KR20190109134A - Automated guided vehicle - Google Patents

Abstract

Provided is an unmanned transportation vehicle (1) capable of improving driving safety while preventing a slip and a derailment through an improvement in a driving apparatus. The unmanned transportation vehicle includes: a pair of driving parts (3) in which an individual driving motor (31) and a driving wheel (32) interlocked with the driving motor (31) are installed in the lower part of a main body (2) to face each other laterally to control a driving direction and driving force; and a pair of driving support parts (4) in which casters (41) facing each other are installed to be freely rotated in the body (2) to chance a driving direction through the operation of the driving parts (3) in the lower part of the body (2). Driving wheels on both sides of the driving parts (3) include: a main buffer unit (6) interposed between the driving wheels (32) and the body (2) to enhance grip force when installed in the body (2); and a road balancer (5) fixed to both ends of the driving parts (3) and having the center supported by a bearing (52) to be freely rotated in the body (2). Moreover, the casters (41) of the driving support parts (4) include: a sub buffer unit (7) interposed between the casters (41) and the body (2) to enhance support force when installed in the body (2). Accordingly, durability can be increased, driving safety can be enhanced through the prevention of slipping and pitching, loads can be evenly distributed and a loading object (100) can be quickly transported.

Description

Unmanned Carrier Vehicle {Automated guided vehicle}

The present invention relates to an unmanned transport vehicle, which will be described in more detail, by improving driving devices such as driving wheels and casters in an unmanned transport vehicle that loads and transports a load, thereby improving driving safety while preventing slip and derailment. It is about an unmanned vehicle.

In general, an unmanned transport vehicle is configured to carry a transport object to a destination by automatically carrying a unmanned space or a distance by carrying a transport object such as a workpiece, a part, a semi-finished product, and is called an AGV (Automated Guided Vehicle) or an unmanned transport vehicle. These unmanned vehicles are provided with driving wheels independently driven by a driving motor to the left and right of the lower part of the main body, and a plurality of casters are installed before and after to support the driving and loading weight of the unmanned transportation vehicle and are installed on the upper part of the main body. There are various kinds according to the device, the lift type unmanned transportation vehicle in which the lifting cylinder is installed on the upper part of the main body so that the loading panel is elevated, and the chain conveyor type unmanned transportation vehicle in which the chain conveyor is installed on the upper part of the main body. Conveyor-type unmanned vehicle and table with roller conveyor Load push-pull unmanned transportation vehicles have been developed to push and pull the load on the side of the vehicle.In accordance with the induction method of driving, electromagnetic induction, optical tape, magnetic tape, etc. Various kinds were developed and used.

The conventional unmanned transportation vehicle is located in the lower part of the base frame as published in the Republic of Korea Utility Model No. 12613 (published June 5, 1998) and the Utility Model Utility No. 64161 (published November 25, 1998). Drive wheels driven by drive motors are installed at both sides of the center, and a plurality of casters are installed at the front and bottom of the base frame to rotate the drive wheels by the operation of the individual drive motors on both sides to automatically drive the unmanned transport vehicle to the destination. There is a situation.

In addition to the unmanned transportation vehicle in which the above driving wheels are located in the center and casters are installed before and after, the main body for loading the load object and the BLDC motor at the rear, as disclosed in Korean Utility Model Registration No. 254818 (announced on November 26, 2001). The driving wheel device is applied, and the technology consisting of the support wheels installed in front was also developed.

The conventional unmanned vehicles have been developed for the main purpose of direction change and drive control during automatic driving, and these conventional technologies are used in the situation of the floor during driving by distributing and supporting the load weight of the object to be loaded. Therefore, there is a problem that the driving stability is remarkably inferior, and the durability of the unmanned vehicle suddenly decreases due to the impact force, and if the road surface is uneven, slip occurs at each driving wheel on both sides, so smooth running is impossible. However, there were a number of problems, such as being impeded to move quickly to the destination, and in the prior art, some technologies have been developed in which the cushion spring is installed in the caster, but this is also restarted after starting and stopping by driving the driving wheel. Pitching that is heard before and after city unmanned vehicle We had problems such as different is generated that driving safety is significantly lowered.

KR 20-1998-0012613 U 1998. 6. 5. KR 20-1998-0064161 U 1998. 11. 25. KR 20-0254818 Y1 2001. 11. 26.

