CN105836669A - Heavy-load automated guided vehicle - Google Patents
Heavy-load automated guided vehicle Download PDFInfo
- Publication number
- CN105836669A CN105836669A CN201610320629.3A CN201610320629A CN105836669A CN 105836669 A CN105836669 A CN 105836669A CN 201610320629 A CN201610320629 A CN 201610320629A CN 105836669 A CN105836669 A CN 105836669A
- Authority
- CN
- China
- Prior art keywords
- frame
- sensor
- vehicle
- elevating mechanism
- transfer robot
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—Automatically guided
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/22—Hydraulic devices or systems
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a heavy-load automated guided vehicle. Mecanum wheel drive mechanisms are installed on the bottom of a frame and drive the frame to move in an all-dimensional mode; a lifting mechanism is installed on the frame, and a work table is installed on the lifting mechanism; a magnetic navigation sensor is installed on the bottom of the frame, detects ground magnetic stripes and drives the frame to drive along the magnetic stripe; an RFID landmark sensor is installed on the bottom of the frame, recognizes the landmark information for obtaining the position coordinates and implements the starting action, the stopping action and the turning action according to commands; a vehicle-mounted power source supplies power to the Mecanum wheel drive mechanisms, the lifting mechanism, the magnetic navigation sensor, the RFID landmark sensor and a PLC, and the PLC controls the Mecanum wheel drive mechanisms, the lifting mechanism, the magnetic navigation sensor and the RFID landmark sensor to work. The heavy-load automated guided vehicle can transfer material efficiently, accurately and flexibly, realizes logistics automation, improve the production efficiency and lower the production cost.
Description
Technical field
The present invention relates to robotics, refer in particular to a kind of heavy duty transfer robot.
Background technology
In prior art, it is achieved manufacturing industrialization and intellectuality, particularly weight equipment industry is at producer transition
In the face of heavy transfer robot has urgent demand.
Common transfer formula robot AGV(AGV is the abbreviation of Automated Guided Vehicle, i.e. self-navigation
Mover) dolly drives by steering wheel, there are some problems in the occasion of heavy duty in it: as when starting owing to load is big and steering wheel rubs
Wiping ground causes starting torque very big, and use Twin Rudders wheel drive big at case of heavy load lower rudder foot wheel abrasion exists ground out-of-flatness
Time produce and drive the image such as skidding.
Six axial machines people then load low, and working range is limited, it is impossible to meet modern manufacturing industry to the length of logistics system away from
Requirement from heavy load.
In view of this, the present invention proposes a kind of heavy duty transfer robot, to overcome the defect of prior art transfer robot,
This case thus produces.
Summary of the invention
It is an object of the invention to provide a kind of heavy duty transfer robot, to complete removing of material efficiently, accurately, flexibly
Fortune task, it is achieved material flows automation, improves production efficiency and reduces production cost.
For reaching above-mentioned purpose, the solution of the present invention is:
A kind of heavy duty transfer robot, including vehicle frame, Mecanum actuation, elevating mechanism, workbench, magnetic navigation sensing
Device, RFID landmark sensor, vehicle power and PLC；Mecanum actuation installs bottom of frame, orders about vehicle frame
Omnibearing ambulation；Elevating mechanism is arranged on vehicle frame, and workbench is arranged on elevating mechanism；Magnetic navigation sensor is arranged on car
Bottom frame, detection ground magnetic stripe orders about vehicle frame and travels along magnetic stripe；RFID landmark sensor is arranged on bottom of frame, identifies terrestrial reference letter
Breath is to obtain position coordinates, and enforcement starts, stop and turning round action according to instructing；Vehicle power is respectively Mecanum wheel driving
Motivation structure, elevating mechanism, magnetic navigation sensor, RFID landmark sensor and PLC are powered, and PLC is controlled respectively
Mecanum actuation processed, elevating mechanism, magnetic navigation sensor and the work of RFID landmark sensor.
