Detachable auxiliary AGV and mounting and using method thereof

Abstract

Disclosed is a detachable auxiliary AGV which can be simply detached so as to be installed on a common AGV when a large workpiece is carried, so that the AGV is assisted to stably carry the large workpiece without causing the AGV to overturn. A detachable auxiliary AGV according to an embodiment of the present invention, in an auxiliary AGV detachably coupled to a main AGV, comprises: a vehicle body provided with driving wheels for driving in the longitudinal direction at the bottom thereof; an auxiliary wheel support located on one side of the main body and provided with an auxiliary wheel at the lower part; an expansion unit provided on one side surface of the vehicle body and separating the auxiliary wheel bracket from the one side surface of the vehicle body so as to support one side of the vehicle body; and a coupler which is provided on the other side surface of the vehicle body and which couples the vehicle body to one side surface of the main AGV.

Description

Technical Field

[0001] The present disclosure relates to a detachable assistive AGV and an installing and using method thereof. Background Art

[0002] In a factory for manufacturing articles or a warehouse for loading and unloading goods, an unmanned carrier vehicle called an AGV is used to perform repetitive operations. In addition, AGVs are also used in other places such as restaurants, hotels, and airports.

[0003] Korean Registered Patent Publication No. 10-2460494 discloses an unmanned carrier vehicle capable of autonomous driving.

[0004] In the unmanned carrier vehicle capable of autonomous driving disclosed in this publication, in an unmanned carrier vehicle including a main body for loading goods and a driving unit installed on the main body to move the main body, the driving unit includes: a first driving part that receives electric energy from a built-in battery or an external power source to move the main body in the X-axis direction; a second driving part that receives electric energy from a built-in battery or an external power source to move the main body in the Y-axis direction; and a first lifting part that moves the main body in the X-axis or Y-axis direction by installing one of the first driving part or the second driving part on the floor.

[0005] However, when using the unmanned carrier vehicle capable of autonomous driving to transport large workpieces, if the width of the large workpiece is large or the center of gravity of the large workpiece is biased to one side, there is a problem that the unmanned carrier vehicle overturns.

[0006] To solve the above problem, it is necessary to manufacture a large-width AGV corresponding to the width of the large workpiece so as to be able to stably support the large workpiece. However, due to factors such as road width limitations, the use of large-width AGVs is restricted, and relatively speaking, there is a problem of low efficiency in manufacturing, maintaining, and managing large-width AGVs with low usage frequencies.

[0007] (Prior Art Documents)

[0008] (Patent Documents)

[0009] Patent Document 1: KR10-2460494B1 (Registered on October 25, 2022) Summary of the Invention

[0010] (Problems to be Solved by the Invention)

[0011] The problem to be solved by the present disclosure is to provide a detachable auxiliary AGV, which can be simply disassembled and installed on a general AGV when handling large workpieces to assist the AGV in stably transporting large workpieces without causing the AGV to tip over.

[0012] (Measures adopted to solve the problem)

[0013] According to an embodiment of the detachable auxiliary AGV, in the auxiliary AGV detachably coupled to the main AGV, it includes: a vehicle body having driving wheels for driving along the length direction at the bottom; an auxiliary wheel bracket located on one side of the main body and having auxiliary wheels at the lower part; an extension unit provided on one side surface of the vehicle body to separate the auxiliary wheel bracket from one side surface of the vehicle body to support one side of the vehicle body; and a coupler provided on the other side surface of the vehicle body to couple the vehicle body to one side surface of the main AGV.

[0014] In addition, according to an embodiment of the extension unit, it includes: a track installed along the length direction of the vehicle body on one side surface of the vehicle body; first and second worktables respectively movably installed on both sides of the track; an actuator moving the first and second worktables in opposite directions; a first link hinge-coupled to the first worktable; a second link hinge-coupled to the second worktable; and a connection bracket having both ends respectively hinge-coupled to the other end of the first link and the other end of the second link and having the auxiliary wheel bracket coupled to the lower part.

[0015] In addition, according to an embodiment of the detachable auxiliary AGV, it further includes an auxiliary wheel lifter provided between the auxiliary wheel bracket and the auxiliary wheels to move the auxiliary wheels in the vertical direction.

[0016] In addition, according to an embodiment of the detachable auxiliary AGV, it further includes a driving wheel lifter provided between the vehicle body and the driving wheels to move the driving wheels in the vertical direction.

[0017] In addition, the other side surface of the vehicle body of the first detachable auxiliary AGV and the other side surface of the vehicle body of the second detachable auxiliary AGV are coupled through the couplers of the first and second detachable auxiliary AGVs, so that the extension units of the first and second detachable auxiliary AGVs as the detachable auxiliary AGV according to the embodiment are located on the periphery, thereby forming an AGV.

[0018] The installation and usage method of the detachable auxiliary AGV according to the embodiment includes the following steps: Move the detachable auxiliary AGV to one side of the main AGV; Adjust the height of the vehicle body of the detachable auxiliary AGV to align the coupler of the main AGV and the coupler of the detachable auxiliary AGV; Move the detachable auxiliary AGV to couple the coupler of the main AGV and the coupler of the detachable auxiliary AGV; According to the working environment, use the expansion unit of the detachable auxiliary AGV to adjust the distance between the detachable auxiliary AGV and the auxiliary wheel bracket of the detachable auxiliary AGV; Keep the auxiliary wheels of the detachable auxiliary AGV close to the ground; and Separate the drive wheels of the detachable auxiliary AGV from the ground.

[0019] (Effect of the invention)

[0020] The detachable auxiliary AGV according to the present embodiment is configured such that the auxiliary wheel bracket can be separated from the vehicle body of the detachable auxiliary AGV according to the embodiment in the outward direction through the expansion unit. Therefore, when the main AGV installing the detachable auxiliary AGV according to the present embodiment transports a large workpiece with a lateral width greater than the vehicle width, it can be stably transported without tipping over.

[0021] In addition, the detachable auxiliary AGV according to the present embodiment can, when not carrying a workpiece or carrying a workpiece within the vehicle width range, connect the auxiliary wheel bracket to the vehicle body of the detachable auxiliary AGV in a state of being separated from the main AGV or still installed on the main AGV, so as to run or transport the workpiece while reducing the vehicle body width.

[0022] That is, the detachable auxiliary AGV according to the present embodiment can be simply installed on the main AGV to stably transport a large workpiece with a width greater than the vehicle width without tipping over. When not transporting a large workpiece, the auxiliary wheel bracket is connected to the vehicle body of the detachable auxiliary AGV in a state of being separated from the main AGV or still installed on the main AGV, so as to reduce the occupied space and rotation of the AGV.

[0023] In addition, in the detachable auxiliary AGV according to the embodiment, the auxiliary wheels are configured to be movable in the up and down direction. Therefore, even if the ground is inclined or uneven, after separating the auxiliary wheel bracket through the expansion unit, the auxiliary wheels can stably support the ground.

[0024] In addition, in the detachable auxiliary AGV according to the embodiment, the drive wheels are configured to be movable in the up and down direction. Therefore, the detachable auxiliary AGV according to the embodiment can lift the drive wheels to separate from the ground after being connected to the main AGV, thereby avoiding conflicts with the driving program of the drive wheels of the main AGV.

[0025] In addition, the detachable auxiliary AGV according to the embodiment can operate independently through the driving wheels of the vehicle body and the auxiliary wheels of the auxiliary wheel bracket. In addition, if there is a pair of detachable auxiliary AGVs according to the embodiment and the couplers are combined with each other, they can be combined in a relative state so that the expansion units are located on the periphery. In this way, when a pair of detachable auxiliary AGVs according to the embodiment are combined, they can be used as an independent AGV for carrying workpieces. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 and Figure 2 is a perspective view of a detachable auxiliary AGV according to an embodiment;

[0027] Figure 3 is an exploded view of a detachable auxiliary AGV according to an embodiment;

[0028] Figure 4 is a schematic diagram of the independent operation state of a detachable auxiliary AGV according to an embodiment;

[0029] Figure 5 is a schematic diagram of the state where a detachable auxiliary AGV according to an embodiment is installed on both sides of the main AGV;

[0030] Figure 6 is a usage state diagram showing how it is used in the state where a detachable auxiliary AGV according to an embodiment is installed on both sides of the main AGV;

[0031] Figure 7 is a schematic diagram of a pair of detachable auxiliary AGVs according to an embodiment being combined with each other;

[0032] Figure 8 is a usage state diagram showing how it is used in the state where a pair of detachable auxiliary AGVs according to an embodiment are combined with each other;

[0033] Figure 9 is a sequence diagram showing the process of installing a detachable auxiliary AGV according to an embodiment on the main AGV to become a usable state;

[0034] Figure 10 and Figure 10 (Continued) is a schematic diagram showing the process of installing a detachable auxiliary AGV according to an embodiment on the main AGV to become a usable state in sequence.

[0035] (Description of Reference Numerals)

[0036] 100: detachable auxiliary AGV; 110: vehicle body; 111: driving wheel; 112: one side;

[0037] 113: Another side; 120: Auxiliary wheel bracket; 121: Auxiliary wheel; 130: Expansion unit;

[0038] 131: Track; 132: First workbench; 133: Second workbench; 134: Actuator;

[0039] 134a: Lead screw; 134b: Motor; 135: First link; 136: Second link;

[0040] 137: Connection bracket; 140: Coupler; 150: Auxiliary wheel lifter;

[0041] 160: Driving wheel lifter;; 10: First detachable auxiliary AGV; 11: Vehicle body;

[0042] 12: Auxiliary wheel bracket; 13: Expansion unit; 14: Coupler;

[0043] 20: Second detachable auxiliary AGV; 21: Vehicle body; 22: Auxiliary wheel bracket;

[0044] 23: Expansion unit; 24: Coupler; M: Main AGV; C: Coupler. Detailed implementation mode

[0045] The advantages, features and prior methods of the present disclosure will become clear in combination with the accompanying drawings and the embodiments to be described in detail. However, the present disclosure is not limited by the following embodiments and can be implemented in various forms. The purpose of this embodiment is to better illustrate the present disclosure and provide help for those skilled in the art to understand the present disclosure, and the present disclosure is only limited by the claims. In this specification, the same reference numerals refer to the same elements.

[0046] Refer to the Figure 1 and Figure 2 , as the Figure 3 exploded view of the detachable auxiliary AGV 100 [hereinafter referred to as "detachable auxiliary AGV 100"], the detachable auxiliary AGV 100 includes a vehicle body 110, an auxiliary wheel bracket 120, an expansion unit 130 and a coupler 140.

[0047] The vehicle body 110 is provided with a plurality of driving wheels 111 for driving along the length direction at the lower part. The driving wheels 111 have a steering function so that the vehicle body 110 can move in all directions.

[0048] In addition, the upper surface of the vehicle body 110 may be provided with a tray for supporting workpieces and a lifter for lifting the tray.

[0049] The vehicle body 110 may include a control device for controlling the drive wheels 111, a hydraulic device for driving a lift, and a battery for operating the movable auxiliary AGV 100.

[0050] The auxiliary wheel bracket 120 is located on one side of the vehicle body 110, and an auxiliary wheel 121 is provided at the lower part. The auxiliary wheel 121 is configured to be rotatable freely 360 degrees. In addition, the auxiliary wheel 121 may be configured as a non-powered wheel without an additional power source.

[0051] The extension unit 130 is provided on one side surface 112 of the vehicle body 110, and supports one side of the vehicle body 110 by being spaced apart from the auxiliary wheel bracket 120. That is, the extension unit 130 is configured to support the vehicle body 110 by making the multiple drive wheels 111 of the vehicle body 110 and the auxiliary wheel 121 of the auxiliary wheel bracket 120 form a triangular shape by being spaced apart from the auxiliary wheel bracket 120.

[0052] As an example, the extension unit 130 may include a track 131, a first workbench 132, a second workbench 133, an actuator 134, a first link 135, a second link 136, and a connection bracket 137.

[0053] The track 131 is installed on one side surface 112 of the vehicle body 110 along the length direction of the vehicle body 110.

[0054] The first workbench 132 is movably installed on one side of the track 131 along the track 131.

[0055] The second workbench 133 is movably installed on the other side of the track 131 along the track 131.

[0056] The actuator 134 moves the first workbench 132 and the second workbench 133 in opposite directions. That is, the actuator 134 can move the first workbench 132 and the second workbench 133 towards each other or away from each other.

[0057] As an example, the actuator 134 may include a lead screw 134a and a motor 134b.

[0058] The lead screw 134a can be installed inside the track 131 along the track 131, and threads are formed on both sides of the lead screw 134a in opposite directions. The first workbench 132 and the second workbench 133 are engaged with both sides of the lead screw 134a respectively. Therefore, when the lead screw 134a rotates, the first workbench 132 and the second workbench 133 can move in opposite directions. That is, it is configured to synchronously move the first workbench 132 and the second workbench 133 by the rotation of the lead screw 134a.

[0059] The function of the motor 134b is to rotate the lead screw 134a.

[0060] In addition, the actuator 134 can use a hydraulic cylinder (not shown) instead of the motor 134b as the power source. In this case, a pair of hydraulic cylinders are respectively installed on one side of the vehicle body 110, and the first workbench 132 and the second workbench 133 are respectively coupled to the rods of the hydraulic cylinders, so that the first workbench 132 and the second workbench 133 move towards or away from each other through the hydraulic cylinders. At this time, the lead screw 134a does not provide driving force to the first workbench 132 and the second workbench 133, but plays a role in synchronizing the moving amounts of the first workbench 132 and the second workbench 133.

[0061] One end of the first link 135 is hinge-coupled to the first workbench 132.

[0062] One end of the second link 136 is hinge-coupled to the second workbench 133.

[0063] Both sides of the connection bracket 137 are respectively hinge-coupled to the other ends of the first link 135 and the second link 136. The lower part of the connection bracket 137 is coupled to the auxiliary wheel bracket 120.

[0064] The coupler 140 is provided on the other side surface 113 of the vehicle body 110, and its function is to couple the vehicle body 110 to one side of the main AGVM. The coupler 140 can be configured in various ways. As an example, a knuckle-type connector used for connecting between railway vehicles can be used.

[0065] In addition, the detachable auxiliary AGV 100 may further include an auxiliary wheel lifter 150 and a drive wheel lifter 160.

[0066] The auxiliary wheel lifter 150 is provided between the auxiliary wheel bracket 120 and the auxiliary wheel 121, and plays a role in moving the auxiliary wheel 121 up and down. That is, the auxiliary wheel lifter 150 plays a role in pressing the auxiliary wheel 121 against the ground or lifting it off the ground.

[0067] The drive wheel lifter 160 is provided between the vehicle body 110 and the drive wheel 111, and plays a role in moving the drive wheel 111 up and down. That is, when the detachable auxiliary AGV 100 is installed on the main AGVM and the drive wheel 111 is not used, the drive wheel 111 can be moved off the ground.

[0068] Referring to Figure 4 which is a schematic diagram showing the independent operation state of the detachable auxiliary AGV 100, the detachable auxiliary AGV 100 can be used alone by separating the auxiliary wheel bracket 120 to one side. Specifically, the auxiliary wheel bracket 120 is separated to one side from the side surface 112 of the vehicle body 110 through the expansion unit 130, and the vehicle body 110 is supported by a plurality of drive wheels 111 and the separated auxiliary wheels 121. In addition, the detachable auxiliary AGV 100 can be moved alone only by the driving force of the drive wheels 111.

[0069] Referring to Figure 5 , the main AGV M may be provided with a coupler C for mounting the detachable auxiliary AGV 100 on one side and / or the other side. Although in this specification, it is illustrated that the length of the main AGV M is equal to the length of the detachable auxiliary AGV 100, so that the coupler C of the main AGV M corresponds to the coupler 140 of the detachable auxiliary AGV 100, the length of the main AGV M may be longer than that of the detachable auxiliary AGV 100, and the coupler C of the main AGV M may be provided with a plurality of couplers along the length direction of the main AGV M.

[0070] Therefore, according to the center of gravity of the workpiece carried on the main AGV M, the coupling position of the detachable auxiliary AGV 100 may be changed to one of the lengthwise side, the center, or the other side of one side surface of the main AGV M. Alternatively, two or more detachable auxiliary AGVs 100 may be combined on one side surface of the main AGV M.

[0071] As Figure 5 shown, the detachable auxiliary AGV 100 may be coupled to both sides of the main AGV M through the coupler 140 of the detachable auxiliary AGV 100 and the coupler C of the main AGV M respectively. Although Figure 5 illustrates a pair of detachable auxiliary AGVs 100 coupled to the main AGV M, according to the size or center of gravity of the workpiece, the detachable auxiliary AGV 100 may be coupled only to one side surface of the main AGV M.

[0072] Referring to Figure 6 which is a usage state diagram showing how the detachable auxiliary AGV 100 is used in the state where the detachable auxiliary AGV 100 is mounted on both sides of the main AGV,

[0073] the usage method of the detachable auxiliary AGV 100 will be described.

[0073] Referring to Figure 6 (a) of, a pair of detachable auxiliary AGVs 100, 100' may be respectively mounted on both side surfaces of the main AGV M. The pair of detachable auxiliary AGVs 100, 100' travel through the drive wheels 111, 111' in a state where the respective auxiliary wheel brackets 120, 120' are near one side surfaces 112, 112' of the respective vehicle bodies 110, 110'. In Figure 6 (a) of the state, the detachable auxiliary AGV 100 mounted on the main AGV M may be used to carry a workpiece using a wider tray. At this time, the drive wheels 111, 111' are moved away from the ground through the drive wheel elevators 160, 160', so as not to interfere with the travel of the drive wheels of the main AGV M.

[0074] Referring to Figure 6In (b) of, a pair of detachable auxiliary AGVs 100, 100' can be installed on both sides of the main AGV M as shown in Figure 6 (a). When a pair of detachable auxiliary AGVs 100, 100' are in a state where the respective auxiliary wheel brackets 120, 120' are separated from one side surface 112, 112' of each vehicle body 110, 110' by the extension units 130, 130', they travel through the drive wheels 111, 111'. In Figure 6 the state of (b), the separated auxiliary wheel brackets 120, 120' on both sides of the main AGV M support, so that workpieces with a width greater than that of the vehicle model of the main AGV M combined with the detachable auxiliary AGV 100 can be stably transported. At this time, the drive wheels 111, 111' are moved away from the ground by the drive wheel elevators 160, 160, so as not to interfere with the travel of the drive wheels of the main AGV M.

[0075] In addition, according to the workpiece being carried, only one auxiliary wheel bracket 120 can be separated from one side surface 112 of the vehicle body 110 and then the main AGV M can be used.

[0076] Referring to Figure 7 which is a schematic diagram showing the mutual combination of a pair of detachable auxiliary AGVs [hereinafter referred to as "first detachable auxiliary AGV 10" and "second detachable auxiliary AGV 20"], the first detachable auxiliary AGV 10 and the second detachable auxiliary AGV 20 are mutually combined through the respective couplers 14, 24 with the vehicle bodies 11, 21 in a state where they face each other on the other side surface without the extension units 13, 23.

[0077] Referring to Figure 8 which is a usage state diagram showing how a pair of detachable auxiliary AGVs 10, 20 are used in a mutually combined state, the usage method of a pair of detachable auxiliary AGVs 10, 20 will be described.

[0078] Referring to Figure 8 (a), the first detachable auxiliary AGV 10 and the second detachable auxiliary AGV 20 can be mutually combined with the vehicle bodies 11, 21 in a state where they face each other on the other side surface without the extension units 13, 23, and the first detachable auxiliary AGV 10 and the second detachable auxiliary AGV 20 travel through the drive wheels in a state where the respective auxiliary wheel brackets 12, 22 are near one side surface of each vehicle body 11, 21. In Figure 8 the state of (a), through the drive wheels of the mutually combined first detachable auxiliary AGV 10 and second detachable auxiliary AGV 20, they function as an independently operating AGV without the main AGV M.

[0079] Referring to Figure 8 (b), the first detachable auxiliary AGV 10 and the second detachable auxiliary AGV 20 can be as shown inFigure 8 As shown in (a) thereof, the vehicle bodies 11, 11 are combined with each other in a state where they face each other on the other side without the expansion units 13, 13, and the first detachable auxiliary AGV 10 and the second detachable auxiliary AGV 20 travel by driving wheels in a state where the respective auxiliary wheel brackets 12, 22 are separated from one side surface of the respective vehicle bodies 11, 21 by the expansion units 13, 23. In Figure 8 In the state of (b) thereof, since the first detachable auxiliary AGV 10 and the second detachable auxiliary AGV 20 are supported by the separated auxiliary wheel brackets 12, 22, workpieces of a vehicle model having a width greater than that of the combined first detachable auxiliary AGV 10 and second detachable auxiliary AGV 20 can be stably transported.

[0080] Referring to Figure 9 which is a sequence diagram showing the process of installing the detachable auxiliary AGV 100 on the main AGV to become a usable state, and Figure 10 and Figure 10 (continued), a method of combining and using the detachable auxiliary AGV 100 on the main AGV M will be described.

[0081] The method of installing and using the detachable auxiliary AGV 100 includes the following steps: moving the detachable auxiliary AGV 100 (S110); aligning the respective couplers 140, C of the detachable auxiliary AGV 100 and the main AGV M (S120); combining the respective couplers 140, C of the detachable auxiliary AGV 100 and the main AGV M (S130); adjusting the separation distance from the vehicle body 110 to the auxiliary wheel bracket 120 of the detachable auxiliary AGV 100 according to the working environment (S140); bringing the auxiliary wheel 121 of the detachable auxiliary AGV 100 close to the ground (S150); separating the driving wheel 111 of the detachable auxiliary AGV 100 from the ground (S160).

[0082] See Figure 10 In (a) thereof, the step S110 of moving the detachable auxiliary AGV 100 is a step of moving the detachable auxiliary AGV 100 to the vicinity of the main AGV M to which the detachable auxiliary AGV 100 is to be combined. In this step, the detachable auxiliary AGV 100 can independently run using the driving wheel 111 to move to the vicinity of the main AGV M.

[0083] Referring to Figure 10(b) In step S120 of aligning the couplers 140 and C of the detachable auxiliary AGV 100 and the main AGV M, the step is to align the respective couplers 140 and C to couple the detachable auxiliary AGV 100 and the main AGV M. In this step, the vehicle body 110 of the detachable auxiliary AGV 100 is lifted by the drive wheel lifter 160. Thus, the vertical, horizontal, upper and lower positions of the coupler C of the main AGV M and the coupler 140 of the detachable auxiliary AGV 100 are aligned.

[0084] Refer to Figure 10 (c) In step S130 of coupling the couplers 140 and C of the detachable auxiliary AGV 100 and the main AGV M, the step is to couple the couplers 140 and C aligned in step S120. In this step, the detachable auxiliary AGV 100 is moved towards the main AGV M using the drive wheels 111 of the detachable auxiliary AGV 100. Then, using the coupler 140 of the detachable auxiliary AGV 100 and the coupler C of the main AGV M, the other side surface 113 of the vehicle body 110 of the detachable auxiliary AGV 100 and one side surface of the main AGV M are coupled.

[0085] In addition, although in Figure 10 (a) to (c), the auxiliary wheel bracket 120 of the detachable auxiliary AGV 100 is shown in a state of being close to the vehicle body 110, this is to prepare for adjusting the separation distance of the entire auxiliary wheel bracket 120 according to the working environment later. Therefore, the detachable auxiliary AGV 100 can also be operated with the auxiliary wheel bracket 120 at a certain distance from the vehicle body 110.

[0086] Refer to Figure 10 (Continued) (d) In step S140 of adjusting the separation distance S from the vehicle body 110 to the auxiliary wheel bracket 120 of the detachable auxiliary AGV 100 according to the working environment, the step is to adjust the separation distance from the vehicle body 110 to the auxiliary wheel bracket 120 using the expansion unit 130 according to the working environment. Specifically, the first workbench 132 and the second workbench 133 move towards each other through the actuator 134 of the expansion unit 130. Then, as a push rod (not shown) pushes the connection bracket 137 towards the outside of the vehicle body 110, the first workbench 132 and the second workbench 133 move, separating the connection bracket 137 from the vehicle body 110. That is, the auxiliary wheel bracket 120 is separated from one side surface 112 of the vehicle body 110. At this time, the separation distance of the auxiliary wheel bracket 120 can be adjusted according to the working environment, such as the road width or the workpiece size, etc.

[0087] Refer to Figure 10(Continued) In step (e), step S150 of bringing the auxiliary wheel 121 of the detachable auxiliary AGV 100 close to the ground is a step of lowering the auxiliary wheel 121 by using the auxiliary wheel lifter 150 so as to bring the auxiliary wheel 121 into close contact with the ground. Thus, one side of the main AGV M is supported by the auxiliary wheel 121.

[0088] Refer to Figure 10 (Continued) In step (f), step S160 of separating the drive wheel 111 of the detachable auxiliary AGV 100 from the ground is a step of lifting the drive wheel 111 by using the drive wheel lifter 160 to separate it from the ground. As the drive wheel 111 rises, the driving program of the drive wheel of the main AGV M is not interfered by the driving program of the drive wheel 111 of the detachable auxiliary AGV 100. Therefore, when the main AGV M is in a state where the auxiliary wheel 121 is supported by the ground, it can travel stably only through the drive wheels of the main AGV M.

[0089] The expressions (terms, visual images, etc.) used when describing the embodiments of the present disclosure are only selected for instrumental purposes to enhance the understanding of the technology.

[0090] In addition, due to limited conditions, the present disclosure is only illustrated by a limited number of embodiments. Those of ordinary skill in the art can design new embodiments without exceeding the scope of the technical idea of the present disclosure based on the said embodiments.

[0091] Therefore, the claims of the present disclosure should not be limited by certain expressions in the "Summary of the Invention" and the "Drawings", but should be broadly interpreted according to the basic technical idea contained in the entire specification.

Claims

1. A detachable auxiliary AGV, in an auxiliary AGV detachably coupled to a main AGV, comprising: A vehicle body having drive wheels for driving along the length direction at the bottom; An auxiliary wheel bracket located on one side of the main body and having auxiliary wheels at the lower part; An extension unit provided on one side surface of the vehicle body, separating the auxiliary wheel bracket from one side surface of the vehicle body to support one side of the vehicle body; and A coupler provided on the other side surface of the vehicle body and coupling the vehicle body to one side surface of the main AGV.

2. The detachable auxiliary AGV according to claim 1, wherein The extension unit includes: A track installed along the length direction of the vehicle body on one side surface of the vehicle body; First and second worktables movably installed on both sides of the track respectively; An actuator moving the first and second worktables in opposite directions; A first link hinge-coupled to the first worktable; A second link hinge-coupled to the second worktable; And A connection bracket hinge-coupled to the other ends of the first link and the second link respectively at both ends and coupling the auxiliary wheel bracket at the lower part.

3. The detachable auxiliary AGV according to claim 1, further comprising an auxiliary wheel lift provided between the auxiliary wheel bracket and the auxiliary wheels to move the auxiliary wheels in the vertical direction.

4. The detachable auxiliary AGV according to claim 1, further comprising a drive wheel lift provided between the vehicle body and the drive wheels to move the drive wheels in the vertical direction.

5. An AGV, the other side surfaces of the vehicle bodies of the first detachable auxiliary AGV and the second detachable auxiliary AGV are coupled through the couplers of the first and second detachable auxiliary AGVs, so that the extension units of the first and second detachable auxiliary AGVs, which are detachable auxiliary AGVs according to any one of claims 1 to 4, are located on the periphery.

6. A method for installing and using a detachable auxiliary AGV, a method for installing and using the detachable auxiliary AGV according to any one of claims 1 to 4 on a main AGV having a coupler, comprising the following steps: Moving the detachable auxiliary AGV to one side of the main AGV; Adjusting the height of the vehicle body of the detachable auxiliary AGV to align the coupler of the main AGV and the coupler of the detachable auxiliary AGV; Moving the detachable auxiliary AGV to couple the coupler of the main AGV and the coupler of the detachable auxiliary AGV; According to the working environment, using the extension unit of the detachable auxiliary AGV to adjust the distance between the detachable auxiliary AGV and the auxiliary wheel bracket of the detachable auxiliary AGV; Bringing the auxiliary wheels of the detachable auxiliary AGV close to the ground; and Separating the drive wheels of the detachable auxiliary AGV from the ground.

Images