KR20180072984A - An automatic guided vehicle - Google Patents

Abstract

The present invention relates to an unmanned automatic transport cart capable of loading and transporting various articles, and more specifically, to an unmanned automatic transport cart which has excellent steering properties, is capable of attenuating transfer of flow shock and fine vibration, which may occur due to an irregular floor surface during driving, to a vehicle body, and particularly can be efficiently driven to improve working efficiency and enable stable article transport by minimizing a path deviation and flow of the vehicle body which may occur during a returning process when reciprocating a predetermined section. According to the present invention, driving of the transport cart is controlled through a driving device configured with a two-wheel driving system to easily control driving of a curved line as well as a straight line, thereby having excellent steering properties, and particularly, absorbing an impact generated during driving due to a suspension provided in the driving device. Further, it is possible to prevent rolling and shaking which may occur when contact wheels of a fixing device is brought into close contact with the ground in a returning process, thereby preventing a path deviation or load falling so as to enable more stable transport.

Description

AN AUTOMATIC GUIDED VEHICLE

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic unmanned vehicle for loading and transporting various articles, and more particularly, to an unmanned automatic transportation vehicle which is excellent in steering performance and capable of generating flow shocks and microvibrations, In particular, it is possible to reduce the deviation of the path of the vehicle and the flow that may occur in the process of returning when the vehicle travels back and forth over a certain interval, thereby enabling an efficient running, thereby improving the work efficiency, The present invention relates to a transportation vehicle.

In general, as the production system becomes larger and more complex in recent years, most of the equipment is being automated and unattended. As a result, there is an increasing demand for unmanned automatic transportation vehicles, that is, unmanned conveyance vehicles, in order to carry or store materials and automatically carry out baggage.

The automatic unmanned automatic lorry is used to carry out a transfer at an automatically designated place by keeping the article in a vehicle body. In the initial stage, the unmanned automatic lorry was used only for transportation of materials at a manufacturing site such as a factory. , Steel industry, and automobile industries, the demand for unmanned automation has increased in these industrial related factories. Especially, in semiconductor, display and IT industry, it is possible to carry the load more precisely than other industries An unmanned automatic transport vehicle is required.

Generally, the automatic unmanned automatic transport vehicle is provided with a magnetic guide on a path, and a guide sensor for sensing the magnetic guide is installed on the vehicle body and is moved along a path determined by the detection signal. There is a fear that the slip of the driving wheels may occur if the floor is irregular or unevenness exists.

For example, there is an automatic unmanned cargo truck of Korean Patent Registration No. 10-0598703 (issued on July 11, 2006). With reference to this publication, it is proposed that various articles can be stacked and transported, and even if a modification or change of facilities occurs, they can be easily changed and applied so that compatibility is reduced and costs are reduced.

Of course, there is an advantage in terms of compatibility with the article even if the article is modified and changed. However, if there is irregular bottom or irregularities on the conveyance path of the bogie, the load can not be reduced to the body, There is a disadvantage in that it is possible to cause a deviation from the path due to the flow shock, and further, in the case of repeatedly moving the predetermined path, the path may completely deviate from the path, And it was also a factor that the work efficiency was lowered.

Disclosure of Invention Technical Problem [8] Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and it is an object of the present invention to provide a vehicle steering system capable of attenuating transmission of flow shocks and microvibration, It is possible to provide an unmanned automatic transportation vehicle that can efficiently travel by minimizing a path deviation and flow of a vehicle body which may be generated during a returning operation in a round trip, thereby improving work efficiency and enabling stable product transportation.

In order to accomplish the above object, the present invention provides a vehicle comprising: a vehicle body on which a load is placed; A rotating caser installed at four lower parts of the vehicle body to support the vehicle body so as to be movable; A driving device installed on a lower surface of the vehicle body to provide power to automatically turn the vehicle body forward and backward; A fixing device installed on the front and rear sides of the lower surface of the vehicle body to reduce the flow of the vehicle body which may be generated by being operated downward at the time of returning when the vehicle body reciprocates for a predetermined period and coming into close contact with the floor surface, A guide sensor installed on at least one of the vehicle body and the driving device to detect a magnetic guide installed on a traveling path; And a control unit installed at one side of the vehicle body and controlling operation of the entire traveling including the driving device and the fixing device so as to travel along a magnetic guide sensed by the guide sensor.

Preferably, the driving device further includes: an upper plate coupled to the lower surface of the vehicle body; A lower plate positioned below the upper plate; A support shaft provided in both side directions inside the lower plate; A drive wheel rotatably mounted on both sides of the support shaft; A driving motor including first and second driving motors mounted on the lower plate for transmitting power to the driving wheels; And a suspension coupled to the upper plate such that the upper end thereof is rotatable and the lower end is coupled to a support shaft provided in the lower plate to damp the flow and shaking generated during traveling.

Preferably, the fixing device includes: a fixing plate coupled to a lower surface of the vehicle body and having guide bars projecting downward from both sides of the lower surface; A lifting means provided on the fixing plate; A bracket that is fitted to the guide bar through a flange provided on both sides of the fixing plate so as to be vertically movable; A moving plate coupled to the lifting means and having a lower end coupled to the bracket to move the bracket up and down by operation of the lifting means; A coil spring for providing an elastic force between the fixed plate and the bracket; And a contact wheel mounted on the bracket and brought into close contact with the floor surface by the lowering operation of the elevating and lowering means to reduce the occurrence of the flow that may occur during the returning of the vehicle body.

Preferably, the lifting / lowering means includes a rotation motor installed on the fixed plate. And a rotary plate having an eccentric shaft which is coupled to the shaft of the rotary motor and rotatably operated, and which has an eccentric shaft for engaging the upper end of the flow plate and moving it up and down by a rotary operation.

Preferably, a limit switch for sensing an up-down movement operation is further provided on one side of the up-down movement means.

According to the present invention, it is possible to control the traveling of a transportation vehicle through a driving device constituted by a two-wheel drive system, so that it is possible to control not only a straight line but also a curved traveling state, It is possible to prevent the rocking and rocking which may be caused by the contact wheel of the fixing device being brought into close contact with the ground during the returning process and to prevent the falling of the path or the falling of the load, . ≪ / RTI >

1 is a perspective view showing an entire unmanned automatic cargo transportation vehicle according to a preferred embodiment of the present invention.
2 is an enlarged perspective view showing a driving apparatus according to a preferred embodiment of the present invention.
3 is an exploded perspective view of a driving apparatus according to an exemplary embodiment of the present invention;
4 is a partial perspective view showing a power transmitting member of a driving apparatus according to a preferred embodiment of the present invention;
FIG. 5 is a cross-sectional view taken along line AA of FIG. 5 illustrating a coupling relationship of a driving apparatus according to a preferred embodiment of the present invention;
6 is a partially enlarged view showing a suspension according to a preferred embodiment of the present invention.
7 is an enlarged perspective view showing a fixing device according to a preferred embodiment of the present invention, "B" is a front view showing a fixing device, and "C " is a BB line sectional view.
8 is a front view showing the operating relationship of the fixing device according to the preferred embodiment of the present invention.
FIG. 9 is a schematic perspective view showing the use state of the unmanned automatic transportation vehicle according to the preferred embodiment of the present invention. FIG.
10 is a partially enlarged side view showing the moving process of the unmanned automatic transportation vehicle according to the preferred embodiment of the present invention.
11 is a partially enlarged side view showing a returning process of an unmanned automatic transportation vehicle according to a preferred embodiment of the present invention.

Hereinafter, the unmanned automatic transport vehicle of the present invention will be described in detail with reference to the accompanying drawings.

Prior to this, terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary terms, and the inventor should appropriately interpret the concepts of terms in order to describe their invention in the best way. It should be interpreted in accordance with the meaning and concept consistent with the technical idea of the present invention based on the principle that it can be defined.

Therefore, the embodiments described in this specification and the configurations shown in the drawings are only the most preferred embodiments of the present invention, and not all of the technical ideas of the present invention are described. Therefore, It should be understood that various equivalents and modifications may be present.

1 is a perspective view of an entire automatic unmanned automatic cargo transportation vehicle according to a preferred embodiment of the present invention.

Referring to the drawings, an unmanned automatic transport vehicle 10 according to the present invention includes a main body 100, a rotating caster 200, a driving device 300, a fixing device 400, a guide sensor 500, ).

First, the vehicle body 100 is provided for laying a load to be carried. It should be noted that although the vehicle body 100 is formed with a rectangular frame as a whole using a rectangular bar, it can be realized in various forms according to the circumstances of a place to be used .

The rotating casters 200 are installed on four lower sides of the vehicle body 100, that is, on the lower surface of each corner of the vehicle body 100, for supporting the movement of the vehicle body 100 by roll motion The rotary caster 200 is widely known and used, and is not limited to any one of the casters. However, the present invention is not limited to any one of the casters, The use of the fixed and rotary casters disclosed in the patent registration No. 10-1424398 (published on Apr. 28, 2014) will ensure safe running in the carriage of the vehicle body 100. Since such castors have already been disclosed, another detailed description will be omitted here.

Next, the drive unit 300 is installed on the lower surface of the vehicle body 100, preferably at the center of the lower surface thereof, to generate power so that the vehicle body can automatically move forward and backward. Let's look again at the following.

Next, the fixing device 400 is installed on the front and rear sides of the lower surface of the vehicle body 100, and when the vehicle body 100 reciprocates for a predetermined period, And the flow of the vehicle body 100, which may be generated, is reduced to prevent the vehicle from departing from the path. Detailed configuration and operation of the vehicle body 100 will be described below.

Next, the guide sensor 500 is installed on at least one of the vehicle body 100 and the driving device 300 to sense a magnetic guide installed on the traveling path, so that the vehicle body 100 can travel along the path It is preferable that the guide sensor 500 is installed in the drive unit 300 which is installed at any place of the vehicle body 100 but generates power. In particular, when the vehicle body 100 travels back and forth, it is preferable that the guide sensors 500 are provided on the front and rear sides of the vehicle body 100, respectively.

The control unit 600 controls the driving unit 300 and the fixing unit 400 so as to travel along a magnetic guide sensed by the guide sensor 500 installed at one side of the vehicle body 100, ), And may be implemented as a kind of a microcomputer.

Hereinafter, the detailed configuration and operation of the driving device 300 and the fixing device 400, which are schematically referred to above, will be described.

FIG. 2 is an enlarged perspective view showing a driving apparatus according to a preferred embodiment of the present invention, FIG. 3 is an exploded perspective view showing a driving apparatus according to a preferred embodiment of the present invention, FIG. 4 is a cross- FIG. 5 is a cross-sectional view taken along the line AA of FIG. 5 illustrating a coupling relationship of a driving apparatus according to a preferred embodiment of the present invention, and FIG. 6 is a perspective view illustrating a power transmitting member according to a preferred embodiment of the present invention And the enlarged view of the portion A showing the suspension.

2 and 3, the driving apparatus 300 of the present invention mainly includes an upper plate 310, a lower plate 320, a supporting shaft 330, a driving wheel 340, a driving motor 350, And a suspension 360.

The upper plate 310 includes flanges on both sides thereof to be coupled to the lower surface of the vehicle body 100 and includes an upper cover 312.

The lower plate 320 is positioned below the upper plate 310 and has a rectangular box shape for installing the support shaft 330, the driving wheel 340, and the driving motor 350, which will be described later. And a lower cover 322.

Next, the support shaft 330 is provided in both sides in the lower plate 320, and both ends of the support shaft 330 protrude from both sides of the lower plate 320.

Next, the driving wheels 340 are mounted on both ends of the support shaft 330 in a rotatable manner.

The driving motor 350 includes first and second driving motors 350a and 350b mounted on both sides of the lower plate 320. The first and second driving motors 350a and 350b are mounted on both ends of the supporting shaft 330, To provide power to the wheel 340. In other words, the two driving motors 350 constitute two-wheel drive that provides power to the respective driving wheels 340. 4, a power transmitting member 356 is further provided to transmit the power generated by the first and second driving motors 350a and 350b to the driving wheels 340, The power transmitting member 356 includes a first small gear 352a provided at one side of the lower plate 320 and connected to the shaft of the first driving motor 350a for rotation, A first power transmitting member 356a formed on the inner surface of the driving wheel 340 and composed of a first large gear 354a engaged with the first small gear 352a and a second power transmitting member 356b provided on the other side of the lower plate 320, A second small gear 352b connected to the shaft of the second driving motor 350b and rotatably operated; a second small gear 352b provided on the inner surface of the other driving wheel 340 of the driving wheel 340, And a second power transmitting member 356b made up of a second large gear 354b which is rotated to engage. When the rotational force is generated in the first driving motor 350a, the first driving gear 340a is rotated through the first power transmitting member 356a including the first small gear 352a and the first gear 354a And when the rotational force is generated by the second driving motor 350b, the second driving force is transmitted to the other driving wheel 340 through the second power transmitting member 356b including the second small gear 352b and the second large gear 354b. As shown in Fig. Thus, when the rotational speeds of the two driving motors 350 are individually adjusted, the vehicle body 100 can be moved forward or backward according to the rotational direction of the first and second driving motors 350a and 350b. .

It is a matter of course that the running of the curve through the driving, that is, the forward / backward movement or the control of the rotation speed of the driving motor 350, is controlled by the control unit 600 through the guide sensor 500 recognizing the magnetic guide.

5 and 6, the upper end of the suspension 360 is coupled to the upper plate 310 in a rotatable manner, and the lower end of the suspension 360 is coupled to a support shaft (not shown) 330 via a hinge pin 362a to damp the flow and shaking generated during traveling. The suspension 360 includes a ball bushing 361, a coupling pipe 362, a coupling pin 363, a fitting portion 364, a contact plate 365, and a spring 366.

The ball bush 361 is fixed to the upper plate 310 in a vertical direction and the coupling pipe 362 is installed in the ball bush 361 to vertically penetrate the lower plate 320 And the lower end thereof is coupled to a support shaft 330 provided inside the lower plate 320 via a hinge pin 362a. At this time, the ball bush 361 is schematically shown because it is widely used in the suspension device to prevent vibration from being transmitted when the ball bush 361 is mounted on a suspension arm or a body. The coupling pin 363 is inserted into the coupling tube 362 and is rotatably mounted on the upper cover 312 of the upper plate 310. The tight fitting portion 364 is provided under the coupling pipe 362 and the tight fitting plate 365 is closely attached to the upper surface of the supporting shaft 330 in a state of being mounted on the lower end of the tight fitting portion 364. [ The spring 366 provides an elastic force between the engagement pin 363 and the tight fitting portion 364 in the coupling pipe 362 to cause the support shaft 330 mounted with the driving wheel 340 to swing The impact will be damped. At this time, since both ends of the close-contact plate 365 are formed with the inclined surfaces 365a inclined upwardly, the shocks can be effectively damped while allowing the support shaft 330 to move up and down within a certain angle range There will be.

It should be noted that the suspension 360 may be perceived as a shock absorbing means and that the shock absorbing means are well known in a variety of industrial fields and are not necessarily limited to the above constructions.

The lifting means 370 is provided on the rear side of the upper plate 310. The lifting means 370 moves the supporting shaft 330 upward through the lifting means 370 so that the driving wheels 340 can be separated from the ground. So that it can be flexibly coped with when power is not needed.

7 is an enlarged perspective view showing a fixing device according to a preferred embodiment of the present invention, "B" is a front view showing a fixing device, "Da" is a BB line sectional view, And "I" are front views showing an operating relationship of a fixing device according to a preferred embodiment of the present invention.

1, the fixing device 400 according to the present invention is provided on the front and rear sides of the vehicle body 100 and includes a fixing plate 410, A lifting means 420, a bracket 430, a flow plate 440, a coil spring 450, and a contact wheel 460.

First, the fixing plate 410 is coupled to the lower surface of the vehicle body 100, and guide bars 412 protruded downward from both sides of the lower surface of the vehicle body 100 are provided.

The elevating and lowering means 420 is installed on the fixing plate 410. The elevating and lowering means 420 includes a rotation motor 422 installed on the fixing plate 410 and the rotation motor 422 And a rotary plate 424 having an eccentric shaft 426, which is rotatably operated.

Next, the bracket 430 is fitted to the guide bar 412 through the flange 432 provided on both sides of the fixing plate 410, and is mounted in a vertically movable state. It is obvious that the flange 432 is not shown but has a fitting hole for fitting the guide bar 412 and is vertically movably mounted.

The upper end of the flow plate 440 is connected to the lifting means 420 and the lower end of the flow plate 440 is fastened to the bracket 430 so that the bracket 430 is moved And the upper end of the flow plate 440 is coupled to the eccentric shaft 426 of the rotary plate 424 which is the ascending / descending means 420.

The coil spring 450 provides an elastic force between the fixing plate 410 and the bracket 430 so that the coil spring 450 can be moved without generating a gap when the bracket 430 is moved up and down. And is mounted on the guide bar 412 of the fixing plate 410 to provide an elastic force.

Finally, the contact wheel 460 is rotatably mounted on the bracket 430 and is brought into close contact with the floor surface by the lowering operation of the elevating and lowering means 420, To reduce flow generation.

The limit switch 425 is formed on the rotation plate 424 and the limit switch 470 is provided on both sides of the rotation plate 424 so that the rotation plate 424 is rotated to touch the limit switch 470 It is preferable that the control unit 600 be able to sense the lifted or lowered state.

The fixing device 400 constructed as described above is operated as shown in FIG. 8 as " a "and" b ". That is, when the eccentric shaft 426 provided on the rotary plate 424, which is the elevating means 420, is located at the lower side, that is, at the 6 o'clock position, the flow plate 440 and the bracket 430 are in a downward state and the contact wheel 460 mounted on the bracket 430 is in close contact with the ground. In this state, when the rotary motor 422 (not shown here) is rotated in the counterclockwise direction as shown by "B", the rotary plate 424 is also rotated so that the eccentric shaft 426 is positioned on the upper side, The pressure plate 440 and the bracket 430 connected thereto are upwardly moved so that the contact wheel 460 mounted on the bracket 430 is spaced apart from the ground. At this time, since the bracket 430 is fitted to the guide bar 412 of the fixing plate 410, it is necessary to recognize that the rotation plate 424 is not rotated but is moved up and down.

The fixing device 400 repeats this operation. It is a matter of course that the operation of the fixing device 400 is controlled by the control of the controller 600. For example, assuming that the rotation plate 424 takes one second to rotate once, the control unit 600 can implement a downward state or an elevated state by rotating the rotation unit for 0.5 seconds, It may be controlled to the raised state or the downward state by the sensing of the switch 470.

Now, in the following, the use state and operation relationship of the unmanned automatic transportation vehicle of the present invention constructed as described above will be described.

9 is a schematic perspective view showing the use state of the unmanned automatic transporting carriage according to the preferred embodiment of the present invention, and "a" and "b" in FIG. 10 are views showing the unmanned automatic transporting carriage according to the preferred embodiment of the present invention. 11 is a partially enlarged side view showing a returning process of the unmanned automatic carrier according to the preferred embodiment of the present invention.

9 and 10, a magnetic guide 700 indicating a path along which the automatic guided vehicle 10 travels is installed on the bottom surface of the magnetic guide 700. The magnetic guide 700 has a straight line, It is obvious that it can also be installed in a curved shape. Then, the unmanned automatic cargo truck 10 is loaded with a load to be transported and is moved as the driving device 300 operates. That is, the guide sensor 500 provided in the drive unit 300 recognizes the magnetic guide 700, and the drive unit 300 is detected along the path recognized by the guide sensor 500 in the control unit 600 Thereby enabling movement.

The control unit 600 rotates the first and second driving motors 350a and 350b which are the driving motors 350 of the driving unit 300 according to the path so as to rotate the driving wheels 350a and 350b through the respective power transmitting members 356a and 356b The first and second driving motors 350a and 350b can be reversed as shown in FIG. 10 by rotating the first and second driving motors 350a and 340b. In addition, the two-wheel drive system including the first and second drive motors 350a and 350b controls the rotation speeds of the respective drive motors 350a and 350b so as to smoothly cope with the curved path even when the path is curved. It is self-explanatory. In addition, although not shown here, the driving device 300 of the present invention is provided with the suspension 360 so that shock absorption is possible even when rocking or shaking occurs due to unevenness during traveling, and stable running can be performed.

At this time, it can be seen that the contact wheel 460 of the fixing device 400 is separated from the ground and does not interfere with traveling when the vehicle 10 is traveling.

On the other hand, when the automatic transporting carriage 10 travels repeatedly in a certain section, it is necessary to return to the end portion of the section after returning while advancing. That is, as shown in FIG. 11, when the vehicle body 100 advances to the end of the section, the guide sensor 500 recognizes the vehicle body 100, and the controller 600 stops the movement of the vehicle body 100, So that the backward power is generated through the device 300. Accordingly, the transporting carriage 10 returns. In this process, it is natural that the rotating caster 200 attached to the lower surface of the vehicle body 100 is rotated and changed its direction. However, in the process of changing the direction of the rotary caster 200, the vehicle body 100 may be shaken or shaken, and if it is too severe, a problem may arise that it deviates from the path. In order to prevent this, in the present invention, the fixing device 400 is operated so that the control unit 600 recognizes the arrival of the conveying carriage 10 at the end of the path, The eccentric shaft 426 of the rotary plate 424 is positioned at the lower side or the 6 o'clock direction by rotating the rotary motor 422 which is the elevating means 420 of the device 400 so that the contact wheel 460 is placed on the floor surface And is returned to the driver 300 through the driving device 300 to provide the backward power. When the return is made, the control unit 600 rotates the rotating plate 424 so that the eccentric shaft 426 is positioned at the upper side, that is, at 12 o'clock, so that the downward contact wheel 460 is separated from the ground. Do not do it.

As a result, it is possible to control the traveling of the transportation car 10 through the driving device 300 constituted by the two-wheel drive system, and to control not only the straight line but also the curve running, It is possible to absorb the impact generated during traveling due to the suspension 360 and to prevent the rocking and rocking which may be caused by the close contact of the contact wheel 460 of the fixing device 400 with the ground during the returning process, And the load can be prevented from dropping, thereby enabling a more stable transportation.

The foregoing has outlined rather broadly the features and technical advantages of the present invention in order that the claims of the invention to be described below may be better understood. Additional features and advantages that constitute the claims of the present invention will be described in detail below. It should be appreciated by those skilled in the art that the disclosed concepts and specific embodiments of the invention can be used immediately as a basis for designing or modifying other structures to accomplish the invention and similar purposes.

It is also to be understood that such modified or altered equivalent structures by those skilled in the art as a basis for modifying or designing the invention to the other structures for carrying out the same purpose of the invention disclosed in the present invention, It will be understood by those skilled in the art that various changes, substitutions and alterations can be made herein without departing from the spirit or scope of the invention as defined by the appended claims.

10: Automatic unmanned cargo carriage 100: Body
200: rotating casters 300: driving device
310: upper plate 312: upper cover
320: lower plate 322: lower cover
330: support shaft 340: drive wheel
350a: first drive motor 350b: second drive motor
352a: first small gear 352b: second small gear
354a: second gear 354b: second gear
356a: first power transmitting member 356b: second power transmitting member
360: suspension 361: ball bush
362: Coupling tube 362a: Hinge pin
363: coupling pin 364:
365: close plate 365a: inclined surface
400: Fixing device 410: Fixing plate
412: Guide bar 420: Up and down means
422: rotation motor 424:
425: Retaining jaw 426: Eccentric shaft
430: Bracket 432: Flange
440: Flow plate 450: Coil spring
460: contact wheel 470: limit switch
500: Guide sensor 600: Control unit
700: magnetic guide

Claims (5)

The body on which the load is placed;
A rotating caser installed at four lower parts of the vehicle body to support the vehicle body so as to be movable;
A driving device installed on a lower surface of the vehicle body to provide power to automatically turn the vehicle body forward and backward;
A fixing device installed on the front and rear sides of the lower surface of the vehicle body to reduce the flow of the vehicle body which may be generated by being operated downward at the time of returning when the vehicle body reciprocates for a predetermined period and coming into close contact with the floor surface,
A guide sensor installed on at least one of the vehicle body and the driving device to detect a magnetic guide installed on a traveling path; And
A control unit installed at one side of the vehicle body and controlling operation of the entire traveling including the driving device and the fixing device so as to travel along a magnetic guide sensed by the guide sensor;
And an automatic unmanned cargo truck. The method according to claim 1,
The drive device
An upper plate coupled to the lower surface of the vehicle body;
A lower plate positioned below the upper plate;
A support shaft provided in both side directions inside the lower plate;
A drive wheel rotatably mounted on both sides of the support shaft;
A driving motor including first and second driving motors mounted on the lower plate for transmitting power to the driving wheels; And
A lower end portion coupled to a support shaft provided in the lower plate to damp a flow and a shake generated during traveling, the upper portion being rotatably coupled to the upper plate;
And an automatic unmanned cargo carrier. The method according to claim 1,
The fastening device
A fixing plate coupled to the lower surface of the vehicle body and having guide bars projecting downward from both sides of the lower surface;
A lifting means provided on the fixing plate;
A bracket that is fitted to the guide bar through a flange provided on both sides of the fixing plate so as to be vertically movable;
A moving plate coupled to the lifting means and having a lower end coupled to the bracket to move the bracket up and down by operation of the lifting means;
A coil spring for providing an elastic force between the fixed plate and the bracket; And
A contact wheel mounted on the bracket and brought into close contact with a floor surface by a lowering operation of the elevating and lowering means to reduce the occurrence of a flow that may occur during a return of the vehicle body;
And an automatic unmanned cargo truck. The method of claim 3,
The rising /
A rotary motor installed on the fixed plate; And
A rotary plate having an eccentric shaft for engaging and rotating the shaft of the rotary motor and for moving up and down the rotary plate by fastening the upper end of the plate;
And an automatic unmanned cargo carrier. The method of claim 3,
Further comprising a limit switch for sensing an ascending / descending operation on one side of the ascending / descending means.

Images