CN103171639A - Homing guidance transportation robot - Google Patents

Homing guidance transportation robot Download PDF

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Publication number
CN103171639A
CN103171639A CN2013100936322A CN201310093632A CN103171639A CN 103171639 A CN103171639 A CN 103171639A CN 2013100936322 A CN2013100936322 A CN 2013100936322A CN 201310093632 A CN201310093632 A CN 201310093632A CN 103171639 A CN103171639 A CN 103171639A
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CN
China
Prior art keywords
control
vehicle
lifting
homing guidance
wheel
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Granted
Application number
CN2013100936322A
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Chinese (zh)
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CN103171639B (en
Inventor
邵正国
何秀春
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Nantong gaoye heavy Limited by Share Ltd
Original Assignee
NANTONG GAOYE HYDRAULIC PRESS MACHINE CO Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
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Application filed by NANTONG GAOYE HYDRAULIC PRESS MACHINE CO Ltd filed Critical NANTONG GAOYE HYDRAULIC PRESS MACHINE CO Ltd
Priority to CN201310093632.2A priority Critical patent/CN103171639B/en
Publication of CN103171639A publication Critical patent/CN103171639A/en
Application granted granted Critical
Publication of CN103171639B publication Critical patent/CN103171639B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The invention discloses a homing guidance transportation robot. The homing guidance transportation robot comprises a control element which is arranged inside a vehicle body, a traveling mechanism which is connected with the control element, a movement mechanism, a magnetic navigation mechanism, a collision avoidance mechanism and an automatic charging mechanism. The traveling mechanism comprises wheels arranged on the bottom of the vehicle body. The movement mechanism comprises a material carrying roller, a lifting mechanism and a horizontal moving mechanism. The magnetic navigation mechanism comprises a magnetic track arranged on the ground and a navigation sensor which is arranged on the bottom of the vehicle body. The collision avoidance mechanism comprises laser safety protection devices arranged below two ends of the vehicle body and contact-type protective device arranged on the periphery below the vehicle body. The automatic charging mechanism comprises a battery set which is arranged in the vehicle body, a charging connection device connected with the battery set and an electric quantity sensor. The control element is controlled by a remote terminal and exchanges information with the remote terminal through a wireless local area network. According to the homing guidance transportation robot, full automation of work is achieved, and safety and reliability are guaranteed.

Description

The homing guidance transfer robot
Technical field
The present invention relates to Intelligent logistics carrying transport vehicles technical field, relate in particular to a kind of homing guidance transfer robot.
Background technology
Generally need to carry the greater weight material in production industry, building industry, logistics, only carry by manpower, need a large amount of muscle power of cost people, and work efficiency be low.In addition, the part industry need to wait under harsh environment in high temperature/dust/radiation/high-risk complete carrying work, works under this environment for a long time, and people's healthy and life is caused safely great threat.
Summary of the invention
The object of the present invention is to provide a kind of Long-distance Control, realize the homing guidance transfer robot of operation automation fully.