The present invention has been made to solve the above problems of the prior art as a new technology, the present invention is provided with a shock absorbing means in the driving wheel or caster of the unmanned transport vehicle to minimize the impact force when driving the unmanned transport vehicle durability In order to solve the problem of maximizing driving stability by connecting both driving wheels with separately installed driving motors to a load balancer having a load distribution function, the driving force of both driving wheels can be made uniform. We do with problem to do

In addition, the unmanned transport vehicle of the present invention having both driving wheels connected by a load balancer in an unmanned transport vehicle has a driving induction method such as electromagnetic induction, optical tape method, magnetic tape method, and lift type unmanned transport vehicle or chain. It is a task to solve the problem that the product compatibility is excellent and the product response is greatly improved by making it possible to use it in various unmanned transportation vehicles such as conveyor type unmanned transportation vehicles, roller conveyor type unmanned transportation vehicles, and road push pull type unmanned transportation vehicles. You can do more.

In addition, although not separately described, other objects within the scope that can be inferred in view of the following detailed description, claims, and drawings for describing the unmanned vehicle of the present invention in detail. It is included in the problem.

In the present invention as a specific means for solving the above problems of the invention constitute an unmanned transport vehicle, the unmanned transport vehicle of the present invention is linked to the individual drive motor and each drive motor so that the driving driving force and the driving direction is controlled in the lower body The driving wheel is configured to be provided with a pair of driving drive facing each other left and right, and a pair of casters that are configured to be freely rotated in the main body to face the front and rear so that the running direction is variable by the operation of the driving drive in the lower part of the main body The driving support part is provided, and the driving wheels on both sides of the driving drive part are provided with a main buffer means interposed between the main body and the driving wheel so as to improve the grounding force regardless of the state of the road surface. The driving part is fixed to both ends, and the center is installed to support the bearing so as to rotate freely on the main body. Provided that the load balancer (load balancer) consisting of a balance bar (balance bar) of a pair is characterized.

In addition, in the present invention, the front and rear casters of the driving support may further include a sub-buffer means installed between the main body and the caster so that the buffer spring is interposed between the main body and the caster to improve the supporting force regardless of the state of the road surface.

According to the specific means for solving the above-mentioned problems, the unmanned vehicle of the present invention is installed to rotate freely before and after the drive wheel or front and rear to support the load of the load of the object while providing a driving force of the driving motor is installed on the left and right By installing a cushioning means on the caster to support the load of the supporting object and the load of the object to absorb the bouncing impact force according to the road surface condition, maximizing the durability of each part of the unmanned vehicle, and loading the object to be loaded in the unmanned vehicle. The load is distributed evenly on the left and right driving wheels and the front and rear casters to prevent the phenomenon of pitching, thereby significantly improving the driving stability.

In addition, the driving wheels on both the left and right sides are operated by the seesaw centering from the center of the unmanned vehicle, and the load balancer is configured to evenly distribute the load acting on both driving wheels so that both driving wheels have the same grounding force. Regardless of the slip phenomenon, it is possible to further prevent the derailment and the driving stability in the driving line.

According to the structural improvement of the left and right driving wheels and front and rear casters of the unmanned vehicle as described above, the driving stability is maximized by minimizing the pitching phenomenon and the slip phenomenon, so that the load can be carried more stably, It is possible to carry the load object to the destination more quickly while driving smoothly, to load and transport the load object of higher weight and volume, and to increase the size of the unmanned vehicle. It is an invention for.

1 is a three-dimensional view showing a preferred example of the unmanned vehicle provided by the present invention
Figure 2a is a partially separated three-dimensional view showing an example of the traveling device and the body in the present invention
Figure 2b is a partially separated three-dimensional view showing another example of the traveling device and the body in the present invention
3 is a stereoscopic view in which the entire unmanned vehicle shown in FIG. 1 is separated;
4 is a bottom view of the unmanned vehicle shown in FIG.
Figure 5 shows the main buffer means of the present invention, AA cross-sectional view of FIG.
Figure 6 shows a sub-buffering means in the present invention, BB cross-sectional view of FIG.
7 is a view showing a load balancer of the present invention, the cross-sectional view CC of FIG.
8 is a cross-sectional view showing the entire side cross-sectional configuration of the present invention, DD cross-sectional view of FIG.
9 is a cross-sectional view illustrating the horizontal support means of the loading panel of the present invention.
10 is an exemplary view showing a lifting operation of the object to be loaded by the leaf-type unmanned transport vehicle to which the lift means is applied to the present invention;

The present invention is to provide an unmanned transport vehicle that can improve the driving safety while preventing slip and derailment by improving the driving device such as driving wheels and casters in the unmanned transport vehicle that loads and transports the loading object, Hereinafter, the present invention will be described in more detail with reference to the accompanying drawings, but the accompanying drawings are only examples for easily describing the contents and scope of the technical idea of the present invention, and the terms used herein are specifically described as examples. It is for illustrative purposes only and is not to be construed as limited to the term.

As shown in FIG. 1, the unmanned vehicle 1 of the present invention includes a driving driver 3 for controlling a driving direction while providing driving driving force of the unmanned vehicle 1 to the lower portion of the main body 2 having a flat upper portion. When the driving unit 3 is operated, the driving is divided into a driving support unit 4 that supports the driving unit 3 according to the driving of the driving unit 3 while more stably supporting the loading object 100 loaded on the main body 2. The device is made to be installed.

As shown in FIG. 2A, the driving driving unit 3 of the traveling device is linked to the individual driving motor 31 and each driving motor 31 so that the driving driving force and the driving direction are controlled under the base plate of the main body 2. The left and right pairs of drive wheels 32 configured to be configured to face each other are installed.

As shown in FIG. 2B, the driving support part 4 of the traveling device is freely rotated in the main body 2 such that the traveling direction is changed by the operation of the driving driving part 3 below the main body 2. 41) a pair of front and rear is installed facing each other.

At this time, in the present invention, both side driving wheels 32 of the driving driving unit 3 have a high road surface when one side is installed on the main body 2 as shown in FIGS. 2A and 2B, and the other side is low, resulting in irregular road surfaces. Even if the road surface is not even, the main buffer means 6 is provided so that the shock absorbing spring 61 is interposed between the main body 2 and the driving wheel 32 so as to improve the traction with the road surface regardless of the road surface condition.

In addition, in the present invention, a pair of driving bars 3 are fixed to both ends, and a pair of balance bars 51 are installed to support the bearing 52 so that the center is freely rotated on the main body 2. A load balancer 5 is formed.

Along with this, the front and rear casters 41 of the driving support part 4 are unevenly irregular road surfaces due to bumpy conditions such that one side of the road surface is high and the other side is low when installed on the main body 2 as shown in FIG. 2A. Irrespective of the state of the road surface, a cushioning spring 71 is interposed between the main body 2 and the caster 41 so as to increase the holding force to improve the bearing capacity of the load 100 and the main body 2. The sub-buffering means 7 may be installed, or as shown in FIG. 2B, the caster 41 may be freely rotated and supported without the sub-buffering means 7.

Thus, in the present invention, as shown in Figures 3 and 4 is provided with a main body 2 is provided with a traveling device at the bottom, the main body 2 of the present invention is provided with a driving unit 3 in the lower left and right The main support bracket 22 is installed to be spaced apart from the base panel 21 at the center of the base panel 21 in which the driving support part 4 is installed at the front and rear of the lower part, and the main support bracket 22 is shown in FIG. 5. As shown in FIG. 2, the bearings 52 installed to pivotally support the load balancer 5 are connected to each other, and the main buffering means 6 is interposed so as to be elastically supported and separated from the base panel 21 so as not to be separated from the base panel 21 by a predetermined interval or more. (21) and the main support bracket 22 is penetrated and installed by the main separation prevention means 23 made of a bidirectional bolt and nut screwed on the outside of the base panel 21 and the main support bracket 22, respectively. .

In addition, the main body 2 of the present invention serves as the main support bracket 22 and the front and rear lower portions of the base panel 21 where the driving support portions 4 are installed at the lower left and right sides, and the driving support portions 4 are installed at the lower side. The support bracket 24 is installed to be spaced apart from the base panel 21, and the sub support bracket 24 is installed downward to freely rotate the caster 41 as shown in FIG. 7) is inserted through the base panel 21 and the sub support bracket 24 so as not to be separated from the base panel 21 and a predetermined interval or more spaced apart to be elastically supported, the base panel 21 and the sub support bracket 24 It is connected by the sub-separation preventing means (25) consisting of bidirectional bolts and nuts which are respectively screwed on the outside of the.

As shown in FIG. 4, the load balancer 5 of the present invention is constituted by a pair of balance bars 51, and the balance bar 51 has both ends of the base panel as shown in FIG. 7. 21 is fixedly installed in the motor case of the drive motor 31 for driving the drive wheels 32 of the pair of driving drives 3 facing the left and right of the lower side, and fixedly installed in the center of the balance bar 51 The shaft pin 53 is configured to be freely rotated to the main support bracket 22 and the bearing 52 fixed to be connected to the base panel 21 is installed below.

The main body 2 of the present invention, as shown in Figs. 3 and 4, the power substrate and the driving unit 3 for supplying power to the drive motor 31 of the driving unit 3 on both front sides of the base panel 21. The power board case 261 and the control board case 262, in which the control board for controlling the power to be supplied to the power supply unit) are separately installed, are fixedly installed and driven through the power boards on both rear sides of the base panel 21. A battery case 263 and a power pack case 264 in which a power pack for supplying power to the driving motor 31 through a power board by connecting a battery having a built-in power supplied to the motor 31 and an external power supply are separately installed therein. Is fixed so that the load is distributed throughout the main body 2.

In addition, the main body 2 is fixed to the upper portion of the base panel 21 is provided with a cover frame 27 configured to cover the driving drive unit 3 and the driving support unit 4 to the outer periphery of the base panel 21 The front and rear sub support brackets 24 of the base panel 21 are installed downward to the outside of the caster 41 so that the unmanned transportation vehicle 1 detects the traveling line pre-installed on the road surface so as to travel the predetermined driving section. The configured laser scanner 28 can be provided.

The main body 2 of the present invention has a lifting means 8 as shown in Figs. 8 and 9 so that the present invention can be a lift type unmanned vehicle 1, and the lifting means 8 The loading panel 81 (loading panel) is installed to be elevated by the lifting cylinder 82 in the upper portion of the base panel 21 is loaded on the loading object 100 configured to be placed in the base panel 21 when lowered, and A lifting support 84 having a lifting cylinder 82 having a piston rod 83 fixed at an upper end thereof to a loading panel 81 and positioned in an installation space 211 formed to penetrate up and down in the center of the base panel 21. )

At this time, the lifting support 84 is configured to be fixed to the connecting bracket 85 so as to be spaced apart from the main support bracket 22, as shown in Figure 2a, the load balancer 5 is supported by the lower portion of the lifting support 84 The bearing 52 is fixedly installed and connected to the base panel 21. In the case of the unmanned vehicle 1 without the lifting means 8, the bearing 52 has a lifting support 84 as shown in FIG. 2B. ) Is fixedly installed on the main support bracket 22 and is connected to the base panel 21.

In addition, the lifting means 8 are fixed to the lower sides of the front and rear sides of the loading panel 81, respectively, as shown in FIG. 9 and are installed on the vertical supporter 91 penetrating the base panel 21 and the lower portion of the base panel 21. The gearbox 94 is fixedly installed on the installation panel 93 fixedly connected to be spaced downward, and the vertical supporter 91 is vertically penetrated, and four gearboxes in which the vertical supporter 91 is penetrated at both front and rear sides thereof. 94, horizontal support means consisting of a horizontal shaft (95) formed with a pinion gear (96) which is connected horizontally, horizontally and horizontally to the rack gear (92) formed in the vertical supporter (91) in the gear box (94). (9) is provided is configured to be lifted by supporting the loading panel 81 more stable.

According to the present invention, when the lifting means 8 is applied to the main body 2 as described above, the lift type unmanned transport vehicle 1 is formed. When the chain conveyor is installed on the upper part by changing the structure of the main body 2, the chain conveyor ( When a chain-conveyor unmanned transport vehicle 1 is installed, a roller conveyor unmanned transport vehicle 1 is installed when a roller conveyor type unmanned transport vehicle 1 pushes and pulls the load object 100 laterally on the upper side. The driving device including the driving drive unit 3 and the driving support unit 4, which is the driving device of the present invention, such as a push push-pull unmanned transport vehicle 1, is applied to various kinds of the unmanned transport vehicle 1; It can be applied throughout, and the driving method can be variously made by electromagnetic induction type, optical tape method, magnetic tape method and the like.

In addition, as shown in FIGS. 8 and 9, the height of the driving portion H1 from the upper surface of the main body 2 to the lower end of the driving wheel 32 of the driving unit 3 installed in the lower center of the base panel 21 of the main body 2 is determined. Drives from the upper surface of the main body 2 to the lower part of the support part height H2 from the top of the main body 2 to the lower end of the caster 41 of the traveling support part 4 installed before and after the lower part of the base panel 21. The wheel 32 is configured to be located further down.

The unmanned transportation vehicle 1 of the present invention configured as described above is composed of a pair of balance bars 51 each of which is fixed at both ends to a pair of driving drives 3 opposed to both lower sides of the base panel 21. The center of the load balancer 5 is connected to the main support bracket 22 or the main support bracket 22, which is spaced apart from the base panel 21, and is fixed to the fixed lifting support 84 to be connected to the base panel 21. The main buffer means 6 is interposed between the base panel 21 and the main support bracket 22 while being installed to be freely rotated in the bearing 52 so as to be installed, so that the loading object 100 and the unmanned transportation vehicle 1 Since the load is distributed to the driving parts 3 on both the left and right sides, slippage does not occur in both driving parts 3 in any case, such as when driving or stopping an irregular road surface and restarting, thereby improving driving stability. You can.

In addition, the unmanned vehicle 1 of the present invention is provided with a traveling support part 4 made up of a pair of casters 41 facing each other in front and rear of the base panel 21 and freely rotated on the base panel 21. The sub-buffering means (7) between the base panel (21) in the front and rear casters (41) while maintaining the load of the object to be loaded (100) and the unmanned vehicle (1) is distributed and supported together with the driving drive unit (3). Even if it is installed intervening or without the sub-buffer means (7), the drive wheel 32 is installed on the main buffer means (6) while the left and right drive wheels 32 in the middle are installed to be lower than the front and rear casters (41). And the driving part altitude H1 is higher than the supporting part altitude H2 because it is positioned on the same horizontal plane as the front and rear casters 41, so that the unmanned transport vehicle 1 of the present invention rests on the ground and then starts and stops again after starting and stopping again. Caster 41 cannot be heard so pitching It has the effect to prevent.

As described above, the main driving means 6 and the sub buffer means 7 are provided in the driving driving part 3 and the driving support part 4 of the unmanned vehicle 1 of the present invention, so that the road surface is not uniform. It can absorb the impact force caused by bouncing at the time of the product and improve the durability of the product, thereby making it possible to prolong the life of the unmanned transportation vehicle (1) without frequent replacement of parts, and can be applied to the general unmanned transportation vehicle (1) without lifting means (8). This improves compatibility and maximizes product response.

When the lifting means 8 is installed in the main body 2 of the present invention, as shown in FIG. 10, the unmanned transportation vehicle moves to the lower portion of the loading object 100 placed on the pallet 101 placed on the upper portion of the pedestal 102. After entering (1), the piston rod 83 is lifted from the lifting cylinder 82 so that the loading panel 81 lifts the load object 100 together with the pallet 101, and then between the rests 102 After exiting and transported to the loading position of the loading object 100, the pallet is placed on the support stand 102 at the loading position, and then exits. In this way, slipping and pitching phenomena are carried out when the loading object 100 is transferred. It is to provide an effect such that the transport operation is carried out more quickly and smoothly by the stable running to prevent.

As described above in the detailed description of the present invention has been described with respect to the most preferred embodiment of the present invention, various modifications may be made within the scope not departing from the technical scope of the present invention, the protection scope of the present invention is therefore Not limited to the examples, the scope of protection from the description of the claims and the equivalent technical means to those described below will be recognized.

1: Unmanned Carrier
DESCRIPTION OF SYMBOLS 2 Main body 21 Base panel 211 Installation space 22 Mainboard bracket 23 Main release prevention means 24 Sub support bracket 25 Sub release prevention means 261 Power board case 262 Control board case 263 Battery case 264 Power pack Case 27: cover frame 28: laser scanner
3: driving drive 31: driving motor 32: driving wheel
4: driving support part 41: caster
5: Load balancer 51: Balance bar 52: Bearing 53: Shaft pin
6: main buffer means 61: buffer spring
7: Sub buffer 71: buffer spring
8: Lifting means 81: Loading panel 82: Lifting cylinder 83: Piston rod 84: Lifting support 85: Connecting bracket
9: Horizontal support means 91: Vertical supporter 92: Rack gear 93: Mounting panel 94: Gear box 95: Horizontal shaft 96: Pinion gear
100: load object 101: palette 102: comfort zone
H1: Driving altitude H2: Supporting altitude

Claims (8)

A pair of driving drives installed on the lower side of the main body 2 so that the driving driving force and the driving direction are controlled so that the individual driving motors 31 and the driving wheels 32 interlocked with the driving motors 31 face each other. 3);
A pair of travel support parts 4 provided below the main body 2 so that the caster 41 configured to be freely rotated in the main body 2 to face the front and rear so that the driving direction is variable by the operation of the driving drive part 3;
The driving wheels 32 on both sides of the driving drive unit 3 are main buffering means installed with the shock absorbing spring 61 interposed between the main body 2 and the driving wheels 32 so as to improve traction when installed in the main body 2 ( 6);
A load balancer (5) installed to support the bearing (52) so that the center of the shaft is freely rotated on the main body (2) while the pair of driving drives (3) are respectively fixed at both ends;
Unmanned transport vehicle, characterized in that it is included.
The method according to claim 1;
The front and rear casters 41 of the traveling support part 4 are sub-buffer means 7 provided with a buffer spring 71 interposed between the main body 2 and the caster 41 so as to improve the holding force when installed in the main body 2. ;
Unmanned transport vehicle, characterized in that further included.
The method according to claim 1;
The main body 2
A base panel 21 on which the driving support part 4 is installed at the lower left and right sides, and the driving support part 4 is installed at the lower front and rear;
The bearing 52 is installed in the center of the base panel 21 so that the load balancer 5 is pivotally supported, and the main buffer means 6 is spaced apart from the base panel 21 so as to be elastically supported. A main support bracket 22 connected to the base panel 21 by a main release preventing means 23 so as not to be separated from the base panel 21 by more than a predetermined interval;
Unmanned vehicle, characterized in that it is included.
The method according to claim 2;
The main body 2
A base panel 21 on which the driving support part 4 is installed at the lower left and right sides, and the driving support part 4 is installed at the lower front and rear;
The bearing 52 is installed in the center of the base panel 21 so that the load balancer 5 is pivotally supported, and the main buffer means 6 is spaced apart from the base panel 21 so as to be elastically supported. A main support bracket 22 connected to the base panel 21 by a main release preventing means 23 so as not to be separated from the base panel 21 by more than a predetermined interval;
The caster 41 is installed at the lower portion before and after the base panel 21 to be freely rotated, and the sub-buffer 7 is spaced apart from the base panel 21 so as to be elastically supported at the lower portion of the base panel 21. A sub support bracket 24 connected by the sub-separation preventing means 25 so as not to be separated by more than a predetermined interval;
Unmanned vehicle, characterized in that it is included.
The method according to claim 3 or 4;
A power board case 261 and a control board case 262 fixedly installed at both front sides of the base panel 21 so that the power board and the control board are separately installed inwardly;
A battery case 263 and a power pack case 264 fixedly installed at both rear sides of the base panel 21 so that the battery and the power pack are separately installed inwardly;
A cover frame 27 fixed to an upper portion of the base panel 21 and configured to cover the driving driving unit 3 and the driving support unit 4 around the outer side of the base panel 21;
Unmanned transport vehicle, characterized in that further included.
The method according to claim 3 or 4;
A loading panel 81 installed on the upper part of the base panel 21 by a lifting cylinder 82 to be settled on the base panel 21 when descending;
A lifting support 84 having a lifting cylinder 82 having a piston rod 83 fixed at an upper end thereof to a loading panel 81 and positioned in an installation space 211 formed to penetrate up and down in the center of the base panel 21. );
The connecting bracket 85 configured to connect the main support bracket 22 and the lifting support 84 to be spaced apart so that the bearing 52 installed so that the load balancer 5 is pivotally supported under the lifting support 84 is fixed. ;
Unmanned transport vehicle, characterized in that further included.
The method according to claim 6;
Vertical supporters 91 fixed to the lower sides of the front and rear sides of the loading panel 81 so as to penetrate the base panel 21;
A gear box 94 fixedly installed at an installation panel 93 connected downwardly spaced downward from the bottom of the base panel 21 to vertically support the vertical supporter 91;
Pinions coupled to the rack gear 92 formed in the vertical supporter 91 in the gearbox 94 by being connected horizontally, horizontally and horizontally to the four gear boxes 94 through which the vertical supporters 91 pass through the front and rear sides. A horizontal shaft 95 having a gear 96 formed thereon;
Unmanned transport vehicle, characterized in that the horizontal support means (9) is further provided.
The method according to claim 1;
Drive part altitude H1 from the upper surface of the main body 2 to the lower end of the driving wheel 32 of the driving section 3 is supported by the height of the support part H2 from the upper surface of the main body 2 to the lower end of the caster 41 of the driving support part 4. Unmanned transport vehicle, characterized in that configured higher than).

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