WO2018182193A1 - Multifunctional agricultural automated guided vehicle allowing for easy change of direction - Google Patents

Multifunctional agricultural automated guided vehicle allowing for easy change of direction Download PDF

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Publication number
WO2018182193A1
WO2018182193A1 PCT/KR2018/002660 KR2018002660W WO2018182193A1 WO 2018182193 A1 WO2018182193 A1 WO 2018182193A1 KR 2018002660 W KR2018002660 W KR 2018002660W WO 2018182193 A1 WO2018182193 A1 WO 2018182193A1
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WO
WIPO (PCT)
Prior art keywords
unit
wheel
link
main body
steering
Prior art date
Application number
PCT/KR2018/002660
Other languages
French (fr)
Korean (ko)
Inventor
최종석
문장원
Original Assignee
주식회사 화인특장
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Publication date
Application filed by 주식회사 화인특장 filed Critical 주식회사 화인특장
Publication of WO2018182193A1 publication Critical patent/WO2018182193A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • 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 a multifunctional agricultural unmanned transport vehicle that is easy to change the direction, and more specifically, can be used in horticulture and land cultivation, can be moved on the flat and rail, the direction is provided to facilitate the change of direction
  • the present invention relates to a multifunctional agricultural unmanned transport vehicle that can be easily converted.
  • An unmanned transport vehicle means a vehicle that carries a product unattended and carries it to a target place by loading the product by an induction method such as electromagnetic induction, optical tape or magnetic tape.
  • the unmanned transport vehicle is mainly provided to transport cargo on a pavement such as asphalt or concrete, such as a factory.
  • the conventional unmanned transport vehicle was not economical because the lift equipment, the transport storage equipment, and the storage equipment for the control were provided separately, so that each equipment had to be purchased and used to perform each operation.
  • farmland is generally made of tiled, or cultivated land consists of a plurality of rows spaced apart from each other.
  • the conventional unmanned vehicle was not able to change the direction vertically in farmland. Therefore, in the related art, a predetermined space must be secured in order to change the direction of the unmanned vehicle, and it is inconvenient that it is difficult to change the direction when the space for the direction change is not secured.
  • the purpose of the present invention for solving the above problems is to be used in facility horticulture and land cultivation, can be moved on the plain and rail, easy to change the direction of the multifunctional agricultural unmanned transport is provided to facilitate the change of direction To provide a vehicle.
  • the configuration of the present invention for achieving the above object is an agricultural unmanned transport vehicle, the main body unit forming the appearance of the unmanned transport vehicle; A wheel unit provided below the main body unit; A rail wheel unit provided below the main body unit; A driving unit provided in the main body unit to provide power to the wheel unit and the rail wheel unit; A steering unit connected to the wheel unit; And a switching unit provided in the main body unit so as to separate the wheel unit and the rail wheel unit from the ground, wherein the switching unit includes the main unit in a state in which the wheel unit and the rail wheel unit are separated from the ground.
  • a multifunctional agricultural unmanned transport vehicle easy to change direction characterized in that it is provided so as to switch the direction of travel.
  • the wheel unit is provided on one side of the lower portion of the main body unit, the first wheel connected to the drive unit; And it is provided on the other side of the lower portion of the main body unit, it may be characterized in that it comprises a second wheel connected to the steering unit.
  • the rail wheel unit may include: a first rail wheel provided at one side of the lower portion of the main body unit and connected to the driving unit; And it may be characterized in that it comprises a second rail wheel provided on the other side of the lower portion of the main unit.
  • the wheel unit may be provided to be spaced apart from the ground when the rail wheel unit is seated on the rail.
  • the conversion unit, the hydraulic cylinder is fixed to one end to the main body unit; A first switch connected to the other end of the hydraulic cylinder and driven; And a second switch connected to the first switch and driven, wherein the second switch is connected to the first switch to separate the wheel unit and the rail wheel unit from the ground. .
  • the first switching unit the first link is connected to the other end of the hydraulic cylinder rotatably; A second link having one end rotatably connected to the other end of the first link; A hinge fixed shaft rotatably connected to the other end of the second link; And it may be characterized in that it comprises a caster provided on the lower side of the second link.
  • the second switching unit may include: a third link connected to one end of the second link; An interlocking link connecting one end of the second link and one end of the third link; A hinge fixed shaft rotatably connected to the other end of the third link; And it may be characterized in that it comprises a caster provided on the lower side of the third link.
  • the first switching unit and the second switching unit are each provided in a pair, and the pair of the first switching unit and the pair of the second switching units are each hinged by the fixed shaft. It may be characterized by being interconnected.
  • control unit is provided on the main body unit, and provided to track the movement path, wherein the control unit, the sensor module for detecting the magnetic field of the magnet installed along the movement path ; And a control module for controlling the steering unit to move along the movement path by analyzing the magnetic field sensed by the sensor module.
  • the platform unit is provided on the top of the main unit; And a functional unit detachably attached to the upper portion of the main body unit by the platform unit.
  • the effect of the present invention according to the above configuration can be easily changed in any direction by changing the traveling direction in place.
  • the present invention can be used both in a gardening facility with a rail, or in soil cultivation.
  • the present invention is economical because it is provided so that the functional unit can be attached and detached to the platform provided on the upper portion of the main body.
  • the present invention can automatically perform the control operation, it is possible to prevent a person from being addicted to the pesticides caused by the control operation.
  • the present invention can shorten the agricultural work time because it can transport a large number of crops while safely carrying out the steering operation on the unpaved road.
  • the pressurized body when the bumper collides with the impact, the pressurized body can press the switch to stop the movement of the main unit, the safety is high.
  • FIG. 1 is a perspective view showing the inside of a multifunctional agricultural unmanned vehicle easy to change the direction according to an embodiment of the present invention.
  • Figure 2 is a side view of a multifunctional agricultural unmanned vehicle easy to change the direction according to an embodiment of the present invention.
  • Figure 3 is an exploded perspective view of the bumper of the multifunctional agricultural unmanned vehicle for easy change of direction according to an embodiment of the present invention.
  • Figure 4 is a perspective view showing a combination of the first wheel and the first wheel of the multifunctional agricultural unmanned vehicle for easy change of direction according to an embodiment of the present invention.
  • Figure 5 is a front view showing the coupling of the first wheel and the first wheel of the multifunctional agricultural unmanned vehicle for easy change of direction according to an embodiment of the present invention.
  • Figure 6 is an exploded perspective view showing a steering unit of a multifunctional agricultural unmanned vehicle for easy change of direction according to an embodiment of the present invention.
  • FIG. 7 is a perspective view of the steering unit of the multifunctional agricultural unmanned vehicle for easy change of direction according to an embodiment of the present invention viewed from the front.
  • FIG. 8 is a perspective view of a second rail wheel of the multifunctional agricultural unmanned vehicle for easy change of direction according to an embodiment of the present invention.
  • FIG. 9 is a perspective view of a switching unit of the multifunctional agricultural unmanned vehicle for easy change of direction according to an embodiment of the present invention.
  • FIG. 10 is a cross-sectional view taken along the line A-A of FIG.
  • 11 is an exemplary view showing the types of functional units of the multifunctional agricultural unmanned vehicle for easy direction change according to an embodiment of the present invention.
  • FIG. 12 is an exemplary view showing a state in which the functional unit of the multifunctional agricultural unmanned vehicle for easy change of direction according to an embodiment of the present invention attached to the platform unit.
  • the main body unit to form the appearance of the unmanned transport vehicle;
  • a wheel unit provided below the main body unit;
  • a rail wheel unit provided below the main body unit;
  • a driving unit provided in the main body unit to provide power to the wheel unit and the rail wheel unit;
  • a steering unit connected to the wheel unit;
  • a switching unit provided in the main body unit so as to separate the wheel unit and the rail wheel unit from the ground, wherein the switching unit includes the main unit in a state in which the wheel unit and the rail wheel unit are separated from the ground.
  • Figure 1 is a perspective view of a multifunctional agricultural unmanned transport vehicle easy to change the direction according to an embodiment of the present invention
  • Figure 2 is a side view of a multifunctional agricultural unmanned transport vehicle easy to change the direction according to an embodiment of the present invention.
  • the multifunctional agricultural unmanned vehicle 1000 is a body unit 100, wheel unit 200, drive unit 300, steering unit 400, rail wheel unit 500, And a switching unit 600, a control unit 700, a platform unit 800, and a function unit 900, wherein the switching unit 600 grounds the wheel unit 200 and the rail wheel unit 500.
  • the switching unit 600 grounds the wheel unit 200 and the rail wheel unit 500.
  • the main body unit 100 forms an outer shape of the multifunctional agricultural unmanned transport vehicle 1000, and includes a body 110, a handle 120, a footrest 130, and a bumper 140.
  • the body 110 is provided to form the outer shape of the multifunctional agricultural unmanned vehicle (1000), as shown, may be provided in a rectangular parallelepiped shape. However, the shape of the body 110 is not limited to the shape of a rectangular parallelepiped.
  • a plurality of fastening holes 115 are formed on an upper surface of the body 1110, and the functional unit 900 may be bolted to the fastening holes 115.
  • the handle 120 may be provided to extend from one side of the body 110 toward the top.
  • the scaffold 130 is provided on one side of the body 110 and is fixed to be perpendicular to one side of the body 110 when rotated forward, and when rotated backward, one of the body 110. It may be provided to be in close contact with the side.
  • Figure 3 is an exploded perspective view of the bumper of the multifunctional agricultural unmanned vehicle for easy change of direction according to an embodiment of the present invention.
  • the bumper 140 is coupled to the other side of the body 110, the first bumper body 141, the second bumper body 142, the pressing body 143 and elastic Member 144.
  • the first bumper body 141 and the second bumper body 142 may be coupled to the other side surface of the body 110.
  • the pressing body 143 and the first bumper body 141 and the second bumper body 142 are coupled to each other.
  • the elastic member 144 is coupled.
  • a switch (not shown) is provided at a position corresponding to the pressing member 143 and the elastic member 144 on the other side surface of the body 110 or the second bumper body 142.
  • a sensor may be provided instead of a switch.
  • the bumper 140 may mitigate an impact applied to the main body unit 100 when the bumper 140 collides with an obstacle such as a wall.
  • the press body 143 elastically behaves by the elastic force of the elastic member 144, and presses the switch.
  • the switch is connected to a control unit to be described later, it is possible to immediately stop the movement of the main body unit 100 when the switch is pressed.
  • the pressurizer 143 may press the switch so that the main body unit 100 immediately stops, thus being safe.
  • Figure 4 is a perspective view showing the coupling of the first wheel and the first rail wheel of the multifunctional agricultural unmanned transport vehicle easy to change the direction according to an embodiment of the present invention
  • Figure 5 is a direction change according to an embodiment of the present invention It is a front view which shows the combination of the 1st wheel and the 1st rail wheel of this easy multifunctional agricultural driverless vehicle.
  • the wheel unit 200 has a plurality of wheels provided in the main body unit 100.
  • a pair of wheels provided on one side of the body unit 100 is referred to as a first wheel 210
  • a pair of wheels provided on the other side of the body unit 100 is a second wheel.
  • 220 the number of the wheel unit 200 is not limited to four as shown.
  • the first wheel 210 provided at one side of the main body unit 100 is connected to the driving unit 300 to receive power
  • the second wheel 220 provided at the other side is connected to the steering unit 400. It may be connected to change the traveling direction of the main body unit 100. Detailed description of the steering unit 400 for steering the second wheel 220 will be described later.
  • the driving unit 300 may be provided in the body unit 100 to provide power to the wheel unit 200.
  • the drive unit 300 may be provided with a drive motor for providing power to the wheel unit 200, the first wheel 210 by the power provided from the drive unit 300 Can be rotated.
  • the control unit 700 is installed in the main body unit 100, is provided to track the movement path, and includes a sensor module (not shown) and a control module 710.
  • the sensor module may be provided in the main body unit 100 and may detect a magnetic field of a magnet (not shown) installed along the movement path on the bottom surface.
  • the magnet may be pre-installed along a path through which the multifunctional agricultural driverless vehicle 1000 may move.
  • the magnet provided in this way is cheaper than the wire generating the conventional electromagnetic force, and the installation cost is low.
  • the wire must supply power to generate an electromagnetic field, but since a magnet always forms a magnetic field, a separate maintenance cost is unnecessary. Therefore, the sensor module may be provided to detect the magnetic field of the magnet installed in the front.
  • the control module 710 may control the steering unit 400 to move along the movement path by analyzing the magnetic field sensed by the sensor module. Specifically, the control module 710 analyzes the magnetic field detected by the sensor module to determine the movement path, and to control the steering unit 400 to move along the movement path, the multifunctional agricultural unmanned transport vehicle The direction of travel of 1000 may be changed.
  • Figure 6 is an exploded perspective view showing a steering unit of a multifunctional agricultural unmanned vehicle for easy change of direction according to an embodiment of the present invention
  • Figure 7 is a multifunctional agricultural unmanned transfer easy to change the direction according to an embodiment of the present invention Combined perspective view of the steering unit of a vehicle viewed from the front.
  • the steering unit 400 is connected to the second wheel 220 of the wheel unit 200, the wheel support 410, the base 420, the rotation guide part ( 430, a wheel link unit 440, a motor unit 450, a gear unit 460, a steering rotation shaft 470, a steering link unit 480, and a steering connector 490.
  • the wheel support part 410 is coupled to the inside of the pair of second wheels 220, respectively, and includes a bracket 411, a drive rotation shaft 413, and a wheel rotation shaft 414.
  • the bracket 411 is coupled to the inner side of the pair of second wheels 220, respectively, and extends to cover the inner side and the upper side of the second wheel 220, and the second wheel 220. It can be provided spaced apart from.
  • the driving rotation shaft 413 extends vertically from the center of the second wheel 220 toward the bracket 411 so as to be rotatably coupled to the bracket 411. That is, the drive rotation shaft 413 is connected to the bracket 411 and the second wheel 220, the second wheel 220 is coupled to freely rotate toward the front or rear to perform a cloud operation This can be done.
  • the bracket 411 is provided to transmit steering power transmitted from the wheel link unit 440 to the second wheel 220.
  • the bracket 411 is provided to cover the inner surface and the upper surface of the second wheel 220, so as not to interfere with the rolling motion of the second wheel 220 It may be provided spaced apart from the wheel 220 by a predetermined interval.
  • the bracket 411 may have a plurality of ribs 412 formed on a side surface thereof. The rib 412 may be structurally supported so that deformation does not occur in the bracket 411 when the bracket 411 rotates the wheel to the left or the right.
  • the wheel rotation shaft 414 is provided in a pair, it may be fixedly coupled to the upper side of each of the brackets 411 provided in a pair.
  • the wheel rotation shaft 414 may be provided in a shape in which an assembly having different diameters is stacked and extended.
  • the wheel rotation shaft 414 has a base coupling 415, a lower cover coupling 416, a bearing coupling 417, a wheel link coupling 418, and a wheel coupling coupling 419 from the bottom to extend. Can be prepared.
  • Each configuration of the wheel rotating shaft 414 will be described in detail with the base portion 420, the rotation guide portion 430 and the wheel link portion 440 to be described later.
  • the base part 420 may be provided with both sides penetratingly coupled to the pair of wheel rotation shafts 414.
  • the base portion 420 is provided on the upper portion of the pair of second wheels 220, the length may be provided so that both sides of the pair of the wheel rotation shaft 414 is coupled.
  • the base portion 420 may be provided in the shape of a plate, but the shape of the base portion 420 is not limited thereto.
  • a first base hole 421 through which the steering rotation shaft 470 is inserted is formed at the center of the base portion 420, and the wheel rotation shaft 414 is inserted through both sides of the base portion 420.
  • the second base hole 422 may be formed.
  • the base assembly (the lowermost portion of the wheel rotation shaft 414) 415 may be coupled to be in close contact with the upper side.
  • the rotation guide part 430 may be provided in a pair at an upper portion of the base part 420, and a center may be provided to penetrate through the wheel rotation shaft 414, respectively.
  • the rotation guide part 430 includes a lower cover 431, a bearing 432, a snap ring 433, and an upper cover 434.
  • the lower cover 431 is located at the lowermost part when the wheel rotation shaft 414 and the rotation guide part 430 are coupled to each other, and is coupled to the second base hole 422 of the base part 420. Can be.
  • the lower cover 431 may be provided such that the upper portion and the lower portion have different outer diameters.
  • an outer diameter and a thickness of a lower portion of the lower cover 431 may be provided to be equal to an inner diameter and a thickness of the second base hole 422, respectively.
  • an inner diameter of the lower portion of the lower cover 431 may be provided to be the same as an outer diameter of the lower cover assembly 416.
  • the outer side is the second base It may be in close contact with the inner wall of the hole 422.
