CN104192762A - Rotating jacking mechanism and AGV comprising same - Google Patents
Rotating jacking mechanism and AGV comprising same Download PDFInfo
- Publication number
- CN104192762A CN104192762A CN201410327521.8A CN201410327521A CN104192762A CN 104192762 A CN104192762 A CN 104192762A CN 201410327521 A CN201410327521 A CN 201410327521A CN 104192762 A CN104192762 A CN 104192762A
- Authority
- CN
- China
- Prior art keywords
- leading screw
- lifting body
- fixing plate
- base fixing
- gear
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
Links
Landscapes
- Handcart (AREA)
Abstract
The invention discloses a rotating jacking mechanism and an AGV(Automatic Guided Vehicle) comprising the same and belongs to the field of automatic conveying devices. The rotating jacking mechanism comprises a base fixing plate, a rotation motor, a transmission assembly, a lead screw, a lead screw nut, a large bearing bracket, a large bearing and a hollow tray. The lead screw penetrates through the base fixing plate, and the lead screw is supported on the base fixing plate through the lead screw nut. The large bearing bracket, the large bearing and the tray are sequentially arranged on the lead screw from bottom up. The rotating motor and the transmission assembly are in transmission connection, and the transmission assembly is in transmission connection with the tray and the lead screw. The AGV comprising the rotating jacking mechanism comprises two driving wheels, four universal wheels, a battery pack, two driving motors, a driving motor driver, a vehicle body frame, two control boards, a tray support, two right-angle driving motor reduction boxes, a navigation device and two infrared sensors. According to the invention, the structure is flexible and compact, the dead weight capacity is large, the self-locking performance is good, the lead screw can ascends stably in a rotary manner and the requirements for flexible carrying can be met.
Description
Technical field
The present invention relates to automation feedway, particularly a kind ofly rotate lifting body and comprise the AGV dolly that rotates lifting body.
Background technology
Automatic guided vehicle (being called for short AGV dolly), refers to and can travel homing guidance devices such as possessing electromagnetism or optics along prescribed path to have the transport trolley of safety guard-safeguard and various transfer functions.This transport trolley adopts full automatic control mode to replace manually, saves manpower and easy to use, has been widely used in logistics transportation industry.
At present, the lifting body adopting in AGV dolly is electric pushrod mechanism, Electrohydraulic push rod mechanism or X-type double-lever mechanism.Although electric pushrod mechanism and Electrohydraulic push rod mechanism structure is simple, load-carrying capacity is strong, and can realize the jacking of push rod straight line, electric pushrod mechanism overtension, self-locking property is poor and jacking rear stability is poor; Electrohydraulic push rod mechanism there will be that leakage, self-locking property are poor, easily topple over after jacking and be difficult to the problems such as control with top lifting height.Although and X-type double-lever mechanism has solved the stability problem of above-mentioned two lifting bodies, its load-carrying capacity is poor, high to motor requirement, and complicated in mechanical structure, need customization.
Utility model CN203359434U discloses a kind of lifting mechanism of automatic guided vehicle, and it comprises frame, motor, travel switch, rotating disk and cam; On described rotating disk, be provided with one eccentric and perpendicular to the cam of card, described mechanism drives the body of automatic guided vehicle to carry out dipping and heaving by controlling the lifting of cam with card.This lifting mechanism is the whole automatic lifting of driver train of AGV dolly only, and can not rotatablely move, and can not meet better the demand of carrying flexibly and handling goods.Meanwhile, above-mentioned eccentric structure makes easily run-off the straight after the jacking of described mechanism.
Summary of the invention
The present invention is directed to the deficiency that prior art exists, provide a kind of and have that self-locking property is good, stationarity is good, space occupies the rotation lifting body of the feature such as little, load-carrying capacity strong and selection of Motor scope is wide and comprise the AGV dolly that rotates lifting body.
Technical scheme of the present invention is to provide a kind of rotation lifting body, comprise base fixing plate, by rotating machine fixed mount be fixed on rotating machine, the transmission component of described base fixing plate upper surface one side, the leading screw of middle perforate, with described leading screw on the pallet of feed screw nut, large bearing bracket, large bearing and hollow of screw-threaded engagement; Described leading screw runs through described base fixing plate, and by the described feed screw nut that is positioned at described base fixing plate top, described leading screw is supported on described base fixing plate; Described large bearing bracket, described large bearing, described pallet are installed on described leading screw successively from the bottom up; Described rotating machine is in transmission connection by the motor shaft in it and described transmission component, and described transmission component is all connected with described lead screw transmission with described pallet.
This rotation lifting body drives transmission component by rotating machine, then by transmission component, drives leading screw and pallet to rotate, and realizes automatic rotation and the lifting of this mechanism.When this mechanism utilizes the latching characteristics of screw-threaded engagement on rotating machine self-lock ability and feed screw nut and leading screw to make jacking rotary, stationarity is good, is difficult for tilting; And described leading screw can carry 1 ton of-3 tons of goods, and load-carrying capacity is strong.
As of the present invention preferred, described transmission component comprises driving gear, one-level transmission gear, guide rod, secondary transmission gear, ring gear and interlock plate.
As of the present invention preferably, described rotating machine by the motor shaft in it by axle key piece be located at described base fixing plate lower surface and be in transmission connection over against the described driving gear of described rotating machine below; Described guide rod is between described rotating machine and described leading screw and run through described base fixing plate, is positioned at described one-level transmission gear and the engagement of described driving gear of described guide rod end; Described ring gear and described interlock plate are arranged between described pallet and described large bearing from top to bottom successively, described guide rod is connected with described interlock plate with little bearing bracket by little bearing, is positioned at described guide rod front end and the described secondary transmission gear above described interlock plate and the engagement of described ring gear.
As of the present invention preferred, described guide rod is by guide rod slider support hollow and that be positioned at described base fixing plate upper surface.
As of the present invention preferred, described leading screw is comprised of the bottom of little columnar upper end and great circle tubular, and described bottom is comprised of Acme thread, and the length of described bottom is greater than the length of described upper end.
As of the present invention preferred, there are two leading screw grooves that are opened in upper end edge along roundlet cylinder surface diameter the upper end of described leading screw, described two leading screw grooves hold respectively a leading screw key piece, for connecting, have two described pallets with the pallet groove of described leading screw key piece adaptation.
As of the present invention preferred, described feed screw nut upper end edge place has a nut groove, and described nut groove is held a limiting stopper, for detection of lifting body.
Another technical scheme of the present invention is to provide a kind of AGV dolly that rotates lifting body that comprises, also comprises two drive wheels, four cardan wheels, battery pack, two drive motor, drive motor driver, vehicle body frame, two control desks, tray supporter, two right angle drive motor drop-gear boxs, is contained in the homing advice on described rotation lifting body and is contained in respectively two infradred sensors of headstock and the tailstock; Described tray supporter is arranged on the described pallet of described rotation lifting body, and described rotation lifting body is installed on described vehicle body frame by base fixing plate described in polylith support member supports, makes described leading screw be positioned at the middle of described dolly simultaneously; Described four cardan wheels are positioned at the place, four angles of described vehicle body frame, described two drive wheels lay respectively at described vehicle body frame both sides and separately the described right angle drive motor drop-gear box by homonymy be connected with the described drive motor of homonymy; Described drive motor driver is installed on described vehicle body frame and in described rotating machine one side; Described battery pack is installed on described vehicle body frame and at the opposition side of described drive motor driver; Described two control desks are installed on described vehicle body frame and split two drive wheel place sides.
This AGV dolly automatic navigation, under shelf, and is controlled drive wheel direction of travel, utilizes described rotation lifting body delivery, handling goods.Described lifting body is arranged on vehicle body frame, make its lifting body supporting part in the middle of dolly, can not only make like this dolly drive wheel stress equalization, simultaneously steady in lifting body jacking rotary process, and rotation lifting body space occupy little, dolly inner structure characteristics of compact layout.
As of the present invention preferred, described tray supporter is hollow, and it is shaped as four jiaos of symmetrical stars and adjacent each angle consists of circular curve sealing; Described tray supporter surface is provided with anti-slip rubber.
As of the present invention preferred, described homing advice comprises that two for upwards locating Quick Response Code sensor and RFID readers of shelf and positioning trolley walking downwards; Described Quick Response Code sensor and RFID reader by bracket clamp in described leading screw interstitial hole.
The present invention has following beneficial effect:
The present invention is simple in structure, and its rotation lifting body jacking climb is 60-100mm, and the self-locking property having had, jacking are steady, the advantages such as little are occupied in space.And the AGV dolly original place rotating diameter that described rotation lifting body is housed is 936mm, height overall 338mm, energy jacking 500kg and above goods, and head on goods movement, continuously operation reaches more than 4 hours, described rotation lifting body and AGV dolly load-carrying capacity thereof are strong, and can realize the demand of multiple flexible carrying.
Accompanying drawing explanation
Fig. 1 is the three-dimensional structure diagram that the present invention rotates lifting body;
Fig. 2 is the assembly drowing that the present invention rotates lifting body;
Fig. 3 a is with the leading screw three-dimensional structure diagram of leading screw key piece in Fig. 2;
Fig. 3 b is the leading screw cutaway view in Fig. 2;
Fig. 4 is the constructional drawing of pallet in Fig. 2;
Fig. 5 is the sectional side view that the present invention includes the AGV dolly of rotation lifting body.
In figure, 1-base fixing plate; 2-feed screw nut; 3-leading screw; 31-leading screw groove; 32-leading screw key piece; The large bearing bracket of 4-; The large bearing of 5-; The 6-plate that links; 7-ring gear; 8-pallet; 81-pallet groove; 9-secondary transmission gear; 10-guide rod; The little bearing of 11-; The little bearing bracket of 12-; 13-guide rod slide block; 14-driving gear; 15-one-level transmission gear; 16-rotating machine; 161-rotating machine fixed mount; 17-drive motor; 18-drive motor driver; 19-right angle drive motor drop-gear box; 20-drive wheel; 21-cardan wheel; 22-vehicle body frame; 23-battery pack; 24-tray supporter.
The specific embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
embodiment 1
Figure 1 shows that the present invention rotates the three-dimensional structure diagram of lifting body.Rotation lifting body comprises base fixing plate 1, rotating machine 16, transmission component, leading screw 3, feed screw nut 2, large bearing bracket 4, large bearing 5 and pallet 8.Described transmission component comprises driving gear 14, one-level transmission gear 15, guide rod 10, secondary transmission gear 9, ring gear 7 and interlock plate 6.Described rotating machine 16 is fixed on described base fixing plate 1 upper surface one side by rotating machine fixed mount 161, and described rotating machine 16 is built-in with a motor shaft (not shown), and motor shaft and described transmission component are in transmission connection.Described leading screw 3 runs through described base fixing plate 1, and by feed screw nut 2, described leading screw 3 is supported on described base fixing plate 1, and described transmission component is all in transmission connection with described leading screw 3 and described pallet 8.
As Fig. 1,2, described leading screw 3 is equiped with feed screw nut 2, large bearing bracket 4, large bearing 5, interlock plate 6, ring gear 7 and pallet 8 successively from bottom to up.The screw-threaded engagement on feed screw nut 2 and described leading screw 3 wherein, described screw thread form, namely screw thread raised shape is trapezoidal (as shown in Figure 3 b), make described leading screw 3 there is certain self-locking performance, thereby described rotation lifting body is difficult for toppling over while shaking at work, there is the rotating machine 16 and described leading screw 3 cooperatings of latching characteristics simultaneously.Described ring gear 7 and described pallet 8 interference fit, simultaneously described ring gear 7 and described secondary transmission gear 9 engagements.Described guide rod 10 runs through described base fixing plate 1, and by a guide rod slide block 13, described guide rod 10 is supported on described base fixing plate 1, described guide rod 10 is in transmission connection with described leading screw 3 by described interlock plate 6 in addition, described interlock plate 6 is provided with described secondary transmission gear 9 with the top of described guide rod 10 connecting portions, between described interlock plate 6 and described guide rod 10 by little bearing bracket 12 and 11 support and connection of little bearing.The built-in hollow of wherein said guide rod slide block 13 and inside face are smooth, and its internal diameter is slightly larger than described guide rod 10 diameters, be convenient to the upward movement when being driven by interlock plate 6 of described guide rod 10, and described guide rod slide block 13 provides diametral load to described guide rod 10 simultaneously, make described guide rod 10 be difficult for toppling over or deflection, avoid toppling over or deflection after, described secondary transmission gear 9 and described ring gear 7 cannot correct engagement, and make described rotation lifting body miswork or do not work.Described one-level transmission gear 15 is arranged at described guide rod 10 ends, and is supported by other bearings and bearing support, described one-level transmission gear 15 and described driving gear 14 engagements.Described driving gear 14 be positioned at described rotating machine 16 under, itself and described rotating machine 16 are in transmission connection by axle key piece (not shown) by the motor shaft in it.
Fig. 3 a-3b is visible, and described leading screw 3 is hollow, the bottom of little columnar upper end and great circle tubular, consists of.In described bottom, have multi-turn screw thread, pitch is 15mm, and described screw thread is trapezoidal, makes leading screw 3 have self-locking performance, and can bear larger matter-loading amount, as 1 ton-3 tons.The length of described bottom is greater than the length of described upper end, meets leading screw 3 rotation rise heights, and rise height regulates within the scope of about 60-100mm.There are two leading screw grooves 31 upper end of described leading screw 3, described leading screw groove 31 is along the opposed edge that is distributed in described leading screw 3 upper ends of described roundlet cylinder surface diameter direction, and described pallet 8 also has two pallet groove 81(as Fig. 4), described leading screw 3 and pallet 8 are by the coaxial circles dress of feeling at ease,, when described pallet 8 rotates to certain angle with leading screw 3, described two leading screw grooves 31 are mutually corresponding with described two pallet grooves 81; In described two leading screw grooves 31, can hold separately a leading screw key piece 32, described leading screw 3 is connected described leading screw groove 31 by described leading screw key piece 32 with described pallet 8 with described pallet groove 81, makes so described pallet 8 can together rotate with described leading screw 3.
In addition, described feed screw nut 2 and the supporting setting of described leading screw 3 tooth module, pitch is 15mm.On described feed screw nut 2, a nut groove (not shown) can be set, for holding a limiting stopper, described limiting stopper, with leading screw 3 rotations, is not fixed on described nut.When leading screw 3 presses down, touch described limiting stopper, make limit switch action, open jacking measuring ability.
When the present invention rotates lifting body work, described rotating machine 16 drives described driving gear 14 rotations, described driving gear 14 and described one-level transmission gear 15 engagements, and drive described one-level transmission gear 15 to move, then drive described guide rod 10 and on described secondary transmission gear 9 rotatablely move, described secondary transmission gear 9 and described ring gear 7 engagements, rotatablely move and pass to described ring gear 7, described pallet 8 and described leading screw 3.When described ring gear 7 rotation, described ring gear 7 drives described leading screw 3 rotation up-and-down movements, realizing rotation rises, the described interlock plate 6 being now connected with described leading screw 3 drives described guide rod 10 and part above thereof along with described leading screw 3 rises, and makes described ring gear 7 in described leading screw 3 uphill process, remain engagement with described secondary transmission gear 9.This process realizes the rotation of rotation lifting body by rotating machine 16 and the combined action of rotation lifting body self inertia and rises.Module of gear between wherein said driving gear 14 and described one-level transmission gear 15, described secondary transmission gear 9 and described ring gear 7 cooperatively interacts, for example described driving gear 14 is 1.5 with the module of gear of described one-level transmission gear 15, and the module of gear between described secondary transmission gear 9 and described ring gear 7 is 2.5.Said gear modulus, pitch are not limited to described embodiment, can adjust according to actual needs.
embodiment 2
Figure 5 shows that the sectional side view of the AGV dolly that the present invention includes described rotation lifting body, this AGV dolly comprises the traveling gear that is comprised of two drive wheels 20 and four cardan wheels 21, vehicle body frame 22, to described AGV dolly, provide the battery pack 23 of power supply, two drive motor 17, two right angle drive motor drop-gear boxs 19, drive motor driver 18, tray supporter 24, two control desks, homing advice and two to be arranged on car respectively before and the infradred sensor of the tailstock.Described four cardan wheels 21 are positioned at the place, four angles of described vehicle body frame 22, described two drive wheels 20 are positioned at the both sides of described vehicle body frame 22, and described battery pack 23, described rotation lifting body and described drive motor driver 18 are installed side by side successively above described vehicle body frame 22.Described rotation lifting body by base fixing plate 1 described in polylith support member supports, be arranged on described car added on, make described leading screw 3 be positioned at described dolly middle simultaneously, like this during dolly transporting cargo, described lifting body supporting part concentrates on dolly middle, not only make dolly drive wheel 20 stress equalizations, lifting during simultaneously described lifting body work, rotation steadily, are difficult for toppling over, and rotation lifting body space occupy little, dolly inner structure characteristics of compact layout.
Described two drive motor 17 split in described two drive wheel 20 1 sides and are connected with separately a right angle drive motor drop-gear box 19, described two drive motor 17 and described two right angle drive motor drop-gear boxs 19 are installed in described base fixing plate below, and described two control desks split in described two drive wheel 20 1 sides and above described base fixing plate 1; Each drive wheel 20 is connected with the described drive motor 17 of homonymy by the described right angle drive motor drop-gear box 19 of homonymy, and described two drive wheels 20 are driven by each self-corresponding drive motor 17 respectively.Wherein, selecting described right angle drive motor drop-gear box 19 is to be mounted with the inner space layout after described rotation lifting body in order to meet AGV dolly, because transmission shaft and the axle drive shaft of described right angle drive motor drop-gear box 19 meet at right angles, change motor setting angle, the dolly centre portion now getting out of the way can load described rotation lifting body, after so installing, this dolly is when transportation, handling goods, and lifting body supporting part concentrates on dolly middle, improves the stability of dolly work.In addition, above-mentioned rotating machine 16, drive motor 17 are selected conventional motor, and range of choice is wide, without selecting special machines.
In addition, described tray supporter 24 is arranged on described pallet 8 tops of described rotation lifting body.That wherein said tray supporter 24 is hollow and be four jiaos of symmetrical starriness, each angle of described four jiaos of stars consists of circular curve sealing, solved existing round tray support 24 because consumption is many, jacking weight increases the weight of the problem that loading weight is reduced, described tray supporter 24 can be compared to leg-of-mutton tray supporter 24, more steadily supporting goods simultaneously.In addition, the surface of described tray supporter 24 is provided with anti-slip rubber, and the anti-slip rubber that is provided with area equity at described four jiaos of places, increases the friction force between goods and tray supporter 24, in order to avoid tray supporter 24 described in goods landing.
Described homing advice (not shown) comprises two Quick Response Code sensors and a RFID reader, and described Quick Response Code sensor is comprised of the Quick Response Code sensor of upper location shelf and the Quick Response Code sensor of a lower positioning trolley walking; Described Quick Response Code sensor and described RFID reader in described leading screw 3 interstitial holes, can be realized the high fix to shelf center and dolly center by bracket clamp.
The AGV dolly original place rotating diameter that installs described rotation lifting body is 936mm, height overall 338mm.During dolly work, AGV dolly utilizes infrared pickoff to keep away barrier, by ground two-dimensional code and RFID label, navigate simultaneously, by ground and the RC two-dimension code label of shelf, navigate under shelf, control desk is controlled drive motor 17 and is driven two drive wheel 20 direction of travel, make dolly original place cw in the walking of 1m*1m space inside-paint circle, rotating machine 16 is controlled pallet 8 and the synchronous left-hand revolution of dolly, and now pallet 8 rises.During this time, regulate the rotating speed of controlling drive motor 17 and rotating machine 16, pallet 8 in uphill process is not rotated with respect to ground.Dolly holds up after shelf, automatically navigates, and gives sorter, and then shelf are put on the position of regulation goods.The operation of transferring shelf is contrary with the operation of jacking shelf, dolly left-hand revolution, and pallet 8 clickwises, pallet 8 declines, and pallet 8 moves without spin with ground relatively simultaneously, guarantees that the relative and ground of shelf only has descending motion.Above process is that AGV dolly completes a deliver goods and unloading operation.
In this process, the overall gear ratio that dolly is set in described control desk is 1:12, and motor revolves 360 degree that turn around and at least sends 400 pulses, and leading screw 3 rising one circle 15mm, send 400*12 pulse.When described rotation lifting body has jacking detection and rotation detection, described leading screw 3 presses down the limiting stopper at described feed screw nut 2 places, touches described jacking detector switch; And rotation detection refers to that position of rotation is calculated by motor pulses number and gear ratio.Thereby, comprise that the AGV dolly of described rotation lifting body can be realized action accurately, reliably.
Embodiment recited above is described the preferred embodiment of the present invention, not the spirit and scope of the present invention is limited.Do not departing under the prerequisite of design concept of the present invention; various modification and improvement that this area ordinary person makes technical scheme of the present invention; all should drop into protection scope of the present invention, the technology contents that the present invention asks for protection, is all documented in claims.
Claims (10)
1. one kind is rotated lifting body, it is characterized in that, comprise base fixing plate (1), by rotating machine fixed mount (161), be fixed on rotating machine (16), the transmission component of described base fixing plate (1) upper surface one side, the pallet (8) of the leading screw (3) of middle perforate, the feed screw nut (2) with the upper screw-threaded engagement of described leading screw (3), large bearing bracket (4), large bearing (5) and hollow; Described leading screw (3) runs through described base fixing plate (1), and by the described feed screw nut (2) that is positioned at described base fixing plate (1) top, described leading screw (3) is supported on described base fixing plate (1); Described large bearing bracket (4), described large bearing (5), described pallet (8) are installed on described leading screw (3) successively from the bottom up; Described rotating machine (16) is in transmission connection by the motor shaft in it and described transmission component, and described transmission component is all in transmission connection with described pallet (8) and described leading screw (3).
2. rotation lifting body according to claim 1, is characterized in that, described transmission component comprises driving gear (14), one-level transmission gear (15), guide rod (10), secondary transmission gear (9), ring gear (7) and interlock plate (6).
3. rotation lifting body according to claim 2, it is characterized in that, described rotating machine (16) by the motor shaft in it by axle key piece be located at described base fixing plate (1) lower surface and be in transmission connection over against the described driving gear (14) of described rotating machine (16) below; Described guide rod (10) is positioned between described rotating machine (16) and described leading screw (3) and runs through described base fixing plate (1), is positioned at the described one-level transmission gear (15) and described driving gear (14) engagement of described guide rod (10) end; Described ring gear (7) and described interlock plate (6) are arranged between described pallet (8) and described large bearing (5) from top to bottom successively, described guide rod (10) is connected with described interlock plate (6) with little bearing bracket (12) by little bearing (11), is positioned at described guide rod (10) front end and the described secondary transmission gear (9) above described interlock plate (6) and described ring gear (7) engagement.
4. rotation lifting body according to claim 3, is characterized in that, described guide rod (10) is supported by guide rod slide block (13) hollow and that be positioned at described base fixing plate (1) upper surface.
5. rotation lifting body according to claim 1, it is characterized in that, described leading screw (3) is comprised of the bottom of little columnar upper end and great circle tubular, and described bottom is comprised of Acme thread, and the length of described bottom is greater than the length of described upper end.
6. rotation lifting body according to claim 5, it is characterized in that, there are two leading screw grooves (31) that are opened in upper end edge along roundlet cylinder surface diameter the upper end of described leading screw (3), described two leading screw grooves (31) hold respectively a leading screw key piece (32), for connecting, have two described pallets (8) with the pallet groove (81) of described leading screw key piece (32) adaptation.
7. rotation lifting body according to claim 1, is characterized in that, described feed screw nut (2) upper end edge place has a nut groove, and described nut groove is held a limiting stopper, for detection of lifting body.
8. the AGV dolly of the rotation lifting body one of comprising described in aforementioned claim, it is characterized in that, also comprise two drive wheels (20), four cardan wheels (21), battery pack (23), two drive motor (17), a drive motor driver (18), vehicle body frame (22), two control desks (25), tray supporter (24), two right angle drive motor drop-gear boxs (19), be contained in the homing advice on described rotation lifting body and be contained in respectively two infradred sensors of headstock and the tailstock; Described tray supporter (24) is arranged on the described pallet (8) of described rotation lifting body, described rotation lifting body is installed on described vehicle body frame (22) by base fixing plate (1) described in polylith support member supports, makes described leading screw (3) be positioned at the middle of described dolly simultaneously; Described four cardan wheels (21) are positioned at the place, four angles of described vehicle body frame (22), and described two drive wheels (20) lay respectively at described vehicle body frame (22) both sides and by the described right angle drive motor drop-gear box (19) of homonymy and the described drive motor (17) of homonymy, are connected separately; Described drive motor driver (18) is installed on described vehicle body frame (22) and in described rotating machine (16) one sides; It is upper and at the opposition side of described drive motor driver (18) that described battery pack (23) is installed on described vehicle body frame (22); Described two control desks (25) are installed on described vehicle body frame (22) above and split in two drive wheels (20) place side.
9. AGV dolly according to claim 8, is characterized in that, described tray supporter (24) is hollow, and it is shaped as four jiaos of symmetrical stars and adjacent each angle consists of circular curve sealing; Described tray supporter (24) surface is provided with anti-slip rubber.
10. AGV dolly according to claim 8, is characterized in that, described homing advice comprises that two for upwards locating Quick Response Code sensor and a RFID reader of shelf and positioning trolley walking downwards; Described Quick Response Code sensor and RFID reader by bracket clamp in described leading screw (3) interstitial hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410327521.8A CN104192762B (en) | 2014-07-11 | 2014-07-11 | A kind of AGV dolly rotating lifting body and including rotating lifting body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410327521.8A CN104192762B (en) | 2014-07-11 | 2014-07-11 | A kind of AGV dolly rotating lifting body and including rotating lifting body |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104192762A true CN104192762A (en) | 2014-12-10 |
| CN104192762B CN104192762B (en) | 2016-09-07 |
Family
ID=52078190
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410327521.8A Active CN104192762B (en) | 2014-07-11 | 2014-07-11 | A kind of AGV dolly rotating lifting body and including rotating lifting body |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104192762B (en) |
Cited By (47)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105174131A (en) * | 2015-10-09 | 2015-12-23 | 杭州南江机器人股份有限公司 | Spiral lifting mechanism and automatic guided vehicle (AGV) |
| CN105417434A (en) * | 2016-01-05 | 2016-03-23 | 北京航空航天大学 | Carrying trolley with lifting device |
| CN105540489A (en) * | 2016-01-05 | 2016-05-04 | 北京航空航天大学 | Rotating and lifting device for mobile platform |
| CN106006456A (en) * | 2016-07-20 | 2016-10-12 | 广东嘉腾机器人自动化有限公司 | Rotary lifting mechanism and AGV carrying vehicle |
| CN106043496A (en) * | 2016-08-01 | 2016-10-26 | 江苏科技大学 | All-direction moving AGV with lifting comb teeth |
| CN106064717A (en) * | 2016-07-20 | 2016-11-02 | 苏州小喇叭信息科技有限公司 | A kind of sorting transport AGV car |
| CN106314594A (en) * | 2016-08-26 | 2017-01-11 | 南京理工大学 | Storage and transfer robot used for modern logistics industry |
| CN106395681A (en) * | 2016-10-08 | 2017-02-15 | 浙江国自机器人技术有限公司 | Robot for transporting goods shelf |
| CN106444766A (en) * | 2016-10-21 | 2017-02-22 | 北京京东尚科信息技术有限公司 | AGV(automatic guided vehicle) and control method thereof |
| CN106672860A (en) * | 2017-02-07 | 2017-05-17 | 仓智（上海）智能科技有限公司 | Automatic conveying vehicle with hollow lead screw jacking rotation mechanism |
| CN106829799A (en) * | 2017-03-23 | 2017-06-13 | 四川协诚智达科技有限公司 | A kind of full-automatic jacking locating reversing device |
| CN107055390A (en) * | 2017-06-30 | 2017-08-18 | 合肥航机械科技股份有限公司 | A kind of mechanical hoisting machine |
| CN107055389A (en) * | 2017-05-31 | 2017-08-18 | 广东嘉腾机器人自动化有限公司 | A kind of rotating lifting device and apply its transfer robot |
| CN107253689A (en) * | 2017-06-21 | 2017-10-17 | 贵州航天南海科技有限责任公司 | A kind of push-pull device at fixed of conveying mechanism |
| CN107298407A (en) * | 2017-08-24 | 2017-10-27 | 北京正则银利人工智能技术有限公司 | AGV dolly jacking guiding mechanisms |
| CN107985448A (en) * | 2017-12-04 | 2018-05-04 | 苏州艾吉威机器人有限公司 | A kind of AGV driving hoisting mechanisms and AGV trolleies |
| CN108116824A (en) * | 2016-11-29 | 2018-06-05 | 科思通自动化设备（苏州）有限公司 | Store in a warehouse robot |
| CN108285107A (en) * | 2018-04-17 | 2018-07-17 | 浙江科钛机器人股份有限公司 | Scissors fork type jacking mechanism and AGV trolleies |
| CN108298470A (en) * | 2018-04-12 | 2018-07-20 | 芜湖友仁机电工程有限公司 | AGV rotates lifting body |
| CN108423436A (en) * | 2018-05-11 | 2018-08-21 | 信义汽车玻璃(深圳)有限公司 | Autoclave trolley rotating device |
| CN108639646A (en) * | 2018-06-05 | 2018-10-12 | 广州市远能物流自动化设备科技有限公司 | Rotary lifting-type AGV trolleies |
| CN108657314A (en) * | 2018-08-01 | 2018-10-16 | 湖北九州云仓科技发展有限公司 | AGV is lifted and rotating mechanism and a kind of AGV |
| CN108751029A (en) * | 2018-08-07 | 2018-11-06 | 深圳市井智高科机器人有限公司 | A kind of lifting gear and AGV carriers |
| CN108953280A (en) * | 2018-08-22 | 2018-12-07 | 扬州市慧宇科技有限公司 | A kind of New electro-hydraulic kilhig |
| CN109279539A (en) * | 2018-11-15 | 2019-01-29 | 深圳若步智能科技有限公司 | A kind of lifting body |
| CN109278001A (en) * | 2018-09-22 | 2019-01-29 | 中船澄西船舶修造有限公司 | A kind of supporting tool that can be gone up and down |
| CN109368546A (en) * | 2018-11-29 | 2019-02-22 | 库卡机器人(广东)有限公司 | Automated guided vehicle and its jacking apparatus |
| CN109748200A (en) * | 2019-03-03 | 2019-05-14 | 航天通用技术(北京)有限公司 | A kind of king bolt formula AGV lifting device |
| CN109911809A (en) * | 2019-01-22 | 2019-06-21 | 福建（泉州）哈工大工程技术研究院 | A kind of rotation lifting body and the submarine AGV comprising the rotation lifting body |
| CN110001822A (en) * | 2019-04-18 | 2019-07-12 | 华晓精密工业(苏州)有限公司 | Turnover mechanism and handling device |
| CN110002163A (en) * | 2019-04-27 | 2019-07-12 | 安徽凌坤智能科技有限公司 | A kind of intelligent carriage for the composite machine people that stores in a warehouse |
| CN110027831A (en) * | 2019-05-16 | 2019-07-19 | 山东大学 | One kind driving into formula jacking support and moves trackless shuttle and its application |
| CN110143247A (en) * | 2018-02-14 | 2019-08-20 | 北京京东尚科信息技术有限公司 | Lifting body and automated guided vehicle |
| CN110182265A (en) * | 2019-05-22 | 2019-08-30 | 无锡宝岛机车发展有限公司 | Harmful influence transfer car(buggy) chassis frame |
| CN110254564A (en) * | 2019-06-17 | 2019-09-20 | 华普电子（常熟）有限公司 | A kind of small automobile-used wheel hanging component of AGV |
| CN110467133A (en) * | 2018-05-11 | 2019-11-19 | 北京京东尚科信息技术有限公司 | Rotating lifting structure and carrier |
| CN110502001A (en) * | 2018-05-16 | 2019-11-26 | 菜鸟智能物流控股有限公司 | Method and device for automatically loading or unloading goods for unmanned vehicle and unmanned logistics vehicle |
| WO2020010575A1 (en) | 2018-07-11 | 2020-01-16 | 苏州元谋智能机器人系统有限公司 | Suspension system and full piggy-back mobile robot |
| CN111717835A (en) * | 2019-03-22 | 2020-09-29 | 北京京东尚科信息技术有限公司 | Climbing mechanism and automatic guide transport vechicle |
| CN112919121A (en) * | 2021-03-03 | 2021-06-08 | 深圳市井智高科机器人有限公司 | Rotary lifting mechanism and AGV transfer robot |
| CN113415359A (en) * | 2021-08-04 | 2021-09-21 | 北京物资学院 | Multifunctional module guiding vehicle |
| CN113734687A (en) * | 2021-08-09 | 2021-12-03 | 中国核电工程有限公司 | Jacking rotary conveying device |
| CN114084845A (en) * | 2021-12-07 | 2022-02-25 | 江南大学 | Submarine AGV capable of reversing in suspended state of chassis without turning radius |
| CN114162757A (en) * | 2021-11-30 | 2022-03-11 | 福建省特种设备检验研究院泉州分院 | Agv chassis |
| JP2022534432A (en) * | 2019-05-30 | 2022-07-29 | ベイジン・ジンドン・チアンシ・テクノロジー・カンパニー・リミテッド | Automatic guided vehicle lifting mechanism and automatic guided vehicle |
| CN114920165A (en) * | 2022-05-18 | 2022-08-19 | 南京华易泰电子科技有限公司 | Lifting and carrying structure suitable for panel |
| CN110254564B (en) * | 2019-06-17 | 2024-05-31 | 华普电子（常熟）有限公司 | Wheel suspension assembly for AGV trolley |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07315773A (en) * | 1994-05-21 | 1995-12-05 | Nippon Kiyaria Kogyo:Kk | Driving gear for vessel lift or the like |
| CN102866004A (en) * | 2011-07-04 | 2013-01-09 | 昆山洺九机电有限公司 | Supporting table lifting device of wire bending tester |
| CN102975186A (en) * | 2012-08-20 | 2013-03-20 | 昆山洺九机电有限公司 | Lifting platform system |
| CN103192081A (en) * | 2013-04-27 | 2013-07-10 | 余振新 | Longitudinal movement device of selective laser sintering molding platform |
| CN203284140U (en) * | 2013-06-13 | 2013-11-13 | 四川东方能源科技股份有限公司 | Round steel feeding mechanism |
| CN103482317A (en) * | 2013-09-09 | 2014-01-01 | 无锡虹业自动化工程有限公司 | AGV self-propelled unloading transport cart |
| CN203976311U (en) * | 2014-07-11 | 2014-12-03 | 湖州上电科电器科学研究有限公司 | A kind ofly rotate lifting body and comprise the AGV dolly that rotates lifting body |
-
2014
- 2014-07-11 CN CN201410327521.8A patent/CN104192762B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07315773A (en) * | 1994-05-21 | 1995-12-05 | Nippon Kiyaria Kogyo:Kk | Driving gear for vessel lift or the like |
| CN102866004A (en) * | 2011-07-04 | 2013-01-09 | 昆山洺九机电有限公司 | Supporting table lifting device of wire bending tester |
| CN102975186A (en) * | 2012-08-20 | 2013-03-20 | 昆山洺九机电有限公司 | Lifting platform system |
| CN103192081A (en) * | 2013-04-27 | 2013-07-10 | 余振新 | Longitudinal movement device of selective laser sintering molding platform |
| CN203284140U (en) * | 2013-06-13 | 2013-11-13 | 四川东方能源科技股份有限公司 | Round steel feeding mechanism |
| CN103482317A (en) * | 2013-09-09 | 2014-01-01 | 无锡虹业自动化工程有限公司 | AGV self-propelled unloading transport cart |
| CN203976311U (en) * | 2014-07-11 | 2014-12-03 | 湖州上电科电器科学研究有限公司 | A kind ofly rotate lifting body and comprise the AGV dolly that rotates lifting body |
Cited By (63)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105174131A (en) * | 2015-10-09 | 2015-12-23 | 杭州南江机器人股份有限公司 | Spiral lifting mechanism and automatic guided vehicle (AGV) |
| CN105540489B (en) * | 2016-01-05 | 2018-03-02 | 北京航空航天大学 | A kind of rotating lifting gear for mobile platform |
| CN105417434A (en) * | 2016-01-05 | 2016-03-23 | 北京航空航天大学 | Carrying trolley with lifting device |
| CN105540489A (en) * | 2016-01-05 | 2016-05-04 | 北京航空航天大学 | Rotating and lifting device for mobile platform |
| CN105417434B (en) * | 2016-01-05 | 2018-03-06 | 北京航空航天大学 | A kind of floor truck with lifting device |
| CN106064717A (en) * | 2016-07-20 | 2016-11-02 | 苏州小喇叭信息科技有限公司 | A kind of sorting transport AGV car |
| CN106006456A (en) * | 2016-07-20 | 2016-10-12 | 广东嘉腾机器人自动化有限公司 | Rotary lifting mechanism and AGV carrying vehicle |
| CN106043496B (en) * | 2016-08-01 | 2018-10-12 | 江苏科技大学 | A kind of all-around mobile carrying AGV trolleies of band lifting broach |
| CN106043496A (en) * | 2016-08-01 | 2016-10-26 | 江苏科技大学 | All-direction moving AGV with lifting comb teeth |
| CN106314594A (en) * | 2016-08-26 | 2017-01-11 | 南京理工大学 | Storage and transfer robot used for modern logistics industry |
| CN106314594B (en) * | 2016-08-26 | 2018-09-25 | 南京理工大学 | A kind of storage transfer robot for modern logistics industry |
| CN106395681A (en) * | 2016-10-08 | 2017-02-15 | 浙江国自机器人技术有限公司 | Robot for transporting goods shelf |
| CN106395681B (en) * | 2016-10-08 | 2019-06-11 | 浙江国自机器人技术有限公司 | A kind of robot for Transport cargo rack |
| WO2018072712A1 (en) * | 2016-10-21 | 2018-04-26 | 北京京东尚科信息技术有限公司 | Agv transport vehicle and control method therefor |
| CN106444766A (en) * | 2016-10-21 | 2017-02-22 | 北京京东尚科信息技术有限公司 | AGV(automatic guided vehicle) and control method thereof |
| CN108116824A (en) * | 2016-11-29 | 2018-06-05 | 科思通自动化设备（苏州）有限公司 | Store in a warehouse robot |
| CN106672860A (en) * | 2017-02-07 | 2017-05-17 | 仓智（上海）智能科技有限公司 | Automatic conveying vehicle with hollow lead screw jacking rotation mechanism |
| CN106829799A (en) * | 2017-03-23 | 2017-06-13 | 四川协诚智达科技有限公司 | A kind of full-automatic jacking locating reversing device |
| CN107055389A (en) * | 2017-05-31 | 2017-08-18 | 广东嘉腾机器人自动化有限公司 | A kind of rotating lifting device and apply its transfer robot |
| CN107253689A (en) * | 2017-06-21 | 2017-10-17 | 贵州航天南海科技有限责任公司 | A kind of push-pull device at fixed of conveying mechanism |
| CN107055390A (en) * | 2017-06-30 | 2017-08-18 | 合肥航机械科技股份有限公司 | A kind of mechanical hoisting machine |
| CN107298407A (en) * | 2017-08-24 | 2017-10-27 | 北京正则银利人工智能技术有限公司 | AGV dolly jacking guiding mechanisms |
| CN107985448A (en) * | 2017-12-04 | 2018-05-04 | 苏州艾吉威机器人有限公司 | A kind of AGV driving hoisting mechanisms and AGV trolleies |
| CN110143247A (en) * | 2018-02-14 | 2019-08-20 | 北京京东尚科信息技术有限公司 | Lifting body and automated guided vehicle |
| CN108298470A (en) * | 2018-04-12 | 2018-07-20 | 芜湖友仁机电工程有限公司 | AGV rotates lifting body |
| CN108285107A (en) * | 2018-04-17 | 2018-07-17 | 浙江科钛机器人股份有限公司 | Scissors fork type jacking mechanism and AGV trolleies |
| CN108423436A (en) * | 2018-05-11 | 2018-08-21 | 信义汽车玻璃(深圳)有限公司 | Autoclave trolley rotating device |
| CN110467133A (en) * | 2018-05-11 | 2019-11-19 | 北京京东尚科信息技术有限公司 | Rotating lifting structure and carrier |
| CN110502001A (en) * | 2018-05-16 | 2019-11-26 | 菜鸟智能物流控股有限公司 | Method and device for automatically loading or unloading goods for unmanned vehicle and unmanned logistics vehicle |
| CN108639646A (en) * | 2018-06-05 | 2018-10-12 | 广州市远能物流自动化设备科技有限公司 | Rotary lifting-type AGV trolleies |
| CN108639646B (en) * | 2018-06-05 | 2024-05-07 | 广州市远能物流自动化设备科技有限公司 | Rotary lifting AGV trolley |
| WO2020010575A1 (en) | 2018-07-11 | 2020-01-16 | 苏州元谋智能机器人系统有限公司 | Suspension system and full piggy-back mobile robot |
| CN108657314A (en) * | 2018-08-01 | 2018-10-16 | 湖北九州云仓科技发展有限公司 | AGV is lifted and rotating mechanism and a kind of AGV |
| CN108751029B (en) * | 2018-08-07 | 2024-01-30 | 深圳市井智高科机器人有限公司 | Lifting device and AGV (automatic guided vehicle) |
| CN108751029A (en) * | 2018-08-07 | 2018-11-06 | 深圳市井智高科机器人有限公司 | A kind of lifting gear and AGV carriers |
| CN108953280B (en) * | 2018-08-22 | 2020-11-06 | 扬州市慧宇科技有限公司 | Novel electro-hydraulic push rod |
| CN108953280A (en) * | 2018-08-22 | 2018-12-07 | 扬州市慧宇科技有限公司 | A kind of New electro-hydraulic kilhig |
| CN109278001A (en) * | 2018-09-22 | 2019-01-29 | 中船澄西船舶修造有限公司 | A kind of supporting tool that can be gone up and down |
| CN109279539A (en) * | 2018-11-15 | 2019-01-29 | 深圳若步智能科技有限公司 | A kind of lifting body |
| CN109368546A (en) * | 2018-11-29 | 2019-02-22 | 库卡机器人(广东)有限公司 | Automated guided vehicle and its jacking apparatus |
