CN106627838A - Automatic guiding vehicle - Google Patents
Automatic guiding vehicle Download PDFInfo
- Publication number
- CN106627838A CN106627838A CN201510822338.XA CN201510822338A CN106627838A CN 106627838 A CN106627838 A CN 106627838A CN 201510822338 A CN201510822338 A CN 201510822338A CN 106627838 A CN106627838 A CN 106627838A
- Authority
- CN
- China
- Prior art keywords
- cylinder
- automatic guided
- guided vehicle
- driving wheel
- fixed seat
- 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
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 claims description 4
- 230000000712 assembly Effects 0.000 claims description 2
- 238000000429 assembly Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 10
- 230000000694 effects Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 239000002360 explosive Substances 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000004308 accommodation Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000009514 concussion Effects 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000007670 refining Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
Landscapes
- Motorcycle And Bicycle Frame (AREA)
- Platform Screen Doors And Railroad Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides an automatic guiding vehicle which is used for walking on the ground. The driving wheel module is arranged on the vehicle body. The auxiliary wheel modules are respectively and freely pivoted on the vehicle body. The adjusting module is assembled between the vehicle body and the driving wheel module to adjust the friction force of the driving wheel module relative to the ground. Therefore, the friction force of the driving wheel module relative to the ground is changed by the automatic guided vehicle through the adjusting module, so that the tracking force of the driving wheel module can be still maintained when the automatic guided vehicle faces the ground with lower roughness, the situation that the driving wheel module slips is effectively avoided, and the adaptability of the automatic guided vehicle to various types of ground or terrains is improved.
Description
Technical field
The present invention relates to a kind of automatic guided vehicle.
Background technology
Automatic guided vehicle (auto guided vehicle, AGV) is a kind of set environment sensing, programmed decision-making
And the multi-functional synthesis being integrated such as unmanned automatic manipulation, and hold its spy for effectively saving labour turnover under the arm
Property, and can be widely applied to the operations such as automatic Pilot, material transportation, monitoring patrol, turnover hazardous area.
Known automatic guided vehicle system uses can cyclelog (Programmable Logic Controller, PLC)
As control core, mass motion control is carried out in each external motors and actuator to perform output signal.
Furthermore, general automatic guided vehicle can receive various acceleration, deceleration, Yi Jishou in traveling process, often
The impact of various hypsography.For example, kinetic force of friction between automatic guided vehicle and ground can because
The situation (flatness, roughness) on ground and it is different, but the drive system of existing automatic guided vehicle and
Wheel is fixation, therefore and cannot can ensure that automatic guided vehicle can keep certain in various landform
Tracking power (tractive force).
Based on above-mentioned, how automatic guided vehicle is allowed to adapt to relatively more positive means various
Shape, i.e. can keep enough kinetic force of frictions in various landform, actually considers needed for related personnel and solves
Problem certainly.
The content of the invention
The present invention provides a kind of automatic guided vehicle, and it is relative that it can adjust driving wheel module by adjusting module
In the frictional force on ground, to allow automatic guided vehicle to keep appropriate tracking power.
The automatic guided vehicle of the present invention, to walk on a ground, automatic guided vehicle includes car body, extremely
Few a driving wheel module, at least three auxiliary wheel modules and adjusting module.Driving wheel module is arranged at car
Body.Auxiliary wheel module is freely articulated in respectively car body.Adjusting module is assembled in car body and driving wheel module
Between, to adjust frictional force of the driving wheel module relative to ground.
In one embodiment of this invention, above-mentioned adjusting module include the first cylinder, adjustment component and
Elastic component.First cylinder is erected in the first holder of drive wheel assemblies.Adjustment component is movably arranged
In the first cylinder and it is assembled on car body.Elastic component is sheathed on the first cylinder and is connected to the first holder and adjusts
Between whole group part.Adjustment component adjusts its position on the first cylinder and changes the deformation extent of elastic component.
In one embodiment of this invention, above-mentioned adjustment component includes fixed seat, the second cylinder and supports
Fitting.Fixed seat is assembled in car body.Second cylinder is sheathed on outside the first cylinder through fixed seat.Abut
Part is sheathed on outside the second cylinder.Above-mentioned elastic component is connected between fitting and the first holder.