  • an upper portion of the lower cover 431 may be provided to have an outer diameter larger than an inner diameter of the second base hole 422, and an inner diameter may be provided to be equal to an inner diameter of a lower portion of the lower cover 431.
  • the upper portion of the lower cover 431 provided in this way is coupled to the upper portion of the base portion 420, it may be provided so that the bearing assembly 417 is located in the center. At this time, the inner side of the upper portion of the lower cover 431 may be spaced apart by a distance enough to insert the bearing assembly 417 and the bearing 432.
  • the bearing 432 is coupled to the inside of the lower cover 431, the center may be provided so that the bearing assembly 417 penetrates.
  • the outer diameter of the bearing 432 may correspond to the inner diameter of the lower cover 431, and the inner diameter of the bearing 432 may correspond to the outer diameter of the bearing assembly 417.
  • the bearing 432 provided as described above may support the wheel rotation shaft 414 to be rotatable and to be fixed at a predetermined position.
  • the bearing 432 may be provided in plural.
  • the snap ring 433 may be coupled to an upper portion of the bearing 432 to prevent separation of the bearing 432.
  • the snap ring 433 may be a snap ring for a shaft, and a center may be provided through the bearing assembly 417. The snap ring 433 may prevent the bearing 432 from being separated from the bearing assembly 417 when the wheel rotation shaft 414 rotates.
  • the upper cover 434 may be coupled to an upper portion of the lower cover 431.
  • the upper cover 434 may be coupled to an upper portion of the lower cover 431 to fix the bearing 432 to the inner side of the lower cover 431.
  • the wheel link unit 440 is provided in a pair is provided on the upper portion of each of the rotation guide portion 430, one end may be coupled to the wheel rotation shaft 414.
  • the wheel link unit 440 includes a wheel link 441 and a wheel coupling 442.
  • the wheel links 441 are provided in pairs and provided at an upper portion of each of the rotation guide parts 430, one end of which is coupled to the wheel rotation shaft 414, and the other end of the wheel link 441 is rotatable with the steering connector 490. Can be combined. Specifically, one end of the wheel link 441 is provided on the upper cover 434, it may be fixedly coupled to the wheel link assembly 418 of the wheel rotation shaft 414. At this time, the wheel link assembly 418 is formed with a step difference with the bearing assembly 417, when the wheel link 441 is coupled to the wheel link assembly 418, the upper surface of the upper cover 434 And may be spaced apart by a predetermined interval.
  • the wheel coupling 442 may be provided in a pair and provided inside the one end of each wheel link 441, and the wheel link 441 may be provided to be fixedly coupled to the wheel rotation shaft 414.
  • the wheel coupling 442 may be inserted into the wheel link 441 to be coupled to the wheel coupling assembly 419.
  • the wheel coupling 442 may be coupled so that the wheel link 441 and the wheel rotation shaft 414 rotate together, and at the same time, the wheel link 441 is provided to support the wheel link 441 not to deviate from a predetermined position. Can be.
  • the motor unit 450 may be provided in the lower portion of the base portion 420 to provide a steering power that can change the direction of travel by rotating the second wheel (220).
  • the gear unit 460 may be provided above the motor unit 450 and be provided below the base unit 420.
  • the gear unit 460 may include a reducer therein, and the reducer may appropriately adjust steering power of the motor unit 450. That is, the gear unit 460 may prevent the traveling direction of the second wheel 220 from changing too quickly because of the high output of the motor unit 450.
  • the gear unit 460 decelerates the speed of changing the traveling direction of the second wheel 220, the motor unit 450, the steering wheel to change the traveling direction of the second wheel 220 It is possible to increase the force to rotate 470.
  • the gear unit 460 may reduce the rotational speed of the steering shaft 470, increase the rotational force, and perform a stable steering function.
  • the steering shaft 470 may be connected to the gear unit 460 and extend upward through the central portion of the base part 420.
  • the steering shaft 470 may extend the first base hole 421 provided in the base part 420 upward.
  • the steering rotation shaft 470 may change the traveling direction of the second wheel 220 by rotating by receiving steering power of the motor unit 450 from the gear unit 460.
  • the steering rotation shaft 470 provided as described above may perform a safe steering function because the steering shaft 470 is made of a material that does not occur due to an overload, such as a conventional timing belt.
  • the steering link unit 480 is provided on an upper portion of the base unit 420, and one end thereof is coupled to the steering rotation shaft 470.
  • the steering link unit 480 includes a rotary cap 481, a steering coupling 482, and a steering link 483.
  • the rotation cap 481 may be coupled to the steering shaft 470 through the center. In addition, the rotation cap 481 may be inserted into the first base hole 421 and provided to be rotatable with the steering rotation shaft 470.
  • the steering coupling 482 may be provided inside the rotation cap 481, and the steering rotation shaft 470 may be provided to be fixedly coupled to the rotation cap 481.
  • One end of the steering link 483 may be fixed to an outer surface of the rotation cap 481, and the other end may be rotatably coupled to the steering connector 490.
  • the steering link 483 may be fixed to the rotary cap 481 so that one end thereof is rotated together with the rotary cap 481.
  • the other end of the steering link 483 may be coupled to the pair of the steering connector 490 rotatably.
  • the steering connector 490 may be provided as a pair so that one end may be rotatably coupled to the other end of the wheel link unit 440, and the other end may be rotatably coupled to the other end of the steering link unit 480.
  • the control unit 700 detects the magnetic field to grasp the movement path, and generates steering power in the motor unit 450, steering power is transmitted to the gear unit 460.
  • the gear unit 460 adjusts the rotational speed and the rotational force for changing the traveling direction of the second wheel 220 along the movement path and transmits it to the steering shaft 470.
  • the steering shaft 470 is rotated in one direction by the steering power transmitted from the gear unit 460.
  • the rotation cap 481 fixedly coupled to the steering rotation shaft 470 is rotated in one direction, and the steering link 483 fixedly coupled to the rotation cap 481 is also rotated in one direction.
  • a pair of the steering connector 490 connected to the other end of the steering link 483 is generally linearly moved in one direction as the steering link 483 is rotated in one direction.
  • each wheel link unit 440 connected to one end of the steering connector 490 is rotated in one direction as the steering connector 490 moves in one direction.
  • the wheel rotation shaft 414 fixedly coupled to one end of the wheel link unit 440 is rotated together in one direction as the wheel link unit 440 is rotated in one direction.
  • the bracket 411 fixedly coupled to the lower portion of the wheel rotation shaft 414 is rotated in one direction, and the center of the bracket 411 and the second wheel 220 are rotated.
  • the drive shaft 413 connected to the is also rotated in one direction along the bracket 411.
  • the second wheel 220 is also rotated in one direction.
  • the steering unit 400 provided as described above is directly connected to the motor unit 450, the gear unit 460, and the steering rotation shaft 470 to transmit steering power, so as to move the unpaved road or overload due to overload. Steering can be safely performed even if it occurs.
  • the steering unit 400 when the steering unit 400 is applied to a multifunctional robot-type vehicle for agriculture, the steering shaft 470 is not broken due to overload, so that work is not stopped during the farming day, and parts replacement cost and time It is also economical to save.
  • the multifunctional agricultural unmanned vehicle 1000 that can easily change the direction to which the steering unit 400 is applied can transport a large number of crops safely even on an unpaved road, thereby shortening the working day.
  • FIG. 8 is a perspective view of a second rail wheel of the multifunctional agricultural unmanned vehicle for easy change of direction according to an embodiment of the present invention.
  • the rail wheel unit 500 is provided below the main body unit 100, and the first rail wheel 510 and the second rail wheel 520 are provided. Include.
  • the first rail wheel 510 may be provided at one side of the lower part of the main body unit 110, and the second rail wheel 520 may be provided at the other side of the lower part of the main body unit 110.
  • first rail wheel 520 may be connected to the driving unit 300.
  • first rail wheel 520 is provided to be located on the same central axis as the first wheel 210, it may be driven together by the drive unit 300.
  • the first rail wheel 510 and the second rail wheel 520 provided as described above are mounted on rails (not shown) installed in farmland and moved along the rails by the power generated by the driving unit 300. Can be.
  • first rail wheel 510 and the second rail wheel 520 are provided in pairs, respectively, the pair of first rail wheels 510 and the pair of second rail wheels 520. Each may be provided to adjust the mutual spacing. That is, the first rail wheel 510 and the second rail wheel 520 may be adjusted to correspond to the width of the rail installed. When the rail wheel unit 500 is seated on the rail, the wheel unit 200 may be provided to be spaced apart from the ground.
  • the multifunctional agricultural unmanned vehicle 1000 which is easily switched in this way is moved by the rail wheel unit 500 when moving on the rail, and is moved by the wheel unit 200 when moving on a road without the rail. It may be characterized in that it is moved.
  • the multifunction agricultural unmanned transport vehicle 1000 which is easy to change direction can provide power to the wheel unit 200 and the rail wheel unit 500 by using one driving unit 300, It is not necessary to provide a drive unit individually, it is easy to secure an installation space, and economical.
  • the multifunctional agricultural unmanned vehicle 1000 which is easy to change the direction is convenient in that it can be used both when moving on the rail and when moving the road without the rail. That is, the multifunctional agricultural unmanned vehicle 1000 that is easy to change the direction is convenient because it is possible to move the load while moving on the general road by moving the load on the rail, moving out of the rail. In addition, the multi-functional agricultural unmanned vehicle 1000 easy to change the direction is economical because the equipment purchase cost is reduced because it does not need to purchase the unmanned vehicle for rail and the unmanned vehicle for general road separately.
  • FIG. 9 is a perspective view of a switching unit of the multifunctional agricultural unmanned vehicle for easy change of direction according to an embodiment of the present invention.
  • the switching unit 600 includes a hydraulic cylinder 610, a first switching unit 620, and a second switching unit 630, and the second switching unit.
  • the unit 630 may be provided to be spaced apart from the ground by interlocking with the first switch 620 and the wheel unit 200 and the rail wheel unit 500.
  • One end of the hydraulic cylinder 610 is fixed to the main body unit 100, and a hydraulic pump is further provided on the main body unit 100 to be connected to the hydraulic cylinder 610.
  • the first switching unit 620 is connected to the other end of the hydraulic cylinder 610 is driven, the first switching unit 620, the first link 621, the second link 622, hinge fixed shaft 623 and caster 624.
  • One end of the first link 621 may be connected to the other end of the hydraulic cylinder 610 so as to be rotatable.
  • One end of the second link 622 may be connected to the other end of the first link 621 so as to be rotatable.
  • the hinge fixing shaft 623 may be rotatably connected to the other end of the second link 622.
  • the caster 624 may be provided below the second link 622.
  • the second switching unit 630 is driven in connection with the first switching unit 620, and includes a third link 631, an interlocking link 632, a hinged fixed shaft 633, and a caster 634. .
  • the third link 631 is connected to one end of the second link 622.
  • the interlock link 632 connects one end of the second link 622 and one end of the third link 631. Specifically, one end of the third link 631 is connected by one end of the second link 622 and the linkage link 632, both ends of the linkage link 632 is coupled to be rotatable.
  • the hinge fixed shaft 633 is rotatably connected to the other end of the third link 633.
  • the caster 634 is provided below the third link 633.
  • the hydraulic cylinder 610, the first switching unit 620 and the second switching unit 630 are each provided in a pair, a pair of the first switching unit 620 and a pair of the second The switching unit 630 may be connected to each other by the hinge fixed shaft 633, respectively. As described above, the pair of first switching units 620 and the pair of second switching units 630 connected to each other may be driven in the same manner.
  • the first link 621 and the second link 622 are rotated by the cylinder unit 610.
  • the linkage link 632 connected to the second link 622 is also rotated by the same displacement in the same direction as the second link (622).
  • the casters 624 and 634 move downward.
  • the casters 624 and 634 moved to the lower side push the ground, whereby the wheel unit 200 and the rail wheel unit 500 are spaced apart from the ground.
  • the four directions of the caster (624, 634) in the state in which the switching unit 600 is in contact with the ground can change the direction of travel of the multifunctional agricultural unmanned vehicle 1000 easy to change the direction.
  • the switching unit 600 may automatically or manually change the traveling direction of the multifunctional agricultural unmanned vehicle 1000 is easy to change the direction.
  • the multifunctional agricultural unmanned vehicle 1000 provided as described above which is easy to change directions, can be easily changed in any direction by changing the traveling direction in place. Therefore, it is not necessary to secure a space for a change in the farmland, it is possible to increase the utilization of the farmland, and economical.
  • FIG. 10 is a cross-sectional view taken along line AA of FIG. 1
  • FIG. 11 is an exemplary view showing the types of functional units of a multifunctional agricultural unmanned vehicle for easy change of direction according to an embodiment of the present invention
  • the platform unit 800 is provided on the top of the body unit 100, the guide wall 810, the coupling 820 and the removable body 830 It includes.
  • the guide wall 810 may extend along the upper circumference of the main body unit 100 and may be provided to have a predetermined thickness and height.
  • the functional unit 900 may be fixedly coupled to the inside of the guide wall 810, and when the functional unit 900 is not coupled, a small amount of crops may be conveniently loaded.
  • the combination 820 may be formed on an inner side surface of the guide wall 810 to be able to draw in and draw out. Specifically, as shown in (a) to (c) of FIG. 11, the combination 820 may have an inclined surface formed at one side such that the functional unit 900 slides and descends. In addition, the combination 820 may be drawn into the guide wall 810 while the functional unit 900 is seated on the upper surface of the main body unit 100, as shown in FIG. 11B. have. In addition, as shown in (c) of Figure 11, the coupling 820 is burnt to be coupled to the coupling groove 905 when the functional unit 900 is completely seated on the upper surface of the main body unit 100. The drawing may be performed to fix the functional unit 900.
  • the coupling groove 905 may be formed in the functional unit 900, and may be formed in a shape corresponding to the coupling body 820 at a position corresponding to the coupling body 820. More specifically, the coupling groove 905 may allow the coupling body 820 to fit into the coupling groove 905 when the functional unit 900 is completely seated on the upper surface of the body unit 100. It may be provided at a location.
  • the detachable body 830 may be provided to lead the combined body 820 into the guide wall 810 when the functional unit 900 is detached from the upper surface of the main body unit 100. have. Specifically, when the pressure is applied to the detachable body 830, the combined body 820 may be drawn into the guide wall 810.
  • the detachable body 830 may be provided in the form of a pedal (pedal) on the side of the main body unit 100 to be pressed by a person stepping on the foot.
  • the position of the detachable body 830 is not limited to the illustrated position, and all of them are included in the embodiment as long as the position where the combined body 820 can be drawn into the guide wall 810 is included.
  • the detachable body 830 may be provided in the control unit 700.
  • the functional unit 900 may be detachable from the platform unit 800 in a one-touch manner by the combination 820.
  • the functional unit 900 may be detachably attached to the upper portion of the main body unit 100 by the platform unit 800, the functional unit 900, the storage device 910, elevating device 920 and control It may be characterized in that any one of the device 930.
  • the storage device 910 may be loaded with a large amount of crops or boxes therein, and may be combined with the platform unit 800 to easily move a large amount of cargo. can do.
  • the elevating device 920 is provided to be capable of raising or lowering, and may allow harvesting of crops located at a high place while a person is on board.
  • the functional unit 900 is to be more strongly coupled to the main body unit 100 for safety, such as when a person boards the elevating device 920, as described above, the functional unit 900 ) May be bolted to the fastening hole 115.
  • the control device 930 may be made of a pesticide tank and a spray to perform a control operation, as shown in (c) of FIG.
  • the multifunctional agricultural unmanned transport vehicle 1000 which is easy to change direction combined with the control device 930 automatically sprays pesticides even when there is no person, thereby preventing a person from being addicted to pesticides.
  • the multifunctional agricultural unmanned transport vehicle 1000 for easy change of direction may be used by combining devices having different functions with the platform unit 800, and thus, it is not necessary to purchase each device separately. to be.
  • the multifunctional agricultural unmanned vehicle 1000 that can be easily changed direction can be used even on unpaved roads such as soil cultivation.
  • the magnetic field position recognition system for improving the magnetic field-based driving precision may be applied to the multifunctional agricultural unmanned vehicle 1000 which is easy to change direction.
  • body unit 110 body
  • fastening hole 120 handle
  • first bumper body 142 second bumper body
  • first wheel 220 second wheel
  • base portion 421 first base hole
  • first rail wheel 520 second rail wheel
  • switching unit 610 hydraulic cylinder
  • first switching unit 621 first link
  • hinged shaft 634 caster
  • control unit 710 control module

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Abstract

The present invention relates to a multifunctional agricultural automated guided vehicle allowing for an easy change of direction and, more specifically, to a multifunctional agricultural automated guided vehicle allowing for an easy change of direction, the vehicle comprising: a main body unit defining the appearance of an automated guided vehicle; a wheel unit disposed in the lower portion of the main body unit; a rail wheel unit disposed below the main body unit; a drive unit disposed in the main body unit so as to provide power to the wheel unit and the rail wheel unit; a steering unit connected to the wheel unit; and a turning unit disposed in the main body unit so as to allow the wheel unit and the rail wheel unit to be spaced apart from the ground, wherein the turning unit is arranged to change the travel direction of the main body unit in a state where the wheel unit and the rail wheel unit are spaced apart from the ground.

