WO2014092284A1 - Automated guided vehicle having side double fork carriage - Google Patents

Automated guided vehicle having side double fork carriage Download PDF

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Publication number
WO2014092284A1
WO2014092284A1 PCT/KR2013/006940 KR2013006940W WO2014092284A1 WO 2014092284 A1 WO2014092284 A1 WO 2014092284A1 KR 2013006940 W KR2013006940 W KR 2013006940W WO 2014092284 A1 WO2014092284 A1 WO 2014092284A1
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WIPO (PCT)
Prior art keywords
carriage
movable
fork carriage
driving
unmanned vehicle
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PCT/KR2013/006940
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French (fr)
Korean (ko)
Inventor
김성신
김정민
정경훈
정은국
배선일
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(주)아티스
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Publication of WO2014092284A1 publication Critical patent/WO2014092284A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/08—Masts; Guides; Chains
    • B66F9/085—Multiple forks, i.e. more than one pair mounted on a single mast or with more than one mast
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/08—Masts; Guides; Chains
    • B66F9/10—Masts; Guides; Chains movable in a horizontal direction relative to truck

Definitions

  • the present invention relates to a side double fork carriage type unmanned vehicle, more specifically, it is possible to run effectively in a production site or a warehouse having a narrow running space, and at the same time to perform the unloading work efficiency and productivity A side dual fork carriage type unmanned vehicle that can be improved.
  • the fork-type carriage is coupled to one side of the unmanned transport vehicle, so it is difficult to travel in a narrow space because the running rotation radius of the unmanned transport vehicle is large.
  • the conventional unmanned transportation vehicle is equipped with a single fork-type carriage, which can be operated only from the from-to method, so that the mileage is very long depending on the size of the work space, and the work is inefficient due to high battery consumption. There is this.
  • an object of the present invention is to provide a side double fork carriage type unmanned vehicle that can be effectively driven even in a narrow space because the carriage is attached to the upper surface of the unmanned vehicle. .
  • An object of the present invention is to provide a carriage type unmanned vehicle.
  • the driving means having a full length
  • the guide means is installed at a predetermined position on one side of the driving means to guide the driving means and It provides a side double fork carriage-type unmanned vehicle, including; the first and second carriage means installed on the upper surface of the driving means to move up and down independently.
  • the first and second carriage means is characterized in that the upper surface of the traveling means comprises a movable member that is slidably movable along the width direction of the traveling means, and the elevating member is provided to be movable up and down on the movable member do.
  • the moving member may include a rail provided on the upper surface of the driving means at a predetermined interval, a moving plate provided to be slidably movable on the rail, a driving motor provided on the moving plate, and spaced apart from the rail at a predetermined interval. It characterized in that it comprises a screw installed on the upper surface of the traveling means to be rotatable by a motor.
  • the elevating member is characterized in that it comprises a mast installed on the upper surface of the movable plate, a carriage coupled to the mast so as to be movable, and a pair of forks installed on the carriage.
  • the induction means is characterized in that it is composed of a reflection plate provided on the path that the driving means travel, and a laser sensor installed in the driving means to recognize the reflection plate.
  • the carriage is attached to the upper surface of the unmanned vehicle, there is an effect that can be effectively running in a narrow space.
  • the cost can be reduced because there is no need to operate a large number of unmanned vehicles in one space, and the operation is simplified to reduce system errors and to prevent deadlocks of unmanned vehicles. .
  • FIG. 1 is a view schematically showing a side dual fork carriage type unmanned transport vehicle according to an embodiment of the present invention.
  • Figure 2 is a front view of the side double fork carriage type unmanned vehicle according to an embodiment of the present invention.
  • Figure 3 is a plan view of a side double fork carriage type unmanned vehicle according to an embodiment of the present invention.
  • Figure 4 is a rear view of the side double fork carriage type unmanned vehicle according to an embodiment of the present invention.
  • control unit 116a control unit
  • FIG. 1 is a view schematically showing a side double fork carriage type unmanned transport vehicle according to an embodiment of the present invention
  • Figure 2 is a front view of a side double fork carriage type unmanned transport vehicle according to an embodiment of the present invention
  • Figure 3 is a plan view of a side double fork carriage type unmanned vehicle according to an embodiment of the present invention
  • Figure 4 is a rear view of a side double fork carriage type unmanned transport vehicle according to an embodiment of the present invention.
  • the side dual fork carriage type unmanned vehicle 100 includes a traveling means 110, an induction means 120, first and second carriage means 130. , 160).
