WO2013032105A1 - Véhicule de transport automatique sans équipage actionné par un guide à roulement à bille couplé à un ressort - Google Patents

Véhicule de transport automatique sans équipage actionné par un guide à roulement à bille couplé à un ressort Download PDF

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Publication number
WO2013032105A1
WO2013032105A1 PCT/KR2012/003633 KR2012003633W WO2013032105A1 WO 2013032105 A1 WO2013032105 A1 WO 2013032105A1 KR 2012003633 W KR2012003633 W KR 2012003633W WO 2013032105 A1 WO2013032105 A1 WO 2013032105A1
Authority
WO
WIPO (PCT)
Prior art keywords
coupled
automatic transport
unmanned automatic
lower portion
ball guide
Prior art date
Application number
PCT/KR2012/003633
Other languages
English (en)
Korean (ko)
Inventor
배선일
Original Assignee
주식회사 아티스
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 주식회사 아티스 filed Critical 주식회사 아티스
Priority to CN201280041586.5A priority Critical patent/CN103764474A/zh
Publication of WO2013032105A1 publication Critical patent/WO2013032105A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B5/00—Elevated railway systems without suspended vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B13/00—Other railway systems
    • B61B13/04—Monorail systems
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
    • B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
    • B61F9/00—Rail vehicles characterised by means for preventing derailing, e.g. by use of guide wheels

Definitions

  • the present invention relates to an unmanned automatic transport trolley operating with a spring-loaded ball guide, and after installing one slide rail along an existing copper line for farming, the unmanned automatic transport trolley moves without departing from the slide rail and is a pesticide.
  • the present invention relates to an unmanned automatic transport truck that runs with a ball guide equipped with springs to make spraying, sowing, harvesting, and farming work more convenient.
  • the conventional unmanned automatic transport trolley is unmanned automatic transport because the sliding area of the unmanned automatic transport trolley is restricted to the sliding rails of both sides, such that the sliding of the unmanned automatic transport trolley is limited to linear reciprocating type as disclosed in Korean Patent Publication No. 10-2005-0001820.
  • Korean Patent Publication No. 10-2005-0001820 There is a problem that can only be applied to agricultural farming using a straight line to a certain width.
  • the unmanned automatic transport vehicle can not only slide uphill or downhill, but can move along the flat.
  • the agriculture using the unmanned automatic transport truck which is not limited to the sliding of the unmanned automatic transport truck, is applied to various types of farmland. It is an object of the present invention to provide an unmanned automatic transport truck that runs with a spring-loaded ball guide.
  • an object of the present invention to provide an unmanned automatic transport trolley which is operated by a spring-loaded ball guide that can be operated in a narrow space is formed by one sliding rail moving the unmanned automatic transport trolley.
  • the slide rail is formed as one and can be installed on a terrain other than flat bar, and the purpose of providing an unmanned automatic transport trolley operated by a spring-loaded ball ball guide that can slide on a terrain other than flat land along the slide rail. It is done.
  • an object of the present invention is to provide an unmanned automatic transport trolley that runs with a ball guide equipped with a spring that does not deviate from the slide rail even when the shape of the terrain is not constant.
  • the present invention is provided in the unmanned automatic transport truck that slides along the slide rail protruding from the center, the base plate; A pair of guide means installed to face the bottom surface of the base plate at a predetermined interval; Steering means installed at a predetermined position between the guide means; And a control means installed at one end of the base plate to control the unmanned automatic transport truck, wherein the lower portion of the guide means is operated by a spring-loaded ball guide, characterized in that an insertion groove is formed at the center to insert the slide rail.
  • the guide means is a rotary bearing rotatably coupled to the lower portion of the base plate, one end is coupled to the lower portion of the rotary bearing, the outer housing is formed with an opening at the other end, a part is inserted into the opening, the other end is sealed Installed inside the outer housing, the outer housing and the inner housing, one end is opened and the other end is coupled to the upper portion of the outer housing, one end is inserted into the outer circular tube, the other end is the lower portion of the inner housing
  • the inner circular tube to be coupled, the upper portion is coupled to the lower portion of the inner housing, the guide support is open the lower portion, and the insertion groove is smaller along the inclined surface toward the inner side from the outside of the center portion, both ends on both sides of the guide support
  • Running with a spring-loaded ball guide characterized in that it comprises a ball guide penetrated through the rotatably coupled hinge shaft It provides automatic unattended transport truck.
  • the upper portion of the outer circular pipe and the lower portion of the inner circular pipe provides an unmanned automatic transport trolley that operates with a spring-loaded ball guide, characterized in that the elastic member wraps around the outer side.
  • the steering means is a steering motor is installed on the support bar is coupled to the upper portion of the base plate at a predetermined interval, the drive shaft is coupled to the lower portion of the support bar, the upper side is coupled to the steering motor, both sides and the drive shaft and
  • a differential gear box is coupled to each other, and includes a steering wheel that is coupled to be rotatable at a predetermined position in a direction opposite to a predetermined distance, wherein the steering wheel is oriented according to the rotational speed of the differential gear box operated by the driving of the steering motor. It provides an unmanned automatic transport truck that operates with a spring-loaded ball guide, characterized in that it is adjusted.
  • the unmanned automatic transport trolley which is not limited to the sliding of the unmanned automatic transport trolley, by confining the sliding area of the unmanned automatic transport trolley to one slide rail, It can provide an unmanned automatic transport trolley that runs with a spring-loaded ball guide.
  • an unmanned automatic transport trolley which is operated by a spring-loaded ball guide that can be operated in a narrow space is formed by one sliding rail moving the unmanned automatic transport trolley.
  • the slide rail is formed as one and can be installed on a terrain other than the flat bar
  • the unmanned automatic transport truck can provide an unmanned automatic transport truck operated by a spring-loaded ball guide that can slide on the terrain outside the flat along the slide rail.
  • FIG. 1 is a plan view of an unmanned automatic transport truck that runs with a spring-loaded ball guide according to an embodiment of the present invention
  • Figure 2 is a side view of the unmanned automatic transport truck running with a spring-loaded ball guide according to an embodiment of the present invention
  • Figure 3 is a front view showing the guide means of the unmanned automatic transport truck running with the spring-loaded ball guide according to an embodiment of the present invention
  • Figure 4 is a front view showing the steering means of the unmanned automatic transport trolley operating with a spring-loaded ball guide according to an embodiment of the present invention.
  • base plate 200 guide means
  • rotating bearing 220 external housing
  • control means 500 elastic bumper
  • FIGS. 1 and 2 which show a plan view and a side view of an unmanned automatic transport cart operating with a spring-loaded ball guide
  • the present invention is installed on the ground and slides along a slide rail 20 protruding from the center thereof.
  • Base plate (100) A pair of guide means (200) installed on the bottom surface of the base plate (100) to face each other at a predetermined interval; Steering means (300) installed at a predetermined position between the guide means (200);
  • a control means 400 installed at one end of the base plate 100 to control the unmanned automatic transport truck 10, wherein a lower portion of the guide means 200 is inserted into the slide rail 20. Insertion grooves 281 are formed in the center.
  • the base plate 100 may be manufactured in a rectangular shape, and the base plate 100 may be equipped with a pesticide tank, a pesticide sprayer, a crop collecting box, and the like.
  • the guide means 200 is installed to face the bottom surface of the base plate 100 at a predetermined interval.
  • the guide means 200 is installed in front and rear in the longitudinal direction along the center line in the width direction of the base plate 100.
  • the guide means 200 is a rotary bearing 210 rotatably coupled to the lower portion of the base plate 100, one end is coupled to the lower portion of the rotary bearing 210, the other end opening 221 Is formed in the outer housing 220, a part is inserted into the opening 221, the other end is installed inside the sealed inner housing 230, the outer housing 220 and the inner housing 230, One end is opened and the other end is coupled to the outer circular tube 240, the upper end of the outer housing 220, one end is inserted into the outer circular tube 240, the other end is coupled to the lower portion of the inner housing 230
  • the inner circular tube 250, the upper portion is coupled to the lower portion of the inner housing 230, the guide support 270, the lower portion is open, and the insertion groove is reduced in diameter along the inclined surface toward the inner side from the center portion ( 281, both ends of which are rotatable on both sides of the guide support 270.
  • a ball guide 280 is coupled through a hinge shaft coupled to 271.
  • the rotary bearing 210 is rotatably coupled to the upper portion of the lower portion of the base plate 100.
  • the rotating bearing 210 is rotatably inserted into a fixed shaft (not shown) coupled to the base plate 100 and rotatable by screwing with the fixed shaft (not shown).
  • the outer housing 220 has an opening 221 formed at one end thereof, and the other end thereof is coupled to a lower portion of the rotary bearing 210.
  • the outer housing 220 is a cylinder formed with a space therein.
  • the inner housing 230 has one open end inserted into the opening 221 and the other closed end is coupled to a guide support 270 which will be described later.
  • the upper portion of the outer circular tube 240 is coupled to the lower portion of the rotary bearing 210, the elastic member 260 is coupled to the upper edge of the outer circular tube 240.
  • the lower portion of the outer circular tube 240 is open, the upper portion is closed.
  • the inner circular tube 250 has an open end inserted into the outer circular tube 240, and an elastic member 260 is coupled to a lower edge of the inner circular tube 250.
  • the outer circular tube 240 and the inner circular tube 250 are provided inside the outer housing 220 and the inner housing 230.
  • the guide support 270 is open at the bottom, the top is coupled to the lower portion of the inner housing 230. Hinge shafts 271 are coupled to both side surfaces of the guide support 270.
  • the ball guide 280 is coupled to the hinge shaft 271 is formed through the guide support 270 is formed.
  • the ball guide 280 has an insertion groove 281, the diameter of which decreases along the inclined surface toward the inner side from the outer side of the central portion.
  • the insertion groove 281 is inserted into the protruding center portion of the slide rail 20 in a shape corresponding to the shape of the slide rail 20 installed on the ground.
  • the steering means 300 is formed between the guide means 200, the upper portion is coupled to the lower portion of the base plate 100.
  • the steering means 300 includes a steering motor 310 installed at a support bar 320 having an upper portion coupled to a lower portion of the base plate 100, and the support bar (
  • the drive shaft 330 is coupled to the lower portion of the 320, the upper one side is coupled to the steering motor 310, both sides of the differential gear box 340 is coupled to the drive shaft 330, facing the predetermined interval
  • It includes a steering wheel 350 is inserted into the drive shaft 330 to be rotatable in a predetermined position, the steering wheel 350 of the differential gear box 340 is operated by the drive of the steering motor 310 It is characterized in that the direction is adjusted according to the number of revolutions.
  • the steering motor 310 is installed at a lower predetermined position of the base plate 100. That is, the support bar 320 is installed at a lower portion of the base plate 100 at a predetermined interval, and the steering motor 310 is coupled to one side of the support bar 320. The lower end of the support bar 320 is rotatably fixed to the drive shaft 330 is installed along the width direction of the base plate 100.
  • the differential gear box 340 has an upper gear coupled to the steering motor 310 and both sides are coupled to the drive shaft 330 to adjust the number of rotations of the drive shaft 330 as the steering motor 310 rotates. Adjust the direction of the unmanned automatic transport cart (10).
  • the steering wheel 350 is in contact with the ground to move the unmanned automatic transport vehicle 10 by the driving of the steering motor 310.
  • the steering wheel 350 is coupled to both ends of the drive shaft 330, respectively, and the direction of the steering wheel 350 is adjusted as the rotation speed of the drive shaft 330 is adjusted.
  • the control means 400 is installed at the front and rear of the base plate 100 to adjust the steering motor 310.
  • the unmanned automatic transport trolley 10 is coupled to the front and rear of the base plate 100, the elastic bumper 500 for absorbing external shocks.
  • the elastic bumper 500 absorbs external shock by using the links 510 and the spring 520 at both ends.
  • the ball guide 280 of the unmanned automatic transport trolley 10 corresponding to the shape of the slide rail 20 installed on the ground is in contact with the slide rail 20, and the steering wheel 350 for adjusting the direction fits on the ground.
  • the steering motor 310 is driven after the unmanned automatic transport cart 10 is seated to reach, the unmanned automatic transport cart 10 moves along the slide rail 20 according to the driving force of the steering motor 310.
  • the automatic gear rotated by the driving force of the steering motor 310 is controlled by adjusting the rotation speed of the driving shaft 330 connected to both sides, respectively.
  • the unmanned automatic transport trolley 10 is easily moved along the slide rail 20.
  • the unmanned automatic transport trolley 10 moves along the slide rails 20, when the ground is uneven, the height at which the steering wheel 350 is in contact with the ground is different, and the sliding rails 20 are in contact with each other. There is a possibility that the ball guide 280 is separated from the slide rail 20.
  • the guide means 200 When the ground is even, the guide means 200 has a state in which a part of the inner housing 230 is inserted into the outer housing 220, and the part of the outer circular tube 240 is inserted into the inner circular tube 250.
  • the unmanned automatic transport trolley 10 moves.
  • the guide means 200 is the elastic member coupled to the lower portion of the outer circular tube 240 and the upper portion of the inner circular tube 250 when the ground is uneven so that the height of contact with the ground of the steering wheel 350 is different.
  • the inner housing 230 is moved downward from the inside of the outer housing 220 by the restoring force of the 260, and the inner circular tube 250 moves downward from the inside of the outer circular tube 240
  • the ball guide 280 is prevented from being separated from the slide rail 20.
  • the unmanned automatic transport trolley 10 does not detach the ball guide 280 from the slide rail 20 while the height of the ball guide 280 is automatically changed according to the change of the ground. do.
  • the unmanned automatic transport truck 10 can be easily moved between the slide rail 20 and the slide rail 20 by driving the steering wheel 350 after raising the ball guide 280.
  • the unmanned automatic transport trolley 10 may easily move uphill or downhill by forming the ball guide 280 and the slide rail 20 into a gear shape that can be engaged with each other.
  • Unmanned automatic transport trolley 10 can be easily sprayed on the crops of the high place by using a sprinkler that is adjusted up and down by mounting the pesticide tank on the upper portion of the base plate (100). have.
  • the present invention relates to an unmanned automatic transport trolley operating with a spring-loaded ball guide, and after installing one slide rail along an existing copper line for farming, the unmanned automatic transport trolley moves without departing from the slide rail and is a pesticide. It can be used for unmanned automatic transport trolley operated by spring-loaded ball guide for more convenient spraying, sowing, harvesting and farming work.