Further, elevating mechanism includes hydraulic lift and Hydraulic Station, and vehicle power is that Hydraulic Station is powered, Hydraulic Station with
Hydraulic lift connects, and provides hydraulic power for hydraulic lift.
Further, vehicle power is accumulator, the electric current of accumulator after inverter is changed into Mecanum wheel drive machine
Structure, elevating mechanism, magnetic navigation sensor, RFID landmark sensor and PLC are powered.
Further, accumulator is connected with the charging touch panel being arranged on vehicle frame, and during charging, charging touch panel fills with intelligence
Power station connects, and arranges converter between accumulator and Intelligent charging station.
Further, at frame side, secure induction device is installed.
Further, PLC includes Vehicle Controller and central controller, central controller and Vehicle Controller communication
Connect.
Further, at bottom of frame, universal caster wheel is installed.
Using after such scheme, Mecanum actuation of the present invention orders about vehicle frame omnibearing ambulation, can realize advancing,
The omnibearing ambulations such as retrogressing, sidesway, rotation, can be by each station in material automatic transport to production line.Magnetic navigation senses
Device detection is attached to the magnetic stripe on ground so that it is travel along magnetic stripe, and magnetic navigation sensor uses the output of multi-channel sampling point, works as sampled point
Position occur that skew can be made adjustment automatically, it is ensured that along navigation magnetic stripe move ahead, positioning precision about ± 10mm.RFID terrestrial reference senses
Device identification is laid on the landmark information on ground, can obtain the position coordinates of current robot, implements according to programmed instruction simultaneously
Start, stop, the action such as turn round.
Therefore, the present invention can complete the carrying task of material efficiently, accurately, flexibly, it is achieved material flows automation, improves
Production efficiency and reduction production cost.
Accompanying drawing explanation
Fig. 1 is the three-dimensional combination figure of initial condition of the present invention；
Fig. 2 is the three-dimensional exploded view of the present invention；
Fig. 3 is the three-dimensional combination figure that the present invention lifts state；
Fig. 4 is the front view that the present invention lifts state；
Fig. 5 is the side view that the present invention lifts state；
Fig. 6 is the upward view of the present invention.
Label declaration
Vehicle frame 1 charging touch panel 11
Converter 12 secure induction device 13
Mecanum actuation 2 elevating mechanism 3
Hydraulic lift 31 Hydraulic Station 32
Workbench 4 magnetic navigation sensor 5
RFID landmark sensor 6 vehicle power 7
Inverter 71 PLC 8
Universal caster wheel 9.
Detailed description of the invention
Below in conjunction with drawings and the specific embodiments, the present invention is described in detail.
Refering to shown in Fig. 1 to Fig. 6, a kind of heavy duty transfer robot that the present invention discloses, including vehicle frame 1, Mecanum wheel
Drive mechanism 2, elevating mechanism 3, workbench 4, magnetic navigation sensor 5, RFID landmark sensor 6, vehicle power 7 and PLC control
Device 8.
Mecanum actuation 2 is installed bottom vehicle frame 1, orders about vehicle frame 1 omnibearing ambulation, in the present embodiment, passes through
Four groups of floating type Mecanum wheel mechanisms 2 drive heavy duty transfer robot to do omnibearing movable, can realize advance, retrogressing, sidesway,
The omnibearing ambulations such as rotation, can be by each station in material automatic transport to production line.In the present embodiment, at vehicle frame 1 end
Universal caster wheel 9 is installed in portion, can install four groups of universal caster wheels 9, and universal caster wheel 9 also functions to the weight of supporting trolley and material.Car
Frame 1 is steel construction piece, main offer mounting system and the carrying of workpiece.
Elevating mechanism 3 is arranged on vehicle frame 1, and workbench 4 is arranged on elevating mechanism 3.In the present embodiment, elevating mechanism
3 include hydraulic lift 31 and Hydraulic Station 32, and vehicle power 7 is powered for Hydraulic Station 32, Hydraulic Station 32 and hydraulic lift
31 connect, and provide hydraulic power for hydraulic lift 31.Elevating mechanism 3 uses hydraulicefficiency elevation structure can carry 30 tons negative
Carry, lifting travel 400mm, realize picking and placeing of workpiece by lifting.