Description

방향 전환이 용이한 다기능 농업용 무인반송차량Multifunctional agricultural unmanned vehicle for easy turning
본 발명은 방향 전환이 용이한 다기능 농업용 무인반송차량에 관한 것으로, 보다 상세하게는 시설원예 및 토경재배에서 사용이 가능하고, 평지와 레일 위에서 이동이 가능하며, 진행 방향의 전환이 용이하도록 마련된 방향 전환이 용이한 다기능 농업용 무인반송차량에 관한 것이다.The present invention relates to a multifunctional agricultural unmanned transport vehicle that is easy to change the direction, and more specifically, can be used in horticulture and land cultivation, can be moved on the flat and rail, the direction is provided to facilitate the change of direction The present invention relates to a multifunctional agricultural unmanned transport vehicle that can be easily converted.
무인반송차량은 전자 유도식, 광학 테이프 방식 혹은 자기 테이프 식 등의 유도방식에 의하여 제품을 적재하여 무인으로 주행하고 목적 장소까지 운반하는 차량을 의미한다. 그리고, 무인반송차량은 주로 공장과 같이, 아스팔트나 콘크리트와 같이 포장된 도로에서 화물을 이송하도록 마련된다.An unmanned transport vehicle means a vehicle that carries a product unattended and carries it to a target place by loading the product by an induction method such as electromagnetic induction, optical tape or magnetic tape. In addition, the unmanned transport vehicle is mainly provided to transport cargo on a pavement such as asphalt or concrete, such as a factory.
최근에는, 농촌의 고령화로 인한 인력 부족현상이 심화되고 있고, 밀폐된 공간에서 방제작업으로 인한 농약 중독이 발생하는 문제들이 발생함에 따라 농촌의 기계화가 진행되고 있으며, 그 노력의 일환으로 농업에서도 무인반송차량을 활용하기 위한 연구개발이 이루어지고 있다. 그러나, 시설원예의 경우, 길이 포장되어 있어, 무인반송차량을 적용하기가 용이하지만, 토경재배의 경우, 길이 비포장된 흙, 도랑, 진흙 등으로 이루어져 있기 때문에 무인반송차량을 이용하여 이동하기 어렵다는 문제점이 있었다.In recent years, the lack of manpower due to the aging of rural areas has been intensifying, and the problems of pesticide poisoning due to the control operations in confined spaces have caused mechanization in rural areas. Research and development is being carried out to utilize transport vehicles. However, in the case of facility horticulture, it is easy to apply the unmanned transport vehicle because the length is paved, but it is difficult to move by using the unmanned transport vehicle because the soil cultivation is made of unpaved soil, trench, mud, etc. There was this.
또한, 종래의 무인반송차량은 리프트용 장비, 운송용 저장장비, 방제용 저장장비가 각각 별도로 마련되어 있었기 때문에, 각각의 작업을 수행하려면 각 장비를 모두 구매해서 사용해야 했기 때문에 경제적이지 못했다.In addition, the conventional unmanned transport vehicle was not economical because the lift equipment, the transport storage equipment, and the storage equipment for the control were provided separately, so that each equipment had to be purchased and used to perform each operation.
한편, 종래에 레일 위를 이동하도록 마련된 무인반송차량의 경우에는, 레일 밖을 벗어나서 이동하는 것이 불가능하다는 문제점이 있었다. 따라서, 종래에는 레일이 마련된 농지와 레일이 마련되지 않은 농지에 각각 무인반송차량을 구비해야 했기 때문에 장비 구입 비용이 상승하는 문제가 있었다. 그리고, 레일 위에서 이동하며 짐을 적재하던 무인반송차량이 레일 밖으로 이동하여 짐을 옮겨야 하는 경우에 사용이 불가능하기 때문에 접근성이 떨어지는 문제도 있었다.On the other hand, in the case of the unmanned conveying vehicle conventionally provided to move on the rail, there was a problem that it is impossible to move out of the rail. Therefore, in the related art, since the unmanned transport vehicles had to be provided on farmland where the rail was provided and the farmland where the rail was not provided, there was a problem in that the equipment purchase cost increased. In addition, there is a problem in that accessibility is inferior because the unmanned transport vehicle, which is loaded on the rail and moves on the rail, cannot be used when the load is to be moved out of the rail.
또한, 일반적으로 농경지는 바둑판식으로 이루어지거나, 재배지가 상호 이격된 복수의 열로 이루어져 있다. 그러나, 종래의 무인반송차량은 농경지에서 수직으로 방향을 전환하는 것이 불가능했다. 따라서, 종래에는 무인반송차량이 방향을 전환하기 위해 소정의 공간이 확보되어야 하고, 방향 전환을 위한 공간이 확보되지 않을 경우, 방향을 전화하기 어렵다는 불편함이 있었다.In addition, farmland is generally made of tiled, or cultivated land consists of a plurality of rows spaced apart from each other. However, the conventional unmanned vehicle was not able to change the direction vertically in farmland. Therefore, in the related art, a predetermined space must be secured in order to change the direction of the unmanned vehicle, and it is inconvenient that it is difficult to change the direction when the space for the direction change is not secured.
(선행특허문헌) 한국공개특허 10-2012-25403 (2012.03.15)(Previous Patent Document) Korea Patent Publication 10-2012-25403 (2012.03.15)
상기와 같은 문제를 해결하기 위한 본 발명의 목적은 시설원예 및 토경재배에서 사용이 가능하고, 평지와 레일 위에서 이동이 가능하며, 진행 방향의 전환이 용이하도록 마련된 방향 전환이 용이한 다기능 농업용 무인반송차량을 제공하는 것이다.The purpose of the present invention for solving the above problems is to be used in facility horticulture and land cultivation, can be moved on the plain and rail, easy to change the direction of the multifunctional agricultural unmanned transport is provided to facilitate the change of direction To provide a vehicle.
본 발명이 이루고자 하는 기술적 과제는 이상에서 언급한 기술적 과제로 제한되지 않으며, 언급되지 않은 또 다른 기술적 과제들은 아래의 기재로부터 본 발명이 속하는 기술 분야에서 통상의 지식을 가진 자에게 명확하게 이해될 수 있을 것이다.The technical problem to be achieved by the present invention is not limited to the technical problem mentioned above, and other technical problems not mentioned above may be clearly understood by those skilled in the art from the following description. There will be.
상기와 같은 목적을 달성하기 위한 본 발명의 구성은 농업용 무인반송차량에 있어서, 상기 무인반송차량의 외형을 형성하는 본체유닛; 상기 본체유닛의 하부에 마련되는 바퀴유닛; 상기 본체유닛의 하부에 마련되는 레일휠유닛; 상기 본체유닛에 마련되어 상기 바퀴유닛 및 상기 레일휠유닛에 동력을 제공하는 구동유닛; 상기 바퀴유닛과 연결되는 조향유닛; 및 상기 본체유닛에 마련되어 상기 바퀴유닛 및 상기 레일휠유닛을 지상으로부터 이격시킬 수 있도록 마련되는 전환유닛을 포함하며, 상기 전환유닛은 상기 바퀴유닛 및 상기 레일휠유닛을 지상으로부터 이격시킨 상태에서 본체유닛의 진행 방향을 전환할 수 있도록 마련되는 것을 특징으로 하는 방향 전환이 용이한 다기능 농업용 무인반송차량을 제공한다.The configuration of the present invention for achieving the above object is an agricultural unmanned transport vehicle, the main body unit forming the appearance of the unmanned transport vehicle; A wheel unit provided below the main body unit; A rail wheel unit provided below the main body unit; A driving unit provided in the main body unit to provide power to the wheel unit and the rail wheel unit; A steering unit connected to the wheel unit; And a switching unit provided in the main body unit so as to separate the wheel unit and the rail wheel unit from the ground, wherein the switching unit includes the main unit in a state in which the wheel unit and the rail wheel unit are separated from the ground. Provides a multifunctional agricultural unmanned transport vehicle easy to change direction, characterized in that it is provided so as to switch the direction of travel.
본 발명의 실시예에 있어서, 상기 바퀴유닛은, 상기 본체유닛의 하부의 일측에 마련되며, 상기 구동유닛과 연결되는 제1바퀴; 및 상기 본체유닛의 하부의 타측에 마련되며, 상기 조향유닛과 연결되는 제2 바퀴를 포함하는 것을 특징으로 할 수 있다.In an embodiment of the present invention, the wheel unit is provided on one side of the lower portion of the main body unit, the first wheel connected to the drive unit; And it is provided on the other side of the lower portion of the main body unit, it may be characterized in that it comprises a second wheel connected to the steering unit.
본 발명의 실시예에 있어서, 상기 레일휠유닛은, 상기 본체유닛의 하부의 일측에 마련되며, 상기 구동유닛과 연결되는 제1 레일휠; 및 상기 본체유닛의 하부의 타측에 마련되는 제2 레일휠을 포함하는 것을 특징으로 할 수 있다.In an embodiment of the present invention, the rail wheel unit may include: a first rail wheel provided at one side of the lower portion of the main body unit and connected to the driving unit; And it may be characterized in that it comprises a second rail wheel provided on the other side of the lower portion of the main unit.
본 발명의 실시예에 있어서, 상기 바퀴유닛은 상기 레일휠유닛이 레일에 안착되었을 때, 지면으로부터 이격된 상태이도록 마련되는 것을 특징으로 할 수 있다.In an embodiment of the present invention, the wheel unit may be provided to be spaced apart from the ground when the rail wheel unit is seated on the rail.
본 발명의 실시예에 있어서, 상기 전환유닛은, 상기 본체유닛에 일단이 고정되는 유압실린더; 상기 유압실린더의 타단에 연결되어 구동되는 제1 전환부; 및 상기 제1 전환부와 연결되어 구동되는 제2 전환부를 포함하며, 상기 제2 전환부는 상기 제1 전환부와 연동되어 상기 바퀴유닛 및 상기 레일휠유닛을 지상으로부터 이격시키는 것을 특징으로 할 수 있다.In an embodiment of the present invention, the conversion unit, the hydraulic cylinder is fixed to one end to the main body unit; A first switch connected to the other end of the hydraulic cylinder and driven; And a second switch connected to the first switch and driven, wherein the second switch is connected to the first switch to separate the wheel unit and the rail wheel unit from the ground. .
본 발명의 실시예에 있어서, 상기 제1 전환부는, 상기 유압실린더의 타단에 일단이 회전 가능하도록 연결되는 제1 링크; 상기 제1 링크의 타단에 일단이 회전 가능하도록 연결되는 제2 링크; 상기 제2 링크의 타단에 회전 가능하도록 연결되는 힌지고정축; 및 상기 제2 링크의 하측에 마련되는 캐스터를 포함하는 것을 특징으로 할 수 있다.In one embodiment of the present invention, the first switching unit, the first link is connected to the other end of the hydraulic cylinder rotatably; A second link having one end rotatably connected to the other end of the first link; A hinge fixed shaft rotatably connected to the other end of the second link; And it may be characterized in that it comprises a caster provided on the lower side of the second link.
본 발명의 실시예에 있어서, 상기 제2 전환부는, 상기 제2 링크의 일단과 연결되는 제3 링크; 상기 제2 링크의 일단과 상기 제3링크의 일단을 연결하는 연동링크; 상기 제3 링크의 타단에 회전 가능하도록 연결되는 힌지고정축; 및 상기 제3 링크의 하측에 마련되는 캐스터를 포함하는 것을 특징으로 할 수 있다.In an embodiment of the present disclosure, the second switching unit may include: a third link connected to one end of the second link; An interlocking link connecting one end of the second link and one end of the third link; A hinge fixed shaft rotatably connected to the other end of the third link; And it may be characterized in that it comprises a caster provided on the lower side of the third link.
본 발명의 실시예에 있어서, 상기 제1 전환부 및 상기 제2 전환부는 각각 한 쌍으로 마련되며, 한 쌍의 상기 제1 전환부 및 한 쌍의 상기 제2 전환부는 각각 상기 힌지고정축에 의해 상호 연결되는 것을 특징으로 할 수 있다.In an embodiment of the present invention, the first switching unit and the second switching unit are each provided in a pair, and the pair of the first switching unit and the pair of the second switching units are each hinged by the fixed shaft. It may be characterized by being interconnected.
본 발명의 실시예에 있어서, 상기 본체유닛에 설치되며, 이동 경로를 추적할 수 있도록 마련되는 제어유닛을 더 포함하며, 상기 제어유닛은, 상기 이동 경로를 따라 설치된 자석의 자기장을 감지하는 센서모듈; 및 상기 센서모듈에 의해 감지된 자기장을 분석하여 상기 이동 경로를 따라 이동하도록 상기 조향유닛을 제어하는 제어모듈을 포함하는 것을 특징으로 할 수 있다.In an embodiment of the present invention, the control unit is provided on the main body unit, and provided to track the movement path, wherein the control unit, the sensor module for detecting the magnetic field of the magnet installed along the movement path ; And a control module for controlling the steering unit to move along the movement path by analyzing the magnetic field sensed by the sensor module.
본 발명의 실시예에 있어서, 상기 본체유닛의 상부에 마련되는 플랫폼유닛; 및 상기 플랫폼유닛에 의해 상기 본체유닛의 상부에 탈부착되는 기능유닛을 더 포함할 수 있다.In an embodiment of the present invention, the platform unit is provided on the top of the main unit; And a functional unit detachably attached to the upper portion of the main body unit by the platform unit.
상기와 같은 구성에 따르는 본 발명의 효과는, 제자리에서 진행 방향을 전환함으로써, 어디서나 진행 방향을 용이하게 전환할 수 있다. 그리고, 본 발명에 따르면, 방향 전환을 위한 공간을 농경지에 확보할 필요가 없어, 농경지의 활용을 증가시킬 수 있다.The effect of the present invention according to the above configuration can be easily changed in any direction by changing the traveling direction in place. In addition, according to the present invention, there is no need to secure a space for the change of direction in the farmland, thereby increasing the utilization of the farmland.
또한, 본 발명은 레일이 있는 시설원예나, 토경재배에서 모두 사용이 가능하다.In addition, the present invention can be used both in a gardening facility with a rail, or in soil cultivation.
또한, 본 발명은 기능유닛을 본체부의 상부에 마련된 플랫폼에 탈부착하여 교체할 수 있도록 마련되기 때문에 경제적이다.In addition, the present invention is economical because it is provided so that the functional unit can be attached and detached to the platform provided on the upper portion of the main body.
또한, 본 발명은 자동으로 방제 작업을 수행할 수 있기 때문에 사람이 방제 작업으로 인한 농약에 중독되는 것을 방지할 수 있다.In addition, the present invention can automatically perform the control operation, it is possible to prevent a person from being addicted to the pesticides caused by the control operation.
또한, 본 발명은 비포장 도로에서도 안전하게 조향 작업을 수행하면서 많은 농작물을 운반할 수 있기 때문에 농작일 작업 시간을 단축할 수 있다.In addition, the present invention can shorten the agricultural work time because it can transport a large number of crops while safely carrying out the steering operation on the unpaved road.
또한, 본 발명은 범퍼가 충돌하여 충격을 받았을 때, 가압체가 스위치를 눌러 본체유닛의 이동을 정지시킬 수 있어 안전성이 높다.In addition, the present invention, when the bumper collides with the impact, the pressurized body can press the switch to stop the movement of the main unit, the safety is high.
본 발명의 효과는 상기한 효과로 한정되는 것은 아니며, 본 발명의 상세한 설명 또는 특허청구범위에 기재된 발명의 구성으로부터 추론 가능한 모든 효과를 포함하는 것으로 이해되어야 한다.The effects of the present invention are not limited to the above-described effects, but should be understood to include all the effects deduced from the configuration of the invention described in the detailed description or claims of the present invention.
도 1은 본 발명의 일실시예에 따른 방향 전환이 용이한 다기능 농업용 무인반송차량의 내부를 나타낸 사시도이다.1 is a perspective view showing the inside of a multifunctional agricultural unmanned vehicle easy to change the direction according to an embodiment of the present invention.
도 2는 본 발명의 일실시예에 따른 방향 전환이 용이한 다기능 농업용 무인반송차량의 측면도이다.Figure 2 is a side view of a multifunctional agricultural unmanned vehicle easy to change the direction according to an embodiment of the present invention.
도 3은 본 발명의 일실시예에 따른 방향 전환이 용이한 다기능 농업용 무인반송차량의 범퍼의 분해사시도이다.Figure 3 is an exploded perspective view of the bumper of the multifunctional agricultural unmanned vehicle for easy change of direction according to an embodiment of the present invention.
도 4은 본 발명의 일실시예에 따른 방향 전환이 용이한 다기능 농업용 무인반송차량의 제1 바퀴 및 제1 레일휠의 결합을 나타낸 사시도이다.Figure 4 is a perspective view showing a combination of the first wheel and the first wheel of the multifunctional agricultural unmanned vehicle for easy change of direction according to an embodiment of the present invention.
도 5는 본 발명의 일실시예에 따른 방향 전환이 용이한 다기능 농업용 무인반송차량의 제1 바퀴 및 제1 레일휠의 결합을 나타낸 정면도이다.Figure 5 is a front view showing the coupling of the first wheel and the first wheel of the multifunctional agricultural unmanned vehicle for easy change of direction according to an embodiment of the present invention.
도 6은 본 발명의 일실시예에 따른 방향 전환이 용이한 다기능 농업용 무인반송차량의 조향유닛을 나타낸 분해사시도이다.Figure 6 is an exploded perspective view showing a steering unit of a multifunctional agricultural unmanned vehicle for easy change of direction according to an embodiment of the present invention.
도 7는 본 발명의 일실시예에 따른 방향 전환이 용이한 다기능 농업용 무인반송차량의 조향유닛을 정면에서 바라본 결합사시도이다.7 is a perspective view of the steering unit of the multifunctional agricultural unmanned vehicle for easy change of direction according to an embodiment of the present invention viewed from the front.
도 8은 본 발명의 일실시예에 따른 방향 전환이 용이한 다기능 농업용 무인반송차량의 제2 레일휠의 사시도이다.8 is a perspective view of a second rail wheel of the multifunctional agricultural unmanned vehicle for easy change of direction according to an embodiment of the present invention.
도 9는 발명의 일실시예에 따른 방향 전환이 용이한 다기능 농업용 무인반송차량의 전환유닛의 사시도이다.9 is a perspective view of a switching unit of the multifunctional agricultural unmanned vehicle for easy change of direction according to an embodiment of the present invention.
도 10은 도 1의 A-A 단면도이다.10 is a cross-sectional view taken along the line A-A of FIG.
도 11은 본 발명의 일실시예에 따른 방향 전환이 용이한 다기능 농업용 무인반송차량의 기능유닛의 종류를 나타낸 예시도이다.11 is an exemplary view showing the types of functional units of the multifunctional agricultural unmanned vehicle for easy direction change according to an embodiment of the present invention.
도 12은 본 발명의 일실시예에 따른 방향 전환이 용이한 다기능 농업용 무인반송차량의 기능유닛을 플랫폼유닛에 부착한 상태를 나타낸 예시도이다.12 is an exemplary view showing a state in which the functional unit of the multifunctional agricultural unmanned vehicle for easy change of direction according to an embodiment of the present invention attached to the platform unit.
본 발명의 최선의 일 실시예는, 무인반송차량의 외형을 형성하는 본체유닛; 상기 본체유닛의 하부에 마련되는 바퀴유닛; 상기 본체유닛의 하부에 마련되는 레일휠유닛; 상기 본체유닛에 마련되어 상기 바퀴유닛 및 상기 레일휠유닛에 동력을 제공하는 구동유닛; 상기 바퀴유닛과 연결되는 조향유닛; 및 상기 본체유닛에 마련되어 상기 바퀴유닛 및 상기 레일휠유닛을 지상으로부터 이격시킬 수 있도록 마련되는 전환유닛을 포함하며, 상기 전환유닛은 상기 바퀴유닛 및 상기 레일휠유닛을 지상으로부터 이격시킨 상태에서 본체유닛의 진행 방향을 전환할 수 있도록 마련되는 것을 특징으로 하는 방향 전환이 용이한 다기능 농업용 무인반송차량을 제공한다.Best embodiment of the present invention, the main body unit to form the appearance of the unmanned transport vehicle; A wheel unit provided below the main body unit; A rail wheel unit provided below the main body unit; A driving unit provided in the main body unit to provide power to the wheel unit and the rail wheel unit; A steering unit connected to the wheel unit; And a switching unit provided in the main body unit so as to separate the wheel unit and the rail wheel unit from the ground, wherein the switching unit includes the main unit in a state in which the wheel unit and the rail wheel unit are separated from the ground. Provides a multifunctional agricultural unmanned transport vehicle easy to change direction, characterized in that it is provided so as to switch the direction of travel.
이하에서는 첨부한 도면을 참조하여 본 발명을 설명하기로 한다. 그러나 본 발명은 여러 가지 상이한 형태로 구현될 수 있으며, 따라서 여기에서 설명하는 실시예로 한정되는 것은 아니다. 그리고 도면에서 본 발명을 명확하게 설명하기 위해서 설명과 관계없는 부분은 생략하였으며, 명세서 전체를 통하여 유사한 부분에 대해서는 유사한 도면 부호를 붙였다.Hereinafter, with reference to the accompanying drawings will be described the present invention. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and like reference numerals designate like parts throughout the specification.
명세서 전체에서, 어떤 부분이 다른 부분과 "연결(접속, 접촉, 결합)"되어 있다고 할 때, 이는 "직접적으로 연결"되어 있는 경우뿐 아니라, 그 중간에 다른 부재를 사이에 두고 "간접적으로 연결"되어 있는 경우도 포함한다. 또한 어떤 부분이 어떤 구성요소를 "포함"한다고 할 때, 이는 특별히 반대되는 기재가 없는 한 다른 구성요소를 제외하는 것이 아니라 다른 구성요소를 더 구비할 수 있다는 것을 의미한다.Throughout the specification, when a part is said to be "connected (connected, contacted, coupled)" with another part, it is not only "directly connected" but also "indirectly connected" with another member in between. "Includes the case. In addition, when a part is said to "include" a certain component, this means that it may further include other components, without excluding the other components unless otherwise stated.
본 명세서에서 사용한 용어는 단지 특정한 실시예를 설명하기 위해 사용된 것으로, 본 발명을 한정하려는 의도가 아니다. 단수의 표현은 문맥상 명백하게 다르게 뜻하지 않는 한, 복수의 표현을 포함한다. 본 명세서에서, "포함하다" 또는 "가지다" 등의 용어는 명세서상에 기재된 특징, 숫자, 단계, 동작, 구성요소, 부품 또는 이들을 조합한 것이 존재함을 지정하려는 것이지, 하나 또는 그 이상의 다른 특징들이나 숫자, 단계, 동작, 구성요소, 부품 또는 이들을 조합한 것들의 존재 또는 부가 가능성을 미리 배제하지 않는 것으로 이해되어야 한다.The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. As used herein, the terms "comprise" or "have" are intended to indicate that there is a feature, number, step, action, component, part, or combination thereof described on the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, components, or a combination thereof.
이하 첨부된 도면을 참고하여 본 발명의 실시예를 상세히 설명하기로 한다.Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.
도 1은 본 발명의 일실시예에 따른 방향 전환이 용이한 다기능 농업용 무인반송차량의 사시도이고, 도 2는 본 발명의 일실시예에 따른 방향 전환이 용이한 다기능 농업용 무인반송차량의 측면도이다.1 is a perspective view of a multifunctional agricultural unmanned transport vehicle easy to change the direction according to an embodiment of the present invention, Figure 2 is a side view of a multifunctional agricultural unmanned transport vehicle easy to change the direction according to an embodiment of the present invention.
도 1 및 도 2에 도시된 것처럼, 다기능 농업용 무인반송차량(1000)은 본체유닛(100), 바퀴유닛(200), 구동유닛(300), 조향유닛(400), 레일휠유닛(500), 전환유닛(600), 제어유닛(700), 플랫폼유닛(800) 및 기능유닛(900)을 포함하며, 상기 전환유닛(600)은 상기 바퀴유닛(200) 및 상기 레일휠유닛(500)을 지상으로부터 이격시킨 상태에서 본체유닛(100)의 진행 방향을 전환할 수 있도록 마련되는 것을 특징으로 한다.As shown in Figure 1 and 2, the multifunctional agricultural unmanned vehicle 1000 is a body unit 100, wheel unit 200, drive unit 300, steering unit 400, rail wheel unit 500, And a switching unit 600, a control unit 700, a platform unit 800, and a function unit 900, wherein the switching unit 600 grounds the wheel unit 200 and the rail wheel unit 500. Characterized in that it is provided to be able to switch the direction of travel of the main body unit 100 in a state spaced from the.
상기 본체유닛(100)은 상기 다기능 농업용 무인반송차량(1000)의 외형을 형성하며, 몸체(110), 손잡이(120), 발판(130), 범퍼(140)를 포함한다.The main body unit 100 forms an outer shape of the multifunctional agricultural unmanned transport vehicle 1000, and includes a body 110, a handle 120, a footrest 130, and a bumper 140.
상기 몸체(110)는 상기 다기능 농업용 무인반송차량(1000)의 외형을 형성하도록 마련되며, 도시된 바와 같이, 직육면체 형상으로 마련될 수 있다. 단, 상기 몸체(110)의 형상은 직육면체의 형상으로 한정하는 것은 아니다. 또한, 상기 몸체(1110)의 상면에는 복수의 체결홀(115)이 형성되어, 상기 기능유닛(900)이 상기 체결홀(115)에 볼트 결합될 수 있다.The body 110 is provided to form the outer shape of the multifunctional agricultural unmanned vehicle (1000), as shown, may be provided in a rectangular parallelepiped shape. However, the shape of the body 110 is not limited to the shape of a rectangular parallelepiped. In addition, a plurality of fastening holes 115 are formed on an upper surface of the body 1110, and the functional unit 900 may be bolted to the fastening holes 115.
상기 손잡이(120)는 상기 몸체(110)의 일측에서 상부를 향해 연장된 형태로 마련될 수 있다.The handle 120 may be provided to extend from one side of the body 110 toward the top.
상기 발판(130)은 상기 몸체(110)의 일측면에 마련되며, 전방으로 회동하였을 때에는 상기 몸체(110)의 일측면과 수직을 이루도록 고정되고, 후방으로 회동하였을 때에는 상기 몸체(110)의 일측면에 밀착되도록 마련될 수 있다.The scaffold 130 is provided on one side of the body 110 and is fixed to be perpendicular to one side of the body 110 when rotated forward, and when rotated backward, one of the body 110. It may be provided to be in close contact with the side.
도 3은 본 발명의 일실시예에 따른 방향 전환이 용이한 다기능 농업용 무인반송차량의 범퍼의 분해사시도이다.Figure 3 is an exploded perspective view of the bumper of the multifunctional agricultural unmanned vehicle for easy change of direction according to an embodiment of the present invention.
도 1 내지 도 3을 참조하면, 상기 범퍼(140)는 상기 몸체(110)의 타측면에 결합되며, 제1 범퍼몸체(141), 제2 범퍼몸체(142), 가압체(143) 및 탄성부재(144)를 포함한다.1 to 3, the bumper 140 is coupled to the other side of the body 110, the first bumper body 141, the second bumper body 142, the pressing body 143 and elastic Member 144.
상기 제1 범퍼몸체(141)와 상기 제2 범퍼몸체(142) 결합되어 상기 몸체(110)의 타측면에 결합될 수 있다. 그리고, 상기 제1 범퍼몸체(141)와 상기 제2 범퍼몸체(142)가 결합시, 상기 제1 범퍼몸체(141)와 상기 제2 범퍼몸체(142)의 사이에는 상기 가압체(143) 및 상기 탄성부재(144)가 결합된다. The first bumper body 141 and the second bumper body 142 may be coupled to the other side surface of the body 110. When the first bumper body 141 and the second bumper body 142 are coupled to each other, the pressing body 143 and the first bumper body 141 and the second bumper body 142 are coupled to each other. The elastic member 144 is coupled.
그리고, 상기 몸체(110)의 타측면 또는 상기 제2 범퍼몸체(142)에는 상기 가압체(143) 및 상기 탄성부재(144)와 대응되는 위치에 스위치(미도시)가 마련된다. 여기서, 스위치 대신 센서가 마련될 수도 있다.In addition, a switch (not shown) is provided at a position corresponding to the pressing member 143 and the elastic member 144 on the other side surface of the body 110 or the second bumper body 142. Here, a sensor may be provided instead of a switch.
이처럼 마련된, 상기 범퍼(140)는 벽 등의 장애물에 충돌시 상기 본체유닛(100)에 가해지는 충격을 완화할 수 있다. 그리고 특히, 상기 범퍼(140)가 충돌시 상기 가압체(143)가 상기 탄성부재(144)의 탄성력에 의해 탄성적으로 거동하면서, 상기 스위치를 누르게 된다. 이때, 상기 스위치는 후술할 제어유닛에 연결되어 있어, 상기 스위치가 눌려지면 상기 본체유닛(100)의 이동이 즉시 멈추도록 할 수 있다.In this way, the bumper 140 may mitigate an impact applied to the main body unit 100 when the bumper 140 collides with an obstacle such as a wall. In particular, when the bumper 140 collides, the press body 143 elastically behaves by the elastic force of the elastic member 144, and presses the switch. At this time, the switch is connected to a control unit to be described later, it is possible to immediately stop the movement of the main body unit 100 when the switch is pressed.
즉, 본 발명은 상기 범퍼(140)에 충격이 가해지면 상기 가압체(143)가 상기 스위치를 눌러 상기 본체유닛(100)이 즉시 정지하도록 할 수 있어 안전하다.That is, in the present invention, when the impact is applied to the bumper 140, the pressurizer 143 may press the switch so that the main body unit 100 immediately stops, thus being safe.
도 4는 본 발명의 일실시예에 따른 방향 전환이 용이한 다기능 농업용 무인반송차량의 제1 바퀴 및 제1 레일휠의 결합을 나타낸 사시도이고, 도 5는 본 발명의 일실시예에 따른 방향 전환이 용이한 다기능 농업용 무인반송차량의 제1 바퀴 및 제1 레일휠의 결합을 나타낸 정면도이다.Figure 4 is a perspective view showing the coupling of the first wheel and the first rail wheel of the multifunctional agricultural unmanned transport vehicle easy to change the direction according to an embodiment of the present invention, Figure 5 is a direction change according to an embodiment of the present invention It is a front view which shows the combination of the 1st wheel and the 1st rail wheel of this easy multifunctional agricultural driverless vehicle.
도 1 내지 도 5를 참조하면, 상기 바퀴유닛(200)은 상기 본체유닛(100)에 복수로 마련되는 바퀴를 갖는다. 일실시예에서는 설명의 편의상 상기 본체유닛(100)의 일측에 마련된 한 쌍의 바퀴를 제1 바퀴(210)라고 지칭하고, 상기 본체유닛(100)의 타측에 마련된 한 쌍의 바퀴를 제2 바퀴(220)라 지칭한다. 단, 상기 바퀴유닛(200)의 개수는 도시된 바와 같이 4개로 한정되지 않는다. 상기 본체유닛(100)의 일측에 마련된 상기 제1 바퀴(210)는 상기 구동유닛(300)과 연결되어 동력을 제공받고, 타측에 마련된 상기 제2 바퀴(220)는 상기 조향유닛(400)과 연결되어 상기 본체유닛(100)의 진행 방향을 전환하는 것을 특징으로 할 수 있다. 제2 바퀴(220)를 조향하는 상기 조향유닛(400)에 대한 구체적인 설명은 후술하도록 한다.1 to 5, the wheel unit 200 has a plurality of wheels provided in the main body unit 100. In one embodiment, for convenience of description, a pair of wheels provided on one side of the body unit 100 is referred to as a first wheel 210, and a pair of wheels provided on the other side of the body unit 100 is a second wheel. Reference is made to (220). However, the number of the wheel unit 200 is not limited to four as shown. The first wheel 210 provided at one side of the main body unit 100 is connected to the driving unit 300 to receive power, and the second wheel 220 provided at the other side is connected to the steering unit 400. It may be connected to change the traveling direction of the main body unit 100. Detailed description of the steering unit 400 for steering the second wheel 220 will be described later.
상기 구동유닛(300)은 상기 본체유닛(100)에 마련되어 상기 바퀴유닛(200)에 동력을 제공할 수 있다. 구체적으로, 상기 구동유닛(300)에는 상기 바퀴유닛(200)에 동력을 제공하기 위한 구동모터가 마련될 수 있으며, 상기 제1 바퀴(210)는 상기 구동유닛(300)으로부터 제공받은 동력에 의해 회전될 수 있다.The driving unit 300 may be provided in the body unit 100 to provide power to the wheel unit 200. Specifically, the drive unit 300 may be provided with a drive motor for providing power to the wheel unit 200, the first wheel 210 by the power provided from the drive unit 300 Can be rotated.
상기 제어유닛(700)은 상기 본체유닛(100)에 설치되며, 이동 경로를 추적할 수 있도록 마련되며, 센서모듈(미도시) 및 제어모듈(710)을 포함한다.The control unit 700 is installed in the main body unit 100, is provided to track the movement path, and includes a sensor module (not shown) and a control module 710.
상기 센서모듈은 상기 본체유닛(100)에 마련되며, 바닥면에 상기 이동 경로를 따라 설치된 자석(미도시)의 자기장을 감지할 수 있다. 구체적으로, 상기 자석은 상기 다기능 농업용 무인반송차량(1000)이 이동할 수 있는 경로를 따라 미리 설치될 수 있다. 이처럼 마련된 자석은 종래의 전자력을 생성하는 와이어에 비해 가격이 저렴하고, 설치 비용이 저렴하다. 또한, 상기 와이어는 전원을 공급하여 전자기장을 발생시켜야 하지만, 자석은 항상 자기장을 형성하기 때문에 별도의 유지 비용도 불필요하다. 따라서, 상기 센서모듈은 전방에 설치된 자석의 자기장을 감지할 수 있도록 마련될 수 있다.The sensor module may be provided in the main body unit 100 and may detect a magnetic field of a magnet (not shown) installed along the movement path on the bottom surface. Specifically, the magnet may be pre-installed along a path through which the multifunctional agricultural driverless vehicle 1000 may move. The magnet provided in this way is cheaper than the wire generating the conventional electromagnetic force, and the installation cost is low. In addition, the wire must supply power to generate an electromagnetic field, but since a magnet always forms a magnetic field, a separate maintenance cost is unnecessary. Therefore, the sensor module may be provided to detect the magnetic field of the magnet installed in the front.
상기 제어모듈(710)은 상기 센서모듈에 의해 감지된 자기장을 분석하여 상기 이동 경로를 따라 이동하도록 상기 조향유닛(400)을 제어할 수 있다. 구체적으로, 상기 제어모듈(710)은 상기 센서모듈이 감지한 자기장을 분석하여 상기 이동 경로를 파악하고, 상기 이동 경로를 따라 이동하기 위해 상기 조향유닛(400)을 제어하여 상기 다기능 농업용 무인반송차량(1000)의 진행 방향을 변경할 수 있다.The control module 710 may control the steering unit 400 to move along the movement path by analyzing the magnetic field sensed by the sensor module. Specifically, the control module 710 analyzes the magnetic field detected by the sensor module to determine the movement path, and to control the steering unit 400 to move along the movement path, the multifunctional agricultural unmanned transport vehicle The direction of travel of 1000 may be changed.
도 6은 본 발명의 일실시예에 따른 방향 전환이 용이한 다기능 농업용 무인반송차량의 조향유닛을 나타낸 분해사시도이고, 도 7는 본 발명의 일실시예에 따른 방향 전환이 용이한 다기능 농업용 무인반송차량의 조향유닛을 정면에서 바라본 결합사시도이다.Figure 6 is an exploded perspective view showing a steering unit of a multifunctional agricultural unmanned vehicle for easy change of direction according to an embodiment of the present invention, Figure 7 is a multifunctional agricultural unmanned transfer easy to change the direction according to an embodiment of the present invention Combined perspective view of the steering unit of a vehicle viewed from the front.
도 6 및 도 7에 도시된 바와 같이, 조향유닛(400)은 상기 바퀴유닛(200)의 제2 바퀴(220)와 연결되며, 바퀴지지부(410), 베이스부(420), 회전가이드부(430), 바퀴링크부(440), 모터부(450), 기어부(460), 조향회전축(470), 조향링크부(480) 및 조향연결부(490)를 포함한다.6 and 7, the steering unit 400 is connected to the second wheel 220 of the wheel unit 200, the wheel support 410, the base 420, the rotation guide part ( 430, a wheel link unit 440, a motor unit 450, a gear unit 460, a steering rotation shaft 470, a steering link unit 480, and a steering connector 490.
상기 바퀴지지부(410)는 한 쌍의 제2 바퀴(220)의 내측에 각각 결합되며, 브라켓(411), 구동회전축(413) 및 바퀴회전축(414)을 포함한다.The wheel support part 410 is coupled to the inside of the pair of second wheels 220, respectively, and includes a bracket 411, a drive rotation shaft 413, and a wheel rotation shaft 414.
상기 브라켓(411)은 한 쌍의 상기 제2 바퀴(220)의 내측에 각각 결합되되, 상기 제2 바퀴(220)의 내측면 및 상부면을 커버하도록 절곡 연장되며, 상기 제2 바퀴(220)로부터 이격되어 마련될 수 있다.The bracket 411 is coupled to the inner side of the pair of second wheels 220, respectively, and extends to cover the inner side and the upper side of the second wheel 220, and the second wheel 220. It can be provided spaced apart from.
상기 구동회전축(413)은 상기 제2 바퀴(220)의 중심으로부터 상기 브라켓(411)을 향해 수직으로 연장되어 상기 브라켓(411)에 회전 가능하도록 결합될 수 있다. 즉, 상기 구동회전축(413)은 상기 브라켓(411)과 상기 제2 바퀴(220)를 연결하되, 상기 제2 바퀴(220)가 전방 또는 후방을 향해 자유롭게 회전하여 구름 동작을 수행할 수 있도록 결합이 이루어질 수 있다.The driving rotation shaft 413 extends vertically from the center of the second wheel 220 toward the bracket 411 so as to be rotatably coupled to the bracket 411. That is, the drive rotation shaft 413 is connected to the bracket 411 and the second wheel 220, the second wheel 220 is coupled to freely rotate toward the front or rear to perform a cloud operation This can be done.
그리고, 상기 브라켓(411)은 상기 바퀴링크부(440)로부터 전달되는 조향 동력을 상기 제2 바퀴(220)에 전달할 수 있도록 마련된다. 구체적으로, 전술한 바와 같이, 상기 브라켓(411)은 상기 제2 바퀴(220)의 내측면 및 상부면을 커버하도록 마련되되, 상기 제2 바퀴(220)의 구름동작을 방해하지 않도록 상기 제2 바퀴(220)로부터 소정의 간격만큼 이격되어 구비될 수 있다. 그리고, 상기 브라켓(411)은 측면에는 복수의 리브(412)가 형성될 수 있다. 상기 리브(412)는 상기 브라켓(411)이 상기 바퀴를 좌측 또는 우측으로 회전시킬 때, 상기 브라켓(411)에 변형이 발생하지 않도록 구조적으로 지지할 수 있다.The bracket 411 is provided to transmit steering power transmitted from the wheel link unit 440 to the second wheel 220. Specifically, as described above, the bracket 411 is provided to cover the inner surface and the upper surface of the second wheel 220, so as not to interfere with the rolling motion of the second wheel 220 It may be provided spaced apart from the wheel 220 by a predetermined interval. In addition, the bracket 411 may have a plurality of ribs 412 formed on a side surface thereof. The rib 412 may be structurally supported so that deformation does not occur in the bracket 411 when the bracket 411 rotates the wheel to the left or the right.
상기 바퀴회전축(414)은 한 쌍으로 마련되며, 한 쌍으로 마련된 각각의 상기 브라켓(411)의 상측에 고정 결합될 수 있다. 그리고, 상기 바퀴회전축(414)은 서로 다른 직경을 갖는 결합체가 적층 연장된 형상으로 마련될 수 있다. 상세하게는 상기 바퀴회전축(414)은 하부부터 베이스결합체(415), 하부커버결합체(416), 베어링결합체(417), 바퀴링크결합체(418) 및 바퀴커플링결합체(419)가 적층되어 연장되도록 마련될 수 있다. 상기 바퀴회전축(414)의 각 구성은 후술할 상기 베이스부(420), 상기 회전가이드부(430) 및 상기 바퀴링크부(440)와 함께 구체적인 결합 관계를 설명하도록 한다.The wheel rotation shaft 414 is provided in a pair, it may be fixedly coupled to the upper side of each of the brackets 411 provided in a pair. In addition, the wheel rotation shaft 414 may be provided in a shape in which an assembly having different diameters is stacked and extended. In detail, the wheel rotation shaft 414 has a base coupling 415, a lower cover coupling 416, a bearing coupling 417, a wheel link coupling 418, and a wheel coupling coupling 419 from the bottom to extend. Can be prepared. Each configuration of the wheel rotating shaft 414 will be described in detail with the base portion 420, the rotation guide portion 430 and the wheel link portion 440 to be described later.
상기 베이스부(420)는 한 쌍의 상기 바퀴회전축(414)에 양측이 관통 결합되어 마련될 수 있다. 구체적으로, 상기 베이스부(420)는 한 쌍의 제2 바퀴(220)의 상부에 마련되며, 한 쌍의 상기 바퀴회전축(414)과 양측이 결합되도록 길이가 연장되어 마련될 수 있다. 일 예로, 상기 베이스부(420)는 도시된 판재 형태로 마련될 수도 있으나, 상기 베이스부(420)의 형상이 이에 한정되는 것은 아니다. 또한, 상기 베이스부(420)에는 중앙에 상기 조향회전축(470)이 관통 삽입되는 제1 베이스홀(421)이 형성되며, 상기 베이스부(420)의 양측에는 상기 바퀴회전축(414)이 관통 삽입되는 제2 베이스홀(422)이 형성될 수 있다. 그리고, 상기 베이스부(420)는 상기 제1 베이스홀(421)의 내측을 통해 관통 삽입된 상기 바퀴회전축(414)과 결합될 때, 상기 바퀴회전축(414)의 가장 하부에 위치한 상기 베이스결합체(415)의 상측에 밀착되도록 결합될 수 있다.The base part 420 may be provided with both sides penetratingly coupled to the pair of wheel rotation shafts 414. Specifically, the base portion 420 is provided on the upper portion of the pair of second wheels 220, the length may be provided so that both sides of the pair of the wheel rotation shaft 414 is coupled. For example, the base portion 420 may be provided in the shape of a plate, but the shape of the base portion 420 is not limited thereto. In addition, a first base hole 421 through which the steering rotation shaft 470 is inserted is formed at the center of the base portion 420, and the wheel rotation shaft 414 is inserted through both sides of the base portion 420. The second base hole 422 may be formed. And, when the base portion 420 is coupled to the wheel rotation shaft 414 inserted through the inside of the first base hole 421, the base assembly (the lowermost portion of the wheel rotation shaft 414) 415 may be coupled to be in close contact with the upper side.
상기 회전가이드부(430)는 상기 베이스부(420)의 상부에 한 쌍으로 마련되며, 중심이 상기 바퀴회전축(414)에 각각 관통 결합되도록 마련될 수 있다. 그리고, 상기 회전가이드부(430)는 하부커버(431), 베어링(432), 스냅링(433) 및 상부커버(434)를 포함한다.The rotation guide part 430 may be provided in a pair at an upper portion of the base part 420, and a center may be provided to penetrate through the wheel rotation shaft 414, respectively. The rotation guide part 430 includes a lower cover 431, a bearing 432, a snap ring 433, and an upper cover 434.
상기 하부커버(431)는 상기 바퀴회전축(414)과 상기 회전가이드부(430)가 결합될 때, 가장 하부에 위치하며, 상기 베이스부(420)의 상기 제2 베이스홀(422)에 결합될 수 있다. 그리고, 상기 하부커버(431)는 상측부분과 하측부분이 서로 다른 외경을 갖도록 마련될 수 있다. 구체적으로, 상기 하부커버(431)의 하측부분은 외경과 두께는 상기 제2 베이스홀(422)의 내경 및 두께와 각각 동일하게 마련될 수 있다. 그리고, 상기 하부커버(431)의 하측부분은 내경이 상기 하부커버결합체(416)의 외경과 동일하게 마련될 수 있다.The lower cover 431 is located at the lowermost part when the wheel rotation shaft 414 and the rotation guide part 430 are coupled to each other, and is coupled to the second base hole 422 of the base part 420. Can be. The lower cover 431 may be provided such that the upper portion and the lower portion have different outer diameters. In detail, an outer diameter and a thickness of a lower portion of the lower cover 431 may be provided to be equal to an inner diameter and a thickness of the second base hole 422, respectively. In addition, an inner diameter of the lower portion of the lower cover 431 may be provided to be the same as an outer diameter of the lower cover assembly 416.
이처럼 마련된, 상기 하부커버(431)는 상기 바퀴회전축(414)에 결합되었을 때, 상기 하부커버(431)의 하측부분의 내측은 상기 하부커버결합체(416)와 밀착되고, 외측은 상기 제2 베이스홀(422)의 내벽에 밀착될 수 있다. 그리고, 상기 하부커버(431)의 상측부분은 상기 제2 베이스홀(422)의 내경보다 큰 외경을 갖도록 마련되고, 내경은 상기 하부커버(431)의 하측부분의 내경과 동일하도록 마련될 수 있다. 이처럼 마련된 상기 하부커버(431)의 상측부분은 상기 베이스부(420)의 상부에 결합되며, 중심에 상기 베어링결합체(417)가 위치되도록 마련될 수 있다. 이때, 상기 하부커버(431)의 상측부분의 내측은 상기 베어링결합체(417)와 상기 베어링(432)이 삽입될 수 있을 정도의 거리만큼 이격되어 마련될 수 있다.Thus, when the lower cover 431 is coupled to the wheel rotation shaft 414, the inner side of the lower portion of the lower cover 431 is in close contact with the lower cover assembly 416, the outer side is the second base It may be in close contact with the inner wall of the hole 422. In addition, an upper portion of the lower cover 431 may be provided to have an outer diameter larger than an inner diameter of the second base hole 422, and an inner diameter may be provided to be equal to an inner diameter of a lower portion of the lower cover 431. . The upper portion of the lower cover 431 provided in this way is coupled to the upper portion of the base portion 420, it may be provided so that the bearing assembly 417 is located in the center. At this time, the inner side of the upper portion of the lower cover 431 may be spaced apart by a distance enough to insert the bearing assembly 417 and the bearing 432.
상기 베어링(432)은 상기 상기 하부커버(431)의 내부에 결합되며, 중심이 상기 베어링결합체(417)가 관통되도록 마련될 수 있다. 그리고, 상기 베어링(432)의 외경은 상기 하부커버(431)의 내경과 대응되고, 상기 베어링(432)의 내경은 상기 베어링결합체(417)의 외경과 대응되도록 마련될 수 있다. 이처럼 마련된 상기 베어링(432)은 상기 바퀴회전축(414)이 회전 가능하도록 함과 동시에 정해진 위치에 고정되도록 지지할 수 있다. 그리고, 상기 베어링(432)은 복수개로 마련될 수 있다.The bearing 432 is coupled to the inside of the lower cover 431, the center may be provided so that the bearing assembly 417 penetrates. The outer diameter of the bearing 432 may correspond to the inner diameter of the lower cover 431, and the inner diameter of the bearing 432 may correspond to the outer diameter of the bearing assembly 417. The bearing 432 provided as described above may support the wheel rotation shaft 414 to be rotatable and to be fixed at a predetermined position. The bearing 432 may be provided in plural.
상기 스냅링(433)은 상기 베어링(432)의 상부에 결합되어 상기 베어링(432)의 이탈을 방지할 수 있다. 구체적으로, 상기 스냅링(433)은 축용 스냅링일 수 있으며, 상기 베어링결합체(417)에 중심이 관통되어 마련될 수 있다. 그리고, 상기 스냅링(433)은 상기 바퀴회전축(414)이 회전할 때, 상기 베어링(432)이 상기 베어링결합체(417)로부터 이탈하는 것을 방지할 수 있다.The snap ring 433 may be coupled to an upper portion of the bearing 432 to prevent separation of the bearing 432. In detail, the snap ring 433 may be a snap ring for a shaft, and a center may be provided through the bearing assembly 417. The snap ring 433 may prevent the bearing 432 from being separated from the bearing assembly 417 when the wheel rotation shaft 414 rotates.
상기 상부커버(434)는 상기 하부커버(431)의 상부에 결합될 수 있다. 구체적으로, 상기 상부커버(434)는 상기 하부커버(431)의 상부에 결합되어 상기 베어링(432)을 상기 하부커버(431)의 내측에 고정시킬 수 있다.The upper cover 434 may be coupled to an upper portion of the lower cover 431. In detail, the upper cover 434 may be coupled to an upper portion of the lower cover 431 to fix the bearing 432 to the inner side of the lower cover 431.
상기 바퀴링크부(440)는 한 쌍으로 마련되어 각각의 상기 회전가이드부(430)의 상부에 마련되며, 일단이 상기 바퀴회전축(414)에 결합될 수 있다. 그리고, 상기 바퀴링크부(440)는 바퀴링크(441) 및 바퀴커플링(442)을 포함한다.The wheel link unit 440 is provided in a pair is provided on the upper portion of each of the rotation guide portion 430, one end may be coupled to the wheel rotation shaft 414. The wheel link unit 440 includes a wheel link 441 and a wheel coupling 442.
상기 바퀴링크(441)는 한 쌍으로 마련되어 각각의 상기 회전가이드부(430)의 상부에 마련되며, 일단이 상기 바퀴회전축(414)에 결합되고, 타단이 상기 조향연결부(490)와 회전 가능하도록 결합될 수 있다. 구체적으로, 상기 바퀴링크(441)의 일단은 상기 상부커버(434)의 상부에 마련되며, 상기 바퀴회전축(414)의 상기 바퀴링크결합체(418)에 고정 결합될 수 있다. 이때, 상기 바퀴링크결합체(418)는 상기 베어링결합체(417)와 단차가 형성되어 있어, 상기 바퀴링크(441)는 상기 바퀴링크결합체(418)에 결합될 때, 상기 상부커버(434)의 상면과 소정의 간격만큼 이격되어 마련될 수 있다.The wheel links 441 are provided in pairs and provided at an upper portion of each of the rotation guide parts 430, one end of which is coupled to the wheel rotation shaft 414, and the other end of the wheel link 441 is rotatable with the steering connector 490. Can be combined. Specifically, one end of the wheel link 441 is provided on the upper cover 434, it may be fixedly coupled to the wheel link assembly 418 of the wheel rotation shaft 414. At this time, the wheel link assembly 418 is formed with a step difference with the bearing assembly 417, when the wheel link 441 is coupled to the wheel link assembly 418, the upper surface of the upper cover 434 And may be spaced apart by a predetermined interval.
상기 바퀴커플링(442)은 한 쌍으로 마련되어 각각의 상기 바퀴링크(441)의 일단의 내측에 마련되며, 상기 바퀴링크(441)가 상기 바퀴회전축(414)과 고정 결합되도록 마련될 수 있다. 구체적으로, 상기 바퀴커플링(442)은 상기 바퀴링크(441)의 내측에 관통 삽입되어 상기 바퀴커플링결합체(419)와 결합될 수 있다. 이때, 상기 바퀴커플링(442)은 상기 바퀴링크(441)와 상기 바퀴회전축(414)이 함께 회전되도록 결합이 이루어질 수 있으며, 동시에 상기 바퀴링크(441)가 정해진 위치를 이탈하지 않게 지지하도록 마련될 수 있다.The wheel coupling 442 may be provided in a pair and provided inside the one end of each wheel link 441, and the wheel link 441 may be provided to be fixedly coupled to the wheel rotation shaft 414. In detail, the wheel coupling 442 may be inserted into the wheel link 441 to be coupled to the wheel coupling assembly 419. In this case, the wheel coupling 442 may be coupled so that the wheel link 441 and the wheel rotation shaft 414 rotate together, and at the same time, the wheel link 441 is provided to support the wheel link 441 not to deviate from a predetermined position. Can be.
한편, 상기 모터부(450)는 상기 베이스부(420)의 하부에 마련되어 상기 제2 바퀴(220)를 회전시켜 진행 방향을 변화사킬 수 있는 조향 동력을 제공할 수 있다.On the other hand, the motor unit 450 may be provided in the lower portion of the base portion 420 to provide a steering power that can change the direction of travel by rotating the second wheel (220).
상기 기어부(460)는 상기 모터부(450)의 상부에 마련되되, 상기 베이스부(420)의 하부에 마련될 수 있다. 구체적으로, 상기 기어부(460)는 내부에 감속기를 포함할 수 있으며, 상기 감속기는 상기 모터부(450)의 조향 동력을 적절히 조절할 수 있다. 즉, 상기 기어부(460)는 상기 모터부(450)의 높은 출력 때문에 상기 제2 바퀴(220)의 진행 방향이 너무 빠르게 변화되지 않도록 할 수 있다. 또한, 상기 기어부(460)는 상기 제2 바퀴(220)의 진행 방향을 변화시키는 속도를 감속하되, 상기 모터부(450)가 상기 제2 바퀴(220)를 진행 방향을 바꾸기 위해 상기 조향회전축(470)을 회전시키는 힘을 증가시킬 수 있다. 상기 기어부(460)는 상기 조향회전축(470)의 회전 속도를 줄이되, 회전력을 증가시켜, 안정적인 조향 기능이 수행되도록 할 수 있다.The gear unit 460 may be provided above the motor unit 450 and be provided below the base unit 420. Specifically, the gear unit 460 may include a reducer therein, and the reducer may appropriately adjust steering power of the motor unit 450. That is, the gear unit 460 may prevent the traveling direction of the second wheel 220 from changing too quickly because of the high output of the motor unit 450. In addition, the gear unit 460 decelerates the speed of changing the traveling direction of the second wheel 220, the motor unit 450, the steering wheel to change the traveling direction of the second wheel 220 It is possible to increase the force to rotate 470. The gear unit 460 may reduce the rotational speed of the steering shaft 470, increase the rotational force, and perform a stable steering function.
상기 조향회전축(470)은 상기 기어부(460)와 연결되며, 상기 베이스부(420)의 중앙부를 관통하여 상부를 향해 연장될 수 있다. 구체적으로, 상기 조향회전축(470)은 상기 베이스부(420)에 마련된 상기 제1 베이스홀(421)을 상부를 향해 연장될 수 있다. 그리고, 상기 조향회전축(470)은 상기 모터부(450)의 조향 동력을 상기 기어부(460)로부터 전달받아 회전함으로써, 상기 제2 바퀴(220)의 진행 방향을 변경할 수 있다. 이처럼 마련된 상기 조향회전축(470)은 종래의 타이밍벨트와 같이 과부하로 인해 끊어지는 현상이 발생하지 않는 소재로 마련되기 때문에 안전한 조향 기능을 수행할 수 있다.The steering shaft 470 may be connected to the gear unit 460 and extend upward through the central portion of the base part 420. In detail, the steering shaft 470 may extend the first base hole 421 provided in the base part 420 upward. In addition, the steering rotation shaft 470 may change the traveling direction of the second wheel 220 by rotating by receiving steering power of the motor unit 450 from the gear unit 460. The steering rotation shaft 470 provided as described above may perform a safe steering function because the steering shaft 470 is made of a material that does not occur due to an overload, such as a conventional timing belt.
상기 조향링크부(480)는 상기 베이스부(420)의 상부에 마련되며, 일단이 상기 조향회전축(470)에 결합된다. 그리고, 상기 조향링크부(480)는 회전캡(481), 조향커플링(482) 및 조향링크(483)를 포함한다.The steering link unit 480 is provided on an upper portion of the base unit 420, and one end thereof is coupled to the steering rotation shaft 470. The steering link unit 480 includes a rotary cap 481, a steering coupling 482, and a steering link 483.
상기 회전캡(481)은 중심으로 상기 조향회전축(470)이 관통되어 결합될 수 있다. 그리고, 상기 회전캡(481)은 상기 제1 베이스홀(421)의 내부로 삽입되며, 상기 조향회전축(470)과 함께 회전 가능하도록 마련될 수 있다.The rotation cap 481 may be coupled to the steering shaft 470 through the center. In addition, the rotation cap 481 may be inserted into the first base hole 421 and provided to be rotatable with the steering rotation shaft 470.
상기 조향커플링(482)은 상기 회전캡(481)의 내측에 마련되며, 상기 조향회전축(470)이 상기 회전캡(481)과 고정 결합되도록 마련될 수 있다. The steering coupling 482 may be provided inside the rotation cap 481, and the steering rotation shaft 470 may be provided to be fixedly coupled to the rotation cap 481.
상기 조향링크(483)는 일단이 상기 회전캡(481)의 외측면에 고정되고, 타단이 상기 조향연결부(490)와 회전 가능하도록 결합될 수 있다. 구체적으로, 상기 조향링크(483)는 일단이 상기 회전캡(481)과 함께 회전이 이루어지도록 상기 회전캡(481)에 고정될 수 있다. 그리고, 상기 조향링크(483)의 타단에는 한 쌍의 상기 조향연결부(490)가 회전가능 하도록 결합될 수 있다.One end of the steering link 483 may be fixed to an outer surface of the rotation cap 481, and the other end may be rotatably coupled to the steering connector 490. Specifically, the steering link 483 may be fixed to the rotary cap 481 so that one end thereof is rotated together with the rotary cap 481. And, the other end of the steering link 483 may be coupled to the pair of the steering connector 490 rotatably.
상기 조향연결부(490)는 한 쌍으로 마련되어 일단이 상기 바퀴링크부(440)의 타단에 회전 가능하도록 결합되고, 타단이 상기 조향링크부(480)의 타단에 회전 가능하도록 결합될 수 있다.The steering connector 490 may be provided as a pair so that one end may be rotatably coupled to the other end of the wheel link unit 440, and the other end may be rotatably coupled to the other end of the steering link unit 480.
이하, 조향유닛(400)의 조향 과정을 설명하도록 한다.Hereinafter, the steering process of the steering unit 400 will be described.
먼저, 상기 제어유닛(700, 도 1 참조)이 상기 자기장을 감지하여 상기 이동 경로를 파악한 다음, 상기 모터부(450)에서 조향 동력을 발생시키면, 조향 동력은 상기 기어부(460)로 전달된다. 다음, 상기 기어부(460)는 상기 이동 경로를 따라 상기 제2 바퀴(220)의 진행방향을 변경하기 위한 회전 속도 및 회전력을 조절하여 상기 조향회전축(470)에 전달한다. 다음, 상기 조향회전축(470)은 상기 기어부(460)에서 전달 받은 조향 동력에 의해 일 방향으로 회전된다. 다음, 상기 조향회전축(470)에 고정 결합된 상기 회전캡(481)이 일 방향으로 회전되고, 상기 회전캡(481)에 고정 결합된 상기 조향링크(483)도 일 방향으로 회전된다. 다음, 상기 조향링크(483)의 타단에 연결된 한 쌍의 상기 조향연결부(490)가 상기 조향링크(483)가 일 방향으로 회전됨에 따라 일 방향측으로 대체로 직선 이동을 하게 된다. 다음, 상기 조향연결부(490)의 일단에 연결된 각 바퀴링크부(440)는 상기 조향연결부(490)가 일 방향측으로 이동함에 따라 일 방향으로 회전된다. 다음, 상기 바퀴링크부(440)의 일단에 고정 결합된 상기 바퀴회전축(414)이 상기 바퀴링크부(440)가 일 방향으로 회전됨에 따라 함께 일 방향으로 회전된다. 다음, 상기 바퀴회전축(414)이 회전됨에 따라, 바퀴회전축(414)의 하부에 고정 결합된 브라켓(411)이 일 방향으로 회전되고, 상기 브라켓(411)과 상기 제2 바퀴(220)의 중심에 연결된 상기 구동회전축(413)도 상기 브라켓(411)을 따라 일 방향으로 회전된다. 마지막으로, 상기 구동회전축(413)이 일 방향으로 회전됨에 따라, 상기 제2 바퀴(220)도 일 방향으로 회전된다.First, when the control unit 700 (see FIG. 1) detects the magnetic field to grasp the movement path, and generates steering power in the motor unit 450, steering power is transmitted to the gear unit 460. . Next, the gear unit 460 adjusts the rotational speed and the rotational force for changing the traveling direction of the second wheel 220 along the movement path and transmits it to the steering shaft 470. Next, the steering shaft 470 is rotated in one direction by the steering power transmitted from the gear unit 460. Next, the rotation cap 481 fixedly coupled to the steering rotation shaft 470 is rotated in one direction, and the steering link 483 fixedly coupled to the rotation cap 481 is also rotated in one direction. Next, a pair of the steering connector 490 connected to the other end of the steering link 483 is generally linearly moved in one direction as the steering link 483 is rotated in one direction. Next, each wheel link unit 440 connected to one end of the steering connector 490 is rotated in one direction as the steering connector 490 moves in one direction. Next, the wheel rotation shaft 414 fixedly coupled to one end of the wheel link unit 440 is rotated together in one direction as the wheel link unit 440 is rotated in one direction. Next, as the wheel rotation shaft 414 is rotated, the bracket 411 fixedly coupled to the lower portion of the wheel rotation shaft 414 is rotated in one direction, and the center of the bracket 411 and the second wheel 220 are rotated. The drive shaft 413 connected to the is also rotated in one direction along the bracket 411. Finally, as the driving rotation shaft 413 is rotated in one direction, the second wheel 220 is also rotated in one direction.
이처럼 마련된 상기 조향유닛(400)는 상기 모터부(450)와 기어부(460) 및 조향회전축(470)이 직접 연결되어 마련되어 조향 동력을 전달하기 때문에 비포장도로를 이동할 때에나, 과적으로 인한 과부할 발생할 경우에도 안전하게 조향 기능을 수행할 수 있다.The steering unit 400 provided as described above is directly connected to the motor unit 450, the gear unit 460, and the steering rotation shaft 470 to transmit steering power, so as to move the unpaved road or overload due to overload. Steering can be safely performed even if it occurs.
따라서, 상기 조향유닛(400)는 농업용 다기능 로봇형 차량에 적용될 때, 조향회전축(470)이 과부하로 인해 끊어지는 현상이 발생하지 않아 농작일 중에 작업이 중지되는 일이 없고, 부품 교체 비용 및 시간도 절약되어 경제적이다.Therefore, when the steering unit 400 is applied to a multifunctional robot-type vehicle for agriculture, the steering shaft 470 is not broken due to overload, so that work is not stopped during the farming day, and parts replacement cost and time It is also economical to save.
그리고, 상기 조향유닛(400)를 적용한 방향 전환이 용이한 다기능 농업용 무인반송차량(1000)은 비포장 도로에서도 안전하게 많은 농작물을 운반할 수 있기 때문에 농작일 작업 시간을 단축할 수 있다.In addition, the multifunctional agricultural unmanned vehicle 1000 that can easily change the direction to which the steering unit 400 is applied can transport a large number of crops safely even on an unpaved road, thereby shortening the working day.
도 8은 본 발명의 일실시예에 따른 방향 전환이 용이한 다기능 농업용 무인반송차량의 제2 레일휠의 사시도이다.8 is a perspective view of a second rail wheel of the multifunctional agricultural unmanned vehicle for easy change of direction according to an embodiment of the present invention.
다시, 도 1 내지 도 5 및 도 8을 참조하면, 상기 레일휠유닛(500)은 상기 본체유닛(100)의 하부에 마련되며, 제1 레일휠(510) 및 제2 레일휠(520)을 포함한다. Again, referring to FIGS. 1 to 5 and 8, the rail wheel unit 500 is provided below the main body unit 100, and the first rail wheel 510 and the second rail wheel 520 are provided. Include.
상기 제1 레일휠(510)은 상기 본체유닛(110)의 하부의 일측에 마련되며, 상기 제2 레일휠(520)은 상기 본체유닛(110)의 하부의 타측에 마련될 수 있다.The first rail wheel 510 may be provided at one side of the lower part of the main body unit 110, and the second rail wheel 520 may be provided at the other side of the lower part of the main body unit 110.
그리고, 상기 제1 레일휠(520)은 상기 구동유닛(300)과 연결될 수 있다. 구체적으로, 상기 제1 레일휠(520)은 상기 제1 바퀴(210)와 동일 중심축에 위치하도록 마련되며, 상기 구동유닛(300)에 의해 함께 구동될 수 있다. 이처럼 마련된 상기 제1레일휠(510)과 상기 제2 레일휠(520)은 농경지에 설치된 레일(미도시)에 안착되어 상기 구동유닛(300)에 의해 발생한 동력에 의해 상기 레일을 따라 이동되도록 마련될 수 있다.In addition, the first rail wheel 520 may be connected to the driving unit 300. Specifically, the first rail wheel 520 is provided to be located on the same central axis as the first wheel 210, it may be driven together by the drive unit 300. The first rail wheel 510 and the second rail wheel 520 provided as described above are mounted on rails (not shown) installed in farmland and moved along the rails by the power generated by the driving unit 300. Can be.
또한, 상기 제1 레일휠(510)과 상기 제2 레일휠(520)은 각각 한 쌍으로 마련되며, 상기 한 쌍의 제1 레일휠(510)과 상기 한 쌍의 제2 레일휠(520)은 각각 상호 간격이 조절되도록 마련될 수 있다. 즉, 상기 제1 레일휠(510) 및 상기 제2 레일휠(520)은 설치된 레일의 너비에 대응되도록 조절될 수 있다. 그리고 여기서, 상기 레일휠유닛(500)은 상기 레일상에 안착되었을 때, 상기 바퀴유닛(200)이 지면으로부터 이격된 상태이도록 마련될 수 있다.In addition, the first rail wheel 510 and the second rail wheel 520 are provided in pairs, respectively, the pair of first rail wheels 510 and the pair of second rail wheels 520. Each may be provided to adjust the mutual spacing. That is, the first rail wheel 510 and the second rail wheel 520 may be adjusted to correspond to the width of the rail installed. When the rail wheel unit 500 is seated on the rail, the wheel unit 200 may be provided to be spaced apart from the ground.
이처럼 마련된 방향 전환이 용이한 다기능 농업용 무인반송차량(1000)은 상기 레일 상을 이동할 때에는 상기 레일휠유닛(500)에 의해 이동되고, 상기 레일이 없는 길을 이동할 때에는 상기 바퀴유닛(200)에 의해 이동되는 것을 특징으로 할 수 있다. 그리고, 상기 방향 전환이 용이한 다기능 농업용 무인반송차량(1000)은 하나의 구동유닛(300)을 이용하여 상기 바퀴유닛(200)과 상기 레일휠유닛(500)에 동력을 제공할 수 있기 때문에, 개별적으로 구동유닛을 구비할 필요가 없어 설치 공간을 쉽게 확보할 수 있고, 경제적이다.The multifunctional agricultural unmanned vehicle 1000 which is easily switched in this way is moved by the rail wheel unit 500 when moving on the rail, and is moved by the wheel unit 200 when moving on a road without the rail. It may be characterized in that it is moved. In addition, since the multifunction agricultural unmanned transport vehicle 1000 which is easy to change direction can provide power to the wheel unit 200 and the rail wheel unit 500 by using one driving unit 300, It is not necessary to provide a drive unit individually, it is easy to secure an installation space, and economical.
따라서, 상기 방향 전환이 용이한 다기능 농업용 무인반송차량(1000)은 상기 레일 상을 이동할 때에나, 상기 레일이 없는 길을 이동할 때 모두 사용이 가능하다는 점에서 편리하다. 즉, 상기 방향 전환이 용이한 다기능 농업용 무인반송차량(1000)은 상기 레일 위에서 이동하며 짐을 적재하고, 레일 밖으로 이동하여 일반 도로상에서 이동하며 짐을 옮기는 것도 가능하기 때문에 편리하다. 또한, 상기 방향 전환이 용이한 다기능 농업용 무인반송차량(1000)은 레일용 무인반송차량과 일반 도로용 무인반송차량을 별도로 구매할 필요가 없도록 하기 때문에 장비 구매 비용이 절감되기 때문에 경제적이다.Therefore, the multifunctional agricultural unmanned vehicle 1000 which is easy to change the direction is convenient in that it can be used both when moving on the rail and when moving the road without the rail. That is, the multifunctional agricultural unmanned vehicle 1000 that is easy to change the direction is convenient because it is possible to move the load while moving on the general road by moving the load on the rail, moving out of the rail. In addition, the multi-functional agricultural unmanned vehicle 1000 easy to change the direction is economical because the equipment purchase cost is reduced because it does not need to purchase the unmanned vehicle for rail and the unmanned vehicle for general road separately.
도 9는 발명의 일실시예에 따른 방향 전환이 용이한 다기능 농업용 무인반송차량의 전환유닛의 사시도이다.9 is a perspective view of a switching unit of the multifunctional agricultural unmanned vehicle for easy change of direction according to an embodiment of the present invention.
도1, 도2 및 도 9를 참조하면, 상기 전환유닛(600)은 유압실린더(610), 제1 전환부(620) 및 제2 전환부(630)를 포함하며, 그리고, 상기 제2 전환부(630)는 상기 제1 전환부(620)와 연동되어 상기 바퀴유닛(200) 및 상기 레일휠유닛(500)을 지상으로부터 이격시키도록 마련될 수 있다.1, 2, and 9, the switching unit 600 includes a hydraulic cylinder 610, a first switching unit 620, and a second switching unit 630, and the second switching unit. The unit 630 may be provided to be spaced apart from the ground by interlocking with the first switch 620 and the wheel unit 200 and the rail wheel unit 500.
상기 유압실린더(610)는 상기 본체유닛(100)에 일단이 고정되어 마련되며, 상기 본체유닛(100)에는 유압펌프가 더 마련되어 상기 유압실린더(610)와 연결되도록 마련될 수 있다.One end of the hydraulic cylinder 610 is fixed to the main body unit 100, and a hydraulic pump is further provided on the main body unit 100 to be connected to the hydraulic cylinder 610.
상기 제1 전환부(620)는 상기 유압실린더(610)의 타단에 연결되어 구동되며, 상기 제1 전환부(620)는, 제1 링크(621), 제2 링크(622), 힌지고정축(623) 및 캐스터(624)를 포함한다.The first switching unit 620 is connected to the other end of the hydraulic cylinder 610 is driven, the first switching unit 620, the first link 621, the second link 622, hinge fixed shaft 623 and caster 624.
상기 제1 링크(621)는 상기 유압실린더(610)의 타단에 일단이 회전 가능하도록 연결될 수 있다.One end of the first link 621 may be connected to the other end of the hydraulic cylinder 610 so as to be rotatable.
상기 제2 링크(622)는 상기 제1 링크(621)의 타단에 일단이 회전 가능하도록 연결될 수 있다.One end of the second link 622 may be connected to the other end of the first link 621 so as to be rotatable.
상기 힌지고정축(623)은 상기 제2 링크(622)의 타단에 회전 가능하도록 연결될 수 있다.The hinge fixing shaft 623 may be rotatably connected to the other end of the second link 622.
상기 캐스터(624)는 상기 제2 링크(622)의 하측에 마련될 수 있다.The caster 624 may be provided below the second link 622.
상기 제2 전환부(630)는 상기 제1 전환부(620)와 연결되어 구동되며, 제3 링크(631), 연동링크(632), 힌지고정축(633) 및 캐스터(634)를 포함한다.The second switching unit 630 is driven in connection with the first switching unit 620, and includes a third link 631, an interlocking link 632, a hinged fixed shaft 633, and a caster 634. .
상기 제3 링크(631)는 상기 제2 링크(622)의 일단과 연결된다.The third link 631 is connected to one end of the second link 622.
상기 연동링크(632)는 상기 제2 링크(622)의 일단과 상기 제3링크(631)의 일단을 연결한다. 구체적으로, 상기 제3 링크(631)의 일단은 상기 제2링크(622)의 일단과 상기 연동링크(632)에 의해 연결되며, 상기 연동링크(632)의 양단은 회전 가능하도록 결합된다.The interlock link 632 connects one end of the second link 622 and one end of the third link 631. Specifically, one end of the third link 631 is connected by one end of the second link 622 and the linkage link 632, both ends of the linkage link 632 is coupled to be rotatable.
상기 힌지고정축(633)은 상기 제3 링크(633)의 타단에 회전 가능하도록 연결된다.The hinge fixed shaft 633 is rotatably connected to the other end of the third link 633.
상기 캐스터(634)는 상기 제3 링크(633)의 하측에 마련된다.The caster 634 is provided below the third link 633.
상기 유압실린더(610), 상기 제1 전환부(620) 및 상기 제2 전환부(630)는 각각 한 쌍으로 마련되며, 한 쌍의 상기 제1 전환부(620) 및 한 쌍의 상기 제2 전환부(630)는 각각 상기 힌지고정축(633)에 의해 상호 연결될 수 있다. 이처럼 상호 연결된 한 쌍의 상기 제1 전환부(620)와 한 쌍의 상기 제2 전환부(630)는 상호 연동되어 동일하게 구동될 수 있다.The hydraulic cylinder 610, the first switching unit 620 and the second switching unit 630 are each provided in a pair, a pair of the first switching unit 620 and a pair of the second The switching unit 630 may be connected to each other by the hinge fixed shaft 633, respectively. As described above, the pair of first switching units 620 and the pair of second switching units 630 connected to each other may be driven in the same manner.
이하, 상기 전환유닛(600)의 작동을 상세하게 설명하도록 한다.Hereinafter, the operation of the conversion unit 600 will be described in detail.
먼저, 상기 실린더유닛(610)을 신장시키면, 상기 제1 링크(621), 상기 제2 링크(622)가 상기 실린더유닛(610)에 의해 회전된다. 이때, 상기 제2 링크(622)와 연결된 상기 연동링크(632)도 상기 상기 제2 링크(622)와 동일한 방향으로 동일한 변위만큼 회전된다. 이처럼, 상기 제1 링크(621), 상기 제2 링크(622) 및 상기 제3 링크(632)가 일방향으로 회전되면 상기 캐스터(624, 634)가 하측으로 이동한다. 이처럼 하측으로 이동한 상기 캐스터(624, 634)는 지면을 밀게 되며, 이에 따라 상기 바퀴유닛(200)과 상기 레일휠유닛(500)이 지면으로부터 이격되어 상승하게 된다. 그리고, 상기 전환유닛(600)이 지면에 닿은 상태에서 4개의 상기 캐스터(624, 634)를 이용하여 상기 방향 전환이 용이한 다기능 농업용 무인반송차량(1000)의 진행 방향을 전환시킬 수 있다. 이때, 상기 전환유닛(600)은 자동 또는 수동으로 상기 방향 전환이 용이한 다기능 농업용 무인반송차량(1000)의 진행 방향을 전환할 수 있다.First, when the cylinder unit 610 is extended, the first link 621 and the second link 622 are rotated by the cylinder unit 610. At this time, the linkage link 632 connected to the second link 622 is also rotated by the same displacement in the same direction as the second link (622). As such, when the first link 621, the second link 622, and the third link 632 are rotated in one direction, the casters 624 and 634 move downward. As such, the casters 624 and 634 moved to the lower side push the ground, whereby the wheel unit 200 and the rail wheel unit 500 are spaced apart from the ground. Then, the four directions of the caster (624, 634) in the state in which the switching unit 600 is in contact with the ground can change the direction of travel of the multifunctional agricultural unmanned vehicle 1000 easy to change the direction. At this time, the switching unit 600 may automatically or manually change the traveling direction of the multifunctional agricultural unmanned vehicle 1000 is easy to change the direction.
이처럼 마련된, 상기 방향 전환이 용이한 다기능 농업용 무인반송차량(1000)는 제자리에서 진행 방향을 전환함으로써, 어디서나 진행 방향을 용이하게 전환할 수 있다. 따라서, 방향 전환을 위한 공간을 농경지에 확보할 필요가 없어, 농경지의 활용을 증가시킬 수 있으며, 경제적이다.The multifunctional agricultural unmanned vehicle 1000 provided as described above, which is easy to change directions, can be easily changed in any direction by changing the traveling direction in place. Therefore, it is not necessary to secure a space for a change in the farmland, it is possible to increase the utilization of the farmland, and economical.
반대로, 상기 실린더유닛(620)을 수축하면 상기 캐스터(624, 634)는 상승되며, 상기 바퀴유닛(200) 또는 상기 레일휠유닛(500)이 지면 또는 레일에 닿게 되어 이동할 수 있다. 이의 작동 과정은 상기 실린더유닛(610)을 신장시키는 과정과 유사하기 때문에 구체적인 설명은 생략한다.On the contrary, when the cylinder unit 620 is contracted, the casters 624 and 634 are raised, and the wheel unit 200 or the rail wheel unit 500 comes into contact with the ground or the rail to move. Since its operation is similar to the process of extending the cylinder unit 610, a detailed description thereof will be omitted.
도 10은 도 1의 A-A 단면도이고, 도 11은 본 발명의 일실시예에 따른 방향 전환이 용이한 다기능 농업용 무인반송차량의 기능유닛의 종류를 나타낸 예시도이며, 도 12는 본 발명의 일실시예에 따른 방향 전환이 용이한 다기능 농업용 무인반송차량의 기능유닛을 플랫폼유닛에 부착한 상태를 나타낸 예시도이다.FIG. 10 is a cross-sectional view taken along line AA of FIG. 1, and FIG. 11 is an exemplary view showing the types of functional units of a multifunctional agricultural unmanned vehicle for easy change of direction according to an embodiment of the present invention, and FIG. Exemplary diagram showing a state in which the functional unit of the multifunctional agricultural unmanned vehicle for easy change of direction according to the example attached to the platform unit.
도 1, 도2 및 도 10 내지 도 12를 참조하면, 상기 플랫폼유닛(800)은 상기 본체유닛(100)의 상부에 마련되며, 가이드벽(810), 결합체(820) 및 탈착체(830)를 포함한다.1, 2 and 10 to 12, the platform unit 800 is provided on the top of the body unit 100, the guide wall 810, the coupling 820 and the removable body 830 It includes.
상기 가이드벽(810)은 상기 본체유닛(100)의 상면 둘레를 따라 연장되며, 소정의 두께와 높이를 갖도록 마련될 수 있다. 상기 가이드벽(810)의 내측에는 상기 기능유닛(900)이 결합 고정될 수 있으며, 상기 기능유닛(900)이 결합되지 않았을 때에는 소량의 농작물이 간편하게 적재될 수도 있다.The guide wall 810 may extend along the upper circumference of the main body unit 100 and may be provided to have a predetermined thickness and height. The functional unit 900 may be fixedly coupled to the inside of the guide wall 810, and when the functional unit 900 is not coupled, a small amount of crops may be conveniently loaded.
상기 결합체(820)는 상기 가이드벽(810)의 내측면에 형성되어 인입 및 인출이 가능하도록 마련될 수 잇다. 구체적으로, 상기 결합체(820)는 도 11의 (a) 내지 (c)에 도시된 것처럼, 상기 기능유닛(900)이 슬라이딩되며 하강할 수 있도록 일측에 경사면이 형성될 수 있다. 그리고, 상기 결합체(820)는 도 11의 (b)에 도시된 것처럼, 상기 기능유닛(900)이 상기 본체유닛(100)의 상면에 안착되는 도중에는 상기 가이드벽(810)의 내부로 인입될 수 있다. 또한, 도 11의 (c)에 도시된 것처럼, 상기 결합체(820)는 상기 기능유닛(900)이 상기 본체유닛(100)의 상면에 완전히 안착되었을 때, 상기 결합홈(905)과 결합되도록 탄성적으로 인출되어 상기 기능유닛(900)을 고정할 수 있다. 여기서, 상기 결합홈(905)은 상기 기능유닛(900)에 형성되며, 상기 결합체(820)와 대응되는 위치에 상기 결합체(820)와 대응되는 형상으로 형성될 수 있다. 보다 구체적으로, 상기 결합홈(905)은 상기 기능유닛(900)이 완전히 상기 본체유닛(100)의 상면에 안착되었을 때, 상기 결합체(820)가 상기 결합홈(905)에 끼워져 결합되도록 할 수 있는 위치에 마련될 수 있다.The combination 820 may be formed on an inner side surface of the guide wall 810 to be able to draw in and draw out. Specifically, as shown in (a) to (c) of FIG. 11, the combination 820 may have an inclined surface formed at one side such that the functional unit 900 slides and descends. In addition, the combination 820 may be drawn into the guide wall 810 while the functional unit 900 is seated on the upper surface of the main body unit 100, as shown in FIG. 11B. have. In addition, as shown in (c) of Figure 11, the coupling 820 is burnt to be coupled to the coupling groove 905 when the functional unit 900 is completely seated on the upper surface of the main body unit 100. The drawing may be performed to fix the functional unit 900. Here, the coupling groove 905 may be formed in the functional unit 900, and may be formed in a shape corresponding to the coupling body 820 at a position corresponding to the coupling body 820. More specifically, the coupling groove 905 may allow the coupling body 820 to fit into the coupling groove 905 when the functional unit 900 is completely seated on the upper surface of the body unit 100. It may be provided at a location.
또한, 상기 탈착체(830)는 상기 기능유닛(900)을 상기 본체유닛(100)의 상면으로부터 탈착 시킬 때, 상기 결합체(820)를 상기 가이드벽(810)의 내부로 인입시키도록 마련될 수 있다. 구체적으로, 상기 탈착체(830)에 압력이 가해져 눌려지면, 상기 결합체(820)가 상기 가이드벽(810)의 내부로 인입될 수 있다. 상기 탈착체(830)는 도시된 바와 같이, 상기 본체유닛(100)의 측면에 페달(pedal) 형태로 마련되어 사람이 발로 밟아서 누르는 형태로 마련될 수도 있다. 단, 상기 탈착체(830)의 위치는 도시된 위치로 한정되지 않으며, 상기 결합체(820)를 상기 가이드벽(810)의 내부로 인입시킬 수 있는 위치라면 모두 일실시예에 포함된다. 일 예로, 상기 탈착체(830)는 상기 제어유닛(700)에 마련될 수도 있다.In addition, the detachable body 830 may be provided to lead the combined body 820 into the guide wall 810 when the functional unit 900 is detached from the upper surface of the main body unit 100. have. Specifically, when the pressure is applied to the detachable body 830, the combined body 820 may be drawn into the guide wall 810. The detachable body 830 may be provided in the form of a pedal (pedal) on the side of the main body unit 100 to be pressed by a person stepping on the foot. However, the position of the detachable body 830 is not limited to the illustrated position, and all of them are included in the embodiment as long as the position where the combined body 820 can be drawn into the guide wall 810 is included. For example, the detachable body 830 may be provided in the control unit 700.
이처럼, 상기 기능유닛(900)은 상기 결합체(820)에 의해 원터치(one-touch) 방식으로 상기 플랫폼유닛(800)으로부터 탈부착될 수 있다.As such, the functional unit 900 may be detachable from the platform unit 800 in a one-touch manner by the combination 820.
상기 기능유닛(900)은 상기 플랫폼유닛(800)에 의해 상기 본체유닛(100)의 상부에 탈부착될 수 있으며, 상기 기능유닛(900)은, 저장장치(910), 승강장치(920) 및 방제장치(930) 중 어느 하나인 것을 특징으로 할 수 있다.The functional unit 900 may be detachably attached to the upper portion of the main body unit 100 by the platform unit 800, the functional unit 900, the storage device 910, elevating device 920 and control It may be characterized in that any one of the device 930.
상기 저장장치(910)는 도 12의 (a)에 도시된 것처럼, 내부에 대량의 농작물이나 박스 등의 화물이 적재될 수 있으며, 상기 플랫폼유닛(800)과 결합되어 대량의 화물을 간편하게 이동하도록 할 수 있다.As shown in (a) of FIG. 12, the storage device 910 may be loaded with a large amount of crops or boxes therein, and may be combined with the platform unit 800 to easily move a large amount of cargo. can do.
상기 승강장치(920)는 도 12의 (b)에 도시된 것처럼, 상승 또는 하강 가능하도록 마련되며, 사람이 탑승한 상태에서 높은 곳에 위치한 농작물을 수확할 수 있도록 할 수 있다. 이때, 사람이 상기 승강장치(920)에 탑승한 경우와 같이 안전을 위해 상기 기능유닛(900)이 상기 본체유닛(100)에 더 강하게 결합되어야 할 경우에는 상술한 바와 같이, 상기 기능유닛(900)을 상기 체결홀(115)에 볼트 결합 할 수도 있다.As shown in (b) of FIG. 12, the elevating device 920 is provided to be capable of raising or lowering, and may allow harvesting of crops located at a high place while a person is on board. In this case, when the functional unit 900 is to be more strongly coupled to the main body unit 100 for safety, such as when a person boards the elevating device 920, as described above, the functional unit 900 ) May be bolted to the fastening hole 115.
상기 방제장치(930)는 도 12의 (c)에 도시된 것처럼, 방제 작업을 수행하기 위해 농약탱크와 스프레이로 이루어질 수 있다. 상기 방제장치(930)가 결합된 상기 방향 전환이 용이한 다기능 농업용 무인반송차량(1000)은 사람이 없을 때에도 자동으로 농약을 살포하기 때문에 사람이 농약에 중독되는 문제를 방지할 수 있다.The control device 930 may be made of a pesticide tank and a spray to perform a control operation, as shown in (c) of FIG. The multifunctional agricultural unmanned transport vehicle 1000 which is easy to change direction combined with the control device 930 automatically sprays pesticides even when there is no person, thereby preventing a person from being addicted to pesticides.
전술한 바와 같이 마련된 상기 방향 전환이 용이한 다기능 농업용 무인반송차량(1000)은 상기 플랫폼유닛(800)에 서로 다른 기능을 갖는 장치를 결합하여 사용할 수 있기 때문에 별도로 각각의 장치를 구매할 필요가 없어 경제적이다.As described above, the multifunctional agricultural unmanned transport vehicle 1000 for easy change of direction may be used by combining devices having different functions with the platform unit 800, and thus, it is not necessary to purchase each device separately. to be.
또한, 방향 전환이 용이한 다기능 농업용 무인반송차량(1000)은 토경재배와 같이 비포장된 길에서도 사용이 가능하다.In addition, the multifunctional agricultural unmanned vehicle 1000 that can be easily changed direction can be used even on unpaved roads such as soil cultivation.
또한, 상기 방향 전환이 용이한 다기능 농업용 무인반송차량(1000)은 자계기반 주행정밀도 향상을 위한 자계위치인식 시스템이 적용될 수 있다.In addition, the magnetic field position recognition system for improving the magnetic field-based driving precision may be applied to the multifunctional agricultural unmanned vehicle 1000 which is easy to change direction.
전술한 본 발명의 설명은 예시를 위한 것이며, 본 발명이 속하는 기술분야의 통상의 지식을 가진 자는 본 발명의 기술적 사상이나 필수적인 특징을 변경하지 않고서 다른 구체적인 형태로 쉽게 변형이 가능하다는 것을 이해할 수 있을 것이다. 그러므로 이상에서 기술한 실시예들은 모든 면에서 예시적인 것이며 한정적이 아닌 것으로 이해해야만 한다. 예를 들어, 단일형으로 설명되어 있는 각 구성 요소는 분산되어 실시될 수도 있으며, 마찬가지로 분산된 것으로 설명되어 있는 구성 요소들도 결합된 형태로 실시될 수 있다.The foregoing description of the present invention is intended for illustration, and it will be understood by those skilled in the art that the present invention may be easily modified in other specific forms without changing the technical spirit or essential features of the present invention. will be. Therefore, it should be understood that the embodiments described above are exemplary in all respects and not restrictive. For example, each component described as a single type may be implemented in a distributed manner, and similarly, components described as distributed may be implemented in a combined form.
본 발명의 범위는 후술하는 특허청구범위에 의하여 나타내어지며, 특허청구범위의 의미 및 범위 그리고 그 균등 개념으로부터 도출되는 모든 변경 또는 변형된 형태가 본 발명의 범위에 포함되는 것으로 해석되어야 한다.The scope of the present invention is represented by the following claims, and it should be construed that all changes or modifications derived from the meaning and scope of the claims and their equivalents are included in the scope of the present invention.
<부호의 설명><Description of the code>
100: 본체유닛 110: 몸체100: body unit 110: body
115: 체결홀 120: 손잡이115: fastening hole 120: handle
130: 발판 140: 범퍼130: scaffold 140: bumper
141: 제1 범퍼몸체 142: 제2 범퍼몸체141: first bumper body 142: second bumper body
143: 가압체 144: 탄성부재143: pressure member 144: elastic member
200: 바퀴유닛200: wheel unit
210: 제1 바퀴 220: 제2 바퀴210: first wheel 220: second wheel
300: 구동유닛 400: 조향유닛300: drive unit 400: steering unit
410: 바퀴지지부 411: 브라켓410: wheel support 411: bracket
412: 리브 413: 구동회전축412: rib 413: drive shaft
414: 바퀴회전축 415: 베이스결합체414: wheel rotation shaft 415: base assembly
416: 하부커버결합체 417: 베어링결합체416: lower cover assembly 417: bearing assembly
418: 바퀴링크결합체 419: 바퀴커플링결합체418: wheel link assembly 419: wheel coupling assembly
420: 베이스부 421: 제1 베이스홀 420: base portion 421: first base hole
422: 제2 베이스홀 430: 회전가이드부422: second base hole 430: rotation guide portion
431: 하부커버 432: 베어링431: lower cover 432: bearing
433: 스냅링 434: 상부커버433: snap ring 434: top cover
440: 바퀴링크부 441: 바퀴링크440: wheel link portion 441: wheel link
442: 바퀴커플링 450: 모터부442: wheel coupling 450: motor unit
460: 기어부 470: 조향회전축460: gear portion 470: steering rotation shaft
480: 조향링크부 481: 회전캡480: steering link portion 481: rotation cap
482: 조향커플링 483: 조향링크482: steering coupling 483: steering link
490: 조향연결부490: steering connection
500: 레일휠유닛500: rail wheel unit
510: 제1 레일휠 520: 제2 레일휠510: first rail wheel 520: second rail wheel
600: 전환유닛 610: 유압실린더600: switching unit 610: hydraulic cylinder
620: 제1 전환부 621: 제1 링크620: first switching unit 621: first link
622: 제2 링크 623: 힌지고정축622: second link 623: hinge fixed axis
624: 캐스터 630: 제2 전환부624: caster 630: second switching unit
631: 제3링크 632: 연동링크631: third link 632: interlocking link
633: 힌지고정축 634: 캐스터633: hinged shaft 634: caster
700: 제어유닛 710: 제어모듈700: control unit 710: control module
800: 플랫폼유닛 810: 가이드벽800: platform unit 810: guide wall
820: 결합체 830: 탈착체820: binder 830: desorbent
900: 기능유닛 905: 결합홈900: functional unit 905: coupling groove
910: 저장장치 920: 승강장치910: storage device 920: lifting device
930: 방제장치930: control device
1000: 방향 전환이 용이한 다기능 농업용 무인반송차량1000: Multifunctional agricultural unmanned vehicle for easy turning

Claims (10)

  1. 농업용 무인반송차량에 있어서,In the unmanned transport vehicle for agriculture,
    상기 무인반송차량의 외형을 형성하는 본체유닛;A main body unit forming an outer shape of the unmanned transport vehicle;
    상기 본체유닛의 하부에 마련되는 바퀴유닛;A wheel unit provided below the main body unit;
    상기 본체유닛의 하부에 마련되는 레일휠유닛;A rail wheel unit provided below the main body unit;
    상기 본체유닛에 마련되어 상기 바퀴유닛 및 상기 레일휠유닛에 동력을 제공하는 구동유닛;A driving unit provided in the main body unit to provide power to the wheel unit and the rail wheel unit;
    상기 바퀴유닛과 연결되는 조향유닛; 및A steering unit connected to the wheel unit; And
    상기 본체유닛에 마련되어 상기 바퀴유닛 및 상기 레일휠유닛을 지상으로부터 이격시킬 수 있도록 마련되는 전환유닛을 포함하며,It is provided in the main body unit includes a conversion unit provided to separate the wheel unit and the rail wheel unit from the ground,
    상기 전환유닛은 상기 바퀴유닛 및 상기 레일휠유닛을 지상으로부터 이격시킨 상태에서 상기 본체유닛의 진행 방향을 전환할 수 있도록 마련되는 것을 특징으로 하는 방향 전환이 용이한 다기능 농업용 무인반송차량.The switching unit is a multifunctional agricultural unmanned vehicle for easy direction switching, characterized in that the wheel unit and the rail wheel unit is provided to be able to switch the direction of travel of the main body unit in a state separated from the ground.
  2. 제 1 항에 있어서,The method of claim 1,
    상기 바퀴유닛은,The wheel unit,
    상기 본체유닛의 하부의 일측에 마련되며, 상기 구동유닛과 연결되는 제1바퀴; 및A first wheel provided at one side of the lower portion of the main body unit and connected to the driving unit; And
    상기 본체유닛의 하부의 타측에 마련되며, 상기 조향유닛과 연결되는 제2 바퀴를 포함하는 것을 특징으로 하는 방향 전환이 용이한 다기능 농업용 무인반송차량.It is provided on the other side of the lower portion of the main body unit, easy to change direction multifunctional agricultural unmanned vehicle, characterized in that it comprises a second wheel connected to the steering unit.
  3. 제 1 항에 있어서,The method of claim 1,
    상기 레일휠유닛은,The rail wheel unit,
    상기 본체유닛의 하부의 일측에 마련되며, 상기 구동유닛과 연결되는 제1 레일휠; 및A first rail wheel provided at one side of the lower portion of the main body unit and connected to the driving unit; And
    상기 본체유닛의 하부의 타측에 마련되는 제2 레일휠을 포함하는 것을 특징으로 하는 방향 전환이 용이한 다기능 농업용 무인반송차량.Multifunctional agricultural unmanned vehicle for easy change of direction comprising a second rail wheel provided on the other side of the lower portion of the main unit.
  4. 제 1 항에 있어서,The method of claim 1,
    상기 바퀴유닛은 상기 레일휠유닛이 레일에 안착되었을 때, 지면으로부터 이격된 상태이도록 마련되는 것을 특징으로 하는 방향 전환이 용이한 다기능 농업용 무인반송차량.The wheel unit is a multifunctional agricultural unmanned vehicle for easy change of direction, characterized in that provided when the rail wheel unit is seated on the rail spaced apart from the ground.
  5. 제 1 항에 있어서,The method of claim 1,
    상기 전환유닛은,The conversion unit,
    상기 본체유닛에 일단이 고정되는 유압실린더;A hydraulic cylinder having one end fixed to the main body unit;
    상기 유압실린더의 타단에 연결되어 구동되는 제1 전환부; 및A first switch connected to the other end of the hydraulic cylinder and driven; And
    상기 제1 전환부와 연결되어 구동되는 제2 전환부를 포함하며,A second switch connected to the first switch and driven;
    상기 제2 전환부는 상기 제1 전환부와 연동되어 상기 바퀴유닛 및 상기 레일휠유닛을 지상으로부터 이격시키는 것을 특징으로 하는 방향 전환이 용이한 다기능 농업용 무인반송차량.The second switching unit is interlocked with the first switching unit, the multifunctional agricultural unmanned transport vehicle for easy change of direction, characterized in that separating the wheel unit and the rail wheel unit from the ground.
  6. 제 5 항에 있어서,The method of claim 5, wherein
    상기 제1 전환부는,The first switch unit,
    상기 유압실린더의 타단에 일단이 회전 가능하도록 연결되는 제1 링크;A first link having one end rotatably connected to the other end of the hydraulic cylinder;
    상기 제1 링크의 타단에 일단이 회전 가능하도록 연결되는 제2 링크;A second link having one end rotatably connected to the other end of the first link;
    상기 제2 링크의 타단에 회전 가능하도록 연결되는 힌지고정축; 및A hinge fixed shaft rotatably connected to the other end of the second link; And
    상기 제2 링크의 하측에 마련되는 캐스터를 포함하는 것을 특징으로 하는 방향 전환이 용이한 다기능 농업용 무인반송차량.Multifunctional agricultural unmanned vehicle for easy change of direction, characterized in that it comprises a caster provided on the lower side of the second link.
  7. 제 6 항에 있어서,The method of claim 6,
    상기 제2 전환부는,The second switch unit,
    상기 제2 링크의 일단과 연결되는 제3 링크;A third link connected to one end of the second link;
    상기 제2 링크의 일단과 상기 제3 링크의 일단을 연결하는 연동링크;An interlocking link connecting one end of the second link and one end of the third link;
    상기 제3 링크의 타단에 회전 가능하도록 연결되는 힌지고정축; 및A hinge fixed shaft rotatably connected to the other end of the third link; And
    상기 제3 링크의 하측에 마련되는 캐스터를 포함하는 것을 특징으로 하는 방향 전환이 용이한 다기능 농업용 무인반송차량.Multifunctional agricultural unmanned vehicle for easy change of direction, characterized in that it comprises a caster provided on the lower side of the third link.
  8. 제 7 항에 있어서,The method of claim 7, wherein
    상기 제1 전환부 및 상기 제2 전환부는 각각 한 쌍으로 마련되며,The first switch and the second switch is provided in pairs, respectively,
    한 쌍의 상기 제1 전환부 및 한 쌍의 상기 제2 전환부는 각각 상기 힌지고정축에 의해 상호 연결되는 것을 특징으로 하는 방향 전환이 용이한 다기능 농업용 무인반송차량.A pair of the first switching unit and the pair of the second switching unit is a multi-functional agricultural unmanned vehicle for easy change of direction, characterized in that interconnected by the hinge fixed shaft.
  9. 제 1 항에 있어서,The method of claim 1,
    상기 본체유닛에 설치되며, 이동 경로를 추적할 수 있도록 마련되는 제어유닛을 더 포함하며,It is installed on the main unit, and further comprises a control unit provided to track the movement path,
    상기 제어유닛은,The control unit,
    상기 이동 경로를 따라 설치된 자석의 자기장을 감지하는 센서모듈; 및A sensor module for detecting a magnetic field of a magnet installed along the movement path; And
    상기 센서모듈에 의해 감지된 자기장을 분석하여 상기 이동 경로를 따라 이동하도록 상기 조향유닛을 제어하는 제어모듈을 포함하는 것을 특징으로 하는 방향 전환이 용이한 다기능 농업용 무인반송차량.And a control module for controlling the steering unit to move along the movement path by analyzing the magnetic field sensed by the sensor module.
  10. 제 1 항에 있어서,The method of claim 1,
    상기 본체유닛의 상부에 마련되는 플랫폼유닛; 및A platform unit provided above the main body unit; And
    상기 플랫폼유닛에 의해 상기 본체유닛의 상부에 탈부착되는 기능유닛을 더 포함하는 방향 전환이 용이한 다기능 농업용 무인반송차량.Multifunctional agricultural unmanned transport vehicle easy to change direction further comprising a functional unit detachable on the upper portion of the main body unit by the platform unit.
PCT/KR2018/002660 2017-03-28 2018-03-06 Multifunctional agricultural automated guided vehicle allowing for easy change of direction WO2018182193A1 (en)

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