KR20230144769A - Auto guided vehicle with high precision - Google Patents

Abstract

The high-precision unmanned guided vehicle according to the present invention moves along a given path, and a transfer unit that recognizes the first confirmation means provided adjacent to the route and performs first alignment to position the object that is the subject of manufacturing work in the transfer area. ; and a correction unit that determines whether the object is located at the work point within the transfer area and performs a second alignment to position the object to the work point by changing the position of the object on the transfer unit when the object deviates from the work point. The and correction units are characterized in that they are interconnected so that the object is transported to the work point.

Description

High-precision unmanned guided vehicle {AUTO GUIDED VEHICLE WITH HIGH PRECISION}

The present invention relates to a high-precision unmanned guided vehicle, and more specifically, to an unmanned guided vehicle for overcoming the alignment limitations of conventional unmanned guided vehicles through internal compensation rather than external compensation.

Unmanned guided vehicles are generally used in industrial sites such as automobile assembly lines or parts processing lines to transport materials, semi-finished products, or parts. Recently, they have been used in places that handle large quantities of products, such as logistics centers. Automated guided vehicles (AGVs) are widely used.

An unmanned guided vehicle is a device that moves cargo such as products or parts to another location without the operator directly driving it. The unmanned guided vehicle moves according to the guidelines installed on the ground and the movement line is guided. The unmanned guided vehicle is a production logistics system at industrial sites. As automation is also achieved, the overall production system is becoming more automated and intelligent to increase productivity and meet the diverse needs of customers, and is playing a key role in the automation of the logistics system.

For example, in the movement control method of an unmanned guided vehicle, a magnetic mark is formed on the path along which the unmanned guided vehicle moves, and a path sensor that detects the magnetic mark is installed on the unmanned guided vehicle, so that the path is determined according to the signal detected by the path sensor. It is configured to be moved to .

At this time, in most industrial sites, unmanned guided vehicles perform work in conjunction with a conveyor or are moved to a transfer area, and work such as welding of objects subject to manufacturing work is performed at the work point by work machines such as robot jigs. , for interaction with conveyors or robot jigs, the above-mentioned object must stop accurately at the designated loading and working point.

However, depending on external conditions such as the weight of the above-mentioned object or the ground condition including the slope of the ground, the above-mentioned object cannot stop at the designated work point and stops within a radius of 10 mm based on the work point, causing frequent stopping errors. As a result, there is a problem that productivity is reduced as products are not loaded or transported accurately, and workers directly manipulate the unmanned guided vehicle externally to compensate for this.

In order to improve this, as published in Korean Patent Publication No. 10-2049951, the stopping position error and moving position error of the unmanned guided vehicle are minimized according to the position control guide method using electromagnets, but the position of the running unmanned guided vehicle is minimized. There is a problem that there may be restrictions on cost and environmental conditions as many additional devices are used to check or control.

The present invention is intended to solve the above problems. In order to overcome the alignment limitations of conventional unmanned guided vehicles through internal compensation rather than external compensation, the stopping error is reduced after performing the first alignment for positioning the object in the transfer area. The task is to provide a high-precision unmanned guided vehicle that can internally perform a second alignment to position the object to the work point in the event of occurrence.

The problems of the present invention are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the description below.

In order to solve the above problem, according to one form of the present invention, a high-precision unmanned guided vehicle moves along a given path, recognizes the first confirmation means provided adjacent to the path, and moves the object that is the subject of manufacturing work to the transfer area. a transfer unit that performs a first alignment for positioning; and a second alignment for determining whether the object is located at the work point within the transfer area and, when the object is outside the work point, changing the position of the object on the transfer unit to position the object at the work point. It includes a correction unit that performs correction, and the transfer unit and the correction unit may be interlocked with each other so that the object is transferred to the work point.

In addition, the correction unit determines whether the work point is outside a variable area that can change the position of the object, and if the object does not reach the work point through the second alignment, the object is moved to the work point. The first alignment can be adjusted to be transferred to .

In addition, the correction unit is a correction member that moves along a plane parallel to the x-y plane at the top of the transfer unit, assuming that the virtual plane formed along the path is the x-y plane based on the three-dimensional orthogonal coordinate system of x-y-z. ; and a seating member connected to the correction member to seat and secure the object.

