WO2020096112A1 - Véhicule guidé automatisé - Google Patents

Véhicule guidé automatisé 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
Authority
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
English (en)
Korean (ko)
Inventor
신인승
박정원
Original Assignee
에스아이에스 주식회사
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 에스아이에스 주식회사 filed Critical 에스아이에스 주식회사
Publication of WO2020096112A1 publication Critical patent/WO2020096112A1/fr

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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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • General Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Handcart (AREA)

Abstract

La présente invention concerne un véhicule guidé automatisé dans lequel un cadre sur lequel un objet est chargé et un cadre sur lequel sont installées des roues sont séparés l'un de l'autre, empêchant ainsi l'inclinaison due à une force externe appliquée à travers les roues, et permettant ainsi au cadre de garder l'équilibre, le véhicule guidé automatisé comportant : un cadre de base sur lequel est chargé un objet ; un cadre avant installé sur l'avant du cadre de base ; un entraînement de roue avant installé sur les deux côtés du cadre avant ; un cadre arrière installé sur l'arrière du cadre de base ; un entraînement de roue arrière installé sur les deux côtés du cadre arrière ; un joint de roulement pour relier le cadre de base au cadre avant. Ici, le joint de roulement relie le cadre avant de manière à pouvoir tourner vers la gauche et vers la droite par rapport au cadre de base, et ainsi, même lorsque le cadre avant s'incline en raison d'un sol irrégulier, ceci n'a pas d'incidence sur le cadre de base qui peut garder l'équilibre.
PCT/KR2018/014383 2018-11-06 2018-11-21 Véhicule guidé automatisé WO2020096112A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2018-0135318 2018-11-06
KR1020180135318A KR102187692B1 (ko) 2018-11-06 2018-11-06 무인운반차

Publications (1)

Publication Number Publication Date
WO2020096112A1 true WO2020096112A1 (fr) 2020-05-14

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PCT/KR2018/014383 WO2020096112A1 (fr) 2018-11-06 2018-11-21 Véhicule guidé automatisé

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KR (1) KR102187692B1 (fr)
WO (1) WO2020096112A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111857209A (zh) * 2020-07-08 2020-10-30 温州大学 一种无线遥控智能车
EP4091877A1 (fr) * 2021-05-19 2022-11-23 GPCP IP Holdings LLC Système de suspension de véhicule, système de convoyeur et véhicules autonomes les incorporant
EP4371843A1 (fr) * 2022-11-21 2024-05-22 Intelligrated Headquarters LLC Procédés, systèmes et appareil pour une structure pour l'installation et le retrait rapides d'un boîtier d'un véhicule de transport

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102426064B1 (ko) * 2020-11-20 2022-07-29 에스아이에스 주식회사 스택과 제어기가 분리된 수소연료전지 파워팩이 탑재된 무인운반차
KR102426068B1 (ko) 2020-11-24 2022-07-29 에스아이에스 주식회사 수소연료전지 파워팩이 구비된 무인운반차

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3867866B2 (ja) * 1996-05-28 2007-01-17 株式会社日立プラントテクノロジー 無人搬送車
KR100961692B1 (ko) * 2009-12-21 2010-06-10 (주)엔티렉스 무인이동대차
KR101020189B1 (ko) * 2008-09-25 2011-03-09 대지종건(주) 자력식 이동표면처리장치
US20160031642A1 (en) * 2010-12-15 2016-02-04 Symbotic, LLC Suspension system for autonomous transports

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101682990B1 (ko) 2015-11-13 2016-12-07 주식회사 메인텍 다양한 방향으로 이동 가능한 무인운반차

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3867866B2 (ja) * 1996-05-28 2007-01-17 株式会社日立プラントテクノロジー 無人搬送車
KR101020189B1 (ko) * 2008-09-25 2011-03-09 대지종건(주) 자력식 이동표면처리장치
KR100961692B1 (ko) * 2009-12-21 2010-06-10 (주)엔티렉스 무인이동대차
US20160031642A1 (en) * 2010-12-15 2016-02-04 Symbotic, LLC Suspension system for autonomous transports

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111857209A (zh) * 2020-07-08 2020-10-30 温州大学 一种无线遥控智能车
EP4091877A1 (fr) * 2021-05-19 2022-11-23 GPCP IP Holdings LLC Système de suspension de véhicule, système de convoyeur et véhicules autonomes les incorporant
EP4371843A1 (fr) * 2022-11-21 2024-05-22 Intelligrated Headquarters LLC Procédés, systèmes et appareil pour une structure pour l'installation et le retrait rapides d'un boîtier d'un véhicule de transport

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Publication number Publication date
KR102187692B1 (ko) 2020-12-07
KR20200052117A (ko) 2020-05-14

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