To achieve these goals, homing guidance transfer robot provided by the invention comprises: the control element of being located at interior of body, the traveling gear that is connected with control element, actuating mechanism, magnetic navigation mechanism, collision avoidance mechanism, self-charging mechanism, thus, control traveling gear, actuating mechanism, magnetic navigation mechanism, collision avoidance mechanism, self-charging organisation operations by control element;
Traveling gear comprises the wheel that is arranged at body bottom, and wheel is connected with control element, and thus, the homing guidance transfer robot is walked by wheel, and wheel is controlled by control element;
Actuating mechanism comprises: material containing roller, lifting mechanism and translation mechanism, lifting mechanism and translation mechanism are connected with control element, the material containing roller is connected with lifting mechanism and translation mechanism respectively, thus, material is installed on the material containing roller, the material containing roller is realized the transfer of material loading and material thing by lifting mechanism and translation mechanism, lifting mechanism and translation mechanism are controlled by control element;
Magnetic navigation mechanism comprises the magnetic track that is arranged at ground and the navigation sensor that is arranged at body bottom, navigation sensor is connected with control element, thus, detect the magnetic field of ground magnetic track by navigation sensor, transmission information is to control element, by control element judgement offset information, control vehicle body and walk along magnetic track;
collision avoidance mechanism comprises the laser safeguard protection device that is arranged at extremities of body below and is arranged at the contact protective device of vehicle body below surrounding, laser safeguard protection device and contact protective device are connected with control element respectively, thus, laser safeguard protection device Emission Lasers bundle, laser beam is met the obstacle reflection, the laser safeguard protection device is accepted to send a signal to control element after reflection lasering beam, control element is controlled vehicle body and is stopped walking, after obstacle is eliminated, control element is controlled vehicle body and is walked on, the contact protective device is when receiving shock, send a signal to control element, control element is controlled vehicle body and is stopped walking, after obstacle is eliminated, control element is controlled vehicle body and is walked on,
self-charging mechanism comprises the battery pack that is arranged at interior of body, the charge connector that is connected with battery pack and electrical quantity sensor, charge connector, electrical quantity sensor is connected with control element with charge connector, thus, when electrical quantity sensor detects the battery electric quantity deficiency, send a signal to control element, control element is controlled vehicle body and is run to the battery-charging station position, control element sends instruction to charge connector, the battery lead plate on charge connector automatic butt battery-charging station ground is charged, after battery pack is full of electricity, electrical quantity sensor sends a signal to control element again, control element sends signal, disconnect docking, stop charging,
Control element is controlled by remote terminal, carries out information exchange by WLAN between control element and remote terminal, thus, realizes Long-distance Control.
In some embodiments, wheel comprises: two drive wheels, flower wheel and support wheels, and drive wheel drives by drive motor, and drive motor and drive wheel are connected in control element.
In some embodiments, drive wheel is steering wheel, and flower wheel is direction-caster, and support wheel is cardan wheel.
Thus, vehicle body is realized traction and turns to by drive wheel, supports the load of vehicle body by flower wheel, shares the unnecessary load of vehicle body by support wheel.
In some embodiments, lifting mechanism comprises the lifting table of being located at the vehicle body top, lifting table is by vertically disposed a plurality of the first Driven by Hydraulic Cylinder liftings, and the first hydraulic actuating cylinder is controlled device by the first hydraulic actuating cylinder and controlled its synchronous operation, and the first hydraulic actuating cylinder is controlled device and is connected in control element.
In some embodiments, translation mechanism comprises many group translation slide blocks, and every group of translation slide block moves by the second Driven by Hydraulic Cylinder respectively, and every group of second hydraulic actuating cylinder is connected to control element.
Thus, use hydraulic actuating cylinder to make driving more steady.
In some embodiments, lifting table is an oblong table top, the translation slide block is located at the lifting table upper surface, the lower surface of every group of translation slide block is equipped with chute, Width in lifting table is provided with the multiple tracks slide rail corresponding with chute, and the translation slide block slides along slide rail above lifting table.
In some embodiments, the number of material containing roller is identical with the translation slide block, and the material containing roller is connected with the translation slide block one by one by connecting arm respectively.
Thus, be connected with the translation slide block by the material containing roller, realize the independent translation of material containing roller, facilitate material loading, be connected with the translation slide block by the material containing roller, the translation slide block is connected with lifting table, realizes the integral elevating of material containing roller, and is convenient to switching through material.
In some embodiments, also be provided with a pushing plate, pushing plate is sheathed on the material containing roller, and pushing plate moves back and forth along the material containing roll axis by the driving of one the 3rd hydraulic actuating cylinder, and the 3rd hydraulic actuating cylinder is connected in control element.Thus, promote material on the material containing roller by pushing plate, realize transfer and the blanking of material.
In some embodiments, vehicle body side is provided with material loading window 12.Thus, realize that from material loading window 12 material loading, blanking and material shift.
In some embodiments, the contact protective device comprises the elastic buffer protection edge and is located at the sensor that is attached thereto of elastic buffer protection edge inside.Thus, when the elastic buffer protection edge was clashed into stress deformation by the barrier, sensor sent a signal to control element, and control element is controlled vehicle body and stopped walking; Remove at obstacle, after the elastic buffer protection edge restored to the original state, sensor sent signal again to control element, and control element is controlled vehicle body and walked on.
Alternative high temperature/the dust of homing guidance transfer robot of the present invention/radiation/high-risk manual work that waits under harsh environment, and improved work efficiency.Realized the full automation of operation, alerting ability is high, and is safe and reliable.
Description of drawings
Fig. 1 is the structural representation of the homing guidance transfer robot of one embodiment of the present invention;
Fig. 2 is the front view of homing guidance transfer robot shown in Figure 1;
Fig. 3 is the upward view of homing guidance transfer robot shown in Figure 1.
The specific embodiment
Explanation that the present invention is described in further detail below in conjunction with drawings and the specific embodiments.But this embodiment does not limit the present invention, and those skilled in the art all is included in protection scope of the present invention according to the conversion on structure, method or the function at this embodiment place of doing.
The present invention is the homing guidance transfer robot that the technology one such as driving, magnetic navigation, wireless communication are pressed in liquid collecting.
As shown in Figure 1 to Figure 3, homing guidance transfer robot of the present invention comprises: traveling gear 10, actuating mechanism 20, magnetic navigation mechanism 30, collision avoidance mechanism 40, self-charging mechanism 50.
Homing guidance transfer robot of the present invention is controlled traveling geaies 10, actuating mechanism 20, magnetic navigation mechanism 30, collision avoidance mechanism 40 and 50 runnings of self-charging mechanism by the control element 60 of vehicle body 1 inside.Control element 60 is controlled by remote terminal, adopts WLAN between control element 60 and remote terminal, carries out information exchange by the program of layout in advance.Simultaneously, also can be connected with control element 60 by the guidance panel 80 that is connected with control element 60 and control its work.
Traveling gear 10 comprises the wheel 100 that is arranged at vehicle body 1 bottom.
As shown in the figure, wheel 100 comprises: two drive wheels 101, flower wheel 102 and support wheels 103.drive wheel 101 is steering wheel, be traction/steering integrated drive wheel, by being connected in the drive motor of control element 60, in this embodiment of the present invention, drive motor is driven by servomotor, the tractive force of vehicle body walking is provided, drive wheel 101 also is connected in control element 60 simultaneously, drive wheel 101 is under the control of control element 60, can control around its adapter shaft rotation the direction of vehicle body 1 walking, two drive wheels 101 are set, be located at respectively vehicle body 1 rear and front end, the direction of controlling two drive wheels 101 is consistent, realized the craspedodrome of vehicle body 1, walk crosswise and diagonal, flower wheel 102 is direction-caster, supports the load of vehicle body 1, support wheel 103 is cardan wheel, unpowered, its height apart from ground is 2mm, when vehicle body 1 is unloaded, support wheel 103 does not stress, guaranteed that there are enough friction force on drive wheel 101 pairs of ground, after vehicle body 1 loaded, support wheel 103 landed, for drive wheel 101 is shared unnecessary load, ensure that vehicle body can not tilt when turning.The flower wheel 102 of homing guidance transfer robot of the present invention and the quantity of support wheel 103 are decided according to dead-weight capacity.
Actuating mechanism 20 comprises the lifting mechanism 201 when expecting switching through for vehicle body and facilitates the translation mechanism 202 of material loading.
As shown in the figure, lifting mechanism 201 comprises the oblong lifting table 2011 of being located at vehicle body 1 top, and lifting table 2011 is parallel with vehicle body 1 upper surface; Be located at 2,011 four jiaos of four first hydraulic actuating cylinder 2012, the first hydraulic actuating cylinders 2012 locating of lifting table perpendicular to lifting table 2011; And the first hydraulic actuating cylinder of being located at lifting table 2,011 one sides controls device 2013, the first hydraulic actuating cylinders 2012 and controls device 2013 with the first hydraulic actuating cylinder and be connected, and the first hydraulic actuating cylinder control device 2013 is connected with control element 60.The first hydraulic actuating cylinder is controlled four the first hydraulic actuating cylinder 2012 synchronous operations of instruction control that device 2013 receives control element 60, makes the steady lifting of lifting table 2011.
Translation mechanism 202 comprises translation slide block 2021 and the second hydraulic actuating cylinder 2022 of being located at lifting table 2011 tops.Lifting table 2011 upper surfaces, be provided with slide rail 1101 in its Width, translation slide block 2021 lower surfaces are provided with the chute corresponding with slide rail 1101, translation slide block 2021 tops are provided with the second hydraulic actuating cylinder 2022, translation slide block 2021 wherein is connected on a long limit with lifting table 2011 by the second hydraulic actuating cylinder 2022, translation slide block 2021 can slide on the Width of lifting table 2011 upper surfaces along slide rail 1101 under the driving of the second hydraulic actuating cylinder 2022, and the second hydraulic actuating cylinder 2022 is connected with control element 60.As shown in the figure, in this embodiment of the present invention, be provided with altogether 202, three groups of translation mechanisms 202 of three groups of translation mechanisms at lifting table 2011 upper surface longitudinal arrangements, the work order of three groups of translation mechanism 202 reception control elements 60 independently operates.
As shown in the figure, homing guidance transfer robot of the present invention also comprises the material containing roller 11 of being located in vehicle body 1.As shown in the figure, in this embodiment of the present invention, material containing roller 11 is provided with three groups altogether.Material containing roller 11 is cylindrical, and three groups of material containing rollers 11 are horizontally disposed with, be parallel to each other, and in same level.One end of three groups of material containing rollers 11 is connected to translation slide block 2021 by three connecting arms, lifting table 2011 is on its Width, the translation notch is offered respectively in corresponding position at three connecting arms, three groups of material containing rollers 11 are with translation slide block 2021 translation on the Width of vehicle body 1, and three groups of material containing rollers 11 independently operate.
As shown in the figure, be provided with in addition a pushing plate 12, pushing plate 12 is provided with three sheathed holes 121 corresponding with material containing roller 11, and pushing plate 12 is sheathed on material containing roller 11 by sheathed hole 121, and pushing plate 12 is vertical with material containing roller 11.Pushing plate 12 is connected with the vehicle body inwall by the 3rd hydraulic actuating cylinder 122, and pushing plate 12 can be along the moving axially of material containing roller 11 in the driving of the 3rd hydraulic actuating cylinder 122, and the 3rd hydraulic actuating cylinder 122 is connected in control element 60, is operated by control element 60 control the 3rd hydraulic actuating cylinders 122.
As shown in the figure, the side of vehicle body 1 is provided with material loading window 12.
As shown in the figure, be provided with photoelectricity process switch 2023 by translation slide block 2021, be provided with mechanical process switch (not shown) by lifting table 2011.Control the moving processes of translation slide block 2021 and lifting table 2011 by photoelectricity process switch 2023, mechanical process switch.
During material loading, control element 60 is controlled the 3rd hydraulic actuating cylinder 122 and the second hydraulic actuating cylinder 2022 rods, the moving pushing plate 12 of the 3rd hydraulic actuating cylinder 122 heaps is to close the window's position, the second hydraulic actuating cylinder 2022 promotes material containing roller 11 and stretches out outside material loading window 12, to expect that thing is transported on material containing roller 11 (three group of second hydraulic actuating cylinder 2022 can be worked as running, can separately to one of them material containing roller 11 material loading).After material loading was complete, control element 60 controls the 3rd hydraulic actuating cylinder 122 and the second hydraulic actuating cylinder 2022 is put away sports equipment simultaneously, in material containing roller 11 income vehicle bodies 1.
When two homing guidance transfer robots of the present invention will dock, make two homing guidance transfer robots parallel, regulate the lifting table 2011 of two homing guidance transfer robots to sustained height, the material containing roller 11 of two homing guidance transfer robots is docked one by one, the homing guidance transfer robot that material is housed is operated, control the 3rd hydraulic actuating cylinder 122 rods of this robot by control element 60, by pushing plate 12, the material on material containing roller 11 is pushed on the material containing roller 11 of another homing guidance transfer robot, namely completes the transfer of material.
Magnetic navigation mechanism 30, the ground of homing guidance transfer robot walking of the present invention is embedded with permanent magnetism magnetic nail, sets the walking magnetic track of vehicle body 1 with the magnetic nail.
As shown in the figure, vehicle body 1 bottom is provided with navigation sensor 301, is connected to control element 60.Navigation sensor 301 inside are placed with sampling point, can detect the Weak magentic-field of the magnetic side of nailing on, ground, and each sampling point has one tunnel corresponding output.During the operation of homing guidance transfer robot, the sampling point meeting output signal of navigation sensor 301 inside, control element 60 relies on the offset information of the signal judgement magnetic nail Relative Navigation sensor 301 of output, control element 60 is adjusted the walking of vehicle body 1 according to these offset informations, thereby guarantees that vehicle body 1 moves ahead, retreats along magnetic track.
Collision avoidance mechanism 40 comprises contactless detection device and contact protective device 402.
As shown in the figure, contactless detection device comprises and is located at vehicle body 1 rear and front end below, the laser safeguard protection device 401 that is connected with control element 60.The laser safeguard protection device 401 sightless lasering beam sweeps of use rotation form a laser plane, and the obstacle in this laser plane can be reflected back laser beam the detection window of laser safeguard protection device 401.When detection window detects the reflection lasering beam of obstacle, send a signal to control element 60, control element 60 sends halt instructions to the servomotor that drives drive wheel 101 runnings, controls the motor operation of stopping, and vehicle body 1 stops walking; After obstacle is removed, when detection window detects the reflection lasering beam disappearance, then go out to send signal to control element 60, control element 60 sends work orders to the servomotor that drives drive wheel 101 runnings, controls motor and brings into operation, and vehicle body 1 walks on.Thus, detect obstacle in contactless mode.
As shown in the figure, contact protective device 402 is located at place, vehicle body surrounding base, is connected with control element 60.Contact protective device 402 comprises the elastic buffer protection edge and is located at the sensor that is attached thereto of elastic buffer protection edge inside, when the elastic buffer protection edge is clashed into stress deformation by the barrier, sensor sends a signal to control element 60, control element 60 sends halt instruction to the servomotor that drives drive wheel 101 runnings, control the motor operation of stopping, vehicle body ascending stair 1 stops walking; After obstacle was removed, after the elastic buffer protection edge restored to the original state, sensor sent signal again to control element 60, and control element 60 sends work order to the servomotor that drives drive wheel 101 runnings, controlled motor and brought into operation, and vehicle body 1 walks on.Thus, detect obstacle in the contact mode.
Self-charging mechanism 50, homing guidance transfer robot of the present invention is by battery pack 501 power supplies that are arranged at vehicle body 1 inside, battery pack 501 belows are provided with charge connector 502 and the electrical quantity sensor 503 that is connected with control element 60, are provided with battery lead plate on the ground of battery-charging station position.When battery pack 501 is in low electric weight, electrical quantity sensor 503 sends a signal to control element 60, control element 60 sends charging signals, and control vehicle body 1 and run to the battery-charging station position, charge connector 502 automatic butt battery lead plates charge, after battery pack 501 is full of electricity, electrical quantity sensor 503 sends a signal to control element 60 again, control element 60 sends signal, disconnects docking, stops charging.
Alternative high temperature/the dust of homing guidance transfer robot of the present invention/radiation/high-risk manual work that waits under harsh environment, and improved work efficiency.Realized the full automation of operation, alerting ability is high, and is safe and reliable.

Claims (10)

1. homing guidance transfer robot, it is characterized in that, comprise: be located at the inner control element (60) of vehicle body (1), the traveling gear (10) that is connected with control element (60), actuating mechanism (20), magnetic navigation mechanism (30), collision avoidance mechanism (40), self-charging mechanism (50);
Described traveling gear (10) comprises the wheel (100) that is arranged at vehicle body (1) bottom, and described wheel (100) is connected with described control element (60);
Described actuating mechanism (20) comprising: material containing roller (11), lifting mechanism (201) and translation mechanism (202), described lifting mechanism (201) and translation mechanism (202) are connected with described control element (60), and material containing roller (11) is connected with lifting mechanism (201) and translation mechanism (202) respectively;
Described magnetic navigation mechanism (30) comprises the magnetic track that is arranged at ground and is arranged at the navigation sensor (301) of vehicle body (1) bottom, and described navigation sensor (301) is connected with described control element (60);
Described collision avoidance mechanism (40) comprises the laser safeguard protection device (401) that is arranged at below, vehicle body (1) two ends and is arranged at the contact protective device (402) of vehicle body (1) below surrounding, and described laser safeguard protection device (401) and described contact protective device (402) are connected with described control element (60) respectively;
Described self-charging mechanism (50) comprises battery pack (501), the charge connector (502) that is connected with battery pack (501) and the electrical quantity sensor (503) that is arranged at vehicle body (1) inside, and described charge connector (502), electrical quantity sensor (503) are connected with described control element (60);
Described control element (60) is controlled by remote terminal, carries out information exchange by WLAN between described control element (60) and remote terminal.
2. homing guidance transfer robot according to claim 1, it is characterized in that, described wheel (100) comprising: two drive wheels (101), flower wheel (102) and support wheel (103), described drive wheel (101) drives by drive motor, and described drive motor and drive wheel (101) are connected in described control element (60).
3. homing guidance transfer robot according to claim 2, is characterized in that, described drive wheel (101) is steering wheel, and described flower wheel (102) is direction-caster, and described support wheel (103) is cardan wheel.
4.. according to claim 1 or 3 described homing guidance transfer robots, it is characterized in that, described lifting mechanism (201) comprises the lifting table (2011) of being located at vehicle body (1) top, described lifting table (2011) drives lifting by vertically disposed a plurality of the first hydraulic actuating cylinders (2012), described the first hydraulic actuating cylinder (2012) is controlled device (2013) by the first hydraulic actuating cylinder and is controlled its synchronous operation, and described the first hydraulic actuating cylinder is controlled device (2013) and is connected in described control element (60).
5. homing guidance transfer robot according to claim 4, it is characterized in that, described translation mechanism (202) comprises many group translation slide blocks (2021), every group of described translation slide block (2021) drives respectively mobile by the second hydraulic actuating cylinder (2022), described every group of second hydraulic actuating cylinder (2022) is connected to described control element (60).
6.. homing guidance transfer robot according to claim 5, it is characterized in that, described lifting table (2011) is an oblong table top, described translation slide block (2021) is located at described lifting table (2011) upper surface, the lower surface of described every group of translation slide block (2021) is equipped with chute, Width in described lifting table (2011) is provided with the multiple tracks slide rail corresponding with described chute (1101), and described translation slide block (2021) slides along slide rail (1101) above described lifting table (2011).
7. homing guidance transfer robot according to claim 6, it is characterized in that, the number of described material containing roller (11) is identical with described translation slide block (2021), and described material containing roller (11) is connected with described translation slide block (2021) one by one by connecting arm respectively.
8.. homing guidance transfer robot according to claim 7, it is characterized in that, also be provided with a pushing plate (12), described pushing plate (12) is sheathed on described material containing roller (11), described pushing plate (12) is by the driving of one the 3rd hydraulic actuating cylinder (122), move back and forth along material containing roller (11) axis, described the 3rd hydraulic actuating cylinder (122) is connected in described control element (60).
9.. homing guidance transfer robot according to claim 8 is characterized in that described vehicle body side is provided with material loading window 12.
10. according to claim 1 or 3 or 9 described homing guidance transfer robots, is characterized in that, described contact protective device (402) comprises the elastic buffer protection edge and is located at the sensor that is attached thereto of elastic buffer protection edge inside.
CN201310093632.2A 2013-03-22 2013-03-22 Homing guidance transfer robot Expired - Fee Related CN103171639B (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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CN103171639B CN103171639B (en) 2015-11-18

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Cited By (10)

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Publication number Priority date Publication date Assignee Title
CN103738343A (en) * 2013-12-03 2014-04-23 杜志刚 Rail electric material conveying vehicle
US9329599B1 (en) 2014-11-21 2016-05-03 Industrial Technology Research Institute Automatic guided vehicle and method for controlling the same
CN106285111A (en) * 2015-05-22 2017-01-04 深圳怡丰机器人科技有限公司 A kind of transfer robot
CN106672609A (en) * 2017-01-09 2017-05-17 安徽杰瑞信息科技有限公司 Conveying robot used for food production
CN106774300A (en) * 2016-11-18 2017-05-31 广西大学 A kind of AGV anti-collision device for trolley
CN108125754A (en) * 2016-11-26 2018-06-08 沈阳新松机器人自动化股份有限公司 A kind of all-around mobile body chassis
CN109081025A (en) * 2018-07-09 2018-12-25 湖南驰众机器人有限公司 A kind of automatic loading/unloading AGV
CN111422264A (en) * 2019-01-10 2020-07-17 夏普株式会社 Trolley and conveying system
CN112660728A (en) * 2020-11-11 2021-04-16 重庆恢恢信息技术有限公司 Optimization method for conveying materials in intelligent construction site
CN111422264B (en) * 2019-01-10 2022-06-24 夏普株式会社 Trolley and conveying system

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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103738343A (en) * 2013-12-03 2014-04-23 杜志刚 Rail electric material conveying vehicle
US9329599B1 (en) 2014-11-21 2016-05-03 Industrial Technology Research Institute Automatic guided vehicle and method for controlling the same
CN106285111A (en) * 2015-05-22 2017-01-04 深圳怡丰机器人科技有限公司 A kind of transfer robot
CN106774300A (en) * 2016-11-18 2017-05-31 广西大学 A kind of AGV anti-collision device for trolley
CN108125754A (en) * 2016-11-26 2018-06-08 沈阳新松机器人自动化股份有限公司 A kind of all-around mobile body chassis
CN106672609A (en) * 2017-01-09 2017-05-17 安徽杰瑞信息科技有限公司 Conveying robot used for food production
CN109081025A (en) * 2018-07-09 2018-12-25 湖南驰众机器人有限公司 A kind of automatic loading/unloading AGV
CN111422264A (en) * 2019-01-10 2020-07-17 夏普株式会社 Trolley and conveying system
CN111422264B (en) * 2019-01-10 2022-06-24 夏普株式会社 Trolley and conveying system
CN112660728A (en) * 2020-11-11 2021-04-16 重庆恢恢信息技术有限公司 Optimization method for conveying materials in intelligent construction site
CN112660728B (en) * 2020-11-11 2022-04-22 重庆恢恢信息技术有限公司 Optimization method for conveying materials in intelligent construction site

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