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WO2021010641A1 - Automated guided vehicle for moving safely - Google Patents

Automated guided vehicle for moving safely Download PDF

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Publication number
WO2021010641A1
WO2021010641A1 PCT/KR2020/008868 KR2020008868W WO2021010641A1 WO 2021010641 A1 WO2021010641 A1 WO 2021010641A1 KR 2020008868 W KR2020008868 W KR 2020008868W WO 2021010641 A1 WO2021010641 A1 WO 2021010641A1
Authority
WO
WIPO (PCT)
Prior art keywords
lifting means
guide rail
support
link
main lifting
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/KR2020/008868
Other languages
French (fr)
Korean (ko)
Inventor
박영환
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hancom Robotics Inc
Original Assignee
Hancom Robotics Inc
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 Hancom Robotics Inc filed Critical Hancom Robotics Inc
Publication of WO2021010641A1 publication Critical patent/WO2021010641A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
    • B60P1/02—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading with parallel up-and-down movement of load supporting or containing element
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/10—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks
    • B66F7/12—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by mechanical jacks
    • B66F7/14—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by mechanical jacks screw operated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
    • 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
    • F16H—GEARING
    • F16H21/00—Gearings comprising primarily only links or levers, with or without slides
    • F16H21/02—Gearings comprising primarily only links or levers, with or without slides the movements of two or more independently-moving members being combined into a single movement
    • 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
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/22—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members
    • 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
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/22—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members
    • F16H25/2204—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members with balls
    • 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
    • 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

Definitions

  • the present invention relates to an automatic route vehicle for safe transport for stably transporting flat-shaped packages, and more specifically, a main lifting means and two side lifting means on a loading unit mounted on a bogie capable of autonomous driving. It relates to an automatic route vehicle for safe transport to be installed.
  • the automatic transfer cart includes a main body on which a cassette is mounted; A rechargeable battery provided inside the body to provide power to the body; A charging terminal provided on one side of the main body and supplied with power by contacting a charger connected to an external power source; It includes a flow device fastened so that the filling terminal flows.
  • the automatic transfer cart has a structure that allows the cassette loaded in the guide block to be lifted and transported to the corresponding unit process device, so that it enters the inside of the guide support and pushes the flat packaged material seated on the guide support. After lifting, it is not suitable for transporting to the next processing site, and there is a disadvantage in that there is no structure supporting both side ends of the cassette during the transport process.
  • an object of the present invention is to install a main lifting means and two side lifting means on a loading unit mounted on a bogie unit capable of autonomous driving, so that the guide support in the form of “ ⁇ ⁇ ” is moved by the bogie unit.
  • the main bracket pushes up the flat-shaped package from the inside of the guide support on which the flat-shaped package is placed, and can be automatically transported to the next processing site.
  • it is to provide an automatic route vehicle for safe transport that can stably transport the package.
  • the automatic route vehicle for safe transport which consists of a cart unit capable of autonomous driving and a loading unit that is mounted on the cart unit and supports the packaged material so as to transport the flat type package,
  • the loading unit is characterized in that it comprises a main lifting means disposed at the center to support the flat-shaped package, and side lifting means disposed on both sides of the main lifting means to support both side ends of the package. .
  • An example of the main lifting means includes four link members formed in the shape of "X", a lower guide rail and an upper guide rail are respectively mounted at an end of the link member, and a wheel is mounted at the free end of the link member, respectively,
  • the link member is folded or unfolded, the wheel moves along the lower guide rail and the upper guide rail, the link members facing each other are connected by the connecting rod, the link members adjacent to each other are connected by the connecting rod, and the driving means
  • the four link members are simultaneously folded or unfolded, so that the four upper guide rails are simultaneously raised and lowered, and the main support mounted on the upper guide rail is raised and lowered by the upper guide rail.
  • the main lifting means is characterized in that the circumference is covered by a dust boot.
  • the main lifting means is that the first link bar and the second link bar of the link member are connected in an "X" shape, and the lower end of the first link bar is connected to the first bracket mounted on the lower fixing panel by a pin,
  • the ball screw disposed horizontally on the lower fixing panel is driven by the driving means, the nut of the ball screw is coupled with the first slider, and the first slider is slidably mounted on the first guide rail mounted on the lower fixing panel.
  • the lower end of the second link bar is connected to the first slider, the upper end of the second link bar is connected by a pin to the second bracket mounted on the upper movable panel, and the upper end of the first link bar is connected to the second slider.
  • the second slider is slidably mounted on the second guide rail, the second guide rail is mounted on the lower surface of the upper movable panel, and the base box is rotatably mounted to support the transported object in the center of the upper movable panel. It is characterized in that the rotation shaft is mounted to the drive means to be elevating and descending, and the rotational power of the rotation shaft is transmitted to the receiving box through the belt.
  • the main lifting means is characterized in that the circumference is covered by a dust boot.
  • the side lifting means is characterized in that it is composed of a cylinder mounted on the loading portion to be disposed on the side of the main lifting means, a piston rod mounted to the cylinder so as to be elevating and descending, and a side support mounted on an upper end of the piston rod.
  • the side pedestal is characterized in that the step portion is formed on the upper end.
  • the automatic route vehicle for safe transport according to the present invention can be moved to the inside of the guide support on which the flat-shaped package is placed by autonomous driving, and then the main pedestal pushes the package and automatically transports it to the next processing site. There is an effect of stably transporting the package by supporting both side ends of the package by the two side supports.
  • FIG. 1 is a perspective view showing an automatic route device for safe transfer according to the present invention.
  • FIG. 2 is a front view showing an automatic route device for safe transfer according to the present invention.
  • 3 and 4 are schematic diagrams for explaining a process of transporting a packaged object in the form of a flat plate seated on a guide support.
  • FIG. 5 is an exploded perspective view showing the main lifting means according to the first embodiment
  • FIG. 6 and 7 are schematic diagrams for explaining that the main pedestal is raised and lowered by the link member of FIG. 5 being folded or unfolded.
  • FIG. 8 and 9 are side views showing the main lifting means according to the second embodiment, FIG. 8 is a state in which the link member of the "X" shape is folded, and FIG. 9 is a state in which the link member is opened.
  • FIG. 10 schematically shows a state in which a side lifting means is mounted on an automatic route vehicle for safe transfer according to the present invention.
  • the automatic route vehicle for safe transport is mounted on a cart unit 100 capable of autonomous driving and a cart unit 100 to transport a flat-type package (JT). It consists of a loading portion 200 for supporting the transport material (JT) to be able to.
  • the loading part 200 is disposed on both sides of the main lifting means 210 and the main lifting means 210 disposed in the center so as to support the flat package (JT), It includes side lifting means 250 for supporting both side ends.
  • the automatic route vehicle for safe transport according to the present invention, as shown in Figure 3, the main pedestal 216 of the main lifting means 210 and the side pedestal 255 of the side lifting means 250 In the lowered state, it moves to the inside of the guide support 300 in the form of " ⁇ ⁇ " on which the packaged object (JT) is placed by the cart unit 100 capable of autonomous driving, and the main pedestal 216 of the main lifting means 210 ) Is placed under the package (JT).
  • the main pedestal 216 of the main lifting means 210 rises and pushes the conveyed material JT placed on the guide support 300 upward, so that the conveyed material JT is the main pedestal 216 It is separated from the guide support 300 by) and is supported on the main pedestal 216.
  • the main pedestal 216 of the main lifting means 210 slightly descends, and the main lifting means 210 By raising the side pedestal 255 of the side lifting means 250 disposed on both sides, in a state in which the packaged material JT is supported on the main pedestal 216, both side ends of the conveyed article JT are side pedestal 255 Each is supported by ), so that the package (JT) can be stably transported.
  • the auto-path vehicle for safe transport moves to the inside of the guide support 300 having the shape of " ⁇ ⁇ " by autonomous driving, and then the main pedestal 216 pushes up the package (JT).
  • the main pedestal 216 In a state in which the main pedestal 216 supports the packaged material (JT), it can be automatically transported to the next processing place, and furthermore, the side pedestal 255 supports both side ends of the packaged material (JT) during the transportation process.
  • the side pedestal 255 supports both side ends of the packaged material (JT) during the transportation process.
  • the configuration and operation of the main lifting means 210 and the side lifting means 250 and 260 are as follows.
  • the first embodiment of the main lifting means 210 includes four link members 211 formed in an "X" shape, and a lower guide rail at the end of the link member 211 212 and the upper guide rail 213 are respectively mounted, a wheel (not shown) is mounted at the free end of the link member 211, respectively, and when the link member 211 is folded or unfolded, the wheel guides the lower It moves along the rail 212 and the upper guide rail 213, and the link members 211 facing each other are connected by the connecting rod 214, and the link members 211 adjacent to each other are connected to the connecting rod 215.
  • the four link members 211 are simultaneously folded or unfolded by a driving means (not shown), so that the four upper guide rails 213 are raised and lowered at the same time, and mounted on the upper guide rail 213
  • the main pedestal 216 is raised and lowered by the upper guide rail 213.
  • the driving means may typically be any one of a ball screw, a cylinder, or a means for allowing the connecting member to reciprocate left and right by a motor.
  • the main lifting means 210 is covered by a dust boot 260 (refer to FIG. 6) to prevent dust and foreign substances from flowing into the interior.
  • the main lifting means 210 configured as described above, as shown in Figure 6, when the link member 211 is unfolded by a driving means (not shown), the main pedestal 216 is raised, shown in Figure 7 As described above, when the link member 211 is folded by the driving means, the main pedestal 216 descends.
  • the first link bar 221a and the second link bar 221b of the link member 221 are "X
  • the ball is connected in the form of, and the lower end of the first link bar 221a is connected by a pin to the first bracket 223 mounted on the lower fixing panel 222, and disposed horizontally on the lower fixing panel 222
  • the screw 224 is driven by the driving means 228, the nut 225 of the ball screw 224 is coupled to the first slider 226, and the first slider 226 is attached to the lower fixing panel 222.
  • the lower end of the second link bar 221b is connected to the first slider 226, and the upper end of the second link bar 221b is an upper movable panel ( It is connected to the second bracket 232 mounted on 231 by a pin, the upper end of the first link bar 221a is connected to the second slider 233, and the second slider 233 is connected to the second guide rail ( It is slidably mounted on the 234, the second guide rail 234 is mounted on the lower surface of the upper movable panel 231, and a support box to support the transported object (JT) in the center of the upper movable panel 231 ( 235 is rotatably mounted, the rotating shaft 229 is mounted to the driving means 228 so as to be elevated and lowered, and the rotational power of the rotating shaft 229 is transmitted to the receiving tube 235 through the belt 230.
  • the ball screw 224 is rotated in any one direction by the driving means 228 in the state of FIG. 8 in which the link member 221 is folded.
  • the first slider 226 coupled with the nut 225 moves along the first guide rail 227, and the first slider Since the lower end of the second link bar 221b is connected to 226, as shown in FIG. 9, the upper movable panel 231 rises as the link member 221 is unfolded, and the upper movable panel 231 )
  • the support container 235 mounted on the rises it pushes up the packaged material (JT).
  • the upper end of the first link bar 221a can rise to the same height as the upper end of the second link bar, and the rotation shaft ( As 229 is withdrawn from the driving means 228, it rises corresponding to the upper movable panel 231.
  • the rotating shaft 229 is rotated by the driving means 228, and the rotational power of the rotating shaft 229 is transmitted to the receiving container 235 through the belt 230, so that the receiving container 235 is shown in FIG. 8 or In the state of FIG. 9, each rotation may be performed, and the packaged material JT may be each rotated by each rotation of the receiving container 235.
  • the main lifting means 210 is covered by a dust boot 260 to prevent dust and foreign substances from flowing into the interior.
  • the side lifting means 250 is a cylinder 251 mounted on the loading portion 200 so as to be disposed on the side of the main lifting means 210, and mounted so as to be elevating and descending on the cylinder 251 It consists of a piston rod 252 and a side support 255 mounted on the upper end of the piston rod 252.
  • the side pedestal 255 has a stepped portion 226 formed at an upper end thereof, and the stepped portion 226 is incorporated into a locking protrusion 11 formed on a side end portion of the transport material JT.
  • the side pedestal 255 supports the side end of the packaged object (JT), it is merged with the stepped portion 226 and the locking protrusion 11, by the automatic route vehicle for safe transfer according to the present invention.
  • the packaged material JT is inclined to the side, it is possible to prevent the packaged material JT from being separated from the loading part 200 to the side.

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Abstract

The present invention relates to an automated guided vehicle for moving safely in order to stably transfer flat plate-shaped goods, the vehicle comprising a bogie part (100) capable of autonomous driving, and a loading part (200) mounted on the bogie part (100) so as to support flat plate-shaped goods (JT) so that the goods (JT) can be transferred, wherein the loading part (200) comprises: a main lifting means (210) centrally arranged so that the goods (JT) can be supported; and a side lifting means (250) arranged on each of both side-parts of the main lifting means (210) so as to support both side-end parts of the load (JT).

Description

안전한 이송을 위한 자동경로차량Automatic route vehicle for safe transportation

본 발명은 평판 형태의 운반물을 안정적으로 이송하기 위한 안전한 이송을 위한 자동경로차량에 관한 것으로서, 보다 상세하게는 자율주행이 가능한 대차부에 장착된 적재부에 메인 리프팅 수단과 2개의 사이드 리프팅 수단이 장착되는 안전한 이송을 위한 자동경로차량에 관한 것이다.The present invention relates to an automatic route vehicle for safe transport for stably transporting flat-shaped packages, and more specifically, a main lifting means and two side lifting means on a loading unit mounted on a bogie capable of autonomous driving. It relates to an automatic route vehicle for safe transport to be installed.

대한민국 특허출원공개 제10-2009-0004237호(2009년 1월 12일, 공개)에 "자동반송대차"가 소개되어 있다.In Korean Patent Application Publication No. 10-2009-0004237 (published on January 12, 2009), "automatic transfer truck" is introduced.

상기 자동반송대차는 카세트가 안착되는 본체; 상기 본체의 내부에 구비되어 상기 본체에 동력을 제공하는 충전지; 상기 본체의 일측에 구비되고, 외부의 전원에 연결된 충전기에 접촉하여 전원이 공급되는 충전단자; 상기 충전단자가 유동(遊動)하도록 체결된 유동장치를 포함한다.The automatic transfer cart includes a main body on which a cassette is mounted; A rechargeable battery provided inside the body to provide power to the body; A charging terminal provided on one side of the main body and supplied with power by contacting a charger connected to an external power source; It includes a flow device fastened so that the filling terminal flows.

그러나, 상기 자동반송대차는 가이드 블록에 로딩되어 있는 카세트를 승강시켜 해당 단위공정장치로 운반할 수 있도록 되어 있는 구조를 가지고 있어, 가이드 서포트의 내부로 들어가, 가이드 서포트에 안착된 평판형 운반물을 밀어 올린 후, 다음 공정장소로 운반하는 것에 적합하지 않으며, 운반 과정에서 카세트의 양 측단부를 지지하는 구성이 없는 단점이 있다. However, the automatic transfer cart has a structure that allows the cassette loaded in the guide block to be lifted and transported to the corresponding unit process device, so that it enters the inside of the guide support and pushes the flat packaged material seated on the guide support. After lifting, it is not suitable for transporting to the next processing site, and there is a disadvantage in that there is no structure supporting both side ends of the cassette during the transport process.

따라서, 본 발명의 목적은 자율주행이 가능한 대차부에 장착된 적재부에 메인 리프팅 수단과 2개의 사이드 리프팅 수단이 장착됨으로써, 대차부에 의해 자율주행으로 "┏ ┓" 형태의 가이드 서포트의 내부로 이동한 후, 평판 형태의 운반물이 놓여진 가이드 서포트의 내부에서 메인 받침대가 평판 형태의 운반물을 밀어 올려, 다음 공정 장소로 자동로 운반할 수 있고, 운반 과정에서 2개의 사이드 받침대가 운반물의 양 측단부를 지지하게 됨으로써, 안정적으로 운반물을 운반할 수 있는 안전한 이송을 위한 자동경로차량을 제공하는 것이다.Accordingly, an object of the present invention is to install a main lifting means and two side lifting means on a loading unit mounted on a bogie unit capable of autonomous driving, so that the guide support in the form of “┏ ┓” is moved by the bogie unit. After moving, the main bracket pushes up the flat-shaped package from the inside of the guide support on which the flat-shaped package is placed, and can be automatically transported to the next processing site. By supporting the vehicle, it is to provide an automatic route vehicle for safe transport that can stably transport the package.

상기와 같은 목적을 달성하기 위한 안전한 이송을 위한 자동경로차량의 일례는An example of an automatic route vehicle for safe transportation to achieve the above object is

자율 주행이 가능한 대차부와, 대차부에 장착되어, 평판 형태의 운반물을 운반할 수 있도록 운반물을 지지하는 적재부로 구성되는 안전한 이송을 위한 자동경로차량에 있어서, In the automatic route vehicle for safe transport, which consists of a cart unit capable of autonomous driving and a loading unit that is mounted on the cart unit and supports the packaged material so as to transport the flat type package,

상기 적재부는 평판 형태의 운반물을 지지할 수 있도록 중앙에 배치되는 메인 리프팅 수단과, 메인 리프팅 수단의 양 측부에 각각 배치되어, 운반물의 양 측단부를 지지하는 사이드 리프팅 수단을 포함하는 것을 특징으로 한다.The loading unit is characterized in that it comprises a main lifting means disposed at the center to support the flat-shaped package, and side lifting means disposed on both sides of the main lifting means to support both side ends of the package. .

상기 메인 리프팅 수단의 일례는 "X" 형태로 형성된 4개의 링크부재를 포함하며, 링크부재의 단부에 하부 가이드 레일과 상부 가이드 레일이 각각 장착되며, 링크부재의 자유단에 바퀴가 각각 장착되고, 링크부재가 접혀지거나 펴질 때, 바퀴가 하부 가이드 레일과 상부 가이드 레일을 따라 이동하게 되고, 서로 마주보는 링크부재가 연결로드에 의해 연결되고, 서로 이웃하는 링크부재가 연결봉에 의해 연결되고, 구동수단에 의해 4개의 링크부재가 동시에 접혀지거나 펴지게 되어, 4개의 상부 가이드 레일이 동시에 승하강하게 되고, 상부 가이드 레일에 장착된 메인 받침대가 상부 가이드 레일에 의해 승하강되는 것을 특징으로 한다.An example of the main lifting means includes four link members formed in the shape of "X", a lower guide rail and an upper guide rail are respectively mounted at an end of the link member, and a wheel is mounted at the free end of the link member, respectively, When the link member is folded or unfolded, the wheel moves along the lower guide rail and the upper guide rail, the link members facing each other are connected by the connecting rod, the link members adjacent to each other are connected by the connecting rod, and the driving means As a result, the four link members are simultaneously folded or unfolded, so that the four upper guide rails are simultaneously raised and lowered, and the main support mounted on the upper guide rail is raised and lowered by the upper guide rail.

상기 상기 메인 리프팅 수단은 둘레가 더스트 부츠에 의해 커버되는 것을 특징으로 한다.The main lifting means is characterized in that the circumference is covered by a dust boot.

상기 메인 리프팅 수단의 다른 예는 링크부재의 제 1 링크바와 제 2 링크바가 "X" 형태로 연결되고, 제 1 링크바의 하단이 하부 고정패널에 장착된 제 1 브라켓에 핀에 의해 연결되며, 하부 고정패널에 수평하게 배치되는 볼 스크류가 구동수단에 의해 구동되고, 볼 스크류의 너트가 제 1 슬라이더와 결합되며, 제 1 슬라이더가 하부 고정패널에 장착된 제 1 가이드 레일에 슬라이딩 가능하게 장착되고, 제 1 슬라이더에 제 2 링크바의 하단이 연결되며, 제 2 링크바의 상단이 상부 가동패널에 장착된 제 2 브라켓에 핀에 의해 연결되고, 제 1 링크바의 상단이 제 2 슬라이더에 연결되며, 제 2 슬라이더가 제 2 가이드 레일에 슬라이딩 가능하게 장착되고, 제 2 가이드 레일이 상부 가동패널의 하부면에 장착되며, 상부 가동패널의 중앙에 운반물을 지지하기 위해 받침통이 회전 가능하게 장착되고, 구동수단에 회전축이 승하강 가능하게 장착되며, 회전축의 회전 동력이 벨트를 통해 받침통으로 전달되는 것을 특징으로 한다.Another example of the main lifting means is that the first link bar and the second link bar of the link member are connected in an "X" shape, and the lower end of the first link bar is connected to the first bracket mounted on the lower fixing panel by a pin, The ball screw disposed horizontally on the lower fixing panel is driven by the driving means, the nut of the ball screw is coupled with the first slider, and the first slider is slidably mounted on the first guide rail mounted on the lower fixing panel. , The lower end of the second link bar is connected to the first slider, the upper end of the second link bar is connected by a pin to the second bracket mounted on the upper movable panel, and the upper end of the first link bar is connected to the second slider. The second slider is slidably mounted on the second guide rail, the second guide rail is mounted on the lower surface of the upper movable panel, and the base box is rotatably mounted to support the transported object in the center of the upper movable panel. It is characterized in that the rotation shaft is mounted to the drive means to be elevating and descending, and the rotational power of the rotation shaft is transmitted to the receiving box through the belt.

상기 메인 리프팅 수단은 둘레가 더스트 부츠에 의해 커버되는 것을 특징으로 한다.The main lifting means is characterized in that the circumference is covered by a dust boot.

상기 사이드 리프팅 수단은 메인 리프팅 수단의 측부에 배치되도록 적재부에 장착되는 실린더와, 실린더에 승하강 가능하게 장착되는 피스톤 로드와, 피스톤 로드의 상단에 장착되는 사이드 받침대로 구성되는 것을 특징으로 한다.The side lifting means is characterized in that it is composed of a cylinder mounted on the loading portion to be disposed on the side of the main lifting means, a piston rod mounted to the cylinder so as to be elevating and descending, and a side support mounted on an upper end of the piston rod.

상기 사이드 받침대는 상단에 단차부가 형성되는 것을 특징으로 한다.The side pedestal is characterized in that the step portion is formed on the upper end.

이것에 의해, 본 발명에 따른 안전한 이송을 위한 자동경로차량은 자율주행으로 평판 형태의 운반물가 놓여진 가이드 서포트의 내부로 이동한 후, 메인 받침대가 운반물을 밀어 올려 다음 공정 장소로 자동으로 운반할 수 있고, 2개의 사이드 받침대에 의해 운반물의 양 측단부를 지지되어, 안정적으로 운반물을 운반할 수 있는 효과가 있다.Thereby, the automatic route vehicle for safe transport according to the present invention can be moved to the inside of the guide support on which the flat-shaped package is placed by autonomous driving, and then the main pedestal pushes the package and automatically transports it to the next processing site. There is an effect of stably transporting the package by supporting both side ends of the package by the two side supports.

도 1은 본 발명에 따른 안전한 이송을 위한 자동경로장치를 도시한 사시도이다.1 is a perspective view showing an automatic route device for safe transfer according to the present invention.

도 2는 본 발명에 따른 안전한 이송을 위한 자동경로장치를 도시한 정면도이다.2 is a front view showing an automatic route device for safe transfer according to the present invention.

도 3 및 도 4는 가이드 서포트에 안착된 평판 형태의 운반물을 운반하는 과정을 설명하기 위한 개략도이다.3 and 4 are schematic diagrams for explaining a process of transporting a packaged object in the form of a flat plate seated on a guide support.

도 5는 제 1 실시예에 따른 메인 리프팅 수단을 도시한 분해 사시도5 is an exploded perspective view showing the main lifting means according to the first embodiment

도 6 및 도 7은 도 5의 링크부재가 접혀지거나 펴지는 것에 의해 메인 받침대가 승하강되는 것을 설명하기 위한 개략도이다.6 and 7 are schematic diagrams for explaining that the main pedestal is raised and lowered by the link member of FIG. 5 being folded or unfolded.

도 8 및 도 9는 제 2 실시예에 따른 메인 리프팅 수단을 도시한 측면도로, 도 8은 "X" 형태의 링크부재가 접힌 상태이고, 도 9는 링크부재가 펴진 상태이다.8 and 9 are side views showing the main lifting means according to the second embodiment, FIG. 8 is a state in which the link member of the "X" shape is folded, and FIG. 9 is a state in which the link member is opened.

도 10은 본 발명에 따른 안전한 이송을 위한 자동경로차량에 사이드 리프팅 수단이 장착된 상태를 개략적으로 도시한 것이다.10 schematically shows a state in which a side lifting means is mounted on an automatic route vehicle for safe transfer according to the present invention.

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 및 도 2를 참조하면, 본 발명에 따른 안전한 이송을 위한 자동경로차량은 자율 주행이 가능한 대차부(100)와, 대차부(100)에 장착되어, 평판 형태의 운반물(JT)을 운반할 수 있도록 운반물(JT)을 지지하는 적재부(200)로 구성된다.1 and 2, the automatic route vehicle for safe transport according to the present invention is mounted on a cart unit 100 capable of autonomous driving and a cart unit 100 to transport a flat-type package (JT). It consists of a loading portion 200 for supporting the transport material (JT) to be able to.

상기 적재부(200)는 평판 형태의 운반물(JT)을 지지할 수 있도록 중앙에 배치되는 메인 리프팅 수단(210)과, 메인 리프팅 수단(210)의 양 측부에 각각 배치되어, 운반물(JT)의 양 측단부를 지지하는 사이드 리프팅 수단(250)을 포함한다.The loading part 200 is disposed on both sides of the main lifting means 210 and the main lifting means 210 disposed in the center so as to support the flat package (JT), It includes side lifting means 250 for supporting both side ends.

이것에 의해, 본 발명에 따른 안전한 이송을 위한 자동경로차량은, 도 3에 도시된 것처럼, 메인 리프팅 수단(210)의 메인 받침대(216)과 사이드 리프팅 수단(250)의 사이드 받침대(255)가 하강된 상태에서, 자율 주행이 가능한 대차부(100)에 의해 운반물(JT)이 놓여진 "┏ ┓" 형태의 가이드 서포트(300)의 내부로 이동하여, 메인 리프팅 수단(210)의 메인 받침대(216)가 운반물(JT)의 하부에 배치된다.Thereby, the automatic route vehicle for safe transport according to the present invention, as shown in Figure 3, the main pedestal 216 of the main lifting means 210 and the side pedestal 255 of the side lifting means 250 In the lowered state, it moves to the inside of the guide support 300 in the form of "┏ ┓" on which the packaged object (JT) is placed by the cart unit 100 capable of autonomous driving, and the main pedestal 216 of the main lifting means 210 ) Is placed under the package (JT).

이후, 도 4에 도시된 것처럼, 메인 리프팅 수단(210)의 메인 받침대(216)가 상승하여 가이드 서포트(300)에 놓인 운반물(JT)을 위로 밀어 올림으로써, 운반물(JT)이 메인 받침대(216)에 의해 가이드 서포트(300)에서 분리되고 메인 받침대(216)에 지지된다.Thereafter, as shown in FIG. 4, the main pedestal 216 of the main lifting means 210 rises and pushes the conveyed material JT placed on the guide support 300 upward, so that the conveyed material JT is the main pedestal 216 It is separated from the guide support 300 by) and is supported on the main pedestal 216.

이후, 대차부(100)에 의해 가이드 서포트(300)에서 벗어난 상태에서, 도 2에 도시된 것처럼, 메인 리프팅 수단(210)의 메인 받침대(216)가 약간 하강하고, 메인 리프팅 수단(210)의 양 측부에 배치된 사이드 리프팅 수단(250)의 사이드 받침대(255)가 상승됨으로써, 운반물(JT)이 메인 받침대(216)에 지지된 상태에서, 운반물(JT)의 양 측단부가 사이드 받침대(255)에 의해 각각 지지되어, 운반물(JT)이 안정적으로 운반될 수 있다.Thereafter, in a state away from the guide support 300 by the balance unit 100, as shown in FIG. 2, the main pedestal 216 of the main lifting means 210 slightly descends, and the main lifting means 210 By raising the side pedestal 255 of the side lifting means 250 disposed on both sides, in a state in which the packaged material JT is supported on the main pedestal 216, both side ends of the conveyed article JT are side pedestal 255 Each is supported by ), so that the package (JT) can be stably transported.

이와 같이, 본 발명에 따른 안전한 이송을 위한 자동경로차량은 자율주행으로 "┏ ┓" 형태를 가진 가이드 서포트(300)의 내부로 이동한 후, 메인 받침대(216)가 운반물(JT)을 밀어 올려, 메인 받침대(216)가 운반물(JT)을 지지한 상태에서 다음 공정 장소로 자동으로 운반할 수 있고, 더 나아가, 운반 과정에서 사이드 받침대(255)가 운반물(JT)의 양 측단부를 지지하게 됨으로써, 안정적으로 운반물(JT)을 운반할 수 있는 장점이 있다.In this way, the auto-path vehicle for safe transport according to the present invention moves to the inside of the guide support 300 having the shape of "┏ ┓" by autonomous driving, and then the main pedestal 216 pushes up the package (JT). , In a state in which the main pedestal 216 supports the packaged material (JT), it can be automatically transported to the next processing place, and furthermore, the side pedestal 255 supports both side ends of the packaged material (JT) during the transportation process. As a result, there is an advantage of being able to stably transport the packaged material (JT).

상기와 같은 본 발명에 따른 안전한 이송을 위한 자동경로차량에 있어서, 메인 리프팅 수단(210)과 사이드 리프팅 수단(250, 260)의 구성 및 작동은 다음과같다.In the automatic route vehicle for safe transfer according to the present invention as described above, the configuration and operation of the main lifting means 210 and the side lifting means 250 and 260 are as follows.

도 5 내지 도 7을 참조하면, 상기 메인 리프팅 수단(210)의 제 1 실시예는 "X" 형태로 형성된 4개의 링크부재(211)를 포함하며, 링크부재(211)의 단부에 하부 가이드 레일(212)과 상부 가이드 레일(213)이 각각 장착되며, 링크부재(211)의 자유단에 바퀴(도시하지 않음)가 각각 장착되고, 링크부재(211)가 접혀지거나 펴질 때, 바퀴가 하부 가이드 레일(212)과 상부 가이드 레일(213)을 따라 이동하게 되고, 서로 마주보는 링크부재(211)가 연결로드(214)에 의해 연결되고, 서로 이웃하는 링크부재(211)가 연결봉(215)에 의해 연결되고, 구동수단(도시하지 않음)에 의해 4개의 링크부재(211)가 동시에 접혀지거나 펴지게 되어, 4개의 상부 가이드 레일(213)이 동시에 승하강하게 되고, 상부 가이드 레일(213)에 장착된 메인 받침대(216)가 상부 가이드 레일(213)에 의해 승하강된다.5 to 7, the first embodiment of the main lifting means 210 includes four link members 211 formed in an "X" shape, and a lower guide rail at the end of the link member 211 212 and the upper guide rail 213 are respectively mounted, a wheel (not shown) is mounted at the free end of the link member 211, respectively, and when the link member 211 is folded or unfolded, the wheel guides the lower It moves along the rail 212 and the upper guide rail 213, and the link members 211 facing each other are connected by the connecting rod 214, and the link members 211 adjacent to each other are connected to the connecting rod 215. Is connected by, the four link members 211 are simultaneously folded or unfolded by a driving means (not shown), so that the four upper guide rails 213 are raised and lowered at the same time, and mounted on the upper guide rail 213 The main pedestal 216 is raised and lowered by the upper guide rail 213.

상기 구동수단(도시하지 않음)은 대표적으로 볼스크류 또는 실린더, 모터에 의해 연결부재가 좌우로 왕복운동할 수 있는 수단 중 어느 하나 일 수 있다.The driving means (not shown) may typically be any one of a ball screw, a cylinder, or a means for allowing the connecting member to reciprocate left and right by a motor.

상기 메인 리프팅 수단(210)은 먼지 및 이물질이 내부로 유입되는 것을 방지하기 위해, 둘레가 더스트 부츠(260 ; 도 6 참조)에 의해 커버된다.The main lifting means 210 is covered by a dust boot 260 (refer to FIG. 6) to prevent dust and foreign substances from flowing into the interior.

상기와 같이 구성된 메인 리프팅 수단(210)은, 도 6에 도시된 것처럼, 구동수단(도시하지 않음)에 의해 링크부재(211)가 펴지면, 메인 받침대(216)가 상승하게 되고, 도 7에 도시된 것처럼, 구동수단에 의해 링크부재(211)가 접혀지면, 메인 받침대(216)가 하강하게 된다.The main lifting means 210 configured as described above, as shown in Figure 6, when the link member 211 is unfolded by a driving means (not shown), the main pedestal 216 is raised, shown in Figure 7 As described above, when the link member 211 is folded by the driving means, the main pedestal 216 descends.

도 8 및 도 9을 참조하면, 다른 대안으로, 상기 메인 리프팅 수단(210)의 제 2 실시예는 링크부재(221)의 제 1 링크바(221a)와 제 2 링크바(221b)가 "X" 형태로 연결되고, 제 1 링크바(221a)의 하단이 하부 고정패널(222)에 장착된 제 1 브라켓(223)에 핀에 의해 연결되며, 하부 고정패널(222)에 수평하게 배치되는 볼 스크류(224)가 구동수단(228)에 의해 구동되고, 볼 스크류(224)의 너트(225)가 제 1 슬라이더(226)와 결합되며, 제 1 슬라이더(226)가 하부 고정패널(222)에 장착된 제 1 가이드 레일(227)에 슬라이딩 가능하게 장착되고, 제 1 슬라이더(226)에 제 2 링크바(221b)의 하단이 연결되며, 제 2 링크바(221b)의 상단이 상부 가동패널(231)에 장착된 제 2 브라켓(232)에 핀에 의해 연결되고, 제 1 링크바(221a)의 상단이 제 2 슬라이더(233)에 연결되며, 제 2 슬라이더(233)가 제 2 가이드 레일(234)에 슬라이딩 가능하게 장착되고, 제 2 가이드 레일(234)이 상부 가동패널(231)의 하부면에 장착되며, 상부 가동패널(231)의 중앙에 운반물(JT)을 지지하기 위해 받침통(235)이 회전 가능하게 장착되고, 구동수단(228)에 회전축(229)이 승하강 가능하게 장착되며, 회전축(229)의 회전 동력이 벨트(230)를 통해 받침통(235)으로 전달된다.8 and 9, as another alternative, in the second embodiment of the main lifting means 210, the first link bar 221a and the second link bar 221b of the link member 221 are "X The ball is connected in the form of, and the lower end of the first link bar 221a is connected by a pin to the first bracket 223 mounted on the lower fixing panel 222, and disposed horizontally on the lower fixing panel 222 The screw 224 is driven by the driving means 228, the nut 225 of the ball screw 224 is coupled to the first slider 226, and the first slider 226 is attached to the lower fixing panel 222. It is slidably mounted on the mounted first guide rail 227, the lower end of the second link bar 221b is connected to the first slider 226, and the upper end of the second link bar 221b is an upper movable panel ( It is connected to the second bracket 232 mounted on 231 by a pin, the upper end of the first link bar 221a is connected to the second slider 233, and the second slider 233 is connected to the second guide rail ( It is slidably mounted on the 234, the second guide rail 234 is mounted on the lower surface of the upper movable panel 231, and a support box to support the transported object (JT) in the center of the upper movable panel 231 ( 235 is rotatably mounted, the rotating shaft 229 is mounted to the driving means 228 so as to be elevated and lowered, and the rotational power of the rotating shaft 229 is transmitted to the receiving tube 235 through the belt 230.

상기와 같이 구성된 본 발명의 제 2 실시예에 따른 메인 리프팅 수단(210)은 링크부재(221)가 접혀진 도 8의 상태에서 구동수단(228)에 의해 볼스크류(224)가 어느 한 방향으로 회전으로 회전하게 되어, 너트(225)가 구동수단(228) 쪽으로 이동하게 됨으로써, 너트(225)와 결합된 제 1 슬라이더(226)가 제 1 가이드 레일(227)을 따라 이동하게 되고, 제 1 슬라이더(226)에 제 2 링크바(221b)의 하단이 연결되어 있어, 도 9에 도시된 것처럼, 링크부재(221)가 펴지게 되면서 상부 가동패널(231)이 상승하게 되고, 상부 가동패널(231)에 장착된 받침통(235)이 상승하게 되면서 운반물(JT)을 밀어 올리게 된다. 이때, 제 2 슬라이더(233)가 제 2 가이드 레일(234)를 따라 이동하게 됨으로써, 제 1 링크바(221a)의 상단이 제 2 링크바의 상단과 같은 높이로 상승할 수 있게 되고, 회전축(229)이 구동수단(228)에서 인출되면서 상부 가동패널(231)에 대응되게 상승하게 된다.In the main lifting means 210 according to the second embodiment of the present invention configured as described above, the ball screw 224 is rotated in any one direction by the driving means 228 in the state of FIG. 8 in which the link member 221 is folded. As the nut 225 moves toward the driving means 228, the first slider 226 coupled with the nut 225 moves along the first guide rail 227, and the first slider Since the lower end of the second link bar 221b is connected to 226, as shown in FIG. 9, the upper movable panel 231 rises as the link member 221 is unfolded, and the upper movable panel 231 ) As the support container 235 mounted on the rises, it pushes up the packaged material (JT). At this time, by moving the second slider 233 along the second guide rail 234, the upper end of the first link bar 221a can rise to the same height as the upper end of the second link bar, and the rotation shaft ( As 229 is withdrawn from the driving means 228, it rises corresponding to the upper movable panel 231.

또한, 구동수단(228)에 의해 회전축(229)이 회전하게 되고, 회전축(229)의 회전동력이 벨트(230)를 통해 받침통(235)으로 전달됨으로써, 받침통(235)은 도 8 또는 도 9의 상태에서 각회전할 수 있으며, 받침통(235)의 각회전에 의해 운반물(JT)가 각회전될 수 있다.In addition, the rotating shaft 229 is rotated by the driving means 228, and the rotational power of the rotating shaft 229 is transmitted to the receiving container 235 through the belt 230, so that the receiving container 235 is shown in FIG. 8 or In the state of FIG. 9, each rotation may be performed, and the packaged material JT may be each rotated by each rotation of the receiving container 235.

상기 메인 리프팅 수단(210)은 먼지 및 이물질이 내부로 유입되는 것을 방지하기 위해, 둘레가 더스트 부츠(260)에 의해 커버된다.The main lifting means 210 is covered by a dust boot 260 to prevent dust and foreign substances from flowing into the interior.

도 10을 참조하면, 상기 사이드 리프팅 수단(250)은 메인 리프팅 수단(210)의 측부에 배치되도록 적재부(200)에 장착되는 실린더(251)와, 실린더(251)에 승하강 가능하게 장착되는 피스톤 로드(252)와, 피스톤 로드(252)의 상단에 장착되는 사이드 받침대(255)로 구성된다.Referring to Figure 10, the side lifting means 250 is a cylinder 251 mounted on the loading portion 200 so as to be disposed on the side of the main lifting means 210, and mounted so as to be elevating and descending on the cylinder 251 It consists of a piston rod 252 and a side support 255 mounted on the upper end of the piston rod 252.

이것에 의해, 실린더(251)에서 인입/인출되는 피스톤 로드(252)에 의해 사이드 받침대(255)가 승하강된다.Thereby, the side pedestal 255 is raised and lowered by the piston rod 252 drawn in/out from the cylinder 251.

상기 사이드 받침대(255)는 상단에 단차부(226)가 형성되어, 단차부(226)가 운반물(JT)의 측단부에 형성된 걸림턱(11)에 합형된다.The side pedestal 255 has a stepped portion 226 formed at an upper end thereof, and the stepped portion 226 is incorporated into a locking protrusion 11 formed on a side end portion of the transport material JT.

이것에 의해, 사이드 받침대(255)가 운반물(JT)의 측단부를 지지하게 되면, 단차부(226)와 걸림턱(11)에 합형됨으로써, 본 발명에 따른 안전한 이송을 위한 자동경로차량에 의해 운반되는 과정에서, 운반물(JT)가 측부로 기울어져도, 운반물(JT)가 적재부(200)에서 측부로 이탈되는 것을 방지할 수 있다.Thereby, when the side pedestal 255 supports the side end of the packaged object (JT), it is merged with the stepped portion 226 and the locking protrusion 11, by the automatic route vehicle for safe transfer according to the present invention. In the process of being transported, even if the packaged material JT is inclined to the side, it is possible to prevent the packaged material JT from being separated from the loading part 200 to the side.

Claims (7)

자율 주행이 가능한 대차부(100)와, 대차부(100)에 장착되어, 평판 형태의 운반물(JT)을 운반할 수 있도록 운반물(JT)을 지지하는 적재부(200)로 구성되는 안전한 이송을 위한 자동경로차량에 있어서,Safe transport consisting of a truck unit 100 capable of autonomous driving and a loading unit 200 mounted on the truck unit 100 to support the packaged material (JT) so as to transport the flat type package (JT). In the automatic route vehicle for, 상기 적재부(200)는 평판 형태의 운반물(JT)을 지지할 수 있도록 중앙에 배치되는 메인 리프팅 수단(210)과, 메인 리프팅 수단(210)의 양 측부에 각각 배치되어, 운반물(JT)의 양 측단부를 지지하는 사이드 리프팅 수단(250)을 포함하는 것을 특징으로 하는 안전한 이송을 위한 자동경로차량.The loading part 200 is disposed on both sides of the main lifting means 210 and the main lifting means 210 disposed in the center so as to support the flat package (JT), Automatic route vehicle for safe transfer, characterized in that it comprises a side lifting means (250) for supporting both side ends. 제 1 항에 있어서,The method of claim 1, 상기 메인 리프팅 수단(210)은 "X" 형태로 형성된 4개의 링크부재(211)를 포함하며, 링크부재(211)의 단부에 하부 가이드 레일(212)과 상부 가이드 레일(213)이 각각 장착되며, 링크부재(211)의 자유단에 바퀴가 각각 장착되고, 링크부재(211)가 접혀지거나 펴질 때, 바퀴가 하부 가이드 레일(212)과 상부 가이드 레일(213)을 따라 이동하게 되고, 서로 마주보는 링크부재(211)가 연결로드(214)에 의해 연결되고, 서로 이웃하는 링크부재(211)가 연결봉(215)에 의해 연결되고, 구동수단에 의해 4개의 링크부재(211)가 동시에 접혀지거나 펴지게 되어, 4개의 상부 가이드 레일(213)이 동시에 승하강하게 되고, 상부 가이드 레일(213)에 장착된 메인 받침대(216)가 상부 가이드 레일(213)에 의해 승하강되는 것을 특징으로 하는 안전한 이송을 위한 자동경로차량.The main lifting means 210 includes four link members 211 formed in a "X" shape, and a lower guide rail 212 and an upper guide rail 213 are mounted at the ends of the link members 211, respectively, , Wheels are mounted at the free ends of the link member 211, respectively, and when the link member 211 is folded or unfolded, the wheels move along the lower guide rail 212 and the upper guide rail 213, and face each other. The viewing link member 211 is connected by the connecting rod 214, the link members 211 adjacent to each other are connected by the connecting rod 215, and the four link members 211 are simultaneously folded or folded by the driving means. Safe transfer, characterized in that the four upper guide rails 213 are raised and lowered at the same time by being unfolded, and the main support 216 mounted on the upper guide rail 213 is raised and lowered by the upper guide rail 213 Auto route vehicle for 제 2 항에 있어서,The method of claim 2, 상기 메인 리프팅 수단(210)은 둘레가 더스트 부츠(260)에 의해 커버되는 것을 특징으로 하는 안전한 이송을 위한 자동경로차량.The main lifting means 210 is an automatic route vehicle for safe transport, characterized in that the circumference is covered by a dust boot (260). 제 1 항에 있어서,The method of claim 1, 상기 메인 리프팅 수단(210)은 링크부재(221)의 제 1 링크바(221a)와 제 2 링크바(221b)가 "X" 형태로 연결되고, 제 1 링크바(221a)의 하단이 하부 고정패널(222)에 장착된 제 1 브라켓(223)에 핀에 의해 연결되며, 하부 고정패널(222)에 수평하게 배치되는 볼 스크류(224)가 구동수단(228)에 의해 구동되고, 볼 스크류(224)의 너트(225)가 제 1 슬라이더(226)와 결합되며, 제 1 슬라이더(226)가 하부 고정패널(222)에 장착된 제 1 가이드 레일(227)에 슬라이딩 가능하게 장착되고, 제 1 슬라이더(226)에 제 2 링크바(221b)의 하단이 연결되며, 제 2 링크바(221b)의 상단이 상부 가동패널(231)에 장착된 제 2 브라켓(232)에 핀에 의해 연결되고, 제 1 링크바(221a)의 상단이 제 2 슬라이더(233)에 연결되며, 제 2 슬라이더(233)가 제 2 가이드 레일(234)에 슬라이딩 가능하게 장착되고, 제 2 가이드 레일(234)이 상부 가동패널(231)의 하부면에 장착되며, 상부 가동패널(231)의 중앙에 운반물(JT)을 지지하기 위해 받침통(235)이 회전 가능하게 장착되고, 구동수단(228)에 회전축(229)이 승하강 가능하게 장착되며, 회전축(229)의 회전 동력이 벨트(230)를 통해 받침통(235)으로 전달되는 것을 특징으로 하는 안전한 이송을 위한 자동경로차량.In the main lifting means 210, the first link bar 221a and the second link bar 221b of the link member 221 are connected in an "X" shape, and the lower end of the first link bar 221a is fixed at the bottom. The first bracket 223 mounted on the panel 222 is connected by a pin, and a ball screw 224 disposed horizontally on the lower fixing panel 222 is driven by the driving means 228, and the ball screw ( The nut 225 of the 224 is coupled to the first slider 226, the first slider 226 is slidably mounted on the first guide rail 227 mounted on the lower fixing panel 222, and the first The lower end of the second link bar 221b is connected to the slider 226, and the upper end of the second link bar 221b is connected to the second bracket 232 mounted on the upper movable panel 231 by a pin, The upper end of the first link bar 221a is connected to the second slider 233, the second slider 233 is slidably mounted on the second guide rail 234, and the second guide rail 234 is upper It is mounted on the lower surface of the movable panel 231, and a support barrel 235 is rotatably mounted to support the transported material (JT) in the center of the upper movable panel 231, and a rotation shaft 229 to the driving means 228 ) Is mounted to be elevating and descending, and the rotational power of the rotation shaft 229 is transmitted to the support container 235 through the belt 230. Automatic route vehicle for safe transportation. 제 4 항에 있어서,The method of claim 4, 상기 메인 리프팅 수단(210)은 둘레가 더스트 부츠(260)에 의해 커버되는 것을 특징으로 하는 안전한 이송을 위한 자동경로차량.The main lifting means 210 is an automatic route vehicle for safe transport, characterized in that the circumference is covered by a dust boot (260). 제 1 항에 있어서,The method of claim 1, 상기 사이드 리프팅 수단(250)은 메인 리프팅 수단(210)의 측부에 배치되도록 적재부(200)에 장착되는 실린더(251)와, 실린더(251)에 승하강 가능하게 장착되는 피스톤 로드(252)와, 피스톤 로드(252)의 상단에 장착되는 사이드 받침대(255)로 구성되는 것을 특징으로 하는 안전한 이송을 위한 자동경로차량.The side lifting means 250 includes a cylinder 251 mounted on the loading portion 200 to be disposed on the side of the main lifting means 210, and a piston rod 252 mounted to the cylinder 251 so as to be elevating and descending. , Automatic route vehicle for safe transport, characterized in that consisting of a side support 255 mounted on the top of the piston rod 252. 제 6 항에 있어서,The method of claim 6, 상기 사이드 받침대(255)는 상단에 단차부(226)가 형성되는 것을 특징으로 하는 안전한 이송을 위한 자동경로차량.The side pedestal 255 is an automatic route vehicle for safe transport, characterized in that a step portion 226 is formed at the top.
PCT/KR2020/008868 2019-07-17 2020-07-07 Automated guided vehicle for moving safely Ceased WO2021010641A1 (en)

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