WO2020096112A1 - Automated guided vehicle - Google Patents

Automated guided vehicle Download PDF

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Publication number
WO2020096112A1
WO2020096112A1 PCT/KR2018/014383 KR2018014383W WO2020096112A1 WO 2020096112 A1 WO2020096112 A1 WO 2020096112A1 KR 2018014383 W KR2018014383 W KR 2018014383W WO 2020096112 A1 WO2020096112 A1 WO 2020096112A1
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WO
WIPO (PCT)
Prior art keywords
frame
base frame
transport vehicle
front frame
unmanned transport
Prior art date
Application number
PCT/KR2018/014383
Other languages
French (fr)
Korean (ko)
Inventor
신인승
박정원
Original Assignee
에스아이에스 주식회사
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Application filed by 에스아이에스 주식회사 filed Critical 에스아이에스 주식회사
Publication of WO2020096112A1 publication Critical patent/WO2020096112A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • B62D61/12—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D59/00—Trailers with driven ground wheels or the like
    • B62D59/04—Trailers with driven ground wheels or the like driven from propulsion unit on trailer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C19/00—Bearings with rolling contact, for exclusively rotary movement
    • F16C19/22—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings
    • F16C19/34—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load
    • F16C19/36—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load with a single row of rollers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/10—Road Vehicles
    • B60Y2200/14—Trucks; Load vehicles, Busses
    • B60Y2200/145—Haulage vehicles, trailing trucks

Definitions

  • the present invention relates to an unmanned transport vehicle that moves along a driving route and carries cargo.
  • AGVs Automated Guided Vehicles
  • Such an unmanned transport vehicle includes a frame for loading an object, a motor installed at the bottom of the frame, a wheel driven by the motor, a sensor for detecting travel paths such as rails and guide lines, and a signal generated by the sensor. It includes a steering unit for adjusting the moving direction of the vehicle.
  • the above-described unmanned transport vehicle is an integral structure in which wheels are mounted on the front, rear, left, and right of the frame, and there is a problem in that the frame is inclined by an irregular bottom surface when driving in an uneven floor.
  • An object of the present invention is to provide an unmanned transport vehicle that allows the frame to maintain a balance by preventing tilting by an external force applied through the wheel by separating the frame on which the object is loaded from the frame on which the wheel is installed.
  • the present invention is to provide an unmanned transport vehicle that can improve the safety of workers by reducing the risk of collision, etc., which is convenient to use because the direction of movement can be adjusted even in a narrow space.
  • the rolling joint rotatably connects the front frame to the left and right with respect to the base frame, so that even if the front frame is inclined due to an irregular floor, the base frame is not affected and thus maintains a balance.
  • the front wheel drive includes first and second mecanum wheels installed on both sides of the front frame, and first and second electric motors respectively driving the first and second mecanum wheels.
  • the rear wheel drive is composed of third and fourth mecanum wheels installed on both sides of the rear frame, and third and fourth electric motors respectively driving the third and fourth mecanum wheels.
  • the unmanned transport vehicle may be rotated forward / backward / left / right.
  • the front frame can be rotated to the left and right relative to the base frame using a rolling joint, so that even if the front frame is inclined due to an irregular floor, the base frame is not affected and can maintain the balance. .
  • the present invention allows the front and rear wheels to be rotated in place by individually controlling the mecanum wheels provided in the front and rear wheel drives, so it is possible to adjust the movement direction even in a narrow space, which is convenient to use and risks of collision, etc. It can reduce the worker's safety.
  • FIG. 1 is a perspective view of an unmanned transport vehicle according to an embodiment of the present invention.
  • FIG. 3 is a plan view of an unmanned transport vehicle according to an embodiment of the present invention.
  • FIG. 4 is a cross-sectional view of a rolling joint in an unmanned transport vehicle according to an embodiment of the present invention.
  • FIG 5 is an enlarged view of a mecanum wheel in an unmanned transport vehicle according to an embodiment of the present invention.
  • FIG 6 is an operational state diagram of an unmanned transport vehicle according to an embodiment of the present invention.
  • FIG. 7 is a plan view of an unmanned transport vehicle according to another embodiment of the present invention.
  • the unmanned transport vehicle includes a frame 10 forming a vehicle body of an unmanned transport vehicle, a driving unit 20 for driving and steering the vehicle, It comprises a control unit 30 for guiding to move along the driving path.
  • the frame 10 includes a base frame 110 on which an object is loaded, a front frame 120 installed in front of the base frame 110, and a rear frame 130 installed in the rear of the base frame 110. It is composed. At this time, the front frame 120 and the rear frame 130 is provided with a driving unit 20 for driving and steering the vehicle.
  • the frame 10 of this embodiment is an equalizing structure in which the base frame 110 is separated from the front frame 120, and is a detachable frame structure that allows the base frame 110 to maintain an equilibrium without being affected by an external environment.
  • a rolling joint 140 is provided between the base frame 110 and the front frame 120.
  • the rolling joint 140 is provided between the base frame 110 and the front frame 120 to allow the front frame 120 to rotate left and right relative to the base frame 120. That is, the front frame 120 can be rotated left and right relative to the base frame 120 around the rolling joint 140.
  • the base frame 110 can maintain a balance (see FIG. 6).