Magnetic navigation sensor 5 is arranged on bottom vehicle frame 1, and detection ground magnetic stripe orders about vehicle frame 1 and travels along magnetic stripe；Magnetic navigation passes
Sensor 5 uses multi-channel sampling point to export, when the position of sampled point occurs that skew can be made adjustment automatically, it is ensured that before navigation magnetic stripe
OK, positioning precision about ± 10mm.
RFID landmark sensor 6 is arranged on bottom vehicle frame 1, identify landmark information to obtain position coordinates, and according to instruction
Implement startup, stop and turning round action.
Vehicle power 7 is respectively Mecanum actuation 2, elevating mechanism 3, magnetic navigation sensor 5, RFID terrestrial reference biography
Sensor 6 and PLC 7 are powered, and in the present embodiment, vehicle power 7 is accumulator, and the electric current of accumulator is changed through inverter 71
Supply for Mecanum actuation 2, elevating mechanism 3, magnetic navigation sensor 5, RFID landmark sensor 6 and PLC 7 afterwards
Electricity.Accumulator is connected with the charging touch panel 11 being arranged on vehicle frame 1, and during charging, charging touch panel 11 is with Intelligent charging station even
Connect, converter 12 is set between accumulator and Intelligent charging station.
PLC 8 controls Mecanum actuation 2, elevating mechanism 3, magnetic navigation sensor 5 and RFID ground respectively
Mark sensor 6 works.In the present embodiment, PLC 8 includes Vehicle Controller and central controller, central controller and car
Set controller communication connects.Central controller is responsible for task scheduling, path planning and traffic control.Vehicle Controller has been responsible for
The tasks carrying of transfer robot, move, navigate, sensor, charging, the control of the aspect such as safety.
Installing secure induction device 13 at vehicle frame 1 sidepiece, secure induction device 13 detects whether front has barrier in real time,
Play collision prevention function.Transfer robot uses dual security protection, and during bar contact to touch sensor, robot stops immediately
Only.
Load capacity of the present invention is big, maximum up to 30 tons, and common 6 axle robot load capacity are usually no more than 1 ton, and
And the radius of clean-up is little.It is applicable to building trade, petroleum equipment industry, construction machinery industry, food service industry and heavy industry industry etc..This
Invention can complete the carrying task of material efficiently, accurately, flexibly, and can be formed flexible logistics system by multiple stage, real
Existing material flows automation, coordinates 6 axle robots to complete production line and automatically produces, to reach improve production efficiency and reduce the mesh of cost
's.
The foregoing is only the preferred embodiments of the present invention, not the restriction to this case design, all designs according to this case are closed
The equivalent variations that key is done, each falls within the protection domain of this case.
Claims (7)
1. a heavily loaded transfer robot, it is characterised in that: include vehicle frame, Mecanum actuation, elevating mechanism, work
Platform, magnetic navigation sensor, RFID landmark sensor, vehicle power and PLC；Mecanum actuation installs vehicle frame
Bottom, orders about vehicle frame omnibearing ambulation；Elevating mechanism is arranged on vehicle frame, and workbench is arranged on elevating mechanism；Magnetic navigation
Sensor is arranged on bottom of frame, and detection ground magnetic stripe orders about vehicle frame and travels along magnetic stripe；RFID landmark sensor is arranged on vehicle frame
Bottom, identification landmark information is to obtain position coordinates, and enforcement starts, stop and turning round action according to instructing；Vehicle power divides
Wei Mecanum actuation, elevating mechanism, magnetic navigation sensor, RFID landmark sensor and PLC not power, and
PLC controls Mecanum actuation, elevating mechanism, magnetic navigation sensor and RFID landmark sensor work respectively
Make.
2. a kind of heavy duty transfer robot as claimed in claim 1, it is characterised in that: elevating mechanism includes hydraulic lift
And Hydraulic Station, vehicle power is that Hydraulic Station is powered, and Hydraulic Station is connected with hydraulic lift, provides hydraulic pressure for hydraulic lift
Power.
3. a kind of heavy duty transfer robot as claimed in claim 1, it is characterised in that: vehicle power is accumulator, accumulator
Electric current after inverter is changed into Mecanum actuation, elevating mechanism, magnetic navigation sensor, RFID landmark sensor
And PLC powers.
4. a kind of heavy duty transfer robot as claimed in claim 3, it is characterised in that: accumulator and filling of being arranged on vehicle frame
Electrical Contact Plate connects, and during charging, charging touch panel is connected with Intelligent charging station, arranges change between accumulator and Intelligent charging station
Frequently device.
5. a kind of heavy duty transfer robot as claimed in claim 1, it is characterised in that: at frame side, safe inductive dress is installed
Put.
6. a kind of heavy duty transfer robot as claimed in claim 1, it is characterised in that: PLC includes Vehicle Controller
And central controller, central controller is connected with Vehicle Controller communication.
7. a kind of heavy duty transfer robot as claimed in claim 1, it is characterised in that: at bottom of frame, universal caster wheel is installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610320629.3A CN105836669A (en) | 2016-05-16 | 2016-05-16 | Heavy-load automated guided vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610320629.3A CN105836669A (en) | 2016-05-16 | 2016-05-16 | Heavy-load automated guided vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105836669A true CN105836669A (en) | 2016-08-10 |
Family
ID=56592484
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610320629.3A Pending CN105836669A (en) | 2016-05-16 | 2016-05-16 | Heavy-load automated guided vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105836669A (en) |
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106325283A (en) * | 2016-10-27 | 2017-01-11 | 潍坊星美生物科技股份有限公司 | Full-automatic AGV carrier vehicle system |
| CN106708045A (en) * | 2016-12-16 | 2017-05-24 | 盐城工学院 | Large heavy-duty unmanned navigation intelligent electric flat carriage with automatic correction function |
| CN106741299A (en) * | 2016-12-21 | 2017-05-31 | 深圳若步智能科技有限公司 | A kind of merchandising machine people's body structure based on Mecanum wheel |
| CN106744505A (en) * | 2016-12-30 | 2017-05-31 | 广州市远能物流自动化设备科技有限公司 | A kind of automatical pilot transportation vehicle |
| CN107450552A (en) * | 2017-08-29 | 2017-12-08 | 安徽千里眼信息科技有限公司 | A kind of AGV dolly control methods of real-time display |
| CN108082815A (en) * | 2017-12-12 | 2018-05-29 | 重庆浪尖渝力科技有限公司 | Merchandising machine people |
| CN108594832A (en) * | 2018-07-09 | 2018-09-28 | 厦门航天思尔特机器人系统股份公司 | Bear robot type AGV trolleies |
| CN108861514A (en) * | 2018-08-14 | 2018-11-23 | 哈工大机器人（合肥）国际创新研究院 | Full-automatic Roll-material conveying AGV robot and its control method |
| CN109132935A (en) * | 2018-10-17 | 2019-01-04 | 江西洪都航空工业集团有限责任公司 | A kind of independent navigation floor truck |
| CN109160447A (en) * | 2018-10-25 | 2019-01-08 | 苏州和自兴智能科技有限公司 | A kind of graphite boat transfer AGV trolley |
| CN109392727A (en) * | 2018-11-22 | 2019-03-01 | 哈尔滨天河自动化设备有限公司 | Screen floor for manure clears up robot in a kind of pig house |
| CN111148716A (en) * | 2017-09-29 | 2020-05-12 | Roeq机器人设备有限公司 | System for connecting autonomous mobile robot |
| EP3656726A1 (en) * | 2018-11-12 | 2020-05-27 | Evocortex GmbH | Transport robot, assembly and method for manufacturing a transport robot |
| CN111268586A (en) * | 2020-01-16 | 2020-06-12 | 深圳前海达闼云端智能科技有限公司 | Lifting device and robot |
| CN111483623A (en) * | 2020-06-28 | 2020-08-04 | 蓝箭航天空间科技股份有限公司 | System and method for controlling transfer, butt joint and locking of spacecraft |
| CN111532458A (en) * | 2020-06-15 | 2020-08-14 | 蓝箭航天空间科技股份有限公司 | Transfer butt joint locking device for spacecraft |
| WO2020099899A3 (en) * | 2018-11-14 | 2020-10-08 | Óbudai Egyetem | Transport robot for manufacturing lines |
| CN112937724A (en) * | 2021-02-26 | 2021-06-11 | 深圳易行机器人有限公司 | AGV navigation induction device based on navigation map design and scheduling method |
| US20210178953A1 (en) * | 2018-09-07 | 2021-06-17 | Murata Machinery, Ltd. | Transport vehicle |
| CN113147956A (en) * | 2021-05-20 | 2021-07-23 | 武超超 | Mecanum wheel AGV dolly |
| CN113400999A (en) * | 2021-07-30 | 2021-09-17 | 欣旺达电动汽车电池有限公司 | Carrier loader alignment method and system and electric vehicle battery replacement method |
| CN113716490A (en) * | 2020-12-21 | 2021-11-30 | 武汉智为物流装备技术有限公司 | Extra-heavy type electric AGV |
| DE102021214284A1 (en) | 2021-12-14 | 2023-06-15 | Continental Automotive Technologies GmbH | Automated guided vehicle with a displacement device |
| DE102021214969A1 (en) | 2021-12-23 | 2023-06-29 | Continental Automotive Technologies GmbH | Driverless transport vehicle with a payload lifting device |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6049745A (en) * | 1997-02-10 | 2000-04-11 | Fmc Corporation | Navigation system for automatic guided vehicle |
| CN203283786U (en) * | 2013-04-26 | 2013-11-13 | 苏州博实机器人技术有限公司 | Conveying robot for AGV logistics |
| CN204347616U (en) * | 2015-01-14 | 2015-05-20 | 上海普阅信息科技有限公司 | A kind of automatical pilot transportation vehicle based on RFID technique |
| CN204904092U (en) * | 2015-08-31 | 2015-12-23 | 刘建国 | Qxcomm technology's homing guidance car |
| CN205121331U (en) * | 2015-10-12 | 2016-03-30 | 深圳力子机器人有限公司 | Mode AGV dolly that navigates of hiding more |
| CN105467998A (en) * | 2015-12-31 | 2016-04-06 | 厦门思尔特机器人系统股份公司 | Heavy load lifting type AGV |
| CN105468001A (en) * | 2015-12-31 | 2016-04-06 | 浙江同筑科技有限公司 | Insert AGV (Automatic Guided Vehicle) navigation vehicle and control method thereof |
| CN205740195U (en) * | 2016-05-16 | 2016-11-30 | 厦门思尔特机器人系统股份公司 | A kind of heavy duty transfer robot |
-
2016
- 2016-05-16 CN CN201610320629.3A patent/CN105836669A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6049745A (en) * | 1997-02-10 | 2000-04-11 | Fmc Corporation | Navigation system for automatic guided vehicle |
| CN203283786U (en) * | 2013-04-26 | 2013-11-13 | 苏州博实机器人技术有限公司 | Conveying robot for AGV logistics |
| CN204347616U (en) * | 2015-01-14 | 2015-05-20 | 上海普阅信息科技有限公司 | A kind of automatical pilot transportation vehicle based on RFID technique |
| CN204904092U (en) * | 2015-08-31 | 2015-12-23 | 刘建国 | Qxcomm technology's homing guidance car |
| CN205121331U (en) * | 2015-10-12 | 2016-03-30 | 深圳力子机器人有限公司 | Mode AGV dolly that navigates of hiding more |
| CN105467998A (en) * | 2015-12-31 | 2016-04-06 | 厦门思尔特机器人系统股份公司 | Heavy load lifting type AGV |
| CN105468001A (en) * | 2015-12-31 | 2016-04-06 | 浙江同筑科技有限公司 | Insert AGV (Automatic Guided Vehicle) navigation vehicle and control method thereof |
| CN205740195U (en) * | 2016-05-16 | 2016-11-30 | 厦门思尔特机器人系统股份公司 | A kind of heavy duty transfer robot |
Cited By (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106325283A (en) * | 2016-10-27 | 2017-01-11 | 潍坊星美生物科技股份有限公司 | Full-automatic AGV carrier vehicle system |
| CN106708045A (en) * | 2016-12-16 | 2017-05-24 | 盐城工学院 | Large heavy-duty unmanned navigation intelligent electric flat carriage with automatic correction function |
| CN106741299A (en) * | 2016-12-21 | 2017-05-31 | 深圳若步智能科技有限公司 | A kind of merchandising machine people's body structure based on Mecanum wheel |
| CN106744505A (en) * | 2016-12-30 | 2017-05-31 | 广州市远能物流自动化设备科技有限公司 | A kind of automatical pilot transportation vehicle |
| CN107450552A (en) * | 2017-08-29 | 2017-12-08 | 安徽千里眼信息科技有限公司 | A kind of AGV dolly control methods of real-time display |
| CN111148716B (en) * | 2017-09-29 | 2022-07-01 | Roeq机器人设备有限公司 | System for connecting autonomous mobile robot |
| CN111148716A (en) * | 2017-09-29 | 2020-05-12 | Roeq机器人设备有限公司 | System for connecting autonomous mobile robot |
| CN108082815A (en) * | 2017-12-12 | 2018-05-29 | 重庆浪尖渝力科技有限公司 | Merchandising machine people |
| CN108594832A (en) * | 2018-07-09 | 2018-09-28 | 厦门航天思尔特机器人系统股份公司 | Bear robot type AGV trolleies |
| CN108861514A (en) * | 2018-08-14 | 2018-11-23 | 哈工大机器人（合肥）国际创新研究院 | Full-automatic Roll-material conveying AGV robot and its control method |
| CN108861514B (en) * | 2018-08-14 | 2023-08-29 | 合肥哈工图南智控机器人有限公司 | Full-automatic coil stock carrying AGV robot and control method thereof |
| US20210178953A1 (en) * | 2018-09-07 | 2021-06-17 | Murata Machinery, Ltd. | Transport vehicle |
| US11845372B2 (en) * | 2018-09-07 | 2023-12-19 | Murata Machinery, Ltd. | Transport vehicle |
| CN109132935A (en) * | 2018-10-17 | 2019-01-04 | 江西洪都航空工业集团有限责任公司 | A kind of independent navigation floor truck |
| CN109160447A (en) * | 2018-10-25 | 2019-01-08 | 苏州和自兴智能科技有限公司 | A kind of graphite boat transfer AGV trolley |
| EP3656726A1 (en) * | 2018-11-12 | 2020-05-27 | Evocortex GmbH | Transport robot, assembly and method for manufacturing a transport robot |
| WO2020099899A3 (en) * | 2018-11-14 | 2020-10-08 | Óbudai Egyetem | Transport robot for manufacturing lines |
| CN109392727A (en) * | 2018-11-22 | 2019-03-01 | 哈尔滨天河自动化设备有限公司 | Screen floor for manure clears up robot in a kind of pig house |
| CN111268586A (en) * | 2020-01-16 | 2020-06-12 | 深圳前海达闼云端智能科技有限公司 | Lifting device and robot |
| CN111532458A (en) * | 2020-06-15 | 2020-08-14 | 蓝箭航天空间科技股份有限公司 | Transfer butt joint locking device for spacecraft |
| CN111483623A (en) * | 2020-06-28 | 2020-08-04 | 蓝箭航天空间科技股份有限公司 | System and method for controlling transfer, butt joint and locking of spacecraft |
| CN113716490A (en) * | 2020-12-21 | 2021-11-30 | 武汉智为物流装备技术有限公司 | Extra-heavy type electric AGV |
| CN112937724A (en) * | 2021-02-26 | 2021-06-11 | 深圳易行机器人有限公司 | AGV navigation induction device based on navigation map design and scheduling method |
