WO2012070780A2 - Pin-joint automatic guided vehicle - Google Patents

Pin-joint automatic guided vehicle Download PDF

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Publication number
WO2012070780A2
WO2012070780A2 PCT/KR2011/008279 KR2011008279W WO2012070780A2 WO 2012070780 A2 WO2012070780 A2 WO 2012070780A2 KR 2011008279 W KR2011008279 W KR 2011008279W WO 2012070780 A2 WO2012070780 A2 WO 2012070780A2
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WO
WIPO (PCT)
Prior art keywords
unmanned automatic
automatic transport
pin
article
transport truck
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PCT/KR2011/008279
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French (fr)
Korean (ko)
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WO2012070780A3 (en
Inventor
배선일
Original Assignee
주식회사 아티스
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Publication of WO2012070780A2 publication Critical patent/WO2012070780A2/en
Publication of WO2012070780A3 publication Critical patent/WO2012070780A3/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D53/00—Tractor-trailer combinations; Road trains
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D53/00—Tractor-trailer combinations; Road trains
    • B62D53/02—Tractor-trailer combinations; Road trains comprising a uniaxle tractor unit and a uniaxle trailer unit

Definitions

  • the present invention relates to a pin-attached unmanned automatic transport truck, and more particularly, an unmanned automatic transport truck equipped with a steering device in the front and rear wheels is disposed, and the goods can be mounted to be seated between the unmanned automatic transport truck. It relates to a pin-attached unmanned automatic transport trolley, which is coupled to both ends of one end of the goods carrier and one side of the upper surface of the unmanned automatic transport trolley by a connecting rod.
  • an unmanned automatic transport truck (AGV) has been adopted and used in a place that handles large-scale products such as a distribution center, and a magnetic mark is formed on a path through which the unmanned transport truck is moved.
  • the guide sensor for detecting the magnetic mark is installed in the transport vehicle is configured to move in a predetermined path according to the detection signal.
  • the differential gear system automatically compensates the speed of the inner wheel and the outer wheel by turning the differential gear automatically when turning, while the electric four-wheel drive uses the outer wheel more than this difference. The speed of operation can be reduced by reducing the driving trajectory.
  • the unmanned automatic transport truck receives the weight of the article directly, there is a limit in changing the direction and loading of the article.
  • an object of the present invention is to solve the above-described problems of the prior art, and to provide a pin-connected unmanned automatic transport truck that can reduce the driving trajectory by changing the design of the combination structure of the goods transport platform and the unmanned automatic transport truck. do.
  • an object of the present invention is to provide a pin-connected unmanned automatic transport trolley for easy change of direction and loading of articles by preventing the unmanned automatic transport trolley directly receiving the weight of the article.
  • the present invention is a support wheel having a rectangular frame shape and the wheels mounted on one side of the steering device to determine the driving direction at an arbitrary angle, respectively disposed in front and rear each support member.
  • An unmanned automatic transport trolley coupled to a lower portion of the unmanned automatic transport trolley, disposed between the unmanned automatic transport trolley, having a coupling hole formed at a predetermined position at both ends; And it provides a pin connection unmanned automatic transport truck, characterized in that it comprises a connecting rod formed at both ends of the through hole is pin-coupled to the support and the article carrier.
  • connection rod is equipped with a through-hole formed at one end of the connection rod to correspond to the coupling hole formed at both ends of the article carrier, and through the coupling pin through the through-hole and the coupling hole the connecting rod is the unmanned automatic It provides a pin connection unmanned automatic transport truck, characterized in that the pin connection is rotatably in accordance with the movement of the transport cart.
  • the article carrier provides a pin connection unmanned automatic transport truck, characterized in that one side of the upper surface of both ends is formed higher than the center portion on which the article is seated.
  • the article carrier is provided with a wheel that rotates in contact with the ground in the lower portion, and provides a pin-connected unmanned automatic transport cart, characterized in that easy to replace according to the type and size of the article seated on the article carrier. do.
  • the steering apparatus is coupled to one side of the front wheel and the rear wheel, respectively, to provide a pin-connected unmanned automatic transport trolley, characterized in that to minimize the running track in the case of curved driving by independently adjusting the front and rear unmanned automatic transport truck. do.
  • FIG. 1 is a view showing an unmanned automatic transport truck according to the prior art.
  • FIG. 2 is a view showing a pin connection unmanned automatic transport truck according to the present invention.
  • Figure 3 is a side view of the pin connection unmanned automatic transport truck according to the present invention.
  • Figure 4 is a view showing a turning state of the pin connection unmanned automatic transport truck according to the present invention.