In one embodiment of this invention, above-mentioned fixed seat has internal thread, above-mentioned the second cylinder tool
The internal thread collocation for having external screw thread, wherein fixed seat is engaged in the external screw thread of the second cylinder and adjusts the second post
Relative position between body and fixed seat.
In one embodiment of this invention, above-mentioned fitting has internal thread, and the internal thread of fitting
The relative position that collocation is engaged in the external screw thread of above-mentioned second cylinder and adjusts between fitting and the second cylinder
Put, to change the deformation extent of elastic component.
In one embodiment of this invention, the second above-mentioned cylinder be hollow stud, and hollow stud be socketed
In the surface of above-mentioned first cylinder be shiny surface.
In one embodiment of this invention, the second above-mentioned cylinder also has nut portion, and automatic guided vehicle
Also there is stop part, be removable installed in fixed seat and be sheathed on the second cylinder.Stop part have meet
The running-on of nut portion profile, and running-on interferes with nut portion, so that the second cylinder cannot be relative to solid
Reservation is moved.
In one embodiment of this invention, above-mentioned automatic guided vehicle also has stop part, removably sets
It is placed in fixed seat and is sheathed on the second cylinder.Stop part has an internal thread, the external screw thread of the second cylinder with only
The internal thread collocation engagement of block piece, and the direction of the internal thread of the direction of the internal thread of stop part and fixed seat
Conversely, so that the second cylinder cannot be moved relative to fixed seat.
In one embodiment of this invention, above-mentioned automatic guided vehicle also has stop part, with external screw thread,
And the side of above-mentioned fixed seat has internal thread.The external screw thread of stop part is engaged with the internal thread collocation of the side,
To allow stop part removably to lock in fixed seat and interfere with the second above-mentioned cylinder, so that the second cylinder
Cannot move relative to fixed seat.
In one embodiment of this invention, above-mentioned driving wheel module includes motor, driving wheel and transmission
Component.Motor is arranged in the first above-mentioned holder, and driving wheel is hubbed in the first above-mentioned holder.Pass
Dynamic component is connected between motor and driving wheel.Adjustment component changes the deformation extent of above-mentioned elastic component and adjusts
Frictional force of the whole driving wheel relative to ground.
In one embodiment of this invention, above-mentioned each auxiliary wheel module includes the second holder and auxiliary wheel.
Second holder is arranged at above-mentioned car body.Auxiliary wheel is freely articulated in the second holder by bearing.
In one embodiment of this invention, above-mentioned driving wheel module is located between auxiliary wheel module.
Based on above-mentioned, automatic guided vehicle changes driving wheel module rubbing relative to ground by adjusting module
Power is wiped, and allows automatic guided vehicle to remain to maintain its driving wheel module when roughness lower ground face is faced
Tracking power, and the situation for being prevented effectively from the skidding of driving wheel module occurs, while also improving automatic guided vehicle pair
In various ground or the adaptability of landform.
It is that the features described above and advantage of the present invention can be become apparent, special embodiment below, and coordinate
Accompanying drawing is described in detail below.
Description of the drawings
Fig. 1 is the schematic diagram according to a kind of automatic guided vehicle of one embodiment of the invention；
Fig. 2 and Fig. 3 is respectively the partial schematic diagram of the automatic guided vehicle that Fig. 1 is illustrated with different visual angles；
Fig. 4 is the schematic diagram of Fig. 1 auxiliary wheel modules；
Fig. 5 is the explosive view of the adjusting module of Fig. 1；
Fig. 6 is a kind of partial schematic diagram of automatic guided vehicle of another embodiment of the present invention；
Fig. 7 is a kind of partial schematic diagram of automatic guided vehicle of further embodiment of this invention.
Description of reference numerals：
100：Automatic guided vehicle；
110A、110B：Driving wheel module；
112：First holder；
114：Motor；
116：Driving wheel；
118：Transmission component；
120A、120B、120C：Auxiliary wheel module；
122：Auxiliary wheel；
124：Bearing；
126：Fixture；
128：Second holder；
130：Car body；
132：Housing；
131、133、134、136：Truss；
134a：Opening；
140A、140B：Adjusting module；
141：Fitting；
142：First cylinder；
144：Elastic component；
146：Second cylinder；
146a：Shiny surface；
146b：First paragraph；
146c：Second segment；
148：Fixed seat；
148a：Top；
148b：Post portion；
148c：Sidepiece；
150、160、170：Stop part；
162：Running-on；
AD：Adjustment component；
D1：Spacing.