  • the driving means 110 is composed of a rectangular body portion 112 and a plurality of driving wheels 114 installed on the lower portion of the body portion 112, the driving wheel 114 and the following on the upper portion of the body portion 112
  • An electrical equipment 116 is provided with a control unit 116a for controlling the operation of the induction means 120 and the first and second carriage means 130 and 160.
  • the traveling means 110 is preferably provided with a collision preventing means 118 to prevent the collision of the traveling means 110, the collision preventing means 118 is the body portion 112 of the traveling means 110 And a proximity sensor 118b installed along one side of the bumper 118a along the longitudinal direction.
  • the proximity sensor 118b checks whether there is an obstacle on the travel path of the travel means 110, and sends a signal to the controller 116a when the obstacle exists on the travel path to stop the travel of the travel means 110. Let it stop
  • the induction means 120 is installed at a predetermined position on one side of the driving means 110 to induce driving of the driving means 110.
  • the induction means 120 includes a reflection plate 122 installed on a path on which the driving means 110 travels, and a laser sensor 124 installed on the driving means 110 to recognize the reflection plate 122. That is, the laser beam emitted from the laser sensor 124 is received by the reflecting plate 122 to receive the driving means 110 to travel along a predetermined path.
  • the induction means 120 includes the laser sensor 124 and the reflection plate 122 has been described.
  • a magnetic induction line (not shown) is formed on the travel path of the driving means 110. It is also possible to install a magnetic sensor (not shown) in the traveling means 110 to induce travel of the traveling means 110.
  • the first and second carriage means (130, 160) is installed on the upper surface of the driving means 110 to independently move up and down and slide.
  • first and second carriage means 130 and 160 may load or unload two or more pallets 192 on the shelf 190 installed on the travel path of the driving means 110.
  • the first and second carriage means 130 and 160 are movable members 140 and 170 installed on the upper surface of the traveling means 110 so as to be slidable along the width direction of the traveling means 110, and the movable member. It consists of lifting members (150, 180) installed to be able to lift and lower (140, 170).
  • the moving members 140 and 170 may include rails 142 and 172 installed on the upper surface of the traveling means 110 at regular intervals, and movable plates 144 and 174 installed to be slidably movable on the rails 142 and 172.
  • the upper portion of the driving means 110 is rotatable by the driving motors 146 and 176 provided at the moving plates 144 and 174 and spaced apart from the rails 142 and 172 by a predetermined distance. It comprises a screw (148, 178) installed on the surface.
  • the elevating members 150 and 180 may include masts 152 and 182 installed on the upper surfaces of the movable plates 144 and 174, and carriages 154 and 184 coupled to the masts 152 and 182 so as to be movable. And a pair of forks 156 and 188 installed on the carriages 154 and 184.
  • the carriages 154 and 184 are raised and lowered along the height direction of the masts 152 and 182 by the rotation shafts 153 and 183 installed in the masts 152 and 182 along the height direction, and the rotation shafts 153 and 183. Is driven by motors 155, 185 installed on top of masts 152, 182.
  • the side dual fork carriage type unmanned vehicle according to the embodiment of the present invention is loaded on the shelf 190 or unloaded from the shelf 190 by the first and second carriage means 130 and 160. Since it is possible to have several at a time, it is possible to digest a lot of work, and because it does not need to operate a number of unmanned vehicles, there is an effect that can reduce the cost and effort involved.
  • first and second carriage means (130, 160) is installed on the upper portion of the traveling means 110 can minimize the size of the unmanned transport vehicle can be efficiently operated in a narrow work space.
  • the present invention relates to a side double fork carriage type unmanned vehicle, more specifically, it is possible to run effectively in a production site or a warehouse having a narrow running space, and at the same time to perform the unloading work efficiency and productivity It is used for side double fork carriage type driverless vehicles.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

The present invention relates to an automated guided vehicle having a side double fork carriage, comprising: a driving means provided with a part having electronic components; a guiding means which is installed at a predetermined position on one side of the driving means and guides the driving of the driving means; and first and second carriage means installed on the top surface of the driving means so as to independently ascend, descend, and slide.

Description

측면 이중 포크 캐리지형 무인운반차Side dual fork carriage type unmanned vehicle
본 발명은 측면 이중 포크 캐리지형 무인운반차에 관한 것으로, 보다 구체적으로 설명하면, 협소한 주행공간을 가진 생산현장 또는 물류창고에서 효과적인 주행이 가능하며, 하역 작업을 동시에 수행하여 작업효율과 생산성을 향상시킬 수 있는 측면 이중 포크 캐리지형 무인운반차에 관한 것이다.The present invention relates to a side double fork carriage type unmanned vehicle, more specifically, it is possible to run effectively in a production site or a warehouse having a narrow running space, and at the same time to perform the unloading work efficiency and productivity A side dual fork carriage type unmanned vehicle that can be improved.
대부분의 생산현장이나 물류창고에서는 취급물품을 효율적으로 보관하기 위해 팔레트(pallet) 단위의 선반(rack)을 이용한다.Most production sites and warehouses use pallets in order to store goods efficiently.
선반(rack)의 설치는 최대한의 공간 활용을 위해 선반과 선반 사이의 거리를 최소한으로 하는데, 이는 보톨 취급물품의 무게에 따른 지게차 한 대가 작업할 수 있는 크기로 정해진다.The installation of racks minimizes the distance between the shelves for maximum space utilization, which is sized for one forklift to work with the weight of the handled goods.
종래의 포크형 캐리지 운반차는 포크형 캐리지가 무인운반차의 일측에 결합되어 있어 무인운반차의 주행 회전반경이 컸기 때문에 협소한 공간에서는 주행이 어려웠다.In the conventional fork-type carriage transport vehicle, the fork-type carriage is coupled to one side of the unmanned transport vehicle, so it is difficult to travel in a narrow space because the running rotation radius of the unmanned transport vehicle is large.
또한, 대부분의 생산현장이나 물류창고에서는 취급물품의 효율적인 관리를 위해 물품을 하나의 선반에 순차적으로 적재하고 다른 선반에서 하역 작업을 동시에 수행하는 경우가 많기 때문에 효율적인 물품의 적재와 하역을 위해서는 한 공간에서 여러 대의 무인운반차를 이용해야 했다.In addition, in most production sites or warehouses, items are sequentially loaded on one shelf and unloaded on other shelves for efficient management of the goods. Had to use several unmanned vehicles.
그러나, 한 공간에서 다수의 무인운반차를 이용하기 위해서는 넓은 주행공간과 트래픽 제어, 충돌회피, 고급 주행제어, 복잡한 스케쥴링 등의 많은 기술적 요소의 적절한 조화가 필요하기 때문에 시스템의 오류가 자주 발생되고, 비용이 비싼 문제점이 발생된다.However, in order to use a large number of unmanned vehicles in a space, system errors frequently occur because a wide range of driving spaces, proper control of many technical elements such as traffic control, collision avoidance, advanced driving control, and complex scheduling are required. Costly problems arise.
또한, 대부분의 선반의 폭은 두 개의 팔레트를 적재할 수 있도록 제작되어 있기 때문에 무인운반차 또는 수동지게차가 한 공간에서 작업을 할 경우 교착상태(Deadlock)가 자주 발생되는 문제점이 있다.In addition, since the width of most shelves is manufactured to load two pallets, there is a problem in that deadlocks are frequently generated when an unmanned transportation truck or a manual forklift truck works in one space.
아울러, 종래의 무인운반차는 하나의 포크형 캐리지를 구비하고 있어 From-To 방식으로만 운용이 될 수 있어 작업 공간의 크기에 따라 주행거리가 매우 길어지고, 배터리의 소모가 높아서 작업이 비효율적인 문제점이 있다.In addition, the conventional unmanned transportation vehicle is equipped with a single fork-type carriage, which can be operated only from the from-to method, so that the mileage is very long depending on the size of the work space, and the work is inefficient due to high battery consumption. There is this.
따라서, 본 발명은 전술한 문제점을 해결하고자 하는 것으로, 캐리지가 무인운반차의 상부면에 부착되어 있어 협소한 공간에서도 효과적으로 주행할 수 있는 측면 이중 포크 캐리지형 무인운반차를 제공하는 것을 목적으로 한다.Accordingly, an object of the present invention is to provide a side double fork carriage type unmanned vehicle that can be effectively driven even in a narrow space because the carriage is attached to the upper surface of the unmanned vehicle. .
또한, 한 공간에 다수의 무인운반차를 운행하지 않아도 되기 때문에 비용을 감소할 수 있으며, 운영이 단순화되어 시스템 오류를 감소시키고, 무인운반차의 교착상태가 발생되는 것을 방지할 수 있는 측면 이중 포크 캐리지형 무인운반차를 제공하는 것을 목적으로 한다.In addition, the cost can be reduced because there is no need to operate multiple unmanned vehicles in one space, and the operation is simplified, the side double fork can reduce the system error and prevent the deadlock of unmanned vehicles. An object of the present invention is to provide a carriage type unmanned vehicle.
상기 및 기타 본 발명의 목적을 달성하기 위하여, 본 발명의 실시예에 따르면, 전장부를 구비하는 주행수단과, 상기 주행수단의 일측면 소정 위치에 설치되어 상기 주행수단의 주행을 유도하는 유도수단 및 상기 주행수단의 상부면에 독립적으로 승하강 및 슬라이드 이동 가능하게 설치된 제1 및 제2 캐리지수단;을 포함하여 구성되는 측면 이중 포크 캐리지형 무인운반차를 제공한다.In order to achieve the above and other objects of the present invention, according to an embodiment of the present invention, the driving means having a full length, and the guide means is installed at a predetermined position on one side of the driving means to guide the driving means and It provides a side double fork carriage-type unmanned vehicle, including; the first and second carriage means installed on the upper surface of the driving means to move up and down independently.
상기 제1 및 제2 캐리지수단은 상기 주행수단의 상부면에 상기 주행수단의 폭 방향을 따라 슬라이드 이동 가능하게 설치된 이동부재와, 상기 이동부재에 승하강 가능하게 설치된 승하강부재로 이루어지는 것을 특징으로 한다.The first and second carriage means is characterized in that the upper surface of the traveling means comprises a movable member that is slidably movable along the width direction of the traveling means, and the elevating member is provided to be movable up and down on the movable member do.
상기 이동부재는 상기 주행수단의 상부면에 일정 간격 이격되게 설치된 레일과, 상기 레일에 슬라이드 이동가능하게 설치된 이동플레이트와, 상기 이동플레이트에 구비된 구동모터와, 상기 레일로부터 소정 간격 이격되어 상기 구동모터에 의해 회전 가능하도록 상기 주행수단의 상부면에 설치된 스크류를 포함하여 구성되는 것을 특징으로 한다.The moving member may include a rail provided on the upper surface of the driving means at a predetermined interval, a moving plate provided to be slidably movable on the rail, a driving motor provided on the moving plate, and spaced apart from the rail at a predetermined interval. It characterized in that it comprises a screw installed on the upper surface of the traveling means to be rotatable by a motor.
상기 승하강부재는 상기 이동플레이트의 상부면에 설치되는 마스트와, 상기 마스트에 상하이동 가능하게 결합되는 캐리지와, 상기 캐리지에 설치되는 한 쌍의 포크를 포함하여 구성되는 것을 특징으로 한다.The elevating member is characterized in that it comprises a mast installed on the upper surface of the movable plate, a carriage coupled to the mast so as to be movable, and a pair of forks installed on the carriage.
상기 유도수단은 상기 주행수단이 주행하는 경로상에 설치된 반사판과, 상기 주행수단에 설치되어 상기 반사판을 인식하는 레이저센서로 구성되는 것을 특징으로 한다.The induction means is characterized in that it is composed of a reflection plate provided on the path that the driving means travel, and a laser sensor installed in the driving means to recognize the reflection plate.
전술한 구성을 갖는 본 발명에 따르면, 캐리지가 무인운반차의 상부면에 부착되어 있어 협소한 공간에서도 효과적으로 주행할 수 있는 효과가 있다.According to the present invention having the above-described configuration, the carriage is attached to the upper surface of the unmanned vehicle, there is an effect that can be effectively running in a narrow space.
또한, 한 공간에 다수의 무인운반차를 운행하지 않아도 되기 때문에 비용을 감소할 수 있으며, 운영이 단순화되어 시스템 오류를 감소시키고, 무인운반차의 교착상태가 발생되는 것을 방지할 수 있는 효과가 있다.In addition, the cost can be reduced because there is no need to operate a large number of unmanned vehicles in one space, and the operation is simplified to reduce system errors and to prevent deadlocks of unmanned vehicles. .
도 1은 본 발명의 일실시예에 따른 측면 이중 포크 캐리지형 무인운반차를 개략적으로 도시하는 도면.1 is a view schematically showing a side dual fork carriage type unmanned transport vehicle according to an embodiment of the present invention.
도 2는 본 발명의 일실시예에 따른 측면 이중 포크 캐리지형 무인운반차의 정면도.Figure 2 is a front view of the side double fork carriage type unmanned vehicle according to an embodiment of the present invention.
도 3은 본 발명의 일실시예에 따른 측면 이중 포크 캐리지형 무인운반차의 평면도.Figure 3 is a plan view of a side double fork carriage type unmanned vehicle according to an embodiment of the present invention.
도 4는 본 발명의 일실시예에 따른 측면 이중 포크 캐리지형 무인운반차의 배면도.Figure 4 is a rear view of the side double fork carriage type unmanned vehicle according to an embodiment of the present invention.
* 도면의 주요 부분에 대한 부호의 설명 *Explanation of symbols on the main parts of the drawings
110: 주행수단110: driving means
112: 몸체부112: body
114: 구동바퀴114: drive wheel
116: 전장부116: battlefield
116a: 제어부116a: control unit
118: 충돌방지수단118: collision avoidance measures
118a: 범퍼118a: bumper
118b: 근접센서118b: proximity sensor
120: 유도수단120: guide means
122: 반사판122: reflector
124: 레이저센서124: laser sensor
130: 제1 캐리지수단130: first carriage means
140: 이동부재140: moving member
150: 승하강부재150: lifting member
160: 제2 캐리지수단160: second carriage means
170: 이동부재170: moving member
180: 승하강부재180: lifting member
190: 선반190: shelf
192: 팔레트192: pallet
이하, 본 발명의 바람직한 실시예를 첨부도면을 참조하여 보다 상세히 설명하기로 한다. 이 과정에서 도면에 도시된 선들의 두께나 구성요소의 크기 등은 설명의 명료성과 편의상 과장되게 도시되어 있을 수 있다.Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In this process, the thickness of the lines or the size of the components shown in the drawings may be exaggerated for clarity and convenience of description.
또한, 후술되는 용어들은 본 발명에서의 기능을 고려하여 정의된 용어들로서 이는 사용자, 운용자의 의도 또는 관례에 따라 달라질 수 있다. 그러므로, 이러한 용어들에 대한 정의는 본 명세서 전반에 걸친 내용을 토대로 하여 내려져야 할 것이다.In addition, terms to be described below are terms defined in consideration of functions in the present invention, which may vary according to the intention or convention of a user or an operator. Therefore, definitions of these terms should be made based on the contents throughout the specification.
도 1은 본 발명의 일실시예에 따른 측면 이중 포크 캐리지형 무인운반차를 개략적으로 도시하는 도면, 도 2는 본 발명의 일실시예에 따른 측면 이중 포크 캐리지형 무인운반차의 정면도, 도 3은 본 발명의 일실시예에 따른 측면 이중 포크 캐리지형 무인운반차의 평면도, 도 4는 본 발명의 일실시예에 따른 측면 이중 포크 캐리지형 무인운반차의 배면도이다.1 is a view schematically showing a side double fork carriage type unmanned transport vehicle according to an embodiment of the present invention, Figure 2 is a front view of a side double fork carriage type unmanned transport vehicle according to an embodiment of the present invention, Figure 3 is a plan view of a side double fork carriage type unmanned vehicle according to an embodiment of the present invention, Figure 4 is a rear view of a side double fork carriage type unmanned transport vehicle according to an embodiment of the present invention.
도 1 내지 도 4를 참조하면, 본 발명의 일실시예에 따른 측면 이중 포크 캐리지형 무인운반차(100)는 주행수단(110), 유도수단(120), 제1 및 제2 캐리지수단(130, 160)으로 구성된다.1 to 4, the side dual fork carriage type unmanned vehicle 100 according to an embodiment of the present invention includes a traveling means 110, an induction means 120, first and second carriage means 130. , 160).
주행수단(110)은 사각형상의 몸체부(112)와, 몸체부(112)의 하부에 설치된 복수개의 구동바퀴(114)로 구성되며, 몸체부(112)의 상부에는 구동바퀴(114)와 후술하는 유도수단(120) 및 제1 및 제2 캐리지수단(130, 160)의 작동을 제어하는 제어부(116a)가 구비된 전장부(116)가 설치된다. The driving means 110 is composed of a rectangular body portion 112 and a plurality of driving wheels 114 installed on the lower portion of the body portion 112, the driving wheel 114 and the following on the upper portion of the body portion 112 An electrical equipment 116 is provided with a control unit 116a for controlling the operation of the induction means 120 and the first and second carriage means 130 and 160.
또한, 주행수단(110)에는 주행수단(110)의 충돌을 방지하는 충돌방지수단(118)이 구비되는 것이 바람직한데, 이 충돌방지수단(118)은 주행수단(110)의 몸체부(112)에 설치되는 범퍼(118a)와, 범퍼(118a)의 일측면에 길이방향을 따라 설치되는 근접센서(118b)로 이루어진다.In addition, the traveling means 110 is preferably provided with a collision preventing means 118 to prevent the collision of the traveling means 110, the collision preventing means 118 is the body portion 112 of the traveling means 110 And a proximity sensor 118b installed along one side of the bumper 118a along the longitudinal direction.
여기서, 근접센서(118b)는 주행수단(110)의 주행 경로 상에 장애물이 존재 유무를 확인하여, 주행 경로 상에 장애물이 존재할 경우 제어부(116a)에 신호를 보내 주행수단(110)의 주행이 정지되도록 한다.Here, the proximity sensor 118b checks whether there is an obstacle on the travel path of the travel means 110, and sends a signal to the controller 116a when the obstacle exists on the travel path to stop the travel of the travel means 110. Let it stop
유도수단(120)은 주행수단(110)의 일측면 소정 위치에 설치되어 주행수단(110)의 주행을 유도한다.The induction means 120 is installed at a predetermined position on one side of the driving means 110 to induce driving of the driving means 110.
이러한, 유도수단(120)은 주행수단(110)이 주행하는 경로 상에 설치된 반사판(122)과, 주행수단(110)에 설치되어 반사판(122)을 인식하는 레이저센서(124)로 구성된다. 즉, 레이저센서(124)에서 조사되는 레이저가 반사판(122)에 의해 반사되는 것을 수신하여 주행수단(110)이 정해진 경로를 따라 주행되도록 한다.The induction means 120 includes a reflection plate 122 installed on a path on which the driving means 110 travels, and a laser sensor 124 installed on the driving means 110 to recognize the reflection plate 122. That is, the laser beam emitted from the laser sensor 124 is received by the reflecting plate 122 to receive the driving means 110 to travel along a predetermined path.
아울러, 본 발명의 일실시예에서는 유도수단(120)이 레이저센서(124)와 반사판(122)으로 구성된 것에 대해서만 설명하였지만, 주행수단(110)의 주행 경로 상에 자기유도선(미도시)을 설치하고 주행수단(110)에 자기센서(미도시)를 설치하여 주행수단(110)의 주행을 유도하는 것도 가능하다.In addition, in the exemplary embodiment of the present invention, only the induction means 120 includes the laser sensor 124 and the reflection plate 122 has been described. However, a magnetic induction line (not shown) is formed on the travel path of the driving means 110. It is also possible to install a magnetic sensor (not shown) in the traveling means 110 to induce travel of the traveling means 110.
제1 및 제2 캐리지수단(130, 160)은 주행수단(110)의 상부면에 독립적으로 승하강 및 슬라이드 이동가능하게 설치된다.The first and second carriage means (130, 160) is installed on the upper surface of the driving means 110 to independently move up and down and slide.
즉, 제1 및 제2 캐리지수단(130, 160)은 주행수단(110)의 주행 경로 상에 설치된 선반(190)에 두 개 이상의 팔레트(192)를 적재 또는 하역할 수 있다.That is, the first and second carriage means 130 and 160 may load or unload two or more pallets 192 on the shelf 190 installed on the travel path of the driving means 110.
이러한, 제1 및 제2 캐리지수단(130, 160)은 주행수단(110)의 상부면에 주행수단(110)의 폭 방향을 따라 슬라이드 이동 가능하게 설치된 이동부재(140, 170)와, 이동부재(140, 170)에 승하강 가능하게 설치된 승하강부재(150, 180)로 이루어진다.The first and second carriage means 130 and 160 are movable members 140 and 170 installed on the upper surface of the traveling means 110 so as to be slidable along the width direction of the traveling means 110, and the movable member. It consists of lifting members (150, 180) installed to be able to lift and lower (140, 170).
이동부재(140, 170)는 주행수단(110)의 상부면에 일정 간격 이격되게 설치된 레일(142, 172)과, 레일(142, 172)에 슬라이드 이동가능하게 설치된 이동플레이트(144, 174)와, 이동플레이트(144, 174)에 구비된 구동모터(146, 176)와, 레일(142, 172)로부터 소정 간격 이격되어 구동모터(146, 176)에 의해 회전 가능하도록 주행수단(110)의 상부면에 설치된 스크류(148, 178)를 포함하여 구성된다.The moving members 140 and 170 may include rails 142 and 172 installed on the upper surface of the traveling means 110 at regular intervals, and movable plates 144 and 174 installed to be slidably movable on the rails 142 and 172. The upper portion of the driving means 110 is rotatable by the driving motors 146 and 176 provided at the moving plates 144 and 174 and spaced apart from the rails 142 and 172 by a predetermined distance. It comprises a screw (148, 178) installed on the surface.
승하강부재(150, 180)는 이동플레이트(144, 174)의 상부면에 설치되는 마스트(152, 182)와, 마스트(152, 182)에 상하이동 가능하게 결합되는 캐리지(154, 184)와, 캐리지(154, 184)에 설치된 한 쌍의 포크(156, 188)를 포함하여 구성된다.The elevating members 150 and 180 may include masts 152 and 182 installed on the upper surfaces of the movable plates 144 and 174, and carriages 154 and 184 coupled to the masts 152 and 182 so as to be movable. And a pair of forks 156 and 188 installed on the carriages 154 and 184.
여기서, 캐리지(154, 184)는 마스트(152, 182)에 높이 방향을 따라 설치된 회전축(153, 183)에 의해 마스트(152, 182)의 높이 방향을 따라 승하강되며, 회전축(153, 183)은 마스트(152, 182)의 상부에 설치된 모터(155, 185)에 의해 구동된다.Here, the carriages 154 and 184 are raised and lowered along the height direction of the masts 152 and 182 by the rotation shafts 153 and 183 installed in the masts 152 and 182 along the height direction, and the rotation shafts 153 and 183. Is driven by motors 155, 185 installed on top of masts 152, 182.
따라서, 본 발명의 일실시예에 따른 측면 이중 포크 캐리지형 무인운반차는 제1 및 제2 캐리지수단(130, 160)에 의해 선반(190)에 적재되거나 선반(190)으로부터 하역되는 팔레트(192)를 한 번에 여러개가 가능하기 때문에 많은 작업략을 소화할 수 있으며, 다수의 무인운반차를 운행하지 않아도 되기 때문에 그에 수반되는 비용 및 노력을 줄일 수 있는 효과가 있다.Accordingly, the side dual fork carriage type unmanned vehicle according to the embodiment of the present invention is loaded on the shelf 190 or unloaded from the shelf 190 by the first and second carriage means 130 and 160. Since it is possible to have several at a time, it is possible to digest a lot of work, and because it does not need to operate a number of unmanned vehicles, there is an effect that can reduce the cost and effort involved.
또한, 제1 및 제2 캐리지수단(130, 160)이 주행수단(110)의 상부에 설치되어 있기 때문에 무인운반차의 크기를 최소화할 수 있어 협소한 작업공간에서도 효율적으로 운영이 가능하다.In addition, since the first and second carriage means (130, 160) is installed on the upper portion of the traveling means 110 can minimize the size of the unmanned transport vehicle can be efficiently operated in a narrow work space.
이와 더불어, 협소한 작업공간에서의 주행이 가능함으로 적은 공간에 많은 선반(190)을 설치할 수 있게 되어 보관 비용이 저렴해지고, 효과적으로 공간을 활용할 수 있다.In addition, since it is possible to travel in a narrow work space, it is possible to install a large number of shelves 190 in a small space, the storage cost is low, it is possible to effectively utilize the space.
이상 본 발명의 바람직한 실시예를 첨부도면을 참조하여 설명하였지만, 당해 기술 분야에 숙련된 사람은 하기의 특허청구범위에 기재된 본 발명의 기술적 사상으로부터 벗어나지 않는 범위 내에서 본 발명을 다양하게 수정 및 변경할 수 있음을 이해할 수 있을 것이다.Although preferred embodiments of the present invention have been described above with reference to the accompanying drawings, those skilled in the art may variously modify and change the present invention without departing from the spirit of the invention as set forth in the claims below. It will be appreciated.
본 발명은 측면 이중 포크 캐리지형 무인운반차에 관한 것으로, 보다 구체적으로 설명하면, 협소한 주행공간을 가진 생산현장 또는 물류창고에서 효과적인 주행이 가능하며, 하역 작업을 동시에 수행하여 작업효율과 생산성을 향상시킬 수 있는 측면 이중 포크 캐리지형 무인운반차에 사용된다.The present invention relates to a side double fork carriage type unmanned vehicle, more specifically, it is possible to run effectively in a production site or a warehouse having a narrow running space, and at the same time to perform the unloading work efficiency and productivity It is used for side double fork carriage type driverless vehicles.

Claims (5)

  1. 전장부를 구비하는 주행수단;A traveling means having a full length;
    상기 주행수단의 일측면 소정 위치에 설치되어 상기 주행수단의 주행을 유도하는 유도수단; 및Guide means installed at one side surface of the driving means to guide the driving means; And
    상기 주행수단의 상부면에 독립적으로 승하강 및 슬라이드 이동 가능하게 설치된 제1 및 제2 캐리지수단;을 포함하여 구성되는 측면 이중 포크 캐리지형 무인운반차.And a first and second carriage means installed on the upper surface of the traveling means independently to move up and down and slide.
  2. 청구항 1에 있어서, 상기 제1 및 제2 캐리지수단은,The method of claim 1, wherein the first and second carriage means,
    상기 주행수단의 상부면에 상기 주행수단의 폭 방향을 따라 슬라이드 이동 가능하게 설치된 이동부재와, 상기 이동부재에 승하강 가능하게 설치된 승하강부재로 이루어지는 것을 특징으로 하는 측면 이중 포크 캐리지형 무인운반차.The side double fork carriage type unmanned vehicle, characterized in that the moving member is provided on the upper surface of the driving means to be slidably movable along the width direction of the traveling means, and the elevating member is provided to be movable up and down on the movable member. .
  3. 청구항 2에 있어서, 상기 이동부재는,The method according to claim 2, The moving member,
    상기 주행수단의 상부면에 일정 간격 이격되게 설치된 레일과, 상기 레일에 슬라이드 이동가능하게 설치된 이동플레이트와, 상기 이동플레이트에 구비된 구동모터와, 상기 레일로부터 소정 간격 이격되어 상기 구동모터에 의해 회전 가능하도록 상기 주행수단의 상부면에 설치된 스크류를 포함하여 구성되는 것을 특징으로 하는 측면 이중 포크 캐리지형 무인운반차. A rail provided on the upper surface of the traveling means at a predetermined interval, a moving plate slidably movable on the rail, a driving motor provided on the moving plate, and a predetermined distance from the rail to be rotated by the driving motor Side unfolded fork carriage type unmanned vehicle, characterized in that it comprises a screw installed on the upper surface of the traveling means to enable.
  4. 청구항 2에 있어서, 상기 승하강부재는,The method of claim 2, wherein the elevating member,
    상기 이동플레이트의 상부면에 설치되는 마스트와, 상기 마스트에 상하이동 가능하게 결합되는 캐리지와, 상기 캐리지에 설치되는 한 쌍의 포크를 포함하여 구성되는 것을 특징으로 하는 측면 이중 포크 캐리지형 무인운반차.A side double fork carriage type unmanned vehicle comprising a mast installed on the upper surface of the movable plate, a carriage coupled to the mast so as to be movable, and a pair of forks installed on the carriage. .
  5. 청구항 1에 있어서, 상기 유도수단은,The method according to claim 1, wherein the inducing means,
    상기 주행수단이 주행하는 경로상에 설치된 반사판과, 상기 주행수단에 설치되어 상기 반사판을 인식하는 레이저센서로 구성되는 것을 특징으로 하는 측면 이중 포크 캐리지형 무인운반차.A side double fork carriage type unmanned vehicle, characterized in that it is composed of a reflection plate provided on the path traveled by the traveling means, and a laser sensor installed in the traveling means to recognize the reflecting plate.
PCT/KR2013/006940 2012-12-12 2013-08-01 Automated guided vehicle having side double fork carriage WO2014092284A1 (en)

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KR1020120144891A KR20140076410A (en) 2012-12-12 2012-12-12 Side Dual Fork Carriage TYype Automatic Guided Vehicle

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WO2020199431A1 (en) * 2019-03-29 2020-10-08 上海快仓智能科技有限公司 Automated guided vehicle
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IT202100005855A1 (en) * 2021-03-12 2022-09-12 Sacmi Tech S P A AUTOMATIC GUIDED VEHICLE FOR CROSSING A MANNED GAP, METHOD AND SYSTEM

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CN112455987A (en) * 2020-11-26 2021-03-09 无锡市和仕顿金属制品有限公司 Automatic stacker for warehouse goods shelves
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