  • article carrier 220 auxiliary support
  • FIG. 2 is a view showing a pin-connected unmanned automatic transport truck according to the present invention
  • Figure 3 is a side view of the pin-connected unmanned automatic transport truck according to the invention
  • Figure 4 is a view of the pinned unmanned automatic transport truck according to the invention It is a figure which shows the turning state.
  • the pinless unmanned automatic transport truck has a support wheel 180 having a rectangular frame shape and wheels equipped with steering devices 124 and 144 so as to determine a driving direction at an arbitrary angle in front and rear, and a lower portion of the support 180.
  • the description of the components and operation principle of the conventional unmanned automatic transport truck (100) is omitted, coupled to the conventional unmanned automatic transport truck (10) is omitted, preferred work for the main components of the pin connection unmanned automatic transport truck An embodiment will be described with reference to the accompanying drawings.
  • the present invention is disposed in front and rear, respectively, the support 180 having a rectangular frame shape and a wheel equipped with a steering device (124, 144) to determine the driving direction at any angle
  • the unmanned automatic transport trolley 100 is coupled to the lower portion of each of the support 180, the article is disposed between the unmanned automatic transport trolley 100, the coupling hole 240 is formed at a predetermined position on both ends Carriage 200; And a connecting rod 300 formed at both ends of the support hole 180 and the through hole 320 that is pin-coupled to the article carrier 200.
  • a coupling hole 160 is formed at the center of the upper surface of the support 180 of the unmanned automatic transport cart 100 to be coupled to the coupling pin 400.
  • the coupling hole 160 formed on the upper surface of the support 180 is preferably coupled to the coupling pin 400 rotatably.
  • the article carrier 200 is disposed between the unmanned automatic carriage trolley 100, the coupling hole 240 is formed at a predetermined position on both ends.
  • the upper surface of the both ends of the goods carrier 200, the auxiliary support 220 is formed to be similar to the height of the support 180 of the unmanned automatic transport truck 100 is formed, respectively, unmanned automatic transport truck 100 In order to maintain the same height as it is preferable that the coupling hole 240 is formed on the upper surface of the auxiliary support 220.
  • the article carrier 200 is formed on one side of the upper surface of both ends is higher than the center portion on which the article is seated.
  • the article carrier 200 is provided with a wheel to rotate in contact with the ground at the bottom, it is easy to replace according to the type and size of the article seated on the article carrier 200.
  • the goods carrier 200 when loading the goods on the upper surface of the goods carrier 200, the goods carrier 200 is located closer to the ground bar, much more stable than the conventional unmanned automatic transport truck 100 It is possible.
  • the connecting rod 300 has a through hole 320 which is pin-coupled to the support 180 and the article carrier 200 is formed at both ends.
  • One of the through holes 320 formed at both ends of the connection rod 300 corresponds to the coupling hole 240 formed at both ends of the article carrier 200 and is rotatably coupled to the coupling pin 400.
  • the article carrier of the conventional unmanned automatic transport cart 10 is integrally forward unmanned Moving along the trace of the transport cart 12, the rear unmanned automatic transport truck 14 is moved far away from the curve, so that the running schedule is greatly required.
  • the pin-attached unmanned automatic transport trolley is connected to the front and rear unmanned automatic transport trolley (120,140) and the goods carrier 200 by the coupling pin 400 so as to be rotated, respectively, and steered to the front and rear wheels (122,142), respectively.
  • the devices 124 and 144 are coupled to each other, when the angle of the front wheel 122 is moved along the curve, the portion coupled to the coupling pin 400 of the front unmanned automatic transport truck 120 is rotated to a predetermined value. The angle will change.
  • the rear wheel 142 is changed to an angle close to the curve by the steering device 144 mounted on the rear wheel 142, the portion coupled to the coupling pin 400 of the front unmanned automatic transport truck 120 is rotated.
  • the steering device 144 mounted on the rear wheel 142 the portion coupled to the coupling pin 400 of the front unmanned automatic transport truck 120 is rotated.
  • the load of the goods to be loaded is transmitted to the article carrying platform 200 and the unmanned automatic transport trolley 100 only carries the article in front and rear. It serves to pull the stand 200, it is also possible to load the goods much heavier than the transportation of the conventional unmanned automatic transport truck.
  • the article carrier 200 is replaced according to the type of the article and has a structure that is simply coupled with the coupling pin 400, it can be efficiently used for carrying various articles.
  • the part connected to the coupling pin 400 by the article carrier 200 can be rotated when running along the curve of the goods transport has the effect of reducing the running time and space required.
  • the present invention can be applied to the pin connection unmanned automatic transport truck.

Abstract

The present invention provides a pin-joint automatic guided vehicle. The invention provides a pin-joint automatic guided vehicle which is an automatic guided vehicle in which: supports are respectively disposed in front and back directions and have a square-frame shape; and wheels having one end, on which a steering device is mounted to determine a driving direction at a random angle, are coupled to the lower part of each of said supports, wherein the automatic guided vehicle comprises: an article conveyor which is disposed between automatic guided vehicles, and in which a coupling hole is formed at the predetermined position of one side of both ends; and a connection rod in which through holes that are coupled with said supports and said article conveyor by pins are formed on both ends thereof.

Description

핀연결 무인자동운반대차Pin Connection Unmanned Auto Transport Truck
본 발명은 핀연결 무인자동운반대차에 관한 것으로, 보다 상세하게는, 전후방에 조향장치가 바퀴에 장착된 무인자동운반대차가 배치되고, 상기 무인자동운반대차 사이에 물품이 안착되게 싣을 수 있는 물품운반대의 양단 일측과 상기 무인자동운반대차의 상부면 일측이 연결로드로 회동가능하게 결합된 핀연결 무인자동운반대차에 관한 것이다.The present invention relates to a pin-attached unmanned automatic transport truck, and more particularly, an unmanned automatic transport truck equipped with a steering device in the front and rear wheels is disposed, and the goods can be mounted to be seated between the unmanned automatic transport truck. It relates to a pin-attached unmanned automatic transport trolley, which is coupled to both ends of one end of the goods carrier and one side of the upper surface of the unmanned automatic transport trolley by a connecting rod.
일반적으로, 자동차의 조립라인이나 부품 가공라인과 같은 산업현장에는 소재나 반가공품 또는 부품 등을 운반하기 위한 다양한 대차들이 사용되고 있다.In general, various trucks are used to transport materials, semi-finished products or parts in industrial sites such as automobile assembly lines or component processing lines.
그리고 최근에는 물류센터와 같이 대단위의 제품들을 취급하는 장소에 무인자동운반대차(AUTOMATIC GUIDED VEHICLE; 일명 AGV)가 채용되어 사용되고 있는데, 상기 무인자동운반대차가 이동되는 경로 상에 마그네틱 마크가 형성되고 이 마그네틱 마크를 감지하는 가이드센서가 운반차에 설치되어 이 감지신호에 따라 정해진 경로로 이동되게 구성된다.In recent years, an unmanned automatic transport truck (AGV) has been adopted and used in a place that handles large-scale products such as a distribution center, and a magnetic mark is formed on a path through which the unmanned transport truck is moved. The guide sensor for detecting the magnetic mark is installed in the transport vehicle is configured to move in a predetermined path according to the detection signal.
종래 무인자동운반대차의 선회 시에는 전방의 조향각과 후방의 조향각을 반대로 하여 운행괘적을 감소시킬 수 있고 차선변경 시에는 전방의 조향각과 후방의 조향각을 같은 방향으로 하여 차체의 회전 없이 차선변경을 할 수 있다. 또한, 차동기어를 사용한 방식은 선회 시 안쪽에 위치한 바퀴의 속도와 바깥쪽에 위치한 바퀴의 속도가 차동기어를 통해 자동으로 보상되지만 전기를 이용한 4륜 구동장치는 이 속도의 차이 이상으로 바깥쪽에 있는 바퀴의 속도를 빠르게 하여 운행괘적을 줄일 수 있다. When turning a conventional unmanned automatic transport truck, it is possible to reduce the driving trajectory by reversing the steering angle at the front and the steering angle at the rear.When changing lanes, it is possible to change lanes without turning the vehicle by turning the steering angle at the front and the steering angle at the rear in the same direction. Can be. In addition, the differential gear system automatically compensates the speed of the inner wheel and the outer wheel by turning the differential gear automatically when turning, while the electric four-wheel drive uses the outer wheel more than this difference. The speed of operation can be reduced by reducing the driving trajectory.
하지만, 물품운반대와 무인자동운반대차가 일체로 형성되어 있는 바 운행괘적을 줄이는데 한계가 있다.However, there is a limit in reducing the running schedule bar bar is formed integrally with the goods carrier and the unmanned automatic carriage.
또한, 물품의 무게를 무인자동운반대차가 직접 받기 때문에 방향의 전환, 물품의 적재에 있어 한계가 있다.In addition, since the unmanned automatic transport truck receives the weight of the article directly, there is a limit in changing the direction and loading of the article.
또한, 물품운반대와 무인자동운반대차가 일체로 형성되어 있어 물품운반대의 용이한 교체가 불가한 문제점이 있다. In addition, there is a problem that the product carrier and the unmanned automatic transport cart is formed integrally, the easy replacement of the product carrier.
따라서, 본 발명은 전술한 종래 기술의 문제점을 해결하고자 하는 것으로, 물품운반대와 무인자동운반대차의 결합구조를 설계변경하여 운행괘적을 줄일 수 있는 핀연결 무인자동운반대차를 제공하는 것을 목적으로 한다.Accordingly, an object of the present invention is to solve the above-described problems of the prior art, and to provide a pin-connected unmanned automatic transport truck that can reduce the driving trajectory by changing the design of the combination structure of the goods transport platform and the unmanned automatic transport truck. do.
또한, 물품의 무게를 무인자동운반대차가 직접 받는 것을 방지하여 방향의 전환, 물품의 적재에 용이한 핀연결 무인자동운반대차를 제공하는 것을 목적으로 한다.In addition, an object of the present invention is to provide a pin-connected unmanned automatic transport trolley for easy change of direction and loading of articles by preventing the unmanned automatic transport trolley directly receiving the weight of the article.
또한, 물품운반대와 무인자동운반대차의 결합구조를 설계변경하여 물품운반대의 용이한 교체가 가능한 핀연결 무인자동운반대차를 제공하는 것을 목적으로 한다.In addition, it is an object of the present invention to provide a pin-connected unmanned automatic transport truck that can be easily replaced by changing the design structure of the goods carrier and unmanned automatic transport truck.
상기 및 기타 본 발명의 목적을 달성하기 위하여, 본 발명은 전후방에 각각 배치되어 사각틀 형상을 갖는 지지대와 임의의 각도로 주행방향을 결정할 수 있도록 된 조향장치를 일측에 장착한 바퀴가 각각의 상기 지지대의 하부에 결합되는 무인자동운반대차에 있어서, 상기 무인자동운반대차의 사이에 배치되어 양단 일측 소정의 위치에 결합홀이 형성된 물품운반대; 및 상기 지지대와 상기 물품운반대에 핀결합되는 관통구가 양단에 형성된 연결로드를 포함하는 것을 특징으로 하는 핀연결 무인자동운반대차를 제공한다.In order to achieve the above and other objects of the present invention, the present invention is a support wheel having a rectangular frame shape and the wheels mounted on one side of the steering device to determine the driving direction at an arbitrary angle, respectively disposed in front and rear each support member. An unmanned automatic transport trolley coupled to a lower portion of the unmanned automatic transport trolley, disposed between the unmanned automatic transport trolley, having a coupling hole formed at a predetermined position at both ends; And it provides a pin connection unmanned automatic transport truck, characterized in that it comprises a connecting rod formed at both ends of the through hole is pin-coupled to the support and the article carrier.
또한, 상기 연결로드는 상기 물품운반대의 양단에 형성된 결합홀에 대응되도록 상기 연결로드의 일단에 형성된 관통구를 장착하고, 상기 관통구와 상기 결합홀에 결합핀을 관통시켜 상기 연결로드가 상기 무인자동운반대차의 움직임에 따라 회동가능하게 핀연결되는 것을 특징으로 하는 핀연결 무인자동운반대차를 제공한다.In addition, the connection rod is equipped with a through-hole formed at one end of the connection rod to correspond to the coupling hole formed at both ends of the article carrier, and through the coupling pin through the through-hole and the coupling hole the connecting rod is the unmanned automatic It provides a pin connection unmanned automatic transport truck, characterized in that the pin connection is rotatably in accordance with the movement of the transport cart.
또한, 상기 물품운반대는 양단의 상부면 일측이 물품이 안착되는 중앙부보다 높이 형성되어 있는 것을 특징으로 하는 핀연결 무인자동운반대차를 제공한다.In addition, the article carrier provides a pin connection unmanned automatic transport truck, characterized in that one side of the upper surface of both ends is formed higher than the center portion on which the article is seated.
또한, 상기 물품운반대는 지면에 접촉되어 회전운동하는 바퀴가 하부에 구비되고, 상기 물품운반부에 안착되는 물품의 종류 및 크기에 따라 교체가 용이한 것을 특징으로 하는 핀연결 무인자동운반대차를 제공한다.In addition, the article carrier is provided with a wheel that rotates in contact with the ground in the lower portion, and provides a pin-connected unmanned automatic transport cart, characterized in that easy to replace according to the type and size of the article seated on the article carrier. do.
또한, 상기 조향장치는 전방바퀴와 후방바퀴의 일측에 각각 결합 되어 상기 전후방무인자동운반대차를 독립적으로 조정하여 곡선 운행하는 경우에 운행괘적을 최소화하는 것을 특징으로 하는 핀연결 무인자동운반대차를 제공한다.In addition, the steering apparatus is coupled to one side of the front wheel and the rear wheel, respectively, to provide a pin-connected unmanned automatic transport trolley, characterized in that to minimize the running track in the case of curved driving by independently adjusting the front and rear unmanned automatic transport truck. do.
전술한 구성을 갖는 본 발명에 따르면, 물품운반대와 무인자동운반대차의 결합구조를 설계변경하여 운행괘적을 줄일 수 있는 핀연결 무인자동운반대차를 제공할 수 있다.According to the present invention having the above-described configuration, it is possible to provide a pin-connected unmanned automatic transport cart that can reduce the running schedule by changing the design of the combination structure of the goods carrier and the unmanned automatic transport cart.
또한, 물품의 무게를 무인자동운반대차가 직접 받는 것을 방지하여 방향의 전환, 물품의 적재에 용이한 핀연결 무인자동운반대차를 제공할 수 있다.In addition, it is possible to prevent the unmanned automatic transport truck directly receives the weight of the article, it is possible to provide a pin connection unmanned automatic transport truck that is easy to change the direction, the loading of the article.
또한, 물품운반대와 무인자동운반대차의 결합구조를 설계변경하여 물품운반대의 용이한 교체가 가능한 핀연결 무인자동운반대차를 제공할 수 있다.In addition, it is possible to provide a pin-connected unmanned automatic transport truck that can be easily replaced by changing the design structure of the goods carrier and the unmanned automatic transport truck.
도 1은 종래 기술에 따른 무인자동운반대차를 도시한 도면.1 is a view showing an unmanned automatic transport truck according to the prior art.
도 2는 본 발명에 따른 핀연결 무인자동운반대차를 도시한 도면.2 is a view showing a pin connection unmanned automatic transport truck according to the present invention.
도 3은 본 발명에 따른 핀연결 무인자동운반대차의 측면도.Figure 3 is a side view of the pin connection unmanned automatic transport truck according to the present invention.
도 4는 본 발명에 따른 핀연결 무인자동운반대차의 선회상태를 도시한 도면.Figure 4 is a view showing a turning state of the pin connection unmanned automatic transport truck according to the present invention.
* 도면의 주요 부분에 대한 부호의 설명 *Explanation of symbols on the main parts of the drawings
10,100:무인자동운반대차 12,120:전방무인자동운반대차10,100: unmanned automatic transport truck 12,120: front unmanned automatic transport truck
14,140:후방무인자동운반대차 122:전방바퀴14,140: rear unmanned automatic transport truck 122: front wheel
124,144:조향장치 142:후방바퀴124,144 steering device 142 rear wheel
160:결합공 180:지지대160: coupling hole 180: support
200:물품운반대 220:보조지지대200: article carrier 220: auxiliary support
240:결합홀 300:연결로드240: coupling hole 300: connecting rod
320:관통구 400:결합핀320: through hole 400: coupling pin
이하, 첨부 도면을 참조하여 본 발명의 바람직한 실시 예에 따른 핀연결 무인자동운반대차를 보다 상세히 설명하기로 한다.Hereinafter, with reference to the accompanying drawings will be described in more detail the pin connection unmanned automatic transport vehicle according to an embodiment of the present invention.
도 2는 본 발명에 따른 핀연결 무인자동운반대차를 도시한 도면이며, 도 3은 본 발명에 따른 핀연결 무인자동운반대차의 측면도이며, 도 4는 본 발명에 따른 핀연결 무인자동운반대차의 선회상태를 도시한 도면이다.2 is a view showing a pin-connected unmanned automatic transport truck according to the present invention, Figure 3 is a side view of the pin-connected unmanned automatic transport truck according to the invention, Figure 4 is a view of the pinned unmanned automatic transport truck according to the invention It is a figure which shows the turning state.
본 발명에 따른 핀연결 무인자동운반대차는 전후방에는 사각틀 형상을 갖는 지지대(180)와 임의의 각도로 주행방향을 결정할 수 있도록 된 조향장치(124,144)가 장착된 바퀴가 상기 지지대(180)의 하부에 결합되는 종래의 무인자동운반대차(10)가 배치되는 바 무인자동운반대차(100)의 구성요소 및 작동원리 등에 대한 설명은 생략하며, 핀연결 무인자동운반대차의 주요구성요소에 대한 바람직한 일실시 예에 관하여 첨부한 도면을 참조하여 살펴보기로 한다.According to the present invention, the pinless unmanned automatic transport truck has a support wheel 180 having a rectangular frame shape and wheels equipped with steering devices 124 and 144 so as to determine a driving direction at an arbitrary angle in front and rear, and a lower portion of the support 180. The description of the components and operation principle of the conventional unmanned automatic transport truck (100) is omitted, coupled to the conventional unmanned automatic transport truck (10) is omitted, preferred work for the main components of the pin connection unmanned automatic transport truck An embodiment will be described with reference to the accompanying drawings.
도 2 또는 도 3에 도시된 바와 같이, 본 발명은 전후방에 각각 배치되어 사각틀 형상을 갖는 지지대(180)와 임의의 각도로 주행방향을 결정할 수 있도록 된 조향장치(124,144)를 일측에 장착한 바퀴가 각각의 상기 지지대(180)의 하부에 결합되는 무인자동운반대차(100)에 있어서, 상기 무인자동운반대차(100)의 사이에 배치되어 양단 일측 소정의 위치에 결합홀(240)이 형성된 물품운반대(200); 및 상기 지지대(180)와 상기 물품운반대(200)에 핀결합되는 관통구(320)가 양단에 형성된 연결로드(300)를 포함하는 것을 특징으로 하는 핀연결 무인자동운반대차를 제공한다.As shown in Figure 2 or 3, the present invention is disposed in front and rear, respectively, the support 180 having a rectangular frame shape and a wheel equipped with a steering device (124, 144) to determine the driving direction at any angle In the unmanned automatic transport trolley 100 is coupled to the lower portion of each of the support 180, the article is disposed between the unmanned automatic transport trolley 100, the coupling hole 240 is formed at a predetermined position on both ends Carriage 200; And a connecting rod 300 formed at both ends of the support hole 180 and the through hole 320 that is pin-coupled to the article carrier 200.
상기 무인자동운반대차(100)의 지지대(180)의 상부면 중앙에는 결합핀(400)과 결합되도록 결합공(160)이 형성된다. 한편, 지지대(180) 상부면에 형성된 결합공(160)은 결합핀(400)과 회동가능하게 결합되는 것이 바람직하다.A coupling hole 160 is formed at the center of the upper surface of the support 180 of the unmanned automatic transport cart 100 to be coupled to the coupling pin 400. On the other hand, the coupling hole 160 formed on the upper surface of the support 180 is preferably coupled to the coupling pin 400 rotatably.
상기 물품운반대(200)는 무인자동운반대차(100)의 사이에 배치되며 양단 일측 소정의 위치에는 결합홀(240)이 형성되어 있다.The article carrier 200 is disposed between the unmanned automatic carriage trolley 100, the coupling hole 240 is formed at a predetermined position on both ends.
한편, 상기 물품운반대(200)의 양단 상부면에는 돌출되어 무인자동운반대차(100)의 지지대(180) 높이와 유사하게 형성된 보조지지대(220)가 각각 형성되고, 무인자동운반대차(100)와 동일한 높이를 유지하기 위해 상기 보조지지대(220)의 상부면에 결합홀(240)이 형성되는 것이 바람직하다.On the other hand, the upper surface of the both ends of the goods carrier 200, the auxiliary support 220 is formed to be similar to the height of the support 180 of the unmanned automatic transport truck 100 is formed, respectively, unmanned automatic transport truck 100 In order to maintain the same height as it is preferable that the coupling hole 240 is formed on the upper surface of the auxiliary support 220.
또한, 상기 물품운반대(200)는 양단의 상부면 일측이 물품이 안착되는 중앙부보다 높이 형성된다.In addition, the article carrier 200 is formed on one side of the upper surface of both ends is higher than the center portion on which the article is seated.
또한, 상기 물품운반대(200)는 지면에 접촉되어 회전운동하는 바퀴가 하부에 구비되고, 상기 물품운반대(200)에 안착되는 물품의 종류 및 크기에 따라 교체가 용이하다.In addition, the article carrier 200 is provided with a wheel to rotate in contact with the ground at the bottom, it is easy to replace according to the type and size of the article seated on the article carrier 200.
한편, 상기 물품운반대(200)의 상부면에 물품을 적재하는 경우에 상기 물품운반대(200)가 지면에 보다 가깝게 위치하는 바, 종래의 무인자동운반대차(100)보다는 훨씬 안정된 물품수송이 가능하다.On the other hand, when loading the goods on the upper surface of the goods carrier 200, the goods carrier 200 is located closer to the ground bar, much more stable than the conventional unmanned automatic transport truck 100 It is possible.
상기 연결로드(300)는 상기 지지대(180)와 상기 물품운반대(200)에 핀결합되는 관통구(320)가 양단에 형성된다. 상기 연결로드(300)의 양단에 형성된 관통구(320) 중 하나는 상기 물품운반대(200)의 양단에 형성된 결합홀(240)에 대응되어 결합핀(400)으로 회동가능하게 결합되며, 다른 하나는 무인자동운반대차(100)의 지지대(180) 상부면에 형성된 결합공(160)과 대응되어 결합핀(400)으로 회동가능하게 결합된다.The connecting rod 300 has a through hole 320 which is pin-coupled to the support 180 and the article carrier 200 is formed at both ends. One of the through holes 320 formed at both ends of the connection rod 300 corresponds to the coupling hole 240 formed at both ends of the article carrier 200 and is rotatably coupled to the coupling pin 400. One corresponds to the coupling hole 160 formed on the upper surface of the support 180 of the unmanned automatic transport truck 100 is rotatably coupled to the coupling pin 400.
