KR20190017857A - Automatic Transportation vehicle - Google Patents

Abstract

The present invention relates to an automatic transportation vehicle capable of adjusting an inclination angle of a bed to prevent an article from being left by inertia when being accelerated, decelerated, or driven to rotate, which comprises: a vehicle body which has a plurality of wheels in a lower portion thereof and is movable; a bed installed in an upper portion of the vehicle body, and having an article loaded thereon; and an inclination adjustment device installed in a lower portion of the bed, and adjusting the inclination angle of the bed.

Description

Automatic transportation vehicle

More particularly, the present invention relates to an unmanned conveyance vehicle capable of adjusting the inclination angle of a bed in order to prevent an object from departing due to inertia at the time of acceleration, deceleration, or rotation.

Generally, an unmanned vehicle is a device that automatically moves according to a programmed command, and moves a cargo such as a product or a part to another place without an operator operating the vehicle.

These unmanned vehicles have become increasingly important in the automation of logistics systems as the production system is generally automated / intelligent in accordance with the increasing productivity in the modern industrial field and the various demands of the customers, I was in charge of the role.

However, in order to improve the productivity in such a production system, it is necessary that the transportation of the article by the unmanned vehicle should be performed as soon as possible between the respective steps. For this purpose, if the speed of the unmanned vehicle is increased, rapid acceleration, rapid deceleration, (Cornering) causes a problem of pouring the articles loaded on the unmanned transport vehicle, which causes safety accidents in which the nearby workers are injured.

In other words, the traveling speed of the unmanned transport vehicle sets a limit on the time and cost in automating the production logistics system.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide an automatic guided vehicle which can improve the traveling speed while preventing the deviation of an article.

Another object of the present invention is to provide an unmanned conveyance vehicle capable of adjusting the inclination angle of a bed on which an article is loaded.

It is still another object of the present invention to provide an unmanned conveyance vehicle in which an article is prevented from being released during acceleration, deceleration, or rotation.

Another object of the present invention is to provide an unmanned conveyance vehicle including a tilt adjustment device for adjusting the inclination angle of a bed.

The above-described object of the present invention can be achieved by a vehicle comprising: a body; A bed installed on an upper portion of the vehicle body and on which an article is loaded; And a tilt adjusting device installed at a lower portion of the bed and adjusting a tilt angle of the bed.

According to one aspect of the present invention, the inclination adjusting device can lower the bed in a direction opposite to the direction in which the inertia acts, in order to prevent the article from falling due to inertia during acceleration, deceleration, or rotation of the vehicle body have.

According to another aspect of the present invention, the inclination adjusting device includes at least one supporting portion for supporting a lower portion of the bed, a rotating shaft screwed to the supporting portion, and a lifting motor for lifting and lowering the supporting portion by rotating the rotating shaft .

According to another aspect of the present invention, there is further provided a rotating device installed at a lower portion of the tilt adjusting device, wherein the rotating device includes a rotating motor installed in the vehicle body, a rotating plate rotated by the operation of the rotating motor, .

According to another aspect of the present invention, there is provided an acceleration sensor comprising: an acceleration sensor provided at one side of the vehicle body for measuring acceleration of the vehicle body; a weight measuring sensor for measuring a weight of the article stacked on the bed; And a height measuring sensor for measuring the height of the article.

According to another aspect of the present invention, a controller may be further provided at one side of the vehicle body to control the operation of the tilt adjusting device by determining the tilt direction and the tilt angle of the bed through sensor measurement values.

According to the automatic guided vehicle according to the present invention, by controlling the inclination angle of the bed on which the article is loaded at the time of acceleration, deceleration, or rotation, it is possible to prevent the article from departing due to inertia.

Further, according to the automatic guided vehicle according to the present invention, it is possible to prevent the departure of the article due to inertia during rapid acceleration, rapid deceleration or rotation, thereby improving the productivity of the production logistics system by improving the speed of the automatic guided vehicle .

1 is a perspective view of an unmanned vehicle according to an embodiment of the present invention;
2 is a side view of an unmanned vehicle according to an embodiment of the present invention;
FIG. 3 to FIG. 5 are explanatory diagrams showing the state of use of the unmanned vehicle according to the embodiment of the present invention; FIG.
6 is a configuration diagram of a control unit according to an embodiment of the present invention;
7 is a configuration diagram of an automatic guided vehicle according to another embodiment of the present invention;

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. It is to be understood, however, that the embodiments described below are only for explanation of the embodiments of the present invention so that those skilled in the art can easily carry out the invention, It does not mean anything. In describing various embodiments of the present invention, the same reference numerals are used for components having the same technical characteristics.

Example

FIG. 1 is a perspective view of an unmanned vehicle according to an embodiment of the present invention, and FIG. 2 is a side view of an unmanned vehicle according to an embodiment of the present invention.

1 and 2, an automatic guided vehicle 100 according to an embodiment of the present invention includes a body 200 having a plurality of wheels 210, And a tilt adjusting unit 400 installed at a lower portion of the bed 300 to adjust the tilt angle of the bed 300. [

A plurality of wheels 210 are mounted on a lower portion of the vehicle body 200 and are configured to run unattended. Usually, the vehicle body 200 is controlled by a predetermined control program and operates for goods dispatch, It is configured to perform automatically.

The plurality of wheels 210 mounted on the lower portion of the vehicle body 200 may be configured as a pair of front and rear wheels, for example. Specifically, a front support shaft (not shown) is provided in the front lower portion of the vehicle body 200 in the width direction, and a front wheel 210 is rotatably mounted on the front support shaft at both ends of the front support shaft. A rear support shaft (not shown) is installed in the rear lower portion of the rear support shaft in the width direction, and a rear wheel 210 is rotatably installed at each end of the rear support shaft.

At this time, the pair of rear wheels 210 can be rotationally driven independently by a pair of driving motors (not shown) provided on the rear support shaft. For example, the rear wheel 210 may be connected to a pinion gear (not shown) mounted on the motor shaft end of the driving motor by a timing belt (not shown) and may be provided with driving force from the driving motor. Further, the pair of front wheels 210 can be configured to be changeable by a steering device (not shown). As another example, both the front wheel 210 and the rear wheel 210 may be rotationally driven independently, and both the front wheel 210 and the rear wheel 210 may be rotated It is also possible to be configured to be capable of changing the direction.

The traveling part of the vehicle body including the front wheel 210 and the rear wheel 210, the driving motor and the steering device is for traveling the vehicle body 200 so that the vehicle body 200 can be changed in direction. (Not shown) and a steering device for moving the steering wheel to a target point, and a detailed description thereof will be omitted herein, but those skilled in the art will readily understand this.

A bed 300 for loading the article 10 (see FIG. 3) is provided on the upper part of the body 200. According to the automatic guided vehicle 100 according to the embodiment of the present invention, The inclination angle of the bed 300 is adjusted.

The bed 300 may be formed in the form of a rectangular plate having a predetermined thickness, for example, and may be disposed at an upper portion of the body 200 so as to be inclined at a predetermined angle, if necessary. However, this is only an embodiment of the present invention, and the specific form of the bed 300 can be appropriately selected according to the type, standard, and kind of the article 10 to be loaded.

The inclination adjusting device 400 is for preventing the article 10 loaded on the bed 300 from being detached or collapsed due to inertia during acceleration, deceleration, or rotation of the vehicle body 200, Lt; RTI ID = 0.0 > 300 < / RTI >

The slope adjusting device 400 is installed at the lower part of the bed 300. In the embodiment shown in the drawing, the slope adjusting device 400 is exposed to the upper side of the vehicle body 200. However, The inclination adjusting device 400 may be accommodated in the vehicle body 200 so that the appearance of the inclination adjusting device 400 is not exposed to the outside.

According to an embodiment of the present invention, a rotating device 500 may be installed below the inclination adjusting device 400. At this time, the rotating device 500 includes a rotating motor 510 and a rotating plate 520, and the tilt adjusting device 400 is installed on the rotating plate 520. In this case, the bed 300 can be horizontally rotated together with the rotation plate 520 by the operation of the rotation motor 510 vertically installed in the vehicle body 200. [

FIGS. 3 to 5 are views showing a state of use of an automatic guided vehicle according to an embodiment of the present invention, wherein the arrows shown by two-dot chain lines indicate directions of action of an inertial force.

The bed 300 of the automatic guided vehicle 100 is held horizontally to prevent the article 10 loaded on the bed 300 from slipping or slipping off in one direction at the time of stopping or in the initial state during running.

3, when the automatic guided vehicle 100 is rapidly accelerated, the articles 10 stacked on the bed 300 are moved rearward in the direction opposite to the traveling direction as shown by the alternate long and two short dashes In order to prevent the unmanned conveyance vehicle 100 according to an embodiment of the present invention, the inclination adjusting device 400 tilts the bed 300 to be inclined downward forward.

The inclination adjusting device 400 according to an embodiment of the present invention includes a supporting part 410 for supporting the lower part of the bed 300, a rotary shaft 420 screwed to the supporting part 410, a rotary shaft 420, And a lifting motor 430 for rotating the lifting motor 430 about its axis.

The supporting part 410 supports the bed 300 at the lower part of the bed 300 and includes at least two pairs of supporting parts 410 spaced apart from each other in the longitudinal direction of the bed 300, Bed 300, as shown in FIG. At this time, it is preferable that the bed 300 and the supporting part 410 are hinged so that the bed 300 can be inclined at an angle to the supporting part 410 at an angle. For example, as shown in the figure, a ball socket 310 is coupled to a bottom surface of a bed 300, and an upper end of a ball stud 410 is rotatably hinged to the ball socket 310 .

A screw groove 411 is formed at the lower end of the support portion 410 and an upper end of the rotary shaft 420 in the form of a lead screw is screwed vertically into the screw groove 411. The lower end of the rotating shaft 420 is engaged with the motor shaft of the lifting motor 430 and the lifting and lowering motor 430 rotates the lifting and lowering of the supporting part 410 screwed to the rotating shaft 420 .

Here, a plurality of elevating motors 430 are installed on one side of the vehicle body 200. The plurality of lifting and lowering motors 430 may be installed vertically on a support plate (not shown) provided inside the vehicle body 200 or vertically above the vehicle body 200. Further, as shown in the drawing, it is also possible to vertically install on the rotation plate 520. [ A plurality of elevating motors 430 are installed to be operable independently of each other in order to allow the bed 300 to be tilted in an arbitrary direction as needed. The elevating motors 430 are separated from each other by a pair in the width direction and the longitudinal direction of the bed 300 Respectively. For example, when the bed 300 is rectangular, four elevating motors 430 may be installed to correspond to the respective corners.

3, when the automatic guided vehicle 100 is suddenly accelerated, the inclination adjusting device 400 tilts the bed 300 forward to prevent the article 10 from being separated or collapsed due to inertia. That is, a pair of lifting and lowering motors 430 installed on the lower side of the bed 300 on the both sides in the width direction are operated to raise the supporting part 410, As the socket 310 is pushed up, the rear end of the bed 300 is raised higher than the front end, and the front end of the bed 300 is inclined downwardly. As another example, when the supporting portion 410 of the rear lower portion of the bed 300 rises and the supporting portion 410 of the lower front portion of the bed 300 is lowered, in this case, only the supporting portion 410 of the rear portion of the bed 300 rises 0.0 > 300 < / RTI >

FIG. 4 shows the change of the inclination angle of the bed by the inclination adjusting device during the rapid deceleration of the unmanned vehicle. When the automatic guided vehicle 100 suddenly decelerates, the articles 10 stacked on the bed 300 are separated or collapsed in the running direction (right side in the drawing) as shown by the chain double-dashed line. At this time, 400 tilts the bed 300 backward to prevent the article 10 from falling or falling. That is, a pair of elevating motors 430 installed on the lower side of the front side (right side in the drawing) of the bed 300 and spaced apart from each other in the width direction are operated to raise the supporting part 410, As the socket 310 is pushed up, the front end of the bed 300 is raised higher than the rear end thereof, and the rear end of the bed 300 is inclined downwardly. As another example, when the support portion 410 of the front lower portion of the bed 300 is lifted and the support portion 410 of the lower rear portion is lowered, in this case, only the support portion 410 in front of the bed 300 is lifted 0.0 > 300 < / RTI >

FIG. 5 is a view showing the change of the inclination angle of the bed by the inclination adjusting device during the rotation of the automatic guided vehicle, and shows the rear view of the automatic guided vehicle.

When the automatic guided vehicle 100 makes a right turn in the right direction in the drawing, the article 10 loaded on the bed 300 is detached or collapsed to the outside of the turning radius (left side in the drawing) due to the centrifugal force, The tilt adjustment device 400 tilts the bed 300 to the right to prevent the article 10 from falling or falling. That is, a pair of elevating motors 430 spaced apart from each other in the longitudinal direction is operated at the lower left of the bed 300 to raise the supporting part 410. The supporting part 410 moves to the left side of the bed 300 As the bed 300 is pushed up, the bed 300 is inclined downward to the right. As another example, the support portion 410 on the lower left of the bed 300 may be raised and the support portion 410 on the lower right may be lowered. In this case, only the support portion 410 on the lower left side of the bed 300 may be raised The bed 300 can be tilted down to the right in a shorter time than in the case of FIG.

3 to 5, examples in which the bed 300 is tilted in the longitudinal direction or the lateral direction have been described. However, since the support portions 410 can be raised and lowered independently by the elevating motor 430, the bed 300 can be tilted in any direction, for example, diagonal direction, if necessary. In addition, it is also possible to change the inclination direction of the bed 300 by rotating the bed 300 tilted to one side with the rotating device 500.

6 is a configuration diagram of a control unit according to an embodiment of the present invention.

The automatic guided vehicle 100 according to an embodiment of the present invention includes a control unit 600 for controlling the operation of the inclination adjusting device 400 and the rotating device 500, For example, inside the vehicle body 200.

The control unit 600 calculates the inclination angle and the inclination angle of the bed 300 necessary for preventing the article 10 mounted on the bed 300 from being accelerated, decelerated or rotated while the vehicle body 200 is running, And controls the operation of the device 400 and the rotating device 500.

An acceleration sensor 220 for measuring the acceleration of the vehicle body 200, a weight measuring sensor 230 for measuring the weight of the article 10 mounted on the bed 300, A height measurement sensor 240 for measuring the height of the sensor 10 may be installed and the values measured by these sensors are transmitted to the control unit 600. However, it goes without saying that various sensors for measuring a value required for controlling the inclination angle of the bed 300, such as a steering sensor (not shown), may be added.

The control unit 600 determines the tilt direction and the tilt angle of the bed 300 through the transmitted sensor measurement values and controls the operation of the tilt adjustment device 400 and the rotating device 500. For example, after determining the inertial force acting direction (acceleration or centrifugal force direction) from the sensor measured values and calculating the inertial force, the inertial force is calculated from the measured values of the inertial force acting on the bed 300, And the operation of the tilt adjusting device 400 and the rotating device 500 can be controlled by calculating the tilt angle. As another example, the oblique direction and the tilt angle of the bed 300 according to the respective sensor measurement values may be stored in advance in the form of a data table, and an appropriate tilt direction and tilt angle may be selected according to the sensor measurement values, It is also possible to control the operation of the device 400 and the rotating device 500.

7 is a configuration diagram of an automatic guided vehicle according to another embodiment of the present invention.

The manned vehicle 100a according to another embodiment of the present invention is different from the embodiment described above with reference to Figs. 1 to 6 in the construction of the tilt adjusting device 400a. Therefore, the same reference numerals are assigned to the same components having the same functions as those of the above-described embodiment, and redundant explanations are omitted. The following description will focus on differences from the above- The car will be described.

According to another embodiment of the present invention, the support portion 410a of the tilt adjustment device 400a is configured in the form of a ball stud, and is rotatably coupled to the ball socket 310 on the bottom surface of the bed 300. [ At this time, an end portion of the lifting cylinder 440 is coupled to the lower end of the support portion 410a. The lifting cylinder 440 is installed on one side of the vehicle body 200, that is, inside the vehicle body 200 or on the upper side of the vehicle body 200 Respectively. At this time, as shown in the drawing, the elevating cylinder 440 may be installed at the upper corner of the rotary plate 520.

The adjustment of the inclination angle of the bed 300 according to another embodiment of the present invention is performed by the expansion and contraction operation of each lifting cylinder 440. For example, in the case of rapid acceleration as shown in FIG. 3, A pair of lifting and lowering cylinders 440 installed on both sides are extended (raised), so that the bed 300 can be inclined downward forward. According to another embodiment of the present invention, a plurality of lifting and lowering cylinders 440 can be independently and operatively installed to adjust the inclination direction and the inclination angle of the bed 300, Or a hydraulic cylinder, and the operation thereof can be controlled by the control unit 600.

As described above, according to the automatic guided vehicle 100 or 100a according to the present invention, by tilting the bed 300 in a direction opposite to the direction in which the inertia force acts during acceleration, deceleration, or rotation, It is possible to prevent the article 10 loaded on the bed 300 from falling off or collapsing even when the direction of travel is changed and the efficiency and productivity of the production logistics system due to the improvement of the traveling speed of the unmanned conveyance vehicle 100, Can be expected.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments.

10: Goods
100,100a: Unmanned vehicle
200:
300: Bed
400, 400a:
430: Lift motor
440: lifting cylinder
500: Rotating device
600:

Claims (6)

A vehicle body having a plurality of wheels at a lower portion thereof and capable of being moved;
A bed installed on an upper portion of the vehicle body and on which an article is loaded; And
And a tilt adjusting device installed at a lower portion of the bed to adjust an inclination angle of the bed. The method according to claim 1,
Wherein the inclination adjusting device tilts the bed lower in a direction opposite to a direction in which the inertia acts in order to prevent departure of the article due to inertia during acceleration, deceleration, or rotation of the vehicle body. The method according to claim 1,
Wherein the inclination adjusting device includes at least one supporting portion for supporting a lower portion of the bed, a rotating shaft screwed to the supporting portion, and a lifting motor for lifting and lowering the supporting portion by rotating the rotating shaft car. The method according to claim 1,
Further comprising a rotating device installed at a lower portion of the tilt adjusting device, wherein the rotating device includes a rotating motor installed in the vehicle body, and a rotating plate rotated by the operation of the rotating motor . The method according to claim 1,
An acceleration sensor provided at one side of the vehicle body for measuring the acceleration of the vehicle body; a weight measuring sensor for measuring the weight of the article stacked on the bed; a height measuring sensor for measuring a height of the article stacked on the bed; Further comprising: an unmanned carrying vehicle. The method of claim 5,
Further comprising a controller provided at one side of the vehicle body for controlling the operation of the tilt adjusting device by determining the inclination direction and the tilt angle of the bed through sensor measurement values.

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