CN106064717A - A kind of sorting transport AGV car - Google Patents
A kind of sorting transport AGV car Download PDFInfo
- Publication number
- CN106064717A CN106064717A CN201610571246.3A CN201610571246A CN106064717A CN 106064717 A CN106064717 A CN 106064717A CN 201610571246 A CN201610571246 A CN 201610571246A CN 106064717 A CN106064717 A CN 106064717A
- Authority
- CN
- China
- Prior art keywords
- drive mechanism
- chassis
- agv car
- lifting platform
- pallet
- 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
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/12—Storage devices mechanical with separate article supports or holders movable in a closed circuit to facilitate insertion or removal of articles the articles being books, documents, forms or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
- B65G2203/0283—Position of the load carrier
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The present invention relates to a kind of sorting transport AGV car, including chassis, rear and front end, described chassis is respectively provided with two driven pulleys, is respectively provided on two sides with the first drive mechanism that drivewheel and two drives two drivewheels to rotate respectively in the middle part of described chassis；Lifting body, including lifting platform, some pillars in order to support described lifting platform, described lifting platform is provided with pallet and the tumbler driving pallet the most described AGV car turn direction to reversely rotate, and described chassis is provided with the second drive mechanism driving described lifting of lifting table；Infrared photoelectric sensor, is arranged on described chassis, is used for detecting road surface and tracks line；Ultrasonic sensor, is arranged on described chassis, is used for detecting barrier；Control device, be arranged on described chassis, with described first drive mechanism, tumbler, the second drive mechanism and infrared photoelectric sensor, ultrasonic sensor communication connection；Power supply, powers to described first drive mechanism, tumbler, the second drive mechanism and control device.
Description
Technical field
The present invention relates to a kind of AGV dolly, particularly relate to a kind of sorting transport AGV car.
Background technology
AGV car, i.e. " automatical pilot transportation vehicle ", refer to that being equipped with electricity magnetically or optically waits homing guidance device, it is possible to along rule
Fixed guide path travels, and has safeguard protection and the transport vehicle of various transfer function.Along with electronics and control technology send out
Exhibition, the technology of AGV also improves constantly, and more superior towards performance, more cheap, the higher direction of degree of freedom is developed.
At present, existing AGV dolly is when turning, and the goods of its carrying also follows turning, when turning because of effect of inertia,
Goods can produce and rock, and goods even can be made to drop, and needs human assistance to reload and continues transport；It addition, existing AGV is little
Car when driving, can produce misalignment angle, it is impossible to revises traffic route in real time, and positioning precision is the highest；Further, it is little at AGV
Car is reached home, it is impossible to confirms that sorting product coupling is the most correct according to shelf numbering, limits logistics handling efficiency.
Because above-mentioned defect, the design people, the most in addition research and innovation, to founding the sorting of a kind of new structure
Carrying AGV car so that it is have more the value in industry.
Summary of the invention
For solving above-mentioned technical problem, it is an object of the invention to provide one and can make goods geo-stationary not when turning
Move, walking deviation can be revised in real time and can confirm whether sorting product mate correct sorting transport according to shelf numbering
AGV car.
The sorting transport AGV car of the present invention, including
-chassis, rear and front end, described chassis is respectively provided with two driven pulleys, be respectively provided on two sides with in the middle part of described chassis drivewheel,
And two drive respectively two drivewheels rotate the first drive mechanism；
-lifting body, including lifting platform, some pillars in order to support described lifting platform, described lifting platform is provided with torr
The tumbler that dish and driving pallet the most described AGV car turn direction reversely rotate, it is described that described chassis is provided with driving
Second drive mechanism of lifting of lifting table；
-infrared photoelectric sensor, is arranged on described chassis, is used for detecting road surface and tracks line；
-ultrasonic sensor, is arranged on described chassis, is used for detecting barrier；
-control device, be arranged on described chassis, with described first drive mechanism, tumbler, the second drive mechanism and
Infrared photoelectric sensor, ultrasonic sensor communicate to connect；
-power supply, powers to described first drive mechanism, tumbler, the second drive mechanism and control device.
Further, also include that vision guide device, described vision guide device are two and described control device communication link
The photographic head connect, one of them described photographic head is through described chassis towards ground, and another described photographic head passes described torr
Dish is towards surface.
Further, the first drive mechanism described in two all includes the gear that the first motor is coaxially connected with described drivewheel,
Chain drive is passed through between described first motor and described gear.
