WO2014092284A1 - Véhicule guidé automatisé comprenant un double tablier porte-fourche latéral - Google Patents

Véhicule guidé automatisé comprenant un double tablier porte-fourche latéral 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
Authority
WO
WIPO (PCT)
Prior art keywords
carriage
movable
fork carriage
driving
unmanned vehicle
Prior art date
Application number
PCT/KR2013/006940
Other languages
English (en)
Korean (ko)
Inventor
김성신
김정민
정경훈
정은국
배선일
Original Assignee
(주)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 (주)아티스 filed Critical (주)아티스
Publication of WO2014092284A1 publication Critical patent/WO2014092284A1/fr

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Classifications

    • 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)
  • Warehouses Or Storage Devices (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

La présente invention concerne un véhicule guidé automatisé comprenant un double tablier porte-fourche latéral comprenant : un moyen d'entraînement doté d'une partie comprenant des composants électroniques ; un moyen de guidage qui est installé au niveau d'une position prédéterminée sur un côté du moyen d'entraînement et qui guide l'entraînement du moyen d'entraînement ; et des premier et second moyens de transport installés sur la surface supérieure du moyen d'entraînement de manière à monter, descendre et coulisser indépendamment.
PCT/KR2013/006940 2012-12-12 2013-08-01 Véhicule guidé automatisé comprenant un double tablier porte-fourche latéral WO2014092284A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2012-0144891 2012-12-12
KR1020120144891A KR20140076410A (ko) 2012-12-12 2012-12-12 측면 이중 포크 캐리지형 무인운반차

Publications (1)

Publication Number Publication Date
WO2014092284A1 true WO2014092284A1 (fr) 2014-06-19

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ID=50934547

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Application Number Title Priority Date Filing Date
PCT/KR2013/006940 WO2014092284A1 (fr) 2012-12-12 2013-08-01 Véhicule guidé automatisé comprenant un double tablier porte-fourche latéral

Country Status (2)

Country Link
KR (1) KR20140076410A (fr)
WO (1) WO2014092284A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109665466A (zh) * 2019-01-31 2019-04-23 沈阳清林机械有限公司 分解组装车钩用叉车双叉机构
WO2020199431A1 (fr) * 2019-03-29 2020-10-08 上海快仓智能科技有限公司 Véhicule guidé automatisé
CN112455987A (zh) * 2020-11-26 2021-03-09 无锡市和仕顿金属制品有限公司 一种仓库货架用自动堆垛机
IT202100005855A1 (it) * 2021-03-12 2022-09-12 Sacmi Tech S P A Veicolo a guida automatica per attraversare un varco presidiato, metodo e sistema

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113979372B (zh) * 2021-12-07 2022-10-04 江南大学 一种装卸方法及潜伏agv、复合四脚托盘和叉车agv

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07315794A (ja) * 1994-05-24 1995-12-05 Nippon Yusoki Co Ltd フォークリフトトラックの旋回・水平移動制御装置
JPH08301596A (ja) * 1995-05-01 1996-11-19 Lion Corp 無人フォークリフトによる指定物の搬出方法および無人フォークリフト
JP2004307170A (ja) * 2003-04-09 2004-11-04 Toyota Industries Corp 無人フォークリフト
US7422410B1 (en) * 2004-12-15 2008-09-09 Wagner Robert J Lift attachment for use with a three-point hitch of a tractor
JP2012020846A (ja) * 2010-07-15 2012-02-02 Murata Machinery Ltd スタッカクレーン

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07315794A (ja) * 1994-05-24 1995-12-05 Nippon Yusoki Co Ltd フォークリフトトラックの旋回・水平移動制御装置
JPH08301596A (ja) * 1995-05-01 1996-11-19 Lion Corp 無人フォークリフトによる指定物の搬出方法および無人フォークリフト
JP2004307170A (ja) * 2003-04-09 2004-11-04 Toyota Industries Corp 無人フォークリフト
US7422410B1 (en) * 2004-12-15 2008-09-09 Wagner Robert J Lift attachment for use with a three-point hitch of a tractor
JP2012020846A (ja) * 2010-07-15 2012-02-02 Murata Machinery Ltd スタッカクレーン

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109665466A (zh) * 2019-01-31 2019-04-23 沈阳清林机械有限公司 分解组装车钩用叉车双叉机构
WO2020199431A1 (fr) * 2019-03-29 2020-10-08 上海快仓智能科技有限公司 Véhicule guidé automatisé
CN112455987A (zh) * 2020-11-26 2021-03-09 无锡市和仕顿金属制品有限公司 一种仓库货架用自动堆垛机
IT202100005855A1 (it) * 2021-03-12 2022-09-12 Sacmi Tech S P A Veicolo a guida automatica per attraversare un varco presidiato, metodo e sistema
WO2022190002A1 (fr) * 2021-03-12 2022-09-15 Sacmi Tech S.P.A. Véhicule autoguidé pour traverser une ouverture protégée, procédé et système

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Publication number Publication date
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