KR20050077450A - Variable guided vehicle with automatic and passivity - Google Patents

Abstract

The present invention relates to an automatic and manual variable bogie, more specifically, it is possible to automatically transfer the logistics and the like along the driving route without the operator, if necessary, the operator can not only move manually but also the structure is simple The present invention relates to an automatic and manual variable bogie that can improve productivity due to low cost and simple operation.

The automatic and manual variable truck according to the present invention is mounted on the inside of the bogie frame 400 so that the driving wheel 323 is raised or lowered in the driving path according to the automatic and manual control so that a driving force is applied to the bogie frame 400. A starter 300 for inputting a control signal to the starter 300, a display unit 340 for displaying a control state, and a control signal through the display unit 340. The control unit 200 for controlling, the ultrasonic distance sensor unit 110 for detecting the distance between the bogie frame 400 and the external object and outputs to the control unit 200, the control unit 200 and the starting unit ( It comprises a power supply for providing a driving power to the 300 and the guide rail detection unit 150 for detecting the guide rail according to the travel path of the balance frame 400.

Description

VARIABLE GUIDED VEHICLE WITH AUTOMATIC AND PASSIVITY}

The present invention relates to an automatic and manual variable bogie, more specifically, it is possible to automatically transfer the logistics and the like along the driving route without the operator, if necessary, the operator can not only move manually but also the structure is simple The present invention relates to an automatic and manual variable bogie that can improve productivity due to low cost and simple operation.

In the field of transportation, the automation equipment of conveyors, unmanned forklifts, unmanned tow trucks and unmanned vehicles is called AGV (Automatic Guided Vehicle). The unmanned vehicle is mounted on a predetermined frame capable of seating logistics, and driving means for moving forward and backward as the power is applied, and the steering wheel is rotated left and right as the power is applied to the frame to turn the driving direction. It comprises a steering means for controlling, and a battery for applying power to the drive means and the steering means.

The unmanned trolley detects the guide rails formed along the driving path of the work space without a separate worker, so that steering and forward and backward operations are automatically performed, thereby improving the efficiency of work by transporting logistics and not requiring an operator. Therefore, the manufacturing cost can be reduced.

However, since the conventional unmanned trolley is fixed to be automatically transferred along the driving route installed in the workplace, there is a disadvantage that the operator cannot use the manual trolley as necessary. In addition, the conventional unmanned trolley is mainly used in a special environment, such as environmental conditions that are harmful to a clean room or a human body because the structure is very complicated and the manufacturing cost is very high according to the automation of the driving and steering means.

Therefore, in order to improve productivity and reduce the cost of production, there is a need for an unmanned vehicle having a low price and easy operation.

The present invention is to solve the above problems and to meet the need of a low cost and easy to operate unmanned truck, the object of the present invention can be used automatically or manually by the operator's operation, the operation is convenient It is to provide automatic and manual variable trucks with low manufacturing cost.

Automatic and manual variable balance according to the present invention, the balance frame 400 is formed so as to take or rest the logistics, and a plurality of mounted on the bottom of the balance frame 400 to move the balance frame 400 Bogie wheel 430 and the starting portion is mounted on the inside of the bogie frame 400 to move the driving wheel 323 to the driving path in accordance with the automatic and manual control so that the driving force is applied to the bogie frame 400, A control unit for controlling the starter 300, a display unit 340 for inputting a control signal to the starter 300 and displaying a control state, and a control signal received through the display unit 340. Ultrasonic distance sensor 110 for detecting the distance between the balance frame 400 and the external object and outputs to the control unit 200, the control unit 200 and the starter 300 A power supply unit for providing driving power, and the balance frame 400 It characterized in that it comprises a guide rail detection unit 150 for detecting a guide rail according to the driving path.

In addition, the automatic and manual variable trolley according to the present invention includes a plurality of supports 360 to which the maneuvering unit 300 is fixed to the trolley frame 400 and the support bracket 364, and an upper portion of the support 360. The upper plate 361 and the lower plate 365 mounted on the lower portion, and the driving wheel 323 for applying the driving force to the bogie frame 400 in the lower portion of the lower plate 365 in the forward and backward direction The front and rear drive unit 320 and the steering wheel 330 mounted on the lower plate 365 to steer the left and right directions of the driving wheel 323, and the front and rear drive unit 320 and the steering unit 330. It is composed of the up-down driving unit 310 is mounted to the upper portion of the upper plate 361 to move in the vertical direction, the front and rear drive unit 320 is a wheel support 363 is mounted to the driving wheel 323. And, the driving wheel (3) is mounted on one side of the wheel support 363 And a front and rear motor 321 and a speed reducer 322 for rotating the 23, and a driving speed sensing unit 130 mounted on the other side of the wheel support 363 to sense the rotational force of the driving wheel 323. The steering unit 330 includes a steering shaft 339 connected to the front and rear driving unit 320, a steering motor 331 and a speed reducer 332 which rotate the steering shaft 339 in left and right directions, and the driving wheel The left and right direction detection unit 140 for detecting the rotation angle of the 323, the steering motor 331 and the reducer 332 and the steering unit support 338 for supporting the left and right direction detection unit 140, The lower driving part 310 includes a nut gear 314 inserted into an upper surface of the steering part supporter 338, a screw shaft 313 for moving the nut gear 314 up and down, and the screw shaft 313. It characterized in that it comprises a vertical motor 311 and the reducer 312 to rotate.

In addition, the automatic and manual variable truck according to the present invention, the support 360 is characterized in that it further includes a shock absorbing means for absorbing the shock to the maneuver 300.

In addition, the automatic and manual variable bogie according to the present invention, the drive speed detecting unit 130 is connected to the drive wheel 323, a plurality of slits are radially penetrated through the speed detecting plate 324 and the speed detecting plate 324 It characterized in that it comprises a speed sensor 325 for detecting the number of revolutions, wherein the left and right direction detection unit 140 is connected to the steering shaft 339 and a plurality of slits 334 formed radially penetrating A steering sensing plate 333 and a steering sensing sensor 335 for sensing a rotation angle of the steering sensing plate 333 are characterized in that it comprises a.

Meanwhile, the automatic and manual variable trolley according to the present invention includes a bumper that buffers an impact with an external object on one side of the trolley frame 400 and a bumper safety that detects a collision of the bumper and outputs a detection signal to the controller. The switch 120 and the guide rail detecting unit 150 induce driving and detect the guide rail divided at a predetermined interval to detect the current and the target position of the truck.

Hereinafter, with reference to the accompanying drawings will be described in detail the automatic and manual variable balance according to the present invention.

1 is a schematic control block diagram of an automatic and manual variable balance according to an embodiment of the present invention, Figure 2 is a schematic configuration diagram of an automatic and manual variable balance according to an embodiment of the present invention, Figure 3 Figure 2 is a side view, Figure 4 is a rear view of Figure 2, Figures 5a and 5b is a perspective view of the bogie drive unit according to an embodiment of the present invention, Figure 6 is a cross-sectional view of the AA line of Figure 5a, Figure 7 Figure 5a is a side view, Figure 8 is a guide rail according to an embodiment of the present invention.

Automatic and manual variable balance according to a preferred embodiment of the present invention is shown in Figures 1 to 7, the balance frame 400 and the balance frame 400 is formed so as to take or rest the logistics, etc. A plurality of bogie wheels 430 mounted on the bottom of the bogie frame 400 to move the bogie frame 400, and a driving wheel 323 mounted on the inside of the bogie frame 400 so that a driving force is applied to the bogie frame 400. A starter 300 which raises or lowers the driving path according to automatic and manual control, a display unit 340 for inputting a control signal to the starter 300 and displaying a control state, and control of the display unit 340. A control unit 200 for receiving a signal to control the starter 300, a power supply unit for providing driving power to the control unit 200 and the starter 300, and a driving path of the balance frame 400. Guide rail detection unit for detecting guide rails And 150.

In addition, the ultrasonic distance sensor unit 110 for detecting the distance between the bogie frame 400 and the external object and outputs it to the controller 200, and the impact with an external object on one side of the bogie frame 400. It is preferable to further include a bumper (not shown) for buffering the bumper safety switch 120 for detecting a collision of the bumper and outputting a detection signal to the controller.

The starter 300 is mounted to a plurality of supports 360 fixed to the bottom of the balance frame 400 and the support bracket 364. In addition, an upper plate 361 and a lower plate 365 are installed on the upper and lower portions of the support 360, and drive wheels 323 for applying a driving force to the bogie frame 400 at the lower portion of the lower plate 365. ) The front and rear driving unit 320 for rotating the front and rear directions, a steering unit 330 mounted on the lower plate 365 and steering the left and right directions of the driving wheel 323, and the front and rear driving unit. An up-down driving unit 310 is mounted on the upper plate 361 to move the 320 and the steering unit 330 in the up and down direction to drive the cart formed of the bogie frame 400.

Here, the support 360 is preferably formed with a shock absorbing means such as a shock absorbing spring and the shock absorber to the maneuver 300.

The front and rear driving unit 320 is mounted on one side of the wheel support 363 and the wheel support 363, the driving wheel 323, the front and rear motor 321 and the reducer to rotate the drive wheel 323 322 and a driving speed sensing unit 130 mounted on the other side of the wheel support 363 to sense the rotational force of the driving wheel 323, wherein the driving speed sensing unit 130 is the driving wheel 323. ) And a speed sensor plate 324 formed by passing through the plurality of slits radially, and a speed sensor 325 for detecting the passage of the slit formed by the speed sensor plate 324.

The steering unit 330 includes a steering shaft 339 connected to the front and rear driving unit 320, a steering motor 331 and a speed reducer 332 which rotate the steering shaft 339 in left and right directions, and the driving wheel. The left and right direction detection unit 140 for detecting the rotation angle of the 323, the steering motor 331 and the reducer 332 and the steering unit support 338 for supporting the left and right direction detection unit 140, the left and right The direction detecting unit 140 is connected to the steering shaft 339, and a steering sensing plate 333 formed by radially penetrating the plurality of slits 334, and a steering sensing unit sensing a rotation angle of the steering sensing plate 333. It consists of a sensor 335.

In addition, the nut gear 314 inserted into the upper surface of the steering unit support 338, the screw shaft 313 for moving the nut gear 314 up and down, and the vertical motor for rotating the screw shaft 313 The rise-and-fall driving unit 310 is composed of a 311 and a reducer 312.

The control unit 200 receives a signal for detecting the distance between the balance frame 400 and an external object by the ultrasonic distance sensor unit 110, the driving wheel 323 by the drive speed detection unit 120. The rotational force of the will be detected. In addition, the guide rail detection unit 150 recognizes the driving route and the current position, and according to the recognized information to control the progress direction and the direction of the destination point of the balance frame 400 by the left and right direction detection unit 130. do.

On the other hand, the power supply unit 350 is composed of a storage battery 420 to receive power from an external power source, the storage battery 420 is a power connection terminal (not shown) installed on one side of the balance frame 400 It can be easily stored through. In addition, the bumper safety switch 120 detects the collision with any object to control the driving of the truck.

According to the signal input to the controller 200, the controller 200 controls the driving unit 300 and displays the control state on the display unit 340. In addition, it will be apparent that the display unit 340 is provided with various control switches so that the controller 200 can be driven automatically or manually.

On the other hand, the guide rail detecting unit 150 is configured by a plurality of infrared light emitting sensors and light receiving sensors arranged at a predetermined interval on the guide rail marked on the driving path to detect the guide rail, as shown in FIG. Similarly, the guide rail divided at regular intervals is sensed to detect the location of the current and destination points. The fractionated guide rails are configured in a form of a bar code, and recognize a specific position by comparing the information previously input to the controller 200.

When explaining the operation effect of the automatic and manual variable balance according to the present invention configured as described above in more detail, first, the electric power is stored in the battery 420 so that the starter 300 and the control unit 200 is driven externally do.

Thereafter, the display unit 340 operates as an autonomous vehicle to be manipulated to move from an arbitrary starting point to a destination point. The operation process operates the display unit 340 according to a program previously input to the controller 200. The destination point decodes and grasps the shape of the guide rail fractionated at a specific point of the guide rail. The above operation can be realized by an internal program, and the detailed description thereof is omitted.

When the operation is performed by the automatic bogie as described above, the control unit 200 drives the front and rear drive unit 320 to move at an arbitrary speed until the guide rail of the destination point is recognized. In other words, the driving wheel 323 is rotated through the reduction gear 322 by supplying the power of the storage battery 420 to the front and rear motor 321. At this time, by detecting the rotational speed of the speed detecting plate 324 connected to the driving wheel 323 is rotated by the speed sensor 325 to detect the speed of the truck. At this time, the speed sensor 325 detects a plurality of slits radially formed on the speed detecting plate 324 with an infrared sensor.

In addition, when detecting the left and right directions of the guide rail through the guide rail detection unit 150, the control unit 200 controls the steering unit 330 by the signal of the guide rail detection unit 150. . In other words, when the left and right rotation angle signals are output from the controller 200, the steering motor 331 and the reducer 332 are rotated, and the steering drive gear 337 connected to the reducer 332 is a steering shaft 339. To rotate the steering gear 336 connected. At this time, the amount of rotation of the steering gear 336 is sensed by the left and right direction detecting unit 140. That is, the number of slits formed on the steering sensing plate 333 is detected by the steering sensing sensor 335 equipped with the light emitting unit and the light receiving unit to measure the amount of rotation of the steering sensing plate 333 connected to the steering shaft 339. do. The steering sensor 335 is preferably configured in plurality in order to improve the precision of steering.

On the other hand, in order to move the truck directly, the operator can be controlled to arrive at the destination by operating in the manual state or by inputting the destination in the automatic state. That is, when the manual state is selected by operating the display unit 340, the up-down driving unit 310 of the starting unit 300 operates to raise the driving wheel 323 in the driving path. In other words, the upper and lower motors 311 and the reducer 312 mounted on the upper surface of the upper plate 361 of the starter 300 are driven, and the screw shaft 313 connected to the driven reducer 312 rotates. do. As the screw shaft 313 rotates, the nut gear 314 inserted into the upper surface of the steering unit support 338 is moved upward. Accordingly, the steering unit 330 connected to the steering unit support 338 and the front and rear driving unit 320 connected to the steering shaft 339 are moved upwards to raise the driving wheel 323 in the driving path. Herein, the control unit 200 preferably controls the starter 300 in a pulse width control method.

Therefore, the worker can easily use the balance according to the present invention as an automatic balance or a manual balance as needed to improve productivity.

An embodiment of the present invention described above and illustrated in the drawings should not be construed as limiting the technical spirit of the present invention. The protection scope of the present invention is limited only by the matters described in the claims, and those skilled in the art can change and change the technical idea of the present invention in various forms. Therefore, such improvements and modifications will fall within the protection scope of the present invention, as will be apparent to those skilled in the art.

As described above, according to the present invention, not only can the logistics be used as an automatic transfer truck that is automatically transferred along a preset driving path without a worker, but also can be used as a manual truck that the worker directly transfers according to the working environment. Improve work efficiency

In addition, the driving wheel can be raised or lowered with a simple structure to increase the utilization of the balance, to reduce the manufacturing cost, thereby improving productivity.

1 is a schematic control block diagram of an automatic and manual variable bogie according to an embodiment of the present invention;

2 is a schematic configuration diagram of an automatic and manual variable cart according to an embodiment of the present invention;

3 is a side view of FIG. 2;

4 is a rear view of FIG. 2;

Figure 5a and Figure 5b is a perspective view of the balance driving unit according to an embodiment of the present invention,

6 is a cross-sectional view taken along the line A-A of FIG. 5A;

7 is a side view of FIG. 5A;

8 is a guide rail according to an embodiment of the present invention.

<Description of Symbols for Main Parts of Drawings>

110: ultrasonic distance sensor unit 120: bumper safety switch

130: driving speed detection unit 140: left and right direction detection unit

150: guide rail detection unit 160: power supply detection unit

200: control unit 300: starting unit

310: up-down drive unit 311: up and down motor

312, 322, 332: reducer 313: screw shaft

314: nut gear 320: front and rear drive unit

321: front and rear motor 323: drive wheel

324: speed sensor 325: speed sensor

330: steering unit 331: steering motor

333: steering plate 334: slit

335: steering sensor 336: steering gear

337: steering drive gear 338: steering support

339: steering shaft 340: display unit

350: power supply unit 360: support

361: upper plate 362: buffer

363: wheel support 364: support bracket

365: lower plate 366: steering shaft housing

400: balance frame 420: storage battery

430: wheel

Claims (7)

The balance frame 400 formed to take off or settle the logistics, a plurality of wheels 430 mounted on the bottom of the balance frame 400 to move the balance frame 400, and the balance frame ( A starting unit 300 mounted inside the 400 to move the driving wheel 323 up or down in the driving path according to automatic and manual control so that a driving force is applied to the balance frame 400, and the starting unit 300. A display unit 340 for inputting a control signal to the display unit and a control state; a control unit 200 for receiving the control signal through the display unit 340 to control the starter 300; and the balance frame 400; Ultrasonic distance sensor 110 for sensing the distance between the object and the outside and outputs to the control unit 200, a power supply for providing a driving power to the control unit 200 and the starter 300, and the balance frame Detecting the guide rail according to the driving route of 400 Automatic and manual variable balance characterized in that comprises a rail id detection unit 150. The The method of claim 1, The starter 300 includes a plurality of supports 360 fixed to the bogie frame 400 and the support bracket 364, and an upper plate 361 and a lower portion mounted on the upper and lower portions of the support 360. A plate 365 and a front and rear drive unit 320 for rotating the driving wheel 323 for applying the driving force to the balance frame 400 in the lower portion of the lower plate 365 in the front and rear directions, and the lower plate A steering part 330 mounted on an upper portion of the 365 and steering the left and right directions of the driving wheel 323, and the upper plate to move the front and rear driving part 320 and the steering part 330 in a vertical direction. Consists of the rise-down drive unit 310 is mounted on the upper portion of 361, The front and rear driving unit 320 is mounted on one side of the wheel support 363 and the wheel support 363, the driving wheel 323, the front and rear motor 321 and the reducer to rotate the drive wheel 323 322 and a driving speed detecting unit 130 mounted on the other side of the wheel support 363 to sense a rotational force of the driving wheel 323, The steering unit 330 includes a steering shaft 339 connected to the front and rear driving unit 320, a steering motor 331 and a speed reducer 332 which rotate the steering shaft 339 in left and right directions, and the driving wheel. It includes a left and right direction detection unit 140 for detecting the rotation angle of the 323, a steering unit support 338 for supporting the steering motor 331 and the reducer 332 and the left and right direction detection unit 140, The up-down driving unit 310 is a nut gear 314 is inserted into the upper side of the steering portion support 338, a screw shaft 313 for moving the nut gear 314 up and down, and the screw shaft ( Automatic and manual variable balance, characterized in that it comprises a vertical motor (311) and a reducer (312) for rotating the 313. The method of claim 2, The support 360 is an automatic and manual variable bogie, characterized in that it further comprises a shock absorbing means for absorbing the shock to the maneuver 300. The method of claim 2, The driving speed detecting unit 130 is connected to the driving wheel 323 and a speed sensing plate 324 formed by passing through a plurality of slits radially, and a speed sensor 325 for detecting the rotational speed of the speed sensing plate 324. Automatic and manual variable balance, comprising a). The method of claim 2, The left and right direction sensing unit 140 is connected to the steering shaft 339, the steering sensing plate 333 formed by passing through the plurality of slits 334 radially, and detects the rotation angle of the steering sensing plate 333. Automatic and manual variable bogie, characterized in that it comprises a steering sensor 335 to. The method according to any one of claims 1 to 5, A bumper for buffering an external object and impact on one side of the bogie frame 400, and a bumper safety switch 120 for detecting a collision of the bumper and outputting a detection signal to the control unit, characterized in that it further comprises: Automatic and manual variable bogies. The method according to any one of claims 1 to 5, The guide rail detecting unit 150 guides the driving and detects the guide rail divided at a predetermined interval to detect the current and the target position of the truck, automatic and manual variable truck.