency and productivity while minimizing the work space.

Claims (2)

The body frame 910 is provided with a plurality of casters 24 on the bottom, the rotary table 12 and the rotary shaft 14 is rotatably coupled to the body frame 10, and controls the rotation operation of the rotary shaft 14 A pair of driving wheels 20a and 20b for selectively rotating the braking means 16, the rotary table 12 and the rotating shaft 14, and the driving wheels 20a and 20b in one direction. Or a pair of motors (18a) and (18b), each of which drives in directions opposite to each other. 2. The unmanned truck according to claim 1, wherein the motors (18a) and (18b) are rotated at a predetermined angle by signals sent from encoders (22a) and (22b).