  • the unmanned transport vehicle maintains the equilibrium state of the base frame 110 regardless of the inclination of the front frame 120 even when driving on an irregular floor of the work place, so there is no fear of damage or damage to the load and the load is dropped. Due to this, it is possible to prevent safety accidents such as injuries to nearby workers.
  • the external force applied to the irregular floor of the workplace is relaxed, absorbed, and extinguished in the front frame 120, so that there is no fear of the vehicle leaving the path.
  • the flange shaft 142 coupled to the center of the rear of the front frame 120, the flange cover 144 coupled to the center of the front of the base frame 110, and the flange shaft 142 and It is composed of a bearing 146 that rotatably supports between the flange covers 144.
  • the flange shaft 142 is coupled to the flange 142a coupled to the rear center of the front frame 120, the shaft 142b extending from the flange 142a toward the base frame 110, and the shaft 142b It consists of a fixing nut (142c) for fixing the bearing 146.
  • the flange cover 144 is composed of a flange 144a coupled to the front center of the base frame 110 and a cover 144b extending from the flange 144a toward the front frame 120 and surrounding the shaft 142b.
  • the bearing 146 is a conical roller bearing capable of supporting both radial loads and thrust loads, and is composed of a pair arranged to face each other. At this time, a retainer ring 148 is interposed between the pair of conical roller bearings 146.
  • the driving unit 20 includes a front wheel drive 210 installed on the front frame 120 and a rear wheel drive 220 installed on the rear frame 130.
  • the front wheel drive 210 includes first and second mecanum wheels 212 and 214 mounted on both sides of the front frame 120, and first and second driving the first and second mecanum wheels 212 and 214, respectively. It is composed of electric motors (216,218).
  • the rear wheel drive 220 includes third and fourth mecanum wheels 222 and 224 mounted on both sides of the rear frame 130 and third and fourth mecanum wheels 222 and 224 respectively. It is composed of a fourth electric motor (226,228).
  • the first to fourth mecanum wheels 212,214,222,224 mounted on the front frame 120 and the rear frame 130 each have a plurality of ground rollers, and these rollers each have a mechanum wheel ( 212,214,222,224).
  • the unmanned transportation vehicle moves in the front-rear, left-right, or diagonal directions. You can rotate in place.
  • the mechanum wheels 212,214,222,224 are illustrated as four, but the present invention is not limited thereto, and the number can be increased or decreased in consideration of the operational stability of the unmanned transport vehicle.
  • control unit 30 is provided on the front frame 120, the sensing means 310 for sensing the driving route and the driving route sensed through the sensing means 310 It is composed of a control means (not shown) for controlling the front wheel drive 210 and the rear wheel drive 220 to move.
  • control means controls the rotational direction and rotational speed of the first to fourth mechanum wheels 212,214,222,224 through the first to fourth electric motors 216,218,226,228, so that the unmanned transport vehicle is detected by the sensing means 310. Make it possible to drive along the driving route.
  • the direction of movement can be adjusted even in a narrow space, which is convenient to use and reduces the risk of collision, thereby improving worker safety. Can be improved.
  • FIG. 7 is a view showing an unmanned transport vehicle according to another embodiment of the present invention.
  • the frame 10 of an unmanned transport vehicle includes a base frame 110 on which an object is loaded, a front frame 120 installed in front of the base frame 110, and a base frame 110.
  • a front frame 120 installed in front of the base frame 110
  • a base frame 110 Is composed of a rear frame 130 installed at the rear.
  • the frame 10 of the present embodiment is an equalizing structure in which the base frame 110 is separated from the front frame 120 and the rear frame 130, so that the base frame 110 can maintain balance without being influenced by an external environment. It is a detachable frame structure.
  • a first rolling joint 140 is provided between the base frame 110 and the front frame 120, and a second rolling joint 150 is provided between the base frame 110 and the rear frame 130. .
  • the front frame 120 and the rear frame ( 130) may rotate left and right with respect to the base frame 120 around the rolling joint (140,150).
  • the base frame 110 can maintain a balance (see FIG. 6).
  • the balance of the base frame 110 is maintained regardless of the inclination of the front frame 120 or / and the rear frame 130, so there is no fear of damage or damage to the load and the load is dropped. Due to this, it is possible to prevent safety accidents such as injuries to nearby workers.

Abstract

The present invention relates to an automated guided vehicle whereby a frame having an object loaded thereon and a frame having wheels installed thereon are separated, thereby preventing tilting due to an external forced applied through the wheels, and thus enabling the frame to maintain balance, the automated guided vehicle comprising: a base frame having an object loaded thereon; a front frame installed on the front of the base frame; a front wheel drive installed on both sides of the front frame; a rear frame installed on the rear of the base frame; a rear wheel drive installed on both sides of the rear frame; and a rolling joint for connecting the base frame with the front frame. Here, the rolling joint connects the front frame so as to be rotatable to the left and right with respect to the base frame, and thus, even when the front frame tilts as a result of an irregular floor, the base frame is not affected and may maintain balance.

Description

무인운반차Unmanned transport vehicle
본 발명은 주행 경로를 따라 이동하며 화물을 운반하는 무인운반차에 관한 것이다.The present invention relates to an unmanned transport vehicle that moves along a driving route and carries cargo.
일반적으로, 무인운반차(Automated Guided Vehicles, AGV)는 바닥에 설치된 레일, 가이드 라인 등의 주행 경로를 따라 자동으로 이동함으로써, 작업자가 직접 운전을 하지 않고도 부품 등의 대상물을 다른 장소까지 안전하게 운반할 수 있는 장치이다.In general, Automated Guided Vehicles (AGVs) automatically move along the driving path of rails and guide lines installed on the floor, so that objects such as parts can be safely transported to other places without direct operation by the operator. It is a device that can.
이러한 무인운반차는, 대상물을 적재하는 프레임과, 프레임의 바닥에 설치되는 모터와, 모터에 의하여 구동되는 바퀴와, 레일 및 가이드 라인 등의 주행 경로를 검지하는 센서와, 센서에서 발생되는 신호에 의하여 차량의 이동방향을 조절하는 조향부를 포함한다.Such an unmanned transport vehicle includes a frame for loading an object, a motor installed at the bottom of the frame, a wheel driven by the motor, a sensor for detecting travel paths such as rails and guide lines, and a signal generated by the sensor. It includes a steering unit for adjusting the moving direction of the vehicle.
상술한 무인운반차는 프레임의 전후좌우에 바퀴가 장착되는 일체형 구조로서, 바닥면이 고르지 못한 작업장에서 주행할 경우 불규칙한 바닥면에 의해 프레임이 기울어지는 문제가 있었다.The above-described unmanned transport vehicle is an integral structure in which wheels are mounted on the front, rear, left, and right of the frame, and there is a problem in that the frame is inclined by an irregular bottom surface when driving in an uneven floor.
이와 같이, 프레임이 기울어질 경우 무인운반차의 주행 중 경로를 이탈할 우려가 있으며, 특히 프레임에 적재된 물품이 떨어져 손상 및 파손되거나 떨어진 물품에 의해 주변 작업자가 다치는 안전사고로 이어질 수 있다.As described above, when the frame is inclined, there is a fear that the driver may deviate from the route while the unmanned transport vehicle is running, and in particular, an article loaded on the frame may fall, which may lead to a safety accident injured by damaged or damaged or damaged products.
본 발명은 대상물이 적재되는 프레임과 바퀴가 설치되는 프레임을 분리함으로써 바퀴를 통해 인가된 외력에 의해 기울어지는 것을 방지하여 프레임이 평형을 유지할 수 있도록 한 무인운반차의 제공을 목적으로 한다.An object of the present invention is to provide an unmanned transport vehicle that allows the frame to maintain a balance by preventing tilting by an external force applied through the wheel by separating the frame on which the object is loaded from the frame on which the wheel is installed.
또한, 본 발명은 협소한 공간에서도 이동방향을 조절할 수 있어 사용이 편리하고, 충돌 등의 위험을 감소시켜 작업자의 안전성을 향상시킬 수 있는 무인운반차를 제공하는 것이다.In addition, the present invention is to provide an unmanned transport vehicle that can improve the safety of workers by reducing the risk of collision, etc., which is convenient to use because the direction of movement can be adjusted even in a narrow space.
상기 목적을 달성하기 위한 본 발명에 의한 무인운반차는, 대상물이 적재되는 베이스 프레임과, 상기 베이스 프레임의 전방에 설치된 프론트 프레임과, 상기 프론트 프레임의 양측에 설치된 전륜 드라이브와, 상기 베이스 프레임의 후방에 설치된 리어 프레임과, 상기 리어 프레임의 양측에 설치된 후륜 드라이브와, 상기 베이스 프레임과 상기 프론트 프레임을 연결하는 롤링 조인트를 포함한다.An unmanned transport vehicle according to the present invention for achieving the above object includes a base frame on which an object is loaded, a front frame installed on the front of the base frame, a front wheel drive installed on both sides of the front frame, and a rear of the base frame. It includes an installed rear frame, rear wheel drives installed on both sides of the rear frame, and a rolling joint connecting the base frame and the front frame.
여기서, 상기 롤링 조인트는 상기 프론트 프레임을 상기 베이스 프레임에 대해 좌우로 회전 가능하게 연결함으로써, 불규칙한 바닥으로 인해 상기 프론트 프레임이 기울어지더라도 상기 베이스 프레임이 영향을 받지 않고 평형을 유지할 수 있도록 한다.Here, the rolling joint rotatably connects the front frame to the left and right with respect to the base frame, so that even if the front frame is inclined due to an irregular floor, the base frame is not affected and thus maintains a balance.
한편, 상기 전륜 드라이브는, 상기 프론트 프레임의 양측에 설치된 제1 및 제2 메카넘 휠과, 상기 제1 및 제2 메카넘 휠을 각각 구동시키는 제1 및 제2 전동모터로 구성된다.Meanwhile, the front wheel drive includes first and second mecanum wheels installed on both sides of the front frame, and first and second electric motors respectively driving the first and second mecanum wheels.
상기 후륜 드라이브는, 상기 리어 프레임의 양측에 설치된 제3 및 제4 메카넘 휠과, 상기 제3 및 제4 메카넘 휠을 각각 구동시키는 제3 및 제4 전동모터로 구성된다.The rear wheel drive is composed of third and fourth mecanum wheels installed on both sides of the rear frame, and third and fourth electric motors respectively driving the third and fourth mecanum wheels.
이때, 상기 제1 내지 제4 전동모터가 상기 제1 내지 제4 메카넘 휠 개별적으로 제어할 경우 무인운반차를 전후/좌우/제자리 회전시킬 수 있다.At this time, when the first to fourth electric motors individually control the first to fourth mecanum wheels, the unmanned transport vehicle may be rotated forward / backward / left / right.
본 발명에 따른 무인운반차는, 롤링 조인트를 이용하여 프론트 프레임을 베이스 프레임에 대해 좌우로 회전 가능하게 연결함으로써, 불규칙한 바닥으로 인해 프론트 프레임이 기울어지더라도 베이스 프레임이 영향을 받지 않고 평형을 유지할 수 있다.In the unmanned transport vehicle according to the present invention, the front frame can be rotated to the left and right relative to the base frame using a rolling joint, so that even if the front frame is inclined due to an irregular floor, the base frame is not affected and can maintain the balance. .
따라서, 불규칙한 바닥의 작업장에서도 무인운반차가 주행 경로를 이탈할 우려가 없으며, 베이스 프레임에 적재된 물품이 떨어져 손상 및 파손되거나 떨어진 물품에 의해 주변 작업자가 다치는 안전사고를 방지할 수 있다.Therefore, even in an irregular floor workshop, there is no fear that the unmanned transport vehicle may deviate from the driving route, and it is possible to prevent a safety accident in which a worker loaded with the base frame is damaged, damaged, or injured by a nearby worker.
또한, 본 발명은 전륜 및 후륜 드라이브에 구비된 메카넘 휠을 개별적으로 제어하여 전후/좌우/제자리 회전 가능토록 함으로써, 협소한 공간에서도 이동방향을 조절할 수 있어 사용이 편리하고, 충돌 등의 위험을 감소시켜 작업자의 안전성을 향상시킬 수 있다.In addition, the present invention allows the front and rear wheels to be rotated in place by individually controlling the mecanum wheels provided in the front and rear wheel drives, so it is possible to adjust the movement direction even in a narrow space, which is convenient to use and risks of collision, etc. It can reduce the worker's safety.
상술한 효과와 더불어 본 발명의 구체적인 효과는 이하 발명을 실시하기 위한 구체적인 사항을 설명하면서 함께 기술한다.In addition to the above-described effects, the concrete effects of the present invention will be described together while describing the specific matters for carrying out the invention.
도 1은 본 발명의 일 실시예에 따른 무인운반차의 사시도이다.1 is a perspective view of an unmanned transport vehicle according to an embodiment of the present invention.
[규칙 제91조에 의한 정정 28.01.2019]　
도 2은 본 발명의 일 실시예에 따른 무인운반차의 측면도이다.[Correction by Article 91 of the Rules 28.01.2019]
2 is a side view of an unmanned transport vehicle according to an embodiment of the present invention.
도 3은 본 발명의 일 실시예에 따른 무인운반차의 평면도이다.3 is a plan view of an unmanned transport vehicle according to an embodiment of the present invention.
도 4는 본 발명의 일 실시예에 따른 무인운반차 중 롤링 조인트의 단면도이다.4 is a cross-sectional view of a rolling joint in an unmanned transport vehicle according to an embodiment of the present invention.
도 5는 본 발명의 일 실시예에 따른 무인운반차 중 메카넘 휠의 확대도이다.5 is an enlarged view of a mecanum wheel in an unmanned transport vehicle according to an embodiment of the present invention.
도 6은 본 발명의 일 실시예에 따른 무인운반차의 작동상태도이다.6 is an operational state diagram of an unmanned transport vehicle according to an embodiment of the present invention.
도 7은 본 발명의 다른 실시예에 따른 무인운반차의 평면도이다.7 is a plan view of an unmanned transport vehicle according to another embodiment of the present invention.
전술한 목적, 특징 및 장점은 첨부된 도면을 참조하여 상세하게 후술되며, 이에 따라 본 발명이 속하는 기술분야에서 통상의 지식을 가진 자가 본 발명의 기술적 사상을 용이하게 실시할 수 있을 것이다. 본 발명을 설명함에 있어서 본 발명과 관련된 공지 기술에 대한 구체적인 설명이 본 발명의 요지를 불필요하게 흐릴 수 있다고 판단되는 경우에는 상세한 설명을 생략한다. 이하, 첨부된 도면을 참조하여 본 발명에 따른 바람직한 실시예를 상세히 설명하기로 한다. 도면에서 동일한 참조부호는 동일 또는 유사한 구성요소를 가리키는 것으로 사용된다.The above-described objects, features, and advantages will be described in detail below with reference to the accompanying drawings, and accordingly, a person skilled in the art to which the present invention pertains can easily implement the technical spirit of the present invention. In the description of the present invention, when it is determined that detailed descriptions of known technologies related to the present invention may unnecessarily obscure the subject matter of the present invention, detailed descriptions will be omitted. Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. The same reference numerals in the drawings are used to indicate the same or similar components.
도 1 내지 도 3에 도시된 바와 같이, 본 발명의 일 실시예에 따른 무인운반차는, 무인운반차의 차체를 형성하는 프레임(10)과, 차량의 주행 및 조향을 위한 구동부(20)와, 주행 경로를 따라 이동할 수 있도록 안내하는 제어부(30)를 포함하여 구성된다.1 to 3, the unmanned transport vehicle according to an embodiment of the present invention includes a frame 10 forming a vehicle body of an unmanned transport vehicle, a driving unit 20 for driving and steering the vehicle, It comprises a control unit 30 for guiding to move along the driving path.
프레임(10)은, 대상물이 적재되는 베이스 프레임(110)과, 베이스 프레임(110)의 전방에 설치되는 프론트 프레임(120)과, 베이스 프레임(110)의 후방에 설치되는 리어 프레임(130)으로 구성된다. 이때, 프론트 프레임(120)과 리어 프레임(130)에는 차량의 주행 및 조향을 위한 구동부(20)가 설치된다.The frame 10 includes a base frame 110 on which an object is loaded, a front frame 120 installed in front of the base frame 110, and a rear frame 130 installed in the rear of the base frame 110. It is composed. At this time, the front frame 120 and the rear frame 130 is provided with a driving unit 20 for driving and steering the vehicle.
본 실시예의 프레임(10)은 베이스 프레임(110)을 프론트 프레임(120)과 분리한 이퀄라이징 구조로, 베이스 프레임(110)이 외부 환경에 영향을 받지 않고 평형을 유지할 수 있도록 한 분리형 프레임 구조이다.The frame 10 of this embodiment is an equalizing structure in which the base frame 110 is separated from the front frame 120, and is a detachable frame structure that allows the base frame 110 to maintain an equilibrium without being affected by an external environment.
이를 위하여, 베이스 프레임(110)과 프론트 프레임(120) 사이에는 롤링 조인트(140)가 마련된다.To this end, a rolling joint 140 is provided between the base frame 110 and the front frame 120.
롤링 조인트(140)는 베이스 프레임(110)과 프론트 프레임(120) 사이에 구비되어, 프론트 프레임(120)이 베이스 프레임(120)에 대해 좌우로 회전(Rolling)할 수 있도록 한다. 즉, 프론트 프레임(120)은 롤링 조인트(140)를 중심으로 베이스 프레임(120)에 대해 좌우 회전이 가능하다.The rolling joint 140 is provided between the base frame 110 and the front frame 120 to allow the front frame 120 to rotate left and right relative to the base frame 120. That is, the front frame 120 can be rotated left and right relative to the base frame 120 around the rolling joint 140.
전술한 바와 같이, 롤링 조인트(140)를 사용하여 베이스 프레임(120)과 프론트 프레임(120)을 연결할 경우, 불규칙한 바닥으로 인해 프론트 프레임(120)이 기울어지더라도 베이스 프레임(110)에 영향을 주지 않으므로, 베이스 프레임(110)이 평형을 유지할 수 있다(도 6 참조).As described above, when the base frame 120 and the front frame 120 are connected using the rolling joint 140, even if the front frame 120 is inclined due to an irregular floor, the base frame 110 is not affected. Therefore, the base frame 110 can maintain a balance (see FIG. 6).
따라서, 본 실시예에 따른 무인운반차는 작업장의 불규칙한 바닥을 주행하더라도 프론트 프레임(120)의 기울어짐에 관계없이 베이스 프레임(110)의 평형상태가 유지되므로 적재물이 떨어져 손상되거나 파손될 우려가 없으며 떨어진 적재물로 인해 주변 작업자가 다치는 등의 안전사고를 방지할 수 있다.Therefore, the unmanned transport vehicle according to the present embodiment maintains the equilibrium state of the base frame 110 regardless of the inclination of the front frame 120 even when driving on an irregular floor of the work place, so there is no fear of damage or damage to the load and the load is dropped. Due to this, it is possible to prevent safety accidents such as injuries to nearby workers.
또한, 본 실시예의 무인운반차는 작업장의 불규칙한 바닥으로 인가된 외력이 프론트 프레임(120)에서 완화, 흡수 및 소멸되므로 차량이 경로를 이탈할 우려가 없다.In addition, in the unmanned transport vehicle of the present embodiment, the external force applied to the irregular floor of the workplace is relaxed, absorbed, and extinguished in the front frame 120, so that there is no fear of the vehicle leaving the path.
상술한 이퀄라이징 프레임을 구현하기 위한 롤링 조인트(140)의 구조를 살펴보도록 한다.The structure of the rolling joint 140 for implementing the above-described equalizing frame will be described.
도 4에 도시된 바와 같이, 프론트 프레임(120)의 후면 중앙에 결합되는 플랜지 샤프트(142)와, 베이스 프레임(110)의 전면 중앙에 결합되는 플랜지 커버(144)와, 플랜지 샤프트(142)와 플랜지 커버(144) 사이를 회전 가능하게 지지하는 베어링(146)으로 구성된다.4, the flange shaft 142 coupled to the center of the rear of the front frame 120, the flange cover 144 coupled to the center of the front of the base frame 110, and the flange shaft 142 and It is composed of a bearing 146 that rotatably supports between the flange covers 144.
플랜지 샤프트(142)는, 프론트 프레임(120)의 후면 중앙에 결합되는 플랜지(142a)와, 플랜지(142a)에서 베이스 프레임(110) 측으로 연장된 샤프트(142b)와, 샤프트(142b)에 결합되는 베어링(146)을 고정하는 고정너트(142c)로 구성된다.The flange shaft 142 is coupled to the flange 142a coupled to the rear center of the front frame 120, the shaft 142b extending from the flange 142a toward the base frame 110, and the shaft 142b It consists of a fixing nut (142c) for fixing the bearing 146.
플랜지 커버(144)는, 베이스 프레임(110)의 전면 중앙에 결합되는 플랜지(144a)와, 플랜지(144a)에서 프론트 프레임(120) 측으로 연장되고 샤프트(142b)를 감싸는 커버(144b)로 이루어진다.The flange cover 144 is composed of a flange 144a coupled to the front center of the base frame 110 and a cover 144b extending from the flange 144a toward the front frame 120 and surrounding the shaft 142b.
베어링(146)은 레이디얼 하중과 스러스트 하중을 모두 지지할 수 있는 원추형 롤러 베어링으로서, 서로 대향하도록 배치되는 한 쌍으로 구성된다. 이때, 한 쌍의 원추 형 롤러 베어링(146) 사이에 리테이너 링(148)이 개재된다.The bearing 146 is a conical roller bearing capable of supporting both radial loads and thrust loads, and is composed of a pair arranged to face each other. At this time, a retainer ring 148 is interposed between the pair of conical roller bearings 146.
도 1 내지 도 3을 참조하면, 구동부(20)는, 프론트 프레임(120)에 설치되는 전륜 드라이브(210)와, 리어 프레임(130)에 설치되는 후륜 드라이브(220)를 포함한다.1 to 3, the driving unit 20 includes a front wheel drive 210 installed on the front frame 120 and a rear wheel drive 220 installed on the rear frame 130.
전륜 드라이브(210)는, 프론트 프레임(120)의 양측에 장착된 제1 및 제2 메카넘 휠(212,214)과, 제1 및 제2 메카넘 휠(212,214)을 각각 구동시키는 제1 및 제2 전동모터(216,218)로 구성된다.The front wheel drive 210 includes first and second mecanum wheels 212 and 214 mounted on both sides of the front frame 120, and first and second driving the first and second mecanum wheels 212 and 214, respectively. It is composed of electric motors (216,218).
또한, 후륜 드라이브(220)는, 리어 프레임(130)의 양측에 장착된 제3 및 제4 메카넘 휠(222,224)과, 제3 및 제4 메카넘 휠(222,224)을 각각 구동시키는 제3 및 제4 전동모터(226,228)로 구성된다.In addition, the rear wheel drive 220 includes third and fourth mecanum wheels 222 and 224 mounted on both sides of the rear frame 130 and third and fourth mecanum wheels 222 and 224 respectively. It is composed of a fourth electric motor (226,228).
도 5에 도시된 바와 같이, 프론트 프레임(120)과 리어 프레임(130)에 장착된 제1 내지 제4 메카넘 휠(212,214,222,224)은 각각 다수의 접지 롤러를 가지며, 이들 롤러는 각 메커넘 휠(212,214,222,224)의 축선에 대해 경사지게 배치되어 있다.As shown in FIG. 5, the first to fourth mecanum wheels 212,214,222,224 mounted on the front frame 120 and the rear frame 130 each have a plurality of ground rollers, and these rollers each have a mechanum wheel ( 212,214,222,224).
따라서 제1 내지 제4 전동모터(216,218,226,228)를 이용하여 제1 내지 제4 메커넘 휠(212,214,222,224)의 회전방향 및 회전속도를 적절히 조합할 경우, 무인운반차는 전후 및 좌우 방향이나 대각선 방향으로 이동하거나 제자리에서 회전을 할 수 있다.Therefore, when the rotational direction and rotational speed of the first to fourth mechanum wheels 212,214,222,224 are properly combined using the first to fourth electric motors 216,218,226,228, the unmanned transportation vehicle moves in the front-rear, left-right, or diagonal directions. You can rotate in place.
본 실시예에서는 메커넘 휠(212,214,222,224)을 4개로 예시하고 있으나 반드시 이에 한정되는 것을 아니며, 무인운반차의 작동안정성을 고려하여 그 수를 증감할 수 있다.In this embodiment, the mechanum wheels 212,214,222,224 are illustrated as four, but the present invention is not limited thereto, and the number can be increased or decreased in consideration of the operational stability of the unmanned transport vehicle.
도 1 내지 도 3에 도시된 바와 같이, 제어부(30)는, 프론트 프레임(120)에 구비되어 주행 경로를 감지하는 감지수단(310)과, 감지수단(310)을 통해 감지된 주행 경로를 따라 이동할 수 있도록 전륜 드라이브(210)와 후륜 드라이브(220)를 제어하는 제어수단(미도시)로 구성된다.1 to 3, the control unit 30 is provided on the front frame 120, the sensing means 310 for sensing the driving route and the driving route sensed through the sensing means 310 It is composed of a control means (not shown) for controlling the front wheel drive 210 and the rear wheel drive 220 to move.
다시 말해, 제어수단은 제1 내지 제4 전동모터(216,218,226,228)를 통해 제1 내지 제4 메커넘 휠(212,214,222,224)의 회전방향 및 회전속도를 제어하여, 무인운반차가 감지수단(310)에서 감지된 주행 경로를 따라 주행할 수 있도록 한다.In other words, the control means controls the rotational direction and rotational speed of the first to fourth mechanum wheels 212,214,222,224 through the first to fourth electric motors 216,218,226,228, so that the unmanned transport vehicle is detected by the sensing means 310. Make it possible to drive along the driving route.
전술한 바와 같이, 무인운반차가 전후 및 좌우 방향이나 대각선 방향으로 이동하거나 제자리에서 회전을 할 경우 협소한 공간에서도 이동방향을 조절할 수 있어 사용이 편리하고, 충돌 등의 위험을 감소시켜 작업자의 안전성을 향상시킬 수 있다.As described above, when the unmanned transport vehicle moves forward and backward, left and right, or diagonally or rotates in place, the direction of movement can be adjusted even in a narrow space, which is convenient to use and reduces the risk of collision, thereby improving worker safety. Can be improved.
도 7은 본 발명의 다른 실시예에 따른 무인운반차를 도시한 도면이다.7 is a view showing an unmanned transport vehicle according to another embodiment of the present invention.
도 7에 도시된 바와 같이, 무인운반차의 프레임(10)은, 대상물이 적재되는 베이스 프레임(110)과, 베이스 프레임(110)의 전방에 설치되는 프론트 프레임(120)과, 베이스 프레임(110)의 후방에 설치되는 리어 프레임(130)으로 구성된다.As shown in FIG. 7, the frame 10 of an unmanned transport vehicle includes a base frame 110 on which an object is loaded, a front frame 120 installed in front of the base frame 110, and a base frame 110. ) Is composed of a rear frame 130 installed at the rear.
본 실시예의 프레임(10)은 베이스 프레임(110)을 프론트 프레임(120) 및 리어 프레임(130)과 분리한 이퀄라이징 구조로, 베이스 프레임(110)이 외부 환경에 영향을 받지 않고 평형을 유지할 수 있도록 한 분리형 프레임 구조이다.The frame 10 of the present embodiment is an equalizing structure in which the base frame 110 is separated from the front frame 120 and the rear frame 130, so that the base frame 110 can maintain balance without being influenced by an external environment. It is a detachable frame structure.
이를 위하여, 베이스 프레임(110)과 프론트 프레임(120) 사이에는 제1 롤링 조인트(140)가 마련되고, 베이스 프레임(110)과 리어 프레임(130) 사이에는 제2 롤링 조인트(150)가 마련된다.To this end, a first rolling joint 140 is provided between the base frame 110 and the front frame 120, and a second rolling joint 150 is provided between the base frame 110 and the rear frame 130. .
전술한 바와 같이, 롤링 조인트(140,150)를 베이스 프레임(110)과 프론트 프레임(120) 사이, 그리고 베이스 프레임(110)과 리어 프레임(130) 사이에 설치할 경우, 프론트 프레임(120)과 리어 프레임(130)이 롤링 조인트(140,150)를 중심으로 베이스 프레임(120)에 대해 좌우로 회전할 수 있다.As described above, when the rolling joints 140 and 150 are installed between the base frame 110 and the front frame 120 and between the base frame 110 and the rear frame 130, the front frame 120 and the rear frame ( 130) may rotate left and right with respect to the base frame 120 around the rolling joint (140,150).
따라서 불규칙한 바닥으로 인해 프론트 프레임(120) 또는/및 리어 프레임(130)이 기울어지더라도 베이스 프레임(110)에 영향을 주지 않으므로, 베이스 프레임(110)이 평형을 유지할 수 있다(도 6 참조).Therefore, even if the front frame 120 or / and the rear frame 130 are inclined due to the irregular floor, the base frame 110 is not affected, so the base frame 110 can maintain a balance (see FIG. 6).
즉, 작업장의 불규칙한 바닥을 주행하더라도 프론트 프레임(120) 또는/및 리어 프레임(130)의 기울어짐에 관계없이 베이스 프레임(110)의 평형상태가 유지되므로 적재물이 떨어져 손상되거나 파손될 우려가 없으며 떨어진 적재물로 인해 주변 작업자가 다치는 등의 안전사고를 방지할 수 있다.That is, even when driving on the irregular floor of the workshop, the balance of the base frame 110 is maintained regardless of the inclination of the front frame 120 or / and the rear frame 130, so there is no fear of damage or damage to the load and the load is dropped. Due to this, it is possible to prevent safety accidents such as injuries to nearby workers.
이상과 같이 본 발명에 대해서 예시한 도면을 참조로 하여 설명하였으나, 본 명세서에 개시된 실시 예와 도면에 의해 본 발명이 한정되는 것은 아니며, 본 발명의 기술사상의 범위 내에서 통상의 기술자에 의해 다양한 변형이 이루어질 수 있음은 자명하다. 아울러 앞서 본 발명의 실시 예를 설명하면서 본 발명의 구성에 따른 작용 효과를 명시적으로 기재하여 설명하지 않았을 지라도, 해당 구성에 의해 예측 가능한 효과 또한 인정되어야 함은 당연하다.As described above, the present invention has been described with reference to the exemplified drawings, but the present invention is not limited by the examples and drawings disclosed in the present specification, and can be varied by a person skilled in the art within the scope of the technical idea of the present invention. It is obvious that modifications can be made. In addition, although the operation and effect according to the configuration of the present invention has not been explicitly described while explaining the embodiments of the present invention, it is natural that the predictable effect by the configuration should also be recognized.

Claims (6)

  1. 대상물이 적재되는 베이스 프레임;A base frame on which the object is loaded;
    상기 베이스 프레임의 전방에 설치된 프론트 프레임;A front frame installed in front of the base frame;
    상기 프론트 프레임의 양측에 설치된 전륜 드라이브;Front wheel drives installed on both sides of the front frame;
    상기 베이스 프레임의 후방에 설치된 리어 프레임;A rear frame installed behind the base frame;
    상기 리어 프레임의 양측에 설치된 후륜 드라이브; 및Rear wheel drives installed on both sides of the rear frame; And
    상기 베이스 프레임과 상기 프론트 프레임을 연결하는 롤링 조인트를 포함하고,And a rolling joint connecting the base frame and the front frame,
    상기 롤링 조인트는 상기 프론트 프레임을 상기 베이스 프레임에 대해 좌우로 회전 가능하게 연결함으로써, 불규칙한 바닥으로 인해 상기 프론트 프레임이 기울어지더라도 상기 베이스 프레임이 영향을 받지 않고 평형을 유지할 수 있도록 하는 것을 특징으로 하는 무인운반차.The rolling joint is rotatably connected to the front frame from side to side with respect to the base frame, so that even if the front frame is inclined due to an irregular bottom, the base frame can be maintained without being affected and maintaining a balance. Unmanned transport vehicle.
  2. 청구항 1에 있어서,The method according to claim 1,
    상기 롤링 조인트는, 상기 프론트 프레임에 결합되고 상기 베이스 프레임 측으로 연장된 플랜지 샤프트와, 상기 베이스 프레임에 결합되며 상기 플랜지 샤프트를 감싸는 플랜지 커버와, 상기 플랜지 샤프트와 상기 플랜지 커버 사이를 회전 가능하게 지지하는 베어링으로 구성된 것을 특징으로 하는 무인운반차.The rolling joint is coupled to the front frame and a flange shaft extending toward the base frame, a flange cover coupled to the base frame and surrounding the flange shaft, and rotatably supporting between the flange shaft and the flange cover An unmanned transport vehicle comprising a bearing.
  3. 청구항 2에 있어서,The method according to claim 2,
    상기 베어링은 한 쌍의 원추형 롤러 베어링으로 구성되고, 상기 한 쌍의 원추 형 롤러 베어링은 서로 대향하도록 배치되며, 상기 한 쌍의 원추 형 롤러 베어링 사이에 리테이너 링이 개재된 것을 특징으로 하는 무인운반차.The bearing is composed of a pair of conical roller bearings, the pair of conical roller bearings are arranged to face each other, and a driverless transport vehicle is characterized in that a retainer ring is interposed between the pair of conical roller bearings. .
  4. 청구항 3에 있어서,The method according to claim 3,
    상기 베이스 프레임과 상기 리어 프레임을 연결하는 롤링 조인트를 더 포함하여 구성된 것을 특징으로 하는 무인운반차.An unmanned transport vehicle further comprising a rolling joint connecting the base frame and the rear frame.
  5. 청구항 1 내지 청구항 4 중 어느 한 항에 있어서,The method according to any one of claims 1 to 4,
    상기 전륜 드라이브는, 상기 프론트 프레임의 양측에 설치된 제1 및 제2 메카넘 휠과, 상기 제1 및 제2 메카넘 휠을 각각 구동시키는 제1 및 제2 전동모터로 구성되고,The front wheel drive is composed of first and second mecanum wheels installed on both sides of the front frame, and first and second electric motors respectively driving the first and second mecanum wheels,
    상기 후륜 드라이브는, 상기 리어 프레임의 양측에 설치된 제3 및 제4 메카넘 휠과, 상기 제3 및 제4 메카넘 휠을 각각 구동시키는 제3 및 제4 전동모터로 구성되며,The rear wheel drive is composed of third and fourth mecanum wheels installed on both sides of the rear frame, and third and fourth electric motors respectively driving the third and fourth mecanum wheels,
    상기 제1 내지 제4 전동모터가 상기 제1 내지 제4 메카넘 휠 개별적으로 제어할 경우 전후/좌우/제자리 회전이 가능한 것을 특징으로 하는 무인운반차.When the first to fourth electric motors individually control the first to fourth mecanum wheels, the unmanned transport vehicle is capable of rotating forward / backward / left / right.
  6. 청구항 5에 있어서,The method according to claim 5,
    상기 프론트 프레임에 구비되어 주행 경로를 감지하는 감지수단; 및A detection means provided on the front frame to detect a driving path; And
    상기 감지수단을 통해 감지된 주행 경로를 따라 이동할 수 있도록 상기 전륜 드라이브와 상기 후륜 드라이브를 제어하는 제어수단을 더 포함하는 무인운반차.An unmanned transport vehicle further comprising control means for controlling the front wheel drive and the rear wheel drive so as to be able to move along the driving path sensed by the sensing means.
PCT/KR2018/014383 2018-11-06 2018-11-21 Automated guided vehicle WO2020096112A1 (en)

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