Further, described second drive mechanism include the second motor being horizontally set on described chassis, can be longitudinal
Through two screw mandrels of described lifting platform, the nut of each described screw mandrel connects the ring flange being connected with described lifting platform, and described the
Connect on the output shaft of two motors and have two worm gear and endless screw speed changers being connected with described screw rod transmission respectively.
Further, described tumbler includes the thrust ball bearing being arranged between described lifting platform and described pallet,
Described thrust ball bearing connects near the end of described pallet the roller gear being connected with described pallet, and described lifting platform sets
Have and connect the 3rd motor to drive described pallet to rotate relative to described lifting platform with described column gear transmission.
Further, each described driven pulley is universal wheel.
Further, described power supply is two, and one of them is stand-by power supply.
Further, described control device is double-serial port No. eight relay-operated controller.
By such scheme, the present invention at least has the advantage that
1, by arranging tumbler, when turning, it is possible to make pallet reversely rotate relative to turn direction, so that placing
Goods geo-stationary on pallet is motionless, it is to avoid goods rocks and falls down；
2, have employed 6 and take turns traveling mechanism, and the two-way motor that is independently equipped with of main drive wheel drives, it is ensured that overall traveling
Stable, dolly can be in the rotation of 360 degree of narrow space original place simultaneously, and the motility of traveling is higher, and controlling device can control
The speed difference of the motor of two drivewheels realizes the turning of dolly and rotates in place；
3, one photographic head real time scan 2 D code information on the ground during carriage walking, by photograph Quick Response Code content and
Position angle deviation value is sent to control device, then controls device and revises roadway in time according to misalignment angle, control motor
Line, makes dolly travel route remain that shortest path arrives at, and another photographic head arrives specific bit at dolly and postpones,
Quick Response Code above shooting shelf also is uploaded to control device, to confirm that sorting product coupling is the most correct according to shelf numbering,
It is greatly improved logistics handling efficiency.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of description, below with presently preferred embodiments of the present invention and coordinate accompanying drawing describe in detail as after.
Accompanying drawing explanation
Fig. 1 is the perspective view of the present invention；
Fig. 2 is the front view of the present invention；
Fig. 3 is the upward view of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawings and embodiment, the detailed description of the invention of the present invention is described in further detail.Hereinafter implement
Example is used for illustrating the present invention, but is not limited to the scope of the present invention.
Seeing Fig. 1 to Fig. 3, a kind of sorting transport AGV car described in a preferred embodiment of the present invention, including chassis 10, the end
Dish 10 rear and front end is respectively provided with two driven pulleys 11, is respectively provided on two sides with drivewheel 12 and two and drives two respectively in the middle part of chassis 10
The first drive mechanism that drivewheel 12 rotates.Concrete, two first drive mechanisms all include that the first motor 21 and drivewheel 12 are same
The gear 22 that axle connects, by chain 23 transmission between the first motor 21 and gear 22.Visible present invention employs 6 and take turns traveling machine
Structure, and two drivewheels 12 are independently equipped with the first motor 21 and drive, it is ensured that and overall driving stability, dolly can be narrow simultaneously
The rotation of 360 degree of little original place, space, the motility of traveling is higher.
The sorting transport AGV car of the present invention also includes lifting body, and lifting body includes lifting platform 31, some in order to support
The pillar 32 of lifting platform 31, lifting platform 31 is provided with pallet and drives pallet relative to turning that AGV car turn direction reversely rotates
Dynamic device, chassis 10 is provided with the second drive mechanism driving lifting platform 31 lifting.Concrete, the second drive mechanism includes level
The second motor 41 of being arranged on chassis 10, can longitudinally through two screw mandrels of lifting platform 31, the nut of each screw mandrel connect have with
The ring flange that lifting platform 31 connects, the output shaft of the second motor 41 connects and has two worm and gears being connected with screw rod transmission respectively
Variator 44, utilizes worm gear and endless screw speed changer 44 that the rotation of the second motor 41 horizontal direction is converted to the rotation of vertical direction,
So that two screw mandrels rotate, nut is driven to vertically move along screw mandrel, so that lifting platform 31 lifts.Utilize the knot of motor and screw mandrel
Structure, it is possible to lifting high capacity shelf.
The present invention utilizes tumbler to drive pallet 33 (AGV relatively clockwise or counterclockwise when AGV car is turned
Car turn direction reversely rotates), make pallet 33 keep geo-stationary.Concrete, tumbler include being arranged on lifting platform 31 with
Thrust ball bearing 51 between pallet 33, at thrust ball bearing 51, near the end of pallet 33, connection has the circle being connected with pallet 33
Stud wheel 52, lifting platform 31 is provided be in transmission connection to drive pallet 33 OQ t platform 31 to rotate with roller gear 52 the 3rd
Motor 53.When AGV car is turned, the 3rd motor 53 drives pallet 33 to turn round by roller gear 52, makes pallet 33 keep phase
To static, to avoid collision, it is to avoid goods drops.
It is by being arranged on infrared photoelectric sensor on chassis 10 that the sorting transport AGV car of the present invention guides automatically with avoidance
60 and ultrasonic sensor 70 realize, infrared photoelectric sensor 60 is used for detecting road surface and tracks line, and ultrasonic sensor 70 is used
In detection barrier, AGV car is made can automatically to get around obstacle along the line walking that tracks in arbitrary region.
For making AGV car can be parked in appointed place, and identifying different goods and be placed on different appointed places, the present invention divides
Picking carrying AGV car and also include that vision guide device, vision guide device are two photographic head 83, one of them photographic head passes chassis
10 towards ground, and another photographic head is through pallet 33 towards surface.Towards the photographic head on ground when AGV garage is walked, real
Time scanning 2 D code information on the ground, use terrestrial reference location data correction inertial positioning data, it is ensured that its indoor position accuracy；?
AGV car arrives specific bit and postpones, the Quick Response Code above the photographic head shooting shelf of surface, to confirm according to shelf numbering
Sorting product coupling is the most correct.
The control system of the present invention utilizes the control device of hardware description language design AGV car, according to the various inspections of input
Measurement information, according to the requirement arranged for AGV car, automatically carries out information processing, analyzes and calculate, make corresponding control decision
Or judge, and send control instruction by output channel, control each motor and be operated, it is achieved AGV garage walks, turns, around hindering,
Stop and lifting of lifting table, the accurate control of pallet rotation.Control device to be arranged on chassis 10, and in the first drive mechanism
The first motor 21, the second motor 41 and infrared photoelectric sensing in the 3rd motor the 53, second drive mechanism in tumbler
Device 60, ultrasonic sensor 70, two photographic head 83 communicate to connect.Controlling device 81 is double-serial port No. eight relay-operated controller, with
Arduino single-chip microcomputer combine PLC communication as detection and control core, use pid control algorithm, complete the first motor
21, the second motor 41 and control of the 3rd motor 53.
The sorting transport AGV car of the present invention also has power supply 82, to the first motor the 21, second motor 41 and the 3rd motor
53, control device 81, infrared photoelectric sensor 60, ultrasonic sensor 70 and two photographic head 83 to power.Concrete, power supply 83 is
Two, one of them is stand-by power supply, and cruising time is long.
Preferably, each driven pulley of the sorting transport AGV car of the present invention is universal wheel, it is possible to achieve turn at any angle
With rotate in place.
The operation principle of the present invention is as follows:
When AGV garage is walked, (select with one meter of interval towards the 2 D code information of the photographic head 83 real time scan ground on ground
Dot matrix Quick Response Code be attached on navigate), photographic head is according to content and the position angle deviation value photographing Quick Response Code
Inform that, to PLC, then PLC is according to misalignment angle, control the first motor 21 and revise traffic route in time；Pass through infrared electro simultaneously
Sensor 60 and ultrasonic sensor 70 detect road surface and track line, detection barrier, make AGV car along tracking line in arbitrary region
Walking, gets around obstacle automatically.During turning, the speed difference of PLC control two first motors 21 realizes turning and the original place rotation of AGV car
Turn, and control the 3rd motor 53 and drive the relative turn direction of pallet 33 to reversely rotate, be that pallet geo-stationary is motionless, though pallet
On goods geo-stationary；Arrive specific bit at AGV car to postpone, the Quick Response Code above photographic head 83 shooting shelf upward
And it being uploaded to PLC, according to shelf numbering, system confirms that sorting product coupling is the most correct, coupling is correct, controls the second motor 41
Driving lifting platform 31 to rise, held up by goods and lay, then drive lifting platform 31 to decline, continue next group work, coupling is the most just
Really, according to Quick Response Code correction traffic route, until it reaches desired location.
The above is only the preferred embodiment of the present invention, is not limited to the present invention, it is noted that for this skill
For the those of ordinary skill in art field, on the premise of without departing from the technology of the present invention principle, it is also possible to make some improvement and
Modification, these improve and modification also should be regarded as protection scope of the present invention.
Claims (8)
1. a sorting transport AGV car, it is characterised in that: include
-chassis, rear and front end, described chassis is respectively provided with two driven pulleys, be respectively provided on two sides with in the middle part of described chassis drivewheel and
Two drive the first drive mechanism that two drivewheels rotate respectively；
-lifting body, including lifting platform, some pillars in order to support described lifting platform, described lifting platform be provided with pallet with
And the tumbler that driving pallet the most described AGV car turn direction reversely rotates, described chassis is provided with the described lifting of driving
Second drive mechanism of platform lifting；
-infrared photoelectric sensor, is arranged on described chassis, is used for detecting road surface and tracks line；
-ultrasonic sensor, is arranged on described chassis, is used for detecting barrier；
-control device, it is arranged on described chassis, with described first drive mechanism, tumbler, the second drive mechanism and infrared
Photoelectric sensor, ultrasonic sensor communicate to connect；
-power supply, powers to described first drive mechanism, tumbler, the second drive mechanism and control device.
Sorting transport AGV car the most according to claim 1, it is characterised in that: also include vision guide device, described vision
Guide be two with described control device communication connection photographic head, one of them described photographic head through described chassis towards
Ground, another described photographic head is through described pallet towards surface.
Sorting transport AGV car the most according to claim 1, it is characterised in that: the first drive mechanism described in two all includes
The gear that one motor is coaxially connected with described drivewheel, passes through chain drive between described first motor and described gear.
Sorting transport AGV car the most according to claim 1, it is characterised in that: described second drive mechanism includes that level sets
Put the second motor on described chassis, can be longitudinally through two screw mandrels of described lifting platform, the nut of each described screw mandrel connects
There is the ring flange being connected with described lifting platform, the output shaft of described second motor connects and has two respectively with described screw rod transmission even
The worm gear and endless screw speed changer connect.
Sorting transport AGV car the most according to claim 1, it is characterised in that: described tumbler includes being arranged on described
Thrust ball bearing between lifting platform and described pallet, described thrust ball bearing connects near the end of described pallet to be had with described
The roller gear that pallet connects, described lifting platform is provided with and connects with described column gear transmission to drive described pallet relative to institute
State the 3rd motor that lifting platform rotates.
Sorting transport AGV car the most according to claim 1, it is characterised in that: each described driven pulley is universal wheel.
Sorting transport AGV car the most according to claim 1, it is characterised in that: described power supply is two, and one of them is standby
Use power supply.
8. according to the sorting transport AGV car described in any one of claim 1-7, it is characterised in that: described control device is double strings
Mouth No. eight relay-operated controllers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610571246.3A CN106064717A (en) | 2016-07-20 | 2016-07-20 | A kind of sorting transport AGV car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610571246.3A CN106064717A (en) | 2016-07-20 | 2016-07-20 | A kind of sorting transport AGV car |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106064717A true CN106064717A (en) | 2016-11-02 |
Family
ID=57206602
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610571246.3A Pending CN106064717A (en) | 2016-07-20 | 2016-07-20 | A kind of sorting transport AGV car |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106064717A (en) |
Cited By (45)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106444782A (en) * | 2016-11-15 | 2017-02-22 | 江苏智石科技有限公司 | Intelligent material box transport vehicle based on infrared obstacle avoidance sensor |
| CN106514670A (en) * | 2016-12-27 | 2017-03-22 | 杭州瓦瑞科技有限公司 | Sorting robot |
| CN106516621A (en) * | 2016-12-27 | 2017-03-22 | 博克瑞科技（常州）有限公司 | Traveling type self-discharging device |
| CN106532529A (en) * | 2016-11-29 | 2017-03-22 | 北京特种机械研究所 | Intelligent carrying device of power distribution cabinets |
| CN106629101A (en) * | 2016-11-29 | 2017-05-10 | 山东希成农业机械科技有限公司 | Intelligent potato stocker |
| CN106628902A (en) * | 2016-12-03 | 2017-05-10 | 叶强 | Logistics delivery 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 |
| CN106829797A (en) * | 2017-02-20 | 2017-06-13 | 北京艾瑞思机器人技术有限公司 | A kind of Intelligent transfer robot with lifting rotation function |
| CN107600172A (en) * | 2017-09-28 | 2018-01-19 | 杭州国辰机器人科技有限公司 | A kind of four motorized wheels mobile robot with shockproof function |
| CN107673273A (en) * | 2017-09-22 | 2018-02-09 | 上海托华机器人有限公司 | A kind of floor truck |
| CN107985888A (en) * | 2017-12-30 | 2018-05-04 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of AGV chassis |
| CN108116528A (en) * | 2017-12-04 | 2018-06-05 | 深圳市今天国际智能机器人有限公司 | Automatic guided vehicle |
| 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 |
| WO2018107674A1 (en) * | 2016-12-14 | 2018-06-21 | 锥能机器人（上海）有限公司 | Transportation trolley |
| CN108357585A (en) * | 2017-01-16 | 2018-08-03 | 浙江国自机器人技术有限公司 | A kind of the optoelectronic switch multiplexing method and device of material flow A GV |
| CN108382778A (en) * | 2018-04-03 | 2018-08-10 | 上海精星仓储设备工程有限公司 | A kind of annular shuttle loading platform active steering apparatus and method |
| CN108382825A (en) * | 2017-01-16 | 2018-08-10 | 浙江国自机器人技术有限公司 | A kind of freight detection device and method |
| CN108502786A (en) * | 2018-05-31 | 2018-09-07 | 上海快仓智能科技有限公司 | Slewing equipment and automatic guide vehicle including the slewing equipment |
| CN108519771A (en) * | 2018-03-01 | 2018-09-11 | Ai机器人株式会社 | For the localization method of haulage equipment, device, haulage equipment and storage medium |
| CN108590292A (en) * | 2018-06-29 | 2018-09-28 | 广州维绅科技有限公司 | Stereo-parking system and its stop pick-up method |
| 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 |
| CN108657714A (en) * | 2018-07-04 | 2018-10-16 | 哈工大机器人（昆山）有限公司 | A kind of modularization rotating lifting AGV |
| CN108674913A (en) * | 2018-07-26 | 2018-10-19 | 深圳市捷佳伟创新能源装备股份有限公司 | Secondary positioning adjustment carrier and transfer car(buggy) |
| CN109279249A (en) * | 2018-10-17 | 2019-01-29 | 北京极智嘉科技有限公司 | A kind of intensive storage method of cargo, device, system and storage medium |
| CN109282943A (en) * | 2017-07-21 | 2019-01-29 | 上海快仓智能科技有限公司 | A kind of device for detecting center of gravity and the carrier with the device |
| CN109279244A (en) * | 2018-09-10 | 2019-01-29 | 安徽灵翔智能机器人技术有限公司 | It is a kind of can autonomous barcode scanning identification storage transfer robot |
| CN109319362A (en) * | 2017-07-31 | 2019-02-12 | 广州达泊智能科技有限公司 | Automated guided vehicle |
| CN109436721A (en) * | 2018-12-26 | 2019-03-08 | 浙江大学常州工业技术研究院 | It is a kind of intelligently freely to convey logistics resource |
| CN109466653A (en) * | 2018-12-19 | 2019-03-15 | 厦门大学嘉庚学院 | A kind of sugar refinery carry AGV trolley and its working method |
| CN109733817A (en) * | 2018-12-18 | 2019-05-10 | 盐城汇金科技信息咨询服务有限公司 | A kind of physical-distribution intelligent and the floor truck and implementation method of rotatable movement |
| CN109835679A (en) * | 2017-11-28 | 2019-06-04 | 上海快仓智能科技有限公司 | A kind of lifting body and the carrier with the lifting body |
| CN109878966A (en) * | 2019-03-07 | 2019-06-14 | 顺丰科技有限公司 | Logistic storage sorting system and method for sorting |
| CN110092121A (en) * | 2018-01-31 | 2019-08-06 | 丰田物料处理制造(瑞典)公司 | Materials handling vehicles and material handling system including this vehicle |
| CN110127313A (en) * | 2019-06-03 | 2019-08-16 | 衡阳市利美电瓶车制造有限责任公司 | A kind of bracket transfer car(buggy) |
| CN110589376A (en) * | 2019-09-29 | 2019-12-20 | 清正生态科技(苏州)有限公司 | Material cage conveying vehicle matched with steam explosion machine |
| CN110980131A (en) * | 2019-12-12 | 2020-04-10 | 苏州金峰物流设备有限公司 | Logistics sorting trolley with adjustable sorting height, sorting system and sorting method of logistics sorting trolley |
| CN111077852A (en) * | 2019-11-15 | 2020-04-28 | 北京旷视机器人技术有限公司 | Rotation control method, rotation control device, computer equipment and storage medium |
| CN111232524A (en) * | 2020-03-09 | 2020-06-05 | 深圳市海柔创新科技有限公司 | Method and device for controlling transfer robot and transfer robot |
| CN112374063A (en) * | 2020-11-24 | 2021-02-19 | 江苏赛愽智能制造研究院有限公司 | Transfer robot for aerospace manufacturing and working method thereof |
| CN112987738A (en) * | 2021-02-26 | 2021-06-18 | 深圳易行机器人有限公司 | Physical parameter checking method of AGV motion navigation core controller and AGV |
| US11104003B2 (en) | 2018-08-10 | 2021-08-31 | Beijing Geekplus Technology Co., Ltd. | Method and device for moving an article based on dense storage, storage medium, and dense storage system |
| CN113879749A (en) * | 2021-11-07 | 2022-01-04 | 浙江科技学院 | Carrying device with intelligent counterweight adjustment function and using method |
| CN114476541A (en) * | 2022-01-05 | 2022-05-13 | 天能电池集团(马鞍山)新能源科技有限公司 | Automatic carrying device for battery grading |
| CN114955358A (en) * | 2022-08-01 | 2022-08-30 | 弥费实业(上海)有限公司 | Driving mechanism, device and method for conveying wafer box and storage library |
| CN116588792A (en) * | 2023-05-22 | 2023-08-15 | 广东海洋大学 | Pile lifting equipment and identification tracking method based on color and two-dimensional code |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3013716U (en) * | 1995-01-18 | 1995-07-18 | 矢崎化工株式会社 | Magnetic induction carrier |
| CN202518714U (en) * | 2012-04-15 | 2012-11-07 | 昆明新高原电子信息有限公司 | Automatic handling trolley for carrying goods |
| CN104192762A (en) * | 2014-07-11 | 2014-12-10 | 湖州上电科电器科学研究有限公司 | Rotating jacking mechanism and AGV comprising same |
| CN105712249A (en) * | 2016-05-05 | 2016-06-29 | 北京极智嘉科技有限公司 | Intelligent carrying vehicle system adopting screw rod for jacking |
| CN205972607U (en) * | 2016-07-20 | 2017-02-22 | 苏州小喇叭信息科技有限公司 | Letter sorting transport AGV car |
-
2016
- 2016-07-20 CN CN201610571246.3A patent/CN106064717A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3013716U (en) * | 1995-01-18 | 1995-07-18 | 矢崎化工株式会社 | Magnetic induction carrier |
| CN202518714U (en) * | 2012-04-15 | 2012-11-07 | 昆明新高原电子信息有限公司 | Automatic handling trolley for carrying goods |
| CN104192762A (en) * | 2014-07-11 | 2014-12-10 | 湖州上电科电器科学研究有限公司 | Rotating jacking mechanism and AGV comprising same |
| CN105712249A (en) * | 2016-05-05 | 2016-06-29 | 北京极智嘉科技有限公司 | Intelligent carrying vehicle system adopting screw rod for jacking |
| CN205972607U (en) * | 2016-07-20 | 2017-02-22 | 苏州小喇叭信息科技有限公司 | Letter sorting transport AGV car |
Cited By (56)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106444782A (en) * | 2016-11-15 | 2017-02-22 | 江苏智石科技有限公司 | Intelligent material box transport vehicle based on infrared obstacle avoidance sensor |
| CN106532529A (en) * | 2016-11-29 | 2017-03-22 | 北京特种机械研究所 | Intelligent carrying device of power distribution cabinets |
| CN106629101A (en) * | 2016-11-29 | 2017-05-10 | 山东希成农业机械科技有限公司 | Intelligent potato stocker |
| CN106532529B (en) * | 2016-11-29 | 2018-05-18 | 北京特种机械研究所 | Power distribution cabinet intelligence Handling device |
| 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 |
| CN106628902A (en) * | 2016-12-03 | 2017-05-10 | 叶强 | Logistics delivery robot |
| CN106628902B (en) * | 2016-12-03 | 2019-02-01 | 上海锵玫人工智能科技有限公司 | Robot is sent in a kind of logistics with charge free |
| WO2018107674A1 (en) * | 2016-12-14 | 2018-06-21 | 锥能机器人（上海）有限公司 | Transportation trolley |
| CN106516621A (en) * | 2016-12-27 | 2017-03-22 | 博克瑞科技（常州）有限公司 | Traveling type self-discharging device |
| CN106514670A (en) * | 2016-12-27 | 2017-03-22 | 杭州瓦瑞科技有限公司 | Sorting robot |
| CN108382825A (en) * | 2017-01-16 | 2018-08-10 | 浙江国自机器人技术有限公司 | A kind of freight detection device and method |
| CN108357585A (en) * | 2017-01-16 | 2018-08-03 | 浙江国自机器人技术有限公司 | A kind of the optoelectronic switch multiplexing method and device of material flow A GV |
| 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 |
| CN106829797A (en) * | 2017-02-20 | 2017-06-13 | 北京艾瑞思机器人技术有限公司 | A kind of Intelligent transfer robot with lifting rotation function |
| CN109282943B (en) * | 2017-07-21 | 2024-05-14 | 上海快仓智能科技有限公司 | Gravity center detection device and carrier with same |
| CN109282943A (en) * | 2017-07-21 | 2019-01-29 | 上海快仓智能科技有限公司 | A kind of device for detecting center of gravity and the carrier with the device |
| CN109319362A (en) * | 2017-07-31 | 2019-02-12 | 广州达泊智能科技有限公司 | Automated guided vehicle |
| CN107673273A (en) * | 2017-09-22 | 2018-02-09 | 上海托华机器人有限公司 | A kind of floor truck |
| CN107600172A (en) * | 2017-09-28 | 2018-01-19 | 杭州国辰机器人科技有限公司 | A kind of four motorized wheels mobile robot with shockproof function |
| CN109835679A (en) * | 2017-11-28 | 2019-06-04 | 上海快仓智能科技有限公司 | A kind of lifting body and the carrier with the lifting body |
| CN108116528B (en) * | 2017-12-04 | 2020-09-22 | 深圳市今天国际智能机器人有限公司 | Automatic guided vehicle |
| CN108116528A (en) * | 2017-12-04 | 2018-06-05 | 深圳市今天国际智能机器人有限公司 | Automatic guided vehicle |
| CN107985888B (en) * | 2017-12-30 | 2020-04-28 | 芜湖哈特机器人产业技术研究院有限公司 | AGV chassis |
| CN107985888A (en) * | 2017-12-30 | 2018-05-04 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of AGV chassis |
| CN110092121A (en) * | 2018-01-31 | 2019-08-06 | 丰田物料处理制造(瑞典)公司 | Materials handling vehicles and material handling system including this vehicle |
| CN108519771B (en) * | 2018-03-01 | 2022-03-11 | Ai机器人株式会社 | Positioning method and device for conveying equipment, conveying equipment and storage medium |
| CN108519771A (en) * | 2018-03-01 | 2018-09-11 | Ai机器人株式会社 | For the localization method of haulage equipment, device, haulage equipment and storage medium |
| CN108382778A (en) * | 2018-04-03 | 2018-08-10 | 上海精星仓储设备工程有限公司 | A kind of annular shuttle loading platform active steering apparatus and method |
| CN108502786A (en) * | 2018-05-31 | 2018-09-07 | 上海快仓智能科技有限公司 | Slewing equipment and automatic guide vehicle including the slewing equipment |
| 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 |
| CN108590292A (en) * | 2018-06-29 | 2018-09-28 | 广州维绅科技有限公司 | Stereo-parking system and its stop pick-up method |
| CN108657714A (en) * | 2018-07-04 | 2018-10-16 | 哈工大机器人（昆山）有限公司 | A kind of modularization rotating lifting AGV |
| CN108674913B (en) * | 2018-07-26 | 2023-05-30 | 深圳市捷佳伟创新能源装备股份有限公司 | Secondary positioning adjustment carrier and transfer trolley |
| CN108674913A (en) * | 2018-07-26 | 2018-10-19 | 深圳市捷佳伟创新能源装备股份有限公司 | Secondary positioning adjustment carrier and transfer car(buggy) |
| US11104003B2 (en) | 2018-08-10 | 2021-08-31 | Beijing Geekplus Technology Co., Ltd. | Method and device for moving an article based on dense storage, storage medium, and dense storage system |
| CN109279244A (en) * | 2018-09-10 | 2019-01-29 | 安徽灵翔智能机器人技术有限公司 | It is a kind of can autonomous barcode scanning identification storage transfer robot |
| CN109279249A (en) * | 2018-10-17 | 2019-01-29 | 北京极智嘉科技有限公司 | A kind of intensive storage method of cargo, device, system and storage medium |
| CN109733817A (en) * | 2018-12-18 | 2019-05-10 | 盐城汇金科技信息咨询服务有限公司 | A kind of physical-distribution intelligent and the floor truck and implementation method of rotatable movement |
| CN109466653A (en) * | 2018-12-19 | 2019-03-15 | 厦门大学嘉庚学院 | A kind of sugar refinery carry AGV trolley and its working method |
| CN109436721A (en) * | 2018-12-26 | 2019-03-08 | 浙江大学常州工业技术研究院 | It is a kind of intelligently freely to convey logistics resource |
| CN109878966A (en) * | 2019-03-07 | 2019-06-14 | 顺丰科技有限公司 | Logistic storage sorting system and method for sorting |
| CN110127313A (en) * | 2019-06-03 | 2019-08-16 | 衡阳市利美电瓶车制造有限责任公司 | A kind of bracket transfer car(buggy) |
| CN110589376A (en) * | 2019-09-29 | 2019-12-20 | 清正生态科技(苏州)有限公司 | Material cage conveying vehicle matched with steam explosion machine |
| CN111077852A (en) * | 2019-11-15 | 2020-04-28 | 北京旷视机器人技术有限公司 | Rotation control method, rotation control device, computer equipment and storage medium |
| CN110980131A (en) * | 2019-12-12 | 2020-04-10 | 苏州金峰物流设备有限公司 | Logistics sorting trolley with adjustable sorting height, sorting system and sorting method of logistics sorting trolley |
| CN111232524A (en) * | 2020-03-09 | 2020-06-05 | 深圳市海柔创新科技有限公司 | Method and device for controlling transfer robot and transfer robot |
| CN111232524B (en) * | 2020-03-09 | 2023-06-13 | 深圳市海柔创新科技有限公司 | Method and device for controlling transfer robot and transfer robot |
| CN112374063A (en) * | 2020-11-24 | 2021-02-19 | 江苏赛愽智能制造研究院有限公司 | Transfer robot for aerospace manufacturing and working method thereof |
| CN112987738A (en) * | 2021-02-26 | 2021-06-18 | 深圳易行机器人有限公司 | Physical parameter checking method of AGV motion navigation core controller and AGV |
| CN113879749B (en) * | 2021-11-07 | 2023-08-04 | 浙江科技学院 | Handling device with counterweight intelligent adjustment function and use method |
| CN113879749A (en) * | 2021-11-07 | 2022-01-04 | 浙江科技学院 | Carrying device with intelligent counterweight adjustment function and using method |
| CN114476541A (en) * | 2022-01-05 | 2022-05-13 | 天能电池集团(马鞍山)新能源科技有限公司 | Automatic carrying device for battery grading |
| CN114476541B (en) * | 2022-01-05 | 2024-04-02 | 天能电池集团(马鞍山)新能源科技有限公司 | Automatic carrying device for battery grading |
| CN114955358A (en) * | 2022-08-01 | 2022-08-30 | 弥费实业(上海)有限公司 | Driving mechanism, device and method for conveying wafer box and storage library |
| CN116588792A (en) * | 2023-05-22 | 2023-08-15 | 广东海洋大学 | Pile lifting equipment and identification tracking method based on color and two-dimensional code |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106064717A (en) | A kind of sorting transport AGV car | |
| CN205972607U (en) | Letter sorting transport AGV car | |
| EP3842605B1 (en) | Intelligent parking lot and cluster transport robot thereof | |
| CN102730360B (en) | Non-stocker small-sized intelligent stereoscopic warehouse | |
| Das | Design and methodology of line follower automated guided vehicle-a review | |
| CN104723318B (en) | Utonomous working robot system | |
| CN103823468B (en) | Submersible AGV navigation and positioning system and localization method | |
| US20180135328A1 (en) | Agv comb-type transfer robot | |
| CN105946548B (en) | Homing guidance formula handling device | |
| CN106677579B (en) | Intelligent omnidirectional transfer platform parking robot and control method thereof | |
| CN105857116A (en) | Driving mechanism of automatic guiding type carrying device | |
| AU2018311699B2 (en) | Systems and methods for navigation path determination for unmanned vehicles | |
| CN104317289A (en) | Novel forklift type AGV (automatic guided vehicle) trolley | |
| CN207274808U (en) | Stair climbing robot | |
| CN107521576A (en) | One kind can ground running and stair climbing robot | |
| JP2019059618A (en) | Robot for load-carrying platform conveyance | |
| CN206368570U (en) | A kind of AGV transfer robots | |
| CN205768620U (en) | Homing guidance formula Handling device | |
| KR102393745B1 (en) | Automated guided vehicle for transporting rolltainer | |
| CN107814153A (en) | A kind of AGV vehicles of high-precision off-position fork device and its off-position method | |
| CN206242071U (en) | A kind of Omni-mobile platform vision navigation system | |
| CN205768758U (en) | The drive mechanism of homing guidance formula Handling device | |
| CN202743840U (en) | Stocker-free type small-sized intelligent stereoscopic warehouse | |
| CN109677312A (en) | The AGV and control method of bilayer conveying two-dimension code navigation | |
| CN108116824A (en) | Store in a warehouse robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |