WO2020262797A1 - Six-wheel ground automated guided vehicle - Google Patents

Six-wheel ground automated guided vehicle Download PDF

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Publication number
WO2020262797A1
WO2020262797A1 PCT/KR2020/003221 KR2020003221W WO2020262797A1 WO 2020262797 A1 WO2020262797 A1 WO 2020262797A1 KR 2020003221 W KR2020003221 W KR 2020003221W WO 2020262797 A1 WO2020262797 A1 WO 2020262797A1
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WO
WIPO (PCT)
Prior art keywords
wheel
driving
shaft
lower arm
body frame
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PCT/KR2020/003221
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French (fr)
Korean (ko)
Inventor
박영환
Original Assignee
주식회사 한컴로보틱스
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Publication of WO2020262797A1 publication Critical patent/WO2020262797A1/en

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    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces

Definitions

  • the present invention relates to a six-wheeled automatic route vehicle in which three wheels are each disposed on both sides of a vehicle body frame, and a total of six wheels are always grounded to the ground, and in more detail, in an arc shape on the side frame of the vehicle body frame.
  • the middle bent part of the formed lower arm is connected by a shaft pin, and casters and drive wheels are mounted at the front and rear ends of the lower arm, respectively, so that even when the ground is not flat or inclined, the front caster and drive wheel are always on the ground. It relates to a grounded six-wheeled automatic route vehicle.
  • Korean Patent No. 10-0994383 (registered on November 9, 2010) introduces a "six-wheeled personal vehicle".
  • the six-wheel grounded personal vehicle is installed on both sides of the main body where the pedestal is installed, and the shape is " ⁇ " and the rear side of the wheel support and the front wheel support is connected to the apex of the rear wheel support by a connecting shaft,
  • the front wheel, middle wheel, and rear wheel are mounted on the lower side of the front and rear wheel supports and are connected to each other with chain belts to drive in the same direction, and a pair of chain pulleys are attached to the wheel drive shaft connected to the apex of the front wheel support to secure the chain belt.
  • a circle that rotates the wheel drive shaft by installing a reducer installed in the main body to be arranged on both sides of a motor with a forward/reverse rotation function, and driving the output shaft of the differential device through a high-speed electronic clutch and a low-speed electronic clutch for the power transmitted from both reducers.
  • the chain pulley attached to the rotating shaft of the rotating gear and the chain pulley installed on the rotating shaft of the motor for leveling device installed on the outer surface of the main body and the chain belt are installed to maintain parallelism, and according to the signal of the gyroscope sensor that detects the parallelism.
  • the motor for the leveling device in operation drives the rotation gear to maintain the body horizontally, and the connecting arm is connected to the rotation shaft of the steering motor installed between the rear wheel and the intermediate wheel. Equipped with a direction changer to change the angle.
  • the six-wheeled personal vehicle does not have a means to ensure that the six wheels are always grounded to the ground.
  • an object of the present invention is that the middle curved portion of the lower arm formed in an arc shape on the side frame of the vehicle body frame is connected by the shaft pin, so that the lower arm can be inclined toward the front end or the rear end around the shaft pin, and the front end and The casters and drive wheels are mounted at the rear end, so even when the ground is uneven and uneven or the inclination is different due to the difference in height of the ground where the casters and drive wheels are in contact, the casters and drive wheels are always in close contact with the ground. Not only can the drive wheel not close to the ground and stop driving, but also the front caster's wheel does not come in close contact with the ground, so the body frame tilts forward, preventing the loaded objects from spilling forward. It is to provide a wheel-folding automatic route vehicle.
  • a stabilizer bar is mounted on a rear frame of a vehicle body so that the stabilizer bar can be tilted left and right around its center, and casters are mounted on the left and right ends of the stabilizer bar, respectively.
  • the stabilizer bar may be inclined to correspond to the difference in height of the ground. It is to provide a six-wheel folding automatic route vehicle that prevents the inclination of the vehicle and prevents the cargo loaded on the vehicle from spilling to the side.
  • An example of a six-wheel grounded automatic path vehicle according to the present invention for achieving the above object is that six wheels are mounted so that the front casters, the drive wheels and the rear casters are respectively disposed on the left and right sides of the body frame, and the body frame
  • the middle bent portion of the lower arm formed in an arc shape is connected to the side frame of the axial pin, so that the lower arm can be inclined toward the front end or the rear end around the shaft pin, and the front caster is mounted on the front end of the lower arm.
  • a driving wheel driven by a reduction motor is mounted at a rear end of the lower arm.
  • the central portion of the stabilizer bar is connected to the middle of the rear frame of the vehicle body frame by a connecting means, so that the stabilizer bar is connected to either the left end or the right cross-section around the connecting means. It can be inclined, and a left rear caster is mounted on the left end of the stabilizer bar, and a right rear caster is mounted on the right end of the stabilizer bar.
  • the driving wheel is composed of a left driving wheel and a right driving wheel, the left driving wheel is driven by a first reduction motor, and the right driving wheel is driven by a second reduction motor, thereby driving the left driving wheel.
  • the vehicle body frame can be rotated right or left during the driving process.
  • the front caster includes a base bracket mounted on the lower arm, a direction changing shaft rotatably mounted in the center of the base bracket, a wheel support mounted on the direction changing shaft, and rotatably mounted on the wheel support by a wheel shaft. It is composed of a wheel and two stoppers mounted on the base bracket, and characterized in that a pair of extension parts extending from the wheel support are disposed between the two stoppers.
  • the base bracket has a bolt hole formed at each corner, a bolt is mounted to the lower arm through the bolt hole, the lower end of the direction change shaft is coupled to a coupling hole formed in the horizontal part of the wheel support, and a plurality of left sides formed in a row
  • a plurality of right coupling holes formed in line with the coupling holes are formed on both sides of the turning shaft between the turning shaft and the rear edge, and a stopper of "a" shape is joined to any one of the plurality of left coupling holes by bolts. It is characterized in that the stopper of the "a" shape is coupled to any one of the plurality of right coupling holes by bolts.
  • the wheel support has a vertical cover part bent downward at both sides of the horizontal part, a coupling hole is formed in the center of the horizontal part, a shaft hole is formed in the vertical cover part, respectively, and a pair of extensions from the horizontal part and the vertical cover part It is characterized in that the part extends rearward.
  • the wheels of the caster and the drive wheel are always in close contact with the ground, so that the drive wheel does not come in close contact with the ground while driving.
  • the wheel of the front caster does not come into close contact with the ground, so the body frame tilts forward, preventing the loaded objects from spilling forward, and preventing the cargo loaded on the vehicle from spilling to the side. There is an effect that can be prevented.
  • the six-wheel grounded automatic path vehicle according to the present invention can rotate right or left during the driving process by varying the rotational speed of the left and right driving wheels, and the wheel of the front caster is excessive in the process of turning right or left. By preventing rotation, there is an effect of stably performing a right or left turn.
  • FIG. 1 and 2 are perspective views schematically showing a six-wheeled automatic path vehicle according to the present invention, and FIG. 1 is viewed from above, and FIG. 2 is viewed from below.
  • FIG. 3 is a cross-sectional view taken along line A-A of FIG. 1 showing a six-wheel grounded automatic route vehicle according to the present invention.
  • FIG. 5 shows a state in which two rear casters are mounted on a rear frame of a vehicle body frame through a stabilizer bar.
  • FIG. 6 is an exploded perspective view showing the front caster.
  • FIG. 7 is an assembled perspective view showing the front caster.
  • a front caster 20, a driving wheel 30, and a rear caster 40 are disposed on the left and right sides of the body frame 10, respectively.
  • 6 wheels are mounted so that the middle curved portion 51 of the lower arm 50 formed in an arc shape on the side frame 11 of the body frame 10 is connected by the shaft pin 55, and the lower
  • the arm 50 may be inclined toward the front end 52 or the rear end 53 around the shaft pin 55, and the front caster 20 is mounted on the front end 52 of the lower arm 50, and the lower arm ( A drive wheel 30 driven by a reduction motor 35 is mounted at the rear end 53 of 50).
  • the ground G is not flat and thus uneven or uneven with the front caster 20
  • the ground where the wheels of the front caster 20 contact the rear caster (
  • the driving wheel 30 is not in contact with the ground, which is higher than the ground (G) where 40) contacts the ground-The lower arm 50 is moved around the shaft pin 55 by the ground reaction force of the front caster 20.
  • the wheel of the front caster 20 and the driving wheel 30 are in close contact with the ground. Thereby, the wheel of the front caster 20 does not come into close contact with the ground.
  • the shape of the vehicle body frame 10 inclining forward it is possible to prevent objects loaded on the vehicle from pouring forward.
  • the ground (G) is uneven and the inclination is different due to the difference in height of the ground (G) in contact with the front caster 20 and the driving wheel 30
  • the driving wheel 30 does not come in close contact with the ground while driving, so that the driving is stopped or the front caster ( By not in close contact with the wheel of 20), the vehicle body frame 10 is tilted forward, and there is an effect of preventing the loaded object from pouring forward.
  • the center of the stabilizer bar 60 is the connection means (stabilizer bar) in the middle of the rear frame 12 of the body frame 10. 65), the stabilizer bar 60 can be inclined to either the left end or the right end surface around the connecting means 65, and the left rear caster ( 40a) is mounted, and a right rear caster 40b is mounted at the right end of the stabilizer bar 60.
  • the ground in contact with the right rear caster 40b is relatively higher than the ground in contact with the left rear caster 40a, and the left rear caster 40a is placed at a relatively high position compared to the right rear caster 40b.
  • the stabilizer bar 60 is inclined to the right around the connecting means 65 by the ground repulsion force of the left rear caster 40a, and the right rear caster mounted on the right end of the stabilizer bar 60 (40b) is in close contact with the ground.
  • the ground contacted by the left rear caster 40b is higher than the ground contacted by the right rear caster 40b, and the right rear caster 40b is at a relatively higher position than the left rear caster 40a.
  • the stabilizer bar 60 When disposed, the stabilizer bar 60 is inclined to the left around the connecting means 65 by the ground repulsion of the right rear caster 40b, so that the left rear mounted at the left end of the stabilizer bar 60 Caster (40a) is in close contact with the ground.
  • the six-wheel grounded automatic path vehicle according to the present invention is a stabilizer corresponding to the difference in height when the ground contacted by the left rear caster 40a and the ground contacted by the right rear caster 40b are different while driving. Since the bar 60 is inclined, it is possible to prevent the body frame from tilting left and right due to a difference in height of the ground while driving, thereby preventing the cargo loaded on the vehicle from spilling to the side.
  • the driving wheel 30 is composed of a left driving wheel 30a and a right driving wheel 30b, and The driving wheel 30a is driven by the first deceleration motor 35a, and the right driving wheel 30b is driven by the second deceleration motor 35b, so that the first deceleration for driving the left driving wheel 30a
  • the vehicle body frame 10 may rotate right or left during the driving process.
  • the front caster 20 includes a base bracket 21 mounted on a lower arm 50 (see FIG. 1), and The direction change shaft 22 rotatably mounted in the center of the base bracket 21, the wheel support 23 mounted on the direction change shaft 22, and the wheel shaft 24 on the wheel support 23 It consists of a wheel 25 rotatably mounted and two stoppers 26 and 27 mounted on the base bracket 21, and a pair of extensions 237 extending from the wheel support 23 It is disposed between the stoppers (26, 27).
  • the base bracket 21 has a bolt hole 211 formed at each corner, and a bolt 212 is mounted to the lower arm 50 (see FIG. 1) through the bolt hole 211, and the direction change shaft 22
  • the lower end of is coupled to the coupling hole 232 formed in the horizontal portion 231 of the wheel support 23, and a plurality of left coupling holes 213 formed in a row and a plurality of right coupling holes 214 formed in a row It is formed on both sides of the turning shaft 22 between the turning shaft 22 and the rear edge 215, respectively, a stopper 26 of the "a" shape in any one of the plurality of left coupling holes 213 It is coupled by a bolt 262, a stopper 27 of a "b" shape is coupled to any one of the plurality of right coupling holes 214 by the bolt 272.
  • the extension part 237 of the wheel support 23 is disposed between the stoppers 26 and 27, so that when the direction is changed while driving, the extension part 237 is provided with two stoppers ( 26, 27), by preventing the wheel 25 from turning excessively around the turning shaft 22, thereby ensuring a safe turning.
  • the maximum angle at which the wheel 25 rotates around the direction change shaft 22 may be controlled.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

The present invention relates to a six-wheel ground automated guided vehicle having three wheels arranged on both sides of a vehicle body frame so that a total of six wheels make contact with the ground at all times. The six-wheel ground automated guided vehicle according to the present invention has six wheels mounted thereon so that front casters (20), drive wheels (30) and rear casters (40) are each arranged on the left and right sides of the vehicle body frame (10), and has lower arms (50) which are formed in a circular arc shape and which have middle curved parts (51) connected by means of shaft pins (55) to side frames (11) of the vehicle body frame (10), the lower arms (50) being able to be inclined toward the front end (52) or the rear end (53), centered on the shaft pin (55), the front casters (20) being mounted at the front ends (52) of the lower arms (50), and the drive wheels (30), driven by means of a reduction motor (35), being mounted at the rear ends (53) of the lower arms (50).

Description

6륜 접지 자동경로차량6-wheel folding automatic path vehicle
본 발명은 차체 프레임의 양 측부에 3개의 바퀴가 각각 배치되어, 총 6개의 바퀴가 항상 지면에 접지되는 6륜 접지 자동경로차량에 관한 것으로서, 보다 상세하게는 차체 프레임의 사이드 프레임에 원호 형상으로 형성된 로워 암의 중간 만곡부가 축핀에 의해 연결되고, 로워 암의 선단 및 후단에 캐스터와 구동휠이 각각 장착되어, 지면이 평탄하지 않거나 경사가 있는 경우에도 주행중에 프론트 캐스터와 구동휠이 항상 지면에 접지되는 6륜 접지 자동경로차량에 관한 것이다.The present invention relates to a six-wheeled automatic route vehicle in which three wheels are each disposed on both sides of a vehicle body frame, and a total of six wheels are always grounded to the ground, and in more detail, in an arc shape on the side frame of the vehicle body frame. The middle bent part of the formed lower arm is connected by a shaft pin, and casters and drive wheels are mounted at the front and rear ends of the lower arm, respectively, so that even when the ground is not flat or inclined, the front caster and drive wheel are always on the ground. It relates to a grounded six-wheeled automatic route vehicle.
대한민국 특허 제10-0994383호(2010년 11월 9일, 등록)에 "육륜 접지 개인용 자동차"가 소개되어 있다.Korean Patent No. 10-0994383 (registered on November 9, 2010) introduces a "six-wheeled personal vehicle".
상기 육륜 접지 개인용 자동차는 좌대가 설치된 본체부 양측에 설치되며, 형상이 "∧" 형으로 되어 앞뒤로 배치되는 바퀴 지지대와 앞쪽 바퀴 지지대의 후미측이 뒷쪽 바퀴 지지대의 정점부에 연결축봉으로 접속되어, 앞뒤 바퀴 지지대의 하단측에 앞바퀴, 중간바퀴, 뒷바퀴가 장착되어 서로 간에 체인벨트로 연결되어 같은 방향으로 구동되고, 앞쪽 바퀴 지지대의 정점에 접속된 바퀴 구동축에 한쌍의 체인 풀리가 부착되어 체인 벨트를 회전시키면 뒷쪽 바퀴 지지대의 정점에 장치된 연결축봉의 체인 풀리를 통해 구동시키도록 되어 3개의 바퀴가 같은 방향으로 구동이 되며 양측에 설치된 6개의 바퀴가 같이 구동이 되게 한 바퀴부와 양측의 바퀴는 본체에 장치되어 정역회전기능을 가진 원동모터에서 양측으로 배치되게 감속기를 장치하고, 양측 감속기에서 전달되는 동력을 고속 전자클러치와 저속 전자클러치를 통해 차동장치의 출력축을 구동시켜 바퀴 구동축을 회전시키는 원동부와 고속회전과 저속회전과 전후진과 굴곡전진을 관리하는 조이스틱이 장치된 운전부와 좌대가 부착된 본체부와 바퀴지지대 상반부 표면에 형성시킨 원호상의 기어부와 원호상의 기업부에 치합하는 회전기어와 회전기어의 회전축에 부착된 체인 풀리와 본체부 외면에 장치한 수평유지장치용 모터의 회전축에 설치된 체인 풀리와 체인 벨트로 가설되어 평행을 유지하고, 평행을 감지하는 자이로스코프센서의 신호에 따라 작동하는 수평유지장치용 모터가 회전기어를 구동시켜 본체를 수평으로 유지시키는 수평유지부와 뒷바퀴와 중간바퀴 사이에 설치된 조향모터의 회전축에 연결암을 연결하여 조향모터의 회전으로 중간바퀴와 뒷바퀴의 각도를 변경시키는 방향전환부를 구비하였다.The six-wheel grounded personal vehicle is installed on both sides of the main body where the pedestal is installed, and the shape is "∧" and the rear side of the wheel support and the front wheel support is connected to the apex of the rear wheel support by a connecting shaft, The front wheel, middle wheel, and rear wheel are mounted on the lower side of the front and rear wheel supports and are connected to each other with chain belts to drive in the same direction, and a pair of chain pulleys are attached to the wheel drive shaft connected to the apex of the front wheel support to secure the chain belt. When it is rotated, it is driven through the chain pulley of the connecting shaft attached to the apex of the rear wheel support, so that the three wheels are driven in the same direction, and the wheel part and the wheels on both sides that have the six wheels installed on both sides are driven together. A circle that rotates the wheel drive shaft by installing a reducer installed in the main body to be arranged on both sides of a motor with a forward/reverse rotation function, and driving the output shaft of the differential device through a high-speed electronic clutch and a low-speed electronic clutch for the power transmitted from both reducers. A rotational gear that fits into an arc-shaped gear formed on the surface of the upper half of the wheel support and the driving part equipped with a joystick that manages the eastern part, high-speed rotation, low-speed rotation, forward and backward, and bend forward, and the body part with the base and the upper half of the wheel support. And the chain pulley attached to the rotating shaft of the rotating gear and the chain pulley installed on the rotating shaft of the motor for leveling device installed on the outer surface of the main body and the chain belt are installed to maintain parallelism, and according to the signal of the gyroscope sensor that detects the parallelism. The motor for the leveling device in operation drives the rotation gear to maintain the body horizontally, and the connecting arm is connected to the rotation shaft of the steering motor installed between the rear wheel and the intermediate wheel. Equipped with a direction changer to change the angle.
그러나, 상기 육륜 접지 개인용 자동차는 6개의 바퀴가 항상 지면에 항상 접지되도록 하는 수단이 없다.However, the six-wheeled personal vehicle does not have a means to ensure that the six wheels are always grounded to the ground.
따라서, 본 발명의 목적은 차체 프레임의 사이드 프레임에 원호 형상으로 형성된 로워 암의 중간 만곡부가 축핀에 의해 연결되어, 로워 암이 축핀을 중심으로 선단 또는 후단 쪽으로 기울어질 수 있으며, 로워 암의 선단 및 후단에 캐스터와 구동휠이 각각 장착됨으로써, 지면이 평탄하지 않아 울퉁불퉁하거나 캐스터와 구동휠이 접하는 지면의 높이 차에 의해 경사도가 다른 경우에도 캐스터의 휠과 구동휠이 지면에 항상 밀착되어, 주행중에 구동휠이 지면에 밀착되지 않아 주행이 정지되는 것을 방지할 수 있을 뿐만 아니라 프론트 캐스터의 휠이 지면에 밀착되지 않아, 차체 프레임이 앞으로 기울어짐으로써, 적재된 물건이 앞으로 쏟아지는 것을 방지할 수 있는 6륜 접지 자동경로차량를 제공하는 것이다.Accordingly, an object of the present invention is that the middle curved portion of the lower arm formed in an arc shape on the side frame of the vehicle body frame is connected by the shaft pin, so that the lower arm can be inclined toward the front end or the rear end around the shaft pin, and the front end and The casters and drive wheels are mounted at the rear end, so even when the ground is uneven and uneven or the inclination is different due to the difference in height of the ground where the casters and drive wheels are in contact, the casters and drive wheels are always in close contact with the ground. Not only can the drive wheel not close to the ground and stop driving, but also the front caster's wheel does not come in close contact with the ground, so the body frame tilts forward, preventing the loaded objects from spilling forward. It is to provide a wheel-folding automatic route vehicle.
본 발명의 다른 목적은 차체 프레임의 리어 프레임에 스테빌라이저 바(stabilizer bar)가 자신의 센터를 중심을 좌우로 기울어질 수 있게 장착되고, 스테빌라이저 바의 좌측단 및 우측단에 각각 캐스터가 장착됨으로써, 주행중에 좌측 리어 캐스터가 접하는 지면과 우측 리어 캐스터가 접하는 지면의 높이가 다를 경우, 지면의 높이 차에 대응되게 스테빌라이저 바가 기울어질 수 있어, 주행중에 지면의 좌우 높이 차에 의해 차체 프레임이 좌우로 기울어지는 것을 방지하게 되어, 차량에 적재된 화물이 옆으로 쏟아지는 것을 방지할 수 있는 하게 6륜 접지 자동경로차량를 제공하는 것이다.Another object of the present invention is that a stabilizer bar is mounted on a rear frame of a vehicle body so that the stabilizer bar can be tilted left and right around its center, and casters are mounted on the left and right ends of the stabilizer bar, respectively. , If the height of the ground contacted by the left rear caster and the ground contacted by the right rear caster is different while driving, the stabilizer bar may be inclined to correspond to the difference in height of the ground. It is to provide a six-wheel folding automatic route vehicle that prevents the inclination of the vehicle and prevents the cargo loaded on the vehicle from spilling to the side.
상기와 같은 목적을 달성하기 위한 본 발명에 따른 6륜 접지 자동경로차량의 일례는 차체 프레임의 좌측 및 우측에 프론트 캐스터, 구동휠 및 리어 캐스터가 각각 배치되도록 6개의 바퀴가 장착된 것으로, 차체 프레임의 사이드 프레임에 원호 형상으로 형성된 로워 암의 중간 만곡부가 축핀에 의해 연결되어, 로워 암(lower arm)이 축핀을 중심으로 선단 또는 후단 쪽으로 기울어질 수 있으며, 로워 암의 선단에 프론트 캐스터가 장착되고, 로워 암의 후단에 감속 모터에 의해 구동되는 구동휠이 장착되는 것을 특징으로 한다.An example of a six-wheel grounded automatic path vehicle according to the present invention for achieving the above object is that six wheels are mounted so that the front casters, the drive wheels and the rear casters are respectively disposed on the left and right sides of the body frame, and the body frame The middle bent portion of the lower arm formed in an arc shape is connected to the side frame of the axial pin, so that the lower arm can be inclined toward the front end or the rear end around the shaft pin, and the front caster is mounted on the front end of the lower arm. , A driving wheel driven by a reduction motor is mounted at a rear end of the lower arm.
또한, 본 발명에 따른 6륜 접지 자동경로차량은 차체 프레임의 리어 프레임 중간에 스테빌라이저 바의 중심부가 연결수단에 의해 연결되어, 연결수단을 중심으로 스테빌라이저 바가 좌측 단부 또는 우측 단면 중 어느 한쪽으로 기울어질 수 있으며, 스테빌라이저 바의 좌측 단부에 좌측 리어 캐스터가 장착되고, 스테빌라이저 바의 우측 단부에 우측 리어 캐스터가 장착되는 것을 특징으로 한다.In addition, in the six-wheel grounded automatic path vehicle according to the present invention, the central portion of the stabilizer bar is connected to the middle of the rear frame of the vehicle body frame by a connecting means, so that the stabilizer bar is connected to either the left end or the right cross-section around the connecting means. It can be inclined, and a left rear caster is mounted on the left end of the stabilizer bar, and a right rear caster is mounted on the right end of the stabilizer bar.
상기 구동휠은 좌측 구동휠과 우측 구동휠로 구성되고, 좌측 구동휠이 제 1 감속 모터에 의해 구동되고, 우측 구동휠이 제 2 감속 모터에 의해 구동됨으로써, 좌측 구동휠을 구동하기 위한 제 1 감속 모터의 rpm과 우측 구동휠을 구동하기 위한 제 2 감속 모터의 rpm을 달리함으로써, 주행과정에서 차체 프레임이 우회전 되거나 좌회전될 수 있는 것을 특징으로 한다.The driving wheel is composed of a left driving wheel and a right driving wheel, the left driving wheel is driven by a first reduction motor, and the right driving wheel is driven by a second reduction motor, thereby driving the left driving wheel. By varying the rpm of the reduction motor and the rpm of the second reduction motor for driving the right drive wheel, the vehicle body frame can be rotated right or left during the driving process.
상기 프론트 캐스터는 로워 암에 장착되는 베이스 브라켓과, 베이스 브라켓의 중앙에 회전 가능하게 장착되는 방향전환 축과, 방향전환 축에 장착되는 휠 받침대와, 휠 받침대에 휠 샤프트에 의해 회전 가능하게 장착되는 휠과, 베이스 브라켓에 장착되는 2개의 스톱퍼로 구성되고, 휠 받침대에서 연장되는 한 쌍의 연장부가 2개의 스톱퍼 사이에 배치되는 것을 특징으로 한다.The front caster includes a base bracket mounted on the lower arm, a direction changing shaft rotatably mounted in the center of the base bracket, a wheel support mounted on the direction changing shaft, and rotatably mounted on the wheel support by a wheel shaft. It is composed of a wheel and two stoppers mounted on the base bracket, and characterized in that a pair of extension parts extending from the wheel support are disposed between the two stoppers.
상기 베이스 브라켓은 각각의 코너에 볼트구멍이 형성되고, 볼트구멍을 통해 볼트가 로워 암에 장착되고, 방향전환 축의 하단부가 휠 받침대의 수평부에 형성된 결합구멍에 결합되며, 일렬로 형성된 복수개의 좌측 결합구멍과 일렬로 형성된 복수개의 우측 결합구멍이 방향전환 축과 후방 모서리 사이에서 방향전환 축의 양 측부에 각각 형성되고, 복수개의 좌측 결합구멍 중 어느 하나에 "ㄱ" 형상의 스톱퍼가 볼트에 의해 결합되고, 복수개의 우측 결합구멍 중 어느 하나에 "ㄱ" 형상의 스톱퍼가 볼트에 의해 결합되는 것을 특징으로 한다.The base bracket has a bolt hole formed at each corner, a bolt is mounted to the lower arm through the bolt hole, the lower end of the direction change shaft is coupled to a coupling hole formed in the horizontal part of the wheel support, and a plurality of left sides formed in a row A plurality of right coupling holes formed in line with the coupling holes are formed on both sides of the turning shaft between the turning shaft and the rear edge, and a stopper of "a" shape is joined to any one of the plurality of left coupling holes by bolts. It is characterized in that the stopper of the "a" shape is coupled to any one of the plurality of right coupling holes by bolts.
상기 휠 받침대는 수평부의 양 측부에서 수직 커버부가 각각 하부로 굴절되고, 수평부의 중앙에 결합구멍이 형성되고, 수직 커버부에 축구멍이 각각 형성되며, 수평부와 수직 커버부에서 한 쌍의 연장부가 후방으로 연장되는 것을 특징으로 한다.The wheel support has a vertical cover part bent downward at both sides of the horizontal part, a coupling hole is formed in the center of the horizontal part, a shaft hole is formed in the vertical cover part, respectively, and a pair of extensions from the horizontal part and the vertical cover part It is characterized in that the part extends rearward.
이것에 의해, 본 발명에 따른 6륜 접지 자동경로차량은 지면이 평탄하지 않거나 기울어져 있는 경우에도 캐스터의 휠과 구동휠이 지면에 항상 밀착되어, 주행중에 구동휠이 지면에 밀착되지 않아 주행이 정지되는 것을 방지할 수 있을 뿐만 아니라 프론트 캐스터의 휠이 지면에 밀착되지 않아, 차체 프레임이 앞으로 기울어짐으로써, 적재된 물건이 앞으로 쏟아지는 것을 방지할 수 있으며, 차량에 적재된 화물이 옆으로 쏟아지는 것을 방지할 수 있는 효과가 있다.Accordingly, in the six-wheel grounded automatic path vehicle according to the present invention, even when the ground is not flat or inclined, the wheels of the caster and the drive wheel are always in close contact with the ground, so that the drive wheel does not come in close contact with the ground while driving. In addition to preventing stoppage, the wheel of the front caster does not come into close contact with the ground, so the body frame tilts forward, preventing the loaded objects from spilling forward, and preventing the cargo loaded on the vehicle from spilling to the side. There is an effect that can be prevented.
또한, 본 발명에 따른 6륜 접지 자동경로차량은 좌측 구동휠과 우측 구동휠의 회전 속도를 달리하여, 주행과정에서 우회전 또는 좌회전할 수 있으며, 우회전 또는 좌회전하는 과정에서 프론트 캐스터의 휠이 과도하게 회전되는 것을 방지함으로써, 우회전 또는 좌회전을 안정적으로 수행할 수 있는 효과가 있다.In addition, the six-wheel grounded automatic path vehicle according to the present invention can rotate right or left during the driving process by varying the rotational speed of the left and right driving wheels, and the wheel of the front caster is excessive in the process of turning right or left. By preventing rotation, there is an effect of stably performing a right or left turn.
도 1 및 도 2는 본 발명에 따른 6륜 접지 자동경로차량을 개략적으로 도시한 사시도로, 도 1은 위에서 본 것이고, 도 2는 하부에서 본 것이다.1 and 2 are perspective views schematically showing a six-wheeled automatic path vehicle according to the present invention, and FIG. 1 is viewed from above, and FIG. 2 is viewed from below.
도 3은 본 발명에 따른 6륜 접지 자동경로차량을 도시한 도 1의 A-A선에 따른 단면도이다.3 is a cross-sectional view taken along line A-A of FIG. 1 showing a six-wheel grounded automatic route vehicle according to the present invention.
도 4는 지면이 평탄하지 않을 때, 로워 암에 의해 프론트 캐스터의 휠과 구동휠이 지면에 접지되는 것을 설명하기 위한 것이다.4 is for explaining that the wheel of the front caster and the driving wheel are grounded to the ground by the lower arm when the ground is not flat.
도 5는 2개의 리어 캐스터가 스테빌라이저 바(stabilizer bar)를 통해 차체 프레임의 리어 프레임에 장착된 상태를 도시한 것이다.5 shows a state in which two rear casters are mounted on a rear frame of a vehicle body frame through a stabilizer bar.
도 6은 프론트 캐스터를 도시한 분해 사시도이다.6 is an exploded perspective view showing the front caster.
도 7은 프론트 캐스터를 도시한 조립 사시도이다.7 is an assembled perspective view showing the front caster.
이하, 본 발명의 바람직한 실시예를 도면을 참조하여 상세하게 설명하기로 한다.Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings.
도 1 내지 도 3을 참조하면, 본 발명에 따른 6륜 접지 자동경로차량은 차체 프레임(10)의 좌측 및 우측에 프론트 캐스터(20), 구동휠(30) 및 리어 캐스터(40)가 각각 배치되도록 6개의 바퀴가 장착된 것으로, 차체 프레임(10)의 사이드 프레임(11)에 원호 형상으로 형성된 로워 암(50 ; lower arm)의 중간 만곡부(51)가 축핀(55)에 의해 연결되어, 로워 암(50)이 축핀(55)을 중심으로 선단(52) 또는 후단(53) 쪽으로 기울어질 수 있으며, 로워 암(50)의 선단(52)에 프론트 캐스터(20)가 장착되고, 로워 암(50)의 후단(53)에 감속 모터(35)에 의해 구동되는 구동휠(30)이 장착된다.1 to 3, in the six-wheeled automatic route vehicle according to the present invention, a front caster 20, a driving wheel 30, and a rear caster 40 are disposed on the left and right sides of the body frame 10, respectively. 6 wheels are mounted so that the middle curved portion 51 of the lower arm 50 formed in an arc shape on the side frame 11 of the body frame 10 is connected by the shaft pin 55, and the lower The arm 50 may be inclined toward the front end 52 or the rear end 53 around the shaft pin 55, and the front caster 20 is mounted on the front end 52 of the lower arm 50, and the lower arm ( A drive wheel 30 driven by a reduction motor 35 is mounted at the rear end 53 of 50).
상기와 같이 구성된 본 발명에 따른 6륜 접지 자동경로차량은 감속 모터(35)에 의해 구동휠(30)이 구동되어 이동하는 중에, 지면(G)이 평탄하지 않아 울퉁불퉁하거나 프론트 캐스터(20)와 리어 캐스터(40)가 접하는 지면(G)의 높이 차에 의해 경사도가 다른 지점을 통과하는 경우 - 예를 들어, 도 3에 도시된 것처럼, 프론트 캐스터(20)의 휠이 접하는 지면이 리어 캐스터(40)가 접하는 지면(G) 보다 높아 구동휠(30)이 지면에 안닿게 될 경우 - 프론트 캐스터(20)의 휠의 지면 반발력에 의해 로워 암(50)이 축핀(55)을 중심으로 선단(22)이 화살표(57) 방향과 같이 상부로 올라가게 되고, 후단(53)이 화살표(58) 방향과 같이 하부로 내려가게 됨으로써, 프론트 캐스터(20)의 휠과 구동휠(30)이 지면에 밀착되어, 계속 주행할 수 있게 된다. 그리고, 반대로, 프론트 캐스터(20)의 휠이 접하는 지면이 리어 캐스터(40)가 접하는 지면(G) 보다 낮아, 프론트 캐스터(20)의 휠이 지면에 안닿게 될 경우, 구동휠(30)의 지면 반발력에 의해 로워 암(50)이 축핀(55)을 중심으로 후단(53)이 화살표(58) 반대방향과 같이 상부로 올라가고, 선단(22)이 화살표(57) 반대방향과 같이 하부로 내려가게 됨으로써, 프론트 캐스터(20)의 휠과 구동휠(30)이 지면에 밀착된다. 이것에 의해, 프론트 캐스터(20)의 휠이 지면에 밀착되지 않아. 차체 프레임(10)의 앞으로 기울어지는 형상을 방지하여, 차량에 적재된 물건이 앞으로 쏟아지는 것을 방지할 수 있게 된다.In the six-wheel grounded automatic path vehicle according to the present invention configured as described above, while the driving wheel 30 is driven by the deceleration motor 35 to move, the ground G is not flat and thus uneven or uneven with the front caster 20 When the inclination passes through different points due to the difference in height of the ground G contacting the rear caster 40-For example, as shown in FIG. 3, the ground where the wheels of the front caster 20 contact the rear caster ( When the driving wheel 30 is not in contact with the ground, which is higher than the ground (G) where 40) contacts the ground-The lower arm 50 is moved around the shaft pin 55 by the ground reaction force of the front caster 20. 22) rises upward in the direction of the arrow 57, and the rear end 53 descends downward in the direction of the arrow 58, so that the wheel of the front caster 20 and the driving wheel 30 are on the ground. It adheres closely and allows you to continue running. And, on the contrary, when the ground where the wheel of the front caster 20 is in contact is lower than the ground G that the rear caster 40 is in contact with, the wheel of the front caster 20 is not in contact with the ground, the driving wheel 30 The lower arm 50 moves up the shaft pin 55 as the center of the lower arm 50, the rear end 53 ascends to the top in the opposite direction to the arrow 58, and the tip 22 descends to the bottom as the opposite direction to the arrow 57. By going, the wheel of the front caster 20 and the driving wheel 30 are in close contact with the ground. Thereby, the wheel of the front caster 20 does not come into close contact with the ground. By preventing the shape of the vehicle body frame 10 inclining forward, it is possible to prevent objects loaded on the vehicle from pouring forward.
이와 같이, 본 발명에 따른 6륜 접지 자동경로차량은 지면(G)이 평탄하지 않아 울퉁불퉁하거나 프론트 캐스터(20)와 구동휠(30)이 접하는 지면(G)의 높이 차에 의해 경사도가 다른 경우에도 항상 프론트 캐스터(20)의 휠, 구동휠(30) 및 리어 캐스터(40)의 휠이 지면에 밀착됨으로써, 주행중에 구동휠(30)이 지면에 밀착되지 않아 주행이 정지되거나, 프론트 캐스터(20)의 휠 지면에 밀착되지 않음으로써, 차체 프레임(10)이 앞으로 기울어져, 적재된 물건이 앞으로 쏟아지는 것을 방지할 수 있는 효과가 있다.As described above, in the case of the six-wheel grounded automatic path vehicle according to the present invention, the ground (G) is uneven and the inclination is different due to the difference in height of the ground (G) in contact with the front caster 20 and the driving wheel 30 Even if the wheel of the front caster 20, the wheel of the driving wheel 30, and the wheel of the rear caster 40 are always in close contact with the ground, the driving wheel 30 does not come in close contact with the ground while driving, so that the driving is stopped or the front caster ( By not in close contact with the wheel of 20), the vehicle body frame 10 is tilted forward, and there is an effect of preventing the loaded object from pouring forward.
도 2 및 도 5를 참조하면, 또한, 본 발명에 따른 6륜 접지 자동경로차량은 차체 프레임(10)의 리어 프레임(12) 중간에 스테빌라이저 바(60 ; stabilizer bar)의 중심부가 연결수단(65)에 의해 연결되어, 연결수단(65)을 중심으로 스테빌라이저 바(60)가 좌측 단부 또는 우측 단면 중 어느 한쪽으로 기울어질 수 있으며, 스테빌라이저 바(60)의 좌측 단부에 좌측 리어 캐스터(40a)가 장착되고, 스테빌라이저 바(60)의 우측 단부에 우측 리어 캐스터(40b)가 장착된다.Referring to FIGS. 2 and 5, in the six-wheel grounded automatic path vehicle according to the present invention, the center of the stabilizer bar 60 is the connection means (stabilizer bar) in the middle of the rear frame 12 of the body frame 10. 65), the stabilizer bar 60 can be inclined to either the left end or the right end surface around the connecting means 65, and the left rear caster ( 40a) is mounted, and a right rear caster 40b is mounted at the right end of the stabilizer bar 60.
이것에 의해, 좌측 리어 캐스터(40a)가 접하는 지면보다 우측 리어 캐스터(40b)가 접하는 지면이 상대적으로 더 높아, 좌측 리어 캐스터(40a)가 우측 리어 캐스터(40b)에 비해 상대적으로 높은 위치에 배치될 경우, 좌측 리어 캐스터(40a)의 지면 반발력에 의해 스테빌라이저 바(60)가 연결수단(65)을 중심으로 우측으로 기울어지게 되어, 스테빌라이저 바(60)의 우측단에 장착된 우측 리어 캐스터(40b)가 지면에 밀착된다. 그리고, 반대로, 우측 리어 캐스터(40b)가 접하는 지면보다 좌측 리어 캐스터(40b)가 접하는 지면이 보다 상대적으로 더 높아, 우측 리어 캐스터(40b)가 좌측 리어 캐스터(40a)에 비해 상대적으로 높은 위치에 배치될 경우, 우측 리어 캐스터(40b)의 지면 반발력에 의해 스테빌라이저 바(60)가 연결수단(65)을 중심으로 좌측으로 기울어지게 되어, 스테빌라이저 바(60)의 좌측단에 장착된 좌측 리어 캐스터(40a)가 지면에 밀착된다.Thereby, the ground in contact with the right rear caster 40b is relatively higher than the ground in contact with the left rear caster 40a, and the left rear caster 40a is placed at a relatively high position compared to the right rear caster 40b. If so, the stabilizer bar 60 is inclined to the right around the connecting means 65 by the ground repulsion force of the left rear caster 40a, and the right rear caster mounted on the right end of the stabilizer bar 60 (40b) is in close contact with the ground. And, on the contrary, the ground contacted by the left rear caster 40b is higher than the ground contacted by the right rear caster 40b, and the right rear caster 40b is at a relatively higher position than the left rear caster 40a. When disposed, the stabilizer bar 60 is inclined to the left around the connecting means 65 by the ground repulsion of the right rear caster 40b, so that the left rear mounted at the left end of the stabilizer bar 60 Caster (40a) is in close contact with the ground.
이와 같이, 본 발명에 따른 6륜 접지 자동경로차량은 주행중에 좌측 리어 캐스터(40a)가 접하는 지면과 우측 리어 캐스터(40b)가 접하는 지면의 높이가 다를 경우, 지면의 높이 차에 대응되게 스테빌라이저 바(60)가 기울어지게 됨으로써, 주행중에 지면의 좌우 높이 차에 의해 차체 프레임이 좌우로 기울어지는 것을 방지할 수 있게 되어, 차량에 적재된 화물이 옆으로 쏟아지는 것을 방지하게 된다.In this way, the six-wheel grounded automatic path vehicle according to the present invention is a stabilizer corresponding to the difference in height when the ground contacted by the left rear caster 40a and the ground contacted by the right rear caster 40b are different while driving. Since the bar 60 is inclined, it is possible to prevent the body frame from tilting left and right due to a difference in height of the ground while driving, thereby preventing the cargo loaded on the vehicle from spilling to the side.
도 1 및 도 2를 다시 참조하면, 또한, 본 발명에 따른 6륜 접지 자동경로차량에 있어서, 상기 구동휠(30)은 좌측 구동휠(30a)과 우측 구동휠(30b)로 구성되고, 좌측 구동휠(30a)이 제 1 감속 모터(35a)에 의해 구동되고, 우측 구동휠(30b)이 제 2 감속 모터(35b)에 의해 구동됨으로써, 좌측 구동휠(30a)을 구동하기 위한 제 1 감속 모터(35a)의 rpm과 우측 구동휠(30b)을 구동하기 위한 제 2 감속 모터(35b)의 rpm을 달리함으로써, 주행과정에서 차체 프레임(10)이 우회전되거나 좌회전될 수 있다.Referring again to FIGS. 1 and 2, in addition, in the six-wheel grounded automatic path vehicle according to the present invention, the driving wheel 30 is composed of a left driving wheel 30a and a right driving wheel 30b, and The driving wheel 30a is driven by the first deceleration motor 35a, and the right driving wheel 30b is driven by the second deceleration motor 35b, so that the first deceleration for driving the left driving wheel 30a By varying the rpm of the motor 35a and the rpm of the second deceleration motor 35b for driving the right driving wheel 30b, the vehicle body frame 10 may rotate right or left during the driving process.
도 6 및 도 7을 참조하면, 또한, 본 발명에 따른 6륜 접지 자동경로차량에 있어서, 상기 프론트 캐스터(20)는 로워 암(50 ; 도 1 참조)에 장착되는 베이스 브라켓(21)과, 베이스 브라켓(21)의 중앙에 회전 가능하게 장착되는 방향전환 축(22)과, 방향전환 축(22)에 장착되는 휠 받침대(23)와, 휠 받침대(23)에 휠 샤프트(24)에 의해 회전 가능하게 장착되는 휠(25)과, 베이스 브라켓(21)에 장착되는 2개의 스톱퍼(26, 27)로 구성되고, 휠 받침대(23)에서 연장되는 한 쌍의 연장부(237)가 2개의 스톱퍼(26, 27) 사이에 배치된다.6 and 7, in addition, in the six-wheel grounded automatic route vehicle according to the present invention, the front caster 20 includes a base bracket 21 mounted on a lower arm 50 (see FIG. 1), and The direction change shaft 22 rotatably mounted in the center of the base bracket 21, the wheel support 23 mounted on the direction change shaft 22, and the wheel shaft 24 on the wheel support 23 It consists of a wheel 25 rotatably mounted and two stoppers 26 and 27 mounted on the base bracket 21, and a pair of extensions 237 extending from the wheel support 23 It is disposed between the stoppers (26, 27).
상기 베이스 브라켓(21)은 각각의 코너에 볼트구멍(211)이 형성되고, 볼트구멍(211)을 통해 볼트(212)가 로워 암(50 ; 도 1 참조)에 장착되고, 방향전환 축(22)의 하단부가 휠 받침대(23)의 수평부(231)에 형성된 결합구멍(232)에 결합되며, 일렬로 형성된 복수개의 좌측 결합구멍(213)과 일렬로 형성된 복수개의 우측 결합구멍(214)이 방향전환 축(22)과 후방 모서리(215) 사이에서 방향전환 축(22)의 양 측부에 각각 형성되고, 복수개의 좌측 결합구멍(213) 중 어느 하나에 "ㄱ" 형상의 스톱퍼(26)가 볼트(262)에 의해 결합되고, 복수개의 우측 결합구멍(214) 중 어느 하나에 "ㄱ" 형상의 스톱퍼(27)가 볼트(272)에 의해 결합된다.The base bracket 21 has a bolt hole 211 formed at each corner, and a bolt 212 is mounted to the lower arm 50 (see FIG. 1) through the bolt hole 211, and the direction change shaft 22 The lower end of) is coupled to the coupling hole 232 formed in the horizontal portion 231 of the wheel support 23, and a plurality of left coupling holes 213 formed in a row and a plurality of right coupling holes 214 formed in a row It is formed on both sides of the turning shaft 22 between the turning shaft 22 and the rear edge 215, respectively, a stopper 26 of the "a" shape in any one of the plurality of left coupling holes 213 It is coupled by a bolt 262, a stopper 27 of a "b" shape is coupled to any one of the plurality of right coupling holes 214 by the bolt 272.
상기 휠 받침대(23)는 수평부(231)의 양 측부에서 수직 커버부(233, 235)가 각각 하부로 굴절되고, 수평부(231)의 중앙에 결합구멍(232)이 형성되고, 수직 커버부(233, 235)에 축구멍(234, 236)이 각각 형성되며, 수평부(231)와 수직 커버부(233, 234)에서 한 쌍의 연장부(237)가 후방으로 연장된다.In the wheel support 23, vertical cover portions 233 and 235 are bent downward at both sides of the horizontal portion 231, and a coupling hole 232 is formed in the center of the horizontal portion 231, and a vertical cover Shaft holes 234 and 236 are formed in the portions 233 and 235, respectively, and a pair of extension portions 237 extend rearward from the horizontal portion 231 and the vertical cover portions 233 and 234.
상기와 같이 구성된 프론트 캐스터(20)는 휠 받침대(23)의 연장부(237)가 스톱퍼(26, 27) 사이에 배치되어, 주행중 방향을 전환할 때, 연장부(237)가 2개의 스톱퍼(26, 27) 중 어느 하나에 걸려, 휠(25)이 방향전환 축(22)을 중심으로 과도하게 도는 것을 방지함으로써, 안전한 방향 전환을 보장하게 된다.In the front caster 20 configured as described above, the extension part 237 of the wheel support 23 is disposed between the stoppers 26 and 27, so that when the direction is changed while driving, the extension part 237 is provided with two stoppers ( 26, 27), by preventing the wheel 25 from turning excessively around the turning shaft 22, thereby ensuring a safe turning.
이때, 2개의 스톱퍼(26, 27) 간격을 줄이거나 넓힘으로써, 방향전환 축(22)을 중심으로 휠(25)이 회전하는 최대 각도를 제어할 수 있다.At this time, by reducing or widening the interval between the two stoppers 26 and 27, the maximum angle at which the wheel 25 rotates around the direction change shaft 22 may be controlled.

Claims (6)

  1. 차체 프레임(10)의 좌측 및 우측에 프론트 캐스터(20), 구동휠(30) 및 리어 캐스터(40)가 각각 배치되도록 6개의 바퀴가 장착된 것으로, 차체 프레임(10)의 사이드 프레임(11)에 원호 형상으로 형성된 로워 암(50)의 중간 만곡부(51)가 축핀(55)에 의해 연결되어, 로워 암(50)이 축핀(55)을 중심으로 선단(52) 또는 후단(53) 쪽으로 기울어질 수 있으며, 로워 암(50)의 선단(52)에 프론트 캐스터(20)가 장착되고, 로워 암(50)의 후단(53)에 감속 모터(35)에 의해 구동되는 구동휠(30)이 장착되는 것을 특징으로 하는 6륜 접지 자동경로차량.Six wheels are mounted so that the front casters 20, the driving wheels 30, and the rear casters 40 are respectively disposed on the left and right sides of the body frame 10, and the side frames 11 of the body frame 10 The middle curved portion 51 of the lower arm 50 formed in an arc shape is connected by the shaft pin 55, so that the lower arm 50 tilts toward the front end 52 or the rear end 53 around the shaft pin 55. The front caster 20 is mounted on the front end 52 of the lower arm 50, and the driving wheel 30 driven by the reduction motor 35 is at the rear end 53 of the lower arm 50. A six-wheeled automatic route vehicle, characterized in that it is mounted.
  2. 제 1 항에 있어서,The method of claim 1,
    차체 프레임(10)의 리어 프레임(12) 중간에 스테빌라이저 바(60)의 중심부가 연결수단(65)에 의해 연결되어, 연결수단(65)을 중심으로 스테빌라이저 바(60)가 좌측 단부 또는 우측 단면 중 어느 한쪽으로 기울어질 수 있으며, 스테빌라이저 바(60)의 좌측 단부에 좌측 리어 캐스터(40a)가 장착되고, 스테빌라이저 바(60)의 우측 단부에 우측 리어 캐스터(40b)가 장착되는 것을 특징으로 하는 6륜 접지 자동경로차량.In the middle of the rear frame 12 of the vehicle body frame 10, the central portion of the stabilizer bar 60 is connected by a connecting means 65, so that the stabilizer bar 60 is at the left end or It can be inclined to either side of the right side, and the left rear caster 40a is mounted on the left end of the stabilizer bar 60, and the right rear caster 40b is mounted on the right end of the stabilizer bar 60. A six-wheel folding automatic path vehicle, characterized in that.
  3. 제 1 항에 있어서,The method of claim 1,
    상기 구동휠(30)은 좌측 구동휠(30a)과 우측 구동휠(30b)로 구성되고, 좌측 구동휠(30a)이 제 1 감속 모터(35a)에 의해 구동되고, 우측 구동휠(30b)이 제 2 감속 모터(35b)에 의해 구동됨으로써, 좌측 구동휠(30a)을 구동하기 위한 제 1 감속 모터(35a)의 rpm과 우측 구동휠(30b)을 구동하기 위한 제 2 감속 모터(35b)의 rpm을 달리함으로써, 주행과정에서 차체 프레임(10)이 우회전되거나 좌회전될 수 있는 것을 특징으로 하는 6륜 접지 자동경로차량.The driving wheel 30 is composed of a left driving wheel 30a and a right driving wheel 30b, the left driving wheel 30a is driven by the first deceleration motor 35a, and the right driving wheel 30b is By being driven by the second reduction motor 35b, the rpm of the first reduction motor 35a for driving the left driving wheel 30a and the second reduction motor 35b for driving the right driving wheel 30b By varying the rpm, the vehicle body frame 10 rotates right or left during the driving process, characterized in that the six-wheeled automatic path vehicle.
  4. 제 1 항에 있어서,The method of claim 1,
    상기 프론트 캐스터(20)는 로워 암(50)에 장착되는 베이스 브라켓(21)과, 베이스 브라켓(21)의 중앙에 회전 가능하게 장착되는 방향전환 축(22)과, 방향전환 축(22)에 장착되는 휠 받침대(23)와, 휠 받침대(23)에 휠 샤프트(24)에 의해 회전 가능하게 장착되는 휠(25)과, 베이스 브라켓(21)에 장착되는 2개의 스톱퍼(26, 27)로 구성되고, 휠 받침대(23)에서 연장되는 한 쌍의 연장부(237)가 2개의 스톱퍼(26, 27) 사이에 배치되는 것을 특징으로 하는 6륜 접지 자동경로차량.The front caster 20 includes a base bracket 21 mounted on the lower arm 50, a direction change shaft 22 rotatably mounted in the center of the base bracket 21, and a direction change shaft 22. With the wheel support 23 to be mounted, the wheel 25 rotatably mounted on the wheel support 23 by the wheel shaft 24, and two stoppers 26 and 27 mounted on the base bracket 21. It is configured, and a six-wheel folding automatic route vehicle, characterized in that a pair of extensions 237 extending from the wheel support 23 are disposed between the two stoppers 26 and 27.
  5. 제 4 항에 있어서,The method of claim 4,
    상기 베이스 브라켓(21)은 각각의 코너에 볼트구멍(211)이 형성되고, 볼트구멍(211)을 통해 볼트(212)가 로워 암(50)에 장착되고, 방향전환 축(22)의 하단부가 휠 받침대(23)의 수평부(231)에 형성된 결합구멍(232)에 결합되며, 일렬로 형성된 복수개의 좌측 결합구멍(213)과 일렬로 형성된 복수개의 우측 결합구멍(214)이 방향전환 축(22)과 후방 모서리(215) 사이에서 방향전환 축(22)의 양 측부에 각각 형성되고, 복수개의 좌측 결합구멍(213) 중 어느 하나에 "ㄱ" 형상의 스톱퍼(26)가 볼트(262)에 의해 결합되고, 복수개의 우측 결합구멍(214) 중 어느 하나에 "ㄱ" 형상의 스톱퍼(27)가 볼트(272)에 의해 결합되는 것을 특징으로 하는 6륜 접지 자동경로차량.The base bracket 21 has a bolt hole 211 formed at each corner, and a bolt 212 is mounted to the lower arm 50 through the bolt hole 211, and the lower end of the direction change shaft 22 It is coupled to the coupling hole 232 formed in the horizontal portion 231 of the wheel support 23, and a plurality of left coupling holes 213 formed in a row and a plurality of right coupling holes 214 formed in a row are provided with a turning shaft ( 22) and the rear edge 215 are formed on both sides of the direction change shaft 22, respectively, in any one of the plurality of left coupling holes 213 "a" shape stopper 26 is bolt 262 A six-wheel grounded automatic route vehicle, characterized in that the stopper 27 of a "b" shape is coupled to any one of the plurality of right coupling holes 214 by a bolt 272.
  6. 제 4 항에 있어서,The method of claim 4,
    상기 휠 받침대(23)는 수평부(231)의 양 측부에서 수직 커버부(233, 235)가 각각 하부로 굴절되고, 수평부(231)의 중앙에 결합구멍(232)이 형성되고, 수직 커버부(233, 235)에 축구멍(234, 236)이 각각 형성되며, 수평부(231)와 수직 커버부(233, 234)에서 한 쌍의 연장부(237)가 후방으로 연장되는 것을 특징으로 하는 6륜 접지 자동경로차량.In the wheel support 23, vertical cover portions 233 and 235 are bent downward at both sides of the horizontal portion 231, and a coupling hole 232 is formed in the center of the horizontal portion 231, and a vertical cover Shaft holes 234 and 236 are formed in the portions 233 and 235, respectively, and a pair of extension portions 237 extend rearward from the horizontal portion 231 and the vertical cover portions 233 and 234. 6-wheel folding automatic path vehicle.
PCT/KR2020/003221 2019-06-27 2020-03-09 Six-wheel ground automated guided vehicle WO2020262797A1 (en)

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