도 4를 참조하여, 본 발명에 따른 핀연결 무인자동운반대차의 곡선을 선회하는 작동원리를 설명하기로 한다.Referring to Figure 4, it will be described the operation principle of turning the curve of the pin connection unmanned automatic transport truck according to the present invention.
전방무인자동운반대차(120,140)에 부착된 조향장치(124,144)에 의해 전방바퀴(122)의 각도가 곡선을 따라 움직이는 경우에 종래의 무인자동운반대차(10)의 물품운반대는 일체로 전방무인자동운반대차(12)의 흔적을 따라 움직이게 되고, 이에 따라 후방무인자동운반대차(14)는 곡선과 멀리 떨어져서 이동하게 되어 운행괘적이 크게 요구되게 된다.When the angle of the front wheel 122 is moved along the curve by the steering devices 124 and 144 attached to the front unmanned automatic transport carts 120 and 140, the article carrier of the conventional unmanned automatic transport cart 10 is integrally forward unmanned Moving along the trace of the transport cart 12, the rear unmanned automatic transport truck 14 is moved far away from the curve, so that the running schedule is greatly required.
하지만, 본 발명에 따른 핀연결 무인자동운반대차는 전후방무인자동운반대차(120,140)와 물품운반대(200)가 각각 회동이 가능하게 결합핀(400)으로 연결되고 전후방바퀴(122,142)에 각각 조향장치(124,144)가 결합되어 있는바, 전방바퀴(122)의 각도를 변동시켜 곡선을 따라 이동하는 경우에 전방무인자동운반대차(120)의 결합핀(400)으로 결합된 부분이 회동되어 소정의 각도만큼 변하게 된다.However, the pin-attached unmanned automatic transport trolley according to the present invention is connected to the front and rear unmanned automatic transport trolley (120,140) and the goods carrier 200 by the coupling pin 400 so as to be rotated, respectively, and steered to the front and rear wheels (122,142), respectively. When the devices 124 and 144 are coupled to each other, when the angle of the front wheel 122 is moved along the curve, the portion coupled to the coupling pin 400 of the front unmanned automatic transport truck 120 is rotated to a predetermined value. The angle will change.
또한, 후방바퀴(142)에 장착된 조향장치(144)에 의해 후방바퀴(142)가 곡선에 가깝게 각도가 변하게 되고 전방무인자동운반대차(120)의 결합핀(400)으로 결합된 부분이 회동되어 곡선에서 크게 벗어남이 없이 작은 운행괘적 내에서 운행이 가능하게 된다.In addition, the rear wheel 142 is changed to an angle close to the curve by the steering device 144 mounted on the rear wheel 142, the portion coupled to the coupling pin 400 of the front unmanned automatic transport truck 120 is rotated. Thus, it is possible to operate within a small running track without large deviation from the curve.
또한, 물품운반대(200)와 무인자동운반대차(100)와 분리되어 있기 때문에 적재되는 물품의 하중이 전부 물품운반대(200)에 전해지고 무인자동운반대차(100)는 단지 전후방에서 상기 물품운반대(200)를 끄는 역할을 하게 되어 종래의 무인자동운반대차의 물품운송시보다 훨씬 무거운 물품의 적재도 가능하다.In addition, since the article carrying platform 200 and the unmanned automatic transport trolley 100 are separated from each other, the load of the goods to be loaded is transmitted to the article carrying platform 200 and the unmanned automatic transport trolley 100 only carries the article in front and rear. It serves to pull the stand 200, it is also possible to load the goods much heavier than the transportation of the conventional unmanned automatic transport truck.
또한, 물품의 종류에 따라 물품운반대(200)를 교체하고 간단하게 결합핀(400)으로 결합하는 구조를 가지기 때문에 다양한 물품의 운반에 효율적으로 사용할 수 있다.In addition, since the article carrier 200 is replaced according to the type of the article and has a structure that is simply coupled with the coupling pin 400, it can be efficiently used for carrying various articles.
또한, 결합핀(400)으로 연결된 부분이 물품운반대(200)가 회동가능하게 함으로써 물품운반시 곡선을 따라 운행하는 경우에 운행시간과 필요공간이 감소하는 효과가 있다.In addition, the part connected to the coupling pin 400 by the article carrier 200 can be rotated when running along the curve of the goods transport has the effect of reducing the running time and space required.
본 발명은 기재된 실시 예에 한정되는 것은 아니고, 본 발명의 사상 및 범위를 벗어나지 않고 다양하게 수정 및 변형할 수 있음은 이 기술분야에서 통상의 지식을 가진 자에게 자명하다. 즉, 그러한 변형 예 또는 수정 예들은 본 발명의 특허청구범위에 속한다 해야 할 것이다. It is apparent to those skilled in the art that the present invention is not limited to the embodiments described and that various modifications and changes can be made without departing from the spirit and scope of the invention. In other words, such modifications or variations will have to belong to the claims of the present invention.
본 발명은 핀연결 무인자동운반대차에 적용될 수 있다.The present invention can be applied to the pin connection unmanned automatic transport truck.

Claims (5)

  1. 전후방에 각각 배치되어 사각틀 형상을 갖는 지지대와 임의의 각도로 주행방향을 결정할 수 있도록 된 조향장치를 일측에 장착한 바퀴가 각각의 상기 지지대의 하부에 결합되는 무인자동운반대차에 있어서,In the unmanned automatic transport trolley in which wheels mounted on one side of a support frame having a rectangular frame shape and a steering device configured to determine a driving direction at an arbitrary angle are coupled to a lower portion of each support, respectively, disposed in front and rear,
    상기 무인자동운반대차의 사이에 배치되어 양단 일측 소정의 위치에 결합홀이 형성된 물품운반대; 및 An article carrier disposed between the unmanned automatic carriages and having coupling holes formed at predetermined positions at both ends; And
    상기 지지대와 상기 물품운반대에 핀결합되는 관통구가 양단에 형성된 연결로드를 포함하는 것을 특징으로 하는 핀연결 무인자동운반대차.And a connecting rod formed at both ends of a through hole which is pin-coupled to the support and the article carrying platform.
  2. 청구항 1에 있어서, 상기 연결로드는,The method according to claim 1, The connecting rod,
    상기 물품운반대의 양단에 형성된 결합홀에 대응되도록 상기 연결로드의 일단에 형성된 관통구를 장착하고, 상기 관통구와 상기 결합홀에 결합핀을 관통시켜 상기 연결로드가 상기 무인자동운반대차의 움직임에 따라 회동가능하게 핀연결되는 것을 특징으로 하는 핀연결 무인자동운반대차.A through hole formed at one end of the connection rod is mounted to correspond to a coupling hole formed at both ends of the article carrier, and through the coupling pin through the through hole and the coupling hole, the connection rod moves according to the unmanned automatic transport cart. Pin connection unmanned automatic transport truck, it characterized in that the pin is rotatably connected.
  3. 청구항 1에 있어서, 상기 물품운반대는,The method of claim 1, wherein the article carrier
    양단의 상부면 일측이 물품이 안착되는 중앙부보다 높이 형성되어 있는 것을 특징으로 하는 핀연결 무인자동운반대차.One end of the upper surface of the both ends of the pin connection unmanned automatic transport truck, characterized in that formed higher than the center portion on which the goods are seated.
  4. 청구항 1에 있어서, 상기 물품운반대는,The method of claim 1, wherein the article carrier
    지면에 접촉되어 회전운동하는 바퀴가 하부에 구비되고, 상기 물품운반부에 안착되는 물품의 종류 및 크기에 따라 교체가 용이한 것을 특징으로 하는 핀연결 무인자동운반대차.A pin-connected unmanned automatic transport truck, characterized in that the wheel which is in contact with the ground to rotate in the lower portion is provided, the replacement is easy according to the type and size of the article seated on the article carrying part.
  5. 청구항 1에 있어서, 상기 조향장치는,The method according to claim 1, wherein the steering device,
    전방바퀴와 후방바퀴의 일측에 각각 결합 되어 상기 전후방무인자동운반대차를 독립적으로 조정하여 곡선 운행하는 경우에 운행괘적을 최소화하는 것을 특징으로 하는 핀연결 무인자동운반대차.A pin-connected unmanned automatic transport vehicle, which is coupled to one side of the front wheel and the rear wheel, respectively, to minimize the driving trajectory in the case of curved driving by independently adjusting the front and rear unmanned automatic transport truck.
PCT/KR2011/008279 2010-11-24 2011-11-02 Pin-joint automatic guided vehicle WO2012070780A2 (en)

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KR20090010697A (en) * 2007-07-24 2009-01-30 성균관대학교산학협력단 Robot for internal inspection of pipeline
KR100865515B1 (en) * 2008-03-31 2008-10-27 박기동 4 wheel steering apparatus for passenger car of trackless tram

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Publication number Priority date Publication date Assignee Title
EP2687403A3 (en) * 2012-07-19 2018-04-11 Hubtex Maschinenbau GmbH & Co. Kg Transport system for long loads

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WO2012070780A3 (en) 2012-07-19

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