| CN109368546B (en) * | 2018-11-29 | 2023-10-20 | 库卡机器人(广东)有限公司 | Automatic guiding transport vehicle and jacking device thereof |
| CN109911809A (en) * | 2019-01-22 | 2019-06-21 | 福建（泉州）哈工大工程技术研究院 | A kind of rotation lifting body and the submarine AGV comprising the rotation lifting body |
| CN109748200B (en) * | 2019-03-03 | 2024-04-09 | 航天通用技术(北京)有限公司 | Big spiral AGV elevating gear |
| CN109748200A (en) * | 2019-03-03 | 2019-05-14 | 航天通用技术(北京)有限公司 | A kind of king bolt formula AGV lifting device |
| CN111717835A (en) * | 2019-03-22 | 2020-09-29 | 北京京东尚科信息技术有限公司 | Climbing mechanism and automatic guide transport vechicle |
| CN111717835B (en) * | 2019-03-22 | 2023-05-30 | 北京京东乾石科技有限公司 | Jacking mechanism and automatic guiding transport vehicle |
| CN110001822A (en) * | 2019-04-18 | 2019-07-12 | 华晓精密工业(苏州)有限公司 | Turnover mechanism and handling device |
| CN110002163A (en) * | 2019-04-27 | 2019-07-12 | 安徽凌坤智能科技有限公司 | A kind of intelligent carriage for the composite machine people that stores in a warehouse |
| CN110027831A (en) * | 2019-05-16 | 2019-07-19 | 山东大学 | One kind driving into formula jacking support and moves trackless shuttle and its application |
| CN110182265A (en) * | 2019-05-22 | 2019-08-30 | 无锡宝岛机车发展有限公司 | Harmful influence transfer car(buggy) chassis frame |
| JP2022534432A (en) * | 2019-05-30 | 2022-07-29 | ベイジン・ジンドン・チアンシ・テクノロジー・カンパニー・リミテッド | Automatic guided vehicle lifting mechanism and automatic guided vehicle |
| JP7299349B2 (en) | 2019-05-30 | 2023-06-27 | ベイジン・ジンドン・チアンシ・テクノロジー・カンパニー・リミテッド | Automatic guided vehicle lifting mechanism and automatic guided vehicle |
| CN110254564A (en) * | 2019-06-17 | 2019-09-20 | 华普电子（常熟）有限公司 | A kind of small automobile-used wheel hanging component of AGV |
| CN110254564B (en) * | 2019-06-17 | 2024-05-31 | 华普电子（常熟）有限公司 | Wheel suspension assembly for AGV trolley |
| CN112919121A (en) * | 2021-03-03 | 2021-06-08 | 深圳市井智高科机器人有限公司 | Rotary lifting mechanism and AGV transfer robot |
| CN113415359A (en) * | 2021-08-04 | 2021-09-21 | 北京物资学院 | Multifunctional module guiding vehicle |
| CN113734687A (en) * | 2021-08-09 | 2021-12-03 | 中国核电工程有限公司 | Jacking rotary conveying device |
| CN114162757A (en) * | 2021-11-30 | 2022-03-11 | 福建省特种设备检验研究院泉州分院 | Agv chassis |
| CN114162757B (en) * | 2021-11-30 | 2023-06-09 | 福建省特种设备检验研究院泉州分院 | Agv chassis |
| CN114084845B (en) * | 2021-12-07 | 2022-09-13 | 江南大学 | Submarine AGV capable of reversing in suspended state of chassis without turning radius |
| CN114084845A (en) * | 2021-12-07 | 2022-02-25 | 江南大学 | Submarine AGV capable of reversing in suspended state of chassis without turning radius |
| CN114920165A (en) * | 2022-05-18 | 2022-08-19 | 南京华易泰电子科技有限公司 | Lifting and carrying structure suitable for panel |
| CN114920165B (en) * | 2022-05-18 | 2023-10-03 | 南京华易泰电子科技有限公司 | Lifting and carrying structure suitable for panel |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104192762B (en) | 2016-09-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104192762A (en) | Rotating jacking mechanism and AGV comprising same | |
| CN203976311U (en) | A kind ofly rotate lifting body and comprise the AGV dolly that rotates lifting body | |
| US11718472B2 (en) | Automated guided vehicle designed for warehouse | |
| CN105947506B (en) | A kind of warehouse Intelligent transfer robot | |
| CN104370242A (en) | Fixed-shaft rotating lifting mechanism used for AGV robot and AGV robot | |
| CN104828446A (en) | Climbing mechanism for intelligent carrier vehicle, intelligent carrier vehicle and intelligent carrier system | |
| CN204211427U (en) | A kind of dead axle Xuan Sheng mechanism for AGV robot and AGV robot | |
| EP3712102B1 (en) | Omnidirectional autonomous vehicle | |
| CN108658012A (en) | The lifting device of lifting mechanism and application lifting mechanism | |
| CN208103038U (en) | Mobile shelf AGV mechanism | |
| CN103781695A (en) | Steering and drive assembly | |
| US8161887B2 (en) | System for moving and stabilising a mobile base | |
| CN110182521A (en) | A kind of storage AGV trolley and intelligent warehousing system | |
| CN214734180U (en) | Unmanned transport automated guided vehicle | |
| CN209999173U (en) | rectangular coordinate type self-sorting intelligent logistics trolley | |
| CN207684278U (en) | A kind of storage of shuttle vehicle type and climb type shuttle | |
| CN114084845B (en) | Submarine AGV capable of reversing in suspended state of chassis without turning radius | |
| CN209052357U (en) | A kind of small swing radius formula unmanned fork lift | |
| CN204642870U (en) | Intelligence transport trolley lifting body, intelligent transport trolley and intelligent handling system | |
| CN111977288A (en) | Transfer robot with anticollision function | |
| CN207510555U (en) | A kind of floor truck with elevating function | |
| CN111498410B (en) | Goods sorting device | |
| CN207510554U (en) | A kind of floor truck with spinfunction | |
| CN106957034A (en) | A kind of shuttle lifting body | |
| JP5862986B2 (en) | Automated guided vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |