CN103482317A - AGV self-propelled unloading transport cart - Google Patents

AGV self-propelled unloading transport cart Download PDF

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Publication number
CN103482317A
CN103482317A CN201310404275.7A CN201310404275A CN103482317A CN 103482317 A CN103482317 A CN 103482317A CN 201310404275 A CN201310404275 A CN 201310404275A CN 103482317 A CN103482317 A CN 103482317A
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CN
China
Prior art keywords
lifting
plate
agv
transport trolley
walking
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CN201310404275.7A
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Chinese (zh)
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CN103482317B (en
Inventor
徐晓明
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无锡虹业自动化工程有限公司
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Priority to CN201310404275.7A priority Critical patent/CN103482317B/en
Publication of CN103482317A publication Critical patent/CN103482317A/en
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Publication of CN103482317B publication Critical patent/CN103482317B/en

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Abstract

The invention relates to an AGV self-propelled unloading transport cart. The AGV self-propelled unloading transport cart is characterized in that two universal wheels are mounted at each of the front and rear ends of a chassis, a drive wheel box is mounted below the middle of the chassis, two coaxial drive wheels are disposed on two sides of the drive wheel box and are connected with respective independent drive mechanisms respectively, an unloading lifting overturn mechanism is disposed at the top of a frame, and a belt conveyer is disposed on one side of the unloading lifting overturn mechanism. The AGV self-propelled cart is combined with the unloading lifting overturn mechanism and the belt conveyer, the process of manual taking, turning, unloading and transporting is replaced, and accordingly labor intensity is reduced for workers, work efficiency is improved and production cost is reduced. The independently driven drive wheels are disposed between driven wheels at front and rear ends of a cart body, the drive wheels are reversely rotated at the same speed, the transport cart is allowed to rotate and steer in situ, less space is occupied, and materials can be steered, taken and unloaded in narrow passages.

Description

AGV is from walking the discharging transport trolley

Technical field

The present invention relates to a kind of transport conveyor, especially relate to a kind of AGV from walking the discharging transport trolley.

Background technology

Copper cash, yarn, chemical fibre etc. are after again being wound into all size line cylinder, need manually from winding apparatus, to take off and be stacked in together, mostly rely on and manually from equipment, take off and transport at present, the mode of this artificial hauling operation, because the weight of line cylinder is large, inefficiency, operator's labour intensity is large, especially more and more higher today in cost of labor, increased to a great extent productive costs.The applicant applied for name be called " Yarn roll conveying vehicle for spooler " (application number: patent application 201110318177.2) solves above-mentioned problem, but still exists equipment volume large, take up room large, complex structure, the problem that productive costs is high.

Summary of the invention

The applicant, for above-mentioned problem, is studied improvement, provides a kind of AGV from walking the discharging transport trolley, substitute and manually complete feeding, upset and discharging and transportation, alleviate behaviour workman's labour intensity, increase work efficiency, reduce production costs, simultaneously, reduce taking of space.

In order to solve the problems of the technologies described above, the present invention adopts following technical scheme:

A kind of AGV is from walking the discharging transport trolley, comprise car body, battery, control system and electromagnetic guiding device, described car body comprises chassis and vehicle frame, and control box is arranged on the described frame inside of top, described chassis, and described battery, control system and electromagnetic guiding device are arranged in described control box; Rear and front end, described chassis respectively is equipped with 2 cardan wheels, drives roller box to be arranged on the below at middle part, described chassis, and two coaxial drive wheels are separately positioned on the both sides of described driving roller box, and two described drive wheels connect respectively separately independently driver train; When transport trolley arrives steering position, two described drive wheels are driven and are rotated backward and realize the transport trolley pivot stud with identical rotating speed by driver train separately respectively; The end face of described vehicle frame is provided with blanking lifting switching mechanism, and band conveyor is arranged on a side of described blanking lifting switching mechanism.

Further:

Described blanking lifting switching mechanism comprises substrate, 2 lifting guide plates are vertically mounted on described substrate, described lifting guide plate is provided with the chute perpendicular to described substrate, lifting shaft level side arranges, and the two ends of described lifting shaft are set with axle sleeve and are slidably mounted in the chute on described lifting guide plate; The substrate of described lifting guide plate one side is provided with lifting turnover driving mechanism and lift drive mechanism; Lifting drives seat to connect described lift drive mechanism, and the two ends of lifting push rod hinged described lifting respectively drive seat and described lifting shaft; The lifting upset drives seat to connect described lifting turnover driving mechanism, the rear portion of material taking claw is fixedly connected with the axle sleeve at described lifting shaft two ends, the bottom of described material taking claw is provided with the upset connecting panel, and the two ends of lifting upset push rod hinged described lifting upset respectively drive seat and described upset connecting panel.

Described material taking claw comprises front end-plate, back plate and lower back panel, described back plate is set in parallel between described front end-plate and described lower back panel, described front end-plate, the circular arc that the top of back plate and lower back panel is indent, 4 be arranged in parallel and axis is the pipe link that circular arc arranges and is fixedly connected with described front end-plate, back plate and lower back panel, the front end of described pipe link is connected to the middle part of described front end-plate, the rear end of described pipe link and middle part are connected to the indent circular arc place on described back plate and lower back panel top, described lower back panel is fixedly connected with the axle sleeve at described lifting shaft two ends.

The bilateral symmetry of described front end-plate and described back plate is connected with pin, and the axis of described pin and described pipe link axis are arranged on same circular arc.

Described lifting turnover driving mechanism and lift drive mechanism are screw mandrel drive mechanism.

Described blanking lifting switching mechanism is enhancement mode blanking lifting switching mechanism, comprises substrate, and two groups of scissors fork mechanisms are arranged on described substrate, and the top that described scissors is pitched mechanism is provided with mounting plate; The rear end lower of the feeding bucket described mounting plate that is connected through the hinge, the stirring oil cylinder is arranged on a side of described feeding bucket, and the tail end of stirring cylinder block and described mounting plate are hinged, the upper rear end of the hinged described feeding bucket of the piston rod of described stirring oil cylinder; Described scissors fork mechanism first arm and second arm hinged by middle part forms, the upper end of described the first arm and described mounting plate are hinged, the lower end of described the second arm and described substrate are hinged, the lower end of described first arm of two groups of described scissors fork mechanisms is hinged with the two ends of pulling shaft respectively, the two ends of described pulling shaft are provided with bottom roller, lower guideway is arranged on described substrate, and bottom roller is spacing to be arranged in described lower guideway; The tail end of hoist cylinder cylinder body and described substrate are hinged, and the piston rod of hoist cylinder and described pulling shaft are hinged; Upper roller is connected to the upper end of described the second arm by mandrel, the bottom surface of described mounting plate is provided with upper rail, and described upper roller is spacing to be arranged in described upper rail.

Described feeding bucket comprises the hopper body, and described hopper body is provided with the V-type hopper, and the front end of described hopper body is provided with end plate, the circular arc that the top of described end plate is indent.

Described upper rail and lower guideway are the rectangle frame structure.

Described cardan wheel is damping universal wheels.

Described driver train takes motor and gear reduction forms by waiing upon.

Technique effect of the present invention is:

A kind of AGV disclosed by the invention is from walking the discharging transport trolley, combine with blanking lifting switching mechanism, band conveyor with the AGV autonomous traveling vehicle, substitute and manually complete feeding, upset and discharging and transportation, alleviate behaviour workman's labour intensity, increase work efficiency, reduce production costs; And, the present invention arranges the drive wheel of two individual drive between the flower wheel of car body rear and front end, and two drive wheels are rotated backward with identical rotating speed, realize that the transport trolley original place turns to, the car body quick steering, reduce taking of space, thereby realize that AGV is from discharging transport trolley turning in slype, feeding and the discharging operation of walking.

The accompanying drawing explanation

Fig. 1 is structural representation of the present invention.

Fig. 2 is front view of the present invention.

Fig. 3 is for driving the front view of roller box.

Fig. 4 is for driving the three-dimensional structure schematic diagram of roller box.

The three-dimensional structure schematic diagram that Fig. 5 is blanking lifting switching mechanism (lifting rollover states).

The three-dimensional structure schematic diagram of the material taking claw that Fig. 6 is blanking lifting switching mechanism.

The lifting rotary movement schematic diagram that Fig. 7 is blanking lifting switching mechanism.

The front view that Fig. 8 is enhancement mode blanking lifting switching mechanism.

The right elevation that Fig. 9 is Fig. 8.

The three-dimensional structure schematic diagram of the feeding bucket that Figure 10 is enhancement mode blanking lifting switching mechanism.

The specific embodiment

Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in further detail.

As shown in Fig. 1 ~ 4, the present invention includes car body 100, battery, control system and electromagnetic guiding device, car body 100 comprises chassis 1 and vehicle frame 5, and control box 3 is arranged on vehicle frame 5 inboards of 1 top, chassis, and battery, control system and electromagnetic guiding device are arranged in control box 3.1 rear and front end, chassis respectively is equipped with 2 cardan wheels 2, drive roller box 6 to be arranged on the below at 1 middle part, chassis, two coaxial drive wheels 7 are separately positioned on the both sides that drive roller box 6, two drive wheels 7 connect separately respectively independently driver train, that is to say, two drive wheels 7 have respectively driver train separately, can control respectively velocity of rotation and the rotation direction of two drive wheels 7, and two drive wheels 7 are positioned at the midway location of chassis 1 rear and front end cardan wheel 2, in the present embodiment, the axis of drive wheel 7 equates with the distance between rear and front end cardan wheel 2.Driver train takes motor 8 and gear reduction 9 forms by waiing upon, wait upon take motor 8 outputs power after gear reduction 9 for driving drive wheel 7.The end face of vehicle frame 5 is provided with blanking lifting switching mechanism 4, band conveyor 11 is arranged on the end face of vehicle frame 5 of blanking lifting switching mechanism 4 one sides, by blanking lifting switching mechanism 4, band conveyor 11 and realize automatic blanking, upset, conveying and the discharging of the line cylinder of copper cash, yarn, chemical fibre etc. together with AGV walks transport trolley voluntarily.

When AGV walks the operation of discharging transport trolley certainly, guide the direction of travel of AGV from the discharging transport trolley of walking by electromagnetic guiding device along sticking in electromagnetic path on floor, be positioned at 4 cardan wheels 2 of 1 rear and front end, chassis as flower wheel, by two drive wheels 7, drive AGV from the discharging transport trolley walking of walking.As AGV, when walking discharging transport trolley straight line moving, under the driving of driver train separately, two drive wheel 7 rotation directions identical with identical rotating speed are rotated.When AGV arrives steering position from the discharging transport trolley of walking, electromagnetic guiding device feeds back signal to control system, under control system is controlled, two drive wheels 7 are driven and are rotated backward with identical rotating speed by driver train separately respectively, the AGV mid point that the discharging transport trolley take between two drive wheels 7 from walking turns to as pivot center, thereby realize that AGV, from walking discharging transport trolley pivot stud, can continue along straight line moving after having turned to.In addition, control the rotating speed of drive wheel 7 and the direction of walking around and also can realize that AGV turns to from the small swing radius of the discharging transport trolley of walking.In the present embodiment, cardan wheel 2 is damping universal wheels, as AGV, from the floor of the discharging transport trolley walking of walking, slightly has when uneven, due to the effect of damping universal wheels, makes two drive wheels 7 still can be close to floor, realizes the driving of stable and continuous.

As shown in Fig. 1,2,5,6,7, blanking lifting switching mechanism 4 comprises substrate 4-1,2 lifting guide plate 4-2 are vertically mounted on substrate 4-1, lifting guide plate 4-2 is provided with the chute 4-201 perpendicular to substrate 4-1, lifting shaft 4-3 level side arranges, the two ends of lifting shaft 4-3 are set with axle sleeve 4-12, and lifting shaft 4-3 is slidably mounted in the chute 4-201 on lifting guide plate 4-2 by axle sleeve 4-12, and lifting shaft 4-3 can make upper and lower lifting crank motion along chute 4-201.The substrate 4-1 of lifting guide plate 4-2 mono-side is provided with lifting turnover driving mechanism 4-4 and lift drive mechanism 4-6, and lifting turnover driving mechanism 4-4 and lift drive mechanism 4-6 are screw mandrel drive mechanism.Lifting drives seat 4-8 to connect lift drive mechanism 4-6, lifting drives seat 4-8 connect the feed screw nut of lift drive mechanism 4-6 and do straight reciprocating motion under the driving of screw mandrel together with the feed screw nut, the respectively hinged lifting in the two ends of lifting push rod 4-7 drives seat 4-8 and lifting shaft 4-3, and lifting push rod 4-7 plays the effect of connecting rod in operating process.The lifting upset drives seat 4-10 to connect lifting turnover driving mechanism 4-4, the lifting upset drives seat 4-10 connect the feed screw nut of lifting turnover driving mechanism 4-4 and do straight reciprocating motion under the driving of screw mandrel together with the feed screw nut, the rear portion of material taking claw 4-5 is fixedly connected with the axle sleeve 4-12 at lifting shaft 4-3 two ends, the bottom of material taking claw 4-5 is provided with upset connecting panel 4-11, the respectively hinged lifting upset in two ends of lifting upset push rod 4-9 drives seat 4-10 and upset connecting panel 4-11, and lifting upset push rod 4-9 plays the effect of connecting rod in operating process.Material taking claw 4-5 comprises front end-plate 4-501, back plate 4-502 and lower back panel 4-503, front end-plate 4-501, back plate 4-502 and lower back panel 4-503 be arranged in parallel, back plate 4-502 is arranged between front end-plate 4-501 and lower back panel 4-503, front end-plate 4-501, the circular arc that the top of back plate 4-502 and lower back panel 4-503 is indent, 4 be arranged in parallel and axis is the pipe link 4-504 that circular arc arranges and is fixedly connected with front end-plate 4-501, back plate 4-502 and lower back panel 4-503, the front end of pipe link 4-504 is connected to the middle part of front end-plate 4-501, the rear end of pipe link 4-504 and middle part are connected to the indent circular arc place on back plate 4-502 and lower back panel 4-503 top, lower back panel 4-503 is fixedly connected with the axle sleeve 4-12 at lifting shaft 4-3 two ends.The bilateral symmetry of front end-plate 4-501 and back plate 4-502 is connected with pin 4-505, and the axis of pin 4-505 and pipe link 4-504 axis are arranged on same circular arc.In use, material taking claw 4-5 is for taking off the line cylinder of copper cash, yarn, chemical fibre etc. and holding the line cylinder at course of conveying, and pin 4-505 can prevent that the principal vertical line cylinder skids off from the both sides of material taking claw.

When operation is used, blanking lifting switching mechanism 4 is arranged on AGV and realizes automatic blanking, upset, conveying and the discharging of the line cylinder of copper cash, yarn, chemical fibre etc. on the discharging transport trolley of walking together with band conveyor 11.As AGV, when the discharging transport trolley of walking is received the instruction of feeding, AGV marches to from the discharging transport trolley of walking the station that sends the feeding instruction automatically, and makes material taking claw 4-5 enter the below of line cylinder, and as shown in Figure 7, now material taking claw 4-5 is at position A, in horizontality, lifting turnover driving mechanism 4-4 and lift drive mechanism 4-6 synchronously drive lifting push rod 4-7 and lifting upset push rod 4-9 that lifting shaft 4-3 is moved up along chute 4-201, make material taking claw 4-5 keep the horizontality lifting that makes progress simultaneously, when material taking claw 4-5 picking-up line cylinder leaves line cylinder axle, AGV moves backward from the discharging transport trolley of walking, and at this moment relies on the top of the front end-plate 4-501 of material taking claw 4-5 that the line cylinder is taken off from line cylinder axle, AGV automatically goes and plays discharge position according to instruction from the discharging transport trolley of walking, lifting turnover driving mechanism 4-4 and lift drive mechanism 4-6 synchronously drive lifting push rod 4-7 and lifting upset push rod 4-9 to continue to make lifting shaft 4-3 to be moved upward to the upper end of chute 4-201 along chute 4-201, make material taking claw 4-5 keep horizontality upwards to be lifted to position B simultaneously, lifting turnover driving mechanism 4-4 continues to drive lifting upset push rod 4-9, lifting upset push rod 4-9 promotes material taking claw 4-5 and turn to position C around lifting shaft 4-3, thereby the line cylinder in material taking claw 4-5 is discharged on band conveyor 11, by band conveyor 11, the line cylinder is discharged into to the windrow position.

As shown in Fig. 1,2,8,9,10, blanking lifting switching mechanism 4 is enhancement mode blanking lifting switching mechanism, and enhancement mode blanking lifting switching mechanism is simple and compact for structure, and structural strength is high, increases the service life.Enhancement mode blanking lifting switching mechanism comprises substrate 4-1, and two groups of scissors fork 4-2100 of mechanism are arranged on substrate 4-1 above, and the top of the scissors fork 4-2100 of mechanism is provided with mounting plate 4-27.The rear end lower of feeding bucket 4-26 connects mounting plate 4-27 by hinge 4-24, feeding bucket 4-26 comprises hopper body 4-2601, hopper body 4-2601 is provided with V-type hopper 4-2602, the front end of hopper body 4-2601 is provided with end plate 4-2603, the circular arc that the top of end plate 4-2603 is indent, the line cylinder taken off from spooling equipment is contained in V-type hopper 4-2602.Stirring oil cylinder 4-25 is arranged on the side of feeding bucket 4-26, and cylinder body tail end and the mounting plate 4-27 of stirring oil cylinder 4-25 are hinged, the upper rear end of the hinged feeding bucket of the piston rod 4-26 of stirring oil cylinder 4-25.The scissors fork 4-2100 of mechanism first arm 4-23 and the second arm 4-22 hinged by middle part forms, the upper end of the first arm 4-23 and mounting plate 4-27 are hinged, the lower end of the second arm 4-22 and substrate 4-1 are hinged, the lower end of the first arm 4-23 of two groups of scissors fork 4-2100 of mechanism respectively with the two ends of pulling shaft 4-213 hinged (Fig. 9), the two ends of pulling shaft 4-213 are provided with bottom roller 4-211, lower guideway 4-210 is arranged on substrate 4-1, bottom roller 4-211 is spacing to be arranged in lower guideway 4-210, in the scope that bottom roller 4-211 can limit at lower guideway 4-210, rolls.Hoist cylinder 4-212 is arranged on mounting plate 4-27 below, and tail end and the substrate 4-1 of hoist cylinder 4-212 cylinder body are hinged, and the piston rod of hoist cylinder 4-212 and pulling shaft 4-213 are hinged.Upper roller 4-28 is connected to the upper end of the second arm 4-22 by mandrel, the bottom surface of mounting plate 4-27 is provided with upper rail 4-29, and upper roller 4-28 is spacing to be arranged in upper rail 4-29, in the scope that upper roller 4-28 can limit at upper rail 4-29, rolls.In the present embodiment, upper rail 4-29 and lower guideway 4-210 are the rectangle frame structure, and such structure can limit the stroke range of upper roller 4-28 and bottom roller 4-211, limit the height of mounting plate 4-27 and feeding bucket 4-26 lifting simultaneously.

When operation is used, enhancement mode blanking lifting switching mechanism is arranged on AGV and realizes automatic blanking, upset, conveying and the discharging of the line cylinder of copper cash, yarn, chemical fibre etc. on the discharging transport trolley of walking together with band conveyor 11.As AGV from walking the discharging transport trolley while receiving the instruction of feeding, AGV marches to from the discharging transport trolley of walking the station that sends the feeding instruction automatically, and make feeding bucket 4-26 enter the below of line cylinder, now the piston rod of stirring oil cylinder 4-25 is in retracted mode, make feeding bucket 4-26 be placed on mounting plate 4-27 upper (being horizontal), the piston rod of hoist cylinder 4-212 is in stretching out state, upper roller 4-28 and bottom roller 4-211 lay respectively at the high order end of upper rail 4-29 and lower guideway 4-210, now, feeding bucket 4-26 is positioned on minimum height and position; Control system is sent instruction, the piston rod retraction of hoist cylinder 4-212, pull pulling shaft 4-213 and bottom roller 4-211 to move to the right, thereby make the scissors fork 4-2100 of mechanism drive mounting plate 4-27 to rising, feeding bucket 4-26 rises simultaneously, when feeding bucket 4-26 picking-up line cylinder leaves line cylinder axle, AGV moves backward from the discharging transport trolley of walking, and at this moment relies on the end plate 4-2603 of feeding bucket 4-26 that the line cylinder is taken off from line cylinder axle; AGV automatically goes and plays discharge position according to instruction from the discharging transport trolley of walking, the piston rod of hoist cylinder 4-212 continues retraction, feeding bucket 4-26 continues to rise to the height identical with band conveyor 11, the piston rod of stirring oil cylinder 4-25 stretches out, drive feeding bucket 4-26 upwards to dig around hinge 4-24, thereby the line cylinder in feeding bucket 4-26 is discharged on band conveyor 11, by band conveyor 11, the line cylinder is discharged into to the windrow position.

Claims (10)

1. an AGV is from walking the discharging transport trolley, comprise car body, battery, control system and electromagnetic guiding device, it is characterized in that: described car body comprises chassis and vehicle frame, control box is arranged on the described frame inside of top, described chassis, and described battery, control system and electromagnetic guiding device are arranged in described control box; Rear and front end, described chassis respectively is equipped with 2 cardan wheels, drives roller box to be arranged on the below at middle part, described chassis, and two coaxial drive wheels are separately positioned on the both sides of described driving roller box, and two described drive wheels connect respectively separately independently driver train; When transport trolley arrives steering position, two described drive wheels are driven and are rotated backward and realize the transport trolley pivot stud with identical rotating speed by driver train separately respectively; The end face of described vehicle frame is provided with blanking lifting switching mechanism, and band conveyor is arranged on a side of described blanking lifting switching mechanism.
According to AGV claimed in claim 1 from the discharging transport trolley of walking, it is characterized in that: described blanking lifting switching mechanism comprises substrate, 2 lifting guide plates are vertically mounted on described substrate, described lifting guide plate is provided with the chute perpendicular to described substrate, lifting shaft level side arranges, and the two ends of described lifting shaft are set with axle sleeve and are slidably mounted in the chute on described lifting guide plate; The substrate of described lifting guide plate one side is provided with lifting turnover driving mechanism and lift drive mechanism; Lifting drives seat to connect described lift drive mechanism, and the two ends of lifting push rod hinged described lifting respectively drive seat and described lifting shaft; The lifting upset drives seat to connect described lifting turnover driving mechanism, the rear portion of material taking claw is fixedly connected with the axle sleeve at described lifting shaft two ends, the bottom of described material taking claw is provided with the upset connecting panel, and the two ends of lifting upset push rod hinged described lifting upset respectively drive seat and described upset connecting panel.
According to AGV claimed in claim 2 from the discharging transport trolley of walking, it is characterized in that: described material taking claw comprises front end-plate, back plate and lower back panel, described back plate is set in parallel between described front end-plate and described lower back panel, described front end-plate, the circular arc that the top of back plate and lower back panel is indent, 4 be arranged in parallel and axis is the pipe link that circular arc arranges and is fixedly connected with described front end-plate, back plate and lower back panel, the front end of described pipe link is connected to the middle part of described front end-plate, the rear end of described pipe link and middle part are connected to the indent circular arc place on described back plate and lower back panel top, described lower back panel is fixedly connected with the axle sleeve at described lifting shaft two ends.
According to AGV claimed in claim 3 from the discharging transport trolley of walking, it is characterized in that: the bilateral symmetry of described front end-plate and described back plate is connected with pin, the axis of described pin and described pipe link axis are arranged on same circular arc.
According to AGV claimed in claim 2 from the discharging transport trolley of walking, it is characterized in that: described lifting turnover driving mechanism and lift drive mechanism are screw mandrel drive mechanism.
According to AGV claimed in claim 1 from the discharging transport trolley of walking, it is characterized in that: described blanking lifting switching mechanism is enhancement mode blanking lifting switching mechanism, comprise substrate, two groups of scissors fork mechanisms are arranged on described substrate, and the top that described scissors is pitched mechanism is provided with mounting plate; The rear end lower of the feeding bucket described mounting plate that is connected through the hinge, the stirring oil cylinder is arranged on a side of described feeding bucket, and the tail end of stirring cylinder block and described mounting plate are hinged, the upper rear end of the hinged described feeding bucket of the piston rod of described stirring oil cylinder; Described scissors fork mechanism first arm and second arm hinged by middle part forms, the upper end of described the first arm and described mounting plate are hinged, the lower end of described the second arm and described substrate are hinged, the lower end of described first arm of two groups of described scissors fork mechanisms is hinged with the two ends of pulling shaft respectively, the two ends of described pulling shaft are provided with bottom roller, lower guideway is arranged on described substrate, and bottom roller is spacing to be arranged in described lower guideway; The tail end of hoist cylinder cylinder body and described substrate are hinged, and the piston rod of hoist cylinder and described pulling shaft are hinged; Upper roller is connected to the upper end of described the second arm by mandrel, the bottom surface of described mounting plate is provided with upper rail, and described upper roller is spacing to be arranged in described upper rail.
According to AGV claimed in claim 6 from the discharging transport trolley of walking, it is characterized in that: described feeding bucket comprises the hopper body, described hopper body is provided with the V-type hopper, the front end of described hopper body is provided with end plate, the circular arc that the top of described end plate is indent.
According to AGV claimed in claim 6 from the discharging transport trolley of walking, it is characterized in that: described upper rail and lower guideway are the rectangle frame structure.
According to AGV claimed in claim 1 from the discharging transport trolley of walking, it is characterized in that: described cardan wheel is damping universal wheels.
According to AGV claimed in claim 1 from the discharging transport trolley of walking, it is characterized in that: described driver train takes motor and gear reduction forms by waiing upon.
CN201310404275.7A 2013-09-09 2013-09-09 AGV is from walking discharging transport trolley CN103482317B (en)

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CN108312604A (en) * 2018-02-06 2018-07-24 俞巍 A kind of biomass fuel handling facilities
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CN106322063B (en) * 2016-11-10 2019-01-29 杭州南江机器人股份有限公司 A kind of lifting rotating device and lifting movement guide mechanism and lifting mechanism
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CN107324240A (en) * 2017-05-05 2017-11-07 浙江工贸职业技术学院 Desktop article carrying car with writing function
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WO2019015526A1 (en) * 2017-07-18 2019-01-24 北京极智嘉科技有限公司 Self-driven robot
US10858187B1 (en) 2017-07-18 2020-12-08 Beijing Geekplus Technology Co., Ltd. Self-driven robot
CN107378057A (en) * 2017-07-31 2017-11-24 合肥恩腾电子科技有限公司 A kind of metope automatic drilling device of turning
CN107963475A (en) * 2017-11-14 2018-04-27 东莞市开胜电子有限公司 Merchandising machine people is unloaded in a kind of High-Speed Automatic throwing
CN108052036A (en) * 2017-12-14 2018-05-18 遵义宏港机械有限公司 A kind of travelling power supply relay seat processes bench control system
CN108089499A (en) * 2017-12-14 2018-05-29 遵义宏港机械有限公司 A kind of power supply fixed plate processes transfer device control system
CN108312604A (en) * 2018-02-06 2018-07-24 俞巍 A kind of biomass fuel handling facilities
CN108482927A (en) * 2018-03-26 2018-09-04 芜湖金茂包装制品有限公司 The transfer car(buggy) of storage
CN108706261A (en) * 2018-05-16 2018-10-26 合肥亿福自动化科技有限公司 A kind of collaborative robot intelligent warehousing system
CN108639779A (en) * 2018-05-29 2018-10-12 杭州泰林精密仪器有限公司 Bucket transposition tilting gearing

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