| CN113147956A (en) * | 2021-05-20 | 2021-07-23 | 武超超 | Mecanum wheel AGV dolly |
| CN113400999A (en) * | 2021-07-30 | 2021-09-17 | 欣旺达电动汽车电池有限公司 | Carrier loader alignment method and system and electric vehicle battery replacement method |
| DE102021214284A1 (en) | 2021-12-14 | 2023-06-15 | Continental Automotive Technologies GmbH | Automated guided vehicle with a displacement device |
| DE102021214969A1 (en) | 2021-12-23 | 2023-06-29 | Continental Automotive Technologies GmbH | Driverless transport vehicle with a payload lifting device |
| WO2023116986A1 (en) | 2021-12-23 | 2023-06-29 | Continental Automotive Technologies GmbH | Driverless transport vehicle with a payload lifting device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105836669A (en) | Heavy-load automated guided vehicle | |
| CN109625123B (en) | Spliced type carrying vehicle, carrying system and carrying method | |
| CN105565211B (en) | A kind of Intelligent carrier of automatic recognition cargo | |
| CN103950673B (en) | A kind of shuttle with turning function | |
| CN103135548B (en) | A kind of unmanned floor truck and driving control system thereof | |
| CN105468001A (en) | Insert AGV (Automatic Guided Vehicle) navigation vehicle and control method thereof | |
| CN205468997U (en) | Prevent rotation type AGV commodity circulation car of empting | |
| CN103419673B (en) | Driverless operation electri forklift | |
| CN104859440A (en) | Skid type AGV (automatic guided vehicle) | |
| KR101981989B1 (en) | Automated Guided Vehicles | |
| CN104878970A (en) | Car conveying robot provided with AGV (automatic guided vehicle) and adopting car carrying board exchange | |
| CN208120098U (en) | A kind of heavy automatic loading and unloading AGV transport device of trackless intelligence | |
| CN105467998A (en) | Heavy load lifting type AGV | |
| CN204124719U (en) | The position fixing system of Shuttling trolley | |
| CN102718043A (en) | Piggyback automatic guided vehicle (AGV) moving transfer robot | |
| CN107878420A (en) | Conveyor and conveying method thereof | |
| CN202518762U (en) | Manual automatic integrated van | |
| KR20180012434A (en) | Electric powered logistic support vehicle based on automatic run by worker position following and electric powered logistic support vehicle system based on automatic run by position following | |
| CN205740195U (en) | A kind of heavy duty transfer robot | |
| CN205990002U (en) | A kind of three lifting AGV cars | |
| CN106184431A (en) | A kind of self-navigation pulling equipment | |
| CN208120678U (en) | A kind of high maneuverability trackless intelligence AGV transport device | |
| CN208292580U (en) | A kind of AGV vehicle applying to small-sized foil volume | |
| CN215867594U (en) | Automatic logistics trolley transfer device for special-shaped heavy-weight plate | |
| CN109278895A (en) | Submarine heavy duty AGV |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 361000 Xiamen City, Fujian Province, Jinlong Road, Jimei District, No. 893 Applicant after: Xiamen Aerospace Robot System Co., Ltd. Address before: 361000 Xiamen City, Fujian Province, Jinlong Road, Jimei District, No. 893 Applicant before: XIAMEN SIERT ROBOT SYSTEM CO., LTD. |
|
| CB02 | Change of applicant information | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160810 |
|
| RJ01 | Rejection of invention patent application after publication |