Specific embodiment
Fig. 1 is the schematic diagram according to a kind of automatic guided vehicle of one embodiment of the invention.Refer to Fig. 1,
Automatic guided vehicle 100 includes car body 130 and driving wheel module 110A, 110B, auxiliary wheel assembled thereon
Module 120A, 120B and 120C, and adjusting module 140A, 140B.In the present embodiment, car
Body 130 is truss-like structure, and it includes housing 132, be erected at two truss 131 on housing 132,
133, and the another two truss 134,136 being erected on two truss 131,133, wherein auxiliary wheel
Module 120C is arranged between housing 132 and truss 131, and auxiliary wheel module 120A, 120B point
It is not arranged between housing 132 and truss 133, and driving wheel module 110A is arranged on truss 134,
Driving wheel module 110B is arranged on truss 136.
Here is not limited the quantity of driving wheel module 110A, 110B, i.e. user is visual
The loading demand of automatic guided vehicle 100 and driving force and select an appropriate number of driving wheel module, such as in another
In one unshowned embodiment, it is also possible to which single driving wheel module is used as the driving force of automatic guided vehicle 100
Source.Furthermore, in the present embodiment, be allow automatic guided vehicle 100 loading energy average mark be loaded in it is described
On auxiliary wheel module 120A～120C, therefore the automatic guided vehicle 100 of the present embodiment need to be with least three
Auxiliary wheel module 120A～120C as its Minimum requirements, and three auxiliary wheel modules 120A～
120C need to form a plane, and allow driving wheel module 110A, 110B to be located in the plane and positioned at this
Between a little auxiliary wheel module 120A～120C.Under the premise of here, user can be by configuring more than three
Auxiliary wheel module and reach dispersion loading effect.
Fig. 2 and Fig. 3 is respectively the partial schematic diagram for illustrating Fig. 1 automatic guided vehicles with different visual angles.Please be same
When referring to figs. 1 to Fig. 3, due to driving wheel module 110A, 110B it is mutually the same, therefore only being arranged on
Illustrate as a example by driving wheel module 110A on truss 134.In the present embodiment, driving wheel module
110A includes the first holder 112, motor 114, driving wheel 116 and transmission component 118, wherein horse
It is arranged in the first holder 112 up to 114, driving wheel 116 is hubbed in the first holder 112, and is driven
Component 118 (as shown in Figure 3 transmission refining bar and gear train) be connected to motor 114 and driving wheel 116 it
Between.Thus, motor 114 provides power is sent to driving wheel 116 via transmission component 118, with
Reach the effect for driving automatic guided vehicle 100 to advance.
Fig. 4 is the schematic diagram of Fig. 1 auxiliary wheel modules.Similarly, here only with auxiliary wheel module 120A～
It is described as a example by one of 120C.The auxiliary wheel module of the present embodiment include the second holder 128,
Bearing 124 and auxiliary wheel 122, wherein the second holder 128 is fixed on car body 130, bearing 124 is via solid
Determine part 126 and be assembled to the second holder 128, auxiliary wheel 122 is then assembled to bearing 124.Accordingly, aid in
Wheel 122 just can freely be articulated in the second holder 128 and relative to the second holder 128 (namely relative to
Car body 130) freely swing.
Based on above-mentioned, auxiliary wheel module 120A～120C is only as the weight for carrying automatic guided vehicle 100
It is used, and main driving force is then provided by driving wheel module 110A, 110B.Additionally, auxiliary wheel mould
One of block 120A～120C may also set up steering assembly (not shown), and further provide
Allow automatic guided vehicle 100 to turn to be used.
Fig. 5 is the explosive view of the adjusting module of Fig. 1.Please also refer to Fig. 2, Fig. 3 and Fig. 5 (while
Please compare Fig. 1), similarly, here illustrates (adjusting module 140B by taking adjusting module 140A as an example
It is also thus, just repeating no more).In the present embodiment, car body 130 and driving wheel module 110A are assembled in
Between adjusting module 140A include the first cylinder 142, adjustment component AD and elastic component 144, its
In the first cylinder 142 erect in the first holder 112 of driving wheel module 110A, adjustment component AD can
It is sheathed on the first cylinder 142 with moving up and down and while is assembled on the truss 134 of car body 130, bullet
Property part 144, e.g. spring, it is sheathed on the first cylinder 142 and is connected to the first holder 112 and adjusts
Between whole group part AD, and pass through to allow adjustment component AD to adjust its position on the first cylinder 142 just
The deformation extent of elastic component 144 can be changed, offer driving wheel module 110A is reached with this towards ground
Lower pressure Adjustment effect.
Specifically, adjusting component AD includes fixed seat 148, the second cylinder 146 and fitting 141,
Fixed seat 148 is assembled on the truss 134 of car body 130.Further say, truss 134 has opening
134a, and fixed seat 148 allows top 148a to carry and fixed with its post portion 148b through opening 134a
In the groove of truss 134.Second cylinder 146 is sheathed on the first cylinder 142 through fixed seat 148
Outside.As shown in figure 5, the second cylinder 146 is with externally threaded hollow stud, and fixed seat 148
With internal thread, therefore the internal thread phase lap of the external screw thread by the second cylinder 146 and fixed seat 148
With engagement (i.e. fixed seat 148 is the first paragraph 146b that is screw-locked at the second cylinder 146), and make the second post
Body 146 can adjust it with the relative position between fixed seat 148 in screw lock mode.Furthermore, the second cylinder
146 have shiny surface 146a, therefore when the relative position of the second cylinder 146 and fixed seat 148 is adjusted,
Second cylinder 146 can also be movably socketed in outside the first cylinder 142 because of its shiny surface 146a.
In addition, fitting 141 is sheathed on outside the second cylinder 146, and elastic component 144 is set to be connected to abutting
Between the holder 112 of part 141 and first.From the accompanying drawing of the present embodiment, fitting 141 has interior spiral shell
Line, therefore the internal thread by fitting 141 engages with externally threaded being collocated with each other of the second cylinder 146
(that is, fitting 141 is the second segment 146c for being screw-locked at the second cylinder 146), and can adjust between the two
Relative position, it is often more important that, elastic component 144 is connected to fitting 141 and driving wheel
Between first holder 112 of module 110A, thereby to allow fitting 141 to reach elastic component 144 is become
Shape whether state.
Consequently, it is possible to when automatic guided vehicle 100 faces roughness lower ground face, user just can lead to
Toning whole group part AD and reduce the truss 134 of car body 130 and the first holder of driving wheel module 110A
Space D 1 (being illustrated in Fig. 2) between 112, namely allow adjustment component AD compression elastic pieces 144, because
And the spring energy of elastic component 144 is become and is improved pushing for kinetic force of friction between driving wheel 116 and ground
The source of power (being for rolling on the ground i.e. with driving wheel 116), so that automatic guided vehicle now
100 remain to the maintenance in roughness lower ground face be enough to the tracking power advanced.On the contrary, group will be adjusted
Reversely adjustment just can loosen elastic component 144 to reduce its lower pressure for driving wheel 116 part AD.According to
This, therefore automatic guided vehicle 100 just can adapt to the ground of different roughness or profile, and have preferably
Accommodation.
Though it should be mentioned that illustrate in the present embodiment with two groups of adjustment component AD, two the first cylinders
142 and two elastic components 144, but in practical application, remain to single group of adjustment component AD, single
Individual first cylinder 142 reaches desirable effect with single elastic component 144.
Refer again to Fig. 5, in the present embodiment, be allow adjustment after adjustment component AD will not be because of automatic
Vibrations or collide and release that Guide vehicle 100 is advanced, therefore automatic guided vehicle 100 also includes stop part 150,
E.g. there is externally threaded stopping to answer screw for it.Accordingly, a sidepiece 148c of fixed seat 148 also has
Internal thread hole, it is communicated to inside with internal thread from the 148 of fixed seat sidepiece 148c.Accordingly,
After the second cylinder 146 for adjusting component AD is adjusted to appropriate location, just can be locked by stop part 150
Enter the sidepiece 148c of fixed seat 148, and allow stop part 150 to interfere in the second cylinder 146, to allow second
Cylinder 146 cannot carry out spiral shell relative to fixed seat 148 and turn the relative movement so that upper and lower.Certainly,
When be intended to change adjustment component AD relative to fixed seat 148 position when, just can be by dismantling stop part 150
And needed for completing.
Fig. 6 is a kind of partial schematic diagram of automatic guided vehicle of another embodiment of the present invention, and here is assembling
Front state is used as illustrating.Fig. 6 is refer to, and unlike previous embodiment, the backstop of the present embodiment
Part 160 has the running-on 162 of the nut portion profile for meeting the second cylinder 146, thus when stop part 160
After being fixed on fixed seat 148, running-on 162 can interference with nut portion, therefore allow the nothing of the second cylinder 146
Method carries out spiral shell and turns the relative movement so that upper and lower relative to fixed seat 148.
Fig. 7 is a kind of partial schematic diagram of automatic guided vehicle of further embodiment of this invention.Refer to Fig. 7,
From unlike previous embodiment, the stop part 170 of the present embodiment has internal thread (not shown), its
Can engage with the collocation of the external screw thread of the second cylinder 146, and stop part 170 also can be fixed on fixed seat simultaneously
On 148.In other words, the internal thread of stop part 170 is substantially the external screw thread side with fixed seat 148
To contrary.Consequently, it is possible to stop part 170 can be provided and be allowed extra frictional force and allowed the nothing of the second cylinder 146
Method is moved easily relative to fixed seat 148 and reaches backstop effect.
In sum, in the above embodiment of the present invention, automatic guided vehicle is changed by adjusting module
, relative to the frictional force on ground, wherein adjusting module can be to elastic component by adjustment component for driving wheel module
Compression, becomes the lower pressure of driving wheel, even and if making driving wheel face with the elastic force after allowing elastic component to be compressed
Face roughness lower ground face when, remain to maintain its tracking power, therefore automatic guided vehicle is able to by above-mentioned
Means and adapt to various Different Ground or landform, to improve its scope of application.
Furthermore, automatic guided vehicle also includes stop part, and it with various means the second cylinder after adjusting can be tieed up
Hold its relative position between fixed seat, use the concussion that avoids automatic guided vehicle during traveling or
Collide and allow and adjust the situation that component is released.
Finally it should be noted that：Various embodiments above is only illustrating technical scheme rather than right
Its restriction；Although being described in detail to the present invention with reference to foregoing embodiments, this area it is common
Technical staff should be understood：It still can modify to the technical scheme described in foregoing embodiments,
Either equivalent is carried out to which part or all technical characteristic；And these modifications or replacement, and
The scope of the essence disengaging various embodiments of the present invention technical scheme of appropriate technical solution is not made.
Claims (12)
1. a kind of automatic guided vehicle, it is characterised in that to walk on a ground, the automatic guide
Car includes：
One car body；
At least a driving wheel module, is arranged at the car body；
At least three auxiliary wheel modules, are freely articulated in respectively the car body；And
One adjusting module, is assembled between the car body and the driving wheel module, to adjust the driving
Frictional force of the wheel module relative to the ground.
2. automatic guided vehicle according to claim 1, it is characterised in that the adjusting module includes：
One first cylinder, erects in one first holder of the drive wheel assemblies；
One adjustment component, is movably sheathed on first cylinder and is assembled on the car body；And
One elastic component, is sheathed on first cylinder and is connected to first holder with the adjustment component
Between, the adjustment component adjusts its position on first cylinder and changes the change of the elastic component
Shape degree.
3. automatic guided vehicle according to claim 2, it is characterised in that the adjustment component includes：
One fixed seat, is assembled in the car body；
One second cylinder, is sheathed on outside first cylinder through the fixed seat；And
One fitting, is sheathed on outside second cylinder, and the elastic component is connected to the fitting and institute
State between the first holder.
4. automatic guided vehicle according to claim 3, it is characterised in that the fixed seat has interior
Screw thread, the internal thread collocation that second cylinder has external screw thread, the fixed seat is engaged in described second
The external screw thread of cylinder and adjust the relative position between second cylinder and the fixed seat.
5. automatic guided vehicle according to claim 4, it is characterised in that the fitting has interior
Screw thread, the internal thread collocation of the fitting is engaged in the external screw thread of second cylinder and adjusts described supporting
Relative position between fitting and second cylinder, to change the deformation extent of the elastic component.
6. automatic guided vehicle according to claim 4, it is characterised in that second cylinder is
Hollow stud, and the hollow stud be socketed on first cylinder surface be shiny surface.
7. automatic guided vehicle according to claim 3, it is characterised in that second cylinder also has
There is a nut portion, and the automatic guided vehicle also has a stop part, is removable installed in the fixation
Seat and it is sheathed on second cylinder, the stop part has the running-on for meeting nut portion profile,
And the running-on is interfered with the nut portion, so that second cylinder cannot be relative to the fixation
Seat is mobile.
8. automatic guided vehicle according to claim 4, it is characterised in that the automatic guided vehicle is also
With a stop part, it is removable installed in the fixed seat and is sheathed on second cylinder, it is described to stop
Block piece has internal thread, and the external screw thread of second cylinder is engaged with the internal thread collocation of the stop part,
So that second cylinder cannot be moved relative to the fixed seat.
9. automatic guided vehicle according to claim 3, it is characterised in that the automatic guided vehicle is also
With a stop part, with external screw thread, and the side of the fixed seat has internal thread, the stop part
The internal thread collocation of external screw thread and the side of the fixed seat engage, to allow the stop part removably
Lock in the fixed seat and interfere with second cylinder, so that second cylinder cannot be relative to institute
State fixed seat movement.
10. automatic guided vehicle according to claim 2, it is characterised in that the driving wheel module bag
Include：
One motor, is arranged in first holder；
One driving wheel, is hubbed in first holder；And
One transmission component, is connected between the motor and the driving wheel, and the adjustment component changes institute
State the deformation extent of elastic component and adjust frictional force of the driving wheel relative to the ground.
11. automatic guided vehicles according to claim 1, it is characterised in that each auxiliary wheel module
Including：
One second holder, is arranged at the car body；And
One auxiliary wheel, is freely articulated in second holder by a bearing.
12. automatic guided vehicles according to claim 1, it is characterised in that the driving wheel module position
Between at least three auxiliary wheels module.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW104135562 | 2015-10-29 | ||
| TW104135562A TW201714761A (en) | 2015-10-29 | 2015-10-29 | Auto guided vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106627838A true CN106627838A (en) | 2017-05-10 |
| CN106627838B CN106627838B (en) | 2019-08-06 |
Family
ID=58851354
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510822338.XA Expired - Fee Related CN106627838B (en) | 2015-10-29 | 2015-11-24 | Automatic guiding vehicle |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106627838B (en) |
| TW (1) | TW201714761A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107696817A (en) * | 2017-06-19 | 2018-02-16 | 广东美的智能机器人有限公司 | For automatic guided vehicle drive device and there is its automatic guided vehicle |
| CN108394488A (en) * | 2018-02-01 | 2018-08-14 | 上海明匠智能系统有限公司 | Automatic guided vehicle |
| CN108583187A (en) * | 2017-12-30 | 2018-09-28 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of independent suspension type AGV trolleies |
| CN110626428A (en) * | 2019-09-26 | 2019-12-31 | 广东博智林机器人有限公司 | Mobile chassis and construction robot |
| CN111094011A (en) * | 2017-07-06 | 2020-05-01 | Gv工程有限责任公司 | Self-supporting emergency wheel |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107521377B (en) * | 2017-08-25 | 2020-06-16 | 英华达（上海）科技有限公司 | Automatic guided vehicle power driving system and method and automatic guided vehicle system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2567069Y (en) * | 2002-07-19 | 2003-08-20 | 孙乐君 | Front-and-back damping device of small four-wheel tractor |
| JP2008238959A (en) * | 2007-03-27 | 2008-10-09 | Isuzu Motors Ltd | Unmanned conveying vehicle body |
| CN203438800U (en) * | 2013-07-18 | 2014-02-19 | 秦皇岛港股份有限公司 | Adjustable elastic supporting device |
| CN103786543A (en) * | 2012-10-31 | 2014-05-14 | 界首市达尔玛电动车有限公司 | Vehicle cushioning hardness and chassis height adjusting device |
| CN104163217A (en) * | 2013-05-16 | 2014-11-26 | 泰金宝电通股份有限公司 | Automatic guided vehicle device |
-
2015
- 2015-10-29 TW TW104135562A patent/TW201714761A/en unknown
- 2015-11-24 CN CN201510822338.XA patent/CN106627838B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2567069Y (en) * | 2002-07-19 | 2003-08-20 | 孙乐君 | Front-and-back damping device of small four-wheel tractor |
| JP2008238959A (en) * | 2007-03-27 | 2008-10-09 | Isuzu Motors Ltd | Unmanned conveying vehicle body |
| CN103786543A (en) * | 2012-10-31 | 2014-05-14 | 界首市达尔玛电动车有限公司 | Vehicle cushioning hardness and chassis height adjusting device |
| CN104163217A (en) * | 2013-05-16 | 2014-11-26 | 泰金宝电通股份有限公司 | Automatic guided vehicle device |
| CN203438800U (en) * | 2013-07-18 | 2014-02-19 | 秦皇岛港股份有限公司 | Adjustable elastic supporting device |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107696817A (en) * | 2017-06-19 | 2018-02-16 | 广东美的智能机器人有限公司 | For automatic guided vehicle drive device and there is its automatic guided vehicle |
| CN107696817B (en) * | 2017-06-19 | 2024-02-06 | 库卡机器人(广东)有限公司 | Driving device for unmanned carrier and unmanned carrier with driving device |
| CN111094011A (en) * | 2017-07-06 | 2020-05-01 | Gv工程有限责任公司 | Self-supporting emergency wheel |
| CN111094011B (en) * | 2017-07-06 | 2021-02-09 | Gv工程有限责任公司 | Attachment for a wheel |
| CN108583187A (en) * | 2017-12-30 | 2018-09-28 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of independent suspension type AGV trolleies |
| CN108583187B (en) * | 2017-12-30 | 2021-08-20 | 芜湖哈特机器人产业技术研究院有限公司 | Independent suspension type AGV dolly |
| CN108394488A (en) * | 2018-02-01 | 2018-08-14 | 上海明匠智能系统有限公司 | Automatic guided vehicle |
| CN110626428A (en) * | 2019-09-26 | 2019-12-31 | 广东博智林机器人有限公司 | Mobile chassis and construction robot |
Also Published As
| Publication number | Publication date |
|---|---|
| TW201714761A (en) | 2017-05-01 |
| CN106627838B (en) | 2019-08-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106627838A (en) | Automatic guiding vehicle | |
| US10675960B2 (en) | Traveling device | |
| US10960939B1 (en) | Worm gear drive unit interface and assembly methods | |
| CN102985314B (en) | For the feedway of automatic production line | |
| US20170144502A1 (en) | Automated guided vehicle | |
| CN105946548B (en) | Homing guidance formula handling device | |
| CN103930341A (en) | Vehicular body assembly locking apparatus and method | |
| KR102514431B1 (en) | Vehicles for traveling along linear router guideways | |
| CN110001599A (en) | Change level platform, electricity changing robot and electric charging station | |
| CN105228848B (en) | Multi-mode tandem axle function selection device and method | |
| CN112896365B (en) | Multi-agent reconstruction assembly and multi-degree-of-freedom posture adjusting system | |
| CN106240673A (en) | A kind of mobile transfer robot and control method thereof | |
| CN104589014A (en) | Vehicle frame turnover system and method | |
| CN106068407A (en) | Drive system and drive system connection control method for undercarriage | |
| CN206655066U (en) | Box track girder | |
| CN109308071A (en) | A kind of floor truck and its control method with lifting rotation mechanism | |
| CN110282361B (en) | Variable clamping device for automatically guiding trolley and article positioning and clamping method | |
| CN105109576A (en) | Controllable connecting rod type differential motion balancing device and moving platform with same | |
| CN106628231B (en) | Wheel holding and jacking mechanism of rodless aircraft tractor | |
| CN103894813A (en) | Mobile robot hole forming platform based on composite axle structure | |
| CN108750574A (en) | A kind of reducing support compression positioning device | |
| CN102529987B (en) | Car-type carrying device and its rotating direction control method | |
| CN109311646A (en) | Underpass type dragger | |
| CN203766934U (en) | Mobile robot hole forming platform based on combined type axle structure | |
| CN202022518U (en) | Carrying trolley used in storage rack |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190806 Termination date: 20201124 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |