WO2021125487A1

WO2021125487A1 - Automated guided vehicle having improved driving stability

Info

Publication number: WO2021125487A1
Application number: PCT/KR2020/009939
Authority: WO
Inventors: 신인승; 권경업; 박정원; 양영기; 박병기
Original assignee: 에스아이에스 주식회사
Priority date: 2019-12-19
Filing date: 2020-07-28
Publication date: 2021-06-24
Also published as: KR20210078830A

Abstract

Disclosed is an automated guided vehicle having improved driving stability, and being capable of maintaining leveling of transport goods even when traveling on a slope or a floor having irregularities formed thereon. The automated guided vehicle according to the embodiment comprises: a body module having a first bearing at the center of a front surface and a second bearing at the center of a rear surface; a first mecanum wheel module having a shaft on a side surface thereof, wherein the shaft is coupled to the first bearing; and a second mecanum wheel module having a shaft on a side surface thereof, wherein the shaft is coupled to the second bearing.

Description

Driverless vehicle with improved driving stability

The present disclosure (The Disclosure) relates to an Automated Guided Vehicle having a Mecanum Wheel.

Korean Patent Publication No. 10-1866207 discloses an example of an 'unmanned transport vehicle equipped with a mecanum wheel'.

On the other hand, since the unmanned transport vehicle published in the above-mentioned publication has a structure in which four mecanum wheels are directly connected to the inside of the chassis-shaped body, when driving on a floor with slopes or irregularities, the level of the cargo is not maintained. have.

It is to provide an unmanned transport vehicle that has improved driving stability compared to the conventional unmanned transport vehicle, and maintains the level of the goods even when driving on a floor with slopes or irregularities.

The unmanned transport vehicle according to the embodiment includes a body module having a first bearing in the front center and a second bearing in the rear center; a first mecanum wheel module having a shaft on one side, the shaft being coupled to the first bearing; and a second Mecanum wheel module provided with a shaft on one side, and the shaft is coupled to the second bearing.

In addition, the unmanned transport vehicle according to the embodiment is provided on the front of the body module, the first stopper unit for limiting the amount of rotation of the first Mecanum wheel module; a second stopper unit provided on the rear surface of the body module to limit the rotation amount of the second Mecanum wheel module; and a sensor provided in the body module and sensing a distributed load of a package loaded on the body module.

In addition, each of the first stopper unit and the second stopper unit is configured to be movable in the vertical (height) direction of the body module, and may operate based on information obtained by the sensor.

Since the first Mecanum wheel module and the second Mecanum wheel module independently rotate the shaft of the unmanned transport vehicle according to the embodiment, the level of the conveyed material is maintained even when traveling on a floor with slopes or irregularities.

1 is a perspective view of an unmanned guided vehicle according to an embodiment.

2 is an exploded perspective view of an unmanned transport vehicle according to the embodiment.

3 is a diagram schematically illustrating a state in which an unmanned transport vehicle according to an embodiment runs on a floor on which a slope and irregularities are formed.

(Explanation of symbols)

100... driverless vehicle

110... body module

130... 1st Mecanum wheel module

150... 2nd Mecanum wheel module

170... first stopper unit

190... 2nd stopper unit

W... Mecanum Wheel

Hereinafter, an unmanned transport vehicle according to an embodiment will be described in detail with reference to the accompanying drawings.

1 is a perspective view of an unmanned transport vehicle 100 according to an embodiment, and FIG. 2 is an exploded perspective view of the unmanned transport vehicle 100 according to the embodiment.

1 to 2 , the unmanned transport vehicle 100 according to the embodiment includes a body module 110 , a first Mecanum wheel module 130 , and a second Mecanum wheel module 150 .

It has an enclosure shape of the body module 110 . A control unit (not shown) and a battery (not shown) are provided inside the body module 110 . In addition, the body module 110 may further include a sensor 116 for detecting the distributed load of the loaded goods.

Subsequently, the first bearing 112 is provided at the center of one side (front) of the body module 110 in the longitudinal direction, and the second bearing 114 is provided at the center of the other side (rear) of the body module 110 in the longitudinal direction.

A shaft 132 is provided on one side of the first Mecanum wheel module 130 (the surface facing the first bearing 112 of the body module 110 ), and the shaft 132 is attached to the first bearing 112 . are combined That is, the first Mecanum wheel module 130 may be axially rotated based on the shaft 132 .

The first Mecanum wheel module 130 includes a pair of Mecanum wheels (W) provided on both sides in the width direction. A pair of motors (not shown) and a battery (not shown) for driving the pair of Mecanum wheels W may be mounted inside the first Mecanum wheel module 130 . A bumper (not shown) and a charging terminal (not shown) may be further provided on the outside of the first Mecanum wheel module 130 .

A shaft 152 is provided on one side of the second Mecanum wheel module 150 (the surface facing the second bearing 114 of the body module 110 ), and the shaft 152 is attached to the second bearing 114 . are combined That is, the second Mecanum wheel module 150 may be axially rotated with respect to the shaft 152 .

The second Mecanum wheel module 150 includes a pair of Mecanum wheels W provided on both sides in the width direction. A pair of motors (not shown) and a battery (not shown) for driving the pair of Mecanum wheels W may be mounted inside the second Mecanum wheel module 150 . A bumper (not shown) and a charging terminal (not shown) may be further provided on the outside of the second Mecanum wheel module 150 .

1 to 2 , the unmanned transport vehicle 100 according to the embodiment may further include a first stopper unit 170 and a second stopper unit 190 .

The first stopper unit 170 is provided on the front surface of the body module 110 and is configured to move vertically along the height direction of the body module 110 . The first stopper unit 170 functions to limit the shaft rotation amount of the first Mecanum wheel module 130 .

The first stopper unit 170 may be configured in various forms, and as an example, as shown in the drawings, the first stopper unit 170 includes a first bearing 112 on the front surface of the body module 110 . It may be provided with a pair of angle plates (172, 174) symmetrically disposed with the interposed therebetween. At this time, the vertical bars of the angle plates (172, 174) are configured to be slidably movable in the height direction of the body module (110), and the horizontal bars of the angle plates (172, 174) are perpendicular to the first Mecanum wheel module (130). It has a length that can reach the top.

On the other hand, when the vertical bar of the angle plate (172, 174) slides in the ground direction, and the horizontal bar of the angle plate (172, 174) comes into contact with the upper surface of the first Mecanum wheel module 130, the first Mecanum wheel module ( 130) is blocked.

In addition, any one angle plate 172 and the other angle plate 174 of the first Mecanum wheel module 130 may be configured to move independently.

The second stopper unit 190 is provided on the rear surface of the body module 110 and is configured to move vertically along the height direction of the body module 110 . The second stopper unit 190 functions to limit the shaft rotation amount of the second Mecanum wheel module 150 .

The second stopper unit 190 may be configured in various forms, and as an example, as shown in the drawings, the second stopper unit 190 is a second bearing 114 on the front surface of the body module 110 . It may be provided with a pair of angle plates (192, 194) that are symmetrically disposed across the. At this time, the vertical bars of the angle plates (192, 194) are configured to be slidably movable in the height direction of the body module (110), and the horizontal bars of the angle plates (192, 194) are perpendicular to the second Mecanum wheel module (150). It has a length that can reach the top.

On the other hand, when the vertical bar of the angle plate (192, 194) slides in the ground direction, and the horizontal bar of the angle plate (192, 194) comes into contact with the upper surface of the second Mecanum wheel module 150, the second Mecanum wheel module ( 150) is blocked.

In addition, any one angle plate 192 and the other angle plate 194 of the second Mecanum wheel module 150 may be configured to move independently.

The operations of the first stopper unit 170 and the second stopper unit 190 may be interlocked with the aforementioned sensor 116 .

A. When loading or unloading goods on the upper part of the body module 110 , the load on the upper surface of the body module 110 is not uniformly distributed. In this case, the first stopper unit 170 and the second stopper unit 190 are lowered so that the body module 110 is not shaken by the transported material, and the first Mecanum wheel module 130 and the second Mecanum wheel module 150 are lowered. ) to block the shaft rotation.

B. When the distributed load of the package loaded on the body module 110 is uniform or the loaded package is significantly lighter than that of the body module 110, the first stopper unit 170 and the second stopper unit 190 rise Thus, the shaft rotation of the first Mecanum wheel module 130 and the second Mecanum wheel module 150 is allowed. At this time, the height of the first stopper unit 170 and the second stopper unit 190 (permissible axial rotation of the first Mecanum wheel module 130 and the second Mecanum wheel module 150) is the weight of the loaded cargo. may vary depending on For example, as the load becomes heavier, the elevation height of the first Mecanum wheel module 130 and the second Mecanum wheel module 150 may be lowered for stable driving. * The first stopper unit 170 and the second stopper unit 190 operate independently, and the rising height of the first stopper unit 170 and the rising height of the second stopper unit 190 may be different.

3 is a diagram schematically illustrating a state in which the unmanned transport vehicle 100 according to the embodiment runs on the floor on which the slope surface SL and the uneven surface BM are formed.

Referring to FIG. 3 , in the unmanned transport vehicle 100 according to the embodiment, since the first Mecanum wheel module 130 and the second Mecanum wheel module 150 rotate independently, the slope surface SL or the unevenness BM Even when traveling on the formed floor, the level of the conveyed material is maintained.

Expressions (terms, visualized images, etc.) used when describing an embodiment of the present disclosure (The Disclosure) are not selected to limit the technical idea of the present disclosure, but are for a tool purpose to increase understanding of the technical idea only chosen by

In addition, the present disclosure has been described by way of a limited number of embodiments, and those of ordinary skill in the art can infinitely devise new embodiments based on the described embodiments within the scope of the technical spirit of the present disclosure. will be.

Accordingly, the claims of the present disclosure should not be construed as limited by some expressions shown in the 'description of the invention' and 'drawings', but broadly based on the technical idea implied in the depths of the 'description of the invention' and 'drawings'. should be interpreted

Claims

a body module having a first bearing in the center of the front and a second bearing in the center of the rear;

a first mecanum wheel module having a shaft on one side, the shaft being coupled to the first bearing; and

A second Mecanum wheel module provided with a shaft on one side, the shaft coupled to the second bearing; Containing, an unmanned transport vehicle.
According to claim 1,

A first stopper unit provided on the front side of the body module to limit the amount of rotation of the first Mecanum wheel module; further comprising, an unmanned transport vehicle.
3. The method of claim 2,

A second stopper unit provided on the rear surface of the body module to limit the amount of rotation of the second Mecanum wheel module; further comprising, an unmanned transport vehicle.
4. The method of claim 3,

Each of the first stopper unit and the second stopper unit is characterized in that it is configured to be movable in a vertical direction of the body module, the unmanned transport vehicle.
5. The method of claim 4,

It is provided in the body module, the sensor for detecting the load distribution of the package loaded on the body module; further comprising,

and each of the first stopper unit and the second stopper unit operates based on the information obtained by the sensor.