Abstract

La présente invention concerne un véhicule de transport automatique sans équipage lequel véhicule est actionné par un guide à roulement à bille auquel est couplé un ressort. La présente invention concerne un véhicule de transport sans équipage actionné par un guide à roulement à bille couplé à un ressort et par rapport au véhicule de transport automatique sans équipage, lequel circule le long d'un rail de piste qui est installé sur une surface au sol et en saillie au centre, comprenant: une plaque de base, une paire de moyens de guidage qui sont installés sur une surface inférieure de la plaque de base de manière à se faire face avec une distance prédéterminée entre les deux moyens; un moyen de direction qui est installé sur une position prédéterminée entre le moyen de guidage et un moyen de commande qui est installé sur une extrémité de la plaque de base afin de commander le véhicule de transport automatique sans équipage, une portion inférieure des moyens de guidage étant pourvue d'une rainure d'insertion au centre de sorte que le rail de piste puisse être inséré à l'intérieur.
PCT/KR2012/003633 2011-09-01 2012-05-09 Véhicule de transport automatique sans équipage actionné par un guide à roulement à bille couplé à un ressort WO2013032105A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201280041586.5A CN103764474A (zh) 2011-09-01 2012-05-09 利用安装有弹簧的滚珠导轨来运行的无人自动搬运台车

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020110088733A KR101227160B1 (ko) 2011-09-01 2011-09-01 스프링이 장착된 볼가이드로 운행하는 무인자동운반대차
KR10-2011-0088733 2011-09-01

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WO2013032105A1 true WO2013032105A1 (fr) 2013-03-07

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PCT/KR2012/003633 WO2013032105A1 (fr) 2011-09-01 2012-05-09 Véhicule de transport automatique sans équipage actionné par un guide à roulement à bille couplé à un ressort

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KR (1) KR101227160B1 (fr)
CN (1) CN103764474A (fr)
WO (1) WO2013032105A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104401235A (zh) * 2014-12-03 2015-03-11 山东省农业机械科学研究院 用于设施农业的无线智能电动运输车平台
CN112477909A (zh) * 2020-12-10 2021-03-12 浙江鲸叹科技有限公司 一种拼接式无人驾驶汽车
CN113928347A (zh) * 2021-10-11 2022-01-14 北京天玛智控科技股份有限公司 机器人的滑动密封结构

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102277773B1 (ko) 2019-02-01 2021-07-15 주식회사 오모로봇 이동체 주행 제어 장치

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Publication number Priority date Publication date Assignee Title
JPH08294347A (ja) * 1995-04-27 1996-11-12 New Delta Ind Co 茶園用防除機
JPH11245805A (ja) * 1998-02-27 1999-09-14 Koei Sangyo Kk 単軌条運搬車用レール
KR200439510Y1 (ko) * 2006-10-25 2008-04-16 이동기 모노레일 바이크의 완충구조
JP2011522727A (ja) * 2008-05-09 2011-08-04 ソ リー，ジュン 耕作地用運搬機械及びそれを備えた運搬システム

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JP4213661B2 (ja) * 2004-12-24 2009-01-21 日本車輌製造株式会社 自動運転車両の逸脱防止システム
DE102005018529A1 (de) * 2005-04-20 2006-10-26 Bruno Walter Mobiles Transportsystem

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08294347A (ja) * 1995-04-27 1996-11-12 New Delta Ind Co 茶園用防除機
JPH11245805A (ja) * 1998-02-27 1999-09-14 Koei Sangyo Kk 単軌条運搬車用レール
KR200439510Y1 (ko) * 2006-10-25 2008-04-16 이동기 모노레일 바이크의 완충구조
JP2011522727A (ja) * 2008-05-09 2011-08-04 ソ リー，ジュン 耕作地用運搬機械及びそれを備えた運搬システム

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104401235A (zh) * 2014-12-03 2015-03-11 山东省农业机械科学研究院 用于设施农业的无线智能电动运输车平台
CN112477909A (zh) * 2020-12-10 2021-03-12 浙江鲸叹科技有限公司 一种拼接式无人驾驶汽车
CN112477909B (zh) * 2020-12-10 2022-04-12 浙江鲸叹科技有限公司 一种拼接式无人驾驶汽车
CN113928347A (zh) * 2021-10-11 2022-01-14 北京天玛智控科技股份有限公司 机器人的滑动密封结构

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CN103764474A (zh) 2014-04-30
KR101227160B1 (ko) 2013-01-28

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