KR-102962020-B1 - Guide for entry and exit of a moving body on a rail, and a driving guide system having the same for the moving body

KR102962020B1KR 102962020 B1KR102962020 B1KR 102962020B1KR-102962020-B1

Abstract

The guidance guide and driving guide system according to the present invention can prevent collisions, jamming, shaking, etc. of the wheels from occurring when a moving body enters a pipe rail from a concrete passage or from a pipe rail into a concrete passage within a greenhouse.

Inventors

양승환
강마루
주찬영
김덕근

Assignees

한국생산기술연구원

Dates

Publication Date: 20260507
Application Date: 20241125

Claims (12)

It is a guide installed at the point where the concrete passageway and the pipe rail meet to guide the movement of a moving body when the moving body enters the pipe rail from the concrete passageway or enters the concrete passageway from the pipe rail, and A first guide plate positioned between the end of the pipe rail and the concrete passage, with a first guide section having an inclined structure provided at the rim end to guide the movement of a rail wheel equipped on a moving body; A second guide plate positioned around the first guide plate, having an upper surface parallel to the bottom surface of the concrete passage in substantially the same plane, and having a second guide section with an inclined structure at its front end to guide the movement of a passage wheel equipped on the movable body; and A guide for rail entry and exit of a movable body comprising: a fastening part that connects the first guide plate and the second guide plate together.
In paragraph 1, The pipe rail comprises a pair of tubular or rod-shaped rail sections spaced parallel to each other, and a transverse section connecting the ends of the pair of tubular or rod-shaped rail sections. The second guide plate includes an intermediate plate parallel to the above-mentioned transverse section and a pair of extension plates that are bent vertically at both ends of the intermediate plate and extended forward. The above pair of extension plates are located on the outside of a pair of tubular or rod-shaped rail sections, and A guide for rail entry and exit of a moving body, characterized in that the second guide is provided at the end of the pair of extension plates and is inclined downward toward the end of the second guide.
In paragraph 2, The first guide plate is placed on the intermediate plate, and A guide for the entry and exit of a moving body into and out of a rail, characterized in that the first guide plate is connected to the second guide plate so as to be adjustable in forward and backward directions along the longitudinal direction of the pipe rail.
In paragraph 3, the above-mentioned fastening part is, At least one fastening nut fixed to the intermediate plate; A bolt insertion hole provided on the side of the first guide plate corresponding to a fastening nut; and A guide for rail entry and exit of a moving body, characterized by having a fastening bolt that is screw-coupled to a fastening nut through a bolt insertion hole and moves a first guide plate forward and backward relative to a second guide plate when rotated.
In paragraph 2, At the lower part of the second guide section, a step is provided that can be caught on the front edge of the concrete passage, and A guide for the entry and exit of a moving body into and out of a rail, characterized by a second guide section protruding in the longitudinal direction of the pipe rail from the front edge of the concrete passage.
In paragraph 1, A guide for rail entry and exit of a moving body, characterized by having rounded portions provided at both corners of the first guide plate.
Flat concrete passageway; A pipe rail having a pair of tubular or rod-shaped rail sections spaced apart parallel to each other for traveling through a work passage of a moving body; and A guiding guide installed at the point where a concrete passage and a pipe rail meet to guide the movement of the moving body when the moving body enters the pipe rail from the concrete passage or enters the concrete passage from the pipe rail; The above guidance is, A first guide plate positioned between the end of the pipe rail and the concrete passage, with a first guide section having an inclined structure provided at the rim end to guide the movement of a rail wheel equipped on the movable body; A second guide plate disposed around the first guide plate, having an upper surface parallel to the bottom surface of the concrete passage in substantially the same plane, and having a second guide portion with an inclined structure at its front end to guide the movement of a passage wheel provided on the movable body; and A driving guide system for a moving body characterized by including a fastening part that connects a first guide plate and a second guide plate together.
In Paragraph 7, The pipe rail has a pair of tubular or rod-shaped rail sections spaced parallel to each other and a transverse section connecting the ends of the pair of tubular or rod-shaped rail sections. The second guide plate includes an intermediate plate parallel to the transverse section and a pair of extension plates that are bent vertically at both ends of the intermediate plate and extend forward, A pair of extension plates are located on the outside of the pair of tubular or rod-shaped rail sections, and A driving guide system for a moving body characterized by a second guide section being provided at the end of the pair of extension plates and inclined upward toward the rear.
In paragraph 8, The above first guide plate is placed on the intermediate plate, and A driving guide system for a moving body characterized in that the first guide plate is connected to the second guide plate so as to be adjustable in forward and backward directions along the longitudinal direction of the pipe rail.
In Clause 9, the above-mentioned connecting part is, At least one fastening nut fixed to the intermediate plate; A bolt insertion hole provided on the side of the first guide plate corresponding to a fastening nut; and A driving guide system for a moving body characterized by having a fastening bolt that is screw-coupled to a fastening nut through a bolt insertion hole and moves a first guide plate forward and backward relative to a second guide plate when rotated.
In paragraph 8, At the lower part of the second guide section, a step is provided that can be caught on the front corner of the concrete passage, and A driving guide system for a moving body characterized by a second guide section protruding in the longitudinal direction of the pipe rail from the front cross-section of the concrete passage.
In Paragraph 7, The pipe rail is a heating water pipe for heating the greenhouse, and A driving guide system for a mobile body characterized in that the above-mentioned mobile body is a work robot for greenhouses.

Description

Guide for entry and exit of a moving body on a rail, and a driving guide system for a moving body equipped with the same The present invention relates to a guide for the entry and exit of a moving body into and out of a rail, and more specifically, to a guide for the entry and exit of a moving body into and out of a rail having a structure capable of stably guiding the movement of the moving body. In addition, the present invention relates to a driving guide system for a moving body equipped with a guide. A smart greenhouse is a greenhouse in which temperature, humidity, and sunlight are automatically controlled. Since agricultural operations in these greenhouses are mechanized, automated, and unmanned, labor is reduced and production is increased, leading to their frequent construction recently. In the smart greenhouse, crops are planted on both sides of the work aisles, and heating and hot water supply pipes are installed along the aisles. Additionally, concrete walkways connecting the aisles are constructed at both ends. The heating and hot water supply pipes can also serve as rails for the movement of mobile devices. Mobile devices used in the greenhouse include pest control robots, cleaning robots, planting robots, leaf removal robots, and harvesting robots. As shown in FIG. 1, the moving body (1) travels along the concrete passage (10) inside the greenhouse and then enters the pipe rail (11) to move for work. The moving body (1) travels on the concrete wheel (3) in the concrete passage (10) and on the rail wheel (2) in the pipe rail (11). As shown in FIG. 2, the height difference between the concrete wheel (3) and the rail wheel (2) is approximately the diameter of the pipe rail (11). The mobile body (1) can automatically perform tasks such as spraying pesticides, pruning, and harvesting fruit trees on crops on both sides or one side while moving along the pipe rail (11) of the work passage after boarding (entering) the pipe rail (11) from the concrete passage (10) with an agricultural work device (not shown in the drawing) loaded in the upper loading space of the mobile body (1). Then, when it reaches the end of the pipe rail (11) located at the end of the work passage, the mobile body (1) comes down from the pipe rail (11) to the concrete passage (10). However, the concrete passage (10) is not perfectly level, and the height of the pipe rail (11) may vary slightly depending on the manufacturing and fixing conditions, and the height may be uneven due to construction errors, deformation after construction, etc. In this case, there is a high probability that the moving body (1) will fail to enter (board) the pipe rail (11) and/or exit (come down from the pipe rail to the concrete passage). Failure to enter (board) and exit the pipe rail (11) can vary depending on the height difference (d) between the rail wheel (2) and the concrete wheel (3). Specifically, as shown in FIG. 3(a), when the height difference (d) is too small when the moving body (1) enters the pipe rail (11) from the concrete passage (10), the rail wheel (2) may collide with the pipe rail (11) (see the red circle mark). Additionally, as shown in FIG. 3(b), when the moving body (1) enters the pipe rail (11) from the concrete passage (10), if the height difference (d) is too large, the concrete wheel (3) may descend rapidly (see the red circle mark) at the front corner of the concrete passage (10) and receive an impact. In addition, as shown in FIG. 3(c), when the moving body (1) enters the concrete passage (10) from the pipe rail (11), if the height difference (d) is too large, the concrete wheel (3) may collide with the front corner of the concrete passage (10) (see the red circle mark). The following drawings attached to this specification illustrate preferred embodiments of the present invention and serve to further enhance understanding of the technical concept of the present invention together with the detailed description of the invention provided below; therefore, the present invention should not be interpreted as being limited only to the matters described in such drawings. Figure 1 is a side view schematically showing the relationship between a conventional greenhouse movable body, a concrete passage, and a pipe rail. Figure 2 is a front view of Figure 1. Figures 3(a) to 3(c) are side views showing the problem caused by the height difference between the concrete wheel and the rail wheel in Figure 1. FIG. 4 is an exploded perspective view showing a guide according to a preferred embodiment of the present invention. Fig. 5 is an exploded perspective view of the guide of Fig. 4 viewed from below. FIG. 6 is a perspective view illustrating a driving guide system of a moving body equipped with the guidance guide of FIG. 4. Fig. 7 is a side view of Fig. 6. FIGS. 8(a) to 8(c) are perspective views showing examples of position adjustment of the first guide plate using the fastening bolt in FIG. 6. Hereinafter, preferred embodiments of the