Additionally, the correction member may be provided with a through hole in the center so as to confirm the position of the object mounted on the top inside the transfer unit.

In addition, the correction member includes a first plate that is fixed to a predetermined distance downward from the upper surface of the transfer unit, and a second plate that is movable along a plane parallel to the x-y plane on the upper surface of the first plate. may include.

Meanwhile, to prevent interference of the second plate with the upper surface of the transfer unit, an interference prevention section may be formed between the inner peripheral surface of the transfer unit and the outer peripheral surface of the second plate.

Additionally, the transfer unit may be provided with a recognition member at the center of the interior for identifying the object and a second confirmation means located at a work point within the transfer area.

Meanwhile, when the first alignment of the transfer unit is completed, the first alignment is maintained by contacting a third confirmation means formed adjacent to the transfer area, and is provided to support the correction unit to prevent an operation error in the second alignment. It may further include a stabilizing part to prevent it.

Specifically, the stabilizing unit includes: a frame member formed between the transfer unit and the correction unit and connected to an upper surface of the correction unit so that the correction unit can perform a second alignment; and an upper surface is fixedly formed on the lower surface of the frame member, and when the first alignment is performed, the lower surface extends downward to contact the third identification means formed on the ground, thereby recognizing the third identification means. It may include a fixing member for fixing the frame member to the ground.

Additionally, the frame member may be provided in a rectangular shape with a width longer than that of the transfer unit in a direction perpendicular to the path and fixed to the upper surface of the transfer unit.

The fixing member may be formed symmetrically at both ends of the lower surface of the frame member with respect to the transfer unit.

According to the high-precision unmanned guided vehicle of the present invention, the alignment limit is internally compensated rather than externally without using many additional devices to check or control the position of the running unmanned guided vehicle to correct the above-mentioned stopping error. By overcoming this, there is an effect that constraints on cost and environmental conditions can be minimized.

In addition, when the above-described first alignment is completed through the stabilizer, the first alignment state is maintained by contacting the third confirmation means formed adjacent to the transfer area, and a correction unit for varying the position of the object and positioning it at the above-described work point It has the effect of minimizing the occurrence of operation errors by providing support.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

The above-described summary as well as the detailed description of the preferred embodiments of the present application described below may be better understood when read in conjunction with the accompanying drawings. Preferred embodiments are shown in the drawings for the purpose of illustrating the invention. However, it should be understood that the present application is not limited to the exact arrangement and means shown.
1 is a diagram showing a high-precision unmanned guided vehicle located on a path according to an embodiment of the present invention;
Figure 2 is a side cross-sectional view schematically showing a high-precision unmanned guided vehicle located on a path according to an embodiment of the present invention;
Figure 3 is a view for explaining the stopping error range of the first alignment of the high-precision unmanned guided vehicle according to an embodiment of the present invention and the stopping error range corrected due to the second alignment performed by the correction unit;
Figure 4 is a diagram for specifically explaining the configuration of a correction unit of a high-precision unmanned guided vehicle according to an embodiment of the present invention;
Figure 5 is a view viewed from the top to explain the correction unit and interference prevention section of the high-precision unmanned guided vehicle according to an embodiment of the present invention;
Figure 6 is a diagram for explaining a seating member electrically connected to the second plate of a high-precision unmanned guided vehicle according to an embodiment of the present invention;
Figure 7 is a diagram for explaining the stabilizing part of a high-precision unmanned guided vehicle according to an embodiment of the present invention;
Figure 8 is a diagram for explaining the relationship between the stabilizing part and the fixing part of the high-precision unmanned guided vehicle according to an embodiment of the present invention;
Figure 9 is a view showing an electromagnet provided at the bottom of the fixing member of the present invention and selectively coupled to a permanent magnet provided around the third confirmation member;
Figure 10 shows that protrusions whose width narrows downward are formed at the bottom of both sides of the fixing member of the present invention, and an electromagnet is provided at the bottom of the protrusions, which are coupled to a permanent magnet provided at the bottom of a guide groove provided to allow the protrusions to be retracted. floor plan;
Figure 11 is a view for explaining a modified example in which a rail is formed between the frame member and the fixing member of the stabilizer of the present invention so that the fixing member can be moved in the virtual xy direction;
Figure 12 is a view for explaining a modified example in which the fixing member of the stabilizer of the present invention is pulled out from the frame member and rotated to the ground.

Hereinafter, preferred embodiments of the present invention, in which the object of the present invention can be realized in detail, will be described with reference to the attached drawings. In describing this embodiment, the same names and the same symbols are used for the same components, and additional description accordingly will be omitted.

Figure 1 is a diagram showing a high-precision unmanned guided vehicle located on a path according to an embodiment of the present invention, and Figure 2 schematically shows a high-precision unmanned guided vehicle located on a path according to an embodiment of the present invention. It is a side cross-sectional view, and Figure 3 is a diagram for explaining the stopping error range of the first alignment of the high-precision unmanned guided vehicle according to an embodiment of the present invention and the stopping error range corrected due to the second alignment of the correction unit. , FIG. 4 is a diagram specifically illustrating the configuration of a correction unit of a high-precision unmanned guided vehicle according to an embodiment of the present invention, and FIG. 5 is a view showing a correction unit of a high-precision unmanned guided vehicle according to an embodiment of the present invention. It is a view viewed from the top to explain the interference prevention section, and FIG. 6 is a view to explain a seating member electrically connected to the second plate of the high-precision unmanned guided vehicle according to an embodiment of the present invention, and FIG. 7 is a diagram for explaining the stabilizing part of the high-precision unmanned guided vehicle according to an embodiment of the present invention, and Figure 8 illustrates the relationship between the stabilizing part and the fixing part of the high-precision unmanned guided vehicle according to an embodiment of the present invention. Figure 9 is a diagram showing an electromagnet provided at the bottom of the fixing member of the present invention and selectively combined with a permanent magnet provided around the third confirmation member, and Figure 10 is a diagram showing a state where an electromagnet is provided at the bottom of the fixing member of the present invention and is selectively combined with a permanent magnet provided around the third confirmation member. A protrusion whose width narrows in the direction is formed, and an electromagnet is provided at the bottom of the protrusion, which is coupled to a permanent magnet provided at the bottom of a guide groove provided to allow the protrusion to be inserted. Figure 11 is a diagram showing the stabilizing part of the present invention. It is a drawing to explain a modified example in which a rail is formed between the frame member and the fixing member so that the fixing member can be moved in the virtual x-y direction, and Figure 12 shows the fixing member of the stabilizer of the present invention being pulled out from the frame member. This is a drawing to explain a modified example that rotates to the ground.

As shown in Figures 1 and 2, the high-precision unmanned guided vehicle 10 according to an embodiment of the present invention may largely include a transfer unit 100 and a correction unit 200.

The transfer unit 100 moves along a given path (P) in order to position the object (O), which is the object of manufacturing work, in the transfer area (G), and includes a first confirmation means (P1) provided adjacent to the path (P). The first alignment can be performed by recognizing .

Here, the first confirmation means (P1) may be a stop mark formed of magnets, and the transfer unit 100 may be provided with a stop sensor (S2) that detects a magnetic field from the first confirmation means (P1).

At this time, the transfer unit 100 stops at a pre-designated area on the path (P) by the stop sensor (S2) provided in the transfer unit 100. In the present invention, the transfer unit 100 is located on the path (P). The area will be referred to as the transfer area (G).

The above-mentioned transfer area (G) may have an error range of 10 mm radius based on the pre-designated area due to the limit of precision in detecting the magnetic field of the stop sensor (S2), and accordingly, the object (O) at the work point (W) ) can also have a radius of 10 mm.

Specifically, the transfer unit 100 may be equipped with a path sensor (S1) so that it can move along the path (P), and the path sensor (S1) detects electromagnetic waves from the driving direction on the path (P), and the path sensor ( The wheel motor 328 (not shown) of the transfer unit 100 can be controlled according to the electromagnetic wave value detected by S1, thereby determining the travel direction of the transfer unit 100 and driving the transfer unit 100.

At this time, a stop sensor (S2) may be provided at the front lower side of the transfer unit 100, and the first confirmation means (P1) may be provided in the form of a rectangular bar protruding upward from the ground and located at the front lower side of the transfer unit 100. The stop sensor (S2) recognizes the magnetic stop mark of the first confirmation means (P1), allowing the transfer unit 100 to stop within the transfer area (G) described above.

At this time, a work point (W) may be located within the transfer area (G), and the work point (W) is specifically the object of manufacturing work at the work point (W) by a work machine (M) such as a robot jig. It refers to a point projected on the above-mentioned path (P) at which the welding of the object (O) is performed or work is performed in connection with the conveyor, and the second confirmation means (Wa) is installed on the path (P). ) is placed, and the recognition member 120 provided in the transfer unit 100 recognizes the second confirmation means (Wa), so that the work point (W) can be confirmed.

For example, the transfer unit 100 may be provided with a recognition member 120 on the inner center side to check the object (O) and the second confirmation means (W) located at the work point (W) in the transfer area (G). there is.

The second confirmation means (Wa) may be a mark formed on the path (P) like the first confirmation means (P1), and the recognition member 120 is connected to an image sensor module that acquires an image signal and the image sensor module. It controls the image sensor module and includes an image processing module that processes image signals and an image analysis module that is connected to the image processing module and analyzes the image signals, a second confirmation means (Wa), and the location of the object (O), which will be described later. You can check.

At this time, the image sensor module may be either a CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor) sensor.

For example, the image sensor module may include a first camera and a second camera, and the first camera is disposed toward the rail so that the second confirmation means (Wa) is photographed when the transfer unit 100 stops, and the first camera 2 By recognizing the pattern of the confirmation means (Wa) and recognizing the distance that the second confirmation means (Wa) is from the first camera based on the recognized pattern of the second confirmation means (Wa), the captured image and distance information are converted into an image It can be output to the processing module.

At this time, the second camera may be positioned toward the object O so that the object O located in the correction unit is photographed when the transfer unit 100 stops, and, like the first camera, recognizes the pattern of the object O and recognizes the recognized object O. Based on the pattern of the object O, the distance from the second camera to the object O can be recognized and the captured image and distance information can be output to the image processing module.

Here, if the image sensor module can photograph the second confirmation means (Wa) and the object (O) and check the distance information, it is not divided into a first camera and a second camera, but is provided as one camera capable of 360-degree rotation. Even if it is arranged to photograph the object O after photographing the second confirmation means Wa, it will all be said to fall within the scope of the present invention.

Next, the image analysis module calculates the distance between the second confirmation means (Wa) and the object (O) through the image and distance information of the second confirmation means (Wa) and the object (O) received from the image processing module, and Based on the machine origin of the government 200, position correction information for locating the object O to the work point W may be generated and transmitted to the correction unit 200.

Finally, the correction unit 200 can use the position correction information received through the image analysis module to perform a correction operation to transfer the object O placed in the jig to the work point based on the machine origin.

In other words, the correction unit 200 can determine whether the object (O) is located at the work point (W) within the transfer area (G) or whether the object (O) has deviated from the work point (W), and whether the object (O) is located at the work point (W) ) is outside the work point (W), the position of the object (O) on the transfer unit 100 can be varied to perform a second alignment to position the object (O) at the work point (W).

At this time, the correction unit 200 determines whether the work point (W) is outside the variable area that can change the position of the object (O), and determines whether the object (O) is within the work point (W) through the second alignment. If it is not reached, the first alignment may be adjusted so that the object O is transferred to the work point W.

In other words, when the first alignment is completed, the correction unit 200 is driven to position the object O to the work point W and performs the second alignment. The error range of the transfer area G, that is, the first alignment Since the error range has a radius of 10 mm, there may be cases where the work point (W) is not included in the variable area, which is the range mechanically driven to perform the second alignment.

At this time, the correction unit 200 can transmit a request to re-perform the first alignment to the transfer unit 100, and the transfer unit 100, which has received the request to re-perform the first alignment, can re-perform the first alignment.

When the above-described first alignment is performed again, the correction unit 200 performs the second alignment again if the work point (W) is included in the variable area, and if it is not included, the correction unit 200 repeatedly performs the first alignment to the transfer unit 100. A request to re-perform sorting can be sent.

That is, as described above, the transfer unit 100 and the correction unit 200 may be interconnected so that the object O is finally transferred to the work point W and the work can be performed by the work machine M.

Referring to the drawings, the correction unit 200 may include a correction member 220 and a seating member 240.

In the present invention, assuming that the virtual plane formed along the path P is the x-y plane based on the three-dimensional orthogonal coordinate system of x-y-z, the correction member 220 is a plane parallel to the x-y plane at the top of the transfer unit 100. It can be arranged to move along.

At this time, the seating member 240 may be connected to the correction member 220 to seat and secure the object O so that work can be performed by the working machine M.

Here, the shape of the seating member 240 may vary, and the scope of the present invention is not limited due to the shape of the seating member 240 as long as it can perform the role of seating and fixing the object O. However, it would be convenient to form a polygonal or circular frame with a through hole formed in the center so that the placed object O can be identified by the recognition member 120 described above.

The correction member 220 can also be provided with a through hole in the center so that the position of the object O on which the recognition member 120 is seated can be confirmed from inside the transfer unit 100.

Specifically, the correction member 220 may be a 'ㅁ' shaped frame with a through hole formed in the center.

Referring to FIG. 3, the first and second alignments of the present invention will be described again as follows.

First, assuming that Oa is the initial position indicating the point where the object O formed on the upper part of the transfer unit 100 by the first alignment of the transfer unit 100 is projected onto the transfer area G, after the first alignment is performed, When the work point W is included in the variable region, the correction unit 200 performs a second alignment so that the object O can be transferred to the final position Ob.

Specifically, when the first alignment of the transfer unit 100 is completed, the correction unit 200 determines the work point (W) based on the position of the recognition member 120 through the recognition member 120 of the transfer unit 100. Receive the relative position of and the relative position of the object (O), check the shortest distance T1 between the work point (W) and the object (O) projected on the path (P), and set the correction unit 200 to the path (P). The object O can be positioned at the work point W by moving the virtual plane formed along the x-y plane by Y1 and simultaneously moving by X1.

To this end, the correction member 220 may include a first plate 222 and a second plate 224 as specifically shown in FIG. 4 .

Specifically, the first plate 222 may be fixed by retracting a predetermined distance downward from the upper surface of the transfer unit 100, and specifically, a 'ㅁ' shaped frame with a first through hole 222a formed on the center side. can be formed.

At this time, the second plate 224 may be provided so that it can be moved along a plane parallel to the x-y plane on the upper surface of the first plate 222 to perform the above-described x-y plane movement.

The second plate 224 is also specifically formed as a 'ㅁ' shaped frame with a second through hole 224a formed on the central side, and is connected to the first plate 222 so that it can be moved through the central side. The recognition member 120 can identify the object O.

For example, as shown in the drawing, the driving member 226 that allows the second plate 224 to move a predetermined distance in the x-axis and y-axis directions on the first plate 222 is connected to the first plate 222. A connection is formed between the two plays so that movement of the shortest distance T1 described in Figure 3 can be performed.

At this time, a displacement sensor may be provided on one side to reconfirm the performance of the second alignment.

At this time, as shown in FIG. 5, an interference prevention section 228 may be formed in the correction member 220.

Specifically, the interference prevention section 228 is formed between the inner peripheral surface of the transfer unit 100 and the outer peripheral surface of the second plate 224 to prevent interference of the second plate 224 with the upper surface of the transfer unit 100. You can.

That is, when the second alignment is performed, the error occurrence rate of the second alignment can be minimized by preventing interference between the correction unit 200 and the transfer unit 100.

Through the above-described configuration, the correction unit 200 reduces the error range of 10 mm, which occurs when only the first alignment is performed through the second alignment, to a radius of 2 to 3 mm, enabling high-precision transfer of the object O. It can happen.

In addition, a connector 224b is provided on one side of the first plate 222 to automatically engage with each other when the seating member 240 is seated on the first plate 222, so that the correction member 220 and the seating member 240 are connected to each other. can be electrically connected.

For example, the connector 224b may be formed to protrude upward from the top of the first plate 222 and be connected to the seating member 240 in a direction perpendicular to the protruding direction.

At this time, the connector 224b not only performs the function of fixing the position of the seating member 240 coupled on the first plate 222, but also serves to supply power to the compensation member 220 to the seating member 240. can be performed simultaneously.

The high-precision unmanned guided vehicle 10 having the above-described configuration may further include a stabilizing unit 300.

As shown in FIG. 7, when the first alignment of the transfer unit 100 is completed, the stabilizer 300 contacts the third confirmation means (Wb) formed adjacent to the transfer area (G) to maintain the first alignment state. It is provided to support the correction unit 200 while performing its role, and can play the role of preventing operation errors in the second alignment.

In other words, when the first alignment is completed, the stabilizer 300 recognizes the third confirmation means (Wb) by contacting the third confirmation means (Wb) on the ground adjacent to the transfer area (G) before the second alignment is performed. After confirming the first alignment state, the correction unit 200 may be arranged to perform the second alignment.

Here, the third confirmation means (Wb) may be a magnetic mark like the first confirmation means (P1), and a sensor that can confirm the third confirmation means (Wb) may be provided in the stabilizer 300.

The stabilizing unit 300 causes the second alignment to be performed when the sensor confirms the magnetic mark, or requests the transfer unit 100 to re-perform the first alignment when the sensor does not confirm the magnetic mark, thereby maintaining the first alignment state. can be arranged to maintain.

Specifically, the stabilizing part 300 may include a frame member 320 and a fixing member 340.

The frame member 320 may be formed and connected between the transfer unit 100 and the correction unit 200 so that the correction unit 200 can perform the second alignment on the upper surface.

At this time, the upper side of the fixing member 340 is fixed to the lower surface of the frame member 320, and a sensor for checking the third confirmation means (Wb) may be provided on the lower side.

Therefore, when the first alignment is performed, the lower surface extends downward to contact the third identification means (Wb) formed on the ground, and as a result, the third identification means (Wb) is recognized and the frame member 320 is placed on the ground. It can perform a fixing role at the same time.

Specifically, when the stabilizing unit 300 is further included, the frame member 320 is provided in a rectangular shape with a width longer than that of the transfer unit 100 in the direction perpendicular to the path P and is provided on the upper surface of the transfer unit 100. It can be fixed, and a second plate 224 is formed on the upper part, and a driving member 226 is connected between the frame member 320 and the second plate 224 to form a second plate on the frame member 320. It may be arranged that the second alignment is performed while 224 moves in the x-y plane direction.

That is, when the stabilizer 300 is further included, the correction unit 200 has a second plate 224 provided on the top of the stabilizer 300 without the first plate 222, and a driving member 226 connected between them. ) can be arranged to move to the x-y plane and perform the second alignment.

At this time, the fixing member 340 may be formed symmetrically at both ends of the lower surface of the frame member 320 with respect to the transfer unit 100.

Specifically, the fixing member 340 is a fixture coupled to the lower surface of the frame member 320, and a cylinder that rises and falls in the direction perpendicular to the path P may be provided at the bottom of the fixture.

At this time, when the first alignment is completed by attaching a sensor that recognizes the magnetic field of the third confirmation means (Wb) to the lower surface of the cylinder, the cylinder in the raised position near the lower surface of the frame member 320 is lowered and the lower part of the cylinder is lowered. A sensor provided on the surface recognizes the third confirmation means (Wb) located on the ground, and the first alignment of the transfer unit 100 can be confirmed and maintained as described above.

In addition, as the cylinder contacts the ground on which the path P is formed, the correction unit 200 is supported against the ground before the second alignment, thereby reducing the operation error of the second alignment.

In addition, an electromagnet (EM) is formed at the end of the above-described fixing member 340, and a permanent magnet (Wc) is formed around the third confirmation means (Wb) so that the fixing member 340 and the ground are selectively coupled to each other. , In conclusion, the position of the transfer unit 100 with respect to the ground can be strengthened immediately after the first alignment is completed.

For example, as shown in FIG. 9, an electromagnet (EM) having a predetermined thickness may be placed on the lower surface of the fixing member 340 along the outer circumferential surface, and the magnetic field of the third confirmation means (Wb) may be placed on the center side. A sensor 341 that recognizes may be attached.

Here, as long as the fixing member 340 can be firmly fixed to the ground, the arrangement, thickness, and shape of the electromagnet (EM) may vary, and the scope of rights is not limited due to this, but the electromagnet (EM) is It would be convenient to provide a circular or square strip shape corresponding to the shape of the lower surface.

For example, the fixing member 340 with the sensor 341 for recognizing the third confirmation means (Wb) is attached with an electromagnet (EM) along the edge of the lower surface of the fixing member 340 to additionally strengthen the fixing force to the ground. ) is formed, and a permanent magnet (Wc) is formed on the ground opposing it, and when the sensor 341 recognizes the third confirmation means (Wb), power is applied to the electromagnet (EM) to detect the permanent magnet (Wc) formed on the ground. By providing EM) and magnetic attraction to act, the position of the transfer unit 100 with respect to the ground can be solidified immediately after the first alignment is completed.

Here, if it can play a role in solidifying the position of the transfer unit 100 with respect to the ground immediately after the first alignment is completed, the protrusion 342 formed on the lower surface of the fixing member 340 as shown in FIG. 10, Even if a guide groove (GH) is formed on the ground so that the above-mentioned protrusion 342 can be inserted, it will all be said to belong to our invention.

More specifically, the protrusion 342 formed on the lower surface of the fixing member 340 may have a width that narrows downward, that is, it may have a downward sloping surface.

At this time, the guide groove (GH) formed on the ground also has the same downward slope as the protrusion 342, so that even if the position of the descending fixing member 340 deviates from the preset position, the protrusion for the guide groove (GH) having a downward slope Through the retraction of 342, the fixing member 340 can be seated in a preset position.

That is, the completed first alignment can be mechanically corrected by seating the fixing member 340 in a preset position through the guide groove GH and the protrusion 342 having a downward slope.

At this time, an electromagnet (EM) is provided at the bottom of the protrusion 342 and a permanent magnet (Wc) is provided at the bottom of the guide groove (GH) to strengthen the position of the transfer unit 100 with respect to the ground immediately after the first alignment is completed. It can be arranged to do so.

In addition, the guide groove (GH) is operated when the sensor 341 attached to the lower part of the descending fixing member 340 reaches a preset distance from the third confirmation means (Wb) installed on the ground, that is, a preset height from the ground. Only the upper part is opened so that the protrusion 342 can be inserted, thereby preventing interference with the movement of the transfer unit 100 due to the guide groove GH.

Figure 10 shows that protrusions whose width narrows downward are formed at the bottom of both sides of the fixing member of the present invention, and an electromagnet is provided at the bottom of the protrusions, which are coupled to a permanent magnet provided at the bottom of a guide groove provided to allow the protrusions to be retracted. floor plan;

Furthermore, as shown in FIG. 10, the fixing member 340 may be provided so that it can be moved in either the x-axis or y-axis direction or in the x-y plane at the lower part of the frame member 320.

For example, when the high-precision unmanned guided vehicle 10 of the present invention used in the first work line is used in another work line, the position of the third confirmation means (Wb) may be changed, and correspondingly, the fixing member ( 340) is coupled by the rail 344 at the lower part of the frame member 320 and can be moved in either direction of the x-axis or y-axis or moved in the x-y plane so that it can be used in various work lines.

In addition, it may be difficult to achieve fixation of the fixing member 340 of the stabilizer 300 due to movement during the extension of the frame member 320 and the fixing member 340 during the first alignment, so space must be maintained after transfer. It can be confirmed, extended, and arranged to be fixed after the final AGV position is confirmed.

Specifically, as shown in FIG. 11, the frame member 320 may include a fixed frame 322 and an internal frame 324.

Here, if the fixed frame 322 can be provided to be similar to the width of the upper surface of the transfer unit 100, an internal space is provided, and the internal frame 324 is drawn out from the internal space and can be extended or retracted. You can.

For example, a ball screw nut 326 formed long in the direction in which the internal frame 324 is pulled out may be provided inside the fixed frame 322 and the internal frame 324 may be coupled to it.

Additionally, a motor 328 may be provided on one side of the ball screw nut 326 so that the inner frame 324 can be pulled out from the inside of the fixed frame 322 by the operation of the motor 328.

At this time, the fixing member 340 is inserted into the inside of the fixing frame 322, and when the fixing frame 322 is pulled out, it is rotated and pulled out and is provided to descend toward the ground, so that the frame member 320 and the fixing member 340 Movement can be minimized when extending.

Therefore, according to the high-precision unmanned guided vehicle of the present invention, without using many additional devices to check or control the position of the running unmanned guided vehicle to correct the above-mentioned stopping error, the alignment limit is internally compensated rather than externally compensated. By overcoming compensation, there is an advantage that constraints on cost and environmental conditions can be minimized.

In addition, when the above-described first alignment is completed through the stabilizer, the first alignment state is maintained by contacting the third confirmation means formed adjacent to the transfer area, and correction is made to change the position of the object to position it at the above-described work point. It is designed to support the unit, minimizing the occurrence of operating errors.

As described above, the preferred embodiments according to the present invention have been examined, and the fact that the present invention can be embodied in other specific forms in addition to the embodiments described above without departing from the spirit or scope thereof is recognized by those skilled in the art. It is self-evident to them. Therefore, the above-described embodiments are to be regarded as illustrative and not restrictive, and thus the present invention is not limited to the above description but may be modified within the scope of the appended claims and their equivalents.

P: path
S1: Path sensor
P1: First verification method
S2: Stop sensor
G: transfer area
W: work point
Wa: secondary verification method
Wb: Third means of verification
O: object
M: Working machine
10: High-precision unmanned guided vehicle.
100: transfer unit
120: Absence of awareness
200: Correction unit
220: Correction member
222: first plate
222a: first through hole
224: second plate
224a: second through hole
224b: connector
226: Driving member
228: Interference prevention section
240: Seating member
300: Stability unit
320: Frame member
322: Fixed frame
324: Internal frame
326: Ball screw nut
328: motor
340: Fixing member
344: rail

Claims (10)

A transfer unit that moves along a given path, recognizes a first confirmation means provided adjacent to the path, and performs a first alignment to position the object that is the target of the manufacturing operation in the transfer area; and
Determine whether the object is located at the work point within the transfer area, and if the object deviates from the work point, perform a second alignment to position the object at the work point by varying the position of the object on the transfer unit. It includes a correction unit that
The transfer unit and the correction unit are characterized in that they are interlocked with each other so that the object is transferred to the work point.
High-precision unmanned guided vehicle.
According to paragraph 1,
The correction unit,
The second alignment determines whether the work point is outside a variable area that can change the position of the object, and if the object does not reach the work point through the second alignment, the object is transferred to the work point. 1 Characterized in that the alignment is controlled,
High-precision unmanned guided vehicle.
According to paragraph 2,
The correction unit,
When assuming that the virtual plane formed along the path is the xy plane, based on the 3-dimensional Cartesian coordinate system of xyz,
a correction member moving along a plane parallel to the xy plane at an upper part of the transfer unit; and
a seating member connected to the correction member to seat and secure the object;
Characterized in that it includes,
High-precision unmanned guided vehicle.
According to paragraph 3,
The correction member is,
Characterized in that a through hole is provided in the center so that the position of the object seated at the top can be confirmed inside the transfer unit,
High-precision unmanned guided vehicle.
According to paragraph 4,
The correction member is,
Characterized by comprising a first plate that is fixed to a predetermined distance downward from the upper surface of the transfer unit and a second plate that is provided to be moved along a plane parallel to the xy plane on the upper surface of the first plate. And
Characterized in that an interference prevention section is formed between the inner peripheral surface of the transfer unit and the outer peripheral surface of the second plate to prevent interference of the second plate with the upper surface of the transfer unit.
High-precision unmanned guided vehicle.
According to paragraph 4,
The transfer unit,
Characterized in that a recognition member is provided on the inner center side to identify the object and the second confirmation means located at the work point in the transfer area.
High-precision unmanned guided vehicle.
According to paragraph 1,
When the first alignment of the transfer unit is completed, the first alignment is maintained by contacting a third confirmation means formed adjacent to the transfer area, and is provided to support the correction unit to prevent an operation error in the second alignment. Further comprising a stabilizing part,
High-precision unmanned guided vehicle.
In clause 7,
The stabilizing part,
a frame member formed between the transfer unit and the correction unit and connected to an upper surface of the correction unit so that the correction unit can perform a second alignment; and
An upper surface is fixed to the lower surface of the frame member, and when the first alignment is performed, the lower surface extends downward to contact the third identification means formed on the ground, thereby recognizing the third identification means. A fixing member that secures the frame member to the ground;
A high-precision unmanned guided vehicle comprising a.
According to clause 8,
The frame member is,
Characterized in that it is provided in a rectangular shape with a width longer than that of the transfer unit in a direction perpendicular to the path and is fixed to the upper surface of the transfer unit,
High-precision unmanned guided vehicle.
According to clause 8,
The fixing member is,
Characterized in that it is formed symmetrically at both ends of the lower surface of the frame member with respect to the transfer unit,
High-precision unmanned guided vehicle.

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